SGDS Sigma III Yaskawa Manual-1 PDF

モーションコントロール事業部（A4）（英文）
AC Servo Drives
Σ -III Series
SGM/SGDS
USER'S MANUAL
SGMMJ/SGMAS/SGMPS/SGMSS/SGMCS/SGMGH Servomotors
SGDS SERVOPACK
Outline 1
Selections 2
Servomotor Specifications and 3
Dimensional Drawings
YASKAWA
SERVOPACK Specifications and 4

SGDS-A3B01A
Specifications and Dimensional Drawings of
Cables and Peripheral Devices
5
Wiring 6
Panel Operator 7
Operation 8
Adjustments 9
Fully-closed Control 10
Inspection, Maintenance,
and Troubleshooting 11
Appendix 12
MANUAL NO. SIEP S800000 00G

Copyright © 2002 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, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About this Manual
Intended Audience
This manual is intended for the following users.
• Those selecting Σ-III Series servo drives or peripheral devices for Σ-III Series servo drives.
• Those wanting to know about the ratings and characteristics of Σ-III Series servo drives.
• Those designing Σ-III Series servo drive systems.
• Those installing or wiring Σ-III Series servo drives.
• Those performing trial operation or adjustments of Σ-III Series servo drives.
• Those maintaining or inspecting Σ-III Series servo drives.
Description of Technical Terms

The terms in this manual are defined as follows:
• Servomotor or motor = Σ-III Series SGMAS, SGMPS, SGMSS, SGMCS (direct drive) servomotors,
Σ-II Series SGMGH servomotor, and Σ-mini Series SGMMJ servomotor.
• SERVOPACK = Σ-III Series SGDS SERVOPACK.
• Servo Drive = A set including a servomotor and servo amplifier.
• Servo System = A servo control system that includes the combination of a servo drive with a host
computer and peripheral devices.
• Parameters = parameters set to the SERVOPACK.
Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low level) are written with a forward slash
(/) before the signal name, as shown in the following example:
• S-ON = /S-ON
• P-CON = /P-CON
iii
Quick access to your required information
Read the chapters marked with 9 to get the information required for your purpose.
SERVOPACKs, Ratings Panel Trial
Inspection Fully-
Servomotors, and System Configura- Operation
Chapter and closed
and Peripheral Character- Design tion and and Servo
Maintenance Control
Devices istics Wiring Adjustment
Chapter 1
9
Outline
Chapter 2
9
Selections
Chapter 3
Servomotor Specifications 9 9 9 9
and Dimensional Drawings
Chapter 4
SERVOPACK Specifications 9 9 9 9
and Dimensional Drawings
Chapter 5
Specifications and
Dimensional Drawings of 9 9 9 9
Cables and Peripheral
Devices
Chapter 6
9 9 9
Wiring
Chapter 7
9 9
Panel Operator
Chapter 8
9
Operation
Chapter 9
9
Adjustments
Chapter 10
9
Fully-closed Control
Chapter 11
Inspection, Maintenance, 9
and Troubleshooting
Chapter 12
9 9 9 9
Appendix
■ Visual Aids
The following aids are used to indicate certain types of information for easier reference.
IMPORTANT • Indicates important information that should be memorized, including precautions such as alarm
displays to avoid damaging the devices.
INFO • Indicates supplemental information.
EXAMPLE • Indicates application examples.
• Indicates definitions of difficult terms or terms that have not been previously explained in this
TERMS
manual.
iv
Related Manuals
Refer to the following manuals as required.
Manual Name Manual Number Contents

Σ-III Series AC SERVOPACK SGDS TOBPS80000000 Describes the safety precautions of Σ-III series
Safety Precautions SERVOPACK.
Σ-III Series SGMS/SGDS TOBPS80000001 Provides detailed information on the operation of the
Digital Operator Operation Manual JUSP-OP05A Digital Operator.
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
PROHIBITED Indicates prohibited actions that must not be performed. For example, this symbol
would be used to indicate that fire is prohibited as follows: .
MANDATORY Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory: .
The warning symbols for ISO and JIS standards are different, as shown below.
ISO JIS
The ISO symbol is used in this manual.

Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels
regardless of which symbol is used.
v
Notes for Safe Operation
Read this manual thoroughly before checking products on delivery, storage and transportation, installation,
wiring, operation and inspection, and disposal of the AC servo drives.
WARNING
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for trial operation precisely as described in this man-
ual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The output range of multi-turn data for Σ-ΙΙΙ series absolute detection system differs from
that for conventional systems (15-bit encoder and 12-bit encoder). Especially when “Infinite
length positioning system” of conventional type is to be configured with Σ-ΙΙΙ series, be sure
to make the system modification.
• The multi-turn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multi-turn Limit Disagreement alarm (A.CC0) occurs, check the setting of parameter
Pn205 in the SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the
encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be
detected, resulting in a dangerous situation where the machine will move to unexpected positions.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
• Provide an appropriate stopping device on the machine side to ensure safety. A holding
brake for a servomotor with brake is not a stopping device for ensuring safety.
• Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart. Take appropriate measures to ensure safety against an
unexpected restart.
• Do not modify products.
Failure to observe this warning may result in injury or damage to products.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
vi
WARNING
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
Checking on Delivery
CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
Storage and Transportation
CAUTION
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or
plywood, 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.
vii
Installation
CAUTION
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
viii
Wiring
CAUTION
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminal screws and motor output terminal screws.
Failure to observe this caution may result in fire.
• Do not apply stress to connectors.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG)
feedback lines.
The maximum length is 3 m for reference input lines and is 20 m for PG feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is out first before starting an inspection.
• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to
deteriorate, resulting in unexpected problems.
• Observe the following precautions when wiring main circuit terminal blocks.
• Remove the terminal block from the SERVOPACK prior to wiring.
• Insert only one wire per terminal on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Use the products only with the specified power supply voltage.
Failure to observe this warning may result in burning.
• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• When using the products with an irregular or undependable power supply, make sure the power supply
stays within the specified range of voltage changes.
Failure to observe this warning may result in damage to the product.
• Connect the brake power supply properly, keeping in mind the difference of 90-V and 24-V power supplies.
• Install the battery at either the host controller or the battery case of the encoder.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Do not modify connectors.
ix
CAUTION
• Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
Failure to observe this caution may result in damage to the product.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.
Operation
CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid
any unexpected accidents.
• Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point
search mode using parameter Fn003.
• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due
to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at
occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• When not using the normal autotuning, set to the correct moment of inertia ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
• Do not use the servo brake of the servomotor for ordinary braking.
x
Maintenance and Inspection
CAUTION
• When replacing the SERVOPACK, resume operation only after transferring the previous
SERVOPACK parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace
the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as a next
edition.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall
not be liable for any damages or troubles resulting from unauthorized modification.
xi
CONTENTS
About this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
1 Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6
1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
2 Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Model SGMMJ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
2.1.2 Model SGMAS/SGMPS/SGMSS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4
2.1.3 Model SGMGH (1500 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6
2.1.4 Model SGMGH (1000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-8
2.1.5 Model SGMCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.3 Σ-III Series SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - - - - 2-12
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
2.4.1 Cables for SGMMJ Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
2.4.2 Cables for SGMAS and SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16
2.4.3 Cables for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21
2.4.4 Cables for SGMCS Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24
2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27

2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-28
2.5.3 Noise Filters, Magnetic Contactors, Surge Absorbers and AC/DC Reactors - - - - - - - - - - - - 2-29
2.5.4 Regenerative Resistors and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30
xii
3 Servomotor Specifications and Dimensional Drawings
3.1 Ratings and Specifications of SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - - 3-4
3.1.1 SGMMJ Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.1.2 SGMMJ Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2 Ratings and Specifications of SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - 3-8

3.2.1 SGMAS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.2.2 SGMAS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.3 SGMAS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.4 SGMAS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - 3-16
3.3 Ratings and Specifications of SGMPS Servomotors - - - - - - - - - - - - - - - - - - - 3-18

3.3.1 SGMPS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.3.2 SGMPS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21
3.3.3 SGMPS Servomotors with Low-Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.3.4 SGMPS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - 3-25
3.4 Ratings and Specifications of SGMSS Servomotors - - - - - - - - - - - - - - - - - - - 3-27

3.4.1 SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27
3.4.2 SGMSS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.5 Ratings and Specifications of SGMGH (1500min-1) - - - - - - - - - - - - - - - - - - - - 3-32

3.5.1 SGMGH Servomotors (1500min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32
3.5.2 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears - - - - - - - - - - - - - - - - - - 3-35
3.5.3 SGMGH Servomotors (1500 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-37
3.6 Ratings and Specifications of SGMGH (1000 min-1) - - - - - - - - - - - - - - - - - - - 3-39

3.6.1 SGMGH Servomotors (1000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39
3.6.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears - - - - - - - - - - - - - - - - - 3-42
3.6.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-44
3.7 Ratings and Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - 3-46

3.7.1 Small-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
3.7.2 Middle-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS,

and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52
3.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52
3.8.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
3.8.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64
3.8.4 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64
3.8.5 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64
3.8.6 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64
3.8.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-65
3.8.8 Protective Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-65
3.8.9 Heating Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-65
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3.9 Mechanical Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - 3-66
3.9.1 Allowable Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-66
3.9.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-67
3.9.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68
3.9.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68
3.9.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68
3.9.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68
3.9.7 Protective Specification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68
3.9.8 Heating Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68
3.10 Terms for Servomotors with Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69

3.11 Servomotor Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-71
3.12 Dimensional Drawings of SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - - - 3-72
3.12.1 SGMMJ Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-72
3.12.2 SGMMJ Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-73
3.12.3 SGMMJ Servomotor with Standard Backlash Gears and without Brakes - - - - - - - - - - - - - - 3-74
3.12.4 SGMMJ Servomotors with Standard Backlash Gears and Brakes - - - - - - - - - - - - - - - - - - - 3-76
3.13 Dimensional Drawings of SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - - 3-78

3.13.1 SGMAS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-78
3.13.2 SGMAS Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-81
3.13.3 SGMAS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-84
3.13.4 SGMAS Servomotors with Standard Backlash Gears and Brakes - - - - - - - - - - - - - - - - - - - 3-89
3.13.5 SGMAS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-94
3.13.6 SGMAS Servomotors with Low-backlash Gears and Brakes - - - - - - - - - - - - - - - - - - - - - - 3-99
3.13.7 SGMAS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-104
3.13.8 SGMAS Flange-type Servomotors with Low-backlash Gears and Brakes - - - - - - - - - - - - 3-109
3.14 Dimensional Drawings of SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - 3-114

3.14.1 SGMPS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-114
3.14.2 SGMPS Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-116
3.14.3 SGMPS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - 3-118
3.14.4 SGMPS Servomotors with Standard Backlash Gears and Brakes - - - - - - - - - - - - - - - - - - 3-122
3.14.5 SGMPS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-126
3.14.6 SGMPS Servomotors with Low-backlash Gears and Brakes - - - - - - - - - - - - - - - - - - - - - 3-130
3.14.7 SGMPS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-134
3.14.8 SGMPS Flange-type Servomotors with Low-backlash Gears and Brakes - - - - - - - - - - - - 3-138
3.15 Output Shaft of SGMAS and SGMPS Servomotors with Oil Seal - - - - - - - - 3-142
3.15.1 SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-142
3.15.2 SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-143
3.16 Dimensional Drawings of SGMSS Servomotors - - - - - - - - - - - - - - - - - - - - 3-144

3.16.1 1.0-kW to 5.0-kW SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-144
3.16.2 7.0-kW SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-145
3.16.3 SGMSS Servomotors without Gears and with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - 3-146
3.16.4 SGMSS Servomotors with Low-backlash Gears and Flange-mounted Type - - - - - - - - - - 3-147
3.17 Shaft End Specifications for SGMSS Servomotors - - - - - - - - - - - - - - - - - - 3-151
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3.18 Dimensional Drawings of SGMGH Servomotors (1500 min-1) - - - - - - - - - - 3-152
3.18.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - 3-152
3.18.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes 3-154
3.18.3 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and Without Brakes
(Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-157
(Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-163
3.18.5 SGMGH Servomotors (1500 min-1) With Low-backlash Gears and Without Brakes
3.19 Dimensional Drawings of SGMGH Servomotors (1000 min-1) - - - - - - - - - - 3-175

3.19.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - 3-175
3.19.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes - - - - - - - - - - - - - - - 3-177
(Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-180
3.19.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes
3.20 Shaft End Specifications for SGMGH Servomotor - - - - - - - - - - - - - - - - - - - 3-196

3.21 Dimensional Drawings of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - 3-198
3.21.1 SGMCS Servomotors φ135 Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-198
3.21.2 SGMCS Servomotors φ175 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-199
3.21.4 SGMCS Servomotors φ290 Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-201
4 SERVOPACK Specifications and Dimensional Drawings

4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.1 Single-phase 100 V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.2 Single-phase 200V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.3 Three-phase 200 V, 500 W to 1.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.4 Single-phase 200 V, 750 W Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.5 Three-phase 200 V, 1.5 kW to 3.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.6 Three-phase 200 V, 5.0 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.7 Three-phase 200 V, 6.0 kW, 7.5 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-12

4.5 SERVOPACK Overload Characteristics and Load Moment of Inertia - - - - - - - 4-13
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
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4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
4.7 Dimensional Drawings of Base-mounted SERVOPACK Model
SGDS-01A/-02A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.7.1 Single-phase 100 VAC, 30 W
Single-phase 100 V/200 V, 50 W/100 W/200 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.7.2 Single-phase 100 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.7.3 Single-phase 200 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.7.4 Single-phase 200 V, 750 W
Three-phase 200 V, 500 W / 1.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.7.5 Three-phase 200 V, 1.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.7.6 Three-phase 200 V, 2.0 kW / 3.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.7.7 Three-phase 200 V, 5.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22
4.7.8 Three-phase 200 V, 6.0 kW, 7.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23
4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model

SGDS-01AR/-02AR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.8.1 Single-phase 100 V / 200 V, 50 W / 100 W / 200 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.8.2 Single-phase 100 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.8.3 Single-phase 200 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
Three-phase 200 V, 500 W / 1.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
4.8.5 Three-phase 200 V, 1.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
4.8.6 Three-phase 200 V, 2.0 kW, 3.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
4.8.7 Three-phase 200 V, 5.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model

SGDS-60AAP/-75AAP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
4.9.1 Three-phase 200 V 6.0 kW / 7.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1 Servomotor Main Circuit Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.1 Main Circuit Cables for 10 W to 30 W SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - - - - - -5-3
5.1.2 Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors - - - - - - - - - - -5-4
5.1.3 Main Circuit Cables for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors - - - - -5-5
5.1.4 Main Circuit Cables for 750 W and 1.15 kW SGMAS Servomotors - - - - - - - - - - - - - - - - - - - -5-6
5.1.5 Main Circuit Cables for 750 W SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-7
5.1.6 Main Circuit Cables for 1.5 kW SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-8
5.1.7 Main Circuit Cables for SGMCS-B, C, D, and E Servomotors - - - - - - - - - - - - - - - - - - - - -5-9
5.2 Servomotor Main Circuit Cables and Connectors - - - - - - - - - - - - - - - - - - - - - 5-10

5.2.1 Connectors for 10 W to 30 W SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.2.2 Connectors for 50 to 150 W SGMAS and 100 W SGMPS Servomotors - - - - - - - - - - - - - - - 5-10
5.2.3 Connectors for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors - - - - - - - - - - 5-11
5.2.4 Connectors for 750 W and 1.15 kW SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
5.2.5 Connectors for 750 W SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.6 Connectors for 1.5 kW SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.7 Cables for 50 to 600 W SGMMJ, SGMAS, and 100 to 400 W SGMPS Servomotor - - - - - - - 5-13
5.2.8 Cables for 750 W and 1.15 kW SGMAS and 750 W SGMPS Servomotors - - - - - - - - - - - - - 5-13
5.2.9 Connectors for SGMCS-B, C, D, and E Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
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5.2.10 Cables for SGMCS-B, C, D, and E Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.2.11 Connectors for SGMCS-M and N Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.2.12 Cables and Connectors for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - 5-16
5.2.13 Dimensional Drawings of Connectors for SGMSS Servomotors
(Standard Environment Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
(Protective Structure IP67/European Safety Standards Conformed Type) - - - - - - - - - - - - - 5-19
5.2.15 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments - - - - - - - - - - - - 5-20
5.2.16 SGMGH Servomotor (1500 min-1) Connectors Conforming to IP67 and
European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.2.17 SGMGH Servomotor (1000 min-1) Connectors for Standard Environments - - - - - - - - - - - - 5-25
European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.2.19 Connectors Manufactured by DDK Ltd. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
5.2.20 Connectors Manufactured by Japan Aviation Electronics Industry, Ltd. - - - - - - - - - - - - - - 5-33
5.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

5.3.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.3.2 Single-phase for 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.3.3 Single-phase for 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.3.4 Three-phase for 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.4 Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.4.1 Encoder Cables for 50 to 1.15 kW SGMAS and 100 to 400 W SGMPS Servomotors - - - - - 5-38
5.4.2 Encoder Cables for 750W and 1.5 kW SGMMJ and SGMPS Servomotors - - - - - - - - - - - - - 5-40
5.4.3 Encoder Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
5.4.4 Encoder Cables for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46
5.5 Encoder Cables and Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50

5.5.1 Encoder Cables and Connectors for SGMAS and 100 to 400 W SGMPS Servomotors - - - 5-50
5.5.2 Encoder Cables and Connectors for 750 W and 1.5 kW SGMMJ and SGMPS Servomotors 5-51
5.5.3 Encoder Cables and Connectors for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - 5-52
5.5.4 Encoder Cables and Connectors for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - 5-54
5.6 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

5.7 Encoder Cable Extension - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
5.8 Connectors for Main Circuit, Control Power Supply, and Servomotor Cable - - - 5-61
5.8.1 Spring Type (Standard) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
5.8.2 Crimp Type (Option) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-62
5.9 CN1 Cables for I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63

5.9.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
5.9.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
5.9.3 Connection Diagram for Standard I/O Cable JZSP-CSI01- - - - - - - - - - - - - - - - - - - - - - - 5-65
5.10 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66

5.10.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66
5.10.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67
5.10.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68
5.10.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68
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5.10.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-70
5.10.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71
5.10.7 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-73
5.10.8 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74
5.10.9 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-75
5.10.10 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76
5.10.11 Magnetic Contactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-79
5.10.12 Surge Absorber (for switching surge) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-81
5.10.13 Surge Absorber (for lightning surge) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-83
5.10.14 AC/DC Reactors for Power Supply Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - 5-84
5.10.15 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-85
6 Wiring
6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Names and Descriptions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
6.1.2 Wiring Main Circuit Terminal Block (Spring Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4
6.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5
6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - -6-8
6.2.2 CN2 Encoder Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-9
6.3 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.3.1 Speed Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.3.3 Torque Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.3.4 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.3.5 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
6.3.6 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
6.4.3 Using More Than One SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
6.4.4 400-V Power Supply Voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.4.5 AC/DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
6.4.6 Installation Conditions of UL Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28
6.5 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29

6.5.1 Regenerative Power and Regenerative Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
6.5.2 Connecting Externally Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
7 Panel Operator
7.1 Functions on Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 Basic Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.1.3 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4
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7.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
7.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.2.3 Origin Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.2.4 Program JOG Operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
7.2.5 Initialize Parameter Settings (Fn005) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.2.6 Clear Alarm Traceback Data (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
7.2.7 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E) - - - - - - - - - - - 7-17
7.2.8 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) - - - - - - - - - - - - - 7-18
7.2.9 Write Prohibited Setting (Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
7.2.10 Servomotor Model Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
7.2.11 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.2.12 Online Vibration Monitor (Fn018) and EasyFFT (Fn019) - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.2.13 Online Vibration Monitor (Fn018) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
7.2.14 EasyFFT (Fn019) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23
7.2.15 Vibration Detection Level Initialization (Fn01B) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25
7.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - - - - - - - - - - - - - - 7-27

7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32
7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-36
7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38

7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
7.4.2 Sequence I/O Signal Monitor Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
7.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40
7.4.4 Monitor Display of Reference Pulse Counter, Feedback Pulse Counter,
Fully-closed Feedback Pulse Counter and Fully-closed Feedback Speed - - - - - - - - - - - - - 7-41
7.4.5 Monitor Display at Power ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-42
8 Operation
8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - 8-9
8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - - - - - - - - - - - - - - - - - 8-15
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.2 Switching the Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19
8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
8.3.5 Selecting the Stopping Method after Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27
8.3.6 Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
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8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.6 Absolute Encoder Reception Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33
8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37
8.4.8 Multiturn Limit Setting when the Multiturn Limit Disagreement alarm (A.CC0) Occurs - - - - - - 8-38
8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 8-39

8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.5.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-41
8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
8.5.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48
8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49

8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54
8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-56
8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-58
8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61

8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61
8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62
8.7.4 Speed Limit during Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - - 8-66
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67
8.9 Limiting Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69

8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) - - - - - - - - - - - - - - - - - - - - - 8-70
8.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-72
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference - - - - - - - - - - 8-73
8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74
8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75

8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
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8.11 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - 8-77
8.11.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.3 Rotation Detection Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
9 Adjustments
9.1 Servo Tuning Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.2 Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7

9.2.1 Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.2.2 Normal Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
9.2.3 Selecting the Normal Autotuning Execution Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.2.4 Machine Rigidity Setting for Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
9.2.6 Saving the Results of Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
9.2.7 Procedure for Saving the Results of Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
9.3 Advanced Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13

9.3.1 Advanced Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.3.2 Advanced Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.4 One-parameter Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17

9.4.1 One-parameter Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
9.4.2 One-parameter Tuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
9.5 Manual Servo Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18

9.5.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
9.5.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
9.5.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9.5.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9.5.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
9.5.6 Guidelines for Manual Tuning of Servo Gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
9.5.7 Safety Precautions on Adjustment of Servo Gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-24
9.6 Advanced Manual Servo Tuning Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26

9.6.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26
9.6.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-27
9.6.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28
9.6.4 Proportional Control Operation (Proportional Operation Reference) - - - - - - - - - - - - - - - - - 9-29
9.6.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
9.6.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
9.6.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
9.6.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
9.6.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35
9.6.10 Predictive Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-40
9.6.11 Less Deviation Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-45
9.6.12 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-50
xxi
9.6.13 Vibration Suppression on Stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-52
9.6.14 Backlash Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-53
9.6.15 Position Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-54
9.7 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-55
10 Fully-closed Control
10.1 System Configuration for SERVOPACK with Fully-closed Control - - - - - - - - - 10-2
10.2 Serial Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.2 Analog Signal Input Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.3 Connection Example of Linear Scale by Heidenhain - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5
10.2.4 Connection Example of Linear Scale by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-6
10.2.5 Connection Cable between SERVOPACK and Serial Converter Unit - - - - - - - - - - - - - - - - 10-7
10.3 Internal Configuration of Fully-closed Control - - - - - - - - - - - - - - - - - - - - - - - 10-8

10.4 Related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
10.5 Related Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-11
10.5.1 Alarm List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-11
10.5.2 Alarm Display and Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.6 Encoder Output Signals from SERVOPACK with a Linear Scale

by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13
11 Inspection, Maintenance, and Troubleshooting

11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
11.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6
11.1.4 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - 11-18
11.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22

11.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23
12 Appendix
12.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - 12-7
12.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15

12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - - - - - - 12-15
12.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA
(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-16
12.2.3 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - 12-17
12.2.4 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - - - - - - 12-18
12.2.5 Connection to MITSUBISHI’s A72 Positioning Unit (SERVOPACK in Speed Control Mode) 12-19
xxii
12.2.6 Connection to MITSUBISHI’s A75 Positioning Unit
(SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20
12.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21

12.3.1 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21
12.3.2 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22
12.3.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-45
12.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-46
INDEX
Revision History
xxiii
1
Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - 1-7
Outline
1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1
1-1
1 Outline
1.1.1 Check Items
1.1 Checking Products

1.1.1 Check Items
Check the following items when Σ-ΙΙΙ Series products are delivered.
Check Items Comments
Are the delivered products the ones Check the model numbers marked on the nameplates on the servomo-
that were ordered? tor and SERVOPACK. (Refer to the descriptions of model numbers in
the following section.)
Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly by hand.
smoothly? Servomotors with brakes, however, cannot be turned manually.
Is there any damage? Check the overall appearance, and check for damage or scratches that
may have occurred during shipping.
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
1.1.2 Servomotors
(1) Type SGMMJ
AC SERVO MOTOR
Servomotor model SGMMJ-A1BAB21 Rated output current
Rated output 10W 100V 0.7A Ins.B
Rated speed 3 0 0 0 m i n -1 03 / 09 Manufacture date
Serial number 379526-1-1-1
YASKAWA ELECTRIC CO. JAPAN
(2) Types SGMAS and SGMPS

Nameplate
AC SERVO MOTOR
Servomotor model SGMAS-04ACA21
W
Ratings
400 V
200 A 2.6
N 1.27 min
3000 Ins. B
-1
Order number O/N 9271316-1

Serial number S/N DD9964567890012
YASKAWA ELECTRIC CORPORATION JAPAN
1-2
1.1 Checking Products
(3) Types SGMSS and SGMGH

Nameplate
AC SERVO MOTOR
Servomotor model TYPE SGMSS-10ACA21

1000 W 3.18 N m 3000 min -1
Ratings
5.7 A 200 V CONT ins F
Order number O/N 9W0774 002A - 039
Serial number S/N 753000039 DATE 0506 Manufacture date
YASKAWA ELECTRIC MADE IN JAPAN
(4) Type SGMCS (Small-capacity series)

Nameplate
AC SERVO MOTOR
Servomotor model SGMCS-04C3A11
W
Ratings 84 V
200 A 2.1
N 4.0 min -1
200 Ins. A
Order number O/N 9271316-1
Serial number S/N DD9964567890012
YASKAWA ELECTRIC CORPORATION JAPAN
(5) Type SGMCS (Middle-capacity series)

Nameplate
AC SERVO MOTOR
Outline
Servomotor model TYPE SGMCS-45M3A11
707 W 45 N m 150 min -1
Ratings
5.8 A 200 V CONT ins F
Order number O/N 252909-101 1
Serial number S/N 842000045 DATE 0306
YASKAWA ELECTRIC MADE IN JAPAN
1.1.3 SERVOPACKs
SERVOPACK MODEL SGDS-02A01A SERVOPACK

Applicable AC-INPUT AC-OUTPUT model
power supply 1PH 200-230V 50/60Hz 3PH 0-230V 0-300Hz
Applicable
2.4A 2.1A 200W
motor capacity
Order number O/N 60A194-341-7
Serial number S/N D001Y3265990007
YASKAWA ELECTRIC
MADE IN JAPAN
Nameplate
Nameplate is attached on the right side
of the SERVOPACK. This illustration shows
the SGDS-02A SERVOPACK.
1-3
1 Outline
1.2.1 Servomotors
1.2 Product Part Names

1.2.1 Servomotors
(1) Type SGMMJ without Gears and Brakes
Servomotor
connector Encoder
connector
Servomotor
main circuit cable Encoder
cable
Nameplate
(on the back)
Output Encoder
shaft (Detecting section)
(2) Types SGMAS and SGMPS without Gears and Brakes

SGMAS or SGMPS-01 to 04 for 100 W to 400 W SGMPS-08, 15 for 750 W, 1.5 kW
Servomotor connector Encoder connector Servomotor Encoder

connector connector
Servomotor
main circuit cable Encoder
Flange cable
Flange
Output shaft Encoder
(Detecting
Section) Output
shaft Encoder
(Detecting section)
Nameplate
Nameplate
1-4
1.2 Product Part Names
(3) Types SGMSS and SGMGH without Gears and Brakes

Servomotor connector
Encoder connector
Nameplate
Flange
Encoder
(Detecting section)
Output shaft
(4) Type SGMCS Direct-drive (Small-capacity series)

Rotating axis
Nameplate
Encoder Servomotor
connector connector
Nameplate Frame
Mounting
flange
Outline
View A
Servomotor connector
Encoder
connector
A
1
(5) Type SGMCS Direct-drive (Middle-capacity series)
Rotating axis
Mounting flange
Frame
Nameplate
Motor connector
Encoder connector
1-5
1 Outline
1.2.2 SERVOPACKs
1.2.2 SERVOPACKs
With the front cover open
Serial number
Panel display CN5 Analog monitor connector

5-digit, 7-segment LED used to display
Used to monitor motor speed, torque
SERVOPACK status, alarm status, and other
values when parameters are input.
S/N D0024B958810004 reference, and other values through
Refer to 7.1.1 Key Names and Functions. a special cable.
Refer to 5.10.3 Cables for Analog Monitor or
9.7 Analog Monitor.
Panel operator
Panel keys
Used to set parameters.
Refer to 7.1.1 Key Names and Functions.
Input voltage
SERVOPACK model
Refer to 2.2 SERVOPACK Model
Designations.
Front cover
SGDS-
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit power
supply capacitor remains charged. Therefore,
do not touch the SERVOPACK even after the power CN3 Connector for personal computer monitoring
supply is turned OFF if the indicator is lit. Used to communicate with a personal computer
Main circuit power or to connect a digital operator.
Refer to 5.10.1 Cables for Connecting Personal
supply terminals
Computer and 5.10.2 Digital Operator.
Used for main circuit power supply input.
Refer to 6.1 Wiring Main Circuit.
Control power
supply Terminals CN1 I/O signal connector
Used for control power supply input.
Used for reference input signals and
Refer to 6.1 Wiring Main Circuit.
sequence I/O signals.
Refer to 6.3 Examples of I/O Signal Connections.
Regenerative
resistor connecting terminals
Used to connect external regenerative resistors. Nameplate (side view)
Refer to 6.5 Connecting Regenerative Resistors. Indicates the SERVOPACK model and ratings.
Refer to 1.1.3 SERVOPACKs.
Servomotor terminals
Connects to the servomotor power line.
Refer to 6.1 Wiring Main Circuit. CN2 Encoder connector
Connects to the encoder in the SERVOPACK.
Refer to 6.2 Wiring Encoders.
CN4 Fully-closed connector
Used to execute the fully-closed control by
Ground terminal
scales attached outside the SERVOPACK.
Be sure to connect to protect against electrical shock. Connectors are provided only for
Refer to 6.1 Wiring Main Circuit. SGDS- 02A.
Refer to Chapter 10. Fully-Closed Control.
INFO Connecting terminal

For connecting a reactor, refer to 6.4.5 AC/DC Reactor for Harmonic Suppression.
1-6
1.3 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.
(1) Connecting to SGMMJ Servomotor
Power supply
Single-phase 100 VAC
Molded-case R T
circuit breaker
(MCCB)
Note: For connecting the AC/DC reactor,
Protects the power supply
line by shutting the refer to 6.4.5 AC/DC Reactor for
circuit OFF when Harmonic Suppression.
overcurrent is detected.
(Refer to 2.5.2.)
Noise filter
Used to eliminate Magnetic
external noise from the contactor
power line.
(Refer to 2.5.3.)
Turns the servo SGDS SERVOPACK
ON and OFF.
Install a surge
absorber.
(Refer to Digital
2.5.3.) YASKAWA operator
(Refer to 2.5.1.)
SGDS-A3B01A
Connection cable Personal computer
for digital operator
Connection cable for

personal computer
(Refer to 2.5.1.)
Host controller
Regenerative I/O signal cable
Outline
resistor
Connect an external
regenerative resistor
to terminals B1 and B2
if the regenerative (Refer to 2.5.1.)
capacity is insufficient.
(Refer to 2.5.4.)
1
Magnetic contactor Encoder cable
(Refer to 2.4.1.)
Turns the brake power supply
ON or OFF.
Install a surge absorber.
(Refer to 2.5.3.)
Battery case
Brake power supply (When an absolute
encoder is used.)
Used for a servomotor with a
brake. (Refer to 2.51.)
(Refer to 2.5.4.)
Servomotor
main circuit cable
(Refer to 2.4.1.)
SGMMJ
Servomotor
1-7
1 Outline
(2) Connecting to SGMAS and SGMPS Servomotors

Power supply
Single-phase 100 or 200 VAC
R T
Molded-case Note: For connecting the AC/DC reactor,
circuit breaker
(MCCB) refer to 6.4.5 AC/DC Reactor for
Protects the power supply Harmonic Suppression.
line by shutting the
circuit OFF when
(Refer to 2.5.2.)
Noise filter
Used to eliminate Magnetic
external noise from the contactor
power line.
(Refer to 2.5.3.)
Turns the servo SGDS SERVOPACK
ON and OFF.
Install a surge Digital
absorber.
(Refer to
operator
2.5.3.) YASKAWA (Refer to 2.5.1.)
Connection cable
for digital operator Personal computer
Connection cable
for personal computer
(Refer to 2.5.1.)
Host controller
I/O signal cable
Regenerative
resistor
Connect an external
if the regenerative capacity (Refer to 2.5.1.)
is insufficient.
(Refer to 2.5.4.)
Magnetic contactor
ON or OFF.
(Refer to 2.5.3.)
SGMPS-08, -15
Battery case Servomotor for 750 W,
(When an absolute encoder is used.) 1.5 kW
Brake power supply (Refer to 2.5.1.)
Used for a servomotor with a brake.
(Refer to 2.5.4.)
Servomotor
Encoder cable main circuit cable Encoder cable
(for relay)
(Refer to 2.4.2.) (for relay)
(Refer to 2.4.2.) (Refer to 2.4.2.)
Servomotor
main circuit cable
(Refer to 2.4.2.)
SGMAS or SGMPS
Servomotor
1-8
(3) Cable Connections to SGMAS and SGMPS Servomotors

Connect the main circuit cable and encoder cable to SGMAS or SGMPS (100 W to 400 W) servomotor in the
following manner.
IMPORTANT Do not directly touch the connector pins provided with the servomotor. Particularly, the encoder may be
damaged by static electricity, etc.
1. Remove the protective tape and cap from the servomotor connector.
Cap
Protective tape
2. Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.
Encoder cable
For all models
2×M2 pan-head screw
Tightening torque: 0.15N m
Outline
U
Rubber packing V
1
W
Servomotor main circuit cable
2×M2 tapped holes For SGMAS-A5 to -06 and G
SGMPS-01 to -04
2×M2 pan-head screw
2×M2 tapped holes Tightening torque: 0.15N m
For SGMAS-08, 12
2×M2.5 pan-head screw
Tightening torque: 0.33N m
Note: Do not remove the rubber packing on the servomotor-end cable connector. Mount the con-
nector so that the rubber packing is seated properly.
If the rubber packing is not seated properly, the requirements for the protective construc-
tion specifications may not be met.
1-9
1 Outline
(4) Connecting to SGMSS/SGMGH Servomotors

Power supply
Single-phase 200 VAC
R S T Notes: 1. For single-phase 200V 800W SERVOPACKS,
the terminal L3 is not used. Do not connect.‫ޓ‬
Molded-case
circuit breaker
(MCCB) 2. Remove the lead wire between the terminals
Protects the power supply B2 and B3 on the SERVOPACK before
circuit OFF when connecting an external regenerative resistor
overcurrent is to the SERVOPACK.
detected.
(Refer to 2.5.2.)
3. For connecting the AC/DC reactor, refer to
6.4.5 AC/DC Reactor for Harmonic Suppression.
Noise filter
Used to eliminate
external noise from the
power line.
(Refer to 2.5.3.)
Digital
operator
(Refer to 2.5.1.)
Magnetic SGDS SERVOPACK

contactor
Turns the servo
ON and OFF.
Install a surge Connection cable
absorber. for digital operator
(Refer to Personal computer
2.5.3.)
Connection cable
(Refer to 2.5.1.) Host controller

I/O signal cable
Regenerative
resistor
Connect an external
(Refer to 2.5.1.)
if the regenerative capacity
is insufficient.
(Refer to 2.5.4.)
Magnetic contactor
ON and OFF.
(Refer to 2.5.3.)
Battery case
(when an absolute encoder
Brake power supply is used.)
Used for a servomotor with a brake. (Refer to 2.5.1.)
(Refer to 2.5.4.)
Servomotor Encoder cable

main circuit cable (Refer to 2.4.3.)
(Refer to 2.4.3.)
SGMSS/SGMGH
Servomotor
1-10
(5) Connecting to SGMCS Servomotor

Power supply
Single-phase 100 or 200 VAC
R T
Note: For connecting the AC/DC reactor,
Molded-case
circuit breaker refer to 6.4.5 AC/DC Reactor for
(MCCB) Harmonic Suppression.
Protects the power supply
circuit OFF when
(Refer to 2.5.2.)
Noise filter
Used to eliminate
external noise from the
power line.
(Refer to 2.5.3.) SGDS SERVOPACK
Digital
operator
Magnetic (Refer to 2.5.1.)
contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
(Refer to Connection cable
2.5.3.) for digital operator
Personal computer
Connection cable
(Refer to 2.5.1.)
Host controller
I/O signal cable
Regenerative
resistor
Connect an external
if the regenerative capacity (Refer to 2.5.1.)
Outline
is insufficient.
(Refer to 2.5.4.)
Nameplate
Encoder Servomotor
cable main circuit cable
Servomotor SGMCS Servomotor

main circuit cable
(Refer to 2.4.4.)
Encoder
cable View A
(Refer to 2.4.4.)
1-11
1 Outline
1.4.1 North American Safety Standards (UL, CSA)
1.4 Applicable Standards

1.4.1 North American Safety Standards (UL, CSA)
C ULR US
R
C US
LISTED
Model UL∗1 Standards (UL File No.) CSA∗2 Standards Certification
CSA C22.2
SERVOPACK • SGDS UL508C(E147823)
No.14
• SGMMJ
• SGMAS UL
CSA C22.2
Servomotor • SGMPS UL1004(E165827)
No.100
• SGMSS
• SGMGH
* 1. Underwriters Laboratories Inc.
* 2. Canadian Standards Association.
1.4.2 CE Marking
Low Voltage EMC Directive

Model Certification
Directive EMI EMS
SERVOPACK • SGDS EN50178
• SGMMJ
IEC60034-1 EN55011
• SGMAS
IEC60034-5 class A group 1
EN61000-6-2 TÜV PS∗
Servomotor • SGMPS
IEC60034-8
• SGMSS IEC60034-9
• SGMGH
* TÜV Product Services GmbH
Note: Because SERVOPACKs and servomotors are the built-in type, reconfirmation is required
after being installed in the final product.
1-12
2
Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Model SGMMJ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Model SGMAS/SGMPS/SGMSS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.1.3 Model SGMGH (1500 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.1.4 Model SGMGH (1000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.1.5 Model SGMCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.3 Σ-III Series SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - 2-12
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
Selections
2.4.1 Cables for SGMMJ Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
2.4.2 Cables for SGMAS and SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16
2.4.3 Cables for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21
2.4.4 Cables for SGMCS Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24
2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27

2
2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - 2-28
2.5.3 Noise Filters, Magnetic Contactors, Surge Absorbers and AC/DC Reactors - - - - - - - 2-29
2.5.4 Regenerative Resistors and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - - - - 2-30
2-1
2 Selections
2.1.1 Model SGMMJ
2.1 Servomotor Model Designations

This section explains how to check the servomotor model and ratings.
2.1.1 Model SGMMJ

(1) Without Gears
1st +
2nd 3rd 4th 5th 6th 7th 8th
digits digit digit digit digit digit digit
SGMMJ− A1 B A B 2 1
Σ-mini series 8th digit: Options
SGMMJ servomotor
Code Specifications
None Leads length 300mm

H Leads length 500mm
1st + 2nd digits: 3rd digit: Power
Rated Output Supply Voltage J Leads length 1000mm
(W)
Code Voltage K Leads length 1500mm
Code Rated Output
B 100VAC 7th digit: Brake
A1 10
Code Specifications
A2 20
1 Without brakes
A3 30 C 24-VDC brake
6th digit: Shaft End

4th digit: Serial Encoder
Code ‫ޓޓ‬Specifications Remarks
Code Specifications Remarks
2 Straight without flat Standard
A 13-bit incremental encoder ∗1 Standard
Straight with flat Option
A
2 17-bit absolute encoder ∗2 Standard
5th digit: Design Revision Order
∗1. The number of encoder pulses: 2048 P/Rev.
∗2. The number of encoder pulses: 32768 P/Rev. Code Specifications
B Standard (Applicable for SGDS SERVOPACK)
2-2
(2) With Gears
1st +
2nd 3rd 4th 5th 6th 7th 8th 9th 10th
digits digit digit digit digit digit digit digit digit
SGMMJ− A1 C A A J 1 2 1
Σ-mini series 10th digit: Options
SGMMJ servomotor
Code Specifications
None Leads length 300mm
1st + 2nd digits: 3rd digit: Power H Leads length 500mm

Rated Output Supply Voltage
(W) J Leads length 1000mm
Code Voltage
Code Rated Output K Leads length 1500mm
B 100VAC
A1 10 9th digit: Brake
A2 20 Code Specifications
1 Without brakes
A3 30
C 24-VDC brake
4th digit: Serial Encoder 8th digit: Shaft End

2 Straight without flat Standard
A 13-bit incremental encoder ∗1 Standard
6 Straight with key and tap Option
2 17-bit absolute encoder ∗2 Standard
∗1. The number of encoder pulses: 2048 P/Rev. 7th digit: Gear Ratio
∗2. The number of encoder pulses: 32768 P/Rev.
1 1/5
For SGMMJ-A3
Code Specifications
Selections
2 1/16
B Standard (Applicable for SGDS SERVOPACK) (Gear ratio flange: 40)
3 1/25
6th digit: Gears A 1/5

For SGMMJ-A1 and A2
Code Specifications B 1/16
(Gear ratio flange: 25)
J With gears C 1/25 2
2-3
2 Selections
2.1.2 Model SGMAS/SGMPS/SGMSS
2.1.2 Model SGMAS/SGMPS/SGMSS

(1) Without Gears
1st +
2nd 3rd 4th 5th 6th 7th
digits digit digit digit digit digit
SGMAS− 01 A C A 2 1
7th digit: Options
Σ-III Series SGMAS, SGMPS
Code Specifications
and SGMSS servomotor
1 Without options
B With 90-VDC brake
1st + 2nd digits: C With 24-VDC brake
Rated Output (kW) D With oil seal and 90-VDC brake
Code SGMAS SGMPS SGMSS
E With oil seal and 24-VDC brake
A5 0.05 − −
01 0.10 0.10 − S With oil seal
C2 0.15 − − Note: 4-kW, 5-kW and 7-kW SGMSS
02 0.20 0.20 − Servomotor do not have brakes.
04 0.40 0.40 −
06 0.60 − −
08 0.75 0.75 −
− − Code ‫ޓޓ‬Specifications SGMAS SGMPS SGMSS
10 1.0
12 1.15 − − 2 Straight without key Standard
15 − 1.5 1.5 3 Taper 1/10, with key − − Option
20 − − 2.0 4 Straight with key −
25 − − 2.5
6 Straight with key and tap Option Option
30 − − 3.0
− − 8 Straight with tap −
40 4.0
50 − − 5.0
70 − − 7.0
3rd digit: Power Supply Voltage Code Design Revision Order
Code Voltage A SGMAS/SGMPS/SGMSS
A 200 VAC E SGMPS (IP67 specification)
Note: Servomotor is for 200 VAC also when

SERVOPACK is for 100 VAC.

2 17-bit absolute
Standard
C 17-bit incremental
Note: The number of encoder pulse is 32768 P/Rev.
2-4
(2) With Gears

1st +
2nd 3rd 4th 5th 6th 7th 8th 9th
digits digit digit digit digit digit digit digit
SGMAS− 01 A C A H 1 2 B
Σ-ΙΙΙ Series SGMAS, SGMPS
9th digit: Brake
and SGMSS servomotor
1 Without brake
B With 90-VDC brake
C With 24-VDC brake
1st+2nd digits: Note: 4 kW, 5 kW and 7 kW SGMSS
Rated Output (kW) Servomotors do not have
Code SGMAS SGMPS SGMSS brakes.
A5 0.05 − −
01 0.10 0.10 −
0.15 − − Code Specifications SGMAS SGMPS SGMSS
C2
02 0.20 0.20 − 0 Flange type (no shaft) H H −
04 0.40 0.40 − 2 Straight without key H㧘J H㧘J −
06 0.60 − −
4 Straight with key − − L
08 0.75 0.75 −
6 Straight with key and tap H㧘J H㧘J −
10 − − 1.0
− − 8 Straight with tap H H −
12 1.15
15 − 1.5 1.5
20 − − 2.0 7th digit: Gear Ratio
25 − − 2.5 Code Gear Ratio SGMAS SGMPS SGMSS
30 − − 3.0 -10A to -30A -40A -50A
40 − − 4.0 B 1/11
H
-01A to -12A) H
-01A to -15A)
− − −
− J (only -12A) J (only -15A)
50 − 5.0
C 1/21 H㧘J H㧘J − − −
1 1/5 H㧘J H㧘J L L L
3rd: digit: Power Supply Voltage 2 1/9 H (only -A5A) − L L L

− − −
Selections
3 3/31 J (-A5A to -08A) J (-01A to -08A)
Code Voltage
5 1/20 − − L L L
A 200 VAC
1/29 − − L L −
Note: Servomotor is for 200 VAC also when 7
1/33 H㧘J H㧘J − − −
SERVOPACK is for 100 VAC.
8 1/45 − − L − −
4th digit: Serial Encoder 2
Code ‫ޓ‬Specifications Remarks 6th digit: Gear Type
2 17-bit absolute Code Specifications
Standard
C 17-bit incremental
H HDS planetary low-backlash gear (SGMAS/SGMPS㧕
Note: The number of encoder pulses is 32768 P/Rev.
J Standard backlash gear (SGMAS/SGMPS)
5th digit: Design Revision Order L Low-backlash gear (SGMSS)
Code Specifications
A Standard
E SGMPS (IP67 specification)
Note: SGMPS servomotors conform to IP67,

but the gears do not.
2-5
2 Selections
2.1.3 Model SGMGH (1500 min-1)

(1) Without Gears
1st +
SGMGH−13 A C A 2 1
1st+2nd digits 3rd digit㧦 7th digit: Brake and Oil Seal
㧔kW㧕
Rated Output Power Supply
Code Specifications
Voltage
Code Rated Output 1 Without options
Code Voltage
05 0.45 B With 90-VDC brake
A 200VAC
09 0.85 C With 24-VDC brake
13 1.3 D With oil seal and 90-VDC brake
20 1.8 E With oil seal and 24-VDC brake
30 2.9 S With oil seal
44 4.4
55 5.5 6th digit: Shaft End
75 7.5 Code ‫ޓޓ‬Specifications Remarks
2 Straight without key Standard
4th digit: Serial Encoder 3 Taper 1/10, with parallel key
Code Specifications Remarks 5 Taper 1/10, with woodruff key∗ Option
2 17-bit absolute encoder ∗ 6 Straight with key and tap

Standard
∗ Applicable only for models SGMGH-05 and -09.
C 17-bit incremental encoder ∗
∗ The number of encoder pulses: 32768 P/Rev.
Code Specifications
A Standard
C For high-performance machine tool
(4.4 kW or less)∗
∗ Applicable only for models SGMGH-05 to 44.
2-6
(2) With Grears

1st +
SGMGH − 20 A C A L 1 4 B
9th digit: Brake
Code ‫ޓ‬Specifications
1 Without brake
B With 90-VDC brake
C With 24-VDC brake
8th digit: Shaft End 6th digit:

Gear Type Code
1st+2nd digits: 3rd digit㧦 Code ‫ޓޓ‬Specifications L E F
㧔kW㧕
4 Straight with key ‫ޚ‬ − −
Code Rated Output Voltage
6 Straight with key and tap − ‫ޚ‬ ‫ޚ‬
05 0.45 Code Voltage
: Available
09 0.85 A* 200VAC
13 1.3 * With Standard 6th digit: Gear Type
20 1.8 backlash Code ‫ ޓ‬Specifications
30 2.9 gears: P L Planetary low-backlash gear (Flange type)
44 4.4 E Standard backlash gear (Foot mounting type)
55 5.5 F Standard backlash gear (Flange type)
75 7.5
Code Specifications
A Standard
C For high-performance machine tool∗
Selections
Code ‫ ޓޓޓ‬Specifications Remarks
2 17-bit absolute encoder ∗
Standard
∗ The number of encoder pulses: 32768 P/Rev.
6th digit: Gear 7th digit: Gear Ratio Code for 1st + 2nd + 3rd digits
Type Code Code Specifications 05A 09A 13A 20A 30A 44A 2
1 1/5 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
L 2 1/9 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
(Low- 5 1/20 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ −
backlash) 7 1/29 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ − −
8 1/45 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ − − −
: Available
Type Code Code Specifications 05P 09P 13P 20P 30P 44P 55P 75P
A 1/6 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ −
E B 1/11 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
(Standard) C 1/21 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
7 1/29 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
: Available
A 1/6 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ −
F B 1/11 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
7 1/29 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
: Available
2-7
2 Selections

(1) Without Gears
1st +
SGMGH − 12 A C B 2 1
1st + 2nd digits: 3rd digit㧦 7th digit: Options

(kW) Code Specifications
Voltage
Code Rated Output Code Voltage 1 Without options
03 0.3 A 200VAC B With 90-VDC brake
06 0.6 C With 24-VDC brake
09 0.9 D With oil seal and 90-VDC brake
12 1.2 E With oil seal and 24-VDC brake
20 2.0 S With oil seal
30 3.0
40 4.0
55 5.5 6th digit: Shaft End
Code ‫ޓޓ‬Specifications Remarks
2 Straight without key Standard
4th digit: Serial Encoder 3 Taper 1/10, with parallel key
5 Taper 1/10, with woodruff key∗ Option

Code ‫ޓޓޓ‬Specifications Remarks
Straight with key and tap
2 17-bit absolute encoder ∗ 6
Standard
∗ ∗ Applicable only for models SGMGH-03 and -06.
C 17-bit incremental encoder
∗
The number of encoder pulses: 32768 P/Rev.

Code Specifications
B Standard
D For high-performance machine tool∗

2-8
(2) With Gears

1st +
SGMGH − 20 A C B L 1 4 B
9th digit: Brake
Code ‫ޓ‬Specifications
1 Without brake
B With 90-VDC brake
C With 24-VDC brake
6th digit:
8th digit: Shaft End Gear Type Code
Code ‫ޓޓ‬Specifications L E F
1st + 2nd digits: 3rd digit㧦
Rated Output 4 Straight with key ‫ ޚ‬− −
Power Supply
(kW) Voltage 6 Straight with key and tap − ‫ޚ‬ ‫ޚ‬
Code Rated Output Code Voltage : Available
A∗
03 0.3 200VAC
06 0.6 6th digit: Gear Type
∗ With standard
09 0.9 Code Specifications
backlash
12 1.2 gears: P L Planetary low-backlash gear (Flange type)
20 2.0 E Standard backlash gear (Foot mounting type)
30 3.0 F Standard backlash gear (Flange type)
40 4.0
55 5.5 5th digit: Design Revision Order
Code Specifications
B Standard
D For high-performance machine tool∗
∗ Applicable only for SGMGH-03 to -30.
Selections
Code ‫ ޓޓޓ‬Specifications Remarks
2 17-bit absolute encoder ∗
Standard
∗
The number of encoder pulses: 32768 P/Rev.
Type Code Code Specifications 03A 06A 09A 12A 20A 30A 40A 55A
2
1 1/5 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ − −
L 2 1/9 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ − −
(Low- 5 1/20 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ − − −
backlash)
7 1/29 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ − − − −
8 1/45 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ − − − −
: Available
A 1/6 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ −
E B 1/11 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
(Standard)
C 1/21 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
7 1/29 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
: Available
A 1/6 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ −
F B 1/11 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
7 1/29 ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬ ‫ޚ‬
: Available
2-9
2 Selections
2.1.5 Model SGMCS
2.1.5 Model SGMCS

1st +
SGMCS − 02 B 3 C 1 1
Σ-III Series SGMCS servomotor
1st + 2nd + 3rd digits:

Rated Torque (N࡮m) Servomotor Outer Diameter (mm) 7th digit: Brake
Code Specifications B (φ135) C (φ175) D (φ230) E (φ290) M (φ280) N (φ360) Code Specifications
02 2.0 1 Without brake
04 4.0
05 5.0
07 7.0
08 8.0
10 10.0 6th digit: Flange
14 14.0 Code Specifications
16 16.0 1 C-face*1
17 17.0 3 C-face*2
25 25.0 4 C-face with cable on side*3
35 35.0
45 45.0
80 80.0 5th digit: Design Revision Order
1A 110.0 Code Specifications
1E 150.0 A Servomotor outer diameter M, N
2Z 200.0
B Servomotor outer diameter E
C Servomotor outer diameter B, C, D
* 1. C-face on the opposite drive end
(servomotor outer diameter B, C, D, E)
C-face on the drive end 4th digit: Serial Encoder
(servomotor outer diameter M, N)
* 2. C-face on the opposite drive end
(servomotor outer diameter M, N) 3 20-bit absolute
(without multiturn data) Standard
* 3. Only for servomotor outer diameter B, C, D, E
D 20-bit incremental Option
2-10
2.2 SERVOPACK Model Designations
2.2 SERVOPACK Model Designations

Select the SERVOPACK according to the applied servomotor.
1st + 4th +
2nd 3rd 5th 6th 7th
digits digit digits digit digit
SGDS - 02 A 01 A ∗
7th digit: Mounting Method
Σ-III Series SGDS
SERVOPACK Code Specifications Applicable Model
Base-mounted
− as standard 7.5 kW or less
R Rack-mounted 5.0 kW or less
1st + 2nd digits: Rated Output
of Applicable Servomotor
Code Rated Output A,B Start from A
A3 30 W
4th + 5th digits: Interface Specifications
A5 50 W
Code Specifications
01 100 W
01 Standard (analog, pulse-train)
02 200 W
02 Fully closed
04 400 W
05 500 W 3rd digit: Power Supply Voltage
08 750 W Code Voltage
10 1.0 kW A 200 VAC
15 1.5 kW F 100 VAC
20 2.0 kW (100 V input, 200 V output: Doubled voltage)
30 3.0 kW B 100 VAC

(100 V input, 100 V output: For SGMMJ servomotor)
50 5.0 kW
60 6.0 kW
Selections
75 7.5 kW
2-11
2 Selections
2.3 Σ-III Series SERVOPACKs and Applicable Servomotors

Table 2.1 SERVOPACKs and Applicable Servomotors
Σ-III Series SGDS SERVOPACK
SGMS Servomotor Single-phase Single-phase Three-phase
100 VAC 200 VAC 200 VAC
SGMMJ SGMMJ-A1B (10 W)
(Σ-mini Series)
SGMMJ-A2B (20 W) SGDS-A3B − −
3000min-1 3 models SGMMJ-A3B (30 W)
SGMAS-A5A (50 W) SGDS-A5F SGDS-A5A −

SGMAS
SGMAS-01A (100 W) SGDS-01F SGDS-01A −
(Super High Power
Capacity) SGMAS-C2A (150 W) SGDS-02F SGDS-02A −
SGMAS-06A (600 W) − SGDS-08A −
SGMAS-08A (750 W) − SGDS-08A −
3000min-1 8 models
SGMAS-12A (1.15 kW) − − SGDS-15A
SGMPS SGMPS-01A (100 W) SGDS-01F SGDS-01A −
(Flat Type) SGMPS-02A (200 W) SGDS-02F SGDS-02A −
SGMPS-04A (400 W) SGDS-04F SGDS-04A −
SGMPS-08A (750 W) − SGDS-08A −
-1 SGMPS-15A (1.5 kW) − − SGDS-15A
3000min 5 models
SGMSS-10A (1.0 kW) − − SGDS-10A
SGMSS SGMSS-15A (1.5 kW) − − SGDS-15A
(Super High Power SGMSS-20A (2.0 kW) − − SGDS-20A
Capacity)
SGMSS-40A (4.0 kW) SGDS-50A
3000min-1 8 models SGMSS-50A (5.0 kW) SGDS-50A
SGMGH-05A (450 W) − − SGDS-05A
SGMGH SGMGH-09A (850 W) − − SGDS-10A
(High-speed Feed SGMGH-13A (1.3 kW) − − SGDS-15A
Series) SGMGH-20A (1.8 kW) − − SGDS-20A
SGDS-50A
SGMGH-30A (2.9 kW) − −
(SGDS-30A)∗
SGMGH-44A (4.4 kW) − − SGDS-50A
1500min-1 8 models SGMGH-55A (5.5 kW) − − SGDS-60A
SGMGH-03A (300 W) − − SGDS-05A
SGMGH SGMGH-06A (600 W) − − SGDS-10A
(High-speed Feed SGMGH-09A (900 W) − − SGDS-10A
Series)
SGDS-50A
SGMGH-30A (3.0 kW) − −
(SGDS-30A)∗
1000min-1 8 models SGMGH-40A (4.0 kW) − − SGDS-50A
2-12
2.3 Σ-III Series SERVOPACKs and Applicable Servomotors
Table 2.1 SERVOPACKs and Applicable Servomotors (cont’d)

Σ-III Series SGDS SERVOPACK
SGMS Servomotor Single-phase Single-phase Three-phase
100 VAC 200 VAC 200 VAC
SGMCS-02B SGDS-02F SGDS-02A −
SGMCS-04C SGDS-04F SGDS-04A −
SGMCS-08D SGDS-04F SGDS-04A −
SGMCS
(Direct Drive)
SGMCS-16E − SGDS-08A −
200min-1 9 models
SGMCS-35E − SGDS-08A −
150min-1 8 models:
SGMCS-45M − − SGDS-10A
SGMCS-80M − − SGDS-15A
SGMCS-1AM − − SGDS-20A
SGMCS-80N − − SGDS-15A
SGMCS-1EN − − SGDS-30A
SGMCS-2ZN − − SGDS-30A
Note: Models with gears are available (excluding SGMCS).
* When using the SGMGH-30 servomotor and the SGDS-30A servomotor together, the rated
value of the servomotor will change. Use them considering the deratings of them shown in the
following table.
SGMGH-30AA SGMGH-30AB
Items
Deratings Rated Value Deratings Rated Value
Rated Current (Arms) 18.9 23.8 18.9 24.8
Selections
Rated Torque (Nxm) 14.8 18.6 21.6 28.4
Allowable load moment 3 times 5 times 5 times
Rated Motor Speed (min-1) 1500 1000
2-13
2 Selections
2.4.1 Cables for SGMMJ Servomotor
2.4 Selecting Cables

2.4.1 Cables for SGMMJ Servomotor
Contact Yaskawa Controls Co., Ltd.
SERVOPACK
Encoder cable
Battery unit
Servomotor main circuit cable (When the absolute encoder is used.)
SGMMJ
Servomotor
Type Refer-
Name Length Specifications
Standard Type Flexible Type ence
3m JZSP-CMP00-03 JZSP-CMP10-03
Cable with connec- 5m JZSP-CMP00-05 JZSP-CMP10-05
c CN4 tors at both ends
SERVOPACK Encoder
JZSP-CMP00-10 JZSP-CMP10-10 end end 5.4.2
Encoder 10 m
(For incremental
Cable 15 m JZSP-CMP00-15 JZSP-CMP10-15
encoder)
20 m JZSP-CMP00-20 JZSP-CMP10-20
2-14
(cont’d)
Type Refer-
Name Length Specifications
Standard Type Flexible Type ence
3m JZSP-CSP19-03 JZSP-CSP29-03
Cable with connec- SERVOPACK Encoder
tors at both ends 5m JZSP-CSP19-05 JZSP-CSP29-03 end end
(For absolute en- 10 m JZSP-CSP19-10 JZSP-CSP29-05 5.4.2
coder: with battery 15 m JZSP-CSP19-15 JZSP-CSP29-10 Battery case
case) 20 m JZSP-CSP19-20 JZSP-CSP29-15
(Battery attached)
Cable with loose SERVOPACK Encoder
wire at encoder 5m JZSP-CMP03-05 JZSP-CMP13-05 end end
end 10 m JZSP-CMP03-10 JZSP-CMP13-10 5.4.2
(For incremental 15 m JZSP-CMP03-15 JZSP-CMP13-15
encoder) 20 m JZSP-CMP03-20 JZSP-CMP13-20
Cable with loose 3m JZSP-CSP04-03 JZSP-CSP24-03
SERVOPACK Encoder
wire at encoder 5m JZSP-CSP04-05 JZSP-CSP24-05 end end
end JZSP-CSP04-10 JZSP-CSP24-10
10 m 5.4.2
(For absolute en-
c CN4
coder: with battery
15 m JZSP-CSP04-15 JZSP-CSP24-15
Battery case
Encoder case) 20 m JZSP-CSP04-20 JZSP-CSP24-20 (Battery attached)
Cable
Soldered
SERVOPACK end connector
JZSP-CMP9-1
kit
5.5.1
Soldered
Encoder end connector kit JZSP-CMP9-2
5m JZSP-CMP09-05 JZSP-CSP39-05
10 m JZSP-CMP09-10 JZSP-CSP39-10 20 m max.
15 m JZSP-CMP09-15 JZSP-CSP39-15
Selections
Cables 20 m JZSP-CMP09-20 JZSP-CSP39-20 5.5.1
30 m JZSP-CMP19-30 −
JZSP-CMP19-40 − 50 m max.
40 m
50 m JZSP-CMP19-50 −
3m JZSP-CDM03-03 JZSP-CDM23-03 2
5m JZSP-CDM03-05 JZSP-CDM23-05
SGMMJ SERVOPACK Seromotor
10 m JZSP-CDM03-10 JZSP-CDM23-10 end end
Without brakes
15 m JZSP-CDM03-15 JZSP-CDM23-15
5.1.2
3m JZSP-CDM33-03 JZSP-CDM43-03
d 5m JZSP-CDM33-05 JZSP-CDM43-05 SERVOPACK
end
Seromotor
end
Servomo- SGMMJ
tor Main With brakes
Circuit
Cables 20 m JZSP-CDM33-20 JZSP-CDM43-03
and Con- Servomotor-end connector kit
JZSP-CFM9-2
nectors without brakes
5.2.2
Servomotor-end connector kit
JZSP-CFM9-3
with brakes
5m JZSP-CSM90-05 JZSP-CSM80-05
10 m JZSP-CSM90-10 JZSP-CSM80-10 20 m max.
Cables 5.2.10
15 m JZSP-CSM90-15 JZSP-CSM80-15
Note: For a flexible cable, contact your Yaskawa representative.
2-15
2 Selections
2.4.2 Cables for SGMAS and SGMPS Servomotors

SGDS SERVOPACK
SGMPS-08, 15
Servomotor for 750 W,1.5 kW
Servomotor
main circuit cable Encoder cable
(for relay) (for relay)
Encoder cable
Battery case
(when an absolute
encoder is used.)
Servomotor main
circuit cable
SGMAS and
SGMPS-01 to -04
Servomotor
for 100 to 400 W
• Encoder cable extension from 20 m up to 50 m

(Example)
SERVOPACK
750 W, 1.5 kW SGMPS-08, 15 Servomotors
Relay encoder cable

(SERVOPACK end) Relay encoder cable
(SERVOPACK end)
JZSP-CSP12
JZSP-CSP12

Relay encoder
cable extension *
* To be assembled
by the customer.
Refer to 5.7
Encoder Cable
Relay encoder cable extension *
Extension.
* To be assembled by the
customer. Refer to 5.7
Encoder Cable Extension.
Relay encoder cable

(Encoder end)
SGMAS and
100 W to 400 W
SGMPS-01 to -04
Servomotors
2-16
Name Servomotor Length Type Specifications Refer-

Model Standard Type Flexible ence
Type
Cable with connec- 5m JZSP-CSP01-05 JZSP-CSP21-05
tors at both ends SERVOPACK end Encoder end
(For incremental SGMAS for
encoder) 15 m JZSP-CSP01-15 JZSP-CSP21-15
50 to
1.15 kW, 20 m JZSP-CSP01-20 JZSP-CSP21-20
5.4.1
Cable with connec- SGMPS for SERVOPACK end Encoder end
tors at both ends 5m JZSP-CSP05-05 JZSP-CSP25-05
100 to 400 W
(For absolute en- 10 m JZSP-CSP05-10 JZSP-CSP25-10
case) (Battery attached)
Cable with connec- 5m JZSP-CMP00-05 JZSP-CMP10-05 SERVOPACK end Encoder end
tors at both ends
(For incremental
encoder) 15 m JZSP-CMP00-15 JZSP-CMP10-15
SGMPS for 20 m JZSP-CMP00-20 JZSP-CMP10-20
750 W, 5.4.2
Cable with connec- 1.5 kW SERVOPACK end Encoder end
tors at both ends 5m JZSP-CSP19-05 JZSP-CSP29-05
(For absolute en- 10 m JZSP-CSP19-10 JZSP-CSP29-10
case) (Battery attached)
SGMAS 3m JZSP-CMP03-03 JZSP-CMP13-03
c CN2 Cable with loose 50 to SERVOPACK end Encoder end
Encoder wire at encoder end 1.15 kW,
cable (For incremental SGMPS
encoder) 100 to 15 m JZSP-CMP03-15 JZSP-CMP13-15
1.5 kW 20 m JZSP-CMP03-20 JZSP-CMP13-20
Selections
3m JZSP-CSP04-03 JZSP-CSP24-03 5.4.1
SGMAS SERVOPACK end Encoder end
Cable with loose 5m JZSP-CSP04-05 JZSP-CSP24-05
50 to
wire at encoder end
1.15 kW, 10 m JZSP-CSP04-10 JZSP-CSP24-10
(For absolute
SGMPS 15 m JZSP-CSP04-15 JZSP-CSP24-15
encoder: with
100 to Battery case
battery case)
1.5 kW 20 m JZSP-CSP04-20 JZSP-CSP24-20 (Battery attached) 2
Soldered
SERVOPACK end SGMAS
JZSP-CMP9-1
connector kit SGMPS
5.5.1
SGMAS Caulking
50 to 1.15 kW,
JZSP-CSP9-2
SGMPS
Encoder end con-
100 to 400 W
nector kit
SGMPS Soldered
JZSP-CMP9-2 5.5.2
750 W, 1.5 kW
20 m max.
Cables 5.5.1
* Use flexible cables for movable sections such as robot arms. Refer to 5.6 Flexible Cables.
Note: When the battery of the host controller is used for the absolute encoder, no battery case is required.
In this case, use a cable for the incremental encoder.
2-17
2 Selections
(cont’d)
Type
SGMAS
50 to 150 W, 5m JZSP-CSM01-05 JZSP-CSM21-05
10 m JZSP-CSM01-10 JZSP-CSM21-10 5.1.2
SGMPS 15 m JZSP-CSM01-15 JZSP-CSM21-15
100 W
SGMAS
SERVOPACK end Servomotor end
200 to 600 W, 5 m JZSP-CSM02-05 JZSP-CSM22-05
200 to 400 W
SGMAS 5m JZSP-CSM03-05 JZSP-CSM23-05
d 750 W, 10 m JZSP-CSM03-10 JZSP-CSM23-10 5.1.4
CN3 1.15 kW 15 m JZSP-CSM03-15 JZSP-CSM23-15
Servomo- Without brakes 20 m JZSP-CSM03-20 JZSP-CSM23-20
tor Main JZSP-CMM01-
Circuit 3m JZSP-CMM00-03
03
Cables
JZSP-CMM01-
5m JZSP-CMM00-05
05
SGMPS JZSP-CMM01-
10 m JZSP-CMM00-10 5.1.5
750 W 10
JZSP-CMM01-
15 m JZSP-CMM00-15
15
JZSP-CMM01-
20 m JZSP-CMM00-20
20
3m JZSP-CMM20-03 −
5m JZSP-CMM20-05 −
SGMPS SERVOPACK end Servomotor end
10 m JZSP-CMM20-10 − 5.1.6
1.5 kW
15 m JZSP-CMM20-15 −
2-18
(cont’d)
Type
SGMAS
50 to 150 W, 5m JZSP-CSM11-05 JZSP-CSM31-05
100 W
SGMAS SERVOPACK end Servomotor end
200 to 600 W, 5 m JZSP-CSM12-05 JZSP-CSM32-05
200 to 400 W
750 W, 10 m JZSP-CSM13-10 JZSP-CSM33-10 5.1.4
1.15 kW 15 m JZSP-CSM13-15 JZSP-CSM33-15
With brakes 20 m JZSP-CSM13-20 JZSP-CSM33-20
JZSP-CMM11-
3m JZSP-CMM10-03
03
JZSP-CMM11-
5m JZSP-CMM10-05
05 SERVOPACK end Servomotor end
SGMPS JZSP-CMM11-
10 m JZSP-CMM10-10 5.1.5
750 W 10
JZSP-CMM11-
d 15 m JZSP-CMM10-15
15
CN3 JZSP-CMM11-
20 m JZSP-CMM10-20
Servomo- 20
tor Main 3m JZSP-CMM30-03 −
Circuit 5m JZSP-CMM30-05 − SERVOPACK end Servomotor end
Selections
Cables SGMPS
10 m JZSP-CMM30-10 − 5.4.1
(cont’d) 1.5 kW
15 m JZSP-CMM3015 −
SGMAS
50 to 150 W
JZSP-CSM9-1 5.2.2 2
SGMPS
100 W Caulking
SGMAS
200 to 600 W,
JZSP-CSM9-2 5.2.3
SGMPS
200 to 400 W
SGMAS
Servomotor end JZSP-CSM9-3 JZSP-CSM9-4 5.2.4
750 W, 1.15 kW
connector kit
Caulking
SGMPS
750 W JZSP-CMM9-1 5.2.5
(Without brakes)
SGMPS Caulking
1.5 kW JZSP-CMM9-3 5.2.6
(Without brakes)
SGMPS Caulking
750 W JZSP-CMM9-2 JZSP-CSM9-5 5.2.5
(With brakes)
* Use flexible cables for movable sections such as robot arms. Refer to 5.6 Flexible Cables.
2-19
2 Selections
(cont’d)
Type
SGMPS Caulking
Servomotor end
1.5 kW JZSP-CMM9-4 − 5.2.6
connector kit
(With brakes)
d 50 to 600 W 10 m JZSP-CSM90-10 JZSP-CSM80-10
CN3
5.2.7
SGMPS
Servomo-
100 to 400 W 20 m JZSP-CSM90-20 JZSP-CSM80-20
tor Main 20 m max.
Circuit Cables SGMAS 5m JZSP-CSM91-05 JZSP-CSM81-05
Cables 750 W, 10 m JZSP-CSM91-10 JZSP-CSM81-10
(cont’d) 1.15 kW
5.2.8
SGMPS
750 W, 20 m JZSP-CSM91-20 JZSP-CSM81-20
1.5 kW
SGMAS
50 W to
e Encoder end
1.15 kW
Relay (Same for incre- SERVOPACK end Encoder end
0.3 m JZSP-CSP11
Encoder mental and abso-
SGMPS
Cables lute encoders)
100 W to
400 W
f 30 m JZSP-CMP19-30
Wires and 40 m JZSP-CMP19-40
Connec-
tors for Wires and connectors for relay en- 50 m max.
Relay En- coder cable extensions are avail- 5.7
coder Ca- able for assembly by the customer. 50 m JZSP-CMP19-50
ble
Exten-
sions
SGMAS
50 W to SERVOPACK end Encoder end
g SERVOPACK end
1.15kW
Relay (For absolute en-
coders, with a bat-
0.3 m JZSP-CSP12∗2
Encoder
SGMPS Battery case
Cables tery case)
100 W to (Battery attached)
1.5 kW
* 1. Use flexible cables for movable sections such as robot arms. For the precautions on handling flexible
cables, refer to 5.6 Flexible Cables.
* 2. When the battery of the host controller is used for the absolute encoder, no battery case is required. In
this case, use a cable for the incremental encoder.
2-20
2.4.3 Cables for SGMSS and SGMGH Servomotors

• Cable Connection for Standard Wiring Distance
SGDS SERVOPACK
Battery case
(Required when an absolute
encoder is used.)
Encoder cable
Servomotor
main circuit
cable
SGMSS and SGMGH

Servomotors
• Encoder Cable Extension from 20 m up to 50 m
Selections
(Example)
SGDS SERVOPACK
2
Relay encoder cable
(SERVOPACK end)
JZSP-CSP12

Relay encoder cable extension *
To be assembled by the customer.
Refer to 5.7 Encoder Cable
Extension.
SGMSS and SGMGH

Servomotors
2-21
2 Selections
2.4.3 Cables for SGMSS and SGMGH Servomotors
Name Length Type Specifications Refer-

Standard Flexible ence
Type Type*1
With a straight plug
SERVOPACK end Encoder end
Cable with connectors
at both ends 20 m JZSP-CMP01-20 JZSP-CMP11-20
(For incremental encod- 3m JZSP-CMP02-03 JZSP-CMP12-03 With a L-shaped plug
er) 5m JZSP-CMP02-05 JZSP-CMP12-05 SERVOPACK end Encoder end
3m JZSP-CSP06-03 JZSP-CSP26-03 With a straight plug
15 m JZSP-CSP06-15 JZSP-CSP26-15 5.4.4
Battery case
Cable with connectors 20 m JZSP-CSP06-20 JZSP-CSP26-20 (Battery attached)
c CN2 at both ends
Encoder (For absolute encoder: 3m JZSP-CSP07-03 JZSP-CSP27-03 With a L-shaped plug
Cables with battery case) 5m JZSP-CSP07-05 JZSP-CSP27-05
20 m JZSP-CSP07-20 JZSP-CSP27-20 Battery case

(Battery attached)
Cable with loose wires SERVOPACK end Encoder end
at encoder end
(For incremental encod-
er) 15 m JZSP-CMP03-15 JZSP-CMP13-15
Cable with loose wires 5m JZSP-CSP04-05 JZSP-CSP24-05
at encoder end 10 m JZSP-CSP04-10 JZSP-CSP24-10 5.4.4
(For absolute encoder: 15 m JZSP-CSP04-15 JZSP-CSP24-15
with battery case) Battery case
20 m JZSP-CSP04-20 JZSP-CSP24-20 (Battery attached)
2-22
(cont’d)
Type Type*1
Soldered
SERVOPACK end connector kit JZSP-CMP9-1 5.5.3
Straight plug
MS3106B20-29S*2
L-shaped plug
For standard environment
MS3108B20-29S*2
Encoder end connector
Cable clamp
MS3057-12A*2
Straight plug
JA06A-20-29S-J1-EB*2
c CN2
Encoder L-shaped plug
5.5.3
Cables
JA08A-20-29S-J1-EB*2
(cont’d)
For IP67 specification JL04-2022CKE(09)*2

Encoder end connector Cable diameter:
φ6.5 to φ9.5 mm
JL04-2022CKE(12)*2 Cable clamp
Cable diameter:
φ9.5 to φ13 mm
JL04-2022CKE(14)*2
Cable diameter:
φ12.9 to φ15.9 mm
Selections
20 m max.
Cables 5.5.3
d Cable with connectors 2
Servomotor 5.2.12
These are not available.
Main Circuit to
Refer to chapter 5.
Cables and Cable wires and connectors 5.2.20
Connectors
e 30 m JZSP-CMP19-30
Wires and Wires and connectors 40 m JZSP-CMP19-40
Connectors for relay encoder cable
50 m max.
for extension are available
Relay to be assembled by the
Encoder customer. 50 m JZSP-CMP19-50
Cable
5.7
Extension

f SERVOPACK end
Relay (For absolute encoder, 0.3 m JZSP-CSP12∗3
Encoder
with a battery case)
Cables Battery case
(Battery attached)
* 1. Use flexible cables for movable sections such as robot arms. For the precautions on handling flexible
cables, refer to 5.6 Flexible Cables.
* 2. Contact Japan Aviation Electronics Industry, Ltd.
* 3. Not required when using an incremental encoder or using an absolute encoder with a battery
conected to the host controller.
Note: When the battery of the host controller is used for the absolute encoder, no battery case is required.
In this case, use a cable for the incremental encoder.
2-23
2 Selections
2.4.4 Cables for SGMCS Servomotor

• Cable Connection for Standard Wiring Distance
SGDS SERVOPACK
SGMCS Encoder Servomotor

Servomotor cable main circuit cable
View A
Servomotor Encoder cable
main circuit cable
A
• Encoder Cable Extension from 20 m up to 50 m

(Example)
SGDS SERVOPACK
Relay encoder cable extension * Servomotor

SGMCS To be assembled by the Encoder main circuit
Servomotor customer. Refer to 5.7 cable cable
Encoder Cable Extension.
View A
2-24

Type Type ∗1
3m JZSP-CMP60-03 JZSP-CSP60-03 Applicable flange*3:1, 3
10 m JZSP-CMP60-10 JZSP-CSP60-10 SERVOPACK end Encoder end
Cable with connec- 15 m JZSP-CMP60-15 JZSP-CSP60-15

tors at both ends 20 m JZSP-CMP60-20 JZSP-CSP60-20
(For incremental and 3m JZSP-CMP00-03 JZSP-CMP10-03 Applicable flange*3: 4
absolute encoder) 5m JZSP-CMP00-05 JZSP-CMP10-05
10 m JZSP-CMP00-10 JZSP-CMP10-10 SERVOPACK end Encoder end 5.4.3
Cable with loose wires SERVOPACK end Encoder end
c CN2 at encoder end
Encoder (For incremental and
absolute encoder) 15 m JZSP-CMP03-15 JZSP-CMP13-15
Cables
Soldered
SERVOPACK end connector kit JZSP-CMP9-1
Connectors at encoder end Caulking

(Straight plug) JN1DS10SL1*2
Connectors at encoder end 5.5.4

(Socket contact) JN1-22-22S-PKG100*2
20 m max.
Cables
Selections
3m JZSP-CMM60-03 JZSP-CSM60-03 Applicable flange*3: 1
5m JZSP-CMM60-05 JZSP-CSM60-05
10 m JZSP-CMM60-10 JZSP-CSM60-10
Without
15 m JZSP-CMM60-15 JZSP-CSM60-15
brakes
SGMCS- 20 m JZSP-CMM60-20 JZSP-CSM60-20
(For
small-
B,C,
3m
5.1.7 2
D,E
JZSP-CMM00-03 JZSP-CMM01-03 Applicable flange*3: 4
capacity 5m JZSP-CMM00-05 JZSP-CMM01-05
series) SERVOPACK end Servomotor end
10 m JZSP-CMM00-10 JZSP-CMM01-10
dServomotor
Cables with connectors, cables, and
Main Circuit Without connectors are not provided by Yaskawa.
Cable brakes For details, 5.2.14 Dimensional Drawings
Connectors (For
SGMCS-M,N of Connectors for SGMSS Servomotors 5.2.11
middle-
(Protective Structure IP67/European Safety
capacity
Standards Conformed Type).
series)
Applicable flange*3: 1, 3
Soldered
Servomotor end connector JN1DS04FK1∗2 5.2.9
For 5m JZSP-CSM90-05 JZSP-CSM80-05

20 m max.
SGMCS- 10 m JZSP-CSM90-10 JZSP-CSM80-10
Cables 5.2.10
B, C, 15 m JZSP-CSM90-15 JZSP-CSM80-15
D, E 20 m JZSP-CSM90-20 JZSP-CSM80-20
* 1. Use flexible cables for movable sections such as robot arms. Refer to 5.6 Flexible
Cables.
* 2. Contact Japan Aviation Electronics Industry, Ltd.
* 3. For applicable flanges, refer to 2.1.5 Model SGMCS.
2-25
2 Selections
(cont’d)
Type Type ∗1
e Wires and connectors 30 m JZSP-CMP19-30
Wires and for relay encoder ca- 50 m max.
Connectors for JZSP-CMP19-40 5.7
ble extensions are 40 m
Relay Encoder
available for assembly
Cable Exten- by the customer. 50 m JZSP-CMP19-50
sions
* 1. Use flexible cables for movable sections such as robot arms. Refer to 5.6 Flexible
Cables.
2-26
2.5 Selecting Peripheral Devices

2.5.1 Special Options
Digital operator
With front cover open

Connection cable
for digital operator Personal
computer
Analog monitor cable
Connection cable CN5
S/N D0024B958810004
CN3
I/O signal cable Host controller

CN1
CN2
Battery for absolute encoder
Refer-
Name Length Type Specifications
ence
Terminal block and 0.5 m connection cable
Connector terminal block
Selections
JUSP-TA50P
converter unit
c CN1
I/O Signal 5.9
Cables Cable with 1m JZSP-CSI01-1 Loose wires at customer end
loose wires at 2m JZSP-CSI01-2
one end 3m JZSP-CSI01-3
2
d Digital Operator JUSP-OP05A Connection cable (1 m ) 5.10.2
D-Sub 25-pin (For PC98)
Personal SERVOPACK
2m JZSP-CMS01 computer end end
D-Sub 9-pin
e CN3
Personal SERVOPACK
Connection Cable for Personal 2m JZSP-CMS02 computer end end
5.10.1
Computer
Half-pitch 14-pin (For PC 98)

Personal SERVOPACK
2m JZSP-CMS03 computer end end
2-27
2 Selections
2.5.2 Molded-case Circuit Breaker and Fuse Capacity
(cont’d)
Refer-
Name Length Type Specifications
ence
Battery case
JUSP-BA01
(To mount in the battery case)

fBattery for Absolute Encoder JZSP-BA01
Note: No battery is mounted in the battery 5.10.8
case. A battery must be purchased separately. To connect to a host computer (provided by
a customer)
3.6 V 2000 mAh,
ER6VC3N manufactured by Toshiba Battery Co., Ltd.
g CN5
1m JZSP-CA01
SERVOPACK end
5.10.3
Analog Monitor Cable
2.5.2 Molded-case Circuit Breaker and Fuse Capacity

Current Capacity of
Molded-case Circuit
SERVOPACK Model Power Supply Breaker or Fuse Inrush Current
Main Circuit Capacity per (Arms)*1,*2
Power Supply SERVOPACK (Refer to 5.10.9)
(kVA) Main Circuit Control Main Circuit
Capacity Control
SGDS- Power Circuit Power
(kW) Circuit (A)
Supply (Arms) (Arms) Supply (A)
0.03 A3B
0.25
0.05 A5F 4
Single-phase
0.10 01F 0.40 0.26 14 30
100 V
0.20 02F 0.60 6
0.40 04F 1.2 12
0.05 A5A 0.25
0.10 01A 0.40 4
Single-phase
0.20 02A 0.75 0.13 28 60
200 V
0.40 04A 1.2 8
0.80 08A 2.2 16
0.5 05A 1.4 4
60
1.0 10A 2.3 7
1.5 15A 3.2 10 28
0.15
Three-phase 2.0 20A 4.3 13
200 V 3.0 30A 5.9 17
28
5.0 50A 7.5 28 57
6.0 60A 12.5 32
0.27 94
7.5 75A 15.5 41
* 1. Nominal value at the rated load. The specified derating is required to select an appropriate
fuse capacity.
* 2. Cutoff characteristics (25°C): 200% two seconds min. and 700% 0.01 seconds min.
Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor
input type, a fast-acting fuse may blow when the power is turned ON.
2-28
IMPORTANT The SGDS SERVOPACK does not include a protective grounding circuit. Install a ground-fault protector to
protect the system against overload and short-circuit or protective grounding combined with the molded-
case circuit breaker.
2.5.3 Noise Filters, Magnetic Contactors, Surge Absorbers and AC/DC Reactors
Recommended Noise Filter Magnetic AC/DC
SERVOPACK Model Surge Absorber
Main Circuit (Refer to 5.10.10) Contactor Reactor
Power Supply Capacity (Refer to (Refer to 5.10.12， (Refer to
SGDS- Type Specifications 5.10.13)
(kW) 5.10.11) 5.10.14)
0.03 A3B X5052
Single-phase
0.05 A5F FN2070-6/07
250 VAC, 6 A X5053
0.10 01F HI-11J (20 A) TU-25C120
Single-phase
Single-phase (Surge
100 V 0.20 02F FN2070-10/07 X5054
250 VAC, 10 A Suppressor)
Single-phase RxCxM
0.40 04F FN2070-16/07 HI-15J (35 A) X5061
250 VAC, 16 A -601BQZ-4
0.05 A5A (Surge
Single-phase Protector) X5052
0.10 01A FN2070-6/07
250 VAC, 6 A
0.20 02A HI-11J (20 A) X5053
Single-phase
Single-phase
200 V 0.40 04A FN2070-10/07 X5054
250 VAC, 10 A
Single-phase
0.80 08A FN2070-16/07 HI-15J (35 A) TU-25C240 X5056
250 VAC, 16 A
(Surge
Three-phase
0.5 05A FN258L-7/07 HI-11J (20 A) Suppressor)
480 VAC, 7 A X5061
1.0 10A
Three-phase HI-15J (35 A)
1.5 15A FN258L-16/07
480 VAC, 16 A X5060
2.0 20A
RxCxM
Selections
Three-phase HI-20J (35 A)
Three-phase 3.0 30A FN258L-30/07 -601BUZ-4 X5059
480 VAC, 30 A
200 V (Surge
Three-phase Protector)
5.0 50A X5068
FMAC-0934- 480 VAC, 50 A
HI-25J (50 A) TU-65C240
5010 Three-phase
6.0 60A
440VAC, 50A
(Surge − 2
Suppressor)
FMAC-0953- Three-phase
7.5 75A HI-35J (65A) −
6410 440VAC, 64A
Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors accord-
ing to the total capacity.
2. The following table shows the manufacturers of each device.
Peripheral Device Manufacturer
FN type: SCHAFFNER
Noise Filter
FMAC type: SCHURTER (formerly TIMONTA)
Magnetic Contactor Yaskawa Controls Co., Ltd.
Yaskawa Controls Co., Ltd. (surge suppressor)
Surge Absorber
Okaya Electric Industries Co., Ltd. (surge protector)
AC/DC Reactor Yaskawa Controls Co., Ltd.
NOTE Noise Filter Brake Power Supply

Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes.
MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.)
2-29
2 Selections
2.5.4 Regenerative Resistors and Brake Power Supply Units
2.5.4 Regenerative Resistors and Brake Power Supply Units

SERVOPACK Model Regenerative Resistor
(Refer to 5.10.6 and 6.5) Brake Power Supply
Main Circuit
Built-in Unit
Power Supply Capacity Externally
SGDS- Resistance Capacity (Refer to 5.10.5)
(kW) connected
(Ω) (W)
0.03 A3B For 24VDC brakes∗3

Customers must provide.
Single-phase 0.05 A5F For 24VDC brakes∗3
− − −
100 V 0.10 01F Customers must provide.
0.20 02F For 90 VDC brakes
0.40 04F • LPDE-1H01
0.05 A5A for 100 VAC input
0.10 01A • LPSE-2H01
Single-phase − − for 200 VAC input
0.20 02A −
200 V
0.40 04A
0.80 08A 50 60
0.5 05A 40
50
1.0 10A 60
1.5 15A 20 50 −
Three-phase 2.0 20A
12 80
200 V 3.0 30A
5.0 50A 8 180 -
6.0 60A (6.25)*1 (880)*1 JUSP-RA04
7.5 75A (3.13)*2 (1760)*2 JUSP-RA05
* 1. For the optional JUSP-RA04 Regenerative Resistor Unit.

* 2. For the optional JUSP-RA05 Regenerative Resistor Unit.
* 3. Be careful when connecting the power supply for 24 VDC brake to the local power supply. The local
power supply cannot apply the overvoltage such as surge to the output side, and the output side may
be damaged even if the voltage is applied. Never fail to use the surge absorber.
Note: 1. If the SERVOPACK cannot process the regenerative power, an external regenerative resistor is
required. Refer to 5.10.7 Regenerative Resistor Unit, 5.10.8 Absolute Encoder Battery, and 6.5
Connecting Regenerative Resistors.
2. The following table shows the manufacturers of each device.
Peripheral Device Manufacturer

External Regenerative Resistor Iwaki Wireless Research Institute
External Regenerative Unit Yaskawa Electric Corporation
Brake Power Supply Unit Yaskawa Controls Co., Ltd.
2-30
3
Servomotor Specifications and
Servomotor Specifications and Dimensional Drawings

3.1 Ratings and Specifications of SGMMJ Servomotors - - - - - - - - - - - - - - - - - 3-4
3.1.1 SGMMJ Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.1.2 SGMMJ Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2 Ratings and Specifications of SGMAS Servomotors - - - - - - - - - - - - - - - - - 3-8

3.2.1 SGMAS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.2.2 SGMAS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.3 SGMAS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.4 SGMAS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - 3-16
3.3 Ratings and Specifications of SGMPS Servomotors - - - - - - - - - - - - - - - - 3-18

3.3.1 SGMPS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.3.2 SGMPS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - 3-21
3.3.3 SGMPS Servomotors with Low-Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.3.4 SGMPS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - 3-25
3.4 Ratings and Specifications of SGMSS Servomotors - - - - - - - - - - - - - - - - 3-27

3.4.1 SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 3
3.4.2 SGMSS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.5 Ratings and Specifications of SGMGH (1500min-1) - - - - - - - - - - - - - - - - 3-32

3.5.1 SGMGH Servomotors (1500min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-32
3.5.2 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears - - - - - - - - - - - - - 3-35
3.5.3 SGMGH Servomotors (1500 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-37
3.6 Ratings and Specifications of SGMGH (1000 min-1) - - - - - - - - - - - - - - - - 3-39

3.6.1 SGMGH Servomotors (1000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-39
3.6.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears - - - - - - - - - - - - - 3-42
3.6.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-44
3.7 Ratings and Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - 3-46

3.7.1 Small-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
3.7.2 Middle-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
3-1

and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52
3.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-52
3.8.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-54
3.8.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-64
3.8.4 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-64
3.8.5 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-64
3.8.6 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-64
3.8.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-65
3.8.8 Protective Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-65
3.8.9 Heating Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-65
3.9 Mechanical Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - 3-66

3.9.1 Allowable Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-66
3.9.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-67
3.9.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-68
3.9.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-68
3.9.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-68
3.9.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-68
3.9.7 Protective Specification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-68
3.9.8 Heating Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-68
3.10 Terms for Servomotors with Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69

3.11 Servomotor Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-71
3.12 Dimensional Drawings of SGMMJ Servomotors - - - - - - - - - - - - - - - - - - 3-72
3.12.1 SGMMJ Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-72
3.12.2 SGMMJ Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-73
3.12.3 SGMMJ Servomotor with Standard Backlash Gears and without Brakes - - - - - - - - -3-74
3.12.4 SGMMJ Servomotors with Standard Backlash Gears and Brakes - - - - - - - - - - - - - -3-76
3.13 Dimensional Drawings of SGMAS Servomotors - - - - - - - - - - - - - - - - - - 3-78

3.13.1 SGMAS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-78
3.13.2 SGMAS Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-81
3.13.3 SGMAS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - -3-84
3.13.4 SGMAS Servomotors with Standard Backlash Gears and Brakes - - - - - - - - - - - - - -3-89
3.13.5 SGMAS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - -3-94
3.13.6 SGMAS Servomotors with Low-backlash Gears and Brakes - - - - - - - - - - - - - - - - - -3-99
3.13.7 SGMAS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - 3-104
3.13.8 SGMAS Flange-type Servomotors with Low-backlash Gears and Brakes - - - - - - - - 3-109
3.14 Dimensional Drawings of SGMPS Servomotors - - - - - - - - - - - - - - - - - 3-114

3.14.1 SGMPS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-114
3.14.2 SGMPS Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-116
3.14.3 SGMPS Servomotors with Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - 3-118
3.14.4 SGMPS Servomotors with Standard Backlash Gears and Brakes - - - - - - - - - - - - - 3-122
3.14.5 SGMPS Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-126
3.14.6 SGMPS Servomotors with Low-backlash Gears and Brakes - - - - - - - - - - - - - - - - - 3-130
3.14.7 SGMPS Flange-type Servomotors with Low-backlash Gears - - - - - - - - - - - - - - - - 3-134
3.14.8 SGMPS Flange-type Servomotors with Low-backlash Gears and Brakes - - - - - - - - 3-138
3.15 Output Shaft of SGMAS and SGMPS Servomotors with Oil Seal - - - - - 3-142
3.15.1 SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-142
3.15.2 SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-143
3-2
3.16 Dimensional Drawings of SGMSS Servomotors - - - - - - - - - - - - - - - - - 3-144
3.16.1 1.0-kW to 5.0-kW SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - 3-144
3.16.2 7.0-kW SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-145
3.16.3 SGMSS Servomotors without Gears and with Brakes - - - - - - - - - - - - - - - - - - - - - 3-146
3.16.4 SGMSS Servomotors with Low-backlash Gears and Flange-mounted Type - - - - - 3-147
3.17 Shaft End Specifications for SGMSS Servomotors - - - - - - - - - - - - - - - 3-151
3.18 Dimensional Drawings of SGMGH Servomotors (1500 min-1) - - - - - - - 3-152

3.18.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes - - - - - - - - - - - - - - 3-152
3.18.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears
and With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-154
3.18.3 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears
and Without Brakes (Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-157
3.18.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears
and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-163
3.18.5 SGMGH Servomotors (1500 min-1) With Low-backlash Gears

3.19 Dimensional Drawings of SGMGH Servomotors (1000 min-1) - - - - - - - 3-175
3.19.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - 3-175
3.19.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes - - - - - - - - - - 3-177
and Without Brakes (Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-180
3.20 Shaft End Specifications for SGMGH Servomotor - - - - - - - - - - - - - - - 3-196

3.21 Dimensional Drawings of SGMCS Servomotors - - - - - - - - - - - - - - - - - 3-198
3.21.1 SGMCS Servomotors φ135 Mode ----------------------------------- 3-198
3.21.2 SGMCS Servomotors φ175 Model ----------------------------------- 3-199
3.21.4 SGMCS Servomotors φ290 Mode ----------------------------------- 3-201
3
3-3
3.1.1 SGMMJ Servomotors Without Gears
3.1 Ratings and Specifications of SGMMJ Servomotors

(1) Ratings and Specifications
• Time Rating: Continuous • Mounting: Flange method

• Vibration Class: 15 μm or below • Thermal Class: B
• Insulation Resistance: 500 VDC, 10 M Ω min. • Withstand Voltage: 1000 VAC for one minute
• Ambient Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)
• Excitation: Permanent magnet • Drive Method: Direct drive
Voltage 100 V
Servomotor Model SGMMJ- A1B A2B A3B
Rated Output ∗1 W 10 20 30
Rated Torque ∗1,∗2 N·m 0.0318 0.0638 0.0955
Instantaneous Peak Torque ∗1 N·m 0.0955 0.191 0.287
Rated Current ∗1 Arms 0.70 0.66 0.98
Instantaneous Max. Current ∗1 Arms 2.0 1.9 2.9
Rated Speed ∗1 min-1 3000
Max. Speed ∗1 min-1 5000
Torque Constant N·m/Arms 0.0516 0.107 0.107
Incremental x10-4 kg·m2 0.00354 0.00548 0.00750
Rotor Moment of Inertia J
Absolute x10-4 kg·m2 (0.00272) (0.00466) (0.00668)
∗1 kW/s 2.87 7.41 12.2
Rated Power Rate
∗1
Rated Angular Acceleration rad/s2 90000 116000 127000
* 1. These items and torque-motor speed characteristics quoted in combination with SGDS SERVO-
PACK are at an armature winding temperature of 100°C. Other values quoted at 20°C. All values are
typical.
* 2. Rated torques are continuous allowable torque values at 40°C with an aluminum plate (heat sink)
attached.
A1 and A2: 150 × 150 × 3 (mm)
A3: 250 × 250 × 6 (mm)
Note: If the heating conditions are more severe than the *2 conditions above, continuous allowable torque
decreases. Contact your Yaskawa representative.
3-4
(2) Holding Brake Moment of Inertia

The moment of inertia of the servomotor with holding brake is expressed using the following equation.
(The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) +
(brake moment of inertia)
Servomotor Model
A1 A2 A3
SGMMJ-
Holding Brake Moment of
Inertia J ×10-4 kgxm2 0.00125
* These values are reference values.
(3) Holding Brake Electrical Specifications
Holding Brake Specifications

Servomotor
Holding Brake Servomotor Holding Coil Rated
Capacity Capacity
Rated Voltage Model Torque Resistance Current
W W
Nxm Ω(at 20°C ) A (at 20°C)
SGMMJ-A1B 10 2.0 0.0318 320 0.08

24 VDC SGMMJ-A2B 20 2.6 0.0638 222 0.11
SGMMJ-A3B 30 2.6 0.0955 220 0.11
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.
3-5
(4) Torque-motor Speed Characteristics
SGMMJ-A1B SGMMJ-A2B
5000 5000
4000 4000
Motor speed 3000 Motor speed 3000

(min-1) (min-1)
A B A B
2000 2000
1000 1000
0 0
0 0.02 0.04 0.06 0.08 0.10 0 0.04 0.08 0.12 0.16 0.20
Torque (Nm) Torque (Nm)
SGMMJ-A3B
5000 A : Continuous Duty Zone

B : Intermittent Duty Zone
4000
Motor speed 3000

(min-1)
A B
2000
1000
0
0 0.06 0.12 0.18 0.24 0.30
Torque (Nm)
3-6
3.1.2 SGMMJ Servomotors With Standard Backlash Gears
• Time Rating: Continuous • Withstand Voltage: 1000 VAC for one minute
• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled, IP55 (except
for shaft opening)
• Mounting: Flange method • Backlash: 15 to 20 min max.
• Gear Mechanism: Planetary gear mechanism • Gear Rotation Direction: Same direction as servomotor
• Thermal Class: B
Moment of Inertia J
Servomotor Gear Output
×10-4 kg·m2
Servomotor Rated Instanta-
Model Out- Rated Rated Torque/ neous Rated Max.
SGMMJ- Gear Motor +
put Speed Torque Effi- Peak Speed Speed ∗1 Gears
Ratio ∗2 Gears
W min-1 Nxm ciency Torque min-1 min-1
N·m/% N·m

A1BBJA 1/5 0.127/80 0.43 600 1000 0.00529 0.00175
A1BBJB 10 3000 0.0318 1/16 0.407/80 1.38 188 313 0.00454 0.00100
A1BBJC 1/25 0.636/80 2.15 120 200 0.00418 0.00064
A2BBJA 1/5 0.255/80 0.86 600 1000 0.00723 0.00175
A2BBJB 20 3000 0.0638 1/16 0.815/80 2.55∗4 188 313 0.00648 0.00100
A2BBJC 1/25 1.27/80 2.26∗4 120 200 0.00612 0.00064
A3BBJ1 1/5 0.382/80 1.29 600 1000 0.00917 0.00167
A3BBJ2 30 3000 0.0955 1/16 1.22/80 3.23∗4 188 313 0.00842 0.00092
A3BBJ3 1/25 1.91/80 4.31∗4 120 200 0.0806 0.0731
* 1. Gear output torque is expressed using the following equation.

(Gear output torque) = (servomotor output torque) × (gear) × (efficiency)
* 2. Maximum motor speed is up to 5000 min-1 at the shaft.
* 3. This brake is for holding (de-energization operation) and cannot be used to stop the servomo-
tor.
* 4. The allowable torque is limited by gear.
3-7
3.2.1 SGMAS Servomotors without Gears
3.2 Ratings and Specifications of SGMAS Servomotors

• Time Rating: Continuous • Thermal Class: B

• Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute
• Insulation Resistance: 500 VDC, • Enclosure: Totally enclosed, self-cooled, IP55
10 M Ω min. (except for shaft opening)
• Mounting: Flange method
Ratings and Specifications for SGMAS Servomotors without Gears
Voltage 200 V
Servomotor Model SGMAS- A5A 01A C2A 02A 04A 06A 08A 12A
∗1 W 50 100 150 200 400 600 750 1150
Rated Output
Rated Torque∗1, ∗2 Nxm 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.66
Instantaneous Peak Torque∗1 Nxm 0.477 0.955 1.43 1.91 3.82 5.73 7.16 11.0
Rated Current∗1 Arms 0.66 0.91 1.8 1.9 2.6 4.3 5.4 8.5
Instantaneous Max.
Arms 2.1 2.8 5.7 6.5 8.5 13.6 16.9 26.0
Current∗1
Rated Speed∗1 min-1 3000
Max. Speed∗1 min-1 6000
Torque Constant Nxm/Arms 0.265 0.375 0.284 0.375 0.527 0.496 0.487 0.467
Rotor Moment of Inertia kgxm2×10-4 0.0242 0.0380 0.0531 0.116 0.190 0.326 0.769 1.20
Rated Power Rate∗1 kW/s 10.4 26.6 42.8 35.0 84.9 112 74.1 112
Rated Angular Acceleration∗1 rad/s2 65800 83800 89900 54900 67000 58600 31000 30500
Applicable SERVOPACK SGDS- A5 01 02 02 04 08 08 15
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDS
SERVOPACK are at an armature winding temperature of 100°C. Other values quoted at
20°C.
* 2. Rated torques are continuous allowable torque values at 40°C with an aluminum heat sink of the
following dimensions attached.
SGMAS-A5, -01, -C2, -02, -04 and -08: 250 mm × 250 mm × 6 mm
SGMAS-06: 300 mm × 300 mm × 12 mm
SGMAS-12: 350 mm × 350 mm × 12 mm
Note: If the heating conditions are more severe than the *2 conditions above, continuous allow-
able torque decreases. Contact your Yaskawa representative.
3-8

The moment of inertia of the servomotor with holding brake is that of the rotor + that of brakes.
Holding Brake Moment of Inertia

Servomotor Model
A5A 01A C2A 02A 04A 06A 08A 12A
SGMAS-
Holding Brake
kgxm2×10-4 0.00754 0.0642 0.171 0.244
Moment of Inertia
(3) Derating Rate for Servomotor fitted with a Shaft Seal

When a motor is fitted with a shaft seal, use the following reduction ratings because of the higher friction torque.
Derating Rate for Servomotor fitted with a Shaft Seal
Servomotor Model
A5A 01A C2A 02A 04A 06A 08A 12A
SGMAS-
Derating Rate (%) 80 90 95

SGMAS-A5A SGMAS-01A
6000 6000
5000 5000

-1
(min‫)ޓ‬ -1
(min‫)ޓ‬
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 0.15 0.3 0.45 0.6 0 0.25 0.5 0.75 1
SGMAS-C2A SGMAS-02A
6000 6000
5000 5000
Motor speed 4000 Motor speed 4000 3

-1
(min‫)ޓ‬ -1
(min‫)ޓ‬
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 0.4 0.8 1.2 1.6 0 0.5 1 1.5 2
3-9
SGMAS-04A SGMAS-06A
6000 6000
5000 5000

(min -1 ) (min -1 )
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 1 2 3 4 0 1.5 3 4.5 6
Torque(N m) Torque (N m)
SGMAS-08A SGMAS-12A
6000 6000
5000 5000

(min -1 ) (min -1 )
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 2 4 6 8 0 3 6 9 12
Torque(N m) Torque (N m)
A: Continuous Duty Zone

B: Intermittent Duty Zone
Note: The dotted line of intermittent duty zone indicates the characteristics when a servomotor runs in
combination with a SERVOPACK for 100VAC.
3-10

Holding Brake Electrical Specifications
Servomotor
Capacity Capacity Torque
Rated Voltage Model Resistance Current
(W) (W)
(Nxm) Ω(at 20°C) A (at 20°C)
SGMAS-A5A 50 6 0.159 1350 0.066
SGMAS-01A 100 6 0.318 1350 0.066
SGMAS-C2A 150 6 0.477 1350 0.066
SGMAS-02A 200 7.4 0.637 1095 0.082
90 VDC
SGMAS-04A 400 7.4 1.27 1095 0.082
SGMAS-06A 600 8.9 1.91 900 0.1
SGMAS-08A 750 9 2.39 900 0.1
SGMAS-12A 1150 8.4 3.66 964 0.09
SGMAS-A5A 50 6 0.159 96 0.25
SGMAS-01A 100 6 0.318 96 0.25
SGMAS-C2A 150 6 0.477 96 0.25

SGMAS-02A 200 6.9 0.637 83 0.29
24 VDC
SGMAS-04A 400 6.9 1.27 83 0.29
SGMAS-06A 600 8.7 1.91 67 0.36
SGMAS-08A 750 7.7 2.39 75 0.32
SGMAS-12A 1150 7.7 3.66 75 0.32
3-11
3.2.2 SGMAS Servomotors with Standard Backlash Gears

• Insulation Resistance: 500 VDC, • Enclosure: Totally enclosed, self cooled (except for
10 MΩ min. shaft opening)
• Mounting: Flange method • Backlash: 15 to 20 minutes max.
• Gear Mechanism: Planetary gear mechanism
Ratings and Specifications for SGMAS Servomotors with Standard Backlash Gears
Servomotor Gear
Rated Instanta-
Servomotor
Out- Rated Rated Lost Torque neous Rated Max.
Model Gear
SGMAS- put Speed Torque Motion /Effi- Peak Speed Speed ∗1
Ratio
(W) (min-1) (Nxm) (arc-min) ciency∗2 Torque (min-1) (min-1)
(Nxm)/(%) (Nxm)
A5AAJ1 1/5 0.557/70 1.92 600 800
15
A5AAJ3 3/31 1.15/70 3.95 290 387
50 3000 0.159
A5AAJC 1/21 2.67/80 9.07 143 190
20
A5AAJ7 1/33 4.20/80 14.3 91 121
01AAJ1 1/5 1.27/80 4.32 600 800
01AAJ3 3/31 2.63/80 8.88 290 387
100 3000 0.318 15
01AAJC 1/21 5.34/80 18.1 143 190
01AAJ7 1/33 8.40/80 28.4 91 121
C2AAJ1 1/5 1.91/80 5.73 600 800
C2AAJ3 3/31 3.94/80 11.8 290 387
150 3000 0.477 15
C2AAJC 1/21 8.01/80 24.0 143 190
C2AAJ7 1/33 12.6/80 37.8 91 121
02AAJ1 1/5 2.55/80 8.60 600 800
02AAJ3 3/31 5.27/80 17.8 290 387
200 3000 0.637 15
02AAJC 1/21 10.7/80 36.1 143 190
02AAJ7 1/33 16.8/80 56.7 91 121
04AAJ1 1/5 5.08/80 17.2 600 800
04AAJ3 3/31 10.5/80 35.5 290 387
400 3000 1.27 15
04AAJC 1/21 21.3/80 72.2 143 190
04AAJ7 1/33 33.5/80 113 91 121
06AAJ1 1/5 7.60/80 22.8 600 800
06AAJ3 3/31 15.8/80 47.4 290 387
600 3000 1.91 15
06AAJC 1/21 32.1/80 96.3 143 190
06AAJ7 1/33 50.4/80 151 91 121
08AAJ1 1/5 9.56/80 32.0 600 800
08AAJ3 3/31 19.8/80 66.6 290 387
750 3000 2.39 15
08AAJC 1/21 40.2/80 134 143 190
08AAJ7 1/33 63.1/80 212 91 121
12AAJ1 1/5 14.6/80 43.9 600 800
12AAJB 1/11 32.2/80 96.6 273 363
1150 3000 3.66 15
12AAJC 1/21 61.5/80 184 143 190
12AAJ7 1/33 96.6/80 290 91 121
3-12
Ratings and Specifications for SGMAS Servomotors with Standard Backlash Gears (Cont’d)
Servomotor Moment of Inertia
Model Motor + Gear Gear
SGMAS- (kgxm 2
× 10 )
-4
(kgxm2 × 10-4)
A5AAJ1 0.052 0.028
A5AAJ3 0.042 0.018
A5AAJC 0.038 0.014
A5AAJ7 0.034 0.010
01AAJ1 0.101 0.063
01AAJ3 0.056 0.018
01AAJC 0.073 0.035
01AAJ7 0.059 0.021
C2AAJ1 0.116 0.063
C2AAJ3 0.084 0.031
C2AAJC 0.088 0.035
C2AAJ7 0.097 0.044

02AAJ1 0.309 0.193
02AAJ3 0.206 0.090
02AAJC 0.221 0.105
02AAJ7 0.191 0.075
04AAJ1 0.383 0.193
04AAJ3 0.370 0.180
04AAJC 0.420 0.230
04AAJ7 0.355 0.165
06AAJ1 0.519 0.193
06AAJ3 0.553 0.227
06AAJC 0.556 0.230
06AAJ7 0.609 0.283
08AAJ1 1.22 0.451
08AAJ3 1.20 0.425
08AAJC 1.24 0.475
08AAJ7 1.07 0.301
12AAJ1 1.65 0.450
12AAJB 2.24 1.04 3
12AAJC 1.68 0.475
12AAJ7 1.82 0.624
* 1. Maximum motor speed is up to 4000 min-1 at the motor shaft.

(Gear output torque) = (servomotor output torque) × ( gear1ratio ) × (efficiency)
The no-load torque for a servomotor with gears is high immediately afer the servomotor starts, and it then
IMPORTANT decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being
circulated in the gear and not by a faulty gear.
The speed control range of SERVOPACKs in the Σ-III series is 1:5000. When using servomotors at
extremely low speeds (for example, 0.02 min-1 max. at the gear output shaft) or when using servomotors
with one pulse feed reference for extended periods and in other situations that are less than optimum, the
lubrication of the gear bearing may be insufficient. This may cause deterioration of the bearing or increase
the load ratio.
Contact your Yaskawa representative if you are using your servomotor under such conditions.
3-13
3.2.3 SGMAS Servomotors with Low-backlash Gears

• Insulation Resistance: 500 VDC, • Enclosure: Totally enclosed, self cooled (except for
10 MΩ min. shaft opening)
• Mounting: Flange method • Backlash: 3 minutes max.
• Gear Mechanism: Planetary gear mechanism
Ratings and Specifications for SGMAS Servomotors with Low-backlash Gears
Servomotor Gear
Rated Instanta-
Servomotor
Model Gear
Ratio
(Nxm)/(%) (Nxm)
A5AAH1 1/5 0.557/70 1.67 600 800
A5AAH2 1/9 1.00/70 3.01 333 444
50 3000 0.159 3
A5AAHC 1/21 2.67/80 8.02 143 190
A5AAH7 1/33 4.20/80 12.6 91 121
01AAH1 1/5 1.27/80 3.82 600 800
01AAHB 1/11 2.80/80 8.41 273 363
100 3000 0.318 3
01AAHC 1/21 5.34/80 18.2 143 190
01AAH7 1/33 8.40/80 28.7 91 121
C2AAH1 1/5 1.91/80 5.73 600 800
C2AAHB 1/11 4.20/80 12.6 273 363
150 3000 0.477 3
C2AAHC 1/21 8.01/80 24.0 143 190
C2AAH7 1/33 12.6/80 37.8 91 121
02AAH1 1/5 2.55/80 8.4 600 800
02AAHB 1/11 5.96/85 19.3 273 363
200 3000 0.637 3
02AAHC 1/21 11.4/85 37.3 143 190
02AAH7 1/33 17.9/85 58.6 91 121
04AAH1 1/5 5.40/85 17.6 600 800
04AAHB 1/11 11.9/85 39.1 273 363
400 3000 1.27 3
04AAHC 1/21 22.7/85 72.2 143 190
04AAH7 1/33 33.5/80 115 91 121
06AAH1 1/5 8.12/85 24.3 600 800
06AAHB 1/11 17.9/85 53.7 273 363
600 3000 1.91 3
06AAHC 1/21 34.1/85 102 143 190
06AAH7 1/33 50.4/80 151 91 121
08AAH1 1/5 10.2/85 33.3 600 800
08AAHB 1/11 22.3/85 71.0 273 363
750 3000 2.39 3
08AAHC 1/21 42.7/85 140 143 190
08AAH7 1/33 67.0/85 206 91 121
12AAH1 1/5 15.6/85 46.7 600 800
12AAHB 1/11 34.2/85 103 273 363
1150 3000 3.66 3
12AAHC 1/21 65.3/85 196 143 190
12AAH7 1/33 96.6/80 290 91 121
3-14
Ratings and Specifications for SGMAS Servomotors with Low-backlash Gears (cont’d)
SGMAS- (kgxm2 × 10-4) (kgxm2 × 10-4
A5AAH1 0.054 0.030
A5AAH2 0.052 0.028
A5AAHC 0.042 0.019
A5AAH7 0.037 0.013
01AAH1 0.116 0.078
01AAHB 0.086 0.048
01AAHC 0.081 0.043
01AAH7 0.071 0.033
C2AAH1 0.131 0.078
C2AAHB 0.124 0.071
C2AAHC 0.096 0.043
C2AAH7 0.085 0.032

02AAH1 0.451 0.335
02AAHB 0.201 0.085
02AAHC 0.226 0.110
02AAH7 0.181 0.065
04AAH1 0.525 0.335
04AAHB 0.385 0.195
04AAHC 0.385 0.195
04AAH7 0.363 0.173
06AAH1 0.661 0.335
06AAHB 0.518 0.192
06AAHC 0.904 0.578
06AAH7 0.501 0.173
08AAH1 1.35 0.583
08AAHB 1.30 0.528
08AAHC 1.36 0.593
08AAH7 1.03 0.263
12AAH1 1.78 0.583
12AAHB 2.30 1.10 3
12AAHC 1.79 0.593
12AAH7 6.14 4.94

the load ratio.
3-15
3.2.4 SGMAS Flange-type Servomotors with Low-backlash Gears

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self cooled (except for
• Ambient Temperature: 0 to 40° shaft opening)
• Excitation: Permanent magnet • Ambient Humidity: 20% to 80% (no condensation)
• Mounting: Flange method • Drive Method: Direct drive
• Gear Mechanism: Planetary gear mechanism • Backlash: 3 minutes max.
Ratings and Specifications for SGMAS Flange-type Servomotors with Low-backlash Gears
Servomotor Gear
Rated Instanta-
Servomotor
Model Gear
Ratio
(Nxm)/(%) (Nxm)
A5AAH10 1/5 0.557/70 1.92 600 800
A5AAH20 1/9 1.00/70 3.89 333 444
50 3000 0.159 3
A5AAHC0 1/21 2.67/80 9.07 143 190
A5AAH70 1/33 4.20/80 14.3 91 121
01AAH10 1/5 1.27/80 4.32 600 800
01AAHB0 1/11 2.80/80 9.50 273 363
100 3000 0.318 3
01AAHC0 1/21 5.34/80 18.1 143 190
01AAH70 1/33 8.40/80 27.0 91 121
C2AAH10 1/5 1.91/80 5.73 600 800
C2AAHB0 1/11 4.20/80 12.6 273 363
150 3000 0.477 3
C2AAHC0 1/21 8.01/80 24.0 143 190
C2AAH70 1/33 12.6/80 37.8 91 121
02AAH10 1/5 2.55/80 8.60 600 800
02AAHB0 1/11 5.61/80 18.9 273 363
200 3000 0.637 3
02AAHC0 1/21 10.7/80 36.1 143 190
02AAH70 1/33 16.8/80 48.0∗3 91 121
04AAH10 1/5 5.10/80 17.2 600 800
04AAHB0 1/11 11.2/80 35.0 273 363
400 3000 1.27 3
04AAHC0 1/21 21.3/80 72.2 143 190
04AAH70 1/33 33.5/80 93.0∗3 91 121
06AAH10 1/5 7.64/80 22.9 600 800
06AAHB0 1/11 16.8/80 50.4 273 363
600 3000 1.91 3
06AAHC0 1/21 32.1/80 96.3 143 190
06AAH70 1/33 50.4/80 151 91 121
08AAH10 1/5 9.56/80 32.0 600 800
08AAHB0 1/11 21.0/80 56.0∗3 273 363
750 3000 2.39 3
08AAHC0 1/21 40.2/80 134 143 190
08AAH70 1/33 63.1/80 156∗3 91 121
12AAH10 1/5 14.6/80 43.9 600 800
12AAHB0 1/11 32.2/80 96.6 273 363
1150 3000 3.66 3
12AAHC0 1/21 61.5/80 184 143 190
12AAH70 1/33 96.6/80 290 91 121
3-16
Ratings and Specifications for SGMAS Flange-type Servomotors with Low-backlash Gears (cont’d)
SGMAS- (kgxm2 × 10-4) (kgxm2 × 10-4)
A5AAH10 0.059 0.035
A5AAH20 0.056 0.032
A5AAHC0 0.042 0.018
A5AAH70 0.035 0.011
01AAH10 0.123 0.085
01AAHB0 0.079 0.041
01AAHC0 0.081 0.043
01AAH70 0.064 0.026
C2AAH10 0.138 0.085
C2AAHB0 0.137 0.084
C2AAHC0 0.096 0.043
C2AAH70 0.129 0.076

02AAH10 0.396 0.280
02AAHB0 0.217 0.101
02AAHC0 0.204 0.088
02AAH70 0.170 0.054
04AAH10 0.470 0.280
04AAHB0 0.417 0.227
04AAHC0 0.409 0.219
04AAH70 0.326 0.136
06AAH10 0.606 0.280
06AAHB0 0.843 0.517
06AAHC0 0.891 0.565
06AAH70 0.647 0.321
08AAH10 1.39 0.616
08AAHB0 1.32 0.552
08AAHC0 1.32 0.552
08AAH70 1.10 0.327
12AAH10 3.66 2.46
12AAHB0 2.53 1.33 3
12AAHC0 3.41 2.21
12AAH70 6.12 4.92
* 1. Maximum motor speed is up to 4000 min-1 at the shaft.

1
(Gear output torque) = (servomotor output torque) × ( gear ratio ) × (efficiency)
* 3. The instantaneous peak torque values are limited by the gear, so use the following servomo-
tor instantaneous peak torque. In this case, set torque parameters Pn402 and 403 for the
SERVOPACK at 250%.
the load ratio.
3-17
3.3.1 SGMPS Servomotors without Gears
3.3 Ratings and Specifications of SGMPS Servomotors


• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled, IP55
• Ambient Temperature: 0 to 40°C (except for shaft opening)
Ratings and Specifications for SGMPS Servomotors without Gears

Voltage 200 V
Servomotor Model SGMPS- 01A 02A 04A 08A 15A
∗1 W 100 200 400 750 1500
Rated Output
Rated Torque∗1, ∗2 Nxm 0.318 0.637 1.27 2.39 4.77
Instantaneous Peak Torque∗1 Nxm 0.955 1.91 3.82 7.16 14.3
Rated Current ∗1 Arms 0.86 2.0 2.6 5.4 9.2
Instantaneous Max. Current ∗1 Arms 2.8 6.4 8.4 16.5 28.0
Max. Speed∗1 min-1 6000
Torque Constant Nxm/Arms 0.401 0.361 0.524 0.476 0.559
Rotor Moment of Inertia kgxm2×10-4 0.0592 0.263 0.409 2.10 4.02
∗1 kW/s 17.1 15.4 39.6 27.2 56.6
Rated Power Rate
∗1
Rated Angular Acceleration rad/s2 53700 24200 31100 11400 11900
Applicable SERVOPACK SGDS- 01 02 04 08 15
* 1. These items and torque-motor speed characteristics quoted in combination with a SGDS
20°C.
* 2. Rated torques are continuous allowable torque values at 40°C with the following aluminum
head sink attached.
SGMPS-01, 02, 04: 250 mm × 250 mm × 6 mm
SGMPS-08, 15: 300 mm × 300 mm × 12 mm
able torque decreases. Contact your Yaskawa representatives.

Servomotor Model
01A 02A 04A 08A 15A
SGMPS-
Holding Brake
Moment of Inertia (kgxm2×10-4) 0.0300 0.152 0.875
3-18
(3) Derating Ratio for Servomotor fitted with a Shaft Seal

Use the following reduction ratings when a motor is fitted with a shaft seal because of the higher friction torque.
Derating Ratio for Servomotor fitted with a Shaft Seal
Servomotor Model
01A 02A 04A 08A 15A
SGMPS-
Derating Ratio (%) 90 95

SGMPS-01A SGMPS-02A
6000 6000
5000 5000

(min -1 ) (min -1 )
3000 3000
A B A B
2000 2000
1000 1000

0 0
0 0.25 0.5 0.75 1 0 0.5 1 1.5 2
Torque(N m) Torque(N m)
SGMPS-04A SGMPS-08A
6000 6000
5000 5000

(min -1 ) (min -1 )
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 1 2 3 4 0 2 4 6 8
3
SGMPS-15A
6000
5000
Motor speed 4000 A : Continuous Duty Zone
(min -1 )
3000
A B
2000
1000
0
0 4 8 12 16
Torque (N m)
3-19

Holding Brake Electrical Specifications
Servomotor
Capacity Capacity
(W) (W)
(Nxm) Ω(at 20°C) A (at 20°C)
SGMPS-01A 100 8.1 0.318 1000 0.09
SGMPS-02A 200 7.6 0.637 1066 0.084
90 VDC SGMPS-04A 400 7.6 1.27 1066 0.084
SGMPS-08A 750 7.5 2.39 1083 0.083
SGMPS-15A 1500 10 4.77 832 0.108
SGMPS-01A 100 8.1 0.318 71 0.34
SGMPS-02A 200 7.6 0.637 75.8 0.32
24 VDC SGMPS-04A 400 7.6 1.27 75.8 0.32
SGMPS-08A 750 7.5 2.39 76.8 0.31
SGMPS-15A 1500 10 4.77 57.6 0.31
Note: The holding brake is used only to hold the load and cannot be used to stop the servomotor.
3-20
3.3.2 SGMPS Servomotors with Standard Backlash Gears

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled (except for
• Ambient Temperature: 0 to 40°C shaft opening)
Ratings and Specifications for SGMPS Servomotors with Standard backlash Gears
Servomotor Gear
Rated Instanta-
Servomotor
Model Gear
SGMPS- put Speed Torque Motion /Effi- Peak Speed Speed ∗1
Ratio
(Nxm)/(%) (Nxm)
01AAJ1 1/5 1.27/80 4.32 600 800

01AAJ3 3/31 2.63/80 8.88 290 387
100 3000 0.318 15
01AAJC 1/21 5.34/80 18.1 143 190
01AAJ7 1/33 8.40/80 28.4 91 121
02AAJ1 1/5 2.55/80 8.60 600 800
02AAJ3 3/31 5.27/80 17.8 290 387
200 3000 0.637 15
02AAJC 1/21 10.7/80 36.1 143 190
02AAJ7 1/33 16.8/80 56.7 91 121
04AAJ1 1/5 5.08/80 17.2 600 800
04AAJ3 3/31 10.5/80 35.5 290 387
400 3000 1.27 15
04AAJC 1/21 21.3/80 72.2 143 190
04AAJ7 1/33 33.5/80 113 91 121
08AAJ1 1/5 9.56/80 32.0 600 800
08AAJ3 3/31 19.8/80 66.6 290 387
750 3000 2.39 15
08AAJC 1/21 40.2/80 134 143 190
08AAJ7 1/33 63.1/80 213 91 121
15AAJ1 1/5 19.1/80 64.4 600 800
15AAJB 1/11 42.0/80 144 269 359
1500 3000 4.77 15 3
15AAJC 1/21 80.1/80 270 143 190
15AAJ7 1/33 126/80 425 91 121
3-21
Ratings and Specifications for SGMPS Servomotors with Standard backlash Gears (cont’d)
SGMPS- (kgxm2 × 10-4) (kgxm2 × 10-4)
01AAJ1 0.122 0.063
01AAJ3 0.077 0.018
01AAJC 0.094 0.035
01AAJ7 0.080 0.021
02AAJ1 0.456 0.193
02AAJ3 0.353 0.090
02AAJC 0.368 0.105
02AAJ7 0.338 0.075
04AAJ1 0.602 0.193
04AAJ3 0.589 0.180
04AAJC 0.639 0.230
04AAJ7 0.574 0.165
08AAJ1 2.55 0.450
08AAJ3 2.53 0.425
08AAJC 2.58 0.475
08AAJ7 2.40 0.300
15AAJ1 4.97 0.950
15AAJB 5.27 1.25
15AAJC 5.32 1.32
15AAJ7 4.82 0.800

the load ratio.
3-22
3.3.3 SGMPS Servomotors with Low-Backlash Gears

• Vibration Class: 15 μm or below • Withstand Voltage:1500 VAC for one minute
• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled (except for
• Ambient Temperature: 0 to 40°C shaft opening)
Ratings and Specifications for SGMPS Servomotors with Low-backlash Gears

Servomotor Gear
Rated Instanta-
Servomotor
Model Gear
Ratio
(Nxm)/(%) (Nxm)
01AAH1 1/5 1.27/80 4.34 600 800

01AAHB 1/11 2.80/80 9.55 273 363
100 3000 0.318 3
01AAHC 1/21 5.34/80 18.2 143 190
01AAH7 1/33 8.40/80 28.7 91 121
02AAH1 1/5 2.55/80 8.40 600 800
02AAHB 1/11 5.96/85 19.3 273 363
200 3000 0.637 3
02AAHC 1/21 11.4/85 37.3 143 190
02AAH7 1/33 17.9/85 58.6 91 121
04AAH1 1/5 5.40/85 17.6 600 800
04AAHB 1/11 11.9/85 39.1 273 363
400 3000 1.27 3
04AAHC 1/21 22.7/85 72.2 143 190
04AAH7 1/33 33.5/80 115 91 121
08AAH1 1/5 10.2/85 33.3 600 800
08AAHB 1/11 22.3/85 71.0 273 363
750 3000 2.39 3
08AAHC 1/21 42.7/85 140 143 190
08AAH7 1/33 67.0/85 206 91 121
15AAH1 1/5 20.3/85 65.9 600 800
15AAHB 1/11 44.6/85 148 273 363
15AAHC
1500 3000 4.77
1/21
3
80.1/80 270 143 190 3
15AAH7 1/33 126/80 353∗3 91 121
3-23
3.3.3 SGMPS Servomotors with Low-Backlash Gears
Ratings and Specifications for SGMPS Servomotors with Low-backlash Gears (cont’d)
SGMPS- (kgxm2 × 10-4) (kgxm2 × 10-4)
01AAH1 0.152 0.093
01AAHB 0.107 0.048
01AAHC 0.102 0.043
01AAH7 0.092 0.033
02AAH1 0.623 0.360
02AAHB 0.351 0.088
02AAHC 0.373 0.110
02AAH7 0.328 0.065
04AAH1 0.769 0.360
04AAHB 0.604 0.195
04AAHC 0.604 0.195
04AAH7 0.582 0.173
08AAH1 2.87 0.765
08AAHB 2.62 0.523
08AAHC 2.76 0.663
08AAH7 2.56 0.455
15AAH1 5.56 1.54
15AAHB 6.11 2.09
15AAHC 6.00 1.98
15AAH7 5.14 1.12


* 3. The instantaneous peak torque values indicated with ∗3 are limited by the gear, so use the fol-
lowing servomotor instantaneous peak torque. In this case, set torque limit parameters Pn402
and 403 for the SERVOPACK at 250%.
the load ratio.
3-24
3.3.4 SGMPS Flange-type Servomotors with Low-backlash Gears

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled
Ratings and Specifications for SGMPS Flange-type Servomotors with Low-backlash Gears
Servomotor Gear
Rated Instanta-
Servomotor
Model Gear
Ratio
(Nxm)/(%) (Nxm)
01AAH10 1/5 1.27/80 4.32 600 800

01AAHB0 1/11 2.80/80 9.50 273 363
100 3000 0.318 3
01AAHC0 1/21 5.34/80 18.1 143 190
01AAH70 1/33 8.40/80 27.0 91 121
02AAH10 1/5 2.55/80 8.60 600 800
02AAHB0 1/11 5.62/80 18.9 273 363
200 3000 0.637 3
02AAHC0 1/21 10.7/80 36.1 143 190
02AAH70 1/33 16.8/80 48.0∗3 91 121
04AAH10 1/5 5.08/80 17.2 600 800
04AAHB0 1/11 11.2/80 35.0 273 363
400 3000 1.27 3
04AAHC0 1/21 21.3/80 72.2 143 190
04AAH70 1/33 33.5/80 93.0∗3 91 121
08AAH10 1/5 9.56/80 32.0 600 800
08AAHB0 1/11 21.0/80 56.0∗3 273 363
750 3000 2.39 3
08AAHC0 1/21 40.2/80 134 143 190
08AAH70 1/33 63.1/80 156∗3 91 121
15AAH10 1/5 19.1/80 64.4 600 800
15AAHB0
1500 3000 4.77
1/11
3
42.0/80 142 273 363 3
15AAHC0 1/21 80.1/80 270 143 190
15AAH70 1/33 126/80 353∗3 91 121
3-25
Ratings and Specifications for SGMPS Flange-type Servomotors with Low-backlash Gears
(cont’d)
SGMPS- (kgxm2 × 10-4) (kgxm2 × 10-4)
01AAH10 0.144 0.085
01AAHB0 0.100 0.041
01AAHC0 0.102 0.043
01AAH70 0.085 0.026
02AAH10 0.543 0.280
02AAHB0 0.364 0.101
02AAHC0 0.351 0.088
02AAH70 0.317 0.054
04AAH10 0.689 0.280
04AAHB0 0.636 0.227
04AAHC0 0.628 0.219
04AAH70 0.545 0.136
08AAH10 2.72 0.616
08AAHB0 2.65 0.552
08AAHC0 2.65 0.552
08AAH70 2.43 0.327
15AAH10 5.59 1.57
15AAHB0 5.58 1.56
15AAHC0 5.90 1.88
15AAH70 5.10 1.08
* 1. Maximum motor speed is up to 4000 (min-1) at the motor shaft.


* 3. The instantaneous peak torque values are limited by the gear, so use the following servomo-
tor instantaneous peak torque. In this case, set torque parameters Pn402 and 403 for the
SERVOPACK at 250%.
the load ratio.
3-26
3.4 Ratings and Specifications of SGMSS Servomotors

3.4.1 SGMSS Servomotors without Gears
• Time Rating: Continuous • Thermal Class: F

• Ambient Temperature: 0 to 40°C (except for shaft opening) Note: IP22 for SGMSS-70
Ratings and Specifications for SGMSS Servomotors without Gears

Voltage 200 V
Servomotor Model SGMSS- 10AA 15AA 20AA 25AA 30AA 40AA 50AA 70AA
Rated Output∗1 kW 1.0 1.5 2.0 2.5 3.0 4.0 5.0 7.0
Rated Torque∗1, ∗2 Nxm 3.18 4.90 6.36 7.96 9.80 12.6 15.8 22.3

Instantaneous Peak Torque ∗1 Nxm 9.54 14.7 19.1 23.9 29.4 37.8 47.6 54
Rated Current∗1 Arms 5.7 9.3 12.1 13.8 17.9 25.4 27.6 38.3
Instantaneous Max. Current ∗1 Arms 17 28 42 44.5 56 77 84 105
Max. Speed∗1 min-1 6000 5000
Torque Constant Nxm/Arms 0.636 0.590 0.561 0.610 0.581 0.520 0.600 0.600
Rotor Moment of Inertia kgxm2×10-4 1.74 2.00 2.47 3.19 7.00 9.60 12.3 12.3
∗1 kW/s 58.1 120 164 199 137 165 203 404
Rated Power Rate
Rated Angular Acceleration∗1 rad/s2 18300 24500 25700 25000 14000 13100 12800 18100
Applicable SERVOPACK SGDS- 10 15 20 30 30 50 50 75
SERVOPACK are at an armature winding temperature of 20°C.
* 2. These characteristics are values with the following aluminum plate (heat sink) attached for
cooling.
• SGMSS-10, 15, 20, 25 :300 × 300 × 12 (mm)
• SGMSS-30, 40, 50, 70 :400 × 400 × 20 (mm) 3
able torque decreases. Contact your Yaskawa representative.

Servomotor Model
10A 15A 20A 25A 30A 40A 50A 70A
SGMSS-
SGMSS-40A to -70A
Holding Brake 2 -4
kgxm ×10 0.250 2.1 servomotors do not have
Moment of Inertia
holding brakes.
3-27
3.4.1 SGMSS Servomotors without Gears

Servomotor
Capacity Capacity
Raged Voltage Model Torque Resistance Current A
(W) (W)
(Nxm) Ω (at 20°C) (at 20°C)
SGMSS-10 1000 7 4.3 1150 0.078
SGMSS-15 1500 12 7.84 675 0.13
DC90 V SGMSS-20 2000 12 7.84 675 0.13
SGMSS-25 2500 12 10 675 0.13
SGMSS-30 3000 20 20 405 0.222
SGMSS-10 1000 7 4.3 82 0.29
SGMSS-15 1500 12 7.84 48 0.5
DC24 V SGMSS-20 2000 12 7.84 48 0.5
SGMSS-25 2500 12 10 48 0.5
SGMSS-30 3000 20 20 28.8 0.833
SGMSS-10A SGMSS-15A
6000 6000
5000 5000

(min-1) (min-1)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 2 4 6 8 10 0 5 10 15 20
SGMSS-20A SGMSS-25A
6000 6000
5000 5000

(min-1) (min-1)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 5 10 15 20 25 0 5 10 15 20 25 30
A : Continuous Duty Zone

3-28
SGMSS-30A SGMSS-40A
6000 6000
5000 5000

(min-1) (min-1)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 10 20 30 40 0 10 20 30 40
Torque(Nm) Torque(Nm)
SGMSS-50A SGMSS-70A

6000 6000
5000 5000

(min-1) (min-1)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 10 20 30 40 50 0 10 20 30 40 50 60

3-29
3.4.2 SGMSS Servomotors with Low-backlash Gears
3.4.2 SGMSS Servomotors with Low-backlash Gears

• Gear Lubricating Method: Grease
Ratings and Specifications for SGMSS Servomotors with Low-backlash Gears

Servomotor Gear
Rated Instanta-
Servomotor neous
Out- Rated Rated Torque Rated Max.
Model Gear Peak
put Speed Torque /Effi- Speed Speed ∗
SGMSS- Ratio Torque/
(kW) (min-1) (Nxm) ciency*2 (min-1) (min-1)
Efficiency
(Nxm)/(%)
(Nxm)/(%)
10AAL14 1/5 12.7/80 38.2/80 600 800
10AAL24 1/9 22.9/80 68.7/80 333 444
10AAL54 1.0 3000 3.18 1/20 50.9/80 153/80 150 200
10AAL74 1/29 73.8/80 221/80 103 138
10AAL84 1/45 115/80 343/80 66 89
15AAL14 1/5 19.6/80 58.8/80 600 800
15AAL24 1/9 35.3/80 106/80 333 444
15AAL54 1.5 3000 4.9 1/20 78.4/80 235/80 150 200
15AAL74 1/29 114/80 341/80 103 138
15AAL84 1/45 176/80 529/80 66 89
20AAL14 1/5 25.6/80 76.4/80 600 800
20AAL24 1/9 46/80 138/80 333 444
20AAL54 2.0 3000 6.36 1/20 102/80 306/80 150 200
20AAL74 1/29 148/80 443/80 103 138
20AAL84 1/45 230/80 688/80 66 89
25AAL14 1/5 31.8/80 95.5/80 600 800
25AAL24 1/9 57.3/80 172/80 333 444
25AAL54 2.5 3000 7.96 1/20 127/80 382/80 150 200
25AAL74 1/29 185/80 554/80 103 138
25AAL84 1/45 287/80 860/80 66 89
30AAL14 1/5 39.2/80 118/80 600 800
30AAL24 1/9 70.5/80 212/80 333 444
30AAL54 3.0 9.8 1/20 157/80 470/80 150 200
30AAL74 1/29 227/80 682/80 103 138
30AAL84 1/45 353/80 1058/80 66 89
40AAL14 1/5 50.4/80 151/80 600 800
3000
40AAL24 1/9 90.7/80 272/80 333 444
4.0 12.6
40AAL54 1/20 202/80 605/80 150 200
40AAL74 1/29 292/80 877/80 103 138
50AAL14 1/5 63.2/80 190/80 600 800
50AAL24 5.0 15.8 1/9 114/80 343/80 333 444
50AAL54 1/20 253/80 762/80 150 200
3-30
Ratings and Specifications for SGMSS Servomotors with Low-backlash Gears (cont’d)
SGMSS- (kgxm2 × 10-4) (kgxm2 × 10-4)
10AAL14 5.18 3.44
10AAL24 4.85 3.11
10AAL54 8.53 6.79
10AAL74 6.62 4.88
10AAL84 5.66 3.92
15AAL14 5.44 3.44
15AAL24 6.77 4.77
15AAL54 8.79 6.79
15AAL74 6.88 4.88
15AAL84 8.58 6.58
20AAL14 5.91 3.44
20AAL24 7.24 4.77

20AAL54 9.26 6.79
20AAL74 12.77 10.3
20AAL84 9.05 6.58
25AAL14 11.04 7.85
25AAL24 7.96 4.77
25AAL54 18.19 15.0
25AAL74 13.49 10.3
25AAL84 9.77 6.58
30AAL14 17.2 10.2
30AAL24 14.8 7.80
30AAL54 27.2 20.2
30AAL74 20.4 13.4
30AAL84 16.7 9.70
40AAL14 19.8 10.2
40AAL24 22.1 12.5
40AAL54 29.8 20.2
40AAL74 23.0 13.4
50AAL14 32.7 20.4 3
50AAL24 24.8 12.5
50AAL54 32.5 20.2
Notes: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.
2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts,
and it then decreases and becomes stable a few minutes later. This is a common phenomenon
caused by grease being circulated in the gear and not by a faulty gear.
* 1. The maximum input motor speed of the gears is 4000 min-1.
* 2. Output torque and motor speed produce the following trends in efficiency. Values in the table are at
the rated motor speed.
Efficiency Efficiency
Output torque Motor speed
3-31
3.5.1 SGMGH Servomotors (1500min-1) Without Gears
3.5 Ratings and Specifications of SGMGH (1500min-1)


• Vibration Class: 15 μm or below • Withstand Voltage:
• Insulation Resistance: 500 VDC, 200 V Servomotors: 1500 VAC for one minute
10 MΩ min. • Enclosure: Totally enclosed, IP67 self-cooled
Voltage 200 V
Servomotor Model SGMGH- 05AA 09AA 13AA 20AA 30AA 44AA 55AA 75AA
Rated Output ∗1 kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5
18.6
Rated Torque ∗1 N·m 2.84 5.39 8.34 11.5 28.4 35.0 48.0
(14.8)*3
Instantaneous
N·m 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119
Peak Torque ∗1
Rated Current 23.8
Arms 3.8 7.1 10.7 16.7 32.8 42.1 54.7
∗1 (18.9)*3
Instantaneous
Arms 11 17 28 42 56 84 110 130
Max. Current ∗1
∗1
Max. Speed min-1 3000
Torque
N·m/Arms 0.82 0.83 0.84 0.73 0.83 0.91 0.88 0.93
Constant
Rotor Moment 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125
×10-4 kg·m2
of Inertia J∗2 (9.34) (16.0) (22.6) (40.2) (54.5) (76.0) (97.5) (133.5)
Rated Power
kW/s 11.2 20.9 33.8 41.5 75.3 120 137 184
Rate ∗1
Rated Angular
rad/s2 3930 3880 4060 3620 4050 4210 3930 3850
Acceleration ∗1
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDS SERVO-
PACK are at an armature winding temperature of 20°C.
* 2. The values in the parentheses are those for motors with holding brakes.
* 3. If using the SGMGH-30AA servomotor and the SGDS-30 SERVOPACK together, take into con-
sideration of the rated vaue in the parenthesesis.
Notes: 1. These characteristics are values with the following iron plate (heat sink) attached for cooling.
SGMGH-05, 09, and 13: 400 × 400 × 20 (mm)
SGMGH-20, 30, 44, 55, and 75: 550 × 550 × 30 (mm)
2. If the heating conditions are more severe than the conditions described in Note 1, continuous
allowable torque decreases. Contact your Yaskawa representative.
3-32

(The moment of inertia of the servomotor with holding brake) =
(rotor moment of inertia) + (brake moment of inertia)
Servomotor Model
05AA 09AA 13AA 20AA 30AA 44AA 55AA 75AA
SGMGH-
Holding Brake -4 2 2.10 8.50
Moment of Inertia J ×10 kgxm
* These values are reference values.

SGMGH-05AA SGMGH-09AA SGMGH-13AA SGMGH-20AA
3000 3000 3000 3000
Motor 2000 Motor 2000 Motor 2000 Motor 2000

speed speed speed speed
A B A B A B A B
(min-1) 1000 (min-1) 1000 (min-1)1000 (min-1) 1000

0 0 0 0
0 2 4 6 8 10 0 5 10 15 20 0 10 20 30 0 10 20 30 40
Torque (Nm) Torque (Nm) Torque (Nm) Torque (Nm)
SGMGH-30AA SGMGH-30AA
(Use with an SGDS-50A SERVOPACK.) (Use with an SGDS-30A SERVOPACK.) SGMGH-44AA SGMGH-55AA
3000 3000 3000 3000
Motor 2000 Motor 2000 Motor 2000 Motor 2000

A B A B A B A B
(min-1) 1000 (min-1) 1000 (min-1)1000 (min-1)1000
0 0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 20 40 60 80 0 20 40 60 80 100
SGMGH-75AA
3000
Motor 2000 3
speed
A B
(min-1) 1000
A : Continuous Duty Zone B : Intermittent Duty Zone
0
0 50 100 150
Torque (Nm)
3-33

Holding Servomotor
Servomotor Holding Coil Rated
Brake Rated Capacity Capacity
Model Torque Resistance Current
Voltage W W
N·m Ω (at 20 °C) A (at 20 °C)
SGMGH-05 450 10.1 4.41 804 0.11
SGMGH-09 850 10.1 12.7 804 0.11
SGMGH-13 1300 10.1 12.7 804 0.11
SGMGH-20 1800 18.5 43.1 438 0.21
90 VDC
SGMGH-30 2900 18.5 43.1 438 0.21
SGMGH-44 4400 18.5 43.1 438 0.21
SGMGH-55 5500 23.5 72.6 327 0.28
SGMGH-75 7500 23.5 72.6 327 0.28
SGMGH-05 450 9.85 4.41 58.7 0.41
SGMGH-09 850 9.85 12.7 58.7 0.41
SGMGH-13 1300 9.85 12.7 58.7 0.41
SGMGH-20 1800 18.5 43.1 31.1 0.77
24 VDC
SGMGH-30 2900 18.5 43.1 31.1 0.77
SGMGH-44 4400 18.5 43.1 31.1 0.77
SGMGH-55 5500 23.5 72.6 24.5 0.98
SGMGH-75 7500 23.5 72.6 24.5 0.98
3-34
• Time Rating: Continuous • Enclosure: Totally enclosed, IP44 self-cooled (or

• Vibration Class: 15 μm or below the equivalent)
• Insulation Resistance: 500 VDC, 10 MΩ min. • Ambient Humidity: 20% to 80% (no condensa-
• Ambient Temperature: 0 to 40°C tion)
• Mounting: Foot and flange-mounted • Backlash: Roughly 0.6 to 2° at the gear output
Type 6090 to 6125: Omni-directional mounting shaft
Type 6130 to 6190: Horizontal mounting to shaft • Gear Rotation Direction: Reverse direction of
• Gear Mechanism: Cyclo gear mechanism servomotor
• Thermal Class: F • Gear Lubricating Method:
• Withstand Voltage: Type 6090 to 6125: Grease
200 V Servomotors: 1500 VAC for one minute Type 6130 to 6190: Oil ∗
* For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa
representative about lubrication for angle mounting.
Note: Contact your Yaskawa representative regarding the use of servomotors in cases such as when the servomotor
is frequently started and stopped, or when impact is generated on the gear output shaft by acceleration and

deceleration.
Moment of Inertia J
×10-4 kg·m2
Servomotor Instanta-
Model Rated neous
Out- Rated Rated Rated Max.
SGMGH- Gear Torque/ Peak Motor +
put Speed Torque Speed Speed Gears
Ratio Efficiency Torque/ Gears
kW min-1 Nxm
Effective min-1 min-1
N·m/%
N·m/%
05PAA6 1/6 128/75 40.1/75 250 500 9.20 1.96
05PAB6 1/11 25.0/80 78.5/80 136 272 8.84 1.6
0.45 2.84
05PAC6 1/21 47.7/80 150/80 71 142 8.39 1.15
05PA76 1/29 65.9/80 207/80 51 103 8.41 1.17
09PAA6 1/6 25.9/80 66.2/80 250 500 15.7 1.78
09PAB6 1/11 47.4/80 121/80 136 272 15.3 1.35
0.85 5.39
09PAC6 1/21 90.6/80 232/80 71 142 15.9 1.97
09PA76 1/29 125/80 320/80 51 103 16.1 2.19 3
13PAA6 1/6 40.0/80 112/80 250 500 22.3 1.84
13PAB6 1/11 73.4/80 205/80 136 272 23.4 2.89
1.3 8.34
13PAC6 1/21 140/80 391/80 71 142 22.5 2.03
13PA76 1/29 206/85 574/85 51 103 24.2 3.67
1500
20PAA6 1/6 58.7/85 146/85 250 500 38.0 6.3
20PAB6 1/11 108/85 268/85 136 272 36.5 4.76
1.8 11.5
20PAC6 1/21 205/85 512/85 71 142 37.6 5.93
20PA76 1/29 283/85 707/85 51 103 37.3 5.58
30PAA6 1/6 94.9/85 230/85 250 500 52.3 6.3
30PAB6 1/11 174/85 422/85 136 272 50.8 4.76
2.9 18.6
30PAC6 1/21 332/85 805/85 71 142 51.9 5.93
30PA76 1/29 458/85 1110/85 51 103 78.5 32.5
44PAA6 1/6 145/85 363/85 250 500 79.5 12.0
44PAB6 1/11 266/85 665/85 136 272 75.2 7.73
4.4 28.4
44PAC6 1/21 507/85 1270/85 71 142 101 33.6
44PA76 1/29 700/85 1750/85 51 103 121 53.3
3-35
(cont’d)
Moment of Inertia J
×10-4 kg·m2
Model Rated neous
kW min-1 Nxm
N·m/%
N·m/%
55PAA6 1/6 179/85 447/85 250 500 103 13.7
55PAB6 1/11 327/85 819/85 136 272 98.8 9.78
5.5 35.0
55PAC6 1/21 625/85 1560/85 71 142 157 68.0
55PA76 1500 1/29 863/85 2160/85 51 103 155 66.0
75PAB6 1/11 449/85 1110/85 136 272 175 50.2
75PAC6 7.5 48.0 1/21 857/85 2120/85 71 142 193 68.0
75PA76 1/29 1180/85 2930/85 51 103 207 81.5
2. Output torque and motor speed produce the following trends in efficiency. Values in the table
are at the rated motor speed.
3. 15-kW servomotors do not equipped with gears.
3-36

• Vibration Class: 15 μm or below • Withstand Voltage:
• Insulation Resistance: 500 VDC, 10 MΩ min. 200 V Servomotors: 1500 VAC for one minute
• Ambient Temperature: 0 to 40°C • Enclosure: Totally enclosed, IP44 self-cooled
• Excitation: Permanent magnet (or the equivalent)
• Mounting: Flange-mounted (Omni-directional mounting) • Ambient Humidity: 20% to 80% (no condensation)
• Gear Lubricating Method: Grease • Drive Method: Direct drive
• Gear Mechanism: Planetary gear mechanism • Backlash: 0.05° (3 min) at the gear output shaft
• Gear Rotation Direction: Same direction as servomotor
Moment of Inertia J
×10-4 kg·m2
Model Rated neous

Ratio Efficiency ∗ Torque/ Gears
kW min-1 Nxm
N·m/%
N·m/%
05AAL14 1/5 11.4/80 35.7/80 300 600 8.50 1.26
05AAL24 1/9 20.4/80 64.2/80 167 334 8.18 0.94
05AAL54 0.45 2.84 1/20 45.4/80 143/80 75 150 11.9 4.66
05AAL74 1/29 65.9/80 207/80 51 102 10.0 2.76
05AAL84 1/45 102/80 321/80 33 66 9.05 1.81
09AAL14 1/5 21.6/80 55.2/80 300 600 15.2 1.30
09AAL24 1/9 38.8/80 99.4/80 167 334 14.8 0.90
09AAL54 0.85 5.39 1/20 86.2/80 221/80 75 150 18.6 4.70
09AAL74 1/29 125/80 320/80 51 102 16.7 2.80
09AAL84 1/45 194/80 497/80 33 66 18.4 4.50
13AAL14 1/5 33.4/80 93.2/80 300 600 27.7 7.20
13AAL24 1/9 60.0/80 168/80 167 334 25.3 4.80
1500
13AAL54 1.3 8.34 1/20 133/80 373/80 75 150 27.4 6.90
13AAL74 1/29 193/80 541/80 51 102 30.9 10.4
1/45 300/80 839/80 33 66 27.2 6.70
3
13AAL84
20AAL14 1/5 46.0/80 115/80 300 600 41.9 10.2
20AAL24 1/9 82.8/80 207/80 167 334 39.5 7.80
1.8 11.5
20AAL54 1/20 184/80 459/80 75 150 51.9 20.2
20AAL74 1/29 267/80 666/80 51 102 45.1 13.4
30AAL14 1/5 74.4/80 182/80 300 600 66.4 20.4
30AAL24 2.9 18.6 1/9 134/80 328/80 167 334 58.5 12.5
30AAL54 1/20 298/80 730/80 75 150 66.2 20.2
44AAL14 1/5 114/80 284/80 300 600 87.9 20.4
4.4 28.4
44AAL24 1/9 204/80 512/80 167 334 80.0 12.5
* Output torque and motor speed produce the following trends in efficiency. Values in the table are at the
rated motor speed.
3-37
3-38
3.6 Ratings and Specifications of SGMGH (1000 min-1)

3.6.1 SGMGH Servomotors (1000 min-1) Without Gears
• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, IP67 self-cooled
Voltage 200 V
Servomotor Model
03AB 06AB 09AB 12AB 20AB 30AB 40AB 55AB
SGMGH-
Rated Output ∗1 kW 0.3 0.6 0.9 1.2 2.0 3.0 4.0 5.5

28.4
Rated Torque ∗1 N·m 2.84 5.68 8.62 11.5 19.1 38.2 52.6
(21.6)*3
Instantaneous
N·m 7.17 14.1 19.3 28.0 44.0 63.7 107 136.9
Peak Torque ∗1
24.8
Rated Current ∗1 Arms 3.0 5.7 7.6 11.6 18.5 30 43.2
(18.9)*3
Instantaneous
Arms 7.3 13.9 16.6 28 42 56 84 110
Max. Current ∗1
∗1
Max. Speed min-1 2000
Torque Constant N·m/Arms 1.03 1.06 1.21 1.03 1.07 1.19 1.34 1.26
Rotor Moment 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125
x10-4 kg·m2
of Inertia J∗2 (9.34) (16.0) (22.6) (40.2) (54.5) (76.0) (97.5) (133.5)
Rated Power
kW/s2 11.2 23.2 36.3 41.5 79.4 120 164 221
Rate ∗1
Rated Anglar
rad/s2 3930 4080 4210 3620 4150 4210 4290 4200
Acceleration ∗1 3
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDS SERVO-
PACK are at an armature winding temperature of 20°C.
* 2. The values in the parentheses are those for motors with holding brakes.
* 3. If using the SGMGH-30AB servomotor and the SGDS-30 SERVOPACK together, take into con-
sideration of the rated vaue in the parentheses is.
Notes: 1. These characteristics are values with the following iron plate (heat sinks) attached for cooling.
SGMGH-03, 06, and 09: 400 × 400 × 20 (mm)
SGMGH-12, 20, 30, 40 and 55: 550 × 550 × 30 (mm)
2. If the heating conditions are more severe than the conditions described in Note 1, continuous
allowable torque decreases. Contact your Yaskawa representative.
3-39
3.6.1 SGMGH Servomotors (1000 min-1) Without Gears

(The moment of inertia of the servomotor with holding brake) =
(rotor moment of inertia) + (brake moment of inertia)
Servomotor Model
SGMGH-
Holding Brake -4 2 2.10 8.50
Moment of Inertia J ×10 kgxm
* These values are referece values.

SGMGH-03AB SGMGH-06AB SGMGH-09AB SGMGH-12AB
2000 2000 2000 2000
1500 1500 1500 1500

Motor Motor Motor Motor
1000 1000 1000 1000
A B A B A B A B
(min-1) (min-1) (min-1) (min-1)
500 500 500 500
0 0 0 0
0 2 4 6 8 0 5 10 15 0 5 10 15 20 0 10 20 30
SGMGH-30AB SGMGH-30AB
SGMGH-20AB (Use with an SGDS-50A SERVOPACK.) (Use with an SGDS-30A SERVOPACK.) SGMGH-40AB
2000 2000 2000 2000
1500 1500 1500 1500

Motor Motor Motor Motor 1000
speed 1000 A B speed 1000 A B speed 1000 A B speed A B
(min-1) 500 (min-1) 500 (min-1) 500 (min-1) 500
0 0 0 0
0 20 40 60 0 20 40 60 80 0 20 40 60 80 0 50 100 150
SGMGH-55AB
2000
1500
Motor 1000 A : Continuous Duty Zone
speed A B
(min-1) 500
0
0 50 100 150
Torque (Nm)
3-40

Servomotor
Capacity Capacity
W W
N·m Ω (at 20 °C) A (at 20 °C)
SGMGH-03 300 10.1 4.41 804 0.11
SGMGH-06 600 10.1 12.7 804 0.11
SGMGH-09 900 10.1 12.7 804 0.11
SGMGH-12 1200 18.5 43.1 438 0.21
90 VDC
SGMGH-20 2000 18.5 43.1 438 0.21
SGMGH-30 3000 18.5 43.1 438 0.21
SGMGH-40 4000 23.5 72.6 327 0.28
SGMGH-55 5500 23.5 72.6 327 0.28
SGMGH-03 300 9.85 4.41 58.7 0.41
SGMGH-06 600 9.85 12.7 58.7 0.41
SGMGH-09 900 9.85 12.7 58.7 0.41
SGMGH-12 1200 18.5 43.1 31.1 0.77

24 VDC
SGMGH-20 2000 18.5 43.1 31.1 0.77
SGMGH-30 3000 18.5 43.1 31.1 0.77
SGMGH-40 4000 23.5 72.6 22.8 1.05
SGMGH-55 5500 23.5 72.6 22.8 1.05
Note: The holding brake cannot be used to stop the servomotor.
3-41
3.6.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears
3.6.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears

• Time Rating: Continuous • Excitaton: Permanent magnet
• Vibration Class: 15 μm or below • Thermal Class: F
• Insulation Resistance: 500 VDC, • Withstand Voltage: 1500 VAC for one minute
10 MΩ min. • Enclosure: Totally enclosed, IP44 self-cooled
• Ambient Temperature: 0 to 40°C (or the equivalent)
• Mounting: Foot and flange-mounted • Ambient Humidity: 20% to 80%
(no condensation)
Type 6090 to 6125: Omni-directional mounting
• Drive Method: Direct drive
Type 6130 to 6190: Horizontal mounting to shaft
• Backlash: Roughly 0.6 to 2° at gear output shaft
• Gear Lubricating Method:
• Gear Rotation Direction: Reverse direction of servomotor
Type 6090 to 6125: Grease
• Gear Mechanism: Cyclo gear mechanism
Type 6130 to 6190: Oil∗
* For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa
representative about lubrication for angle mounting.
Note: Contact your Yaskawa representative regarding the use of servomotors in cases such as when the servomotor is
frequently started and stopped, or when impact is generated on the gear output shaft by acceleration and decel-
eration.
Moment of Inertia J
×10-4 kg·m2
Model Rated Rated neous Rated Max.
Out- Rated
SGMGH- Speed Gear Torque/ Peak Speed Speed Motor +
put Torque Gears
kW min-1 Nxm
N·m/% Effective min-1 min-1
N·m/%
03PBA6 1/6 12.8/75 32.3/75 166 333 9.20 1.96
03PBB6 1/11 25.0/80 63.1/80 90 181 8.84 1.6
0.3 2.84
03PBC6 1/21 47.7/80 120/80 47 95 8.39 1.15
03PB76 1/29 65.9/80 166/80 34 68 8.41 1.17
06PBA6 1/6 27.3/80 67.7/80 166 333 15.7 1.78
06PBB6 1/11 50.0/80 124/80 90 181 15.3 1.35
0.6 5.68
06PBC6 1/21 95.4/80 237/80 47 95 15.9 1.97
06PB76 1/29 132/80 327/80 34 68 16.1 2.19
09PBA6 1/6 41.4/80 92.6/80 166 333 22.3 1.84
09PBB6 1/11 75.9/80 170/80 90 181 21.9 1.41
0.9 1000 8.62
09PBC6 1/21 145/80 324/80 47 95 22.5 2.03
09PB76 1/29 200/80 448/80 34 68 22.7 2.24
12PBA6 1/6 58.7/85 143/85 166 333 38.0 6.3
12PBB6 1/11 108/85 262/85 90 181 36.5 4.76
1.2 11.5
12PBC6 1/21 205/85 500/85 47 95 37.6 5.93
12PB76 1/29 283/85 690/85 34 68 37.3 5.58
20PBA6 1/6 97.4/85 224/85 166 333 52.3 6.3
20PBB6 1/11 179/85 411/85 90 181 50.8 4.76
2.0 19.1
20PBC6 1/21 341/85 785/85 47 95 51.9 5.93
20PB76 1/29 471/85 1080/85 34 68 78.5 32.5
3-42
(cont’d)
Moment of Inertia J
×10-4 kg·m2
Out- Rated
put Torque Gears
kW min-1 Nxm
N·m/%
30PBA6 1/6 145/85 325/85 166 333 79.5 12.0
30PBB6 1/11 266/85 596/85 90 181 75.2 7.73
3.0 28.4
30PBC6 1/21 507/85 1140/85 47 95 101 33.6
30PB76 1/29 700/85 1570/85 34 68 121 53.3
40PBA6 1/6 195/85 546/85 166 333 103 13.7
40PBB6 1000 1/11 357/85 1000/85 90 181 98.8 9.78
4.0 38.2
40PBC6 1/21 682/85 1910/85 47 95 157 68.0
40PB76 1/29 940/85 2640/85 34 68 155 66.0
55PBB6 1/11 492/85 1280/85 90 181 175 50.2

55PBC6 5.5 52.6 1/21 940/85 2450/85 47 95 193 68.0
55PB76 1/29 1297/85 3380/85 34 68 207 81.5
Notes: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table

3-43

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)
• Mounting: Flange method (can be mounted in any direction) • Gear Lubricating Method: Grease
• Gear Mechanism: Planetary gear mechanism • Backlash: 0.05° (3 min) at the gear output shaft
• Gear Rotation Direction: Same direction as servomotor
Moment of Inertia J
×10-4 kg·m2
Out- Rated
put Torque Gears
kW min-1 Nxm
N·m/%
03ABL14 1/5 11.4/80 28.7/80 200 400 8.50 1.26
03ABL24 1/9 20.4/80 51.6/80 111 222 8.18 0.96
03ABL54 0.3 2.84 1/20 45.4/80 115/80 50 100 8.64 1.40
03ABL74 1/29 65.9/80 166/80 34 68 10.0 2.76
03ABL84 1/45 102/80 258/80 22 44 9.05 1.81
06ABL14 1/5 22.7/80 56.4/80 200 400 15.2 1.30
06ABL24 1/9 40.9/80 101/80 111 222 14.8 0.90
06ABL54 0.6 5.68 1/20 90.9/80 226/80 50 100 18.6 4.70
06ABL74 1/29 132/80 327/80 34 68 16.7 2.80
06ABL84 1/45 204/80 508/80 22 44 18.4 4.50
09ABL14 1/5 34.5/80 77.2/80 200 400 23.9 3.40
09ABL24 1/9 62.1/80 139/80 111 222 25.3 4.80
09ABL54 0.9 1000 8.62 1/20 138/80 309/80 50 100 27.4 6.90
09ABL74 1/29 200/80 448/80 34 68 30.9 10.4
09ABL84 1/45 310/80 695/80 22 44 27.2 6.70
12ABL14 1/5 46/80 112/80 200 400 41.9 10.2
12ABL24 1/9 82.8/80 202/80 111 222 39.5 7.80
12ABL54 1.2 11.5 1/20 184/80 448/80 50 100 51.9 20.2
12ABL74 1/29 267/80 650/80 34 68 45.1 13.4
12ABL84 1/45 414/80 1010/80 22 44 41.4 9.70
20ABL14 1/5 76.4/80 176/80 200 400 56.2 10.2
20ABL24 2.0 19.1 1/9 138/80 317/80 111 222 53.8 7.80
20ABL54 1/20 306/80 704/80 50 100 66.2 20.2
30ABL14 1/5 114/80 255/80 200 400 87.9 20.4
3.0 28.4
30ABL24 1/9 204/80 459/80 111 222 80.0 12.5
3-44
Notes: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table


3
3-45
3.7.1 Small-capacity Series SGMCS Servomotors
3.7 Ratings and Specifications of SGMCS Servomotors

• Time Rating: Continuous • Thermal Class: A
Ratings and Specifications for SGMCS Servomotor without Gears
Voltage 200 V
Servomotor Model SGMCS- 02BC 05BC 07BC 04CC 10CC 14CC
∗1 W 42 105 147 84 209 293
Rated Output
Rated Torque∗1, ∗2 Nxm 2.0 5.0 7.0 4.0 10.0 14.0
Instantaneous Peak Torque ∗1 Nxm 6.0 15.0 21.0 12.0 30.0 42.0
Stall torque∗1 Nxm 2.05 5.15 7.32 4.09 10.1 14.2
Rated Current∗1 Arms 1.8 1.7 1.4 2.2 2.2 2.8
Instantaneous Max. Current ∗1 Arms 5.4 5.1 4.1 7.0 7.0 8.3
Rated Speed∗1 min-1 200 200
Max. Speed∗1 min-1 500 500 400 300
Torque Constant Nxm/Arms 1.18 3.17 5.44 2.04 5.05 5.39
Rotor Moment of Inertia kgxm2×10-4 28 51 77 77 140 220
Rated Power Rate∗1 KW/s 1.4 4.9 6.4 2.1 7.1 8.9
Rated Angular Acceleration∗1 rad/s2 710 980 910 520 710 640
Absolute Accuracy second ±15 ±15
Repeatability second ±1.3 ±1.3
Applicable SERVOPACK SGDS- 02 04
Voltage 200 V
Servomotor Model SGMCS- 08DC 17DC 25DC 16EB 35EB
Rated Output ∗1 W 168 356 393 335 550
Rated Torque ∗1, ∗2 Nxm 8.0 17.0 25.0 16.0 35.0
Instantaneous Peak Torque ∗1 Nxm 24.0 51.0 75.0 48.0 105
Stall torque∗1 Nxm 8.23 17.4 25.4 16.5 35.6
Rated Current ∗1 Arms 1.9 2.5 2.6 3.3 3.5
Instantaneous Max. Current ∗1 Arms 5.6 7.5 8.0 9.4 10.0
Rated Speed ∗1 min-1 200 150 200 150
Max. Speed ∗1 min-1 500 350 250 500 250
Torque Constant Nxm/Arms 5.1 7.8 10.8 5.58 11.1
Rotor Moment of Inertia kgxm2×10-4 285 510 750 930 1430
Rated Power Rate ∗1 KW/s 2.2 5.7 8.3 2.75 8.57
∗1 2 280 330 330 170 240
Rated Angular Acceleration rad/s
Absolute Accuracy second ±15 ±15
Repeatability second ±1.3 ±1.3
Applicable SERVOPACK SGDS- 04 08
3-46
Notes: 1. SGMCS servomotor with holding brake is not available.

2. For the bearings used in SGMCS servomotors, loss varies according to the bearing tem-
perature. At low temperatures, the amount of heat loss will be large.
20°C.
* 2. Rated torques are continuous allowable torque values at 40°C with a steel heat sink attached.
Servomotor Model
B C D E
SGMCS-
Heat Sink
350 × 350 × 12 450 × 450 × 12 550 × 550 × 12 650 × 650 × 12
Units: mm

3
3-47

SGMCS-02B SGMCS-05B
500 500
400 400
Motor speed Motor speed
(min-1) (min-1)
300 300
200 200
A B A B
100 100
0 0
0 1.5 3.0 4.5 6.0 7.5 0 3 6 9 12 15
Torque (N m) Torque (N m)
SGMCS-07B SGMCS-04C
500 500
400 400
(min-1) (min-1)
300 300
200 200
A B A B
100 100
0 0
0 5 10 15 20 25 0 3 6 9 12 15
SGMCS-10C
500
400
Motor speed B : Intermittent Duty Zone
(min-1)
300
200
A B
100
0
0 6 12 18 24 30
Torque (N m)
3-48
SGMCS-14C SGMCS-08D
500 500
Motor speed
400 Motor speed 400
(min-1) (min-1)
300 300
200 B 200
A A B
100 100
0 0
0 10 20 30 40 50 0 6 12 18 24 30
SGMCS-17D SGMCS-25D

500 500
400 400
(min-1) (min-1) 300
300
200 200
A
A B
B 100
100
0 0
0 12 24 36 48 60 0 15 30 45 60 75
SGMCS-16E SGMCS-35E
500 500
400
Motor speed Motor speed 400
(min-1) (min-1)
300 300
3
200 200
A B
100 A B
100
0 0
0 9 18 27 36 45 0 20 40 60 80 100
A: Continuous Duty Zone

B: Intermittent Duty Zone
3-49
3.7.2 Middle-capacity Series SGMCS Servomotors
3.7.2 Middle-capacity Series SGMCS Servomotors

Ratings and Specifications for SGMCS Servomotor without Gears
Voltage 200 V
Servomotor Model SGMCS- 45MA 80MA 1AMA 80NA 1ENA 2ZNA
Rated Output∗1 Ｗ 707 1260 1730 1260 2360 3140
Rated Torque∗1, ∗2 Nm 45 80 110 80 150 200
Instantaneous Peak Torque ∗1 Nxm 135 240 330 240 450 600
Stall torque∗1 Nxm 45 80 110 80 150 200
Rated Current∗1 Arms 5.80 9.74 13.4 9.35 17.4 18.9
Instantaneous Max. Current ∗1 Arms 17 28 42 28 56 56
Max. Speed∗1 min-1 300 250
Torque Constant Nxm/Arms 8.39 8.91 8.45 9.08 9.05 11.5
Rotor Moment of Inertia kgxm2×10-4 388 627 865 1360 2470 3060
Rated Power Rate∗1 KW/s 52.2 102 140 47.1 91.1 131
Rated Angular Acceleration∗1 rad/s2 1160 1280 1270 588 607 654
Applicable SERVOPACK SGDS- 10 15 20 15 30 30
Notes: 1. SGMCS servomotor with holding brake is not available.
2. For the bearings used in SGMCS servomotors, loss varies according to the bearing tem-
perature. At low temperatures, the amount of heat loss will be large.
SERVOPACK are at an armature winding temperature of 20°C.
* 2. Rated torques are continuous allowable torque values at 40°C with a steel heat sink attached.
Servomotor Model
45M,80M,1AM,80N,1EN,2ZN
SGMCS-
Heat Sink
750 × 750 × 45
Units: mm
3-50
SGMCS-45M SGMCS-80M
300 300

(min-1) (min-1)
100 A B 100 A B
0 0
0 50 100 150 0 100 200 300
SGMCS-1AM SGMCS-80N
300 300

(min-1) (min-1)
100 A B 100 A B
0 0
0 100 200 300 400 0 100 200 300
SGMCS-1EN SGMCS-2ZN
300 300

(min-1) (min-1) 3
100 A B 100 A B
0 0
0 100 200 300 400 500 0 200 400 600 800

3-51
3.8.1 Precautions on Servomotor Installation

and SGMGH Servomotors
3.8.1 Precautions on Servomotor Installation
Servomotors can be installed either horizontally or vertically.
The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is
installed incorrectly or in an inappropriate location. Always observe the following installation instructions.
CAUTION
• Do not connect the servomotor directly to a commercial power line. This
will damage the servomotor.
The servomotor cannot operate without the proper SERVOPACK.
Store the servomotor within the following temperature range if it is stored with the power cable discon-
Storage nected.
Temperature Ambient temperature during storage: -20 to 60°C
Ambient humidity during storage: 80%RH or less (with no condensation)
Servomotors are designed for indoor use. Install the servomotor in environments that satisfy the follow-
ing conditions.
• Free of corrosive or explosive gases.
Installation Site • Well-ventilated and free of dust and moisture.
• Ambient temperature of 0 to 40°C
• Relative humidity of 20% to 80% with no condensation.
• Facilitates inspection and cleaning
Do not hold the product by cables or motors shaft while transporting it. Failure to observe this caution
Handling
may result in injury or malfunciton.
Alignment Accuracy Align the shaft of the servomotor with the shaft of the
Measure this distance at four
equipment, and then couple the shafts. Install the servo-
different positions on the motor so that alignment accuracy falls within the follow-
circumference. The difference
between the maximum and ing range.
minimum measurements must be Vibration that will damage the bearings if the shafts are
0.03 mm or less.
(Turn together with coupling.) not properly aligned.
Connect the servomotor to a machine in the way that
prevents from generating concentric loads, or rotary
Alignment
unbalanced loads on the motor shaft.
When installing, do not hit
the shafts with a hammer
etc., as impacts may result
in malfunction.
Orientation Servomotors can be installed either horizontally or vertically.
3-52
3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors
Flange
If the servomotor is used in a location that is subject to
water drops, make sure of the servomotor protective
Through shaft section specification (except for through shaft section).
This refers to the gap where If the servomotor is used in a location that is subject to
the shaft protrudes from
the end of the motor. water or oil mist, use a servomotor with an oil seal to
Handling Oil seal the through shaft section.
and Water
Shaft
Precautions on Using Servomotor with Oil Seal
• Put the oil surface under the oil seal lip.
• Use an oil seal in favorably lubricated condition.
• When using a servomotor with its shaft upward direc-
tion, be sure that oil will not stay in the oil seal lips.
Make sure there are no bends or tension on the power lines.
Cable Stress Be especially careful to wire signal line cables so that they are not subject to stress because the core
wires are very thin at only 0.2 to 0.3 mm.
Observe the following precautions:
• Make sure there is no foreign matters such as dust and metal chips in the connector before connect-
ing.
• When the connectors are connected to the motor, be sure to connect the end of servomotor main cir-

cuit cables before connecting the encoder cable’s end.
If the encoder cable’s end is connected, the encoder may break because of the voltage differences
between FG.
• Make sure of the pin arrangement.
Connectors • Do not apply shock to resin connectors. Otherwise, they may be damaged.
• When handling a servomotor with its cables connected, hold the servomotor or the connectors and
cables will be damaged.
• Fix the connector to SGMAS (all the models) or SGMPS (excluding 750W and 1500W) with screws.
Make sure that the connector is securely fixed with screws, referring to 1.3 (3) Cable Connections to
SGMAS and SGMPS Servomotors.
If not, the protective construction specifications may not be satisfied.
• When using flexible cables, be sure not to apply stress on the connector. The connector may be dam-
aged by stress.
IMPORTANT 1. Prior to Installation

The end of the motor shaft is coated with anticorrosive paint. Thoroughly remove the paint prior to installa-
tion.
Anticorrosive
paint is 3
coated here.
2. Vibration from improper alignment of shafts will damage the bearings.

3. Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder
mounted on the opposite end of the shaft may be damaged.
3-53
3.8.2 Allowable Radial and Thrust Loads

Design the mechanical system so that thrust and radial loads applied to the servomotor shaft end during operation
fall within the ranges shown in the table below. Note that loads are generated on the motor shafts in the following
cases.
• Radial load is generated by:
• Belt tension when the timing-belts are coupled
• Concentric loads when installing couplings
• Thrust load is generated by:
• The weight of parts on the shafts, when using the servomotor with a vertical output shaft
• Driving a helical gear
When the loading point is larger than the dimension LR in the table below, the allowable radial load is reduced.
Contact your Yaskawa representative for more information.
(1) SGMMJ, SGMAS,SGMPS,SGMSS, and SGMGH Servomotors without Gears
Allowable Radial and Thrust Loads for Servomotors without Gears
Allowable Thrust
Allowable Radial
Load LR
Servomotor Model Load Fr Reference Diagram
Fs mm
(N) (N)
A1B 34.3
SGMMJ- A2B 14.7 16
44.1
A3B
A5A 68
01A 54 20
78
C2A
02A
SGMAS-
04A 245 74 25
06A
08A
392 147 35
12A
01A 78 49 20
02A
245 68 25 LR
SGMPS- 04A
08A 392
147 35
15A 490 Fr
10A Fs
15A
686 196 45
20A
25A
SGMSS-
30A 980
40A
392 63
50A 1176
70A
05AA21 490 98 58
09AA21 490 98 58
13AA21 686 343 58
SGMGH- 20AA21 1176 490 79
(1500min-1) 30AA21 1470 490 79
44AA21 1470 490 79
55AA21 1764 588 113
75AA21 1764 588 113
3-54
Allowable Radial and Thrust Loads for Servomotors without Gears (cont’d)
Allowable Thrust
Allowable Radial
Load LR
Servomotor Model Load Fr Reference Diagram
Fs mm
(N) (N)
03AB21 490 98 58
LR
06AB21 490 98 58
09AB21 686 343 58
SGMGH- 12AB21 1176 490 79 Fr
(1000min-1) 20AB21 1470 490 79 Fs
30AB21 1470 490 79
40AB21 1764 588 113
55AB21 1764 588 113
(2) SGMMJ Servomotors with Gears

Allowable Radial and Thrust Loads for SGMMJ Servomotor with Gears
Allowable Allowable Thrust
Servomotor Model Radial Fr Load Fs LR
Keys Tap × Depth

SGMMJ- mm
(N) (N)
A1BBJA21 − Without tap 52
A1BBJA61 Provided M3 × 6L 76
A1BBJB21 − Without tap 89
47
A2BBJB61 Provided M3 × 6L 52
A2BBJC21 − Without tap 76
A2BBJC61 Provided M3 × 6L 89
18
A3BBJ12 − Without tap
69
A3BBJ16 Provided M3 × 6L
147 59
186
3-55
(3) SGMAS Servomotors with Gears

Allowable Radial and Thrust Loads for SGMAS Servomotors with Gears
With Standard Backlash Gears With Low-backlash Gears
Servomotor Servomotor
Allowable Radial Allowable Thrust Allowable Radial Allowable Thrust
Model LR Model LR
Load Fr Load Fs Load Fr Load Fs
SGMAS- mm SGMAS- mm
(N) (N) (N) (N)
A5AAJ1 145 125 50 A5AAH1 137 127 50
A5AAJ3 215 A5AAH2 206
A5AAJC 230 145 55 A5AAHC 147 55
235
A5AAJ7 245 A5AAH7
01AAJ1 175 01AAH1 167
145 55 147 55
01AAJ3 215 01AAHB 216
01AAJC 455 01AAHC 392
235 69 235 69
01AAJ7 480 01AAH7 431
C2AAJ1 175 145 55 C2AAH1 167 147 55
C2AAJ3 360 C2AAHB 323
235 69 235 69
C2AAJC 455 C2AAHC 392
C2AAJ7 635 290 79 C2AAH7 608 294 79
02AAJ1 275 02AAH1 245
235 69 235 69
02AAJ3 360 02AAHB 323
02AAJC 585 02AAHC 549
290 79 294 79
02AAJ7 635 02AAH7 608
04AAJ1 275 235 69 04AAH1 245 235 69
04AAJ3 460 290 79 04AAHB 441 294 79
04AAJC 655 04AAHC 568
310 100 314 100
04AAJ7 755 04AAH7 657
06AAJ1 275 235 69 06AAH1 245 235 69
06AAJ3 525 06AAH2 451
310 100 314 100
06AAJC 655 06AAHC 568
06AAJ7 1205 490 102 06AAH7 921 490 137
08AAJ1 355 290 79 08AAH1 343 294 79
08AAJ3 525 310 100 08AAHB 451 314 100
08AAJC 1070 08AAHC 813
490 102 490 137
08AAJ7 1205 08AAH7 921
12AAJ1 355 290 79 12AAH1 343 294 79
12AAJB 860 490 12AAHB 647
102 490 137
12AAJC 1070 490 12AAHC 813
12AAJ7 1690 880 112 12AAH7 1247 882 151
3-56
(4) SGMGH Servomotor (1500 min-1) with Standard Backlash Gears
Servomotor Model: Allowable Radial Load for Shaft Center

SGMGH- Fr
(1500 min-1) (N)
05PAA6 2830
05PAB6 3340
05PAC6 5400
05PA76 5400
09PAA6 4110
Grease-lubricating 09PAB6 5220
Type 09PAC6 8240
09PA76 8980
• With foot 13PAA6 4090
• Flange type 13PAB6 6650
13PAC6 8190
20PAA6 5220

20PAB6 6620
30PAA6 5180
30PAB6 6560
13PA76 10500
20PAC6 9510
20PA76 10400
30PAC6 13900
30PA76 17900
44PAA6 6030
Oil-lubricating Type 44PAB6 7660
44PAC6 16300
• With foot 44PA76 20100
• Flange type 55PAA6 5990
55PAB6 11500
55PAC6 18300
55PA76 20000
75PAB6 13100
75PAC6 18200
3
75PA76 26600
3-57
(5) SGMGH Servomotor (1500 min-1) with Low-backlash Gears

SGMGH- Fr
(1500 min-1) (N)
05AAL14 833
05AAL24 980
09AAL14 833
09AAL24 980
05AAL54 2650
05AAL74 2940
05AAL84 3430
09AAL54 2650
09AAL74 2940
09AAL84 8040
13AAL14 1670
Grease-lubricating Type
13AAL24 1960
13AAL54 2650
• Flange type
13AAL74 6860
13AAL84 8040
20AAL14 1670
20AAL24 1960
20AAL54 6080
20AAL74 6860
30AAL14 3820
30AAL24 4700
30AAL54 6080
44AAL14 3820
44AAL24 4700
3-58
(6) SGMGH Servomotor (1000 min-1) with Standard Backlash Gears

SGMGH- Fr
(1000 min-1) (N)
03PBA6 2840
03PBB6 3340
03PBC6 5400
03PB76 5400
06PBA6 4120
06PBB6 5230
Grease-lubricating 8260
06PBC6
Type
06PB76 9810
09PBA6 4110
• With foot
09PBB6 7600
• Flange type
09PBC6 10900
09PB76 11900

12PBA6 5980
12PBB6 7600
20PBA6 5940
20PBB6 7530
12PBC6 10900
12PB76 11900
20PBC6 15700
20PB76 20500
30PBA6 6920
Oil-lubricating Type 30PBB6 8790
(for small capacity and
30PBC6 18600
large capacity)
30PB76 23100
40PBA6 6870
• With foot
40PBB6 13000
• Flange type
40PBC6 21000
40PB76 23000
55PBB6 15000
3
55PBC6 20900
55PB76 30400
3-59
(7) SGMGH Servomotor (1000 min-1) with Low-backlash Gears

SGMGH- Fr
(1000 min-1) (N)
03ABL14 833
Grease-lubricating Type 03ABL24 980
(For small capacity) 03ABL54 1270
06ABL14 833
• Flange type 06ABL24 980
09ABL14 833
03ABL74 2940
03ABL84 3430
06ABL54 2650
06ABL74 2940
06ABL84 8040
09ABL24 1960
09ABL54 2650
09ABL74 6860
Grease-lubricating Type 8040
09ABL84
(For large capacity)
12ABL14 1670
12ABL24 1960
• Flange type
12ABL54 6080
12ABL74 6860
12ABL84 8040
20ABL14 1670
20ABL24 1960
20ABL54 6080
30ABL14 3820
30ABL24 4700
3-60
(8) SGMPS Servomotors with Gears

Allowable Radial and Thrust Loads for SGMPS Servomotors with Gears
With Standard Backlash Gears With Low-backlash Gears
Servomotor Servomotor
Model Allowable Radial Allowable Thrust Model Allowable Radial Allowable Thrust
LR LR
SGMPS- Load Fr Load Fs SGMPS- Load Fr Load Fs
mm mm
(N) (N) (N) (N)
01AAJ1 175 01AAH1 167
145 55 147 55
01AAJ3 215 01AAHB 216
01AAJC 455 01AAHC 392
235 69 235 69
01AAJ7 480 01AAH7 431
02AAJ1 275 02AAH1 245
235 69 235 69
02AAJ3 360 02AAHB 323
02AAJC 585 02AAHC 549
290 79 294 79
02AAJ7 635 02AAH7 608
04AAJ1 275 235 69 04AAH1 245 235 69
04AAJ3 460 290 79 04AAHB 441 294 79
04AAJC 655 04AAHC 568

310 100 314 100
04AAJ7 755 04AAH7 657
08AAJ1 355 290 79 08AAH1 343 294 79
08AAJ3 525 310 100 08AAHB 451 314 100
08AAJC 1070 08AAHC 813
490 102 490 137
08AAJ7 1205 08AAH7 921
15AAJ1 400 310 100 15AAH1 353 314 100
15AAJB 860 490 102 15AAHB 647 490 137
15AAJC 15AAHC
1690 880 112 1247 882 151
15AAJ7 15AAH7
3-61
(9) SGMSS Servomotors with Gears

Allowable Radial and Thrust Loads for SGMSS Servomotors with Gears
With Load-backlash Gears
Servomotor Allowable Radial Allowable Thrust
Model Load Load LR
SGMSS- Fr Fs mm
(N) (N)
833 0 72.5
10AAL1
0 1280 −
980 0 72.5
10AAL2
0 1570 −
2650 0 102.5
10AAL5
0 4220 −
2940 0 102.5
10AAL7
0 4900 −
3430 0 102.5
10AAL8
0 5690 −
833 0 72.5
15AAL1
0 1280 −
1960 0 102.5
15AAL2
0 3000 −
2650 0 102.5
15AAL5
0 4220 −
2940 0 102.5
15AAL7
0 4900 −
8040 0 115
15AAL8
0 8830 −
833 0 72.5
20AAL1
0 1280 −
1960 0 102.5
20AAL2
0 3000 −
2650 0 102.5
20AAL5
0 4220 −
6860 0 115
20AAL7
0 7350 −
8040 0 115
20AAL8
0 8830 −
1670 0 102.5
25AAL1
0 1960 −
1960 0 102.5
25AAL2
0 3000 −
6080 0 115
25AAL5
0 6370 −
6860 0 115
25AAL7
0 7350 −
8040 0 115
25AAL8
0 8830 −
1670 0 102.5
30AAL1
0 1960 −
1960 0 102.5
30AAL2
0 3000 −
6080 0 115
30AAL5
0 6370 −
3-62
Allowable Radial and Thrust Loads for SGMSS Servomotors with Gears (cont’d)
With Load-backlash Gears
Servomotor Allowable Radial Allowable Thrust
Model Load Load LR
SGMSS- Fr Fs mm
(N) (N)
6860 0 115
30AAL7
0 7350 −
8040 0 115
30AAL8
0 8830 −
1670 0 102.5
40AAL1
0 1960 −
4700 0 115
40AAL2
0 4320 −
6080 0 115
40AAL5
0 6370 −
6860 0 115
40AAL7
0 7350 −

3820 0 115
50AAL1
0 2940 −
4700 0 115
50AAL2
0 4320 −
6080 0 115
50AAL5
0 6370 −
3-63
3.8.3 Mechanical Tolerance

The following table shows tolerances for the servomotor’s output shaft and installation area. For more details on
tolerances, refer to the dimensional drawing of the individual servomotor.
Mechanical Tolerance
Tolerance T. I. R. (Total Indicator Reading) Reference Diagram
Perpendicularity between the flange face and out-
A
put shaft: 0.04 mm B
C
Mating concentricity of the flange O.D.:
B
0.04 mm
Run-out at the end of the shaft: A
C
0.02 mm*
* 5.5 kW and 7.5 kW SGMGH servomotors: 0.04 mm
3.8.4 Direction of Servomotor Rotation

Positive rotation of the servomotor is counterclockwise when viewed from the load. (When the servomotor has a
gear, the rotating direction of the gear output shaft will vary depending on the gear type.)
3.8.5 Impact Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:
Vertical
• Impact Acceleration: 490 m/s2

• Impact occurrences: 2
Impact applied to the servomotor
3.8.6 Vibration Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration accelera-
tion in three directions: Vertical, side to side, and front to back. The amount of vibration the servomotor endures
will vary depending on the application. Check the vibration acceleration being applied to your servomotor for
each application.
Vibration Acceleration
Front to back
Vibration
Servomotor Model Acceleration Vertical
at Flange
SGMMJ, SGMAS, SGMPS,

49 m/s2
SGMSS Side to side Horizontal shaft
SGMSS-70 14.7 m/s2 Impact applied to the servomotor

SGMGH 24.5 m/s2
3-64
3.8.7 Vibration Class

The vibration class for the servomotors at rated motor speed is as follows:
• Vibration Class: 15 μm or below
(A vibration class of 15 μm or below indicates a total vibration amplitude of 15 μm maximum on the servomotor
during rated rotation.)
3.8.8 Protective Specifications

Servomotor Protective Specifications
Servomotor
SGMMJ SGMAS SGMPS SGMSS SGMGH
Model
IP67
Standard IP55 IP55 IP55∗ (IP22 for only IP67
SGMSS-70)
Option − − IP67∗ − −
Notes: 1. Except for shaft opening.
2. All models of SGMAS Servomotors and SGMPS Servomotors excluding 750 W and

1.5 kW satisfy the servomotor protective specifications when the specified cables are
used. For the cable specifications, refer to 5.1 Servomotor Main Circuit Cables.
* The connectors on SGMMJ, SGMPS-08, and -15 are excluded. Contact your Yaskawa repre-
sentative for the connectors for IP67 specification.
3.8.9 Heating Conditions

Note that when the flange face is smaller, continuous allowable torque is reduced.
Make sure there is no confined heat around the servomotors. (Do not use servomotors in a closed, unventilated
space.)
3-65
3.9.1 Allowable Loads
3.9 Mechanical Specifications of SGMCS Servomotors

3.9.1 Allowable Loads
The loads applied while a servomotor is running are roughly classified in the following patterns. Design the
machine so that the thrust load and moment load will not exceed the values in the table.
F
Where F is external force,
Thrust load: Fa = F + Load mass
Moment load: M=0
L
F
Thrust load: Fa = F + Load mass
Moment load: M = F × L
F
L
Thrust load: Fa = Load mass
Moment load: M = F × L
A See the table below for the dimension A of each
servomotor model.
Servomotor Model
02B 05B 07B 04C 10C 14C 08D 17D 25D
SGMCS-
Dimensions A Units mm 0 0 0
Allowable Thrust
(N) 1500 3300 4000
Load Fa
Allowable Moment
(Nm) 40 50 64 70 75 90 93 103 135
Load M
Servomotor Model
16E 35E 45M 80M 1AM 80N 1EN 2ZN
SGMCS-
Dimensions A Units mm 0 33 37.5
Allowable Thrust
(N) 11000 9000 16000
Load Fa
Allowable Moment
(Nm) 250 320 180 350
Load M
Note: For small-capacity series SGMCS servomotors (02B to 35E), set dimensions A to 0 (zero).
3-66
3.9 Mechanical Specifications of SGMCS Servomotors

The following table shows tolerances for the servomotor’s output shaft and installation area. See the dimensional
drawing of the individual servomotor for more details on tolerances.
Mechanical Tolerance
Tolerance T. I. R. Servomotor Model SGMCS-
(Total Indicator Reading)
02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Units: mm
cRun-out of the surface of the shaft 0.02 0.02 0.02 0.02
dRun-out at the end of the shaft 0.04 0.04 0.04 0.04
ePerpendicularity between the 0.07 0.07 0.08 0.08
flange face and output shaft
fCoaxiality of output axis and 0.07 0.07 0.08 0.08
mounting socket joint
gRight angle between flange face − − − −
and output shaft
hReference figure Fig. 3.1 Fig. 3.1 Fig. 3.1 Fig. 3.1

Tolerance T. I. R. Servomotor Model SGMCS-
(Total Indicator Reading)
45M 80M 1AM 80N 1EN 2ZN
Units: mm
cRun-out of the surface of the shaft 0.02 0.02
dRun-out at the end of the shaft 0.04 0.04
ePerpendicularity between the − −
flange face and output shaft
fCoaxiality of output axis and 0.08 0.08
mounting socket joint
gRight angle between flange face 0.08 0.08
and output shaft
hReference figure Fig. 3.2 Fig. 3.2
φ φ AB φ
A B φ
A φ
3
Drive end B
Drive end
AB
Opposite
drive end Opposite
φ B drive end
φ A
Fig. 3.1 Fig. 3.2
3-67

Positive rotation of the servomotor is counterclockwise when viewed from the load.
3.9.4 Impact Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:
Vertical
• Impact Acceleration: 490 m/s2

• Number of Impacts: 2
Impact applied to the servomotor
3.9.5 Vibration Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration accelera-
tion in three directions: Vertical, side to side, and front to back. The amount of vibration the servomotor endures
will vary depending on the application. Check the vibration acceleration being applied to your servomotor for
each application.
Vibration Acceleration at
Motor Type Vertical Front to back
Flange
Small-capacity Series 2
49 m/s
Middle-capacity Series 24.5 m/s2
Horizontal shaft
side to side
Vibration applied to the servomotor
3.9.6 Vibration Class

The vibration class at rated motor speed is as follows:
• Vibration Class: 15 μm or below
(A vibration class of 15 μm or below indicates a total vibration amplitude of 15 μm maximum on the servomotor
during rated rotation.)
3.9.7 Protective Specification

Motor Type Protective Specification
Small-capacity
IP42∗
Series
Middle-capacity
IP44
Series
* Excluding the shaft opening.
3.9.8 Heating Conditions

Note that when the flange face is smaller, the continuous allowable torque is reduced.
Make sure there is no confined heat around the servomotors. (Do not use servomotors in a closed, unventilated
space.)
3-68
3.10 Terms for Servomotors with Gears
3.10 Terms for Servomotors with Gears

(1) Terms for Servomotors with Standard Backlash Gears and Low-backlash Gears
Terminology for Servomotors with Gears
Typical Value
Item Measurement Method/Definition Standard
Low-back-
Backlash
lash Gears
Gears
The rated output torque of the motor is the gear input torque.
Rated Torque
The rated torque is this value multiplied by the inverse of the − −
(Nxm)
gear ratio and efficiency.
Lost Motion Angular difference in the screw with a ±5% rated torque
20 max. 3 max.
(arc-min)∗ load. (Maximum value at any four positions during output.)
Torsion Rigidity Highest torsion angle value on one side with a ± rated torque
27 max. 10 max.
(arc-min)∗ load
Angular Transmis- Difference in absolute accuracy for one rotation under load
sion Error Accuracy and no-load conditions during output. 15 max. 6 max.
(arc-min)

* See the following graph for lost motion and torsion rigidity.
Torsion
Lost rigidity
motion
Torsion
rigidity
- Torque + Torque
Torsion
rigidity ±5% Rated torque
Rated torque Rated torque
(2) Noise Data

The following noise data for a servomotor with a gear is for reference only and may vary slightly with the capac-
ity and gear ratio of the servomotor.
Measurement Conditions
• Scale A: 50 cm
100
3
• Ground Noise: 28 dB
Initial Noise
Level (dB) 50
1000 2000 3000 4000

-1
Input speed (min )
3-69
(3) Efficiency
The output torque and motor speed produce the following trends in efficiency. The values in the tables, Ratings and Specifi-
cations of SGMSS, SGMGH servomotors with Gears are at the rated motor torque and rated motor speed.
3-70
3.11 Servomotor Dimensional Drawings
3.11 Servomotor Dimensional Drawings

Dimensional drawings for the SGMH servomotors are broadly grouped using the following categories: With or
without gears or brakes.
Series Groups of Servomotor Dimensional Drawings Reference
Without gears 3.12.1
With brakes 3.12.2
SGMMJ
With standard backlash gears 3.12.3
With standard backlash gears and brakes 3.12.4
With brakes 3.13.2
SGMAS
With low-backlash gears 3.13.5
With low-backlash gears and brakes 3.13.6
Flange-type with low-backlash gears 3.13.7
Flange-type with low-backlash gears and brakes 3.13.8

With brakes 3.14.2
SGMPS
With low-backlash gears 3.14.5
With low-backlash gears and brakes 3.14.6
Flange-type with low-backlash gears and brakes 3.14.8
SGMSS With brakes 3.15.2
Without gears and brakes (Standard type) 3.18.1
With brakes 3.18.1
SGMGH
Foot-mounted type with standard backlash gears 3.18.3
(1500 min-1)
Flange-type with standard backlash gears 3.18.4
Without gears and brakes 3.19.1
With brakes 3.19.2 3
SGMGH
Foot-mounted type with standard backlash gears 3.19.3
(1000 min-1)
Flange-type with standard backlash gears 3.19.4
φ135 model 3.21.1
φ175 model 3.21.2
φ230 model 3.21.3
SGMCS
φ290 model 3.21.4
φ280 model 3.21.5
φ360 model 3.21.6
3-71
3.12.1 SGMMJ Servomotors without Gears
3.12 Dimensional Drawings of SGMMJ Servomotors

3.12.1 SGMMJ Servomotors without Gears
Encoder cable
UL20276 300±30
Motor cable
AWG24, UL10095
or UL3266
Protective tube
φ5, Black 300 0.5 4.5
±30 φ5h6
0.04 A Shaft End
L
L1 16
0.02 25
L2 2.5 A 16
10 φ0.04 A
φ5h6
4
45°
φ20h7
φ2
8
Warning label Nameplate 2-M3 Tap × Depth 5
φ5h6: φ5 -0.008-
0
φ20h7: φ20 -0.021

0
Units: mm
Approx. Allowable Allowable
Model
L L1 L2 Flat Mass Radial Load Thrust Load
SGMMJ-
g N N
A1BB21 Not applied
77 61 26.5 130 34.3
A1BBA1 Applied
A2BB21 Not applied
87 71 36.5 170 14.7
A2BBA1 Applied
44.1
A3BB21 Not applied
97 81 46.5 210
A3BBA1 Applied
3-72
3.12.2 SGMMJ Servomotors with Brakes

Encoder cable
UL20276 300 ±30
Motor cable
AWG24, UL10095
or UL3266
Protective tube
φ6, Black 0.5 4.5
300
±30 φ5h6
0.04 A Shaft End
L
L1 16
0.02 25
L2 2.5 A
16
Warning label φ0.04 A
10
φ5h6
4
45°
φ20h7

φ2
8
Holding brake (de-energization operation) Nameplate 2-M3 Tap × Depth 5

Voltage: 24VDC φ5h6: φ5 0
-0.008
Brake holding torque = Rated motor torque
0
φ20h7: φ20-0.021
Units: mm
Model
L L1 L2 Flat Mass Radial Load Thrust Load
SGMMJ-
g N N
A1BB2C Not applied
101.5 85.5 26.5 215 34.3
A1BBAC Applied
A2BB2C Not applied
115.5 99.5 36.5 270 14.7
A2BBAC Applied
44.1
A3BB2C Not applied
125.5 109.5 46.5 310
A3BBAC Applied
Note: The electromagnetic brake is only used to hold the position and cannot be used to stop the servo-
motor. 3
3-73
3.12.3 SGMMJ Servomotor with Standard Backlash Gears and without Brakes
3.12.3 SGMMJ Servomotor with Standard Backlash Gears and without Brakes
(1) 10 W, 20 W
Encoder cable
UL20276 300 ± 30
3
3
Motor cable
AWG24, UL10095
6.2
or UL3266
Protective tube
M3 Tap × Depth 6
φ5, Black
300 View Y-Y
±30
0.06 A Shaft End
L
L1 18
L2 3 25
0.04 16
9.5 7.5 12 A
10 φ0.05 A
φ8h6
4
Y
φ20h7
Y 8
φ2
°
45
Warning label Nameplate 2-M3 Tap × Depth 4 2-φ3.4 holes
φ8h6: φ8 -0.009
0
φ20h7: φ20 -0.021

0
Units: mm
Model
L L1 L2 Key Tap × Depth Mass Radial Load Thrust Load
SGMMJ-
g N N
A1BBJA21 113.5 95.5 61 None No tap 240 52
A1BBJA61 Attached M3 × 6L 275 76
124 106 71.5
A1BBJB21 None No tap 275 89
47
A2BBJB61 123.5 105.5 71 Attached M3 × 6L 280 52
A2BBJC21 None No tap 315 76
134 116 81.5
A2BBJC61 Attached M3 × 6L 315 89
Note: The key slot conforms to the standard, JIS B 1301-1975 (fine class) and the parallel key is attached
to it.
3-74
(2) 30 W
Encoder cable
UL20276 300 ±30
3
Motor cable
AWG24, UL10095
or UL3266
7.2
Protective tube
φ5, Black M3 Tap × Depth 6
300
±30 0.06 A View Y-Y
136
Shaft End
118 18
0.04
42.7 40.8 3 A 40
4 0.05 A 4-R
φ9h7
3
11 7
φ4
φ28h7
Y

Warning label
Nameplate 4-φ3.4 through hole
φ9h7: φ9 -0.015
0
φ28h7: φ -0.021
0
Units: mm
Model
Key Tap × Depth Mass Radial Load Thrust Load
SGMMJ-
g N N
A3BBJ121 None No tap
69
A3BBJ161 Attached M3 × 6L
410 147 59
186
to it. 3
3-75
3.12.4 SGMMJ Servomotors with Standard Backlash Gears and Brakes
3.12.4 SGMMJ Servomotors with Standard Backlash Gears and Brakes

(1) 10 W, 20 W
Encoder cable
UL20276 300 ±30
Motor cable 3
3
AWG24, UL10095
Protective tube or UL3266
6.2
φ6, Black
300±30 M3 Tap × Depth 6
0.06 A View Y-Y

L
Shaft End
L1 18
L2 3 0.04 25
9.5 7.5 12 A 16
Warning label φ0.05 A
φ8h6
10
4
Y
φ20h7
8
Y φ2
°
45
Holding brake (de-energization operation) Nameplate 2-M3 Tap × Depth 4 2-φ3.4 holes
Voltage: 24VDC φ8h6: φ8 -0.009
0
Brake holding torque = Rated motor torque

φ20h7: φ20 -0.021
0
Units: mm
Approx. Allowable
Model Allowable
L L1 L2 Key Tap × Depth Mass Thrust Load
SGMMJ- Radial Load N
g N
A1BBJA2C 142 124 61 None No tap 325 52
A1BBJA6C Attached M3 × 6L 360 76
152.5 134.5 71.5
A1BBJB2C None No tap 360 89
47
A2BBJB6C 152 134 71 Attached M3 × 6L 380 52
A2BBJC2C None No tap 415 76
162.5 144.5 81.5
A2BBJC6C Attached M3 × 6L 415 89
to it.
3-76
(2) 30 W
Encoder cable
UL20276 300 ±30
3
3
Motor cable
7.2
AWG24, UL10095
or UL3266
Protective tube M3 Tap × Depth 6
φ6, Black
300 View Y-Y
±30
0.06 A Shaft End
164.3
0.04
146.3 18 A
42.7 40.8 3 φ0.05 A
Warning 4 40
label
φ9h7
11
4-R
3 7
φ4
Y
φ28h7

Y
Holding brake (de-energization operation) Nameplate

Voltage: 24VDC 4-φ3.4
Brake holding torque = Rated motor torque through hole
φ9h7: φ9 -0.015
0
φ28h7: φ28 -0.021

0
Units: mm
Model
Tap × Depth Mass Radial Load Thrust Load
SGMMJ-
g N N
A3BBJ12C No tap
69
A3BBJ16C M3 × 6L
A3BBJ22C No tap
555 147 59
A3BBJ26C M3 × 6L
A3BBJ32C No tap
186
A3BBJ36C M3 × 6L
Note: 1. The key slot conforms to the standard, JIS B 1301-1975 (fine class) and the parallel key is 3
attached to it.
2. The electromagnetic brake is only used to hold the position and cannot be used to stop the servo-
motor.
3-77
3.13 Dimensional Drawings of SGMAS Servomotors

(1) 50 W, 100 W and 150 W
0.04 A
L 0.04 A
LL 25
20.5 LM 2.5 40
6 2 17 20.2 5 18.8
QK
12
14
U
Y
W
φ30h7
T
Y φ46
φSh6
Cross-section Y-Y
0
30h7: φ30 -0.021
Serial encoder 2-φ4.3 Shaft-end
A
0.02 Tap × depth
Units: mm
Approx.
Model
L LL LM S Tap × Depth QK U W T Mass
SGMAS-
kg
A5AA21 No key
No tap
A5AA41 95.5 70.5 38.5 6 0.3
14 1.2 2 2
A5AA61 M2.5 × 5L
01AA21 No key
No tap
01AA41 107.5 82.5 50.5 8 0.4
14 1.8 3 3
01AA61 M3 × 6L
C2AA21 No key
No tap
C2AA41 119.5 94.5 62.5 8 0.5
14 1.8 3 3
C2AA61 M3 × 6L
• Dimensional Tolerances
Units: mm
Model Shaft-end Dimensions
SGMAS- S
A5AA21
0
6 -0.008
A5AA41
A5AA61
01AA21
0
8 -0.009
01AA41
01AA61
C2AA21
0
8 -0.009
C2AA41
C2AA61
3-78
(2) 200 W, 400 W and 600 W

0.04 A
L φ0.04 A
LL 30 60
20.5 LM 3
8.5 1.5 17 21.2 6 21
U
13
14
W
QK
Y T
φ50h7
Cross-section Y-Y
Y Shaft-end
φ14h6
φ7
0
A
Serial encoder 0.02 Tap × depth 4-φ5.5 Units: mm
Approx.
Model Tap ×
L LL LM QK U W T Mass
SGMAS- Depth
kg
02AA21 No key
No tap
02AA41 110 80 51 0.9
20 3 5 5
02AA61 M5 × 8L
04AA21 No key

No tap
04AA41 128.5 98.5 69.5 1.2
20 3 5 5
04AA61 M5 × 8L
06AA21 No key
No tap
06AA41 154.5 124.5 95.5 1.7
20 3 5 5
06AA61 M5 × 8L
3-79
(3) 750 W and 1150 W

0.04 A
L φ0.04 A
LL 40 80
20.5 LM 3
MD 1.5 17 21.2 8 27
35
U
14
15
QK
W
Y T
φ70h7
Cross-section Y-Y
Shaft-end
φ16h6
Y
φ20
φ9
0
A
Serial encoder 0.02 Tap × depth 4-φ7 Units: mm
Approx.
Model Tap ×
SGMAS- Depth
kg
08AA21 No key
No tap
08AA41 155 115 85 2.3
30 3 5 5
08AA61 M5 × 8L
12AA21 No key
No tap
12AA41 186.5 146.5 115 3.6
30 3 5 5
12AA61 M5 × 8L
Units: mm
Model Shaft-end Dimensions Flange Face Dimensions
SGMAS- S LB
02AA21
02AA41
02AA61
04AA21
0
14 -0.011 0
04AA41 50-0.025
04AA61
06AA21
06AA41
06AA61
08AA21
08AA41
08AA61 0 0
16 -0.011 70-0.030
12AA21
12AA41
12AA61
3-80
3.13.2 SGMAS Servomotors with Brakes

(1) 50 W, 100 W and 150 W
0.04 A
L
LL 25 φ0.04 A
20.5 LM 2.5 40
2 17 20.2 5 18.8
6
QK U
12
W
14
Y T
φ30h7
Cross-section Y-Y
Y φ46
φSh6
Shaft-end
0
30h7: φ30 -0.021
Holding brake (de-energization operation) 2-φ4.3
Serial encoder A
Power suppoy: 90 VDC or 24 VDC Tap × depth
0.02
Units: mm
Approx.
Model

SGMAS-
kg
A5AA2 No key
No tap
A5AA4 140.5 115.5 38.5 6 0.6
14 1.2 2 2
A5AA6 M2.5 × 5L
01AA2 No key
No tap
01AA4 152.5 127.5 50.5 8 0.7
14 1.8 3 3
01AA6 M3 × 6L
C2AA2 No key
No tap
C2AA4 164.5 139.5 62.5 8 0.8
14 1.8 3 3
C2AA6 M3 × 6L
Units: mm
SGMAS- S
A5AA2 3
0
6 -0.008
A5AA4
A5AA6
01AA2
0
8 -0.009
01AA4
01AA6
C2AA2
0
8 -0.009
C2AA4
C2AA6
3-81
3.13.2 SGMAS Servomotors with Brakes
(2) 200 W, 400 W and 600 W

0.04 A
L φ0.04 A
LL 30
20.5 LM 3 60
8.5 1.5 17 21.2 6 21
14
13
QK U
Y
W
φ50h7
T
φ14h6
Y
φ7 Cross-section Y-Y
0
Shaft -end
Tap × depth
Serial encoder Holding brake (de-energization operation) A 0.02 4-φ5.5
Power supply: 90 VDC or 24 VDC
Units: mm
Approx.
Model
L LL LM Tap ×Depth QK U W T Mass
SGMAS-
kg
02AA2 No key
No tap
02AA4 150 120 51 1.5
20 3 5 5
02AA6 M5 × 8L
04AA2 No key
No tap
04AA4 168.5 138.5 69.5 1.8
20 3 5 5
04AA6 M5 × 8L
06AA2 No key
No tap
06AA4 200.5 170.5 95.5 2.4
20 3 5 5
06AA6 M5 × 8L
3-82
(3) 750 W and 1150 W

0.04 A
L φ0.04 A
LL 40
20.5 LM 3 80
14 1.5 17 21.2 8 27
35
14
15
QK U
W
Y
φ70h7
T
φ16h6
Y Cross-section Y-Y
φ20
φ9
0 Shaft -end
Holding brake (de-energization operation) A Tap × depth

Serial encoder 0.02 4-φ7 Units: mm
Power supply: 90 VDC or 24 VDC
0
φ16h6: φ16-0.011
0
φ70h7: φ70-0.030
Approx.
Model Tap
SGMAS- ×Depth
kg

08AA2 No key
No tap
08AA4 200 160 85 3.2
30 3 5 5
08AA6 M5 × 8L
12AA2 No key
No tap
12AA4 236.5 196.5 115 4.5
30 3 5 5
12AA6 M5 × 8L
3-83

(1) 50 W, 100 W and150 W
W
U
0.06 A
L
LL LR 0.04
LM L1 L2 A Shaft-end
φ0.05 A
LG L3
LC
2 17 20.2 4
12
A
φL
14
Q
QK
φLBh7
φSh7
φLD
φB
φC
Serial encoder
Rotating section
(shown with hatching) Tap × Depth
4-φLZ
Units: mm
Model Gear
L LL LM LR LG B LD LB LC LA LZ
SGMAS- Ratio
A5AAJ11 1/5 157.5 102.5 70.5 55 8 47 55.5 56 60 70 5.5
A5AAJ31 3/31 167.5 107.5 75.5
A5AAJC1 1/21 60 9 57 63 65 70 80 6.6
184.5 124.5 92.5
A5AAJ71 1/33
01AAJ11 1/5
179.5 119.5 87.5 60 9 57 63 65 70 80 6.6
01AAJ31 3/31
01AAJC1 1/21
215 141 109 74 10 69 83 85 90 105 9
01AAJ71 1/33
C2AAJ11 1/5 191.5 131.5 99.5 60 9 57 63 65 70 80 6.6
C2AAJ31 3/31 210 136 104
74 10 69 83 85 90 105
C2AAJC1 1/21 227 153 121 9
C2AAJ71 1/33 247.5 163.5 131.5 84 12 82 98 100 105 120
Approx.
Model
L1 L2 L3 Q C S Tap × Depth QK U W T Mass
SGMAS-
kg
A5AAJ11 28 27 17 25 20 14 20 0.9
A5AAJ31 1.1
M4 × 8L 3 5 5
A5AAJC1 30 30 14.5 28 25 16 25
1.2
A5AAJ71
01AAJ11
30 30 14.5 28 25 16 M4 × 8L 25 3 5 5 1.2
01AAJ31
01AAJC1 2.0
36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6
01AAJ71
C2AAJ11 30 30 14.5 28 25 16 M4 × 8L 25 3 5 5 1.3
C2AAJ31 1.8
36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6
C2AAJC1 2.1
C2AAJ71 40 44 23 42 40 25 M6 × 12L 36 4 8 7 3.6
3-84
Units: mm
SGMAS- S LB
A5AAJ11 0 0
56 -0.030
14 -0.018
A5AAJ31
0
16 -0.018
A5AAJC1 0
65 -0.030
A5AAJ71
01AAJ11
0
16 -0.018 0
65 -0.030
01AAJ31
01AAJC1
0
20 -0.021 0
85 -0.035
01AAJ71
C2AAJ11 0
16 -0.018 0
65 -0.030
C2AAJ31 0
0
20 -0.021 85 -0.035
C2AAJC1

C2AAJ71 0
25 -0.021 0
100 -0.035
3-85
(2) 200 W, 400 W, 600 W, 750 W and 1150 W

W
U
0.06 A
L
LL LR 0.04 Shaft-end
LM L1 L2 A
0.05 A
LG L3 LC
1.5 17 21.2 LE
MH
LA
14
Q
QK
LBh7
Sh7
LD
C
B
Serial encoder
Tap depth
Rotating section 4- LZ
(shown with hatching)
Units: mm
Model Gear
L LL LM LR LE LG B LD LB LC LA LZ
SGMAS- Ratio
02AAJ11 1/5
195.5 121.5 92.5 74 10 69 83 85 90 105
02AAJ31 3/31
4 9
02AAJC1 1/21
233 149 120 84 12 82 98 100 105 120
02AAJ71 1/33
04AAJ11 1/5 214 140 111 74 10 69 83 85 90 105
4 9
04AAJ31 3/31 230.5 146.5 117.5 84 12 82 98 100 105 120
04AAJC1 1/21
279.5 174.5 145.5 105 5 13 93 112 115 120 135 11
04AAJ71 1/33
06AAJ11 1/5 240 166 137 74 4 10 69 83 85 90 105 9
06AAJ31 3/31 280.5 175.5 146.5
105 5 13 93 112 115 120 135 11
06AAJC1 1/21 305.5 200.5 171.5
06AAJ71 1/33 309.5 202.5 173.5 107 10 15 107 134 140 145 165 14
08AAJ11 1/5 247 163 133 84 4 12 82 98 100 105 120 9
08AAJ31 3/31 271 166 136 105 5 13 93 112 115 120 135 11
08AAJC1 1/21
300 193 163 107 10 15 107 134 140 145 165 14
08AAJ71 1/33
12AAJ11 1/5 278.5 194.5 163 84 4 12 82 98 100 105 120 9
12AAJB1 1/11 334.5 227.5 227
107 10 15 107 134 140 145 165
12AAJC1 1/21 331.5 224.5 193 14
12AAJ71 1/33 352.5 235.5 204 117 17 16 135 163 165 170 190
3-86
(cont’d)
Approx.
Model
L1 L2 L3 Q C S Tap × Depth QK U W T MH Mass
SGMAS-
kg
02AAJ11
36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6 2.6
02AAJ31
02AAJC1
40 44 23 42 40 25 M6 × 12L 36 4 8 7 4.0
02AAJ71
04AAJ11 36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6 2.9
04AAJ31 40 44 23 42 40 25 M6 × 12L 36 4 8 7 3.8
13
04AAJC1
45 60 26.5 58 50 32 M8 × 16L 50 5 10 8 5.9
04AAJ71
06AAJ11 36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6 3.4
06AAJ31 6
45 60 26.5 58 50 32 M8 × 16L 50 5 10 8
06AAJC1 6.4
06AAJ71 44 63 42 60 46 40 M10 × 20L 45 5 12 8 11.5

08AAJ11 40 44 23 42 40 25 M6 × 12L 36 4 8 7 4.9
08AAJ31 45 60 26.5 58 50 32 M8 × 16L 50 10 6.5
15
08AAJC1 5 8
44 63 42 60 46 40 M10 × 20L 45 12 11.3
08AAJ71
12AAJ11 40 44 23 42 40 25 M6 × 12L 36 4 8 7 6.2
12AAJB1
44 63 42 46 40 5 12 8 15 12.6
12AAJC1 60 M10 × 20L 45
12AAJ71 53 64 51 51 45 5.5 14 9 18.6
3-87
Units: mm
SGMAS- S LB
02AAJ11
0 0
85 -0.035
20 -0.021
02AAJ31
02AAJC1 0
0
25 -0.021 100 -0.035
02AAJ71
04AAJ11 0
20 -0.021 0
85 -0.035
04AAJ31 0
25 -0.021 0
100 -0.035
04AAJC1 0
0
32 -0.025 115 -0.035
04AAJ71
06AAJ11 0
20 -0.021 0
85 -0.035
06AAJ31
0
32 -0.025 0
115 -0.035
06AAJC1
06AAJ71 0
40 -0.025 0
140 -0.040
08AAJ11 0
25 -0.021 0
100 -0.035
08AAJ31 0
32 -0.025 0
115 -0.035
08AAJC1
0
40 -0.025 0
140 -0.040
08AAJ71
12AAJ11 0 0
100 -0.035
25 -0.021
12AAJB1 0
40 -0.025 0
140 -0.040
12AAJC1 0 0
140 -0.040
40 -0.025
12AAJ71 0
45 -0.025 0
165 -0.040
3-88
3.13.4 SGMAS Servomotors with Standard Backlash Gears and Brakes

(1) 50 W, 100 W and 150 W
W
U
0.06 A
L
LM L1 L2 A
φ0.05 A
LG L3
LC
2 17 20.2 4
A
12
φL
14
Q
QK
φLBh7
φSh7
φLD
φC
φB
Serial encoder
Holding Brake (de-energization operation) Rotating section
Tap × depth
Power Suplly: 90 VDC or 24 VDC (shown with 4-φLZ
hatching)

Units: mm
Model Gear
L LL LM LR LG B LD LB LC LA LZ
SGMAS- Ratio
A5AAJ1 1/5 202.5 147.5 70.5 55 8 47 55.5 56 60 70 5.5
A5AAJ3 3/31 212.5 152.5 75.5
A5AAJC 1/21 60 9 57 63 65 70 80 6.6
229.5 169.5 92.5
A5AAJ7 1/33
01AAJ1 1/5
224.5 164.5 87.5 60 9 57 63 65 70 80 6.6
01AAJ3 3/31
01AAJC 1/21
260 186 109 74 10 69 83 85 90 105 9
01AAJ7 1/33
C2AAJ1 1/5 236.5 176.5 99.5 60 9 57 63 65 70 80 6.6
C2AAJ3 3/31 255 181 104
74 10 69 83 85 90 105
C2AAJC 1/21 272 198 121 9
C2AAJ7 1/33 292.5 208.5 131.5 84 12 82 98 100 105 120
3-89
(cont’d)
Approx.
Model
SGMAS-
kg
A5AAJ1 28 27 17 25 20 14 20 1.2
A5AAJ3 1.4
M4 × 8L 3 5 5
A5AAJC 30 30 14.5 28 25 16 25
1.5
A5AAJ7
01AAJ1
30 30 14.5 28 25 16 M4 × 8L 25 3 5 5 1.5
01AAJ3
01AAJC
36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6 2.6
01AAJ7
C2AAJ1 30 30 14.5 28 25 16 M4 × 8L 25 3 5 5 1.6
C2AAJ3 2.5
36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6
C2AAJC 2.7
C2AAJ7 40 44 23 42 40 25 M6 × 12L 36 4 8 7 3.9
Units: mm
SGMAS- S LB
A5AAJ1 0
14 -0.018 0
56 -0.030
A5AAJ3
A5AAJC 0
16 -0.018 0
65 -0.030
A5AAJ7
01AAJ1
0
16 -0.018 0
65 -0.030
01AAJ3
01AAJC
0
20 -0.021 0
85 -0.035
01AAJ7
C2AAJ1 0
16 -0.018 0
65 -0.030
C2AAJ3
0
20 -0.021 0
85 -0.035
C2AAJC
C2AAJ7 0
25 -0.021 0
100 -0.035
3-90
(2) 200 W, 400 W, 600 W, 750 W and 1150 W

W
U
0.06 A
L
LM L1 L2 A
φ0.05 A
LG L3 LC
1.5 17 21.2 LE
MH
A
φL
14
Q
QK
φLBh7
φSh7
φLD
φB
φC
Serial encoder
Holding Brake (de-energization operation) Rotating section Tap × depth
Power Supply: 90 VDC or 24 VDC (shown with hatching) 4-φLZ
Units: mm

Model Gear
SGMAS- Ratio
02AAJ1 1/5
235.5 161.5 92.5 74 10 69 83 85 90 105
02AAJ3 3/31
4 9
02AAJC 1/21
273 189 120 84 12 82 98 100 105 120
02AAJ7 1/33
04AAJ1 1/5 254 180 111 74 10 69 83 85 90 105
4 9
04AAJ3 3/31 270.5 186.5 117.5 84 12 82 98 100 105 120
04AAJC 1/21
319.5 214.5 145.5 105 5 13 93 112 115 120 135 11
04AAJ7 1/33
06AAJ1 1/5 287.5 213.5 137 74 4 10 69 83 85 90 105 9
06AAJ3 3/31 328 223 146.5 84
5 13 93 112 115 120 135 11
06AAJC 1/21 353 248 171.5 105
06AAJ7 1/33 357 250 173.5 107 10 15 107 134 140 145 165 14
08AAJ1 1/5 292 208 133 84 4 12 82 98 100 105 120 9
08AAJ3 3/31 316 211 136 105 5 13 93 112 115 120 135 11
08AAJC 1/21
345 238 163 107 10 15 107 134 140 145 165 14
08AAJ7 1/33
3
12AAJ1 1/5 328.5 244.5 163 84 4 12 82 98 100 105 120 9
12AAJB 1/11 384.5 277.5 227
107 10 15 107 134 140 145 165
12AAJC 1/21 381.5 274.5 193 14
12AAJ7 1/33 402.5 285.5 204 117 17 16 135 163 165 170 190
3-91
(cont’d)
Approx.
Model
SGMAS-
kg
02AAJ1
36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6 3.2
02AAJ3
02AAJC
40 44 23 42 40 25 M6 × 12L 36 4 8 7 4.6
02AAJ7
04AAJ1 36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6 3.5
04AAJ3 40 44 23 42 40 25 M6 × 12L 36 4 8 7 4.4
13
04AAJC
45 60 26.5 58 50 32 M8 × 16L 50 5 10 8 6.5
04AAJ7
06AAJ1 36 38 19.5 36 32 20 M5 × 10L 32 3.5 6 6 4.1
06AAJ3 6.7
45 60 26.5 58 50 32 M8 × 16L 50 5 10 8
06AAJC 7.1
06AAJ7 44 63 42 60 46 40 M10 × 20L 45 5 12 8 12.2
08AAJ1 40 44 23 42 40 25 M6 × 12L 36 4 8 7 5.8
08AAJ3 45 60 26.5 58 50 32 M8 × 16L 50 10 7.3
15
08AAJC 5 8
44 63 42 60 46 40 M10 × 20L 45 12 12.2
08AAJ7
12AAJ1 40 44 23 42 40 25 M6 × 12L 36 4 8 7 7.1
12AAJB
44 63 42 46 40 5 12 8 15 13.5
12AAJC 60 M10 × 20L 45
12AAJ7 53 64 51 51 45 5.5 14 9 19.5
3-92
Units: mm
SGMAS- S LB
02AAJ1 0
20 -0.021 0
85 -0.035
02AAJ3
02AAJC 0
0
25 -0.021 100 -0.035
02AAJ7
04AAJ1 0
20 -0.021 0
85 -0.035
04AAJ3 0
25 -0.021 0
100 -0.035
04AAJC
0
32 -0.025 0
115 -0.035
04AAJ7
06AAJ1 0 0
85 -0.035
20 -0.021
06AAJ3
0 0
115 -0.035
32 -0.025

06AAJC
06AAJ7 0 0
140 -0.040
40 -0.025
08AAJ1 0
25 -0.021 0
100 -0.035
08AAJ3 0
32 -0.025 0
115 -0.035
08AAJC
0
40 -0.025 0
140 -0.040
08AAJ7
12AAJ1 0
25 -0.021 0
100 -0.035
12AAJB 0
40 -0.025 0
140 -0.040
12AAJC 0 0
140 -0.040
40 -0.025
12AAJ7 0
45 -0.025 0
165 -0.040
3-93

(1) 50 W, 100 W and 150 W
W
T
U
0.06 A
L
LL LR 0.04
LM L1 L2 A Shaft-end
φ0.05 A
LG L3
2 17 20.2 LE LC
12
A
φL
14
Q
QK
φLBh7
φSh7
φLD
φB
φC
Serial encoder
Rotating section Tap × depth
(shown with hatching) 4-φLZ
Units: mm
Model Gear
SGMAS- Ratio
A5AAH11 1/5 153.5 98.5 66.5 55 6 8 40 55.5 56 60 70 5.5
A5AAH21 1/9 159.5 99.5 67.5 50
A5AAHC1 1/21 60 8 9 64.5 65 70 80 6.6
176.5 116.5 84.5 40
A5AAH71 1/33
01AAH11 1/5 171.5 111.5 79.5
60 8 9 40 64.5 65 70 80 6.6
01AAHB1 1/11 188.5 128.5 96.5
01AAHC1 1/21
211.5 137.5 105.5 74 7.5 10 59 84 85 90 105 9
01AAH71 1/33
C2AAH11 1/5 183.5 123.5 91.5 60 8 9 40 64.5 65 70 80 6.6
C2AAHB1 1/11
223.5 149.5 117.5 74 7.5 10 84 85 90 105
C2AAHC1 1/21 59 9
C2AAH71 1/33 229.5 145.5 113.5 84 12 12 96 100 105 120
Approx.
Model
SGMAS-
kg
A5AAH11 28 27 20 25 14 20 0.9
A5AAH21 1.2
20 M4 × 8L 3 5 5
A5AAHC1 30 30 22 28 16 25
1.5
A5AAH71
01AAH11 1.3
30 30 22 28 20 16 M4 × 8L 25 3 5 5
01AAHB1 1.6
01AAHC1
36 38 26 36 26 20 M5 × 10L 32 3.5 6 6 2.6
01AAH71
C2AAH11 30 30 22 28 20 16 M4 × 8L 25 3 5 5 1.4
C2AAHB1 2.9
36 38 26 36 26 20 M5 × 10L 32 3.5 6 6
C2AAHC1 2.7
C2AAH71 40 44 29 42 32 25 M6 × 12L 36 4 8 7 3.2
3-94
Units: mm
SGMAS- S LB
A5AAH11 0
14 -0.018 0
56 -0.030
A5AAH21
A5AAHC1 0
16 -0.018 0
65 -0.030
A5AAH71
01AAH11
0
16 -0.018 0
65 -0.030
01AAHB1
01AAHC1
0
20 -0.021 0
85 -0.035
01AAH71
C2AAH11 0 0
65 -0.030
16 -0.018
C2AAHB1
0
20 -0.021 0
85 -0.035
C2AAHC1

C2AAH71 0
25 -0.021 0
100 -0.035
3-95
(2) 200 W, 400 W, 600 W, 750 W and 1150 W

W
T
U
0.06 A
L
LM L1 L2 A
φ0.05 A
LG L3
1.5 17 21.2
MH
LE LC
A
φL
Q
14
QK
φLBh7
φSh7
φLD
φC
φB
Serial encoder
Rotating section
(shown with hatching) Tap × depth
4-φLZ
Units: mm
Model Gear
SGMAS- Ratio
02AAH11 1/5 192 118 89
74 7.5 10 84 85 90 105
02AAHB1 1/11 209 135 106
59 9
02AAHC1 1/21
227 143 114 84 12 12 96 100 105 120
02AAH71 1/33
04AAH11 1/5 210.5 136.5 107.5 74 7.5 10 84 85 90 105
9
04AAHB1 1/11 245.5 161.5 132.5 84 12 12 59 96 100 105 120
04AAHC1 1/21 14 112
274.5 169.5 140.5 105 13 115 120 135 11
04AAH71 1/33 12.5 84 114
06AAH11 1/5 236.5 162.5 133.5 74 7.5 10 84 85 90 105 9
59
06AAHB1 1/11 288.5 183.5 154.5 14 112
105 13 115 120 135 11
06AAHC1 1/21 300.5 195.5 166.5 12.5 114
84
06AAH71 1/33 328.5 186.5 157.5 142 10 15 134 140 145 165 14
08AAH11 1/5 241 157 127 84 12 12 96 100 105 120 9
59
08AAHB1 1/11 291 186 156 105 14 13 112 115 120 135 11
08AAHC1 1/21
335 193 163 142 10 15 84 134 140 145 165 14
08AAH71 1/33
12AAH11 1/5 272.5 188.5 157 84 12 12 59 96 100 105 120 9
12AAHB1 1/11
366.5 224.5 193 142 10 15 84 134 140 145 165
12AAHC1 1/21 14
12AAH71 1/33 391.5 235.5 204 156 13 16 135 163 165 170 190
3-96
(cont’d)
Approx.
Model
SGMAS-
kg
02AAH11 2.8
36 38 26 36 26 20 M5 × 10L 32 3.5 6 6
02AAHB1 3.3
02AAHC1 3.5
40 44 30 42 32 25 M6 × 12L 36 4 8 7
02AAH71 3.6
04AAH11 36 38 26 36 26 20 M5 × 10L 32 3.5 6 6 3.1
04AAHB1 40 44 30 42 32 25 M6 × 12L 36 4 8 7 3.8
13
04AAHC1 4.2
45 60 33 58 40 32 M8 × 16L 50 5 10 8
04AAH71 6.6
06AAH11 36 38 26 36 26 20 M5 × 10L 32 3.5 6 6 3.6
06AAHB1 4.9
45 60 33 58 40 32 M8 × 16L 50 5 10 8
06AAHC1 6.7
06AAH71 57 85 42 82 44 40 M10 × 20L 70 5 12 8 8.2
08AAH11 40 44 30 42 32 25 M6 × 12L 36 4 8 7 4.7

08AAHB1 45 60 34 58 40 32 50 10 5.5
15
08AAHC1 5 8
57 85 42 82 44 40 M10 × 20L 70 12 8.8
08AAH71
12AAH11 40 44 30 42 32 25 M6 × 12L 36 4 8 7 6.0
12AAHB1 15 10.8
57 85 42 44 40 5 12 8
12AAHC1 82 M10 × 20L 70 (0.59) 10.1
12AAH71 70 86 51 51 45 5.5 14 9 19.9
3-97
Units: mm
SGMAS- S LB
02AAH11 0
0
20 -0.021 85 -0.035
02AAHB1
02AAHC1
0
25 -0.021 0
100 -0.035
02AAH71
04AAH11 0 0
85 -0.035
20 -0.021
04AAHB1 0
25 -0.021 0
100 -0.035
04AAHC1
0
32 -0.025 0
115 -0.035
04AAH71
06AAH11 0
20 -0.021 0
85 -0.035
06AAHB1
0
32 -0.025 0
115 -0.035
06AAHC1
06AAH71 0
40 -0.025 0
140 -0.040
08AAH11 0
25 -0.021 0
100 -0.035
08AAHB1 0 0
115 -0.035
32 -0.025
08AAHC1
0
40 -0.025 0
140 -0.040
08AAH71
12AAH11 0
25 -0.021 0
100 -0.035
12AAHB1 0
40 -0.025 0
140 -0.040
12AAHC1 0
40 -0.025 0
140 -0.040
12AAH71 0
45 -0.025 0
165 -0.040
3-98
3.13.6 SGMAS Servomotors with Low-backlash Gears and Brakes

(1) 50 W, 100 W and 150 W
W
T
U
0.004 A
L
LM L1 L2 A
φ0.05 A
LG L3
2 17 20.2 LE LC
φLA
14
12
Q
QK
φLBh7
φSh7
φC
φB
φLD
Serial encoder
Rotating section Tap × depth
Holding Brake (de-energization operation)
(shown with 4-φLZ
Power Supply: 90 VDC or 24 VDC
hatching)

Units: mm
Model Gear
SGMAS- Ratio
A5AAH1 1/5 199.5 144.5 66.5 55 6 8 40 55.5 56 60 70 5.5
A5AAH2 1/9 205.5 145.5 67.5 50
A5AAHC 1/21 60 8 9 64.5 65 70 80 6.6
222.5 162.5 84.5 40
A5AAH7 1/33
01AAH1 1/5 217.5 157.5 79.5
60 8 9 40 64.5 65 70 80 6.6
01AAHB 1/11 234.5 174.5 96.5
01AAHC 1/21
257.5 183.5 105.5 74 7.5 10 59 84 85 90 105 9
01AAH7 1/33
C2AAH1 1/5 228.5 168.5 91.5 60 8 9 40 64.5 65 70 80 6.6
C2AAHB 1/11
268.5 194.5 117.5 74 7.5 10 59 84 85 90 105
C2AAHC 1/21 9
C2AAH7 1/33 274.5 190.5 113.5 84 12 12 59 96 100 105 120
Approx. 3
Model
SGMAS-
kg
A5AAH1 28 27 20 25 14 20 1.2
A5AAH2 1.5
20 M4 × 8L 3 5 5
A5AAHC 30 30 22 28 16 25
1.8
A5AAH7
01AAH1 1.6
30 30 22 28 20 16 M4 × 8L 25 3 5 5
01AAHB 1.9
01AAHC
36 38 26 36 26 20 M5 × 10L 32 3.5 6 6 2.9
01AAH7
C2AAH1 30 30 22 28 20 16 M4 × 8L 25 3 5 5 1.7
C2AAHB 3.2
36 38 26 36 26 20 M5 × 10L 32 3.5 6 6
C2AAHC 3.0
C2AAH7 40 44 29 42 32 25 M6 × 12L 36 4 8 7 3.5
3-99
Units: mm
SGMAS- S LB
A5AAH1 0
14 -0.018 0
56 -0.030
A5AAH2
A5AAHC 0
16 -0.018 0
65 -0.030
A5AAH7
01AAH1
0
16 -0.018 0
65 -0.030
01AAHB
01AAHC
0
20 -0.021 0
85 -0.035
01AAH7
C2AAH1 0 0
65 -0.030
16 -0.018
C2AAHB
0
20 -0.021 0
85 -0.035
C2AAHC
C2AAH7 0
25 -0.021 0
100 -0.035
3-100
(2) 200 W, 400 W, 600 W, 750 W and 1150 W

W
T
U
0.06 A
L
LM L1 L2 A
φ0.05
LG L3
LE LC
MH
1.5 17 21.2
LA
14
Q
QK
φLBh7
φLD
φSh7
φC
φB
Serial encoder
Holding Brake (de-energization operation) Rotatins section
(shown with Tap × depth
Power Supply: 90 VDC or 24 VDC 4-φLZ
hatching)
Units: mm

Model Gear
SGMAS- Ratio
02AAH1 1/5 232 158 89
74 7.5 10 84 85 90 105
02AAHB 1/11 249 175 106
59 9
02AAHC 1/21
267 183 114 84 12 12 96 100 105 120
02AAH7 1/33
04AAH1 1/5 250.5 176.5 107.5 74 7.5 10 84 85 90 105
9
04AAHB 1/11 285.5 201.5 132.5 84 12 12 59 96 100 105 120
04AAHC 1/21 14 112
314.5 209.5 140.5 105 13 115 120 135 11
04AAH7 1/33 12.5 84 114
06AAH1 1/5 284 210 133.5 74 7.5 10 84 85 90 105 9
59
06AAHB 1/11 334.5 229.5 154.5 14 112
105 13 115 120 135 11
06AAHC 1/21 348 243 166.5 12.5 84 114
06AAH7 1/33 376 234 157.5 142 10 15 84 134 140 145 165 14
08AAH1 1/5 286 202 127 84 12 12 96 100 105 120 9
59
08AAHB 1/11 336 231 156 105 14 13 112 115 120 135 11
08AAHC 1/21 3
380 238 163 142 10 15 84 134 140 145 165 14
08AAH7 1/33
12AAH1 1/5 322.5 238.5 157 84 12 12 59 96 100 105 120 9
12AAHB 1/11
416.5 274.5 193 142 10 15 84 134 140 145 165
12AAHC 1/21 14
12AAH7 1/33 441.5 285.5 204 156 13 16 135 163 165 170 190
3-101
(cont’d)
Approx.
Model
SGMAS-
kg
02AAH1 3.4
36 38 26 36 26 20 M5 × 10L 32 3.5 6 6
02AAHB 3.9
02AAHC 4.1
40 44 30 42 32 25 M6 × 12L 36 4 8 7
02AAH7 4.2
04AAH1 36 38 26 36 26 20 M5 × 10L 32 3.5 6 6 3.7
04AAHB 40 44 30 42 32 25 M6 × 12L 36 4 8 7 4.4
13
04AAHC 4.8
45 60 34 58 40 32 M8 × 16L 50 5 10 8
04AAH7 7.2
06AAH1 36 38 26 36 26 20 M5 × 10L 32 3.5 6 6 4.3
06AAHB 5.6
45 60 33 58 40 32 M8 × 16L 50 10
06AAHC 5 8 7.4
06AAH7 57 85 46 82 44 40 M10 × 20L 70 12 8.9
08AAH1 40 44 30 42 32 25 M6 × 12L 36 4 8 7 5.6
08AAHB 45 60 34 58 40 32 M8 × 16L 50 10 6.4
15
08AAHC 5 8
57 85 42 82 44 40 M10 × 20L 70 12 9.7
08AAH7
12AAH1 40 44 30 42 32 25 M6 × 12L 36 4 8 7 6.9
12AAHB 11.7
57 85 42 44 40 5 12 8 15
12AAHC 82 M10 × 20L 70 11
12AAH7 70 86 51 51 45 5.5 14 9 20.8
3-102
Units: mm
SGMAS- S LB
02AAH1 0
20 -0.021 0
85 -0.035
02AAHB
02AAHC
0 0
100 -0.035
25 -0.021
02AAH7
04AAH1 0 0
85 -0.035
20 -0.021
04AAHB 0
25 -0.021 0
100 -0.035
04AAHC
0
32 -0.025 0
115 -0.035
04AAH7
06AAH1 0
20 -0.021 0
85 -0.035
06AAHB

0
32 -0.025 0
115 -0.035
06AAHC
06AAH7 0
40 -0.025 0
140 -0.040
08AAH1 0
25 -0.021 0
100 -0.035
08AAHB 0 0
115 -0.035
32 -0.025
08AAHC
0
40 -0.025 0
140 -0.040
08AAH7
12AAH1 0 0
100 -0.035
25 -0.021
12AAHB 0
40 -0.025 0
140 -0.040
12AAHC 0
40 -0.025 0
140 -0.040
12AAH7 0
45 -0.025 0
165 -0.040
3-103

(1) 50 W, 100 W and 150 W
0.006 A
L
0.04
LL LR
0.04
LM L1 A φ0.05 A LC
LG LE
2 17 20.2
12
A
φL
14
φLBh7
φLJ
φSH7
φLD
φB
4-φLZ 8-Tap × depth
Serial encoder
3
Units: mm
Model Gear
SGMAS- Ratio
A5AAH101 1/5 119.5 98.5 66.5 21 6 8 40 55.5 56 60 70 5.5
A5AAH201 1/9 122.5 99.5 67.5
A5AAHC01 1/21 23 8 9 50 64.5 65 70 80 6.6
139.5 116.5 84.5
A5AAH701 1/33
01AAH101 1/5 134.5 111.5 79.5
23 8 9 50 64.5 65 70 80 6.6
01AAHB01 1/11 151.5 128.5 96.5
01AAHC01 1/21
164.5 137.5 105.5 27 10 10 60 83 85 90 105 9
01AAH701 1/33
C2AAH101 1/5 146.5 123.5 91.5 23 8 9 50 64.5 65 70 80 6.6
C2AAHB01 1/11
176.5 149.5 117.5 27 10 10 60 83 85 90 105
C2AAHC01 1/21 9
C2AAH701 1/33 188.5 157.5 125.5 31 12 12 70 96 100 105 120
Approx.
Model
L1 S Tap × Depth LJ Mass
SGMAS-
kg
A5AAH101 20 14 30 0.9
A5AAH201 1.1
M3 × 6L
A5AAHC01 22 19 35
1.2
A5AAH701
01AAH101 1.2
22 19 M3 × 6L 35
01AAHB01 1.3
01AAHC01
26 24 M4 × 7L 45 2.3
01AAH701
C2AAH101 22 19 M3 × 6L 35 1.3
C2AAHB01
26 24 M4 × 7L 45 2.4
C2AAHC01
C2AAH701 29 28 M5 × 8L 55 3.5
3-104
Units: mm
SGMAS- S LB
0
A5AAH101 14 +0.018
0
56 -0.030
A5AAH201
0
A5AAHC01 19 +0.021
0 65 -0.030
A5AAH701
01AAH101
0
19 +0.021
0 65 -0.030
01AAHB01
01AAHC01 0
24 +0.021
0
85 -0.035
01AAH701
C2AAH101 19 +0.021
0
0
65 -0.030
C2AAHB01
0
24 +0.021
0 85 -0.035
C2AAHC01

C2AAH701 28 +0.021
0
0
100 -0.035
3-105
(2) 200 W, 400 W, 600 W, 750 W, and 1150 W

0.06 A
L
0.04
LL LR
0.04 LC
LM L1 A φ0.05
LG LE
1.5 17 21.2 A
φL
MH
14
φLBh7
φSH7
φLD
φB
φLJ
Serial encoder
3
Units: mm
Model Gear
SGMAS- Ratio
02AAH101 1/5 145 118 89
27 10 10 60 83 85 90 105
02AAHB01 1/11 162 135 106
9
02AAHC01 1/21
174 143 114 31 12 12 70 96 100 105 120
02AAH701 1/33
04AAH101 1/5 163.5 136.5 107.5 27 10 10 60 83 85 90 105
9
04AAHB01 1/11 192.5 161.5 132.5 31 12 12 70 96 100 105 120
04AAHC01 1/21
204.5 169.5 140.5 35 14 13 90 112 115 120 135 11
04AAH701 1/33
06AAH101 1/5 189.5 162.5 133.5 27 10 10 60 83 85 90 105 9
06AAHB01 1/11
230.5 195.5 166.5 35 14 13 90 112 115 120 135 11
06AAHC01 1/21
06AAH701 1/33 246.5 202.5 173.5 44 10 15 107 134 140 145 165 14
08AAH101 1/5 188 157 127 31 12 12 70 96 100 105 120 9
08AAHB01 1/11 221 186 156 35 14 13 90 112 115 120 135 11
08AAHC01 1/21
237 193 163 44 10 15 107 134 140 145 165 14
08AAH701 1/33
12AAH101 1/5 219.5 188.5 157 31 12 12 70 96 100 105 120 9
12AAHB01 1/11 271.5 227.5 196 10
44 15 107 134 140 145 165
12AAHC01 1/21 268.5 224.5 193 14
16
12AAH701 1/33 288.5 235.5 204 53 16 135 163 165 170 190
3-106
(cont’d)
Approx.
Model
L1 S Tap × Depth LJ MH Mass
SGMAS-
kg
02AAH101 2.7
26 24 M4 × 7L 45
02AAHB01 2.8
02AAHC01
29 28 M5 × 8L 55 3.9
02AAH701
13
04AAH101 26 24 M4 × 7L 45 3.0
04AAHB01 29 28 55 4.2
04AAHC01 M5 × 8L
33 32 70 5.6
04AAH701
06AAH101 26 24 M4 × 7L 45 3.5
06AAHB01 5.9
33 32 M5 × 8L 70 13
06AAHC01 5.9
06AAH701 42 35 M6 × 10L 80 9.9
08AAH101 29 28 55 5.0
M5 × 8L

08AAHB01 33 32 70 6.7
15
08AAHC01
42 35 M6 × 10L 80 10.3
08AAH701
12AAH101 29 28 M5 × 8L 55 6.3
12AAHB01
42 35 M6 × 10L 80 15 11.6
12AAHC01
12AAH701 51 47 M8 × 12L 100 16.9
3-107
Units: mm
SGMAS- S LB
02AAH101 0
24 +0.021
0 85 -0.035
02AAHB01
02AAHC01
28 +0.021
0
0
100 -0.035
02AAH701
04AAH101 24 +0.021
0
0
85 -0.035
0
04AAHB01 28 +0.021
0 100 -0.035
04AAHC01 0
32 +0.025
0 115 -0.035
04AAH701
0
06AAH101 24 +0.021
0 85 -0.035
06AAHB01
0
32 +0.025
0 115 -0.035
06AAHC01
06AAH701 35 +0.025
0
0
140 -0.040
0
08AAH101 28 +0.021
0
100 -0.035
0
08AAHB01 32 +0.025
0 115 -0.035
08AAHC01
35 +0.025
0
0
140 -0.040
08AAH701
0
12AAH101 28 +0.021
0 100 -0.035
0
12AAHB01 35 +0.025
0 140 -0.040
0
12AAHC01 35 +0.025
0 140 -0.040
12AAH701 0
47 −0.025 0
165 -0.040
3-108
3.13.8 SGMAS Flange-type Servomotors with Low-backlash Gears and Brakes

(1) 50 W, 100 W and 150 W
0.06 A
L
0.04
LL LR
0.04
LM L1 A φ0.05 A
LG LE
2 17 20.2 LC
12
φLA
14
φLBh7
φLD
φSH7
φB
φLJ
Serial encoder Holding Brake (de-energization operation) 4-φLZ

3 8-Tap × depth
Units: mm

Model Gear
SGMAS- Ratio
A5AAH10 1/5 165.5 144.5 66.5 21 6 8 40 55.5 56 60 70 5.5
A5AAH20 1/9 168.5 145.5 67.5
A5AAHC0 1/21 23 8 9 50 64.5 65 70 80 6.6
185.5 162.5 84.5
A5AAH70 1/33
01AAH10 1/5 180.5 157.5 79.5
23 8 9 50 64.5 65 70 80 6.6
01AAHB0 1/11 197.5 174.5 96.5
01AAHC0 1/21
210.5 183.5 105.5 27 10 10 60 83 85 90 105 9
01AAH70 1/33
C2AAH10 1/5 203.5 168.5 91.5 23 8 9 50 64.5 65 70 80 6.6
C2AAHB0 1/11
233.5 194.5 117.5 27 10 10 60 83 85 90 105
C2AAHC0 1/21 9
C2AAH70 1/33 245.5 190.5 113.5 31 12 12 76 96 100 105 120
Approx.
Model
L1 S Tap × Depth LJ Mass
SGMAS-
kg
3
A5AAH10 20 14 30 1.2
A5AAH20 1.4
M3 × 6L
A5AAHC0 22 19 35
1.5
A5AAH70
01AAH10 1.5
22 19 M3 × 6L 35
01AAHB0 1.6
01AAHC0
26 24 M4 × 7L 45 2.6
01AAH70
C2AAH10 22 19 M3 × 6L 35 1.6
C2AAHB0 2.4
26 24 M4 × 7L 45
C2AAHC0 2.7
C2AAH70 29 28 M5 × 8L 55 3.5
3-109
Units: mm
SGMAS- S LB
A5AAH10 14 +0.018
0
0
56 -0.030
A5AAH20
0
A5AAHC0 19 +0.021
0
65 -0.030
A5AAH70
01AAH10
19 +0.021
0
0
65 -0.030
01AAHB0
01AAHC0 0
24 +0.021
0
85 -0.035
01AAH70
0
C2AAH10 19 +0.021
0 65 -0.030
C2AAHB0
0
24 +0.021
0 85 -0.035
C2AAHC0
0
C2AAH70 28 +0.021
0 100 -0.035
3-110
(2) 200 W, 400 W, 600 W, 750 W and 1150 W

0.06 A
L
LL LR 0.04
LM L1 0.04
LG LE A
φ0.05
1.5 17 21.2
MH
LC
14
φLA
φLBh7
φSH7
φLD
φB
Serial encoder
Holding Brake (de-energization operation) 3
φ LJ
8-Tap × depth
Units: mm
Model Gear
SGMAS- Ratio

02AAH10 1/5 185 158 89
27 10 10 60 83 85 90 105
02AAHB0 1/11 202 175 106
9
02AAHC0 1/21
214 183 114 31 12 12 70 96 100 105 120
02AAH70 1/33
04AAH10 1/5 203.5 176.5 107.5 27 10 10 60 83 85 90 105
9
04AAHB0 1/11 232.5 201.5 132.5 31 12 12 70 96 100 105 120
04AAHC0 1/21
244.5 209.5 140.5 35 14 13 90 112 115 120 135 11
04AAH70 1/33
06AAH10 1/5 237 210 133.5 27 10 10 60 83 85 90 105 9
06AAHB0 1/11
278 243 166.5 35 12.5 13 84 114 115 120 135 11
06AAHC0 1/21
06AAH70 1/33 294 250 173.5 44 10 15 107 134 140 145 165 14
08AAH10 1/5 233 202 127 31 12 12 70 96 100 105 120 9
08AAHB0 1/11 266 231 156 35 14 13 90 112 115 120 135 11
08AAHC0 1/21
282 238 163 44 10 15 107 134 140 145 165 14
08AAH70 1/33
12AAH10 1/5 269.5 238.5 157 31 12 12 70 96 100 105 120 9
12AAHB0 1/11 321.5 277.5 196 10
3
44 15 107 134 140 145 165
12AAHC0 1/21 363.5 319.5 193 14
16
12AAH70 1/33 338.5 285.5 204 53 16 135 163 165 170 190
3-111
(cont’d)
Approx.
Model
L1 S Tap × Depth LJ MH Mass
SGMAS-
kg
02AAH10 3.3
26 24 M4 × 7L 45
02AAHB0 3.4
02AAHC0
29 28 M5 × 8L 55 4.5
02AAH70
04AAH10 26 24 M4 × 7L 45 13 3.6
04AAHB0 29 28 55 4.8
04AAHC0 M5 × 8L
33 32 70 6.2
04AAH70
06AAH10 26 24 M4 × 7L 45 4.2
06AAHB0 13 7.0
33 32 M5 × 8L 70
06AAHC0 13 6.6
06AAH70 42 35 M6 × 10L 80 13 10.6
08AAH10 29 28 55 5.9
M5 × 8L
08AAHB0 33 32 70 7.6
15
08AAHC0
42 35 M6 × 10L 80 11.2
08AAH70
12AAH10 29 28 M5 × 8L 55 7.2
12AAHB0
42 35 M6 × 10L 80 15 12.5
12AAHC0
12AAH70 51 47 M8 × 12L 100 17.8
3-112
Units: mm
SGMAS- S LB
02AAH10 0
24 +0.021
0
85 -0.035
02AAHB0
02AAHC0 0
28 +0.021
0
100 -0.035
02AAH70
04AAH10 24 +0.021
0
0
85 -0.035
04AAHB0 28 +0.021
0
0
100 -0.035
04AAHC0
32 +0.025
0
0
115 -0.035
04AAH70
06AAH10 24 +0.021
0
0
85 -0.035
06AAHB0
32 +0.025 0
115 -0.035

06AAHC0 0
0
06AAH70 35 +0.025
0
140 -0.040
08AAH10 28 +0.021
0
0
100 -0.035
0
08AAHB0 32 +0.025
0 115 -0.035
08AAHC0
0
35 +0.025
0 140 -0.040
08AAH70
0
12AAH10 28 +0.021
0 100 -0.035
0
12AAHB0 35 +0.025
0 140 -0.040
0
12AAHC0 35 +0.025
0
140 -0.040
12AAH70 0
47 −0.025 0
165 -0.040
3-113
3.14 Dimensional Drawings of SGMPS Servomotors

(1) 100 W, 200 W and 400 W
0.04 A
L φ0.04 A
LL LR LC
20.5 LM 3
MD MW
ME 17 ML LG
MH
14
QK U
W
Y
φLBh7
T
Y
φL Shaft-end
A
φSh6
A Tap × depth
0.02 4-φLZ
Serial encoder
Units: mm
Model
L LL LM LR LC LA LB LZ LG S Tap × Depth
SGMPS-
01AA21
No tap
01AA41 87 62 36 25 60 70 50 5.5 6 8
01AA61 M3 × 6L
02AA21
No tap
02AA41 97 67 43 30 80 90 70 7 8 14
02AA61 M5 × 8L
04AA21
No tap
04AA41 107 77 53 30 80 90 70 7 8 14
04AA61 M5 × 8L
Approx.
Model
QK U W T MD ME MH ML MW Mass
SGMPS-
kg
01AA21 No key
01AA41 9 1 12 20 19.8 0.5
14 1.8 3 3
01AA61
02AA21 No key
02AA41 1.1
16 3 5 5
02AA61
14 1.5 13 21 21
04AA21 No key
04AA41 1.4
16 3 5 5
04AA61
3-114
Units: mm
SGMAS- S LB
01AA21
01AA41 0
8 -0.009 0
50 -0.025
01AA61
02AA21
02AA41 0
14 -0.011 0
70 -0.030
02AA61
04AA21
0
14 -0.011 0
04AA41 70 -0.030
04AA61
(2) 750 W and 1500 W

300 ±30
Encoder connector U
Encoder cable
UL20276, φ6
W
300 ±30

35 Motor connector
UL1828, φ7 T
L Shaft-end
LL 40
120
LM
0.04 A 38
25 7 10.5 10 3.5
φ0.04 A
28
9
13 19
φSh6
QK
φ110h7
Y
φ1
45
0
110h7: φ110 -0.035
Tap × depth
0
16h6: φ16-0.016 A
Serial encoder 0.02 4 -φ10
3
Units: mm
Approx.
Model
SGMPS-
kg
08AA21 No key
No tap
08AA41 126.5 86.5 66.7 16 4.2
22 3 5 5
08AA61 M5 × 8L
15AA21 No key
No tap
15AA41 154.5 114.5 94.7 19 6.6
22 3.5 6 6
15AA61 M6 × 10L
3-115
3.14.2 SGMPS Servomotors with Brakes
3.14.2 SGMPS Servomotors with Brakes

(1) 100 W, 200 W and 400 W
0.04 A
L A
φ0.04
LL LR
20.5 LM 3 LC
MD ME 17 ML LG MW
MH
14
QK
U
Y
W
φLBh7
T
Y
φSh6
φL Shaft-end
A
A
0.02 Tap × depth
Serial encoder 4 -φLZ
(Holding Brake (de-energization operation)
Units: mm
Model
L LL LM LR LC LA LB LZ LG S Tap ×Depth
SGMPS-
01AA2
No tap
01AA4 115 90 36 25 60 70 50 5.5 6 8
01AA6 M3 × 6L
02AA2
No tap
02AA4 128.5 98.5 43 30 80 90 70 7 8 14
02AA6 M5 × 8L
04AA2
No tap
04AA4 138.5 108.5 53 30 80 90 70 7 8 14
04AA6 M5 × 8L
Approx.
Model
QK U W T MD ME MH ML MW Mass
SGMPS-
kg
01AA2 No key
01AA4 9 1 12 20 19.8 0.7
14 1.8 3 3
01AA6
02AA2 No key
02AA4 1.6
16 3 5 5
02AA6
14 1.5 13 21 21
04AA2 No key
04AA4 1.9
16 3 5 5
04AA6
3-116
Units: mm
SGMAS- S LB
01AA2
01AA4 0
8 -0.009 0
50 -0.025
01AA6
02AA2
02AA4 0
14 -0.011 0
70 -0.030
02AA6
04AA2
0
14 -0.011 0
04AA4 70 -0.030
04AA6
(2) 750 W and 1500 W

300 ±30

Encoder cable Encoder connector U
UL20276,φ6
W
300 ±30
35 Motor connector
UL1828, φ7
T
L Shaft-end
LL 40
LM 120
0.04 A
25 40 10.5 10 3.5 38
φ0.04 A
9
28
13 25.5
QK
Y
φ110h7
Y
φSh6
φ1
16h6: φ16-0.016
0 45
0
110h7: φ110 -0.035
A Tap × depth
Serial encoder 0.02 4-φ10
Holding Brake (de-energization opoeration)
Units: mm 3
Approx.
Model
SGMPS-
kg
08AA2 No key
No tap
08AA4 160 120 66.7 16 5.7
22 3 5 5
08AA6 M5 × 8L
15AA2 No key
No tap
15AA4 187.5 147.5 94.7 19 8.1
22 3.5 6 6
15AA6 M6 × 10L
3-117

(1) 100 W, 200 W and 400 W
W
U
0.06 A
L
LL LR
LM L1 L2 0.04 Shaft-end
LG L3 A
φ0.05 A
ME 17 ML LE LC
MH
14
A
φL
Q
QK
φLBh7
φLD
φSh7
φB
φC
Serial encoder Rotating section Tap × depth
Units: mm
Model Gear
L LL LM LR LE LG B C LD LB LC LA LZ
SGMPS- Ratio
01AAJ11 1/5
177 117 91 60 9 57 25 63 65 70 80 6.6
01AAJ31 3/31
4
01AAJC1 1/21
195.5 121.5 95.5 74 10 69 32 83 85 90 105 9
01AAJ71 1/33
02AAJ11 1/5
200.5 126.5 102.5 74 4 10 69 32 83 85 90 105
02AAJ31 3/31
9
02AAJC1 1/21
221 137 113 84 4 12 82 40 98 100 105 120
02AAJ71 1/33
04AAJ11 1/5 210.5 136.5 112.5 74 10 69 32 83 85 90 105
4 9
04AAJ31 3/31 231 147 123 84 12 82 40 98 100 105 120
04AAJC1 1/21
259 154 130 105 5 13 93 50 112 115 120 135 11
04AAJ71 1/33
Approx.
Model Tap ×
L1 L2 L3 Q S QK U W T ME MH ML Mass
SGMPS- Depth
kg
01AAJ11
30 30 14.5 28 16 M4 × 8L 25 3 5 5 1.3
01AAJ31
1 12 20.2
01AAJC1
36 38 19.5 36 20 M5 × 10L 32 3.5 6 6 2.4
01AAJ71
02AAJ11
36 38 19.5 36 20 M5 × 10L 32 3.5 6 6 2.8
02AAJ31
02AAJC1
40 44 23 42 25 M6 × 12L 36 4 8 7 4.2
02AAJ71
1.5 13 21.2
04AAJ11 36 38 19.5 36 20 M5 × 10L 32 3.5 6 6 3.1
04AAJ31 40 44 23 42 25 M6 × 12L 36 4 8 7 4.0
04AAJC1
45 60 26.5 58 32 M8 × 16L 50 5 10 8 6.1
04AAJ71
3-118
Units: mm
SGMAS- S LB
01AAJ11 0
16 -0.018 0
65-0.030
01AAJ31
01AAJC1 0
20 -0.021 0
85 -0.035
01AAJ71
02AAJ11 0
20 -0.021 0
85 -0.035
02AAJ31
02AAJC1 0 0
25 -0.021 100 -0.035
02AAJ71
04AAJ11 0
20 -0.021 0
85 -0.035
04AAJ31 0 0
100 -0.035
25 -0.021
04AAJC1

0
32 -0.025 0
115 -0.035
04AAJ71
3-119
(2) 750 W and 1500 W

Encoder cable
UL20276, φ6
Motor cable
UL1828, φ7 W
Encoder connector
U
300 ±30
(35) Motor connector
Shaft-end
300 A
0.06
±30
L LC
LL LR 0.04
A
LM L1 L2 φ0.05 A
7 LG L3 A
10.5 φL
LE
28
13 19 Q
QK
φLBh7
φSh7
φLD
φC
φB
Tap × depth
4-φLZ
Serial encoder Rotating section
(shown with hatching) Units: mm
Model Gear
SGMPS- Ratio
08AAJ11 1/5 240.5 156.5 137 84 4 12 82 40 98 100 105 120 9
08AAJ31 3/31 268.5 163.5 144 105 5 13 93 50 112 115 120 135 11
08AAJC1 1/21
281.5 174.5 155 107 10 15 107 46 134 140 145 165 14
08AAJ71 1/33
15AAJ11 1/5 296.5 191.5 172 105 5 13 93 50 112 115 120 135 11
15AAJB1 1/11 309.5 202.5 183 107 10 15 107 46 134 140 145 165
15AAJC1 1/21 14
325.5 208.5 189 117 17 16 135 51 163 165 170 190
15AAJ71 1/33
Approx.
Model
L1 L2 L3 Q S Tap × Depth QK U W T Mass
SGMPS-
kg
08AAJ11 40 44 23 42 25 M6 × 12L 36 4 8 7 6.8
08AAJ31 45 60 26.5 58 32 M8 × 16L 50 10 8.3
08AAJC1 5 8
44 63 42 60 40 M10 × 20L 45 12 13.2
08AAJ71
15AAJ11 45 60 26.5 58 32 M8 × 16L 50 10 11.4
5 8
15AAJB1 44 63 42 40 12 16.6
15AAJC1 60 M10 × 20L 45
53 64 51 45 5.5 14 9 21.6
15AAJ71
3-120
Units: mm
SGMAS- S LB
0
25 -0.021 0
08AAJ11 100 -0.035
0
32 -0.025 0
08AAJ31 115 -0.035
08AAJC1 0 0
40 -0.025 140 -0.040
08AAJ71
0 0
115 -0.035
15AAJ11 32 -0.025
0 0
140 -0.040
15AAJB1 40 -0.025
15AAJC1 0
45 -0.025 0
165 -0.040

15AAJ71 0 0
165 -0.040
45 -0.025
3-121
3.14.4 SGMPS Servomotors with Standard Backlash Gears and Brakes

(1) 100 W, 200 W and 400 W
W
U
0.06 A
L
LL LR
LM L1 L2 0.04 Shaft-end
LG L3 A
φ0.05 A
ME 17 ML LE
MH
LC
14
A
φL
Q
QK
φLBh7
φLD
φSh7
φC
φB
Rotating section
Serial encoder Holding Brake (de-energization operation) Tap × depth
Units: mm
Model Gear
SGMPS- Ratio
01AAJ1 1/5
205 145 91 60 4 9 57 25 63 65 70 80 6.6
01AAJ3 3/31
01AAJC 1/21
223.5 149.5 95.5 74 4 10 69 32 83 85 90 105 9
01AAJ7 1/33
02AAJ1 1/5
232 158 102.5 74 4 10 69 32 83 85 90 105
02AAJ3 3/31
9
02AAJC 1/21
252.5 168.5 113 84 4 12 82 40 98 100 105 120
02AAJ7 1/33
04AAJ1 1/5 242 168 112.5 74 10 69 32 83 85 90 105
4 9
04AAJ3 3/31 262.5 178.5 123 84 12 82 40 98 100 105 120
04AAJC 1/21
290.5 185.5 130 105 5 13 93 50 112 115 120 135 11
04AAJ7 1/33
Approx.
Model
L1 L2 L3 Q S Tap × Depth QK U W T ME MH ML Mass
SGMPS-
kg
01AAJ1
30 30 14.5 28 16 M4 × 8L 25 3 5 5 1.5
01AAJ3
1 12 20.2
01AAJC
36 38 19.5 36 20 M5 × 10L 32 3.5 6 6 2.6
01AAJ7
02AAJ1
36 38 19.5 36 20 M5 × 10L 32 3.5 6 6 3.3
02AAJ3
02AAJC
40 44 23 42 25 M6 × 12L 36 4 8 7 4.7
02AAJ7
1.5 13 21.2
04AAJ1 36 38 19.5 36 20 M5 × 10L 32 3.5 6 6 3.6
04AAJ3 40 44 23 42 25 M6 × 12L 36 4 8 7 4.5
04AAJC
45 60 26.5 58 32 M8 × 16L 50 5 10 8 6.6
04AAJ7
3-122
Units: mm
SGMAS- S LB
01AAJ1 0
0
16 -0.018 65-0.030
01AAJ3
01AAJC
0
20 -0.021 0
85 -0.035
01AAJ7
02AAJ1 0
0
20 -0.021 85 -0.035
02AAJ3
02AAJC
0
25 -0.021 0
100 -0.035
02AAJ7
04AAJ1 0 0
85 -0.035
20 -0.021
0
25 -0.021
04AAJ3 0
100 -0.035
04AAJC

0
32 -0.025 0
115 -0.035
04AAJ7
3-123
(2) 750 W and 1500 W

Encoder cable
UL20276,φ6
Motor cable
UL1828, φ7
300 ±30
Encoder connector
W
Motor connector
U
(35)
300
±30 0.06 A
L
0.04 Shaft-end
LL LR
A
LM L1 L2 φ0.05 A
13.3 10.5 LG L3 LC
LE
A
28
φL
Q
13 25.5
QK
φLBh7
φLD
φSh7
φC
φB
Rotating section
Serial encoder Holding Brake (de-energization operation) Tap × depth
Power Supply: 90 VDC or 24 VDC (shown with hatching) 4-φLZ
Units: mm
Model Gear
SGMPS- Ratio
08AAJ1 1/5 274 190 137 84 4 12 82 40 98 100 105 120 9
08AAJ3 3/31 302 197 144 105 5 13 93 50 112 115 120 135 11
08AAJC 1/21
315 208 155 107 10 15 107 46 134 140 145 165 14
08AAJ7 1/33
15AAJ1 1/5 330 225 172 105 5 13 93 50 112 115 120 135 11
15AAJB 1/11 343 236 183 107 10 15 107 46 134 140 145 165
15AAJC 1/21 14
359 242 189 117 17 16 135 51 163 165 170 190
15AAJ7 1/33
Approx.
Model
SGMPS-
kg
08AAJ1 40 44 23 42 25 M6 × 12L 36 4 8 7 8.3
08AAJ3 45 60 26.5 58 32 M8 × 16L 50 5 10 8 9.8
08AAJC
44 63 42 60 40 M10 × 20L 45 5 12 8 14.7
08AAJ7
15AAJ1 45 60 26.5 58 32 M8 × 16L 50 10 12.9
5 8
15AAJB 44 63 42 40 12 18.1
15AAJC 60 M10 × 20L 45
53 64 51 45 5.5 14 9 23.1
15AAJ7
3-124
Units: mm
SGMAS- S LB
0
25 -0.021 0
08AAJ1 100 -0.035
0 0
115 -0.035
08AAJ3 32 -0.025
08AAJC 0 0
40 -0.025 140 -0.040
08AAJ7
0
32 -0.025 0
115 -0.035
15AAJ1
0
40 -0.025 0
140 -0.040
15AAJB
15AAJC 0
45 -0.025 0
165 -0.040

15AAJ7 0
45 -0.025 0
165 -0.040
3-125
3.14.5 SGMPS Servomotors with Low-backlash Gears

(1) 100 W, 200 W and 400 W
W
T
U
0.06 A
L
LL LR 0.04
A Shaft-end
LM L1 L2
φ0.05 A
LG L3
ME 17 ML LE LC
MH
A
φL
14
Q
QK
φLBh7
φSh7
φLD
φC
φB
Serial encoder
Rotating section
4-φLZ
Units: mm
Model Gear
SGMPS- Ratio
01AAH11 1/5
168 108 82 60 8 9 40 20 64.5 65 70 80 6.6
01AAHB1 1/11
01AAHC1 1/21
191 117 91 74 7.5 10 59 26 84 85 90 105 9
01AAH71 1/33
02AAH11 1/5
197 123 99 74 7.5 10 59 26 84 85 90 105
02AAHB1 1/11
9
02AAHC1 1/21
215 131 107 84 12 12 59 32 96 100 105 120
02AAH71 1/33
04AAH11 1/5 207 133 109 74 7.5 10 26 84 85 90 105
9
04AAHB1 1/11 225 141 117 84 12 12 59 32 96 100 105 120
04AAHC1 1/21 253 148 124 14 40 112
105 13 115 120 135 11
04AAH71 1/33 254 149 125 12.5 84 40 114
Approx.
Model Tap ×
L1 L2 L3 Q S QK U W T ME MH ML Mass
SGMPS- Depth
kg
01AAH11
30 30 22 28 16 M4 × 8L 25 3 5 5 1.3
01AAHB1
1 12 20.2
01AAHC1
36 38 26 36 20 M5 × 10L 32 3.5 6 6 2.8
01AAH71
02AAH11 3.2
36 38 26 36 20 M5 × 10L 32 3.5 6 6
02AAHB1 3.5
02AAHC1
40 44 29 42 25 M6 × 12L 36 4 8 7 3.8
02AAH71
1.5 13 21.2
04AAH11 36 38 26 36 20 M5 × 10L 32 3.5 6 6 3.5
04AAHB1 40 44 29 42 25 M6 × 12L 36 4 8 7 4.1
04AAHC1 4.5
45 60 33 58 32 M8 × 16L 50 5 10 8
04AAH71 7.0
3-126
Units: mm
SGMAS- S LB
01AAH11
0
16 -0.018 0
65-0.030
01AAHB1
01AAHC1
0
20 -0.021 0
85 -0.035
01AAH71
02AAH11
0
20 -0.021 0
85 -0.035
02AAHB1
02AAHC1
0
25 -0.021 0
100 -0.035
02AAH71
04AAH11 0
20 -0.021 0
85 -0.035
04AAHB1 0
25 -0.021 0
100 -0.035
04AAHC1

0
32 -0.025 0
115 -0.035
04AAH71
3-127
(2) 750 W and 1500 W

Encoder cable
UL20276,φ6
Motor cable
UL1828, φ7
Encoder connector
300 ±30 W
T
U
Motor connector
(35)
300
0.06 A
±30
L
Shaft-end
LL LR 0.04
A φ0.05 A
LM L1 L2
7
10.5 LG L3 LC
LE
28
A
φL
Q
13 19
QK
φLBh7
120
φSh7
φLD
φC
φB
Rotating section
Serial encoder Tap × depth
Units: mm
Model Gear
SGMPS- Ratio
08AAH11 1/5 234.5 150.5 131 84 12 12 59 32 96 100 105 120 9
08AAHB1 1/11 263.5 158.5 139 105 14 13 59 40 112 115 120 135 11
08AAHC1 1/21
316.5 174.5 155 142 10 15 84 44 134 140 145 165 14
08AAH71 1/33
15AAH11 1/5 291.5 186.5 167 105 12.5 13 40 114 115 120 135 11
84
15AAHB1 1/11 344.5 202.5 183 142 10 15 44 134 140 145 165
15AAHC1 1/21 14
364.5 208.5 189 156 16 16 135 51 163 165 170 190
15AAH71 1/33
Approx.
Model
SGMPS-
kg
08AAH11 40 44 29 42 25 M6 × 12L 36 4 8 7 6.9
08AAHB1 45 60 33 58 32 M8 × 16L 50 5 10 8 8.0
08AAHC1
57 85 40 82 40 M10 × 20L 70 5 12 8 11.0
08AAH71
15AAH11 45 60 33 58 32 M8 × 16L 50 10 13.1
5 8
15AAHB1 57 85 40 40 12 11.3
15AAHC1 82 M10 × 20L 70
70 86 51 45 5.5 14 9 23.6
15AAH71
3-128
Units: mm
SGMAS- S LB
0
25 -0.021 0
100 -0.035
08AAH11
0
32 -0.025 0
115 -0.035
08AAH31
08AAHC1 0 0
40 -0.025 140 -0.040
08AAH71
0
32 -0.025 0
15AAH11 115 -0.035
0
40 -0.025 0
15AAHB1 140 -0.040
15AAHC1 0
45 -0.025 0
165 -0.040

15AAH71 0
45 -0.025 0
165 -0.040
3-129
3.14.6 SGMPS Servomotors with Low-backlash Gears and Brakes

(1) 100 W, 200 W and 400 W
W
T
U
0.06 A
L
LM L1 L2 A
φ0.05 A
LG L3
ME 17 ML LE LC
MH
A
φL
14
Q
QK
φLBh7
φLD
φSh7
φB
φC
Serial encoder
4-φLZ
Units: mm
Model Gear
SGMPS- Ratio
01AAH1 1/5
196 136 82 60 8 9 40 20 64.5 65 70 80 6.6
01AAHB 1/11
01AAHC 1/21
219 145 91 74 7.5 10 59 26 84 85 90 105 9
01AAH7 1/33
02AAH1 1/5
228.5 154.5 99 74 7.5 10 26 84 85 90 105
02AAHB 1/11
59 9
02AAHC 1/21
246.5 162.5 107 84 12 12 32 96 100 105 120
02AAH7 1/33
04AAH1 1/5 238.5 164.5 109 74 7.5 10 26 84 85 90 105
9
04AAHB 1/11 256.5 172.5 117 84 12 12 59 32 96 100 105 120
04AAHC 1/21 284.5 179.5 124 14 40 112
105 13 115 120 135 11
04AAH7 1/33 285.5 180.5 125 12.5 84 40 114
Approx.
Model
L1 L2 L3 Q S Tap × Depth QK U W T ME MH ML Mass
SGMPS-
kg
01AAH1
30 30 22 28 16 M4 × 8L 25 3 5 5 1.5
01AAHB
1 12 20.2
01AAHC
36 38 26 36 20 M5 × 10L 32 3.5 6 6 3.0
01AAH7
02AAH1 3.7
36 38 26 36 20 M5 × 10L 32 3.5 6 6
02AAHB 4.0
02AAHC
40 44 29 42 25 M6 × 12L 36 4 8 7 4.3
02AAH7
1.5 13 21.2
04AAH1 36 38 26 36 20 M5 × 10L 32 3.5 6 6 4.0
04AAHB 40 44 29 42 25 M6 × 12L 36 4 8 7 4.6
04AAHC 5.0
45 60 33 58 32 M8 × 16L 50 5 10 8
04AAH7 7.5
3-130
Units: mm
SGMAS- S LB
01AAH1 0
16 -0.018 0
65-0.030
01AAHB
01AAHC 0
0
20 -0.021 85 -0.035
01AAH7
02AAH1 0
0
20 -0.021 85 -0.035
02AAHB
02AAHC
0
25 -0.021 0
100 -0.035
02AAH7
04AAH1 0
20 -0.021 0
85 -0.035
04AAHB 0
25 -0.021 0
100 -0.035
04AAHC

0
32 -0.025 0
115 -0.035
04AAH7
3-131
(2) 750 W and 1500 W

Encoder cable
UL20276,φ6
Motor cable
UL1828, φ7
300 ±30
Encoder connector W
T
U
(35) Motor connector
300
±30 0.06 A
L Shaft-end
LL LR 0.04
LM L1 L2 A φ0.05 A
40 10.5 LG L3 LC
LE
28
A
φL
Q
13 QK
25.5
φLBh7
120
φLD
φSh7
φC
φB
Serial encoder
Power Supply: 90VDC or 24 VDC Tap × depth
Units: mm
Model Gear
SGMPS- Ratio
08AAH1 1/5 268 184 131 84 12 12 59 32 96 100 105 120 9
08AAHB 1/11 297 192 139 105 14 13 59 40 112 115 120 135 11
08AAHC 1/21
350 208 155 142 10 15 84 44 134 140 145 165 14
08AAH7 1/33
15AAH1 1/5 325 220 167 105 12.5 13 40 114 115 120 135 11
84
15AAHB 1/11 378 236 183 142 10 15 44 134 140 145 165
15AAHC 1/21 14
398 242 189 156 16 16 135 51 163 165 170 190
15AAH7 1/33
Approx.
Model
SGMPS-
kg
08AAH1 40 44 29 42 25 M6 × 12L 36 4 8 7 8.4
08AAHB 45 60 33 58 32 M8 × 16L 50 10 9.5
08AAHC 5 8
57 85 40 82 40 M10 × 20L 70 12 12.5
08AAH7
15AAH1 45 60 33 58 32 M8 × 16L 50 10 10.7
5 8
15AAHB 57 85 40 40 12 12.8
15AAHC 82 M10 × 20L 70
70 86 51 45 5.5 14 9 25.1
15AAH7
3-132
Units: mm
SGMAS- S LB
0
25 -0.021 0
100 -0.035
08AAH1
0
32 -0.025 0
08AAHB 115 -0.035
08AAHC 0 0
40 -0.025 140 -0.040
08AAH7
0 0
115 -0.035
15AAH1 32 -0.025
0 0
140 -0.040
15AAHB 40 -0.025
15AAHC 0
45 -0.025 0
165 -0.040

0
45 -0.025 0
15AAH7 165 -0.040
3-133

(1) 100 W, 200 W and 400 W
0.06 A
L
LL LR
0.04
LM L1 A φ0.05 A
LG LE
ME 17 ML LC
MH
A
φL
14
φLBh7
φSH7
φLD
φB
Serial encoder
φL
3
J
Units: mm
Model Gear
SGMPS- Ratio
01AAH101 1/5
132 109 83 23 8 9 50 64.5 65 70 80 6.6
01AAHB01 1/11
01AAHC01 1/21
145 118 92 27 10 10 60 83 85 90 105 9
01AAH701 1/33
02AAH101 1/5
150 123 99 27 10 10 60 83 85 90 105
02AAHB01 1/11
9
02AAHC01 1/21
162 131 107 31 12 12 70 96 100 105 120
02AAH701 1/33
04AAH101 1/5 160 133 109 27 10 10 60 83 85 90 105
9
04AAHB01 1/11 172 141 117 31 12 12 70 96 100 105 120
04AAHC01 1/21
184 149 125 35 14 13 90 112 115 120 135 11
04AAH701 1/33
Approx.
Model
L1 S Tap ×Depth LJ ME MH ML Mass
SGMPS-
kg
01AAH101 1.3
22 19 M3 × 6L 35
01AAHB01 1.4
1 12 20.2
01AAHC01
26 24 M4 × 7L 45 2.4
01AAH701
02AAH101 2.9
26 24 M4 × 7L 45
02AAHB01 3.0
02AAHC01
29 28 M5 × 8L 55 4.1
02AAH701
1.5 13 21.2
04AAH101 26 24 M4 × 7L 45 3.2
04AAHB01 29 28 M5 × 8L 55 4.4
04AAHC01
33 32 M5 × 8L 70 5.8
04AAH701
3-134
Units: mm
SGMAS- S LB
01AAH101
19 +0.021 0
65-0.030
01AAHB01 0
01AAHC01
24 +0.021
0
0
85 -0.035
01AAH701
02AAH101
24 +0.021
0
0
85 -0.035
02AAHB01
02AAHC01
24 +0.021
0
0
100 -0.035
02AAH701
04AAH101 24 +0.021
0
0
85 -0.035
04AAHB01 24 +0.021
0
0
100 -0.035
04AAHC01

24 +0.021
0
0
115 -0.035
04AAH701
3-135
(2) 750 W and 1500 W

Encoder cable
UL20276,φ6
Motor cable
UL1828, φ7
Encoder connector
300 ±30
Motor connector
(35)
300
±30 0.06 A
L
LL LR 0.04
LM L1 A φ0.05 A
7 10.5 LG LE LC
28
A
φL
13 19
120
φLBh7
φSH7
φLD
φB
φL
J
4-φLZ 8-Tap depth

Serial encoder LK
Units: mm
Model Gear
SGMPS- Ratio
08AAH101 1/5 181.5 150.5 131 31 12 12 70 96 100 105 120 9
08AAHB01 1/11 193.5 158.5 139 35 14 13 90 112 115 120 135 11
08AAHC01 1/21
218.5 174.5 155 44 10 15 107 134 140 145 165 14
08AAH701 1/33
15AAH101 1/5 221.5 186.5 167 35 12.5 13 90 112 115 120 135 11
15AAHB01 1/11 246.5 202.5 183 44 10 15 107 134 140 145 165
15AAHC01 1/21 14
261.5 208.5 189 53 16 16 135 163 165 170 190
15AAH701 1/33
Approx.
Model
L1 LJ LK S Tap × Depth Mass
SGMPS-
kg
08AAH101 29 55 28 6.9
3 M5 × 8L
08AAHB01 33 70 32 8.6
08AAHC01
42 80 4 35 M6 × 10L 12.2
08AAH701
15AAH101 33 70 3 32 M5 × 8L 11.6
15AAHB01 42 80 4 35 M6 × 10L 15.8
15AAHC01
51 100 6 47 M8 × 12L 20.5
15AAH701
Note: For flange-type servomotors, the inner diameter of the rotating section and bolts etc. is not sealed.
3-136
Units: mm
SGMAS- S LB
0
100 -0.035
08AAH101 28 +0.021
0
0
115 -0.035
08AAHB01 32 +0.025
0
08AAHC01 0
35 +0.025 140 -0.040
08AAH701 0
0
115 -0.035
15AAH101 32 +0.025
0
0
140 -0.040
15AAHB01 35 +0.025
0
0 0
165 -0.040
15AAHC01 47 −0.025

0 0
165 -0.040
15AAH701 47 −0.025
3-137
3.14.8 SGMPS Flange-type Servomotors with Low-backlash Gears and Brakes

(1) 100 W, 200 W and 400 W
0.06 A
L
LL LR
0.04
LM L1 A φ0.05 A
LG LE
ME 17 ML LC
MH
A
φL
14
φLBh7
φSH7
φLD
φB
Serial encoder
Holding Brake (de-energization operation)
φLJ
Power Supply: 90 VDC or 24 VDC 3
Units: mm
Model Gear
SGMPS- Ratio
01AAH10 1/5
160 137 83 23 8 9 50 64.5 65 70 80 6.6
01AAHB0 1/11
01AAHC0 1/21
173 146 92 27 10 10 60 83 85 90 105 9
01AAH70 1/33
02AAH10 1/5
181.5 154.5 99 27 10 10 60 83 85 90 105
02AAHB0 1/11
9
02AAHC0 1/21
193.5 162.5 107 31 12 12 70 96 100 105 120
02AAH70 1/33
04AAH10 1/5 191.5 164.5 109 27 10 10 60 83 85 90 105
9
04AAHB0 1/11 203.5 172.5 117 31 12 12 70 96 100 105 120
04AAHC0 1/21
215.5 180.5 125 35 14 13 90 112 115 120 135 11
04AAH70 1/33
Approx.
Model
L1 S Tap × Depth LJ ME MH ML Mass
SGMPS-
kg
01AAH10 1.5
22 19 M3 × 6L 35
01AAHB0 1.6
1 12 20.2
01AAHC0
26 24 M4 × 7L 45 2.6
01AAH70
02AAH10 3.4
26 24 M4 × 7L 45
02AAHB0 3.5
02AAHC0
29 28 M5 × 8L 55 4.6
02AAH70
1.5 13 21.2
04AAH10 26 24 M4 × 7L 45 3.7
04AAHB0 29 28 55 4.9
04AAHC0 M5 × 8L
33 32 70 6.3
04AAH70
3-138
Units: mm
SGMAS- S LB
01AAH10
0
16 -0.018 0
65-0.030
01AAHB0
01AAHC0 0 0
20 -0.021 85 -0.035
01AAH70
02AAH10 0
0
20 -0.021 85 -0.035
02AAHB0
02AAHC0 0
0
25 -0.021 100 -0.035
02AAH70
04AAH10 0
20 -0.021 0
85 -0.035
04AAHB0 0
25 -0.021 0
100 -0.035
04AAHC0

0
32 -0.025 0
115 -0.035
04AAH70
3-139
(2) 750 W and 1500 W

Encoder cable
UL20276,φ6
Motor cable
UL1828, φ7
Encoder connector
300 ±30
Motor connector
(35)
300 0.06 A
±30 L
LL LR 0.04
A φ0.05 A
LM L1
40 10.5 LG LE LC
28
A
φL
13 25.5
120
φLBh7
φSH7
φLD
φB
φL
J
Holding brake
(de-energization operation) LK 8-Tap × depth
Serial encoder
Units: mm
Model Gear
SGMPS- Ratio
08AAH10 1/5 215 184 131 31 12 12 70 96 100 105 120 9
08AAHB0 1/11 227 192 139 35 14 13 90 112 115 120 135 11
08AAHC0 1/21
252 208 155 44 10 15 107 134 140 145 165 14
08AAH70 1/33
15AAH10 1/5 255 220 167 35 12.5 13 90 112 115 120 135 11
15AAHB0 1/11 280 236 183 44 10 15 107 134 140 145 165
15AAHC0 1/21 14
295 242 189 53 16 16 135 163 165 170 190
15AAH70 1/33
Approx.
Model
L1 LJ LK S Tap × Depth Mass
SGMPS-
kg
08AAH10 29 55 28 8.4
3 M5 × 8L
08AAHB0 33 70 32 10.1
08AAHC0
42 80 4 35 M6 × 10L 13.7
08AAH70
15AAH10 33 70 3 32 M5 × 8L 13.1
15AAHB0 42 80 4 35 M6 × 10L 17.3
15AAHC0
51 100 6 47 M8 × 12L 22.0
15AAH70
Note: For flange-type servomotors, the inner diameter of the rotating section and bolts etc. is not sealed.
3-140
Units: mm
SGMAS- S LB
0
100 -0.035
08AAH10 28 +0.021
0
0
115 -0.035
08AAHB0 32 +0.025
0
08AAHC0 0
35 +0.025 140 -0.040
08AAH70 0
0
115 -0.035
15AAH10 32 +0.025
0
0
140 -0.040
15AAHB0 35 +0.025
0
0 0
165 -0.040
15AAHC0 47 −0.025

0 0
165 -0.040
15AAH70 47 −0.025
3-141
3.15.1 SGMAS Servomotors
3.15 Output Shaft of SGMAS and SGMPS Servomotors with Oil Seal
The following table shows the external dimensions of the output shaft for SGMAS and SGMPS servomotors
with oil seals. Note that the key length, QK, of the servomotors with oil seals, SGMAS-02 to -12, differs from
that of the servomotors without oil seals.
3.15.1 SGMAS Servomotors

Model SGMAS-A5, -01, and -C2 SGMAS-02, -04, and -06 SGMAS-08 and -12
Outer
Dimensions in 40 60 80
mm
Capacity 50 W 100 W, 150 W 200 to 600 W 750 W, 1150 W
φS 6 8 14 16
φE1 − − 36 49
φE2 − − 48 66
Output φLB − − 50 70
Shaft 14 25
Dimensi QK 14 14 (20 for servomotors without (20 for servomotors without
ons in oil seals) oil seals)
mm LE − − 3 3
LS1 − − 4 6
LS2 − − 10 11
LR − − 30 40
0.04 A
0.04 A LR
25 φ0.04 A LS2
7.5 LS1
1.5 QK
QK LE
φ0.04 A
φSh6
Dimensional
φ30h7
Drawing
φ29.8
in mm φLBh7
φSh6
φE2
φE1
A
Oil seal cover 0.02
0 A
φ30h7:φ30 -0.021
Oil seal cover 0.02
Dimensi 0 0 0
S φ6 -0.008 φ8 -0.009 φ14-0.011 0
φ16-0.011
onal
Toleranc
es in LB − − 0
φ50-0.025 0
φ70-0.03
mm
3-142
3.15 Output Shaft of SGMAS and SGMPS Servomotors with Oil Seal
3.15.2 SGMPS Servomotors

Model SGMPS-01 SGMPS-02, and -04 SGMPS-08 SGMPS-15
Outer
Dimensions in 60 80 120
mm
Capacity 100 W 200 W, 400 W 750 W 1500 W
φS 8 14 16 19
φE1 22 35 − −
φE2 39 49 − −
Output
Shaft φLB 50 70 − −
Dimensi QK 14 16 − −
ons in LE 3 3 − −
mm
LS1 3.5 6.5 − −
LS2 7 10 − −
LR 25 30 − −
0.04 A

40
10.5
5
0.04 A 3.5 φ0.04 A
LR
LS2
LS1
QK
LE
φ0.04 A
22
Dimensional
Drawing in mm
φ110h7
φSh6
φ77
φ55
φLBh7
φSh6
φE2
φE1
A
Oil seal cover 0.02 3
A
Oil seal cover 0.02
0
φ16h6:φ16 -0.011
0
φ110h7:φ110 -0.035
Dimensi 0
S φ8 -0.009 0
φ14-0.011 − −
onal
Toleranc
es in LB 0
φ50-0.025 0
φ70-0.03 − −
mm
3-143
3.16.1 1.0-kW to 5.0-kW SGMSS Servomotors without Gears
3.16 Dimensional Drawings of SGMSS Servomotors

3.16.1 1.0-kW to 5.0-kW SGMSS Servomotors without Gears
Models with oil seals are of the same configuration.
L
LL LR Shaft End
LT LM LC
0.04 A LR
LG LE
٧ φ0.04 A LE
φLA
φS
100
φLB
LF
φLH
φ45
KL1
88
φ30
φS
0.02
A
R
1
KB1 4-φLZ Q
KB2 Mounting holes
Note: For the specifications of the other shaft ends,
refer to 3.17 Shaft End Specifications for
SGMSS Servomotors.
Units: mm
Shaft-end Dimen- Approx.
Models sions
L LL LM LR LT KB1 KB2 KL1 Mass
SGMSS-
S Q kg
194 149 103 45 46 76 128 96 0 40 4.6

10AA21 24 -0.013
0
15AA21 205 160 116 45 44 87 139 96 24 -0.013 40 5.1
220 175 131 45 44 102 154 96 0 40 5.8

20AA21 24 -0.013
25AA21 249 204 154 45 50 125 183 96 0 40 7.0

24 -0.013
262 199 155 63 44 124 178 114 0 55 11

30AA21 28 -0.013
299 236 192 63 44 161 215 114 0 55 14

40AA21 28 -0.013
339 276 232 63 44 201 255 114 0 55 17

50AA21 28 -0.013
Models Flange Face Dimensions mm

SGMSS- LA LB LC LE LF LG LH LZ
115 0 100 3 3 10 130 7

10AA21 95 -0.035
0
15AA21 115 95 -0.035 100 3 3 10 130 7
0
20AA21 115 95 -0.035 100 3 3 10 130 7
0
25AA21 115 95 -0.035 100 3 3 10 130 7
145 0 130 6 6 12 165 9

30AA21 110-0.035
0
40AA21 145 110-0.035 130 6 6 12 165 9
145 0 130 6 6 12 165 9

50AA21 110-0.035
3-144
Cable Specifications for Encoder End Connectors Cable Specifications for Servomotor
(17-bit Encoder) Connectors
M A D A
A Phase U
B Receptacle: MS3102A20-29P
L B Phase V
C
T NP Applicable plug (Purchased by the customer) C Phase W
K D
S R Plug: MS3108B20-29S C B
FG
J
E Cale clamp: MS3057-12A D
H G F (Frame ground)
With an Absolute Encoder With an Incremental Encoder

A − K − A − K −
B − L − B − L −
C DATA+ M − C DATA+ M −
D DATA- N − D DATA- N −
E − P − E − P −
F − R − F − R −
G 0V S BATT- G 0V S −
H +5VDC T BATT+ H +5VDC T −
J FG(Frame ground) − − J FG(Frame ground) − −

3.16.2 7.0-kW SGMSS Servomotors without Gears
Leave a minimum space of 70 mm around the servomotor
to allow for a sufficient amount of cooling air.
397
70 63
334
43 291
0.04 A
122 12 6
φ0.04 A
φ28 -0.013
144
130
0
5
φ110 -0.035
165 14
0
Cooling air flow 45

144
130
R2
76
30
114
108
A 0.02
20
255
199
4-φ9
3
Cable Specifications for Connectors on Fan End
A Receptacle: MS3102A14S-6P
F B Applicable plug to be prepared by customer
E C Plug: MS3108B14S-6S
D Cable clamp: MS3057-6A
A Fan motor
B Fan motor
C −
D Alarm terminal
E Alarm terminal
F FG (Frame ground)
Note: The cable specifications of connectors on the encoder and servomotor ends are
same as those for the SGMSS-30 to the SGMSS-50 servomotors without brakes.
3-145
3.16.3 SGMSS Servomotors without Gears and with Brakes
3.16.3 SGMSS Servomotors without Gears and with Brakes

The servomotor with an oil seal has the same configuration.
L
LL LR Shaft End
LT LM LC LR
0.04 A
LG LE ٧ φ0.04 A LE
φLA
φS
100
φLB
LF
φLH
88
φ45
KL1
φ30
φS
0.02
A
R
1
KB1 4-φLZ Mounting
holes Q
KB2
Note: For the specifications of the other shaft ends, refer to
3.20 Shaft End Specifications for SGMGH, SGMSH,
and SGMDH Servomotors.
　
　 Units: mm
Shaft-end Dimensions Approx.
Model
SGMSS- S Q kg
10AA2B 238 193 147 45 46 67 171 102 24 0 40 6.0
-0.013
15AA2B 252 207 157 45 50 77 185 102 24 0 40 6.8

-0.013
20AA2B 268 223 173 45 50 93 201 102 24 0 40 7.5

-0.013
25AA2B 300 255 205 45 50 115 233 102 24 0 40 10

-0.013
30AA2B 298 235 191 63 44 114 214 119 28 0 55 13

-0.013
Model Flange Face Dimensions

SGMSS- LA LB LC LE LF LG LH LZ
10AA2B 115 95 0 100 3 3 10 130 7
-0.035
15AA2B 115 95 0 100 3 3 10 130 7

-0.035
20AA2B 115 95 0 100 3 3 10 130 7

-0.035
25AA2B 115 95 0 100 3 3 10 130 7

-0.035
30AA2B 145 110 0 130 6 6 12 165 9

-0.035
Cable Specifications for Encoder-end Cable Specifications for Servomotor-end Connector

Connector (17-bit Encoder)
M A A Phase U E Brake terminal
B Receptacle: MS3102A20-29P F A
L B F Brake terminal
C G Phase V
T NP Applicable plug to be prepared by customer E B
K D C Phase W G −
J
S R Plug: MS3108B20-29S
D C FG
H G F
E Cable clamp: MS3057-12A D
Frame ground) − −
For an absolute encoder For an incremental encoder

A − K − A − K −
B − L − B − L −
E − P − E − P −
F − R − F − R −
J FG (Frame ground) − − J FG (Frame ground) − −
3-146
3.16.4 SGMSS Servomotors with Low-backlash Gears and Flange-mounted Type

(1) Small Grease Lubricating Type
L
LL R
Applied Specifications for Shaft-end Tap
LT LM 100
12
140 Q d-tap×L
φ35h6
3
55 Shaft End
60
φS
φ1 185
47 φ 8
φ130h7
Frame No. Dia.S Length Q d × L mm
ANFJ-L20 35 55 M8 × 16
10
88
96
R1 5 ANFJ-L30 50 75 M10 × 20
ANFJ-L40 60 90 M12 × 24
73 4-φ12 Mounting holes

21
Detailed Dimensions of IMT Gears

ANFJ-L20 ANFJ-L30
φ190h7
φ130h7
140
φ135
φ130
φ94
φ91
φ50h6
φ245
φ35h6
φ70
φ190
φ132
φ184
φ190
φ132
φ126
φ45
(Motor) (Motor)
R3
44 A 55 0
52 A R3 75 0
φ35h6: φ35 -0.016 φ50h6: φ50 -0.016
0 0
17 2 φ130h7: φ130 -0.040 23 2 φ190h7: φ190 -0.046
12 15 25
20
20 5 33
3
Units: mm Units: mm
Gear Ratio A Gear Ratio A
1/5 6 1/5 11
1/9 18 1/9 38
1/20, 1/29 37 1/20, 1/29 42
1/45 47 1/45 52
ANFJ-L40
φ240h7
φ186
φ182
3
φ90
φ60h6
φ240
φ240
φ234
φ310
(Motor)
R3
60 A 90 0
φ60h6: φ60 -0.019
0
27 2 φ240h7: φ240 -0.046
18 25
38
5
Units: mm
Gear Ratio A
1/5 16
1/9 48
1/20, 1/29 48
1/45 58
3-147
Units: mm
Approx.
Model Gear
Gear Model L LL LM LT R Mass
SGMSS- Ratio
kg
10AAL14 1/5 403 149 103 46 254 13
10AAL24 1/9 415 149 103 46 266 13
ANFJ-L20
15AAL14 1/5 414 160 116 44 254 14
20AAL14 1/5 429 175 131 44 254 15
Lubrication
INFO
• Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-148
(2) Large Grease Lubricating Type
L
LL R
LT LM LG LR
φSh6
Q A
φL Shaft End
QK
T
φLBh7
88
KL1
W
R1 φL U
C
KB1 5 6-φLZ
Mounting holes
KB2
Units: mm
Model Gear
Gear Model L LL LM LR LT KB1 KB2 KL1 R
SGMSS- Ratio

10AAL54 1/20 496 149 103 140 46 73 21 96 347
10AAL74 1/29 496 149 103 140 46 73 21 96 347
10AAL84 1/45 506 149 103 140 46 73 21 96 357
ANFJ-L30
15AAL24 1/9 503 160 116 140 44 73 21 96 343
15AAL54 1/20 507 160 116 140 44 73 21 96 347
15AAL74 1/29 507 160 116 140 44 73 21 96 347
15AAL84 ANFJ-L40 1/45 558 160 116 160 44 73 21 96 398
20AAL24 1/9 518 175 131 140 44 73 21 96 343
ANFJ-L30
20AAL54 1/20 522 175 131 140 44 73 21 96 347
20AAL74 1/29 563 175 131 160 44 73 21 96 388
ANFJ-L40
20AAL84 1/45 573 175 131 160 44 73 21 96 398
25AAL14 1/5 520 204 154 140 50 79 21 96 316
ANFJ-L30
25AAL24 1/9 547 204 154 140 50 79 21 96 343
25AAL54 1/20 592 204 154 160 50 79 21 96 388
25AAL74 ANFJ-L40 1/29 592 204 154 160 50 79 21 96 388
25AAL84 1/45 602 204 154 160 50 79 21 96 398
30AAL14 1/5 540 199 155 140 44 75 21 114 341
ANFJ-L30
30AAL24 1/9 567 199 155 140 44 75 21 114 368 3
30AAL54 1/20 612 199 155 160 44 75 21 114 413
30AAL74 ANFJ-L40 1/29 612 199 155 160 44 75 21 114 413
30AAL84 1/45 622 199 155 160 44 75 21 114 423
40AAL14 ANFJ-L30 1/5 577 236 192 140 44 75 21 114 341
40AAL24 1/9 649 236 192 160 44 75 21 114 413
40AAL54 1/20 649 236 192 160 44 75 21 114 413
40AAL74 1/29 649 236 192 160 44 75 21 114 413
ANFJ-L40
50AAL14 1/5 657 276 232 160 44 75 21 114 381
50AAL24 1/9 689 276 232 160 44 75 21 114 413
50AAL54 1/20 689 276 232 160 44 75 21 114 413
3-149
(cont’d)
Model Gear Flange Face Dimensions mm
mm Mass
SGMSS- Ratio
LA LB LC LG LZ Q QK S T U W kg
10AAL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 30
10AAL74 1/29 220 190 245 15 12 75 65 50 9 5.5 14 30
10AAL84 1/45 220 190 245 15 12 75 65 50 9 5.5 14 30
15AAL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 30.3
15AAL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 30.3
15AAL74 1/29 220 190 245 15 12 75 65 50 9 5.5 14 30.3
15AAL84 1/45 280 240 310 18 14 90 78 60 11 7 18 50.1
20AAL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 30.8
20AAL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 30.8
20AAL74 1/29 280 240 310 18 14 90 78 60 11 7 18 50.8
20AAL84 1/45 280 240 310 18 14 90 78 60 11 7 18 51.3
25AAL14 1/5 220 190 245 15 12 75 65 50 9 5.5 14 25
25AAL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 32
25AAL54 1/20 280 240 310 18 14 90 78 60 11 7 18 52
25AAL74 1/29 280 240 310 18 14 90 78 60 11 7 18 52
25AAL84 1/45 280 240 310 18 14 90 78 60 11 7 18 52.5
30AAL14 1/5 220 190 245 15 12 75 65 50 9 5.5 14 29
30AAL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 36
30AAL54 1/20 280 240 310 18 14 90 78 60 11 7 18 56
30AAL74 1/29 280 240 310 18 14 90 78 60 11 7 18 56
30AAL84 1/45 280 240 310 18 14 90 78 60 11 7 18 56
40AAL14 1/5 220 190 245 15 12 75 65 50 9 5.5 14 32
40AAL24 1/9 280 240 310 18 14 90 78 60 11 7 18 59
40AAL54 1/20 280 240 310 18 14 90 78 60 11 7 18 59
40AAL74 1/29 280 240 310 18 14 90 78 60 11 7 18 59
50AAL14 1/5 280 240 310 18 14 90 78 60 11 7 18 52
50AAL24 1/9 280 240 310 18 14 90 78 60 11 7 18 62
50AAL54 1/20 280 240 310 18 14 90 78 60 11 7 18 62
Lubrication
INFO
3-150
3.17 Shaft End Specifications for SGMSS Servomotors
3.17 Shaft End Specifications for SGMSS Servomotors
SGMSS -
Symbol Specifications Remarks
2 Straight, without key Standard
Taper 1/10, with parallel key
3 Option
(Key slot is JISB1301-1976 high precision.)
Straight, with key and tap for one location
6 (Key slot is JISB1301-1976 high precision.Key slot
Option
tolerance is JISB1301. Both key and tap are
included.)
Units: mm
Sym- SGMSS-
Specifications Shaft End
bol 10 15 20 25 30 40 50 70

2 LR 45 63
LR
Q 40 55
Q
Straight, without key
0 0
S 24 28
– 0.013 – 0.013
R1
φS
3 LR 70 80
LR
LW Q QA LW 20
X Q 36 42
QA 14 18
QK
P QK 32 36
W
Taper 1/10 Y X 12.5 16
T
With parallel key S 24 28

φV
V 24 30
U
Y
P M12, P1.25 M16, P1.5
φS
Section Y-Y
Taper 1/10 W 8
T 7
U 7.1 8.95
LR 45 63
3
6 LR
Q 40 55
Q QK 32 50
QK
Straight, P S 24 0
28 0
U
With key and – 0.013 – 0.013
shaft end tap W 8

φS
T 7
W
T U 4
R
1
P M8 screw, depth: 16
3-151
3.18.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes
3.18 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

L
LL LR
LT LM A
0.04 Shaft End
LG LE ٧ φ0.04 A LC
SGMGH-05A to 13A SGMGH-20A to 75A
φL
H
φLA
φS
LR LR
LE LE
φLB
100
LF1 LF1
LF2
88
KL1
φLJ1
IE
φLJ1
φLJ2
φS1
φS1
φS
φS
KB1 A 0.02
4-φLZ Mounting holes
R
0.04 *
R
1
1
KB2 Q Q

* For 55A to 75A only 3.20 Shaft End Specifications for SGMGH Servomotor.
Units: mm
Shaft-end Dimensions Approx. Allowable Allowable
Model
L LL LM LR LT KB1 KB2 IE KL1 Mass Radial Thrust
SGMGH- S S1 Q kg Load N Load N
0
05AA21 196 138 92 58 46 65 117 − 109 19 –0.013 30 40 5.5 490 98
0
09AA21 219 161 115 58 46 88 140 − 109 19 –0.013 30 40 7.6 490 98
0
13AA21 243 185 139 58 46 112 164 − 109 22 –0.013 30 40 9.6 686 343
+0.01
20AA21 245 166 119 79 47 89 144 − 140 35 45 76 14 1176 490
0
+0.01
30AA21 271 192 145 79 47 115 170 − 140 35 45 76 18 1470 490
0
+0.01
44AA21 305 226 179 79 47 149 204 − 140 35 45 76 23 1470 490
0
0
55AA21 373 260 213 113 47 174 238 123 150 42 –0.016 45 110 30 1764 588
0
75AA21 447 334 287 113 47 248 312 123 150 42 –0.016 45 110 40 1764 588
3-152
Units: mm
SGMGH- LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ
0
05AA21 145 110 130 6 6 − 12 165 45 − 9
– 0.035
0
09AA21 145 110 130 6 6 − 12 165 45 − 9
– 0.035
0
13AA21 145 110 130 6 6 − 12 165 45 − 9
– 0.035
0
20AA21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025
0
30AA21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025
0
44AA21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025
0
55AA21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025
0

75AA21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025
Cable Specifications for Detector Connectors Cable Specifications for Servomotor

M A D A
A Phase U
B Receptacle: MS3102A20-29P
L
C B Phase V
T NP Applicable plug (purchased by the customer) C Phase W
K D
S R Plug: MS3108B20-29S C B
J FG

A − Κ − A − Κ −
B − L − B − L −
E − P − E − P −
F − R − F − R −
3-153
3.18.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes
3.18.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and
With Brakes
(1) 500 W to 4.4 kW
L
LL LR Shaft End
LT LM 0.04 A
SGMGH-05A to -13A SGMGH-20A to 75A
LE
٧ φ0.04 A LC LR LR
LG
LE LE
φS
φLA
LF1 LF1
φLB
LF2
100
φLJ1
φLJ1
88
φL
φLJ2
φS1
KL1
φS1
φS
H
φS
R
A
R
1
KB1 4φ-LZ Mounting holes Q Q
0.02
KB2
3.20 Shaft End Specifications for SGMGH Servomotor.
Cable Specifications for Servomotor Connectors
F A A Phase U E Brake terminal

G B Phase V F Brake terminal
E B
C Phase W G −
D C D FG (Frame ground) − −
Units: mm
Shaft-end Dimensions Approx. Allowable Allowable
Model KB KB
L LL LM LR LT KL1 Mass Radial Thrust
SGMGH- 1 2 S S1 Q kg Load N Load N
0
05AA2 234 176 130 58 46 56 154 120 19 30 40 7.5 490 98
– 0.013
0
09AA2 257 199 153 58 46 79 177 120 19 30 40 9.6 490 98
– 0.013
0
13AA2 281 223 177 58 46 103 201 120 22 30 40 12 686 343
– 0.013
+
20AA2 296 217 169 79 48 79 195 146 35 – 0.01 45 76 19 1176 490
0
+
30AA2 322 243 195 79 48 105 221 146 35 – 0.01 45 76 23.5 1470 490
0
+
44AA2 356 277 229 79 48 139 255 146 35 – 0.01 45 76 28.5 1470 490
0
3-154
Units: mm
SGMGH- LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ
0
05AA2 145 110 130 6 6 − 12 165 45 − 9
– 0.035
0
09AA2 145 110 130 6 6 − 12 165 45 − 9
– 0.035
0
13AA2 145 110 130 6 6 − 12 165 45 − 9
– 0.035
0
20AA2 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025
0
30AA2 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025
0
44AA2 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5
– 0.025

3
3-155
3.18.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes
(2) 5.5 kW to 7.5 kW

L
LL LR Shaft End
0.04 A
LT LM LR
LC
LE φL
H LE
LG
٧ φ0.04 A LF1
φS
LF2
φLJ1
φLJ2
φLB
IE
100
φLA
φS1
φS
88
KL1
KL3
R
1
4-φ13.5 Mounting holes
A 110
KB1
KB3 0.04 Note: For the specifications of the other shaft ends, refer to
KB2 3.20 Shaft End Specifications for SGMGH Servomotor.
Cable Specifications for Servomotor Cable Specifications for Brake

Connectors Connectors
D A A Phase U A
A Brake terminal
C
B Phase V B Brake terminal
C B C Phase W B C −
D FG (Frame ground)
Units: mm
Shaft-end Dimen- Approx.
Model sions
L LL LM LR LT KB1 KB2 KB3 IE KL1 KL3 Mass
SGMGH-
S S1 kg
0
55AA2 424 311 263 113 48 174 289 231 123 150 123 42 45 35
– 0.016
0
75AA2 498 385 337 113 48 248 363 305 123 150 123 42 45 45.5
– 0.016
Flange Face Dimensions Allowable Allowable

Model
Radial Load Thrust Load
SGMGH- LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 N N
0
55AA2 200 114.3 180 3.2 3 0.5 18 230 76 62 1764 588
– 0.025
0
75AA2 200 114.3 180 3.2 3 0.5 18 230 76 62 1764 588
– 0.025
3-156
3.18.3 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and With-
out Brakes (Foot-mounted Type)
(1) Grease Lubricating Type
L
LL R
LT LM
KB2
KB1 B
Q Shaft End
QK
φSh6
KL1
88
T Tap × Depth
(See the
following
A
table.)
W
U
C
G
F XC K K
N XR 4-φZ Mounting E E
holes M
Units: mm
Shaft Center

Model Gear Gear Allowable
SGMGH- Model Ratio
L LL LM LT KB1 KB2 KL1 R A B C∗ Radial Load
N
CNHX-
05PAEA6 1/6 380 138 94 44 73 21 109 242 209 152 100 2830
6090
CNHX-
05PAEB6 1/11 380 138 94 44 73 21 109 242 209 152 100 3340
6090
CNHX-
05PAEC6 1/21 394 138 94 44 73 21 109 256 209 152 100 5400
6100
CNHX-
05PAE76 1/29 394 138 94 44 73 21 109 256 209 152 100 5400
6100
CNHX-
09PAEA6 1/6 417 161 117 44 73 21 109 256 209 152 100 4110
6100
CNHX-
09PAEB6 1/11 417 161 117 44 73 21 109 256 209 152 100 5220
6100
CNHX-
09PAEC6 1/21 449 161 117 44 73 21 109 288 257 204 120 8240
6120
CNHX-
09PAE76 1/29 449 161 117 44 73 21 109 288 257 204 120 8980
6120
CNHX- 3
13PAEA6 1/6 441 185 141 44 73 21 109 256 209 152 100 4090
6100
CNHX-
13PAEB6 1/11 473 185 141 44 73 21 109 288 257 204 120 6650
6120
CNHX-
13PAEC6 1/21 473 185 141 44 73 21 109 288 257 204 120 8190
6125
CNHX-
20PAEA6 1/6 477 166 121 45 77 22 140 311 260 204 120 5220
6120
CNHX-
20PAEB6 1/11 477 166 121 45 77 22 140 311 260 204 120 6620
6125
CNHX-
30PAEA6 1/6 503 192 147 45 77 22 140 311 260 204 120 5180
6120
CNHX-
30PAEB6 1/11 503 192 147 45 77 22 140 311 260 204 120 6560
6125
0
* The tolerances for all models are -0.5 .
3-157
3.18.3 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)
(cont’d)
Foot-mounted Dimensions Shaft-end Dimensions
mm mm Approx.
Model Gear
Mass
SGMGH- Ratio Tap ×
E F G K M N XR XC Z Q QK S T U W kg
Depth
05PAEA6 1/6 75 90 12 65 180 135 45 60 11 35 32 28 7 4 8 M8 × 20 20.7
05PAEB6 1/11 75 90 12 65 180 135 45 60 11 35 32 28 7 4 8 M8 × 20 20.7
05PAEC6 1/21 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8 × 20 22.7
05PAE76 1/29 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8 ×20 22.7
09PAEA6 1/6 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8 × 20 24.6
09PAEB6 1/11 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8 × 20 24.6
09PAEC6 1/21 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 × 20 34.6
09PAE76 1/29 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 × 20 34.6
13PAEA6 1/6 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8 × 20 26.6
13PAEB6 1/11 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 × 20 36.6
13PAEC6 1/21 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 × 20 36.6
20PAEA6 1/6 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 ×20 43
20PAEB6 1/11 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 ×20 43
30PAEA6 1/6 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 × 20 47
30PAEB6 1/11 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 × 20 47
3-158
Units: mm
SGMGH- S
0
05PAEA6 28
– 0.013
0
05PAEB6 28
– 0.013
0
05PAEC6 28
– 0.013
0
05PAE76 28
– 0.013
0
09PAEA6 28
– 0.013
0
09PAEB6 28
– 0.013
0
09PAEC6 38
– 0.016
0
09PAE76 38

– 0.016
0
13PAEA6 28
– 0.013
0
13PAEB6 38
– 0.016
0
13PAEC6 38
– 0.016
0
20PAEA6 38
– 0.016
0
20PAEB6 38
– 0.016
0
30PAEA6 38
– 0.016
0
30PAEB6 38
– 0.016
Lubrication
INFO
• Grease lubricating type (frame numbers: 6090 to 6125)
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-159
(2) Oil Lubricating Type

L
Oil filler plug
LL R
LT LM B
Oil drain plug
KB2
KB1 Shaft End
Q
φSh6
QK
KL1
T Tap × Depth
88
Oil drain (See the

following
A
plug table.)
W
U
C
G
F XC K K
E E
N XR
M
4×φZ Mounting holes
Units: mm
Shaft Center
SGMGH- Model Ratio
L LL LM LT KB1 KB2 KL1 R A∗1 B C∗2 Radial Load
N
CHHX-
13PAE76 1/29 532 185 141 44 73 21 109 347 300 246 150 10500
6130
CHHX-
20PAEC6 1/21 536 166 121 45 77 22 140 370 300 246 150 9510
6130
CHHX-
20PAE76 1/29 536 166 121 45 77 22 140 370 300 246 150 10400
6135
CHHX-
30PAEC6 1/21 582 192 147 45 77 22 140 390 300 246 150 13900
6140
CHHJ-
30PAE76 1/29 687 192 147 45 77 22 140 495 367 318 160 17900
6160
CHHX-
44PAEA6 1/6 596 226 181 45 77 22 140 370 300 246 150 6030
6130
CHHX-
44PAEB6 1/11 596 226 181 45 77 22 140 370 300 246 150 7660
6135
CHHJ-
44PAEC6 1/21 721 226 181 45 77 22 140 495 367 318 160 16300
6160
CHHJ-
44PAE76 1/29 785 226 181 45 77 22 140 559 429 363 200 20100
6170
CHHX-
55PAEA6 1/6 664 260 215 45 86 22 150 404 300 246 150 5990
6135
CHHX-
55PAEB6 1/11 684 260 215 45 86 22 150 424 300 246 150 11500
6140
CHHJ-
55PAEC6 1/21 853 260 215 45 86 22 150 593 429 363 200 18300
6170
CHHJ-
55PAE76 1/29 853 260 215 45 86 22 150 593 429 363 200 20000
6175
CHHJ-
75PAEB6 1/11 863 334 289 45 86 22 150 529 367 318 160 13100
6160
CHHJ-
75PAEC6 1/21 927 334 289 45 86 22 150 593 429 363 200 18200
6175
CHHJ-
75PAE76 1/29 977 334 289 45 86 22 150 643 467 393 220 26600
6180
* 1. The dimension of the hook is included for some models.
0
* 2. The tolerances for all models are -0.5 .
3-160
Units: mm (cont’d)
mm mm Approx.
Model Gear
Mass
SGMGH- Ratio Tap ×
Depth
13PAE76 1/29 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 57.6
20PAEC6 1/21 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 67
20PAE76 1/29 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 67
30PAEC6 1/21 145 145 22 65 330 195 95 120 18 90 80 50 9 5.5 14 M10 × 18 72
30PAE76 1/29 185 150 25 75 410 238 95 139 18 90 80 60 11 7 18 M10 × 18 126
44PAEA6 1/6 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 76
44PAEB6 1/11 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 76
44PAEC6 1/21 185 150 25 75 410 238 95 139 18 90 80 60 11 7 18 M10 × 18 131
44PAE76 1/29 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 176
55PAEA6 1/6 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 88
55PAEB6 1/11 145 145 22 65 330 195 95 120 18 90 80 50 9 5.5 14 M10 × 18 89

55PAEC6 1/21 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 191
55PAE76 1/29 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 191
75PAEB6 1/11 185 150 25 75 410 238 95 139 18 90 80 60 11 7 18 M10 × 18 155
75PAEC6 1/21 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 201
75PAE76 1/29 210 320 30 85 470 380 115 145 22 110 100 80 14 9 22 M12 × 24 245
Units: mm
SGMGH- S
0
13PAE76 50
– 0.016
0
20PAEC6 50
– 0.016
0
20PAE76 50
– 0.016
0
30PAEC6 50
– 0.016
30PAE76 60 0 3
– 0.019
0
44PAEA6 50
– 0.016
0
44PAEB6 50
– 0.016
0
44PAEC6 60
– 0.019
0
44PAE76 70
– 0.019
0
55PAEA6 50
– 0.016
0
55PAEB6 50
– 0.016
0
55PAEC6 70
– 0.019
0
55PAE76 70
– 0.019
0
75PAEB6 60
– 0.019
0
75PAEC6 70
– 0.019
0
75PAE76 80
– 0.019
3-161
Lubrication
INFO
• Oil lubricating type (frame numbers: 6130 to 6190)
Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear
oil or equivalent. Refer to the following table.
Manufacturer
Ambient
Idemitsu Showa Exxon Mobil Japan
Tempera- COSMO Oil Nippon Oil
Kosan Shell Corporation Energy
ture Co., Ltd. Corporation
Co., Ltd. Sekiyu K.K. Corporation
COSMO BON-NOCK Daphne Shell Omala Spartan Mobilgear JOMO
Gear M Super Gear Oil EP 627, 629 Reductus
0 to 35°C
SE 100, 150 Oil 100, 150 100, 150 (ISO VG100, 100, 150
100, 150 100, 150 150)
The following shows approximate oil amount to be supplied.
Units: liter
6130 6170 6180
Frame No. 6140 6160 6190
6135 6175 6185
Horizontal
0.7 0.7 1.4 1.9 2.5 4.0
type
3-162
out Brakes (Flange-mounted Type)
L
LL R
LT LM LR
LG LE Shaft End
φSh6
Q
A A
φL φL T
QK Tap × Depth
φLBf8
(See the
following
φL φL table.)
W
KL1
88
C C U
N-φ11 Mounting
holes
KB1
KB2 4 Mounting holes 6 Mounting holes
Units: mm
Shaft Center
Model Gear Allowable
Gear Model L LL LM LT KB1 KB2 KL1 R

SGMGH- Ratio Radial Load
N
05PAFA6 CNVX-6090 1/6 380 138 94 44 73 21 109 242 2830
05PAFB6 CNVX-6090 1/11 380 138 94 44 73 21 109 242 3340
05PAFC6 CNVX-6100 1/21 394 138 94 44 73 21 109 256 5400
05PAF76 CNVX-6100 1/29 394 138 94 44 73 21 109 256 5400
09PAFA6 CNVX-6100 1/6 417 161 117 44 73 21 109 256 4110
09PAFB6 CNVX-6100 1/11 417 161 117 44 73 21 109 256 5220
09PAFC6 CNVX-6120 1/21 449 161 117 44 73 21 109 288 8240
09PAF76 CNVX-6120 1/29 449 161 117 44 73 21 109 288 8980
13PAFA6 CNVX-6100 1/6 441 185 141 44 73 21 109 256 4090
13PAFB6 CNVX-6120 1/11 473 185 141 44 73 21 109 288 6650
13PAFC6 CNVX-6125 1/21 473 185 141 44 73 21 109 288 8190
20PAFA6 CNVX-6120 1/6 477 166 121 45 77 22 140 311 5220
20PAFB6 CNVX-6125 1/11 477 166 121 45 77 22 140 311 6620
30PAFA6 CNVX-6120 1/6 503 192 147 45 77 22 140 311 5180
30PAFB6 CNVX-6125 1/11 503 192 147 45 77 22 140 311 6560
3
3-163
3.18.4 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)
(cont’d)
Flange Face Dimensions Shaft-end Dimensions
mm mm Approx.
Model Gear
Mass
SGMGH- Ratio Tap ×
LA LB LC LE LG LR N Q QK S T U W kg
Depth
05PAFA6 1/6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 18.7
05PAFB6 1/11 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 18.7
05PAFC6 1/21 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 20.7
05PAF76 1/29 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 20.7
09PAFA6 1/6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 22.6
09PAFB6 1/11 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 22.6
09PAFC6 1/21 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 33.6
09PAF76 1/29 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 33.6
13PAFA6 1/6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 24.6
13PAFB6 1/11 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 35.6
13PAFC6 1/21 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 35.6
20PAFA6 1/6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 42
20PAFB6 1/11 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 42
30PAFA6 1/6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 46
30PAFB6 1/11 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 46
Units: mm
Model Flange Face Dimensions Shaft-end Dimensions
SGMGH- LB S
0
05PAFA6 110 –0.036 28
– 0.090 – 0.013
0
05PAFB6 110 –0.036 28
– 0.090 – 0.013
0
05PAFC6 110 –0.036 28
– 0.090 – 0.013
0
05PAF76 110 –0.036 28
– 0.090 – 0.013
0
09PAFA6 110 –0.036 28
– 0.090 – 0.013
0
09PAFB6 110 –0.036 28
– 0.090 – 0.013
0
09PAFC6 140 –0.043 38
– 0.106 – 0.016
0
09PAF76 140 –0.043 38
– 0.106 – 0.016
0
13PAFA6 110 –0.036 28
– 0.090 – 0.013
0
13PAFB6 140 –0.043 38
– 0.106 – 0.016
0
13PAFC6 140 –0.043 38
– 0.106 – 0.016
0
20PAFA6 140 –0.043 38
– 0.106 – 0.016
0
20PAFB6 140 –0.043 38
– 0.106 – 0.016
0
30PAFA6 140 –0.043 38
– 0.106 – 0.016
0
30PAFB6 140 –0.043 38
– 0.106 – 0.016
3-164
Lubrication
INFO

3
3-165
(2) Small Oil Lubricating Type

L
LL R
LT LM
LR 209
φ50h6
15 4
Oil filler
Q
0
3
plug
φ2
Oil drain plug Shaft End
QK
Tap × Depth
φ200f8
9
88
KL1
14
φ2
5.5
60
6-φ11 Mounting
KB1 Oil drain plug
holes
KB2
φ200f8: φ200 -0.050
-0.122
φ50h6: φ50 -0.016

0
Units: mm
Shaft Center
N
13PAF76 CHVX-6130 1/29 532 185 141 44 73 21 109 347 10500
20PAFC6 CHVX-6130 1/21 536 166 121 45 77 22 140 370 9510
20PAF76 CHVX-6135 1/29 536 166 121 45 77 22 140 370 10400
30PAFC6 CHVX-6140 1/21 582 192 147 45 77 22 140 390 13900
44PAFA6 CHVX-6130 1/6 596 226 181 45 77 22 140 370 6030
44PAFB6 CHVX-6135 1/11 596 226 181 45 77 22 140 370 7660
55PAFA6 CHVX-6135 1/6 664 260 215 45 86 22 150 404 5990
55PAFB6 CHVX-6140 1/11 684 260 215 45 86 22 150 424 11500
Flange Face
Model Gear Dimensions
mm Mass
SGMGH- Ratio mm
kg
LR Q QK Tap×Depth
13PAF76 1/29 76 70 56 M10 × 18 56.6
20PAFC6 1/21 76 70 56 M10 × 18 66
20PAF76 1/29 76 70 56 M10 × 18 66
30PAFC6 1/21 96 90 80 M10 × 18 71
44PAFA6 1/6 76 70 56 M10 × 18 75
44PAFB6 1/11 76 70 56 M10 × 18 75
55PAFA6 1/6 76 70 56 M10 × 18 87
55PAFB6 1/11 96 90 80 M10 × 18 88
3-166
Lubrication
INFO
of the oil guage.
Manufacturer
Ambient
Tempera- Idemitsu Showa Japan
COSMO Oil Nippon Oil Exxon Mobil
ture Kosan Shell Energy
Co., Ltd. Corporation Corporation
0 to 35°C
SE 100, 150 Oil 100, 150 100, 150 (ISO VG100, 100, 150
100, 150 100, 150 150)
Units: liter

6130 6170 6180
Frame No. 6140 6160 6190
6135 6175 6185
Horizontal
0.7 0.7 1.4 1.9 2.5 4.0
type
3-167
(3) Large Oil Lubricating Type

L A
LL R
45 LM LR
LG Oil filler
LE
plug
A
QK φL Shaft End
φSh6
Oil drain plug
Q Tap × Depth
T
φLBf8
(See the
following
88
table.)
KL1
W
U
φL
KB1 N-φLZ Mounting holes
C
KB2
Oil drain plug
Units: mm
Shaft Center
Gear Model L LL LM KB1 KB2 KL1 R A
N
30PAF76 CHVJ-6160 1/29 687 192 147 77 22 140 495 228 17900
44PAFC6 CHVJ-6160 1/21 721 226 181 77 22 140 495 228 16300
44PAF76 CHVJ-6170 1/29 785 226 181 77 22 140 559 243 20100
55PAFC6 CHVJ-6170 1/21 853 260 215 86 22 150 593 243 18300
55PAF76 CHVJ-6175 1/29 853 260 215 86 22 150 593 243 20000
75PAFB6 CHVJ-6160 1/11 863 334 289 86 22 150 529 228 13100
75PAFC6 CHVJ-6175 1/21 927 334 289 86 22 150 593 243 18200
75PAF76 CHVJ-6180 1/29 977 334 289 86 22 150 643 258 26600

mm mm Approx.
Model Gear
Mass
SGMGH- Ratio Tap × kg
LA LB LC LE LG LR N LZ Q QK S T U W
Depth
30PAF76 1/29 310 270 340 4 20 89 6 11 90 80 60 11 7 18 M10 × 18 121
44PAFC6 1/21 310 270 340 4 20 89 6 11 90 80 60 11 7 18 M10 × 18 126
44PAF76 1/29 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12 × 24 176
55PAFC6 1/21 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12 × 24 191
55PAF76 1/29 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12 × 24 191
75PAFB6 1/11 310 270 340 4 20 89 6 11 90 80 60 11 7 18 M10 × 18 150
75PAFC6 1/21 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12 × 24 201
75PAF76 1/29 390 345 430 5 22 110 8 18 110 100 80 14 9 22 M12 × 24 232
3-168
Units: mm
SGMGH- LB S
0
30PAF76 270 – 0.056 60
– 0.137 – 0.019
0
44PAFC6 270 – 0.056 60
– 0.137 – 0.019
0
44PAF76 316 – 0.062 70
– 0.151 – 0.019
0
55PAFC6 316 – 0.062 70
– 0.151 – 0.019
0
55PAF76 316 – 0.062 70
– 0.151 – 0.019
0
75PAFB6 270 – 0.056 60
– 0.137 – 0.019
0
75PAFC6 316 – 0.062 70
– 0.151 – 0.019
0
75PAF76 345 – 0.062 80

– 0.151 – 0.019
Lubrication
INFO
of the oil guage.
Manufacturer
Ambient
0 to 35°C
SE 100, 150 Oil 100, 150 100, 150 (ISO VG100, 100, 150
100, 150 100, 150 150)
Units: liter 3
6130 6170 6180
Frame No. 6140 6160 6190
6135 6175 6185
Horizontal
0.7 0.7 1.4 1.9 2.5 4.0
type
3-169
3.18.5 SGMGH Servomotors (1500 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)
3.18.5 SGMGH Servomotors (1500 min-1) With Low-backlash Gears and Without
Brakes (Flange-mounted Type)
(1) Grease Lubricating Type for Small
L
LL R
Applied Specifications of Shaft-end Tap
46 LM 100
140 Q d-tap×L
φ35h6
12 3
Shaft End
55 60
φS
φ1 185 8
47 φ
φ130h7
ANFJ-L20 35 55 M8 × 16
10
5
88
109
ANFJ-L30 50 75 M10 × 20
R1 ANFJ-L40 60 90 M12 × 24
21
Detailed Dimensions of Gears

ANFJ-L20 ANFJ-L30
φ190h7
φ130h7
140
φ135
φ94
φ130
φ91
φ50h6
φ35h6
φ245
φ190
φ132
φ190
φ184
φ126
φ132
φ70
φ45
(Motor) (Motor)
R3
R3
52 A 75 0
44 A 55 0
φ50h6: φ50 -0.016
φ35h6: φ35 -0.016
2 0 23 2
0
φ190h7: φ190 -0.046
17 φ130h7: φ130 -0.040 15
12 20 25
20 5 33
3
Units: mm Units: mm
1/5 6 1/5 11
1/9 18 1/9 38
1/20, 1/29 37 1/20, 1/29 42
1/45 47 1/45 52
ANFJ-L40
φ240h7
φ186
φ182
φ90
φ60h6
φ240
φ310
φ240
φ234
(Motor)
R3
60 A 90 0
φ60h6: φ60 -0.019
2 0
27 φ240h7: φ240 -0.046
18 25
5 38
Units: mm
Gear Ratio A
1/5 16
1/9 48
1/20, 1/29 48
1/45 58
3-170
Units: mm
Shaft Center
Approx.
L LL LM R Mass
SGMGH- Model Ratio Radial Load
kg
N
05AAL14 1/5 394 138 92 256 833 14
05AAL24 1/9 406 138 92 268 980 14
ANFJ-L20
09AAL14 1/5 417 161 115 256 833 16
09AAL24 1/9 429 161 115 268 980 16
Lubrication
INFO

3
3-171

L
LL R
LT LM LG LR
5
Q A
φL Shaft End
φSh6
QK T
φLBh7
R1
KL1
88
W
φL U
C
KB1
6-φLZ
KB2
Units: mm
Shaft Center
N
05AAL54 1/20 491 138 92 140 46 73 21 109 353 2650
05AAL74 1/29 491 138 92 140 46 73 21 109 353 2940
05AAL84 ANFJ-L30 1/45 501 138 92 140 46 73 21 109 363 3430
09AAL54 1/20 514 161 115 140 46 73 21 109 353 2650
09AAL74 1/29 514 161 115 140 46 73 21 109 353 2940
09AAL84 ANFJ-L40 1/45 565 161 115 160 46 73 21 109 404 8040
13AAL14 1/5 507 185 139 140 46 73 21 109 322 1670
13AAL24 ANFJ-L30 1/9 534 185 139 140 46 73 21 109 349 1960
13AAL54 1/20 538 185 139 140 46 73 21 109 353 2650
13AAL74 1/29 579 185 139 160 46 73 21 109 394 6860
ANFJ-L40
13AAL84 1/45 589 185 139 160 46 73 21 109 404 8040
20AAL14 1/5 509 166 119 140 47 77 22 140 343 1670
ANFJ-L30
20AAL24 1/9 536 166 119 140 47 77 22 140 370 1960
20AAL54 1/20 581 166 119 160 47 77 22 140 415 6080
20AAL74 1/29 581 166 119 160 47 77 22 140 415 6860
30AAL14 1/5 575 192 145 160 47 77 22 140 383 3820
30AAL24 ANFJ-L40 1/9 607 192 145 160 47 77 22 140 415 4700
30AAL54 1/20 607 192 145 160 47 77 22 140 415 6080
44AAL14 1/5 609 226 179 160 47 77 22 140 383 3820
44AAL24 1/9 641 226 179 160 47 77 22 140 415 4700
3-172
(cont’d)
Flange Face Dimensions Shaft-end Dimensions Approx.
Model Gear mm mm Mass
SGMGH- Ratio
05AAL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 31
05AAL74 1/29 220 190 245 15 12 75 65 50 9 5.5 14 31
05AAL84 1/45 220 190 245 15 12 75 65 50 9 5.5 14 31
09AAL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 33
09AAL74 1/29 220 190 245 15 12 75 65 50 9 5.5 14 33
09AAL84 1/45 280 240 310 18 14 90 78 60 11 7 18 53
13AAL14 1/5 220 190 245 15 12 75 65 50 9 5.5 14 28
13AAL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 35
13AAL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 35
13AAL74 1/29 280 240 310 18 14 90 78 60 11 7 18 55
13AAL84 1/45 280 240 310 18 14 90 78 60 11 7 18 55
20AAL14 1/5 220 190 245 15 12 75 65 50 9 5.5 14 32

20AAL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 39
20AAL54 1/20 280 240 310 18 14 90 78 60 11 7 18 39
20AAL74 1/29 280 240 310 18 14 90 78 60 11 7 18 39
30AAL14 1/5 280 240 310 18 14 90 78 60 11 7 18 53
30AAL24 1/9 280 240 310 18 14 90 78 60 11 7 18 63
30AAL54 1/20 280 240 310 18 14 90 78 60 11 7 18 63
44AAL14 1/5 280 240 310 18 14 90 78 60 11 7 18 58
44AAL24 1/9 280 240 310 18 14 90 78 60 11 7 18 68
Lubrication
INFO
3-173
Units: mm
SGMGH- LB S
0 0
05AAL54 190 50
– 0.046 – 0.016
0 0
05AAL74 190 50
– 0.046 – 0.016
0 0
05AAL84 190 50
– 0.046 – 0.016
0 0
09AAL54 190 50
– 0.046 – 0.016
0 0
09AAL74 190 50
– 0.046 – 0.016
0 0
09AAL84 240 60
– 0.046 – 0.019
0 0
13AAL14 190 50
– 0.046 – 0.016
0 0
13AAL24 190 50
– 0.046 – 0.016
0 0
13AAL54 190 50
– 0.046 – 0.016
0 0
13AAL74 240 60
– 0.046 – 0.019
0 0
13AAL84 240 60
– 0.046 – 0.019
0 0
20AAL14 190 50
– 0.046 – 0.016
0 0
20AAL24 190 50
– 0.046 – 0.016
0 0
20AAL54 240 60
– 0.046 – 0.019
0 0
20AAL74 240 60
– 0.046 – 0.019
0 0
30AAL14 240 60
– 0.046 – 0.019
0 0
30AAL24 240 60
– 0.046 – 0.019
0 0
30AAL54 240 60
– 0.046 – 0.019
0 0
44AAL14 240 60
– 0.046 – 0.019
0 0
44AAL24 240 60
– 0.046 – 0.019
3-174

L
Shaft End
LL LR
LT 0.04 A SGMGH-03AB to 09AB SGMGH-12AB to 55AB
LM
LE LC LR
LG ٧ φ0.04 A LR
LE
LE
φS
φLA
LF1 LF1
LF2
100
φLB
φLJ1
φLJ1
88
φLJ2
φS1
IE
φL
φS1
KL1
φS
φS
H
0.02
㧾
A 0.04
㧾
1
KB1
1
4-φLZ Mounting holes Q Q
KB2 For 40AB
and 55AB only Note: For the specifications of the other shaft ends, refer to
3.20 Shaft End Specifications for SGMGH, SGMSH

Units: mm
Model
L LL LM LR LT KB1 KB2 IE KL1 Mass
SGMGH- S S1 Q kg
0
03AB21 196 138 92 58 46 65 117 − 109 19 30 40 5.5
– 0.013
0
06AB21 219 161 115 58 46 88 140 − 109 19 30 40 7.6
– 0.013
0
09AB21 243 185 139 58 46 112 164 − 109 22 30 40 9.6
– 0.013
+
12AB21 245 166 119 79 47 89 144 − 140 35 –0.01 45 76 14
0
+
20AB21 271 192 145 79 47 115 170 − 140 35 –0.01 45 76 18
0
+
30AB21 305 226 179 79 47 149 204 − 140 35 –0.01 45 76 23
0
0
40AB21 373 260 213 113 47 174 238 123 150 42 45 110 30
– 0.016
0
3
55AB21 447 334 287 113 47 248 312 123 150 42 45 110 40
– 0.016
3-175
Units: mm
Flange Face Dimensions Allowable Allowable
Model mm Radial Load Thrust Load
SGMGH-
LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ N N
0
03AB21 145 110
– 0.035
130 6 6 − 12 165 45 − 9 490 98
0
06AB21 145 110
– 0.035
130 6 6 − 12 165 45 − 9 490 98
0
09AB21 145 110
– 0.035
130 6 6 − 12 165 45 − 9 686 343
0
12AB21 200 114.3
– 0.025
180 3.2 3 0.5 18 230 76 62 13.5 1176 490
0
20AB21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5 1470 490
– 0.025
0
30AB21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5 1470 490
– 0.025
0
40AB21 200 114.3
– 0.025
180 3.2 3 0.5 18 230 76 62 13.5 1764 588
0
55AB21 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5 1764 588
– 0.025
Cable Specifications for Detector Connectors Cable Specifications for Servomotor

M A B D A A Phase U
L Receptacle: MS3102A20-29P
C B Phase V
T NP Applicable plug (Purchased by the customer)
K
S R
D
Plug: MS3108B20-29S C B C Phase W
J FG

A − K − A − K −
B − L − B − L −
E − P − E − P −
F − R − F − R −
3-176
3.19.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes
(1) 300W to 3.0kW
L
LL LR Shaft End
0.04 A
LT LM SGMGH-03AB to 09AB SGMGH-12AB to 30AB
LE LR
LC LR
LE
LG LE
٧ φ0.04 A
φS
φLA LF1
LF1 LF2
φLB
φLJ1
100
φLJ1
φLJ2
88
φS1
φL
φS1
φS
KL1
φS
H
R
A
1
Q Q
KB1 4-φLZ Mounting holes
0.02
KB2

Units: mm
Model
SGMGH- S S1 Q kg
0
03AB2 234 176 130 58 46 56 154 120 19 30 40 7.5
– 0.013
0
06AB2 257 199 153 58 46 79 177 120 19 30 40 9.6
– 0.013
0
09AB2 281 223 177 58 46 103 201 120 22 30 40 12
– 0.013
+
12AB2 296 217 169 79 48 79 195 146 35 –0.01 45 76 19
0
+
20AB2 322 243 195 79 48 105 221 146 35 –0.01 45 76 23.5
0
+
30AB2 356 277 229 79 48 139 255 146 35 –0.01 45 76 28.5
0
Flange Face Dimensions Allowable Allowable 3

Model mm Radial Load Thrust Load
SGMGH-
LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ N N
03AB2 145 110 0 130 6 6 − 12 165 45 − 9 490 98

– 0.035
0
06AB2 145 110 130 6 6 − 12 165 45 − 9 490 98
– 0.035
0
09AB2 145 110 130 6 6 − 12 165 45 − 9 686 343
– 0.035
0
12AB2 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5 1176 490
– 0.025
0
20AB2 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5 1470 490
– 0.025
0
30AB2 200 114.3 180 3.2 3 0.5 18 230 76 62 13.5 1470 490
– 0.025
3-177
3.19.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes
Cable Specifications for Detector Connectors Cable Specifications for Servomotor Connectors
(17-bit Encoder)
M A B
A Phase U E Brake terminal
L Receptacle: MS3102A20-29P F A
C G B Phase V F Brake terminal
T NP Applicable plug (Purchased by the customer) E B
K D Plug: MS3108B20-29S C Phase W G −
S R
J Cable clamp: MS3057-12A D C FG
H G F
E D
(Frame ground) − −

A − K − A − K −
B − L − B − L −
E − P − E − P −
F − R − F − R −
3-178
(2) 4.0 kW to 5.5 kW

L
LL 113
48 LM 0.04 Shaft End
A
18
φ42 -0.016
3.2 180
٧ φ0.04 A φ23 113
0
0 0 3.2
φ20
φ114.3 -0.025
0
3
100
0.5
88
φ42 -0.016
150
123
123
φ76
0
φ62
φ45
4-φ13.5 Mounting
KB1 A holes
R
KB3
1
KB2 0.04 110

Units: mm

Model
L LL LM KB1 KB2 KB3 Mass Radial Load Thrust Load
SGMGH-
kg N N
40AB2 424 311 263 174 289 231 35
1764 588
55AB2 498 385 337 248 363 305 45.5
Cable Specifications for Detector Connectors (17-bit Encoder)
M A B
L Receptacle: MS3102A20-29P
N C
T P Applicable plug (Purchased by the customer)
K D
S R Plug: MS3108B20-29S
J
E Cable clamp: MS3057-12A
H G F

A − K − A − K −
B − L − B − L −
E − P − E − P − 3
F − R − F − R −
Cable Specifications for Servomotor Cable Specifications for Brake Connectors

Connectors
A
A Phase U A Brake terminal
D A C
B Phase V B Brake terminal
C Phase W B C −
C B
FG
D
(Frame ground)
3-179
out Brakes (Foot-mounted Type)
L
LL R
LT LM B
KB2
KB1
Q
Shaft End
KL1
φSh6
QK
88
A
Tap × Depth
C
G
W
K K U
4-φZ Mounting E E
F XC holes M
N XR
Units: mm
Shaft Center
SGMGH- Model Ratio
L LL LM LT KB1 KB2 KL1 R A B C∗ Radial Load
N
CNHX-
03PBEA6 1/6 380 138 94 44 73 21 109 242 209 152 100 2840
6090
CNHX-
03PBEB6 1/11 380 138 94 44 73 21 109 242 209 152 100 3340
6090
CNHX-
03PBEC6 1/21 394 138 94 44 73 21 109 256 209 152 100 5400
6100
CNHX-
03PBE76 1/29 394 138 94 44 73 21 109 256 209 152 100 5400
6100
CNHX-
06PBEA6 1/6 417 161 117 44 73 21 109 256 209 152 100 4120
6100
CNHX-
06PBEB6 1/11 417 161 117 44 73 21 109 256 209 152 100 5230
6100
CNHX-
06PBEC6 1/21 449 161 117 44 73 21 109 288 257 204 120 8260
6120
CNHX-
06PBE76 1/29 449 161 117 44 73 21 109 288 257 204 120 9810
6120
CNHX-
09PBEA6 1/6 441 185 141 44 73 21 109 256 209 152 100 4110
6100
CNHX-
09PBEB6 1/11 441 185 141 44 73 21 109 256 209 152 100 7600
6105
CNHX-
09PBEC6 1/21 473 185 141 44 73 21 109 288 257 204 120 10900
6125
CNHX-
09PBE76 1/29 473 185 141 44 73 21 109 288 257 204 120 11900
6125
CNHX-
12PBEA6 1/6 477 166 121 45 77 22 140 311 260 204 120 5980
6120
CNHX-
12PBEB6 1/11 477 166 121 45 77 22 140 311 260 204 120 7600
6120
CNHX-
20PBEA6 1/6 503 192 147 45 77 22 140 311 260 204 120 5940
6120
CNHX-
20PBEB6 1/11 503 192 147 45 77 22 140 311 260 204 120 7530
6125
0
* The tolerances for all models are -0.5 .
3-180
(cont’d)
mm mm Approx.
Model Gear
Mass
SGMGH- Ratio Tap ×
Depth
03PBEA6 1/6 75 90 12 65 180 135 45 60 11 35 32 28 7 4 8 M8×20 20.7
03PBEB6 1/11 75 90 12 65 180 135 45 60 11 35 32 28 7 4 8 M8×20 20.7
03PBEC6 1/21 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8×20 22.7
03PBE76 1/29 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8×20 22.7
06PBEA6 1/6 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8×20 24.6
06PBEB6 1/11 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8×20 24.6
06PBEC6 1/21 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 34.6
06PBE76 1/29 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 34.6
09PBEA6 1/6 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8×20 26.6
09PBEB6 1/11 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M8×20 26.6
09PBEC6 1/21 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 36.6
09PBE76 1/29 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 36.6

12PBEA6 1/6 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 43
12PBEB6 1/11 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 43
20PBEA6 1/6 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 47
20PBEB6 1/11 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8×20 47
3-181
Units: mm
SGMGH- S
0
03PBEA6 28
– 0.013
0
03PBEB6 28
– 0.013
0
03PBEC6 28
– 0.013
0
03PBE76 28
– 0.013
0
06PBEA6 28
– 0.013
0
06PBEB6 28
– 0.013
0
06PBEC6 38
– 0.016
0
06PBE76 38
– 0.016
0
09PBEA6 28
– 0.013
0
09PBEB6 28
– 0.013
0
09PBEC6 38
– 0.016
0
09PBE76 38
– 0.016
0
12PBEA6 38
– 0.016
0
12PBEB6 38
– 0.016
0
20PBEA6 38
– 0.016
0
20PBEB6 38
– 0.016
Lubrication
INFO
3-182
(2) Oil Lubricating Type

L
LL R
45 LM Oil drain B Oil filler
22 plug plug
KB1
Q Shaft End
QK
φSh6
KL1
Tap × Depth
88
Oil drain
plug
A
T
C
G
W
U
F XC 4-φZ Mounting K K
N XR E E
holes M
Units: mm
Shaft Center
SGMGH-
Gear Model
Ratio
L LL LM KB1 KL1 R A*1 B C*2 Radial Load
N

12PBEC6 CHHX-6130 1/21 536 166 121 77 140 370 300 246 150 10900
12PBE76 CHHX-6135 1/29 536 166 121 77 140 370 300 246 150 11900
20PBEC6 CHHX-6140 1/21 582 192 147 77 140 390 300 246 150 15700
20PBE76 CHHJ-6160 1/29 687 192 147 77 140 495 367 318 160 20500
30PBEA6 CHHX-6130 1/6 596 226 181 77 140 370 300 246 150 6920
30PBEB6 CHHX-6135 1/11 596 226 181 77 140 370 300 246 150 8790
30PBEC6 CHHJ-6160 1/21 721 226 181 77 140 495 367 318 160 18600
30PBE76 CHHJ-6170 1/29 785 226 181 77 140 559 429 363 200 23100
40PBEA6 CHHX-6135 1/6 664 260 215 86 150 404 300 246 150 6870
40PBEB6 CHHX-6145 1/11 684 260 215 86 150 424 300 246 150 13000
40PBEC6 CHHJ-6170 1/21 853 260 215 86 150 593 429 363 200 21000
40PBE76 CHHJ-6175 1/29 853 260 215 86 150 593 429 363 200 23000
55PBEB6 CHHJ-6160 1/11 863 334 289 86 150 529 367 318 160 15000
55PBEC6 CHHJ-6175 1/21 927 334 289 86 150 593 429 363 200 20900
55PBE76 CHHJ-6185 1/29 977 334 289 86 150 643 467 393 220 30400
* 1. The dimension of the hook is included for some models.

0
* 2. The tolerances for all models are -0.5 . 3
3-183
Dimensions with Feet Shaft-end Dimensions

mm mm Approx.
Model Gear
Mass
SGMGH- Ratio Tap ×
Depth
12PBEC6 1/21 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 67
12PBE76 1/29 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 67
20PBEC6 1/21 145 145 22 65 330 195 95 120 18 90 80 50 9 5.5 14 M10 × 18 72
20PBE76 1/29 185 150 25 75 410 238 95 139 18 90 80 60 11 7 18 M10 × 18 126
30PBEA6 1/6 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 76
30PBEB6 1/11 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 76
30PBEC6 1/21 185 150 25 75 410 238 95 139 18 90 80 60 11 7 18 M10 × 18 131
30PBE76 1/29 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 176
40PBEA6 1/6 145 145 22 65 330 195 75 100 18 70 56 50 9 5.5 14 M10 × 18 88
40PBEB6 1/11 145 145 22 65 330 195 95 120 18 90 80 50 9 5.5 14 M10 × 18 89
40PBEC6 1/21 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 191
40PBE76 1/29 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 191
55PBEB6 1/11 185 150 25 75 410 238 95 139 18 90 80 60 11 7 18 M10 × 18 155
55PBEC6 1/21 190 275 30 80 430 335 95 125 22 90 80 70 12 7.5 20 M12 × 24 201
55PBE76 1/29 210 320 30 85 470 380 115 145 22 110 100 80 14 9 22 M12 × 24 245
3-184
Units: mm
SGMGH- S
0
12PBEC6 50
– 0.016
0
12PBE76 50
– 0.016
0
20PBEC6 50
– 0.016
0
20PBE76 60
– 0.019
0
30PBEA6 50
– 0.016
0
30PBEB6 50
– 0.016
0
30PBEC6 60
– 0.019
0
30PBE76 70

– 0.019
0
40PBEA6 50
– 0.016
0
40PBEB6 50
– 0.016
0
40PBEC6 70
– 0.019
0
40PBE76 70
– 0.019
0
55PBEB6 60
– 0.019
0
55PBEC6 70
– 0.019
0
55PBE76 80
– 0.019
Lubrication
INFO
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear 3
Manufacturer
Ambient
0 to 35°C
SE 100, 150 Oil 100, 150 100, 150 (ISO VG100, 100, 150
100, 150 100, 150 150)
Units: liter
6130 6170 6180
Frame No. 6140 6160 6190
6135 6175 6185
Horizontal
0.7 0.7 1.4 1.9 2.5 4.0
type
3-185
out Brakes (Flange-mounted Type)
L
LL R
LT LM 4 Mounting holes 6 Mounting holes
LR
LG LE Shaft End
φL A φL A Tap × Depth
QK T (See the
φLBf8
following table.)
Q
KL1
88
W
φL φL U
φSh6
C C
KB1 N-φ11 Mounting N-φ11 Mounting
KB2 holes holes
Units: mm
Shaft Center
N
03PBFA6 CNVX-6090 1/6 380 138 94 44 73 21 109 242 2840
03PBFB6 CNVX-6090 1/11 380 138 94 44 73 21 109 242 3340
03PBFC6 CNVX-6100 1/21 394 138 94 44 73 21 109 256 5400
03PBF76 CNVX-6100 1/29 394 138 94 44 73 21 109 256 5400
06PBFA6 CNVX-6100 1/6 417 161 117 44 73 21 109 256 4120
06PBFB6 CNVX-6100 1/11 417 161 117 44 73 21 109 256 5230
06PBFC6 CNVX-6120 1/21 449 161 117 44 73 21 109 288 8260
06PBF76 CNVX-6120 1/29 449 161 117 44 73 21 109 288 9810
09PBFA6 CNVX-6100 1/6 441 185 141 44 73 21 109 256 4110
09PBFB6 CNVX-6105 1/11 441 185 141 44 73 21 109 256 7600
09PBFC6 CNVX-6125 1/21 473 185 141 44 73 21 109 288 10900
09PBF76 CNVX-6125 1/29 473 185 141 44 73 21 109 288 11900
12PBFA6 CNVX-6120 1/6 477 166 121 45 77 22 140 311 5980
12PBFB6 CNVX-6120 1/11 477 166 121 45 77 22 140 311 7600
20PBFA6 CNVX-6120 1/6 503 192 147 45 77 22 140 311 5940
20PBFB6 CNVX-6125 1/11 503 192 147 45 77 22 140 311 7530

mm mm Approx.
Model
Mass
SGMGH- Tap ×
Depth
03PBFA6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 18.7
03PBFB6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 18.7
03PBFC6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 20.7
03PBF76 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 20.7
06PBFA6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 22.6
06PBTB6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 22.6
06PBFC6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 33.6
06PBF76 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 33.6
09PBFA6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 24.6
09PBFB6 134 110 160 3 9 48 4 35 32 28 7 4 8 M8 × 20 24.6
09PBFC6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 35.6
09PBF76 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 35.6
3-186
(cont’d)
mm mm Approx.
Model
Mass
SGMGH- Tap ×
Depth
12PBFA6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 42
12PBFB6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 42
20PBFA6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 46
20PBFB6 180 140 210 4 13 69 6 55 50 38 8 5 10 M8 × 20 46
Units: mm
SGMGH- LB S
0
03PBFA6 110 – 0.036 28
– 0.090 – 0.013
0
03PBFB6 110 – 0.036 28
– 0.090 – 0.013

0
03PBFC6 110 – 0.036 28
– 0.090 – 0.013
0
03PBF76 110 – 0.036 28
– 0.090 – 0.013
0
06PBFA6 110 – 0.036 28
– 0.090 – 0.013
0
06PBFB6 110 – 0.036 28
– 0.090 – 0.013
0
06PBFC6 140 – 0.043 38
– 0.106 – 0.016
0
06PBF76 140 – 0.043 38
– 0.106 – 0.016
0
09PBFA6 110 – 0.036 28
– 0.090 – 0.013
0
09PBFB6 110 – 0.036 28
– 0.090 – 0.013
0
09PBFC6 140 – 0.043 38
– 0.106 – 0.016
0
09PBF76 140 – 0.043 38
– 0.106 – 0.016
12PBFA6 140 – 0.043 38 0 3

– 0.106 – 0.016
0
12PBFB6 140 – 0.043 38
– 0.106 – 0.016
0
20PBFA6 140 – 0.043 38
– 0.106 – 0.016
0
20PBFB6 140 – 0.043 38
– 0.106 – 0.016
Lubrication
INFO
3-187
(2) Small Oil Lubricating Type

L
LL R
45 LM LR 209
φ50h6
15 4
Oil filler
03
φ2
plug
Shaft End
QK
Tap × Depth
φ200f8
9 (See the
Oil drain plug following
88
Q
KL1
table.)
14
5.5
φ2
60
KB1
22 6-φ11 Mounting holes Oil drain plug
φ200f8: φ200 -0.050
-0.122
φ50h6: φ50 -0.016

0
Units: mm
Flange
Shaft Cen- Face
Model Gear Gear ter Allow- Dimen-
L LL LM KB1 KL1 R sions Mass
SGMGH- Model Ratio able Radial
kg
Load N Tap ×
LR Q QK
Depth
CHVX-
12PBFC6 1/21 536 166 121 77 140 370 10900 76 70 56 M10×18 66
6130
CHVX-
12PBF76 1/29 536 166 121 77 140 370 11900 76 70 56 M10×18 66
6135
CHVX-
20PBFC6 1/21 582 192 147 77 140 390 15700 96 90 80 M10×18 71
6140
CHVX-
30PBFA6 1/6 596 226 181 77 140 370 6920 76 70 56 M10×18 75
6130
CHVX-
30PBFB6 1/11 596 226 181 77 140 370 8790 76 70 56 M10×18 75
6135
CHVX-
40PBFA6 1/6 664 260 215 86 150 404 6870 76 70 56 M10×18 87
6135
CHVX-
40PBFB6 1/11 684 260 215 86 150 424 13000 96 90 80 M10×18 88
6145
3-188
Lubrication
INFO
of the oil guage.
Manufacturer
Ambient
0 to 35°C
SE 100, 150 Oil 100, 150 100, 150 (ISO VG100, 100, 150
100, 150 100, 150 150)
Units: liter

6130 6170 6180
Frame No. 6140 6160 6190
6135 6175 6185
Horizontal
0.7 0.7 1.4 1.9 2.5 4.0
type
3-189
(3) Large Oil Lubricating Type

L
LL R Oil drain plug
45 LM LR A
LG Oil filler A 22.5q
plug
φL
A Shaft End
QK
C
φL
Q Tap × Depth*
φLBf8
T
88
KL1
φSh6
W
U
φL
A
N-φLZ
φL
C
KB1 Mounting holes
22 Oil drain plug * See the following
LE
table.
N-φLZ Mounting holes
6 Mounting holes 8 Mounting holes
Units: mm
Shaft Center
Gear Model L LL LM KB1 KL1 R A
N
20PBF76 CHVJ-6160 1/29 687 192 147 77 140 495 228 20500
30PBFC6 CHVJ-6160 1/21 721 226 181 77 140 495 228 18600
30PBF76 CHVJ-6170 1/29 785 226 181 77 140 559 243 23100
40PBFC6 CHVJ-6170 1/21 853 260 215 86 150 593 243 21000
40PBF76 CHVJ-6175 1/29 853 260 215 86 150 593 243 23000
55PBFB6 CHVJ-6160 1/11 863 334 289 86 150 529 228 15000
55PBFC6 CHVJ-6175 1/21 927 334 289 86 150 593 243 20900
55PBF76 CHVJ-6185 1/29 977 334 289 86 150 643 258 30400

mm mm Approx.
Model Gear
Mass
SGMGH- Ratio Tap ×
LA LB LC LE LG LR N LZ Q QK S T U W kg
Depth
20PBF76 1/29 310 270 340 4 20 89 6 11 90 80 60 11 7 18 M10×18 121
30PBFC6 1/21 310 270 340 4 20 89 6 11 90 80 60 11 7 18 M10×18 126
30PBF76 1/29 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12×24 176
40PBFC6 1/21 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12×24 191
40PBF76 1/29 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12×24 191
55PBFB6 1/11 310 270 340 4 20 89 6 11 90 80 60 11 7 18 M10×18 150
55PBFC6 1/21 360 316 400 5 22 94 8 14 90 80 70 12 7.5 20 M12×24 201
55PBF76 1/29 390 345 430 5 22 110 8 18 110 100 80 14 9 22 M12×24 232
3-190
Units: mm
SGMGH- LB S
0
20PBF76 270 – 0.056 60
– 0.137 – 0.019
0
30PBFC6 270 – 0.056 60
– 0.137 – 0.019
0
30PBF76 316 – 0.062 70
– 0.151 – 0.019
0
40PBFC6 316 – 0.062 70
– 0.151 – 0.019
0
40PBF76 316 – 0.062 70
– 0.151 – 0.019
0
55PBFB6 270 – 0.056 60
– 0.137 – 0.019
0
55PBFC6 316 – 0.062 70
– 0.151 – 0.019
0
55PBF76 345 – 0.062 80

– 0.151 – 0.019
Lubrication
INFO
of the oil guage.
Manufacturer
Ambient
0 to 35°C
SE 100, 150 Oil 100, 150 100, 150 (ISO VG100, 100, 150
100, 150 100, 150 150)
Units: liter 3
6130 6170 6180
Frame No. 6140 6160 6190
6135 6175 6185
Horizontal
0.7 0.7 1.4 1.9 2.5 4.0
type
3-191
3.19.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without
Brakes (Flange-mounted Type)
(1) Small Grease Lubricating Type
L
LL R Applied Specifications for Shaft-end Tap
46 LM 100
140
φ35h6
Q d-tap×L
12 3
Shaft End
55 60
φS
φ1 185
47 φ 8
φ130h7
ANFJ-L20 35 55 M8 × 16
10
5
109
88
R1 ANFJ-L30 50 75 M10 × 20
ANFJ-L40 60 90 M12 × 24
21
Detailed Dimensions of Gears

ANFJ-L20 ANFJ-L30
φ190h7
φ130h7
140
φ135
φ94
φ130
φ91
φ245
φ50h6
φ190
φ126
φ184
φ35h6
φ132
φ190
φ70
φ132
φ45
(Motor) (Motor)
R3
0 52 A R3 75 0
44 A 55 φ35h6: φ35 -0.016 φ50h6: φ50 -0.016
0 0
φ130h7: φ130 -0.040 23 2 φ190h7: φ190 -0.046
17 2 15
12 20 25
20 533
3
Units: mm Units: mm
1/5 6 1/5 11
1/9 18 1/9 38
1/20, 1/29 37 1/20, 1/29 42
1/45 47 1/45 52
ANFJ-L40
φ240h7
φ186
φ182
φ90
φ60h6
φ240
φ310
φ234
φ240
(Motor)
R3
60 A 90 0
φ60h6: φ60 -0.019
0
27 2 φ240h7: φ240 -0.046
18 25
5 38
Units: mm
Gear Ratio A
1/5 16
1/9 48
1/20, 1/29 48
1/45 58
3-192
Units: mm
Shaft Center
Approx.
Gear Type L LL LM R Mass
kg
N
03ABL14 1/5 394 138 92 256 14 833
03ABL24 1/9 406 138 92 268 14 980
03ABL54 1/20 425 138 92 287 16 1270
ANFJ-L20
06ABL14 1/5 417 161 115 256 16 833
06ABL24 1/9 429 161 115 268 16 980
09ABL14 1/5 441 185 139 256 18 833
Lubrication
INFO

3
3-193

L
LL R
LT LM LG LR
φSh6
Q A Shaft End
φL
QK T
φLBh7
KL1
88
W
R1 φL U
C
KB1 6-φLZ Mounting
5 holes
KB2
Applied Specifications of Shaft-end Tap

Q d-tap×L
φS

ANFJ-L20 35 55 M8 × 16
ANFJ-L30 50 75 M10 × 20
ANFJ-L40 60 90 M12 × 24
Units: mm
Shaft Center
N
03ABL74 1/29 491 138 92 140 46 73 21 109 353 2940
03ABL84 1/45 501 138 92 140 46 73 21 109 363 3430
ANFJ-L30
06ABL54 1/20 514 161 115 140 46 73 21 109 353 2650
06ABL74 1/29 514 161 115 140 46 73 21 109 353 2940
06ABL84 ANFJ-L40 1/45 565 161 115 160 46 73 21 109 404 8040
09ABL24 1/9 534 185 139 140 46 73 21 109 349 1960
ANFJ-L30
09ABL54 1/20 538 185 139 140 46 73 21 109 353 2650
09ABL74 1/29 579 185 139 160 46 73 21 109 394 6860
ANFJ-L40
09ABL84 1/45 589 185 139 160 46 73 21 109 404 8040
12ABL14 1/5 509 166 119 140 47 77 22 140 343 1670
ANFJ-L30
12ABL24 1/9 536 166 119 140 47 77 22 140 370 1960
12ABL54 1/20 581 166 119 160 47 77 22 140 415 6080
12ABL74 ANFJ-L40 1/29 581 166 119 160 47 77 22 140 415 6860
12ABL84 1/45 591 166 119 160 47 77 22 140 425 8040
20ABL14 1/5 535 192 145 140 47 77 22 140 343 1670
ANFJ-L30
20ABL24 1/9 562 192 145 140 47 77 22 140 370 1960
20ABL54 1/20 607 192 145 160 47 77 22 140 415 6080
30ABL14 ANFJ-L40 1/5 609 226 179 160 47 77 22 140 383 3820
30ABL24 1/9 641 226 179 160 47 77 22 140 415 4700
3-194
(cont’d)
Flange Face Dimensions Shaft-end Dimensions Approx.
Model Gear mm mm Mass
SGMGH- Ratio
03ABL74 1/29 220 190 245 15 12 75 65 50 9 5.5 14 31
03ABL84 1/45 220 190 245 15 12 75 65 50 9 5.5 14 31
06ABL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 33
06ABL74 1/29 220 190 245 15 12 75 65 50 9 5.5 14 33
06ABL84 1/45 280 240 310 18 14 90 78 60 11 7 18 53
09ABL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 35
09ABL54 1/20 220 190 245 15 12 75 65 50 9 5.5 14 35
09ABL74 1/29 280 240 310 18 14 90 78 60 11 7 18 55
09ABL84 1/45 280 240 310 18 14 90 78 60 11 7 18 55
12ABL14 1/5 220 190 245 15 12 75 65 50 9 5.5 14 32
12ABL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 39
12ABL54 1/20 280 240 310 18 14 90 78 60 11 7 18 59

12ABL74 1/29 280 240 310 18 14 90 78 60 11 7 18 59
12ABL84 1/45 280 240 310 18 14 90 78 60 11 7 18 59
20ABL14 1/5 220 190 245 15 12 75 65 50 9 5.5 14 36
20ABL24 1/9 220 190 245 15 12 75 65 50 9 5.5 14 43
20ABL54 1/20 280 240 310 18 14 90 78 60 11 7 18 63
30ABL14 1/5 280 240 310 18 14 90 78 60 11 7 18 58
30ABL24 1/9 280 240 310 18 14 90 78 60 11 7 18 68
Lubrication
INFO
3-195
3.20 Shaft End Specifications for SGMGH Servomotor
SGMGH -
Symbol Specifications Remarks
2 Straight, without key Standard
Taper 1/10, with parallel key
3 (Key slot is JISB1301-1976 high precision. SGMGH Optional
series is interchangeable with USAGED series.)
Taper 1/10, woodruff key
5 (Set only for SGMGH-05 and 09. Woodruff key is Optional
JISB1302.)
Straight, with key and tap for one location
6 (Key slot is JISB1301-1976 high precision.Key slot
Optional
tolerance is JISB1301. Both key and tap are
included.)
Symbol Specifications Shaft End
LR
Q
2 Straight, without key
R1
φS
LR
LW Q QA
X
QK
P
Taper 1/10 W
3 Y
With parallel key
T
φV
Y
U
φS
Section Y-Y
Taper 1/10
LR
LW Q QA
Q/2
X
Y P
Taper 1/10, W
K
5
φQ
With woodruff key

T
φV
Y
φS
Section Y-Y
Taper 1/10
LR
Q
QK
Straight, P
6 U
With key and tap
φS
W
T
R
1
3-196
3.20 Shaft End Specifications for SGMGH Servomotor
Units: mm
Model
SGMGH-
Symbol Specifications
05AA 09AA 13AA 20AA 30AA 44AA 55AA 75AA
LR 58 79 113
Q 40 76 110
2 Straight
+ 0
35 –0.01
0 0
S 19 22 42
– 0.013 – 0.013 0 – 0.016
LR 58 102 132
LW 18 22
Q 28 58 82
QA 12 22 28
QK 25∗1 50 70
Taper X 10.3 19.2 23
3 1/10, parallel
S 16 19 32 42
key
V 21 37 44

P M10, P1.25 M20, P1.5 M24, P2.0
W 5 7 10
T 5∗2 7 8
U 4.3∗3 5.8 10.55 13.95
LR 58
LW 18
Q 28
QA 12
QK 16
Taper X 10.3
5 1/10, wood-ruff − − −
S 16
key
V 21
P M10, P1.25
W 5
T 2
U 4.5
LR 58 79 113
Q 40 76 110
3
QK 25 60 90
0 0 + 0
S 19 22 35 –0.01 42
Straight, with – 0.013 – 0.013 0 – 0.016
6
key and tap W 5 6 10 12
T 5 6 8
U 3 3.5 5
M16 screw, depth:
P M5 screw, depth: 12 M12 screw, depth: 25
32
* 1. If the SGMGH-05AA, -09AA, -03AB, and -06AB are not specified as the mounting inter-
changeable type, the value of the QK will be 16.
changeable type, the value of the T will be 2.
changeable type, the value of the U will be 4.5.
3-197
3.21.1 SGMCS Servomotors φ135 Mode
3.21 Dimensional Drawings of SGMCS Servomotors

(1) Applicable flange: 1
6 × M4 tapped, depth 8 6 × M4 tapped, depth 8
(Divided into six equal sections (Divided into six equal sections
L
of sixty degrees) 0.07 B B of sixty degrees)
4 LL 4±0.9 0.02
φ0.07 A Rotating section
0
φ9
Non-
rotating
section
φ120h7
φ100h7
φ90
φ135
φ20 +0.4
(φ70)
0
(0.5: Bolt section)
R26
R4
0 (1)
Co .5MA
nne X (9)
cto .
r ar
.4
ea
23
25
.4
90° A
0.04
Servomotor-end Encoder-end
0 Units: mm
connector connector φ100h7: φ100 -0.035
Nameplate Nameplate
0
φ120h7: φ120 -0.035
Model Approx. Mass

L LL
SGMCS- kg
02BC11 59 51 4.8
05BC11 88 80 5.8
07BC11 128 120 8.2

300±50
(35)
50
30 L
0.07 B B
4 LL 4±0.9 6 × M4 tapped, depth 8
0.02
6 × M4 tapped, depth 8 (Divided into six equal
10 (22)
(Divided into six equal Rotating section sections of sixty degree)

φ 0.07 A 20
sections of sixty degrees) (shown with hatching)
0
φ9
Non-
rotating
φ
φ 120h7
φ 100h7
section
φ 20 +0.4
90
0
( φ 70)
( φ 80)
φ 135
(0.5: Bolt section)
0.1
(1)
Nameplate A
Nameplate
0.04
0 Units: mm
φ100h7: φ100 -0.035
0
φ120h7: φ120 -0.035
Model Approx. Mass

L LL
SGMCS- kg
02BC41 59 51 4.8
05BC41 88 80 5.8
07BC41 128 120 8.2
3-198
3.21.2 SGMCS Servomotors φ175 Model

6 × M5 tapped, depth 8
6 × M5 tapped, depth 8 L (Divided into six equal sections
(Divided into six equal sections 0.07 B B
5 LL 5±0.9 0.02 of sixty degrees)
of sixty degrees)
φ0.07 A
0
Rotating section
2
2 × M5 tapped,
φ1
depth 8
(Only for use by Non-
Yaskawa) rotating
section
φ160h7
φ130h7
(φ100)
f 130
φ175
φ35 +0.4
0
(0.5: Bolt section)
6.5
R3
R5
1
Co MAX (9) (1)
nne .
cto
.4 ra
25 23 rea
.4
A
60°
0.04 2 × M5 tapped, depth 8
Servomotor-end Encoder-end Nameplate (Only for use by Yaskawa)
connector connector
Nameplate

0 Units: mm
φ130h7: φ130 -0.040
0
φ160h7: φ160 -0.040
Model Approx. Mass

L LL
SGMCS- kg
04CC11 69 59 7.2
10CC11 90 80 10.2
14CC11 130 120 14.2

300±50
(35)
50
2 × M5 tapped,
30
L depth 8 6 × M5 tapped, depth 8
0.07 B B (Divided into six equal sections
LL (Only for use by
6 × M5 tapped, depth 8 5 5±0.9 0.02
10 (22)
Yaskawa) of sixty degree)

(Divided into six equal φ 0.07 A 20 Rotating section
20
sections of sixty degrees) 2 × M5 tapped,

3
φ1
depth 8
(Only for use by
Yaskawa) Non-
rotating
13
φ
0 section
φ 160h7
φ 130h7
(φ 100)
(φ 100)
φ 35 +0.4
0
φ 175
(0.5: Bolt section)
0.1
(1)
A
Nameplate 0.04
Nameplate
0 Units: mm
φ130h7: φ130 -0.040
0
φ160h7: φ160 -0.040
Model Approx. Mass

L LL
SGMCS- kg
04CC41 69 59 7.2
10CC41 90 80 10.2
14CC41 130 120 14.2
3-199

6 × M6 tapped, depth 10 6 × M6 tapped, depth 10

(Divided into six equal sections L (Divided into six equal sections
0.08 B B
of sixty degrees) 5 LL 5±0.9 0.02 of sixty degree)
A
2 × M6 tapped, Rotating section
depth 10 (shown with hatching)
(Only for use by
Yaskawa) Non-
rotating
section
+0.4
0
R53 (0.5: Bolt section)
4 R6
25 23. 7.
.4 Co 5MAX (9) (1)
nne
cto .
r ar
ea
60° A
0.04
Servomotor-end Encoder-end 2 × M6 tapped, depth 10
connector connector (Only for use by Yaskawa)
0
Nameplate Nameplate -0.040
0
-0.046 Units: mm
Model Approx. Mass

L LL
SGMCS- kg
08DC11 74 64 14.0
17DC11 110 100 22.0
25DC11 160 150 29.7
300±50
(35)
50 (Divided into six equal
30
6 × M6 tapped, depth 10 L sections of sixty degree)
(Divided into six equal 2 × M6 tapped, 0.08 B B
10(22)
5 LL 5±0.9 0.02
160
sections of sixty degrees) depth 10 0.08 A 20

(Only for use by Rotating section
Yaskawa) (shown with hatching)
Non- 2 × M6 tapped,
16 rotating depth 10
0
200h7
170h7
section
( 140)
( 140)
(Only for use by

60+0.4
0
230
Yaskawa)
(0.5: Bolt section)
0.1
(1)
A
Nameplate Nameplate 0.04
0
-0.040 Units: mm
0
-0.046
Model Approx. Mass

L LL
SGMCS- kg
08DC41 74 64 14.0
17DC41 110 100 22.0
25DC41 160 150 29.7
3-200

6 × M8 tapped,
depth 14 6 × M8 tapped, depth 14
(Divided into six equal sections (Divided into six equal sections
of sixty degrees) L of sixty degrees)
0.08 B B
6 LL 6 0.02
φ0.08 A
00
Rotating section
φ2
80
φ2
φ200
Non-
φ220h7
φ260h7
φ290
rotating
5 section
R6
φ75
φ180
.4
25
.4 23 9
1

60° 3 A
Servomotor-end Nameplate 0.04
Encoder-end
connector connector
Nameplate 0
φ220h7: φ220 -0.046
Units: mm
0
φ260h7: φ260 -0.052
Model Approx. Mass

L LL
SGMCS- kg
16EB11 88 76 26.0
35EB11 112 100 34.0

300±50
(35)
6 × M8 tapped, depth 14 50 (Divided into six equal
30
(22)
(Divided into six equal L sections of sixty degrees)

2 × M8 tapped, 0.08 B
6 LL 6±1.6
B
sections of sixty degrees) depth 14 φ 0.08 A 20 0.02
00
0)
(Only for use by Rotating section

φ2
10
28
Yaskawa) (shown with hatching) φ

(
2 × M8 tapped,
3
Non-
φ2
depth 14
φ 260h7
φ 220h7
rotating
00
(φ 160)
(φ 180)
(Only for use by

φ 75 +0.4
0
φ 290
section
Yaskawa)
0.1
(1)
(4) A
Nameplate Nameplate 0.04
0
φ220h7: φ220 -0.046
φ260h7: φ260 -0.052

0 Units: mm
Model Approx. Mass

L LL
SGMCS- kg
16EB41 88 76 26.0
35EB41 112 100 34.0
3-201

(1) Apllicable flange: 1
12×M6 screw, depth 15
LL 15 (Divided into equal sections)
6 KB2 0.08 A B 41
KB1 30°
15
(within φ280h7)
φ0.08 A B
5 A
φ280±0.5
1.5
(Rotating 0.04
64
147
φ2
Section)
182
Rotating Section
(shown with
hatching)
φ280h7
φ110h7
φ75H6
φ250
φ115
φ75.2
φ8
15
φ140
(within φ75H6)
8
Rotating
Section
B
0.04
0
φ280h7: φ280 -0.052
Rotating Section
(shown with hatching) 12×M6 screw, depth 18
φ75H6: φ75 +0.019
0
0
(Divided into equal sections)
φ110h7: φ110 -0.035
Units: mm
Model Approx. Mass

LL KB1 KB2
SGMCS- kg
45MA11 141 87.5 122 38
80MA11 191 137.5 172 45
1AMA11 241 187.5 222 51

0.08 C L C
6 LL 15 0.02
10° 12 × M6 screw, depth 15 KB2
(Divided into equal sections) KB1 41
12 × M6
screw, depth 15
φ 0.08 A B (Divided into equal
5 sections)
1.5 Rotating A
182
Section 0.04
147
4
26
φ (shown with
hatching)
φ 248h7
φ 110h7
φ 75H6
φ 140
φ 280
φ 75.2
φ 115
φ8
15(within φ 75H6)
8
B
0.04
0
φ110h7: φ110 -0.035
Rotating section
(shown with hatching) φ75H6: φ75 +0.019
0
Units: mm
0
φ248h7: φ248 -0.046
Model Approx. Mass

L LL KB1 KB2
SGMCS- kg
45MA31 150 135 102.5 137 38
80MA31 200 185 152.5 187 45
1AMA31 250 235 202.5 237 51
3-202

LL 15
6 KB2 41
0.08 AB
KB1 30°
15 (within φ360h7)
φ360±0.5 φ0.08 AB
5 A
1.5 0.04
44
φ3
(Rotating
222
Section) Rotating
186
Section
(shown with
hatching)
φ160h7
φ360h7
φ118H6
φ190
φ325
φ13
φ118.2
φ166
Rotating 15
5
Section (within φ118H6)

B
0.04
0
Rotating Section φ360h7: φ360 -0.057
φ118H6: φ118 +0.022 (Divided into equal sections)
0
0
φ160h7: φ160 -0.040
Units: mm
Model Approx. Mass

LL KB1 KB2
SGMCS- kg
80NA11 151 98 132 50
1ENA11 201 148 182 68
2ZNA11 251 198 232 86

0.08 C L C
6 LL 15 0.02
KB2
12×M8 screw, depth 15 KB1
10° 12×M8 screw, depth 20
(Divided into equal sections) 41
φ 0.08 A B
5 A
3
1.5 0.04
222
Rotating
44
186
section
φ3
(shown
with
φ160h7
φ 323h7
hatching)
φ190
φ118H6
φ 118.2
φ 360
φ 166
φ 13
15(withinφ118H6)
5
B
0.04
0
φ160h7: φ160 -0.040
Rotating section
Units: mm
(shown with hatching) φ118H6: φ118 +0.022
0
0
φ323h7: φ323 -0.057
Model Approx. Mass

L LL KB1 KB2
SGMCS- kg
80NA31 160 145 113 147 50
1ENA31 210 195 163 197 68
2ZNA31 260 245 213 247 86
3-203
• Servomotor Connector for Small-capacity Series Servomotors

Applicable flange: 1, 3
Servomotor-end Connector Cable Specifications
for small-capacity series, applicable flange: 1, 3
1
3 Model: JN1AS04MK2
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Applicable plug: JN1DS04FK1
2 (Provided by the customer.)
4
1 Phase U
2 Phase V
3 Phase W
FG
4 (Frame ground)
Encoder-end Connector Cable Specifications

for small-capacity series, applicable flange: 1, 3
1 3
Model: JN1AS10ML1
4 Applicable plug: JN1DS10SL1
7
(Provided by the customer.)
8 10
1 PS
2 ∗PS
3
4 PG5V
5
6
FG
7 (Frame ground)
8
9 PG0V
10
3-204
Servomotor-end Connector for small-capacity series, applicable flange: 4

for small-capacity series, applicable flange: 4
Model
1 Plug: 350779-1
2 Pin: 350561-3 or 350690-3 (No.1 to 3)
Ground pin: 350654-1 or 350669-1 (No.4)
3
Manufacturer: Tyco Electronics AMP K.K.
4 Applicable plug
Cap: 350780-1
Socket: 350570-3 or 350689-3
1 Phase U Red
2 Phase V White
3 Phase W Blue
FG Green
4 (yellow)
(Frame ground)

for small-capacity series, applicable flange: 4

Model: 55102-0600
5 6 Manufacturer: Molex Japan Co., Ltd.
Applicable plug: 54280-0600
3 4
1 2
1 PG5V
2 PG0V
3
4
5 PS
6 /PS
Connector FG
case (Frame ground)
3-205
• Servomotor Connector for All Middle-capacity Series Servomotors

Model: CE05-2A18-10PD
Manufacturer: DDK Ltd.
A B Applicable plug and cable
D C Plug: CE05-6A18-10SD-B-BSS
Cable clamp: CE3057-10A-∗(D265)
(Provided by the customer.)
A Phase U
B Phase V
C Phase W
FG
D (Frame ground)
1 3
Model: JN1AS10ML1
Applicable plug: JN1DS10SL1
4 7 (Provided by the customer.)
8 10
1 PS
2 ∗PS
3
4 PG5V
5
6
FG
7 (Frame ground)
8
9 PG0V
10
3-206
4
SERVOPACK Specifications and Dimensional
Drawings
SERVOPACK Specifications and Dimensional Drawings

4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.1 Single-phase 100 V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.2 Single-phase 200V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.3 Three-phase 200 V, 500 W to 1.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.4 Single-phase 200 V, 750 W Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.5 Three-phase 200 V, 1.5 kW to 3.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.6 Three-phase 200 V, 5.0 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.7 Three-phase 200 V, 6.0 kW, 7.5 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - 4-12

4.5 SERVOPACK Overload Characteristics and Load Moment of Inertia - - - - 4-13
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 4

SGDS-01A/-02A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.7.1 Single-phase 100 VAC, 30 W Single-phase 100 V/200 V, 50 W/100 W/200 W - - - - - - 4-19
4.7.2 Single-phase 100 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.7.3 Single-phase 200 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.7.4 Single-phase 200 V, 750 W Three-phase 200 V, 500 W / 1.0 kW - - - - - - - - - - - - - - - 4-20
4.7.5 Three-phase 200 V, 1.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.7.6 Three-phase 200 V, 2.0 kW / 3.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.7.7 Three-phase 200 V, 5.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22
4.7.8 Three-phase 200 V, 6.0 kW, 7.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23
4-1

SGDS-01AR/-02AR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.8.1 Single-phase 100 V / 200 V, 50 W / 100 W / 200 W - - - - - - - - - - - - - - - - - - - - - - - - -4-24
4.8.2 Single-phase 100 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-24
4.8.3 Single-phase 200 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-25
4.8.4 Single-phase 200 V, 750 W Three-phase 200 V, 500 W / 1.0 kW - - - - - - - - - - - - - - - -4-25
4.8.5 Three-phase 200 V, 1.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-26
4.8.6 Three-phase 200 V, 2.0 kW, 3.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-26
4.8.7 Three-phase 200 V, 5.0 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-27
4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model SGDS-

60AAP/-75AAP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
4.9.1 Three-phase 200 V 6.0 kW / 7.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-28
4-2
4.1 SERVOPACK Ratings and Specifications
SERVOPACK Model SGDS- A3B A5 01 02 04 05 08 10 15 20 30 50 60 75

Max. Applicable
0.03 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5
Servomotor Capacity [kW]
Continuous Output
1.0 0.66 0.91 2.1 2.8 −
Current [Arms]
100 V
Max. Output Current
2.9 2.1 2.8 6.5 8.5 −
[Arms]
Continuous Output
− 0.66 0.91 2.1 2.8 3.8 5.5 7.6 11.6 18.5 18.9 32.9 46.9 54.7
Current [Arms]
200 V
Max. Output Current
− 2.1 2.8 6.5 8.5 11.0 16.9 17.0 28.0 42.0 56.0 84.0 110 130
[Arms]
Single-phase 100 VAC −
Single-phase 200 Single-
SERVOPACK − VAC − phase −
Capacity Range 200 VAC
for 100/200 V Three- Three-phase 200 VAC
− phase −

Input 200 VAC
Power Main Three-phase (or single-phase) 200 to 230 VAC +10 to -15%, 50/60 Hz
Supply Circuit
200 V
Control Single-phase 200 to 230 VAC +10 to -15%, 50/60 Hz
Circuit
Main Single-phase 100 to 115 VAC +10 to -15%, 50/60 Hz
Circuit
100 V
Basic Specifications
Control Single-phase 100 to 115 VAC +10 to -15%, 50/60 Hz

Circuit
Single or three-phase full-wave rectification IGBT-PWM (sine-wave driven)
Control Method
(Single-phase full-wave rectification for SGDS-A3B (100 V))
Serial encoder: 17-bit (incremental/absolute)
Feedback
Serial encoder: 20-bit (incremental/absolute)
Ambient/Storage 0 to +55°C/ -20 to +85°C
Temperature
Operat-
Ambient/Storage 90% RH or less (with no condensation)
ing Condi-
Humidity
tions
Vibration/Shock 4.9 m/s2 / 19.6 m/s2
Resistance
Configuration Base-mounted (Rack mounting available as an option for SGDS-A3 to 50) 4
Speed Control 1:5000 (The lowest speed of the speed control range is the speed at
Range which the servomotor will not stop with a rated torque load.)
Load 0 to 100% load: 0.01% max. (at rated speed)
Regulation
Speed Voltage Rated voltage ±10%: 0% (at rated speed)
Regu- Regulation
lation∗ Tempera- 25 ± 25 °C: ±0.1% max. (at rated speed)
Perfor- ture
mance Regulation
Frequency 600 Hz (at JL = JM)
Characteristics
Torque Control ±1%
Tolerance
(Repeatability)
Soft Start Time 0 to 10 s (Can be set individually for acceleration and deceleration.)
Setting
4-3
(cont’d)
SERVOPACK Model SGDS- A3B A5 01 02 04 05 08 10 15 20 30 50 60 75
Dynamic Brake (DB) Operated at main power OFF, servo alarm, servo OFF or overtravel
External regenerative Built-in External
resistor regenera-
Regenerative Processing
tive
Built-in Functions
resistor
Overtravel Prevention (OT) Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop
Electronic Gear 0.001 ≤ B/A ≤ 1000
Overcurrent, overvoltage, insufficient voltage, overload, regeneration error, main circuit sen-
Protection sor error, heat sink overheat, power phase loss, position error pulse overflow, overspeed,
encoder error, overrun detection, CPU error, parameter error, and so on.
LED Display CHARGE, five 7-segment LEDs (built-in Digital Operator functions)
Others Reverse connection, zero position search, automatic motor discrimination function
* Speed regulation is defined as follows:
No-load motor speed − Total load motor speed

Speed regulation × 100%
Rated motor speed
The motor speed may change due to voltage variations or amplifier drift and changes in processing
resistance due to temperature variation. The ratio of speed changes to the rated speed represent speed
regulation due to voltage and temperature variations.
4-4
Applicable SERVOPACK Model SGDS-A3B and A5A to 75A All Capacities

±3 VDC (Variable setting range: ±1 to ±10 VDC) at rated torque (forward rotation
Torque Control
Reference Voltage
with positive reference), input voltage: ±12 V (max.)
Input Input Impedance About 14 kΩ minimum.
Signals
30 μs
Circuit Time Constant
Perfor- Soft Start Time Set- 0 to 10 s (Can be set individually for acceleration and deceleration.)
mance ting
±6 VDC (Variable setting range: ±2 to ±10 VDC) at rated torque (forward rotation
Reference Voltage
Speed Control
Input with positive reference), input voltage: ±12 V (max.)

Torque/Speed Position Control
Signals Input Impedance About 14 kΩ minimum.

Circuit Time Constant 30 μs
Rotation Direction With P control signal
Contact Selection
Speed
Reference With forward/reverse current limit signal (speed 1 to 3 selection), servomotor stops
Speed Selection
or another control method is used when both are OFF.
Bias Setting 0 to 450 min-1 (setting resolution: 1 min-1)
Perfor- Feed-forward Com- 0 to 100% (setting resolution: 1%)

mance pensation
Positioning Complet- 0 to 1073741824 reference units (setting resolution: 1 reference unit)
Position Control
ed Width Setting
Sign + pulse train, 90° phase difference 2-phase pulse (phase A + phase B), or CW +
Reference Pulse
Type
CCW pulse train
Form Non-insulated line driver (+5 V level)
Input
Signals 1 Mpps max. (non-insulated line driver)
Frequency
Control Signal Clear Signal

Form Phase-A, -B, -C line driver
Position
Output Frequency Dividing Any Setting Ratio
Ratio
Servo ON, P control (or Control Mode switching, forward/reverse motor rotation by
internal speed setting, zero clamping, reference pulse inhibit), forward run prohib-
Sequence Signal allocation
ited (P-OT), reverse run prohibited (N-OT), alarm reset, forward external torque
I/O Input can be modified.
limit, reverse external torque limit (or internal set speed selection) and gain
Signals
changeover
Fixed Servo alarm, 3-bit alarm codes
Output
Sequence
Select any three of the following signals: positioning completion (speed coinci-
4
Output Signal allocation
dence), rotation detection, servo ready, current limit, warning, positioning near, and
can be modified.
brake signal.
Output voltage: -8 VDC to +8 VDC
Analog monitor connector built in for monitoring speed, torque and other reference
signals.
Analog Monitor (CN5)
Speed: 1 V/1000 min-1
Others Torque: 1 V/rated torque
Position error pulse: 0.05 V/reference unit
Interface Digital Operator (hand type)
Communi-
cations Status display, parameter setting, monitor display, alarm traceback display, JOG
Function
operation
4-5
4.2 SERVOPACK Installation

The SGDS SERVOPACKs can be mounted on a base or on a rack. Incorrect installation will cause problems.
Always observe the following installation instructions.
WARNING
• After voltage resistance test, wait at least five minutes before servicing the product. (Refer to “Voltage Resis-
tance Test” on the next page.)
• Connect the main circuit wires, control wires, and main circuit cables of the motor correctly.
Incorrect wiring will result in failure of the SERVOPACK.
Store the SERVOPACK within the following temperature range if it is stored with the power cable dis-
connected.
Storage
Temperature: -20 to 85°C
Humidity: 90%RH or less (with no condensation)
• Installation category (Overvoltage category) ∗ : ΙΙΙ
• Pollution degree ∗ : 2
• Protection class ∗ : 1X
• Altitude : 1000 m max.
Operating * Conforming to the following standards.
Conditions • UL508C
• CSA C22.2 No.14
• EN50178
• EN55011 group 1 class A
• EN61000-6-2
Installation in a Control Panel
Design the control panel size, unit layout, and cooling method so the temperature around the SERVO-
PACK does not exceed 55°C.
Installation Near a Heating Unit
Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural
convection so the temperature around the SERVOPACK does not exceed 55°C.
Installation Near a Source of Vibration
Installation Site Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration.
Installation at a Site Exposed to Corrosive Gas
Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the
electronic components and contactor-related devices to malfunction. Take appropriate action to avoid
corrosive gas.
Other Situations
Do not install the SERVOPACK in hot, humid locations or locations subject to excessive dust or iron
powder in the air.
Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be
oriented this way because it is designed to be cooled by natural convection or a cooling fan.
Secure the SERVOPACK using two to four of the mounting holes. The number of holes depends on the
capacity.
Orientation
Wall
Ventilation
4-6
4.2 SERVOPACK Installation
Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.
Cooling fan Cooling fan
50 mm min.
50 mm min.
30 mm min. 10 mm min.
SERVOPACK Orientation
Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces out-
Installation
ward.
Cooling
As shown in the figure above, allow sufficient space around each SERVOPACK for cooling by cool-
ing fans or natural convection.
Side-by-side Installation

When installing SERVOPACKs side by side as shown in the figure above, allow at least 10 mm
between and at least 50 mm above and below each SERVOPACK. Install cooling fans above the SER-
VOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control
panel.
Environmental Conditions in the Control Panel
Ambient Temperature:0 to 55°C
Humidity: 90% RH or less
Vibration: 0.5 G (4.9 m/s2)
Condensation and Freezing:None
Ambient Temperature for Long-term Reliability: 45°C max.
Conduct voltage resistance tests under the following conditions.
• Voltage:1500 Vrms AC for one minute
Voltage • Braking current:30 mA or more
Resistance • Frequency:50 or 60 Hz
Test • Voltage applied points
For SGDS-A01A SERVOPACKs: Between the ground terminals and the point where the termi-
nals L1, L2, (L3), L1C, L2C, U, V, and W are connected.
4-7
4.3.1 Single-phase 100 V, 50 W to 400 W Models
4.3 SERVOPACK Internal Block Diagrams

4.3.1 Single-phase 100 V, 50 W to 400 W Models
Single-phase
10%
100 to 115 V 15% Single-phase 100 V, 30 W to 400 W Model SGDS∗∗A (=A5F to 04F)

50/60Hz
B1/ B2
Noise
filter Servomotor
1KM
L1 Varistor U
+
L2 - V
+
- CHARGE
W M
Dynamic
brake circuit
Voltage Relay Voltage Gate Gete drive over- Temperature Current

sensor drive sensor drive current protector sensor sensor
PG
CN51
CN2
L1C Varistor ±5V CN5

Control Analog voltage Analog monitor
+ 15V ASIC converter output
L2C - power CN1
supply (PWM control, etc.) Reference pulse input
+5V
±12V PG output
Power Power Open during

OFF ON Servo alarm A/D Speed/torque
1KM reference input
CPU
1Ry (Position/speed
1KM Surge Panel operator calculation, etc.)
absorber I/O Sequence I/O
CN3
Digital Operator
Personal computer
4.3.2 Single-phase 200V, 50 W to 400 W Models

Single-phase
10
200 to 230 V 15
Single-phase 200 V, 50W to 400W Model‫ޓ‬SGDSA∗∗A (=A3B or A5 to 04)
(50/60 HZ)
B1/ B2
Noise
filter Servomotor
1KM
L1 Varistor U
L2 + V
-
CHARGE
W M
Dynamic
brake circuit
Voltage Relay Voltage Gate Gate drive over- Temperature Current

sensor drive sensor drive current protection sensor sensor
PG
CN51
CN2

Control Analog Analog monitor
+ +15V
power ASIC voltage output
L2C - supply (PWMcontrol, etc.) converter CN1
Reference pulse input
+5V
±12V PG output

1KM reference input
CPU
1Ry 㧔Position/speed
1KM Surge Panel operator calculation, etc.㧕
CN3
Digital Operator
Personal computer
4-8
4.3.3 Three-phase 200 V, 500 W to 1.0 kW Models

Three-phase
200 to 230 V +10%
-15%
Three-phase 200 V, 500 W to 1.0 kW Model SGDS‫غغ‬A∗∗A㧔‫غغ‬05 to10㧕
(50/60 Hz)
B1/ B2 B3 FAN
Noise
filter Servomotor
1KM
L1 Varistor ±12 V U
L2 + V
- CHARGE M
L3 W
1 Dynamic
brake circuit
2
sensor drive sensor drive current protection sensor sensor
PG
CN51
CN2

+ +15V voltage
power ASIC output
L2C - 㧔PWM control, etc.)
converter CN1
supply Reference pulse input
+5V
±12V PG output

1KM reference input
CPU
1Ry 㧔Position/speed
CN3
Digital Operator
Personal computer
4.3.4 Single-phase 200 V, 750 W Model

Single-phase
200 to 230 V +10%
-15%
(50/60 Hz) Single-phase 200 V, 750 W Model SGDS-08A∗∗A
B1/ B2 B3 FAN
Noise
filter Servomotor
1KM Varistor
L1 ±12 V U
L2 㧗 V
㧙
L3
CHARGE
W M
1 Dinamic
brake circuit
2
sensor
4
sensor drive sensor drive current protection sensor
PG
CN51
CN2
L1C Varistor r5V CN5

㧗
power +15V ASIC voltage
output
L2C 㧙 converter CN1
supply 㧔PWM control, etc.)
+5V
r12V PG output

1KM CPU reference input
㧔Position/speed
1Ry
CN3
Digital Operator
Personal computer
Note: L3 terminal is not used. Do not connect.
4-9
4.3.5 Three-phase 200 V, 1.5 kW to 3.0 kW Models
4.3.5 Three-phase 200 V, 1.5 kW to 3.0 kW Models

Three-phase
200 to 230 V 10%
15% Three-phase 200 V, 1.5 kW to 3.0 kW Model SGDS‫غغ‬A∗∗A㧔‫غغ‬5 to30㧕
(50/60 Hz)
FAN B1/ B2 B3 FAN
Noise
filter Servomotor
1KM Varistor +12 V ±12 V
L1 U
L2 㧗 V
㧙
L3
CHARGE
W M
1 Dynamic
brake circuit
2
Voltage Relay Voltage Gate drive over- Current
sensor current protection sensor
sensor drive
PG
CN10
CN2
L1C Varistor
+6V Analog
CN5
Control Analog monitor
㧗 +15V ASIC voltage
power converter output
L2C 㧙
supply (x4 circuits) 㧔PWM control, etc.) CN1 Reference pulse input
+5V
r12V PG output
Power Power Open during Speed/torque

OFF ON reference input
Servo alarm A/D
1KM CPU
㧔Position/speed Sequence I/O
1Ry calculation, etc.)
1KM Surge Panel operator
absorber I/O
CN3
Digital Operator
Personal computer
4.3.6 Three-phase 200 V, 5.0 kW Model

Three-phase
200 to 230V 10%
15% Three-phase 200 V, 5.0 kW Model SGDS-50A∗∗A
(50/60Hz)
FAN FAN B1 B2 B3 FAN
P/ +
Noise
filter Servomotor
1KM Varistor +12 V ±12 V ±12 V
L1 U
L2 㧗 V
㧙
L3
CHARGE
W M
1 Dynamic
brake circuit
2
Voltage Thyristor Voltage Gate drive over- Temperature Current
sensor drive sensor current protection sensor sensor
PG
CN51
CN2
Varistor
L1C CN5
Control Analog
+15V voltage Analog monitor
㧗 power (×4 circuits) ASIC converter output
L2C 㧙 supply (PWM control, etc.) CN1
+5V
r12V PG output

OFF ON Servo alarm
A/D Speed/torque
1KM reference input
CPU
1Ry (Position/speed
absorber Sequence I/O
I/O
CN3
Digital Operator
Personal computer
4-10
4.3.7 Three-phase 200 V, 6.0 kW, 7.5 kW Models

Three-phase
200 to 230V 10%
15%
Three-phase 200 V, 6.0 kW/7.5 kW Model SGDS-A∗∗A ( = 60 or 75)
(50/60Hz)
FAN FAN B1 B2 FAN
+
Noise
filter Servomotor
1KM Varistor ±12 V ±12 V ±12 V
L1 U
L2 㧗 V
㧙
L3
CHARGE
W M
Dynamic
brake circuit
Voltage Thyristor Voltage Gate drive over- Temperature Current

sensor drive sensor current protection sensor sensor
PG
CN51
CN2
Varistor
L1C CN5
Control +15V Analog Analog monitor
㧗 (×4 circuits) ASIC voltage output
power converter
L2C 㧙
supply (PWM control, etc.) CN1
+5V

r12V PG output

OFF ON Servo alarm Speed/torque
A/D
1KM CPU reference input
1Ry (Position/speed
1KM Surge calculation, etc.)
absorber Panel operator
I/O Sequence I/O
CN3
Digital Operator
Personal computer
4-11
4.4 SERVOPACK’s Power Supply Capacities and Power Losses

The following table shows SERVOPACK’s power supply capacities and power losses at the rated output.
Table 4.1 SERVOPACK Power Losses at Rated Output
Maximum Output Regenera- Control
Main Cir- Total
Main Circuit Applicable SERVOPACK Power Supply Current tive Resis- Circuit
cuit Power Power
Power Servomotor Model Capacity (Effective tor Power Power
Loss Loss
Supply Capacity SGDS- (kVA) Value) Loss Loss
W W
kW A W W
0.03 A3B 0.25 1.0 5.2 19.2
0.05 A5F 0.25 0.66 5.2 18.2
Single-
0.10 01F 0.40 0.91 12 25
phase 100V
0.20 02F 0.60 2.1 16.4 29.4
0.40 04F 1.2 2.8 24 −∗1 13 37
0.05 A5A 0.25 0.66 4.6 17.6
0.10 01A 0.40 0.91 6.7 19.7
Single-
0.20 02A 0.75 2.1 13.3 26.3
phase 200V
0.40 04A 1.2 2.8 20 33
0.75 08A 2.2 5.5 47 12 74
0.45 05A 1.4 3.8 27 8 54
1.0 10A 2.3 7.6 55 12 82
15
1.5 15A 3.2 11.6 92 10 117
Three- 2.0 20A 4.3 18.5 120 16 151
phase 200V 3.0 30A 5.9 18.9 155 16 186
5.0 50A 7.5 32.8 255 36 310
6.0 60A 12.5 46.9 360 19 379
−∗3
7.5 75A 15.5 54.7 455 474
* 1. SERVOPACKs with a capacity of 50 to 400 W do not have built-in regenerative resistors. If the
regenerative energy exceeds the specified value, connect an external regenerative resistor. Refer to
12.1.3 Calculating the Required Capacity of Regenerative Resistors.
* 2. Regenerative resistor power losses are allowable losses. Take the following action if this value is
exceeded.
• Remove the lead from the internal regenerative resistor in the SERVOPACK.
• Install an external regenerative resistor.
* 3. Install an external regenerative register when using the SERVOPACK with capacity of 6.0 kW or
more.
The following regenerative register can be used:
• Model JUSP-RA04: For SGDS-60A (Allowable power loss 180 W)
• Model JUSP-RA05: For SGDS-75A (Allowable power loss 350 W)
Note: External regenerative resistors are optional. Refer to 6.5 Connecting Regenerative Resistors and
5.10.6 External Regenerative Resistor for details.
4-12
4.5 SERVOPACK Overload Characteristics and Load Moment of Inertia
4.5 SERVOPACK Overload Characteristics and Load Moment of

Inertia
4.5.1 Overload Characteristics
The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40°C.
10000.0
1000.0
B
Detecting time (s)
100.0

C
A
10.0
1.0
Rated torque + Maximum torque

Rated torque Approx. Maximum torque
2
Note: The overload protection characteristics of A, B and C in the figure are applicable when the SER-
VOPACK is combined with one of the following servomotors.
Motor Type
Graph Type
SGMMJ SGMAS SGMPS SGMSS SGMCS SGMGH
A -A1 to -A3 -A5 to -12 -01 to -15 − -02 to -35 − 4
B − − − -10 to -50 -45 to -2Z -03 to -30
C − − − -40 to -70 − -40 to -75
4-13
4.5.2 Starting and Stopping Time
4.5.2 Starting and Stopping Time

The servomotor starting time (tr) and stopping time (tf) under a constant load are calculated using the following
formulas. Servomotor viscous torque and friction torque are ignored.
2 NM(J M + J L)
Starting time: tr = [s]
60 (TPM − T L)
2 NM(J M + J L)
Stopping time: tf = [s]
60 (T PM + T L)
NM: Motor speed (min-1)

JM: Motor rotor moment of inertia (kgxm2)
JL: Load converted to shaft moment of inertia (kgxm2)
TPM: Instantaneous peak motor torque when combined with a SERVOPACK
(Nxm)
TL: Load torque (Nxm)
Calculate the torque from the motor current using servomotor torque constant × motor current (effective value).
The following figure shows the motor torque and motor speed timing chart.

4.5.3 Load Moment of Inertia

The larger the load moment of inertia, the worse the movement response of the load.
The size of the load moment of inertia (JL) allowable when using a servomotor depends on motor capacity and is
limited to within 5 to 30 times the moment of inertia of each servomotor (JM). This value is provided strictly as a
guideline and results may vary depending on servomotor drive conditions.
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the
allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenera-
tion overload alarm (A.320). Take one of the following steps if this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
• Install an externally mounted regenerative resistor if the alarm cannot be cleared. Contact your Yaskawa
Application Engineering Department.
Regenerative resistors are not built into 200 V SERVOPACKs for 30 W to 400 W or 100 V SERVOPACKs for
50 W to 400 W. The following figures show the tentative relationship between the load moment of inertia and
motor speed using an example with a load moment of inertia 10 to 30 times the load moment of inertia at the
motor shaft.
External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W)
of the built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor
is already built in.
4-14
(1) Load Moment of Inertia and Motor Speed for SGMMJ Servomotors
SGMMJ-A1(10W) SGMMJ-A2(20W) SGMMJ-A3(30W)
0.225
0.164
0.106
Load moment Load moment Load moment

of inertia of inertia of inertia
(×10-4 kgm2) (×10-4 kgm2) (×10-4 kgm2)
5000 min-1 5000 min-1 5000 min-1
0 0 0
0 3000 6000 0 3000 6000 0 3000 6000
Motor speed (min-1) Motor speed (min-1) Motor speed (min-1)
(2) Load Moment of Inertia and Motor Speed for SGMAS Servomotors
SGMAS-A5 (50W) SGMAS-01 (100W) SGMAS-C2 (150W)
5500 min-1
1.593
1.140 1.544
0.726

-4 2 -4 2 -4 2
(×10 kgm ) (×10 kgm ) (×10 kgm )
0 0 0
0 3000 6000 0 3000 6000 0 3000 6000
SGMAS-02 (200W) SGMAS-04 (400W)

3500 min-1
4000 min-1 3.800
4000 min-1
3.480 3.475
Load moment Load moment

of inertia of inertia
-4 2 -4 2
(×10 kgm ) 1.544 (×10 kgm ) 1.544
0 0
0 3000 6000 0 3000 6000
Motor speed (min-1) Motor speed (min-1)
4
(3) Load Moment of Inertia and Motor Speed for SGMPS Servomotors
SGMPS-01 (100W) SGMPS-02 (200W) SGMPS-04 (400W)
1.480 4000 min-1 4000 min-1

3500 min-1 2.863
3.945

0.772 1.544
(×10-4 kgm2) (×10-4 kgm2) 1.544 (×10-4 kgm2)
0 0 0
0 6000 0 3000 6000 0 3000 6000
3000
Motor speed (min-1) Motor speed (min-1) -1
Motor speed (min )
4-15
4.5.3 Load Moment of Inertia
(4) Load Moment of Inertia and Motor Speed for SGMCS Servomotors
SGMCS-02B(42W) SGMCS-07B(147W)
SGMCS-05B(105W)
250 min-1
610
400 min-1 200 min-1
Load moment
250 Load moment Load moment 990
183.5
10-4kg m2 10-4kg m2
10-4kg m2
147.5
109.5
0 0 0
0 200 400 600 0 200 400 600 0 200 400 600
SGMCS-04C(84W) SGMCS-10C(209W) SGMCS-14C(293W)

200 min-1 200 min-1
835
798
250 min-1
670

351.7
10-4kg m2 10-4kg m2 10-4kg m2
155.4 180.5
0 0 0
0 200 400 600 0 200 400 600 0 100 200 300 400
SGMCS-08C(168W) SGMCS-17D(356W) SGMCS-25D(393W)

100 min-1 100 min-1
2727
1863
200 min-1
1014 Load moment Load moment
Load moment
10-4kg m2 10-4kg m2 10-4kg m2
0 0 0
0 200 400 600 0 100 200 300 400 0 100 200 300 400
SGMCS-16E(335W) SGMCS-35E(550W)
100 min-1
4470
100 min-1
3240
Load moment Load moment

of inertia of inertia
10-4kg m2 10-4kg m2
0 0
0 100 200 300 400 0 100 200 300 400
Motor speed (min-1) Motor speed (min-1)
4-16
(5) Allowable Load Moment of Inertia at the Motor Shaft

The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
Servomotor Allowable Load Moment of Inertia
Capacity Range
Model (Rotor Moment of Inertia Ratio)
SGMMJ
10 W to 30 W × 30
(100 V)
50 W to 200 W × 30
SGMAS
400 W to 750 W × 20
(200 V)
1.15 kW × 10
100 W × 25
200 W × 15
SGMPS
400 W ×7
(200 V)
750 W ×5
1.5 kW ×5
1.0 kW ×5
1.5 kW ×5
2.0 kW ×5
SGMSS 2.5 kW ×5

(200 V) 3.0 kW ×5
4.0 kW ×5
5.0 kW ×5
7.0 kW ×5
SGMGH
(1500 min-1) 450 W to 7.5 kW × 5*
(200 V)
SGMGH
(1000 min-1) 300 W to 5.5 kW ×5
(200 V)
* The allowable load moment of inertia will be three times when the SGMGH-30AA servomotor and
the SGDS-30 SERVOPACK is used together.
Servomotor Allowable Load Moment of Inertia

Rated Output (Nxm)
Model (Rotor Moment of Inertia Ratio)
2.0, 4.0, 5.0, 7.0 ×10
10.0 ×5
8.0, 14.0, 16.0, 17.0, 25.0, 35.0 ×3
45.0 ×3
4
SGMCS
(200 V) 80.0 ×3
110.0 ×3
150.0 ×3
200.0 ×3
(6) Overhanging Loads

A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor.
• Never operate servomotors with an overhanging load. Doing so will cause the SERVOPACKs’ regenerative
IMPORTANT
brake to be applied continuously and the regenerative energy of the load may exceed the allowable range
causing damage to the SERVOPACK.
• The regenerative brake capacity of the SGDS SERVOPACKs is rated for short-term operation
approximately equivalent to the time it takes to decelerate to a stop.
4-17
4.6 SERVOPACK Dimensional Drawings

SERVOPACK dimensional drawings are grouped according to the mounting method and capacity.
(1) Base-mounted Type
Reference
Supply Voltage Capacity
Section
30 W, 50 W, 100 W, 200 W 4.7.1
100 V
400 W 4.7.2
Single-phase 50 W, 100 W, 200 W 4.7.1
200 V 400 W 4.7.3
750 W 4.7.4
500 W, 1.0 kW 4.7.4
1.5 kW 4.7.5
Three-phase 200 V
2.0 kW / 3.0 kW 4.7.6
6.0 kW, 7.5 kW 4.7.8
(2) Rack-mounted Type

Reference
Section
30 W, 50 W, 100 W, 200 W 4.8.1
100 V
400 W 4.8.2
Single-phase 50 W, 100 W, 200 W 4.8.1
200 V 400 W 4.8.3
750 W 4.8.4
500 W, 1.0 kW 4.8.4
1.5 kW 4.8.5
Three-phase 200 V
2.0 kW, 3.0 kW 4.8.6
5.0 kW 4.8.7
(3) Duct-ventilated Type

Reference
Section
Three-phase 200 V 6.0 kW/7.5 kW 4.9.1
4-18
4.7 Dimensional Drawings of Base-mounted SERVOPACK Model SGDS-01A/-02A

SGDS-01A/-02A
4.7.1 Single-phase 100 VAC, 30 W
Single-phase 100 V/200 V, 50 W/100 W/200 W
(15) Mounting Hole Diagram
5 2 × M4 screw holes
(22)
5.5
°
125
Terminal block
CN3
(Mounting pitch)
139.5±0.5
150
150
CN1
CN2
CN4

Nameplate
5 (8)
(5 )
Ground terminal 18 32±0.5
2 × M4 screws 45 (Mounting pitch)
(75) 130
45
Units: mm
Approx. mass: 0.7 kg

(5.5)
(5) 3 × M4 screw holes

12 (22 )
5°
(Mounting pitch)
Terminal block CN3

139.5±0.5
150
150
CN1
4
CN2
C
N
2 CN4
C
N
4
Ground terminal 18 Nameplate

(5)
6 58±0.5 (6)
2 × M4 screws
70 (75) (Mounting pitch)
180
70
Units: mm
4-19

(5.5)
2 × M4 screw holes
12 (22)
(5)

YASKAWA 200V
5°
Terminal block SERVOPACK
CHARGE
CN3
(Mounting pitch)
L1 C
N
3
L2
139.5±0.5
L1C
CN1
150
L2C
150
B1/
B2 C
N
1
U
V
W
CN2
C
N
2
CN4
C
N
4
10 47±0.5 (8)
(5)
Ground terminal Nameplate
18
2 × M4 screws (Mounting pitch)
65 (75) 130
65
Units: mm
Approx mass: 0.9 kg

Three-phase 200 V, 500 W / 1.0 kW
Mounting Hole Diagram
(15)
3 × M4 screw holes
(5.5)
(5)
12 (22)
5°
(Mounting pitch)
Terminal block CN3

139.5±0.5
150
150
CN1
CN2
C
N
2 CN4
C
N
4
18
(5)
Ground terminal Nameplate 6 58±0.5 (6)

2 × M4 screws (Mounting pitch)
70 (75) 180
70
Units: mm
4-20
4.7.5 Three-phase 200 V, 1.5 kW

5.5
(4) 3 × M4 screw holes
(22)
5°
YASKAWA 200V
12
CHARGE
Terminal block SERVOPACK

SGDS - CN3
L1
L2
(Mounting pitch)
L3 C
L1C
N
3 CN1
139.5±0.5
L2C
B1/ +
150
150
B2
B3
C
-1 N
1
-2
V
CN2
W
C
N
CN4 YASKAWA ELECTRIC
2
MADE IN JAPAN
C
N
4
5 80±0.5 (5)
18 Nameplate
(5)
Ground terminal (Mounting pitch)
2 × M4 screws 90 (75) 180 90
Units: mm

4.7.6 Three-phase 200 V, 2.0 kW / 3.0 kW
4 × M4 screw holes
(22)
5
4
°
YASKAWA 200V
125
SERVOPACK
SGDS -
CN3
(Mounting pitch)
CN1
170±0.5
180
180
CN2
MADE IN JAPAN
Nameplate 5 90±0.5 (5)

4
(5)
(Mounting pitch)
100 (75) 180
100
Terminal block 13P Ground terminal
M4 Mounting screws 2 × M4 screws Units: mm
4-21

Terminal block 14P (15)
M4 Mounting screws Air flow 4 × M5 screw holes
5
(22)
5.5
q
YASKAWA
5
CHARGE
2
SERVOPACK
1
SGDS -
CN3
CN1
(Mounting pitch)
250
250
YASKAWA ELECTRIC
239±0.5
MADE IN JAPAN
CN2
CN4
Nameplate
Air flow 5
(5.5 )
Ground terminal Cooling fan 100±0.5 (5)
2 × M4 screws Air flow (Mounting pitch)
(75) 210
110 110
Cooling fan
0q
11
Cooling fan Units: mm

4-22
4.7.8 Three-phase 200 V, 6.0 kW, 7.5 kW
(22)
Air flow 4 × M6 screw holes
2×φ7 holes 15 Cooling fan
7.5
7.5
CN3 125°
CN1
(Mounting pitch)
CN2
350
335
CN4
335±0.5
Terminal
350
block 2P Name-
M4 plate
screws
Terminal block
2P M5 screws
Terminal block
8P M5 screws

Air flow
(7.5)
(7.5)
25 120±0.5 (25)
25 120 (25) (Mounting pitch)
170 (75) 210 170
Terminal block A
2-M6 screws
Units: mm
Approx.mass: 10.5 kg
(4)
View from A
Cooling fan
4-23
4.8.1 Single-phase 100 V / 200 V, 50 W / 100 W / 200 W

SGDS-01AR/-02AR
4.8.1 Single-phase 100 V / 200 V, 50 W / 100 W / 200 W
1.5 36 (7.5) (15) 24.5 2 × M4 screw holes
19.5 (25.5)
17.5
7.5
φ5 hole
7.5
10
7
(5)
(22)
°
125
Terminal YASKAWA
block
SERVOPACK
CN3
(Mounting pitch)
CHARGE
L1 C
N
156 min.
L2 3
185
150
170
170±0.5
L1C
CN1
150
L㧞C
B1/
B2
C
N
1
U
㨂
㨃 CN2
MADE IN JAPAN
Nameplate
5 18
(7.5)
(7.5)
(17.5)
(10)
(7)
45 (75) 130
Ground terminal 19.5 (25.5)

2 × M4 screws 45
Units: mm

18.5 36 (15.5) 2 × M4 screw holes

(15) 24.5
36.5 (33.5)
(7.5)
17.5
2
7.5
10
7
(4)
12 (22)
5°
Terminal
block
(Mounting pitch)
CN3
156 min.
170±0.5
150
185
150
170
CN1
CN2
C
N
2 CN4
C
N
4
18 Nameplate
(7.5)
(10)
5
(17.5)
(7.5)
(7)
(75) 180 36.5 (33.5)

70 70
Groung terminal
(2 × M4 screws)
Units: mm
Approx.mass: 1.4 kg
4-24
4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model SGDS-01AR/-02AR

2 × M4 screw holes
21.5 36 (7.5)
(15) 24.5
17.5
39.5 (25.5)
7.5
φ5 hole
7.5
2
10
7
12 (22)
(5)

Terminal YASKAWA 200V
5°
block SERVOPACK
CHARGE
CN3
(Mounting pitch)
L1 C
N
3
L2
L1C
170±0.5
CN1
185
150
170
L2C
150
156 min.
B1/
B2 C
N
1
U
V
W
CN2
C
N
2
CN4
C
N
4
18 Nameplate
5
(17.5)
(7.5)
(7.5)
(10)
(7)
65 (75) 130 39.5 (25.5)

65
Ground terminal
2 × M4 screws
Units: mm

Three-phase 200 V, 500 W / 1.0 kW

18.5 36 (15.5) 2 × M4 screw holes
36.5 (33.5) (15) 24.5
(7.5)
17.5
2
7.5
10
7
(4)
(22)
5°
12
Terminal
block
(Mounting pitch)
CN3
185
150
170
156 min.
170±0.5
150
CN1
4
CN2
C
N
2 CN4
C
N
4
18 Nameplate
(17.5)
5
(7.5)
(10)
36.5 (33.5)
(7.5)
(7)
(75) 180
70 70
Ground terminal
2 × M4 screws
Units: mm
4-25

(15) 24.5 4 × M4 screw holes
15.5
7.5
7.5
4-φ5 hole
2
7
125°
(22)
Terminal
block YASKWA 200V
SERVOPACK
SGDS -
CN3
(Mounting pitch)
CN1
170±0.5
156 min.
185
170
154
154
CN2
CN4
Nameplate
(7.5)
(15.5)
(7)
(7.5)
20 50±0.3 (20)
20 50 (20)
90
(2.2) 90 (75) 180 (5)
(Mounting pitch)
Ground terminal
2 × M4 screws
Units: mm
4.8.6 Three-phase 200 V, 2.0 kW, 3.0 kW
2.2 100 (15) 24.5 4 × M4 screw holes

(7.5)
17.5
25 50
7.5
2-φ5 hole
10
2
7
(22)
125°
YASKWA
200V
Terminal SERVOPACK
block SGDS -
CN3
(Mounting pitch)
200±0.5
CN1
186 min.
180
215
180
200
CN2
CN4

Nameplate
5
(17.5)
(7.5)
(10)
(7)
(7.5)
2.2 25 50 (75) 180 (5) 27.2 50±0.5 (25)

102.2 102.2
(Mounting pitch)
Ground terminal
2 × M4 screws Units: mm
4-26
4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model SGDS-01AR/-02AR

Terminal
block 14P
15.5 M4 Mounting
7.5
screw Air flow 15 24.5 4 × M5 screw holes
7.5
2
7
22
125°
YASKAWA
CHARGE
SERVOPACK
SGDS -
C
N
CN3
3
(Mounting pitch)
C
N
270±0.5
CN1
1
256 min.
285
270
254
254
C
YASKWA ELECTRIC
CN2
N
2 MADE IN JAPAN
C
N
4
Ground CN4
Nameplate
terminal
2 × M4
screws
Air flow
Cooling fan
(7)
(7.5)
(15.5)
(7.5)
Air flow 30.5 50±0.3 (30.5)

30.5 50 (30.5) (75) 210 (6) (Mounting pitch)
(2.2) 111 (2.2) 111
Units: mm
4-27
4.9.1 Three-phase 200 V 6.0 kW / 7.5 kW
4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model

SGDS-60AAP/-75AAP
4.9.1 Three-phase 200 V 6.0 kW / 7.5 kW
(22)
Air flow 4 × M6 screw holes
(7.5)
(7.5)
(8.5)
Cooling fan
(20)
4-φ7 hole (15)
CN3 125°
CN1
335±0.5 (Mounting hole)

CN2
Punched SERVOPACK
CN4
335
350
Terminal
350
316
hole Rear View
310
block
2P
M4
screw Terminal
block Nameplate
2P
M5 screw
Terminal
block
8P
M5 screw
7.5
7.5
(7.5)
10.5
7.5
20
Air flow 8 Mounting hole

12.5 145 (12.5) (77) (5)
133 5 160
170 (75) 210 170
Ground terminal
2 × M6 screws
A
8 154 (8) Units: mm

View from A
Approx. mass: 9 kg
Cooling fan
4-28
5
Specifications and Dimensional
Drawings of Cables and
Peripheral Devices
Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1 Servomotor Main Circuit Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3
5.1.1 Main Circuit Cables for 10 W to 30 W SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - 5-3
5.1.2 Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors - - - - - 5-4
5.1.3 Main Circuit Cables for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors 5-5
5.1.4 Main Circuit Cables for 750 W and 1.15 kW SGMAS Servomotors - - - - - - - - - - - - - - - 5-6
5.1.5 Main Circuit Cables for 750 W SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.1.6 Main Circuit Cables for 1.5 kW SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.1.7 Main Circuit Cables for SGMCS-B, C, D, and E Servomotors - - - - - - - - - - - - - - - 5-9
5.2 Servomotor Main Circuit Cables and Connectors - - - - - - - - - - - - - - - - - - 5-10

5.2.1 Connectors for 10 W to 30 W SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.2.2 Connectors for 50 to 150 W SGMAS and 100 W SGMPS Servomotors - - - - - - - - - - 5-10
5.2.3 Connectors for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors - - - - 5-11
5.2.4 Connectors for 750 W and 1.15 kW SGMAS Servomotors - - - - - - - - - - - - - - - - - - - 5-11
5.2.5 Connectors for 750 W SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.6 Connectors for 1.5 kW SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.7 Cables for 50 to 600 W SGMMJ, SGMAS, and 100 to 400 W SGMPS Servomotor - - 5-13
5.2.8 Cables for 750 W and 1.15 kW SGMAS and 750 W SGMPS Servomotors - - - - - - - - 5-13
5.2.9 Connectors for SGMCS-B, C, D, and E Servomotors - - - - - - - - - - - - - - - - - - - - 5-14
5.2.10 Cables for SGMCS-B, C, D, and E Servomotors - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.2.11 Connectors for SGMCS-M and N Servomotors - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.2.12 Cables and Connectors for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - - 5-16
(Standard Environment Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17 5
(Protective Structure IP67/European Safety Standards Conformed Type) - - - - - - - - 5-19
5.2.15 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments - - - - - - - 5-20
European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.2.17 SGMGH Servomotor (1000 min-1) Connectors for Standard Environments - - - - - - - 5-25
European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.2.19 Connectors Manufactured by DDK Ltd. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
5.2.20 Connectors Manufactured by Japan Aviation Electronics Industry, Ltd. - - - - - - - - - - 5-33
5-1
5.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

5.3.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.3.2 Single-phase for 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.3.3 Single-phase for 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.3.4 Three-phase for 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.4 Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.4.1 Encoder Cables for 50 to 1.15 kW SGMAS and 100 to 400 W SGMPS Servomotors 5-38
5.4.2 Encoder Cables for 750W and 1.5 kW SGMMJ and SGMPS Servomotors - - - - - - - - 5-40
5.4.3 Encoder Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
5.4.4 Encoder Cables for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - 5-46
5.5 Encoder Cables and Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50

5.5.1 Encoder Cables and Connectors for SGMAS and 100 to 400 W
SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50
5.5.2 Encoder Cables and Connectors for 750 W and 1.5 kW SGMMJ
and SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51
5.5.3 Encoder Cables and Connectors for SGMSS and SGMGH Servomotors - - - - - - - - - 5-52
5.5.4 Encoder Cables and Connectors for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - 5-54
5.6 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

5.7 Encoder Cable Extension - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
5.8 Connectors for Main Circuit, Control Power Supply,
and Servomotor Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
5.8.1 Spring Type (Standard) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
5.8.2 Crimp Type (Option) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-62
5.9 CN1 Cables for I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63

5.9.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
5.9.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
5.9.3 Connection Diagram for Standard I/O Cable JZSP-CSI01- - - - - - - - - - - - - - - - - - - 5-65
5.10 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66

5.10.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66
5.10.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67
5.10.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68
5.10.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68
5.10.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-70
5.10.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71
5.10.7 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-73
5.10.8 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74
5.10.9 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-75
5.10.10 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76
5.10.11 Magnetic Contactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-79
5.10.12 Surge Absorber (for switching surge) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-81
5.10.13 Surge Absorber (for lightning surge) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-83
5.10.14 AC/DC Reactors for Power Supply Harmonic Suppression - - - - - - - - - - - - - - - - - 5-84
5.10.15 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - 5-85
5-2
5.1 Servomotor Main Circuit Cables
CAUTION
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa-
rated by at least 30 cm. Wiring them too close may result in malfunction.
5.1.1 Main Circuit Cables for 10 W to 30 W SGMMJ Servomotors

(1) For Servomotors without Brakes
(a) Cable Type
Standard Type Flexible Type Length (L) Dimensional Drawing
JZSP-CDM03-03 JZSP-CDM23-03 3m SERVOPACK end Servomotor end
50 mm L
JZSP-CDM03-05 JZSP-CDM23-05 5m

JZSP-CDM03-10 JZSP-CDM23-10 10 m
JZSP-CDM03-20 JZSP-CDM23-20 20 m Wire markers
M4 crimped terminals
(b) Wiring Specifications

SERVOPACK-end Leads Servomotor-end Connector
Wire Color Signal Signal Pin No.
Red Phase U Phase U 1
White Phase V Phase V 2
Blue Phase W Phase W 3
Green/yellow FG FG 4
(2) For Servomotors with Brakes

(a) Cable Type
JZSP-CDM33-03 JZSP-CDM43-03 3m SERVOPACK end Servomotor end
50 mm L
JZSP-CDM33-05 JZSP-CDM43-05 5m
Wire markers
(b) Wiring Specifications 5

Black Brake Brake 5
Balck Brake Brake 6
Note: No polarity for connection to a brake
5-3
5.1.2 Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors
5.1.2 Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors
(a) Cable Type
JZSP-CSM01-03 JZSP-CSM21-03 3m SERVOPACK end Servomotor end
50 mm
JZSP-CSM01-05 JZSP-CSM21-05 5m
JZSP-CSM01-10 JZSP-CSM21-10 10 m
JZSP-CSM01-15 JZSP-CSM21-15 15 m Wire markers


5
6

(a) Cable Type
JZSP-CSM11-03 JZSP-CSM31-03 3m SERVOPACK end
Servomotor end
50 mm L
Wire markers
JZSP-CSM11-20 JZSP-CSM31-20 20 m M4 crimped terminals

Black Brake Brake 5
Black Brake Brake 6
5-4
5.1.3 Main Circuit Cables for 200 to 600 W SGMAS and 200 to 400 W SGMPS
Servomotors
(a) Cable Type
50 mm
Wire markers

5
6

(a) Cable Type
Servomotor end
50 mm L
Wire markers
(b) Wiring Specifications 5

Black Brake Brake 5
Black Brake Brake 6
5-5
5.1.4 Main Circuit Cables for 750 W and 1.15 kW SGMAS Servomotors
5.1.4 Main Circuit Cables for 750 W and 1.15 kW SGMAS Servomotors
(a) Cable Type
50 mm
Wire markers

5
6

(a) Cable Type
Servomotor end
50 mm L
Wire markers

Black Brake Brake 5
Black Brake Brake 6
5-6
5.1.5 Main Circuit Cables for 750 W SGMPS Servomotors

The 750 W SGMPS servomotor is provided with cables to connect servomotor and encoder cables.
The 750 W SGMPS servomotor cable is used to connect the connector on the servomotor cable tip to SERVO-
PACK.
(a) Cable Type
JZSP-CMM00-03 JZSP-CMM01-03 3m
SERVOPACK end
Servomotor end
JZSP-CMM00-05 JZSP-CMM01-05 5m 50 mm L
JZSP-CMM00-10 JZSP-CMM01-10 10 m
Wire markers

Servomotor-end
SERVOPACK-end leads
connector
Lead Color Signal Signal Pin No.

(a) Cable Type
JZSP-CMM10-03 JZSP-CMM11-03 3m SERVOPACK end
50 mm Servomotor end
L
Wire markers
JZSP-CMM10-20 JZSP-CMM11-20 20 m M4 crimped terminal

5
Servomotor-end
SERVOPACK-end leads connector
Black Brake Brake 5
Black Brake Brake 6
Note: No polarity for connection to the brake.
5-7
5.1.6 Main Circuit Cables for 1.5 kW SGMPS Servomotors
5.1.6 Main Circuit Cables for 1.5 kW SGMPS Servomotors

The 1.5 kW SGMPS servomotor is provided with cables to connect servomotor and encoder cables.
The 1.5 kW SGMPS servomotor cable is used to connect the connector on the servomotor cable tip to SERVO-
PACK.
(a) Cable Type
Standard Type Length (L) Dimensional Drawing
JZSP-CMM20-03 3m
SERVOPACK end
Servomotor end
JZSP-CMM20-05 5m 50 mm L
JZSP-CMM20-10 10 m
JZSP-CMM20-15 15 m
Wire markers
JZSP-CMM20-20 20 m M4 crimped terminals
Servomotor-end
SERVOPACK-end leads
connector

(a) Cable Type
Standard Type Length (L) Dimensional Drawing
JZSP-CMM30-03 3m SERVOPACK end
50 mm Servomotor end
L
JZSP-CMM30-05 5m
JZSP-CMM30-10 10 m
JZSP-CMM30-15 15 m
Wire markers
JZSP-CMM30-20 20 m M4 crimped terminal

Servomotor-end
SERVOPACK-end leads connector
Black Brake Brake 5
Black Brake Brake 6
Note: No polarity for connection to the brake.
5-8
5.1.7 Main Circuit Cables for SGMCS-B, C, D, and E Servomotors

Yaskawa provides cables for SGMCS-B, C, D, and E servomotors. Cables for SGMCS-M and N servo-
motors must be provided by the customers. Refer to 5.2.11 Connectors for SGMCS-M and N Servomotors.
(1) Cables for Applicable Flange 1, 3
For applicable flanges, refer to 2.1.5 Model SGMCS
(a) Cable Type
JZSP-CMM60-03 JZSP-CSM60-03 3m SERVOPACK end Encoder (servomotor) end
50 mm L
JZSP-CMM60-05 JZSP-CSM60-05 5m
JZSP-CMM60-10 JZSP-CSM60-10 10 m


Green/(yellow) FG FG 4
(2) Cables for Applicable Flange 4

For applicable flanges, refer to 2.1.5 Model SGMCS.
(a) Cable Type
SERVOPACK end Encoder (servomotor) end
JZSP-CMM00-05 JZSP-CMM01-05 5m 50 mm L
M4 crimped
JZSP-CMM00-20 JZSP-CMM01-20 20 m terminals
5
Green/ FG 4
(yellow) FG
5-9
5.2.1 Connectors for 10 W to 30 W SGMMJ Servomotors
5.2 Servomotor Main Circuit Cables and Connectors

This section describes the specifications of servomotor main circuit cables and connectors to be assembled by the
customers.
5.2.1 Connectors for 10 W to 30 W SGMMJ Servomotors
Applicable Servomotors: SGMMJ-A1 to A3

Items Without Brakes With Brakes
(For standard cables) (For standard cables)
Manufacturer Molex Japan Co., Ltd
Plug 5559-04P-210 5559-06P-210
Pin 5558TL
Applicable Wire Size AWG18 to 24
Model: 5558L
Assembly
Caulk- Applicable crimp tool: 57026-5000 (For UL1007)
required
ing 57027-5000 (For UL1015)
Tool Assembly Body: M15A or 57117-4000
not required Module crimp die: 57022-3000
Dimensional 4 3 6 5 4
Drawings 2 1 3 2 1
Arranged Model JZSP-CFM9-2 JZSP-CFM9-3
5.2.2 Connectors for 50 to 150 W SGMAS and 100 W SGMPS Servomotors

Applicable
Items Dimensional Drawings
Servomotors
SGMAS SGMAS-A5 to C2
SGMPS SGMPS-01 Units: mm
Manufacturer J.S.T. Mfg. Co., Ltd. 20 19
Receptacle J17-06FMH-7KL-1
Electrical Contact SJ1F-01GF-P0.8
12

Outer Diameter of φ1.11 to φ1.53 654321
Insulating Sheath
in mm 1
Caulking Hand Tool YRS-8841
Tool Applicator APLMK SJ1F/M-01-08
Mounting Screw M2 Pan-head screw
6
Applicable Cable Outer φ7 ± 0.3
Diameter in mm
Arranged Model JZSP-CSM9-1
5-10
5.2.3 Connectors for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors
Applicable
Items Dimensional Drawing
Servomotor Model
SGMAS SGMAS-02 to 06
Units: mm
SGMPS SGMPS-02 to 04 21 21
Manufacturer J.S.T. Mfg. Co., Ltd.
13
Electrical Contact SJ2F-01GF-P1.0
Applicable Wire Size AWG20 to 24 654321
Outer Diameter of φ1.11 to φ1.53

1
Insulating Sheath
in mm
Caulking Hand tool YRS-8861
Tool Applicator APLMK SJ2F/M-01-08 6

Mounting Screw M2 Pan-head screw
Applicable Cable Outer φ7 ± 0.3
Diameter in mm
5.2.4 Connectors for 750 W and 1.15 kW SGMAS Servomotors

Items Applicable Servomotor Models Dimensional Drawings
SGMAS SGMAS-08, -12
Units: mm
SGMPS − 27 21
Manufacturer J.S.T. Mfg. Co., Ltd.
15
Cable Type Standard Type

Electrical Contact SJ3F-41GF-P1.8 SJ3F-01GF-P1.8 6 5 4 3 2 1
(For power terminals) (For brake terminals)
Applicable Wire Size AWG16 to 20 AWG20 to 24 1
Outer Diameter of In- φ1.53 to φ2.5 φ1.11 to φ1.86
sulating Sheath in 6
mm
Caulking Hand tool YRF-880 YRF-881
Tool Applicator APLMK APLMK
SF3F/M-41-20 SF3F/M-01-20
Mounting Screw M2.5 Pan-head screw
Applicable Cable φ8 ± 0.3 5
Outer Diameter in
mm
5-11
5.2.5 Connectors for 750 W SGMPS Servomotors
5.2.5 Connectors for 750 W SGMPS Servomotors
Applicable Servomotor Model SGMPS-08

Items With a Brake With a Brake
Without a Brake
(For Standard Cables) (For Flexible Cables)
Manufacturer Tyco Electronics AMP K.K.
Cap 350780-1 350781-1
Socket 350536-6 or 350550-6
350536-6 or 350689-3 350570-3 or 350689-3
(For brake terminals)
Applicable Wire AWG20 to 14 AWG24 to 18
AWG20 to 14
Size (For power line) (For brake line)
Caulk- Hand Tool 90296-2 90296-2 90300-2
ing Applicator 637763-1, 466320-1,
Tool 637763-1, 687763-2
687763-2 466320-2
Dimensional
Drawings in mm
14
27.7
20.3
7.6 27.4 28.4
27.4 14.7
Arranged Model JZSP-CMM9-1 JZSP-CMM9-2 JZSP-CSM9-5
5.2.6 Connectors for 1.5 kW SGMPS Servomotors
Applicable Servomotor Model SGMPS-15

Items With a Brake
Without a Brake
(For Standard Cables)
Manufacturer Tyco Electronics AMP K.K.
Cap 350780-1 350781-1
Socket 350536-6 or 350550-6
Caulking Hand Tool 90296-2
Tool Applicator 637763-1, 687763-2
Dimensional
Drawings in mm
14
27.7
20.3
7.6 27.4 28.4
27.4 14.7
Arranged Model JZSP-CMM9-3 JZSP-CMM9-4
5-12
5.2.7 Cables for 50 to 600 W SGMMJ, SGMAS, and 100 to 400 W SGMPS Servo-
motor
Items Standard Cable Flexible Cable
Cable Type Designation* JZSP-CSM90- JZSP-CSM80-
(20 m max.) (20 m max.)
Specifications UL2517 (Max. operating temperature: 105°C UL2517 (Max. operating temperature: 105°C
AWG20 × 6C AWG22 × 6C
For power line: AWG20 (0.52 mm2) For power line: AWG22 (0.33 mm2)
Outer diameter of insulating sheath: φ1.53 mm Outer diameter of insulating sheath: φ1.37 mm
For brake line: AWG20 (0.52 mm2) For brake line: AWG22 (0.33 mm2)
Finished Dimensions φ7 ± 0.3 mm
Internal Configuration and
Lead Color
Black

Green/
(Yellow) White
Blue Red
Black
Yaskawa Standard 5 m, 10 m, 15 m, 20 m
Specifications
(Standard Length)
* Specify the cable length in of cable type designation.
Example: JZSP-CSM91-15 (15 m)
5.2.8 Cables for 750 W and 1.15 kW SGMAS and 750 W SGMPS Servomotors
Cable Type Designation * JZSP-CSM91- JZSP-CSM81-
(20 m max.) (20 m max.)
Specifications UL2517 (Max. operating temperature: 105°C ) UL2517 (Max. operating temperature: 105°C )
AWG16 × 4C, AWG20 × 2C AWG16 × 4C, AWG22 × 2C
For power line: AWG16 (1.31 mm2) For power line: AWG16 (1.31 mm2 )
For brake line: AWG20 (0.52 mm2 ) For brake line: AWG22 (0.33 mm2)
Finished Dimension φ8.0 ± 0.3 mm
Lead Color 5
Black
Blue Red
Green/
(Yellow) White
Black
Yaskawa Standard 5 m, 10 m, 15 m, 20 m
Specifications
(Standard Length)
5-13
5.2.9 Connectors for SGMCS-B, C, D, and E Servomotors
5.2.9 Connectors for SGMCS-B, C, D, and E Servomotors

Items Description
Manufacturer Japan Aviation Electronics Industry, Ltd.
Plug JN1DS04FK1(Soldered)
Applicable Cable Outer φ5.7 mm to φ7.3 mm
Diameter
51.5 max.
in mm
No.1 No.2
15.5
18.8
19
No.3 Ground
Note: The mating connector type on servomotor: JN1AS04MK3
5.2.10 Cables for SGMCS-B, C, D, and E Servomotors

Cable Type Designation * JZSP-CSM90- JZSP-CSM80-
(20 m max.) (20 m max.)
Specifications UL2517 (Max. operating temperature: UL2517 (Max. operating temperature:
105 °C) 105 °C)
AWG20 × 6C AWG22 × 6C
For power line: AWG20 (0.52 mm2) For power line: AWG22 (0.33 mm2)
Outer diameter of insulating sheath: Outer diameter of insulating sheath:
φ 1.53 mm φ 1.37 mm
For brake line: AWG20 (0.52 mm2) For brake line: AWG22 (0.33 mm2)
φ 1.53 mm φ 1.37 mm
Finished Dimension φ 7 ± 0.3 mm
Internal Configuration
and Lead Color
Black
Green/
(Yellow) White
Blue Red
Black
Yaskawa Standard Specifi- 5 m, 10 m, 15 m, 20 m

cations (Standard Length)
* Specify the cable length in of cable type designation

5-14
5.2.11 Connectors for SGMCS-M and N Servomotors

(1) Connector Configuration Diagram
Standard straight plug
SGMCS servomotor
Non-waterproof Cable
cable clamp
Standard L-shaped plug
Servomotor Cable Connector (Not provided by Yaskawa)

Receptacle L-shaped plug Straight plug Cable clamp
Servomotor-end

MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A
connector
(2) Connector Dimensional Drawings

(a) MS3108B: L-shaped Plug Shell
Units: mm
Shell Joint Length of Overall Outer R U Cable Effective
L Size Screw Joint Length Diameter ±0.5 ±0.5 Clamp Screw
J A Portion L max. of Joint Set Length W
J±0.12 Nut Screw min.
A
R
φQ +0 V
Q
- 0.38
W
U
1 1/8 - 1-
V 18 18.26 68.27 34.13 20.5 30.2 9.53
18UNEF 20UNEF
(b) MS3106B: Straight Plug Shell
Units: mm
Shell Joint Length of Overall Outer Cable Effective Maxi-
L Size Screw Joint Length Diameter Clamp Set Screw mum
J W
A Portion L max. of Joint Screw Length W Width Y
J±0.12 Nut V max max.
A
φQ +0
- 0.38
Q
1 1/8 - 1-
18 18.26 52.37 34.13 9.53 42
V 18UNEF 20UNEF
5-15
5.2.12 Cables and Connectors for SGMSS and SGMGH Servomotors
(c) MS3057A-10A: Cable Clamp with Rubber Bushing

A
C
φJ (Inner bushing diameter)
1.6
V φE
(Inner cable clamp diameter)
G
φQ
H (Slide range)
Units: mm
Cable Clamp Applicable Overall Effective Set Screw Outer Attached
Type Connector Length Screw Diameter Bushing
Shell Size Length
A±0.7 C φE G±0.7 H φJ V φQ±0.7
MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10
5.2.12 Cables and Connectors for SGMSS and SGMGH Servomotors

Customer must provide the servomotor main circuit cables for SGMSS servomotors.
(1) Connector Pin Arrangement
(a) Servomotors without Holding Brakes
Servomotor-end Connector Pin Arrangement

Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
D FG (frame ground)
Servomotor-end connector
(b) Servomotors with Holding Brakes
Sevomotor-end Connector Pin Arrangement
Pin No. Signal Pin No. Signal

F A
A Phase U E∗ Brake terminal
E
G B Phase V F∗ Brake terminal
B
C Phase W G −
D C
Servomotor-end connector D FG (frame ground) ∗ No polarity
(2) Connector Configurations

The following two types of connectors are available for SGMSS and SGMGH servomotors. Select the appropri-
ate type of connector according to the application. Refer to 5.2.13 Dimensional Drawings of Connectors for
SGMSS Servomotors (Standard Environment Type) and 5.2.14 Dimensional Drawings of Connectors for SGMSS
Servomotors (Protective Structure IP67/European Safety Standards Conformed Type) for the dimensional draw-
ings.
• Standard environmental connectors
• Protective Structure IP67/European Safety Standards conformed connectors
5-16

(Standard Environment Type)
(1) Connector Configuration
Servomotor-end
connector
Standard
straight
plug
Non-waterproof Cable
cable clamp
SGMSS Servomotor

Standard L-shaped plug
(2) Connector Combination List
Servomotor Capacity Servomotor end Cable end (Not provided by Yaskawa)

Type （kW） (Receptacle) Straight plug L-shaped plug Cable clamp
1.0
1.5
2.0
2.5
Without brakes 3.0
4.0
5.0
7.0
1.0
1.5
With brakes 2.0
2.5
3.0 MS3102A24-10P MS3106B24-10S MS3108B24-10S MS3057-16A
5-17
5.2.13 Dimensional Drawings of Connectors for SGMSS Servomotors (Standard Environment Type)
(3) Dimensional Drawings

(a) MS3108B-S: L-shaped Plug Shell
Å@
Units: mm
Shell Joint Length of Overall Outer R U Cable Effective
L Size Screw Joint Length Diameter ±0.5 ±0.5 Clamp Screw
J
A Portion L max. of Joint Set Length W
J±0.12 ) Nut Screw min.
A
R
φQ +0 V
Q
- 0.38
W
U
1 1/8 - 1-
V 18 18.26 68.27 34.13 20.5 30.2 9.53
18UNEF 20UNEF
1 1/4 - 1 3/16 -
20 18.26 76.98 37.28 22.5 33.3 9.53
18UNEF 18UNEF
1 3/8 - 1 3/16 -
22 18.26 76.98 40.48 24.1 33.3 9.53
18UNEF 18UNEF
1-1/2- 1-7/16-
24 18.26 86.51 43.63 25.6 36.5 9.53
18UNEF 18UNEF
(b) MS3106B-S: Straight Plug Shell
Units: mm
Shell Joint Length of Overall Outer Cable Effective Maxi-
L
Size Screw Joint Length Diameter Clamp Set Screw mum
J W
A Portion L max. of Joint Screw Length W Width Y
A
J±0.12 Nut V min. max.
φQ +0
Q
- 0.38
1 1/8 -
18 18.26 52.37 34.13 1-20UNEF 9.53 42
V 18UNEF
1 1/4 - 1 3/16 -
20 18.26 55.57 37.28 9.53 47
18UNEF 18UNEF
1 3/8 - 1 3/16 -
22 18.26 55.57 40.48 9.53 50
18UNEF 18UNEF
1-1/2- 1-7/16-
24 18.26 58.72 43.63 9.53 53
18UNEF 18UNEF
(c) MS3057A-A: Cable Clamp with Rubber Bushing

A
C
φJ (Inner bushing diameter)
1.6
V φE
(Inner cable clamp diameter)
G
φQ
H (Slide range)
Units: mm
Cable Clamp Applicable Overall Effective Set Screw Outer Attached
Type Connector Length Screw Diameter Bushing
Shell Size Length
A±0.7 C φE G±0.7 H φJ V φQ±0.7
MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10
MS3057-12A 20, 22 23.8 10.3 19.0 37.3 4.0 15.9 1 3/16-18UNEF 35.0 AN3420-12
MS3057-16A 24 26.2 10.3 23.8 42.9 4.8 19.1 1-7/16-18UNEF 42.1 AN3420-16
5-18

(Protective Structure IP67/European Safety Standards Conformed Type)
Servomotor-end
connector
Plug Conduit Cable
Waterproof straight plug
SGMSS Servomotor
Waterproof Cable
cable clamp

Waterproof angled plug
(2) Connector Combination List
Cable end (Not provided by Yaskawa)

Servo- Capa- Servomotor End Bell or Back Shell ∗1 Applicable
motor city end Cable Range in Manu-
Type (kW) (Receptacle)
Plug L-shaped Cable Clamp ∗2 mm facturer
Straight
(Angled) (For reference)
1.0 CE3057-10A-1 φ10.5 to φ14.1
CE05-6A18- CE05-8A18- CE3057-10A-2 φ 8.5 to φ11.0
1.5 CE05-2A18- CE05-6A18-
10SD- 10SD- DDK Ltd.
2.0 10PD-B 10SD-B
B-BSS B-BAS CE3057-10A-3 φ 6.5 to φ 8.7
With- 2.5
out JL04V-6A22- JL04V-8A22- JL04-2022CK(09) φ 6.5 to φ 9.5
brakes 3.0 22SE-EB 22SE-EB JL04-2022CK(12) φ 9.5 to φ13.0
4.0 JL04HV-2E22- JL04V-6A22- or or
5.0 22PE-B 22SE
JA06A-22- JA08A-22- JL04-2022CK(14) φ12.9 to φ15.9
7.0 ∗3
22S-J1-EB 22S-J1-EB∗3
JL04-2022CK(09) φ 6.5 to φ 9.5 Japan
1.0
Aviation
1.5 JL04V-2E20- JL04V-6A20- JL04V-6A20- JL04V-8A20- JL04-2022CK(12) φ 9.5 to φ13.0
Electron-
2.0 15PE-B 15SE 15SE-EB 15SE-EB ics Indus-
JL04-2022CK(14) φ12.9 to φ15.9
2.5 try, Ltd.
With
JL04V-6A24- JL04V-8A24- JL04-2428CK(11) φ 9.0 to φ 12.0
5
brakes
10SE-EB 10SE-EB JL04-2428CK(14) φ 12.0 to φ15.0
JL04V-2E24- JL04V-6A24-
3.0 or or JL04-2428CK(17) φ15.0 to φ18.0
10PE-B 10SE
JA06A-24- JA08A-24-
JL04-2428CK(20) φ18.0 to φ20.0
10S-J1-EB 10S-J1-EB
* 1. End Bell is a product of Japan Aviation Electronics Industry, Ltd.
Back Shell is a product of DDK Ltd.
* 2. Select cable clamps according to the cable diameter.
* 3. The following plugs conform to IP67 Protective Construction, but not conform to European Safety Standard.
• For 3.0, 4.0, 5.0 kW, and 7.0 kW servomotors without brakes
Straight plug: JA06A-22-22S-J1-EB
L-shaped plug: JA08A-22-22S-J1-EB
• For 3.0 kW servomotors with brakes
Straight plug: JA06A-24-10S-J1-EB
L-shaped plug: JA08A-24-10S-J1-EB
5-19
5.2.15 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments

(1) Without Holding Brakes
The specifications are same for both three-phase 200 V and 400 V servomotors.
Capacity Connector on Plug

Cable Clamp
(kW) Servomotor Straight L-shaped
0.45
1.3
1.8
4.4
5.5
7.5
(2) With Holding Brakes

The 5.5 to 7.5 kW servomotors require (a) servomotor-end connector and (b) brake power supply connector.
(a) Servomotor-end Connectors

Cable Clamp
0.45
1.3
1.8
4.4
5.5
7.5
(b) Brake Power Supply Connectors

5.5 to 7.5 kW Servomotors
Capacity (kW) Plug

Connector on
Three-phase Cable Clamp
Servomotor Straight L-shaped
200 V
Use the connector
conforming to
5.5
MS3102A10SL-3P MS3106A10SL-3S protective structure MS3057-4A
7.5 IP67/European
safety standard.
5-20
(3) SGMGH Servomotors (1500 min-1) Main Circuit Connector Pin Arrangement
(a) Without Holding Brakes
0.45 to 7.5 kW
Servomotor Connector Pin Arrangement
Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
Servomotor-end D FG (Frame Ground)
connector
(b) With Holding Brakes

1 0.45 to 4.4 kW
F A
A Phase U E* Brake terminal
E
G B Phase V F* Brake terminal
B
D C
C Phase W G ࡯
Servomotor-end D FG (Frame Ground) * No polarity
connector
2 5.5 to 7.5 kW
Brake Connector Pin Arrangement
Pin No. Signal
A
A* Brake terminal
C
B B* Brake terminal
C ࡯
polarity
* No
Brake-end connector Servomotor Connector Pin Arrangement
Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
D FG (Frame Ground)
5-21
5.2.16 SGMGH Servomotor (1500 min-1) Connectors Conforming to IP67 and European Safety Standards

European Safety Standards
(1) 0.45 to 4.4 kW Servomotors Without Holding Brakes
Select a cable clamp in accordance with the applied cable diameter.
The straight plug type JA06A-22-22S-J1-EB and L-shaped plug type JA08A-22-22S-J1-EB conform to the IP67 Protec-
INFO
tive Construction Standard only.
Plug Applicable Cable

Capacity Connector on
Cable Clamp Range in mm
(For reference)
0.45 CE3057-10A-1 φ10.5 to φ14.1
CE05-2A18- CE05-6A18-10SD- CE05-8A18-10SD-
0.85 CE3057-10A-2 φ 8.5 to φ11.0
10PD-B B-BSS B-BAS
1.3 CE3057-10A-3 φ 6.5 to φ 8.7
1.8 JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(09) φ 6.5 to φ 9.5
JL04HV-2E22-
2.9 or or JL04-2022CK(12) φ 9.5 to φ13.0
22PE-B
4.4 JA06A-22-22S-J1-EB JA08A-22-22S-J1-EB JL04-2022CK(14) φ12.9 to φ15.9
(2) 5.5 to 7.5 kW Servomotors Without Holding Brakes

Select a conduit in accordance with the applied cable diameter.
Conduit Applicable Cable

Plug Range in mm
(kW) Servomotor Straight L-shaped (For reference)
ACS-16RL-MS32F ACA-16RL-MS32F φ12.0 to φ16.0
5.5 ACS-24RL-MS32F ACA-24RL-MS32F φ20.0 to φ24.0
JL04V-2E32-17PE-B JL04V-6A32-17SE
5-22
(3) 0.45 to 4.4 kW Servomotors With Holding Brakes

The straight plug type JA06A-24-10S-J1-EB and L-shaped plug type JA08A-24-10S-J1-EB conform to IP67 Protective
INFO
Construction Standard only.

0.45 JL04-2022CK(09) φ6.5 to φ9.5
JL04V-8A20-
0.85 JL04V-2E20-15PE-B JL04V-6A20-15SE-EB JL04-2022CK(12) φ9.5 to φ13.0

15SE-EB
1.3 JL04-2022CK(14) φ12.9 to φ15.9
JL04V-8A24- JL04-2428CK(11) φ9.0 to φ12.0
1.8 JL04V-6A24-10SE-EB
10SE-EB JL04-2428CK(14) φ12.0 to φ15.0
2.9 JL04V-2E24-10PE-B or
or JL04-2428CK(17) φ15.0 to φ18.0
4.4 JA06A-24-10S-J1-EB
JA08A-24-10S-J1-EB JL04-2428CK(20) φ18.0 to φ20.0

The servomotor end connector (a) and brake power supply connector (b) are required. Select a conduit in accor-
dance with the applied cable diameter.
(a) Servomotor-end Connector

Plug Range in mm
JL04V-2E32-17PE-B JL04V-6A32-17SE
5

5.5 CE05-2A10SL- CE05-6A10SL-3SC- CE05-8A10SL-3SC-
CE3057-4A-1 φ 3.6 to φ5.6
7.5 3PC-B B-BSS B-BAS
5-23
(5) Servomotor Main Circuit Connector Pin Arrangement

(a) Servomotors Without Holding Brakes
0.45 to 7.5 kW
Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
connector
(b) Servomotors With Holding Brakes
1 0.45 to 4.4 kW
F A
E
B
D C
C Phase W G ࡯
Servomotor-end D FG (Frame Ground) * No polarity
connector
2 5.5 to 7.5 kW
Pin No. Signal
A
A* Brake terminal
C
B B* Brake terminal
C ࡯
polarity
* No
Brake-end connector Servomotor Connector Pin Arrangement
Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
D FG (Frame Ground)
5-24

(1) Without Holding Brakes

Cable Clamp
0.3
0.9
1.2
3.0

4.0
5.5
(2) With Holding Brakes

4.0 kW and 5.5 kW servomotors require (a) servomotor-end connector and (b) brake power supply connector.
(a) Servomotor-end Connectors

Cable Clamp
0.3
0.9
1.2
3.0
4.0
5.5

Cable Clamp
Use the connector
conforming to
4.0
MS3102A10SL-3P MS3106A10SL-3S protective structure MS3057-4A
5.5 IP67/European
safety standard.
5-25
(3) SGMGH (1000 min-1) Servomotor Main Circuit Connector Pin Arrangement
(a) Without Holding Brakes
0.3 to 5.5 kW

Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
connector
(b) With Holding Brakes
1 0.3 to 3.0 kW

F A
E
B
D C
C Phase W G ࡯
Servomotor-end
D FG (Frame Ground) * No polarity
connector
2 4.0 kW and 5.5 kW

Pin No. Signal
A
A* Brake terminal
C
B B* Brake terminal
C ࡯
polarity
* No
Brake-end connector
Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
D FG (Frame Ground)
5-26

European Safety Standards
(1) Servomotors Without Holding Brakes
(a) For 0.3 to 3.0 kW Servomotors
INFO

0.3 CE3057-10A-1 φ10.5 to φ14.1
CE05-6A18-10SD- CE05-8A18-10SD-
0.6 CE05-2A18-10PD-B CE3057-10A-2 φ 8.5 to φ11.0
B-BSS B-BAS
0.9 CE3057-10A-3 φ 6.5 to φ 8.7
1.2 JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(09) φ 6.5 to φ 9.5
2.0 JL04HV-2E22-22PE-B or or JL04-2022CK(12) φ 9.5 to φ13.0
3.0 JA06A-22-22S-J1-EB JA08A-22-22S-J1-EB JL04-2022CK(14) φ12.9 to φ15.9
(b) For 4.0 kW and 5.5 kW Servomotors


Plug Range in mm
ACS-16RL-MS32F ACA-16RL-MS32F φ12.0to φ16.0
JL04V-2E32-17PE-B JL04V-6A32-17SE
5-27

INFO

0.3 JL04-2022CK(09) φ 6.5 to φ 9.5
0.6 JL04V-2E20-15PE-B JL04V-6A20-15SE-EB JL04V-8A20-15SE-EB JL04-2022CK(12) φ 9.5 to φ13.0
0.9 JL04-2022CK(14) φ12.9 to φ15.9
JL04-2428CK(11) φ9.0 to φ12.0
1.2 JL04V-6A24-10SE-EB JL04V-8A24-10SE-EB
JL04-2428CK(14) φ12.0 to φ15.0
2.0 JL04V-2E24-10PE-B or or
JL04-2428CK(17) φ15.0 to φ18.0
3.0 JA06A-24-10S-J1-EB JA08A-24-10S-J1-EB
JL04-2428CK(20) φ18.0 to φ20.0
(3) 4.0 kW and 5.5 kW Servomotors With Holding Brakes

The servomotor end connector (a) and brake power supply connector (b) are required.
(a) Servomotor-end Connector

Plug Range in mm
4.0 JL04V-6A32- ACS-24RL-MS32F ACA-24RL-MS32F φ20.0 to φ24.0
JL04V-2E32-17PE-B
5.5 17SE ACS-28RL-MS32F ACA-28RL-MS32F φ24.0 to φ28.0
(b) Brake Power Supply Connector

4.0 CE05-6A10SL-3SC- CE05-8A10SL-3SC- φ 3.6 to
CE05-2A10SL-3PC-B CE3057-4A-1
5.5 B-BSS B-BAS φ 5.6
5-28
(4) Servomotor Main Circuit Connector Pin Arrangement

(a) Servomotors Without Holding Brakes
0.3 to 5.5 kW

Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
connector
(b) Servomotors With Holding Brakes

1 0.3 to 3.0 kW

F A
E
B
D C
C Phase W G ࡯
Servomotor-end
D FG (Frame Ground) * No polarity
connector
2 4.0 kW and 5.5 kW

Pin No. Signal
A
A* Brake terminal
C
B B* Brake terminal
C ࡯
polarity
* No
Brake-end connector
Pin No. Signal
A Phase U
D A
B Phase V
C B
C Phase W
D FG (Frame Ground) 5
5-29
5.2.19 Connectors Manufactured by DDK Ltd.

Plug
Waterproof when inserted only) Conduit
Manuracturers
Nippon Flex Co., Ltd. Cable
DAIWA DENGYO Co., Ltd.
Receptacle NEOFLEX Co., Ltd.
(Waterproof) SANKEI Manufacturing
Box mounting type Straight plug Co., Ltd
Cable clamp
(Waterproof when inserted only)
Cable
L-shaped plug
Note: Possible to connect with an MS connector.
(2) Products List

For more information, contact the manufacturer the conduit being used.
Servomotor Plug Waterproof Cable

Reference
Receptacle Type Model Clamp
Solid Plug CE05-6A18-10SD-B Applicable with conduit (5)
CE05-2A18-10PD-B Straight plug CE05-6A18-10SD-B-BSS CE3057-10A- (3), (6)
L-shaped plug CE05-8A18-10SD-B-BAS (D265) (4), (6)
(3) Straight Plug Dimensional Drawing

L
Positioning key A V
7.85 min
φC
φQ
Units: mm
Outer Diameter
of Joint Nut Overall Cable Clamp Set
Joint Screw
Model φC±0.8 Length L Screw
A φQ +0
- 0.38 max. V
CE05-6A18-10SD-B-BSS 1 1/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A

Note: The plug CE05-6A-P-B-BSS is pin inserting type. The mating receptacle is
socket inserting type.
5-30
(4) L-shaped Plug Dimensional Drawing

L
Positioning key A
R
φQ
(S)
U
W
V screw
V
Units: mm
Outer
Diameter Effective
Overall Cable Clamp Set
Joint Screw of Joint Nut Length L Screw
Model Screw R±0.7 U±0.7 (S)±1
A Length
φQ +0 max. V

- 0.38 W
CE05-8A18-10SD
1 1/8-18UNEF-2B 34.13 69.5 1-20UNEF-2A 13.2 30.2 43.4 7.5
-B-BAS
Note: The L-shaped plug model CE05-8A-P-B-BAS is pin inserting type. The mating recep-
tacle is socket inserting type.
(5) Plug Dimensional Drawing

Positioning key (J) Gasket
A screw
φB
φQ
E V screw
L H
Units: mm
Outer
Diameter Overall Conduit Set
Joint Screw of Joint Nut
Model Length Screw E±0.5 φB +0.05
- 0.25 H±0.1 (J)
A
φQ +0
- 0.38
L±1 V
CE05-6A18-10SD-B 1 1/8-18UNEF-2B 34.13 33.7 1-20UNEF-2A 11.74 23.5 6.4 19.0

Note: 1. The plug CE05-6A-P-B is pin inserting type. The mating receptacle is socket
inserted type.
2. Consult the conduit manufacturer if a conduit is required. 5
5-31
(6) Waterproof Cable Clamp with Rubber Bushing Model CE3057-10A-(D265)

(D)
A
C
1.6
V screw
φQ
φF
G
E
Cable clamp inner diameter
(Bushing inner H
diameter
Movable range on one side
Units: mm
Effective
Overall Outer
Applicable Screw G±0.7
Model Length Diameter (D) E F H
Shell Size Length (±0.03)
A±0.7 φQ±0.7
C
CE3057-10A-1(D265) 14.1
CE3057-10A-2(D265) 18 23.8 30.1 10.3 (41.3) 15.9 11 31.7 3.2
CE3057-10A-3(D265) 8.7
Cable Clamp Applicable Cable Range

Model Set Screw Attached Bushing Model in mm
V (For reference)
CE3057-10A-1(D265) CE3420-10-1 φ10.5 to φ14.1
CE3057-10A-2(D265) 1-20UNEF-2B CE3420-10-2 φ8.5 to φ11.0
CE3057-10A-3(D265) CE3420-10-3 φ6.5 to φ8.7
Note: The cable clamp CE3057-6A for the size 14 is not available. Use together with a conduit.
5-32
5.2.20 Connectors Manufactured by Japan Aviation Electronics Industry, Ltd.

Plug Conduit
Waterproof when inserted only)
Manufacturers
Nippon Flex Co., Ltd. Cable
DAIWA DENGYO Co., Ltd.
Receptacle NEOFLEX Co., Ltd
Waterproof SANKEI Manufacturing
Box mounting type Straight plug Co., Ltd.
Cable clamp
(Waterproof when inserted only)
Cable

L-shaped plug
Note: Possible to connect with an MS connector.
(2) Products List

For more information, contact the manufacturer the conduit being used.
Plug Waterproof Cable

Type Receptacle Reference
Type Model Clamp
Plug JL04V-6A20-15SE Conduit (5)
With brake JL04V-2E20-15PE-B Straight plug JL04V-6A20-15SE-EB JL04-2022CK(14) (3), (6)
L-shaped plug JL04V-8A20-15SE-EB or conduit (4), (6)
Plug JL04V-6A22-22SE Conduit (5)
Without
JL04HV-2E22-22PE-B Straight plug JL04V-6A22-22SE-EB JL04-2022CK(14) (3), (6)
brake
L-shaped plug JL04V-8A22-22SE-EB or conduit (4), (6)
(3) Straight Plug Dimensional Drawing

Positioning key F
Wrench width
φG
φQ
φB
5
Effective screw length V screw
L
　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　 Units: mm
Outer Diameter Cable Clamp
Model of Joint Nut φB±0.2 L±0.8 F±0.5 φG±0.5 Set Screw
φQ±0.8 V
JL04V-6A20-15SE-EB 37.3 29.72 58.5 33 17 1-3/16-18UNEF-2A
JL04V-6A22-22SE-EB 40.5 30.05 67.63 35 17 1-3/16-18UNEF-2A
Note: For the conduit grounding, contact manufacturer for the conduit being used.
5-33
5.2.20 Connectors Manufactured by Japan Aviation Electronics Industry, Ltd.
(4) L-shaped Plug Dimensional Drawing

Positioning key F
Wrench width
φQ
D
V screw B
10±0.5 φG
Effective screw length L
Units: mm
Outer
Diameter Cable Clamp
Model of Joint Nut B±0.8 L±0.8 D±0.8 F±0.5 φG±0.5 Set Screw
φQ +0
- 0.38
V
JL04V-8A20-15SE-EB 37.3 60.5 74.2 32 33 17 1-3/16-18UNEF-2A

JL04V-8A22-22SE-EB 40.5 60.23 73.93 32 35 17 1-3/16-18UNEF-2A
Note: For the conduit grounding, contact manufacturer of the conduit being used.
(5) Plug Dimensional Drawing

Positioning key
L V screw
φQ
φB
Conduit mounting dimensions E
Units: mm
Outer
Diameter Conduit Set Screw
Model φB±0.2 L±0.4 E max.
of Joint Nut V
φQ±0.8
JL04V-6A20-15SE 37.3 27.0 31.5 8 1-1/8-18UNEF-2A
JL04V-6A22-22SE 40.5 29.7 31.2 8 1-1/4-18UNEF-2A
Note: For the conduit grounding, contact manufacturer of the conduit being used.
5-34
(6) Waterproof Cable Clamps with Rubber Bushings

V screw
φQ
A
φE
C Cable clamp inner diameter
D F
Bushing Clamping range)
Units: mm
Applicable
Applicable Cable Range
Model A±0.8 φQ±0.8 C±0.8 D±0.8 φE±0.8 F±0.8 Set Screw V
Shell Size (For refer-
ence)
JL04-2022CK(09) 9.5 φ6.5 to φ9.5

JL04-2022CK(12) 20, 22 37.3 34.9 24.3 53.8 13 4 1-3/16-18UNEF-2B φ9.5 to φ13
JL04-2022CK(14) 16 φ12.9 to φ16
5-35
5.3.1 Cable Types
5.3 SERVOPACK Main Circuit Wire Size

1. Wire sizes are selected for three cables per bundle at 40°C ambient temperature with the rated current.
NOTE 2. Use cable with withstand voltage of 600 V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate.
5. Use cable within the allowable moment of inertia.
6. Do not use in continuous regenerating status.
5.3.1 Cable Types

Cable Types Allowable
Symbol Conductor
Name Temperature
°C
PVC Normal vinyl cable −
IV 600-V vinyl cable 60
HIV Temperature-resistant vinyl cable 75
The table shows the wire size and allowable currency for three cables. Use a cable whose specifications meet or
are less than the values in the table.
• 600 V Heat-resistant Vinyl Cable (HIV)
Nominal Configuration Conductive Allowable Currency
Cross Section (number of Resistance at Ambient Temperatures
AWG size Diameter (A)
wires/mm2) (Ω/km)
(mm2) 30°C 40°C 50°C
20 0.5 19/0.18 39.5 6.6 5.6 4.5
− 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
16 1.25 50/0.18 15.6 12.0 11.0 8.5
14 2.0 7/0.6 9.53 23 20 16
12 3.5 7/0.8 5.41 33 29 24
10 5.5 7/1.0 3.47 43 38 31
8 8.0 7/1.2 2.41 55 49 40
6 14.0 7/1.6 1.35 79 70 57
Note: The values in the table are only for reference.
5.3.2 Single-phase for 100 V

Terminal SERVOPACK Model SGDS-
External Terminal Name
Symbol A3B A5F 01F 02F
Main circuit power input terminals L1, L2 HIV1.25 HIV2.0
Servomotor connection terminals U, V, W HIV1.25
Control power input terminals L1C, L2C HIV1.25
External regenerative resistor connection terminals B1/ , B2 HIV1.25
Ground terminal HIV2.0 min.
5-36
5.3 SERVOPACK Main Circuit Wire Size
5.3.3 Single-phase for 200 V

SERVOPACK Model
Terminal SGDS-
Symbol
A5A 01A 02A 04A 08A
Main circuit power input terminals L1, L2 HIV1.25 HIV2.0
Servomotor connection terminals U, V, W HIV1.25
External regenerative resistor connection terminal B1/ , B2 HIV1.25
5.3.4 Three-phase for 200 V

SERVOPACK Model
Terminal SGDS-
Symbol

05A 10A 15A 20A 30A 50A
Main circuit power input terminals L1, L2, L3 HIV2.0 HIV3.5 HIV5.5
Servomotor connection terminals U, V, W HIV2.0 HIV3.5 HIV5.5 HIV8
External regenerative resistor connection HIV2.0 HIV3.5 HIV5.5
B1/ , B2 HIV1.25
terminals
SERVOPACK Model
Terminal SGDS-
Symbol
60A 75A
Main circuit power input terminals L1, L2, L3 HIV8.0 HIV14
Servomotor connection terminals U, V, W HIV14
External regenerative resistor connection
B1, B2 HIV8.0
terminals
5-37
5.4.1 Encoder Cables for 50 to 1.15 kW SGMAS and 100 to 400 W SGMPS Servomotors
5.4 Encoder Cables

5.4.1 Encoder Cables for 50 to 1.15 kW SGMAS and 100 to 400 W SGMPS
Servomotors
When using a cable with encoder loose leads or a cable assembled by the customer, be sure to connect the shield
of encoder cable to the connector case (shell).
(1) Cable with Connectors (For Incremental Encoder)
(a) Cable Type
JZSP-CSP01-03 JZSP-CSP21-03 3m SERVOPACK end Encoder end
L
JZSP-CSP01-05 JZSP-CSP21-05 5m
JZSP-CSP01-10 JZSP-CSP21-10 10 m
15 m Plug connector Connector
JZSP-CSP01-15 JZSP-CSP21-15
(crimped) (Molex Japan Co., Ltd.)
JZSP-CSP01-20 JZSP-CSP21-20 20 m (Molex Japan Co., Ltd.)

• Standard Type • Flexible Type
SERVOPACK end Encoder (Servomotor) end SERVOPACK end Encoder (Servomotor) end
Pin No. Signal Pin No. Lead Color Pin No. Signal Pin No. Lead Color
6 /PS 5 Light blue/white 6 /PS 5 Black/pink
5 PS 4 Light blue 5 PS 4 Pink/red
4 BAT(-) 8 Orange/white 4 BAT(-) 8 Black/lignt blue
3 BAT(+) 9 Orange 3 BAT(+) 9 Red/light blue
2 PG 0V 3 Black 2 PG 0V 3 Green
1 PG 5V 6 Red 1 PG 5V 6 Orange
Shell FG Shell FG Shell FG Shell FG
Shield Shield
wire wire
(2) Cable with Connectors (For Absolute Encoder, With a Battery Case)
When using an absolute encoder and connecting a battery to the host controller, no battery case is required. In
this case, use a cable for incremental encoder.
(a) Cable Type
L
Battery case (Battery attached)
Plug connector Connector
(crimped) (Molex Japan Co., Ltd.)
JZSP-CSP05-20 JZSP-CSP25-20 20 m (Molex Japan Co., Ltd.)
5-38
5.4 Encoder Cables

4 BAT (-) 8 White/orange 4 BAT(-) 8 Black/lignt blue
3 BAT (+) 9 Orange 3 BAT(+) 9 Red/light blue
2 PG0V 3 Black 2 PG 0V 3 Green
1 PG5V 6 Red 1 PG 5V 6 Orange
Shield Shield
Battery case wire Battery case wire
2 BAT (-) 2 BAT(-)
1 BAT (+)

1 BAT(+)
(3) Cable With a SERVOPACK Connector and Encoder Loose Leads (For Incremental
Encoder)
(a) Cable Type
JZSP-CMP03-03 JZSP-CMP13-03 3m SERVOPACK end Encoder end
L 60 mm
JZSP-CMP03-05 JZSP-CMP13-05 5m
JZSP-CMP03-10 JZSP-CMP13-10 10 m
Plug connector
JZSP-CMP03-20 JZSP-CMP13-20 20 m (crimped)
(Molex Japan Co., Ltd.) Wire markers

Pin No. Signal Lead Color Marker Pin No. Signal Lead Color Marker
6 /PS Light blue/white 6 6 /PS Black/pink 6
5 PS Light blue 5 5 PS Red/pink 5
4 BAT (-) White/orange 4 4 BAT(-) Black/lignt blue 4
3 BAT (+) Orange 3 3 BAT(+) Red 3
2 PG0V Black 2 2 PG 0V Green 2
1 PG5V Red 1 1 PG 5V Orange 1
Shell FG Shell FG
5
Shield wire Shield wire
Notes: 1. The signals BAT (+) and BAT (-) are used when using an absolute encoder
2. Be sure to connect the shield wire of encoder cable to the connector case (shell).
5-39
5.4.2 Encoder Cables for 750W and 1.5 kW SGMMJ and SGMPS Servomotors
(4) Cable with a SERVOPACK Connector and Encoder Loose Leads

(For Absolute Encoder, With a Battery Case)
(a) Cable Type
L 60 mm
Plug connector
JZSP-CSP04-20 JZSP-CSP24-20 (crimped)
20 m (Molex Japan Co., Ltd.) Wire markers

5 PS Light blue 5 5 PS Pink/red 5
4 BAT (-) White/orange 4 4 BAT(-) Black/lignt blue 4
3 BAT (+) Orange 3 3 BAT(+) Red/light blue 3
Shell FG Shell FG
Shield Shield
2 BAT (-) 2 BAT(-)
1 BAT (+) 1 BAT(+)
Note: Be sure to connect the shield wire of encoder cable to the connector case (shell).
If you use cables with loose leads or assemble the cables, connect the shield wire of the encoder cable to the
connector case (shell).
(1) Cable with Connectors (For Incremental Encoder)
(a) Cable Type
L
Plug connector Socket connector
(crimped) (soldered)
JZSP-CMP00-20 JZSP-CMP10-20 20 m (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
5-40
5.4 Encoder Cables

4 BAT(-) 4 White/orange 4 BAT(-) 4 Black/lignt blue

(2) Cable with Connectors (For Absolute Encoder, with a Battery Case)

(a) Cable Type
L
Plug connector Socket connector
(crimped) (soldered)
JZSP-CSP19-20 JZSP-CSP29-20 20 m (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

4 BAT(-) 4 White/orange 4 BAT(-) 4 Black/lignt blue
Shell FG
Shield
Shell FG Shell FG
Shield
Shell FG 5
2 BAT(-) 2 BAT(-)
1 BAT(+) 1 BAT(+)
5-41

(For Incremental Encoder)
(a) Cable Type
L 60 mm
Plug connector
(crimped)
JZSP-CMP03-20 JZSP-CMP13-20 20 m (Molex Japan Co., Ltd.) Wire markers

Pin No. Signal Lead Color Marker Lead Color Marker
Pin No. Signal
6 /PS Light blue/white 6 6 /PS Black/light blue 6
5 PS Light blue 5 5 PS Red/light blue 5
4 BAT(-) White/orange 4 4 BAT(-) Black/pink 4
3 BAT(+) Orange 3 3 BAT(+) Red/pink 3
Shell FG Shell FG
Note: 1. The signals BAT (+) and BAT (-) are used when using an absolute encoder
(4) Cable with a SERVOPACK Connector and Encoder Loose Leads (For Absolute
Encoder, with a Battery Case)
(a) Cable Type
L 60 mm
Plug connector
(crimped)
JZSP-CSP04-20 JZSP-CSP24-20 20 m (Molex Japan Co., Ltd.) Wire markers
5-42
5.4 Encoder Cables

5 PS Light blue 5 5 PS Pink/red 5
4 BAT(-) White/orange 4 4 BAT(-) Black/lignt blue 4
3 BAT(+) Red/light blue 3
3 BAT(+) Orange 3
Shell FG Shell FG
Shield Shield
2 BAT(-) 2 BAT(-)

1 BAT(+) 1 BAT(+)
5-43
5.4.3 Encoder Cables for SGMCS Servomotors
5.4.3 Encoder Cables for SGMCS Servomotors

If you use cables with loose leads or assemble the cables, be sure to connect the shield wire of the encoder
cable to the connector frame ground (FG).
(1) Cable With Connectors for Applicable Flange 1, 3
(a) Cable Type
JZSP-CMP60-03 JZSP-CSP60-03 3m
L
JZSP-CMP60-05 JZSP-CSP60-05 5m
JZSP-CMP60-10 JZSP-CSP60-10 10 m
JZSP-CMP60-15 JZSP-CSP60-15 15 m Plug connector Straight plug

(crimped) (caulking)
20 m (Molex Japan Co.) (Japan Aviation
JZSP-CMP60-20 JZSP-CSP60-20
Electronics Industry, Ltd.)

SERVOPACK end Servomotor end SERVOPACK end Encoder (Servomotor) end
5 PS 1 Light blue 5 PS 1 Black/lignt blue
6 /PS 2 Light blue/white 6 /PS 2 Red/light blue
Shell FG 7 FG Shield wire Shell FG 7 FG Shield wire
Shield wire
Shield wire
(2) Cable with Connectors for Applicable Flange 4

(a) Cable Type
JZSP-CMP00-03 JZSP-CMP10-03 3m SERVOPACK end Encoder-end
L
Connector Socket connector
JZSP-CMP00-20 JZSP-CMP10-20 20 m (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

SERVOPACK end Encoder (Servomotor end) SERVOPACK end Encoder (Servomotor end)
Pin No.Signal Pin No. Lead Color Pin No.Signal Pin No. Lead Color
1 PG 5V 1 Red 1 PG 5V 1 Orange
2 PG 0V 2 Black 2 PG 0V 2 Green
5 PS 5 Light blue 5 PS 5 Black/light blue
6 /PS 6 Light blue/white 6 /PS 6 Red/light blue
Shell FG Shell FG Shield wire Shell FG Shell FG Shield wire
5-44
5.4 Encoder Cables

(a) Cable Type

L 60mm
JZSP-CMP03-05 JZSP-CMP13-05 5m 1
2
3
JZSP-CMP03-10 JZSP-CMP13-10 10 m 4
5
6
Plug connector Wire
(crimped) markers
JZSP-CMP03-20 JZSP-CMP13-20 20 m (Molex Japan Co.)

SERVOPACK end Encoder (Servomotor) end
Pin No. Signal Lead Color Marker
6 /PS Light blue/white 6
6 /PS Black/light blue 6
5 PS Light blue 5
5 PS Red/light blue 5
4 BAT(-) White/orange 4
4 BAT(-) Black/pink 4
3 BAT(+) Orange 3
3 BAT(+) Red/pink 3
2 PG0V Black 2
2 PG 0V Green 2
1 PG5V Red 1
1 PG 5V Orange 1
Shell FG
Shield wire Shell FG
Shield wire
5-45
5.4.4 Encoder Cables for SGMSS and SGMGH Servomotors

(1) Cable with a SERVOPACK Connector and Encoder Straight Plug
(a) Cable Type
Plug connector MS3106B20-29S
(crimped) (DDK Ltd.)
JZSP-CMP01-20 JZSP-CMP11-20 20 m (Molex Japan Co., Ltd.) MS3057-12A
Cable clamp

Signal
Pin No. Pin No. Lead Color Pin No. Signal Pin No. Lead Color
5 PS C Light blue 5 PS C Light blue
6 /PS D Light blue/white 6 /PS D Light blue/white
2 PG0V G Black 2 PG 0V G Black
1 PG5V H Red 1 PG 5V H Red
4 BAT(-) S White/orange 4 BAT(-) S White/orange
3 BAT(+) T Orange 3 BAT(+) T Orange
Shell FG J FG Shield wire Shell FG J FG Shield wire
Note: BAT(+) and BAT(-) are used when using an absolute encoder.
(2) Cable with a SERVOPACK Connector and Encoder L-shaped Plug

(a) Cable Type
JZSP-CMP02-03 JZSP-CMP12-03 3m SERVOPACK end L Encoder end
JZSP-CMP02-15 JZSP-CMP12-15 15 m Plug connector MS3108B20-29S

(Molex Japan Co., Ltd.) MS3057-12A
JZSP-CMP02-20 JZSP-CMP12-20 20 m Cable clamp

Pin No.Signal Pin No. Signal Pin No. Lead Color
Pin No. Lead Color
Shell FG J FG Shield wire Shell FG J FG Shield wire
Note: BAT(+) and BAT(-) are used when using an absolute encoder.
5-46
5.4 Encoder Cables
(3) Cable with a SERVOPACK Connector and Encoder Straight Plug

(For Absolute Encoder, with a Battery Case)
(a) Cable Type
JZSP-CSP06-15 JZSP-CSP26-15 15 m Plug connector MS3106B20-29S


JZSP-CSP06-20 JZSP-CSP26-20 20 m Cable clamp

Pin No.Signal Pin No. Lead Color Pin No. Signal Pin No. Lead Color
Shell FG J FG Shield Shell FG J FG Shield wire
Shield Shield
2 BAT(-) 2 BAT(-)
1 BAT(+) 1 BAT(+)
(4) Cable with a SERVOPACK Connector and Encoder L-shaped Plug

(For Absolute Encoder, with a Battery Case)
(a) Cable Type
Standard Type Flexible Type Length (L) Dimensional Drawing 5
L
JZSP-CSP07-10 JZSP-CSP27-10 10 m Battery case (Battery attached)
JZSP-CSP07-15 JZSP-CSP27-15 15 m Plug connector MS3108B20-29S

JZSP-CSP07-20 JZSP-CSP27-20 20 m Cable clamp
5-47

Signal
Pin No. Pin No. Lead Color Pin No. Signal Pin No. Lead Color
Shell FG J FG Shield Shell FG J FG Shield wire
Shield Shield
2 BAT(-) 2 BAT(-)
1 BAT(+) 1 BAT(+)

(a) Cable Type
L 60 mm
JZSP-CMP03-05 JZSP-CMP13-05 5m 20 mm
1
2
4
Heat shrink 6
Plug connector (crimped)
tubing
JZSP-CMP03-20 JZSP-CMP13-20 20 m (Molex Japan Co., Ltd.)
Wire markers

5 PS Light blue 5
5 PS Light blue 5
3 BAT(+) Orange 3
3 BAT(+) Orange 3
2 PG0V Black 2
2 PG 0V Black 2
1 PG5V Red 1
1 PG 5V Red 1
Shell FG
Shield wire Shell FG
Shield wire
5-48
5.4 Encoder Cables

(For Absolute Encoder, and with a Battery Case)
(a) Cable Type
L 60 mm
20 mm
JZSP-CSP04-05 JZSP-CSP24-05 5m Battery case (Battery attached)
1
2
JZSP-CSP04-10 JZSP-CSP24-10 10 m 3
4
5
JZSP-CSP04-15 JZSP-CSP24-15 15 m 6
Heat-shrinkable
Plug connector (crimped) tubing
(Molex Japan Co., Ltd.) Wire markers


6 /PS Light blue/white 6 6 /PS Light blue/white 6
5 PS Light blue 5 5 PS Light blue 5
4 BAT(-) White/orange 4 4 BAT(-) White/orange 4
3 BAT(+) Orange 3 3 BAT(+) Orange 3
2 PG0V Black 2 2 PG 0V Black 2
1 PG5V Red 1 1 PG 5V Red 1
Shell FG Shell FG
Shield Shield
2 BAT(-) 2 BAT(-)
1 BAT(+) 1 BAT(+)
5-49
5.5.1 Encoder Cables and Connectors for SGMAS and 100 to 400 W SGMPS Servomotors
5.5 Encoder Cables and Connectors

This section describes the specifications of encoder cables and connectors to be assembled by the customers.
5.5.1 Encoder Cables and Connectors for SGMAS and 100 to 400 W SGMPS
Servomotors
(1) Encoder Cable Connector Specifications
Items SERVOPACK end Servomotor (Encoder) end
Manufacturer Molex Japan Co., Ltd. Molex Japan Co., Ltd.
Incremental 55100-0600 (soldered) 54346-0020 (caulking) *
Encoder or Mounting screw: M2 screws (×2)
Absolute Encoder 55102-0600 (caulking) Applicable cable diameter: φ6.3 to φ7.7
55100-0600 (soldered type) when using a Applicable wire size: AWG22 to 26
connector kit
Outer diameter of insulating sheath: 1.05 to
1.4 m
External View
27
(Dimensions in
20.5 17
mm) 2 × M2
Pan-head
screw
11
19
7 1
12 33
5°
9
6
Arranged Model JZSP-CMP9-1 JZSP-CSP9-2

Note: The mating connector model on SERVOPACK: 53460-0611
The mating connector model on servomotor: 55833-0701
* A caulking tool is required.
The following caulking tools are applicable for the cables provided by Yaskawa. When using
other wire sizes, contact the respective manufacturer for caulking tools.
Applicable caulking tool for Yaskawa’s wire size: Hand Tool Model 57175-5000
Applicator Model 57175-3000
5-50
(2) Encoder Cables Specifications

Cable Type * JZSP-CMP09- JZSP-CSP39-
Cable Length 20 m max.
Specifications UL20276(Max. operating temperature: UL20276 (Max. operating temperature:
80°C) 80°C)
AWG22 × 2C + AWG24 × 2P AWG22 × 2C + AWG24 × 2P
AWG22 (0.33 mm2) AWG22 (0.33 mm2)
φ1.15 mm φ1.35 mm
AWG24 (0.20 mm2) AWG24 (0.20 mm2)
φ1.09 mm φ1.21 mm
Finished Dimensions φ 6.5 mm φ 6.8 mm

Lead Color
Black/
Blue Light blue
Blue/ Red/
White Light blue
Red Black Orange Green
Orange Black/
Pink
Orange/ Red/
White Pink
Yaskawa Standards Cable length: 5 m, 10 m, 15 m, 20 m

Specifications
(Standard Lengths)
5.5.2 Encoder Cables and Connectors for 750 W and 1.5 kW SGMMJ and SGMPS
Servomotors
Items SERVOPACK end Servomotor (Encoder) end
Manufacturer Molex Japan Co., Ltd. Molex Japan Co., Ltd.
Incremental 55100-0600 (Soldered) 54280-0600 (Soldered)
Encoder or
Absolute Encoder 55102-0600 (Caulking)
Appearance
(Dimensions in mm)
5
19
19
12 33 44 12
Type JZSP-CMP9-1 JZSP-CMP9-2

Note: The mating connector model on SERVOPACK: 53460-0611
The mating connector model on servomotor: 55102-0600
* A caulking tool is required.
The following caulking tools are applicable for the cables provided by Yaskawa. When using
other wire sizes, contact the respective manufacturer for caulking tools.
Applicable caulking tool for Yaskawa’s wire size: Hand Tool Model 57175-5000
Applicator Model 57175-3000
5-51
5.5.3 Encoder Cables and Connectors for SGMSS and SGMGH Servomotors

Items Standard Type Flexible Cable
Cable Type* JZSP-CMP09- JZSP-CSP39-
80°C) 80°C)
AWG22 (0.33 mm2) AWG22 (0.33 mm2)
φ1.15 mm φ1.35 mm
AWG24 (0.20 mm2) AWG24 (0.20 mm2)
φ1.09 mm φ1.21 mm
Finished Dimensions φ6.5 mm φ6.8 mm
Lead Colors
Black/
Blue Light blue
Blue/ Red/
White Light blue
Orange Black/
Pink
Orange/ Red/
White Pink
Yaskawa Standard Cable length: 5 m, 10 m, 15 m, 20 m

Specifications
(Standard Length)
Example: JZSP-CMP09-05 (5 m)
5.5.3 Encoder Cables and Connectors for SGMSS and SGMGH Servomotors
(a) SERVOPACK-end Connectors
Items SERVOPACK end
Manufacturer Molex Japan Co., Ltd.
Standard 55100-0600 (Soldered)
Environment Connector or
Type 55102-0600 (Caulking)
The mating connector on SERVOPACK: 54280-0800
Appearance in mm
19
12 33
Arranged Model JZSP-CMP9-1
5-52
(b) Servomotor-end Connectors
Encoder-end Connector
Mating
Protection Connector Applicable
Type on Servo- Cable
Straight Plug L-shaped Plug Cable Clamp
motor Diameter
in mm
Standard
MS3102A
environmental MS3106B20-29S∗1 MS3108B20-29S∗1 MS3057-12A∗1 −
20-29P
type
Protective JA04-2022CKE(09)∗2 φ 6.5 to φ 9.5
Structure IP67
JA04-2022CKE(12)∗2 φ 9.5 to φ 13
/ European 97F3102E
JA06A-20-29S-J1-EB∗2 JA08A-20-29S-J1-EB∗2

Safety Stan- 20-29P
dard con- JA04-2022CKE(14)∗2 φ 12.9 to φ 15.9
formed type
* 1. Manufactured by DDK Ltd.
* 2. Manufactured by Japan Aviation Electronics Industry, Ltd.

Items Standard Type Flexible Cable
80°C ) 80°C)
AWG22 (0.33 mm2) AWG22 (0.33 mm2)
φ 1.15 mm φ 1.35 mm
AWG24 (0.20 mm2) AWG24 (0.20 mm2)
φ 1.09 mm φ 1.21 mm
Lead Colors
Black/
Blue Light blue
Blue/ Red/
White Light blue
Orange Black/
Pink 5
Orange/ Red/
White Pink

Specifications
(Standard Length)
5-53
5.5.4 Encoder Cables and Connectors for SGMCS Servomotors
5.5.4 Encoder Cables and Connectors for SGMCS Servomotors

Items SERVOPACK end Servomotor end
Manufacturer Molex Japan Co., Ltd. Japan Aviation Electronics Industry, Ltd.
Connector Type 55100-0600 (Soldered type) Straight plug
or JN1DS10SL1 (Caulking type)
55102-0600 (Caulking type) Socket plug
55100-0600 (Soldered) when using a connector kit JN1-22-22S-PKG100
Applicable cable outer diameter in mm:
φ5.7 to φ7.3
Applicable wire size: AWG21 to 25
Outer diameter of insulating sheath: 0.8 to 1.5 mm
Caulking tool (Hand Tool) model: CT150-2-JN
Appearance 51.5 mm max.
3 1
7 4
19
φ18.8
10 36 10 8
Arranged Model JZSP-CMP9-1 Order them from Japan Aviation Electronics Industry,
Ltd.
Note: The mating connector type on servomotor: JN1AS10FL1
(2) Encoder Cable Specifications

80°C) 80°C)
AWG22 (0.33 mm2) AWG22 (0.33 mm2)
φ 1.15 mm φ 1.35 mm
AWG24 (0.20 mm2 ) AWG24 (0.20 mm2)
φ 1.09 mm φ 1.21 mm
Internal Configuration
and Lead Colors
Black/
Blue Light blue
Blue/ Red/
White Light blue
Orange Black/
Pink
Orange/ Red/
White Pink

Specifications
(Standard Length)
5-54
5.6 Flexible Cables
5.6 Flexible Cables

(1) Life of Flexible Cable
The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius
R = 90 mm under the following test conditions.
• Conditions
1. Repeat moving one end of the cable forward and backward for 320 mm using the test equipment shown in
the following.
2. Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is
disconnected. Note that one reciprocation is counted as one test.
Shifting distance 320 mm

Shifting end
Bending
radius Fixed end
R=90 mm
Note: 1. The life of flexible cable differs largely depending on the amount of mechanical shocks,
mounting to the cable, and fixing methods. The life of flexible cable is limited under the
specified conditions.
2. The life of flexible cable indicates the number of bending times in which lead wires are
electrically conducted and by which no cracks and damages that affects the performance
of cable sheathing are caused. Disconnecting the shield wire is not taken into account.
(2) Wiring Precautions

Even if the recommended bending radius R is followed in the mechanical design, incorrect wiring may cause the
early disconnection. Observe the following precautions when wiring.
(a) Cable twisting
Straighten the flexible cables wiring.
Twisted cables cause the early disconnection. Check the indication on the cable surface to make sure that the
cable is not twisted.
(b) Fixing method

5
Do not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnec-
tion. Fix the cable at the minimum number of points.
Do not apply stress to connectors.
(c) Cable length

If the cable length is too long, it may result the cable sagging. If the cable length is too short, excessive ten-
sion on the fixed points will cause the early disconnection. Use a flexible cable with the optimum length.
(d) Interference between cables

Avoid interference between cables.
Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance
between cables, or provide a partition when wiring.
5-55
5.7 Encoder Cable Extension

The standard encoder cable length is 20 m maximum. To extend the wiring distance, use cable extensions to
extend the wiring length to 50 m. The customer must provide cables and connectors to extend the relay encoder
cable to 50 m.
(1) Cable Connection Examples for Encoder Cable Extension

(a) For SGMAS and SGMPS Servomotors
(Example)
SERVOPACK SGMMJ, SGMPS-08, SGMPS-15 Servomotors

(750 W, 1.5 kW)
Relay encoder cable Relay encoder cable

JZSP-CSP12 (SERVOPACK end)
JZSP-CSP12
(SERVOPACK end)
Relay encoder cable

extension *
* To be assembled
Relay encoder cable by the customer
extension *
* To be supplied
by the customer
Relay encoder cable

JZSP-CSP11
(Servomotor end)
100W to 400W SGMAS

and SGMPS-01 to 04
Servomotors
5-56
(b) For SGMSS and SGMGH Servomotors
SERVOPACK
Relay encoder cable

JZSP-CSP12
(SERVOPACK end)

Relay encoder cable extension*
* To be assembled by the
customer
SGMSS and SGMGH

Servomotor
(c) For SGMCS Servomotors
SGDS SERVOPACK
Relay encoder cable extension*

* To be assembled by the customer
SGMCS
Servomotor
5
Relay encoder cable

JZSP-CSP13
(Encoder end)
5-57
(2) Relay Encoder Cable With Connectors

(a) For 50W to 750 W SGMAS and 100W to 400W SGMPS Servomotors
• Cable Type
Type Length Dimensional Drawing
SERVOPACK end 0.3 m Encoder end
JZSP-CSP11 0.3 m
Plug Connector (crimped) Connector
(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
• Wiring Specifications

Pin No. Signal Pin No. Lead Color
6 /PS 5 Light blue/white
5 PS 4 Light blue
4 BAT(-) 8 White/orange
3 BAT(+) 9 Orange
2 PG 0V 3 Black
1 PG 5V 6 Red
Shell FG Shell FG
Shield
wire
(b) For Absolute Encoder, with a Battery Case

• Cable Type
Type Length Dimensional Drawing
0.3 m
JZSP-CSP12 0.3 m
Plug Connector (crimped) Socket Connector (soldered)
(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
• Wiring Specifications

Pin No. Signal Pin No. Lead Color
6 /PS 6 Light blue/white
5 PS 5 Light blue
4 BAT(-) 4 White/orange
3 BAT(+) 3 Orange
2 PG0V 2 Black
1 PG5V 1 Red
Shell FG Shell FG
Shield
Battery case wire
Pin No. Signal
2 BAT(-)
1 BAT(+)
5-58
(3) Cables and Connectors for Encoder Cables

(a) Connectors and Connector Kit
Type Model Manufac- External View Refer-
turer ence
SERVOPACK- SGMMJ JZSP-CMP9-1 5.5
end Connector SGMAS
Kits SGMPS
SGMSS
SGMGH
SGMCS Molex
Servomotor-end SGMAS JZSP-CSP9-2 Japan Co., Caulking type 5.5.1
Connector Kits 50 W to 1.15 kW Ltd.
SGMPS
100 W to 400 W
SGMMJ JZSP-CMP9-2 Soldered type 5.5.2

SGMPS
750 W and 1.5kW
SGMCS Servomotors Straight plug Japan Caulking type
JN1DS10SL1 Aviation
Socket contact Electronics 5.5.4
JN1-22-22S-PKG100 Industry,
Ltd.
SGMSS For MS3108B20-29S L-shaped plug
SGMGH standard
environ-
ment
MS3106B20-29S Straight plug

DDK Ltd.
MS3057-12A Cable clamp
For Straight plug

protective JA06A-20-29S-J1-EB
structure 5.5.3
IP67
L-shaped plug
JA08A-20-29S-J1-EB
Japan
Aviation
JL04-2022CKE (09) Electronics
Cable diameter Industry, 5
φ6.5 to φ9.5 mm Ltd.
JL04-2022CKE (12) Cable clamp
Cable diameter
φ9.5 to φ13 mm
JL04-2022CKE (14)
Cable diameter
φ12.9 to φ15.9 mm
Cables JZSP-CMP19- Yaskawa Max. wiring length:
Electric Co., 50 m
Ltd. 5.5.1
5-59
Maximum Length: 50 m
(b) Cable Specifications

Cable Type * JZSP-CMP19-
Specifications UL20276 (Max. operating temperature:
80 °C)
AWG16 × 2C + AWG26 × 2P
AWG16 (1.31 mm2)
Outer diameter of insulating sheath in mm: φ 2.0
AWG26 (0.13 mm2)
Outer diameter of insulating sheath in mm: φ 0.91
Finished Dimensions φ6.8 mm
Lead Colors
Black
Orange Light blue
Orange/white Light blue/white
Red
Yaskawa Standard Cable length: 30 m, 40 m , 50 m

Specifications
(Standard Length)
5-60
5.8 Connectors for Main Circuit, Control Power Supply, and Servomotor Cable
5.8 Connectors for Main Circuit, Control Power Supply, and Servomo-
tor Cable
5.8.1 Spring Type (Standard)
Spring-type connectors are provided on SERVOPACK as standard.
(1) Connector Types
Appearance Type Manufacturer
3-pole (For servomotor main circuit cable connector at 51446-0301
SERVOPACK end)
7-pole (For 50 to 400 W SERVOPACKs) 51446-0701 Molex Japan Co., Ltd.
10-pole (For 0.5 to 1.5 kW SERVOPACKs) 51446-1001
Connection lever 54932-0000
(2) External View and Dimensions

A
(B)
5 7.5 7.5 26.5
Pitch 1.5 8.5 18
3-pole 7-pole 10-pole
14.3
The number of Poles Dimension A Dimension B
3 21.5 15
7 51.5 45
10 74 67.5 Units: mm
(3) Connection Lever

20.6
10
5
3.4
4.9
4.9
Trademark and serial number
4.7 (3)
MXJ
54932
6.5
7.7
7.7
3.4
Units: mm
5-61
5.8.2 Crimp Type (Option)
5.8.2 Crimp Type (Option)

The crimp type connectors are options. Contact the manufacturer for details.
(1) Connector Types
Appearance Types Manufacturer
3-pole (For servomotor main circuit cable connector at 51241-0301
SERVOPACK end)
7-pole (For 50 to 400 W SERVOPACKs) 51241-0701
10-pole (For 0.5 to 1.5 kW SERVOPACKs) 51241-1001
Molex Japan Co., Ltd.
Plug (chained) 56125-0018
Plug (detached) 56125-0118
Manual tool 57349-5300
Pull tool 57349-6000
(2) External View and Dimensions
A 8.5 25
(B)
7.5
11.4
Pitch
0.5 15.3
3-pole 7-pole 10-pole

The number of Poles Dimension A Dimension B
3 22.8 15
7 52.8 45
10 75.3 67.5 Units: mm
(3) Plugs (Chained/Detached)
Trademark
4
25.9
17.1 6.3
3.1 3 1.8
4 0.3 min.
Cut-off type
6.8
2.6
6
Units: mm
0.8
5-62
5.9 CN1 Cables for I/O Signals

5.9.1 Standard Cables
(1) Cable Types
Cable Types Length (L)
JZSP-CSI01-1 1m
JZSP-CSI01-2 2m
JZSP-CSI01-3 3m

SERVOPACK end
Connector: 10150-6000EL (50P) * Sleeve F2 (black)
Case: 10350-52Z0-008 *
Cable (black)
SSRFPVV-SBAWG#28 × 25P φ2.8

UL20276VW 1SC wire markers
10
L 100 0
Units: mm
* Manufactured by Sumitomo 3M Ltd.
5.9.2 Connector Type and Cable Size

Use the following connector and wire when customers assemble the cable. The connector CN1 includes a set of
case and a connector.
Case Connector
Connector Type
Type Qty Type Qty
JZSP-CSI9-1 10350-52Z0-008* 1 set 10150-3000VE* 1
(Soldered)
* Manufactured by Sumitomo 3M Ltd.
(1) Dimensional Drawings of Case

17.0
8.5
41.1 14.0
46.5
5
39.0
23.8
52.4 12.7
5.2
Units: mm
5-63
5.9.2 Connector Type and Cable Size
(2) Dimensional Drawings of Connector

2.54
1.27
2.3
5.1
19.3
6.6 *
2.9 *
3M
12.7
41.1
Pin No. 1
7.5
9.1
1.27 15° * Reference length

Pin No. 26
30.48
36.7 Units: mm
(3) Cable Size

Item Specifications
Cable Use twisted-pair or twisted-pair shielded wire.
Applicable wires AWG24, 26, 28, 30
Cable Finished Diameter φ16 mm max.
5-64
5.9.3 Connection Diagram for Standard I/O Cable JZSP-CSI01-

SERVOPACK end Host controller end
Lead Marking Lead
Pin No. Signal Name
Color Color Dots Marker
1 SG Orange Red 1 1
3 − Orange Black 1 3
2 SG Gray Red 1 2
4 SEN Gray Black 1 4
5 V-REF White Red 1 5
6 SG White Black 1 6
7 PULS Yellow Red 1 7
8 /PULS Yellow Black 1 8
9 T-REF Pink Red 1 9
10 SG Pink Black 1 10
11 SIGN Orange Red 2 11

12 /SIGN Orange Black 2 12
13 − Gray Red 2 13
14 /CLR White Red 2 14
15 CLR White Black 2 15
16 − Gray Black 2 16
17 − Yellow Red 2 17
18 − Yellow Black 2 18
19 PCO Pink Red 2 19
20 /PCO Pink Black 2 20
21 BAT (+) Orange Red 3 21
22 BAT (-) Orange Black 3 22
23 − Gray Red 3 23
24 − Gray Black 3 24
25 /V-CMP+ White Red 3 25
26 /V-CMP- White Black 3 26
27 /TGON+ Yellow Red 3 27
28 /T-GON- Yellow Black 3 28
29 /S-RDY+ Pink Red 3 29
30 /S-RDY- Pink Black 3 30
31 ALM+ Orange Red 4 31
32 ALM- Orange Black 4 32
33 PAO Gray Red 4 33
34 /PAO Gray Black 4 34
35 PBO White Red 4 35
36 /PBO White Black 4 36
37 ALO1 Yellow Red 4 37
38 ALO2 Yellow Black 4 38
39 ALO3 Pink Red 4 39
40 /S-ON Pink Black 4 40 5
41 /P-CON Orange Red 5 41
42 P-OT Orange Black 5 42
43 N-OT Gray Red 5 43
44 /ALM-RST Gray Black 5 44
45 /P-CL White Red 5 45
46 /N-CL White Black 5 46
47 +24V-IN Yellow Red 5 47
48 − Pink Red 5 48
49 − Pink Black 5 49
50 − Yellow Black 5 50
Case Shield : represents twisted-pair wires.
5-65
5.10.1 Cables for Connecting Personal Computers
5.10 Peripheral Devices
5.10.1 Cables for Connecting Personal Computers

(1) For 25-pin Connector Cable for NEC PC-98 Series PC
(a) Cable Type: JZSP-CMS01
(b) Dimensional Drawings
Personal computer end SERVOPACK end Personal computer end SERVOPACK end
Half-pitch connector Signal Pin No. Signal
Pin No.
D-sub connector (25 pins) Plug: 10114-3000VE
Shell: 10314-52A0-008 RXD 3 2 /TXD
17JE 13090 02 D8A
(DDK Ltd.) (Sumitomo 3M Ltd.) TXD 2 4 /RXD
0V 7 14 0V
38 2000±50 39
RTS 4 − −
CTS 5 − −
14 1
FG Case FG
8 1 Shield wire
47
Cable type: 14 7
25 13 AWG26 × 3C UL2464
2× 2.6 screws 2 × 2.6 screws Units: mm
(2) D-sub, 9-pin Connector Cable for IBM PC Compatible

Half-pitch connector Signal Pin No. Pin No. Signal
D-sub connector (9 pins) Plug: 10114-3000VE RXD 2 2 /TXD
17JE 13090 02 D8A Shell: 10314-52A0-008
TXD 3 4 /RXD
(DDK Ltd.) (Sumitomo 3M Ltd.)
0V 5 14 0V
38 2000±50 39
RTS 7 − −
CTS 8 − −
6 1 8 1 FG Case Case FG
29.5
32
Shield wire
9 5 Cable type: 14 7
AWG26 × 3C UL2464
2× 2.6 screws
2× 2.6 screws Units: mm
5-66
(3) For 14-pin Half-pitch Connector Cable for NEC PC-98 Series PC
Half-pitch connector Half-pitch connector Signal Pin No. Pin No. Signal
Plug: 10114 3000VE Plug: 10114 3000VE
RXD 1 2 TXD
Shell: 10314 52F0 008 Shell: 10314 52A0 008
(Sumitomo 3M Co., Ltd.) (Sumitomo 3M Ltd.) TXD 9 4 RXD
RTS 10 − −
39 2000±50 39
CTS 4 − −
5 GND 14 14 GND
mm
8 1 8 1 FG 12 Case FG
29.5
29.5
Label FG Case Shiled wire
14 7 Cable: 14 7
AWG26 × 3C UL2464
2 × 2.6 screws
Units: mm

5.10.2 Digital Operator
(1) Model JUSP-OP05A with Connection Cable
SERVOPACK
CN3
Connect Digital Operator

to CN3
Connection Cable Length: 1 m

P tight countersunk screw: 3 × 12
Tightening torque: 3.5N cm
70 Nameplate
SVON COIN TGON REF CHARGE

VCMP
YASKAWA
120
ALARM SCROLL MODE/SET

RESET
JOG
DATA
SVON
SERVO
READ WRITE
SERVO
5
DIGITAL OPERATOR JUSP-OP05A
39 1.5
17 0.8
29.5
1000±30 Units: mm
Plug: 10114-3000VE
Shell: 10314-52F0-008
5-67
5.10.3 Cables for Analog Monitor
5.10.3 Cables for Analog Monitor

(1) Cable Type: JZSP-CA01
Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For the details, refer
to 9.7 Analog Monitor.
With the front cover open

Socket: DF11-4DS-2C * Black
Connector: DF11-2428SCF * Black
3 4
1 2
1000+20
-0 mm
White
Red
View from cable end
* Manufactured by Hirose Electric Corporation.
(3) Specifications
Cable Color Signal Name Explanation
White Analog Monitor 1 Torque reference: 1 V / 100% rated
torque
Red Analog Monitor 2 Motor speed: 1 V / 1000 min-1
Black (2 cables) GND GND Analog monitor: 0 V
5.10.4 Connector Terminal Block Converter Unit

(1) Model: JUSP-TA50P
The connection diagram for the connector terminal block converter unit is shown below.
SERVOPACK
CN1 Length of cable supplied:500 +50

-0 mm
Connector terminal block

converter unit model:JUSP-TA50P
1 16
1 19 32
33 50
1 49
2 50
5-68
(2) Dimensional Drawings of Terminal Block
Terminal
block 50P Connector plug 50P
7 M3.5 screw MR-50RMD2 7
15.5
1 16
29.5
1 19 32
33 50
1 49
45
2 50
2-φ3.5
3.5 247.5 3.5
With terminal
block cover
62
removed
43.5
20.5
2
Can be fixed on DIN rail

Units: mm
(3) Dimensional Drawings of Cable

Connector terminal block converter unit
SERVOPACK-end connector (50P) end connector (50P)
10150-6000EL(Sumitomo 3M Ltd.) MRP-50F01 (Honda Communication Industries Co., Ltd.)
Shell: Case:
10350-52AO-008 (Sumitomo 3M Ltd.) MR-50L (Honda Communication Industries Co., Ltd.)
Cable (black)
AWG#28 25P
UL20276 VW-1SC
+50
500 0
Units: mm
5-69
5.10.5 Brake Power Supply Unit
5.10.5 Brake Power Supply Unit

(1) Model: LPSE-2H01, LPDE-1H01
Manufactured by Yaskawa Controls Co., Ltd.
• 200 V input: LPSE-2H01
• 100 V input: LPDE-1H01
(2) Specifications
• Rated output voltage: 90 VDC
• Maximum output current: DC 1.0 A
• Lead wire length: 500 mm each
• Maximum ambient temperature: 60°C
• Lead wires: Color coded. Refer to the table below.
AC input
Brake end
100 V 200 V
Blue/White Yellow/White Red/Blue
50
30
25
2 Mounting holes φ3
(Spot facing φ5.5 and 4 long
20
Nameplate
11 Units: mm
5-70
(4) Internal Circuits

Open or close the circuit for the brake’s power supply so that switching occurs on the AC side of the brake power
supply unit.
When switching on the DC side, install a surge absorber near the brake coil to prevent damage to the brake coil
from voltage surges due to DC-side switching.
(a) Internal Circuit for 200 VAC
Brake Power Supply Model: LPSE-2H01
Yellow Red
Diode
Surge
Surge absorber DC (Brake) side
AC side absorber
180 to 230 V No polarity
White Black

(b) Internal Circuit for 100 VAC
Brake Power Supply Model: LPDE-1H01
Diode bridge
Blue Red
AC side DC (Brake) side

90 to 120 V Surge No polarity
Surge
absorber absorber
White Black
5.10.6 External Regenerative Resistor

When regenerative energy is so large that a SERVOPACK cannot process, install externally a regenerative resis-
tor. The regenerative resistor must be purchased by customers. Refer to the table below for selecting the regen-
erative resistor. Refer to 6.5 Connecting Regenerative Resistors for the connection.
(1) References for External Regenerative Resistor
Regenerative Specifications Manufacturer
Resistor Model
RH120 70 W, 1 to 100 Ω Iwaki Wireless Research
RH150 90 W, 1 to 100 Ω Institute
RH220 120 W, 1 to 100 Ω
RH300C 200 W, 1 to 10 kΩ
5
RH500 300 W, 1 to 30 Ω
(2) Model Designation

RH120 N 10Ω J
Model Tolerance
N: Noninductive winding Code Tolerance
K ±10%
Resistance
J ±5%
H ±3%
5-71
5.10.6 External Regenerative Resistor
(3) Specifications
Resistance Tolerance K: ± 10%, J: ± 5%, H: ± 3%
Temperature Resistance ± 400 PPM / °C (20 Ω max.) , ± 260 PPM / °C (20 Ω min.)
Characteristics
Withstand Voltage 2000 VAC/min. ΔR: ± (0.1% + 0.05Ω)
Insulation Resistance 500 VDC, 20 MΩ minimum
Short-time Overload When 10 times of rated power is applied for five seconds, ΔR: ±(2% + 0.05 Ω)
Life 1000 hours of repeating the operation ON for 90 minutes and OFF for 30 min-
utes, ΔR: ±(5% + 0.05 Ω)
Heat Resistance Not ignite after having applied 10 times of rated electric power for one minute
Operating temperature -25 to 150°C

RH120/150/220 RH220B
138
3.5
30
G
3.0
D B D 170
A Units: mm
154
C
4.5
60
54
40
F
E
4- φ4.5
φ4.5 Lead wire length L: 500

Rated power: 120 W
Lead wire length L: 300 Resistance: 1 Ω to100 Ω Units: mm
Model Rated Power Resistance Dimensions A B C D E F G
RH120 70W 1 Ω to 100 Ω RH120 182 150 172 16 42 22 20
RH150 90W 1 Ω to 100 Ω RH150 212 180 202 16 44 24 30
RH220 120W 1 Ω to 100 Ω RH220 230 200 220 15 60 24 20
RH300C RH500
250
32
234
37
2 M3
4.5
312 3
60
80
270
218 2-φ4.5
33
47
62
5.3
40
4.7 300
Lead wire length L: 450
Lead wire length L: 300 Rated power: 300 W
Rated power: 200 W Resistance: 1 Ω to 30 Ω
Resistance: 1 Ω to 10 kΩ Units: mm
Units: mm
5-72
5.10.7 Regenerative Resistor Unit

(1) Models
The SERVOPACKs with a capacity of 6.0 kW or more do not have a built-in regenerative resistor.
The following regenerative resistor unit is required according to the SERVOPACK model.
SERVOPACK Regenerative Resistor Allowable
Specifications
Model Unit Model Power Loss
SGDS-60A JUSP-RA04 6.25 Ω, 880 W 180 W
SGDS-75A JUSP-RA05 3.13 Ω, 1760 W 350 W
4×φ6 Mounting holes

Protective cover

M2
H
M1 D
W
Ground terminal (M4 screw)
External terminals (M5 screws)
Cement resistor
30
Units: mm
Approx. Mass
Model W H D M1 M2
kg
JUSP-RA04 220 350 92 180 335 4
JUSP-RA05 300 350 95 250 335 7
5-73
5.10.8 Absolute Encoder Battery
5.10.8 Absolute Encoder Battery

After the power supply was turned OFF, a backup battery is required to write the position of absolute encoder.
Install one of the absolute encoder batteries below. For more information on the battery replacement, refer to
8.4.3 Handling Batteries.
(1) Battery Case
Model: JUSP-BA01
IMPORTANT 1. A battery is not mounted in the battery case. A battery must be purchased separately.
Battery Case Model: JZSP-BA01 (Refer to (2) Battery Mounted in the Battery Case on this page.)
2. Install the battery case where the ambient temperature is 0°C to 55°C.
Encoder cable: JZSP-CSP04-

JZSP-CSP05-
JZSP-CSP06-
JZSP-CSP07-
SERVOPACK-end Connector
Install the battery, JZSP-BA01.
Note: The battery is not included.

The user must provide the battery.
Battery Case (JUSP-BA01)
(2) Battery Mounted in the Battery Case

Model: JZSP-BA01 (lithium battery)
(Battery: ER3V battery made by Toshiba Battery Co., Ltd.)
3.6 V 1000 mAh
2 Red
Connector
1 Red
Battery ER3V
(3) Battery Installed on the Host Controller End

Use a battery that meets the specifications of the host controller. Use an ER6VC3N (3.6 V, 2000 mAh: by
Toshiba Battery Co., Ltd.) or equivalent battery.
(4) Specifications
Location Specification Model Number Manufacturer
Encoder cable Lithium battery ER3V Toshiba Battery Co., Ltd.
3.6 V, 1000 mAh
Host controller Lithium battery ER6VC3N Toshiba Battery Co., Ltd.
3.6 V, 2000 mAh
5-74
5.10.9 Molded-case Circuit Breaker (MCCB)

If selecting a molded-case circuit breaker, observe the following precautions.
Ground Fault Detector

• Select ground fault detectors for inverters.
IMPORTANT
• High-frequency current leaks from the servomotor armature because of switching operation inside
the SERVOPACK.
(1) Maximum Input Current

• The instantaneous maximum output of SERVOPACK is approximately 3 times of the rated output for
maximum for 3 seconds. Accordingly, select a molded-case circuit breaker whose breaking time is 5
seconds or more at 300% of SERVOPACK rated current.
The general-purpose low-speed acting molded-case circuit breakers are applicable.
• The power supply capacity per SERVOPACK when using a servomotor is described in 2.5.2 Molded-case

Circuit Breaker and Fuse Capacity. Select a molded-case circuit breaker with the capacity larger than the
effective load current (when using more than multiple SERVOPACK) calculated from the total power
supply capacity.
• The consumption of other controllers must be considered when selecting a molded-case circuit breaker.
(2) Inrush Current

• Refer to 2.5.2 Molded-case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current.
• The allowable inrush current for a low-speed acting molded-case circuit breaker is approximately 10 times
of the rated current for 0.02 seconds.
• When turning ON multiple SERVOPACK simultaneously, select a molded-case circuit breaker with the
allowable current for 20 ms larger than the total inrush current shown in 2.5.2 Molded-case Circuit
Breaker and Fuse Capacity.
5-75
5.10.10 Noise Filter

The recommended noise filter is manufactured by SCHAFFNER (FN type) and SCHURTER (formerly
TIMONTA) (FMAC type). Contact Yaskawa Controls Co., Ltd. Select one of the following noise filters accord-
ing to SERVOPACK capacity. For more details on selecting current capacity for a noise filter, refer to 2.5.3
Noise Filters, Magnetic Contactors, Surge Absorbers and AC/DC Reactors. For connecting the noise filter, refer
to 6.1.3 Typical Main Circuit Wiring Examples
(1) Single-phase, 100/200 V

Model FN2070-6/07 FN2070-10/07 FN2070-16/07

Dimensional

Drawings
(Units: mm)

Contact Terminal
P/N/E
140 +5
-0
Dimensions in mm
A 113.5 ± 1 156 ± 1 119 ± 0.5
B 57.5 ± 1 85.5 ± 1
C 45.4 ± 1.2 57.6 ± 1
D 94 ± 1 130.5 ± 1 98.5 ± 1
F 103 ± 0.3 143 ± 0.3 109 ± 0.3
J 25 ± 0.2 40 ± 0.2
External K 8.4 ± 0.5 8.6 ± 0.5
Dimensions L 32.4 ± 0.5 −
M 4.4 ± 0.1 5.3 ± 0.1 4.4 ± 0.1
N 6 ± 0.1 7.4 ± 0.1
P 0.9 ± 0.1 1.2 ± 0.1
Q − 66 ± 0.3
51 ± 0.2
R −
(2.01±0.0079)
S 38 ± 0.5 −
250 VAC, 250 VAC,
Specifications 250 VAC, 16 A
6A 10 A
Single-phase A5F
02F 04F
Applicable 100 V 01F
SERVOPACK A5A
SGDS- Single-phase
01A 04A 08A
200 V
02A
Manufacturer SCHAFFNER
5-76
(2) Three-phase, 200 V

(a) FN Type
Model FN258L-7/07 FN258L-16/07 FN258L-30/07
Side view Front and side view

7A to 55A Type D H C
P L
Dimensional
F
Drawings
B
G
E O
A
J
Dimensions in mm
A 255 ± 1 305 ± 1 335 ± 1

B 126 ± 0.8 142 ± 0.8 150 ± 1
C 50 ± 0.6 55 ± 0.6 60 ± 0.6
D 225 ± 0.8 275 ± 0.8 305 ± 1
E 240 ± 0.5 290 ± 0.5 320 ± 0.5
External
F 25 ± 0.3 30 ± 0.3 35 ± 0.3
Dimensions
G 6.5 ± 0.2
H 300 ± 10 400 ± 10
J 1 ± 0.1
L 9±1
O M5
P AWG16 AWG14 AWG10
Specifications 480 VAC, 7 A 480 VAC, 16 A 480 VAC, 30 A
Applicable Three-
SERVOPACK phase 05A 10A, 15A, 20A 30A
SGDS- 200 V
Manufacturer SCHAFFNER
5-77
(b) FMAC Type

Model FMAC-0934-5010 FMAC-0953-6410
A H
B (J)
LOAD
LINE
I
(K)
G (L)
E
F
Symbol Dimensions in mm
A 251 308
B 201 231
C 151 151
D 135 +0
-1 135 +0
-1
External E 6.5±0.3 6.5±0.3

Dimensions F 115±0.3 115±0.3
G M6 M6
H 66 66
I 121 121
J (10) (13)
K (41) (45)
L (17) (34)
Specifications AC440V, 50A AC440V, 64A
Applicable Three- 50A
SERVOPACK phase 75A
60A
SGDS- 200 V
Manufacturer SCHURTER (formerly TIMONTA)
5-78
5.10.11 Magnetic Contactor

(1) Model: HI-J
The magnetic contactor is manufactured by Yaskawa Controls Co., Ltd. Contact your Yaskawa representative for
details.
A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be sure
to attach a surge absorber to the excitation coil of the magnetic contactor. Refer to 5.10.13 Surge Absorber (for
lightning surge) for details of the surge absorber.
For selecting a magnetic contactor, refer to 2.5.3 Noise Filters, Magnetic Contactors, Surge Absorbers and AC/
DC Reactors.
(2) For Single-phase 100/200V and Three-phase 200 V SERVOPACKs

(a) Model: HI-11J
Mounting Hole
Dimensions in mm Terminal Symbols
Dimensions in mm

44 76
10.1 61 Auxiliary Structure
Coil terminal 5 34 contact
8.2 34.5
M3.5
b 4.5
a
15.5
1NO
13
R S T 1
48
52
78.5
74.5
41
35
U V W 2
1NC
8.2
2 × M4 mounting
4
Auxiliary contact terminal M3.5 9 holes

10.4 Main contact terminal M3.5
Approx mass: 0.25 kg
5-79
5.10.11 Magnetic Contactor
(b) Model: HI-15J and HI-20J

Mounting Hole
Dimensions in mm Terminal Symbols
Dimensions in mm
91
45.5 HI-15J
15.3 Coil terminal 65
39 Auxiliary Structure
M3.5 5.2 35 contact
8.2 4.5
5
a b
9.6
3
1NO1NC
R S T 1
70
75
51
50
29
85
35
2
U V W
4
HI-20J
Auxiliary
Structure
contact
9.6 Auxiliary contact 9
terminal M3.5 54
8.2 2 × M4 mounting a A1 A2 b
76
11.3 10.8 holes
Main contact 1a1b R 1 S 3 T 5
terminal M4 5 41 7 23

U 2 V 4 W6 6 42 8 24
(c) Model: HI-25J and HI-35J

Mounting Hole
Dimensions in mm Terminal symbol
Dimensions in mm
58 111
Auxiliary
79 Structure
Coil terminal contact
23.4
45
4 50
10.5
M3.5
8.2 4.5 a A1 A2 b
a b
1a1b R 1 S 3 T 5 5 41 7 23
7
R S T 5
U 2 V 4 W6 6 42 8 24
92
58.4
35
50
29
70
75
U V W 6
8
8.2 9
12.2
72
14.8 13.1 Auxiliary contact 94
terminal M3.5
Main contact 2 × M4 Mounting hole
terminal M5
5-80
5.10.12 Surge Absorber (for switching surge)

(1) Surge Absorber for Magnetic Contactor
(a) Model: TU-25, TU-65
(b) Specifications
Model Surge Rated Applicable Voltage Range for Operation Applicable
Absorption Insula- Magnetic Coil Magnetic
Method tion Volt- Contactor
age AC 50/60Hz
50 V 110 V 127 V 240 V 380 V 440 V
TU-25C120 CR 150 VAC

HI-11J
TU-25C240 CR 300 VAC HI-15J

HI-20J
TU-25V440 Varistor 500 VAC

HI-25J
HI-35J
HI-50J
HI-65J
TU-65V440 Varistor 500 VAC
Note: : Applicable voltage range
(c) Dimensional Drawings

• Model TU-25
Units: mm
Internal Connection Diagram
M3.5 Connection terminals
6.2
4.7
CR
Operation
34
indicator
(LED)
Varistor
22
26 22 5
• Model TU-65
Units: mm
M3.5 Connection terminals Internal Connection Diagram
6.2
4.7
CR
Operation
44
indicator
(LED)
Varistor
32
37 3
21
5-81
5.10.12 Surge Absorber (for switching surge)
(2) Surge Absorber for Brake Power Supply

When using a servomotor with holding brake, install a surge absorber near the brake coil to prevent the power
supply noises. The surge absorber handled by Okaya Electric Industries Co., Ltd. is recommended.
(a) Model: CR50500BL (Spark quencher)
(b) Specifications
Power supply: 250 VAC

Capacitance: 0.5 μF ± 20%
Resistance: 50 Ω(1/2 W) ± 30%
5-82
5.10.13 Surge Absorber (for lightning surge)

(1) Model: RxCxM-601BQZ-4 and RxCxM-601BUZ-4
Manufactured by Okaya Electric Industries Co., Ltd.
The surge absorber absorbs lightning surge and prevents faulty operation in or damage to electronic circuits.
Recommended surge absorbers are listed below.

(a) RxCxM-601BQZ-4
Dimensional Drawings Internal Connection Diagram
φ4.2±0.5
28.5±1.0 11±1
5.5±1.0

Connection
+30
200-0
cables
4.5±0.5
1 2
Case
28±1
41±1
Units: mm
(b) RxCxM-601BUZ-4
Dimensional Drawings Internal Connection Diagram
φ4.2±0.5 !
11±1
28.5±1.0
5.5±1.0
Connection
+30
200-0
cables
4.5±0.5
1 2 3
Case
28±1
41±1 5
Units: mm
5-83
5.10.14 AC/DC Reactors for Power Supply Harmonic Suppression
5.10.14 AC/DC Reactors for Power Supply Harmonic Suppression

(1) Specifications
Manufactured by Yaskawa Controls Co., Ltd. Contact your Yaskawa representative for details.
If the power supply harmonic suppression is needed, connect an AC reactor to the AC line for the single-phase
input, a DC reactor between the SERVOPACK main circuit terminals 1 and 2 for the three-phase input. Select a
reactor that matches the ratings of the SERVOPACK. For wiring, refer to 6.4.5 AC/DC Reactor for Harmonic
Suppression.
Reactor Specifications
Applicable
AC/DC Reactor Impedance Rated
SERVOPACK Model
Model (mH) Current
SGDS-
(A)
A3B X5052 45.0 1.0
A5F
Single-phase, X5053 20.0 2.0
01F
100 V
02F X5054 5.0 3.0
04F X5056 2.0 5.0
A5A
X5052 45.0 1.0
01A
Single-phase,
02A X5053 20.0 2.0
200 V
04A X5054 5.0 3.0
08A X5056 2.0 5.0
05A
X5061 2.0 4.8
10A
15A
X5060 1.5 8.8
Three-phase, 20A
200 V 30A X5059 1.0 14.0
50A X5068 0.47 26.8
60A
− − −
75A
5-84
B φI G
1 2
NP
D
C
4-φH A E
F
Notch
Dimensions in mm Approx.
Reactor
A B C D E F G φH φI Mass
Model
kg

X5052 35 52 80 95 30 40 45 4 4.3 0.4
X5053 35 52 90 105 35 45 50 4 4.3 0.6
X5054 35 52 80 95 30 40 45 4 4.5 0.4
X5056 35 52 80 95 30 40 45 4 4.3 0.4
X5059 50 74 125 140 35 45 60 5 5.3 1.1
X5060 40 59 105 125 45 60 65 4 4.3 1.0
X5061 35 52 80 95 35 45 50 4 4.3 0.5
X5068 50 74 125 155 53 66 75 5 6.4 1.9
5.10.15 Variable Resistor for Speed and Torque Setting

(1) Model: 25HP-10B
The multi-turn type winding variable resistors with dial MD10-30B4 are manufactured by Sakae Tsushin Kogyo
Co., Ltd. Contact Yaskawa Controls Co., Ltd.
Panel
11.5 ±1
25 HP Helicolumn (Panel drilling diagram)
φ2.5 φ7.5 hole

hole
φ25 ± 1
φ31±1
21 max.
2 3 1 10
14.5±1
37.5 ±1 24±1 MD multidial
4.5
Units: mm
5
(3) Connection Example to an External Power Supply

1.8 kΩ (1/2W) min. 25HP-10B
SERVOPACK
2 kΩ
3 CN1
2 5 V-REF
(9) (T-REF)
12 V
1
6
SG
(10)
5-85
6
Wiring
6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2

6.1.1 Names and Descriptions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.1.2 Wiring Main Circuit Terminal Block (Spring Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-8

6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - 6-8
6.2.2 CN2 Encoder Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.3 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.3.1 Speed Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.3.3 Torque Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.3.4 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.3.5 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
6.3.6 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
6.4.3 Using More Than One SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
6.4.4 400-V Power Supply Voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
Wiring
6.4.5 AC/DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27

6.4.6 Installation Conditions of UL Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28
6.5 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29 6

6.5.1 Regenerative Power and Regenerative Resistance - - - - - - - - - - - - - - - - - - - - - - - - 6-29
6.5.2 Connecting Externally Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
6-1
6 Wiring
6.1 Wiring Main Circuit

This section describes typical examples of main circuit wiring, functions of main circuit terminals, and the power
ON sequence.
CAUTION
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa-
rated by at least 30 cm.
• Use twisted-pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback lines.
The maximum length is 3 m for reference input lines and is 20 m for PG feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is out first before starting an inspection.
• Avoid frequently turning the power ON and OFF. Do not turn the power ON or OFF more than once per
minute.
Because the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when the
power is turned ON. Frequently turning the power ON and OFF causes main power devices like capacitors and fuses to
deteriorate, resulting in unexpected problems.
6-2
6.1.1 Names and Descriptions of Main Circuit Terminals

Terminal
Name Description
Symbol
50 W to 400 W Single-phase 100 to 115 V +10%, -15% (50/60 Hz)
50 W to 400 W Single-phase 200 to 230 V +10%, -15% (50/60 Hz)
L1, L2
Main circuit input Single-phase 200 to 230 V +10%, -15% (50/60 Hz)
or 800W
terminal
L1, L2, L3 Note: Terminal L3 is not used. Do not connect.
500 W, 1.0 kW to Three-phase 200 to 230 V +10%, -15% (50/60 Hz)
7.5 kW
Servomotor Connects to the servomotor.
U, V, W
connection terminals
Control power input 50 W to 400 W Single-phase 100 to 115 V +10%, -15% (50/60 Hz)
L1C, L2C
terminal 50 W to 7.5 kW Single-phase 200 to 230 V +10%, -15% (50/60 Hz)
Ground terminals (×2) Connects to the power supply ground terminals and servomotor ground termi-
nal.
Normally not connected.
Connect an external regenerative resistor (provided by cus-
50 W to 400 W tomer) between B1/ and B2 if the regenerative capacity
is insufficient.
B1/ , B2 Note: B3 terminal is not provided.
or Normally short B2 and B3 (for an internal regenerative
B1/ , B2, B3 resistor).
External regenerative
or B1, B2, B3 Remove the wire between B2 and B3 and connect an exter-
resistor terminal
500 W to 5.0 kW nal regenerative resistor between B1/ and B2 or between
B1 and B2 if the capacity of the internal regenerative resis-
tor is insufficient. Customers must provide an external
regenerative resistor terminal.
Connect an external regenerative resistor (provided by cus-
B1, B2 6.0 kW to 7.5 kW tomer) between B1 and B2. Refer to 6.5 Connecting
Regenerative Resistors for details.
DC reactor 500 W to 5.0 kW Normally short 1- 2 .
connection terminal If a countermeasure against power supply harmonic waves
1, 2 for power supply
is needed, connect a DC reactor between 1- 2
harmonic suppression
B1/ , P/ or Main circuit plus 50 W to 7.5 kW Use when DC power supply input is used. Refer to 6.1.3 (4)
terminal DC Power Supply Input for SERVOPACK.
Main circuit minus 50 W to 7.5 kW

or 2 terminal Wiring
6-3
6 Wiring
6.1.2 Wiring Main Circuit Terminal Block (Spring Type)
6.1.2 Wiring Main Circuit Terminal Block (Spring Type)
CAUTION
• Observe the following precautions when wiring main circuit terminal blocks.
• Remove the terminal block from the SERVOPACK prior to wiring.
• Insert only one wire per terminal on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
SERVOPACKs with a capacity below 1.5 kW have removable terminal blocks for the main circuit power sup-
ply terminal and the control power supply terminal. Use the following procedure when connecting to the ter-
minal block.
(1) Wire Size

Wire can be used simply by stripping back the outer coating. The following are applicable wire sizes.
• Single wire: φ0.5 to φ1.6 mm
• Braided wire: AWG28 to AWG12
(2) Connection Procedure

1. Strip the end of the wire.
8 to 9 mm
2. Open the wire terminal on the terminal block housing (plug) with the tool using the procedure shown in
Fig. A or B.
• Press the lever and insert the wire into the wire terminal on the hook end of the tool as shown in Fig. A.
• Use a standard flat-blade screwdriver (blade width of 3.0 to 3.5 mm). Put the blade into the slot, as
shown in Fig. B, and press down firmly to open the wire terminal.
Either the procedure shown in Fig. A or B can be used to open the wire insert opening.
Fig. A Fig. B
3. Insert the wire core into the opening and then close the opening by releasing the lever or removing the
screwdriver.
6-4
6.1.3 Typical Main Circuit Wiring Examples

(1) Single-phase, 100/200 V
R T
SERVOPACK
1QF SGDS- 01A
U
FIL V M
W
L1C
L2C
1KM PG
L1
L2
(For servo +24V
1Ry alarm display) CN1 1Ry
ALM+ 31
Main Main
power power
supply supply 1PL ALM- 32 1D 024V
OFF ON 1Ry 1KM
1KM 1SA
1QF Molded-case circuit breaker 1Ry : Relay
FIL : Noise filter 1PL : Indicator lamp
1KM : Magnetic contactor 1SA : Surge absorber
1D : Flywhell diode
(2) Three-phase, 200 V

R S T
SERVOPACK
1QF SGDS- 01A
U
FIL V M
W
L1C
L2C
1KM PG
L1
L2
L3
(For servo +24V
1Ry alarm display) B2 CN1 1Ry
B3 ALM+ 31
Main Main
power power 1
supply supply 2 1D
OFF
1PL ALM- 32 024V
ON 1Ry 1KM
Wiring
1KM 1SA
1QF : Molded-case circuit breaker 1Ry Relay
1D : Flywheel diode
6
6-5
6 Wiring
6.1.3 Typical Main Circuit Wiring Examples
(3) 750 W, Single-phase 200V

R T
SERVOPACK
1QF
SGDS-08A01A
U A
FIL V B M
W C
L1C D
L2C
1KM PG
L1
L2
(For servo
alarm L3
+24V
display) B2 CN1 1Ry
1Ry
B3 ALM+ 31
Main Main
power power 1PL 1
supply supply 2
OFF ON ALM− 32 1D 024V
1Ry 1KM
1KM 1SA
1QF : Molded-case circuit breaker 1Ry : Relay
1D : Flywheel diode
Note: Terminal L3 is not used for the single-phase 200 V, 750W SERVOPACKs. Do not connect.
IMPORTANT Designing a Power ON Sequence

Note the following points when designing the power ON sequence.
• Design the power ON sequence so that main power is turned OFF when a servo alarm signal is output.
(See the circuit figure above.)
• The ALM signal is output for approximately two seconds when the power is turned ON. Take this into
consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop main circuit power supply to the SERVOPACK.
Control power supply 2.0 s max.
Servo alarm (ALM)

output signal
• Select the power supply specifications for the parts in accordance with the input power supply.
Power Supply Harmonic Suppression
If measures are needed to reject or suppress the harmonic waves near the power supply, insert the AC reac-
tor into the AC power supply input of the SERVOPACK or insert the DC reactor into the internal DC main
circuit. For more information on connecting the reactors, refer to 6.4.5 AC/DC Reactor for Harmonic Sup-
pression.
6-6
(4) DC Power Supply Input for SERVOPACK
CAUTION
• Do not use a DC power supply for the 100V SERVOPACK SGDS-F or SGDS-B.
A DC power will destroy the SERVOPACK and may cause a fatal accident or fire. Do not change the factory setting
for Pn001 = n.0 (DC power supply input not supported).
• The AC and DC power can be used with the 200V SERVOPACK SGDS-A.
Before using DC power supply, Pn001 = n.1 (DC power supply supported) must be selected. Failure to
do so will cause the internal element of the SERVOPACK to burn out, and fire and damage to the devices
may result.
Check the parameter setting before using a DC power supply.
When using a DC power supply for the SERVOPACK SGDS-A, use the terminals listed in the following
table and make sure that the parameter Pn001.2 is set to “1.” Also, observe the precautions given in IMPOR-
TANT.
IMPORTANT 1. The servomotor returns the regenerated energy to the power supply. The SERVOPACK that can use a
DC power supply is not capable of processing the regenerated energy. Provide measures to process the
regenerated energy on the power supply.
2. With a SERVOPACK that is using DC power, a certain amount of time is required to discharge all
remaining electricity after the main power supply is turned OFF. Note that high-voltage electricity
remains in the SERVOPACK after the power supply is turned ON.
(a) DC Power Supply Input Terminals for the Main and Control Circuits
Terminal Symbols Name Description
B1/ , P/ , or Main circuit positive polarity terminal 270 VDC to 320 VDC
or 2 Main circuit negative polarity terminal 0V

Control power supply input terminal 270 VDC to 320 VDC
L1C, L2C
(No polarity)
(b) Parameter Setting
Parameter Meaning
Pn001 n.0 DC power input not supported (AC power input to the L1, L2 or L3 terminals)
n.1 DC power input supported (Inputs DC power to B1/ , or B1/ , 2 or P/ , 2, or
and .) Wiring
• Turn the power OFF and turn it ON again to validate the setting.
6-7
6 Wiring
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
6.2 Wiring Encoders

The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servo-
motor model. Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details.
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK
(CN1)
(1) Incremental Encoders
SERVOPACK Host controller
∗2
CN1 Line receiver ∗3
Phase A 33 PAO 2 3
Incremental 34 /PAO R 1 PhaseA
encoder
Phase B 35 PBO 6 5
∗2 36 /PBO R 7 PhaseB
CN2
∗1 Light blue PS 5 Phase C 19 PCO 10 11
White/ /PS 6 20 /PCO R 9 PhaseC
light blue
Output line-driver SN75ALS194 8 16
PG manufactured by Texas C +5V
Instruments or the equivalent. 0V
Red PG5V 1 Choke
PG5V coil
Black 2 PG0V +5V
PG0V +
CN1 -
0V 1 SG 0V
0.33mm2 Smoothing
capacitor
Connector shell
(Shell) Shield wire Connector
shell
R (terminal resistance): 220 to 470Ω
C (Decoupling Capacitor) 0.1 μF
∗1 The pin numbers for the connector wiring differ depending on the servomotors.
∗2 : represents twisted-pair wires.
∗3 Applicable line receiver: SN75175 manufactured by Texas Instruments MC3486, or the equivalent
6-8
6.2 Wiring Encoders
(2) Absolute Encoders

CN1 ∗2 Line receiver ∗4
Phase A 33 PAO 2 3 Phase
Absolute encoder 34 /PAO R 1 A
Phase B 35 PBO 6 5 Phase
∗2 36 /PBO R 7 B
Light blue CN2
∗1 PS 5 Phase C 19 PCO 10 11 Phase
White/ /PS 6 20 /PCO R 9 C
light blue
Output line-driver SN75ALS194 8 16
PG manufactured by Texas C +5V
Instruments or the equivalent. 0V
PG5V 1
CN1 Choke
coil
Red PG5V 4 SEN +5V +5V
Black 2 +
PG0V PG0V 2 SG -
1 SG 0V
0.33mm2 0V
Smoothing
capacitor
CN1
BAT(+) 3 21
Orange BAT +
White/ BAT(-) 4 22 BAT -
+
- Battery ∗3
orange
Connector
shell
Connector R (terminal resistance): 220 to 470 Ω
(Shell) Shield wire shell C (Decoupling Capacitor) 0.1 μF
∗1 The pin numbers for the connector wiring differ depending on the servomotors.
∗2 : represents twisted-pair wires.
∗3 When using an absolute encoder, install a battery in a battery case (JZSP-BA01)

of encoder cable, or install a battery on the host controller side to supply power.
∗4 Applicable line receiver: SN75175 manufactured by Texas Instruments MC3486, or the equivalent
6.2.2 CN2 Encoder Connector Terminal Layout
PG5V PG power supply PG 0 V PG power supply

1 2
+5 V 0V
BAT (+) Battery (+) BAT (-) Battery (-)
3 4
(For an absolute encoder) (For an absolute encoder) Wiring
5 PS PG serial signal input 6 /PS PG serial signal input
SHELL Shield − − − −
6-9
6 Wiring
6.3.1 Speed Control Mode
6.3 Examples of I/O Signal Connections

6.3.1 Speed Control Mode
SERVOPACK
Speed reference ∗1. ∗2.
V-REF 5
(±2 to ±10V LPF
/rated motor SG 6
speed) A/D
∗ 37
External torque 4. ∗2. ALO1
limit/Torque feed T-REF 9 LPF Alarm code output
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
36 /PBO
∗ +5V SN76175 or MC3486
SEN signal input 3. SG 2 manufactured by Texas
0V Instruments or the equivalent
19 PCO
∗ 20 /PCO
+24V5. 3.3kΩ
+24VIN 47
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)
P-OT 42 (SI2) (SO2) 27 /TGON+

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

(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 μs.
* 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
6.3.2 Position Control Mode

SERVOPACK
∗1.
PULS PULS 7
CW 120 Ω
Phase A /PULS 8 37 ALO1
SIGN Alarm code output
SIGN 11 38 ALO2 Max. operating voltage:
Position CCW 120 Ω
Phase B /SIGN 12 30 VDC
reference 39 ALO3 Max. operating current:
150 Ω 20 mA DC
CLR 15
CLR
/CLR 14
33 PAO
Backup battery ∗2. BAT (+) 21
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
∗3. 3.3 kΩ
+24V +24VIN 47
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.
* 1. represents twisted-pair wires. Wiring

Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be 6
6-11
6 Wiring
6.3.3 Torque Control Mode
6.3.3 Torque Control Mode

SERVOPACK
∗4. ∗1. ∗2.
External speed limit V-REF 5
(±2 V to ±10 V LPF
/rated motor speed) SG 6
A/D
∗2. 37 ALO1
Torque reference T-REF 9 Alarm code output
LPF 38 ALO2 Max. operating voltage:
(±1 V to ±10 V
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 Applicable line receiver
+5V 36 /PBO
∗ SN75175 or MC3486
SEN signal input 3. SG 2 manufactured by Texas
0V 19 PCO Instruments or the equivalent
∗5. 20 /PCO
+24V 3.3 kΩ
+24VIN 47
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 μs.
* 4. Enabled by the parameter setting.
Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be
6-12
6.3.4 I/O Signal Connector (CN1) Terminal Layout

SG GND /V-CMP- Speed coinci-
1 26 (/COIN-) dence detec-
SG GND /TGON+ TGON signal tion output
2 27 output
− − /TGON- TGON signal
3 28 output
4 SEN SEN signal /S-RDY+ Servo ready
input 29 output
V-REF Speed refer- /S-RDY- Servo ready
5 ence input 30 output
6 SG GND ALM+ Servo alarm
31 output
PULS Reference ALM- Servo alarm
7 pulse input 32 output
8 /PULS Reference PAO PG dividing
pulse input 33 pulse output
T-REF Torque refer- /PAO PG dividing
Phase A
9 ence input 34 pulse output
10 SG GND PBO PG dividing
Phase A
35 pulse output
SIGN Reference sign /PBO PG dividing
Phase B
11 input 36 pulse output
12 /SIGN Reference sign ALO1 Alarm code
Phase B
input 37 output
− − ALO2 Alarm code
13 38 output
14 /CLR Clear input ALO3 Alarm code
39 output
CLR Clear input /S-ON Servo ON
15 40 input
16 − − /P-CON P control input
41
− − P-OT Forward run
17 42 prohibit input
− − N-OT Reverse run
18 43 prohibit input
PCO PG dividing /ALM- Alarm reset
19 pulse output 44 RST input
20 /PCO PG dividing Phase C /P-CL Forward exter-
pulse output 45 nal torque limit
BAT (+) Battery (+) input /N-CL Reverse exter-
Phase C
21 46 nal torque
22 BAT (-) Battery (-) +24V External input limit input
47 IN power supply
− − − −
23 48
24 − − − −
49
/V-CMP+ Speed coinci- − −
25 (/COIN+) dence detec- 50
tion output
Wiring
Note: 1. Do not use unused terminals for relays.

2. Connect the shield of the I/O signal cable to the connector shell.
Connect to the FG (frame ground) at the SERVOPACK-end connector.
6
3. The functions allocated to the following input and output signals can be changed by using the
parameters. Refer to 7.3.2 Input Circuit Signal Allocation and 7.3.3 Output Circuit Signal Allo-
cation.
• Input signals: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL
• Output signals: /T-GON, /S-RDY, and /V-CMP (/COIN)
6-13
6 Wiring
6.3.5 I/O Signal (CN1) Names and Functions
6.3.5 I/O Signal (CN1) Names and Functions

(1) Input Signals
Refer-
Signal Name Pin No. Function ence
Section
/S-ON 40 Servo ON: Turns ON the servomotor when the gate block in the inverter is released. 8.3.1
Function selected by parameter. −
Proportional control Switches the speed control loop from PI (proportional/ 8.5.2
reference integral) to P (proportional) control when ON. 9.6.4
Direction reference For the internal set speed selection: Switch the rotation
8.8.2
direction.
Control mode
switching Position ↔ speed
/P-CON 41 8.10.1
Control ↔ torque Enables control mode switching.
8.10.2
Torque ↔ speed
Zero-clamp reference Speed control with zero-clamp function: Reference

8.5.6
speed is zero when ON.
Reference pulse block Position control with reference pulse stop: Stops reference
8.6.7
pulse input when ON.
Forward Run Overtravel prohibited: Stops servomotor when movable part
Common
P-OT 42 prohibited travels beyond the allowable range of motion.

8.3.3
N-OT 43 Reverse Run
prohibited
Function selected by parameter. −
Forward external Current limit function used when ON.
torque limit ON 8.9.2
/P-CL 45
Reverse external 8.9.4
/N-CL 46
torque limit ON
Internal speed With internal reference speed selected: Switches the
8.8
switching internal speed settings.
/ALM -RST 44 Alarm reset: Releases the servo alarm state. 8.11.1
Control power supply input for sequence signals: Users must provide the +24-V
+24VIN 47 power supply. 6.3.6
Allowable voltage fluctuation range: 11 to 25 V
SEN 4 (2) Initial data request signal when using an absolute encoder. 8.4.1
BAT (+) 21 Connecting pin for the absolute encoder backup battery. 8.4.1
BAT (-) 22 Do not connect when the encoder cable for the battery case is used. 6.2
Speed reference speed input: ±2 to ±10 V/rated motor speed (Input gain can be 8.5.2
Speed V-REF 5 (6)
modified using a parameter.) 8.7.4
Torque reference input: ±1 to ±10 V/rated motor torque (Input gain can be modified 8.7.2
Torque T-REF 9 (10) using a parameter.) 8.9.3
8.9.4
PULS 7 Reference pulse input Input modes: Set one of them.
/PULS 8 for only line driver • Sign + pulse string
Reference
8.6.1
Position
SIGN 11 • CCW/CW pulse

/SIGN 12 • Two-phase pulse (90° phase differential)
CLR 15 Position error pulse clear: Clears position error pulse during position control.
8.6.1
/CLR 14
Note: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input
signals can be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation.
3. The voltage input range for speed and torque references is a maximum of ±12 V.
6-14
(2) Output Signals

Reference
Signal Name Pin No. Function
Section
ALM+ 31 Servo alarm: Turns OFF when an error is detected.
8.11.1
ALM- 32
Detection during servomotor rotation: Detects whether the servomotor is rotating
/TGON+ 27
at a speed higher than the motor speed setting. Motor speed detection can be set 8.11.3
/TGON- 28
by using the parameters.
/S-RDY+ 29 Servo ready: ON if there is no servo alarm when the control/main circuit power
8.11.4
/S-RDY- 30 supply is turned ON.
PAO 33 (1) Phase-A signal Converted two-phase pulse (phases A and B) encoder output
Common
/PAO 34 signal and origin pulse (phase C) signal: RS-422 or the

PBO 35 Phase-B signal equivalent 8.4.6
/PBO 36 (Proper line receiver is SN75175 by Texas Instruments or 8.5.7
19 MC3486 or the equivalent.)
PCO Phase-C signal
/PCO 20
ALO1 37 (1) Alarm code output: Outputs 3-bit alarm codes.
ALO2 38 (1) Open-collector: 30 V and 20 mA rating maximum 8.11.1
ALO3 39 (1)
Connected to frame ground if the shield wire of the I/O signal cable is connected
FG Shell −
to the connector shell.
/V-CMP+ 25 Speed coincidence (output in Speed Control Mode): Detects whether the motor
Speed 8.5.8
/V-CMP- 26 speed is within the setting range and if it matches the reference speed value.
Positioning completed (output in Position Control Mode): Turns ON when the
/COIN+ 25
Position number of position error pulse reaches the value set. The setting is the number of posi- 8.6.5
/COIN- 26
tion error pulse set in reference units (input pulse units defined by the electronic gear).
Reserved terminals 8.3.4
/CLT
/VLT The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by 8.6.6
/BK − using the parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be 8.7.4
/WARN changed.
8.9.5
/NEAR 8.11.2
3 Terminals not used
Reserved
13 Do not connect relays to these terminals.

16
17
18
− −
23
24
48
49 Wiring
50
Note: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the
parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be changed. Refer to 7.3.3 6
Output Circuit Signal Allocation.
6-15
6 Wiring
6.3.6 Interface Circuit

This section shows examples of SERVOPACK I/O signal connection to the host controller.
(1) Interface for Reference Input Circuits
(a) Analog Input Circuit
CN1 connector terminals, 5-6 (speed reference input) and 9-10 (torque reference input) are explained below.
Analog signals are either speed or torque reference signals at the impedance below.
• Reference speed input: About 14 kΩ
• Reference torque input: About 14 kΩ
The maximum allowable voltages for input signals is ±12 V.
Analog voltage Input Circuit Analog Voltage Input Circuit (D/A)

SERVOPACK SERVOPACK
1.8 kΩ (1/2 W)min. Host controller
3 V-REF or V-REF or
12V 25HP-10B 2 T-REF
D/A T-REF
2 kΩ 1
SG About 14 kΩ
About 14 kΩ
SG
0V 0V
(b) Position Reference Input Circuit

CN1 connector terminals, 7-8 (reference pulse input) and 11-12 (reference sign input) are explained below.
An input circuit for reference pulse and position error pulse signals is line receiver inputs.
Input Circuit (Non-insulated line receiver)
Input circuit (non-insulated line receiver)

Host controller SERVOPACK
1.2 kΩ
Applicable line driver 120 Ω Note: Input circuit can not be connected to
SN75174 manufactured the host controller directory when the
by Texas Instruments or
the equivalent 1.2 kΩ output circuit of the host controller is
the voltage output or open-corrector
output.
6-16
(c) Clear Input Circuit

CN1 connector terminals, 15-14: Clear input is explained below.
An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either
line-driver or open-collector outputs. The following shows by type.
Line-driver Output Circuit

150 Ω 4.7 kΩ
Applicable line driver

SN75174 manufactured
by Texas Instruments
or the equivalent
2.8 V ≤ (H level) - (L level) ≤ 3.7 V

Open-collector Output, Example 1:
Power Supply Provided by User
Vcc
R1
i 150 Ω 4.7 kΩ
VF
Tr1
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input
current, i, falls between 7 mA and 15 mA.
Application Examples
R1 = 2.2 kΩ with a R1 = 1 kΩ with a R1 = 180 Ω with a
Vcc of 24 V ±5% Vcc of 12 V ±5% Vcc of 5 V ±5%
Wiring
6-17
6 Wiring
(2) Sequence Input Circuit Interface

CN1 connector terminals 40 to 47 is explained below.
The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low-
current relay otherwise a faulty contact will result.
Relay Circuit Example Open-collector Circuit Example
SERVOPACK SERVOPACK
24 VDC +24VIN 3.3 kΩ

24 VDC +24VIN 3.3 kΩ
/S-ON, etc.
/S-ON, etc.
Note: The 24 VDC external power supply capacity must be 50 mA minimum.
INFO For SEN input signal circuit, refer to 8.4 Absolute Encoders.
(3) Sink Circuit and Source Circuit

The SERVOPACK’s I/O circuit uses bidirectional photocoupler. Select either the sink circuit or the source cir-
cuit according to the specifications required for each machine.
Sink Circuit Source Circuit
24 V 24 V
+ − SERVOPACK input + − SERVOPACK input
(4) Output Circuit Interface

There are three types of SERVOPACK output circuits:
(a) Line Driver Output Circuit
CN1 connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are
explained below.
Encoder serial data converted to two-phase (phases A and B) pulse output signals (PAO, /PAO, PBO, /PBO)
and origin pulse signals (PCO, /PCO) are output via line-driver output circuits. Normally, the SERVOPACK
uses this output circuit in speed control to comprise the position control system at the host controller. Con-
nect the line-driver output circuit through a line receiver circuit at the host controller.
6-18
(b) Open-collector Output Circuit

CN1 connector terminals 37 to 39 (alarm code output) are explained below.
Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Con-
nect an open-collector output circuit through a photocoupler, relay or line receiver circuit.
Photocoupler Circuit Example Relay Circuit Example

5 to 12 VDC
SERVOPACK SERVOPACK
Photocoupler 5 to 24 VDC
Relay
0V 0V
0V
Line Receiver Circuit Example
SERVOPACK 5 to 12 VDC
0V
0V
Note: The maximum allowable voltage and current capacities for open-collector output circuits
are as follows.
• Voltage: 30 VDC
• Current: 20 mA DC
(c) Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence out-
put signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit.
Relay Circuit Example Line Receiver Circuit Example

SERVOPACK
5 to 24 VDC SERVOPACK 5 to 12 VDC
Relay
Wiring
0V
6
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits
are as follows.
• Voltage: 30 VDC
• Current: 50 mA DC
6-19
6 Wiring
6.4.1 Wiring Precautions
6.4 Others
6.4.1 Wiring Precautions
To ensure safe and stable operation, always observe the following wiring precautions.
IMPORTANT 1. For wiring for reference inputs and encoders, use the specified cables. Refer to 5 Specifications and
Dimensional Drawings of Cables and Peripheral Devices for details.
Use cables that are as short as possible.
2. For a ground wire, use as thick a cable as possible (2.0 mm2 or thicker).
• At least class-3 ground (100 Ω max.) is recommended.
• Ground to one point only.
• If the servomotor is insulated from the machine, ground the servomotor directly.
3. Do not bend or apply tension to cables.
The conductor of a signal cable is very thin (0.2 to 0.3 mm), so handle the cables carefully.
4. Use a noise filter to prevent noise interference.
(For details, refer to 6.4.2 Wiring for Noise Control.)
• If the equipment is to be used near private houses or may receive noise interference, install a noise filter on
the input side of the power supply line.
• Because the SGDS SERVOPACK is designed as an industrial device, it provides no mechanism to prevent
noise interference.
5. To prevent malfunction due to noise, take the following actions:
• Position the input reference device and noise filter as close to the SERVOPACK as possible.
• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.
• The distance between a power line (such as a power supply line or servomotor cable) and a signal line must
be at least 30 cm. Do not put the power and signal lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVO-
PACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply
line.
6. Use a molded-case circuit breaker (QF) or fuse to protect the power supply line from high voltage.
• The SGDS SERVOPACK connects directly to a commercial power supply without a transformer, so
always use an QF or fuse to protect the SERVOPACK from accidental high voltage.
7. The SGDS SERVOPACKs do not have built-in ground protection circuits. To configure a safer system,
install an earth leakage breaker for protection again overloads and short-circuiting, or install an earth
leakage breaker combined with a wiring circuit breaker for ground protection.
6-20
6.4 Others
6.4.2 Wiring for Noise Control

(1) Wiring Example
The SGDS SERVOPACK uses high-speed switching elements in the main circuit. It may receive “switching
noise” from these high-speed switching elements if wiring or grounding around the SERVOPACK is not appro-
priate. To prevent this, always wire and ground the SERVOPACK correctly.
The SGDS SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as pos-
sible by installing a noise filter in the appropriate place.
The following is an example of wiring for noise control.
SGDS
Noise filter ∗3 SERVOPACK
Servomotor
L1 U
2LF V M
200 VAC L2 (FG)
L3 W
2
3.5 mm
min. ∗1
L1C CN2 PG
L2C CN1
2.0 mm2
Operation relay min.
sequence
Signal generation
circuit (provided by
customer)
∗3 ∗2
AVR
1LF (Ground) 3.5mm 2
min.
2
2 mm min. ∗1
(Casing) (Casing) 2
(Casing) 3.5mm‫ޓ‬min.
Wires of 3.5 mm 2
or more ∗1 (Casing)
(Ground plate)
Ground: Ground to an independent ground

(at least class-3 grounding (100 Ω max.)
∗1 For ground wires connected to the casing, use a thick wire with a thickness of
2
at least 3.5 mm (preferably, plain stitch cooper wire)
∗2 should be twisted-pair wires.
∗3 When using a noise filter, follow the precautions in (3) Using Noise Filters.
(2) Correct Grounding

Wiring
(a) Grounding the Motor Frame
Always connect servomotor frame terminal FG to the SERVOPACK ground terminal . Also be sure to
ground the ground terminal .
6
If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK
power unit through servomotor stray capacitance. The above grounding is required to prevent the adverse
effects of switching noise.
6-21
6 Wiring
(b) Noise on the Reference Input Line

If the reference input line receives noise, ground the 0 V line (SG) of the reference input line. If the main cir-
cuit wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box. For all
grounding, ground at one point only.
All grounds must be made to only one point in the system.
(3) Using Noise Filters

Use an inhibit type noise filter to prevent noise from the power supply line. The following table lists recom-
mended noise filters for each SERVOPACK model.
Install a noise filter on the power supply line for peripheral equipment as necessary.
SERVOPACK Model Recommended Noise Filters
Main Circuit
Capacity Manufacturer
Power Supply SGDS- Model Specification
(kW)
0.03 A3B
0.05 A5F FN2070-6/07 Single-phase 250 VAC, 6 A
Single-phase 0.10 01F
100 V
0.20 02F FN2070-10/07 Single-phase 250 VAC, 10 A
0.40 04F FN2070-16/07 Single-phase 250 VAC, 16 A
0.05 A5A
0.10 01A FN2070-6/07 Single-phase 250 VAC, 6 A
Single-phase 0.20 02A SCHAFFNER
200 V
0.5 05A FN258L-7/07 Three-phase 480 VAC, 7 A
1.0 10A
1.5 15A FN258L-16/07 Three-phase 480 VAC, 16 A
Three-phase 2.0 20A
200 V 3.0 30A FN258L-30/07 Three-phase 480 VAC, 30 A
5.0 50A Three-phase 480 VAC, 50 A
FMAC-0934-5010 SCHURTER
6.0 60A Three-phase 440 VAC, 50 A
(formerly TIMONTA)
7.5 75A FMAC-0953-6410 Three-phase 440 VAC, 64 A
6-22
6.4 Others
IMPORTANT Noise Filter Brake Power Supply

Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes.
MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.)
Precautions on Using Noise Filters
Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its
benefits.
1. Do not put the input and output lines in the same duct or bundle them together.
Incorrect Correct
Noise Noise
Filter Filter
Box Box
Noise Noise
Filter Filter
Box Box
Separate these circuits
2. Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bun-
dle them together.
Incorrect Correct
Noise Noise
Filter Filter
The ground wire

can be close to
input lines.
Wiring
6
Box Box
6-23
6 Wiring
3. Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Incorrect Correct
Noise Noise
Filter Filter
SGDS SGDS SGDS SGDS
Shielded
Thick and
ground wire short
Box Box
4. When grounding a noise filter inside a unit.

If a noise filter is located inside a unit, connect the noise filter ground wire and the ground wires from other
devices inside the unit to the ground plate for the unit first, then ground these wires.
Unit
SGDS
Noise
Filter
SGDS
Ground
Box
6-24
6.4 Others
6.4.3 Using More Than One SERVOPACK

The following diagram is an example of the wiring when more than one SERVOPACK is used.
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay
1RY to operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise
filter that has enough capacity for the total power capacity (load conditions) of those servos. For details, refer to
2.5.2 Molded-case Circuit Breaker and Fuse Capacity.
Power supply
R S T
Power
QF Power ON
OFF
1RY 1KM
1KM
Noise
filter SA
1KM
L1
L2 Servomotor
L3
SERVOPACK
L1C M
L2C
+24V
CN1
1RY
31 ALM+
32 ALM -
L1
L2 Servomotor
L3
SERVOPACK
L1C M
L2C
CN1
31 ALM+
32 ALM -
Wiring
L1
L2 Servomotor
L3
SERVOPACK
L1C M
L2C
6
CN1
31 ALM+
32 ALM -
0V
Note: Wire the system so that the power supply’s phase-S is the ground.
6-25
6 Wiring
6.4.4 400-V Power Supply Voltage
6.4.4 400-V Power Supply Voltage
CAUTION
• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer.
Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary,
damaging the SERVOPACK.
When using SERVOPACK with the three-phase 400-VAC class (380 V to 480 V), prepare the following voltage
conversion transfers (single-phase or three-phase).
Primary Voltage Secondary Voltage
380 to 480 VAC → 200 VAC
380 to 480 VAC → 100 VAC
When selecting a voltage conversion transfer, refer to the capacities shown in the following table.
SERVOPACK Voltage Capacity per Current Capacity of Circuit
Voltage
Model SERVOPACK * (kVA) Breaker or Fuse (Arms)
SGDS-A3B 0.25 4
SGDS-A5F 0.25 4
Single-phase
SGDS-01F 0.40 4
100 V
SGDS-02F 0.60 6
SGDS-04F 1.20 8
SGDS-A5A 0.25 4
SGDS-01A 0.40 4
Single-phase
SGDS-02A 0.75 4
200 V
SGDS-04A 1.2 8
SGDS-08A 2.1 11
SGDS-05A 1.4 4
SGDS-10A 2.3 7
SGDS-15A 3.2 10
Three-phase SGDS-20A 4.3 13
200 V SGDS-30A 5.9 17
SGDS-50A 7.5 28
SGDS-60A 12.5 32
SGDS-75A 15.5 41
* This is the net value at the rated load.
Voltage conversion SGDS

transfer SERVOPACK
Single-phase
1KM 100 or 200 VAC
R
L1
L2
S
1KM
T
Magnetic contactor for
power supply ON and OFF
Single-phase Power Supply Connection Example
6-26
6.4 Others
6.4.5 AC/DC Reactor for Harmonic Suppression

(1) Reactor Types
The SGDS SERVOPACK has reactor connection terminals for power supply harmonic suppression. The type of
reactor to be connected differs depending on the SERVOPACK capacity. Refer to the following table.
Reactor Specifications
Applicable
AC/DC Reactor Rated
SERVOPACK Model Impedance
Model Current
SGDS- (mH)
(A)
A3B X5052 45.0 1.0
A5F
Single-phase, X5053 20.0 2.0
01F
100 V
02F X5054 5.0 3.0
04F X5056 2.0 5.0
A5A
X5052 45.0 1.0
01A
Single-phase,
02A X5053 20.0 2.0
200 V
04A X5054 5.0 3.0
08A X5056 2.0 5.0
05A
X5061 2.0 4.8
10A
15A
X5060 1.5 8.8
Three-phase, 20A
200 V 30A X5059 1.0 14.0
50A X5068 0.47 26.8
60A − − −
75A − − −
Note: Select a proper AC or DC reactor for the input current to the SERVOPACK.
Refer to 2.5.2 Molded-case Circuit Breaker and Fuse Capacity for input current to each
SERVOPACK. For the kind of reactor, refer to 5.10.14 AC/DC Reactors for Power Supply Har-
monic Suppression.
(2) Connecting a Reactor

Connect a reactor as shown in the following diagram.
AC Reactor DC Reactor
Single-phase input Three-phase input Wiring
SGDS SGDS
SERVOPACK SERVOPACK
Power supply AC reactor DC reactor
L1 1
6
L2
2
Note: 1. The DC reactor’s 1 and 2 terminals are short-circuited before shipment. Remove the lead
wire between these two terminals and connect the DC reactor.
2. AC/DC reactor is an option.
6-27
6 Wiring
6.4.6 Installation Conditions of UL Standards
6.4.6 Installation Conditions of UL Standards

To adapt SERVOPACKs to UL Standards, use the following ring terminal kit for cables to connect the motor out-
put terminals U,V, and W.
Connecting exposed wires to the terminals in the table below is not allowed under UL standards.
IMPORTANT
Terminal Kit Model,

SERVOPACK Model Terminals Recommended Crimp
Terminal, and Sleeve Model
JZSP-CST9-50A
(Crimp terminals and Sleeves × 3 sets)
(Crimp terminal)
φ4.3
SGDS-50A12A
φ7.1
(5.0 kW)
φ4.5
8.0
9.3 8.5
21.8
Units: mm
1.2
Terminal Kit Model

• JZSP-CST9-75A
(Crimp terminals and Sleeves × 3
sets)
U, V, W
(Motor output)
(Crimp terminal)
φ5.3
12.0
φ9.0
φ5.8
13.3 10.5
SGDS-75A12A 29.8
(7.5 kW)
1.5
Units: mm
Recommended Crimp Terminal Model

R14-5 (by J.S.T. Mfg. Co., Ltd.)
or,
170730-1
(by Tyco Electronics AMP K.K.)
Recommended Sleeve Model

TP-014 (by Tokyo Dip Co., Ltd.)
Note: Refer to 5.3 SERVOPACK Main Circuit Wire Size in this manual or 10.3 SERVOPACK Main Cir-
cuit Wire Size in Σ-III Series AC SERVOPACK SGDS SAFETY PRECAUTIONS (manual no.:
TOBPS80000000) for the wire size of each terminal.
6-28
6.5 Connecting Regenerative Resistors

6.5.1 Regenerative Power and Regenerative Resistance
The rotational energy of driven machine such as servomotor is returned to the SERVOPACK. This is called
regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the
chargeable energy is exceeded, the regenerative power is further consumed by the regenerative resistor.
The servomotor is driven in regeneration state in the following circumstances:
• While decelerating to a stop during acceleration and deceleration operation.

• Continuous operation on the vertical axis.
• During continuous operation with the servomotor rotated from the load side (negative load).
• Regenerative resistors are not installed in the 200 V, 50 W to 400 W and 100 V, 30 W to 400 W SERVO-
PACKs. Operations exceeding the motor speed characteristics shown in 4.5.3 Load Moment of Inertia
need the external regenerative resisters.
6.5.2 Connecting Externally Regenerative Resistors

(1) Necessity of External Regenerative Resistors
Necessity of
SERVOPACK
External Regen- Necessity of External Regenerative Resistors
Capacity
erative Resistors
No built-in regenerative resistor is provided, however, normally an external
regenerative resistor is not required.
400 W or less Not Required
Install external regenerative resistors when the smoothing capacitor in SER-
VOPACK cannot process all the regenerative power.
A built-in regenerative resistor is provided as standard. Install external regen-
0.5 kW to 5.0 kW Not Required erative resistors when the built-in regenerative resistor cannot process all the
regenerative power.
No built-in regenerative resistor is provided, so the external regenerative resis-
6.0 kW to 7.5 kW Required tor is required. If the external regenerative resistor is not connected with the
SERVOPACK, the alarm30 is detected as a regeneration error alarm.
Wiring
6-29
6 Wiring
(2) Specifications of Built-in Regenerative Resistor

If the amount of regenerative energy exceeds the processing capacity of the SERVOPACK, then install an exter-
nal regenerative resistor. The following table shows the specifications of the SERVOPACK’s built-in resistor and
the amount of regenerative power (average values) that it can process.
Specifications Regenerative Minimum
Main Circuit SERVOPACK Model
of Build-in Resistor Power Processed Allowable
Power
Capacity Resistance Capacity by Built-in Resistor ∗ Resistance
Supply SGDS-
(kW) (Ω) (W) (W) (Ω)
0.03 A3B
0.05 A5F
Single-phase
0.10 01F − − −
100 V
0.20 02F
0.40 04F
0.05 A5A
40
0.10 01A
Single-phase − − −
0.20 02A
200 V
0.40 04A
0.80 08A 60 12
0.5 05A 50 40 8
1.0 10A 60 12
1.5 15A 20 50 10 20
Three-phase 2.0 20A
12 80 16 12
200 V 3.0 30A
5.0 50A 8 180 36 8
6.0 60A (6.25)*2 (880)*2 (180)*2 5.8
*3
7.5 75A (3.13) (1760)*3 (350)*3 2.9
* 1. The average regenerative power that can be handled is 20% of the rated capacity of the regenerative
resistor built into the SERVOPACK.
* 2. The values in parentheses are for the optional JUSP-RA04 Regenerative Resistor Unit.
* 3. The values in parentheses are for the optional JUSP-RA05 Regenerative Resistor Unit.
(3) Precautions on Selecting External Regenerative Resistors

• A built-in regenerative resistor is provided for 500 W to 3.0 kW SGDS SERVOPACKs as standard.
When installing an external regenerative resistor to the SERVOPACK, make sure that the resistance is the
same as that of the SERVOPACK’s built-in resistor.
• If combining multiple small-capacity regenerative resistors to increase the regenerative resistor capacity
(W), select resistors so that the resistance value including error is at least as high as the minimum allow-
able resistance shown in the preceding table.
Connecting a regenerative resistor with the resistance smaller than the minimum allowable resistance may
increase the current flow in the regeneration circuit, resulting in damage to the circuit.
6-30
(4) Parameter Setting

Pn600 Regenerative Resistor Capacity Speed Position Torque
Setting Range Unit Factory Setting Setting Validation
0 to SERVOPACK
10 W 0W Immediately
capacity
Be sure to set this parameter when installing an external regenerative resistor to the SERVOPACK.
When set to the factory setting of “0,” the SERVOPACK’s built-in resistor has been used.
Set the regenerative resistor capacity within tolerance value. When the set value is improper, alarm A.320 is not detected nor-
mally. Also, do not set other than 0 without connecting the regenerative resistor because alarm A.300 or A.330 may be detected.
The set value differs depending on the cooling method of external regenerative resistor:
• For natural air cooling method: Set the value maximum 20% of the actually installed regenerative resistor capacity (W).
• For forced air cooling method: Set the value maximum 50% of the actually installed regenerative resistor capacity (W).
Example: Set 20 W (100 W × 20% ) for the 100 W external regenerative resistor with natural cooling method: Pn600 = 2 (units:
10 W)
IMPORTANT 1. When regenerative resistors for power are used at the rated load ratio, the resistor temperature increases
to between 200°C and 300°C. The resistors must be used at or below the rated values. Check with the
manufacturer for the resistor’s load characteristics. Use resistors at no more than 20% of the rated load
ratio with natural convection cooling, and no more than 50% of the rated load ratio with forced air cool-
ing.
2. For safety, use the resistors with thermoswitches.
(5) Connecting Regenerative Resistors

(a) SERVOPACKs with Capacities of 400 W or Less

Connect an external regenerative resistor between

B1/ and B2 terminals.
Note: The user must provide the regenerative

resistor.
Wiring
6
(b) SERVOPACKs with Capacities of 0.5 to 5.0 kW

Disconnect the wiring between the SERVOPACK’s
B2 and B3 terminals and connect an external regen-

erative resistor between the B1/ and B2 terminals
or between the B1 and B2 terminals.
The user must provide the regenerative resistor.

Note: Be sure to take out the lead wire between the −
B2 and B3 terminals.
−

6-31
6 Wiring
(c) SERVOPACKs with Capacities of 6.0 kW or more

The SERVOPACKs with 6.0 kW or more do not have built-in regenerative resistors. Connect the external
regenerative resistor. The following regenerative resistors are available.
Models of
Main Circuit SERVOPACK Model Applicable Resistance
Specification
Power Supply SGDS- Regenerative (Ω)
Resistor
Three-phase 60A JUSP-RA04 6.25 25 Ω (220 W) × 4, parallel connection
200 V 75A JUSP-RA05 3.13 25 Ω (220 W) × 8, parallel connection
The following illustration shows how to connect the regenerative resistor and a SERVOPACK.
SERVOPACK
Regenerative Resistor
JUSP-RA
B1 B2
Connect the regenerative resistors to the terminals between B1 and B2 of the SERVOAPCK. Customers must
purchase regenerative resistors.
IMPORTANT Do not touch the regenerative resistors because they reach high temperatures. Use heat-resistant, non-flam-
mable wiring and make sure that the wiring does not touch the resistors. For connecting wire size when
connecting an external regenerative resistor, refer to 5.3 SERVOPACK Main Circuit Wire Size.
6-32
7
Panel Operator
7.1 Functions on Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2

7.1.1 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.2 Basic Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.1.3 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - - - - - - - - - -7-6

7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
7.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.2.3 Origin Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.2.4 Program JOG Operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
7.2.5 Initialize Parameter Settings (Fn005) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.2.6 Clear Alarm Traceback Data (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
7.2.7 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E) - - - - - - - 7-17
7.2.8 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) - - - - - - - - - 7-18
7.2.9 Write Prohibited Setting (Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
7.2.10 Servomotor Model Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
7.2.11 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.2.12 Online Vibration Monitor (Fn018) and EasyFFT (Fn019) - - - - - - - - - - - - - - - - - - - - 7-21
7.2.13 Online Vibration Monitor (Fn018) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
7.2.14 EasyFFT (Fn019) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23
7.2.15 Vibration Detection Level Initialization (Fn01B) - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25
7.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - - - - - - - - - - - 7-27

7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32 Panel Operator
7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-36
7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - 7-38

7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
7.4.2 Sequence I/O Signal Monitor Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
7.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40
7.4.4 Monitor Display of Reference Pulse Counter, Feedback Pulse Counter, Fully-closed
7
Feedback Pulse Counter and Fully-closed Feedback Speed - - - - - - - - - - - - - - - - - - 7-41
7.4.5 Monitor Display at Power ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-42
7-1
7 Panel Operator
7.1.1 Key Names and Functions
7.1 Functions on Panel Operator

This section describes the basic operations of the panel operator for setting the operating conditions.
Set parameters and JOG operation, and display status using the panel operator. For the operation of hand-held
digital operator (Model: JUSP-OP05A), refer to the instructions of digital operator for SGMS/SGDS (manual
no.: TOBPS80000001) in the Σ-III series.
7.1.1 Key Names and Functions

The names and functions of the keys on the panel operator are as follows.
Keys on Panel
SERVOPACK Function
Operator
To reset the servo alarm.
+
Notes: The servo alarm can be reset by /ALM-RST (CN1-44) input signal.
Press simultaneously
To select a basic mode, such as the status display mode, utility function mode,
parameter setting mode, or monitor mode.
Panel operator MODE/SET
(MODE/SET Key)
Press UP Key to increase the set value.

For JOG operation, this key is used as Forward Run Start Key.
(UP Key)
Press DOWN Key to decrease the set value.

For JOG operation, this key is used as Reserve Run Start Key.
(DOWN Key)
• Data setting key

• To display parameter setting and set value.
DATA/
(DATA/SHIFT) • To shift to the next digit on the left.
IMPORTANT When an alarm occurs, remove the cause, and then reset the alarm. Refer to 11.1 Troubleshooting.
7-2
7.1.2 Basic Mode Selection

The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor
Mode. Select a basic mode to display the operation status, set parameters and operation references.
Press MODE/SET Key to select a basic mode in the following order.
Power ON
Press MODE/SET Key.
A basic mode is selected in the following order.
Status Display Mode (Refer to 7.1.3)
Press
MODE/SET
Press at least one second Fn : Utility Function Mode

DATA/
DATA/SHIFT
(Refer to 7.2)
Press
MODE/SET
Return to Press at least one second Pn : Parameter Setting Mode

DATA/ (Refer to 7.3)
DATA/SHIFT
Press
MODE/SET
Press at least one second Un : Monitor Mode

DATA/ (Refer to 7.4)
DATA/SHIFT
Press
MODE/SET
Press MODE/SET Key to select the utility function mode, parameter setting mode, or monitor mode.
Press DATA/SHIFT Key and UP or DOWN Key to select the desired parameter number. Then, press DATA/
SHIFT Key for more than one second to display the contents of selected parameter number in the selected mode.
(Refer to each operation instruction described later.)
Panel Operator
7-3
7 Panel Operator
7.1.3 Status Display
7.1.3 Status Display

Bit data Code
(1) Bit Data and Meanings

Item Speed or Torque Control Mode Position Control Mode
Bit Data Meaning Bit Data Meaning
c Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power is
Power ON ON. Power ON ON.
d Baseblock Lit for baseblock. Not lit when servo is on. Baseblock Lit for baseblock. Not lit when servo is ON.
e Speed Lit when the difference between the servo- Positioning Lit if error between position reference and
Coincidence motor speed and reference speed is the same Completion actual motor position is below preset value.
(/V-CMP) as or less than the value set in Pn503. (Fac- (/COIN) Not lit if error between position reference
tory setting: 10 min-1.) and actual motor position exceeds preset
∗ Always lit in torque control mode. value.
Preset value: Set in Pn522 (Factory setting
is 7 pulses.)
f Rotation Lit if motor speed exceeds preset value. Rotation Lit if motor speed exceeds preset value.
Detection Not lit if motor speed is below preset value. Detection Not lit if motor speed is below preset value.
(/TGON) Preset value: Set in Pn502 (20 min-1 is fac- (/TGON) Preset value: Set in Pn502 (20 min-1 is stan-
tory setting) dard setting.)
g Speed Lit if input speed reference exceeds preset Reference Lit if reference pulse is input
Reference value. Pulse Input Not lit if no reference pulse is input.
Input Not lit if input speed reference is below pre-
set value.
Preset value: Set in Pn502 (20 min-1 is fac-
tory setting.)
h Torque Lit if input torque reference exceeds preset Error Counter Lit when error counter clear signal is input.
Reference value. Clear Signal Not lit when error counter clear signal is not
Input Not lit if input torque reference is below Input input.
preset value.
Preset value: 10% rated torque is standard
setting.
i Power Ready Lit when main power supply circuit is nor- Power Ready Lit when main power supply circuit is nor-
mal. mal.
Not lit when power is OFF. Not lit when power is OFF.
7-4
(2) Codes and Meanings
Code Meaning
Baseblock
Servo OFF (servomotor power OFF)
Run
Servo ON (servomotor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF.
Alarm Status
Blinks the alarm number.
Panel Operator
7-5
7 Panel Operator
7.2.1 List of Utility Function Modes
7.2 Operation in Utility Function Mode (Fn)

7.2.1 List of Utility Function Modes
This section describes how to apply the basic operations using the panel operator to run and adjust the motor.
The following table shows the parameters in the utility function mode.
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 { 8.4.8
alarm occurs
Fn014 Fixed parameter { −
Fn015 One-parameter tuning with less deviation { 9.6.9
Fn016 Fixed parameter −
Fn017 Advanced tuning { 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
one second
7-6
7.2.2 Alarm Traceback Data Display (Fn000)

The alarm traceback display can display up to ten previously occurred alarms with time stamp to indicate the
total operation time at the moment of alarm occurrence, thus making it possible to check what kind of alarms
have been generated.
The Time Stamp counts the main power supply ON time in units of 100 ms for 24 hours per day and 365 days.
When the Time Stamp counts up to 4294967295 after approximately 13 years’ operation, the Time Stamp ends
counting. If the same alarm occurs more than one hour later, this alarm is also saved in the traceback.
Alarm data stored in the alarm traceback data is shown by Fn000. The data can be cleared using an utility func-
tion mode “Clear Alarm Traceback Data.” For details, refer to 7.2.6 Clear Alarm Traceback Data (Fn006).
The alarm traceback data is not cleared on alarm reset or when the SERVOPACK power is turned OFF. This does
not adversely affect operation.

Refer to 11.1 Troubleshooting for alarm number and contents.
INFO 1. Alarm traceback data will not be updated when the same alarm occurs repetitively.
2. The display “.---” means no alarm occurs.
Panel Operator
7-7
7 Panel Operator
7.2.2 Alarm Traceback Data Display (Fn000)
• Checking Alarms
Follow the procedure below to confirm alarms which have been generated.
Procedure
Display after Operation Panel Operator Description
1 Press MODE/SET Key to select “Alarm Traceback Data Display

(Fn000).” If a number other than Fn000 is display, press UP Key or
MODE/SET DOWN Key to set Fn000.
(MODE/SET Key)
*The enabled digit blinks.
2 Press DATA/SHIFT Key for more than one second.
DATA
The latest alarm data is displayed.
(DATA/SHIFT)
(Press at least one sec.)
3 Press DOWN Key to display one older alarm data.

(To display one newer alarm data, press UP Key.)
(DOWN Key) ∗The height the leftmost digit, the older the alarm data.
4 Press DATA/SHIFT Key for less than one second.
DATA/
The lower four digits of Time Stamp are displayed.
DATA/SHIFT
Less than one sec.

DATA/
The middle four digits of Time Stamp are displayed.
DATA/SHIFT
Less than one sec.

DATA/
The higher two digits are displayed.
DATA/SHIFT
Less than one sec.

DATA/
The alarm traceback data is displayed again.
DATA/SHIFT
Less than one sec.

DATA Fn000 is displayed again.
(DATA/SHIFT)
7-8
7.2.3 Origin Search Mode (Fn003)
CAUTION
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during origin search
mode operations using Fn003.
The origin search mode is designed to position the origin pulse position of the encoder and to clamp at the posi-
tion.
This mode is used when the motor shaft needs to be aligned to the machine.
Execute the origin search without connecting the couplings.
For aligning the motor

shaft with the machine
The speed for executing the origin search is 60 min-1.

The following conditions must be met to perform the origin search operation.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the Servo has been set to
always be ON.
Follow the procedure below to execute the origin search.
Procedure
1 Press MODE/SET Key to select the utility function mode.

MODE/SET
(MODE/SET Key)
2 Press UP or DOWN Key to select the Fn003.

3 Press DATA/SHIFT Key for more than one second, and the display
will be as shown on the left.
DATA
(DATA/SHIFT)
Panel Operator
4 Press MODE/SET Key.
The servomotor is turned to Servo ON.
MODE/SET
(MODE/SET Key)
5 When the parameter is set to Pn000.0 = 0 (default), pressing the UP

Key will rotate the motor in the forward direction. Pressing the
DOWN Key will rotate the motor in the reverse direction. When the
parameter is set to Pn000.0 = 1, the rotation of the servomotor is 7
reversed.
6 When the servomotor origin search is completed, the display blinks.
Display blinks. At this moment, the motor is servo-locked at the origin pulse posi-
tion.
DATA Fn003 display appears again.
(DATA/SHIFT)
(Press at least one sec.) The servomotor is turned to Servo OFF.
7-9
7 Panel Operator
7.2.4 Program JOG Operation (Fn004)

The Program JOG Operation is a utility function, that allows continuous automatic operation determined by the
preset operation pattern, movement distance, movement speed, acceleration/deceleration time, number of time of
repetitive operations through the panel operator.
This function can be used to move the servomotor without it having to be connected to a host controller for the
machine as a trial operation in JOG operation mode. Also, continuous repetitive operations can be carried out by
using position control. Therefore, Program JOG Operation can be used to confirm the reference unit and elec-
tronic gears and for simple positioning operations.
The Program JOG Operation can be executed at the same time of processing for other functions. For example,
setting the execution of normal autotuning while executing this function allow autotuning without connecting to
a host controller.
(1) Precautions
Observe the following restrictions during operation.
• Prior to setting this function, set correctly the machine operation range and safe operation speed in the
parameters such as “program JOG operation movement distance” and “program JOG movement speed.”
• The SERVOPACK must be in Servo Ready status to execute this function. this function cannot be exe-
cuted in Servo ON status.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the Servo has been set to
always be ON.
• Control mode is position control mode during program JOG operation. However, the pulse reference
input to the SERVOPACK is inhibited (in \INHIBIT status) and no pulse reference input is accepted.
• The overtravel function is enabled in this function. (Disables in JOG operation mode.)
• When an absolute encoder is used, SEN signal is always enabled.
• Other functions that are applicable for position control, such as position reference filter, can be used.
(2) Program Operation Patterns
The following example is given when the rotating direction of the Servomotor is set as Pn000.0 = 1 (counter-
clockwise direction is regarded as the forward run).
Pn530.0 = 0　
(Waiting time Pn535 → Forward movement Pn531) × No. of times of movement Pn536
Number of times of movement Pn536
Movement
Pn531 Pn531 Pn531
Speed speed Movement Movement Movement
Pn533 distance distance distance
Diagram
At zero speed
key ON
Accel/Decel Waiting time
Waiting time time Waiting time
Pn535 Pn534 Pn535 Pn535
Servomotor
Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Forward)
7-10
Pn530.0 = 1
(Waiting time Pn535 → Reverse movement Pn531) × No. of times of movement Pn536
At zero speed
Movement Pn531 Pn531 Pn531

Speed speed Movement Movement Movement
Pn533 distance distance distance
Diagram
key ON
Accel/Decel time
Waiting time Pn534 Waiting time Waiting time
Pn535 Pn535 Pn535
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Reverse)
Pn530.0 = 2 (Waiting time Pn535 → Forward movement Pn531) × No. of times of movement Pn536
(Waiting time Pn535 → Reverse movement Pn531) × No. of times of movement Pn536
Number of times of movementPn536 Number of times of movement Pn536
Accel/Decel time
Movement Pn531
speed Movement
Pn531 Waiting time Pn534 Waiting time
Speed distance
Movement
Pn535 Pn535
Pn533 distance
Diagram
At zero
speed
Movement
key ON Pn531 Pn531 speed
Accel/Decel Movement Movement
Waiting time time Waiting time distance distance
Pn533
Pn535 Pn534 Pn535
Servomotor
Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Reverse) (Stop) (Reverse)
Pn530.0 = 3 (Waiting time Pn535 → Reverse movement Pn531) × No. of times of movement Pn536
(Waiting time Pn535 → Forward movement Pn531) × No. of times of movement Pn536
Number of times of movement Pn536 Number of times of movement Pn536
Panel Operator
Accel/Decel time
Waiting time Pn534 Waiting time Waiting time Pn531 Pn531 Movement
Pn535 Pn535 Pn535 Movement Movement speed
Speed distance distance Pn533
key ON
Diagram
At zero
speed
Pn531 Pn531
Movement Movement Waiting time
distance distance Accel/Decel time Pn535 7
Pn533 Pn534
Movement speed
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Forward) (Stop) (Forward)
7-11
7 Panel Operator
Pn530.0 = 4
(Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Reserve movement Pn531)
× No. of times of movement Pn536
Pn531
Movement
speed
Speed Movement
Pn533
distance
Diagram At zero
speed
key ON Pn531
Waiting time Waiting time Movement Pn533
Pn535 Accel/Decel time Pn535 distance
Movement speed
Pn534
Servomotor
Run Status
(Stop) (Forward) (Stop) (Reverse) (Stop)
Pn530.0 = 5
(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531)
× No. of times of movement Pn536
Accel/Decel time
Waiting time Pn534 Waiting time Pn531
Speed Pn535 Pn535 Movement
distance
key ON
Diagram
At zero
speed
Pn531 Movement
Movement speed
distance Pn533
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Forward) (Stop)
7-12
(3) Parameters
Pn530 Program JOG Operation Related Switch Speed Position Torque

− − 0000 Immediately
Pn531 Program JOG Movement Distance Speed Position Torque
1 to 1073741824(2 ) 30 Immediately
1 Reference unit 32768
reference units
Pn533 Program JOG Movement Speed Speed Position Torque
1 to 10000 1min-1 500 Immediately
Pn534 Program JOG Acceleration/Deceleration Time Speed Position Torque
2 to 10000 1ms 100 Immediately
Pn535 Program JOG Waiting Time Speed Position Torque
0 to 10000 1ms 100 Immediately
Pn536 Number of Times of Program JOG Movement Speed Position Torque
1 to 1000 1 time 1 Immediately
Factory
Parameter Contents
Setting
Pn530 n.0 (Waiting time Pn535 → Forward movement Pn531) × Number of times of 0
movement Pn536
n.1 (Waiting time Pn535 → Reverse movement Pn531) × Number of times of
movement Pn536
n.2 (Waiting time Pn535 → Forward movement Pn531) × Number of times of
movement Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of times of
movement Pn536
n.3 (Waiting time Pn535 → Reverse movement Pn531) × Number of times of
movement Pn536
Panel Operator
(Waiting time Pn535 → Forward movement Pn531) × Number of times of
movement Pn536
n.4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 →
Reverse movement Pn531)
× Number of times of movement Pn536
n.5 (Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 →
Forward movement Pn531) 7
× Number of times of movement Pn536
7-13
7 Panel Operator
(4) Operation
Procedure

MODE/SET
(MODE/SET Key)
2 Press UP Key or DOWN Key to select Fn004.
3 Press DATA/SHIFT Key for more than one second. The display
DATA
shown on the left appears.
(DATA/SHIFT)
4 Press MODE/SET Key. The servo turns ON.

MODE/SET
(MODE/SET Key)
5 Press UP Key or DOWN Key according to the first movement

direction of the operation pattern. After the preset waiting time,
the movement starts.
* Press MODE/SET Key again during operation, and the servo-
motor will be in baseblock status and stop.
Press DATA/ENTER Key for more than one second during
operation, the servomotor stops and the utility function mode
display Fn004 appears.
6 End of program “End” blinks when the program JOG operation movement com-
JOG operation pletes, and the display of procedure 4 appears.
Press MODE/SET Key, and the servomotor will be in baseblock
（Blinking） status.
Press DATA/ENTER Key for more than one second, and the util-
ity function mode display Fn004 appears.
7-14
7.2.5 Initialize Parameter Settings (Fn005)

This function is used when returning to the factory settings after changing parameter settings.
Pressing MODE/SET Key during servo ON does not initialize the parameter settings.
After initialization, turn OFF the power supply and then turn ON again.
IMPORTANT Initialize the parameter settings with the servo OFF.

Procedure

MODE/SET
(MODE/SET Key)
2 Press UP or DOWN Key to select Fn005.

DATA
(DATA/SHIFT)
4 Press MODE/SET Key. Then, the parameters will be initialized.

During initialization, the display shown on the left blinks.
MODE/SET
(MODE/SET Key)
5 End of initialization When the initialization of parameter setting completes, the display
shown on the left blinks for about one second.
6 After about one The display changes from “donE” to the display shown on the left.
second
7 Press DATA/SHIFT Key for more than one second to return to the
utility function mode display Fn005.
DATA
(DATA/SHIFT)
Panel Operator
7-15
7 Panel Operator
7.2.6 Clear Alarm Traceback Data (Fn006)
7.2.6 Clear Alarm Traceback Data (Fn006)

This function clears the alarm history, which stores the alarms generated in the SERVOPACK.
After having cleared data, “.----” (No alarm) is set to all the alarm history data.
Procedure

MODE/SET
(MODE/SET Key)

* The enabled digit blinks.
DATA
(DATA/SHIFT)
4 Press MODE/SET Key to clear the alarm traceback data.

The display shown on the left blinks for about one second when the
MODE/SET
(MODE/SET Key) data is cleared.
second
display the utility function mode Fn006.
DATA
(DATA/SHIFT)
7-16
7.2.7 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E)

Motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the user need not
perform this adjustment.
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by cur-
rent offset. Automatic adjustment is possible only with power supplied to the main circuits power supply and
with the servo OFF.
IMPORTANT Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other
SERVOPACKs.
Procedure

MODE/SET
(MODE/SET Key)
2 Press UP or DOWN Key to select Fn00E.

3 Press the DATA/SHIFT Key for more than one second, and the dis-
play will be as shown on the left.
DATA
(DATA/SHIFT)

The offset will be automatically adjusted.
MODE/SET
(MODE/SET Key) When the adjustment completes, the display shown on the left
blinks for about one second.
second
6 Press the DATA/SHIFT Key for more than one second to return to
the utility function mode display Fn00E.
DATA
(DATA/SHIFT)
Panel Operator
7-17
7 Panel Operator
7.2.8 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F)
7.2.8 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F)

The adjusting range of the motor current detection signal offset is -512 to +511.
To adjust the offset, perform the automatic adjustment (Fn00E) first.
And if the torque ripple is still big after the automatic adjustment, perform the manual servo tuning.
IMPORTANT If this function, particularly manual servo tuning, is executed carelessly, it may worsen the characteristics.
When performing manual servo tuning, run the servomotor at a speed of approximately 100 min-1, and
adjust the operator until the torque monitor ripple is minimized. (Refer to 9.7 Analog Monitor.) Adjust the
phase-U and phase-V offsets alternately several times until these offsets are well balanced.
Procedure

MODE/SET
(MODE/SET Key)
2 Press UP or DOWN Key to select Fn00F.

will be as shown on the left (phase U).
DATA
(DATA/SHIFT)
4 Press DATA/SHIFT Key for less than one second to display the
phase-U offset amount.
DATA/
DATA/SHIFT
Less than one sec.
5 Press UP or DOWN Key to adjust the offset. Carefully adjust the

offset while monitoring the torque reference monitor signal.

DATA/
The display shown on the left appears.
DATA/SHIFT
Less than one sec.

MODE/SET The display shown on the left appears (phase V).
(MODE/SET Key)
8 Press DATA/SHIFT Key for less than one second to display the
DATA/
phase-V offset amount.
DATA/SHIFT
Less than one sec.
9 Press UP or DOWN Key to adjust the offset. Carefully adjust the

offset while monitoring the torque reference monitor signal.

DATA/ The display shown on the left appears.
DATA/SHIFT
Less than one sec.
11 When the offset adjustment completes, press DATA/SHIFT Key for

more than one second.
DATA
(DATA/SHIFT)
The display returns to that of the utility function mode Fn00F.
7-18
7.2.9 Write Prohibited Setting (Fn010)

The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters
Pn and some of Fn become write prohibited by setting values. Refer to 7.2.1 List of Utility Function
Modes for details.
Setting values are as follows:

• “0000”: Write permitted (Releases write prohibited mode.)
• “0001”: Write prohibited (Parameters become write prohibited from the next power ON.)
Procedure

MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn010.

3 Press the DATA/SHIFT Key for more than one second, and the dis-
play will be as shown on the left.
DATA
(DATA/SHIFT)
4 Press UP or DOWN Key to set a value:

“0000”: Write permitted, “0001”: Write prohibited
5 Press MODE/SET Key to register the value.

The write prohibited settings of parameters are executed.
When the value is registered, the display shown on the left blinks for
MODE/SET about one second.
(MODE/SET Key)
* If a value other than “0000” and “0001” is set, “Error” is displayed
blinked for about one second, and the previous setting is displayed.
6 The display changes from “donE” to “P.000.”
After about one
second
7 Press the DATA/SHIFT Key for more than one second to return to
the utility function mode display Fn010.
DATA
(DATA/SHIFT)
Panel Operator
7-19
7 Panel Operator
7.2.10 Servomotor Model Display (Fn011)
7.2.10 Servomotor Model Display (Fn011)

This function is used to check the servomotor model, voltage, capacity, encoder type, and encoder resolution. If
the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.
Procedure

MODE/SET
(MODE/SET Key)

∗The enabled digit blinks.
3 Press DATA/SHIFT Key for more than one second to display the
servomotor model and voltage code.
DATA
Servomotor Voltage Servomotor Model
(DATA/SHIFT) Data Type Data Model Data Model
00 100 VAC 03 SGMGH (1500 min-1) 32 SGMCS-C
01 200 VAC 04 SGMGH (1000 min-1) 33 SGMCS-D
11 SGMMJ 34 SGMCS-B
20 SGMAS 35 SGMCS-E
21 SGMPS 37 SGMCS-M
22 SGMSS 38 SGMCS-N
4 Press MODE/SET Key to display the servomotor capacity.
MODE/SET
(MODE/SET Key)
Servomotor capacity in units of 10 W

The above example indicates 100 W
5 Press MODE/SET Key, and the encoder type and resolution code
will be displayed.
MODE/SET Encoder Type Encoder Resolution

(MODE/SET Key)
Data Type Data Resolution
00 Incremental encoder 13 13-bit
01 Multi-turn data absolute encoder 16 16-bit
02 Single-turn data absolute encoder 17 17-bit
20 20-bit
6 Press MODE/SET Key to display the SERVOPACK’s code for cus-

tom orders.
* The display “y.0000” means standard model.
MODE/SET
(MODE/SET Key)
Code for custom orders

utility function mode display Fn011.
DATA
(DATA/SHIFT)
7-20
7.2.11 Software Version Display (Fn012)

Set Fn012 to select the software-version check mode to check the SERVOPACK and encoder software version
numbers.
Procedure

MODE/SET
(MODE/SET Key)

SERVOPACK software version number.
DATA
(DATA/SHIFT)
4 Press MODE/SET Key to display the encoder software version

number.
MODE/SET
(MODE/SET Key)
utility function mode Fn012.
DATA
(DATA/SHIFT)
7.2.12 Online Vibration Monitor (Fn018) and EasyFFT (Fn019)

Both “Online Vibration Monitor” and “EasyFFT” functions are used to detect mechanical vibration and automat-
ically set the notch filter. Refer to the following flowchart to decide which function to be used.
When using mainly for servo gain adjustment, etc.
Start
Vibration with No
high-frequency noise
during operation
Yes
Turn OFF the servo, and

execute EasyFFT (Fn019) Panel Operator
Adjsut servo gain
No
Vibration 7
Yes
With the servo ON, execute

Online Vibration Monitor
(Fn018)
End
7-21
7 Panel Operator
7.2.13 Online Vibration Monitor (Fn018)
7.2.13 Online Vibration Monitor (Fn018)

When the machine generates vibration, setting a notch filter or torque reference filter according to the vibration
frequency may stop the vibration.
When vibration occurs while the power is supplied to the servomotor (“online” state), Online Vibration Monitor
function detects the vibration elements and analyses the frequency to set a notch filter in the parameter.
When abnormal noise occurs due to machine resonance during operation, Online Vibration Monitor function
detects the vibration frequencies and display three largest peak values in vibration frequency. And the function
automatically selects a torque reference filter or notch filter frequency for one of the detected vibration frequen-
cies and set in the parameter.
IMPORTANT Use this function when Pn110=n.2 (normal autotuning is not used) is set.
Procedure

MODE/SET
(MODE/SET Key)


DATA The display shown on the left appears.
(DATA/SHIFT)
4 Press MODE/SET Key to start vibration detection.

MODE/SET
(MODE/SET Key)
5 “F” blinks during detection. Note that MODE/SET Key must be

pressed about one second to start the detection. When “F” blinks,
MODE/SET
(MODE/SET Key) release MODE/SET Key. The vibration will be detected automati-
(Blinks) cally.
6 Press MODE/SET Key again. “F” stops blinking and the detection
completes. If the detection ends successfully, the detection results is
displayed. The vibration frequency with the biggest vibration
(Display of detection amplitude peak value is detected and displayed.
result)
MODE/SET
(MODE/SET Key) When there is a frequency with a peak value that cannot be detected,
“F----” is displayed.
(When fails to detect)

7 Press DATA/SHIFT Key to quit the vibration monitor and return to
the basic function display.
DATA/
(DATA/SHIFT)
∗If the detection process did not end normally, “no oPE” is dis-
played.
8 After the detection ends normally in Procedure 6, press MODE/SET
Key to set optimum frequency (time constant) of notch filter fre-
quency or torque reference filter time constant for the peak fre-
quency F1250 automatically. When the setting is made normally,
MODE/SET
(MODE/SET Key) “donE” is displayed. And parameters is updated accordingly.
Press DATA/SHIFT Key to return to the utility function mode dis-
play.
7-22
7.2.14 EasyFFT (Fn019)
WARNING
• Do not touch the servomotor and machine during EasyFFT operation because the servomotor will run.
Failure to observe this warning may cause an injury.
When the machine generates vibration, setting a notch filter according to the vibration frequency may stop the
vibration.
The EasyFFT function detects the frequency for setting the notch filter from the machine characteristics, and sets
in the parameter.
The SERVOPACK outputs periodic wave form reference and slightly rotates the servomotor a few times for a set
amount of time to cause the machine to vibrate. The EasyFFT function detects the resonant frequency from the
vibration on the motor and sets the notch filter for the detected frequency. A notch filter is effective for removing
high-frequency vibration and noise.
Small
Periodic wave rotation
form reference Small
rotation
Response
SERVOPACK
IMPORTANT 1. Starts EasyFFT (Fn019) with the servo OFF (the servomotor power OFF).
2. Do not input the reference from outside because EasyFFT outputs the special reference from the SER-
VOPACK.
Procedure

MODE/SET
Panel Operator
(MODE/SET Key)
3 Press DATA/SHIFT for more than one second. The display shown
on the left appears. The panel operator is in Fn019 utility setting 7
DATA execution mode.
(DATA/SHIFT)
(Setting reference ampli- (Press at least one sec.)
tude)
7-23
7 Panel Operator
7.2.14 EasyFFT (Fn019)
Procedure (cont’d)
4 Press UP or DOWN Key to set a reference amplitude.

∗At the initial execution of Fn019, do not change the reference
amplitude setting, but starts from the initial value 15. Though
Reference amplitude set- increasing reference amplitude increases the detection accuracy, the
ting: 1 to 300) vibration and noise occurring on the machine will increase momen-
Note: The setting value of tarily. Increase an amplitude value little by little, observing the
the reference ampli- result.
tude setting is
stored in Pn456, but
set the setting value
following the pro-
cedure the next
time.
5 Press DATA/SHIFT Key for more than one second to enter the run
ready status.
DATA
(DATA/SHIFT)
(Run ready status)
6 Press MODE/SET Key to enter Servo ON status (the motor power
ON)
MODE/SET ∗Press DATA/SHIFT Key to turn the servo OFF. “F. “ is displayed
(MODE/SET Key) to indicate the run ready status. To end Fn019 function, proceed to
Procedure 10.
7 In Servo ON status (the servomotor power ON), press UP Key (for-
ward) or DOWN Key (reverse). The servomotor performs a few to-
and-fro movements within 1/4 rotation in automatic operation. The
Blinks motor performs such movements for approximately 1 to 45 seconds.
During this operation, the display shown on the left blinks.
* Do not enter the machine’s working area, because the servomotor
rotates. Some noise may result.
Servomotor
* To stop EasyFFT while the servomotor rotates
small movement
Press MODE/SET Key to stop the servomotor. No detection is
executed. “F.” is displayed to indicate the run ready status. To
end Fn019, proceed to Procedure 10.
8 At normal completion of the detection, “E_FFt” stops blinking and
the detected resonant frequency is displayed.
Detection result example Detection result

display
When failing to detect, the display shown on the left appears.
IMPORTANT
If the operation ended normally but it took two second or more, the detection accuracy may not be good. Set the
reference amplitude little higher than 15 in Procedure 4 and re-execute the operation. More accurate resonance may be
frequency detected.
Though increasing reference amplitude increases the detection accuracy, the vibration and noise occurring in the
machine will increase momentarily. Increase an amplitude value little by little, observing the result.
9 To end the vibration monitor, press DATA/SHIFT Key for less than
one second. The display returns to that for the servomotor power
DATA/
DATA/SHIFT ON status in Procedure 6.
Less than one sec.
10 Press DATA/SHIFT Key for more than one second. The servo turns
OFF (the servomotor power OFF) and the utility function mode dis-
DATA
(DATA/SHIFT) play appears.
7-24
(cont’d)
Procedure
11 After the detection completes normally, press MODE/SET Key. the

optimum notch filter for the detected frequency “F1250” is automat-
ically set. When the notch filter is set correctly (Pn408, Pn409), the
(Blinks) display “donE” blinks.
Pn408=n.1 When the 1st notch filter frequency was already set
Pn409=1375 (Hz) MODE/SET (Pn408=n1), sets 2nd notch filter frequency (Pn40C). When
(MODE/SET Key) the 2nd notch filter frequency (Pn408=n.1) was also set, the
frequency setting of notch filter is unable. If the Detected frequency
is not used, set the Pn408=n.0.
12 Press MODE/SET Key to return to the display of run ready status.
MODE/SET
(MODE/SET Key)
(Run ready status)
utility function mode.
DATA
(DATA/SHIFT)
7.2.15 Vibration Detection Level Initialization (Fn01B)

This function detects vibration when servomotor is connected to a machine and automatically adjust the vibration
detection level (Pn312) to output more exactly the vibration alarm (A.520) and warning (A.911).
Use this function if the vibration alarm (A.529) or warning (A.911) is not output correctly when a vibration
above the factory setting vibration detection level (Pn312) is detected. In other cases, it is not necessary to use
this function.
The vibration detection function detects vibration elements according to the motor speed, and if the vibration
exceeds the detection level calculated by the following formula, outputs an alarm or warning depending on the
setting of vibration detection switch (Pn310).
The vibration alarm or warning detection sensibility differs depending on the machine conditions. In this case, a
detection sensibility fine adjustment can be set in the detection sensibility Pn311.
Vibration detection level × Detection sensibility (Pn311[%])
Detection level =
100
IMPORTANT 1. The vibration may not be detected cause of improper servo gains. Also, not all kinds of vibrations can be Panel Operator
detected. Use the detection result as a guideline.
2. Set the proper moment of inertia ratio (Pn103). Improper setting may result in the vibration alarm, warn-
ing misdetection, or non-detection.
3. When using this function, set parameter Pn110 to n.2 so that normal auto tuning is not performed.
4. The references that are used to operate your system must be input to execute this function.
5. Execute this function under the operation condition for which the vibration detection level should be ini- 7
tialized. A vibration is detected immediately after the servo is turned ON if this function is executed
while the servomotor runs at low speed. “Error” is displayed if this function is executed while the servo-
motor runs at less than 10% of the maximum motor speed.
7-25
7 Panel Operator
7.2.15 Vibration Detection Level Initialization (Fn01B)
(1) Parameters
Pn311 Vibration Detection Sensibility Speed Position Torque

50 to 500 1% 100 Immediately
Pn312 Vibration Detection Level Speed Position Torque

0 to 5000 1 min -1 50 Immediately
This parameter is set by setting Fn01B, so the customer does not have to adjust it. The vibration detection sensibility can be
set at Pn311.
Parameter Meaning
Pn310 n.0 Does not detect vibration (Factory setting)
n.1 Outputs the warning (A.911) when vibration was detected.
n.2 Outputs the alarm (A.520) when vibration was detected.
Follow the procedure to initialize the parameter (Pn312).

Procedure

MODE/SET
(MODE/SET Key)
3 Press DATA/SHIFT Key at least one sec. The display shown on the
left appears.
DATA
(DATA/SHIFT)
4 Press MODE/SET Key for more than one second. The display
shown on the left appears and the vibration level is initialized.
DATA * Operate after inputting the reference that is used.
(DATA/SHIFT)
(Blinks) (Press at least one sec.) * Error appears when the servomotor runs at 10% less than
maximum rotation.
5 Press MODE/SET Key again to stop initializing the vibration level.
The display shown on the left appears, and the standard vibration
level in Pn312 is updated.
DATA/
(DATA/SHIFT) * Error appears when the vibration detection level is not set
correctly.
6 Press DATA/SHIFT Key to return to the utility function mode.
MODE/SET
(MODE/SET Key)
7-26
7.3 Operation in Parameter Setting Mode (Pn)

Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires
value setting and the other requires function selection. These two types use different setting methods.
With value setting, a parameter is set to a value within the specified range of the parameter. With function selec-
tion, the functions allocated to each digit of the panel operator can be selected. Refer to 12.3.2 Parameters.
7.3.1 Setting Parameters

(1) Changing Settings
Specify the parameter data when the data-set type parameter is used. Before changing the data, check the permit-
ted range of the parameter in 12.3.2 Parameters.
EXAMPLE The example below shows how to change parameter Pn100 (speed loop gain) from “40.0” to “100.0.”
Procedure
1 Press MODE/SET Key to select the parameter setting mode. If a

parameter other than Pn100 is displayed, press UP or DOWN Key to
MODE/SET select Pn100.
(MODE/SET Key)
∗The enable digit blinks.
2 Press DATA/SHIFT Key for more than one second. The current
data of Pn100 is displayed.
DATA
(DATA/SHIFT)
3 Press DATA/SHIFT Key to select the digit to be set.

DATA/
(DATA/SHIFT)
4 Press UP or DOWN Key to change the data.

Keep pressing UP or DOWN Key until “0100.0” is displayed.
5 Press DATA/SHIFT Key for more than one second. The value
blinks and is saved.
DATA
(DATA/SHIFT)
display of Pn100. The data for the speed loop gain (Pn100) is
DATA Panel Operator
(DATA/SHIFT) changed from “40.0” to “100.0.”
7-27
7 Panel Operator
(2) Parameters over six digits

(a) Relevant Parameters
Following parameters have more than a six digit setting range.
Parame- Setting
Name Setting Range Setting Unit Factory Setting
ters Validation
Pn20E Electronic Gear Ratio 1 to 1073741824(230) − 4 After restart
(Numerator)
Pn210 Electronic Gear Ratio 1 to 1073741824(230) − 1 After restart
(Denominator)
Pn212 PG Dividing Ratio 16 to 1 P/Rev 2048 P/Rev After restart
1073741824(230) P/Rev
Pn520 Positioning Error Alarm 1 to 1073741823(230-1) 1 Reference units 262144 Reference units Immediately
Level Reference units
Pn522 Positioning Completed Width 1 to 1073741824(230) 1 Reference units 7 Reference units Immediately
Reference units
Pn524 NEAR Signal Width 1 to 1073741824(230) 1 Reference units 1073741824 Immediately
Reference units Reference units
Pn526 Positioning Error Alarm 1 to 1073741823(230-1) 1 Reference units 262144 Reference units Immediately
Level When Servo is ON Reference units
Pn531 Program JOG Movement 1 to 1073741824(230) 1 Reference units 32768 Reference units Immediately
Distance Reference units
Fn017 Advance Autotuning -99990000 to 99990000 1000 300000 Reference units Immediately
(Setting movement distance) Reference units Reference units
(b) Displays
Panel operator displays five digits. When the parameters have more than six digits, values are displayed and
set as shown below.
Leftmost blinks display shows digit’s

position, Top, Middle, or bottom.
The digit’s display and value means
parameter’s value.
Top two digits Middle four digits Bottom four digits

Top two digits
Middle four digits
Bottom four digits
Decimal point
Only when the value is with
sign or negative number,
"−"is displayed.
Lights when negative
number is displayed
7-28
(c) Settings
Procedures for display and setting of “Pn20E = 1234567890” are shown below.
Procedure
1 Press MODE/SET key to select the parameter setting mode. If

Pn20E is not displayed, select Pn20E by pressing UP key or DOWN
MODE/SET key.
(MODE/SET Key)
*The digits that can be operated will blink.
2 Bottom four digits Press DATA/SHIFT key at least one second. Then, the current data
of Pn20E are displayed.
The bottom four digits are displayed first, and rightmost digit’s
value will blink and be selected.
DATA
(DATA/SHIFT) When move to other digits, press DATA/SHIFT key. Change the
digit’s value by pressing UP/DOWN key.
When DATA/SHIFT key is pressed on fourth digit “7,” middle four
digits are displayed, and the fifth value “6” will blink.
3 Middle four digits
Each time DATA/SHIFT key is pressed, the value from fifth digits to
eighth digits are selected.
DATA/ When DATA/SHIFT key is pressed on eighth digit “3,” the top two
(DATA/SHIFT)
digits are displayed, and ninth value “2” is selected.
4 Top two digits If DATA/SHIFT key is pressed when tenth value “1” is selected, the
bottom four digits are displayed again. You can move each one digit
DATA/ to left.
(DATA/SHIFT)
(d) How to Read a Parameter Explanation

In this manual, each parameter is explained using the following example.
Control mode for which the parameter is available
Speed : Speed control and
internally set speed control
Position : Position control
Torque : Torque control

Parameter number Parameter name
Pn406 Emergency Stop Torque Speed Position Torque
Setting Range Setting Unit Factoty Setting Setting Validation Panel Operator
Indicates setting range Indicates minimum setting Indicates parameter value Indicates if the power has
for the parameter. unit for the parameter. before shipment to be turned OFF and ON
The range is decided so (Factory setting). again to validate setting
that the maximum value changes.
can be set even in 7
combination with a
servomotor with different
specifications.
7-29
7 Panel Operator
(3) Function Selection Parameters

(a) Types of Function Selection Parameters
IMPORTANT If the parameters with “After restart” in “Setting Validation” column in the table are set, warning “A.941
Change of Parameter Requires Setting Validation” will occur. Turn OFF the main circuit and control power
supply and ON again to validate new setting.
Parameter Factory Setting

Category Name
No. Setting Validation
Function Selection Pn000 Function Selection Basic Switch 0 0000 After restart
Parameter Pn001 Function Selection Basic Switch 1 0000 After restart
Pn002 Function Selection Basic Switch 2 0000 After restart
Pn006 Function Selection Basic Switch 6 0002 Immediately
Pn007 Function Selection Basic Switch 7 0000 Immediately
Pn008 Function Selection Basic Switch 8 0000 After restart
Servo Gain Related Pn10B Gain Related Application Switch 0000 After restart/
Parameter Immediately
Pn110 Autotuning Switch 0010 After restart/
Immediately
Pn139 Automatic Gain Changeover Related Switch 1 0000 After restart
Pn13A Automatic Gain Changeover Related Switch 2 0000 After restart
Pn150 Predictive Control Selection Switch 0210 After restart
Position Control Related Pn200 Position Control Reference Form Selection 0000 After restart
Parameter Switch
Pn207 Position Control Function Switch 0000 After restart
Speed Control Related Pn310 Vibration Detection Switch 0000 Immediately
Parameter
Torque Control Related Pn408 Torque Related Function Switch 0000 After restart/
Parameter Immediately
Sequence Related Pn50A Input Signal Selection 1 2100 After restart
Parameter Pn50B Input Signal Selection 2 6543 After restart
(Input Signal Selection) 8888 After restart
Pn50C Input Signal Selection 3
Pn50D Input Signal Selection 4 8888 After restart
Pn515 Input Signal Selection 5 8888 After restart
Sequence Related Pn50E Output Signal Selection 1 3211 After restart
Parameter Pn50F Output Signal Selection 2 0000 After restart
(Output Signal Selection) Pn510 Output Signal Selection 3 0000 After restart
Pn512 Output Signal Reversal Setting 0000 After restart
Pn530 Program JOG Operation Related Switch 0000 Immediately
7-30
The set value of parameters are displayed as follows.

Parameters for function selection
Hexadecimal display for each digit
Parameters for value settings
Decimal or hexadecimal display in

or
more than five digits
INFO Since each digit in the function selection parameters has a significant meaning, the value can only be changed for each
individual digit. Each digit displays a value within its own setting range.
(b) Changing Function Selection Parameter Settings
EXAMPLE The procedure to change the setting of control method selection (Pn000.1) of the function selection basic switch Pn000
from speed control to position control is shown below.
Procedure

parameter other than Pn000 is displayed, press UP or DOWN Key to
MODE/SET select to Pn000.
(MODE/SET Key)
∗The enable digit blinks.
2 Press DATA/SHIFT Key for more than one second. The current
data of Pn000 is displayed.
DATA
(DATA/SHIFT)
3 Press DATA/SHIFT Key once to select the first digit of current data.
DATA/
(DATA/SHIFT)
4 Press UP Key once to change “n.0010.”

Panel Operator
(Set the control method to position control.)
5 Press DATA/SHIFT Key for more than one second. The value
blinks and is saved.
DATA
(DATA/SHIFT)
6 Press DATA/SHIFT Key for more than one second to return to the 7
display Pn000. The control method is changed to position control.
DATA
(DATA/SHIFT)
7 To enable the change in the setting of function selection basic switch Pn000, turn OFF the power and ON again.
7-31
7 Panel Operator
7.3.2 Input Circuit Signal Allocation
(c) Parameter Indications

Each digit of the function selection parameters is defined as the hexadecimal display. The parameter display
example shows how parameters are displayed in digits for set values.
1st digit
2nd digit
3rd digit
4th digit
• Pn000.0 or n.x: Indicates the value for the 1st digit of parameter Pn000.
• Pn000.1 or n.x: Indicates the value for the 2nd digit of parameter Pn000.
• Pn000.2 or n.x: Indicates the value for the 3rd digit of parameter Pn000.
• Pn000.3 or n.x: Indicates the value for the 4th digit of parameter Pn000.
For details on each digit of the parameter, refer to 12.3.2 Parameters.
Parameter Meaning
Pn50A n.2 Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).
n.8 Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).
The number of the This blank shows the setting

parameter value of the function selection,
as well as the status condition This section explains the
on the panel operator and the details of the function selection.
digital operator (JUSP-OP05A).

Each input signal is allocated to a pin of the input connector CN1 by setting the parameter. (The allocation table
is shown in 7.3.2 (2) Changing the Allocation.)
(1) Factory Setting (Pn50A.0 = 0)
The factory setting for a preset input signal (allocation) is shown in a box outlined with a bold line, ,a
, in the lists on the next page.
Pn50A:
Pn50B:
7-32
(2) Changing the Allocation (Set as Pn50A.0 = 1)

Set the parameter in accordance with the relation between the signal to be used and the input connector pin.
After having changed the parameter, turn OFF the power and ON again to validate the new setting.
means factory setting.
Connection Not
required
Signal Name Valid- CN1 Pin Numbers
Input (SERVOPACK judges
ity
Signal the connection)
Level
Parameter Setting Allo- Always Always
40 41 42 43 44 45 46
cation ON OFF
Servo ON L /S-ON 0 1 2 3 4 5 6
7 8
Pn50A.1 = n.xxx H S-ON 9 A B C D E F
Proportional Operation L /P-CON 0 1 2 3 4 5 6
Reference 7 8
H P-CON 9 A B C D E F
Pn50A.2 = n.xxx
Forward Run Prohibit- H P-OT 0 1 2 3 4 5 6
ed 7 8
L /P-OT 9 A B C D E F
Pn50A.3 = n.xxx
Reverse Run Prohibit- H N-OT 0 1 2 3 4 5 6
ed 7 8
L /N-OT 9 A B C D E F
Pn50B.0 = n.xxx
Alarm Reset L /ARM-RST 0 1 2 3 4 5 6
− 8
Pn50B.1 = n.xxx H ARM-RST 9 A B C D E F
Forward External L /P-CL 0 1 2 3 4 5 6
Torque Limit 7 8
H P-CL 9 A B C D E F
Pn50B.2 = n.xxx
Reserve External L /N-CL 0 1 2 3 4 5 6
Torque Limit 7 8
H N-CL 9 A B C D E F
Pn50B.3 = n.xxx
Switching Servomotor L /SPD-D 0 1 2 3 4 5 6
Rotation Direction 7 8
H SPD-D 9 A B C D E F
Pn50C.0 = n.xxx
Internal Set Speed Se- L /SPD-A 0 1 2 3 4 5 6
lection 7 8
H SPD-A 9 A B C D E F
Pn50C.1 = n.xxx
Internal Set Speed Se- L /SPD-B 0 1 2 3 4 5 6
lection 7 8
H SPD-B 9 A B C D E F
Pn50C.2 = n.xxx
Control Method Selec- L /C-SEL 0 1 2 3 4 5 6
tion 7 8 Panel Operator
H C-SEL 9 A B C D E F
Pn50C.3 = n.xxx
Zero Clamp L /ZCLAMP 0 1 2 3 4 5 6
7 8
Pn50D.0 = n.xxx H ZCLAMP 9 A B C D E F
Reference Pulse Inhibit L /INHIBIT 0 1 2 3 4 5 6
7 8
Pn50D.1 = n.xxx H INHIBIT 9 A B C D E F
Gain Changeover 1 L /G-SEL1 0 1 2 3 4 5 6
7 8
7
Pn50D.2 = n.xxx H G-SEL1 9 A B C D E F
Gain Changeover 22 L /G-SEL2 0 1 2 3 4 5 6
7 8
Pn515.0 = n.xxx H G-SEL2 9 A B C D E F
7-33
7 Panel Operator
IMPORTANT 1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting
“Polarity Reversal,” the machine may not move to the specified safe direction at occurrence of failure
such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and
observe safety precautions.
2. When two or more signals are allocated to the same input circuit, input signal level is valid for all
allocated signals.
(3) Example of Input Signal Allocation

EXAMPLE The procedure to replace Servo ON (/S-ON) signal mapped on CN1-40 and Forward External Torque Limit (/P-
CL) mapped on CN1-45 is shown below.
Before After
Pn50A:
Pn50B:
Procedure
Display after
Panel Operator Description
Operation

MODE/SET
parameter other than Pn50A is displayed, press UP or DOWN Key to
(MODE/SET Key) set Pn50A.
2 Press DATA/SHIFT Key for more than one second to display the cur-
rent data of Pn50A.
DATA
(DATA/SHIFT) (/S-ON is mapped on CN1-40.)
3 Press UP key to set to “1.”

(Sequence input signals can be freely set.)
(UP Key)
4 Press DATA/SHIFT Key to select the second digit from the right.
Press UP key to set to “5.”
DATA/
(DATA/SHIFT) (Changes the mapping of /S-ON from CN1-40 to CN1-45.)
5 Press DATA/SHIFT Key for more than one second. The data blinks
and saved.
DATA
(DATA/SHIFT)
display Pn50A.
DATA
(DATA/SHIFT)
7 Press UP key to set Pn50B.

(UP Key)
8 Press DATA/SHIFT Key for more than one second to display the cur-
rent data of Pn50b.
DATA
(DATA/SHIFT) (/P-CL is mapped on CN1-45.)
9 Press DATA/SHIFT Key to select the third digit from the right. Press
DOWN Key to set “0.”
DATA/
(DATA/SHIFT) (Changes the mapping of /P-CL from CN1-45 to CN1-10.)
7-34
(cont’d)
Procedure
Display after
Panel Operator Description
Operation
10 Press DATA/SHIFT Key for more than one second. The value blinks
and is saved.
DATA
(DATA/SHIFT)
display Pn50B. /S-ON is mapped on CN1-45, and /P-CL is mapped
DATA/
(DATA/SHIFT) on CN1-10.
12 Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B)
INFO Input signal polarities
Signal Level Voltage level Contact

ON Low (L) level 0V Close
OFF High (H) level 24 V Open
Panel Operator
7-35
7 Panel Operator
7.3.3 Output Circuit Signal Allocation
7.3.3 Output Circuit Signal Allocation

Functions can be allocated to the following sequence output signals. After having changed the parameter setting,
turn the power OFF and ON again to enable the new setting.
means factory setting.
CN1 Pin No. 25/(26) 27/(28) 29/(30)
Signal Output Polarity Setting
Parameter Setting Pn512=n.xxx Pn512=n.xxx Pn512=n.xxx Remark
Allocation 1 1 1
0 0 0
(Reverse) (Reverse) (Reverse)
Positioning 0 Invalid L: Output signal is L level when
Completion 1 L H the parameter is valid.
(/COIN) 2 L H
Pn50E.0 = n.xxx 3 L H H: Output signal is H level when
Speed Coinci- 0 Invalid the parameter is valid.
dence Detection 1 L H
(/V-CMP) 2 L H Invalid
Pn50E.1 = n.xxx 3 L H Not use the output signal.
Rotation Detection 0 Invalid
(/TGON) 1 L H
Pn50E.2 = n.xxx 2 L H Factory Setting
3 L H Pn50E:
Servo Ready 0 Invalid
(/S-RDY) 1 L H Pn50F:
Pn50E.3 = n.xxx 2 L H Pn510:
3 L H
Pn512:
Torque Limit Detec- 0 Invalid
tion 1 L H Note:
(/CLT) 2 L H The output signals for Positioning
Pn50F.0 = n.xxx 3 L H Completion signal and Speed
Speed Limit Detec- 0 Invalid Coincidence Detection Signal dif-
tion fer depending on the control
1 L H
method.
(/VLT) 2 L H
Pn50F.1 = n.xxx 3 L H
Brake 0 Invalid
(/BK) 1 L H
3 L H
Warning 0 Invalid
(/WARN) 1 L H
3 L H
Near 0 Invalid
(/NEAR) 1 L H
Pn510.0 = n.xxx 2 L H
3 L H
IMPORTANT 1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic cir-
cuit.
2. The signals not detected are considered as “Invalid.” For example, Positioning Completion (/COIN) sig-
nal in speed control mode is “Invalid.”
7-36
• Allocating Output Signals

The procedure to set Rotation Detection (/TGON) signal of factory setting to “Invalid” and map Brake Inter-
lock (/BK) signal is shown below.
Before After
Pn50E:
Procedure
1 Press MODE/SET Key to select the parameter setting mode.

If a parameter other than Pn50E is displayed, press UP or
MODE/SET
(MODE/SET Key) DOWN Key to select Pn50E.
2 Press DATA/SHIFT Key for more than one second to display
the current data of Pn50E.
DATA/
(DATA/SHIFT) (/TGON is mapped on CN1-27 (28).)
3 Press DATA/SHIFT Key to select the third digit from the
right. Press DOWN Key to set “0.”
DATA/
(DATA/SHIFT) (Sets /TGON “Invalid.”)
DATA
The data blinks and saved.
(DATA/SHIFT)
5 Press DATA/SHIFT Key for more than one second to return

to the display Pn50E.
DATA
(DATA/SHIFT)
6 Press UP Key to set Pn50F.

(UP Key)
7 Press DATA/SHIFT Key for more than one second to display

the current data of Pn50F.
DATA
(DATA/SHIFT) (/BK is set to “Invalid”.)
8 Press DATA/SHIFT Key to select the third digit from the

right. Press UP Key to set “2.”
DATA/
(Allocates /BK to CN1-27 (28).)
Panel Operator
(DATA/SHIFT)
9 Press DATA/SHIFT Key for more than one second. The

value blinks and is saved.
DATA
(DATA/SHIFT)
10 Press DATA/SHIFT Key for more than one second to return

to the display Pn50F. /TGON is set as “Invalid” and /BK is
DATA/
(DATA/SHIFT) mapped on CN1-27 (28). 7
11 Turn OFF the power and ON again to enable the changes of output signal selection (Pn50E and Pn50F).
7-37
7 Panel Operator
7.4.1 List of Monitor Modes
7.4 Operation in Monitor Mode (Un)

The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal
status.
The monitor mode can be selected during servomotor operation.
7.4.1 List of Monitor Modes

(1) Contents of Monitor Mode Display
Parame-
Content of Display Unit
ter No.
Un000 Motor speed min-1
Un001 Speed reference min-1
Un002 Internal torque reference ( in percentage to the rated torque) %
Un003 Rotation angle 1 (32-bit decimal code) Number of pulses
from the origin
Un004 Rotation angle 2 (Angle to the zero-point (electrical angle)) deg
Un005 Input signal monitor *1 −
Un006 Output signal monitor *1 −
Un007 Input reference pulse speed (valid only in position control mode) min-1
Un008 Error counter (position error amount) (valid 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: displayed in cycle of 10 seconds)
Un00C Input reference pulse counter (32-bit decimal code) pulse
*2
(valid only in position control mode)
Un00D Feedback pulse counter (encoder pulses × 4 (multiplier): 32-bit decimal code) *2 pulse
Un00E Fully-closed feedback pulse counter
pulse
(Fully-closed feedback pulse × 4 (multiplier): 32-bit decimal code) *2
Un00F Fully-closed feedback speed
pulse/s
(Fully-closed feedback pulse × 4 (multiplier): 32-bit decimal code) *2
* 1. Refer to 7.4.2 Sequence I/O Signal Monitor Display on the next page.
* 2. Refer to 7.4.4 Monitor Display of Reference Pulse Counter, Feedback Pulse Counter, Fully-closed
Feedback Pulse Counter and Fully-closed Feedback Speed on page 7-41.
7.4.2 Sequence I/O Signal Monitor Display

The following section describes the monitor display for sequence I/O signals.
(1) Input Signal Monitor Display
The status of input signal allocated to each input terminal is displayed:
When the input is in OFF (open) status, the top segment (LED) is lit.
when the input is in ON (short-circuited) status, the bottom segment (LED) is lit.
Top: OFF (H level)

Bottom: ON (L level)
87 6 54 3 2 1 Number
7-38
Refer to 7.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.
Display LED Input Terminal Name Factory Setting

Number
1 CN1-40 /S-ON
2 CN1-41 /P-CON
3 CN1-42 P-OT
4 CN1-43 N-OT
5 CN1-44 /ALM-RST
6 CN1-45 /P-CL
7 CN1-46 /N-CL
8 CN1-4 SEN
EXAMPLE • When /S-ON signal is ON (Servo ON at L level)
The bottom segment

of number 1 is lit.
87 6 5 4 3 2 1
• When /S-ON signal is OFF
The top segment of

number 1 is lit.
87 6 5 4 3 2 1
• When P-OT signal operates (Operates at “H” level)

The top segment of
number 3 is lit.
87 6 5 4 3 2 1
(2) Output Signal Monitor Display

The status of output signal allocated to each output terminal is displayed:
When the output is in OFF (open) status, the top segment (LED) is lit.
When the output is in ON (short circuit) status, the bottom segment is lit.
Top: OFF (H level)

Bottom: ON (L level)
7 6 5 4 3 2 1 Number
Panel Operator
Refer to 7.3.3 Output Circuit Signal Allocation for the relation between output terminals and signals.
Display LED Output Terminal

Factory Setting
Number Name
1 CN1-31, -32 ALM
2 CN1-25, -26 /COIN or /V-CMP
7
3 CN1-27, -28 /TGON
4 CN1-29, -30 /S-RDY
5 CN1-37 AL01
6 CN1-38 AL02
7 CN1-39 AL03
Note: Refer to 7.3.3 Output Circuit Signal Allocation for the details on output terminals.
7-39
7 Panel Operator
7.4.3 Operation in Monitor Mode
Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indi-
cate various output signals.
These segments ON for “L” level and OFF for “H” level.
EXAMPLE • When ALM signal operates (alarm at H level.)
The top segment of

number 1 is lit.
765 4 321
7.4.3 Operation in Monitor Mode

The example below shows how to display, the contents of monitor number Un000 (when the servomotor rotates
at 1500 min-1).
Procedure
1 Press MODE/SET Key to select the monitor mode.

MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select the monitor number to be dis-

played.
data of Un000.
DATA
(DATA/SHIFT)
display of monitor number.
DATA
(DATA/SHIFT)
7-40
7.4.4 Monitor Display of Reference Pulse Counter, Feedback Pulse Counter,

Fully-closed Feedback Pulse Counter and Fully-closed Feedback Speed
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.
Procedure
1 Press MODE/SET Key to select the monitor mode.

MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select “Un00C” or “Un00D.”
3 Lower 4 digits Press DATA/SHIFT Key for more than one second to display the
data of the selected monitor number.
DATA
(DATA/SHIFT) The lower 4 digits are displayed first.
4 Press DATA/SHIFT Key to display the middle 4 digits.

Middle 4 digits
DATA/
(DATA/SHIFT)
5 Besides, press DATA/SHIFT Key to display the upper 2 digits.

Upper 2 digits
(Press DATA/SHIFT Key to display the lower 4 digits again.)
DATA/
(DATA/SHIFT)
display of monitor number.
DATA
(DATA/SHIFT)
When the control power supply is turned ON, reference pulse, feedback pulse, and fully-closed feedback
counter will be “0.” The counter value increase by forward references, and decrease by reverse references.
Displays the minus at the value less than 0. Displays the pulse number from -2,147,483,648 (-231) to
2,147,483,647 (231-1) in sequence. If one pulse is decreased from -2,147,483,648, displays 2,147,483,647
and then decreases from this pulse number. Also, if one pulse in increased from 2,147,483,647, displays -
2,147,483,648 and increases from this pulse number. When the 17 bit encoder is used, the feedback pulse
will be 131,072 pulse/rev, and when the 20 bit encoder is used, the feedback pulse will be 1048576 pulse/rev.
Panel Operator
The equation between feedback pulse counter (Un00D) and fully-closed feedback counter (Un00E) is as follows.
• 17 bit encoder: Un00D × Pn20A (Number of external scale pitches) × 256 / 131072 = Un00E
• 20 bit encoder: Un00D × Pn20A (Number of external scale pitches) × 256 / 1048576 = Un00E
7-41
7 Panel Operator
7.4.5 Monitor Display at Power ON
7.4.5 Monitor Display at Power ON

Pn52F Monitor Display at Power ON Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation

0 to FFF − FFF Immediately
Pn52F is set to the same value as when it was in monitor mode (Un), the data of Un that was specified in the
panel operator is displayed when the power is turned ON. When the FFF is set (factory setting), the SERVOPACK
becomes the status display mode (bb, run).
7-42
8
Operation
8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-4

8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - 8-9
8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - - - - - - - - - - - - - 8-15
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.2 Switching the Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19
8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
8.3.5 Selecting the Stopping Method after Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27
8.3.6 Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29

8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.6 Absolute Encoder Reception Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33
8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37
Operation
8.4.8 Multiturn Limit Setting when the Multiturn Limit Disagreement alarm (A.CC0) Occurs 8-38
8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - 8-39

8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.5.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-41 8
8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
8.5.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48
8-1
8 Operation
8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49

8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54
8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-56
8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-58
8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61

8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61
8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62
8.7.4 Speed Limit during Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - 8-66
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67
8.9 Limiting Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69

8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - - - - - - - - - - - - 8-69
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) - - - - - - - - - - - - - - - 8-70
8.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - 8-72
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference - - - - 8-73
8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - 8-74
8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75

8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
8.11 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77

8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - 8-77
8.11.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.3 Rotation Detection Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
8-2
Operation
8-3
8
8 Operation
8.1 Trial Operation

Make sure that all wiring has been completed prior to trial operation.
Perform the following three types of trial operation in order. Instructions are given for speed control mode (stan-
dard setting) and position control mode. Unless otherwise specified, the standard parameters for speed control
mode (factory setting) are used.
(1)Trial Operation for Servomotor without Load (Refer to 8.1.1.)
Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
To power correct.
supply CN1 • Power supply circuit wiring
• Servomotor wiring
• Encoder wiring
Secure the motor flange to
• Motor’s rotation direction and motor speed
the machine, but do not
connect the motor shaft to
the load shaft.
(2)Trial Operation for Servomotor with Host Reference (Refer to 8.1.2.)

Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
To power correct.
supply CN1 • I/O signal wiring between the SERVOPACK and the host
To host controller controller.
• Check the operation of the brake, overtravel, and other pro-
Secure the motor flange to tective functions.
the machine, but do not • Motor’s rotation direction, servomotor speed, and number
connect the motor shaft to
the load shaft.
of rotations
(3)Trial Operation for the Servomotor and Machine Combined (Refer to 8.1.3.)
Purpose
The servomotor is connected to the machine and trial opera-
tion is performed. The SERVOPACK is adjusted to match the
To power machine characteristics.
supply CN1 • The servomotor’s rotation direction, motor speed, and
To host controller machine travel distance.
• Set the necessary parameters.
Secure the motor flange to the

machine, and use a coupling to
connect the motor shaft to the
load shaft.
8-4
8.1 Trial Operation
Step Item Description Reference

Install the servomotor and SERVOPACK according to the installation conditions.
Installation −
1 (Do not connect the servomotor to the machine because the servomotor will be oper-
and mounting
ated first under a no-load condition for checking.)
Connect the power supply circuit (L1 and L2 or L1, L2 and L3), servomotor wiring
Wiring and −
2 (U, V, W), I/O signal wiring (CN1), and encoder wiring (CN2). During 8.1.1 Trial
connections
Operation for Servomotor without Load, however, disconnect the CN1 connector.
Turn ON the power. Use the panel operator to check that the SERVOPACK is run-
Turn ON the −
3 ning normally. If using a servomotor equipped with an absolute encoder, perform the
power.
setup for the absolute encoder. (Refer to 8.4.5 Absolute Encoder Setup (Fn008).)
Execute jog
4 mode Execute jog mode operation with the servomotor alone under a no-load condition. Jog Operation
operation.
Connect input Connect the input signals (CN1) to the SERVOPACK that is necessary for trial oper-
5 −
signals. ation.
Use the internal monitor function to check the input signals.

Check input
6 Turn ON the power, and check the brake, overtravel, and other protective functions −
signals.
for correct operation.
Input the ser- Host

7 Input the servo ON signal, and turn ON the servomotor.
vo ON signal. Reference
Input Input the reference for the control mode being used, and check the servomotor for Host
8
reference. correct operation. Reference
Turn OFF the power, and then connect the servomotor to the machine.
Check protec-
9 If using a servomotor with an absolute encoder, set up the absolute encoder and make −
tive operation.
the initial settings for the host controller to match the machine’s zero position. Operation
Set Using the same procedure as you did to input a reference in step 8, operate the servo-
Host
10 necessary motor from the host controller and set the parameter so that the machine’s travel
Reference
parameters. direction, travel distance, and travel speed all correspond to the reference.
The servomotor can now be operated. Adjust the servo gain if necessary. Refer to
9.1 Servo Tuning Methods. Host
11 Operation
If a problem occurs, refer to Chapter 11 Inspection, Maintenance, and Troubleshoot- Reference
ing.
8-5
8 Operation
8.1.1 Trial Operation for Servomotor without Load
CAUTION
• Release the coupling between the servomotor and the machine, and secure only the servomotor without a
load.
To prevent accidents, initially perform step 1 where the trial operation is conducted under no-load conditions (with all
couplings and belts disconnected).
In this section, confirm the cable connections of the main circuit power supply, motor and encoder except the
connection to host controller. Incorrect wiring is generally the reason why servomotors fail to operate properly
during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load.
JUSP-OP05A digital operator (option) can be operated and displayed the same as the panel operator.
Step Description Conformation and Supplement

1 Secure the servomotor. Secure the servomotor mounting plate to the equipment following
3.8.1 Precautions on Servomotor Installation.
Otherwise, the servomotor may turn over when it starts rotating.
Secure the mounting plate
Do not connect anything to the servomotor shaft.
of the servomotor to the
equipment.
Do not connect anything
to the shaft
(no-load conditions).
2 Check the power supply circuit, servomotor, and encoder With the CN1 connector not connected, check the power supply
wiring. circuit and servomotor wiring.
YASKAWA
For an example of main circuit wiring, refer to 6.1 Wiring Main
Circuit.
200V
SERVOPACK
SGDH-
MODE/SET
CHARGE
DATA/
POWER
For the servomotor main circuit cable and encoder cable, refer to
Power 2.4 Selecting Cables.
L1 C
N
L2 3
+1
supply +2
-
For installing the servomotor main circuit cable and encoder cable
C
L1C N
L2C 1
B1
B2
W
C
N
to the servomotor, 1.3 (3) Cable Connections to SGMAS and
SGMPS Servomotors.
2
Encoder
cable
3 Turn the control power and main circuit power ON. If the power is correctly supplied, the panel operator display on the
front panel of the SERVOPACK will appear as shown above. The
Normal display display means forward run prohibited (P-OT) or reverse run
prohibited (N-OT). Refer to 7.1.3 Status Display.
No power will be supplied to the servomotor at this point because

the servo system is OFF.
Alternate display
If an alarm display appears, the power supply circuit, servomotor
Example of alarm display wiring, or encoder wiring is incorrect. If an alarm is displayed, turn
OFF the power, find the problem, and correct it.
Refer to 11.1 Troubleshooting.
4 If using a servomotor with a brake, release the brake prior Refer to 8.3.4 Setting for Holding Brakes.
to driving the motor. Refer to 8.4.5 Absolute Encoder Setup (Fn008).
For a trial operation, set the parameter Pn002 = n.1 (Use
If an absolute encoder is used, encoder setup is needed absolute encoder as incremental encoder) to omit Fn008 (absolute
before running the servomotor. encoder Setup).
8-6
8.1 Trial Operation
(cont’d)
Step Description Conformation and Supplement
5 Operate with the panel operator. Open the SERVOPACK’s front cover, and execute the JOG mode
operation (Fn002) using the panel operator.
Press the Up Cursor Key for forward rotation and Down Cursor
With the front Key for reverse rotation to confirm that the servomotor rotates in
cover open
the correct direction.
If no alarm display message appears and the servomotor rotates
according to the setting, end the trial operation for servomotor
Panel Operator without load. Press the MODE/SET Key to turn OFF the power to
the servomotor, and press the DATA/SHIFT Key to exit the JOG
operation mode, following the instructions given in the JOG Mode
Operation (Fn002).
For operating the panel operator, refer to 7.1 Functions on Panel

Panel Operator.
Operator SERVOPACK
Servomotor speed can be changed using the parameter Pn304 (JOG

speed). The factory setting for JOG operation is 500 min-1.
Power
supply
Operation
8-7
8 Operation
CAUTION
Pay attention that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid during
jog mode operation.
• JOG Mode Operation (Fn002)

Step Display after Operation Panel Operator Description
1 Press the MODE/SET Key to select the utility function mode.
MODE/SET
(MODE/SET Key)
2 Press the Up or Down Cursor Key to select Fn002.

*The digit that can be set will blink.
3 Press the DATA/SHIFT Key for a minimum of one second.

The display shown at the right will appear, and the servomotor will
DATA/
(DATA/SHIFT) enter jog operation mode. The servomotor can be operated with
(Press at least one sec.) the panel operator in this condition.
4 Press the MODE/SET Key. This will turn ON the power to the ser-
vomotor.
MODE/SET
(MODE/SET Key)
5 Forward
Press the Up Cursor Key (forward) or Down Cursor Key (reverse).
running The servomotor will operate as long as the key is pressed.
Reverse
running
6 Press the MODE/SET Key. This will turn OFF the power to the
servomotor. The power will remain OFF even if the DATA/SHIFT
MODE/SET
(MODE/SET Key) Key is pressed for more than one second.
7 Press the DATA/SHIFT Key for a minimum of one second to
return to the Fn002 display of the utility function mode.
DATA/
(DATA/SHIFT)
INFO The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Direction Selection). The example
above describes operation with Pn000.0 in the factory setting.
Pn304 JOG Speed Speed Position Torque

Sets the utility function Fn002 (Jog Mode Operation) to the reference value of motor speed.
The motor can be operated using only the digital operator without reference from the host controller. The follow-
ing conditions are required to perform jog mode operation.
1. The servo on (/S-ON) input signal is OFF (H level). Refer to 8.3.1 Setting the Servo ON Signal.
2. Pn50A is not set to n.7 (Sets signal ON) with the external input signal allocation. Refer to 7.3.2
Input Circuit Signal Allocation.
8-8
8.1 Trial Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
This section explains the items to be examined in a final check before connecting the servomotor to a machine
and includes:
• Correct settings for servomotor commands, references, and I/O signals that are input from the host con-
troller to the SERVOPACK
• Correct wiring and polarity between the host controller and the SERVOPACK
• Performance of the SERVOPACK
(1) Servo ON Reference from Host Reference
The following external input signal and equivalent signal circuits are required.
If using an absolute encoder, the SEN signal (CN1-4) must be set to H (high) level.
Speed Control Position Control
(Standard Setting) (Pn000=n.1)
(Pn000=n.0)
CN1 CN1
47 47
+24V +24V
/S-ON /S-ON 40
40
P-OT 42 P-OT 42
N-OT 43 N-OT 43
V-REF 5 PULS 7
SIGN 11
0V
0V
Operation
8-9
8 Operation
Step Description Check Method and Remarks

Configure an input signal circuit necessary for servo ON. Satisfy the following conditions:
Connect the I/O signal connectors (CN1) in the circuit on 1. Servo ON (/S-ON) input signal can be input.
the previous page or equivalent to input the signal neces- 2. Forward Run Prohibited (P-OT) and Reverse Run Prohibited
sary for servo ON. Then turn OFF the power and connect (N-OT) input signals are turned ON (L level). (Forward run
the CN1 to the SERVOPACK. and reverse run are prohibited.)
YASKAWA
SERVOPACK
200V
3. Reference input (0V reference or 0 pulse) is not input.
SGDH-
To omit the external wiring, the input terminal function can be set
1 MODE/SET
CHARGE
DATA/
POWER
to “Always ON” or “Always OFF” using the input signal allocation

L1 C
function of parameter. Refer to 7.3.2 Input Circuit Signal Alloca-

N
L2 3
+1
+2
tion.
-
C
L1C N
1
CN1
L2C
B1
B2
V
C
W N
2
When the absolute encoder is used, Absolute Encoder Setup

(Fn008) operation and the SEN signal wiring can be omitted when
setting the Pn002 to n.1 (Uses absolute encoder as an incre-
mental encoder) only during trial operation.
Turn ON the power and make sure that the panel operator The input signal setting is not correct if the display is not the same
display is as shown below. as on the left. Check the input signal using the Un005 (input signal
monitor) from the panel operator.

Check input signal wiring in monitor mode using the digital opera-
tor or panel operator. Refer to 7.4.1 List of Monitor Modes.
Turn ON and OFF each signal line to see if the LED monitor bit
display on the digital operator changes as shown below.
Input signal LED display
2
P-OT /P-CON
N-OT /S-ON
Top lights when input
signal is OFF (high level).
Un005 =
Bottom lights when input
signal is ON (low level).
/ALM-RST
/P-CL
/N-CL
SEN
If an absolute encoder is being used, the servo will not turn ON

when the servo ON signal (/S-ON) is input unless the SEN signal is
also ON.
When the SEN signal is checked in monitor mode, the top of the
LED will light because the SEN signal is high when ON.
Input the /S-ON signal, then make sure that the display of If an alarm display appears, correct it according to 11.1 Trouble-
the panel operator is as shown below. shooting. If there is noise in the reference voltage during speed
control, the horizontal line (−) at the far left edge of the panel oper-
3 ator display may blink. Also the servomotor may turn very slowly.
Refer to 6.5 Connecting Regenerative Resistors and take a
preventive measure.
8-10
8.1 Trial Operation
(2) Operating Procedure in Speed Control Mode (Pn000 = n.0)

The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
CN1
47
+24V
/S-ON
40
P-OT 42
N-OT 43
+ V-REF
0V 5
VE
6
VE: Max. voltage (12 V)

1 Check the power and input signal circuits again, and Refer to the above figure for input signal circuit.
check that the speed reference input (voltage
between the V-REF and SG) is 0 V.
2 Turn ON the servo ON (/S-ON) input signal. If the servomotor rotates at extremely slow speed,
refer to 8.5.3 Adjusting Offset, and use the reference
voltage offset to keep the servomotor from moving.
3 Generally increase the speed reference input voltage The factory setting is 6 V/rated rotation speed.
between V-REF and SG from 0 V.
4 Check the speed reference input to the SERVO- Refer to 7.1.2 Basic Mode Selection for how it is dis-
PACK (Un000 [min-1]). played.
5 Check the Un000 (motor speed [min-1]. Refer to 7.1.2 Basic Mode Selection for how it is dis-
played.
6 Check that the Un001 and Un000 values in steps 4 Change the speed reference input voltage and check
and 5 are equal. that Un001 and Un000 values are equal for multiple
speed references.
7 Check the speed reference input gain and motor Refer to the following equation to change the Pn300
rotation direction. (speed reference input gain).
Un001=(voltage between V-REF) [V] × Pn300 [300
min-1/6V]
To change the motor rotation direction without chang-
ing polarity for speed reference input gain, refer to
8.3.2 Switching the Servomotor Rotation Direction.
Perform the operation from step 2 again after the
motor rotation direction is changed.
Operation
8 When the speed reference input is set to 0 V and −

servo OFF status enters, the trial operation for ser-
vomotor without load is completed.
8-11
8 Operation
INFO When Position Control is configured at the Host

Analog speed
reference
Host SERVOPACK M
Trial operation for

Position control Speed control servomotor without load
When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper-
ations below, following the operations in (2) Operating Procedure in Speed Control Mode (Pn000 = n. 0) on the
previous page.

9 Check the input signal circuit again, and check that Refer to the above figure for input signal circuit.
the speed reference input (voltage between the V-
REF and SG) is 0 V.
10 Turn ON the servo ON (/S-ON) input signal. If the servomotor rotates at extremely slow speed,
refer to 8.5.3 Adjusting Offset, and use the reference
voltage offset to keep the servomotor from moving.
11 Send the command for the number of motor rotation Un003 (rotation angle 1)[pulse]: the number of pulses
easy to check (for example, one motor revolution) from the zero point.
from the host controller in advance, and check the Refer to 7.1.2 Basic Mode Selection for how it is dis-
sent number of rotation and actual number of rota- played.
tion by visual inspection and the Un003 (rotation
angle1)[pulse].
12 If the sent number of rotation and actual number of Refer to 8.5.7 Encoder Signal Output for how to set.
rotation in step 11 are not equal, correctly set the PG divider (Pn212 [P/Rev]): the number of encoder
Pn212 (PG divided ratio) outputting the encoder pulses per revolution
pulse from the SERVOPACK.
13 When the speed reference input is set to 0 V and −
servo OFF status enters, the trial operation for posi-
tion control with the host controller is completed.
8-12
8.1 Trial Operation
(3) Operating Procedure in Position Control Mode (Pn000 = n.1)

The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
CN1
47
+24V
/S-ON 40
P-OT 42
N-OT 43
CLR* 15
PULS 7
Pulse reference
/PULS 8
Reference pulse
according to SIGN 11
parameter /SIGN 12
Pn200.0 setting *CLR signal is not connected.

1 Match the reference pulse form with the pulse out- Set the reference pulse with Pn200=n.×. Refer
put form from the host controller. to 8.6.1 (2) Setting a Reference Pulse Form.
2 Set the reference unit and electronic gear ratio so Set the electronic gear ratio with Pn20E/Pn210. Refer
that it coincides with the host controller setting. to 8.6.2 Setting the Electronic Gear.
3 Turn ON the power and the servo ON (/S-ON) input −
signal.
4 Send the pulse reference for the number of motor Set the motor speed of several 100 min-1 for the refer-
rotation easy to check (for example, one motor revo- ence pulse speed because such speed is safe.
lution) and with slow speed from the host controller
in advance.
5 Check the number of reference pulses input to the Refer to 7.1.2 Basic Mode Selection for how it is dis-
SERVOPACK by the changed amount before and played.
after the Un00C (input reference pulse counter) Un00C (input reference pulse counter) [pulse]
[pulse] was executed.
6 Check the actual number of motor rotation [pulse] Refer to 7.1.2 Basic Mode Selection for how it is dis-
by the changed amount before and after the refer- played.
ence was executed. Un00D (feedback pulse counter Un00D (feedback pulse counter [pulse])
[pulse])
7 Check that steps 5 and 6 satisfy the following equa- −
tion:
Un00D=Un00C × (Pn20E/Pn210)
8 Check that the motor rotation direction is the same Check the input pulse polarity and input reference
as the reference. pulse form. Refer to 8.6.1 (2) Setting a Reference
Pulse Form.
9 Input the pulse reference with the large number of Set the motor speed of several 100 min-1 for the refer-
Operation
motor rotation from the host controller to obtain the ence pulse speed because such speed is safe.
constant speed.
10 Check the reference pulse speed input to the SER- Refer to 7.1.2 Basic Mode Selection for how it is dis-
VOPACK using the Un007 (input reference pulse played.
speed) [min-1]. Un007 (input reference pulse speed) [min-1] 8
The number of input reference pulses (Un007) can be obtained from the following equation for a servomotor
with a 17-bit encoder.
Pn20E 1
Un007(input reference pulse speed) input reference pulse pulses/S × 60 × ×
Pn210 217(131072)
Reference input ppm Electronic Encoder

gear ratio pulse ∗
8-13
8 Operation
(cont’d)
11 Check the motor speed using the Un000 (motor Refer to 7.1.2 Basic Mode Selection for how it is dis-
speed) [min-1]. played.
Un000 (motor speed) [min-1]
12 Check that the Un007 and Un000 values in steps 9 −
and 10 are equal.
13 Check the motor rotation direction. To change the motor rotation direction without chang-
ing input reference pulse form, refer to 8.3.2 Switching
the Servomotor Rotation Direction.
Perform the operation from step 9 again after the
motor rotation direction is changed.
14 When the pulse reference input is stopped and servo −
OFF status enters, the trial operation for servomotor
without load and using position control with the host
controller is completed.
8-14
8.1 Trial Operation
8.1.3 Trial Operation with the Servomotor Connected to the Machine
WARNING
• Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also
cause an accident resulting death or injury.
Follow the procedures below to perform the trial operation.
To power
supply
CN1
To host controller
Secure the motor flange to

the machine, and install it
on the load shaft.

1 Turn ON the power and make the settings for Refer to 8.3 Setting Common Basic Functions.
mechanical configuration related to protective func- When a servomotor with brake is used, take advance
tion such as overtravel and brake. measures to prevent vibration due to gravity acting on
the machine or external forces before checking the
brake operation. Check that both servomotor and
brake operations are correct. For details, refer to 8.3.4
Setting for Holding Brakes.
2 Set the necessary parameters for control mode used. Refer to 8.5 Operating Using Speed Control with Ana-
log Reference, 8.6 Operating Using Position Control,
and 8.7 Operating Using Torque Control for control
mode used.
3 Connect the servomotor to the machine with cou- Refer to 3.8.1 Precautions on Servomotor Installation.
pling, etc., while the power is turned OFF.
4 Check that the SERVOPACK is servo OFF status Refer to 8.3 Setting Common Basic Functions.
and then turn ON the power to the machine (host For steps 4 to 8, take advance measures for emergency
controller). Check again that the protective function stop so that the servomotor can stop safely when an
in step 1 operates normally. error occurs during operation.
5 Perform trial operation with the servomotor con- Check that the trial operation is completed with as the
Operation
nected to the machine, following each section in trial operation for servomotor without load. Also
8.1.2 Trial Operation for Servomotor without Load check the settings for machine such as reference unit.
from Host Reference.
6 Check the settings of parameters for control mode Check that the servomotor rotates matching the
used set in step 2 again. machine operating specifications. 8
7 Adjust the servo gain and improve the servomotor Refer to 9.1 Servo Tuning Methods.
response characteristics, if necessary. The servomotor will not be broken in completely dur-
ing the trial operation. Therefore, let the system run
for a sufficient amount of additional time to ensure that
it is properly broken in.
8 Write the parameters set for maintenance in 12.4 If the JUSP-OP05A digital operator is used, parame-
Parameter Recording Table. ters can be saved. SigmaWin+, which is a tool for sup-
Then the trial operation with the servomotor con- porting the servo drive, can then manage the saved
nected to the machine is completed. parameters in files.
8-15
8 Operation
8.1.4 Servomotor with Brakes
8.1.4 Servomotor with Brakes

Holding brake operation of the servomotor with brake can be controlled the brake interlock output (/BK) signal
of the SERVOPACK.
When checking the brake operation, take advance measures to prevent vibration due to gravity acting on the
machine or external forces. Check the servomotor operation and holding brake operation with the servomotor
separated from the machine. If both operations are correct, connect the servomotor and perform trial operation.
For wiring on a servomotor with brakes, and setting parameters, refer to 8.3.4 Setting for Holding Brakes.
8.1.5 Position Control by Host Controller

As described above, be sure to separate the servomotor and machine before performing trial operation of the ser-
vomotor without a load. Refer to the following table, and check the servomotor operation and specifications in
advance.
Analog
Speed
Reference
Host SERVOPACK M
Controller
Trial operation for

Position Control Speed Control Servomotor without load.
Reference from
Reference
the Host Check Item Check Method Review Items
Section
Controller
JOG Operation Motor Speed Check motor speed as follows: Check the parameter setting at 8.5.1
(Constant • Use the servomotor speed monitor Pn300 to see if reference speed
Reference Speed (Un000) on the panel operator. gain is correct.
Input from • Run the servomotor at low speed.
Host Controller) Input a reference speed of 60 min-1
for example to check to see if the
servomotor makes one revolution
per second.
Simple No. of motor rotation Input a reference equivalent to one Check the parameter setting at 8.5.7
Positioning servomotor rotation and visually Pn212 to see if the number of
check to see if the shaft makes one dividing pulses is correct.
revolution.
Overtravel Whether the servomo- Check to see if the servomotor stops Review P-OT and N-OT wiring if 8.3.3
(P-OT and tor stops rotating when P-OT and N-OT signals are the servomotor does not stop.
N-OT Used) when P-OT and N-OT input during continuous servomotor
signals are input operation.
8-16
8.2 Control Mode Selection

The control modes supported by the SGDS SERVOPACK are described below.
Parameter Control Mode Reference
Section
Pn000 n.0 Speed Control (Analog voltage speed reference) 8.5
(Factory setting) Controls servomotor speed by means of an analog voltage speed reference.
Use in the following instances.
• To control speed
• For position control using the encoder feedback division output from the
SERVOPACK to form a position loop in the host controller.
n.1 Position Control (Pulse train position reference) 8.6
Controls the position of the machine by means of a pulse train position ref-
erence.
Controls the position with the number of input pulses, and controls the
speed with the input pulse frequency. Use when positioning is required.
n.2 Torque Control (Analog voltage speed reference) 8.7
Controls the servomotor’s output torque by means of an analog voltage
torque reference. Use to output the required amount of torque for operations
such as pressing.
n.3 Speed Control (Contact input speed control) 8.8
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL
(/SPD-B) to control the speed as set in advance in the SERVOPACK.
Three operating speeds can be set in the SERVOPACK. (An analog refer-
ence is not necessary.)
n.4 These are switching modes for using the four control methods described 8.10
above in combination. Select the control method switching mode that best
　　x suits the application.
　　x
　　x
n.B
Operation
8-17
8 Operation
8.3.1 Setting the Servo ON Signal
8.3 Setting Common Basic Functions

8.3.1 Setting the Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1) Servo ON signal (/S-ON)
Type Name Connector Pin Setting Meaning
Number
Input /S-ON CN1-40 ON (low level) Servomotor power ON. Servomotor can be operated.
(Factory setting) OFF Servomotor power OFF. Servomotor cannot be operated.
(high level)
IMPORTANT
Always input the servo ON signal before inputting the input reference to start or stop the servomotor. Do not input the input
reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal elements and lead to malfunc-
tion.
Note: A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to
7.3.2 Input Circuit Signal Allocation.
(2) Enabling/Disabling the Servo ON Signal

A parameter can be used to set a parameter servo ON condition. This eliminates the need to wire /S-ON, but care
must be taken because the SERVOPACK can operate as soon as the power is turned ON.
Parameter Meaning
Pn50A n.0 Inputs the /S-ON signal from the input terminal CN1-40. (Factory setting)
n.7 Constantly enables the /S-ON signal.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
• When the parameter is set to constantly “enable” the signal, resetting following an alarm can only be done by turning the
power OFF and ON. (Alarm reset is disabled.)
8-18
8.3.2 Switching the Servomotor Rotation Direction

Only the rotation direction of the servomotor can be switched without changing the reference pulse to the SER-
VOPACK or the reference voltage polarity.
This causes the travel direction (+, -) of the shaft reverse, but the encoder pulse output and analog monitor signal
polarity do not change.
The standard setting for “forward rotation” is counterclockwise as viewed from the drive end.
Parameter Name Reference
Forward Reference Reverse Reference
Pn000 n.0 Standard setting Analog monitor Analog monitor
(CCW = For- torque reference
ward)
(Factory setting) Reverse
Forward
(CCW) (CW)
Rotation Speed
Encoder pulse division output
Encoder pulse division output
PAO Phase A advanced
PAO
PBO
PBO Phase B advanced
n.1 Reverse Rotation Analog monitor Analog monitor

Mode
(CW = Reverse)
Reverse Forward
(CW) (CCW)
Encoder pulse division output Encoder pulse division output
PAO PAO Phase A advanced
PBO Phase B advanced PBO

The direction of P-OT and N-OT change. For Pn000 = n.0 (standard setting), counterclockwise is P-OT. For Pn000
= n.1 (Reverse Rotation Mode), clockwise is P-OT.
Operation
8-19
8 Operation
8.3.3 Setting the Overtravel Limit Function
8.3.3 Setting the Overtravel Limit Function

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion
and turn ON a limit switch.
(1) Connecting the Overtravel Signal
To use the overtravel function, connect the following overtravel limit switch input signal terminals.
Number
Input P-OT CN1-42 ON (low level) Forward run allowed. Normal operation status.
OFF (high Forward run prohibited. Forward overtravel.
level)
Input N-OT CN1-43 ON (low level) Reverse run allowed. Normal operation status.
OFF (high Reverse run prohibited. Reverse overtravel.
level)
Connect limit switches as shown below to prevent damage to
Motor forward rotation direction
the devices during linear motion.
Rotation in the opposite direction is possible during overtravel. SERVOPACK
Servomotor
For example, reverse rotation is possible during forward over- Limit Limit CN1
P-OT
travel. switch switch 42
N-OT
43
IMPORTANT
When the servomotor stops due to overtravel during position control, the position error pulses are held. A clear signal
(CLR) input is required to clear the error pulses.
CAUTION
When using the servomotor on a vertical axis, the workpiece may fall in the overtravel condition.
To prevent this, always set the zero clamp after stopping with Pn001 = n.1.
Refer to (3) Selecting the Motor Stop Method When Overtravel is Used in this section.
(2) Enabling/Disabling the Overtravel Signal

A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the over-
travel input signal.
Parameter Meaning
Pn50A n.2 Inputs the Forward Run Prohibited (P-OT) signal from CN1-42. (Factory setting)
n.8 Disables the Forward Run Prohibited (P-OT) signal. (Allows constant forward rotation.)
Pn50B n.3 Inputs the Reverse Run Prohibited (N-OT) signal from CN1-43. (Factory setting)
n.8 Disables the Reverse Run Prohibited (N-OT) signal. (Allows constant reverse rotation.)
• Applicable control methods: Speed control, position control, and torque control
* A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 7.3.2 Input Cir-
cuit Signal Allocation.
8-20
(3) Selecting the Motor Stop Method When Overtravel is Used

This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the servomotor is oper-
ating.
Parameter Stop Mode Mode After Meaning
Stopping
Pn001 n.00 Stop by dynamic Coast Immediately stops the servomotor by dynamic brak-
brake ing (DB), then places it into Coast (power OFF)
n.01 Mode.
n.02 Coast to a stop Stops the servomotor by coast stop, then places it
into Coast (power OFF) Mode.
n.1 Decelerate to stop Zero Clamp Decelerates the servomotor with emergency stop
torque (Pn406), then places it into Zero Clamp (Ser-
volock) Mode.
n.2 Coast Decelerates the servomotor with emergency stop
torque (Pn406), then places it into Coast (power
OFF) Mode.
• During torque control stops by dynamic braking (DB) or coasts to a stop regardless of the Pn001.1 setting (the stopping
method by Pn001.0).
• After it is stopped the servomotor enters Coast Mode.
• If the parameter for the Coast Mode is set to n.2 during coasting, acceleration of the SERVOPACK can be resumed
by using the servo ON signal.
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of SERVOPACK).
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
• Decelerate to stop: Stops by using deceleration (braking) torque.
• Zero Clamp Mode: A mode forms a position loop by using the position reference zero.
* For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 8.3.5 Selecting the Stopping
Method after Servo OFF.
(4) Setting the Stop Torque for Overtravel

Pn406 Emergency Stop Torque Speed Position

• This sets the stop torque for when the overtravel signal (P-OT, N-OT) is input.
• The setting unit is a percentage of the rated torque (i.e., the rated torque is 100%). Operation
8-21
8 Operation
8.3.4 Setting for Holding Brakes

The holding brake is used when a SERVOPACK controls a vertical axis. A servomotor with brake prevents the
movable part from shifting due to gravity when the power supply of the SERVOPACK turns OFF. Refer to 8.1.4
Servomotor with Brakes.
Vertical Shaft Shaft with External Force Applied

Servomotor
External
Holding brake force Servomotor
Prevents the servomotor

from rotating when
the power is OFF.
Prevents the servomotor from
rotating due to external force.
There is a delay in the braking operation. Set the following ON/OFF timing. The timing can be easily set using
the brake interlock output signal.
SERVOPACK control OFF ON
power
SERVOPACK main OFF ON
power *1
OFF ON
Servo ON
OFF ON
Holding brake power
Brake contact part Brake release

(lining) *2 *2 *6
200 ms to 1.0 second
0V
Speed reference
Motor speed
*4 t1
t0
*3 *5
t0+t1
200 ms or more
* 1. The servo ON signal and holding brake power supply may be turned ON simultaneously.
* 2. The operation delay time of the brake depends on the model. For details, refer to Table 8.1 Brake Operation Delay Time.
* 3. Allow a period of 200 ms before the speed reference is input after the brake power supply is turned ON.
* 4. The servomotor stop time is shown by t0. Refer to Table 8.2 Calculation Method for Servomotor Stop Time for the
calculation of t0.
* 5. Always turn OFF the brake power supply after the servomotor comes to a stop. Usually, set t0+t1 to 1 or 2 seconds.
* 6. Turn OFF the servo ON signal 0.2 to 1.0 second after the brake power supply is turned OFF.
8-22
Table 8.1 Brake Operation Delay Time
Brake Open Time Brake Operation Time

Model Voltage
(ms) (ms)
SGMMJ-A1 24 V 60 200
SGMMJ-A2, A3 24 V 60 200
SGMAS-A5,01,C2 90 V
60 100
24 V
SGMAS-02,04 90 V
60 100
24 V
SGMAS-06 90 V
80 100
24 V
SGMAS-08,12 90 V
80 100
24 V
SGMPS-01 90 V
20 100
24 V
SGMPS-02,04 90 V
40 100
24 V
SGMPS-08,15 90 V
20 100
24 V
SGMSS-10, 15, 20, 25, 90 V
30 170 80
24 V
SGMGH-05 (1500 min-1) 90 V
100 80
SGMGH-03 (1000 min-1) 24 V
SGMGH-09 (1500 min-1) 90 V
100 80
SGMGH-06 (1000 min-1) 24 V
SGMGH-13 (1500 min-1) 90 V
100 80
SGMGH-09 (1000 min-1) 24 V
SGMGH-20 (1500 min-1) 90 V 80
170
SGMGH-12 (1000 min-1 ) 24 V 100
SGMGH-30 (1500 min-1 ) 90 V 80
170
SGMGH-20 (1000 min-1) 24 V 100
SGMGH-44 (1500 min-1) 90 V 80
170
SGMGH-30 (1000 min-1) 24 V 100
SGMGH-55 (1500 min-1) 90 V
170 80
SGMGH-40 (1000 min-1) 24 V
Operation
SGMGH-75 (1500 min-1) 90 V

170 80
SGMGH-55 (1000 min-1) 24 V
Note: The above operation delay time is an example when the power supply is turned ON
and OFF on the DC side.
Be sure to evaluate the above times on the actual equipment before using the application. 8
8-23
8 Operation
Table 8.2 Calculation Method for Servomotor Stop Time
Using SI Units Conventional Method
t0 = (JM + JL) × NM × 2π (sec) t0 = (GD2M + GD2L) × NM (sec)

(TP + TL) 60 375 × (TP + TL)
JM : Rotor moment of inertia (kgxm2) GD2M : Motor GD2 (kgfxm2)
JL : Load moment of inertia (kgxm2) GD2L : Load inertia GD2 (kgfxm2)
NM : Motor rotational speed (min-1) NM : Motor rotational speed (r/min)

TP : Motor deceleration torque (Nxm) TP : Motor deceleration torque (kgfxm)
TL : Load torque (Nxm) TL : Load torque (kgfxm)
IMPORTANT 1. The brake built into the servomotor with brakes is a deenergization brake, which is used only to hold and
cannot be used for braking. Use the holding brake only to hold a stopped motor. Brake torque is at least
120% of the rated motor torque.
2. When operating using only a speed loop, turn OFF the servo and set the input reference to 0 V when the
brake is applied.
3. When forming a position loop, do not use a mechanical brake while stopped because the servomotor
enters servolock status.
(1) Wiring Example

Use the SERVOPACK contact output signal /BK and the brake power supply to form a brake ON/OFF circuit.
The following diagram shows a standard wiring example.
Servomotor
SERVOPACK with brake
Power supply
L1 U
L2 V
L3 M
W
L1C
L2C
CN1 CN2 PG
BK-RY (/BK+) ∗1
+24V
(/BK-)
BK
∗2
BK-RY Blue or Brake power supply

yellow Red
White AC DC Black
BK-R Y: Brake control relay

Brake power supply Input voltage 200-V models: LPSE-2H01
Input voltage 100-V models: LPDE-1H01
∗1 and ∗2 are the output terminals allocated with Pn50F.2.
8-24
(2) Brake Interlock Output

Number
Output /BK Must be allocated ON (low level) Releases the brake.
OFF (high level) Applies the brake.
This output signal controls the brake and is used only for a servomotor with a brake. The output signal must be allocated
(with Pn50F). It does not need to be connected for servomotors without a brake.
IMPORTANT
The /BK signal is not output during overtravel, or when there is no power to the servomotor.
(3) Allocating Brake Signals (/BK)

The brake signal (/BK) is not used with the factory settings. The output signal must be allocated.
Parameter Connector Pin Number Meaning
+ Terminal - Terminal
Pn50F n.0 − − The /BK signal is not used. (Factory setting)
n.1 CN1-25 CN1-26 The /BK signal is output from output terminal CN1-25, 26.
IMPORTANT
When set to the factory setting, the brake signal is invalid. When multiple signals are allocated to the same output termi-
nal, the signals are output with OR logic. To output the /BK signal alone, disable the other output signals or set them to
output terminals other than the one allocated to the /BK signal. Refer to 7.3.3 Output Circuit Signal Allocation.
(4) Setting the Brake ON Timing after the Servomotor Stops

With the factory setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF tim-
ing can be changed with a parameter.
Pn506 Delay Time from Brake Reference Until Servo OFF Speed Position Torque

0 to 50 10 ms 0 Immediately
(0 to 500 ms)
• When using the servomotor to control a vertical axis, the
machine movable part may shift slightly depending on the brake /S-ON
(CN1-40) Servo ON Servo OFF
ON timing due to gravity or an external force. By using this
parameter to delay turning the servo OFF, this slight shift can be /BK output Brake released Brake held
eliminated.
• This parameter changes the brake ON timing while the servomo- Power to motor Power to motor No power to motor
tor is stopped.
For details on brake operation while the servomotor is operating, Pn506
refer to (5) Setting the Brake ON Timing When Servomotor Run-
Operation
ning in this section.

IMPORTANT
The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter.
The machine movable part may shift due to gravity or external force during the time until the brake operates.
8
8-25
8 Operation
(5) Setting the Brake ON Timing When Servomotor Running

The following parameters can be used to change the /BK signal output conditions when a stop reference is output
during servomotor operation due to the servomotor turning OFF or an alarm occurring.
Pn507 Brake Reference Output Speed Level Speed Position Torque

0 to 1000 min -1 100 Immediately
Pn508 Waiting Time for Brake Signal When Motor Running Speed Position Torque

10 to 100 50
10 ms Immediately
(100 to 1000 ms) (500 ms)
/BK Signal Output Conditions When Servo-
motor Running /S-ON input Servo ON Servo OFF
Or alarm or
The /BK signal goes to high level (brake ON) power OFF
when either of the following conditions is satis-
fied:
• When the motor speed falls below the level set Motor speed
Pn-507 (Motor stopped by applying
DB or by coasting.)
in Pn507 after the power to the servomotor is Pn001.0
turned OFF.
• When the time set in Pn508 is exceeded after
the power to the servomotor is turned OFF. /BK output Brake released Brake held
Pn508
IMPORTANT
• The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed.
• Allocate the /TGON signal and the /BK signal to different terminals.
• If the brake signal (/BK) and running output signal (/TGON) are allocated to the same output terminal, the /TGON signal
will go to low level at the speed at which the movable part drops on the vertical axis, which means that the /BK signal will
not go to high level even if the conditions of this parameter are met. (This is because signals are output with OR logic
when multiple signals are allocated to the same output terminal.)
8-26
8.3.5 Selecting the Stopping Method after Servo OFF

The stopping method when the power to the SERVOPACK turns OFF can be selected.
Parameter Stop Mode Mode After Meaning
Stopping
Pn001 n.0 Dynamic Brake Stops the servomotor by dynamic braking (DB),
then holds it in Dynamic Brake Mode. (Factory set-
Stop by dynamic ting)
brake
n.1 Coast Stops the servomotor by dynamic braking (DB),
then places it into Coast (power OFF) Mode.
n.2 Coast to a stop Coast Stops the servomotor by coasting, then places it
into Coast (power OFF) Mode.
These parameters are valid under the following conditions:
• When the /S-ON input signal is OFF (Servo OFF).
• When an alarm occurs in the torque control mode
• When an alarm to stop the motor using the dynamic brake
• When the main circuit power supply (L1, L2, or L3) is OFF; Some motors, depending on the model, are stopped by
dynamic braking (DB). Refer to the following section labelled IMPORTANT.
Similar to the Coast Mode, the n.0 setting (which stops the servomotor by dynamic braking and then holds it in
Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very low speed.
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of SERVOPACK).
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
IMPORTANT
The SERVOPACK is forced to stop by dynamic braking despite the above parameter settings when the main circuit power
supply (L1, L2, L3) or control power supply (L1C, L2C) turns OFF.
• SGDS-A3B, A5F to 04F (30 W to 400 W for 100 V)
• SGDS-A5A to 75A (50 W to 7.5 kW for 200 V)
If the servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply (L1, L2,
L3) or the control power supply (L1C, L2C) turns OFF, arrange the sequence externally so the servomotor wiring (U, V, W)
will be interrupted.
IMPORTANT The dynamic brake (DB)1 is an emergency stop function.

If the servomotor is frequently started and stopped by turning the power ON/OFF or using the servo ON sig-
nal (/S-ON), the DB circuit will also be repeatedly operated, degrading the SERVOPACK’s internal ele-
ments. Use the speed input reference and position reference to control the starting and stopping of the
servomotor.
Operation
1
Dynamic brake (DB) SERVOPACK Servomotor
TERMS
A common method for quickly stopping a servomotor. The servomotor is stopped
by short-circuiting the servomotor circuit. This circuit is built into the SERVO-
PACK.
8-27
8 Operation
8.3.6 Power Loss Settings
8.3.6 Power Loss Settings

Determines whether to continue operation or turn the servo OFF when the power supply voltage is interrupted.
Pn509 Instantaneous Power Cut Hold Time Speed Position Torque

In power loss detection, the status of the main circuit power supply is detected and OFF status is ignored so servomotor
operation will continue if the servomotor turns back ON within the time set in parameter Pn509.
Momentary power interruption

In the following instances, however, the parameter setting
will be invalid.
• If an insufficient voltage alarm (A.410) occurs during a Power supply voltage
OFF time t
power loss with a large servomotor load.
• When control is lost (equivalent to normal power OFF Operation
operation) with loss of the control power supply. continued
Pn509 > t Servo ON
IMPORTANT
The maximum setting for the hold time during a power Pn509 < t Servo ON Servo OFF
loss is 1,000 ms, but the hold time for the SERVOPACK
control power supply is about 100 ms. The hold time for
the main circuit power supply depends on the SERVO-
PACK output.
To continue SERVOPACK operation for a power loss that is longer than this, provide an uninterruptible power supply.
8-28
8.4 Absolute Encoders
WARNING
• The output range of multiturn data for the Σ-II and Σ-III series absolute detection system differs from that for
conventional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the
conventional type is to be configured with the Σ-II and Σ-III series, be sure to make the following system
modification.
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host con-
troller. Consequently, operation can be performed without zero point return operation immediately after the
power is turned ON.
SGMCS servomotor one-rotation absolute encoder of the multiturn data is 0.
SGMMJ/SGMAS/SGMPS/SGMSS/SGMGH-2 servomotors: With 17-bit absolute encoder
SGMCS-3 servomotor: With 20-bit absolute encoder (multiturn data is 0).
Absolute position
detected continuously zero point return operation
Absolute encoder
Absolute Encoder Resolution Output Range Action when Limit Is Exceeded

Type of Multiturn
Data
Σ Series 12-bit -99999 to • When the upper limit (+99999) is exceeded in the forward direc-
SGD 15-bit + 99999 tion, the multiturn data is 0.
SGDA • When the lower limit (-99999) is exceeded in the reverse direc-
SGDB tion, the multiturn data is 0.
Σ-ΙΙ, Σ-III Series 17-bit -32768 to • When the upper limit (+32767) is exceeded in the forward direc-
SGDM + 32767 tion, the multiturn data is -32768.*
SGDH • When the lower limit (-32767) is exceeded in the reverse direc-
SGDP tion, the multiturn data is +32768.*
SGDS
* The action differs when the Multiturn Limit Setting (Pn205) is changed. Refer to 8.4.7 Multiturn Limit
Setting.
Operation
8-29
8 Operation
8.4.1 Interface Circuits
8.4.1 Interface Circuits

The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor. The
connection cable models and wiring pin numbers depend on the servomotor. For details, refer to chapter 5 Spec-
ifications and Dimensional Drawings of Cables and Peripheral Devices.
Host controller SERVOPACK Encoder
*
* CN1 CN2
+5 V SEN 4 1 PG5V
7406 SG 2 2 PG0V
0V 21
BAT(+) 3 BAT (+)
+
Battery - BAT(-) 22 4 BAT ( - )
Line driver PAO PS
Serial interface 33 5 PG
circuit R /PAO 34
UP PA PBO /PS
Up/down Edge 35 6
counter detection R /PBO 36 Connector
DOWN PB PCO shell
19
R /PCO 20 Shield (shell)
Clear PC SG 1
0V
Applicable line driver: * Represents twisted-pair wires.

Texas Instruments’s SN75175 or KM3486
Terminating resistance R: 220 to 470 Ω
• SEN Signal Connection

Type Name Connector Setting Meaning
Pin Number
Input SEN CN1-4 OFF (low level) Input when power is turned on
ON (high level) Input at absolute data request
This input signal is required to output absolute data SERVOPACK
Host controller
from the SERVOPACK. CN1
+5V
Let at least three seconds elapse after turning ON the SEN 4 100 Ω
power before rasing the SEN signal to high level.
High level:
When the SEN signal changes from low level to high About 1 mA 0.1 μ
7406 or equivalent 2 4.7 kΩ
level, the multiturn data and initial incremental pulses
0V SG 0V
are output.
Until these operations have been completed, the motor
cannot be operated regardless of the status of the servo We recommend a PNP transistor.
ON signal (/S-ON). The panel operator display will Signal levels
also remain “bb.” High: 4.0 V min., Low: 0.8 V max.
Refer to 8.4.6 Absolute Encoder Reception Sequence.
IMPORTANT
Maintain the high level for at least 1.3 seconds when the SEN
signal is turned OFF and then ON, as shown in the figure on the SEN signal
right.
OFF ON (high level) OFF ON
1.3 s min.
15 ms min.
8-30
8.4.2 Selecting an Absolute Encoder

An absolute encoder can also be used as an incremental encoder.
Parameter Meaning
Pn002 n.0 Use the absolute encoder as an absolute encoder. (Factory setting)
n.1 Use the absolute encoder as an incremental encoder.
• The SEN signal and back-up battery are not required when using the absolute encoder as an incremental encoder.
8.4.3 Handling Batteries

In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backed
up by a battery.
PROHIBITED
• Do not install the battery at either the host controller or the SERVOPACK.
It is dangerous because a loop circuit between the batteries is set up. Install the battery in the host controller or SER-
VOPACK.
(1) Battery Provided for SERVOPACK

Use the following Battery Case (JUSP-BA01).
(2) Close the cover.
(1) Mount the battery.
(2) Installing the Battery at the Host Controller

Prepare following the host controller specification. Use an ER6VC3 battery (3.6 V, 200 mAh: manufactured by
Toshiba Battery Co., Ltd.) or an equivalent.
Operation
8-31
8 Operation
8.4.4 Replacing Batteries
8.4.4 Replacing Batteries

The SERVOPACK will generate an absolute encoder battery alarm (A.830) when the battery voltage drops below
about 2.7 V. This alarm is output, however, only when a warning signal is received from the absolute encoder at
the time the SERVOPACK power is turned ON. If the voltage drops while the SERVOPACK power is ON, the
SERVOPACK will not generate the alarm.
The absolute encoder battery alarm A.830 can be changed to the warning A.930 by setting the parameter Pn008.
Parameter Meaning
Pn008 n.0 Generates the alarm A.830 when the battery voltage drops. (Factory setting)
n.1 Generates the warning A.930 when the battery voltage drops.
• Battery Replacement Procedure
1. Replace the battery with only the SERVOPACK control power supply turned ON.
2. After replacing the battery, turn OFF the SERVOPACK power to cancel the absolute encoder battery
alarm (A.830).
3. Turn ON the SERVOPACK power back again. If it operates without any problems, the battery replace-
ment has been completed.
IMPORTANT If the SERVOPACK control power supply is turned OFF and the battery is disconnected (which includes
disconnecting the encoder cable), the absolute encoder data will be deleted. The absolute encoder must
be setup again. Refer to 8.4.5 Absolute Encoder Setup (Fn008).
8.4.5 Absolute Encoder Setup (Fn008)

Setting up the absolute encoder is necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When the data of the absolute encoder is to be set within the number of pulses of one rotation.
Use the panel operator to do the setup. (It can also be done with SigmaWin+, which is a tool for supporting the
servo drive or a digital operator.)
IMPORTANT 1. Encoder setup operation is only possible when the servo is OFF.
2. If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the
setup (initializing). They cannot be canceled with the SERVOPACK alarm reset input signal (/ALM-
RST).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power, then
canceling the alarm.
3. Multiturn data sometimes takes –1, 0, +1 when setup. (The values vary depending on the difference of
motors (encoders) and the position when setup is executed.)
When setup, make sure to read the multiturn data and the number of initial incremental pulse.
8-32
Procedure Display after Operation Panel Operator Description
1 Alarm generated
MODE/SET
(MODE/SET Key)
3 Press the Up or Down Cursor Key to select parameter Fn008.


The display will be as shown at the left.
DATA/
(DATA/SHIFT)
5 Continue pressing the Up Cursor Key until PGCL5 is displayed.

*If there is a mistake in the key operation, “nO_OP” will blink for
about one second. The panel operator will return to the utility
function mode.
6 Press the DATA/SHIFT Key for a minimum of one second. This
will clear the multiturn data of the absolute encoder.
DATA/
(DATA/SHIFT) When completed, “donE” will blink for about one second.
7 About one second After “donE” is displayed, “PGCL5” will be displayed again.
later

DATA/
(DATA/SHIFT)
9 Turn OFF the power, and then turn it ON again to make the setting valid.
8.4.6 Absolute Encoder Reception Sequence

The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host
device is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, and PCO signals as shown below.
SERVOPACK
SEN
CN2 PAO
DATA Dividing
Operation
PG circuit PBO
Serial data (Pn212)
pulse conversion
PCO
8-33
8 Operation
(2) Absolute Encoder Transmission Sequence and Contents

1. Set the SEN signal at high level.
2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down
counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.
SEN signal Rotation count

serial data
Initial Incremental pulses
PAO Undefined incremental
pulses
(Phase A) (Phase A)
Initial Incremental pulses
PBO Undefined incremental
pulses
60 ms min. (Phase B) (Phase B)

90 ms typ.
260 ms max.
50ms About 15 ms 400 ms max.
1 to 3 ms
• Serial data: Indicates how many turns the motor shaft has made from the reference position (position spec-
ified at setup).
• Initial incremental pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from the
origin to the current position at about 1250 min-1 (for 17 bits when the dividing pulse is at the factory set-
ting)
Reference position (setup) Current position

Coordinate -1 0 +1 +2 +3
value
-1 ±0 +1 +2
Value M
M R PO
PE
PS PM
Final absolute data PM is calculated by following formula.

PE Current value read by encoder
PE = M × R + PO M Multiturn data (rotation count data)
PM = PE - PS PO Number of initial incremental pulses
Use the following for reverse rotation PS Absolute data read at setup (This is saved and controlled by the host
mode (Pn000.0 = 1). controller.)
PE = -M × R + PO PS = MS × R + PS'
PM = PE - P S Ms Multiturn data read at setup
PS' Number of initial incremental pulses read at setup
PM Current value required for the user’s system.
R Number of pulses per encoder revolution (pulse count after dividing,
value of Pn212)
8-34
(3) Detailed Signal Specifications

(a) PAO Serial Data Specifications
The number of revolutions is output in five digits.
Data Transfer Method Start-stop Synchronization (ASYNC)
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character coder ASCII 7-bit coder
Data format 8 characters, as shown below.
"P" "+" or " - " "CR"

"0" to "9"
0 00 0 0 1 0 1 0 1
Data Stop bit
Start bit Even parity
Note: 1. Data is “P+00000” (CR) or “P-00000” (CR) when the number of revolutions is zero.
2. The revolution range is “+32767” to “-32768.” When this range is exceeded, the data
changes from “+32767” to “-32678” or from “-32678” to “+32767.” When changing
multiturn limit, the range changes. For details, refer to 8.4.7 Multiturn Limit Setting.
(b) Incremental Pulses and Origin Pulses

Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first
divided by the frequency divider inside the SERVOPACK and then output.
For details, refer to 8.5.7 Encoder Signal Output.
Forward rotation Reverse rotation

Phase A Phase A
Phase B
Phase B
Phase C Phase C
t t
Operation
8-35
8 Operation
(4) Transferring Alarm Contents

When an absolute encoder is used, SEN signals can be utilized to transfer the alarm contents from PAO outputs to
the host device as serial data. For the list of alarm contents, refer to 11.1.1 Alarm Display Table.
Alarm Contents Output Example
SEN Signal L
H Error detection
Digital Operator
Display
or
PAO
Serial Data
Incremental pulse CR
Serial Data
8-36
8.4.7 Multiturn Limit Setting
WARNING
• The multiturn limit value must be changed only for special applications. Changing it inappropriately or unin-
tentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm (A.CC0) occurs, check the setting of parameter Pn205 to be sure
that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The alarm
will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting a dangerous situation
where the machine will move to unexpected positions and machine break and personal accident will occur.
The parameter for the multiturn limit setting sets the upper limit for the multiturn data from the encoder into
Pn002 = n0 when using an absolute encoder. When the rotation amount exceeds this setting, the encoder
rotation amount returns to 0.
Pn205 Multiturn Limit Setting Speed Position Torque

0 to 65535 1 Rev 65535 After restart
This parameter is valid when Pn002 = n0 (when the absolute encoder is used).
The range of the multiturn data will vary when this parameter is set to anything other than the factory setting.
Factory Setting (=65535) Without Factory Setting (≠65535)
Negative Pn205 setting value

+32767 Positive Negative
direction direction
Positive
direction direction
Multiturn 0 Multiturn
data data
0
-32768 No. of rotations
No. of rotations
When Set to Anything Other than the Factory Setting Position detection
(≠ 65535)
When the motor rotates in the reverse direction with the multiturn (Revolution counter)
data at 0, the multiturn data will change to the setting of Pn205.
When the motor rotates in the forward direction with the multiturn Detection amount
data at the Pn205 setting, the multiturn data will change to 0.
SigmaWin, which is a tool for supporting the servo drive or a digital
(Absolute encoder)
operator. Position
Travel distance/motor = 1 resolution
• Encoder Multiturn Limit Disagreement

If the Pn205 value is changed from the factory setting and the power is turned OFF then ON, an alarm will be
displayed.
Operation
Alarm Alarm Name Alarm Code Outputs Meaning

Display
A.CC0 Multiturn Limit Disagreement ALO1 ALO2 ALO3 Different multiturn limits have been set
ON (L) OFF (H) ON (L) in the encoder and SERVOPACK.
If this alarm is displayed, the multiturn limit value in the encoder must be changed. 8
8-37
8 Operation
8.4.8 Multiturn Limit Setting when the Multiturn Limit Disagreement alarm (A.CC0) Occurs
8.4.8 Multiturn Limit Setting when the Multiturn Limit Disagreement alarm (A.CC0)
Occurs
Use the panel operator and perform the operation described below. (This can also be done with SigmaWin+, the
tool for supporting the servo drive, or digital operator.)
This operation is valid when the A.CC0 alarm occurs.
Procedure

MODE/SET
(MODE/SET Key)
2 Press the Up or Down Cursor Key to set the parameter Fn013.

3 Press the DATA/SHIFT Key for at least one second. The left dis-
play will appear.
DATA/
(DATA/SHIFT)
4 Press the MODE/SET Key. The multiturn limit setting in the

absolute encoder will be changed.
MODE/SET
(MODE/SET Key)
When the setting is completed, “donE” will blink for about one
second.
5 After “donE” is displayed, “PGSEt” will be displayed again.
About one
second later

DATA/
(DATA/SHIFT)
7 Turn OFF the power, and then turn it ON again to make the setting valid.
8-38
8.5 Operating Using Speed Control with Analog Reference

Parameter Description
Pn000 n.0 Control mode selection: Speed control (analog reference) (factory setting)
Pn300 Speed Reference Input Gain Speed Position Torque

150 to 3000 0.01 V/Rated 600 Immediately
(1.50 to 30.00 V/Rated speed) speed (6.00 V/Rated speed)
Sets the analog voltage level for the speed reference (V-REF) necessary to operate the
Reference
servomotor at the rated speed.
Speed Set this
(min -1) slope.
EXAMPLE
Pn300=600 (6.00 V): 6-V input is equivalent to the rated speed of the servomotor Reference
(factory setting) Voltage (V)
Pn300=1000 (10.00 V): 10-V input is equivalent to the rated speed of the servomotor
Pn300=200 (2.00 V): 2-V input is equivalent to the rated speed of the servomotor
Operation
8-39
8 Operation
8.5.2 Setting Input Signals
8.5.2 Setting Input Signals

(1) Speed Reference Input
Input the speed reference to the SERVOPACK using the analog reference to control the servomotor speed in pro-
portion to the input voltage.
Type Signal Connector Pin Name
Name Number
Input V-REF CN1-5 Speed Reference Input
SG CN1-6 Signal Ground
The above inputs are used for speed control (analog reference). (Pn000.1 = 0, 4, 7, 9, or A)
Pn300 is used to set the speed reference input gain. Refer to 8.5.1 Setting Parameters.
Input Specifications
• Input range: ±2 VDC to ±10 VDC/rated speed
• Maximum allowable input voltage: ±12 VDC
• Setting Example
Pn300 = 600: Rated speed at ±6 V
Rated motor speed Actual examples are shown below.
Factory setting
-12 -8 -4 Speed Reference Rotation SGMAS
Motor Speed
4 8 12 Input Direction Servomotor
Input voltage (V)
+6 V Forward Rated motor speed 3000 min -1
Rated motor speed
+1 V Forward (1/6) rated motor speed 500 min -1
The slope is set in Pn300.
-3 V Reverse (1/2) rated motor speed 1500 min-1
Parameter Pn300 can be used to change the voltage input range.

Input Circuit Example Connect V-REF and SG to the speed reference output terminals on
• Always use twisted-pair cable to control noise. the host controller when using a host controller, such as a program-
• Recommended variable resistor: Model 25HP- mable controller, for position control.
10B manufactured by Sakae Tsushin Kogyo Co., SERVOPACK
Ltd. Host controller
CN1
V-REF 5
SERVOPACK Speed reference
1.8 kΩ 1/2 W min. output terminals SG 6
CN1
V-REF 5
+12 V 2 kΩ
PAO 33
Feedback /PAO 34
SG 6 pulse input 35
PBO
terminals /PBO 36
: represents twisted-pair wires.
Set the following signal and parameter according to the application.
(2) Proportional Control Reference (/P-CON)

Type Signal Connector Setting Description
Name Pin Number
Input /P-CON CN1-41 ON (low level) Operates the SERVOPACK with proportional control.
OFF (high level) Operates the SERVOPACK with proportional integral
control.
This signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 7.3.2 Input Circuit
Signal Allocation.
8-40
8.5.3 Adjusting Offset

When using the speed control, the servomotor may rotate slowly even if 0 V is specified as the analog reference.
This happens if the host controller or external circuit has a slight offset in the reference voltage. Adjustments can
be done manually or automatically by using the panel operator or digital operator. Refer to 7.2 Operation in Util-
ity Function Mode (Fn).
The automatic adjustment of the analog (speed, torque) reference offset (Fn009) automatically measures the
amount of the offset and adjusts the reference voltage.
If the offset occurs in the host controller or reference voltage of external circuit, SERVOPACK adjust offset auto-
matically as follows.
Reference Reference
voltage voltage Offset automatically
adjusted in SERVOPACK.
Offset
Speed Speed
reference reference
Automatic
offset
adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the speed reference offset manual servo tuning mode. There are two reference offset
adjustment modes, as described next.
(1) Automatic Adjustment of the Speed Reference Offset
The automatic adjustment of analog (speed, torque) reference offset (Fn009) cannot be used when a position loop
has been formed with a host controller. Use the speed reference offset adjustment manual mode described in the
next section for a position loop.
The zero-clamp speed control function can be used to force the motor to stop while the zero speed reference is
given. Refer to 8.5.6 Using the Zero Clamp Function.
The speed reference offset must be automatically adjusted with the servo OFF.
IMPORTANT
Operation
8-41
8 Operation
8.5.3 Adjusting Offset
Adjust the speed reference offset automatically using the following procedures.

1 SERVOPACK Servomotor Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
0-V speed
Host reference
controller
Slow rotation
Servo OFF (Servo ON)

MODE/SET
(MODE/SET Key)


“rEF_o” will be displayed.
DATA/
(DATA/SHIFT)
5 Press the MODE/SET Key.

The reference offset will be automatically adjusted.
MODE/SET When completed, “donE” will blink for about one second.
(MODE/SET Key)
6 After “donE” is displayed, “rEF_o” will be displayed again.

About one second
later

DATA/
(DATA/SHIFT)
8-42
(2) Manual Servo Tuning of the Speed Reference Offset

Use the speed reference offset manual servo tuning (Fn00A) in the following situations:
• If a loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• To check the offset data set in the speed reference offset automatic adjustment mode.
This function operates in the same way as the reference offset automatic adjustment mode (Fn009), but the man-
ual servo tuning (Fn 00A), adjust inputting the amount of offset.
The offset setting range and setting units are as follows:
Speed Reference
Offset Adjustment
Range Offset Adjustment Range: ±15000
(Speed Reference: ±750 mV)
Offset Setting Unit Analog

Offset Setting Unit
Input
Speed Reference: 1 = 0.05 mV
Voltage
Adjust the speed reference offset using following procedures.

MODE/SET
(MODE/SET Key)
2 Press the Up or Down Cursor Key to select parameter Fn00A.

3 Press the DATA/SHIFT Key for a minimum of one second. The

display will be as shown at the left. The manual servo tuning
DATA/
(DATA/SHIFT) mode for the speed reference offset will be entered.
4 Turn ON the servo ON (/S-ON) signal. The display will be as

Servo ON shown at the left.
5 Press the DATA/SHIFT Key for less than one second to display
DATA/
the speed reference offset amount.
DATA/SHIFT
Less than one sec.
6 Press the Up or Down Cursor Key to adjust the amount of offset.

Operation
7 When the MODE/SET Key is pressed less than one second, the
MODE/SET
display on the left appears. Then “don E” blinks on the display,
MODE/SET Key and offset amount is set. After setting, returns to the display on
Less than one sec.
the left.
8 Press the DATA/SHIFT Key for a minimum of one second to 8
return to the Fn00A display of the utility function mode.
DATA/
(DATA/SHIFT)
8-43
8 Operation
8.5.4 Soft Start
8.5.4 Soft Start

The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of
acceleration and deceleration.
Pn305 Soft Start Acceleration Time Speed

Pn306 Soft Start Deceleration Time Speed

The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally
set speeds. Set both Pn305 and Pn306 to “0” for normal speed control.
Set these parameters as follows:
• Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
• Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops.
Maximum speed of Servomotor
After soft start

Before soft start
Pn305 Pn306
8.5.5 Speed Reference Filter

Pn307 Speed Reference Filter Time Constant Speed

0 to 65535 0.01 ms 40 Immediately
(0.00 to 655.35 ms) (0.40 ms)
This smoothens the speed reference by applying a 1st-order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will slow down response.
8.5.6 Using the Zero Clamp Function

(1) Zero Clamp Function
The zero clamp function is used for systems where the host controller does not form a position loop for the speed
reference input. When the zero clamp signal (/ZCLAMP) is ON, a position loop is formed inside the SERVO-
PACK as soon as the input voltage of the speed reference (V-REF) drops below the motor speed level that is set
at Pn501 (Zero Clamp Level). The servomotor ignores the speed reference and then quickly stops and locks.
The servomotor is clamped within one pulse of when the zero clamp function is turned ON, and will still return to
the zero clamp position even if it is forcibly rotated by external force.
When the /ZCLAMP signal is turned ON, a
speed reference below the Pn501 setting is detected.
Host controller
Speed reference
V-REF
Zero clamp Stops precisely!

/P-CON
(/ZCLAMP)
8-44
(2) Parameter Setting

Parameter Meaning
Pn000 n.A Control mode selection: Speed control (analog reference) ⇔ Zero clamp
Zero Clamp Conditions
Zero clamp is performed when Pn000 = n.A is set, and the following two conditions are satisfied:
• /P-CON (/ZCLAMP) is ON (low level).
• Speed reference (V-REF) drops below the setting of Pn501.
SERVOPACK V-REF speed reference
Speed
CN1
V-REF 5 Preset value
Speed reference
for zero clamping
Zero clamp
/P-CON 41 Pn501
(/ZCLAMP)
Time
Closed (ON)
/P-CON (/ZCLAMP) input Open (OFF)
Zero clamp is performed. OFF OFF
ON ON ON
Pn501 Zero Clamp Level Speed

Sets the motor speed at which the zero clamp is performed if zero clamp speed control (Pn000 = n.A) is selected.
The maximum speed of the servomotor is set to above Pn501, the maximum speed will be used.
(3) Input Signal Setting

Type Signal Name Connector Pin Num- Setting Meaning
ber
Input /P-CON CN1-41 ON (low level) Zero clamp function ON (enabled)
OFF (high level) Zero clamp function OFF (disabled)
/ZCLAMP Must be allocated ON (low level) Zero clamp function ON (enabled)
OFF (high level) Zero clamp function OFF (disabled)
This is the input signal for the zero clamp operation.
Either /P-CON or /ZCLAMP can be used to switch the zero clamp.
To use the /ZCLAMP signal, an input signal must be allocated. Refer to 7.3.2 Input Circuit Signal Allocation for more
details.
IMPORTANT
When the /ZCLAMP signal is allocated, the zero clamp operation will be used even for speed control Pn000 = n.0.
Operation
8-45
8 Operation
8.5.7 Encoder Signal Output
8.5.7 Encoder Signal Output

Encoder feedback pulses processed inside the SERVOPACK can be output externally.
Type Signal Connector Name
Name Pin Number
Output PAO CN1-33 Encoder output phase A
/PAO CN1-34 Encoder output phase /A
Output PBO CN1-35 Encoder output phase B
/PBO CN1-36 Encoder output phase /B
Output PCO CN1-19 Encoder output phase C (origin pulse)
/PCO CN1-20 Encoder output phase /C (origin pulse)
These outputs explained here.
Encoder Note.
CN1 Phase A (PAO)
CN2 * The pulse width of the origin's
DATA Frequency
PG Phase B (PBO) pulse changes according to the
dividing
circuit Phase C (PCO) setting of the Pn212 dividing
ratio and becomes the same
as that for phase A.
* Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0).
Output Phase Form
Forward rotation (phase B leads by 90˚) Reverse rotation (phase A leads by 90˚
90˚ 90˚
Phase A Phase A
Phase B Phase B
Phase C Phase C
t t
The following signals are added when using an absolute encoder.

Name Pin Number
Input SEN CN1-4 SEN Signal Input
BAT (+) CN1-21 Battery (+)
BAT (-) CN1-22 Battery (-)
Output SG∗ CN1-1 Signal Ground
* SG (CN1-1, 2): Connect to 0 V on the host controller.
IMPORTANT If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the servomotor twice before
starting a zero point return. If the configuration prevents the servomotor from returning to the zero point,
perform a zero point return at a motor speed of 600 min-1 or below. If the motor speed is faster than 600
min-1, the phase-C pulse output may not be output correctly.
8-46
• Pulse Dividing Ratio Setting

Pn212 PG Dividing Pulse Setting
Speed Position Torque

16 to 1073741824(2 30) 1 P/Rev 2048 After restart
Set the number of pulses for PG output signals (PAO, /PAO, PBO, /PBO) externally output.
Feedback pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parameter
before being output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the encoder resolution for the servomotor used. The upper limit of the dividing pulse fre-
quency the SERVOPACK can output is 1.6 Mpps. The servomotor speed is limited by the setting value of the number of the
output pulse for Pn212 as shown in the following table.
For the servomotors with 17-bit (the number of encoder pulses 32768 P/Rev) encoder resolution or more, set the PG
dividing pulse (Pn212) by the following setting unit.
Applied Encoder PG Dividing Pulse Setting Pn212 Setting Upper Limit of Servomotor Speed
Resolution (Pn212) (P/Rev) Unit (min-1)
13-bit or more 16 to 2048 1 pulse 6000
17-bit or more 16 to 16384 1 pulse 6000
16386 to 32768 2 pulses 3000
18-bit or more 32772 to 65536 4 pulses 1500
19-bit or more 65544 to 131072 8 pulses 750
20-bit 131088 to 262144 16 pulses 375
A parameter setting error alarm (A.041) will occur if the setting is outside the allowable range or does not satisfy the setting
conditions. An overspeed alarm (A.511) will occur if the rotational speed for the motor is excessively high.
■ Setting Example
For the 17-bit resolution encoder,
Pn212=25000 (P/Rev) is accepted, but
Pn212=25001 (P/Rev) is not accepted. The alarm A.041 is output.
Setting Example
Pn212 = 16 (16-pulse output per one revolution)
Preset value: 16
PAO
PBO
1 revolution
Operation
8-47
8 Operation
8.5.8 Speed Coincidence Output
8.5.8 Speed Coincidence Output

The speed coincidence (/V-CMP) output signal is output when the actual servomotor speed during speed control
is the same as the speed reference input. The host controller uses the signal as an interlock.
Type Signal Connector Setting Meaning
Name Pin Number
Output /V-CMP CN1-25, 26 ON (low level) Speed coincides.
(Factory setting) OFF (high level) Speed does not coincide.
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 7.3.3 Output Circuit Signal Allocation for details.
Pn503 Speed Coincidence Signal Output Width Speed

0 to 100 1 min-1 10 Immediately
The /V-CMP signal is output when the difference between the speed
reference and actual motor speed is below this setting. Motor speed
EXAMPLE
Pn503
The /V-CMP signal turns ON at 1900 to 2100 min-1 if the Pn503 param-
eter is set to 100 and the reference speed is 2000 min-1
Reference speed
/V-CMP is output in
this range.
/V-CMP is a speed control output signal. With the factory setting without mapping output terminal in Pn50E, this signal is
automatically used as the positioning completed signal /COIN for position control, and it is always OFF (high level) for
torque control.
8-48
8.6 Operating Using Position Control

Set the following parameters for position control using pulse trains.
(1) Control Mode Selection
Parameter Meaning
Pn000 n.1 Control mode selection: Position control (pulse train reference)
(2) Setting a Reference Pulse Form

Name Pin Number
Input PULS CN1-7 Reference Pulse Input
/PULS CN1-8 Reference Pulse Input
SIGN CN1-11 Reference Code Input
/SIGN CN1-12 Reference Code Input
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Parameter Reference Pulse Input Forward Rotation Reverse Rotation
Form Pulse Reference Reference
Multiplier
Pn200 n.0 Sign + pulse train −
PULS PULS
(Positive logic) (CN1-7) (CN1-7)
SIGN SIGN
(Factory setting) H level
(CN1-11)
L level
(CN1-11)
n.1 CW pulse + CCW −

PULS PULS
pulse (CN1-7) L level (CN1-7)
(Positive logic) SIGN SIGN

L level
(CN1-11) (CN1-11)
n.2 Two-phase pulse ×1 90° 90°

train with 90° phase ×2 PULS PULS
n.3 (CN1-7) (CN1-7)
differential
n.4 ×4 SIGN
(CN1-11)
SIGN
(CN1-11)
n.5 Sign + pulse train − PULS PULS

(negative logic) (CN1-7) (CN1-7)
SIGN L level SIGN
H level
(CN1-11) (CN1-11)
n.6 CW pulse + CCW − PULS PULS

pulse (CN1-7) H level (CN1-7)
SIGN SIGN
(negative logic) (CN1-11) (CN1-11)
H level
The input pulse multiplier can be set for

Forward rotation Reverse rotation
the 2-phase pulse train with 90° phase
differential reference pulse form. PULS
Operation
(CN1-7)
SIGN
(CN1-11)
×1
Internal Servomotor movement
×2 reference pulses
processing 8
×4
8-49
8 Operation
(3) Clear Signal Form Selection

Name Pin Number
Input CLR CN1-15 Clear Input
/CLR CN1-14 Clear Input
The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter
Pn200.1. Select according to the specifications of the machine or host controller.
Parameter Description Timing
Pn200 n.0 Clears at high level.
Clears at
CLR
Position error pulses do not accumulate while the (CN1-15) H level
signal is at high level.
(Factory setting)
n.1 Clears at the rising edge.
CLR H level
(CN1-15)
Clears here just once.
n.2 Clears at low level. CLR Clears at

Position error pulses do not accumulate while the (CN1-15) L level
signal is at low level.
n.3 Clears at the falling edge.

CLR L level
(CN1-15)
Clears here just once.

The following are executed when the clear operation is enabled.
• The SERVOPACK error counter is set to 0.
• Position loop operation is disabled.
⇒ Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift
in the speed loop.
When the clear signal (CLR) is not wired, the signal is always at low level and the error pulse is not cleared.
(4) Clear Operation Selection

This parameter determines when the error pulse should be cleared according to the condition of the SERVO-
PACK, in addition to the clearing operation of the clear signal (CLR). Either of three clearing modes can be
selected with Pn200.2
Pn200 n.0 Clear the error pulse during the baseblock (at the Servo OFF and alarm occurred).
(Factory setting)
n.1 Do not clear the error pulse. Clear only with the /CLR signal.
n.2 Clear the error pulse when an alarm occurs.
8-50
8.6.2 Setting the Electronic Gear

(1) Number of Encoder Pulses
SGM - (Servomotor serial number)
Serial Encoder Specifications

Number of Encoder
Symbol Specification SGMMJ SGMAS SGMPS SGMSS SGMGH SGMCS
Pulses (P/R)
A 13-bit incremental Standard − − − − 2048
2 17-bit absolute Standard −
Standard Standard Standard Standard 32768
C 17-bit incremental −
20-bit absolute
3
(without multi-turn data) − Standard 262144
D 20-bit incremental
Note: For details on reading servomotor model numbers, refer to 2.1 Servomotor Model Designations.
The number of bits representing the resolution of the applicable encoder is not the same as the number of encoder signal
INFO
pulses (phase A and B). The number of bits representing the resolution is equal to the number of encoder pulses × 4 (mul-
tiplier).
(2) Electronic Gear

The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be
set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called a ref-
erence unit.
When the Electronic Gear When the Electronic Gear Is Used

Is Not Used Workpiece Workpiece
Reference unit:
: 1 mm
No. of encoder pulses: 32768

Ball screw pitch: 6 mm No. of encoder pulses: 32768
Ball screw pitch: 6 mm
To move a workpiece 10 mm: To move a workpiece 10 mm using reference units:

1 revolution is 6 mm. Therefore, The reference unit is 1 μm. Therefore,
10 ÷ 6 = 1.6666 revolutions to move the workpiece 10 mm (10000 μm),
32768 × 4 pulses is 1 revolution. Therefore, 1 pulse = 1 μm, so
1.6666 × 32768 × 4 = 218445 pulses 10000/1=10000 pulses.
218445 pulses are input as reference pulses. Input 10000 pulses as reference pulses.
The equation must be calculated at the
host controller. Operation
8-51
8 Operation
8.6.2 Setting the Electronic Gear
(3) Related Parameters

Pn20E Electronic Gear Ratio (Numerator) Position

1 to 1073741824 (2 ) 30 − 4 After restart
Pn210 Electronic Gear Ratio (Denominator) Position

1 to 1073741824 (2 30) − 1 After restart
If the deceleration ratio of the motor and the load shaft is given as n/m where m is the rotation of the motor and n is the rota-
tion of the load shaft,
B Pn20E No. of encoder pulses × 4 m

Electronic gear ratio: = = ×
A Pn210 Travel distance per load n
shaft revolution (reference units)
* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
IMPORTANT
Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A) ≤ 1000
If the electronic gear ratio is outside this range, a parameter setting error (A.040) will be output, and the SERVOPACK will
not operate properly. In this case, modify the load configuration or reference unit.
(4) Procedure for Setting the Electronic Gear Ratio

Use the following procedure to set the electronic gear ratio.
Step Operation Description
1 Check machine specifications. Check the deceleration ratio, ball screw pitch, and pulley diameter.
2 Check the number of encoder pulses. Check the number of encoder pulses for the servomotor used.
3 Determine the reference unit used. Determine the reference unit from the host controller, considering the
machine specifications and positioning accuracy.
4 Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load
revolution. shaft one revolution based on the previously determined reference
units.
5 Calculate the electronic gear ratio. Use the electronic gear ratio equation to calculate the ratio (B/A).
6 Set parameters. Set parameters using the calculated values.
8-52
(5) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.
Step Operation Load Configuration
Ball Screw Disc Table Belt and Pulley
Reference unit: 0.001 mm Reference unit: 0.01° Reference Unit: 0.005 mm
Load shaft Load shaft
Deceleration
ratio: Deceleration
17-bit encoder Ball screw 100 1 ratio
Pully diameter:
pitch: 6 mm Load shaft 50 1
17-bit encoder 100 mm
17-bit encoder
1 Check machine x Ball screw pitch: 6 mm Rotation angle per revolution: Pulley diameter: 100 mm
specifications. x Deceleration ratio: 1/1 360° (pulley circumference: 314 mm)
Deceleration ratio: 100/1 x Deceleration ratio: 50/1
2 Check the number 17-bit: 32768 P/R 17-bit: 32768 P/R 17-bit: 32768 P/R
of encoder pulses.
3 Determine the ref- Reference unit: 0.001 mm Reference unit: 0.01° Reference unit: 0.005 mm (5 μm)
erence unit used. (1 μm)
4 Calculate the travel 6 mm/0.001 mm=6000 360°/0.01°=36000 314 mm/0.005 mm=62800
distance per load
shaft revolution.
5 Calculate the elec- B 32768 × 4 1 B 32768 × 4 100 B 32768 × 4 50
tronic gear ratio. = × = × = ×
A 6000 1 A 36000 1 A 62800 1
6 Set parameters. Pn20E 131072 Pn20E 13107200 Pn20E 6553600
Pn210 6000 Pn210 36000 Pn210 62800
(6) Electronic Gear Ratio Equation
Servomotor
n
Reference pulse + Pitch = P (mm/rev)
B Position Speed
loop loop
A -
Δ (mm/P) m
×4
Δ (mm/P): Reference unit PG (P/R)
PG (P/R): Encoder pulses
P (mm/rev): Ball screw pitch
m : Deceleration ratio
n
n×P ( B )
× = 4 × PG × m Set A and B with the following parameters.
Δ A
4 × PG × m × Δ 4 × PG m A Pn210 B Pn20E
( B )= = ×
A n×P P n
×
Δ
Operation
8-53
8 Operation
8.6.3 Position Reference
8.6.3 Position Reference

The servomotor positioning is controlled by inputting a pulse train reference.
Line-driver output can be used as the pulse train output form from the host controller.
(1) Input/Output Signal Timing Example
Servo ON ON
Release
t1 ≤ 30 ms
Baseblock t1 t2 t2 ≤ 6 ms
H (When parameter Pn506 is set to 0.)
CN1-11
t3 ≥ 40 ms
H
Sign + pulse train t3
L
CN1-7
H
L t4 t5 t6 ≤ 2 ms
PAO
H t7 ≥ 20 μs
Encoder pulses L
PBO
t5
/COIN t4 t6
ON ON
CLR
t7
Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must
be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20 μs.
(2) Reference Pulse Input Signal Timing

The reference pulse input signal timing differs from that when using a regular control or a less deviation control.
Refer to Table 8.3 and Table 8.4 when using a regular control and a less deviation control.
Table 8.3 Reference Pulse Input Signal Timing (When using a regular control)
Reference Pulse Form Electrical Specifications Remarks
Sign and pulse train input t1 t2
t1, t2 ≤ 0.1 ms Sign (SIGN)
(SIGN and PULS signal) SIGN t7 t3, t7 ≤ 0.1 ms H = Forward
t3
Maximum reference frequency: t4, t5, t6 > 0.5 ms reference
PULS t4
1 Mpps τ t5 t6
t ≥ 0.5 ms L = Reverse
T
reference
Forward
reference
Reverse
reference
(τ/T) × 100 ≤ 50%
CW pulse and CCW pulse t1 t1, t2 ≤ 0.1 ms −

Maximum reference frequency: T t3 > 0.5 ms
1 Mpps τ ≥ 0.5 ms
CCW τ
t2
(τ/T) × 100 ≤ 50%
CW Forward t3 Reverse
reference reference
Two-phase pulse train with 90° t1 t2 t1, t2 ≤ 0.1 ms Switching of

phase differential (phase A and τ ≥ 0.5 ms the input pulse
phase B) Phase A multiplier
(τ/T) × 100 = 50%
Maximum reference frequency Phase B mode is done
τ
×1 input pulse multiplier: 1 Mpps with parameter
T
×2 input pulse multiplier: 1 Mpps Pn200.0 set-
Forward reference Reverse reference ting.
×4 input pulse multiplier: 1 Mpps Phase B leads Phase B lags
phase A by 90 ° phase A by 90 °
8-54
Table 8.4 Reference Pulse Input Signal Timing (When using a less deviation control)
Reference Pulse Form Electrical Specifications Conditions Remarks

Sign and pulse train input t1, t2, t3, t7 ≤ 0.1μs −
(SIGN and PULS signal) t4, t5, t6 > 0.5μs −
Maximum reference fre- τ1, τ2 > 1.1μs −
quency:
1 Mpps SIGN
> 2.2μs When sending the reference at
t1 t2 t7
t3 a constant frequency.
t5 t6
（Maximum reference
frequency: 416kpps）
PULS
t4 τ1 τ2
T > 1.5μs When sending the reference at
T
a reference pulse with the
Forward reference Reverse reference
acceleration/deceleration
frequency.
CW pulse and CCW t1, t2 ≤ 0.1μs −
pulse t3 > 0.5μs −
Maximum reference fre-
τ > 1.1μs −
quency:
1 Mpps > 2.2μs When sending the reference at
CCW a constant frequency.
t1 t2
CW τ
T t3 frequency: 416kpps）
Forward
T > 1.5μs When sending the reference at
Reverse reference reference
frequency.
Two-phase pulse train t1, t2 ≤ 0.1μs −
with 90° phase differential > 1.1μs When sending the reference at
(phase A and phase B) a constant frequency.
Maximum reference fre- （Maximum reference
quency frequency: 416kpps）
×1 input pulse multiplier:
τ > 0.5μs When sending the reference at
1 Mpps
×2 input pulse multiplier: acceleration/deceleration
1 Mpps Phase A t1 t2 τ
frequency.
×4 input pulse multiplier: （Maximum reference
Phase B
1 Mpps τ frequency: 1Mpps）
t0 t0t0 t0
Reverse
Forward reference reference > 0.4μs When sending the reference at
Phase B leads Phase B lags a constant frequency.
phase A by 90 ° phase A by 90 °
Operation
t0 > 0.2μs When sending the reference at
frequency.
8
frequency: 1Mpps）
8-55
8 Operation
8.6.4 Smoothing
(3) Connection Example: Line-driver Output

Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or equivalent

Line CN1
*2
driver
∗1
PULS PULS 7
CW 120Ω
Phase A /PULS 8
SIGN SIGN 11
CCW 120Ω
Phase B /SIGN 12
CLR Photocoupler
CLR 15
150Ω
/CLR 14
* 1. : Represents twisted-pair wires.

* 2. A line-driver output is the only pulse train output reference form from the host controller that
can be received by the SERVOPACK.
A block diagram for position control is shown below.

SERVOPACK (in position control)
Pn109 Pn20E Pn10A

Pn107
Differ- Feed-forward B 1st-order
delay
gain A filter Bias
ential Pn108
Pn210
Bias adding
Pn200.0 width
Reference Pn216 Pn20E
pulse ×1 B + Pn102
+ +
Servomotor
×2 Smoothing
A Error + Speed Current
×4 Kp M
Pn210 - counter loop loop
PG signal ×4 PG
output Pn212
Encoder
Dividing
8.6.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
(1) Selecting a Position Reference Filter
Pn207 n.0 Acceleration/deceleration filter
n.1 Average movement filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
8-56
(2) Filter-related Parameters

Pn216 Position Reference Acceleration/Deceleration Time Constant Position

0 to 65535 0
0.1 ms Immediately
(0.0 to 6553.5 ms) (0.0 ms)
Pn209 Position Reference Acceleration/Deceleration Bias Position

0 to 65535 1 Reference units/s 0 Immediately
Pn217 Average Movement Time of Position Reference Position

0 to 10000 0
0.1 ms Immediately
(0.0 to 1000.0 ms) (0.0 ms)
IMPORTANT
When the position reference acceleration/deceleration time constant (Pn216) is changed, a value with no reference pulse input
and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulse from the
host controller and input the clear signal (/CLR), or turn the servo OFF to clear the error.
This function provides smooth servomotor operating in the following cases. The function does not affect the travel distance (i.e.,
the number of pulses).
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10x or more).
The difference between the position reference acceleration/deceleration time constant (Pn216) and the position reference move-
ment averaging time (Pn217) is shown below.
Acceleration/Deceleration Filter Average Movement Time Filter
Pn207=n.0 Pn207=n.1
Before filter applied Before filter applied
After filter applied After filter applied
100% 100%
63.2%
36.8%
t t
Pn209 = 0 Pn216 Pn216 Pn217 Pn217
Response waveform for stepwise input Response waveform for stepwise input
Pn216 Before filter applied Pn217 Before filter applied

After filter applied
After filter applied
Operation
Pn217
Pn209
Using position reference acceleration/

t
t 8
Response waveform for ramp reference input
deceleration bias
8-57
8 Operation
8.6.5 Positioning Completed Output Signal
8.6.5 Positioning Completed Output Signal

This signal indicates that servomotor movement has been completed during position control. Use the signal as an
interlock to confirm at the host controller that positioning has been completed.
Name Pin Number
Output /COIN CN1-25, 26 ON (low level) Positioning has been completed.
(Factory setting) OFF (high level) Positioning is not completed.
This output signal can be allocated to an output terminal with parameter Pn50E. The factory setting is allocated to CN1-25,
26.
Pn522 Positioning Completed Width Position

0 to 1073741824(230) 1 Reference units 7 Immediately
The positioning completed (/COIN) signal is output when the differ-
Reference Servomotor
ence (position error pulse) between the number of reference pulses out- speed
put by the host controller and the travel distance of the servomotor is Speed
less than the value set in this parameter.
Set the number of error pulses in reference units (the number of input Pn522
pulses defined using the electronic gear.) Error pulse
(Un008)
Too large a value at this parameter may output only a small error dur-
ing low-speed operation that will cause the /COIN signal to be output
continuously. /COIN
(CN1-25)
If a servo gain is set that keeps the position error small even when the
positioning completed width is large, use Pn207 = n.1 to enable correct output timing for the COIN signal.
The positioning completed width setting has no effect on final positioning accuracy.
/COIN is a position control signal.

With the factory setting without mapping output terminal in Pn50E, this signal is used for the speed coincidence output /V-
CMP for speed control, and it is always ON for torque control.
Parameter Name Description

Pn207 n.0 /COIN Out- When the absolute value of the position error is below the positioning com-
put Timing pleted width setting.
n.1 When the absolute value of the position error is below the positioning com-
pleted width setting, and the reference after applying the position reference fil-
ter is 0.
8-58
8.6.6 Positioning Near Signal

This signal indicates that the positioning of the servomotor is near to completion, and is generally used in combi-
nation with the positioning completed (/COIN) output signal.
The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and
performs the following operating sequence after positioning has been completed to shorten the time required for
operation.
Name Pin Number
Output /NEAR Must be allocated ON (low level) The servomotor has reached a point near to positioning
completed.
OFF (high level) The servomotor has not reached a point near to posi-
tioning completed.
The output terminal must be allocated with parameter Pn510 in order to use Positioning Near signal. Refer to 7.3.3 Output
Circuit Signal Allocation for details.
Pn524 NEAR Signal Width Position

1 to 1073741824(2 30) 1 Reference units 1073741824 Immediately
The positioning near (/NEAR) signal is output when the differ-
Reference
ence (error) between the number of reference pulses output by Servomotor
the host controller and the travel distance of the servomotor is Speed speed
less than the value set in this parameter.
Set the number of error pulses in reference units (the number of Pn524 Pn522
input pulses defined using the electronic gear.) Error pulse
Normally, the setting should be larger than that for the position- 0
ing completed width (Pn522).
/NEAR
/COIN
Operation
8-59
8 Operation
8.6.7 Reference Pulse Inhibit Function (INHIBIT)
8.6.7 Reference Pulse Inhibit Function (INHIBIT)

(1) Description
This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor
remains locked (clamped) while pulse are inhibited.
SERVOPACK
Pn000.1
Pn000 = n. 1
Reference pulse OFF +
Pn000 = n. B Error
ON - counter
/P-CON /P-CON (/INHIBIT)

(/INHIBIT)
Feedback pulse
(2) Setting Parameters

Parameter Meaning
Pn000 n.B Control mode selection: Position control (pulse train reference) ⇔ Inhibit
Inhibit (INHIBIT) switching condition ON ON
/INHIBIT signal OFF
x /P-CON (/INHIBIT) signal ON (low level) (/P-CON)
Reference pulse
t1 t2
t1, t2 ≤ 0.5 ms
Input reference pulses
are not counted
during this period.
(3) Setting Input Signals

Type Signal Name Connector Pin Setting Meaning
Number
Input /P-CON CN1-41 ON (low level) Turns the INHIBIT function ON.
(Factory setting) (Inhibits the SERVOPACK from counting refer-
ence pulses.)
OFF (high level) Turns the INHIBIT function OFF.
(Counts reference pulses.)
(Input) (/INHIBIT) Must be allocated ON (low level) Turns the INHIBIT function ON.
CN1- (Inhibits the SERVOPACK from counting refer-
ence pulses.)
OFF (high level) Turns the INHIBIT function OFF.
(Counts reference pulses.)
These input signals enable the inhibit function.
Either the /P-CON signal or the /INHIBIT signal can be used to switch the inhibit signal. The input signal must be allocated
in order to use the /INHIBIT signal. Refer to 7.3.2 Input Circuit Signal Allocation.
8-60
8.7 Operating Using Torque Control

The following parameters must be set for torque control operation with analog voltage reference.
Parameter Meaning
Pn000 n.2 Control mode selection: Torque control (analog voltage reference)
Pn400 Torque Reference Input Gain Speed Position Torque

10 to 100 30
0.1V/rated torque Immediately
(1.0 to 10.0V/rated torque) (3.0V/rated torque)
This sets the analog voltage level for the torque reference (T-REF) that is
Reference torque
necessary to operate the servomotor at the rated torque.
Rated torque
EXAMPLE
Reference voltage (V)
Pn400 = 30 (3.0 V): The servomotor operates at the rated torque with 3-V
input (factory setting). This reference voltage is set.
Pn400 = 100 (10.0 V): The servomotor operates at the rated torque with
10-V input.
Pn400 = 20 (2.0 V): The servomotor operates at the rated torque with 2-V input.
8.7.2 Torque Reference Input

By applying a torque reference determined by the analog voltage reference to the SERVOPACK, the servomotor
torque can be controlled in proportion with the input voltage.
Name Pin Number
Input T-REF CN1-9 Torque Reference Input
SG CN1-10 Signal Ground for Torque Reference Input
Used during torque control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The torque reference gain is set in Pn400. For setting details, refer to 8.7.1 Setting Parameters.
300
• Input range: ±1 to ±10VDC/rated torque Reference torque (%)
200
• Max. allowable input voltage: ±12 VDC
100
• Factory setting - 12 -8 -4
Pn400 = 3.0: Rated torque at 3 V Factory setting 0 34 8 12
+3-V input: Rated torque in forward direction - 100
Input voltage (V)
+9-V input: 300% rated torque in forward direction

- 200
-0.3-V input: 10% rated torque in reverse direction Set the slope
- 300
The voltage input range can be changed with parameter Pn400. with Pn400.
Operation
Input Circuit Example SERVOPACK

470 Ω 1/2 W min.
Use twisted-pair wires as a countermeasure against noise.
Variable resistor example: Model 25HP-10B manufactured by Sakae CN1
8
+12 V T-REF 9
Tsushin Kogyo Co., Ltd. 2 kΩ
SG 10
8-61
8 Operation
8.7.3 Adjusting the Reference Offset
INFO Checking the Internal Torque Reference

1. Checking the internal torque reference with the panel operator:
Use the Monitor Mode (Un-002). Refer to 7.4 Operation in Monitor Mode (Un).
2. Checking the internal torque reference with an analog monitor:
The internal torque reference can also be checked with an analog monitor. Refer to 9.7 Analog Monitor.
8.7.3 Adjusting the Reference Offset

When using torque control, the servomotor may rotate slowly even when 0 V is specified as the analog reference
voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the refer-
ence voltage. In this case, the panel operator or digital operator adjusts the reference offset automatically or
manually.
The automatic adjustment of analog reference offset (Fn009) automatically measures the offset and adjusts the
reference voltage.
The SERVOPACK performs the following automatic adjustment when the host controller or external circuit has
an offset in the reference voltage.
Reference voltage Reference voltage

Offset automatically
adjusted in SERVOPACK.
Offset Torque
Automatic reference
Torque offset
reference adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual servo tuning of torque reference offset (Fn00B).
(1) Automatic Adjustment of the Torque Reference Offset
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller. In this case, use the manual servo tuning of torque reference offset (Fn00B).
IMPORTANT Automatic adjustment of the analog reference offset must be performed with the servo OFF.
8-62
Use the following procedure for automatic adjustment of the torque reference offset.
1 SERVOPACK Servomotor Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
0-V speed
Host reference
controller
Servo OFF Slow rotation
(Servo ON)

MODE/SET
(MODE/SET Key)


“rEF_o” will be displayed.
DATA/
(DATA/SHIFT)

MODE/SET The reference offset will be automatically adjusted.
(MODE/SET Key) When completed, “donE” will blink for about one second.
6 After “donE” is displayed, “rEF_o” will be displayed again.
About one second
later

DATA/
(DATA/SHIFT)
(2) Manual Servo Tuning of the Torque Reference Offset

Manual servo tuning of the torque reference offset (Fn00B) is used in the following cases.
• If a loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• Use this mode to check the offset data that was set in the automatic adjustment mode of the torque refer-
ence offset.
This mode operates in the same way as the automatic adjustment mode (Fn009), but manual servo tuning of the
torque reference (Fn00B) needs to be adjusted by inputting the amount of offset except that the amount of offset
is directly input during the adjustment.
The offset adjustment range and setting units are as follows:
Torque Reference
Offset Adjustment
Range
Operation
Offset Adjustment Range: -128 to +127

(Torque reference: -1881.6 mV to +1866.9 mV)
Offset Setting Unit Analog
Offset Setting Unit
Input
Voltage Torque reference: 1 = 14.7 mV
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8 Operation
8.7.4 Speed Limit during Torque Control
Use the following procedure to manually adjust the torque reference offset.
MODE/SET
(MODE/SET Key)
2 Press the Up or Down Cursor Key to select parameter Fn00B.

3 Press the DATA/SHIFT Key for a minimum of one second. The

display will be as shown at the left. The manual servo tuning
DATA/
(DATA/SHIFT) mode for the torque reference offset will be entered.
4 Turn ON the servo ON (/S-ON) signal. The display will be as

Servo ON shown at the left.
5 Press the DATA/SHIFT Key for less than one second to display
DATA/
the torque reference offset amount.
DATA/SHIFT
Less than one sec.
6 Press the Up or Down Cursor Key to adjust the amount of offset.
7 Press the DATA/SHIFT Key for less than one second to return to
DATA/
the display shown on the left.
DATA/SHIFT
Less than one sec.

return to the Fn00B display of the utility function mode.
DATA/
(DATA/SHIFT)
8.7.4 Speed Limit during Torque Control

During torque control, the servomotor is controlled to output the specified torque, which means that the servomo-
tor speed is not controlled. Accordingly, when an excessive reference torque is set for the mechanical load
torque, it will prevail over the mechanical load torque and the servomotor speed will greatly increase.
This function serves to limit the servomotor speed during torque control to protect the machine.
With No Speed Limit With Speed Limit
Danger of damage due to
Motor speed Speed
excessive equipment speed.
Maximum speed Safe operation with
speed limit.
Speed limit
(1) Speed Limit Mode Selection (Torque Limit Option)

Pn002 n.0 Uses the value set in Pn407 as the speed limit (internal speed limit function).
n.1 Uses V-REF (CN1-5, 6) as an external speed limit input. Applies a speed limit using the input
voltage of V-REF and the setting in Pn300 (external speed limit function).
8-64
(2) Internal Speed Limit Function

Pn407 Speed Limit During Torque Control Torque

Sets the servomotor speed limit value during torque control.
The setting in this parameter is enabled when Pn002 = n.0.
The servomotor’s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the ser-
vomotor used.
Pn408 n.0 Use the maximum motor rotation number and the smaller value of Pn407 as speed limit
value.
n.1 Use the excessive speed detection speed and smaller value of Pn407 as speed limit value.
(3) External Speed Limit Function

Name Pin Number
Input V-REF CN1-5 External Speed Limit Input
Inputs an analog voltage reference as the servomotor speed limit value during torque control.
The smaller value of the speed limit input from the V-REF on the Pn407 (Speed Limit during Torque Control) is enabled
when Pn002 = n.1.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.

150 to 3000 600
0.01 V/rated speed Immediately
(1.50 to 30.00 V/rated speed) (6.00 V/rated speed)
Sets the voltage level for the motor speed that is to be externally limited during torque control.
With Pn300 = 6.00 (factory setting) and 6 V input from V-REF (CN1-5, 6), motor speed is limited to the rated speed of the
servomotor used.
INFO The Principle of Speed Limiting

When the speed is outside of the allowable range, a torque that is proportional to the difference between the actual speed
and the speed limit is used as negative feedback to bring the speed back within the speed limit range. Accordingly, there is
a margin generated by the load conditions in the actual servomotor speed limit value.
(4) Signals Output during Servomotor Speed Limit

Operation

Name Pin Number
Output /VLT Must be allocated ON (low level) Servomotor speed limit being applied.
CN1- OFF (high level) Servomotor speed limit not being applied.
8
This signal is output when the servomotor speed reaches the speed limit value set in Pn407 or set by the analog voltage ref-
erence.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 7.3.3 Output Circuit Signal Alloca-
tion.
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8 Operation
8.8 Operating Using Speed Control with an Internally Set Speed

• Internally Set Speed Selection
This function allows speed control operation by externally selecting an input signal from among three servo-
motor speed settings made in advance with parameters in the SERVOPACK. The speed control operations
within the three settings are valid. There is no need for an external speed or pulse generator.
SERVOPACK
Internally set speed
CN1 parameters
/P-CON (/SPD-D) 41 Servomotor
SPEED1 Pn301 Speed
(/SPD-A) 45 reference
Contact inputs /P-CL SPEED2 Pn302 M
SPEED3 Pn303
/N-CL (/SPD-B) 46

Parameter Meaning
Pn000 n.3 Control mode selection: Internally set speed control (contact reference)
Pn301 Internally set speed 1 (SPEED1) Speed



Note: The maximum speed of the servomotor is used whenever the value exceeds the maximum speed is
set in the Pn301 to Pn303.
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8.8 Operating Using Speed Control with an Internally Set Speed
8.8.2 Input Signal Settings

The following input signals are used to switch the operating speed.
Type Signal Connector Pin Meaning
Name Number
Input /P-CON CN1-41 Switches the servomotor rotation direction
(/SPD-D) Must be allocated
Input /P-CL CN1-45 Selects the internally set speed.
(/SPD-A) Must be allocated
Input /N-CL CN1-46 Selects the internally set speed.
(/SPD-B) Must be allocated
Input Signal Selection
The following two types of operation can be performed using the internally set speeds:
• Operation with the /P-CON, /P-CL, and /N-CL input signals (pins allocated in factory setting)
• Operation with the /SPD-D, /SPD-A, and /SPD-B input signals
When the /SPD-D, /SPD-A, and /SPD-B is used, the input signals must be allocated with parameter Pn50C. Refer to 7.3.2
Input Circuit Signal Allocation.
8.8.3 Operating Using an Internally Set Speed

Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
Input Signal Motor Rotation Speed
/P-CON /P-CL /N-CL Direction
(/SPD-D) (/SPD-A) (/SPD-B)
OFF (high) OFF (high) Forward Stop at 0 of the internally set speed
OFF (high) ON (low) Pn301: Internally Set Speed 1 (SPEED1)
OFF (high)
ON (low) ON (low) Pn302: Internally Set Speed 2 (SPEED2)
ON (low) OFF (high) Pn303: Internally Set Speed 3 (SPEED3)
OFF (high) OFF (high) Reverse Stop at 0 of the internally set speed
ON (low)
Note: Signal OFF = High level; Signal ON = Low level
IMPORTANT Control Mode Switching

When Pn000.1 = 4, 5, or 6, and either /P-CL (/SPD-A) or /N-CL (SPD-B) is OFF (high level), the control
mode will switch.
Example:
Pn000.1 = 5: Internally set speed selection ⇔ Position control (pulse train)
Input Signal Speed

/P-CL (/SPD-A) /N-CL (/SPD-B)
Operation
OFF (high) OFF (high) Pulse train reference input (position control)
8
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8 Operation
8.8.3 Operating Using an Internally Set Speed
• Example of Operating with Internally Set Speed Selection

The shock that results when the speed is changed can be reduced by using the soft start function.
For details on the soft start function, refer to 8.5.4 Soft Start.
Example: Operation with an Internally Set Speed and Soft Start

Servomotor speed
3rd speed
+SPEED3
Acceleration/deceleration are
2nd speed done for the soft start times set in
+SPEED2
Pn305 and Pn306.
1st speed
+SPEED1
Stop Stop
0
Stop
-SPEED1 1st speed
-SPEED2
2nd speed
-SPEED3
3rd speed
/P-CL (/SPD-A)
OFF OFF ON ON OFF OFF ON ON OFF
/N-CL (/SPD-B)
OFF ON ON OFF OFF ON ON OFF OFF
ON ON ON OFF OFF OFF OFF OFF

/P-CON( /SPD-D)
IMPORTANT When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.
Example: Operation with an Internally Set Speed and Soft Start ⇔ Position Control (Pulse Train Reference)
Signal Timing in Position Control
Motor speed
0 min -1
/COIN
Pulse reference
t1 t1
/P-CL (/SPD-A) OFF ON ON OFF OFF
/N-CL (/SPD-B) ON ON OFF OFF ON
Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed
t1 2 ms
Note: 1. The soft start function is used in the above figure.

2. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).
8-68
8.9 Limiting Torque
8.9 Limiting Torque

The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
Setting Limiting Method Reference Section
Level
1 Internal torque limit 8.9.1
2 External torque limit 8.9.2
3 Torque limiting by analog voltage reference 8.9.3
4 External torque limit + Torque limiting by analog voltage reference 8.9.4
8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)

This function always limits maximum output torque by setting values of following parameters.
Pn402 Forward Torque Limit Speed Position Torque

Pn403 Reverse Torque Limit Speed Position Torque

The settings in these parameters are constantly enabled. The setting unit is a percentage of rated torque.
The maximum torque of the servomotor is used whenever the value exceeds the maximum torque is set. (factory setting is
800%: maximum torque)
No Internal Torque Limit Internal Torque Limit
(Maximum Torque Can Be Output)
Pn403
t t
Pn402
Speed Speed
Maximum torque Limiting torque
Too small a torque limit setting will result in insufficient torque during acceleration and deceleration.
Operation
8-69
8 Operation
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)

Use this function to limit torque at specific times during machine operation, for example, during press stops and
hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.

Pn404 Forward External Torque Limit Speed Position Torque

Pn405 Reverse External Torque Limit Speed Position Torque

Note: Setting unit is percentage to the servomotor rated torque. (Rated torque limits 100 %).
(2) Input Signals

Type Signal Connector Pin Setting Meaning Limit Value
Name Number
Input /P-CL CN1-45 ON (low level) Forward external torque limit The value set in Pn402 or
(Factory Setting) ON Pn404 (whichever is smaller)
OFF (high level) Forward external torque limit Pn402
OFF
Input /N-CL CN1-46 ON (low level) Reverse external torque limit The value set in Pn403 or
(Factory Setting) ON Pn405 (whichever is smaller)
OFF (high level) Reverse external torque limit Pn403
OFF
When using external torque limit, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-
CL. When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/
OFF state of the other signals. Refer to 7.3.2 Input Circuit Signal Allocation.
* The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
8-70
8.9 Limiting Torque
(3) Changes in Output Torque during External Torque Limiting
EXAMPLE
External torque limit (Pn402, Pn403) set to 800%
/P-CL (Forward external torque limit input)

High level Low level
High Pn403
Pn403
level
Torque Torque
0 0
Pn404
/N-CL Speed Speed
(Reverse Pn402 Pn402
external
torque limit Low Pn403 Pn403
input) level
Torque Torque
Pn405 Pn405
0 0
Pn404
Speed Speed
Pn402 Pn402
Note: In this example, the servomotor rotation direction is Pn000 = n.0 (standard setting, CCW =
forward).
Operation
8-71
8 Operation
8.9.3 Torque Limiting Using an Analog Voltage Reference
8.9.3 Torque Limiting Using an Analog Voltage Reference

Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the
T-REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during
torque control.
The following chart shows when the torque limiting using an analog voltage reference in the speed control.
SERVOPACK
Torque limit T-REF

value Pn400
Pn402
Speed loop
V-REF Pn300 + gain +
Speed Torque
- (Pn100) +
reference reference
Integral
time
constant
(Pn101) Pn403
Speed feedback Torque limit value
There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute values of both +
INFO and - voltages are input, and a torque limit value corresponding to that absolute value is applied in the forward or reverse
direction.

Parameter Meaning
Pn002 n.1 Speed control option: Uses the T-REF terminal to be used as an external torque limit input.
When n.2 is set, T-REF terminal is used for torque feed-forward input, but the functions cannot be used together.
(2) Input Signals

Name Pin Number
Input T-REF CN1-9 Torque reference input
SG CN1-10 Signal ground for torque reference input
The torque limit input gain is set at parameter Pn400. Refer to 8.7.1 Setting Parameters.
• Input range: ±1 VDC to ±10 VDC/rated torque
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8.9 Limiting Torque
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
This function can be used to combine torque limiting by an external input and by analog voltage reference.
Because the torque limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during torque control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for torque limiting by external input signal.
When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the torque limit, whichever is smaller.
SERVOPACK
/P-CL
/N-CL
Torque limit T-REF

Pn400
value
Pn402
Pn404
Speed loop ( /P-CL: ON )
Speed V-REF Pn300 + +
gain Torque
reference - (Pn100) +
reference
Integral
time
constant Pn403
(Pn101) Pn405 Torque limit value
( /N-CL : ON)
Speed feedback

Parameter Meaning
Pn002 n.3 Speed control option: When /P-CL or /N-CL is enabled, the T-REF terminal is used as the
external torque limit input.
When n.2 is set, T-REF is used for torque feed-forward input, but the functions cannot be used together.
Pn404 Forward External Torque Limit Speed Position Torque

Pn405 Reverse External Torque Limit
* The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
Operation
8-73
8 Operation
8.9.5 Checking Output Torque Limiting during Operation
(2) Input Signals

Type Signal Connector Pin Name
Name Number
Input T-REF CN1-9 Torque reference input
SG CN1-10 Signal ground for torque reference input
The torque limit input gain is set in parameter Pn400. Refer to 8.7.1 Setting Parameters.
• Input range: ±1 VDC to ±10 VDC/rated torque
Type Signal Connector Pin Setting Meaning Limit Value

Name Number
Input /P-CL CN1-45 ON (low level) Forward external torque limit The analog voltage reference
(Factory setting) ON limit or the value set in Pn402 or
Pn404 (whichever is smaller)
OFF (high level) Forward external torque limit Pn402
OFF
Input /N-CL CN1-46 ON (low level) Reverse external torque limit The analog voltage reference
(Factory setting) ON limit or the value set in Pn403 or
Pn405 (whichever is smaller)
OFF (high level) Reverse external torque limit Pn403
OFF
When using the torque limit by external torque limit and analog voltage reference, make sure that there are no other signals
allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal, the signals
are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 7.3.2 Input Circuit Signal Alloca-
tion.
8.9.5 Checking Output Torque Limiting during Operation

The following signal can be output to indicate that the servomotor output torque is being limited.
Type Signal Connector Pin Setting Meaning
Name Number
Output /CLT Must be allocated ON (low level) Servomotor output torque is being limited.
OFF (high level) Torque is not being limited.
The output terminal must be allocated with parameter Pn50F to use the signal during servomotor output torque limit. Refer
to 7.3.3 Output Circuit Signal Allocation for details
8-74

The methods and conditions for switching SERVOPACK control modes are described below.

The following combinations of control modes can be selected according to the application at hand.
Parameter Control Method
Pn000 n.4 Internally set speed control (contact reference) ⇔ Speed control (analog voltage reference)
n.5 Internally set speed control (contact reference) ⇔ Position control (pulse train reference)
n.6 Internally set speed control (contact reference) ⇔ Torque control (analog voltage reference)
n.7 Position control (pulse train reference) ⇔ Speed control (analog voltage reference)
n.8 Position control (pulse train reference) ⇔ Torque control (analog voltage reference)
n.9 Torque control (analog voltage reference) ⇔ Speed control (analog voltage reference)
n.A Speed control (analog voltage reference) ⇔ Zero clamp
n.B Position control (pulse train reference) ⇔ Position control (inhibit)
8.10.2 Switching the Control Mode

(1) Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6)
With the sequence input signals in the factory setting (Pn50A = n.0), the control mode will switch when
both /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high level). When changing the sequence input sig-
nal from the factory setting (Pn50A = n.1), allocate the /C-SEL to an input terminal and change modes
with the /C-SEL signal. In this case, input a speed reference (analog voltage reference) for speed control, and a
position reference (pulse train reference) for position control.
Name Pin Number
Input /P-CL CN1-45 OFF (high level) Switches control mode.
(Factory setting)
(/SPD-A) Must be allocated
Input /N-CL CN1-46 OFF (high level)
(Factory setting)
(/SPD-B) Must be allocated
Input Signal Selection
The following two types of control mode selection are available for switching from internally set speed control:
• Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting)
• Switching with the /SPD-A and /SPD-B input signals
When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal Alloca-
tion.
Operation
8-75
8 Operation
8.10.2 Switching the Control Mode
(2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B)

Use the following signals to switch control modes. The control modes switch depending on the signal status as
shown below.
Type Signal Connector Setting Pn000 Setting
Name Pin Number n.7 n.8 n.9 n.A n.B
Input /P-CON CN1-41 ON (low level) Speed Torque Speed Zero Inhibit
(Factory setting) clamp
OFF (high level) Position Position Torque Speed Position
(Input) (/C-SEL) Must be allocated ON (low level) Speed Torque Speed Zero Inhibit
clamp
OFF (high level) Position Position Torque Speed Position
The control mode can be switched with either /P-CON or /C-SEL.
When using the /C-SEL signal, the input signal must be allocated. Refer to 7.3.2 Input Circuit Signal Allocation.
8-76
8.11 Other Output Signals

The following output signals, which have no direct connection with the control modes, are used for machine pro-
tection.
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
(1) Servo Alarm Output (ALM)
This signal is output when an error is detected in the SERVOPACK.
Name Pin Number
Output ALM CN1-31, 32 ON (low level) Normal SERVOPACK condition
(Factory setting) OFF (high level) SERVOPACK alarm condition
IMPORTANT
Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK.
(2) Alarm Reset

Name Pin Number
Input /ALM- CN1-44 Alarm Reset
RST
When a servo alarm (ALM) has occurred and the cause of the alarm has been eliminated, the alarm can be reset by turning
this signal (/ALM-RST) from OFF (high level) to ON (low level).
This signal can be allocated to other pin numbers with Pn50B.
For details on the procedure, refer to 7.3.2 Input Circuit Signal Allocation.
This signal cannot be constantly enabled by the allocation of an external input signal. Reset the alarm by changing the sig-
nal from high level to low level. The alarm can also be reset from the panel operator or digital operator. Refer to 7.1.1 Key
Names and Functions for details.
IMPORTANT 1. Some encoder-related alarms cannot be reset with the /ALM-RST signal input. To reset these alarms,
turn OFF the control power supply.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. The methods for trouble-
shooting alarms are described in 11.1.3 Troubleshooting of Alarm and Warning.
(3) Alarm Code Output
Type Signal Connector Meaning

Name Pin Number
Output ALO1 CN1-37 Alarm code output
Operation
Output SG CN1-1 Signal ground for Alarm code output

These open-collector signals output alarm codes. The ON/OFF combination of these output signals indicates the type of
alarm detected by the servomotor.
Use these signals to display alarm codes at the host controller. For details of the alarm code output, refer to 11.1.1 Alarm
Display Table. 8
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8 Operation
8.11.2 Warning Output (/WARN)
8.11.2 Warning Output (/WARN)

Name Pin Number
Output /WARN Must be allocated ON (high level) Normal state
OFF (low level) Warning state
This output signal displays warnings for overload (A.710) and regenerative overload (A.320) alarms.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 7.3.3 Output Circuit Signal Alloca-
tion.
• Related Parameters
The following parameter is used to select the alarm code output.
Pn001 n.0 Outputs alarm codes alone for alarm codes ALO1, ALO2, and ALO3.
n.1 Outputs both alarm and warning codes for alarm codes ALO1, ALO2, and ALO3, and out-
puts an alarm code when an alarm occurs.
• Refer to 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) for alarm code descriptions.
• Refer to 11.1.2 Warning Displays for the ON/OFF combinations of ALO1, ALO2, and ALO3 when a warning code is
output.
8.11.3 Rotation Detection Output Signal (/TGON)

Name Pin Number
Output /TGON CN1-27, 28 ON (low level) Servomotor is operating (Motor speed is above the set-
(Factory setting) ting in Pn502).
OFF (high level) Servomotor is not operating (Motor speed is below the
setting in Pn502).
This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn502.
This output signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 7.3.3 Output Cir-
cuit Signal Allocation.
IMPORTANT
• If the brake signal (/BK) and running output signal (/TGON) are allocated to the same output terminal, the /TGON signal
will go to low level at the speed at which the movable part drops on the vertical axis, which means that the /BK signal will
not go to high level. (This is because signals are output with OR logic when multiple signals are allocated to the same out-
put terminal.). Always allocate /TGON and /BK signals to different terminals.
• Related Parameter
Pn502 Zero Speed Level Speed Position Torque

Set the range in which the running output signal (/TGON) is output in this parameter.
When the servomotor speed is above the speed set in Pn502, it is judged to be operating and the running output signal
(/TGON) is output. The rotation detection signal can also be checked on the panel operator or digital operator. For details,
refer to 7.1.3 Status Display and 7.4.1 List of Monitor Modes.
8-78
8.11.4 Servo Ready (/S-RDY) Output

Type Signal Connector Pin Setting Meaning
Name Number
Output /S-RDY CN1-29, 30 ON (low level) Servo is ready.
(Factory setting) OFF (high level) Servo is not ready.
This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations.
It is output when there are no servo alarms and the main circuit power supply is turned ON.
* An added condition with absolute encoder specifications is that the SEN signal is at high level, absolute data was output
to the host controller.
The servo ready signal condition can also be checked on the panel operator or digital operator. For details, refer to 7.1.3 Sta-
tus Display and 7.4.1 List of Monitor Modes.
/S-RDY signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 7.3.3 Output Circuit
Signal Allocation.
Operation
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9
Adjustments
9.1 Servo Tuning Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-3

9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.2 Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7

9.2.1 Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.2.2 Normal Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
9.2.3 Selecting the Normal Autotuning Execution Method - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.2.4 Machine Rigidity Setting for Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
9.2.6 Saving the Results of Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
9.2.7 Procedure for Saving the Results of Normal Autotuning - - - - - - - - - - - - - - - - - - - - - 9-12
9.3 Advanced Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13

9.3.1 Advanced Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.3.2 Advanced Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.4 One-parameter Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17

9.4.1 One-parameter Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
9.4.2 One-parameter Tuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
9.5 Manual Servo Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18

9.5.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
9.5.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
9.5.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9.5.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9.5.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
9.5.6 Guidelines for Manual Tuning of Servo Gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
Adjustments
9.5.7 Safety Precautions on Adjustment of Servo Gains - - - - - - - - - - - - - - - - - - - - - - - - - 9-24
9-1
9 Adjustments
9.6 Advanced Manual Servo Tuning Functions - - - - - - - - - - - - - - - - - - - - - - 9-26

9.6.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26
9.6.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-27
9.6.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28
9.6.4 Proportional Control Operation (Proportional Operation Reference) - - - - - - - - - - - - - 9-29
9.6.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
9.6.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
9.6.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
9.6.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
9.6.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35
9.6.10 Predictive Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-40
9.6.11 Less Deviation Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-45
9.6.12 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-50
9.6.13 Vibration Suppression on Stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-52
9.6.14 Backlash Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-53
9.6.15 Position Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-54
9.7 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-55
9-2
9.1 Servo Tuning Methods

9.1.1 Servo Gain Adjustment Methods
The SERVOPACK have a servo gains to determine the responsiveness of the servo. The servo gains are set by
using the parameters. Increasing the servo gain of a machine with high rigidity can increase its responsiveness.
A machine with low rigidity, however, will have a tendency to vibrate and may not be more responsive if the
servo gain is increased.
As shown in 9.1.2 List of Servo Adjustment Functions, the servo gain can be set by combining many parameters.
Each parameter cannot be set to an arbitrary value. The setting of all of the parameters must be well balanced
because they correlate to each other.
The servo gains in the SERVOPACK are factory-set to stable values, and responsiveness can be increased
depending on the actual machine conditions. The following flowchart shows an overview procedure for adjusting
the servo gains to reduce the positioning time for position control. Follow this flowchart to effectively adjust the
servo gains. For functions in bold lines in the flowchart, select the adjustment method according to the client’s
intent using 9.1.2 List of Servo Adjustment Functions.
Start adjusting servo gain.
Adjusting using (1) Autotuning Functions.
Results OK.
Results OK?
Results insufficient.
Adjust using (2) Positioning Time Reduction Functions.
Results OK.
Results OK?
Vibration resulted
Adjust using (3) Vibration Reduction Functions.
Results OK?
Results OK.
Adjustments
End servo gain adjustment.
If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods, con-
sider the following possible causes.
• If autotuning does not suit the operating conditions, manually adjust the gain. Refer to 9.5 Manual Servo 9
Tuning.
• If the functions for reducing the positioning time and vibration are incompatible with the machine’s char-
acteristics or the operating conditions, the results will be inconsistent. Use another function to reduce the
positioning time or vibrations.
9-3
9 Adjustments
9.1.2 List of Servo Adjustment Functions

(1) Autotuning Functions
In autotuning, algorithms are used to calculate the load moment of inertia, which determines the servo drive’s
responsiveness, automatically adjusts parameters, such as the Speed Loop Gain Kv (Pn100), Speed Loop Integral
Time Constant Ti (Pn101), Position Loop Gain Kp (Pn102), and Torque Reference Filter Time Constant Tf
(Pn401). Refer to the following table to select the appropriate autotuning function for your desired purpose and
adjust the servo gains.
Function Name and Description Guidelines for Selection Refer-
Related Parameters ence
Section
Normal Autotuning A new algorithm is used to increase the calculation Only the minimum number of parameters 9.2
accuracy of Σ-II autotuning calculation accuracy for the must be set for autotuning using a normal
Pn110.0 load moment of inertia, increase stability, and eliminate operation reference.
Fn001 restrictions. Setting methods for the Machine Rigidity This is the most basic autotuning func-
Setting (Fn001) have been reviewed to make the set- tion.
Fn007
tings easier to use and provide more stable settings.
The load moment of inertia is calculated during opera-
tion for a user reference, and the servo gains (Kv, Ti,
Kp, and Tf) are set according to the Machine Rigidity
Setting (Fn001).
Advanced With advanced autotuning, the amounts that the gains Advanced autotuning is used to improve 9.3
Autotuning can be increased for the SERVOPACK are determined characteristics when the results of normal
automatically and a notch filter is automatically autotuning are unsuitable.
Fn017 adjusted while detecting vibration to find servo gains A motion stroke for the number of posi-
suitable for the machine characteristics. This autotuning tioning reference units to perform the
function is performed using utility function Fn017. automatic operation must be confirmed.
Automatic round-trip operation is performed for the High-performance servo gain settings
specified pattern and the load moment of inertia, servo can be achieved by setting only the auto-
gains (Kv, Ti, Kp, and Tf), and notch filter frequency matic operation.
are automatically set.
One-parameter For one-parameter tuning, the load moment of inertia is One-parameter tuning is used when the 9.4
Tuning not calculated and the four servo gains (Kv, Ti, Kp, and user wants to adjust the servo gains while
Tf) can be adjusted using a single parameter. This auto- confirming the response of the servo or
Fn01A tuning function is made to assist adjustments, and it is machine.
performed using utility function Fn01A. One-parameter tuning can be used to
During operation with a user reference, the one parame- eliminate the need to manually adjust
ter level is adjusted from 1 to 2,000 from the panel parameters while quickly obtaining safe
operator to simultaneous change and set the four servo adjustments.
gains. The four gains are set from the one parameter to The user must observe the response
satisfy a stable relationship between them. waveform on an external measuring
instrument and determine the results of
autotuning.
9-4
(2) Positioning Time Reduction Functions

Function Name and Description Features Valid Refer-
Related Parameters Control ence
Modes Section
Feed-forward Feed-forward compensation for the posi- Adjustment is easy. Position 9.6.1
Pn109 tion reference is added to the speed refer- The system will be unstable if a large
Pn10A ence. value is set, possibly resulting in over-
Torque feed-forward Inputs torque feed-forward to the torque shooting or vibration. Speed 9.6.2
Pn002 reference input terminal and adds to the
Pn400 internal torque reference at the speed con-
trol.
Speed feed-forward Inputs speed feed-forward to the speed Position 9.6.3
Pn207 reference input terminal and adds to the
Pn300 internal speed reference at the position
Pn307 control.
Mode Switch Switches from PI control to P control The setting for automatic switching Position 9.6.5
(P/PI Switching) using the value of an internal servo vari- between PI and P control is easy. Speed
Pn10B able in a parameter (torque, speed, accel-
Pn10C eration, or position error) as a threshold
value.
Pn10D
Pn10E
Pn10F
Speed Feedback Compensates the motor speed using an Adjustment is easy because the compensa- Position 9.6.8
Compensation observer. tion can be set as a percentage. If the Speed
speed loop gain increases, the position
Pn110 loop gain also increases, however some-
Pn111 times the servo rigidity decreases.
Gain Switching Four parameters, speed loop gain (Kv), Automatic gain switching is easily Position 9.6.9
Pn100 speed loop integral time constant (Ti), achieved using only servo parameter. Speed
Pn101 position loop gain (Kp), and torque refer- The user must select the conditions for
ence filter time constant (Tf), are used as switching.
Pn102
conditions for switching and switching is
performed on an external signal.

Predictive Control Predictive control is performed to reduce Adjustment is possible with only one or Position 9.6.10
Pn150 following error for the position reference. two parameters.
Pn151
Pn152
Less Deviation Minimizes the error during movement for Adjustment is easy using a single level Position 9.6.11
Control position control to reduce settling time with utility function Fn015.
Pn119 and to reduce locus tracking error.
Pn11A
Pn11E
Adjustments

9-5
9 Adjustments
(3) Vibration Reduction Functions

Function Name and Description Features Valid Refer-
Related Parameters Control ence
Modes Section
Soft Start Converts a stepwise speed reference to a Constant acceleration/deceleration is Speed 8.6.4
Pn305 constant acceleration or deceleration for achieved for smoother operation. Use the
Pn306 the specified time interval. maximum time setting to lengthen the
operation time.
Acceleration/ A 1st-order delay filter for the position Enables smooth operation. Position 8.6.4
Deceleration Filters reference input. The reference time increases by the filter
Pn207 delay time even after the reference input
Pn209 has been completed.
Pn216
Movement Average A movement averaging filter for the posi- Enables smooth operation. Position 8.6.4
Filter tion reference input. The reference time increases by the filter
Pn207 delay time even after the reference input
Pn217 has been completed.
Speed Feedback A standard 1st-order delay filter for the The feedback speed is smoother. Position 9.6.7
Filter speed feedback. The delay may be increased if a large Speed
Pn308 value is set.
Speed Reference A 1st-order delay filter for the speed refer- The speed reference is smoother. Speed 8.5.5
Filter ence. The delay may be increased if a large
Pn307 value is set.
Torque Reference A series of three filter time constants, 1st- These filters are effective in essentially Position 9.6.12
Filters order, 2nd-order, and 1st-order, can be set all frequency bands. Speed
Pn401 in order for the torque reference. The delay may be increased if a large Torque
Pn40F to Pn414 value (low frequency) is set.
Vibration A damping coefficient is applied to the The variation in the torque is decreased Position 9.6.13
Suppression change in the torque reference when stop- when stopping.
on Stopping ping. Disturbance characteristics are decreased.
Pn420
Pn421
Notch Filters A series of two notch filters can be set for Mainly effective for vibration between Position 9.6.12
Pn408 to Pn40D the torque reference. A notch width is pos- 500 and 2,000 Hz. Instability will result Speed
sible for each. if the setting is not correct. For utility Torque
function of notch setting, there is a Online
Vibration Monitor (Fn018) and EasyFFT
(Fn019) to specify the frequency.
9-6
9.2 Normal Autotuning

9.2.1 Normal Autotuning
Normal autotuning calculates the load moment of inertia during operation of the SERVOPACK and sets parame-
ters so that the servo gains consistent with the Machine Rigidity Setting (Fn001) are achieved.
Normal autotuning may not be effective in the following cases.
• The load moment of inertia varies in less than 200 ms.
• The rotational speed is lower than 100 min-1
• The rotational speed is not higher than 1000 min-1 and the acceleration time is longer than 100 ms.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
• The speed reference is a stepwise reference.
If the desired operation is not achieved for normal autotuning for these conditions, make adjustments using one
of the following procedures.
• Execute advanced autotuning.
• Execute one-parameter tuning or manual tuning after Pn103 (moment of inertia ratio) is set. Moment of
inertia ratio is calculated using the machine specifications or by the moment of inertia detection function
in SigmaWin+, a servo drive engineering tool from Yaskawa.
The following utility function is also available:
Fn007: Writes for the normal autotuning the load moment of inertia calculation result from the normal autotuning
as the moment of inertia ratio to Pn103 and uses the result as the default value for the next calculation.
Adjustments
9-7
9 Adjustments
9.2.2 Normal Autotuning Procedure
9.2.2 Normal Autotuning Procedure
WARNING
• Do not perform extreme adjustment or setting changes.
Failure to observe this warning may result in damage to the machine and/or injury.
• Adjust the gains slowly while confirming motor operation.
START
Operate with factory settings.

(Set Pn110.0 to 0.)
Yes
Operation OK?
No
No Load moment of
inertia varies?
Yes
Perform normal autotuning.
(Set Pn110.0 to 1.)
Yes
Operation OK?
No
Adjust the machine rigidity setting

(Set at Fn001.)
Operation OK? Yes
No
Do not perform Normal autotuning.
(Set Pn110.0 to 2.)
Adjust by using the advanced

tuning or one-parameter tuning.
Refer to 9.3 Advanced
Autotuning or 9.4
One-parameter Tuning.
END
9-8
9.2.3 Selecting the Normal Autotuning Execution Method

There are three methods that can be used for normal autotuning: At start of operation, constantly, and none. The
selection method is described next.
Pn110 Normal Autotuning Switches Speed Position

− − 0010 Required
Parameter Meaning
Pn110 n.0 Normal autotuning is preformed only after the first time power is turned ON. (Factory Set-
ting)
n.1 Normal autotuning (moment of inertia calculations) are performed continuously.
n.2 Normal autotuning is not performed.
The factory setting is n.0. This setting is recommended for applications in which the load moment of inertia does not
change much or if the load moment of inertia is not known. The moment of inertia calculated at the beginning of operation
is used continuously. In this case, differences in machine status and operation references at the beginning of operation may
cause minor differences in the calculation results of the load moment of inertia, causing differences in the SERVOPACK
responsiveness each time the power supply is turned ON. If this occurs, overwrite Pn103 (Moment of Inertia Ratio) with the
load moment of inertia in Fn007 (Save moment of inertia ratio data obtained from normal autotuning) and set Pn110 to
n.2 to disable normal autotuning.
The setting n.1 is used when the load moment of inertia varies constantly. This setting enables a consistent respon-
siveness even when the load moment of inertia changes. If the load moment of inertia changes in less than 200 ms, how-
ever, the autotuning accuracy will deteriorate, in which case Pn110.0 should be set to 0 or 2.
The setting n.2 is used when normal autotuning is not possible, when the load moment of inertia is known and the
moment of inertia ratio is set in Pn103 to perform advanced autotuning with Fn017 or one-parameter tuning with Fn01A,
when performing adjustments manually, or any other time the normal autotuning function is not going to be used.
Adjustments
9-9
9 Adjustments
9.2.4 Machine Rigidity Setting for Normal Autotuning
9.2.4 Machine Rigidity Setting for Normal Autotuning

There are ten machine rigidity settings for normal autotuning. When the machine rigidity setting is selected, the
servo gains (Position Loop Gain, Speed Loop Gain, Speed Loop Integral Time Constant, and Torque Reference
Filter Time Constant) are determined automatically. The factory setting for the machine rigidity setting is 4. The
speed loop is suitable for PI or I-P control. When the Position Loop Gain (Pn102) is changed, however, a value
near the Position Loop Gain (Pn102) will be displayed for the Machine Rigidity Setting.
When parameter Pn10B.1 is 0, PI control will be used and when Pn10B.1 is 1, I-P control will be used. To switch
the type of control, however, the power supply must be turned OFF and then back ON.
When a change is made, always set the machine rigidity setting.
(1) Speed Loop PI Control
Machine Position Speed Loop Speed Loop Torque Refer- Step Response
Rigidity Loop Gain Gain Integral Time ence Filter Time Convergence Time
Setting [0.1s-1] [0.1Hz] Constant Constant [ms]∗
Fn001 Pn102 Pn100 [0.01 ms] [0.01 ms] Position Speed
Pn101 Pn401 Control Control
1 15.0 15.0 60.00 2.50 200 32
2 20.0 20.0 45.00 2.00 150 24
3 30.0 30.0 30.00 1.30 100 16
4 40.0 40.0 20.00 1.00 75 12
5 60.0 60.0 15.00 0.70 50 8
6 80.0 80.0 10.00 0.50 35 6
7 100.0 100.0 8.00 0.40 30 5
8 120.0 120.0 7.00 0.35 25 4
9 140.0 140.0 6.00 0.30 21 3
10 160.0 160.0 5.00 0.25 18 3
* Step Response Convergence Time: The time required to reach a 95% output for a step input.
(2) Speed Loop I-P Control

Machine Position Speed Loop Speed Loop Torque Refer- Step Response
Rigidity Loop Gain Gain Integral Time ence Filter Time Convergence Time
Setting [0.1s-1] [0.1Hz] Constant Constant [ms]∗
Fn001 Pn102 Pn100 [0.01 ms] [0.01 ms] Position Speed
Pn101 Pn401 Control Control
1 15.0 15.0 18.00 2.50 200 32
2 20.0 20.0 14.00 2.00 150 24
3 30.0 30.0 9.00 1.30 100 16
4 40.0 40.0 7.00 1.00 75 12
5 60.0 60.0 4.50 0.70 50 8
6 80.0 80.0 3.50 0.50 38 6
7 100.0 100.0 3.00 0.40 30 5
8 120.0 120.0 2.50 0.35 25 4
9 140.0 140.0 2.00 0.30 13 3
10 160.0 160.0 2.00 0.25 15 3
* Step Response Convergence Time: The time required to reach a 95% output for a step input.
If the machine rigidity setting is changed greatly, the servo gain will increase and positioning time will decrease.
If the setting is too large, however, vibration may result depending on the machine configuration. Set the machine
rigidity starting at a low value and increasing it within the range where vibration does not occur.
The advanced autotuning function is provided to automatically determine the range in which vibration does not
occur. Refer to 9.3 Advanced Autotuning.
9-10
9.2.5 Method for Changing the Machine Rigidity Setting

The machine rigidity setting is changed in utility function mode using parameter Fn001. The procedure is given
below.
MODE/SET
(MODE/SET Key)

3 Press the DATA/SHIFT Key for one second or more.

DATA/
The display shown at the left will appear and the rigidity for normal
(DATA/SHIFT)
autotuning can be set.
(More than one sec.)
4 Press the Up or Down Cursor Key to select the machine rigidity set-
ting.
UP DOWN

MODE/SET The rigidity setting will be changed and “donE” will blink on the
(MODE/SET Key)
display for about one second.
6 About one After “donE” is displayed, the setting will be displayed again.
second later
7 Press the DATA/SHIFT Key for a minimum of one second to return

DATA/
to the Fn001 display of the utility function mode.
(DATA/SHIFT)
This completes changing the machine rigidity setting for normal autotuning.
Adjustments
9-11
9 Adjustments
9.2.6 Saving the Results of Normal Autotuning
9.2.6 Saving the Results of Normal Autotuning
CAUTION
• Always set the correct moment of inertia ratio when normal autotuning is not used.
If the moment of inertia ratio is set incorrectly, vibration may occur.
For normal autotuning, the most recent load moment of inertia is calculated and the control parameters are
adjusted to achieve response suitable for the machine rigidity setting. When normal autotuning is performed, the
Position Loop Gain (Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are
saved. When the power supply to the SERVOPACK is turned OFF, however, the calculated load moment of iner-
tia is lost and the factory setting is used as the default value to start autotuning the next time the power supply is
turned ON.
To use the calculated load moment of inertia as the default value the next time the power supply is turned ON, the
utility function mode parameter Fn007 (Save moment of inertia ratio data obtained from normal autotuning) can
be used to save the most recent value in parameter Pn103 (Moment of Inertia Ratio). The moment of inertia ratio
is given as the moment of inertia ratio (%) of the rotor moment of inertia of the servomotor.
Pn103 Moment of Inertia Ratio Speed Position Torque

Motor axis conversion load moment of inertia (J L )

Moment of inertia ratio =
Rotor moment of inertia (JM)
The factory setting for the moment of inertia ratio is 0% (no-load condition for stand-alone servomotor).
9.2.7 Procedure for Saving the Results of Normal Autotuning

The following procedure is used to save the results of normal autotuning.
MODE/SET
(MODE/SET Key)


DATA/
The display at the left will appear for a moment of inertia ratio of
(DATA/SHIFT) 200%.

MODE/SET The moment of inertia ratio will be saved.
(MODE/SET Key)
When completed, “donE” will blink for about one second.
5 About one After “donE” is displayed, the moment of inertia ratio will be dis-
second later played again.
6 Press the DATA/SHIFT Key for one second or more to return to the
DATA/
Fn007 display of the utility function mode.
(DATA/SHIFT)
This completes saving the default value for the moment of inertia ratio for normal autotuning. The next time the
power supply is turned ON, the value that was saved for the Moment of Inertia Ratio (Pn103) will be used to start
normal autotuning.
9-12
9.3 Advanced Autotuning

9.3.1 Advanced Autotuning
Advanced autotuning calculate the load moment of inertia and set the servo gain suitable for the machine chara-
teristies. The gain is set as high as possible to avoid the vibration. Advanced autotuning is performing using util-
ity function Fn017 (Advanced Autotuning). If vibration occurs during advanced autotuning, either set a notch
filter or lower the servo gains, depending on circumstances.
The following parameter settings are changed by the advanced autotuning.
• Speed Loop Gain (Pn100)
• Speed Loop Integral Time Constant (Pn101)
• Position Loop Gain (Pn102)
• Torque Reference Filter Time Constant (Pn401)
• Moment of Inertia Ratio (Pn103)
The following parameter settings are changed if required.
• Torque Related Function Switch (Pn408.0 or Pn408.2)
• 1st Step Notch Filter Frequency (Pn409)
• 2nd Step Notch Filter Frequency (Pn40C)
Movement
speed
Reference Movem
ent dis
tance
Response
SERVOPACK
Advanced Autotuning Operation Example
Advanced autotuning may not be effective in the following cases.

• The load moment of inertia varies in less than 200 ms.
• Load rigidity is low and mechanical vibration occurs easily or viscous friction is high.
• The movement range is too narrow, e.g., only a few rotations.
• There is movement in only one direction.
• When P control operation (proportional control) is used.
If the desired operation is not achieved for advanced autotuning in the above conditions, calculate values from
machine specifications or use the load moment of inertia detection function of the SigmaWin+ (an AC servo
drive support tool from Yaskawa) to set the load moment of inertia ratio in Pn103 and then perform one-parame-
ter tuning or manual servo tuning.
If the vibration occurs when the power is supplied to the servomotor, use Fn018 (Online vibration monitor) and
Adjustments
Fn019 (EasyFFT) to suppress the vibration. Then, the advanced autotuning may be effective.
9-13
9 Adjustments
9.3.2 Advanced Autotuning Procedure
IMPORTANT 1. Advanced autotuning performs automatic operation accompanied by vibration. Ensure that an emer-
gency stop is possible while advanced autotuning is being performed. Also, confirm the range and direc-
tion of motion and provide protective devices to ensure safety in the event of overtravel or other
unexpected movement. Normally, set the level in step 5 to “normal” or less.
2. This function can select “Not estimates moment of inertia ratio (MODE:1),” but in this case, set the cor-
rect moment of inertia ratio in Pn103 before using this function.
3. Advanced autotuning set the servo gain according to the Positioning Completed Width (Pn522).
Set the Positioning Completed Width to the value that will be used in normal operation.
4. Make sure that the following are properly set before starting the advanced autotuning.
• The main circuit power is input.
• The servo is OFF.
• Overtravel does not occur in the servomotor. The forward run prohibited (P-OT) and reverse run prohib-
ited (N-OT) signals are not input.
• Pn110 = n.2 (Performs manual tuning but not normal autotuning)
• Pn10B = n.0 (Less deviation control is not used.)
• The Clear signal is at L (low) level (Not to clear).
• Pn150 = n.0 (Predictive control is not used.)

The following procedure is used for advanced autotuning.

MODE/SET
(MODE/SET Key)


DATA/
The display shown at the left will appear.
(DATA/SHIFT)
4 On the mode setting display, press the Up or Down Cursor Key to

select the mode for the calculation of the load moment of inertia.
∗Mode (Load Moment of Inertia Calculation Switching)
Select mode. 0: Inertia calculated
1: Inertia not calculated
If the moment of inertia ratio is known from the machine specifica-
MODE/SET
(MODE/SET Key) tions, set it in Pn103, and then set the mode to 1 (inertia not
calculated). Otherwise, use this function in mode 0 (inertia
calculated).
9-14
(cont’d)
5 On the level setting display, press the Up or Down Cursor Key to
select the level of the gain setting and press the DATA/SHIFT Key
for one second or more.
Select mode. Normally, use a setting of “normal” or less.
0: Loose = Gives priority to stability over response.
(Setting will be 50% of the gain where vibration occurs or 50%
MODE/SET
(MODE/SET Key)
of the gain limit (Pn540), Pn100 (Kv) = about 15.0 to 100.0 Hz
and about one minute is required for completion.)
1: Normal = Sets both response and stability to medium-range
values.
(Setting will be 70% of the gain where vibration occurs or 70%
of the gain limit (Pn540), Pn100 (Kv) = about 30.0 to 140.0 Hz
and about three minutes are required for completion.)
2: Tight = Gives priority to response over stability.
(Setting will be 80% of the gain where vibration occurs or
100% of the gain limit (Pn540), Pn100 (Kv) = about 40.0 to
200.0 Hz and about five minutes are required for completion.)
6 On the movement distance display, use the Up Cursor Key, Down
Cursor Key, and DATA/SHIFT Key to set the movement distance in
1,000 reference units.
Set movement distance Here, the movement distance is -99,990,000 to +99,990,000 in 1,000
reference units. Negative values are reverse rotation and positive
values are forward. Set the movement distance from the current
MODE/SET value from which advanced autotuning will be used. Use the Jog
(MODE/SET Key)
Mode Operation (Fn002) or other means to move to a location where
a suitable range of movement is possible before executing advanced
autotuning.
The minimum distance of movement can be calculated by the fol-
lowing equation.
Pn20E
Movement distance × ≤ one motor rotation
Pn210
(Electronic gear)
If the minimum distance of movement is less than the value calcu-

lated by this equation, an error will occur, and a new value must be
input. Set the distance so it is as long as possible.
Factory setting: 300,000 reference units (10 turns for a standard 17-
bit encoder and a factory setting of the electronic gear ratio of 4/1)
If 1 reference unit is 1 μm and the electronic gear ratio is set (elec-
tronic gear ratio B/A = 32768 × 4/10000, or 10 mm per motor rota-
tion), 1 mm will be equivalent to 1,000 reference units. If the
movement distance is to be set to 300 mm, as shown in the following
diagram, then the setting is +300 (in units of 1,000 reference units).
Servomotor
Reference unit: 1 μm
Adjustments
Encoder Servomotor forward operation

pulses: 32768 Ballscrew lead: 10 mm
Movement range
Movement distance = +300 [1000 reference units] (Movement in forward direction)
The movement in the diagram will begin when the Up Cursor Key
(forward direction drive) is pressed in step 7 or step 10. When the 9
specified distances has been moved, the movement will be reversed
and round-trip travel back to the starting position will be performed.
9-15
9 Adjustments
(cont’d)
7 Display the advanced autotuning display. Press the MODE/SET Key
to turn ON the servo. In this status, press the key to the direction of
MODE/SET
(MODE/SET Key) movement specified on the movement distance setting display (Up
Blinks during calculations Cursor Key to start forward rotation and Down Cursor Key to start
reverse rotation) for one second or more to start calculating the iner-
tia. Advanced autotuning will not start if the key that is pressed does
Detecting inertia not agree with the movement direction. To stop automatic operation,
press the MODE/SET Key and return to step 2.
During calculation of the inertia, the calculating value will be dis-
played as J with the calculating value blinking at J .
(End)
When calculations have been completed, the load moment of inertia
will be displayed.
If the moment of inertia is not calculated, the display will not blink
and the current setting of the Moment of Inertia Ratio (Pn103) will
be displayed (in which case, proceed to step 10).
8 If the autotuning operation set in step 7 cannot be started or the cal-
MODE/SET
culation process for inertia cannot be started, “nO OP” will blink on
(MODE/SET Key)
the display. End the operation by pressing the MODE/SET Key,
Blinks remove the cause of the failure, and execute advanced autotuning
again.
9 If the operation set in step 7 was completed normally, but the inertia
MODE/SET
could not be calculated because calculation conditions were insuffi-
(MODE/SET Key)
cient, “Error” will blink on the display. End the operation by press-
Blinks ing the MODE/SET Key, change the settings, and execute advanced
autotuning again.
10 After the inertia has been calculated, press the Up or Down Cursor
Key (press the same key as was pressed to start the operation) for
one second or more. The moment of inertia ratio will be written to
Blinks during adjustment Pn103 and the operation will continue to set the notch filter, torque
reference filter, and the gains. An automatic operation will then be
performed to set the gains. “Adj” will blink on the display during
autotuning.
“Error” will be displayed if the gains cannot be set normally. 30 min-
utes may be required for completion if the gain setting level is
“tight” or the Positioning Completed Width (Pn522) is exceptionally
narrow. To end the processing before completion, press the MODE/
SET Key and return to step 2.
To end before completion, return to step 5, and reduce the gain level
setting. Then, repeat this operation.
11 If advanced autotuning ends successfully, “donE” will blink on the
display for two seconds, and the Servo will turn OFF. Press the
DATA/
(DATA/SHIFT) DATA/SHIFT Key to write the gains to the parameters, and return to
Blinks for two seconds
or
step 2. Press the MODE/SET Key to return to step 2 without writing
each gain. But only Pn103 (Moment of Inertia Ratio) that was writ-
MODE/SET
(MODE/SET Key) ten at step 10 is saved.
9-16
9.4 One-parameter Tuning
9.4 One-parameter Tuning

9.4.1 One-parameter Tuning
One-parameter tuning enables the four servo gains (Kv, Ti, Kp, and Tf) to be set to stable conditions merely by
manipulating one autotuning level. One-parameter tuning is executed using utility function Fn01A (One-parame-
ter Tuning).
The autotuning level is increased and decreased between 1 and 2,000 during operation to simultaneously change
the Speed Loop Gain (Pn100: Kv), Speed Loop Integral Time Constant (Pn101: Ti), Position Loop Gain (Pn102:
Kp), and Torque Reference Filter Time Constant (Pn401: Tf). These gains are changed to satisfy relationships
determined by the autotuning mode. Vibration may occur during one-parameter tuning, so set vibration detection
in Pn310 to an alarm (n.2) or warning (n.1). For details, refer to 7.2.15 Vibration Detection Level
Initialization (Fn01B).
9.4.2 One-parameter Tuning Procedure

The following procedure is used for one-parameter tuning.
MODE/SET
(MODE/SET Key)
2 Press the Up or Down Cursor Key to select “Fn01A.”


DATA/
The display shown at the left will appear, and the servomotor will
(DATA/SHIFT) enter one-parameter tuning mode.
4 Press the Up or Down Cursor Key to select the one-parameter tuning

mode.
∗Tuning Mode
0: Set servo gains with priority given to stability.
1:Set servo gains with priority given to response.
5 Press the DATA/SHIFT Key. The tuning level change display shown
DATA/
at the left will appear.
(DATA/SHIFT)
6 Press the Up Cursor Key and Down Cursor Key to change the tuning
level value. The servo gains (Pn100, Pn101, Pn102, and Pn401) will
also change simultaneously.
One-parameter tuning is completed when the user had determined
that the resulting response is acceptable.
7 Press the MODE/SET Key to write the values of four gains to the
parameters. If the values are saved normally, “donE” will blink on
MODE/SET
the display for one second.
Adjustments
(MODE/SET Key)
Blinks during one sec. *Go to step 9 to end without saving the calculated gains.
8 “donE” will be displayed and the one-parameter gain display will
return.
9 Press the DATA/SHIFT Key for one second or more to return to the
Fn01A display of the utility function mode.
9
DATA/
(DATA/SHIFT)
9-17
9 Adjustments
9.5.1 Explanation of Servo Gain
9.5 Manual Servo Tuning

9.5.1 Explanation of Servo Gain
Position control loop
Speed control loop
Speed Move
Speed pattern reference
Speed Servomotor
+ Position reference + + Current Electric
Error Speed Kv Tf M
- counter
loop - control - control power
Time
gain Kp section Ti section converting
Speed loop Current loop

PG
Position loop
Encoder
SERVOPACK
Host controller Kp Position Loop Gain (Pn102
(provided by user) Kv Speed Loop Gain Pn100
Ti Speed Loop Integral Time
Constant (Pn101)
Tf Torque Reference Filter Time
Constant (Pn401)
To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the SERVOPACK.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost
loop must have the highest response and the middle loop must have higher response than the outermost. If this
principle is not followed, it will result in vibration or responsiveness decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.
9-18
9.5.2 Servo Gain Manual Tuning

The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters
can adjust the servo responsiveness.
• Pn100: Speed Loop Gain (Kv)
• Pn101: Speed Loop Integral Time Constant (Ti)
• Pn102: Position Loop Gain (Kp)
• Pn401: Torque Reference Filter Time Constant (Tf)
For the position and speed control, the adjustment in the following procedure can increase the responsiveness.
The positioning time in position control can be reduced.
Perform the manual servo tuning in the following cases:
• If the advanced autotuning and one-parameter tuning did not give satisfactory results,
• To increase the servo gains by more than the values set by advanced autotuning or one-parameter tuning,
or
• To determine the servo gains and moment of inertia ratio by the user.
Start manual servo tuning with the factory settings or the values which were set automatically when advanced
autotuning or one-parameter tuning ended. Prepare measuring instruments such as memory recorder so that the
signals can be observed from the analog monitor (CN5) such as “Torque Reference” and “Motor Speed,” and
“Position Error Monitor” for the position control. (Refer to 9.7 Analog Monitor.) The servo drive engineering
tool “SigmaWin+” allows you to observe such signals. Prepare either of them.
Vibration may occur when the servo gains are being adjust. Select the vibration alarm, Pn310=n. 2 to
detect vibration. For more information on vibration detection, refer to 7.2.15 Vibration Detection Level Initializa-
tion (Fn01B). The vibration alarm cannot detect all vibration. If an vibration alarm occurs, an emergency stop-
ping device is needed to stop the machine. The customer has to provide the emergency stopping device, and use
this device when vibration occurs.
• Servo Gain Manual Tuning

Step Description
1 Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At the
same time, decrease the speed loop integral time constant (Pn101).
2 Adjust the torque reference filter time constant (Pn401) so that no vibration occurs.
3 Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.
4 For the position control, increase the position loop gain (Pn102) to within the range so that the machine
does not vibrate.
Adjustments
9-19
9 Adjustments
9.5.3 Position Loop Gain
9.5.3 Position Loop Gain

Pn102 Position Loop Gain (Kp) Position
10 to 20000 400
0.1/s Immediately
(1.0 to 2,000.0/s) (40.0/s)
The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the posi-
tioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set
higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to
increase its natural vibrating frequency and allow the position loop gain to be set to a high value.
If the position loop gain (Pn102) can not be set high in the mechanical system, an overflow alarm may occur during high
INFO
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.
Pn520 Excessive Position Error Alarm Level Position

1 to 1,073,741,823
1 Reference units 262,144 Immediately
(230-1)
This parameter’s new setting must satisfy the following condition.
Max. feed speed (reference units/s)
Pn520 ≥ × 2.0
Pn102
When the position reference filter is used, transient error increases due to the filter time constant. Filter lag must be con-
sidered the setting.
9.5.4 Speed Loop Gain

Pn100 Speed Loop Gain (Kv) Speed Position Torque

10 to 20000 400
0.1 Hz Immediately
(1.0 to 2,000.0 Hz) (40.0 Hz)
This parameter determines the responsiveness of the speed loop. The responsiveness increases and the positioning time
decreases when the position loop gain is set to a higher value. If the speed loop’s responsiveness is too low, it will delay the
outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stable and
responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the mechan-
ical system. The value of speed loop gain is the same as the set value of Pn100 if Pn103 (Moment of Inertia Ratio) has been
set correctly.
Pn103 Moment of Inertia Ratio Speed Position Torque

0 to 20,000 1% 0 Immediately
Motor axis conversion load moment of inertia (JL )×100(%)
Pn103 set value =
Servomotor rotor moment of inertia (JM)
The factory setting is Pn103=0. Before adjusting the servo, determine the moment of inertia ratio with the equation above
and set parameter Pn103.
9-20
9.5.5 Speed Loop Integral Time Constant

Pn101 Speed Loop Integral Time Constant (Ti) Speed Position

15 to 51200 2000
0.01 ms Immediately
(0.15 to 512.00 ms) (20.00 ms)
The speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes a
delay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer position-
ing settling times or response decreases.
The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.
(1) PI Control (Pn10B.1=0)

Example: Pn100 = 40.0 (Hz);
4000
Pn101 set value =
2π × Pn100 set value 4000
Pn101 15.92 (ms) =
2π × 40.0 (Hz)
(2) IP Control (Pn10B.1=1)

Example: Pn100 = 40.0 (Hz);
2000
Pn101 set value =
2π × Pn100 set value 2000
Pn101 7.96 (ms) =
2π × 40.0 (Hz)
In cases where the load moment of inertia is large and there are vibration elements in the mechanical system,
vibrations may occur in the equipment unless Pn101 is set to a value somewhat higher than the estimated set
value derived from the equation above.
Selecting the Speed Loop Control Method (PI Control or I-P Control)
INFO
Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The
position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be
achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or
other method.
9.5.6 Guidelines for Manual Tuning of Servo Gains

Throughly read the instructions given in the user’s manual prior to manually tuning the parameters, and use the
following guidelines to set the parameters to the optimum values. The parameter settings differ depending on the
conditions of the connected machine. Run the machine, and then adjust the settings of parameters while check-
ing the operation status displayed in SigmaWin, on the analog monitor, and so on. If a run command is executed,
the operation may become unstable. Execute a run command, start the servomotor, and adjust the servo gains.
In this section, the guidelines for the manual tuning of servo gains are given using two setting ranges: the range
for stable the operation and the setting range.
The parameters are regarded as well balanced when they are set to the values within the range for stable opera-
tion.
If the set value is within the allowable setting range but out of the range for stable operation, some interference
Adjustments
may occur. Some machine conditions may cause overshooting or vibration and result in unstable operations. If
the set value is out of the setting range, the operation may become so unstable as to cause the motor shaft to
vibrate abnormally or more wildly. Never set a parameter to a value outside of the setting range.
If using a torque-reference filter, a second torque-reference filter, and a notch filter together, keep a sufficient
margin between settings so a series of problems will not occur between each filter and the speed-loop gain.
9
IMPORTANT The following guidelines are given under the condition that the parameter Pn103 (Moment of
Inertia Ratio) is set correctly in accordance with the specifications of the machine that is con-
nected.
9-21
9 Adjustments
9.5.6 Guidelines for Manual Tuning of Servo Gains
(1) When Pn10B.1 = 0 (PI Control)

• Speed Loop Gain and Position Loop Gain
Pn100 [Hz]　　　 Pn102 [/s]
Setting Range for Stable Operation:　Pn102 [/s] ≤ 2π × Pn100 / 4 [Hz]
Allowable Setting Range: Pn102 [/s] < 2π × Pn100 [Hz]
• Speed Loop Gain and Speed Loop Integral Time Constant

Pn100 [Hz]　　　 Pn101 [ms]
Setting Range for Stable Operation:　Pn101 [ms] ≥ 4000 / (2π × Pn100 [Hz])
Allowable Setting Range: Pn101[ms] > 1000 / (2π × Pn100[Hz])
• Speed Loop Gain and Torque Filter Time Constant

Pn100 [Hz]　　　Pn401 [ms]
Setting Range for Stable Operation: 　Pn401[ms] ≤ 1000 / (2π × Pn100 [Hz] × 4)
Allowable Setting Range: Pn401 [ms] < 1000 / (2π × Pn100[Hz] × 1)
• Speed Loop Gain and Second Torque Reference Filter Frequency

Pn100 [Hz]　　　Pn40F [Hz]
Allowable Setting Range: Pn40F[Hz] > 4 × Pn100[Hz]
Note: Set the parameter Pn410 (Second Torque Reference Filter Q Value) to 0.70.
• Speed Loop Gain and Notch Filter Frequency

Pn100 [Hz]　　　 Pn409 (or Pn40C) [Hz]
Allowable Setting Range: Pn409[Hz] > 4 × Pn100[Hz]
• Speed Loop Gain and Speed Feedback Filter

Pn100 [Hz]　　　Pn308 [ms]
Setting Range for Stable Operation: Pn308 [ms] ≤ 1000 / (2π × Pn100 [Hz] × 4)
Allowable Setting Range: Pn308[ms] < 1000 / (2π × Pn100 [Hz] × 1)
(2) When Pn10B.1 = 1 (IP Control)

The relation between the Speed Loop Integral Time Constant, the Speed Loop Gain, and the Position Loop Gain
in the IP control mode is different from that in the PI control mode. The relation with other servo gain related
parameters is the same as for PI control.
• Speed Loop Gain and Speed Loop Integral Time Constant

Pn100 [Hz]　　　 Pn101 [ms]
Setting Range for Stable Operation: Pn100 [Hz] ≥ 320 / Pn101 [ms]
• Position Loop Gain and Speed Loop Integral Time Constant

Pn102 [/s]　　　 Pn101 [ms]
Setting Range for Stable Operation: Pn102 [/s] ≤ 320 / Pn101[ms]
9-22
Parameters for Gain Switching Function

INFO
The relation with the following parameters must be taken into consideration as well.
Pn104, Pn105, Pn106, Pn412, Pn12B, Pn12C, Pn12D, Pn413, Pn12E, Pn12F, Pn130, and Pn414
Decimal Point in Parameter Setting
For SGDS SERVOPACKs, the parameter settings are shown with a decimal point on the digital operator and in the manu-
als. For example, the setting of Pn100 (Speed Loop Gain) is shown as Pn100 = 40.0. This means that the Pn100 is set to
40.0 Hz. The guidelines for the manual tuning of servo gains should be read as shown in the following example.
Example: Speed Loop Gain and Speed Loop Integral Time
Pn100 [Hz]　　　　　Pn101 [ms]
Setting Range for Stable Operation: Pn101[ms] ≥ 4000 / (2π × Pn100 [Hz])
If Pn100 = 40.0 [Hz]
then Pn101 = 4000 / (2π × 40.0) ≈ 15.92 [ms]
How to Adjust Servo Gains

After changing the setting of one of the servo gain related parameters, the settings of the other parameters must also be
adjusted accordingly. Therefore, do not drastically change the setting of only one parameter. Gradually adjust the setting
of each servo gain related parameter by approximately 5% of the given value each time. And, use the following procedure
to adjust the parameters.
• To increase response speed
1. Decrease the value of the Torque Reference Filter Time Constant.
2. Increase the value of the Speed Loop Gain.
3. Decrease the value of the Speed Loop Integral Time Constant.
4. Increase the value of the Position Loop Gain.
• To decrease the response speed or to stop vibrations and overshooting

1. Decrease the value of the Position Loop Gain
2. Increase the value of the Speed Loop Integral Time Constant
3. Decrease the value of the Speed Loop Gain.
4. Increase the value of the Torque Filter Time Constant.
Adjustments
9-23
9 Adjustments
9.5.7 Safety Precautions on Adjustment of Servo Gains
9.5.7 Safety Precautions on Adjustment of Servo Gains
CAUTION
• If adjusting the servo gains, observe the following precautions.
• Do not touch the rotating section of the motor while power is being supplied to the motor.
• Before starting the servomotor, make sure that the emergency-stop circuit works correctly.
• Make sure that a trial run has been performed as described in 8.1 Trial Operation.
• Install a safety brake on the machine.
Yaskawa recommends that the following protective functions of the SERVOPACK are set to the correct settings
before starting to adjust the servo gains.
• Enable the overtravel function.
• Set the torque limit.
• Set the excessive position error alarm level.
• Set the vibration detection function.
• Set the excessive position error alarm level for when the servo is turned ON.
• Set the excessive position error level between the motor and the load for fully-closed control.
(1) Overtravel Function

Yaskawa recommends the use of the overtravel function. For details on how to set the overtravel function, refer
to 8.3.3 Setting the Overtravel Limit Function.
(2) Torque Limit

Calculate the torque required to operate the machine. Set the torque limits so that the output torque will not be
greater than requred. Setting the torque limits can reduce the amount of shock applied to the machine in colli-
sions and other cases.
Use the following parameters to set the torque limits.
Pn402: Forward Torque Limit [%]
Pn403: Reverse Torque Limit [%]
9-24
(3) Excessive Position Error Alarm Level

When using a servo drive in position control mode, the Excessive position error level can be set. For the opti-
mum setting, the servomotor will be stopped after the error occurs if the servomotor performs unpredictably after
receiving a command.
The position error is the difference between the position reference and the actual position. The position error can
be calculated from the position loop gain and the motor speed with the following equation.
Motor Speed [min-1 ] Number of Pulses per Motor Rotation [Reference unit]
• Position Error=
60 Pn102 / 10
Note: Pn102: Position Loop Gain [0.1/s]
• Excessive Position Error Alarm Level (Pn520 [reference unit])
-1
Max. Motor Speed [min ] Number of Pulses per Motor Rotation [Reference unit]
Pn520 㧪 (1.2 to 2)
60 Pn102 / 10
Set the level to a value that satisfies these equations, and no alarm will be generated during normal operation.
The servomotor will be stopped, however, if the servomotor runs unpredictably after a command is input or if a
position error in accordance with the value set in Pn520 occurs. At the end of the equation, a coefficient is shown
as “× (1.2 to 2).” This coeffient is used to add a margin that prevents a faulty alarm from occurring in actual
operation of the servomotor.
If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomotor
cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy
these equations. If so, lower the level of the acceleration/deceleration for the position reference so that the servo-
motor can perform at the requested speed or raise the allowable level of the position errors.
(4) Vibration Detection Function

Yaskawa recommends that the vibration detection function is set to an appropriate value. For details on how to
set the vibration detection function, refer to 7.2.5 Initialize Parameter Settings (Fn005).
(5) Excessive Position Error Alarm Level at Servo ON

If Pn200.2 (Clear Operation) is set to value other than zero, the position error pulses will remain at the baseblock.
If the servomotor is moved by an external force while it is being base-blocked, the servomotor will return to the
original position so that the position error pulses are cleared and reset to zero after the servo is turned ON. This
setting is used to limit such motions and to detect any errors.
The parameter Pn529 (Speed Limit Level at Servo ON) is used to limit the servomotor speed when returning to
the original position to clear the accumulated position error pulses and reset the pulses to 0. The speed will be
limited until the position error pulses are reset to 0.
An error will occur and the alarm A.d02 (Position Error Pulses Overflow Alarm by Speed Limit at Servo ON)
will be generated if the number of position error pulses accumulated until the servo is turned ON is greater than
the setting of Pn526 (Excessive Position Error Alarm Level at Servo ON).
(6) Excessive Error Level Between Servomotor and Load Positions

Adjustments
If using a SGDS-02A servomotor with specifications for a fully-closed interface. Yaskawa recommends
the use of the vibration detection function. For details, refer to 10.2 Serial Converter Unit.
9-25
9 Adjustments
9.6.1 Feed-forward Reference
9.6 Advanced Manual Servo Tuning Functions

9.6.1 Feed-forward Reference
Pn109 Feed Forward Gain Position

Pn10A Feed Forward Filter Time Constant Position

0 to 6400 0
0.01ms Immediately
(0.00 to 64.00 ms) (0.00ms)
Applies feed-forward control1 compensation in position control Differ- Pn109 Pn10A
inside the SERVOPACK. Use this parameter to shorten posi- Position
ential
tioning time. Too high value may cause the machine to vibrate. reference pulse + Position loop + +
For ordinary machines, set 80% or less in this parameter. gain Kp
-
Encoder feedback pulse
1
Feed-forward Control
TERMS
Feed-forward control is a control method that makes necessary control corrections in advance before the control system is
affected by an external disturbance. Feed-forward control can increase the effective servo gain and improve the respon-
siveness of the system.
9-26
9.6.2 Torque Feed-forward
Parameter Meaning
Pn002 n.0 Disabled
n.2 Uses T-REF terminal for torque feed-forward input.
Pn400 Torque Reference Input Gain Speed Position Torque

10 to 100
30
(1.0 to 10.0V/Rated 0.1V/Rated torque Immediately
(3.0 V/Rated torque)
torque)
The torque feed-forward function is valid only in speed control and position control.
The torque feed-forward function shortens positioning time, differentiates a speed reference at the host controller to gener-
ate a torque feed-forward reference, and inputs the torque feed-forward reference together with the speed reference to the
SERVOPACK.
Too high a torque feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a speed reference signal line to V-REF (CN1-5 and -6) and a torque forward-feed reference to T-REF (CN1-9 and
-10) from the host controller.
T-REF (CN1-9)
Differ- KFF Pn400
ential Servomotor
+ V-REF (CN1-5) +
+ +
+
Kp Pn300 Pn100 Current loop M
Position - + +
reference
- Integration
(Pn101)
Speed PG
calculation
Encoder
Divider
Kp: Position loop gain

KFF: Feed-forward gain
Torque feed-forward is set using the parameter Pn400.

The factory setting is Pn400 = 30. If, for example, the torque feed-forward value is ±3V, then, the torque is limited to
±100% of the rated torque.
The torque feed-forward function cannot be used with torque limiting by analog voltage reference described in 8.9.3
Torque Limiting Using an Analog Voltage Reference.
Adjustments
9-27
9 Adjustments
9.6.3 Speed Feed-forward
9.6.3 Speed Feed-forward
Parameter Meaning
Pn207 n.0 Disabled
n.1 Uses V-REF terminal for speed feed-forward input.

150 to 3,000
0.01 V/Rated 600
(1.50 to 30.00 V/Rated Immediately
speed (6.00 V/Rated torque)
speed)
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position refer-
ence to generate the feed-forward reference, and inputs the feed-forward reference together with the position reference to
the SERVOPACK.
Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.
Differ- V-REF (CN1-5 and -6)

ential KFF Pn300 Servomotor
+ + +
Position + Current loop
Kp ( Pn102 ) Pn100 M
reference PULS - - +
SIGN Integration
(Pn101)
Speed PG
calculation
Encoder
Kp: Position loop gain

KFF: Feed-forward gain
Speed feed-forward value is set using the parameter Pn300.

The factory setting is Pn300 = 6.00. If, for example, the speed feed-forward value is ±6V, then the speed is limited to the
rated speed.
9-28
9.6.4 Proportional Control Operation (Proportional Operation Reference)

If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change
between PI control and P control.
• PI control: Proportional/Integral control.

• P control: Proportional control
Parameter Control Mode

Pn000 n.0 Speed Effective in speed control or position
SERVOPACK
Control control.
CN1
Input signal /P-CON (CN1-41) is used
to select PI control or P control.
P/PI
n.1 Position CN1-41 is OFF PI control
Switching
/P-CON 41
Control (H level).
CN1-41 is ON P control
(L level).
• When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 9.6.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /P-
CON signal and switching the control mode for particular operating conditions.
• If PI control mode is being used and the speed reference has a reference offset, the motor may rotate very slowly and fail
to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the motor.
9.6.5 Using the Mode Switch (P/PI Switching)

Use the mode switch (P/PI switching) function in the following cases:
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress undershooting during positioning and reduce the settling time (for position control)
Speed Overshoot
Actual servomotor operation

Reference
Time
Undershoot
Setting time
The mode switch function automatically switches the speed control mode from PI control mode to P control1
mode based on a comparison between the servo’s internal value and a user-set detection level.
Adjustments
1
From PI control to P control
TERMS
PI control means proportional/integral control and P control means proportional control. In short, switching “from PI
control to P control” reduces effective servo gain, making the SERVOPACK more stable.
9-29
9 Adjustments
IMPORTANT 1. The mode switch function is used in very high-speed positioning when it is necessary to use the servo
drive near the limits of its capabilities. The speed response waveform must be observed to adjust the
mode switch.
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/
position control. Even if overshooting or undershooting occur, they can be suppressed by setting the host
controller’s acceleration/deceleration time constant, the SERVOPACK’s Soft Start Time Constants
(Pn305, Pn306), or Position Reference Acceleration/Deceleration Time Constant (Pn216).
(1) Selecting the Mode Switch Setting

The SERVOPACK provides the following four mode switch settings (0 to 3). Select the appropriate mode switch
setting with parameter Pn10B.0.
Parameter Mode Switch Parameter Setting Units
Selection Containing
Detection Point
Setting
Pn10B n.0 Use a torque reference Pn10C Percentage of rated
level for detection point. torque: %
(Factory setting)
n.1 Use a speed reference Pn10D Motor speed: min-1
level for detection point.
n.2 Use an acceleration Pn10E Motor acceleration:
level for detection point. 10 (min-1)/s
n.3 Use an position error Pn10F Reference unit
pulse level for detection
point.
n.4 Do not use mode switch − −
function.
Select the conditions to switch modes (P or PI control switching). The settings are already valid, so the
SERVOPACK does not have to be restarted.
9-30
Using the Torque Reference Level to Switch Modes (Factory Setting)

With this setting, the speed loop is switched to P control when the value
Reference speed of torque reference input exceeds the torque set in parameter Pn10C.
Speed Motor speed
The factory default setting for the torque reference detection point is
200% of the rated torque (Pn10C = 200).
+Pn10C Torque Reference

Torque
Reference0
- Pn10C
PI P PI Control P PI Control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
Without Mode Switching With Mode Switching
Overshoot
Motor Motor
speed speed
Undershoot
Time Time
Using the Speed Reference Level to Switch Modes

With this setting, the speed loop is switched to P control when the value
Speed reference Motor
of speed reference input exceeds the speed set in parameter Pn10D. Speed
speed
Pn10D Time
PI P Control PI Control
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

Speed reference Motor speed
Motor
speed
Long Setting Time

Adjustments
Increase speed loop gain
Overshoot
Motor Motor
speed speed
Undershoot
Time Setting time
9
9-31
9 Adjustments
Using the Acceleration Level to Switch Modes

With this setting, the speed loop is switched to P control when the
Reference speed
motor’s acceleration rate exceeds the acceleration rate set in param- Speed Motor speed
eter Pn10E.
Motor acceleration
+Pn10E
Acceleration 0
- Pn10E
PI P PI Control P PI Control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
Overshoot
Motor Motor
speed speed
Undershoot
Time Time
Using the Error Pulse Level to Switch Modes

This setting is effective with position control only. Reference Motor
With this setting, the speed loop is switched to P control when the Speed speed
position error pulse exceeds the value set in parameter Pn10F.
Time
Position
error pulse
Pn10F
PI P Control PI Control
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

Speed reference Motor speed
Motor
speed
Long Setting Time
Increase speed loop gain
Overshoot
Motor Motor
speed speed
Undershoot
Time Setting time
9-32
9.6.6 Setting the Speed Bias

The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref-
erence block in the SERVOPACK.
Pn107 Bias Position

Pn108 Bias Addition Width Position

0 to 250 1 Reference units 7 Immediately
To reduce the positioning time, set these parameters Speed reference

based on the machine’s characteristics.
The Bias Addition Width (Pn108) specifies when the Bias set
Bias (Pn107) is added and the width is expressed in
position error pulse units. The bias input will be No bias
Bias addition width
added when the position error pulse value exceeds Pn108 Bias (Pn107)
the width set in Pn108. Position
Bias (Pn107) Error pulse
Bias addition width
Pn108
Pn108
9.6.7 Speed Feedback Filter

Pn308 Speed Feedback Filter Time Constant Speed Position

0 to 65535 0
0.01ms Immediately
(0.00 to 655.35 ms) (0.00ms)
Sets the 1st-order filter for the speed loop’s speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.
9.6.8 Speed Feedback Compensation

The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. In
the end, the speed feedback compensation allows the positioning settling time to be reduced because the position
loop gain can also be increased if the speed loop gain can be increased.
Pn110 Online Autotuning Switches Speed Position

− − 0010 After restart
Adjustments
Pn111 Speed Feedback Compensation Gain Speed Position

Parameter Function 9
Pn110 n.0 Speed feedback compensation is used.
n.1 Speed feedback compensation is not used. (Standard speed feedback)
9-33
9 Adjustments
9.6.8 Speed Feedback Compensation
IMPORTANT When this function is used, it is assumed that the moment of inertia ratio set in Pn103 is correct. Verify that
the moment of inertia ratio has been set correctly.
Speed
Position
reference Speed loop Torque reference Torque reference
error pulse Position loop gain
(Pn102) + PI control filter
- (Pn100,Pn101) (Pn401)
Speed feedback
Speed feedback
compensation
(Pn111)
Selection of speed feedback
compensation function
(Pn110.1)
Speed feedback compensation function
(1) Adjustment Procedure

The following procedure explains how to adjust when the speed loop gain cannot be increased due to vibrations
in the mechanical system. When adding a speed feedback compensation, observe the position error and torque
reference with the analog monitor (Refer to 9.7 Analog Monitor) while adjusting the servo gain.
1. Set parameter Pn110 to “0002,” to use the speed feedback compensation, and disable the normal autotun-
ing function.
2. With PI control, gradually increase the Speed Loop Gain in Pn100 and reduce the Speed Loop Integral
Time Constant Pn101, setting the Position Loop Gain in Pn102 to the same value as that of the Speed
Loop Gain in Pn100.
Use the result from the following equation as a initial estimate when setting the Speed Loop Integral Time
Constant in Pn101.
4000
Speed loop integral time constant (Pn101)
2 Pn100
Speed loop gain units: 0.1 Hz
Check the units when setting the Speed Loop Integral Time Constant in Pn101. The value in Pn101 is set
in units of 0.01 ms.
Set the same value for the speed loop gain and position loop gain even though the speed loop gain units
(0.1 Hz) are different form the position loop gain units (0.1/s).
3. Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor’s
position error and checking whether vibration occurs in the torque reference. If there is any vibrating
noise or noticeable vibration, gradually increase the Torque Reference Filter Time Constant in Pn401.
4. Gradually increase only the position loop gain. When it has been increased about as far as possible, then
decrease the Speed Feedback Compensation in Pn111 from 100% to 90%. Then repeat steps 2 and 3.
5. Decrease the speed feedback compensation to a value lower than 90%. Then repeat steps 2 through 4 to
shorten the settling time. If the speed feedback compensation is too low, however, the response waveform
will oscillate.
6. Find the parameter settings that yield the shortest settling time without causing vibration or instability in
the position error or torque reference waveform being observed with the analog monitor.
7. The servo gain adjustment procedure is complete when the positioning time cannot be reduced any more.
9-34
IMPORTANT The speed feedback compensation usually makes it possible to increase the speed loop gain and position
loop gain. Once the speed loop gain and position loop gain have been increased, the machinery may vibrate
significantly and may even be damaged if the compensation value is changed significantly or Pn110.1 is set
to “1” (i.e., speed feedback compensation disabled).
9.6.9 Switching Gain Settings

Two gain switching functions are available, manual switching and automatic switching. The manual switching
function uses an external input signal to switch gains, and the automatic switching function switches gains auto-
matically. The manual switching function uses the external input signals, /G-SEL1 and /G-SEL2, to switch
between gain settings 1 through 4. The following tables list the gains and parameters to be switched.
(1) Gain Switch Settings
Parameter Settings Switching Setting Setting
/G-SEL2 /G-SEL1
Pn139=n.0 OFF (H level) OFF (H level) Gain Setting 1
Manual Gain OFF (H level) ON (L level) Gain Setting 2
Switching ON (L level) OFF (H level) Gain Setting 3
ON (L level) ON (L level) Gain Setting 4
(2) Gain Combinations for Switching

Setting Speed Loop Gain Speed Loop Integral Position Loop Gain Torque Reference Filter
Time Constant
Gain Pn100 Pn101 Pn102 Pn401
Setting 1 Speed Loop Gain Speed Loop Integral Position Loop Gain Torque Reference Filter
Time Constant Time Constant
Gain Pn104 Pn105 Pn106 Pn412
Setting 2 Speed Loop Gain #2 Speed Loop Integral Position Loop Gain #2 Torque Reference Filter
Time Constant #2 Time Constant #2
Gain Pn12B Pn12C Pn12D Pn413
Gain Pn12E Pn12F Pn130 Pn414
Automatic Gain Switching switches the setting between the gain settings 1 and 2 when the SERVOPACK status
satisfies the switching conditions set in the parameter Pn139: From gain setting 1 to 2 when Condition A is met,
and from gain setting 2 to 1 when Condition B is met.
The Switching Delay stays unchanged if the switching conditions are met. This function is effective when the
switching conditions are not stable or precise timing is required. To minimize shocks when switching gains, set
the Switching Time so that the gain can be changed smoothly in a linear pattern. The Switching Delay and the
Switching Time can be set for switching from gain switching 1 to 2 and from 2 to 1 respectively as shown in the
following figure.
Adjustments
9-35
9 Adjustments
(3) Automatic Gain Switch Pattern

Automatic switching pattern 1 (Pn139.0=1)
Switching Delay 1 Pn135

Condition A
Pn139= X Switching Time 1 Pn131
Gain Gain
Settings 1 Settings 2
Pn100 Pn104
Pn101 Pn105
Pn102 Pn106
Pn401 Pn412
Switching Delay 2 Pn136 Condition B

Pn139= X
Switching Time 2 Pn132
(4) Automatic Gain Switch Settings

Parameter Settings Switching Setting Setting Switching Delay Switching Time
Pn139=n.1 Condition A established. Gain Settings 1 to Switching Delay 1 Switching Time 1
(Automatic Switching Pn139=X Gain Settings 2 Pn135 Pn131
Pattern 1) Condition B established. Gain Settings 2 to Switching Delay2 Switching Time 2
Pn139=X Gain Settings 1 Pn136 Pn132
When the control method switching function is used, changing position control into other control method results in “posi-
tioning completed signal (/COIN) ON”, “NEAR signal (/NEAR) ON” and “position reference filter output = 0 and refer-
ence pulse input OFF”.
So, if the control method is changed from position control to another method, either one of the gains that correlates to the
switching conditions set at Pn139, such as the positioning completed signal (/COIN) being ON, the NEAR signal (/NEAR)
being ON or the position reference filter output being equal to 0 when the reference pulse input is OFF, is selected.
(5) Gain Switching Delay and Switching Time

The following diagram shows the relationship between the gain switching delay and the switching time.
In this example, the “positioning completed signal (/COIN) ON” condition is set as condition A for automatic
gain switching pattern 1. The position loop gain is switched from the value in Pn102 (Position Loop Gain) to the
value in Pn106 (Position Loop Gain #2). When the /COIN signal goes ON, the switching operation begins after
the delay set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to Pn106
over the switching time interval set in Pn131.
Switching Delay Switching Time
Pn135 Pn131
Pn102
Position Loop Gain
Pn106
Position
Loop Gain 2
/COIN
Switching condition A established
Automatic gain switching is available in the standard PI and I-P controls and in the Less Deviation Control. The
setting method for the Switching Setting Condition and the settings for the Switching Delay and the Switching
Time are the same as those for the PI and I-P controls. For details on how to adjust the less deviation control,
refer to 9.6.11 Less Deviation Control.
9-36
(6) Switchable Gain Combinations for Less Deviation Control

Setting Servo Rigidity Speed Feedback Filter Integral Compensation Processing Pn1A7=n.X
Time Constant 0 1 2 3
Gain Pn1A0 Pn1A2
No integral Use integral Use integral No integral
Settings 1 Servo Rigidity Speed Feedback Filter
compensation compensation. compensation. compensation
Time Constant
Gain Pn1A1 Pn1A3
No integral Use integral No integral Use integral
Settings 2 Servo Rigidity Speed Feedback Filter
compensation compensation. compensation compensation.
#2 Time Constant #2
IMPORTANT Observe the following precautions when using the gain switching function.
• The gain switching function is compatible with the PI control and the I-P control or the less deviation con-
trol.
• The primary gain settings (Gain Settings 1) will be set if the automatic switching operation is interrupted by
a servo OFF signal or an alarm. If manual gain switching is interrupted, the gain settings specified by the
input signals, /G-SEL1 and /G-SEL2, will be set.

Parameter Function
Pn139 n.0 Manual gain switching
n.1 Automatic switching pattern 1
n.0 Positioning completion signal (/COIN) ON
n.1 Positioning completion signal (/COIN) OFF
n.2 Switching Positioning near signal (/NEAR) ON
condition
n.3 A Positioning near signal (/NEAR) OFF
n.4 No output for position reference filter and Reference pulse input OFF
n.5 Position reference pulse input ON
n.0 Switching
　 condition Same as above.
n.5 B
Pn104 2nd Speed Loop Gain Speed Position

10 to 20000 400
0.1 Hz Immediately
(1.0 to 2,000.0 Hz) (40.0 Hz)
Pn105 2nd Speed Loop Integral Time Constant Speed Position

Adjustments
15 to 51200 2000
0.01 ms Immediately
(0.15 to 512.00 ms) (20.00 ms)
Pn106 2nd Position Loop Gain Position

10 to 20000 400
(1.0 to 2,000.0/s)
0.1/s
(40.0/s)
Immediately 9
Pn412 1st Step 2nd Torque Reference Filter Time Constant Speed Position Torque

0 to 65535 100
0.01 ms Immediately
(0.00 to 655.35 ms) (1.00 ms)
9-37
9 Adjustments
Pn12B 3rd Speed Loop Gain Speed Position

10 to 20000 400
0.1 Hz Immediately
(1.0 to 2,000.0 Hz) (40.0 Hz)
Pn12C 3rd Speed Loop Integral Time Constant Speed Position

15 to 51200 20000
0.01 ms Immediately
(0.15 to 512.00 ms) (20.00 ms)
Pn12D 3rd Position Loop Gain Position
10 to 20000 400
0.1/s Immediately
(1.0 to 2,000.0/s) (40.0/s)
Pn413 1st Step 3rd Torque Reference Filter Time Constant Speed Position Torque

0 to 65535 100
0.01 ms Immediately
(0.00 to 655.35 ms) (1.00 ms)
Pn12E 4th Speed Loop Gain Speed Position

10 to 20000 400
0.1 Hz Immediately
(1.0 to 2,000.0 Hz) (40.0 Hz)
Pn12F 4th Speed Loop Integral Time Constant Speed Position

15 to 51200 20000
0.01 ms Immediately
(0.15 to 512.00 ms) (20.00 ms)
Pn130 4th Position Loop Gain Position

10 to 20000 400
0.1/s Immediately
(1.0 to 2,000.0/s) (40.0/s)
Pn414 1st Step 4th Torque Reference Filter Time Constant Speed Position Torque

0 to 65535 100
0.01 ms Immediately
(0.00 to 655.35 ms) (1.00 ms)
9-38
(8) Parameters for Automatic Gain Switching

Pn131 Gain Switching Time 1 Speed Position

0 to 65,535 1 ms 0 Immediately
Pn132 Gain Switching Time 2 Speed Position

Pn135 Gain Switching Watching Time 1 Speed Position

Pn136 Gain Switching Watching Time 2 Speed Position

(9) Parameters for Less Deviation Control

Pn1A0 Servo Rigidity Position

Pn1A1 Servo Rigidity 2 Position

Pn1A2 Speed Feedback Filter Time Constant Position

30 to 3200 72
0.01 ms Immediately
(0.30 to 32.00 ms) (0.72 ms)
Pn1A3 Speed Feedback Filter Time Constant 2 Position

30 to 3200 72
0.01 ms Immediately
(0.30 to 32.00 ms) (0.72 ms)
Pn1A7 Auxiliary Control Switches Position

Parameter Function
Pn1A7 n.0 Do not perform integral compensation processing.
Adjustments
n.1 Perform integral compensation processing. (Factory setting)

n.2 Use gain switching without position error.
Perform integral compensation on Gain Settings 1.
Do not perform integral compensation on Gain Settings 2.
n.3 Use gain switching without position error.
9
9-39
9 Adjustments
9.6.10 Predictive Control

The Predictive Control function predicts the future error value using the future reference value and mechanical
characteristics in the position control mode. There are two kinds Predictive Control in the SERVOPACK.
• Predictive Control for Positioning
This control method is used to reduce the settling time.
• Predictive Control for Locus Tracking
This control method is used to reduce the locus tracking error.
Predictive Control for Positioning operates by anticipating the future position reference in order to perform high-
speed positioning. In contrast, Predictive Control for Locus Tracking follows the actual locus of the position ref-
erence being input.
The adjustment procedure is simple: just enable Predictive Control then the recommended values are calculated
and set based on the position loop gain (Kp) that is set at that time. If necessary, the values can be fine-tuned with
the parameters.
Position Response with Predictive Control

Position reference
Position
(host reference)
With Predictive Control
Without Predictive Control
Time
Position Error Response with Predictive Control

Position Error
With Predictive Control Without Predictive Control
Time
9-40

Pn150 Predictive Control Selection Switches Position

Parameter Name Function

Pn150 n.0 Predictive Control Do not use the Predictive Control function.
Enable
n.1 Use the Predictive Control function.
n.0 Predictive Control Performs Predictive Control for Locus Tracking.
Method This method is used for Locus Tracking Control and for
positioning for low-rigidity machines. Reduces the track-
ing error by keeping the locus shape of the position refer-
ence.
n.1 Performs Predictive Control for Positioning.
This method is used for positioning control. It operates by
anticipating the future position reference. For low-rigidity
machines, use the Predictive Control for Locus Tracking if
the vibration increases when stopping with this method.
n.X Reserved. (Do not change.)
n.X Reserved. (Do not change.)
Adjustments
9-41
9 Adjustments
Pn151 Predictive Control Acceleration/Deceleration Gain Position

Increasing the gain setting in Pn151 has the effect of shortening the settling time. The maximum position error is not
changed significantly.
Overshooting will occur if the gain is set too high.
The following diagram shows the typical position error behavior when operating with a trapezoidal speed reference pattern.
Increasing the Predictive Control Acceleration/Deceleration Gain changes the position error behavior from the dashed line
to the solid line and shortens the settling time.
Position
Error Increase the Predictive Control
Acceleration/Deceleration Gain
setting in Pn151
Time
Pn152 Predictive Control Weighting Ratio Position

Increasing the weighting ratio in Pn152 has the effect of reducing the tracking error. When the positioning completion
width is large, increasing the weighting ratio will also have the benefit of reducing the settling time.
If the weighting ratio is set too high, the torque may become oscillating and overshooting may occur.
The following diagram shows the typical position error behavior when operating with a trapezoidal speed reference pattern.
Increasing the Predictive Control Weighting Ratio changes the position error behavior from the dashed line to the solid line
and reduces the tracking error.
Position Increase the Predictive Control

Error Weighting Ratio setting in Pn152.
Time
9-42
(2) Predictive Control Method (Pn150=n.X)

(a) Predictive Control for Locus Tracking (Pn150=n.0)
The machine is controlled by following the locus of the position reference being input.
Use this control to keep the form of locus of position reference.
Note that the operation starts a few milliseconds after the command input. Therefore, the positioning time is
longer than that by the predictive control for positioning.
(b) Predictive Control for Positioning (Pn150=n.1)

The machine is controlled by anticipating the position reference to be input.
The operation starts at the same time as the command input, which reduces the positioning time.
The locus differs from that of position reference.
For machines that easily vibrate, greater vibration may be caused upon stopping. In such case, use the pre-
dictive control for locus tracking instead of the predictive control for positioning.
Predictive Control for Predictive Control for Locus

Positioning realizes Tracking follows the actual locus
high-speed positioning of the position reference being input
Position
Position
reference
Position
proportional
Control
Time
(3) Adjustment Procedure

Use the procedure shown in the following flowchart to adjust the Predictive Control function.
1. Adjustment by normal control
Use the functions such as autotuning and one-parameter tuning.
2. Predictive control selection switch setting
Set the predictive control selection switch to enable the predictive control. Turn OFF and ON the power
to validate the setting.
3. Adjustment of predictive control adjusting parameters
If necessary, adjust the predictive control related parameters, confirming the response.
Adjustments
9-43
9 Adjustments
With the Predictive Control function

disabled, use autotuning or manual Related parameters are:
gain adjustment to adjust the servo Pn150 (Predictive Control Selection Switch),
Fn01A (One-parameter Tuning),
gain to increase response performance. Pn151 (Predictive Control Acceleration
Fn017 (Advanced Autotuning), and
Deceleration Gain),
others can be used.
Pn152 (Predictive Control Weighting Ratio),
and Pn102 (Position Loop Gain).
Is Positioning
Control or Locus Locus Tracking Control
Tracking Control
being used?
Positioning Control
Set the Predictive Control Method

Set the Predictive Control Method
to "Predictive Control for to "Predictive Control for Locus
Positioning." (Pn150.1 = 1) Tracking." (Pn150.1 = 0)
Enable the Predictive Control

function (set Pn150.0 = 1) and
turn the power OFF and ON again. The position loop gain (Pn102)
will be referenced and Predictive
Control will be set automatically.
Operation with the
Predictive Control function’s
basic adjustments.
Is the control No
performance satisfactory
or at its adjustable
limit ?
The performance No overshooting
Yes improved?
No overshooting
Checking overshooting by
position error, reduce
Performance improved
Pn151: Predictive control
acceleration/deceleration gain,
or Pn152: Predictive control
weighting ratio
The settling time reduced? Tracking error reduced
The tracking error reduced?
No
Settling time reduced No overshooting?
Within the range not to Within the range not to cause Yes
cause overshooting, overshooting and vibration in
increase torque wave form, increase Checking overshooting by
Pn151: Predictive control Pn152: Predictive control position error, reduce
acceleration/deceleration weighting ratio. Pn102: Position loop gain.
gain.
End
(4) Limitations
Fn017 (Advanced Autotuning) cannot be used while using the predictive control (Pn150.0=1).
9-44
9.6.11 Less Deviation Control

Less Deviation Control can provide shorter settling times and lower locus tracking errors by reducing the posi-
tion error as much as possible for the position control mode. There are two kinds of Less deviation control: Basic
Less deviation and Less Deviation control with reference filter. Operation can be adjusted easily with utility
function Fn015 (One-parameter Tuning for Less Deviation Control.) If higher performance operation is required,
the settings can be fine-tuned with the parameters.
Example Response Waveform Example Response Waveform
for Less Deviation Control for Less Deviation Control with Reference Filter
Position Position
Position reference Position reference

(Host reference) (Host reference)
Using Less Deviation Using Less Deviation Control

Control with Reference filter
Not using Less Not using Less Deviation Control
Deviation Control with Reference Filter
Time Time
Position Position
Error Not using Less Using Less Deviation Control Not using
Using Less Error
Deviation Control Deviation Control with Reference filter Less Deviation Control
Time Time
Example Response Waveforms for Less Deviation Control

Pn119 Reference Filter Gain Position

10 to 20000 500
0.1 /s Immediately
(1.0 to 2,000.0 /s) (50.0 /s)
Pn11A Reference Filter Gain Compensation Position

500 to 2000 1000
0.1% Immediately
(50.0% to 200.0%) (100%)
Pn11E Reference Filter Bias (Forward) Position

0 to 10000 1000
Adjustments
0.1% Immediately
(0.0% to 1,000.0%) (100%)
Pn144 Reference Filter Bias (Reverse) Position

0 to 10000 1000
(0.0% to 1,000.0%)
0.1%
(100%)
Immediately 9
Pn1A0 Servo Rigidity Position

9-45
9 Adjustments
Pn1A1 Servo Rigidity #2 Position

Pn1A2 Speed Feedback Filter Time Constant Position

30 to 3200 72
0.01 ms Immediately
(0.30 to 32.00 ms) (0.72 ms)
Pn1A3 Speed Feedback Filter Time Constant #2 Position

30 to 3200 72
0.01 ms Immediately
(0.30 to 32.00 ms) (0.72 ms)
Pn1A4 Torque Reference Filter Time Constant Position

0 to 2500 36
0.01 ms Immediately
(0.00 to 25.00 ms) (0.36 ms)
Pn1A9 Auxiliary Integral Gain Position

0 to 500 1 Hz 37 Immediately
Pn1AA Position Proportional Gain Position

Pn1AB Speed Integral Gain Position

Pn1AC Speed Proportional Gain Position

0 to 2,000 1 Hz 120 Immediately
Pn1B5 Gain Compensation Upper Limit 1 Position

Pn10B Gain-related Application Switches Position

Pn1A7 Auxiliary Control Switches Position

9-46
Parameter Meaning
Pn10B n.0 Standard position control
n.1 Use Less Deviation Control.
n.2 Use Less Deviation Control with Reference filter.
n.3 Reserved. (Do not change.)
Pn1A7 n.0 Do not perform integral compensation processing.
n.1 Perform integral compensation processing.
n.2 Use gain switching in Less Deviation Control.
n.3 Use gain switching in Less Deviation Control.
(2) Adjustment Procedure for Less Deviation Control

Use the procedure shown in the following flowchart when adjusting “Less Deviation Control.”
Always set the moment of inertia ratio. If necessary, set the notch filter. After making these settings, select Less
Deviation Control and turn the power OFF and ON again.
Once Less Deviation Control has been selected, the normal autotuning function will be disabled regardless of the
setting in Pn110 = nx.
Adjustments
9-47
9 Adjustments
Start
Set the moment of inertia ratio.

Set the moment of inertia ratio in
Pn103 manually or set it with the
moment of inertia calculation.
Set the notch filter.

Measure the frequency with the
function such as Fn019 and
set the notch filter if necessary.
Is Positioning Control Positioning Control

or Locus Tracking Control
being used?
Locus Tracking Control

Set the Gain-related Application Switches to
Set the Gain-related Application "Use Less Deviation Control with Reference
Switches to "Use Less Deviation filter." (Pn10B.2 = 2)
Control." (Pn10B.2 = 1)
Turn the power OFF and ON again.
Execute utility function Fn015

(One-parameter Tuning for Less Deviation Control.) Note 1: Whenever it is possible,
change Pn119 with the
servomotor stopped.
Vibration may result from
Are the response Positioning Control any significant changes
No Is Positioning Control
results satisfactory? or Locus Tracking Control of Pn119.
being used?
Yes Locus Tracking

Control
Increase the setting in
Pn119. (See note 1.)
End
Is there No
overshooting?
Increase the setting in Pn1A2.
Yes
1) Decrease the setting in Pn11E.

2) Decrease the setting in Pn144.
Yes
Is there vibration?
No
No Is there
overshooting?
Increase the setting in Pn1A4
until there is vibration.
Yes
1) Decrease the setting in Pn1A9.

2) Decrease the setting in Pn1AA.
Increase the setting in Pn1AA
until there is vibration.
Is there No
overshooting?
Increase the setting in Pn1A9
until there is vibration. Yes
(See note 2.)
Decrease the setting in Pn119
Note 2: The maximum value for to a level where overshooting
Pn1A9 is 80% of the setting is suppressed.
in Pn1AA. Do not increase
End
Pn1A9 beyond this level.
End
9-48
(3) One-parameter Tuning Procedure for Less Deviation Control

The following table shows the procedure for one-parameter tuning for less deviation control.
This function can be used while using the Less Deviation Control (Pn10B= n.1 or n.2).
Step Display after Operation Panel Operator Explanation
MODE/SET
(MODE/SET Key)

*The digit that can be set blinks.
3 Press the DATA/SHIFT Key for one second or more. The one-
DATA/
parameter gain change display shown on the left will appear.
(DATA/SHIFT)
4 Press the Up and Down Cursor Keys to change the one-parameter

gain setting. The actual servo gain will be changed at the same time.
5 Press the MODE/SET Key. The 11 calculated gain values will be

over written to the parameters. When the settings have been stored
properly, “donE” will blink on the display for one second.
MODE/SET
Blinking during one minute (MODE/SET Key)
To end function Fn015 without over writing the calculated values, do
not press the MODE/SET Key and proceed to step 7.
6 After “donE” is displayed, the one-parameter gain change display
About one
will return.
second later
7 Press the DATA/SHIFT Key for a minimum of one second to return

DATA/
to the Fn015 display of the utility function mode.
(DATA/SHIFT)
(4) Gain Switching during Less Deviation Control

When using Less Deviation Control, refer to 9.6.9 (2) Gain Combinations for Switching on page 9-35 for details
on gain switching
(5) Function Limitations during Less Deviation Control

Some functions cannot be used together with the “Less Deviation Control” function.
(a) Utility Functions
The following utility functions will be disabled, even if they are selected.
• Rigidity setting during normal autotuning (Fn001)
• Save moment of inertia ratio data obtained from normal autotuning (Fn007)
• Advanced autotuning (Fn017)
• EasyFFT (Fn019)
• One-parameter tuning (Fn01A)
Adjustments
(b) Control Methods usable in Normal Position Control

The following control methods will not function.
• Feed-forward
• Mode Switch
• Speed Feedback Compensation 9
• Predictive Control
• Normal Autotuning
• Fully-closed control
9-49
9 Adjustments
9.6.12 Torque Reference Filter
9.6.12 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains three torque reference filters and two
notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and dis-
abled with the parameters.
Torque Related
Function Switch
Pn408
Torque Second Second

First Step Step Third Step
Torque
reference Step First Step reference
Notch 2nd-order Torque
before Notch #1 Torque
after
Reference Filters Torque Reference
filtering Filters filtering
Filter (Pn409 Reference Filter
(Pn40C (Pn401) and Filters (Pn411)
and
Pn40A) (Pn40F and
Pn40D)
Pn410)
Notch filter 1st-order delay filter Notch filter 2nd-order delay filter 1st-order delay filter
(1) Torque Reference Filter

If you suspect that machine vibration is being caused by the servo drive, try adjusting the filter time constants.
This may stop the vibration. The lower the value, the better the speed control response will be, but there is a
lower limit that depends on the machine conditions.
Pn401 Torque Reference Filter Time Constant Speed Position Torque

0 to 65535 100
0.01 ms Immediately
(0.00 to 655.35 ms) (1.00 ms)
Pn40F 2nd Step 2nd Torque Reference Filter Frequency Speed Position Torque

100 to 2,000 1 Hz 2,000 Immediately
Pn410 2nd Step 2nd Torque Reference Filter Q Value Speed Position Torque

50 to 1000 70
0.01 Immediately
(0.50 to 10.00 Hz) (0.70 Hz)
Pn411 3rd Step Torque Reference Filter Time Constant Speed Position Torque

0 to 65,535 1 μs 0 Immediately
Note: 1. The setting units for the third step torque reference filter are different from the units for the first
and second step filters.
2. The 2nd step 2nd torque reference filter is disabled when parameter Pn40F (2nd Step 2nd Torque
Reference Filter Frequency) is set to 2,000 Hz (factory setting).
9-50
(2) Notch Filter

The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw
axes. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency compo-
nents near the notch frequency can be eliminated with this characteristic. A higher notch filter Q value produces
a sharper notch and phase delay.
Q value = 0.7 Q value = 1.0
Notch filter Notch filter

100 100
0 0
Gain -100 Gain
-100
(db) (db)
-200 -200
-300 -300 2
10
2
10 3 10 4 10 10
3
10
4
Frequency (Hz) Frequency (Hz)
Notch filter Notch filter

0 0
-100 -100
Phase -200 Phase
(deg) (deg) -200
-300 -300
-400 -400 2
10
2
10 3 10 4 10 10
3
10
4
Frequency (Hz) Frequency (Hz)
Parameter Meaning
Pn408 n.0 1st step notch filter disabled.
n.1 1st step notch filter is used.
n.0 2nd step notch filter disabled.
n.1 2nd step notch filter is used.
Used notch filters are enabled. (It isn’t necessary to turn the power OFF and ON again.)
Set the machine’s vibration frequency in the parameter of a notch filter that is being used.
Pn409 1st Step Notch Filter Frequency Speed Position Torque

Pn40C 2nd Step Notch Filter Frequency Speed Position Torque
Adjustments

9-51
9 Adjustments
9.6.13 Vibration Suppression on Stopping
When the vibration is suppressed but overshooting occurs, increase the Q value and check whether the over-
shooting is corrected.
Pn40A 1st Step Notch Filter Q Value Speed Position Torque

50 to 1000 70
0.01 Immediately
(0.50 to 10.00) (0.70)
Pn40D 2nd Step Notch Filter Q Value Speed Position Torque

50 to 1000 70
0.01 Immediately
(0.50 to 10.00) (0.70)
IMPORTANT 1. Sufficient precautions must be taken when setting the notch frequencies. Do not set the notch frequencies
(Pn409 or Pn40C) that is close to the speed loop’s response frequency. Set the frequencies at least four
times higher than the speed loop’s response frequency. Setting the notch frequency too close to the
response frequency may cause vibration and damage the machine. The speed loop response frequency is
the value of the Speed Loop Gain (Pn100) when the Moment of Inertia Ratio (Pn103) is set to the correct
value.
2. Change the Notch Filter Frequency (Pn409 or Pn40C) only when the motor is stopped. Vibration may
occur if the notch filter frequency is changed when the motor is rotating.
9.6.13 Vibration Suppression on Stopping

When the servo gain has been increased, there may be vibration upon stopping (e.g., limit cycle) even though
there is no vibration during operation. The function to suppress vibration on stopping, lowers the internal servo
gain only when stopping. After the time specified for the Vibration Suppression Starting Time (Pn421) has elapsed
from the time the difference of position reference becomes zero the internal servo gain is reduced at the rate spec-
ified for the Damping for Vibration Suppression on Stopping (Pn420).
Difference of Difference of
Position reference Position reference = 0
Servo gain
K K
Pn421
KPn420/100
Pn420 Damping for Vibration Suppression on Stopping Position

Pn421 Vibration Suppression Starting Time Position

0 to 65,535 1 ms 1,000 Immediately
IMPORTANT Set the Damping for Vibration Suppression on stopping (Pn420) is 50% or higher, and the Vibration
Suppression Starting Time (Pn421) to 10 ms or longer. If lower value are set, the response characteristic
may become worse and vibration may occur.
9-52
9.6.14 Backlash Compensation

Pn214 Backlash Compensation Amount Position

-32767 to 3276 1 Reference unit 0 Immediately
Pn215 Backlash Compensation Time Constant Position

0 to 65535 0
0.01 ms Immediately
(0.00 to 655.35 ms) (0.00 ms)
Parameter Meaning
Pn207 n.0 Disabled. (Factory Setting)
n.1 Compensate in forward direction.
n.2 Compensate in reverse direction.
(1) Pn207=1
The Backlash Compensation Amount (Pn214) is added to the first forward reference after Servo ON. Set the pos-
itive value to Pn214.
Machine
Pn214
Motor shaft
Forward direction
Machine
Motor axis
Pn214
(2) Pn207=2
The Backlash Compensation Amount (Pn214) is added to the first reverse reference direction after Servo ON.
Set the negative value to Pn214.
The actual position of the motor is shifted from the reference position for the backlash offset, because it is added
to the backlash offset.
Machine
Pn214
Motor shaft
Reverse direction
Machine
Adjustments
Motor axis
Pn214
9-53
9 Adjustments
9.6.15 Position Integral Time Constant
9.6.15 Position Integral Time Constant
Pn11F Position Integral Time Constant Position

0 to 50000 0
0.1 ms Immediately
(0.0 to 5000.0 ms) (0.0 ms)
This function adds an integral control operation to the position loop. It is effective for electronic cam or electronic shaft
applications. Refer to the examples in the user’s manual for the MP9 or MP2 series of Controllers from Yaskawa
for details.
9-54
9.7 Analog Monitor
9.7 Analog Monitor

Signals for analog voltage references can be monitored.
To monitor analog signals, connect the analog monitor cable (JZSP-CA01) to the connector CN5.
JZSP-CA01
Black
Black
White
CN5 Red
Line Color Signal Name Description

White Analog monitor 1 Torque reference: 1 V/100% Rated torque
Red Analog monitor 2 Motor speed: 1 V/1000 min-1
Black (2 lines) GND Analog monitor GND: 0 V
The analog monitor signals can be selected by setting parameters Pn006.0,1 and Pn007.0,1.
The output voltages on analog monitor 1 and 2 are calculated by the following equations.
Analog monitor 1 output voltage = {(-1) × Signal selection × Signal multiplier } + Offset voltage [V]
Pn006= XX Pn006= X Pn550
Analog monitor 2 output voltage = {(-1) × Signal selection × Signal multiplier } + Offset voltage [V]
Pn007= XX Pn007= X Pn551
Adjustments
9-55
9 Adjustments

The following signals can be monitored.
(a) Pn006 and Pn007: Function Selections
Monitor Signal Measurement Gain Remarks
Pn006 n.00 Motor speed 1 V/1000 min-1 Pn007 Factory Set-
Pn007 ting
n.01 Speed reference 1 V/1000 min-1
n.02 Gravity Compensation Torque 1 V/100% Rated torque Pn006 Factory Set-
(Pn422) subtract from Torque refer- ting
ence
n.03 Position error∗ 0.05 V/reference unit −
n.04 Position amp error∗ 0.05 V/reference unit Position error after
electronic gear con-
version
n.05 Position reference speed (speed cal- 1 V/1000 min-1 −
culation)
n.06 Reversed − −
n.07 Motor load position error 0.01 V/reference unit −
n.08 Positioning completed Positioning completed: 5 V −

Positioning not completed: 0 V
n.09 Speed feed-forward 1 V/1000min-1 −
n.0A Torque feed-forward 1 V/100% Rated torque −
n.0B Reserved
− −
n.0C
n.0D Reserved − −
n.0E Reserved − −
n.0F Reserved − −
* When using speed control, the position error monitor signal is 0.
9-56
9.7 Analog Monitor
The monitor factor can be changed by setting parameters Pn006.2 and Pn007.2.
Parameter Multiplier Remarks
Pn006 n.0 ×1 Factory Setting
Pn007 n.1 × 10 −
n.2 × 100 −
n.3 × 1/10 −
n.4 × 1/100 −
Pn550 Analog Monitor 1 Offset Voltage Speed Position Torque

-10000 to 10000 0
0.1 V Immediately
(-1000.0 to 1000.0 V) (0.0 V)
Pn551 Analog Monitor 2 Offset Voltage Speed Position Torque

-10000 to 10000 0
0.1 V Immediately
(-1000.0 to 1000.0 V) (0.0 V)
Example
If Pn006 = 0102, Pn422 = 10.0 [%], and Pn550 = 3.0 [V], then
Analog Monitor 1 = Torque reference
= {(-1) × (Torque reference[%]-10%) × 10} + 3[V]
If the torque is 2%,
1 [V]
= {(-1) × (52 [%]-10 [%]) × 100 [%] × 10} + 3 [V]= -7.2 [V] (Analog Monitor 1 output voltage)
The analog monitor output voltage is ±8 V (maximum). The output will be limited to ±8 V even if this value is exceeded
INFO in the above calculations.
Adjustments
9-57
10
10.1 System Configuration for SERVOPACK with Fully-closed Control - - - - - 10-2

10.2 Serial Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.2 Analog Signal Input Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.3 Connection Example of Linear Scale by Heidenhain - - - - - - - - - - - - - - - - - - - - - - - 10-5
10.2.4 Connection Example of Linear Scale by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - 10-6
10.2.5 Connection Cable between SERVOPACK and Serial Converter Unit - - - - - - - - - - - 10-7
10.3 Internal Configuration of Fully-closed Control - - - - - - - - - - - - - - - - - - - 10-8

10.4 Related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
10.5 Related Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-11
10.5.1 Alarm List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-11
10.5.2 Alarm Display and Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12

by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13
10
10-1
10.1 System Configuration for SERVOPACK with Fully-closed Control

The following figure shows the system configuration for fully-closed control.
The SERVOPACK model for fully-closed control is SGDS-02A.
SGDS-02A SERVOPACK
Servomotor
main circuit cable
Cable with connectors
at both ends
Serial converter unit

Model: JZDP-D00-000
Encoder cable
Linear encoder
(Provided by the customer)
10-2
10.2 Serial Converter Unit

10.2.1 Specifications
(1) Model: JZDP-D00-000
(2) Characteristics and Specifications
Items Specifications
Power Supply Voltage +5.0 V±5%, ripple content 5% max.
Current Consumption ∗1 120 mA Typ. 350 mA Max.
Signal Resolution Input 2-phase sine wave: 1/256 pitch
Max. Response 250 kHz
Frequency
Electrical Analog Input Signals ∗2 Differential input amplitude: 0.4 V to 1.2V
Characteristics (cos, sin, Ref) Input signal level: 1.5 V to 3.5V
Output signal ∗3 Position data, alarms
Serial data communications
Output method
(HDLC (High-level Data Link Control) protocol format with Manchester codes)
Transmission cycle 62.5 μs
Output circuit Balanced type transceiver (SN75LBC176 or the equivalent), internal end resistor: 120 Ω
Approx. mass 150 g
Mechanical Vibration Resistance 98 m/s2 max. (10 to 2500) in three directions
Characteristics
Shock Resistance 980 m/s2, (11 ms) two times in three directions
Operating temperature 0°C to 55°C
Environmental
Storage temperature -20°C to +80°C
Conditions
Humidity 20% to 90%RH (without condensation)
* 1. The current consumption of the linear scale is not included in this value.
The current consumption of the linear scale must be taken into consideration for the current capacity
of host controller that supplies the power.
* 2. Input a value within the specified range. Otherwise, incorrect position information is output, and the
device may be damaged.
* 3. The transmission is enabled 100 to 300 ms after the power turns ON.
10
10-3
10.2.2 Analog Signal Input Timing
10.2.2 Analog Signal Input Timing

The following figure shows the input timing of the analog signals.
When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals. The
specifications of the cos, /cos, sin, and /sin signals are identical except for the phase.
Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input
into the converter. When they are crossed, the output data will be counted up.
100%
0.2V to 0.6V
cos
(A+)
45°
/cos
cos/cossin/sin (A-)
Input voltage range:
1.5 V to 3.5V
sin
(B+)
/sin
(B-)
0.2V min.
0.2V min.
Ref/Ref /Ref
(R-)
Input voltage range:
1.5 V to 3.5V Ref
(R+)
5 to 75% 5 to 75%
Zero Point
Count up direction
IMPORTANT Precautions
1. Never perform insulation resistance and withstand voltage tests.
2. When analog signals are input to the serial converter unit, noise influence on the analog signals affects
the unit’s ability to output correct position information. The analog cable must be as short as possible
and shielded.
3. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.
4. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.
10-4
10.2.3 Connection Example of Linear Scale by Heidenhain

(1) Serial Converter Unit Model: JZDP-D003-000
(2) Connection Example
SERVOPACK
Serial converter unit Linear encoder
JZDP-D003-000 by Heidenhain Corp.
SGDS-02A
CN4 CN1 CN2
JZSP-CLP20- Connection cable

by Heidenhain Corp.
(3) Dimensional Drawing

4×φ 4.2
holes Linear scale end
Analog signal input connector (CN2)
2×#4-40 UNC tapped holes Nameplate
2×φ 4.2
SERVOPACK end holes
Serial data output connector (CN1)
33.32±0.4
24.99±0.3
52±0.3
60
10
1.5 65±0.3 2×#4-40 UNC

72 tapped holes
3
82±0.3
14.35±0.3 90
22.5
4×M5 tapped holes, depth 10
Units: mm
Pin No. Signal CN1 Pin No. Signal CN2

1 +5V SERVOPACK end 1 cos input (A+) Linear encoder end
2 S-phase output Serial data output 2 0V Analog signal input
3 Empty 5 3 sin input (B+) 1 9
9
4 Empty 4 +5V
5 0V 5 Empty
6 /S-phase output 6 1 6 Empty
7 Empty 7 /Ref input (R-) 15
8
8 Empty 8 Empty
9 Empty 17-series connector 9 /cos input (A-)
model: 17-series connector
Case Shield 10 0V sensor
17LE-13090-27 model:
(socket) by DDK Ltd. 11 /sin input (B-) 17LE-13150-27
12 5V sensor (socket) by DDK Ltd.
13 Empty
14 Ref input (R+)
15 Empty
Case Shield
Note: 1. Do not use the empty pins.

2. The linear scale (analog 1Vp-p output, D-sub 15-pin) manufactured by Heidenhain Corp. can be
directly connected.
10
10-5
10.2.4 Connection Example of Linear Scale by Renishaw
10.2.4 Connection Example of Linear Scale by Renishaw

(1) Serial Converter Unit Model: JZDP-D005-000
(2) Connection Example
SERVOPACK Serial converter unit Linear encoder
JZDP-D005-000 by Renishaw Inc.
SGDS-02A
CN4 CN1 CN2
JZSP-CLP20-
D-sub 15-pin connector

Linear scale end
2×#4-40 UNC tapped holes 2×φ4.2 holes 4×φ4.2 holes Nameplate Analog signal input
connector (CN2)
SERVOPACK end
Serial data output connector (CN1)
24.99±0.4
52±0.3
60
10
300±30
1.5 65±0.3
72
3
82±0.3
14.35±0.4 90
22.5
4×M5 tapped holes, depth 10
Units: mm
Pin No. Signal CN1 Pin No. Signal CN2

1 +5V SERVOPACK end 1 /cos input (V1-) Linear encoder end
2 S-phase output Serial data output 2 /sin input (V2-) Analog signal input
3 Empty 5 3 Ref input (V0+) 1 9
9
4 Empty 4 +5V
5 0V 5 5Vs
6 /S-phase output 6 1 6 Empty
7 Empty 7 Empty 15
8
8 Empty 8 Empty
9 Empty 17-series connector 9 cos input (V1+)
model:
Case Shield 17LE-13090-27 10 sin input (V2+) 17-series connector
(socket) by DDK Ltd. 11 /Ref input (V0−) model:
SERVOPACK does not have 17JE-13150-02 (D8C)
the function to process Vq 12 0V (socket) by DDK Ltd.
signals. 13 0Vs
14 Empty
15 Inner (0V)
Case Shield
Note: 1. Do not use empty pins.

2. The linear scale (analog 1Vp-p output, D-sub 15-pin) by Renishaw Inc. can be directly con-
nected. However, the BID and DIR signals are not connected.
3. Use the linear scale end connector to change the home position specifications of the linear scale.
10-6
10.2.5 Connection Cable between SERVOPACK and Serial Converter Unit

(1) Recommended Cables
Name Application Type Length (L)
Connection between SERVO- JZSP-CLP20-03 3m
Cable with PACK connector CN4 and serial JZSP-CLP20-05 5m
connectors converter unit JZSP-CLP20-10 10 m
at both ends JZSP-CLP20-15 15 m
JZSP-CLP20-20 20 m

• Cable with Connectors at Both Ends
SERVOPACK end Serial converter unit end
L
6.8 mm
Connector: 55100-0600 17-series connector:

by Molex Japan Co., Ltd. 17JE-13150-02 (15-pin) by DDK Ltd.
10
10-7
10.3 Internal Configuration of Fully-closed Control

SERVOPACK
Reference
pulse ×1 Elec- Speed
tronic Error
×2 current M Machine
gear counter
×4 loop
PG Fully-closed scale
Encoder
signal Pitch
output Serial converter
Divider
unit ×256
Note: Either an incremental or an absolute encoder can be used.

For control methods other than position control, this system operates in the same way as that using
the SGDS-01A SERVOPACK (standard interface specifications).
10-8
10.4 Related Parameters
10.4 Related Parameters

(1) Parameters
The SGDS-02A SERVOPACKs with fully-closed interface specifications have the following additional
parameters that are the SGDS-01A SERVOPACKs with standard interface specifications do not have.
Pn20A Number of External Scale Pitches Position
100 to 1048576 1 pitch/Rev 32768 After restart
Sets the number of pitches (cycles) of the sine wave for the external scale.
Set the number of pitches between 100 to 1048576 (220) pulses. Any fractions cause differences on the speed monitor sig-
nals of the position loop gain (Pn102) and feed forward (Pn109), but do not cause position errors. Set the parameter to the
number of pulses multiplied by 1.
• Example: How to calculate the parameter setting for Pn20A
Number of scale pitch = Lead pitch (5 mm)/scale pitch (4 μm) = 1250
• Electronic gear ratio = (Number of scale pitch × 256)/Travel distance per load shaft revolution
= (1250 × 256)/(5 mm/0.1 μm)
= 320000/50000
= 32 (Pn202)/5 (Pn203)
Pn281 Encoder Output Resolution Position
1P/
1 to 4096 20 After restart
(pitch × 4 multiplier)
Sets the number of output pulses of the PG output signal (PAO, PBO and PCO) from the SERVOPACK to an external
device.
The position data from the external scale is divided by the number of pulses set in Pn281 and then output. Set the number
of output pulses per pitch multiplied by 4.
Pn51B Excessive Error Level Between Servomotor and Load Positions Position
30) 1 reference unit 1000 Immediately
0 to 1073741824(2
Pn52A Multiplier per One Fully-closed Rotation Position
If the detected difference between the external scale position and the encoder position is above the set level, the alarm
A.d10 “Excessive error between servomotor and load positions” occurs. This function can be used to prevent runaway due
to a damaged scale and to detect slip in the belt mechanism.
The alarm A.d10 “Excessive error between servomotor and load positions” is detected as shown in the following flowchart.
Detection for "Excessive Error Between
Servomotor and Load Positions" starts.
No
Servomotor
1 rotation
Yes
Error Between Servomotor and Load Positions Difference between

servomotor and load positions × {100% − ( Pn52A "Multiplier per 1 fully-closed rotation" [%])}
Error Between Servomotor No

and Load Positions Pn51B "Excessive Error
Level Between Servomotor
and Load Positions"
Yes 10
Detection for "Excessive Error Between

Servomotor and Load Positions" ends.
Note: When Pn51B is set to 0, “Excessive error between servomotor and load positions
(A.d10)” is not detected.
10-9
(2) Switches
Parameter Name Meaning
Pn002 n.0 Fully-closed Do not use. (Factory setting)
Encoder Usage
n.1 Use fully-closed encoder in forward rotation direction.
n.2 Reserved (Do not set).
n.3 Use fully-closed encoder in reversed rotation direction.
n.4 Reserved (Do not set).
Set parameter Pn002=n.0 for semi-closed position control. Change accordingly the setting for electronic gear for
semi-closed control and fully-closed control.
If performing the fully-closed control, two parameters must be set:

Pn000=n.X for semi-closed control and
Pn002=n.X for fully-closed control
Change the settings according to your required specifications.
Refer to “(3) Relation between Motor Rotating Direction and Fully-closed Pulse Direction.”
Incorrect settings may cause run away of the connected machine.

To change the rotation direction in a standard operation, change the settings of both Pn000.0 and Pn002.3.
If the connected machine runs away, change the setting of Pn000.0 or Pn002.3.
Parameter Name Meaning
Pn006 n.07 Analog Monitor 1 Position error between servomotor and load
Signal Selection [0.01V/1 reference unit]
∗ Factory setting: n.02
Pn007 n.07 Analog Monitor 2 Position error between servomotor and load
Signal Selection [0.01V/1 reference unit]
∗ Factory setting: n.00
(3) Relation between Motor Rotating Direction and Fully-closed Pulse Direction
Pn002.3 (Using Method of Fully-closed Encoder)
1 3
Reference Forward run Reverse run Forward run Reverse run
direction reference reference reference reference
Motor rotating CCW CW CCW CW
0 direction
External scale cos progression sin progression sin progression cos progression
Pn000.0 output
(Motor Dividing pulse Phase B progression Phase A progression Phase A progression Phase B progression
rotating Reference Forward run Reverse run Forward run Reverse run
direction) direction reference reference reference reference
Motor rotating CW CCW CW CCW
1 direction
External scale sin progression cos progression cos progression sin progression
output
Dividing pulse Phase B progression Phase A progression Phase A progression Phase B progression
• Set Pn000.0 after specifying the motor rotating direction for the reference direction.
• Set Pn002.3 to 1 if the output of the external scale is cos progression and the motor is turning counter-
clockwise; set Pn002.3 to 3 if it is sin progression. When Pn000.0 is set to 0 and Pn002.3 to 1, manually
turn the motor counterclockwise. If the Fully-closed Feedback Pulse Counter (Un00E) counts up, set
Pn002.3 to 1. If the Un00E counts down, set Pn002.3 to 3.
• If Pn002.3 is set to 1, dividing output is phase B progression if the motor runs forward.
If Pn002.3 is set to 3, it is phase A progression if the motor turns forward.
10-10
10.5 Related Alarms
10.5 Related Alarms

The SGDS-02A SERVOPACKs with fully-closed interface specifications have the following additional
parameters that are the SGDS-01A SERVOPACKs with standard interface specifications do not have.
10.5.1 Alarm List

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
• DB stop: Stops the servomotor immediately using the dynamic brake.
• Zero-speed stop: Stops the servomotor by setting the speed reference to “0.”
Servo- Alarm Code Servo
Alarm motor Alarm Output Alarm
Alarm Name Meaning
Display Stop Reset ALO ALO ALO (ALM)
Method 1 2 3 Output
A.8A1 Fully-closed Serial An error occurred in the serial con- DB stop Avail- H H H H
Encoder Module Fault verter unit. able
A.8A2 Fully-closed Serial An error occurred in the external scale. DB stop Avail- H
Encoder Sensor Fault able
(Incremental)
A.CF1 Fully-closed Serial The serial converter unit and the SER- DB stop N/A L H L H
Encoder VOPACK can not communicate.
Communications Error
(Receiving Failure)
A.CF2 Fully-closed Serial An error occurred in the timer for com- DB stop N/A H
Encoder munications between the serial con-
Communications Error verter unit and the SERVOPACK.
(Timer stopped)
A.d10 Excessive Error Between The difference between the number of Zero- Avail- L L H H
Servomotor and Load pulses for the servomotor encoder posi- speed stop able
Positions tion and that for the external scale posi-
tion is too large.
10
10-11
10.5.2 Alarm Display and Troubleshooting
10.5.2 Alarm Display and Troubleshooting

Situation at
Alarm
Alarm Name Alarm Occur- Cause Corrective Actions
Display
rence
A.8A1 Fully-closed Occurred when Scale fault occurred. Replace the scale.
Serial Encoder the control Serial converter unit fault occurred. Replace the serial converter unit.
Module Fault power supply
A.8A2 Fully-closed was turned ON Scale fault occurred. Replace the scale.
Serial Encoder or during
Sensor Fault operation.
A.CF1 Fully-closed Incorrect wiring or contact fault in the Correct the wiring and connection.
Serial Encoder scale or serial converter unit occurred.
Communica- Noise influence, due to the incorrect spec- Use twisted pair wire, twisted pair
tions Error ifications of the cable for the scale or shielded wire with a core of at least 0.12
(Receiving serial converter unit occurred. mm2, or annealed tinned copper twisted
failure)
wire.
Noise influence occurred because the wir- The max. wiring distance must be 20m.
ing distance of the scale or serial con-
verter unit cable is too long.
A.CF2 Fully-closed Noise influence occurred on the signals Take measures to prevent noise for the
Serial Encoder from the scale or serial converter unit. scale or serial converter unit wiring.
Communica- Excessive vibration or shock was applied Reduce the machine vibration, or
tions Error on the scale or serial converter unit. securely install the scale and serial con-
(Timer stopped) verter unit.
Serial converter unit fault occurred. Replace the serial converter unit.
A SERVOPACK board fault occurred. Replace the SERVOPACK.
A.d10 Excessive Error Occurred during Servomotor’s rotation direction is not in Reverse the installation direction of the
Between Servo- operation or accordance with the direction in which the scale, or reset the parameter Pn002.3
motor and Load when the servo scale is installed. “Fully-closed Encoder Usage” to change
Positions was turned ON. the rotation direction.
Loading position of the stage or mechani- Correct the mechanical connection.
cal connection of the scale is incorrect.
10-12
10.6 Encoder Output Signals from SERVOPACK with a Linear Scale by Renishaw

by Renishaw
The output position of the zero point signal (Ref) may vary in some models of the linear scale made by Renishaw.
If using a Renishaw model, the phase-C pulses of the SERVOPACK are output at two positions.
For details on the specifications of the zero-point signals for a linear scale, refer to the manual for the Renishaw
linear scale.
(1) When Passing the 1st Zero Point Signal (Ref) in Positive Direction after Power ON
Machine position (Positive direction)
Power ON Time
Zero point signal

㧔Ref㧕
Phase-C
No zero point signal (Ref) is sent from the linear scale.

However, a phase-C pulse will be sent from the SERVOPACK Second pulse is half as wide
when moving in the negative direction, because it is the same as the phase-A pulse.
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a positive direction.
(2) When Passing the 1st Zero Point Signal (Ref) in Negative Direction after Power ON
Machine position (Positive direction)
Power ON Time
Zero point signal

㧔Ref㧕
Phase C
No zero point signal (Ref) is sent from the linear scale.

However, a phase-C pulse will be sent from the SERVOPACK Second pulse is half as wide
when moving in the negative direction, because it is the same as the phase-A pulse.
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a positive direction.
10
10-13
11
Inspection, Maintenance, and
Troubleshooting
11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
11.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6
11.1.4 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - 11-18
11.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22

11.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23
Inspection, Maintenance, and Troubleshooting
11
11-1
11.1.1 Alarm Display Table
11.1 Troubleshooting
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
• DB stop: Stops the servomotor immediately using the dynamic brake.
• Zero-speed stop: Stops the servomotor by setting the speed reference to “0.” (The servomotor stops using
the dynamic brake in the torque control mode.)
INFO For alarms that relate to the fully-closed control, refer to 10.5 Related Alarms.
Table 11.1 Alarm Display Table

Servomo- Alarm Alarm Code Output Servo
Alarm tor Stop Reset Alarm
Alarm Name Meaning
Display Method ALO1 ALO2 ALO3 (ALM)
Output
A.020 Parameter Checksum The data of the parameter in the SER- DB stop N/A
Error VOPACK is incorrect.
A.021 Parameter Format Error The data of the parameter in the SER- DB stop N/A
VOPACK is incorrect.
A.022 System Checksum Error The data of the parameter in the SER- DB stop N/A
A.023 Parameter Password Error The data of the parameter in the SER- DB stop N/A
A.030 Main Circuit Detector Detection data for power circuit is DB stop Available
Error incorrect.
A.040 Parameter Setting Error The parameter setting is outside the DB stop N/A
allowable setting range.
A.041 Dividing Pulse Output The PG dividing pulse setting DB stop N/A
H H H H
Setting Error (Pn212) is outside the allowable set-
ting range or not satisfies the setting
conditions.
A.042 Parameter Combination Combination of some parameters DB stop N/A
Error exceeds the setting range.
A.050 Combination Error SERVOPACK and servomotor capac- DB stop Available
ities do not match each other.
A.051 Unsupported Product The serial converter unit unsup- DB stop N/A
Alarm ported was connected.
A.0b0 Servo ON reference The Host controller reference was DB stop Available
Invalid Alarm sent to turn the Servo ON after the
Servo ON function was used with the
Digital Operator or SigmaWin+.
A.100 Overcurrent or Heat Sink An overcurrent flowed through the DB stop N/A
Overheated IGBT.
L H H H
Heat sink of SERVOPACK was over-
heated.
A.300 Regeneration Error Regenerative circuit or regenerative DB stop Available
Detected resistor is faulty.
A.320 Regenerative Overload Regenerative energy exceeds regen- Zero speed Available
erative resistor capacity. stop L L H H
A.330 Main Circuit Power The power supply to the main circuit DB stop Available
Supply Wiring Error does not match the parameter Pn001
setting.
A.400 Overvoltage Main circuit DC voltage is exces- DB stop Available
sively high.
H H L H
A.410 Undervoltage Main circuit DC voltage is exces- Zero speed Available
sively low. stop
11-2
Table 11.1 Alarm Display Table (cont’d)

Alarm Name Meaning
Output
A.510 Overspeed The servomotor speed is excessively DB stop Available
high.
A.511 Dividing Pulse Output The motor speed upper limit of the DB stop Available
Overspeed set PG dividing pulse (Pn212) is
exceeded. L H L H
A.520 Vibration Alarm Vibration at the motor speed was DB stop Available
detected.
A.521 Autotuning Alarm The moment of inertia ratio calcula- DB stop Available
tion error occurred.
A.710 Overload: High Load The motor was operating for several Zero speed Available
seconds to several tens of seconds stop
under a torque largely exceeding rat-
ings.
A.720 Overload: Low Load The motor was operating continu- DB stop Available
ously under a torque largely exceed-
ing ratings.
A.730 Dynamic Brake Overload When the dynamic brake was DB stop Available L L L H
A.731 applied, rotational energy exceeded
the capacity of dynamic brake resis-
tor.
A.740 Overload of Surge The main circuit power was fre- DB stop Available
Current Limit Resistor quently turned ON and OFF.
A.7A0 Heat Sink Overheated The heat sink of SERVOPACK over- Zero speed Available
heated. stop
A.810 Encoder Backup Error All the power supplies for the abso- DB stop N/A
lute encoder have failed and position
data was cleared.
A.820 Encoder Checksum Error The checksum results of encoder DB stop N/A
memory is incorrect.
A.830 Absolute Encoder Battery Battery voltage for the absolute DB stop Available
Error encoder has dropped.
A.840 Encoder Data Error Data in the encoder is incorrect. DB stop N/A
A.850 Encoder Overspeed The encoder was rotating at high DB stop N/A
speed when the power was turned
ON.

DB stop N/A H H H H
A.860 Encoder Overheated The internal temperature of encoder
is too high.
A.b10 Reference Speed Input The A/D converter for reference Zero speed Available
Read Error speed input is faulty. stop
A.b11 Speed Reference A/D A/D conversion data of speed refer- Zero speed Available
Data Error ence is incorrect. stop
A.b20 Reference Torque Input The A/D converter for reference Zero speed Available
Read Error torque input is faulty. stop
A.b31 Current Detection Error1 Phase-U current sensor is faulty. DB stop N/A
A.b32 Current Detection Error 2 Phase-V current sensor is faulty. DB stop N/A
A.b33 Current Detection Error 3 Phase-W current sensor is faulty. DB stop N/A
11
11-3
Table 11.1 Alarm Display Table (cont’d)

Alarm Name Meaning
Output
A.bF0 System Alarm 0 “Internal program error 0” of SER- DB stop N/A
(Internal program VOPACK occurred.
processing error)
(Internal program error) VOPACK occurred.
(Current control VOPACK occurred.
H H H H
processing program error)
(Encoder interface VOPACK occurred.
processing error)
A.bF4 System Alarm 4 “Internal program error 4) of SER- DB stop N/A
(CPU watchdog timer VOPACK occurred.
error)
A.C10 Servo Overrun Detected The servomotor ran out of control. DB stop Available
A.C80 Absolute Encoder Clear The multi-turn for the absolute DB stop N/A
Error and Multi-turn encoder was not properly cleared or
Limit Setting Error set.
A.C90 Encoder Communica- Communications between SERVO- DB stop N/A
tions Error PACK and encoder is not possible.
A.C91 Encoder Communica- An encoder position data calculation DB stop N/A
tions Position Data Error error occurred.
L H L H
A.C92 Encoder Communica- An error occurs in the communica- DB stop N/A
tions Timer Error tions timer between the encoder and
the SERVOPACK.
A.CA0 Encoder Parameter Error Encoder parameters are faulty. DB stop N/A
A.Cb0 Encoder Echoback ErrorContents of communications with DB stop N/A

encoder is incorrect.
A.CC0 Multi-turn Limit Different multi-turn limits have been DB stop N/A
Disagreement set in the encoder and SERVOPACK.
A.d00 Position Error Pulse Position error pulse exceeded param- DB stop Available
Overflow eter (Pn520).
A.d01 Position Error Pulse When the servo turns ON, the posi- DB stop Available
Overflow Alarm tion error pulses exceeded the param-
at Servo ON eter setting (Pn526).
A.d02 Position Error Pulse Over- If the servo turns ON with position Zero speed Available
L L H H
flow Alarm by Speed error pulses accumulated, the speed is stop
Limit at Servo ON limited by Pn529. In this state, the
reference pulse was input without
resetting the speed limit, and the posi-
tion error pulses exceeds the value set
for the parameter Pn520.
A.F10 Power Line Open Phase One phase is not connected in the Zero speed Available
stop H L H H
main power supply.
CPF00 Digital Operator Digital operator (JUSP-OP05A) fails − N/A
CPF01 Transmission Error to communicate with SERVOPACK − N/A Not decided

(e.g., CPU error).
A.− − Not an error Normal operation status − − H H H L
11-4
11.1.2 Warning Displays

The relation between warning displays and warning code outputs are shown in table 11.2.
Table 11.2 Warning Displays and Outputs
Warning Warning Code Output
Display Warning Name Meaning
ALO1 ALO2 ALO3
A.900 Position Error Pulse Overflow Position error pulse exceeded the parameter settings H H H
(Pn520×Pn51E/100).
A.901 Position Error Pulse Overflow When the servo turns ON, the position error pulses H H H
at Servo ON exceeded the parameter setting (Pn526×Pn528/100).
A.910 Overload This warning occurs before the overload alarms (A.710 or L H H
A.720) occur. If the warning is ignored and operation con-
tinues, an overload alarm may occur.
A.911 Vibration Abnormal vibration at the motor speed was detected. The L H H
detection level is the same as A.520. Set whether to output
an alarm or warning by “Vibration Detection Switch” of
Pn310.
A.920 Regenerative Overload This warning occurs before the regenerative overload H L H
alarm (A.320) occurs. If the warning is ignored and opera-
tion continues, a regenerative overload alarm may occur.
A.921 DB Overload This warning occurs before DB Overload (A.731) alarm H L H
occurs. If the warning is ignored and operation continues,
a regenerative overload alarm may occur.
A.930 Absolute Encoder Battery This warning occurs when the absolute encoder battery L L H
Voltage Lowered voltage is lowered.
A.941 Change of Parameters The change of the parameters can be validated only after L H H
Requires Setting Validation turning the power ON from OFF.
Note: 1. Warning code is not outputted without setting Pn001 = n.1 (Outputs both Alarm Codes
and Warning Codes.)
2. If Pn008= n.1 (Do not detect warning) is selected, all warnings will not be detected.
11
11-5
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.
INFO 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.
11-6
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.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
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
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, ∗∗FA.) 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.
A3BA or
A5BA 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
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
(Detected with ply was turned ON.
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 cReduce the servomotor speed,
servomotor was resistance capacity. dReduce the load moment of inertia, or
running in servo eReduce 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
11-11

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:
the battery volt- Pn002.2=1)
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 A SERVOPACK board fault occurred. Replace the SERVOPACK.
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
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
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 c Reduce the motor speed,
occurs vomotor was running in resistor capacity. d Reduce the load moment of inertia, or
servo OFF status.
e 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
11-17
11.1.4 Troubleshooting for Malfunction without Alarm Display

The troubleshooting for the malfunctions that causes no alarm display is listed below.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions.
Table 11.5 Troubleshooting for Malfunction without Alarm Display
Inspection Corrective Actions
Symptom Cause
: Turn OFF the servo system before inspection.
Servomotor The control power supply is not ON. Check voltage between power supply termi- Correct the power circuit.
Does Not nals.
Start The main circuit power supply is not Check the voltage between power supply Correct the power circuit.
ON. terminals.
Wrong wiring or disconnection of Check if the connector CN1 is properly Correct the connector CN1 connection.
I/O signal connector CN1 inserted and connected.
Servomotor or encoder wiring dis- Check the wiring. Correct the wiring.
connected.
Overloaded Run under no load. Reduce load or replace with larger capacity servomotor.
Speed/position references not input Check reference input pins. Input speed/position references correctly.
Setting for Pn50A to Pn50D “Input Check settings of parameters Pn50A to Correct the settings for Pn50A to Pn50D “Input Signal
Signal Selection” is incorrect. Pn50D. Selection.”
Encoder type differs from parameter Check incremental or absolute encoder. Set parameter Pn002.2 to the encoder type being used.
setting.
Servo ON (/S-ON) input signal stays Check settings of parameters Pn50A.0 and Correct the parameter setting, and turn the Servo ON (/S-
OFF. Pn50A.1. ON) input signal ON.
/P-CON input function setting is Check parameter Pn000.1. Set parameters to match the application.
incorrect.
SEN input is turned OFF. When absolute encoder is used. Turn SEN input signal ON.
Reference pulse mode selection is Check the parameter setting for the refer- Correct setting of parameter Pn200.0.
incorrect. ence pulse mode.
Speed control: Speed reference input Check V-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
is incorrect. trol method and the input are agreed. input.
Torque control: Torque reference Check V-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
input is incorrect. trol method and the input are agreed. input.
Position control: Reference pulse Check Pn200.0 reference pulse form or sign Correct the control mode selection parameter, or the
input is incorrect. + pulse signal. input.
Position error pulse clear (CLR) Check CLR or /CLR input pins (1CN-14 Turn CLR or /CLR input signal OFF.
input is turned ON. and -15).
The forward run prohibited (P-OT) Check P-OT or N-OT input signal. Turn P-OT or N-OT input signal ON.
and reverse run prohibited (N-OT)
input signals are turned OFF.
A SERVOPACK fault occurred. A SERVOPACK board fault occurred. Replace the SERVOPACK.
Servomotor Servomotor wiring is incorrect. Check the servomotor wiring. Correct the servomotor wiring.
Moves In- Encoder wiring is incorrect. Check the encoder wiring. Correct the encoder wiring.
stantaneous-
ly, and then
Stops
Servomotor Wiring connection to servomotor is Check connection of power lead (phases-U, Tighten any loose terminals or connectors.
Speed Unsta- defective -V, and -W ) and encoder connectors.
ble
Servomotor Speed control: Speed reference input Check V-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
Rotates With- is incorrect. trol method and the input are agreed. input signal.
out Refer- Torque control: Torque reference Check V-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
ence Input input is incorrect. trol method and the input are agreed. input signal.
Speed reference offset is error. The SERVOPACK offset is adjusted incor- Adjust the SERVOPACK offset.
rectly.
Position control: Reference pulse Check Pn200.0 reference pulse form or ref- Correct the control mode selection parameter, or the
input is incorrect. erence pulse (PULS/SIGN) signal. input signal.
A SERVOPACK fault occurred. A SERVOPACK board fault occurred. Replace the SERVOPACK.
DB (dynamic Improper parameter setting Check the setting of parameter Pn001.0. Correct the parameter setting.
brake) Does DB resistor disconnected Check if excessive moment of inertia, Replace the SERVOPACK, and reconsider the load.
Not Operate motor overspeed, or DB frequently acti-
vated occurred.
DB drive circuit fault DB circuit parts are faulty. Replace the SERVOPACK.
11-18
Table 11.5 Troubleshooting for Malfunction without Alarm Display (cont’d)

Symptom Cause
Abnormal Mounting not secured Check if there are any loosen mounting Tighten the mounting screws.
Noise from screws.
Servomotor Check if there are misalignment of cou- Align the couplings.
plings.
Check if there are unbalanced couplings. Balance the couplings.
Defective bearings Check for noise and vibration around the If any problems, contact your Yaskawa representative.
bearings.
Vibration source on the driven Any foreign matter, damages, or deforma- Contact the machine manufacturer.
machine. tion on the machine movable section.
Noise interference due to incorrect The specifications of input signal wires Use the specified input signal wires.
input signal wire specifications. must be:
Tinned annealed copper twisted-pair or
twisted-pair shielded wires with core 0.12
mm2 min.
Noise interference due to length of The wiring distance must be 3 m max. and Shorten the wiring distance for input signal line to the
input signal line the impedance a few hundreds ohm max. specified value.
Noise interference due to incorrect The specifications of encoder cable must Use the specified encoder cable.
encoder cable specifications. be:
Tinned annealed copper twisted-pair or
twisted-pair shielded wires with core 0.12
mm2 min.
Noise interference due to length of The wiring distance must be 20 m max. Shorten the encoder cable wiring distance to the speci-
encoder cable wiring fied value.
Noise due to damaged encoder cable Check if the encoder cable is not damaged Modify the encoder cable layout.
or bent.
Excessive noise to the encoder cable Check if the encoder cable is bundled with Install a surge absorber to the encoder cable.
high-current line or near the high-current
line.
FG potential varies because of influ- Check if the machine is correctly grounded. Ground the machine separately from PG side FG.
ence of machines such as the welder
on the servomotor side
SERVOPACK pulse counting error Check if there is noise interference on the Take measure against noise for the encoder wiring.
due to noise signal line from encoder.
Excessive vibration and shock to the Vibration from the machine occurred or ser- Reduce vibration from the machine, or secure the servo-
encoder vomotor installation is incorrect. motor installation.
(Mounting surface accuracy, fixing, align-
ment, etc.)
Encoder fault An encoder fault occurred. Replace the servomotor.
Servomotor Speed loop gain value (Pn100) too Factory setting: Kv=40.0 Hz Reduce speed loop gain (Pn100) preset value.
Vibrates at high.

Refer to the gain adjustment in User’s Man-
about 200 to ual.
400 Hz Position loop gain value (Pn102) too Factory setting: Kp=40.0/s Reduce position loop gain (Pn102) preset value.
high Refer to the gain adjustment in User’s Man-
ual.
Incorrect speed loop integral time Factory setting: Ti=20.00 ms Correct the speed loop integral time constant Pn101 set-
constant Pn101 setting Refer to the gain adjustment in User’s Man- ting.
ual.
When the autotuning is used: Incor- Check the machine rigidity setting Fn001. Select a proper machine rigidity setting Fn001.
rect machine rigidity setting
When the autotuning is not used: Check the rotational moment of inertia ratio Correct the rotational moment of inertia ratio data
Incorrect rotational moment of iner- data Pn103. Pn103.
tia ratio data
11
11-19

Symptom Cause
High Rota- Speed loop gain (Pn100) value too Factory setting: Kv=40.0 Hz Reduce the speed loop gain Pn100 preset value.
tion Speed high Refer to the gain adjustment in User’s Man-
Overshoot on ual.
Starting and Position loop gain Pn102 value too Factory setting: Kp=40.0/s Reduce the position loop gain Pn102 preset value.
Stopping. big Refer to the gain adjustment in User’s Man-
ual.
Incorrect speed loop integral time Factory setting: Ti=20.00 ms Correct the speed loop integral time constant Pn101 set-
constant Pn101 setting Refer to the gain adjustment in User’s Man- ting.
ual.
When the autotuning is used: Incor- Check the machine rigidity setting Fn001. Select a proper machine rigidity setting Fn001.
rect machine rigidity setting
When the autotuning is not used: Check the rotational moment of inertia ratio Correct the rotational moment of inertia ratio data
Incorrect rotational moment of iner- data Pn103. Pn103.
tia ratio data Use the mode switch setting function.
Absolute En- Noise interference due to improper The specifications of encoder cable must Use encoder cable with the specified specifications.
coder Posi- encoder cable specifications be:
tion Tinned annealed copper twisted-pair or
Difference Er- twisted-pair shielded wires with core 0.12
ror (The posi- mm2 min.
tion saved in Noise interference due to length of The wiring distance must be 20 m max. The encoder cable distance must be within the specified
Host control- encoder cable. range.
ler when the
Noise interference due to damaged Noise interference occurred to the signal Correct the encoder cable layout.
power turned encoder cable line because the encoder cable is bent or its
OFF is differ- sheath damaged.
ent from the
Excessive noise to the encoder cable Check if the encoder cable is bundled with a Change the encoder cable layout so that no surge is
position when
high-current line or near high-current line. applied.
the power
turned ON.) FG potential varies because of noise Check if the grounding for the machine is Ground the machine separately from PG side FG.
from machines such as the welder on properly made.
the servomotor side
SERVOPACK pulse counting error Check if the signal line from the encoder Take measures against noise for encoder wiring.
due to noise interference receives influence from noise interference.
Excessive vibration and shock to the Vibration from machine occurred or servo- Reduce vibration from machine or mount securely the
encoder motor mounting such as mounting surface servomotor.
precision, fixing, and alignment is incor-
rect.
Encoder fault An encoder fault occurred. (no change in Replace the servomotor.
pulse count)
SERVOPACK fault Check the multiturn data from SERVO- Replace the SERVOPACK.
PACK.
Host controller multiturn data read- Check the error detection at the host con- Correct the error detection section of host controller.
ing error troller.
Check if the host controller executes data Execute the multiturn data parity check.
parity check.
Check noise on the signal line between Noise influence at no parity check (as the above.)
SERVOPACK and the host controller.
11-20

Symptom Cause
Overtravel Forward or reverse run prohibited Check if the voltage of input signal external Connect to the external +24 V power supply.
(OT) signal is output (P-OT (CN1-42) or power supply (+24 V) is correct.
(Movement N-OT (CN1-43) is at H level). Check if the overtravel limit switch (SW) Correct the overtravel limit SW.
over the zone operates properly.
specified by Check if the overtravel limit switch (SW) is Correct the overtravel limit SW wiring.
the host con- connected correctly.
troller)
Forward or reverse run prohibited Check the fluctuation of the input signal Stabilize the external +24 V power supply voltage.
signal does not operate normally (P- external power supply (+24 V) voltage.
OT or N-OT signal sometimes Check if the overtravel limit switch (SW) Adjust the overtravel limit SW so that it operates cor-
changes). activate correctly. rectly.
Check if the overtravel limit switch wiring Correct the overtravel limit SW wiring.
is correct. (check for damaged cables or
loosen screws.)
Incorrect forward or reverse run pro- Check the P-OT signal selection Pn50A.3. Correct the setting of P-OT signal selection Pn50A.3.
hibited signal (P-OT/N-OT) selec- Check the N-OT signal selection Pn50B.0. Correct the setting of N-OT signal selection Pn50B.0.
tion
Incorrect servomotor stop method Check if “coast to stop” in servo OFF status Check Pn001.0 and Pn001.1.
selection is selected.
Check if “coast to stop” in torque control Check Pn001.0 and Pn001.1.
mode is selected.
Improper overtravel position setting The distance to the position of OT (over- Correct the OT position.
travel) is too short considering the coasting
distance.
Noise interference due to improper The encoder cable specifications must be: Use encoder cable with the specified specifications.
encoder cable specifications Tinned annealed copper twisted-pair or
twisted-pair shielded wire with core 0.12
mm2 min.
Noise interference because the The wiring distance must be 20 m max. The encoder cable distance must be within the specified
encoder cable distance is too long. range.
Noise influence due to damaged Check if the encoder cable is bent or its Correct the encoder cable layout.
encoder cable sheath is damaged.
Excessive noise interference to Check if the encoder cable is bundled with a Change the encoder cable layout so that no surge is
encoder cable high-current line or near high-current line. applied.
FG varies because machine such as Check if grounding of the machine is made Ground the machine separately from PG side FG.
welder installed on servomotor side. correctly.
SERVOPACK pulse count error due Check if the signal line from the encoder is Take a measure against noise for the encoder wiring.
to noise influenced by noise.
Excessive vibration and shock to the Machine vibration occurred or servomotor Reduce the machine vibration or mount the servomotor
encoder mounting such as mounting surface preci- securely.
sion, fixing, alignment is incorrect.

Encoder fault An encoder fault occurred. Replace the servomotor.
SERVOPACK fault A SERVOPACK fault occurred. Replace the SERVOPACK.
Position error Unsecured coupling between Check if a position error occurs at the cou- Secure the coupling between the machine and servomo-
(without machine and servomotor pling between machine and servomotor. tor.
alarm) Noise interference due to improper The input signal cable specifications must Use input signal cable with the specified specifications.
input signal cable specifications be:
Twisted-pair or twisted-pair shielded wire
with core 0.12 mm2 min. and tinned
annealed copper twisted wire.
Noise interference because the input The wiring distance must be 3 m max. and The input signal cable distance must be within the speci-
signal cable distance is too long. the impedance several hundreds ohm max. fied range.
Encoder fault (pulse count does not An encoder fault occurred. (pulse count Replace the servomotor.
change) does not change)
Servomotor Ambient temperature too high Measure servomotor ambient temperature. Reduce ambient temperature to 40°C max.
Overheated Servomotor surface dirty Check visually. Clean dust and oil from servomotor surface.
Overloaded Run under no load. Reduce load or replace with larger capacity servomotor.
11
11-21
11.2.1 Servomotor Inspection
11.2 Inspection and Maintenance

11.2.1 Servomotor Inspection
The AC servomotors are brushless. Simple, daily inspection is sufficient. The inspection and maintenance fre-
quencies in the table are only guidelines. Increase or decrease the frequency to suit the operating conditions and
environment.
IMPORTANT During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is
required, contact your Yaskawa representative.
Table 11.6 Servomotor Inspections

Item Frequency Procedure Comments
Vibration and Noise Daily Touch and listen. Levels higher than normal?
Exterior According to degree Clean with cloth or compressed −
of contamination air.
Insulation Resistance At least once a year Disconnect SERVOPACK and Contact your Yaskawa repre-
Measurement test insulation resistance sentative if the insulation
at 500 V. Must exceed 10 MΩ .∗ resistance is below 10 MΩ .
Replacing Oil Seal At least once every Contact your Yaskawa represen- Applies only to servomotors
5000 hours tative. with oil seals.
Overhaul At least once every Contact your Yaskawa represen- −
20000 hours or 5 tative.
years
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power line.
11.2.2 SERVOPACK Inspection

For inspection and maintenance of the SERVOPACK, follow the inspection procedures in the following table
at least once every year. Other routine inspections are not required.
Table 11.7 SERVOPACK Inspections
Item Frequency Procedure Comments

Exterior At least once a year Check for dust, dirt, and oil Clean with compressed
on the surfaces. air.
Loose Screws Check for loose terminal Tighten any loose screws.
block and connector
screws.
11-22
11.2 Inspection and Maintenance
11.2.3 SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid
failure, replace these parts at the frequency indicated.
Refer to the standard replacement period in the following table, contact your Yaskawa representative. After
an examination of the part in question, we will determine whether the parts should be replaced or not.
The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship-
ping. Be sure to confirm that the parameters are properly set before starting operation.
Table 11.8 Periodical Part Replacement
Part Standard Replacement Operating Conditions
Period
Cooling Fan 4 to 5 years • Ambient Temperature: Annual average of 30°C
Smoothing Capacitor 7 to 8 years • Load Factor: 80% max.
Relays − • Operation Rate: 20 hours/day max.
Fuses 10 years
Aluminum Electrolytic 5 years
Capacitor on Circuit Board
11
11-23
12
Appendix
12.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - 12-2

12.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - - - - - 12-7
12.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15

12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - 12-15
(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-16
12.2.3 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - 12-17
12.2.4 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - 12-18
(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-19
12.2.6 Connection to MITSUBISHI’s A75 Positioning Unit (SERVOPACK in Position Control
Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20
12.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21

12.3.1 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21
12.3.2 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22
12.3.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-45
12.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-46 Appendix
12
12-1
12 Appendix
12.1.1 Selection Example for Speed Control
12.1 Servomotor Capacity Selection Examples

12.1.1 Selection Example for Speed Control
Mechanical Specifications
Linear motion Servomotor
1
Coupling
Ball screw
• Load speed: V = 15 m/min • Feeding times: n=40times/min
• Linear motion section mass: M = 300 kg • Feeding distance: = 0.275 m
• Ball screw length: LB = 1.0 m • Feeding time: tm = 1.2 s max.
• Ball screw diameter: DB = 0.03 m • Friction coefficient: μ = 0.2
• Ball screw lead: PB = 0.01 m • Mechanical efficiency: η = 0.9 (90%)
• Coupling mass: MC = 1 kg
• Coupling outer diameter: DC = 0.06 m
(1) Speed Diagram
V 60 60
15 t = ------ = ------ = 1.5 ( s )
n 40
Speed
(m/min) a
where ta = td
t tc td Time (s)
1.2 tc = 1.2 – 0.1 × 2 = 1.0 ( s )
t
(2) Rotation Speed

• Load axis rotation speed
N = V = 15 = 1500 (min-1 )
PB 0.01
• Motor shaft rotation speed with the direct coupling: Gear ratio 1/R=1/1
Therefore,
NM = N R = 1500 × 1 = 1500 (min -1)
(3) Load torque

9.8μ M PB 9.8 × 0.2 × 300 × 0.01
TL = = = 1.04 (N m)
2πR η 2π × 1 × 0.9
(4) Load Moment of Inertia

• Linear motion section
( 2πR ) ( 2π0.01× 1 )
P 2 2
B
JL1 = M = 300 × = 7.6 × 10-4 (kg m2)
• Ball screw
JB = π ρ LB D B4 = π × 7.87 × 10+3 × 1.0 × (0.03)4 = 6.3 × 10 -4 (kg m2 )
32 32
• Coupling
JC = 1 MC DC2 = 1 × 1 × (0.06)2 = 4.5 × 10-4 (kg m2)
8 8
• Load moment of inertia at motor shaft
JL = J L1 + JB + J C = 18.4 × 10 -4 (kg m 2 )
(5) Load Moving Power

2πNM TL 2π × 1500 × 1.04
PO = = = 163 (W)
60 60
12-2
(6) Load Acceleration Power

18.4 × 10-4
( 2π N ) ( )
2 JL 2π 2
Pa = M = × 1500 = 454 (W)
60 ta 60 0.1
(7) Servomotor Provisional Selection

(a) Selecting Conditions
• TL ≤ Motor rated torque
• Pa + Po = (1 to 2) × Motor rated output
• NM ≤ Motor rated speed
• JL ≤ SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMAS-08A Servomotor
• SGDS-08A SERVOPACK
(b) Specifications of the Provisionally Selected Servomotor and SERVOPACK

• Rated output: 750 (W)
• Rated motor speed: 3000 (min-1)
• Rated torque: 2.39 (N⋅m)
• Instantaneous peak torque: 7.16 (N⋅m)
• Servomotor moment of inertia: 2.10 × 10-4 (kg⋅m2)
• SERVOPACK allowable load moment of inertia: 31.5 × 10-4 (kg⋅m2)
(8) Verification on the Provisionally Selected Servomotor

• Required starting torque
2πN M (J M + J L ) 2π × 1500 × (2.10 + 18.4) × 10 −4
TP = + TL = + 1.04
60ta 60 × 0.1
4.3 (N m) < Instantaneous peak torque Satisfactory
• Required braking torque

2πN M (J M+ J L ) 2π × 1500 × (2.10 + 18.4) × 10 −4
TS = − TL = − 1.04
60td 60 × 0.1
• Torque efficiency
2 2 2 2 2 2
ΤP ta + TL tc + T S td (4.3) × 0.1 + (1.04) × 1.0 + (2.2) × 0.1
T rms = =
t 1.5
1.51(N m) < Rated torque Satisfactory
Appendix
12
12-3
12 Appendix
12.1.2 Selection Example for Position Control
(9) Result
The provisionally selected servomotor and SERVOPACK are confirmed to be applicable.
The torque diagram is shown below.
(N m) Torque
Speed
4.3
1.04
0
-2.2
0.1 1.0 0.1
1.5

Mechanical Specifications
Linear motion Servomotor
1
Coupling
Ball screw
• Load speed: V = 15 m/min • Positioning times: n = 40 times/min

• Linear motion section mass: M = 80 kg • Positioning distance: = 0.25 m
• Ball screw length: LB = 0.8 m • Positioning time: tm = Less than 1.2 s
• Ball screw diameter: DB = 0.016 m • Electrical stop accuracy: δ = ± 0.01 mm
• Ball screw lead: PB = 0.005 m • Friction coefficient: μ = 0.2
• Coupling mass: MC = 0.3 kg • Mechanical efficiency: η=0.9 (90%)
• Coupling outer diameter: DC =0 .03 m
(1) Speed Diagram

Reference 60 60
15 V
pulse
t = ------ = ------ = 1.5 ( s )
n 40
Speed Load
(m/min) speed Where ta = td, ts = 0.1 (s)
ta tc td ts
ta = tm − ts − 60 = 1.2 − 0.1 − 60 × 0.25 = 0.1 (s)
Time (s)
1.2 V 15
t
tc = 1.2 – 0.1 – 0.1 × 2 = 0.9 ( s )
(2) Rotation Speed

• Load axis rotation speed
N = V = 15 = 3000 (min-1 )
PB 0.005
• Motor shaft rotation speed with direct coupling: Gear ratio 1/R=1/1
Therefore,
NM = N R = 3000 × 1 = 3000 (min -1)
(3) Load Torque

9.8μ M PB 9.8 × 0.2 × 80 × 0.005
TL = = = 0.139 (N m)
2πR η 2π × 1 × 0.9
12-4
(4) Load Moment of Inertia

• Liner motion section
( 2πR ) ( 2π0.005
× 1)
P 2 2
B
JL1 = M = 80 × = 0.507 × 10-4 (kg m 2 )
• Ball screw
JB = π ρ LB DB4 = π × 7.87 × 103 × 0.8 × (0.016)4 = 0.405 × 10-4 (kg m2)
32 32
• Coupling
JC = 1 MC DC4 = 1 × 0.3 × (0.03)2 = 0.338 × 10-4 (kg m2)
8 8
• Load moment of inertia at the motor shaft
JL = JL1 JB JC = 1.25 × 10-4 (kg m2)
(5) Load Moving Power

2πNM TL 2π × 3000 × 0.139
PO = = = 43.7 (W)
60 60
(6) Load Acceleration Power

1.25 × 10 -4
( 2π N ) ( )
2 JL 2π 2
Pa = M = × 3000 = 123.4 (W)
60 ta 60 0.1
(7) Provisionally Servomotor Selection

(a) Selecting Conditions
• TL ≤ Motor rated torque
• Pa + Po = (1 to 2) × Motor rated output
• NM ≤ Motor rated speed
• JL ≤ SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMAS-02 Servomotor
• SGDS-02A01A SERVOPACK
(b) Specifications of Servomotor and SERVOPACK

• Rated output: 200 (W)
• Rated motor speed: 3000 (min-1)
• Rated torque: 0.637 (N⋅m)
• Instantaneous peak torque: 1.91 (N⋅m)
• Motor moment of inertia: 0.116 × 10-4 (kg⋅m2)
• SERVOPACK allowable load moment of inertia: 3.48 × 10-4 (kg⋅m2)
• Number of PG pulses: 32768 (P/R)
Appendix
12
12-5
12 Appendix
(8) Verification on Provisionally Selected Servomotor

• Required starting torque
2πN M (J M + J L ) 2π × 3000 × (0.209 + 1.25) × 10−4

TP = + TL = + 0.139
60ta 60 × 0.1
• Required braking torque
2πN M (J M+ J L ) 2π × 3000 × (0.209 + 1.25) × 10 −4

TS = − TL = − 0.139
60ta 60 × 0.1
• Effective torque
2 2 2 2 2 2
ΤP ta + TL tc + T S td (0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.1
T rms = =
t 1.5
0.205 (N m) < Rated torque Satisfactory
The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In the
next step, their performance in position control are checked.
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio ( AB )

As the electrical stop accuracy δ = ±0.01mm, take the position detection unit Δ = 0.01mm/pulse.
PB 5 B
Δ × ( A ) = 0.01 × ( A ) = 32768 × 4
B
B = 32768 × 4
k= A
500
(10) Reference Pulse Frequency

vs = 1000V = 1000 × 15 = 25,000 (pps)
60 × Δ 60 × 0.01
(11) Error Counter Pulses

Position loop gain Kp = 30 (1/S)
ε = vs = 25,000 = 833 (pulse)
Kp 30
(12) Electrical Stop Accuracy

ε 833
−Δε = – =− − 0.17 < − 1 (pulse) = − 0.01 (pulse)
(SERVOPACK × NM 5000 × 3000
control range) NR 3000
The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.
12-6
12.1.3 Calculating the Required Capacity of Regenerative Resistors

(1) Simple Calculation
When driving a servomotor with the horizontal axis, check the external regenerative resistor requirements using
the calculation method shown below.
(a) SERVOPACKs with Capacities of 400 W or Less
SERVOPACKs with capacities of 400 W or less do not have built-in regenerative resistors. The energy that
can be charged with capacitors is shown in the following table. If the rotational energy in the servomotor
exceeds these values, then connect a external regenerative resistor.
Regenerative
Applicable Energy that Can
Voltage Remarks
SERVOPACKs be Processed
(joules)
SGDS-A3B 3.75 Value when main circuit input voltage is 100 VAC
100 V SGDS-A5F to -02F 28.6
SGDS-04F 39.0
SGDS-A5A 15.2 Value when main circuit input voltage is 200 VAC
200 V
SGDS-01A to -04A 30.5
Calculate the rotational energy Es in the servomotor from the following equation:
ES = J × (NM)2/182 (joules)
• J = JM + JL
• JM: Servomotor rotor moment of inertia (kg·m2)
• JL: Load converted to shaft moment of inertia (kg·m2)
• NM: Rotation speed used by servomotor (min-1)
(b) SERVOPACKs with Capacities of 0.5 to 5.0 kW

Servomotors with capacities of 0.5 to 5.0 kW have built-in regenerative resistors. The allowable frequencies
for just the servomotor in acceleration and deceleration operation, during the rotation speed cycle from 0 to
the maximum rotation speed to 0, are summarized in the following table.
Convert the data into the values obtained with actual rotation speed and load moment of inertia to determine
whether an external regenerative resistor is needed.
Series Allowable Frequencies in Regenerative Mode (times/min)

Voltage
Capacity Symbol 05 06 08 10 12 13 15 20 25 30 40 44 50
200 V SGMAS − 110 46 − 45 − − − − − − − −
SGMPS − − 16 − − − 8 − − − − − −
SGMSS − − − 19 − − 36 77 42 12 22 − 16
SGMGH-AA 17 − 9 − − 6 − 7 −
11 1
∗ − 7 −
SGMGH-AB − 36 16 − 10 − − 12 − ∗ 14 − −
20 2
* 1. Four times if using with the SGDS-30 (3.0 kW).
* 2. Seven times if using with the SGDS-30 (3.0 kW).
Appendix
12
12-7
12 Appendix
Load moment of inertia = 0 (motor only)
Speed reference
0 t
Maximum rotation speed
Servomotor rotation speed 0 t
Regeneration mode
Maximum torque
Servomotor-generated torque 0 t
Maximum torque
T
(Operating cycle)
Allowable frequency = 1/T (times/min)
Operating Conditions for Allowable Regenerative Frequency Calculation
Use the following equation to calculate the allowable frequency for regeneration mode operation.
2
Allowable frequency for Servomotor only Max. rotation speed
Allowable frequency = × (times/min)
(1 + n) Rotation speed
• n = JL/JM
• JM: Servomotor rotor moment of inertia (kg·m2)
• JL: Load converted to shaft moment of inertia (kg·m2)
(c) SERVOPACKs with Capacities of 6.0 kW or More

SERVOPACKs with capacities of 6.0 kW or more do not have built-in regenerative resistors. The following
table shows the allowable regenerative frequencies when the JUSP-RA04 or JUSP-RA05 regenerative resis-
tor is used together with an applicable SERVOPACK.
The servomotor driven conditions and the conversion equation of the allowable regenerative frequencies to
the rotation speed and load moment of inertia are the same as the (b) SERVOPACKs with Capacities of 0.5 to
5.0 kW.
Series Allowable Frequencies in Regenerative Mode (times/min)
Voltage
Capacity Symbol 55 70 75
200 V SGMSS-A − 192 −
SGMGH-AA 27 − 38
SGMGH-AB 47 − −
12-8
(2) Calculating the Regenerative Energy

This section shows the procedure for calculating the regenerative resistor capacity when acceleration and
deceleration operation is as shown in the following diagram.
NM: Motor rotation speed
Rotation speed
0
tD
TL: Load torque
Motor torque
Regenerative
torque
T
• Calculation Procedure
The procedure for calculating the regenerative capacity is as follows:
Step Item Symbol Equation

1 Find the rotational energy of the servomotor. ES ES = JNM2/182
2 Find the energy consumed by load loss dur- EL EL = (π/60) NMTLtD
ing the deceleration period.
3 Calculate the energy lost from servomotor EM (Value calculated from “Servomo-
winding resistance. tor Winding Resistance Loss” dia-
grams) × tD
4 Calculate the SERVOPACK energy that can EC Calculate from the “Absorbable
be absorbed. SERVOPACK Energy” diagrams.
5 Find the energy consumed by the regenera- EK EK = ES - (EL+EM+EC)
tive resistor.
6 Calculate the required regenerative resistor WK WK = EK/ (0.2 × T)
capacity.
Note: 1. The “0.2” in the equation for calculating WK is the value for when the regenerative
resistor’s utilized load ratio is 20%.
2. The units for the various symbols are as follows:
ES to EK: Energy joules (J)
TL:Load torque (N·m)
WK:Regenerative resistor required capacity (W)
tD: Deceleration stopping time (s)
J:(= JM + JL)(kg·m2)
T: Servomotor repeat operation period (s)
NM: Servomotor rotation speed (min-1)
Appendix
12
12-9
12 Appendix
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in
resistor is not exceeded, then an external regenerative resistor is not required.
If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an
external regenerative resistor for the capacity obtained from the above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using EL = 0.
When the operation period in regeneration mode is continuous, add the following items to the above calcula-
tion procedure in order to find the required capacity (W) for the regenerative resistor.
• Energy for continuous regeneration mode operation period: EG (joules)

• Energy consumed by regenerative resistor: EK = ES - (EL + EM + EC) + EG
• Required capacity of regenerative resistor: WK = EK/ (0.2 × T)
Here, EG = (2π/60) NMGTGtG
• TG: Servomotor’s generated torque (N·m) in continuous regeneration mode operation period
• NMG:Servomotor rotation speed (min-1) for same operation period as above

• tG:Same operation period (s) as above
(3) Servomotor Winding Resistance Loss

The following diagrams show the relationship, for each servomotor, between the servomotor’s generated
torque and the winding resistance loss.
(a) SGMMJ Servomotor
Model: SGMMJ-
250
200
A3B
Loss (W) 150 A2B
A1B
100
50
0
0 100 200 300
Torque (%)
12-10
(b) SGMAS servomotor, 100/200V

Model: SGMAS-
500
C2A
400
02A
01A
Loss (W) 300 A5A
200
100
0
0 100 200 300
Torque (%)
Model: SGMAS-
800
06A
700
08A
600
04A
Loss (W) 500 12A
400
300
200
100
0
0 100 200 300
Torque (%)
(c) SGMPS servomotor, 100/200 V

Model: SGMPS-
450
400 04A
15A
350 02A
300 01A
Loss (W)
250 08A
200
150
100
50
0
0 100 200 300
Torque (%)
Appendix
12
12-11
12 Appendix
(d) SGMCS servomotor

Model: SGMCS-
1000
800 16E
35E
25D
Loss (W) 600
08D
17D
400
200
0
0 100 200 300
Torque (%)
3000 Model: SGMCS-
1EN
2500
2ZN
1AM
2000 80M
Loss (W)
80N
1500 45M
1000
500
0
0 100 200 300
Torque (%)
Model: SGMCS-
700
600 10C
04C
500 14C
Loss (W) 07B
400 05B
02B
300
200
100
0
0 100 200 300
Torque (%)
12-12
(e) SGMSS servomotor

Model: SGMSS-
1400
1200 20A
25A
1000
Loss (W) 15A
800 10A
600
400
200
0
0 100 200 300
Torque (%)
Model: SGMSS-
1600
1400
1200
1000 70A
50A
Loss (W) 800 40A
30A
600
400
200
0
0 100 200 300
Torque (%)
Appendix
12
12-13
12 Appendix
(4) SERVOPACK’s Absorbable Energy

The following diagrams show the relationship between the SERVOPACK’s input power supply voltage and its
absorbable energy.
SERVOPACK for 100 V Model: SGDS-

50
47
39
40
Absorbable Energy (J)
35
29
30
04F
25
20 20
A5F to 02F
15 14
10
5 A3B
4.5
3.75 1.5
0 90 100 110 120
AC Input Power Supply Voltage (Vms)
SERVOPACK for 200 V Model: SGDS- SERVOPACK for 200 V Model: SGDS-
120 90
85
100 75
08A to 10A 20A to 30A
64
01A to 04A 62 10A
80 60
05A 15A
46
60 45
47 A5A 43
32
30
37
31 30
18 24 15
12 12
15 10 9
6 6
5
0 0
180 200 220 240 260 180 200 220 240 260
SERVOPACK for 200 V Model: SGDS- SERVOPACK for 200 V Model: SGDS-
300 300
75A
250 250
60A
200 200
50A
149
150 150
112
100 100
50 50
21
0 0
180 200 220 240 260 180 200 220 240 260
AC Input Power Supply Voltage (Vms) AC Input Power Supply Voltage (Vms)
12-14
12.2 Connection to Host Controller

12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01
MP920 Series SVA-01
manufactured by
Yaskawa Electric Corporation SGDS SERVOPACK
CN1 to CN4 ∗ CN1

2 NREF V-REF 5 L1C
1 SG SG 2 L2C
Control power supply
3 PA PAO 33 L1
4 PAL /PAO 34 L2
23 PB PBO 35 Main circuit power supply
L3
24 PBL /PBO 36
5 PC PCO 19
6 PCL /PCO 20 Servomotor
7 SG SG 6
A(1)
U
16 +24V OUT +24V-IN 47 B (2) M
V
34 C(3)
W
/S-ON 40 D (4)
31 SVON
30 ALMRST /ALM-RST 44
12 PCON /P-CON 41 CN2 PG
13 OTR N-OT 43
14 OTF P-OT 42
32 DOSEN
11 0V
20 SEN SEN 4
19 SG SG 10
28 0V /S-RDY- 30
29 0V
17 SVALM ALM+ 31
10 0V ALM- 32
35 SVRDY /S-RDY+ 29
18 BRK /TGON+ 27
22 BAT BAT(+) 21
21 0BAT BAT(-) 22
FG
* represents twisted-pair wires.
Note: Connection cables (model: JEPMC-W6050-) to connect the SERVOPACK to the MP920 are
provided by Yaskawa. For details, refer to Machine Controller MP920 User’s Manual design and
maintenance (manual no. SIEZ-C887-2.1).
Appendix
12
12-15
12 Appendix
12.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)

(SERVOPACK in Speed Control Mode)
CP-9200SH SVA
manufactured by
Yaskawa Electric Corporation SGDS SERVOPACK
CN CN1
17 +24V +24V-IN 47
L1C
22 DO0 /S-ON 40 L2C
Control power supply
47 DO1 /P-CON 41 L1
23 DO2 N-OT 43 L2
Main circuit power supply
48 DO3 P-OT 42 L3
24 DO4 /ALM-RST 44
19 DI2 /TGON+ 27 Servomotor
/TGON- 28
A(1)
43 DI1 /V-CMP+ 25 U
B (2) M
26 V
/V-CMP- C(3)
29 W
18 DI0 /S-RDY+ D (4)
/S-RDY- 30
44 DI3 ALM+ 31
45 0 24 V ALM- 32 CN2 PG
BAT(+) 21
BAT(-) 22
1 SENS SEN 4
26 SENSG SG 2
3 IN-A V-REF 5
4 0V SG 6
7 TLIMP T-REF 9
8 TLIMPG SG 10
10 PA PAO 33
11 PAL /PAO 34
12 PB PBO 35
13 PBL /PBO 36
14 PC PCO 19
15 PCL /PCO 20
9 PG0V SG 1
Connector shell
* represents twisted-pair wires.
12-16
12.2.3 Example of Connection to OMRON’s Motion Control Unit

MC unit manufactured by OMRON
C200H-MC221
(CS1W-MC221/MC421)
(CV500-MC221/MC421)
SGDS SERVOPACK
DRV connector
24 VDC
24V input 1 L1C
24V input ground 2 CN1 L2C
Control
X -axis alarm input 3 ALM+ 31 power supply
L1
X-axis run reference output 4 /S-ON 40 L2
X-axis alarm reset output 5 /ALM-RST 44 Main circuit
L3
X-axis SEN signal ground 8 2 SG 1 2 power supply
X-axis SEN signal output 9 SEN 1 4
X-axis feedback ground 10 SG 1 Servomotor
X-axis phase-A input 11 PAO 33
X-axis phase-/A input 12 A(1)
/PAO 34 U
X-axis phase-B input 13 /PBO 36 B(2) M
V
X-axis phase-/B input 14 PBO 35 C(3)
X-axis phase-Z input 15 W
PCO 19 D(4)
X-axis phase-/Z input 16 /PCO 20
X-axis speed reference 17 V-REF 5
Axis speed reference ground 18 SG 6
CN2 PG
FG Shell
24 V output 19 +24-IN 47
24 V output ground 20 ALM- 32
I/O connector
24 VDC
24 V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6 Battery 1
X-axis origin proximity input 10 BAT(+) 1 21
24 V input ground 14 BAT(-) 1 22
2.8 to 4.5 VDC
* 1. Connect when an absolute encoder is used.

When the encoder cables with a battery case JUSP-BA01 are used, no battery is required for CN1
(between 21 and 22).
x For CN1: ER6VC3N (3.6 V, 2000 mA)
x Battery case: JUSP-BA01 (3.6 V, 1000 mA)
Note: 1. Only signals applicable to Yaskawa’s SGDS SERVOPACK and OMRON’s MC unit are shown
in the diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
The power supply and wiring must be in accordance with the power supply specifications of the
SERVOPACK to be used.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make
connection to the SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connec-
tor section must be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the Servo ON (/S-ON) signal.
Appendix
12
12-17
12 Appendix
12.2.4 Example of Connection to OMRON’s Position Control Unit
12.2.4 Example of Connection to OMRON’s Position Control Unit
Position control unit I/O power supply

CS1W-NC133 / 233 / 433 +24V + +24 V
-
manufactured by OMRON Corporation 024
5V power supply for pulse output A4 +5V SGDS SERVOPACK

5V GND for pulse output A3 2
4 CN1
CW(+) output A5 PULS 7
CW(-) output
L1C Control
A6 /PULS 8 L2C
CCW(+) output power supply
A7 SIGN 11 L1
CCW(-) output A8 /SIGN 12 L2 Main circuit
CLR 15
Error counter reset output A11 L3 power supply
/CLR 14
Origin input signal A16 PCO 19
Origin input common A14 /PCO 20 Servomotor
COIN+ 25
24 V power supply for output A1 /COIN- 26 A(1)
U
24 V GND for output A2 B(2)
+24V-IN V M
47 C(3)
/S-ON 40 W
P-OT 42 D(4)
Input common A24 N-OT 43
/ALM-RST 44
ALM- 32 CN2 PG
1Ry 1 ALM+ 31
X-axis external interrupt input A19
A21
X-axis CCW limit input A23
X-axis CW limit input A22 Connector
shell 3
X-axis immediate stop input A20
* 1. The ALM signal is output for about two seconds after the control power is turned ON. Take this into
consideration when designing the power ON sequence. The ALM signal actuates the alarm detection
relay 1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to “1.”
* 3. Connect the shield wire to the connector shell.
Note: Only signals applicable to Yaskawa’s SGDS SERVOPACK and OMRON’s MC unit (positioning
unit) are shown in the diagram.
12-18

(SERVOPACK in Speed Control Mode)
SGDS SERVOPACK
I/O power supply
+24V + +24 V
-
AD72 manufactured 0 24 V L1C
by Mitsubishi Electric Control
L2C power supply
Corporation ∗2 L1
L2 Main circuit
CONT
ON when L3 power supply
1
positioning is
2 STOP cancelled
3 DOG ON when
proximity is CN1 Servomotor
detected
SERVO +24V-IN 47 A(1)
1 /S-ON 40 U
B (2) M
2 SV-ON 1Ry 1 V
C(3)
3 ALM+ 31 W
D (4)
READY 1Ry
4 ALM- 32
5 V-REF (T-REF) 5(9)
6 Speed reference SG 6(10) CN2 PG
ENCO ∗4
4 PBO 35
5 PULSE A /PBO 36
7 PAO 33
8 PULSE B /PAO 34 CN1
10 PCO 19 42 P-OT
11 PULSE C /PCO 20
3 0V SG 1 43 N-OT 024 V
6 0V
9 0V
Connector
shell ∗3
* 1. The ALM signal is output for about two seconds after the control power is turned ON. Take this into
* 2. Pin numbers are the same both for X-axis and Y-axis.
* 3. Connect the connector wire to the connector shell.
Note: Only signals applicable to Yaskawa’s SGDS SERVOPACK and Mitsubishi’s AD72 Positioning
Unit are shown in the diagram.
Appendix
12
12-19
12 Appendix
12.2.6 Connection to MITSUBISHI’s A75 Positioning Unit (SERVOPACK in Position Control Mode)

(SERVOPACK in Position Control Mode)
AD75 I/O power supply SGDS SERVOPACK

manufactured by +24V + +24 V
Mitsubishi Electric - 0 24V
Corporation L1C
Control
L2C
X-axis (Y-axis) power supply
L1
26 L2
1Ry Main circuit
7 READY L3 power supply
14 ON when
STOP positioning is
cancelled Servomotor
11 DOG ON when
CN1
proximity is A(1)
detected
U
PCO 19 B(2) M
24 V
C(3)
25 PGO /PCO 20 W
D(4)
1Ry PG
ALM+ 31 CN2
ALM - 32
3 PULS 7
21 PULSE /PULS 8 CN1
47 +24V
4 SIGN 11
22 SIGN /SIGN 12 40 /S-ON
2.2kΩ CLR 15 42 P-OT
5 /CLR 14 43 N-OT 0 24V
23 CLEAR
* The ALM signal is output for about two seconds when the control power is turned ON. Take this into
Note: Only signals applicable to Yaskawa’s SGDS SERVOPACK and Mitsubishi’s AD75 Positioning
Unit are shown in the diagram.
12-20
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
Appendix
12
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.
Appendix
12
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.")
-1
00 Motor speed (1 V/1000 min )
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.
Appendix
12
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
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
12-26

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

Appendix
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 12
ately
12-27
12 Appendix
12.3.2 Parameters

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.”
12-28

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
Appendix
12
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.
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
Appendix
12
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.
When the absolute value of the position error is below the positioning completed width setting
2
(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
Appendix
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
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- 8.1.1
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 1 μs 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
Appendix
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- 7.2.14
ately 12
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)
Appendix
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
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
INFO 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.")
Appendix
12
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
Appendix
12
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
Appendix
ately
Pn52F Monitor Display at Power ON 0 to FFF − FFF Immedi- 7.4.1
ately
12
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
Appendix
12
12-45
12 Appendix
12.4 Parameter Recording Table

Use the following table for recording parameters.
Note: Pn10B, Pn110, and Pn408 have the digit which does not need the setting validation after changing
the settings. The underlined digits of the factory setting in the following table show the digit which
needs the setting validation.
Parame- Factory Setting

ter
Name Validation
Setting
Pn000 0000 Function Selection Basic Switch 0 After restart
Pn001 0000 Function Selection Application Switch 1 After restart
Pn006 0002 Function Selection Application Switch 6 Immediately
Pn007 0000 Function Selection Application Switch 7 Immediately
Pn100 40.0 Hz Speed Loop Gain Immediately
Pn101 20.00 ms Speed Loop Integral Time Constant Immediately
Pn102 40.0/s Position Loop Gain Immediately
Pn103 0% Moment of Inertia Ratio Immediately
Pn104 40.0 Hz 2nd Speed Loop Gain Immediately
Pn105 20.00 ms 2nd Speed Loop Integral Time Constant Immediately
Pn106 40.0/s 2nd Position Loop Gain Immediately
Pn107 Bias Immediately

0 min-1
Pn108 7 reference Bias Addition Width Immediately
unit
Pn109 0% Feed Forward Gain Immediately
Pn10A 0.00 ms Feed Forward Filter Time Constant Immediately
Pn10B 0000 Gain-related Application Switch After restart
Pn10C 200 % Mode Switch (torque reference) Immediately
Pn10D Mode Switch (speed reference) Immediately

0 min-1
Pn10E Mode Switch (acceleration) Immediately
0 min-1/s
Pn10F 0 reference Mode Switch (position error pulse) Immediately
unit
Pn110 0010 Online Autotuning Switches After restart
Pn111 100 % Speed Feedback Compensation Gain Immediately
Pn119 50.0/s Reference Filter Gain Immediately
Pn11A 100.0 % Reference Filter Gain Compensation Immediately
Pn11E 100.0 % Reference Filter Bias (Forward) Immediately
Pn11F 0.0 ms Position Integral Time Constant Immediately
Pn12B 40.0 Hz 3rd Speed Loop Gain Immediately
Pn12C 20.00 ms 3rd Speed Loop Integral Time Constant Immediately
Pn12D 40.0/s 3rd Position Loop Gain Immediately
Pn12E 40.0 Hz 4th Speed Loop Gain Immediately
Pn12F 20.00 ms 4th Speed Loop Integral Time Constant Immediately
Pn130 40.0/s 4th Position Loop Gain Immediately
Pn131 0 ms Gain Switching Time 1 Immediately
Pn132 0 ms Gain Switching Time 2 Immediately
Pn135 0 ms Gain Switching Waiting Time 1 Immediately
Pn136 0 ms Gain Switching Waiting Time 2 Immediately
Pn139 Automatic Gain Changeover Related After restart

0000
Switch 1
Pn144 100.0 % Reference Filter Bias (Reverse) Immediately
Pn150 0210 Predictive Control Selection Switches After restart
Pn151 Predictive Control Acceleration/Decel- Immediately

100 %
eration Gain
Pn152 100 % Predictive Control Weighting Ratio Immediately
12-46
(cont’d)
ter
Name Validation
Setting
Pn1A0 60 % Servo Rigidity Immediately
Pn1A1 60 % Servo Rigidity 2 Immediately
Pn1A2 0.72 ms Speed Feedback Filter Time Constant Immediately
Pn1A3 0.72 ms Speed Feedback Filter Time Constant 2 Immediately
Pn1A4 0.36 ms Torque Reference Filter Time Constant Immediately
Pn1A7 1121 Auxiliary Control Switch Immediately
Pn1A9 37 Hz Auxiliary Integral Gain Immediately
Pn1AA 60 Hz Position Proportional Gain Immediately
Pn1AB 0 Hz Speed Integral Gain Immediately
Pn1AC 120 Hz Speed Proportional Gain Immediately
Pn1B5 150% Gain Compensation Upper Limit 1 Immediately
Pn200 Position Control Reference Form After restart

0000
Selection Switch
Pn205 65535 Rev Multiturn Limit Setting After restart
Pn207 0000 Position Control Function Switch After restart
Pn209 Position Reference Acceleration/Decel- Immediately

0
eration Bias
Pn20A 32768 Pitch/Rev Number of External Scale Pitch After restart
Pn20E 4 Electronic Gear Ratio (Numerator) After restart
Pn210 1 Electronic Gear Ratio (Denominator) After restart
Pn212 2048 P/Rev PG Dividing Pulse (pulse unit) After restart
Pn214 0 Backlash Compensation Amount Immediately
Pn215 0.00ms Backlash Compensation Time Constant Immediately
Pn216 Position Reference Acceleration/Decel- Immediately

0.0ms
eration Time Constant
Pn217 Average Movement Time of Position Immediately
0.0ms
Reference
Pn281 20 P/(4-multi- Encoder Output Resolution After restart
plier pitch)
Pn300 6.00 V Speed Reference Input Gain Immediately
/Rated speed
Pn301 Internal Set Speed 1 Immediately
100 min-1
200 min-1
300 min-1
Pn304 JOG Speed Immediately
500 min-1
Pn305 0 ms Soft Start Acceleration Time Immediately
Pn306 0 ms Soft Start Deceleration Time Immediately
Pn307 0.40 ms Speed Reference Filter Time Constant Immediately
Pn308 0.00 ms Speed Feedback Filter Time Constant Immediately
Pn310 0000 Vibration Detection Switch Immediately
Pn311 100 % Vibration Detection Sensibility Immediately
Pn312 Vibration Detection Level Immediately

50 min-1
Pn400 3.0 V/Rated torque Torque Reference Input Gain Immediately
Pn401 1.00 ms Torque Reference Filter Time Constant Immediately
Pn402 800 % Forward Torque Limit Immediately
Pn403 800 % Reverse Torque Limit Immediately
Pn404 100 % Forward External Torque Limit Immediately
Pn405 100 % Reverse External Torque Limit Immediately

Appendix
Pn406 800 % Emergency Stop Torque Immediately
Pn407 Speed Limit during Torque Control Immediately

10000 min-1
Pn408 0000 Torque Related Function Switch After restart
Pn409 2000 Hz 1st Step Notch Filter Frequency Immediately
Pn40A 0.70 1st Step Notch Filter Q Value Immediately

12
Pn40C 2000 Hz 2nd Step Notch Filter Frequency Immediately
12-47
12 Appendix
(cont’d)
ter
Name Validation
Setting
Pn40D 0.70 2nd Step Notch Filter Q Value Immediately
Pn40F 2nd Step 2nd Torque Reference Filter Immediately

2000 Hz
Frequency
Pn410 2nd Step 2nd Torque Reference Filter Q Immediately
0.70
Value
Pn411 3rd Step Torque Reference Filter Time Immediately
0μ
Constant
Pn412 1st Step 2nd Torque Reference Filter Immediately
1.00 ms
Time Constant
Pn413 1st Step 3rd Torque Reference Filter Immediately
1.00 ms
Time Constant
Pn414 1st Step 4th Torque Reference Filter Immediately
1.00 ms
Time Constant
Pn420 Damping for Vibration Suppression on Immediately
100 %
Stopping
Pn421 1000 ms Vibration Suppression Starting Time Immediately
Pn422 0.00 % Gravity Compensation Torque Immediately
Pn456 15 % Sweep Torque Reference Amplitude Immediately
Pn501 Zero Clamp Level Immediately

10 min-1
Pn502 Zero Speed Level Immediately
20 min-1
Pn503 Speed Coincidence Signal Output Immediately
10 min-1 Width
Pn506 Brake Reference - Servo OFF Delay Immediately
0 ms
Time
Pn507 Brake Reference Output Speed Level Immediately
100 min-1
Pn508 Waiting Time for Brake Signal When Immediately
500 ms
Motor Running
Pn509 20 ms Instantaneous Power Cut Hold time Immediately
Pn50A 2100 Input Signal Selection 1 After restart
Pn50B 6543 Input Signal Selection 2 After restart
Pn50C 8888 Input Signal Selection 3 After restart
Pn50D 8888 Input Signal Selection 4 After restart
Pn50E 3211 Output Signal Selection 1 After restart
Pn50F 0000 Output Signal Selection 2 After restart
Pn510 0000 Output Signal Selection 3 After restart
Pn512 0000 Output Signal Reversal Setting After restart
Pn515 8888 Input Signal Selection 5 After restart
Pn51B 1000 reference Excessive Error Level Between Servo- Immediately

unit motor and Load Positions
Pn51E Excessive Position Error Warning Immediately
100%
Level
Pn520 262144 reference Excessive Position Error Alarm Level Immediately
unit
Pn522 7 reference Positioning Completed Width Immediately
unit
Pn524 1073741824 NEAR Signal Width Immediately
reference unit
Pn526 262144 Excessive Position Error Alarm Level Immediately
reference unit at Servo ON
Pn528 Excessive Position Error Warning Immediately
100 %
Level at Servo ON
Pn529 Speed Limit Level at Servo ON Immediately
10000 min-1
Pn52A 20 % Multiplier per One Full-closed Rotation Immediately
Pn52F FFF Monitor Display at Power ON Immediately
Pn530 Program JOG Operation Related Immediately

0000
Switch
Pn531 32768 Program JOG Movement Distance Immediately
reference unit
Pn533 Program JOG Movement Speed Immediately
500 min-1
Pn534 Program JOG Acceleration/Decelera- Immediately
100 ms
tion Time
Pn535 100 ms Program JOG Waiting Time Immediately
12-48
(cont’d)
ter
Name Validation
Setting
Pn536 Number of Times of Program JOG Immediately
once
Movement
Pn540 200.0 Hz Gain Limit Immediately
Pn550 0.0 V Analog Monitor 1 Offset Voltage Immediately
Pn551 0.0 V Analog Monitor 2 Offset Voltage Immediately
Pn600 0w Regenerative Resistor Capacity Immediately
Appendix
12
12-49
Index
INDEX cable types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

cables for analog monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68
cables for connecting personal computers - - - - - - - - - - - - - - - - 5-66
cables for I/O signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
CE marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
Numerics changing function selection parameter settings - - - - - - - - - - - - - 7-31
checking products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
400-V power supply voltage - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
clear signal form selection- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-50
A clearing alarm traceback data (Fn006)- - - - - - - - - - - - - - - - - - - 7-16
absolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - 2-28, 5-74 CLR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
absolute encoder reception sequence - - - - - - - - - - - - - - - - - - - - 8-33 CLT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
absolute encoder setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32 CN1 cables for I/O signals - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 CN1 terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
absorbable energy - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14 CN2 terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
AC/DC reactor for harmonic suppression - - - - - - - - - - - - - - - - - 6-27 coaxiality of output axis and mounting faucet- - - - - - - - - - - - - - 3-67
AC/DC reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84 COIN- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-29 connection cable for personal computer- - - - - - - - - - - - - - - - - - 2-27
specifications and external dimensions - - - - - - - - - - - - - - - 5-84 connection example of linear scale - - - - - - - - - - - - - - - - - 10-5, 10-6
adjusting offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-41 connection to host controller - - - - - - - - - - - - - - - - - - - - - - - - 12-15
advanced autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13 connector terminal block converter unit- - - - - - - - - - - - - - - - - - 5-68
alarm code outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77 continuous output current - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
alarm display and troubleshooting- - - - - - - - - - - - - - - - - - - - - - 11-6 control mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
alarm display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 control power ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77, 11-2 control signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
alarm traceback data display (Fn000) - - - - - - - - - - - - - - - - - - - - 7-7 cooling fan replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23
alignment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52 CSA standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
allocating input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-34
D
allocating output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-37
DATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15, 8-77
ALM -RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14 digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27, 5-67
disc table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
ALO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
aluminum electrolytic capacitor replacement - - - - - - - - - - - - - 11-23 E
ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
EasyFFT (Fn019) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23
ambient/storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
electronic gear ratio equation - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
analog input circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
encoder cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14, 2-15
analog monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-55
encoder cable extension - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
analog monitor cable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-28
encoder cables and connectors
angular transmission error accuracy - - - - - - - - - - - - - - - - - - - - 3-69
SGMAS servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50
automatic offset-signal adjustment of the motor current detection
SGMAS servomotors 50W to 1.15kW - - - - - - - - - - - - - - - 5-38
(Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
autotuning functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4 SGMCS servomotors - - - - - - - - - - - - - - - - - - - - - - - 5-44, 5-54
SGMPS servomotors 100W to 400W - - - - - - - - - - - - 5-38, 5-50
B SGMPS servomotors 750W and 1.5kW- - - - - - - - - - - 5-40, 5-51
ball screw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
SGMSS servomotors - - - - - - - - - - - - - - - - - - - - - - - 5-46, 5-52
baseblock - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
encoder signal output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
base-mounted type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
error counter clear signal input- - - - - - - - - - - - - - - - - - - - - - - - - 7-4
BAT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
external regenerative resistors - - - - - - - - - - - - - - - - - - - - - - - - 6-29
battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-28
external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-70
battery case - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74, 8-31
battery installed on the host controller end - - - - - - - - - - - - - - - - 5-74 F
belt and pulley - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53 feed-forward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
bias setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 feed-forward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26
BK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15 flexible cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55
block diagram for position control - - - - - - - - - - - - - - - - - - - - - 8-56 forward run prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
brake power supply units forward run prohibited status display - - - - - - - - - - - - - - - - - - - - 7-5
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30 frequency characteristics- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
specifications and internal circuits - - - - - - - - - - - - - - - - - - 5-70 fully-closed control
built-in regenerative resistor- - - - - - - - - - - - - - - - - - - - - - - - - - 6-30 alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-11
C analog signal input timing - - - - - - - - - - - - - - - - - - - - - - - - 10-4
serial converter unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
cable connections to SGMAS and SGMPS servomotors - - - - - - - - 1-9
system configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
cable selection
function selection parameters- - - - - - - - - - - - - - - - - - - - - - - - - 7-30
SGMAS and SGMPS servomotors - - - - - - - - - - - - - - - - - - 2-16
fuse capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-28
SGMCS servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24
fuse replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23
SGMSS servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21
Index-1
Index
G SGMSS servomotors IP67-environment - - - - - - - - - - - - - - 5-19

SGMSS servomotors standard environment- - - - - - - - - - - - 5-17
ground terminal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
main circuit power input terminals - - - - - - - - - - - - - - - - - - - - - 5-37
grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
manual offset-signal adjustment of the motor current detection
H (Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
manual servo tuning of the torque reference offset - - - - - - - - - - 8-63
handling batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
manual tuning- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
handling oil and water - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
hot start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 max. output current - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
mechanical tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64, 3-67
I mode switch (P/PI switching) - - - - - - - - - - - - - - - - - - - - - - - - 9-29
impact resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64, 3-68 MODE/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
initializing parameter settings (Fn005) - - - - - - - - - - - - - - - - - - 7-15 molded-case circuit breaker (MCCB) - - - - - - - - - - - - - - - 2-28, 5-75
input circuit signal allocation - - - - - - - - - - - - - - - - - - - - - - - - - 7-32 moment load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-66
input impedance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 monitor display of reference pulse counter - - - - - - - - - - - - - - - 7-41
input power supply - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
input pulse form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37
input pulse frequency - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
N
input pulse type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
input signal monitor display - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
inspection and maintenance - - - - - - - - - - - - - - - - - - - - - - - - - 11-22 noise data- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69
noise filters
interface for reference input circuits - - - - - - - - - - - - - - - - - - - - 6-16
precautions on installation - - - - - - - - - - - - - - - - - - - - - - - 6-22
position reference input circuit- - - - - - - - - - - - - - - - - - - - - 6-17
internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69 recommended noise filter - - - - - - - - - - - - - - - - - - - - - - - - 2-29
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-29
J specifications and external dimensions - - - - - - - - - - - - - - - 5-76
JOG mode operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8 noise interference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
normal autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
L machine rigidity setting - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
less deviation control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-45 saving the results- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - 1-12
line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 N-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
load moment of inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-51
load regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
lost motion - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69
O
one-parameter tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
M one-parameter tuning for less deviation control - - - - - - - - - - - - 9-45
machine rigidity setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10 online vibration monitor (Fn018) - - - - - - - - - - - - - - - - - - - - - - 7-22
magnetic contactors online vibration monitor (Fn018) and EasyFFT (Fn019) - - - - - - 7-21
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-29 open-collector output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
specifications and external dimensions - - - - - - - - - - - - - - - 5-79 operating using position control- - - - - - - - - - - - - - - - - - - - - - - 8-49
main circuit operating using speed control with an internally set speed - - - - - 8-66
terminal names and descriptions- - - - - - - - - - - - - - - - - - - - - 6-3 operating using speed control with analog reference - - - - - - - - - 8-39
wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5 operating using torque control - - - - - - - - - - - - - - - - - - - - - - - - 8-61
main circuit cables origin search mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
SGMAS servomotor 50W to 600W - - - - - - - - - - - - - - - - - 5-13 output circuit interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
SGMAS servomotors 200W to 600W - - - - - - - - - - - - - - - - - 5-5 output circuit signal allocation- - - - - - - - - - - - - - - - - - - - - - - - 7-36
SGMAS servomotors 50W to 150W - - - - - - - - - - - - - - - - - - 5-4 output signal monitor display - - - - - - - - - - - - - - - - - - - - - - - - 7-39
SGMAS servomotors 750W and 1.15kW - - - - - - - - - - 5-6, 5-13 output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
SGMCS-B, C, D, and E servomotors - - - - - - - - - - - - - - 5-9 overshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
SGMPS servomotor 100W to 400W - - - - - - - - - - - - - - - - - 5-13
P
SGMPS servomotors 1.5 kW - - - - - - - - - - - - - - - - - - - - - - - 5-8
panel operator functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
SGMPS servomotors 100W- - - - - - - - - - - - - - - - - - - - - - - - 5-4
PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
SGMPS servomotors 200W to 400W - - - - - - - - - - - - - - - - - 5-5
PAO serial data specifications - - - - - - - - - - - - - - - - - - - - - - - - 8-35
SGMPS servomotors 750W- - - - - - - - - - - - - - - - - - - - 5-7, 5-13
parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-21
main circuit connectors
parameter setting mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
SGMAS servomotors 200W to 600W - - - - - - - - - - - - - - - - 5-11
PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
SGMAS servomotors 50W to 150W - - - - - - - - - - - - - - - - - 5-10
P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
SGMAS servomotors 750W to 1.15kW- - - - - - - - - - - - - - - 5-11
PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
SGMCS-B, C, D, and E Servomotors - - - - - - - - - - - - - 5-14
P-CON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
SGMCS-M and N servomotors - - - - - - - - - - - - - - - - - 5-15
peripheral device selection - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27
SGMPS servomotors 1.5kW - - - - - - - - - - - - - - - - - - - - - - 5-12
peripheral devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66
SGMPS servomotors 200W to 400W - - - - - - - - - - - - - - - - 5-11
perpendicularity between the flange face and output shaft - - - - - 3-67
SGMPS servomotors 750W- - - - - - - - - - - - - - - - - - - - - - - 5-12
photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
SGMSS servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
position control by host controller - - - - - - - - - - - - - - - - - - - - - 8-16
Index-2
Index
position control mode servo alarm output (ALM) - - - - - - - - - - - - - - - - - - - - - - 8-77, 11-2

status display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 servo gain
position integral time constant - - - - - - - - - - - - - - - - - - - - - - - - 9-54 adjustment methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
position loop gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 explanation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
position reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-56 servo ready (/S-RDY) output - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
position reference input circuit - - - - - - - - - - - - - - - - - - - - - - - - 6-16 servo system configurations - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
positioning completed output signal - - - - - - - - - - - - - - - - - - - - 8-58 servomotor inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
positioning completed width setting - - - - - - - - - - - - - - - - - - - - - 4-5 servomotor main circuit cables and connectors - - - - - - - - - - - - - 2-15
positioning completion (/COIN) - - - - - - - - - - - - - - - - - - - - - - - - 7-4 servomotor model designations
positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59 model SGMMJ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
positioning time reduction functions - - - - - - - - - - - - - - - - - - - - - 9-5 servomotor model display - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14 servomotor stop method at alarm occurrence - - - - - - - - - - - - - - 11-2
power loss settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28 servomotors
power ready - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 capacity selection examples- - - - - - - - - - - - - - - - - - - - - - - 12-2
power supply capacity per SERVOPACK- - - - - - - - - - - - - 2-28, 4-12 dimensional drawing list - - - - - - - - - - - - - - - - - - - - - - - - - 3-71
predictive control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-40 direction of rotation - - - - - - - - - - - - - - - - - - - - - - - - 3-64, 3-68
predictive control for locus tracking - - - - - - - - - - - - - - - - - - - - 9-40 model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
predictive control for positioning - - - - - - - - - - - - - - - - - - - - - - 9-40 nameplate- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
product part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 overhanging loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
program JOG operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - 7-10 precautions on installation- - - - - - - - - - - - - - - - - - - - - - - - 3-52
proportional (P) control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29 product part names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
proportional/integral (PI) control - - - - - - - - - - - - - - - - - - - - - - 9-29 winding resistance loss - - - - - - - - - - - - - - - - - - - - - - - - - 12-10
protective specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-65, 3-68 SERVOPACK inspection - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
PULS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14 SERVOPACK main circuit wire size- - - - - - - - - - - - - - - - - - - - 5-61
pulse dividing ratio setting- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-47 SERVOPACK part replacement schedule - - - - - - - - - - - - - - - 11-23
SERVOPACKs
Q
absorbable energy - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14
Q value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-51
applicable servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
R dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
rack-mounted type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
internal block diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
radial load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
load moment of inertia - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
rated torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69
model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
reactors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84
nameplate- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
connecting a reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-29
overload characteristics - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
power losses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
reference pulse inhibit function (INHIBIT)- - - - - - - - - - - - - - - - 8-60
product part names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
reference pulse input- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
reference unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
setting a reference pulse form - - - - - - - - - - - - - - - - - - - - - - - - 8-49
reference voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
setting for holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
regenerative resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14, 5-71
setting the electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
regenerative resistor capacity - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
setting the overtravel limit function - - - - - - - - - - - - - - - - - - - - 8-20
regenerative resistor unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-73
setting the servo ON signal - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
regenerative resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
setting the speed bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
calculating the required capacity- - - - - - - - - - - - - - - - - - - - 12-7
SGMAS servomotors
external - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
derating rate for servomotor fitted with a shaft seal - - - - - - - - 3-9
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30
dimensional drawings
relay replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23
(flange-type, with low-backlash gears and brakes) - - - - - - 3-109
reset the servo alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
reverse run prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
(flange-type, with low-backlash gears) - - - - - - - - - - - - - - 3-104
reverse run prohibited status display - - - - - - - - - - - - - - - - - - - - - 7-5 dimensional drawings (with brakes) - - - - - - - - - - - - - - - - - 3-81
rotation detection (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
rotation detection output signal (/TGON) - - - - - - - - - - - - - - - - - 8-78 (with low-backlash gears and brakes) - - - - - - - - - - - - - - - - 3-99
S dimensional drawings (with low-backlash gears) - - - - - - - - 3-94
selecting a position reference filter - - - - - - - - - - - - - - - - - - - - - 8-56
(with standard backlash gears and brakes) - - - - - - - - - - - - - 3-89
selecting an absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
dimensional drawings (with standard backlash gears) - - - - - 3-84
selecting the speed loop control method dimensional drawings (without gears) - - - - - - - - - - - - - - - - 3-78
(PI Control or IP Control) - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
holding brake electrical specifications- - - - - - - - - - - - - - - - 3-11
selecting the stopping method after servo OFF - - - - - - - - - - - - - 8-27
holding brake moment of inertia - - - - - - - - - - - - - - - - - - - - 3-9
SEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-52
SEN signal connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
ratings and specifications
sequence I/O signal monitor display - - - - - - - - - - - - - - - - - - - - 7-38 (flange-type, with low-backlash gears) - - - - - - - - - - - - - - - 3-16
sequence input circuit interface- - - - - - - - - - - - - - - - - - - - - - - - 6-18
ratings and specifications (with low-backlash gears) - - - - - - 3-14
serial converter unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
Index-3
Index
ratings and specifications (with standard backlash gears) - - - 3-12 SGMSS servomotors
ratings and specifications (without gears) - - - - - - - - - - - - - - 3-8 dimensional drawings
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-9 (flange type, with low backlash gears) - - - - - - - - - - - - - - -3-147
SGMCS servomotors dimensional drawings (without gears) - - - - - - - - - - - - - - -3-144
all middle-capacity series - - - - - - - - - - - - - - - - - - - - - - - 3-206 holding brake electrical specifications - - - - - - - - - - - - - - - 3-28
all small-capacity series - - - - - - - - - - - - - - - - - - - - - - - - 3-204 holding brake moment of inertia - - - - - - - - - - - - - - - - - - - 3-27
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-66 mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-52
ratings and specifications (middle-capacity series) - - - - - - - 3-50 ratings and specifications (with low-backlash gears) - - - - - - 3-30
ratings and specifications (small-capacity series) - - - - - - - - 3-46 ratings and specifications (without gears) - - - - - - - - - - - - - 3-27
torque-motor speed characteristics (middle-capacity series) - 3-51 shaft end specifications - - - - - - - - - - - - - - - - - - - - - - - - -3-151
torque-motor speed characteristics (small-capacity series) - - 3-48 torque-motor speed characteristics - - - - - - - - - - - - - - - - - - 3-28
SGMGH servomotors (1000 min-1) shaft end specifications for SGMGH, SGMSH and SGMDH
connectors conforming to IP67 and european safety servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-196
standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27 SIGN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
connectors for standard environments - - - - - - - - - - - - - - - - 5-25 smoothing capacitor replacement - - - - - - - - - - - - - - - - - - - - - -11-23
dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - 3-175 soft start- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
holding brake electrical specifications- - - - - - - - - - - - - - - - 3-41 software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 7-21
holding brake moment of inertia - - - - - - - - - - - - - - - - - - - 3-40 S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
main circuit connector pin arrangement- - - - - - - - - - - - - - - 5-26 speed coincidence (/V-CMP)- - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
servomotor main circuit connector pin arrangement - - - - - - 5-29 speed coincidence output - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - 3-40 speed control mode
with low-backlash gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-44 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
with standard backlash gears - - - - - - - - - - - - - - - - - - - - - - 3-42 speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
without gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39 speed feedback compensation - - - - - - - - - - - - - - - - - - - - - - - - 9-33
SGMGH servomotors (1500 min-1) speed limit during torque control - - - - - - - - - - - - - - - - - - - - - - 8-65
connectors conforming to IP67 and european safety speed loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22 speed loop integral time constant - - - - - - - - - - - - - - - - - - - - - - 9-21
connectors for standard environments - - - - - - - - - - - - - - - - 5-20 speed reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - 3-152 speed reference input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
holding brake electrical specifications- - - - - - - - - - - - - - - - 3-34 S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15, 8-79
holding brake moment of inertia - - - - - - - - - - - - - - - - - - - 3-33 standard replacement period - - - - - - - - - - - - - - - - - - - - - - - - -11-23
main circuit connector pin arrangement- - - - - - - - - - - - - - - 5-21 starting time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
servomotor main circuit connector pin arrangement - - - - - - 5-24 step response convergence time - - - - - - - - - - - - - - - - - - - - - - - 9-10
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - 3-33 stopping time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
with low-backlash gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-37 surge abosorber (for lightning surge) - - - - - - - - - - - - - - - - - - - 5-83
with standard backlash gears - - - - - - - - - - - - - - - - - - - - - - 3-35 surge absorber (for switching surge)- - - - - - - - - - - - - - - - - - - - 5-81
without gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32 surge absorber for brake power supply - - - - - - - - - - - - - - - - - - 5-82
SGMMJ servomotors (3000 min-1) - - - - - - - - - - - - - - - - - - - - - 3-7 surge absorber for magnetic contactor- - - - - - - - - - - - - - - - - - - 5-81
dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-72 surge absorbers
holding brake electrical specifications- - - - - - - - - - - - - - - - - 3-5 selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-29
holding brake moment of inertia - - - - - - - - - - - - - - - - - - - - 3-5 switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-6 switching the control mode - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
with standard backlash gears - - - - - - - - - - - - - - - - - - - - - - - 3-7 switching the servomotor rotation direction - - - - - - - - - - - - - - - 8-19
SGMPS servomotors
derating ratio for servomotor fitted with a shaft seal - - - - - - 3-19
T
dimensional drawings temperature regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
(flange-type, with low-backlash gears and brakes) - - - - - - 3-138 temperature-resistant vinyl cable - - - - - - - - - - - - - - - - - - - - - - 5-36
dimensional drawings terms for servomotors with gears - - - - - - - - - - - - - - - - - - - - - - 3-69
(flange-type, with low-backlash gears) - - - - - - - - - - - - - - 3-134 TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
dimensional drawings (with brakes) - - - - - - - - - - - - - - - - 3-116 through shaft section - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
dimensional drawings thrust load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54, 3-66
(with low-backlash gears and brakes) - - - - - - - - - - - - - - - 3-130 torque control mode
dimensional drawings (with low-backlash gears) - - - - - - - 3-126 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
dimensional drawings torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
(with standard backlash gears and brakes) - - - - - - - - - - - - 3-122 torque limiting using an analog voltage reference - - - - - - - - - - - 8-72
dimensional drawings (with standard backlash gears) - - - - 3-118 torque limiting using an external torque limit and analog voltage
dimensional drawings (without gears) - - - - - - - - - - - - - - - 3-114 reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73
holding brake electrical specifications- - - - - - - - - - - - - - - - 3-20 torque reference filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-50
holding brake moment of inertia - - - - - - - - - - - - - - - - - - - 3-18 torque reference input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-52 torsion rigidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69
ratings and specifications T-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
(flange-type, with low-backlash gears) - - - - - - - - - - - - - - - 3-25 trial operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
ratings and specifications (with low-backlash gears) - - - - - - 3-23 trial operation for servomotor without load - - - - - - - - - - - - - - - 8-16
ratings and specifications (with standard backlash gears) - - - 3-21 trial operation for servomotor without load from host reference - - 8-9
ratings and specifications (without gears) - - - - - - - - - - - - - 3-18 trial operation with the servomotor connected to the machine- - - 8-15
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - 3-19
Index-4
Index
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
troubleshooting for malfunction without alarm display - - - - - - - 11-18
U
UL standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
undershooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
using more than one SERVOPACK - - - - - - - - - - - - - - - - - - - - - 6-25
utility function mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
V
variable resistor for speed and torque setting - - - - - - - - - - - - - - 5-85
V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
VCT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
vibration class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-65, 3-68
vibration detection level initialization (Fn01B) - - - - - - - - - - - - - 7-25
vibration reduction functions - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
vibration resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64, 3-68
vibration suppression on stopping - - - - - - - - - - - - - - - - - - - - - - 9-52
vibration/shock resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
vinyl cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
voltage regulation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
voltage resistance test - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
V-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
W
WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15, 8-78
warning code outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
warning display and troubleshooting - - - - - - - - - - - - - - - - - - - 11-16
warning displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
wiring absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
wiring encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
wiring incremental encoders - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
wiring main circuit terminal block - - - - - - - - - - - - - - - - - - - - - - 6-4
wiring precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
write prohibited setting (Fn010) - - - - - - - - - - - - - - - - - - - - - - - 7-19
Z
zero clamp function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44
Index-5
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.‫ޓ‬SIEP S800000 00B
Published in Japan March 200502-07 5 -1
WEB revision number
Date of Revision number
publication Date of original
publication
WEB
Date of Rev.
Publication No. Rev. Section Revised Content
No.
July 2002 − − − First edition
May 2003 1 − 1.3 Addition: Note
Revision: Example of servo system configurations
1.4 Addition: Applicable standards
2.2 Addition: Fully-closed type
2.4 Addition: Encoder cable extension, and flexible-type cable
Chapter 3 Completely revised
4.3.4 Addition: SERVOPACK internal block diagrams of single-phase 200 V, 800 W model
4.5.3 (3) Addition: Load moment of inertia and motor speed for SGMCS servomotors
Chapter 5 Revision: Description of Servomotor main circuit cable and encoder cable
Addition: Flexible-type cable
Deletion: List of arranged cable models
5.1.19 (3)-(b) Revision: IP67-environment servomotor plug model
5.1.20 Addition: Section of flexible cables
5.1.21 Addition: Section of encoder cable extension
5.4.1 (2) Revision: I/O signal cable model
5.5.7 (1) Addition: Encoder cable model
6.1.1 Revision: Tables of main circuit terminals
6.1.3 (4) Addition: Description of DC power supply input
6.4.2 (3) Revision: Table
6.4.5 (2) Revision: Diagram
7.2.1 Deletion: Fn01C and Fn01D
7.2.4 Revision: Speed diagrams
7.2.10 Addition: Servomotor model code
7.2.13 Addition: Important
7.2.15 Completely revised
7.3.1 (2)-(d) Addition: Parameter example
7.3.2 (3) Addition: supplement
7.3.3 Revision: Table
8.1 Completely revised
8.3.3 (3) Revision: Pn001
8.4.6 (3) Deletion: Pn212
8.6.7 (1) Revision: Diagram
8.7.4 (2) Addition: Pn408
8.9 Revision: Description of limiting torque
9.1.2 Revision: Related parameters
9.5.2 Addition: Section on manual servo tuning
WEB
Date of Rev. Rev. Section Revised Content
Publication No.
No.
May 2003 1 − 9.6.2 Addition: Section on torque feed-forward
9.6.3 Addition: Section on speed feed-forward
9.6.9 to 9.6.12 Completely revised
Chapter 10 Addition: Section on fully-closed control
11.1.1 Addition: Alarm A.042
11.1.2 Addition: Note 2
11.1.3 (1) Addition: Alarm A.042
12.2.1 Addtion: Description of MP920 connection cable
12.3.1 Deletion: Fn01C and Fn01D
12.3.2 Addition: Pn20A, Pn281, Pn51B, Pn52A, Pn119, Pn11A, Pn11E, and Pn144
Revision: Pn002, Pn006, Pn007, Pn008, Pn10B, Pn110, Pn1A2, Pn1A3, Pn1A4, Pn1A9,
Pn1AB, Pn1AC, Pn408, Pn50A, and Pn50B
Addition: Supplement under Pn50B
12.4 Addition: Parameter recording table
Back cover Revision: Address
February 2004 2 − All chapters Addition: Servomotor type
SGMAS-12A, SGMPS-15A, SGMSS-15A to 30A
SGMCS (Small-capacity series), SGMCS-25D, 35E
SGMCS (Small-capacity series), SGMCS-45M to 1AM, 80N to 2ZN
Addition: SERVOPACK type
SGDS-15 to 30
3.2.1 (4) Revision: Torque-motor Speed Characteristics (SGMPS-15A)
Chapter 5 Revision: Description of Motor main circuit encoder cables
7.4 Addition: Monitor Mode Un00E, Un00F
12.3.3
Chapter 11 Addition: Alarm A.051, A.0b0, and A.521
April 2004 3 − 3.9.4 to 3.10.8 Revision: Numerical value
5.2.3 Revision: Connector specifications of 750 W and 1.15 W SGMAS Servomotors
5.10.4 (3) Revision: Connector type
8.5.7 Revision: Description of pulse width
11.1.3 Revision: Alarm A.100
11.2 Revision: Inspection and Maintenance
November 2004 4 − All chapters Addition: SGMSS-40 and -50 servomotors
Addition: SGDS-50 SERVOPACK
2.5.2 Revision: Encoder cable for SGMSS servomotor
Connector type at encoder end conforming to the protective structure IP67
3.4.1 Revision: Stall torque of SGMCS servomotors (small-capacity series)
4.1 Revision: Frequency characteristics of SGDS-15 to -30 SERVOPACKs
4.3 Revision: SERVOPACK internal block diagrams
4.5 Revision: Overload characteristics
4.8 Addition: Dimensional drawings of rack-mounted SERVOPACK model SGDS-15 to -30
6.4.6 Addition: UL installation conditions
Chapter 10 Revision: Type of serial converter unit A00 to D00
Chapter 11 Addition: Alarm A.731 and A.921
12.3.2 Revision: Pn001, Pn110, Pn1A7, Pn40A, and Pn40D
Addition: Pn1B5
December 2004 5 0 6.4.6 Addition: Inch notation
March 2005 1 11.1.3 Revision: Alarm A.100, A.710, and A.720
September 2005 6 0 All chapters Addition: Servomotor models
SGMMJ-A1B to A3B, SGMSS-70A, SGMGH (1500 min-1), and
SGMGH (1000 min-1)
SERVOPACK models
SGDS-A3B, SGDS-60A, and SGDS-75A
5.10.7 Addition: Description of regenerative resistor unit
9.5.6, 9.5.7 Addition: Guidelines for manual tuning of servo gains and safety precautions on adjustment
of servo gains
WEB
Date of Rev. Rev. Section Revised Content
Publication No.
No.
March 2006 7 0 2.3, 4.5.1, Slightly revised
4.5.3 (5)
January 2008 8 0 – Based on Japanese user’s manual, SIJPS80000000I<14>-1, available on the web.
All chapters Deletion: Non-metric units of measurement, including Fahrenheit.
September 2008 9 0 Back cover Revision: Address
AC Servo Drives
Σ -III Series
SGM/SGDS
USER'S MANUAL
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, 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
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
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.
© 2002-2008 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP S800000 00G

Published in Japan September 2008 02-7 9 -0
08-5-3

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モーションコントロール事業部（A4）（英文）

SERVOPACK Specifications and 4

MANUAL NO. SIEP S800000 00G

 Description of Technical Terms

 Indication of Reverse Signals

INFO • Indicates supplemental information.

EXAMPLE • Indicates application examples.

Refer to the following manuals as required.

Manual Name Manual Number Contents

would be used to indicate that fire is prohibited as follows: .

be used as follows to indicate that grounding is compulsory: .

The ISO symbol is used in this manual.

 Storage and Transportation

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27

3.2 Ratings and Specifications of SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - 3-8

3.3 Ratings and Specifications of SGMPS Servomotors - - - - - - - - - - - - - - - - - - - 3-18

3.4 Ratings and Specifications of SGMSS Servomotors - - - - - - - - - - - - - - - - - - - 3-27

3.5 Ratings and Specifications of SGMGH (1500min-1) - - - - - - - - - - - - - - - - - - - - 3-32

3.6 Ratings and Specifications of SGMGH (1000 min-1) - - - - - - - - - - - - - - - - - - - 3-39

3.7 Ratings and Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - 3-46

3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS,

3.10 Terms for Servomotors with Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69

3.13 Dimensional Drawings of SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - - 3-78

3.14 Dimensional Drawings of SGMPS Servomotors - - - - - - - - - - - - - - - - - - - - 3-114

3.16 Dimensional Drawings of SGMSS Servomotors - - - - - - - - - - - - - - - - - - - - 3-144

3.17 Shaft End Specifications for SGMSS Servomotors - - - - - - - - - - - - - - - - - - 3-151

3.19 Dimensional Drawings of SGMGH Servomotors (1000 min-1) - - - - - - - - - - 3-175

3.20 Shaft End Specifications for SGMGH Servomotor - - - - - - - - - - - - - - - - - - - 3-196

4 SERVOPACK Specifications and Dimensional Drawings

4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-12

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model

4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.2 Servomotor Main Circuit Cables and Connectors - - - - - - - - - - - - - - - - - - - - - 5-10

5.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

5.4 Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.5 Encoder Cables and Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50

5.6 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

5.9 CN1 Cables for I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63

5.10 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66

6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.3 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.5 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29

7.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - - - - - - - - - - - - - - 7-27

7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38

8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 8-39

8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49

8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61

8.9 Limiting Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69

8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75

9.2 Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7

9.3 Advanced Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13

9.4 One-parameter Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17

9.5 Manual Servo Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18

Description of Technical Terms

Indication of Reverse Signals

Storage and Transportation

7.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - - - - - - - - - - - - - - 7-27

7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38

INFO Connecting terminal