SGDH Amplifier. Part Number Guide. Quick Reference Guide. Amplifier: SGDH - 15 A E- Motor: SGMGH - 09 A C A 6 C $10

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1 Quick Reference Guide SGDH Amplifier $ Document TRM--SGEN 9// V..4 Yaskawa Electric America Technical Training Services Part Number Guide Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Amplifier: SGDH - 5 A E- SGDH Amplifier Rated Output* A, A5,,, 4, 5, 8,, 5,,, 5, 6, 75, A, E Power Supply Voltage A: V, B: V, D: 4V Model E: Speed, Torque, & Position Control Single Phase Option S: Single Phase Option (For sizes 8 and 5 only) * Power rating of the amplifier should match the motor power rating. An amplifier with power rating one step up or down may also be used. Use of the smaller amplifier will decrease motor performance. NOTES. Sizes A, A5,, available in -phase: V or V only.. Size 4 available in -phase: V only.. Sizes 8 and 5 available in -phase or -phase: V only. 4. Sizes 5,,,, 5, 6, 75, A, E available in -phase: V or 4V. Motor: SGMGH - 9 A C A 6 C Sigma II Servomotor type SGMAH: W-75W /5rpm IP55 SGMPH: W-5W /5rpm IP67 Power Rating A: W (.4 hp) -AH A5: 5W (.7 hp) -AH : W (. hp) -AH, -PH : W (.5 hp) -AH, -PH 4: 4W (.5 hp) -AH, -PH 5: 5W (.7 hp) -GH 8: 75W (. hp) -AH, -PH 9: 85W (.4 hp) -GH :. kw (. hp) -SH, -UH :.kw (.7 hp) -GH SGMGH:.5kW-5kW 5/rpm IP67 SGMSH:.kW-5.kW /5rpm IP67 SGMUH:.kW-.kW /6rpm IP67 5:.5kW (. hp) -PH, -SH :.kw (.7 hp) -GH, -SH :.kw (4. hp) -GH, -SH, -UH 4: 4. kw (5.4 hp) -SH 44: 4.4kW (6. hp) -GH 5: 5.kW (6.7 hp) -SH 55: 5.5kW (7.5 hp) -GH 75: 7.5kW ( hp) -GH A: kw (5 hp) -GH E: 5kW ( hp) -GH Shaft : Straight Shaft w/o keyway -AH 4: Straight Shaft w/ keyway -AH, -PH 6: Straight Shaft w/ keyway -GH, -SH, -UH Encoder A: -Bit (48 4) Incremental -AH, -PH C: 7-Bit (,768 4) Incremental -GH, -SH, -UH : 6-Bit (6,84 4) Absolute -AH, -PH : 7-Bit (,768 4) Absolute -GH, -SH, -UH Power Supply A: V -AH, -PH, -GH, -SH B: V -AH (W and under), -PH (W and under) D: 4V -GH, -SH, -UH Accessories : Standard -AH, -GH, -SH, -UH C: 4VDC Brake -AH, -GH, -SH, -UH S: Shaft Seal -AH, -GH, -SH, -UH E: Brake & Shaft Seal -AH, -GH, -SH, -UH D: Standard, -PH CD: 4VDC Brake, -PH SD: Shaft Seal, -PH ED: Brake & Shaft Seal, -PH Rated Speed A: 5rpm -GH A: rpm SH, -UH F: Standard Revision Level -AH H: Standard Revision Level -PH Quick Reference Guide V..4 9//. Page Yaskawa Electric America, Inc.

2 I/O Wiring Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Terminal Symbol Description Reference CN- SG Signal Ground - CN- SG Signal Ground for SEN input (CN-4) - CN- PL +V supply for open collector input PULS (CN-7) 5.. CN-4 SEN Initial data request input signal for absolute encoder 5.7. CN-5 V-REF Speed Reference Input. Range: ±V. Scale: Pn. Usage: Pn., Pn CN-6 SG Signal Ground for Speed Reference Input V-REF (CN-5) CN-7 PULS CN-8 /PULS Position Reference Input "Pulse" 5.. CN-9 T-REF Torque Reference Input. Range: ±V Scale: Pn4. Usage: Pn. 5.. CN- SG Signal Ground for Torque Reference Input T-REF (CN-9) CN- SIGN CN- /SIGN Position Reference Input "Sign" 5.. CN- PL +V supply for open collector input SIGN (CN-) 5.. CN-4 /CLR CN-5 CLR Clear error counter in position control. Options: Pn., 5.. CN-6 - Not Used - CN-7 - Not Used - CN-8 PL +V supply for open collector input CLR (CN-4) 5.. CN-9 CN- PCO BAT (+) CN- CN- /PCO BAT (-) Phase C Encoder Output Absolute Encoder Battery Terminals CN- - Not Used - CN-4 - Not Used - CN-5 SO (+) CN-6 SO (-) CN-7 SO (+) CN-8 SO(-) CN-9 SO (+) CN- SO (-) CN- ALM (+) CN- ALM (-) CN- PAO CN-4 /PAO CN-5 PBO CN-6 /PBO CN-7 AL CN-8 AL CN-9 AL I/O: CN Terminal Layout Selectable Output. Default: /COIN (Pn5E.) in position control. Default /V-CMP (Pn5E.) velocity control Selectable Output. Default: /TGON (Pn5E.) Selectable Output. Default: /S-RDY (Pn5E.) Alarm Output. Normally ON (Closed). Configure: Pn. Phase-A Encoder Output. Scale: Pn (PG Dividing Ratio) Phase-B Encoder Output. Scale: Pn (PG Dividing Ratio) -bit Alarm Code Output. Configure: Pn. (Warning Code Output Selection) CN-4 SI Selectable Input. Default: /S-ON (Pn5A.) Use Pn5A-D to 5.. CN-4 SI Selectable Input. Default: /P-CON (Pn5A.) assign inputs. 5.. CN-4 SI Selectable Input. Default: /P-OT (Pn5A.) 5.. CN-4 SI Selectable Input. Default: /N-OT (Pn5B.) Set Pn5A.= 5.. CN-44 SI4 Selectable Input 4. Default: /ALM-RST (Pn5B.) for user-defined 5.. CN-45 SI5 Selectable Input 5. Default: /P-CL (Pn5B.) inputs to take 5.. CN-46 SI6 Selectable Input 6. Default: /N-CL (Pn5B.) effect 5.. CN-47 +4V IN Selectable Input Common (4V or V) 5..4 CN-48 PSO CN-49 /PSO Phase S Output; absolute encoder serial output 5.. CN-5 - Not Used - Analog Output Monitor (Terminals under battery cover) Configure using Pn., Pn.., FnC, FnD V (or V) SI SI SI SI SI4 SI5 SI6 Selectable Inputs Outputs SO SO SO ALM 7-5 ma max through each input. 5 ma max through each output. I/O circuits shown in sec.4 (p.-) If current is flowing through an input or output, the logic state is LOW. * Names of I/O signals that are "ACTIVE LOW" are preceded by a ' / '. If no current is flowing, or the I/O is not connected, the logic state is HIGH. * Names of I/O signals that are "ACTIVE HIGH" are not preceded by a ' / '. ex. P-OT, N-OT Quick Reference Guide V..4 9//. Page Yaskawa Electric America, Inc.

3 Selectable Inputs Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Parameter Nibble Name Pn5A Input Signal Allocation Mode Input Signal Allocation Mode *Pn5A.= Default Setting MUST be set for user-defined inputs to take effect* Ref. 5.. Setting Description Allocate input signals according to SDGB defaults. Allocate input signals according to user-defined parameter settings. Parameter Nibble Name Input Signal Selection Default Setting Ref. Setting Description /S-ON (Servo On) Servo Off Mode: Pn. : SI 5.5. Assign to SI at CN-4 Pn5A /P-CON (Proportional Control) Also See PnB. : SI 5.. Assign to SI at CN-4 P-OT (Positive Overtravel prohibited) Normally ON. Overtravel Stop Mode set in Pn. N-OT (Negative Overtravel prohibited) Normally ON. Overtravel Stop Mode set in Pn. : SI 5.. Assign to SI at CN-4 : SI 5.. Assign to SI at CN-4 Pn5B /ALM-RST (Alarm Reset) 4: SI Assign to SI4 at CN-44 /P-CL (Positive Current Limit) Set in Pn44 5: SI Assign to SI5 at CN-45 /N-CL (Negative Current Limit) Set in Pn45 6: SI Assign to SI6 at CN-46 /SPD-D (Contact Speed DIRECTION) 8: OFF Mask ON Pn5C Pn5D /SPD-A (Contact Speed SWITCH A) Speeds Set In Pn, Pn, Pn /SPD-B (Contact Speed SWITCH B) Speeds Set In Pn, Pn, Pn /C-SEL (Control Mode Select) Set in Pn. Select secondary mode when ON /ZCLAMP (Zero Clamp) Hold position when commanded below RPM level set in Pn5 8: OFF Mask OFF 8: OFF : OFF - A 8: OFF 5.4. B /INHIBIT (Ignore Pulse Reference Input) 8: OFF 5.. C /G-SEL (Gain Select) Set: Pn4, Pn5, Pn6 8: OFF - D (Reserved) 8: OFF - E F Assign to SI at CN-4 Assign to SI at CN-4 Assign to SI at CN-4 Assign to SI at CN-4 Assign to SI4 at CN-44 Assign to SI5 at CN-45 Assign to SI6 at CN-46 NOTES:. Pn5A.= MUST be set for user-defined inputs to take effect. Exception: /S-ON may be masked on (Pn5A.=7) and P-OT and N-OT may be disabled (Pn5A.=8, Pn5B.=8) without setting Pn5A.=.. Cycle control power for input changes to take effect. Mask OFF the default input signal mapping when assigning new inputs. Multiple input signal selections can be assigned to the same input terminals (Uses AND logic). 4. To disable overtravel inputs, set Pn5A.=8 (P-OT off), Pn5B.=8 (N-OT off). 5. An amplifier alarm may be reset () using /ALM-RST input, () through software, () by pressing the UP and DOWN arrows simultaneously on built-in digital operator (4) by cycling control power. Quick Reference Guide V..4 9//. Page Yaskawa Electric America, Inc.

4 Selectable Outputs Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Output Signal Selection Parameter Nibble Name Default Ref. Setting Description /COIN (Position Coincidence) Motor position within range set in Pn5. Active only in Position Control : SO 5.5. Disabled Pn5E /V-CMP (Velocity Comparison) Motor speed within range set in Pn5E. Active only in Speed Control /TGON (Tach Generator On) Motor speed above level set in Pn5 /S-RDY Servo Ready (Drive ready to receive /S-ON signal) : SO : SO : SO Assign to SO at CN-5,6 Pn5F Pn5 /CLT (Current Limit reached) Limits Set In Pn4, Pn4, Pn44, Pn45, Pn. /VLT (Velocity Limit reached) Limit Set In Pn47 /BK (Brake) Activate brake relay. Configure: Pn56, Pn57, Pn58 /WARN (Warning) Current approaching overload level /NEAR (Near Position) Motor position within range set in Pn Reserved - Not Used - Assign to SO at CN-7,8 Assign to SO at CN-9, Parameter Nibble Name Default Ref. Setting Description Pn5 Invert Output Signal on SO- Invert Output Signal on SO- Invert Output Signal on SO- Output Signal Inversion : Not Inverted Not Used - Not Inverted Inverted NOTES:. Cycle control power for output changes to take effect. Mask OFF the default output signal mapping for when assigning new outputs Multiple output signal selections can be assigned to the same output terminals (Uses OR logic) F 4 7 Nibble Nibble Nibble Nibble Parameter Pn5B Quick Reference Guide V..4 9//. Page 4 Yaskawa Electric America, Inc.

5 Parameters Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Adjustment-Type Parameters Category Pn No. Description Unit Setting Factory Manual Ref. Range Default Pn Speed Loop Gain Hz Pn Speed Loop Integral Time Constant. ms Pn Position Loop Gain /s Pn Inertia Ratio. See Fn7, Pn. % - 6.., 6.. Pn4 nd Speed Loop Gain Used with Hz Pn5 nd Speed Loop Integral Time Constant /G-SEL Input. ms Pn6 nd Position Loop Gain (Pn5D.) /s Gain Pn7 Position Bias Gain rpm Pn8 Position Bias Gain Activation Level ref units Pn9 Position Feed-Forward Gain % - 6.., 6.4. PnA Feed-Forward Delay Filter Time Constant. ms , 6.4. PnC Mode Switch Torque Reference Level % PnD Mode Switch Speed Reference Level Select in rpm PnE Mode Switch Acceleration Level PnB. rpm/s PnF Mode Switch Error Pulse Level ref units Pn Speed Feedback Compensation. Activate: Pn.= % Pn PG Divider: Number of PRE-QUAD pulses/rev on encoder outputs PAO and PBO (CN-,4 and CN-5,6) p/r Pn Electronic Gear Ratio (encoder feedback pulses) Position* Pn Electronic Gear Ratio (command pulses) Pn4 Accel/Decel Filter Time Constant. Select: Pn7.=. ms Pn5 Multi-turn Limit Setting ** see NOTE rev Pn8 Average Movement Filter Time Constant. Select: Pn7.=. ms Pn Speed Reference Input Scaling (V-REF: CN-5,6).V / rated speed Pn Contact Speed rpm Pn Contact Speed rpm Pn Contact Speed rpm Speed Pn4 Jog Speed. Jog: Fn rpm Pn5 Soft Start Acceleration Time ( to specified max motor rpm) ms Pn6 Soft Start Deceleration Time (specified max motor rpm to ) ms Pn7 Speed Reference Filter Time Constant. ms Pn8 Speed Feedback Filter Time Constant. ms Pn4 Torque Reference Input Scaling (T-REF: CN-9,). V/ rated torque Pn4 Torque Reference Filter Time Constant. ms Pn4 Forward Internal Torque Limit (always active) % Pn4 Reverse Internal Torque Limit (always active) % Torque Pn44 Forward External Torque Limit. Activate with /P-CL: Pn5B. % Pn45 Reverse External Torque Limit. Activate with /N-CL: Pn5B. % Pn46 Overtravel Stop Torque. See Pn. % Pn47 Speed Limit during Torque Control rpm Pn49 Notch Filter Frequency. Select: Pn48 Hz Pn5 Width for /COIN (Pn5E.) Output Signal ref units Pn5 Threshold for /ZCLAMP (Pn5D.) Input Signal rpm Pn5 Level for /TGON (Pn5E.) Output Signal rpm Pn5 Level for /V-CMP (Pn5E.) Output Signal rpm I/O Pn54 Width for NEAR (Pn5.) Output Signal ref units Pn55 Position Error Overflow Level 56 pulses Pn56 Brake Output Delay Time at servo off ms Brake Pn57 Brake Output Speed Threshold (Servo off when moving) rpm /BK: Pn58 Brake Output Max Delay Time (Servo off when moving) Pn5F. ms Pn59 Momentary Hold Time During Power Loss ms Regen Pn6 Regeneration Power Produced ** See NOTE W -capacity 5.6. NOTES. Cycle power for position parameter changes to take effect.. Pn5: multi-turn limit. a) The default value (Pn5=6555) means the limit is +767 to -768 turns before it rolls over to. b) The multi-turn limit is valid only when Pn.= (Absolute Encoder Usage set to use multi-turn limit setting in Pn5). c) If Pn. is not set to, the default multi-turn limit value will be used (Pn5=6555), even if Pn5 is changed. d) There is no need to change Pn5 except in special cases, so do not change it unless necessary. e) If Pn5 is changed, use Fn to send the new multi-turn limit to the encoder.. Pn6: Regen Power Produced. The maximum regen capacity is the same as the maximum power output capacity of the amplifier. Quick Reference Guide V..4 9//. Page 5 Yaskawa Electric America, Inc.

6 Parameters Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Parameter Nibble Setting Description Direction Selection default= sec 5.. Sets CCW as forward Sets CW as forward Control Method Selection default= sec 5..5 Speed Control (analog reference) Position Control (pulse train reference) Torque Control (analog reference) Pn Contact Speed Control (contact reference) Function 4 Contact Speed Control / Speed Control Selection 5 Contact Speed Control/ Position Control Basic 6 Contact Speed Control / Torque Control 7 Position Control / Speed Control 8 Position Control / Torque Control 9 Torque Control / Speed Control Pn Function Selection Application Pn Function Selection Application Pn Function Selection Application A Speed Control with /ZCLAMP input B Position Control with /INHIBIT input Axis Address default= -F Sets servo amplifier axis address. - Reserved. Default setting = Servo OFF or Alarm Stop Mode default= sec 5.4. Stops the motor by applying DB (DB = Dynamic Brake) Stops the motor by applying DB and then releases DB (coasting state). Coasts to a stop without using DB Overtravel Stop Mode default= sec 5.. Overtravel Inputs: P-OT (Pn5A.), N-OT (Pn5B.) Stops the motor by applying DB and then releases DB (When Pn.=,) or Coasts to a stop without using DB (When Pn.=). Decelerates the motor to a stop using the torque set in Pn46, and then holds position. Decelerates the motor to a stop using the torque set in Pn46, and then sets it to coasting state. AC/DC Power Input Selection default= Not applicable to DC power input: Input AC power supply through L, L (and L) terminals Applicable to DC power input: Input DC power supply through (+) and (-) terminals. Warning Code Output Selection default= sec Alarm Code Outputs: CN-7,8,9 AL, AL, and AL output only alarm codes. AL, AL, and AL output both alarm codes and warning codes. While warning codes are output, ALM signal output remains ON (normal state) T-REF Terminal Allocation default= sec 5..8, 5..9 None. (Torque Reference in torque control) Uses T-REF as an external torque limit input. Uses T-REF as a torque feed-forward input V-REF Terminal Allocation default= None. (Speed Reference in speed control) Uses V-REF as an external speed limit input. Absolute Encoder Usage default= sec 5.7. Uses absolute encoder as an absolute encoder (with default multi-turn limit) Uses absolute encoder as an incremental encoder Uses absolute encoder as an absolute encoder with multi-turn limit set in Pn5. Execute Fn to send new multi-turn limit to encoder. Not Used Selection-Type Parameters () Analog Monitor : Torque Ref. Monitor default= sec 6.5 Motor Speed: V/rpm Speed reference: V/rpm Torque reference: V/% Position error:.5/ reference unit 4 Position error:.5v/ reference units 5 Reference pulse frequency converted to rpm: V/rpm 6 Motor speed X 4: V/5rpm 7 Motor speed X 8: V/5rpm 8-F Reserved parameters (Do Not Change). Analog Monitor : Speed Reference Monitor default= sec 6.5 -F Same as above - - Not Used Quick Reference Guide V..4 9//. Page 6 Automatic input mapping when using SGDB defaults (Pn5A.= default ) * For Pn.=-6: (Contact Speed Control) SI=/SPD-D, SI5=/SPD-A, SI6=/SPD-B (Control mode automatically switches when /SPD-A and /SPD-B are both OFF) * For Pn.=7-9: SI=/C-SEL * For Pn.=A: SI=/ZCLAMP * For Pn.=B: SI=/INHIBIT Yaskawa Electric America, Inc.

7 Parameters Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Parameter Nibble Setting Description Mode Switch Selection (Switch off Integral Gain) default= sec 6..5 PnB Gain Application Pn Online Autotuning Pn Position Control References Selection Pn7 Position Control Function Pn48 Torque Control Uses internal torque reference as the condition (Level setting: PnC). Uses speed reference as the condition (Level setting: PnD). Uses acceleration as the condition (Level setting: PnE) Uses error pulse as the condition (Level setting: PnF). 4 Do not use Mode Switch Speed Loop Control Method default= PI control IP control Not Used - Reserved parameters (Do Not Change). Autotunes only at the beginning of operation. Always autotunes Does not perform autotuning Speed Feedback Compensation Selection (Speed Observer) default= Enabled. Set level in Pn Disabled Friction Compensation Selection default= sec 6..4 Friction compensation: DISABLED Friction compensation: SMALL Friction compensation: LARGE - Reserved parameters (Do Not Change). Sign + pulse, positive logic. CW + CCW, positive logic. A-B phase (x) positive logic. A-B phase (x) positive logic. F 4 A-B phase (x4) positive logic. 5 Sign + pulse, negative logic 6 CW + CCW, negative logic 7 A-B phase (x) negative logic. 8 A-B phase (x) negative logic. 9 A-B phase (x4) negative logic. Error Counter Clear Signal Form default= Clears error counter when the signal goes high. Clears error counter at the rising edge of the signal. Clears error counter when the signal goes low. Clears error counter at the falling edge of the signal. Clear Operation default= Clears error counter at the baseblock Does not clear error counter (clear error counter only with CLR signal) Clears error counter when an alarm occurs. Filter Selection default= Reference input filter for line driver signals. (5kHz) Reference input filter for open collector signals. (khz) Position Reference Filter Selection default= Acceleration/deceleration filter. Time constant set in Pn4 Average movement filter. Time constant set in Pn8 Position Control Option default= Disabled Uses V-REF as a speed feed-forward input. Scale with Pn - - Not Used Notch Filter Selection default= Disabled Use a notch filter on the torque reference. Frequency set in Pn Not Used Selection-Type Parameters () Online Autotuning Method default= Reference Pulse Form default= sec 6..6, 6..4 NOTES. Cycle power for selection-type parameters (switches) to take effect.. Use /C-SEL input (Pn5C.) to switch between the two control methods when Pn.=4-9. Use /ZCLAMP (Pn5D.) when Pn.=A and /INHIBIT (Pn5D.) when Pn.=B. These inputs are automatically assigned to SI in place of the default, /P-CON (Pn5A.), as long as Pn5A.= (part of SGDB default input mapping). 4 7 Nibble Nibble Nibble Nibble Parameter Pn5B Quick Reference Guide V..4 9//. Page 7 Yaskawa Electric America, Inc.

8 Functions Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Using the Digital Operator MODE STATUS View status Display MODE FUNCTIONS Arrows: Select Fn MODE PARAMETERS Arrows: Select Pn MODE MONITORS Arrows: Select Un START HERE Control power must be cycled for some Fn and Pn to take effect. Selected Fn Accessed. See Functions Table below Hold DATA for sec Selected Pn Accessed. Hold DATA for sec Arrows: Change Value SET: Set value to drive Selected Un Accessed. Hold DATA for sec View monitor output Fn Description / Notes On the Digital Operator Fn Alarm Traceback Data DISPLAY: Last alarm states. Sec 7.. () ARROWS: View Alarm Traceback Data Rigidity Setting for Online Autotuning: Range: -, ( most stiff). Sets Fn Pn, Pn, Pn, Pn4. ()ARROWS: Change Rigidity Setting, ()SET: Set selected rigidity JOG Mode Operation: Run servo without external command. Over-travel inputs () SET: execute JOG mode, () hold ARROWS to jog motor () SET: Fn ignored. Jog Speed: Pn4. Sec 7.. deactivate JOG mode Fn Zero-Point Search Mode: Jog to C-pulse and hold position () SET: execute Z-SEARCH, () hold ARROWS to jog motor to c-pulse () SET: deactivate Z-SEARCH mode Fn4 - - Fn5 Parameter Setting Initialization: Reset parameters to factory default Fn6 Alarm Traceback Data CLEAR: Clear alarm history viewed in Fn Save Inertia Ratio Data Obtained from Autotuning: Fn7 Write autotuning inertia ratio value to Pn Absolute Encoder Multi-turn and Alarm Reset: Fn8 Reset an absolute encoder alarm and set multi-turn counter to zero Functions () SET: Initialize Parameters () Cycle control power () SET: Clear Alarm Traceback Data () SET: Save Inertia Ratio to Pn () SET: Reset absolute encoder alarm multi-turn counter Fn9 Automatic Offset Adjustment of Analog Speed/Torque References: Automatically set zero-speed and zero-torque level (to remove drift). Sec 7.. () SET: Set present V-REF and T-REF voltage as V. (Must have Servo Off. Max offset V) FnA FnB FnC FnD FnE FnF Manual Offset Adjustment of Analog SPEED Reference: Adjust zero-speed input voltage level Manual Offset Adjustment of Analog TORQUE Reference: Adjust zero-torque input voltage level Manual Zero Adjustment of Analog Monitor Output: Adjust level of analog output (under battery cover) Manual Gain Adjustment of Analog Monitor Output: Adjust scaling of analog output (under battery cover) Automatic Offset Adjustment of Motor Current Detection Signal: Relevel/calibrate the current transformer automatically Manual Offset Adjustment of Motor Current Detection Signal: Adjust level of current transformer Write Protection Setting: Fn =Write Enable. =Write Protect All Drive Parameters Fn Motor Model Display: Display motor connected to amp. Sec 7..6 Fn Software Version Display: Display firmware level Fn Set Absolute Encoder Multi-turn Limit: Write multi-turn limit setting (Pn5) to encoder. Max: 65,55. (Failure to do this may cause alarm A.) Fn4 Reinitialize Option Board: Set to run without option board (i.e. MP94) () DATA: Access V-REF speed offset value () ARROWS: Change value, () Hold DATA: set value (4) Cycle control power () DATA: Access T-REF torque offset value () ARROWS: Change value, () Hold DATA: set value (4) Cycle control power () SET: Select monitor or, () DATA: Access zero-output level, () ARROWS: Change value (4) Hold DATA: Set value, (5) Cycle control power () SET: Select monitor or, () DATA: Access zero-output level, () ARROWS: Change value (4) Hold DATA: Set value, (5) Cycle control power () SET: Calibrate current transformer level. () SET: Select current xfmr or, () DATA: Access zero-output level, () ARROWS: Change value (4) Hold DATA: Set value, (5) Cycle control power () ARROWS: Change Write Protect Setting, () SET: Set selected setting () SET: Cycle through motor model data. () SET: Cycle through firmware display () SET: Send Pn5 to absolute encoder () Cycle control power () SET: Clear option board error () Cycle control power Quick Reference Guide V..4 9//. Page 8 Yaskawa Electric America, Inc.

9 Monitors / Alarms Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Un Un Un Un Un Un4 Un5 Un6 Un7 Un8 Un9 UnA UnB UnC UnD Monitors Description/Comment Motor Speed (rpm): Measured motor speed Input Speed Reference (rpm): Commanded motor speed Internal Torque Reference (% of rated): Present torque applied to motor Number of Pulses from the Origin (pulses): Used for commutation; not generally useful to user Electrical Angle from the Origin (degrees): Used for commutation; not generally useful to user Input Signal Monitor: On/Off status of inputs. From R to L: SI to SI6, SEN(CN-4). ON: Bottom Segment is Lit. OFF: Top Segment is Lit. Output Signal Monitor: On/Off status of outputs. From R to L: ALM, SO to SO, ALO to ALO. ON: Bottom Segment is Lit. OFF: Top Segment is Lit. Input Reference Pulse Speed (rpm): Speed of input pulses Error Counter Value (ref. unit): Error between commanded position and actual motor position Accumulated Load Rate (% of rated torque): RMS torque over last seconds Regenerative Load Rate (% of max. regen power): Average power dissipated by regen resistor Power Consumed by DB Resistor (% of max): Average power consumed by dynamic braking resistor Input Reference Pulse Counter (No. Pulses in HEX): Number of command pulses received by the amplifier. (Position control only) Feedback Pulse Counter (No. Pulses in HEX): Number of feedback pulses received by the amplifier. (Position control only). Please send Questions, Suggestions, and Corrections to: Training@Yaskawa.com Alarm SDGH Alarm Codes Description AL AL AL A.-- NORMAL OPERATION (ALM output ON) A. Parameter Breakdown* A. Main Circuit Encoder Error A.4 Parameter Setting Error* A.5 Servomotor and Amplifier Combination Error A. Overcurrent or Heat Sink Overheated * A. Regeneration Error Detected A. Regenerative Overload A.4 Overvoltage A.4 Undervoltage A.5 Overspeed A.7 Overload: High Load A.7 Overload: Low Load A.7 Dynamic Brake Overload A.74 Overload of Surge Current Limit Resistor A.7A Heat Sink Overheated** A.8 Absolute Encoder Backup Error* A.8 Encoder Checksum Error A.8 Absolute Encoder Battery Error* A.84 Absolute Encoder Data Error* A.85 Absolute Encoder Overspeed A.86 Encoder Overheated A.b Reference Speed Input Read Error A.b Reference Torque Input Read Error A.b F System Alarm* A.C Servo Overrun Detected A.C8 Absolute Encoder Clear Error and MultiTurn Limit Setting Error* A.C9 Encoder Communications Error* A.CA Encoder Parameter Error* A.Cb Encoder Echoback Error A.CC Multiturn Limit Disagreement A.d Position Error Pulse Overflow A.F Power Line Open Phase CPF Digital Operator Transmission Error CPF Digital Operator Transmission Error A.9 Overload Warning A.9 Regenerative Overload Warning A.E? Option Board Error NOTES:. An amplifier alarm may be reset () using /ALM-RST input, () through software, () by pressing the UP and DOWN arrows simultaneously on built-in digital operator (4) by cycling control power.. Reference: Sec. 9.. = Output transistor is OFF. = Output transistor is ON * Not reset by Alarm Reset (/ALM-RST). Eliminate the cause of the alarm and cycle control power to reset. **A.7A: Appears only on W to W amplifiers Quick Reference Guide V..4 9//. Page 9 Yaskawa Electric America, Inc.

10 Power & Encoder Wiring Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Encoder Connection SGMAH Power & Encoder Wiring Motor Power (no brake) Motor Power (W/Brake) See Manual sec.5, Catalog p., Pin Description (Color) Amp Conn. Pin Connection Pin Connection +5V DC (Red) CN- U Phase (Red) U Phase (Red) V DC (Black) CN- V Phase (White) V Phase (White) Battery (+) (Orange)* CN-4 W Phase (Blue) W Phase (Blue) 4 Battery (-) (White / Orange)* CN- 4 Frame Ground (Green/Yellow) 4 Frame Ground (Green/Yellow) 5 Data (+) (Blue) CN-5 5 Brake (Red) * For Absolute Encoder option only. 6 Data (-) (White / Blue) CN-6 6 Brake (Black) Pin Description/Color Amp Conn. Pin Connection Battery (-) (White / Orange)* CN- U Phase (Red) Battery (+) (Orange)* CN-4 V Phase (White) Data (+) (Blue) CN-5 W Phase (Blue) 4 Data (-) (Blue/White) CN-6 4 Holding Brake** (Black) 5-7, -7 Not Used - 5 Holding Brake** (Black) 8 +5V DC (Red) CN- 6 Frame Ground (Green/Yel) 9 V DC (Black) CN- Case SGMPH Power & Encoder Wiring Encoder Connection 4 Frame Ground (shield wire) See Manual sec.5, Catalog p., Motor Power * For Absolute Encoder option only. ** For Holding Brake option only Please send Questions, Suggestions, and Corrections to: Training@Yaskawa.com Encoder Connection SGMGH, SGMSH, & SGMUH Power & Encoder Wiring Motor Power (No Brake) Motor Power (W / Brake) SGMGH (5.5kW-5kW) Separate Brake Connector M A B F A L N C D A K H P D E G B C A J S R E C B H G F D C B Pin Description Amp Conn. Pin Description Pin Description Pin Description A,B Not Used - A U Phase (Red) A U Phase (Red) A Brake Terminal (Orange) C Data (+) CN-5 B V Phase (White) B V Phase (White) B Brake Terminal (Blue) D Data (-) CN-6 C W Phase (Black) C W Phase (Black) C Not Used E,F Not Used - D Frame Ground (Green/Yellow) D Frame Ground (Green/Yellow) G V DC CN- E Brake (Orange) * For Absolute Encoder option only. H +5V DC CN- F Brake (Blue) J Frame Ground See Manual sec.5, G Not Used K-R Not Used - Catalog p S Battery (+)* CN-4 T Battery (-)* CN- Quick Reference Guide V..4 9//. Page Yaskawa Electric America, Inc.

11 Notes Norman Dr. South Waukegan, IL YASKAWA Fax: (847) Quick Reference Guide V..4 9//. Yaskawa Electric America, Inc.

12 Quick Reference Guide V..4 9//. Yaskawa Electric America, Inc.

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