Operador Digital Operacion

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DIGITAL OPERATOR
INSTRUCTIONS
HAND-HELD TYPE FOR AC SERVOPACK TYPE SGD, SGDA, SGDB, SGDE, DR2
TYPE JUSP-OP02A-1
Before initial operation, read these instructions thoroughly, and retain for future reference.
#
'
YASKAWA
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
NOTES
(1) Factory setting of Cn-04 (speed loop gain) is determined b y the
follow-ing conditions :
Load inertia 5 motor inertia ~3
Be sure t o set the value of C n - 0 4 t o 4 0 or less when motor is rotated
without load. If the value has been kept a t the factory setting, the
m o t o r m a y oscillate.
(2) The encoder has been preset t o incremental encoder 2048Pulses/Rev

a t the factory prior t o shipment. When another encoder is used, set
b i t E of user constants C n - 1 1 and Cn-01. I
(3) AC SERVOPACK (type SGD, SGDA, and SGDE) has two control
types ; speed control (torque control) and positioning control. Since
each has different operations, make sure of your SERVOPACK t y p e
and read the section stated in Table 1.1 for each operation.
(4) AC SERVOPACK (type SGDB and DR2) has t w o control types,

depending on user constant selection-position control and speed
control (torque control). Since each has different operations, make
sure of your SERVOPACK type and read the section stated in Table
1 . 1 for each operation. i
(5) Mounted-type digital operator (type JUSP-OP03A) is also available
for SERVOPACK (type SGD, SGDA, SGDB, and SGDE). For
mounted-type, refer t o the instruction manual (TOE-S800-15.4).
Only a hand-held type digital operator can be used with type DR2
SERVOPACK.
(6) Digital operator (type JUSP-OP02A) f o r SERVOPACK (type DR1)

requi-res a different connecting cable.
CONTENTS
1. OUTLINE OF THIS M A N U A L .................................................................. 4
2. OPERATION M E T H O D FOR SERVOPACK SGD-I .. iS
FOR SPEED (TORQUE) CONTROL ............................................................ 5
2.1 SWITCH OPERATION ........................................................................... 5
2.2 DIGITAL OPERATOR FUNCTIONS ......................................................... 6
2.3 STATUS ~ N D ~ C A T ~ MODE O N .................................................................. 7
2.4 SETTING MODE .................................................................................... 9
2.4.1 User Constant (Data) Setup and Monitor ............................................. 9
2.4.2 User Constant (Memory Switch) Setup and M o n i t o r .............................. 21
2.4.3 D i g i t a l Operator J o g Operation Mode
Selection and Operating Procedure ...................................................... 34
2.4.4 Speed Reference Offset Adjustment ................................................... 36
2.4.5 Clearing Fault Traceback D a t a ............................................................ 37
2.4.6 Speed Reference Offset Manual Adjustment .......................................... 38
2.4.7 Check of M o t o r ................................................................................. 40
2.4.8 A u t o T u n i n g .................................................................................... 42
2.4.9 Check of Software Version .................................................................. 45
2.5 MONITOR M O D E ................................................................................. 47
2.6 FAULT TRACEBACK MODE .................................................................. 51
3. OPERATION METHOD FOR SERVOPACK SGD-I : : iP

FOR POSlTlONING CONTROL ............................................................... 53
3.1 SWITCH OPERATION ........................................................................... 53
3.2 DIGITAL OPERATOR FUNCT~ONS......................................................... 54
3.3 STATUS l N D l C A T l O N MODE ............................................................... 55
3.4 SETTING MODE ................................................................................. 57
3.4.1 User Constant (Data) Setup and Monitor .............................................57
3.4.2 User Constant (Memory Switch) Setup and Monitor ..............................70
3.4.3 D i g i t a l Operator J o g Operation Mode
Selection and Operating Procedure ...................................................... 85
3.4.4 Clearing Fault Traceback D a t a ............................................................ 87
3.4.5 Check of M o t o r ................................................................................. 88
3.4.6 A u t o Tuning ....................................................................................90
3.4.7 Check of Software Version ..................................................................93
3.5 MONITOR M O D E .................................................................................95
3.6 FAULT TRACEBACK MODE ............................................................... 100
APPENDIX 1 SGD USER CONSTANT L l S T FOR SPEED

(T0RQUE)CONTROL .........................................................102
APPENDIX 2 SGD USER CONSTANT LlST FOR
POSlT\ON\NG CONTROL ................................................... 104
APPENDIX 3 SGDA USER CONSTANT LlST FOR SPEED
(TORQUE) CONTROL ...................................................... 106
APPENDIX 4 SGDA USER CONSTANT LIST FOR POSITION CONTROL ......108
APPENDIX 5 SGDE USER CONSTANT LlST FOR SPEED
(TORQUE) CONTROL ...................................................... 110
APPENDIX 6 SGDE USER CONSTANT LIST FOR POSITION CONTROL ......112
APPENDIX 7 SGDB USER CONSTANT LlST FOR POSITION CONTROL /
SPEED (TORQUE) CONTROL ............................................. 113
APPENDIX 8 D R 2 USER CONSTANT LlST FOR SPEED
(TORQUE) CONTROL ...................................................... 117
APPENDIX 9 D R 2 USER CONSTANT LIST FOR POSITION CONTROL .........119
1. OUTLINE OF THIS MANUAL
AC SERVOPACK (type SGD, SGDA, and SGDE) h a s two control types ;

speed control (torque control) and positioning control. Since each has
different operations, m a k e sure of your SERVOPACK type and read the
section stated in Table 1.1 for each operation.
AC SERVOPACK (type SGDB, DR2) also has two control types, speed
control (Torque control) and positioning control, depending on user
constant selection.
Table 1.1 O u t l i n e of This M a n u a l
SERVOPACK type Digital Operator Section Page
For Speed Control

(Torque Control)
SG Hand.held Type 5
SG 2 to
SG (type : JUSP-OP02A-1) 52
SG
DR
For Poslt~onControl
Hand-held Type 53
3 to
(type : JUSP-OP02A-1) 101
2. OPERATION METHOD OF HAND-HELD TYPE DIGITAL
OPERATOR (JUSP-OPO2A-1) FOR SPEED (TORQUE)
CONTROL
This section explains the operation method when SERVOPACK for speed
control (torque control) is operated using a hand-held type digital
operator (JUSP-OP02A- 1 ).
2.1 SWITCH OPERATION

Fig.2.1 shows the digital operator. T h e digital operator has various func-
tions a s listed by modes in Par.2.2, "DIGITAL OPERATOR FUNCTIONS"
(p.6).
Notes:
1. T h e data set by the digital operator is retained in SERVOPACIC even after the power is
turned OFF.
2. Even if the power is turned OFF after fault occurrence, the fault data is retained in memory.
Therefore, it is possible to check the fault data after the power is turned back ON.
3. The monitor mode can be changed even during operations.
5-DIGITS, 7-SEGMENTS LED

/-----------
KEYS
Fig. 2.1 DIGITAL OPERATOR (HAND HELD TYPE)

JUSP-OP02A-1
2.2 DIGITAL OPERATOR FUNCTIONS
Table 2.1 shows the digital operator's functions. T h e status display is the
default when control power is turned ON. T o change the mode, use
[w] key a s shown in Fig.2.2.
Table 2.1 Digital Operator Functions
Mode Function
Various Status Indications
Status lndication Base Block
Mode On Operation (See Par.2.3)
.Fault
Refer to "User Constant Setting." (See Par.2.4.1)
Ooeration (JOG) from diaital ooerator (See Par. 2.4.3)
~ k e ~efe'ience
d / ~ o r q u e~ e f e i e n c eOffset Adjustment (See Par.2.4.4)
Setting Mode . Clearing Fault Traceback Data
Check o f Motor
(See Par.2.4.5)
(See Par.2.4.7)
Auto Tuning (See Par.2.4.8)
Ct ?ck o f Software Version (See Par.2.4.9)
Various Monitoring
Speed
-Speed Reference
Monitor Mode Torque Reference
Number o f Pulses from Origin (Phase- U )
Electrical Angle
Internal Status Bit (See Par.2.5)
Fault Traceback Fault History (See Par.2.6)
lndication Mode
i
Control Power
Supply
PANEL INDICATION
I t
Status lndication Mode
I
1 - Fault Traceback Indication Mode ~-qq~pJ
Fig. 2.2 Mode Changeover

-6-
2.3 STATUS INDICATION MODE
When this mode is selected, the condition of SERVOPACK is indicated
with bits and codes a s shown in Fig.2.3. Table 2.2 shows the bit data
contents. Table 2.3 shows the codes and conditio~ls.
ALARM : Alarm reset switch
(RESET)
Panel Display
SPEED COINCIDENCE
(TORQUE LIMIT DETECTION) Note3
Type SGDB: Light goes ON during
S P E E D R E F E R E N C E INPUT
POWER SUPPLY O N CODE

T O R Q U E R E F E R E N C E INPUT
POWER READY(Type SGDB,DRP)
Notes :
1. TGON or current limit detection is displayed according to bit 4 of user constant Cn-01
(Type SGD, SGDA, SGDE). TGON is displayed a t type DR2.
2. TGON or brake interlock signal is displayed according to bit E of user constant Cn-01
(Type DR2).
3. Torque limit detection or speed agreed can be selected according to bit 4 of user
constant Cn-01 (Type DR2).
Table 2.3 Status Indication Mode
2.3 STATUS INDICATION MODE (Cont'd)
Table 2.2 B i t Data Contents
Bit Data Contents Remarks

Light goes ON with power supply ON. Type SGDA,
Light goes OFF with power supply OFF. SGDE, SGD
Power Supply ON
Light goes ON with control power supply ON.
Light goes OFF with control power supply OFF. Type SGDB
Light goes ON with base block, and goes OFF

with servo ON.
Light goes ON when motor rotating speed

Speed Agreed reaches internal speed reference set by a speed
reference or parameter.
-
Torque Limit Ltght goes ON when internal torque reference is Type DR2 : Selected
Detect~on higher than torque limit detection level. by bit 4 of user
constant Cn-01
TGON Light goes ON with motor rotating speed higher Type SGD, SGDA,
than TGON level. SGDE : Selected by
bit 4 of user
Torque Limit Light goes ON when torque reference reaches constant Cn-01.
Detection the torque limit value. Type SGDB : TGON
TGON Light goes ON with motor rotating speed higher

than TGON level. Type DR2 :
Selected by bit E of
Brake Interlock Light goes ON when brake is released at brake user constant Cn-01
Signal interlock ON.
Speed Reference Light goes ON with speed reference input equal

lnput t o or higher than TGON level.
Torque Reference Light goes ON with torque reference input less Only at torque
lnput than 10% of rated torque. control
Power Ready
(Main Circuit Light goes ON when main circuit power supply
is normal. Type SGDB, DR2
Power Supply ON)
Table 2.3 Codes and Status
Code Status
Base Block
On Operation
Forward R u n n ~ n gP r o h ~ b ~ t e d
Reverse R u n n ~ n gP r o h ~ b ~ t e d
Ararm Status
Refer t o Table 2.9.
2.4 SETTING MODE
In this mode, the following operations can be performed.

@User constant setup and monitor
()Jog operations from the digital operator
@Offset adjustment
@Fault traceback data clearing
@Check of motor
@Auto tuning
@Check of software version
2.4.1 User Constant (Data) Setup and Monitor

(Cn-03 t o Cn-23)
Panel Display 0 El
~jjoaD
BLINK
OMBrnpj
u \ ,
J
SETTING MODE ITEM No. [C] DATA
El
Fig. 2.4 User Constant Setting
Set up the item number with the C/\7 , CV=) ,

OWith the or a a
,or m k e y .
key, choose a setup digit. The chosen digit
starts blinking to indicate that its numerical value can be changed.
OWith the m o r m key, increase or decrease the numerical
value until the desired.value is obtained.
DATA
With the ENTER key, display the data related to the selected item
number .
With the a , , CL), or
same operation as stated in 0 . )
1>7
key, set up the data. (The
Retain the data with the

DSPL
key . k]
-
key, return to the item No. display status.
Repeat steps 0 through H as needed.
Using t h e m ] key, switch from the setting mode to the monitor
mode.
(Con't d)
Table 2.4, 2.5, 2.6, 2.7, and 2.8 show user constants (Constant Setting)
Cn-03
Symbol 1
VREFGN Speed Reference Gain
Name 1
Table 2.4 Type SGD User Constants List
Unit
(r/mln) /v
Cn-04 / LOOPHZ /speed Loop G a ~ n 1 Hz

Speed Loop
l n t e ~ r a t i o nTime
O !
Max
Torque 1 Max
Torque
, / Max I Max /
I
Cn-09 ~ T L M T R Toraue
Reverse Limit
Running
Cn-18 I C LMI F 1 Forward Limit

Current External
0-19 I C LMI R IReverse Limit

Current External
Cn-07 / I
SFSACC Start
( Time
Acceleration)
Cn-23 SFSDEC Soft Start Time
(Deceleration) ms
I
Cn-OB TGONLV Izero-speed Level 1 r/min
Cn-OF 1 ZCLVL Izero-clamp Level 1 r/min 0 / Max Speed 1
I I
-
10 1
I
Cn-22 VCMPLV Speed Coincidence
Signal Output Width r/min
Delay Time from
Cn-12 BRKTIM Braking Reference to 10 ms
SVOFF
100% = r a t e d torque
Notes:
1.Factory setting of Cn-04(speed loop gain) is determined by the following conditions:
Load inertia 5 motor inertia X 3
Be sure to set the value of Cn-04 to 40 or less when motor is rotated without load. If the value has
been kept a t the factory setting, the motor may oscillate.
2. After modifying Cn-OA (PG division ratio setting), and Cn-11 (number of encoder pulses setting),
turn OFF power and s t a r t up again. T h e modified value takes effect only after restarting.
3. Cn-1A (position loop gain) is required when zero-clamp function is used
4. When soft s t a r t function is used, both Cn-07 and Cn-23 should be set
Table 2.4 Type S G D User Constants
--
List(Contld)
User
:onstant
Symbol /
I
Name Unit
-
Upper
Limit
Setting
Prior to
;hipment
Brake Timing a t
Motor Rotation Max
Cn-15 BRKSPD 100
(Speed level a t which brak, Speed
reference is output.)
-
Brake Timing a t
Motor Rotation
0-16 50
SVOFF to brake
reference outuut.)
PGRAT PG Dividing Ratio
Number of Encoder
PULSNO
Pulses
Mode Switch Max

(Torque Reference) Torque
RWMSW / Mode Switch

(Speed Reference)
Max
Speed
-
Mode Switch
3000
Max
Sueed
Max
SPEED1 1st Speed
Soeed
Max
SPEED2 2nd Speed
Soeed
Max
SPEED3 3rd Speed
- Speed
1.Factory setting of Cn-04 (speed loop gain) is determined by the following conditions
Load inertia S motor inertia X 3
Be sure to set the value of Cn-04 to 40 o r less when motor is rotated without load. If the value has
been kept a t the faclory setting, the motor may oscillate.
2.After modifying Cn-OA (PG division ratio setting), and Cn-11 (number of encoder pulses setting),
turn OFF power and s t a r t up again. T h e modified value talces effect only after restarting.
3. Cn-1A (position loop gain) is required when zero-clamp function is used.
4. When soft s t a r t function is used, both Cn-07 and Cn-23 should be set.
Table 2.5 Type SGDA User Constants List
User
:onstant
I Symbol 1
I
Name
I I I
C n - 0 3 VREFGN Speed Reference G a ~ n (r/m~n)/V 0 2162 500

.. -- - - - .---.. - - .
. - -.
Cn-04 ILOOPHZI Speed Loop Gain / HZ I 1 1 2000 / 80 1 Note 2
1
Cn-05 PITIME
I Speed Loop Integration
Time Constant 1 ms
1 1 2 10000 1 20 1 Note 2
Note 2
Cn-1A POSGN Position Loop Gain 1/s 1 500 40 Note 3
Cn-13 TCRFGN Torque Reference Gain &V/Rating 10 100 30
C n - 0 6 EMGTRQ Emergency Stop Torque % 0 Max. Torque Max. Torque OT Made
Forward Running Torque
Cn-08 TLMTF % 0 Max. Torque Max. Torque
Limit
Reverse Running Torque

Cn-09 TLMTR % 0 Max. Torque Max. Torque
Limit
Cn-14 TCRLMT Speed Limit with Speed r/min 0 Max. Speed Max. Speed
Control 1
Torque Reference Filter

Cn-l TRQFIL 1 0 0 s~ 0 250 4
Time Constant
Cn-18 CLMIF
I I Forward External Current
Limit
%
1 I 0 Max. Torque 1 100 I
Reverse External Current
Cn.19 CLMIR % 0 Max. Torque 100
Limit
/
Cn-07 ~SFSACC S o f t S t a r t Time (Accel) I ms I 0 I 10000 1 0 I Note 4
Cn-23 ~SFSDEC S o f t S t a r t Time (Decel) Ims / 0 I 10000 I 0 I Note 4
Cn-OB TGONLV Zero-speed Level r/min 1 Max. Speed 20
Cn-OF ZCLVL Zero-clamp Level r/min 0 Max, Speed 10
I Delay Time f r o m Braking / lomi 1 / 5o 1 I

1 1 1 1
"-12 ls~''lM Command t o SVOFF
Brake T i m i n g a t M o t o r
Rotation 0 M a x , Speed 100
(speed level at which brake 'Imin
command is output.)
Brake T i m i n g a t M o t o r
BRKWA' Rotation 'Oms 10 100 50
(waiting time from SVOFF to
brake command output.)
Agreed Signal
Cn.22 VCMpLV r/min 0 100 10
Output Width
pulses
Cn-OA PGRAT PG D i v ~ s i o nRatio 16 32768 2048 Note 1
rev
I F:Fes 513 1 32768 1 2048 1 Note 1
Table 2.5 Type S G D A User Constants List (Cont'd)
Symbol Name Lower Upper Setting Prior

co:& Unit
Llm~t Limlt to Shipplng
Remarks
Cn-20 SPEED2 Internal Setting Speed 0 Max. Speed 200

Selection (2nd Speed)
Cn-21 SPEED3 Internal Setting Speed

Selection (3rd Speed) 0 Max. Speed 300
Cn-28 NFBCC Speed Loop Compensation 0

Constants 100
Cn-29 AXISNO Axis Address - 0 14
: User constants that must b e set
Notes :
1. After changing the setting, always turn the power OFF, then ON. This makes the new
setting valid.
2. Automatically set by auto tuning function.
3. Valid only when zero-clamp function is used.
4. T o use soft start function, always set both Cn-07 and Cn-23.
Table 2.6 Type S G D E User Constants List
User1
constant Symbol
1 Name 1 Unit 1 1 Lower
Limit
Upper
Limit / to ShippingI
Setting Prior Remarks
I I I I I I I
Cn-03 IVRFGN / speed Reference Gain I(r/min)/~ 1 0 1 2162 1 500
Cn-04 LOOPHZ Speed Loop Gain Hz 1 2000 80 Note 2
Speed Loop Integration 2 Note 2

Cn-05 PITIME ms 10000 20
Time Constant
A I I I I I I
Cn-07 SFSACC Soft Start Time (Accel) ms 0 10000 0
Cn-08 TLMTF Forward Running Torque Limit % 0 Max. Torque Max. Torque
Cn-09 TLMTR Reverse Running Torque Limit % 0 Max. Torque Max. Torque
I
Cn-OA ~ P G R A T PG Division Ratio I P/R / 16 1 32769 1 1024 1 Note 1
Cn-OB TGONLV Zero-speed Level r/min 1 Max. Speed 20
TRQMSW
Mode Switch 0 Max. Torque 200
Cn.OC
(Torque Reference) %
Cn-OF ZCLVL Zero-clamp Level r/min 0 16383 10

Delay Time from Braking
Cn-12 BRKTIM lOms 0 50 0
Reference t o SVOFF
Cn-13 TCRFGN Torque Reference Gain O.lV/Rating 10 100 30

'peed Control
Cn.14 TCRLMT 0 Max. Speed Max. Speed
with Torque Control 1
Cn-17
1 TRQFIL Torque Reference Filter
/ T i m e Constant ( 0O
~ I O 2M~ S
4 1 I /
Forward External Torque
Cn-18 CLMIF % 0 Max. Torque 100
Limit
Reverse External Torque

Cn-19 CLMIR % 0 Max. Torque 100
Limit
Cn-1A POSGN Position Loop Gain 1/s 1 500 40 Note 3
Internal Setting
Cn-lF SPEEDl r/min 0 Max. Speed 100
Speed (1st Speed)
Internal Setting
Cn-20 r/min 0 Max. Speed 200
Speed (2nd Speed)
Internal Setting
Cn-21 SPEED3 r/min 0 Max. Speed 300
Speed (3rd Speed)
I I I I I I I
Cn-23 SFSDEC Soft Start Time (Decel) ms 0 10000 0
Notes :
1. A f t e r changing the setting, always t u r n the power OFF, then ON. This makes the new
setting valid.
3. V a l i d only when zero-clamp function is used.
Table 2.7 Type SGDB User Constants List
User
Lower Upper Factory ~~~~~k~
Category >onstant Code Name Unit Limit Limit Setting
No.
I
Cn 1 1 PULSNO Number of encoder pulses P/R 513 32768 a1 Note 1

Basic
Constants
-
I
-. - -
Cn-2B CTLSEL Control method selection

--
I*
,
1 I 0 / 11 I 0 I Note I
I
Cn-04 LOOPHZ Speed loop gain Hz 1 2000 80 Note 2
Speed loop integration Note 2
Cn-05 PlTlME 0.Olms 200 51200 2000
time constant
Cn-1A POSGN Position loop gain 1/s 1 1000 40 Note 2
Cn-1C BIASLV Bias r/min 0 450 0
Cn-1D FFGN Feed-forward % 0 100 0
Torque reference filter
Gain Cn-17 TRQFIL time constant O.lms 0 250 t2
Related
Constants Speed loop compensation - 0
Cn-28 NFBCC 0 100
constant
Mode switch torque
Cn-OC TRQMSW % 0 800 200
reference
Mode switch speed 10000 0
Cn-OD REFMSW
reference
r/min 0
I I I I I I I
Cn-OE ACCMSW Mode s w ~ t c haccelerat~on lOr/min/s 0 3000 0
1 $ FI ~I ~ 1 1
I I I
/
I I I I
Cn.OF ERPMSW Mode switch error pulse 0 10000 0

Cn-OA PGRAT PG dividing ratio P/R 16 32768 *l
Electronic gear ratio 4 Note 1
Cn-24 RATB (numerator)
-
1 65535
Electronic gear ratio 1 1 Note 1
Cn-25 RATA (denominator)
-
65535
I 1. I I I I I
Reference Soft start acceleration

Cn-07 SFSACC ms 0 10000 0 Note 3
related time
I I I I I I
Constants Soft start deceleration
Cn-23 SFSDEC time ms 0 10000 0 Note 3
Position reference ac-

O.lms 0 640 0
constant
Cn-27 FFFILT Feed-forward filter O.lms 0 640 0
Forward rotation torque
Cn-08 TLMTF % 0 800 800
... ... -
limit
Reverse rotation torque 800
Torque Cn-09 TLMTR % 0 800
limit
Related
Constants Forward external current
Cn-18 CLMIF % 0 800 100
limit
e
sx;; external current
Cn-19 CLMIR % 0 800 100
*1 Refer to page 18.

*2 6.01tw or less : 4, 7.5kw : 8, 11.0 t o 15.0kw : 16.
- 15-
Table 2.7 Type SGDB User Constants List (Cont'd)
Category :onstant
"Ier
No.
/Code Name Unit
i I
J P P Factory
~ ~
Limit Setting
Remarks
Torque
I I
Cn-06 EMGTRQ Emergency stop torque %
Related
Constant: I I
Cn-13 TCRFGN Torque reference gain
control
I
Cn-OB TGONLV I Zero-speed level
Cn-29 I ZCLVL I Zero clamp level
1
Cn-22 VCMPLV Speed coincidence signal
range
reference
range unit
Sequence 256refer.
Related ence unit
Constant!
Cn-12
I I BRKTIM Time delay from brake

reference until servo OFF
1Oms
I I Speed level for brake

Cn-15 BRKSPD reference output during
motor operation
I I
I
Output timing of brake
Cn-16 BRKWAI reference during motor
operation
Cn-10 JOGSPD / J o g speed
".lF 1 1 1st speed (contact input

speed control)
Other
Constant!
/ I
Cn-20 SPEEDP 2nd speed (contact input
speed control)
3 r d speed (contact input

speed control)
*3 Refer t o the n e x t page.

: User constants that must be set.
Notes :
1. A f t e r changing the setting, always t u r n the power OFF, then ON. T h i s makes the new
setting valid.
2. Automatically set b y auto tuning function.
3. T o use soft start function, always set b o t h Cn-07 and Cn-23.
4. Refer t o the n e x t page.
Note 4 : Control method selection (Cn-2B) setting values
Setting value Control method
0 Speed control (analog reference)
1 Positlon control (pulse tram reference)

1 Torque control (analog reference)
2
3
I
Speed control (contact reference)
ISpeed control (contact reference)
- Speed control ( 0 reference)
--
4 u Speed control (analog reference)
5 Speed control (contact reference) Position control (pulse train reference)
6 Speed control (contact reference) Torque control (analog reference)

I
7 Posltion control (pulse tram reference)- Speed control (analog reference)
8 Position control (pulse train reference)- Torque control (analog reference)

9 Torque control (analog reference) u Speed control (analog reference)
10 Speed control (analog reference) u Zero clamp control
11 Position control (pulse train reference)- Position control (inhibit)
Outputs signal selection (CN-2D) setting values

Selects which function of signal sent to output signal of 1CN.
1st decimal digit to select function of CN-25, 26 ( m / m )

2nd decimal digit to select function of CN-27, 2 8 (m)
3rd decimal digit t o select function of CN-29, 3 0 (m)
Setting value Function
0 m/m(only assigned to 1CN-25, 26)
6 ~ O alarm
L
Setting prior t o shipping
SERVOPACK Type M o t o r Type
SGDB-05ADG SGMG-05A * A 142

SGDB-1OADG SGMG-09A* A 143
SGDB-15ADG SGMG-13A *A 144
SGDB-6OADG SGMG.55A * A 148
SGDB-75ADG SGMG-75A* A 149
S G D B - 1AADG SGMG-lAA*A 140
SGDB-1 EADG SGMG.1EA * A 150
SGDB-03ADM SGMG-03A* B 171
SGDB-07ADM SGMG-OGA* B 172
SGDB-1OADM SGMG-09A* B 173
SGDB-20ADM SGMG-20A *B 175
SGDB-30ADM SGMG-30A *B 176
SGDB-60ADM SGMG-6OA B * 178
SGDB-lOADS SGMS-1OA *A 163
SGDB-15ADS SGMS-15A * A 164
SGDB-20ADS SGMS-20A *A 165
SGDB-30ADS SGMS-30A* A 166
SGDB-50ADS SGMS-50A* A 168
SGDB-3OADD SGMD-22A* A 155
SGDB-44ADD SGMD-32A * A 156
SGDB.5OADD SGMD-40A * A 157
SGDB-O5AD SGM-04A 106
SGDB-1OAD SGM-08A 107
SGDB-05ADP SGM P-04A 126
SGDB-1OADP SGMP-08A 127
SGDB-15ADP SGMP-15A 128
Table 2.8 Type DR2 User Constants List
7-3-
Category Constant Code Name
Speed reference
galn
Unit
(.!m~n),Q
Lower Upper Factory
Limit Limit Setting
10 2162 500
.- - -- .
Speed loop gain IHZ
I
I 1 1 2 0 0 0 / 80 ISeenote2
1 1 1 1
Gain
Related Speed loop
integration time 0.0 l m s 2 IOOOO 2000 Isee note 2
constant
Cn-1A POSGN Position loop gain

/'/s I / 500 1 40
See note 2
/and1
Torque reference
gain t e
torque)
Emergency stop
toraue toraue toroue
Forward rotation Max. Max.
torque limit % torque torque
Reverse rotation
%
Max. Max.
torque limit toraue toraue
Related
Speed limit for
torque control
Torque reference
filter time
constant
Forward external
torque limit
Reverse external
I I
torque limit
Soft start time
C n - 0 7 SFSACC
I (acceleration)
Soft start t i m e
C n - 2 3 SFSDEC
(deceleration)
Zero-speed level
Sequence
Related Time delay f r o m
brake reference
until servo OFF
! Speed level for

C n - 1 5 BRKSPD brake reference
output d u r i n g
motor operation
Table 2.8 Type DR2 User Constants List (Cont'd)
I :: I
Category Constan Code Name
Output t ~ m ~ n
ofg
Unit .ower
Limit
Jppet
Limit
during motor
operation
Sequence
Related Speed
Constants
r
Cn-22
signal output
range
Cn-29
Pulse
Related
Constants
CwOA
cn 1 1
I
PGRAT Dividing ratio
setting
--... ...-. -
1 Number of
-- --. .. -.
PULSNO encoder pulses

.- -
2048 See note l
1
Mode switch
TRQMSW (torque reference)
Mode switch
REFMSW (speed reference)
Mode switch
ACCMSW (acceleration
reference)
JOGSPD 1 Jon speed
1st speed
Other
Constants
C
Cn-1F SPEED1 (contact input
speed control)
2nd speed
SPEED2 (contact input
speed control)
3rd speed
SPEED3 (contact input
speed control)
Speed loop
NFBCC compensation
contact
0: User constants that must be always set

Notes :
1) A f t e r changing the setting, always t u r n the power OFF, then ON. T h i s makes the new
setting valid.
2) Automatically set b y autotuning function.
3) V a l i d only when zero-clamp function is used.
4) T o use soft start function, always set b o t h Cn-07 and Cn-23.
2.4.2 User Constant (Memory Switch) Setup and monitor
(Cn-01 t o Cn-02)
Memory switches Cn-01 and Cn-02 can be set up or monitored a s memory

switch bits. T h e procedures for item number setup and data display are
the same a s indicated in Par.2.4.1 I]I and 0.
Panel Display
LIGHTS AT ON
BIT No. /
' / T
SETTING BIT No
Fig. 2.5 Bit D a t a Display
1[1 With the a aor key, enter the setup memory switch bit No.
at the far right end of the panel.
01 With the key, set the memory switch to O N or OFF (either
(or can be used). T h e panel indication comes on when
the switch is O N , and goes off when the switch is OFF.
01 Repeat steps and H as needed.
El Retain the data with t h eDSPL
b ] key

DSPL
Using the[=] key, switch from the setting mode to the monitor
mode.
Table 2.9, 2.1 1, 2.13, 2.15, 2.17 show memory switches of user constant
Cn-01, and Table 2.10, 2.12, 2.14, 2.16 and 2.18 those of user constant Cn-02.
Note: When the setting of user constants Cn-01 and Cn-02 a r e changed,
turn OFF the power supply once and restart the operation.
Table 2.9 Type SGD User Constant Cn-01 (Memory Switch) List
Selection {it No. / Setting1 Conditions /Standard
n
o I Servo ON / OFF by external input (SV-ON). o
- I 1 IThe sew0 is ON a t all times. I
1 0 The external mput (SEN) 1s used

Sequence ABSO. Regardless of the SEN s ~ g n aFresence,
l SGD SERVOPACK auto 0
Input G onlv) rnat~callvconcludes that the H" level prevalls
Selection 0 The P-OT signal prohibits forward running.
0
1 Forward running is pern~ittedat all times.
0 The N-OT signal permits reverse running.
0
1 Reverse running is permitted at all times.
-
Sequence TGON signal is used as a signal output when rotating is detected.
Output
Signal 4 (TGON)
- 0
Changeover
(TGON) 1 TGON signal is used as a signal when current l i m ~ tis detected.
Treatment ot 0 Maintains the servo alarm status at momentary power loss reset.
Momentary
Power Clears the servo alarm status automatically at momentary power O
Loss loss reset.
Reset
<DB stop>
O The dynamic brake stops the motor.
6 0
<Coasting to a stop>
The motor is freed and brought to a s t o ~ .
<DB OFF after DB stop>
O
The dynamic brake is turned OFF after the motor is stopped.
7 1
Fault
,
I
< D B continuously ON after DB stop>
The dynamic brake remains activated after the motor is stopped.
Stop
0 The overtravel status stop method coincides wtth bit 6.
Selection
<Overtravel zero speed stop> 0
8
1 In the overtravel status, the motor is stopped at the torque
setting defined b y user constant Cn-06.
In the overtravel status, base blocking (BB) is implemented after

the motor stops.
9 0
In the overtravel status, zero clamping is effected after the motor
1 stops.
<Torque reference>
Based on the toraue reference level defined by user constant Cn-OC.
to
.
Note 3
<Speed reference>
Mode Based on the speed reference level defined by user constant Cn-OD.
Switch D - C ~
<Acceleration >
Selection '
Based on the acceleration level defined by user constant Cn-OE.
<None>
The r o d e switch function is not provided.
Encoder 0 Incrafnental encoder
0
Selection 1 Absolute encoder
F - Don't change. 0
Notes : 1. T h e f a u l t stop method in the torque control mode complies w i t h b i t 6

2 . Selects the status based on the stop method selected f o r the overtravel status (bit 8).
3. Selects the mode switch operating condltlon. When the mode switch operates, the speed
control mode changes f r o m Pal control t o P control. (Effective only f o r speed control)
4. W h e n the setting o f user constant Cn-01 i s changed, t u r n OFF the power supply and
restart the operation.
- 22-
Table 2.9 Type SGD User Constant Cn-01 (Memory Switch) List (Cont'd)
- -
Sequence
Selectior etting Description Reference Input tandard
Signal lnput
<Speed control> Speed reference '-CON
Regular
- speed control (V-REF) IFF: PI control
The P-CON signal (1CN-15) is used I N : P control
t o effect PIPI control changeover
<Zero clamp speed control> '-CON
After the motor is stopped (ZCLVL). IFF:Zero clam[
the speed reference is disconnected t o function
execute the zero speed stop function. OFF
After this, i t maintains the servo I N :Zero clam[
l o c k status.
+
- function
The P-CON signal (1CN-15) is used ON
t o turn the zero clama function ON
and OFF.
<Torque control I >
-The motor output torque is controlled
Torque reference
(T-REF)
lone
by the torque reference (T-REF).

-The V-REF cannot be used.
<Torque control I1 > At torque control, '-CON
a The P-CON signal (1CN - 1 5 ) is used
for torque 1speed control mode
:iL?&e
T-REF
: )FF:Torque
control
Control changeover. reference :
Speed )N :Speed
Mode
Selection -
rorque control mode V-REF
The motor output torque is controlled AtSpeedcOntrol,
Speed
control
by the torque reference (T-REF). reference :

* The speed limit can be entered from V-REF
outside (V-REF). Notes :
The V-REF voltage ( + ) limits both ~e"y~~tf~~&,
the forward and reverse running speeds. negat~ve
feedback of
torque in
MOTOR SPEED proportion to
speed differem
from limit speec
moderate
speed.
Therefore, widtt
of actual motor
rotation speed
limit depends
on load
conditions.
V-REF I In case of
cnntinimus
-. . .. .
regeneration
;peed control mode tension control
n The speed reference is entered from Please
contact our
the V-REF. local Y A ~ K ~ A
The T-REF cannot be used. re~resentative.
2.4.2 User Constant (Memory Switch) Setup and Monitor
(Cn-01 t o Cn-02) (Cont'd)
Table 2.10 User Constant Cn-02 (Memory Switch) List
Selection bit ~ o h t t ~ n a l Descri~tion ktandard

Reverse
Rotation
1
0 CCW: or ward Running
0
Mode O 1 1orw or ward Running
Home l : Gp position error is detected.
Position ( A m .
Error Masl Home position error is not detected.
Contact inputs P-CL and N-CL - are used as power supply limit ON /OFF
reference inputs. Contact input P-CON is used as a signal specified in
Contact bit A or B of user constant Cn-01.
Reference 0
Mode Contact inputs P-CL and N-CL are used as speed input reference selection
1 (1st to 3rd speed) signals.
N o t e : Turn OFF the power supply once after setting.
Table 2.11 Type SGDA User Constant Cn-01 (Memory Switch)
-
Selection -
lit No.
0
-
1
Sequence ABSO.
Input G only)
-
Selection
2
-
3
- -
Sequence TGON signal is used as a signal output when rotating is detected.
Output
Signal 4 (TGON) 0
Changeover -
(TGON) 1 TGON sianal is used as a signal when current limit is detected.
-
Treatment 01
Momentary
0 I Maintains the servo alarm status a t momentary power loss reset. I
Power 5 Releases the servo alarm status automatically a t momentary power 0
Loss
Reset loss reset.
-
<DB stop>
6 0
The motor is freed and brought to a stop.
-
O The dynamic brake is turned OFF after the motor is stopped.
7 1
<DB continuously ON after DB stop>
Abnormal The dvnamic brake remains activated after the motor is stopped.
stop
Selection Note l 0 I The overtravel state stop method agrees with bit 6. I
8
1 1 <Overtravel zero speed stop>
in the overtravel state, the m t o r is s t o ~ p e da t the torque setting
defmed by user constant 0 - 0 6 .
/
Note: In the overtravel state, base blocking (BE) IS ~mplementedafter zero
speed stop.
9 0
In the overtravel state, zero clamping is effected after zero speed
stop.
-
<Torque reference>
0 . 0 1 Based on the torque reference kvel defined by user constant Cn-OC.
Note: <Speed reference>

Mode Based on the speed reference level defined by user constant Cn-OD.
Switch D O C 0
<Acceleration >
Selection
Based on the acceleration level defined bv user constant Cn-OE.
<None>
' The mode switch function is not provided.
-
Encoder 0 Incremental encoder
E 0
-
Torque 0 Torque feed-forward function is not provided.
Feed-Fonuard F 0
Function
- 1 Torque feed-forward function is provided.
2.4.2 User Constant (Memory Switch) and Monitor
(Cn-0 1 t o Cn-02) (Cont'd)
Table 2.11 Type SGDA User Constant Cn-01 (Memory Switch)
Sequence
Selectior Description teference Input
Signal Inpul
:Speed control> peed reference
Regular speed control V - REF) IFF: PI contro
TheP-CON signal (1CN-15) is used I N :P control
to effect PIPI control changeover
<Zero clamp speed control> '-CON
After the motor is stopped (ZCLVL), IFF:Zero clam
the speed reference is disconnected to function
execute the zero speed stop function. OFF
Afler this it maintains the servo lock IN :Zero clam
status. function
The P-CON signal (ICN-15) is used ON
to turn the zero clamp function ON
and OFF.
CTorque control I > orque reference .lone
The motor output torque IS controlled T - REF)
by the torque reference (T- REF).
The V-REF cannot be used.
CTorque control I1 > '-CON
The P-CON signal (1CN-15) is used 1FF:Torque
for torque / speed control mode control
changeover. IN :Speed
Control
Mode -roque control mode control
Selection The motor output torque is controlled
by the torque reference (T-REF).
The speed limit can be entered from
outside (V - REF).
+
The V -REF voltage ( ) limits both
the forward and reverse running speeds.
I MOTER SPEED I
V-REF
;peed control mode

The speed reference is entered from
the V - REF.
The T-REF cannot be used.
Notes : 1. The fault stop method in the torque control mode complies with bit 6
2. Selects the status based on the stop method selected for the overtravel status (bit 8).
3. Selects the mode switch operating condition. When the mode switch operates, the speed
control mode changes from Pal control to P control. (Effective only for speed control)
4. When the setting of user constant Cn-01 is changed, turn OFF the power supply and
restart the operation.
Table 2.12 Type SGDA User Constant C n - 0 2 (Memory Switch)
-
Selection
-
lt No. etting I Description 1 Standard
Reverse We 0 CCW : Forward Running
Rotation
0 0
Mode 1 CW : Forward Running
-
Home 1 0 Home position error is detected.
Position 4BSO. 0
Error Mask ;only) 1 Home position error is not detected.
-
Contact inputs P-CL and N-CL are used as power supply
Contact l i m ~ ON/OFF
t reference inputs.
Reference 2 0
Mode Contact lnputs P-CL and N-CL are used as speed input
reference selection(1st t o 3 r d speed) signals.
-
Reserved 8 4, 3 N o t used 000
-
Reserved 7, 6 N o t used 00
-
Motor 0 Type SGM

Selection
8 Note 1
1 1~ypesGMP
-
Reserved
-
A 1 N o t used I
Integration Time
o /Unit : l m s I 0
Constant Setting
B
-
Torque 0 Primary
Reference C 0
Filter Type 1 Secondary
-
Reserved E, N o t used 0
-
Torque 0 Uses torque reference or torque feed-forward reference.
Reference F 0
Input Selection 1 Uses analog voltage reference as torque limit input.
-
Notes :
/ SERVOPACK Type I Factory Setting 1
SGDA-00lJSP 1
2. F o r t h e Cn-02 m e m o r y switch, a l w a y s turn t h e p o w e r O F F a n d then O N after t h e

setting i s changed. T h i s m a k e s t h e n e w setting valid.
Table 2.13 Type SGDE User Constant Cn-01 (Memory Switch)
Bit No. Setting Conditions Standard

0 Uses servo ON input (m).
0 0
1 The servo is ON at all times.
Sequence 0 Uses forward rotation prohibited input (m).
lnput 2 0
Selection 1 Forward running is permitted at all times.
0 Uses reverse rotation prohibited input (m).

3 0
1 Reverse running is permitted at all times.
0 TGON signal is used as a signal output when rotating is detected.

4 0
1 TGON signal is used as a signal when torque limit is detected.
Abnormal 0 In the overtravel state, the dynamic brake stops the motor.
Stop 8 0
Selection 1 In the overtravel state, M A X torque stops the motor.
0.0 Speed Control
Control
Mode B, A
-
0 1 Speed Control with zero-clamp
0, 0
Selection 1 0 Torque Control 1
1. 1 Torque Control 2
Table 2.14 Type SGDE User Constant Cn-02 (Memory Switch)
Selection Bit No. Setting Conditions Standard

Reverse 0 CCW : Forward Running
Rotation 0 0
Mode 1 CW : Forward Running
0 Internal setting speed selection function is not used.
2 0
1 Internal setting speed selection function is used.
Torque 0 Primary
Reference C 0
Filter 1 Secondary
Torque 0 Used as torque reference input.
Reference F 0
lnput
Selection 1 Uses torque limit input as analog voltage reference.
* Setting can be changed at software versions 4 or above

N o t e : F o r the Cn-01 and Cn-02 memory switch, always turn the power OFF and then O N
after the setting is changed. T h i s makes the new setting valid.
Table 2.15 Type S G D B User C o n s t a n t C n - 0 1 ( M e m o r y S w i t c h )
Bit
No. I Setting
1 -
Uses servo ON input (m), D&%nOt servo ON

(S-ON). Servo is always ON.
1 0 1 0
Does not use SEN signal input
Uses SEN signal input (SEN) when (SEN) when absolute encoder is
absolute encoder is used. used. Servopack automatically
I n p u t signal treats signal voltage as high level.
enable/
disable 2 0 1 0
Uses forward rotation prohibited

input (P-OT). ~rotation
: ; ~ :is~always
d u i ~possible.
:~~~~~~",',i~~rd
3 0 1 0
Uses reverse rotation prohibited ~:;$:~dui$::$~~~t~~,","rSe

input (N-OT).
I I . possible.
rotation is alwavs . I
Reserved 4 l ~ e s e r v e d: Setting=O (do n o t c h a n g e t h e setting) 1 0
Operation 5 10 I1 I 0
performed at Resets servo alarm status at Remains in servo alarm status at
recovery from power recovery from its momentary power recovery from momentary
power loss power loss. power loss.
I.
6 0 1 0
Stops the motor by applying Makes the motor coast to a stop
dynamic brake (DB) at base block. at base block.
7 0 1 *1
At base block, stops the motor by At base block, stops the motor by
applying dynamic brake (DB) and applying dynamic brake (DB) but
then release DB. does not release DB.
Sequence 8 0 1 0
selection a t
alarm Decelerates the motor to a stop by
Stops the motor according to bit 6
condition setting when overtravel is detected applying the torque specified in
(P-OT, N-OT). Cn.06 when overtravel is detected
(P-OT, N-OT).
9 0 1 0
When overtravel is detected (P-OT, When overtravel is detected (P-OT,
N-OT), decelerates the motor to a N-OT), decelerates the motor t o a
stop by applying the torque stop by applying the torque
specified in Cn.06 and then specified in Cn-06 and then turns
performs Servo OFF. the zeroclamp.
Process
selection f o r
Servo OFF
B 0 1 0
Uses mode switch function. Does not use mode switch
Follows Cn-01 bits D. C function.
M o d e switch 1 . C 0.0 0.1 1 .o 1.1 0.0
selection
Uses internal Uses speed
torque reference reference as a Uses acceleration Uses error pulse
as a condition condition as a condition as a condition
(Levelsetting : c,,.~~) (Levelsetting : Cn.OD) (Level setting : CnW (Level setting : CnW
Table 2.15 Type SGDB User Constant Cn-01 (Memory Switch) (Cont'd)
Setting 1 Factory
Settine
Reserved I F 1 ~ e s e r v e d: Setting=O (do not change the setting) 1 0
0: User constants must be set and checked before turning the motor
power ON.
* 1 Less than or equal to 1.5 kW : 1
Greater than or equal to 2.0 kW : 0
*2 If applicable motor is type SGMG, SGMS, SGM, SGMP : 0
Type SGMD : 1
NOTE For the Cn-01 memory switch, always turn the power OFF, then O N after
changing the setting. This makes the new setting valid.
Table 2.16 Type SGDB User Constant Cn-02 (Memory Switch)
Bit Factory
Settlng Setting
10.
Rotation
direction Defines clockwise (CW)
Defines counterclockwise (CCW) rotation as forward rotation
selection rotation as forward rotation. (reverse rotation mode),
Home position 1 0 1
error processing Detects home poslt~onerror (when Does n o t detect home posltlon
selection absolute encoder 1s used). error.
n A
L u I
Analog speed
limit function Does n o t use analog speed Uses analog speed limit
limit function function
Reference
pulse f o r m
.4.3 0 . 0 . 0
SignfPulse
1
10.0.1 10.1.0
CW+CCW
10.1 1 11.0.0
A p s e
B.phase ( X I B-phase ( x 2 B-phase ( X 4
t
multiplication) multiplication) multiplication)
I I I I
0 1 0
Analog Outputs torque t o TRQ-M Outputs reference speed to TRQ-M
monitor
selection 0 1 0
Outputs speed t o VTG-M loutputs position error to VTG-M
Analog 0 I1 I 0
current Does not use analog current Uses analog current limit
limit function limit function function
Torque feed- 9 0 1 0
forward Does n o t use torque Uses torque feed-forward
function feed-forward function ' function
A 0 1 0
Clear signal Clears the error counter when Clears t h e error counter on t h e
an error counter clear signal is rising edge of an error counter
a t h i g h level clear signal
Reserved B Reserved : Setting=O (do n o t change t h e setting) 0
Torque filter
C 0 II 1 *
Uses torque filter as primary filter /Uses torque filter as secondary filter
D 10 11 1 0
Reference
pulse f o r m Does not invert reference pulse inverts reference logic
logic
Position E 0 1 0
error Displays position error i n x l reference Displays position error inx 100 reference
monitor units while in monitor mode units while in monitor mode
F 0 1 0
I
Reference
pulse filter Selects filter time constant 'small'. Selects filter time constant 'large'.
(450 kpps max) (200 kpps max)
* 5.0 kW o r less : 0, 6.0 kW o r m o r e : 1
NOTE F o r t h e Cn-02 m e m o r y switch, a l w a y s turn t h e p o w e r OFF, then O N a f t e r changing

t h e setting. T h i s makes t h e n e w setting valid. H o w e v e r , b i t s 6, 7, E become v a l i d
i m m e d i a t e l y a f t e r setting.
Table 2.17 Type DR2 User Constant Cn-01 (Memory Switch)
Bit
No. 1 Setting
0 0 1 0
Uses servo ON input (m), D%not use servo ON
IS-ON). Servo is alwavs ON.
l ~ o e snot use SEN signal input

IUses SEN signal input (SEN) when (SEN)when absolute encoder is I
I n p u t signal
enable/
absolute encoder is used. used. Servopack automatically
treats signal voltage as high level 1
disable
Uses forward rotation prohibited
input (P-OT). ,","6:~$~etdui~~~~~~~~",~
rotation is always possible.
3 o 1 n
Uses re=e r o t a t i o n prohibited not use reveErotati
input (N-OT). prohibited input (N.OT). Reverse
. .oossible.
rotation is alwavs
4 0 1 0
C L T signal
switching Uses CLT signal (CLT) as torque Uses,CLT signal (CLT)as speed
limit detection outout. coincide o u t ~ u t .
5 / N o t used. I N O ~used 0
6 0 1 0
Stops the motor by applying dynamic Causes the motor to coast to a stop
brake when an alarm arises. when an alarm arises.
7 0 1 1
When an alarm arises, stops the When an alarm arises, stops the
motor by applying dynamic brake motor by applying dynamic brake
and then releases dynamic brake. but does not release dynamic brake.
Sequence
selection a t
alarm
condition Stops the motor according to bit 6 Decelerates the motor to a stop by
setting when overtravel is detected applying the torque specified in Cn.06 when
(P-OT, N-OT). overtravel is detected (P.OT, N.OT).
9 0 1 0
When overtravel is detected (P.OT, When overtravel is detected (P-OT,
N.OT), decelerates the motor to a stop N.OT), decelerates the motor to a stop
by applying the torque specified in by applying the torque specified in
Cn-06 and then turns the servo OFF. Cn.06 and then performs zero-clamp.
3.A 0.0 10.1 1.0 11.1 0*0
Control mode
selection Speed c o n t r o l
~,",!~~l,",f$~~~/ah, Torque control I Torque control 11
Mode switch
selection
1.C 0.0
reference
condition.as
(Level
a
setting : Cn.OC)
0.1
Uses internal torque Uses speed
reference
condition. as(Level
a
1 .o
Econdition.
i e r a t i o n(Level
setting : Cn-OD) setting : Cn-OE) function'
1 1
as a D~~~ switch
use 1 0 0
TGON signal -
function Uses, TGON signal as t h e m o t o r Uses TGON signal as t h e brake
switch r u n n i n g detection signal. interlock signal.
Torque
feed-forward
function
F
lDoes
0
function. use 'Orque feed-forward

1
/ ~ s e torque
s feed-forward function. I
0
- 32-
Table 2.18 Type DR2 User Constant Cn-02 (Memory Switch)
Bit Setting Factory

No. Setting
Rotation
direction Defines clockwise (CW) rotation as
Defines (CCW) forward rotation (reverse rotat~on
selection rotation as forward rotation. mode),
Home position 1 0 1 0
error processing Detects home position error (when Does n o t detect home position
selection absolute encoder is used). error.
Contact 2 0 1 0
input Does not use
speed contrc 'peed I ~ s contact
~ s input speed control.
control.
0
Reserved Reserved (not t o be set)
3j4 I
6 0 1 0
Reserved Uses 1CN # 16 pin as the torque Uses 1CN # 16 pin as the speed
reference monitor. reference monitor.
I I
Reserved 7 I ~ e s e r v e d(not t o be set) 1 0
Motor 8
~ 10 ~ 11
I
*
selection SGM m o t o r ISGMP m o t o r
Encoder 9- 10 - I1
I
I 0
selection Incremental encoder 1 Absolute encoder
Reserved A Reserved (not t o be set) 0
Selection of B 0 /1 0
speed/torque
or position Speed/torque control mode Not used,
control mode select~on
Torque
reference filter
type Primary Secondary
Reserved E D Reserved (not t o be set) 0

Torque F 0 1 0
reference input Uses torque reference or torque Uses analog voltage reference as
selection feed-forward reference. torque limit input.
Notes :
1. T h e factory setting depends on the SERVOPACK type as shown below.
SERVOPACK Type I Factory Setting
DR2-0 10
2. For the Cn-01 and Cn-02 memory switches, always turn the power OFF and then ON
after changing the setting. This makes the new setting valid.
2.4.3 Digital Operator J o g Operation M o d e Selection and
Operating Procedure
( 1 ) Digital Operator Jog Operation Mode Selection
When using this function during set up and test runs, external circuits or
other devices do not have to be connected to the digital operator.
When user constant CII-00 is set to 00, the operations a r e to be controlled
from the digital operator.
Panel Display
u
SETTING.MODE
w - DATA
El
Digital Operator Jog Operation Mode Display
Fig. 2.6 Digital Operator Jog Operation Mode
CI Select the item number 00 with the , m,aor akey.

With the [=)key, display the data related to the selected item
number .
With the , , C<=,or (key, select the number 00.
DSPL
With the (=]key, turn ON or OFF the monitor panel j o g
operation mode.
With the [DATA)key,

ENTER return to the item No. display status.
DSPL
mode.
-34-
(2) Digital Operator J o g Operation Procedure
For speed reference adjustment, use user constant Cn - 10 (see Table 2.4) .
O With the 8SVoN switch, effect SVON / SVOFF changeover.

The motor runs in the forward direction while t h e m key is held
down.
H The motor runs in the reverse direction while the
down.
key is held a
2.4.4 Speed Reference Offset Adjustment
When user constant Cn-00 is set tool, the system enters the speed reference
offset adjustment mode.
-
SETTING MODE
u - , w
DATA
ITEM No.
I
Speed reference
Fig. 2 . 7 Speed Reference Offset Adjustment
Select the item number 00 with the (T/7 ,m, or C>=)key.

With the [GI
DATA
key, display the data related to the selected item
number.
El With the , (, )or key, select the number 01.
El Apply the desired zero speed reference voltage with speed reference
input. Apply the desired zero torque reference voltage with torque
reference input.
El With the F)
DSPL
I
key, make speed reference offset adjustment and
return to the user constant Cn-00 data display status.
ENTER key, return to the item No. display status.
With the [DATA)
DSPL
Using the key, switch from the setting mode to the monitor
SET
mode.
2.4.5 Clearing Fault Traceback Data
When user constant Cn-00 is set to 02, fault traceback data are cleared.
5 El H
I
SETTING MODE
- t DATA
ITEM No
F Clearing Fault Traceback Data
Fig. 2.8 Clearing Fault Traceback D a t a
Select the item number 00 with t h e m , , aor CI13)key.

With the [=]key,
ENTER display the data related to the selected item
number .
With the , , or akey, select the number 02.
With the b)
DSPL
key, clear fault traceback data and return to the user
constant Cn-00 data display status.

With the ENTER key, return to the item No. display status.
DSPL
mode
2.4.6 Speed Reference Offset Manual Adjustment
( 1 ) Mode Setting in Speed Reference Offset Manual Adjustment
Basic functions are the same a s for speed reference offset adjustment
, .
I he amount of offset can be input directly.
When user constant Cn-00 is set to 03, the system enters the speed
reference offset manual adjustment mode.
Panel Display
~f
.' J
t DATA
ITEM No.
SPEED REFERENCE INPUT OFFSET ADJUSTMENT MODE
Fig.2.9 Speed Reference Offset Manual Adjustment Mode
Set up item number 00 with the a, m,aor akey.

H With the[-4 ENTER key, display the data related to the selected item
number .
El With the a, Cv=> , (or a
key, select the number 03.
EI With the [=]key,
SET switch the adjustment mode.
With the (=)bey, return to the item No. display status.

DSPL
Using the(=) key. switch from the setting mode to the monitor
mode.
(2) Speed Reference Offset Manual Adjustment
Input a voltage that will obtain zero speed reference to the speed reference
input. Input a voltage that will obtain zero torque reference to the torque
reference input. (Normally OV)
While the m k e y is held down, the offset is added to the forward

running side.
While the m k e y is held down, the offset is added to the reverse
running side.
Using the [=]key, store offset data, then enter the monitor mode.
Offset adjustment is performed so that the LED indication may basically

become zero; however, the perfect zero status of indication does not
always offer optimum adjustment. Therefore, adjust the offset carefully,
taking actual motor rotation into consideration.
2.4.7 Check of Motor
(1) Check Method of Motor
When user constant Cn-00 is set to 04, the system enters the motor check
mode.
Panel Display
0
SETTING MODE
MOTOR PARAMETER DISPLAY 1
MODIFICATION N U M B E R DISPLAY
Fig.2.10 W i t c h Functions in Motor Parameter Check
Set up item number 00 with t h e m , m,aor akey.

With the [DATA] key, display the data related to the selected item
number .
H With the , , or (key, select the number 04. 1
1
With the e k e y , check the motor parameter.

SET
e
With the ~ ~ , l < ereturn
y . to the item No. display status.
Using t h e [ E j key, switch from the setting mode to the monitor

mode.
(2) Parameter Display
Motor Parameter
-Motor Capacity
-- -
/
1 SGD I SGDA
SGDE
DR2
SGDB
I ~ o t o Type r
SGDE SGDB
2 : SGMPZOOV
3 : SGMPIOOV
Modification Index
I ~ o d i f i c a t i o No.
n (Hexadecimal display)
(ax163fbx16z+Cx16+d) = Modification No.
Nos. Corresponding t o Alphabets
A=lO
b =ll
C =12
d =13
E =14
F =15
2.4.8 Auto Tuning
(1) Mode S e t t i n g in A u t o T u n ~ n g
When user constant Cn-00 is set to 05, the system enters the auto tuning
mode.
Panel Display
SETTING MODE
- -
ITEM NO 1 I DATA
C.
MACHINE RIGIDITY SELECTION MODE
TUNING MODE
Depress the
0
EL
key to stop
DWESS 1- a 1
cf @ key.
Note : Depressing - key cancels

the tuning when tuning is
executed.
1 DepreEs the
@
-
-
key to slop
TUNING CPMPLETION
Stop depewng the

1 Dspress the
LJ
EL
key lo stop
Fig. 2 1 1 Auto Tuning Mode
- 42-
Set up item number 00 with the , , aor (key.
[=I
With the ENTER key, display the data related t o the selected item
number .
With the (, ), a o r key, select the number 05
DSPL
With the [=)key, switch to the machine rigidity selection mode
or tuning mode.
With the [s] DSPL

Using the &]key, swich from the setting mode to the monitor
mode.
(2) Tuning Method
(a) Speed setting
When tuning is being performed, the maximum value of speed refer-
ence is set by user constant Cn-10. Set the value to approximately
500 r/min. (If the value is too small, auto tuning cannot be performed
properly .)
T h e motor runs intermittently when the or a key is held
down. (The motor does not run a t the same speed continuously.)
(b) Machine rigidity selection

- - select the followinn :
According to the machine rigidity,
amaB : LOW response
a : Medium response
00000 : High response
When the machine rigidity is not defined, select the middle-speed
response.
Machine vibration
When entering the servo ON status with the @
switch or machine
vibrates suddenly a t depressing the (or (V) key, depress the
E] key and stop the tuning operation.
Then depress the

- hey to enter the machine rigidity selection
mode, and set the level of machine rigidity selection a t one level lower.
When tuning is not completed
When tuning is not completed even though the machine does not vibrate,
depress the bey to stop the tuning operation.
T h e n depress the *[] key to enter the machine rigidity selection

mode and set the level of machine rigidity selection at one level higher.
(c) Tuning
f l W i t h the @ switch, effect SVON/SVOFF changeover.
H ~ h motor e runs in the forward direction while t h e m key is held
down.
B T h e motor runs in the reverse direction while t h e m key is held down.
If the machine vibrates when depressing the (or or( key, stop depressing the
Note:
ora key since the gain is decreased.
m w i t h the tuning completion,~j[-~~~~[[~~is

displayed and power supply
to the motor is stopped.
Stop depressing the or m
key. Display is returned to
~ 1 l ~ I ~ ~ F ~ ~ .
(d) Input signals
T h e P-OT signal, N-OT signal and SEN signal (absolute encoder only)
a r e enabled during auto tuning. Input the P - O T signal, N-OT signal
and SEN signal (absolute encoder only) during auto tuning.
T o conduct auto tuning without inputting these signals, set user
constant Cn-01 Bits 1, 2, and 3 to 1.
Auto tuning is not possible during overtravel (P-OT or N-OT signal
OFF).
Conduct auto tuning when no overtravel has occurred (both P-OT and
N - O T signal ON).
If using the S-ON signal to set the servo ON status, display 1-
before turning ON the S-ON signal.
2.4.9 Check of Software Version
( 1 ) Mode Setting in Software Version Check

When user constant Cn-00 is set to 06, the system enters the software
version check mode.
Panel Display
SETTING MODE
, -
ITEM No.
u
4
- DATA
SOFTWARE VERSION I
Fig.2.12 Software Version Check Mode
Q Set up item number 00 with the , m,aor akey.

H With the ENTER key, display the data related to the selected item
number.
H With the , , aor (key, select the number 06.
El With the [E] key, display the software version.
I
Q With the (=)key,

ENTER return to the item No. display status.
Using t h e m ] key, switch from the setting mode to the monitor

mode.
(2) Software Version Display
TYpe
A : Speed Control (SGDA. SGD)
d : Position Control (SGDA, SGD)
F : Speed/Torque Control (SGDE)
E : Position Control (SGDE)
b : SGDB
0 : DR2
2.5 MONITOR MODE
In this mode, the speed reference, torque reference, and other data can be
monitored on the digital operator.
Table 2.7 list the data that can be monitored
Table 2.19 Data M o n i t o r e d
Monitor No. I Date Monitored

0 0 / Feedback Speed (r/min)
0 1 I Speed Reference (r/min)
0 2 I Torque Reference (%)
0 3 1 -
No. of Pulses from Phase- U edae (Pulse)
0 4 Electrical Angle (deg)
0 5 Internal Status Bit Display 1 (Refer t o Table 2.20)
u '.A< ,
MONITOR MODE MONITOR No. MONITOR DATA
INDICATION
Fig.2.13 Switch Functions in Monitor Mode
With theaor key, select a desired monitor No.

El With the (DATn] key, initiate monitor display.
ENTER
key, return to the monitor No. selection status.
With t h e e ] key, switch from the monitor mode to the fault

traceback mode.
Table 2.20 Bit Indication of Monitor Mode Un-05 Internal Status
Bit No. Symbol Contents Remarks

a SVALM Servo Alarm
@ DBON Dynamic Braking
@ DIR Reverse Run Mode
I
-- -
Select by setting of bit 4

of user constant Cn-01.
Toraue Limit
@ TGON Light goes ON w i t h z e r rotating
speed higher than TGON level. Type DR2 :
Selected by bit E of user
Brake Light goes ON when brake is released constant Cn.01.
Interlock at brake interlock ON.
V-CMP Speed Agreed
P-CON P Operation lnput

.......................................... by setting of bit
ZCLMP Position Loop Operation at Stopping A or B of user constant
@ ............................................................................
DR Rotating Direction lnput by External Setting
Speed (ON at reverse, OFF at forward)
@ IP-OT \Forward Running Prohibit lnput
- IN-OT .,
l ~ e v e r s eRunnine Prohibit lnout
I r - 1I
@ ISEN ISEN S ~ g n a Input
l [ ~ b s o l u t eencoder only
*Type SGA : Light goes OFF when the input signal is set to high level.
Type SGDA, SGDE : Light goes ON when the input signal is a t high level.
Table 2.21 Bit Indication of Monitor Mode Un-05 Internal Status (Type SGDB)

Q SVALM Servo Alarm 1CN-31 (ALM)
DBON Dynamic Braking
iii', DIR Reverse Run Mode Cn-02 bit 0, 2CN-7 (DIR)
ITGON I (Motor
Motor Running
speed is TGON level or higher)
@ EbC,xP Speed Agreed

@ MSON Mode Switch ON
a P-CL Forward Current Limit
Internal setting speed
1CN-45 (m)
@ N-CL Reverse Current Limit 1CN-46 (m)
a €3-ON
- -
I
Motor under Present Condition
@ PA Phase-A * 2CN-16 (PA), 2CN.17 (*PA)
0 PB Phase-B * 2CN-18 (PB), 2CN-19 (*PB)
(iZ, PC Phase-C * 2CN.14 (PC), 2CN-15 (*PC)
-
@ PU Phase-U*
@ PV Phase-V *
@ PW Phase-W*
@ SVON Servo ON 1CN-40 (m)
Rotating Direction input by External Setting 1CN-41 (m)
Speed (ON a t reverse, OFF at forward)
I I
@ IP-OT l ~ o r w a r dRunning Prohibit Input
I
l l ~ ~ - (P.OT),
4 2 Cn.01 bit 2
- IN-OT
0 l ~ e v e r s eRunning Prohibit Input ( 1 ~ ~ -(N.OT),
43 Cn.01 bit 3
@ ISEN
I
/SEN Signal Input I ~ c N(SEN),
- ~ Cn-01 bit 1
Table 2.22 Bit Indication of Monitor Mode Un-05 Internal Status (Type SGDB)
I
Bit No Symbol Contents Remarks
@ CLT
@ BK
@ OLWRN
@ P-ON
I
@ S-RDY Servo Ready
2.6 FAULT TRACEBACK MODE
In this mode, information on past fault occurrences can be displayed.

Information on up to 10 past fault occurrences can be stored.
-When a fault is reset or the control power is turned ON, traceback
d a t a A 9 9 is saved. (These d a t a a r e also counted a s one of a total of 10
stored items of fault information.)
.For the relationship between traceback data and fault descriptions,
refer to Table 2.20.
u
FAULTOCCURRENCE No.
, TRACEBACK DATA
Fig. 2.14 Fault Traceback Mode
With the I%] key, select fault traceback mode.

With the a
u
or key, increase or decrease the fault occurrence
number. T h e fault information related to the selected number is then
displayed. ( T h e higher the fault occurrence number, the older the
fault occurrence.)
With the key, switch from the fault traceback mode to the
I
status display mode.
Table 2.23 Error Displays With Digital Operator and Traceback Data
Digital Operator Detection Remarks

(Traceback Data)
Absolute Encoder Data Error Only when absolute encoder is used

R, ,"C (Type SGDB, DR2)
Absolute Encoder Data Error Only when absolute encoder is used
,4, : (Type SGDA).
8 gz User Constant Breakdown
8,Z Y User Constant Setting Error
..
.9 !.?
.&. Overcurrent
~
f i , 2: Blown Fuse Type D R 2

8,3: Regeneration Error Type SGDB, DR2
Overvoltage Type SGDA, SGDE, SGD
'$ " Main Circuit Voltage
- Error T,v. ~ eSGDB
8, 5 : Feedback Overspeed Detected at 110% of max. speed.
8, Overload Type SGDA, SGDE, DR2
8, ? : Overload Momentary overload
R :c> Overload Continuous overload
Only when absolute encoder is used
8. 8 C Absolute Encoder Error
(Type SGDA, SGDB, DR2)
Only when 12.bit absolute encoder
8, : Absolute Encoder Backup Error
is used.
Only when 12-bit absolute
encoder
8, S z Absolute Encoder Check sum Error is used.
,$, 83 Absolute Encoder Battery Alarm pL:Zhen12-bit absolute encoder

Only when 12.bit absolute encoder
8. [z Encoder Phase Detection Fault Only when incremental encoder

is used.
PA-, PG-phase Disconnection of PG
9,[ 3 Signal Line
I - I
8. [
- $ IPCDisconnection
Incremental Encoder
A [S Initial Pulse Error Type DR2
Full-closed Loop A-, B-phase Type DR2
8. [ b Disconnection
Full-closed Loop C-phase
8 E: Disconnection Type DR2
8,F : Power Supply Line Open Phase Type SGDB

8.F 3 Momentary Power Loss Error
. .. 9rI Not Applicable
. . t o Alarm
1 I
C ,p F 02 l ~ i g i t aOperator
l Transmission Error 1 ~ i ~ operator
i t ~ l error
,C P,C :>: l ~ i ~ i tOperator
al Transmission Error 2 Not detected as traceback data.
3. OPERATION MOTHOD OF H A N D - H E L D TYPE DIGITAL
OPERATOR (JUSP-OP02A-1) FOR POSITIONING
CONTROL
This section explains the operation method when SERVOPACK for

positioning control is operated using a hand-held type digital operator.
3.1 SWITCH OPERATION

Fig.3.1 shows the digital operator. T h e digital operator has various func-
tions a s listed by modes in Par.3.2, "DIGITAL OPERATOR FUNCTIONS"
(p.34) ,
Notes :
T h e data set by the digital operator is retained in SERVOPACK even
after the power is turned OFF.
Even if the power is turned O F F after fault occurrence, the fault data is
retained in memory. Therefore, it is possible to check the fault data
after the power is turned back ON.
T h e monitor mode can be changed even during operations.
5-DIGITS, 7-SEGMENTS LED

7
KEYS ---
592-183
Fig. 3.1 DIGITAL OPERATOR (HAND HELD TYPE)

JUSP-OP02A-1
3.2 DIGITAL OPERATOR FUNCTIONS
Table 3.1 shows the digital operator's functions. T h e status display is the
default when control power is turned ON. T o change the mode, use
kr~] key a s shown in Fig.3.2.
Table 3.1 Digital Operator Functions

Mode Function
Various Status Indications
Status lndication . Base Block
On Operation (See Par.3.3)
Mode
.. F2,llt
"V..
Refer to "User Constant Setting." (See Par.3.4.1)

Operation (JOG) from digital operator (See Par.3.4.3)
Clearing Fault Traceback Data I (See Par.3.4.4)
Setting Mode Check of Motor (See Par.3.4.5)
Auto Tuning (See Par.3.4.6)
Check of Software Version (See Par.3.4.7)
II Various Monitoring
'Swd
S ~ e e dReference ( A t external settinn
- meed
. control)
I -.
~ b r q u eReference
Monitor Mode Number of Pulses from Origin (Phase-U)
Electrical Angle
Internal Status
- - Bit (See Par.3.5)
I Reference Pulse Speed lndication
I Position Error
Fault Traceback .Fault History
Indication Mode (See Par.3.6)
Control Power
Supply ON
PANEL INDICATION
Status Indication Mode [qnfluH

I
mj
Setting Mode
14
I
mT
Monitor Mode
I
I
I Fault Traceback lndication Mode I
Fig. 3.2 Mode Changeover
3.3 STATUS INDICATION MODE
When this mode is selected, the condition of SERVOPACK is indicated

with bits and codes as shown in Fig.3.3. Table 3 . 2 shows the bit data
contents. Table 3.3 shows the codes and conditions.
ALARM : Alarm reset switch
(RESET)
Panel Display
TGON (TORQUE LIMIT DETECTION)

/
POSITIONING COMPLETION
/ , REFERENCE PULSE INPUT
POWER SUPPLY ON
I
CLEAR SIGNAL INPUT READY
CODE
(TYPE SGDB, DR2) (TYPE SGDB, DR2)

Notes :
1. TGON or current limit detection is displayed according to bit 4 of user constant Cn-01
(Type SGD, SGDA, SGDE). TGON is displayed at type DR2.
2. TGON or brake interlock signal is displayed according to bit E of user constant Cn-01
(Type DR2).
3. Torque limit detection or speed agreed can be selected according to bit 4 of user
constant Cn-01 (Type DR2).
Figure 3.3 Bit Data Constants
3.3 STATUS INDICATION MODE (Cont'd)
Table 3.2 B i t Data Contents
Bit Data Contents Remarks

Light goes ON with power supply ON. Type SGDA, SGDE, SGDB
Power ON Light goes ON with control power supply ON.
Light goes OFF with control power supply OFF. Type SGDB
BB
I
Light goes ON with base block, and goes OFF
with servo ON. I
Positioning
Completion
Light turns ON when lag pulses of error counter
reach the position completion width range set in
user constant Cn-18. I DR2 :
Torque Limit Light goes ON when internal torque reference is
Detection Selected by bit 4 of
higher than torque limit detection level.
user constant Cn-01.
TGON
I
Light goes ON with motor rotating speed higher Type SGD, SGDA,
than TGON level. ISGDE : Selected by
bit 4 of user constant
Torque Limit Light goes ON when torque reference reaches Cn-01.
Detection the torque limit value. Type SGDB : TGON
TGON Light goes ON with motor rotating speed higher

than TGON level. Type DR2 :
Selected by bit E
Brake Interlock
Signal I
Light goes ON when brake is released at brake O f
interlock ON. I
Cn-01.
'Onstant
Reference
Light goes ON at reference pulse input.
Pulse lnput
Clear Signal
lnput Light goes ON at clear signal input. Only type SGDB, DR2
Table 3.3 Codes and Status
Code Condition
bb Base Block
I- UI-I I o n Operation
Pot l ~ o r w a r dRunning Prohibited
1-80k l ~ e v e r s eRunning Prohibited
f,:1;'G
I IAlarm Status
Refer to Table 3.24.
3.4 SETTING MODE
I11 this mode, the followi~lgoperrations can be performed

@User constant setup and monitor
.Jog operations from the digital operator
.Fault traceback data clearing
.Check of mother parameters
.Auto. tuning
.Check of software version

(Cn-03 t o Cn-27)
Panel Display 0 BLINK
n- a H @ B
I-
/ -
SETTING MODE ITEM No. El DATA
El
Fig. 3.4 User Constant Setting
0 Set up the item number with the

.With the a aor
, a , ,or m k e y .
key, choose a setup digit. The chosen digit
starts blinking to indicate that its numerical value can be changed.
0 With the or ;V) key, increase or decrease the numerical
value until the desirtd value is obtained.
FA With the p]
ENTER key, display the data related to the selected item
number .
With the a , CIVZ[> , CI<=, , or
same operation as stated in 0 .)
key, set up the data. (The
El Retain the data with the DSPL key.b]

Repeat steps Q through as needed.
El With the ENTER key, return to the item No. display status
DSPL
0 Using t h e h ] key, switch from the setting mode to the monitor
mode.
(Cont'd)
Table 3.4, 3.5, 3.6, 3.7, 3.8 show user constants (Constant Setting),
Table 3.4 Type SGD User Contants List
rns
/ 2
Cn-06 EMGTRQ Emergency Stop Torque

Forward Runn~ngTorque
Cn-08 TLWITF Limlt
Cn-09 TIMTR Reverse Runn~ngTorque

Lim~t
Cn-17 TRQFIL Torque Reference Filter Time
c " - , ~CLMIF Forward External Current
Limit dax.Torque
Cn-,9 CLMIR Reverse External Current Note

Limit iilax.Torque
Cn-07 / 1
SFSACC Soft Start Time
(Acceleration)
Cn-23 SFSDEC Soft Start Time
(Deceleration)
I I
/
Cn-OB TGONLV /zero-speed Level Max
Soeed 1 20 1
Delay Time from
Cn-I2 BRKTIM Braking Reference to
SVOFF
! !
Brake Timing a t
Cn-15 B R K W A l Motor Rotation
(Speed level a t which brake
reference is output.)
Motor Rotat~on
SVOFF to brake
reference o u t ~ u t . )
100% = rated torque
Notes:
1. Factory setting of Cn-04 (speed !oop gain) is determined by the following conditions :
Load inertia 5 motor inertla X 3
2. After modifying Cn-OA 11, 24 and 25, turn O F F power and s t a r t up again. T h e modified value
takes effect only after iestarting.
3. Electronic gear ratio (Cn-24, Cn-25) : 0.01 5 5 100
4. Soft s t a r t function is effective a t jog operation or internally set speeds selection. Soft s t a r t function
is not effective when pulse train is used a s reference.
Table 3.4 Type SGD User Contants List
1 Lower
Limit
Upper Settingprior
Limit / t o Shipment 1 emarks
Cn-OA
I PGRAT
I PG Divid~ngRatio
Cn-l,
1 P U L S N O Number of Encoder
/Puses
I I
Note
% 0 Max.Torque 200
I /
Mode Switch (Motor
Cn-OE ACCMSW Acceleration/Detection)
Cn-OF IERPMSW/ Mode

(Error Switch
Pulses)
Reference
Cn-10 / JOGSPD JOG Speed
/
Cn-1 E OVERLV loverflow
X256 Reference
Unit
Cn-IF SPEED1 1st Speed rlmin I 0 I ~a'x.Soeed/ I00 1
Cn-20 SPEED2 2nd Speed rlmin I 0 I Max.Soeed / 200 /
(Smoothing)
Electronic Gear
Cn-25 R A T A Ratio (denominator)
100% = rated torque
Notes:
1. Factory setting of Cn-04 (speed loop gain) is determined by the following conditions :
Load inertia 5 motor inertia X 3
2. After modifying Cn-OA, 11, 24 and 25, turn OFF power and s t a r t up again. T h e modified value
takes effect only after restarting.
3. Electronic gear ratio (Cn-24, Cn-25) : 0.01 5 w) 5 100
4. Soft s t a r t function is effective a t jog operation or internally set speeds selection. Soft start function
is not effective when pulse train is used a s reference.
Table 3.5 Type SGDA User Constants List
User
Constant Symbol Name Unit 1 Lower
Limit I Upper
Limit 1 Setting Prior
to shipping /
Cn-04 LOOPHZ
:E7:d loop Hz 1 2000 80 See note 2
Speed loop I
Cn.05 PITIME integration
time
constant
c ~ . ~
POSGN Position
~ loop
gain
Gain Cn-1C BIASLV Bias
Related
Constants Cn-1D 1 FFGN I feed-forward
Pos~tion
reference
Cn-26 ACCTME accelerat~on/
deceleration
t ~ m econstant
Torque limit
Related Torque
Constants Cn-17 TRQFIL reference
filter
t i m e constant
t orward
Cn.18 CLMlF
torque
limit
Reverse
31-19 CLMlR external
torque
limit
2n-07 SFSACC Soft start time
(acceleration)
2n-23 1 I
SFSDEC Soft start time
(deceleration)
Sequence
Related Time delay
Constants
servo OFF
Speed level for
motor operation
Table 3.5 Type SGDA User Constants List (Cont'd)
User Lower Upper Factory Remarks

Category Constant Code Name Unit Limit Limit Setting
No.
Output timing of
Sequence '"-16 BRKWA, brake reference
during motor ms 100 50
Related operation
Constants ---
Positioning
CO'NLV complete
Reference 250 7
range unit
Cn-OA PGRAT Dividing ratio 16 32768 2048 Note 1

setting P/R
Cn-11 Number of
PULSNO encoder 513 32768 2048 Note 1
Pulse pulses P/R
Other
Constants
constant
Cn-29 AXISNO Axis address ... 0 14 0
Notes :
setting valid.
2. Automatically set by auto tuning function
3. The following restriction applies to electronic gear ratio (Cn-24 and Cn-25) :
B (Cn-24)
0.01s-2 100
A (Cn-25)-
4. T h e soft-start function is valid during the jog operation or when the contact input speed
control mode is selected. T h e function is invalid during pulse command operations.
Table 3.6 Type SGDE User Constants List
User
Constant Unit Lower Upper Factory
Code Name Limit Limit
No. Setting
Cn-04 ILOOPHZ Ispeed loop gain
Cn-05 IPITlME 1 Speed loop

integration time
constant
Time delay from

until servo OFF
Cn-17
ITRQIIL
I
1
I
filter time
Torque reference
constant
Cn-1A POSGN Position loop gain
Cn-lB /COINLV 1 complete

Positioning
range ?eference
Jnit
Cn-24 IRATE / Electric gear ratio

(numerator)
Cn-25 ImTA I Electric gear ratio

(denominator)
reference
deceleration time
constant
N o t e : 0.012 B (Cn-24
A (Cn-25) -
Table 3.7 Type SGDB User Constants List
User Lower Factory

Upper
Constant
hl
Code Name Unit Limit Limit Setting Remarks
I"<,
I
Number of 513 3 2 7 6 8 *Note 4 "Note 1
PULSNO encoder pulses
-. - --
Basic
Constants
I I I I I I I
Cn-2A MTRSEL M o t o r select~on *Note 4 0 254 *Note 4 *Note 1
~"-03 VREFGN Speed 10 2000 *Note 4

gain (r/min)/V
reference
adjustment
Cn-04 LOOPHZ Soeed loop gain Hz 1 2000 80 *Note 2
'peed loopintegration 0.01 ms 200 51200 2000 *Note 2
Cn-05 PITIME
time constant
Cn-1A POSGN . -
Position looo gain l / s 1 1000 40 *Note 2
Cn-1C BIASLV Bias r/min 0 450 0
Gain
Related
Cn-17 TRQFIL Torque reference filter
time constant
O.l , 250 *5
Constants
Speed loop compensation .,. 0 100 0
Cn.28 NFBCC constant
I I I I I I 1
Mode switch torque 0 800 200

Cn-OC TRQMSW reference %
I I I I I I
'"-OF IERpMsw Mode switch

Ierror m s e
reference
unit
~ O O O Oo *Note 1
Table 3.7 Type SGDB User Constants List (Cont'd)
C]: User constants t h a t must be set.

Notes :
setting valid.
3. T o use soft start function, always set both Cn-07 and Cn-23
4 . Refer to the next page.
5. 6.0kW or less : 4, 7.5kW : 8, 11.0 to 15.0kW : 16
Note 4 : Control method selection (Cn-2B) setting values
Setting value Control method
0 Speed control (analog reference)

1 ( ~ o s i t i o ncontrol (pulse train reference)
2
3
l ~ o r q u econtrol (analog reference)
Ispeed control (contact reference) -- Speed control ( 0 reference)
---
4 Speed control (contact reference) Speed control (analog reference)
5 Speed control (contact reference) Position control (pulse train reference)
6 Ispeed control (contact reference) Torque control (analog reference)

1 Position control (pulse train reference)
7
8 IPosition control (pulse train reference) - Speed control (analog reference)
Torque control (analog reference)
9
10
11 ]Position control (pulse train reference)
--
Torque control (analog reference) u Speed control (analog reference)
Speed control (analog reference) Zero clamp control
Position control (inhibit)
Outputs signal selection (CN-2D) setting values

Selects which function of signal sent to output signal of 1CN.
1st decimal digit to select function of CN-25, 2 6 (COIN/-)

-
2nd decimal digit t o select function of CN-27, 28 (TGON)
-
3rd decimal digit to select function of CN-29, 30 (S-RDY)
Setting value Function

0 COIN/- (only assigned t o 1CN-25, 26)
1 TGoN
2 S-RDY
3 CLT
-
4 BK
5 ~ O Lwarning
6 OL alarm
Setting prior to shipping
SERVOPACK Type M o t o r Type cn.2~ I Cn-OA
SGDB-75ADG SGMG-75A* A 149

SGDB- 1AADG I SGMG-lAA * A 1 140
SGDB-1
EADG / SGMG-~EA*A 1 5 0 1
SGDB-30ADM SGMG-BOA *B 176

SGD B - 4 4 A D M 1 177
User
Category Constant Code Name Unit Lower Upper Factory Remarks
Limit Limit Setting
No.
Icn-00 / ~ oat user constant. (Cn-00is used to select special mode for dig~taloperator.) I
Cn-01 Memory switch (see on page 474.) See note I
Cn-02 Memory s w ~ t c h(see on page 476.) See note 1
Speed loop See note 2

Cn-05 PlTlME integration time O.Olms 2 10000 2000
constant
Gain
Related BIASLV 0 450 0
Constants Cn-1C Bias r/min
1 1 10 1
Position
reference
100 U S 0
deceleration time 640
constant
Max. Max.
Cn-06 EMGTRQ stop % O torque torque
Emergency
torque
Forward
limit
Reverse
limit
1
Torque
Related
Constants Torque
ICn-17 (TRQFIL ireference
time constant
filter 1100 u s 10 250 14
Forward
limit
Reverse
limit
I I I I I I I I
kn-OB ~TGONLVI ~ e r o - m e e dlevel /r/min 11 14500 120
Time delay
BRKTIM from brake lo
ms O 50 0
Sequence reference until
Related servo OFF
Constants
I /speed level for 1 1 1 1 1
Cn-15 BRKSPD i n 0 4500 100
~ $ ~ ~ $ ~ , ' i ~
motor operation
User
Category Constant Code Name unit Lower
No. Limit Limit Setting ~~~~~k~
Output timing
of brake
Cn-16 BRKWAI reference 1 0 ms 10 100 50
Sequence
Related during motor
Constants operation
COINLV Positioning Reference

complete range unit 250 7
Cn-OC
Mode switch
TRQMSW (torque
reference)
% 0
z&e 200
Mode switch
Cn-OD REFMSW (speed r/min 0 4500 0
reference)
Mode switch
CmOE ACCMSW (acceleration lO(r/min)/s 0 3000 0
reference)
Cn-OF Mode switch

ERPMSW (error Reference
pulse) unit 10000 0
Cn-10 JOGSPD Jog speed r/min 0 4500 500

Other X 256
Constants Cn-1E OVERLV Overflow reference 1 32767 1024
unit
1st speed See note 4
Cn-1F SPEED1 (contact input r/min 0 4500 100
speed control)
2nd speed
Cn-20 SPEED2 (contact input r/min 0 4500 200
speed control)
3rd speed
Cn-21 SPEED3 (contact input r/min 0 4500 300
speed control)
Speed loop
Cn-28 NFBCC compensation ... 0 100 0
constant
Notes :
1) After changing the setting, always turn the power OFF, then ON. This makes the new
setting valid.
2) Auton~aticallyset by autotuning function.

3) T h e following restriction applies to electronic gear ratio (Cn-24 and Cn-25) :
B (Cn-24)
0.0 1 s ---------
A (Cn-25)-
4) For user constant Cn-lE, when full-closed loop specification, factory setting is I
3.4.2 User Constant (Memory Switch) Setup and Monitor
(Cn-01 t o Cn-02)
Memory switches Cn-01 and Cn-02 can be set up or monitored a s memory

switch bits. T h e procedures for item number setup and data display a r e
the same a s indicated in Par.3.4.1 jl and .
Panel Display
BIT No.
Fig. 3.5 Bit Data Display
With the or a key, enter the setup memory switch bit No.
at the far right e n d of the panel.
10 With the
or
a key, set the memory switch to ON o r OFF (either
can be used). T h e panel indication comes on when
the switch is O N , and goes off when the switch is OFF.
H Repeat steps and 10 as needed.
DSPL
Retain the data with t h e [ i key.
DATA
El With the ENTER key, return to the item No. display status.
DSPL
Using t h e k G ] key, switch from the setting mode to the monitor
mode.
Table 3.9, 3.1 1, 3.13, 3.15, and 3.17 show memory switches of user constant
Cn-01, and Table 3.10, 3.12, 3.14, 3.16 and 3.18 those of user constant Cn-02.
Note : When the setting of user constants Cn-01 and Cn-02 are changed,
turn O F F the power supply once and restart the operation.
Table 3.9 Type SGD User Constants Cn-01 (Memory Switch)
-e-
Selection --lit No. Setting Conditions Standard
0 Servo ON /OFF by external input (SV-ON).
0
-
1 The servo is ON a t all times.
Do not adjust. 0
Sequence -
Input 0 The P-OT signal prohibits forward running.
0
Selection
-
1
0
Forward running is permitted a t all times.
The N-OT signal permits reverse running.
-
0
-
1 / Reverse running is permitted at all times.
Sequence
-
T u s i g n a l is used as a signal output when rotating is detected.
output
Signal (TGON) 0
Changeover -
(TGON) -
1 TGON signal is used as a signal when current limit is detected.
Treatment of 0 Maintains the servo alarm status a t momentary power loss reset.
Momentary
Power Releases the servo alarm status automatically a t momentary power O
Loss
Reset loss reset.
<DB stop>
0
The motor Is freed and brought to a stop.
-
O The dynamic brake is turned OFF after the motor is stopped.
Abnormal -
, <DB continuously ON after DB stop>
The dynamic brake remains activated after the motor is stopped.
1
Stop 0 The overtravel state stop method agrees with bit 6 .

Selection
-
I <Overtravel zero speed stop>
In the overtravel state, the motor is stopped at the torque setting
defined bv user constant Cn-06.
I In the overtravel state,
1
I
O
Note " speed stop.
base blocking (BB) is implemented after zero
9 0
In the overtravel state, zero clamping is effected after zero speed
StOD.
-
Position 0 Clears.
Deviation a t 0
Base Blockinl
-- 1 Does not clear.
Mode The mode switch function is provided. The mode switch operation
Switch agrees with bit C and D. 0
Function 1 The mode switch function is not provided.
--
' <Torque reference>
Based on the torque reference level defined by user constant Cn-OC.
Note
' <Speed reference>
Mode ID C Based on the speed reference level defined by user constant Cn-OD.
Switch 00
' <Acceleration >
Selection Based on the acceleration level defined by user constant Cn-OE.
' <Deviation pulse >

Based on the deviation ~ u l s elevel defined by user constant Cn-OF.
--
Encoder 0 Incremental encoder
0
--
Spare
Notes :
- 1 Do not change.
1. Selects the state prevailing when the zero speed stop method has been selected for
1 0
the overtravel state (bit 8).

2. Selects the mode switch operating condition. When the mode switch operates, the
speed control mode changes from P - l control to P control.
Table 3.10 Type SGD User Constants Cn-02 (Memory Switch)
Rotation
Mode
Home
Position
Error M a s l
Contact
Reference
Mode
000 Sign+ Pulse
Reference 001 cw+ccw

Pulse .4.5 010 Phase-Atphase-~(xl) 000
Mode 01 1 Phase-A+Phase-B( x2)
100 Phase-AfPhase-B(x4)
Monitor 0 Torque monitor (0.5V/100%)
Changeover - 1
(TRQ-M) 1 Speed reference monitor (0.5V/1000 r/min)
Monitor
Changeover
(VTG-M)
Spare
Deviation
Counter
Clear
Spare
Spare C I I Do not adjust. 0
Reference 0 Normal operation
Pulse D 0
Reversal 1 Reverse operation
Monitor Changes the value of lag pulse monitor output level to 3Vl100 reference
Output unit.
E 0
Level Changes the value of lag pulse monitor output level to 3V/10000 reference
Changeover unit.
Spare F I I Do not change.
Table 3.11 Type SGDA User Constant Cn-01 (Memory Switch) List
Bit
No. I Setting
1 Reserved (not t o be set)

2 0 1
Input signal I
enable/ Uses forward rotation prohibited ~ ~ $ ~ ~ > u i ~ ~ : ~ ~ d T ~ ~ t ~ ~ "
disable input (P-OT). rotation IS always possible.
Uses reverse rotation prohibited use

input (m). prohibited input (N.OT). Reverse
4 0 1
TGON signal
switching Uses, TGON signal (TGON) as Uses TGON signal (TGON) as
running output. torque limlt output.
Operation 5 0 1
performed at
recovery Automatically resets servo
Remains in servo alarm status
f r o m power
loss
a t recovery f r o m power loss. &!: zr 7 ~ at recovery
~ ~ ~ s
Stops the m o t o r b y applying
dynamic brake when an alarm ~~~~",~~a~",'I",:$~,","~,
arises.
When an alarm arises, stops When an alarm arises, stops

the m o t o r b y applying dynamic the m o t o r b y applying dynam
brake and then releases brake b u t does n o t release
dynamic brake. dynamic brake.
Sequence 8 0 1
selection a t
alarm
condition
1.. ,. . . . . ... . .. . l~eceleratesthe motor to a s t o ~
When overtravel is detected When overtravel is detected

(P-OT, N.OT), decelerates the (P-OT, N.OT), decelerates the
motor to a stop by applying the motor to a stop by applying the
torque specified in Cn-06 and torque specified in Cn-06 and
then turns the servo OFF. then performs zero-clamp.
Table 3.11 Type SGDA User Constant Cn-01 (Memory Switch) List (Cont'd)
-
Bit 'actory
No. Sett~ng
Setting
- 0
Operation
perforrnec Clears error pulse when servo Does n o t clear error pulse wher
servo OFF is turned OFF. servo is turned OFF.
-
B 0 1
Uses mode switch function as Does not use mode switch
set in bits D and C of Cn-01. function.
1.C 0 . 0 0.1 1.o 1.1
Mode swi. I I
selection Uses internal
torque Uses speed Uses Uses error
reference as a acceleration as a pulse as a
reference as a
condition. condition. condition. condition.
(Level setting : (Level setting : (Level setting :
(Level setting
Cn.OC) Cn.OD) Cn-OE) Cn-OF)
Encoder E 0 /1
selection Uses incremental encoder. 1 Uses absolute encoder.
Internal
speed Stops the m o t o r when b o t L Receives pulse reference when
selection contact signals P-CL and N-CL both contact signals P-CL and
"Note 1"
are OFF. N-CL are OFF.
INHIBIT I
funct~on I
Always receives pulse reference. Enables INHIBIT function.
Table 3.12 Type SGDA User Constant Cn-02 (Memory Switch) List
Bit
\lo.
/ Setting
Rotation
direction Defines counterclockwise Defines clockwise (CW)
selection (CCW) rotation as forward r o t a t i o n as forward rotation
rotation. (reverse rotation mode).
Home 1 0 1 0
position error
processing Detects home position error Does n o t detect home
selection (when absolute encoder is used). position error.
2 0 1 0
Contact
input speed
control
Does not use contact input
speed control.
Uses contact input speed
lcontrol. I
Reference
pulse f o r m
selection
Reserved
Motor, 8 0 1 Note 2
select~on SGM m o t o r ISGMP m o t o r
'Iears the
Error countf
clear signal
Clears the error counter when
an error counter clear signal is
at h i g h level.
6:;
~~:~P~fa;~Pg"n",[
rlses.
'Ounter
an
Integration tim
constant
setting unit 1 ms 0.01 ms
Torque C 0 1 0
reference
filter Primary Secondary
D 0 1 0
-
Reference
pulse logic Does n o t invert reference pulse Inverts reference pulse
logic. logic.
E 0 1 0
Others
Displays position error Un-08 inx 1
reference units while in monitor
mode.
Displays position error
U n - 0 8 i n x 1 0 0 reference
units while monitor mode. 1
Line driver Open collector
(Maximum reference pulse (Maximum reference pulse
frequency : 450kpps) frequency : 2 0 0 kpps)
Cj: User constants that must be always set

NOTE F o r t h e Cn-01 a n d Cn-02 m e m o r y switches, a l w a y s turn the p o w e r O F F and then
O N a f t e r changlng the setting T h ~ m s a k e s t h e n e w settlng v a l l d
Notes
1 I n t e r n a l speed selection i s v a h d only w h e n blt 2 of SERVOPACK Type Factory Settlng
C n 0 2 ~ s s e tto " 1 " SGDA-UUUP
2 T h e f a c t o r y s e t t m g depends o n the Servopack t y p e
as s h o w n below.
Table 3.13 Type SGDE User Constant Cn-01 (Memory Switch) List
Conditions Standard
Uses servo ON input (m).
The servo is ON at all times.
Input
Signal Uses forward rotation prohibited input (P-OT).
Enable/ 2
Disable
0 Uses reverse rotation prohibited input (m).
3 0
1 Reverse running is permitted at all t ~ m e s .
Abnormal 0 I n the overtravel state, the dynamic brake stops the motor.
Stop 8 0
Selection 1 I n the overtravel state, MAX torque stops the motor.
Position 0 Deviation counter cleared.
Deviation A - 0
at Base Block 1 Deviation counter n o t cleared.
Table 3.14 Type SGDE User Constant Cn-02 (Memory Switch) List
Selection 1
Bit No, Setting 1 Conditions 1 Standard
Reverse 0 CCW Forward R u n n ~ n g
Rotation 0 0
Mode 1 CW Forward R u n n ~ n g
0.0.0 S~gn+Pulse
0.0.1 CW+CCW
Reference
Pulse 5.4.3 0.1.0 A-phase+B-phase ( x l multiplication)
Form
0.1.1 A-phase+ B-phase ( x 2 multiplication)
1.0.0 A-phase+ B-phase ( x 4 multiplication)
Clears the error counter when an error counter

Error clear signal is a t high level.
Counter A
Clear
Signal Clears the error counter on the rising edge of an error
counter clear signal.
Torque 0 Pr~mary
Reference C* 0
Filter 1Secondary
Displays position error U n - 0 8 i n X 1 reference units

O while i n monitor mode.
Others E 0
Displays position error U n - 0 8 i n x 1 0 0 reference units
while in m o n i t o r mode.
* S e t t i n g c a n b e changed a t s o f t w a r e versions 4 o r above.

N o t e : F o r the Cn-01 and Cn-02 m e m o r y switch, a l w a y s t u r n the p o w e r O F F a n d then O N
a f t e r t h e setting i s changed. T h i s m a k e s t h e n e w setting valid.
Table 3.15 Type SGDB User Constant Cn-01 (Memory Switch) List
Bit
No I Setting
0 0 1 0
usesservo ON input (m),(S-ON).
D X x z n o t use servo ON input
Servo is always ON.
l ~ o e snot use SEN signal input

IUses SEN signal input (SEN) when (SEN) when absolute encoder is I
Input sign;
enableldisat
/absolute encoder is used. used. Servopack automatically
/treats signal voltage as high level I
2 0 1 0
Uses forward rotation prohibted

input (P-OT). ,"E~$~etdui",",~~~~;."~"
rotation
alwavs ~ossible.
IS
Uses reverse r o t a t i o n prohibited

i n p u t (N-OT).
p"~~~~etdUi~~~"("N'"("N'$~ft~~,","rse
I I I
Reserved 4 /Reserved : Setting=O (do n o t change the setting) 1 0
-
Operation 0
performed Resets servo alarm s t a t u s a t Remains in servo alarm status at
recovery fro1 power recovery f r o m i t s power recovery from momentary
power loss m o m e n t a r y power loss. power loss.
6 0 1 0
Stops the motor by applying Makes the motor coast to a stop
dynamic brake (DB) at base block. at base block.
7 0 1 Note 1
At base block, stops the motor by At base block, stops the motor by
applying dynamic brake (DB) and applying dynamic brake (DB) but
then release DB. does not release DB.
Sequence
selection at
alarm conditic Decelerates the a by
Stops the motor according to bit 6
setting when overtravel is detected applying the torque specified in
(P-OT, N-OT). Cn.06 when overtravel is detected
(P-OT, N-OT).
When overtravel is detected (P.OT, When overtravel is detected (P.OT,

N.OT), decelerates the motor to a stop N-OT), decelerates the motor to a stop
by applying the torquespecifiedin Cn-06 by applying the torque specifiedin Cn-06
and then performs Servo OFF. and then turns the zero-clamp.
Process sele~ A 0 1 0
tion for Serv
OFF / c / e a r s error pulse a t Servo OFF IEp? pulse at Servo /
B 0 1 0
Uses m o d e switch function. Does n o t use m o d e switch
Follows C n - 0 1 bits D, C function.
Mode s w i t c
selection
1.c 0.0 0.1 1.o 1.1 0.0
Uses internal Uses speed Uses acceleration Uses error pulse
torque reference reference as a as a condition as a condition
as a condition condition (Level s e t t i n g : (Level setting :
(Level setting : Cn-OC) (Level setting : CwOD) Cn-OE) Cn-OE)
Table 3.15 Type SGDB User Constant Cn-01 (Memory Switch) List (Cont'd)
Bit Setting Factory

No. Setting
User constants must be set and checked before turning the motor
power ON.
Notes 1 Less than or equal to 1 5 ItW 1 G r e a k r than ol equal to 2 0 ItW 0
2 If Applicable motor IS type SGMG, SGMS, SGM, SGMP 0 Type SGMD 1
3 For the Cn 01 memory swltch, always turn the powel OFF, then ON after the
chang~ngthe settlng T h ~ makes
s the new settmg v a l ~ d
Table 3.16 Type SGDB User Constant Cn-02 (Memory Switch) List
Bit Factory
No. Sett~ng
Setting
Rotation 0 0 II I n
direction Defines counterclockwise (CCW) Defines clockwise (CW) rotation as
selection rotation as forward rotation. forward rotation (reverse rotation mode).
Home positior
error processing Detects home position error (when Does n o t detect home position
selection absolute encoder is used). error.
2 0
I
1 I n
Analog speed
limit function Does not use analog speed
limit function /uses analog speed limit function
I
.4.30.0.0 0-0.1 0.0-1 0.1.1 1.0.0 0.0.0
Reference
pulse f o r m
A-phase+ A.phase+ A-phase +
Sign+Pulse CW+CCW 6-phase ( X I B-phase ( x 2 6-phase ( x 4
multiplication) multipl~cat~on)mult~pl~cation)
Analog monitor 6 0 1 1 0
I
selection Outputs torque t o TRQ-M loutputs reference speed to TRQ-M
Analog current 7 10 I1 I 0
I
limit function Outputs speed t o VTG-M I0utputs position error to VTG.M
Torque
feed-forward
function
I
Clear signal Does
function use torque feed.forward I ~ s e torque
s feed-forward function
I I
A 0 1 0
Reserved Clears the error counter when an Clears the error counter on the
error counter clear signal is at rising edge of an error counter
high level clear signal
Torque filter B Reserved : Setting=O (do n o t change the setting) 0
Reference C 0 1 Note 2
pulse f o r m Uses torque filter as primary filter Uses torque filter as secondary filter
Position error D 0 1 0
I
monitor I
Does not invert reference pulse logic Inverts reference pulse logic
Displays position error inx 1 reference Displays positionerror inx 100 reference
Reference units while in monitor mode units while in monitor mode
pulse filter F 10 1
N o t e s : 1. F o r t h e Cn-02 m e m o r y switch, a l w a y s t u r n the power OFF, then O N a f t e r

changing t h e setting. T h i s m a k e s the n e w setting valid. However, b i t s 6, 7, E
become v a l i d i m m e d i a t e l y a f t e r setting
2. 6.0 kW o r less : 0, 6.0 kW o r m o r e : 1
Table 3.17 Type DR2 User Constant C n - 0 1 (Memory Switch) List
-
Bit I Setting
actory
'lo.
- -
-
Letting
0
Does n G s e servo ON
Uses servo ON input (m). input (S-ON). Servo is
alwavs ON.
lnput signal
-
enable/
0
disable When absolute encoder is
When absolute encoder is used, used, masks the SEN
uses the signal. Automatically
SEN input signal (SEN). regarded as High level
inside the Servopack.
-
2 0 1 0
Does not use forward
Uses forward rotation prohibited rotation prohibited input
input (P-OT). (P-OT). Forward rotation is
lnput signal always possible.
enable/ -
disable 3 0 1 0
Does not use reverse
Uses r e z e rotation prohibited r o x o n prohibited input
input (N-OT). (N-OT). Reverse rotation is
always possible.
-
Not used.
0
4 Not used. 3 note 3
5 Not used. Not used.
6 0 1
Stops the motor by applying Causes the motor to coast
dynamic brake t o a stop when an alarm
when an alarm arises. arises.
7 0 1
When an alarm arises, stops When an alarm arises,
the motor by applying dynamic stops the motor by applying
brake and then releases dynamic brake, but does not
dynamic brake. release d y n a m ~ cbrake.
Sequence 8 0 1
selection at
alarm Decelerates the motor t o a
condition Stops the motor according t o stop by applying the torque
bit 6 setting when overtravel is specified i n Cn-06 when
detected (P.OT, N-OT). overtravel IS detected
(P-OT, N-OT).
When overtravel is detected

When overtravel is detected ('-OT* N-OT)f decelerates
(P.OT, N-OT), decelerates the the motor to a by
motor to a stop by applying
performs zero-clamp.
Table 3.17 Type DR2 User Constant Cn-01 (Memory Switch) List (Cont'd)
Bit
-
Factory
Setting
No.
-
Setting
0
Operation A O 1
perrormea
performed
at servo Clears error pulse when servo is turned Does not clear error pulse
OFF OFF. when servo is turned OFF.
I Uses mode switch function as set in bits 0 Does not use mode switch
and C of Cn.0 1. function.
Mode
switch
selection
I
TGON E 0 1 0
signal
function Uses TGON signal as the motor running Uses TGON signal a s the
switch detection signal. brake interlock signal.
-
0
ee note 1
El:User constants that must be always set

Notes :
1 Internal speed selection is valid only when bit 2 of Cn-02 is set to"1"
2 The factory setting depends on the Servopack type a s shown below.
3 At full-closed loop specification, when Cn-01 bit 4 is set to 1, external PG phase-C

disconnection error is not detected.
4 At full-closed loop specification, factory setting Cn-02 bit B is 1.
NOTE For the Cn-01 and Cn-02 memory switches, always turn the power OFF and then
ON after changing the setting.This makes the new setting valid.
Table 3.18 Type D R 2 User Constant C n - 0 2 (Memory Switch) List
Bit Factory
Setting Sett~ng
No.
0 0 1 0
Rotation
direction Defines counterclockwise (CCW)
selection rotation as forward rotation. ~ ~ ~ i ~ n $ ~ C / ~ ~ , " r $ C ~ ~ a t i O n
(reverse rotation mode).
Home
position
I lo 11 0
Detects home position error (when Does n o t detect home

processing absolute encoder is used). position error.
selection
I
Contact 2 0 1 0
input speed Does not use contact input speed Uses contact input speed
control control. control.
p ~ l s ef o r m
selecr o n
-
Reserved 1 7.6 /Reserved (not t o be used) 0
Motor 1 8 10 11 /see note 2
selection SGM m o t o r ~ s G M Pm o t o r
0
selection
Error counter Clears the error counter

clear signal Clears the error counter when an error when the leading edge of an
counter clear signal is at high level. error counter clear signal
rises.
0 1 0
speed/torque See note 4
or position N o t used. P o s i t ~ o ncontrol mode
control mode
Torque II 0
reference
filter Secondary
ID
O 1 0
Reference
pulse logic Does not invert reference pulse logic.
I,"igtS
reference
lE
O 1 0
Position
error monitor Displays position error Un-08 in x 1 position error
level reference units while in monitor mode. ~,"~~8~~i~~~~,"~~~,","","ode,
Reference Line driver Open collector

pulse filter (Maximum reference pulse (Maximum reference pulse
frequency : 450 kpps) frequency : 200 kpps)
0 User constants that must be always set
Notes :
1 Internal speed selection is valid only when bit 2 of Cn-02 is set to"1".
2 The factory setting depends on the Servopack type as shown below.
SERVOPACK Type / Factory Setting
DR2-0 10
3 At full closed loop specification, when Cn-01 bit 4 is set to 1, external PG phase C
d~sconnectionerror is not detected
4 At full-closed loop specification, factory setting Cn-02 bit B is 1.
NOTE For the Cn-01 and Cn-02 memory switches, always turn the power OFF and then
ON after changing the setting.This makes the new setting valid.
3.4.3 Digital Operator J o g Operation
Mode Selection and Operating Procedure
( 1 ) Digital Operator Jog Operation Mode Selection
When user constant Cn-00 is set to 00, the operations a r e to be controlled

from the digital operator.
Panel Display
OFF
i lo ON
Digital Operator Jog Operation Mode D ~ s p l a y
Fig. 3.6 Digital Operator Jog Operation Mode
Select the item number 00 with the a, m,aor akey.

With the [DATA]key.
ENTER display the data related t o the selected item
number.
With the C1\3 , CIVI> , C<_> or (->? key, select t h e number 00.
With the [GI
DSPL
key, turn ON or OFF the monitor panel jog
operation mode.
With the key, return to the item No. display status.
nsPL
Using the SET key, switch from the setting mode to t h e monitor
mode.
(2) Digital Operator Jog Operation Procedure
For speed reference adjustment, use user constant Cn - 10 (see Table 3.4) .
With the @ switch, effect W O N / SVOFF changeover.

H The motor runs in the forward direction while t h e m key is held
down.
H The motor runs in the reverse direction while the
down.
akey is held
3.4.4 Clearing Fault Traceback Data
When user constant Cn-00 is set to 02, fault traceback data are cleared.
SETTING MODE
ITEM No
I C l e a r ~ n gFault Traceback Data

II
Fig.3.7 Clearing Fault Traceback D a t a
Select the item number 00 with t h e m , , or akey.

With the key, display the data related to the selected item
number.
With the , a,
CI<=l or (>) key, select the number 02
With the [GI
DSPL
key, clear fault traceback data and return to the uses
constant Cn-00 data display status.
With the [
el key, return to the item No. display status.
lil Using the[= key, switch from the setting mode to the monitor
mode
3.4.5 Check of Motor
( 1 ) Check Method of Motor
When user constant Cn-00 is set to 04, the system enters the motor
parameter check mode.
Panel Display
-
H
SETTING MODE
ITEM No. 0 DATA
MOTOR PARAMETER DISPLAY
MODIFICATION N U M B E R DISPLAY
Fig.3.8 Switch Functions in Motor Parameter Check
Set UP item number 00 with t h e m , m,aor akey.

key, display the data related to the selected item
number.
With the , m , aor akey, select the number 04
DSPL
El With the [%]key, check the motor parameter.
/
With the w]key, return to the item No. display status.

DSPL
Using the(=] key, switch from the setting mode to the monitor
mode.
(2) Parameter Display
Motor Parameter
J -
Motor Capacity
SGDR
Motor Type
SGD 1 SGDA
DR2 1 SGDE I SGDB1
Modification Index 3 : SGMPlOOV
L H o d i f i c a t i o n No. (Hexadecimal display)
(ax163+bx162+Cx16+d) = Y Specificatron No.
Nos. Corresponding t o Alphabets
A = 10
b =11
C =12
d =13
E =14
F =15
3.4.6 Auto Tuning
(1) M o d e S e t t ~ n gIn A u t o T u n i n g
When user constant Cn-00 is set to 05, the system enters the auto tuning
mode.
Panel Display
u
a@ 00 - o q q f i '
SETTING MODE
-
L__
ITEM NO.
- -
L__
DATA
1 la
MACHINE RIGIDITY SELECTION MODE
o---Qoo TUNING MODE
- 1 Depress !he
Q
EL
key to st(
Note : Depressing ----- key cancels

the tuning when tuning is
executed.
TUNING CPMPLETION
Stop dapess~ngIhe
Fig. 8A.9 Auto Tuning Mode
Set up item number 00 with t h e m , , ao r key
With the[=] key. display the data related to t h e selected item
number .
With the , , CI_)or akey, select the number 05.
DSPL
With the k l k e y , switch to the machine rigidity selection mode
or tuning mode.
With the =)key, return to the item N o display status,
Using the
mode.
rDSPL]
SET key. smich from the setting mode to the monitor
Tuning Method
(a) Speed setting

When tuning is being performed, the m a x i m u m v a l u e of speed
reference is s e t by user constant Cn -10.S e t t h e v a l u e to a p -
proxiinately 500 r/inin. (If the value is too small, auto tuning
cannot be performed properly.)
T h e motor runs intermittently when the or a
key is held
down. ( T h e motor does not run a t the same speed continuously.)
(b) Machine rigidity selection

According to the machine rigidity, select the following :
Dflm@D : LOW response
amnfl@@
flfl@@ : Medium response
: High response
When the machine rigidity is not defined, select the middle - speed
response.
Machine vibration
When entering the servo ON s t a t u s with the switch or @
depress the [TI
machine vibrates suddenly a t depressing the or
hey and stop the tuning operation.
key,
T h e n depress the [El key to enter the machine rigidity selection

mode, and set t h e level of machine rigidity selection a t one level
lower.
When tuning is not completed
&
When tuning is not completed e v e n though t h e machine does n o t
vibrate, depress the DSPL] key to stop the tuning operation.
Then depress the key to e n t e r t h e n a c h i ~ erigidity selection

mode and set the level of machine rigidity selection a t one level
higher.
(c) Tuning
With the @
switch, effect SVON/SVOFF changeover.
T h e motor runs in the forward direction while the (key is held
dowh.
Q T h e motor runs in the reverse direction while the
down.
key is held a
Notc : If the machine vibrates when depressing the o r m key, stop depressing the
key since t t ~ egain is decreased.
( or
H W i t h the tuning c o m p l e t i o n , ~ [ - ~ [is~ displayed

~~l~ and power sup-
ply to the motor is s t o w ~ e d .
depressing the or CZL) key. Display is returned to
~ ~ 7 ~ ~ ~ ~ ~
u cr - c1 1 1 .
(d) Input signals
T h e P-OT signal, N-OT signal and SEN signal (absolute encoder

only) a r e enabled durlng auto tuning. Input the P-OT signal, N-OT
signal and SEN signal (absolute encoder only) during auto tuning.
T o conduct auto tuning without inputting these signals, set user
constant Cn-01 Bits 1, 2, and 3 to 1.
. Auto tuning is not possible during overtravel (P-OT or N-OT
,
signal OFF).
Conduct auto tuning when no overtravel has occurred (both P - O T
and N-OT signal ON).
. If using the S-ON slgnal to set the servo ON status, display
before turning ON the S-ON signal.
3.4.7 CHECK OF SOFTWARE VERSION
( 1 ) Mode Setting in Software Verson Check
When user constant Cn-00 is set to 06, the system enters the software
version check mode.
Panel Display
-
SETTING MODE
SOFTWARE VERSION DISPLAY I
Fig. 3.10 Software Version Check Mode
Set up the item number 00 with the (, ), aor (key.

TJ With t h e e ] key, display the data related to the selected item
number .
Q With the , , (<or (key, select the number 06.
With the [GI
DSPL
key, display the software version.
H With the pENTER

] k e y , return to the item No. display status.
DSPL
Using t h e 6 1 key, switch from the setting mode to the monitor
mode.
(2) Software Version Display
LT A : Speed Control (SGDA, SGD)

d pe
: P o s i t ~ o nControl (SGDA, SGD)
F : SpeedITorque Control (SGDE)
E : Position Control (SGDE)
b : SGDB
0 : DR2
3.5 MONITOR M O D E
In this mode, the speed reference, torque reference, and other data can be
monitored on the digital operator.
Table 3.7 lists the data that can be monitored.
Table 3.19 Data Monitored
Date Monitored
Feedback Speed
0 2 Torque Reference
0 3 No. of Pulses from Phase-U Edge (Puke)
04 Electrical Angle (9
05 Internal Status Bit Display 1 (Refer to Table 3.20.)
06 Internal Status Bit Display 2 (Refer t o Table 3.21.)
07 Speed Display of Reference Pulse (r/min)
08 Position Deviation (Pulse )
i u <
MONITOR MODE MONITOR No.
INDICATION
Fig. 3.1 1 Switch Functions in Monitor Mode
fl With the or key, select a desired monitor No
H With the =]key, initiate monitor display.
key, return to the monitor No. selection status
With the I=[

traceback mode.
key, switch from the monitor mode to the fault
Table 3.20 B i t Indication of Monitor Mode Un-05 Internal Status
(Type SGDA, SGDE, SGD)

Q SVALM Servo Alarm
@ DBON Dynamic Braking
DIR Reverse Run Mode
@
-
I
/COIN
IMSON
I
Motor Running
(Motor speed is TGON level or higher)
Toraue
'
Limit
1 position Completion
ode Switch ON
I
I
II
Select by setting of user
constants Cn-0 I.
(Type SGDE : TGON)
a IP-CL I
I ~ o r w a r dCurrent Limit
lnternal setting speed
Not used at type SGDE
@ IN-CL I ~ e v e r s eCurrent Limit I
Not used at t ,.
v~e
SGDE
@ B-ON Motor under Present Condition
@ PA Phase-A*
@ PB Phase-B*
@ PC Phase-C*
-
PU Phase-U * Incremental encoder only
@ PV Phase-V * Incremental encoder only
@ PW Phase-W* Incremental encoder only
@ SVON Servo ON
P-CON P Operation lnput Select by setting of bit 2
.............................................................................
@ DR Rotating Direction lnput by External Setting User c o n s t a n t o 2 .
Speed (ON a t reverse, OFF at forward) (Type SGDE : PCON)
@ P-OT Forward Running Prohibit lnput

N-OT Reverse Running Prohibit lnput
@ NONE
*Type SGA : L i g h t goes OFF when the input signal is set to high level.
Type SGDA, SGD : L i g h t goes ON when the input signal is at high level.
(Type SGDA, SGD)

a PUL Reference Pulse Input
@ SIGN lnput Pulse Sign
pp
CLR Deviation Counter Clear l n w t
T a b l e 3.22 B i t I n d i c a t i o n o f M o n i t o r M o d e Un-05 I n t e r n a l S t a t u s
(Type SGDB)
@ PC Encoder Phase-C lnput Signal set to High Level* 2CN-14 (PC), 2CN-15 (*PC)
--
@ PU Encoder PhaseLl Input Signal set to High Level*
@ PV Encoder Phase-V lnput Signal set to High Level*
@ PW Encoder Phase-W lnput Signal set to High Level*
@ SVON Servo ON 1CN-40 (m)
Rotating Direction lnput by External Setting
Speed (ON at reverse, OFF at forward)
lCN.41 (m)
@ P-OT Forward Running Prohibit Input 1CN-42 (P-OT), Cn.01 bit 2
@ N-OT Reverse Running Prohibit Input 1CN-43 (N-OT), Cn-01 bit 3
SEN SEN Signal Input 1CN-4 (SEN), Cn.01 bit 1
(Type SGDB)
B i t No. Symbol Contents Remarks

PUL Reference Pulse Input 1CN-7 (PULS), 1CN-8 (*PLUS)
a SIGN I n p u t Pulse Sign 1CN.11 (SIGN), 1CN.12 (*SIGN)
CLR Deviation Counter Clear Input 1CN.15 (CLR), 1CN.14 (*CLR)
n
w
CLT Current Limit
@ BK Brake Interlock Output
@ OLWRN Overload Alarm
a P-ON Power O N
@ S-RDY Servo Ready
,
to
@ ( [ N o t used
3.6 FAULT TRACEBACK MODE
In this mode, information on past fault occurrence can be displayed.

Inforination on up t o 10 past fault occurrence can be stored.
When a fault is reset or the control power is turned ON, traceback d a t a
A.99 is saved (These data a r e also counted a s one of a total of 10 stored
items of fault information.)
For the relationship between traceback data and fault descripitions, refer
t o Table 3.24
-
FAULT
OCCURRENCE No.
I
TRACEBACK DATA
Fig. 3.12 Fault Traceback Mode
irith the [El

--- key, select fault traceback mode.
With the a
u
or key, increase or decrease the fault occurrence
number. T h e fault information related to the selected number is then
displayed. ( T h e higher the fault occurrence number, t h e older t h e
fault occurrence.)
With the key, switch from the fault traceback mode t o t h e
SET
status display mode.
Table 3.24 Error Displays W i t h D i g i t a l Operator and Traceback D a t a
I
9, 2 : Absolute Encoder D a t a Error
(Type SGDA).
8 C,? User Constant Breakdown
8 Cy User Constant Setting Error
8 ;3 Overcurrent
,q 23 Blown Fuse Type DR2
Type SGDB, D R 2
P
8 3: Position Error Pulse Overflow Type DR2
Overvoltage Type SGDA, SGDE, SGD
'$
~ a i Circuit
n Voltage Error Type SGDB
Detected a t 1 1 0 % of max. speed.
Type SGDA, SGDE, D R 2
8 7: Overload Momentary overload
,
Overload Continuous overload
R. 8G Absolute Encoder Error (Type SGDA, SGDB, DR2)
Only when 12-bit encoder
9 3: Absolute Encoder Backup Error is used.
Only when 12kit encoder
8 g> Absolute Encoder Check sum Error is used.
8,g3 Absolute Encoder Battery Alarm

pL<,wd12-bit
henabsolute encoder
Only when 12-bit absolute encoder
3 g;' Absolute Encoder D a t a Error is used.
Only when 12-bit absolute encoder
8, 35 Absolute Encoder Overspeed is used.
,q 8 : Heat sink overheat Type SGDB
3, b ; Reference Input Read Error
,q :: Overrun
8. [z Encoder Phase Detection Fault Only when incremental encoder

is used.
= 5' PA-, PG-phase Disconnection of PG

Signal Line
8 = C: PC Disconnection
Incremental Encoder
8. =5 Type D R 2
Initial Pulse Error
Full-closed Loop A-, B-phase Type D R 2
8. c b
Disconnection
-
Full-closed Loop C-phase Type DR2
. 7 Disconnection
9 , ,c : Power Supply Line Open Phase Type SGDB
8,F 3 Momentary Power Loss Error
8 q$ N o t Applicable t o Alarm
C ,a F CC D i g i t a l Operator Transmission Error 1 ~ i ~ ioperator
t ~ l error
P,C :3 : Digital Operator Transmission Error 2 detected as traceback data.
APPENDX 1 SGD USER CONSTANT LIST FOR SPEED
(TORQUE) CONTROL
Table 1.1 User -setup User Constant for Speed (Torque) Control Memorandam
ntrol Mode Select~on
Table 1.1 User-setup User Constant f o r Speed (Torque)
Control Memorandam (Cont'd)
I ------, Standard Settina/Datz

User
Constant
Contents
Cn-03 Speed Reference Gain
Soe~dLOODGain lHrl
Speed Loop Integral Time [msI
-
Cn-06 Emergency Stop Torque [% 1

-
Cn-07
-
Soft Start T~me(Accelerat~on) [ms]
Cn-08 Forward Running Torque L m t [% 1
-
Cn- 09 Reverse Runn~ngTorque L m t [% I
Cn-OA PG Dividing Ratio PIR 1
Cn -OB Zero-speed Level [rimin ]
Cn-OC Mode S\,iitch (Torque Reference) [% 1
Cn-OD Mode Svritch (Speed Reference) [rimin I
Cn-OE Mode Swtch (Motor Acceleration Detection) [IO(r/m~n)ls]
Cn-OF Zero-clamp Level [rimln I
Cn-10 JOG Speed [rimin ]
Cn- 1 1 Number of Encoder Pulses [P!R 1
Cn-12 Delay Time from Brake Reference to SVOFF [IOms]
Cn-13 Torque Reference Gain [l/lOV/Rated Torque]
Cn-14 Speed Llm~twith Torque Control I [rimin 1
Brake Timing at Motor Rotat~on(Speed
Cn-l level at whch brake reference is output.)
Brake T~mingat Motor Rotation (Wating

Cn-16 time from SVOFF to brake reference [rimin
1 output.)
Cn- 17 Torque Reference F~lterTime IPSI
Cn- 18 Forward External Current L~mit [% 1
.-
C-..n - 1 q Reverse
. External Current Limit 1% .1
.
Cn-1 A Position Loop Ga~n [r/sl

1st Speed [rimin 1
2nd Speed [rhn 1
3rd Speed [rimin ]
Speed Coincidence Signal Output Wldth [rimin ]
Soft Start Time (Decelerat~on) [msl
Note:
U s e l - constants C n - - l B , -1C, -lD and -lE a r e n o t u s e d . D o n o t c h a n g e t h e m
APPENDIX 2 SGD USER CONSTANT LIST FOR POSITION
CONTROL
Table 2.1 User-setup User Constant f o r Positioning Control Memorandam
Table 2.2. User-setup User Constant for Positioning
Control Memorandam (Cont'd)
User
Constant
Note:
User constants Cn--03, 1 3 , -14 and -22 a r e not used. Do not change them
APPENDIX 3 SGDA USER CONSTANT LIST FOR SPEED
(TORQUE) CONTROL
Table 3.1 User-setup User Constant f o r Speed (Torque) Control Memorandam
Control Mode Select~on
w~tchSelect~on
Table 3.2 User-setup User C o n s t a n t f o r Speed (Torque) Control M e m o r a n d a m
Cn-OC l~ode
Switch (Torque Reference) [%] 200/ 1 1 1 I 1 I I I 1
Cn-OD I ~ o d Switch
e (Speed Reference) [r/minl 1 0 I I 1 1 I 1 I I 1
Cn-OE Mode Switch (Motor Acceleration Detection) [I0 (r/rnin)/s] 0
Cn-OF Zero Clamp Level [r/min] 10
Cn-10 I
JOG Speed [r/min] 500 I
Number of Encoder Pulses [P/R] 20481

Cn-12 1~elavTime from Brake Reference to SVOFF [IOmsl 0 I
Cn-14 Ispeed Limit at Torque Control I1 [rlmin] 145001 1 I 1 1 1 I 1 1
Cn-15 l ~ r a k eTiming Speed [r/min](l00/ I 1 1 1 1 I I I
Cn-16 l ~ r a k eTiming Time [lOms](50/ / I I ( 1 1 1 (
Cn-17 sl 4
l~oraueReference Filter T~meConstant (100~1 1 / 1 1 1 1 I 1 1 1
Cn-18 Forward External Current Limit [%] 100 -
Cn-19 Reverse External Current Limit [%] 100 ---
Cn-IA Position Lo00 Gam Il/s] 40
APPENDIX 4 SGDA USER CONSTANT LIST FOR
POSITION CONTROL
Table 4.1 User-setup User Constant f o r P o s i t ~ o nControl Memorandam
Note : Factory setting of bit 8 on Cn-02 is either 0 (Type SGDA- * * *S) or

1 (Type SGDA-* * *SP).
Table 4.2 User-setup User Constant f o r Position Control M e m o r a n d a m
Cn-OC /Mode Switch (Torque Reference) [%I]

200 / / / 1 1 I I I I
Cn-OD ]Mode Switch 6 ~ e e dReference) Ir/minl 0 I / 1 I I 1 I I I I
Cn-ID Feed Forward [ % ] l o / 1 I 1 / 1 1 1

Cn-IE loverflow rX256ReferenceUnitll1024/ 1 1 I I I 1 1 1
Cn-IF 1st Speed [rlmin] 100
Cn-20 2nd Speed [r/min] 200
--
Cn-21 3rd Speed [r/min] 300
Cn-24 IElectronic Gear (Molecule) 4

Cn-25 l~lectronicGear (Denominator)
Cn-26 I~eference,~ulse /
Accel/Decel Time Constant [ms] 0 ( 1 / 1 1 / 1 / 1
Cn-27 l ~ e e dForward Reference Filter Tmsl/ 0 1 I 1 1 I 1 1 1 1
Cn-28 Ispeed Loop Compensation Constant 0
0
APPENDIX 5 SGDE USER CONSTANT LIST FOR SPEED
CONTROL (TORQUE CONTROL)
Table 5.1 User-setup User Constant f o r Speed (Torque) Control M e m o r a n d a m
2 Contact Reference Mode 0

Cn-02
C * Torque Reference Filter 0
E Torque Reference Input Selection 0
* Settmg can be changed at software verstons 4 or above
Table 5.2 User-setup User Constant for Speed (Torque) Control Memorandam
APPENDIX 6 SGDE USER CONSTANT LIST FOR
POSITION CONTROL
Table 6.1 User-setup User Constant f o r Position Control Memorandam
Reference Pulse Mode
1 I I I I I I I I
A
- l~eviationCounter Clear I O I /J / l I l / I /
C * Torque Reference Filter 0
-
E -
Monitor Outout Level Chanaeover I
0 l I I / I I I I I
* Setting can be changed at software versions 4 or above.
Table 6.2 User-setup User Constant f o r Position Control Memorandam
APPENDIX 7 SGDB USER CONSTANT LIST FOR
POSITION CONTROL/SPEED (TORQUE)
CONTROL
Table 7.1 User-setup User Constant for Position Control Memorandam
ference Pulse Mode
Table 7.2 User-setup User Constant f o r Position Control M e m o r a n d a m
User Standard SettingIDate

constant contents
Cn-IC l~ias [r/min] / 0 / I 1

Cn-1D l ~ e e dForward [%]I 0 1 I I
Cn-1E (~verflow [ x 256 Reference Unit] 11024 1 I I
~n-IF Jlst S ~ e e d
I
rr/minlliOo II I
I
I
I
Cn-20 12nd Speed [r/rninl(200 1 I I
Cn-21 3rd Speed [r/min] 300
Cn-22 Speed Agreed Signal Output Width [r/min] 10
Cn-23 Soft Start Time (Deceleration) [ms] 0
Cn-24 I
Electronic Gear (Molecule) 4 I I I
I
Cn-25 l~lectronicGear (Denominator) 1
(Cont'd)
* Setting prior t o shipping
SERVOPACK Type I Motor Type

I Cn-2A I Cn-11
Cn-OA
SGDB-6OADM SGMG-6OA *B 178

SGDB-IOADS SGMS-1OA A * 163
SGDB-50ADD SGMD-40A A *--157

-
SGDB-O5AD SGM-04A 106
SGDB-IOAD SGM-08A 107
SGDB-05ADP SGMP-04A 126 2048
SGDB-IOADP SGMP-08A 127
SGDB-15ADP SGMP-I5A 128
,PPENDIX 8 D R 2 USER CONSTANT LIST FOR SPEED
(TORQUE) CONTROL
-able 8.1 User-setup User Constant for Speed (Torque) Control Memorandam
Table 8.2 User-setup User Constant for Speed (Torque) Control Memorandam
APPENDIX 9 DR2 USER CONSTANT LIST FOR
POSITION CONTROL
NOTES I
DIGITAL OPERATOR
INSTRUCTIONS
TOKYO OFFICE
New PlerTakashiba Soulh Tobei, 1-16-1.Kaigan. I.l;naloku. Tokyo 105-0022Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
YASKAWA ELECTRIC AMERICA, INC.
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Phone 1447-291-2340 Fax 1-847-498-2430
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- -
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Phone 86-10-6233-2782 Fax 86-10-6232-1536
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YASKAWA
YASKAWA ELECTRIC CORPORATION
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@ T i n t e d i n Japan February 1998 93-1,

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Operador Digital Operacion

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Operador Digital Operacion

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Artisan Technology Group is your source for quality

new and certified-used/pre-owned equipment

(2) The encoder has been preset t o incremental encoder 2048Pulses/Rev

(4) AC SERVOPACK (type SGDB and DR2) has t w o control types,

(6) Digital operator (type JUSP-OP02A) f o r SERVOPACK (type DR1)

3. OPERATION METHOD FOR SERVOPACK SGD-I : : iP

APPENDIX 1 SGD USER CONSTANT L l S T FOR SPEED

AC SERVOPACK (type SGD, SGDA, and SGDE) h a s two control types ;

Table 1.1 O u t l i n e of This M a n u a l

SERVOPACK type Digital Operator Section Page

For Speed Control

2.1 SWITCH OPERATION

5-DIGITS, 7-SEGMENTS LED

Fig. 2.1 DIGITAL OPERATOR (HAND HELD TYPE)

[w] key a s shown in Fig.2.2.

Table 2.1 Digital Operator Functions

1 - Fault Traceback Indication Mode ~-qq~pJ

Fig. 2.2 Mode Changeover

POWER SUPPLY O N CODE

Table 2.3 Status Indication Mode

Bit Data Contents Remarks

Light goes ON with base block, and goes OFF

Light goes ON when motor rotating speed

TGON Light goes ON with motor rotating speed higher

Speed Reference Light goes ON with speed reference input equal

Table 2.3 Codes and Status

In this mode, the following operations can be performed.

2.4.1 User Constant (Data) Setup and Monitor

SETTING MODE ITEM No. [C] DATA

Set up the item number with the C/\7 , CV=) ,

Retain the data with the

Cn-04 / LOOPHZ /speed Loop G a ~ n 1 Hz

Cn-18 I C LMI F 1 Forward Limit

0-19 I C LMI R IReverse Limit

PGRAT PG Dividing Ratio

Mode Switch Max

RWMSW / Mode Switch

C n - 0 3 VREFGN Speed Reference G a ~ n (r/m~n)/V 0 2162 500

Reverse Running Torque

Torque Reference Filter

I Delay Time f r o m Braking / lomi 1 / 5o 1 I

I F:Fes 513 1 32768 1 2048 1 Note 1

Symbol Name Lower Upper Setting Prior

Cn-20 SPEED2 Internal Setting Speed 0 Max. Speed 200

Cn-21 SPEED3 Internal Setting Speed

Cn-28 NFBCC Speed Loop Compensation 0

Cn-29 AXISNO Axis Address - 0 14

: User constants that must b e set

Speed Loop Integration 2 Note 2

Cn-07 SFSACC Soft Start Time (Accel) ms 0 10000 0

Cn-OF ZCLVL Zero-clamp Level r/min 0 16383 10

Cn-13 TCRFGN Torque Reference Gain O.lV/Rating 10 100 30

Reverse External Torque

Cn-1A POSGN Position Loop Gain 1/s 1 500 40 Note 3

Cn-23 SFSDEC Soft Start Time (Decel) ms 0 10000 0

Cn 1 1 PULSNO Number of encoder pulses P/R 513 32768 a1 Note 1

Cn-2B CTLSEL Control method selection

Cn-OE ACCMSW Mode s w ~ t c haccelerat~on lOr/min/s 0 3000 0

Cn.OF ERPMSW Mode switch error pulse 0 10000 0

Reference Soft start acceleration

Position reference ac-

*1 Refer to page 18.

I I BRKTIM Time delay from brake

I I Speed level for brake

Uses reverse rotation prohibited ~:;$:~dui$::$~t,","rSe