SGDH Sigma II

30W to 55kW

Sigma II Amplifier is the ultimate servo solution for your automation needs. A single platform covers 30 watts to 55 kW and input voltages of 110, 230 and 480 VAC. The Sigma II amplifier can be set to torque, speed, or position control. A single-axis controller and a variety of network interface modules can be attached to the amplifier for the utmost flexibility. The Sigma II amplifier utilizes serial encoder technology to automatically recognize Sigma II rotary and linear servomotors.

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	Question	Posted Date
	Why does the SGDH servopack flash "bb" continuously? Posted Date: 09/06/2004 Answer: 1) The MP-940 24VDC is not connected, or the polarity of the power is reversed 2) The internal protection fuse (FU1) inside the MP-940 has been blown. (Attached please find the fuse specifications, 1.5A required, Cautionary Note: Field replacement of this field could void warranty) 3) The 24VDC power supply could be undersized, and inrush could causes a device to drop out. Keep the following specifications in mind when sizing the power supply: Continuous power consumption: MP-940 control power 0.4A SGDH (400V) control power 1.0A (3.0A surge for 50msec) (DC motor brakes should be powered by a separate supply to reduce noise) 4) If the MP-940 and SGDH are powered up together and successfuly synchronize but the SGDH subsequently loses control power and has it reapplied while the MP-940 24VDC remains constant, bb will blink. 5) If the MP-940 has been without power for over 24 hours without a backup battery attached, or the program is stored in flash. Note: Firmware Version in SGDH: 14, MP-940: A05 A fuse Source: http://www.mouser.com Attachments: 139KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMR6 Published Date: 09/06/2004 Share \| Rate Rate this article :	09/06/2004
	Why does the Servopack display an AF1 alarm when main power is removed? None of the solutions in the User's manual remedy the problem. Posted Date: 07/13/2004 Answer: A.F1 (AF1) alarm is an open phase error. Two potential external causes: 1) One or more of the contactor contacts are sticking and causing one or two phases to stay connected when they should open. Solution: Replace/Clean contacts (if serviceable), or replace contactor. 2) Another possible cause: A power line filter has been improperly installed between the contactor and the ServoPack. The three phase power line filter discharges unequally and it appears to the ServoPack that there is an open phase. Solution: Install power line filters properly, prior to the contactors in the electrical circuit. (Reference Section 3.1 in Sigma II User's Manual [YEA-SIA-S800-32.2] for wiring specifications) Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMRA Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Where can pin out details for the YS-12 cable be found? Posted Date: 07/13/2004 Answer: The attached drawing contains the full details on this serial (RS232) data transfer cable. The following parts will be needed to make this cable: 1) Standard 9 pin female D shell connector (PC side). 2) 24 AWG x 2 pair, 300V shielded cable. 3) Qty. 1 of Yaskawa p/n YSC-1 (mates to 3CN on SGDH, or the 6CN or 7CN when used with Application Modules). YSC-1 consists of 3M p/n's 10114-300VE (connector) + 10314-52A0-008 (shell). This part may also be found through other suppliers. If it is necessary only to increase the length of the cable (and not to build the cable from scratch), a popular option is to buy the YS-12 cable and build a serial "extension" cable. The extension cable is not Yaskawa specific and can thus be used in other RS232 communication applications. Note: Recommended maximum cable length for error free data transfer is 15 meters (50 feet). Longer cables are made at your own risk! Attachments: 1.0MB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Wiring Document Number: MNEN-5CJMHC Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	When using SigmaWin software, what are the units when graphing torque? Posted Date: 07/13/2004 Answer: When using a matched Servo Pack / Servo Motor combination (eg. SGDH-05xx, SGMGH-05xxxxx) the units are percentage of rated torque. Sigma II allows (for emergency situations) operation of the Servo Pack / Servo Motor combinations of up two times larger or one-half smaller. This affects the units of the torque monitor by displaying the percentage of rated torque for the lowest rated component. For example: If an SGDH-05xx and an SGMGH-09xxxxx were combined, the display units would be percentage of rated torque (current) for the SGDH-05xx. If an SGDH-10xx and an SGMGH-05xxxxx were combined, the display units would be percentage of rated torque (current) for the SGMGH-05xxxxx. Product Group/Line: Servo Products, SGDH Sigma II, SigmaWin100-200 Software Topic/Sub Topic: Ask a Technical Question, Document Clarification, Operation Document Number: MMIR-5KCKFN Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	When using an absolute encoder, is it possible to set the absolute zero position through the Fieldbus Network? Posted Date: 01/09/2002 Answer: An absolute encoder reset must be done to clear the A.81 alarm. For safety reasons, this can only be performed through the SGDH front panel with a Function 8 or through the monitor software. This operation is typically only performed at machine startup when the mechanical system is coupled to the motion control system. Once the absolute zero is set, a new zero point can be established over the Fieldbus Network for the convenience of the user. Define the new zero point by using the Define Zero Point Command in the Set/Read section of Command/Response format - Section 5.3 of the NS300 User Manual. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Applications, Network Communications, Start Up - Installation Document Number: MNEN-5CJMK6 Published Date: 01/09/2002 Share \| Rate Rate this article :	01/09/2002
	When setting parameter Pn300 (Speed Reference Input Gain) what rated speed should be used for Linear Motor applications? Posted Date: 07/13/2004 Answer: The configuration of Parameter Pn300 is the same for Linear Motor applications as it is for Rotary Motor applications. The motor speed is controlled in proportion to the input voltage between V-REF (CN1-5) and SG (CN1-6). This is depicted in the attached .PDF file that includes graphs and setting examples. For further information regarding adjustment of parameter Pn300, refer to the Sigma II Series Servo System User's Manual [YEA-SIA-S800-32.2] section 5.2.1. Attachments: 20KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Programming, Start Up - Installation Document Number: MNEN-5CJMSY Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	When setting parameter Pn300 (Speed Reference Input Gain) what rated speed should be used for Linear Motor applications? Posted Date: 02/18/2009 Answer: The configuration of Parameter Pn300 is the same for Linear Motor applications as it is for Rotary Motor applications. The motor speed is controlled in proportion to the input voltage between V-REF (CN1-5) and SG (CN1-6). This is depicted in the attached .PDF File. For further information regarding adjustment of parameter Pn300, refer to the Sigma II Series SGDH User's Manual Supplement for Linear Sigma Series [YEA-SIA-S800-39.21] section 4.7 Operating Using Speed Control with Analog Reference. Attachments: 22KB Product Group/Line: Servo Products, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Programming, Start Up - Installation Document Number: MMIR-5CM5KN Published Date: 02/18/2009 Share \| Rate Rate this article :	02/18/2009
	What voltage levels will cause an overvoltage or undervoltage alarm? Posted Date: 03/02/2015 Answer: All Yaskawa Sigma and LEGEND series amplifiers recommended input power specifications are nominal +10% to -15%. For a 100VAC Class (100-115VAC) amplifier +10% / -15% equates to 75 - 126 VAC respectively. For a 200VAC Class (200-230VAC) amplifier +10% / -15% equates to 170 - 253 VAC respectively. For a 400VAC Class (380-480VAC) amplifier +10% / -15% equates to 323 -528 VAC respectively. The A.400 (Overrvoltage) Alarm will occur at the following voltage thresholds: For a 100-VAC Class amplifier 145 VAC or more For a 200-VAC Class amplifier 290 VAC or more For a 400-VAC Class amplifier 580 VAC or more For a 200-VDC Class amplifier 410 VDC or more For a 400-VDC Class amplifier 820 VDC or more The A.410 (Ondervoltage) Alarm will occur at the following voltage thresholds: For a 100-VAC Class amplifier 49 VAC or less For a 200-VAC Class amplifier 120 VAC or less For a 400-VAC Class amplifier 240 VAC or less For a 200-VDC Class amplifier 170 VDC or less For a 400-VDC Class amplifier 340 VDC or less Product Group/Line: Servo Products, SGD, SGDB, SGDG LEGEND, SGDH Sigma II, SGDM, SGDS Topic/Sub Topic: Ask a Technical Question, Alarm Document Number: SRV-7N87DL Published Date: 03/02/2015 Share \| Rate Rate this article :	03/02/2015
	What voltage levels will cause an overvoltage or undervoltage alarm? Posted Date: 02/06/2009 Answer: All Yaskawa Sigma and LEGEND series amplifiers input power specifications are +10% to -15%. 10% above the highest voltage input specified will cause an overvoltage alarm, while 15% below the lowest voltage specified will cause an undervoltage alarm. For a 100-115 amplifier +10% / -15% equates to 85 VAC and 126 VAC respectively. For a 200-230 amplifier +10% / -15% equates to 170 VAC and 253 VAC respectively. For a 400-480 amplifier +10% / -15% equates to 340 VAC and 528 VAC respectively. Product Group/Line: Servo Products, SGDG LEGEND, SGDH Sigma II, SGDS, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic Topic/Sub Topic: Ask a Technical Question, Document Clarification, Specifications, Troubleshooting Document Number: MTN-79NT2N Published Date: 02/06/2009 Share \| Rate Rate this article :	02/06/2009
	What version of Sigma II fimware is required if using an option card such as the MP940? Posted Date: 04/04/2002 Answer: Version 5 or greater firmware is required in the Sigma II if using an MP940. Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Start Up - Installation, Upgrade (Software - Firmware) Document Number: MNEN-5CJMPC Published Date: 04/04/2002 Share \| Rate Rate this article :	04/04/2002
	What steps are required to upgrade Sigma products to Sigma II? Posted Date: 04/10/2006 Answer: Required Reading: It is recommended and assumed that you have read the following FAQ in this same database: "Is upgrading from Sigma to Sigma II the best option?" The information in that FAQ provides the basic information necessary to determine if upgrading is the best option without getting into unnecessary details. Planning an Upgrade: The documents provided in this FAQ provide a step-by-step guide to creating an upgrade plan and developing a draft of the bill of material (BOM). The worksheet below directly addresses the topic of retrofits and upgrades and should only be considered supplementary to the standard Sigma II product documentation. During the planning process and especially during the procurement phase of an upgrade, be sure to secure the recommended product documentation as outlined in the worksheet so that thorough documentation is available during the installation of the upgrade. These documents will be helpful for the mounting and wiring of the upgraded system as well as other facets of a successfully running Sigma II system.. In addition to the worksheet, Yaskawa also provides several tools to assist with upgrading. These tools include an abbreviated version of the Sigma II Product Catalog Supplement as well as a Parameter Converter that converts Sigma I parameters to the parameters the Sigma II amplifier needs to achieve the same performance. Step-by-step instructions for obtaining existing installation parameters, making the conversion, and installing the new Sigma II parameters are included with this utility. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Parts or Replacement, Specifications Document Number: MNEN-5CJMSN Published Date: 04/10/2006 Share \| Rate Rate this article :	04/10/2006
	What should the inertia ratio parameter, Pn103, be set to in the Sigma II amplifier when the inertia ratio is not known? Posted Date: 06/24/2013 Answer: Pn103 only takes effect when the amplifier is in Speed Mode or Position Mode (Pn000.1=0 or 1). If the amplifier is in Torque Mode (Pn000.1=2), then Pn103 has no effect on the servo tuning parameters. If machine performance is satisfactory with the default setting of Pn103, it can be left at the default setting. However, it is important to note that if Pn103 (inertia ratio setting) is set to the true inertia ratio, then Pn100 value itself will accurately represent the actual speed loop frequency response in Hz. But when high performance is required, Pn103 should always be set as close as possible to the true inertia ratio before beginning to manually tune the Sigma II and/or controller. There are 3 methods for determining the inertia ratio. 1. Use the inertia ratio from the sizing results in "SigmaSize" based on the dimensions and material properties of all the parts that the servomotor causes to move. 2. Use the amplifier's built-in online auto-tuning algorithm. (Fn007 on the digital operator). 3. Use graphical analysis techniques. When the components of the machine cannot be accurately measured or modeled with SigmaSize, the preferred method is #3 - graphical analysis techniques. Yaskawa has developed a spreadsheet to be used for this purpose. This spreadsheet is attached below. Yaskawa has also developed an "eLearning Module" on this subject. This interactive training tutorial simulates both SigmaWin100 and the attached spreadsheet. The user is guided through a real-life example, while being given the opportunity to click and enter data at the appropriate times as if the software was actually being used. This eLearning Module takes 15-20 minutes to complete. It is attached below. The eLearning Module runs as an executable file on any PC. A sound card and speakers are recommended since there is audio. However, the audio is not absolutely necessary since all information and instructions are also displayed as text. Screen resolution of 800X600 or greater is recommended. The Inertia Ratio Parameter, Pn103, is only one part of tuning the SigmaII amplifier. Yaskawa also offers a complete Tuning Class. For further information, see the eLearning module, doc # eLM.Sigma2.01.InertiaBGA Attachments: 454KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Start Up - Installation, Tuning Document Number: MPER-5PXL83 Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	What might be the cause of a brake relay chattering (turning on and off rapidly) on a vertical axis? Posted Date: 07/13/2004 Answer: The /BK (Brake relay interlock) signal must be mapped to one of three selectable outputs. If multiple functions are mapped to the same output, the signals use OR logic on the output circuit. When mapping the /BK signal, be sure to disable the original mapping to that output. For example, if it is desired to map /BK to selectable output #1 (SO1), first change Pn50F.2 to'1' (maps /BK to output terminals 25 and 26), and then change Pn50E.0 and Pn50E.1 to '0' (disables the /COIN and /V-CMP output signal originally mapped to the output). If the original mapping is not disabled, then whenever the motor is "in position" the brake relay (wired to output terminals 25 and 26) will release the brake! This is not desireable in vertical applications that are not "self locking". For futher details on mapping the /BK signal, and setting these parameters, please refer to the Sigma II User's Manual, sections 5.4.4, 5.5.3, and 5.5.4. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Operation, Start Up - Installation, Troubleshooting Document Number: MNEN-5CJMHL Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the purpose of the Near Output Signal (/NEAR) in Sigma II drives? Posted Date: 01/13/2003 Answer: The purpose of this output signal is to inform the host controller that the servomotor is close to completing operation. Since this signal is generated before the positioning completed signal (/COIN) and has a setting range of 1 to 250 reference units, it is useful for applications where the host controller needs to activate other devices or axes before motion is completed. When the servomotor is tuned well, this output could be generated even during the move and not necessarily close to completion of the move. Again, the settings can be manipulated based on the given range. When implemented properly, this can also reduce cycle time because the host controller can prepare the next motion sequence before receiving the positioning completed (/COIN) signal. This output signal is only operational when the servo amplifier is in position control mode. To learn more about wiring & settings of this output signal, please refer to section 5.5.8 of the Sigma II users manual. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration, Operation, Programming Document Number: REKR-5HRQVY Published Date: 01/13/2003 Share \| Rate Rate this article :	01/13/2003
	What is the proper value to enter in Pn600 when Yaskawa Regenerative Resistor Unit is used? Posted Date: 07/13/2004 Answer: For Sigma II ServoPack up to 6.0 kW, if internal regeneration is used, leave Pn600 at factory default, 0. The value for Pn600 is in units of 10 watts. Its important to note that it is necessary to derate wattage of the external resistor to 20% or less for natural convection cooling and 50% or less with forced air cooling For example: JUSP-RA04 is wired default as 6.25 ohm @ 4x220W = 880W 880W0.2 = 180W Hence, Pn-600 = 18 To see a chart with models and PN-600 settings, please see the attached .PDF file. Please refer to Sigma II User's Manual (YEA-SIA-S800-32.2B) section 5.6 for additional details. JUSP-RA04 is wired default as 6.25 ohm @ 4x220W = 880W JUSP-RA05 is wired default as 3.13 ohm @ 8x220W = 1760W JUSP-RA18 is wired default as 18 ohm @ 4x220W = 880W JUSP-RA19 is wired default as 14.25 ohm @ 8220W = 1760W Attachments: 16KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration, Start Up - Installation Document Number: MNEN-5CJMS8 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the maximum setting for parameter Pn281 (PG Divider) given the linear scale pitch and maximum speed of the linear motor? Posted Date: 07/13/2004 Answer: When using linear motors, the maximum encoder frequency is 12.8MHz. The maximum setting of parameter Pn281 (Encoder Resolution) is dependent upon parameter Pn280 (Linear Scale Pitch) and Pn384 (Peak Motor Speed.) Attached to this document (.JPG file) is a table showing the maximum setting for Pn281 for specific Pn280 and Pn384 settings. Monitor Un010 can also be used to monitor the following: A) The maximum value of Pn281 (Encoder Resolution) for a given Pn280 (Linear Scale Pitch) and Pn384 (Peak Motor Speed) (default monitor.) B) The maximum value of Pn384 (Peak Motor Speed) for a given Pn280 (Linear Scale Pitch) and Pn281 (Encoder Resolution.) Set Pn080.3=1 to enable this monitor. Attachments: 33KB Product Group/Line: Servo Products, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Specifications, Start Up - Installation Document Number: PZAC-5MXTZF Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the inrush current of an SGDH amplifier? Posted Date: 04/16/2001 Answer: For an SGDH 200VAC up to 400W: Normal conditions: 35A (peak) Normal condition is room temperature (20 - 25C degrees) and after enough cool down time for the in-rush current protection thermister. (This means first time to power on, not frequent power on and off) Thermister resistance at room temperature is 8 ohms. In-rush current = 200 x 1.41 / 8 = 35 A Worst case: Max.190A (peak) I2xT (I squared T) = 30[A2sec] <----- 200W, 400W I2xT (I squared T) = 15[A2sec] <----- 100W The worst case condition is at a temperature 30 degrees C and main power turned on for five seconds, then powered off for 5 seconds, repeated 100 times. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Specifications, Wiring Document Number: MNEN-5CJMLS Published Date: 04/16/2001 Share \| Rate Rate this article :	04/16/2001
	What is the difference between the I/O on the Sigma II and the MP940? Do both need to be used? Posted Date: 04/26/2001 Answer: There is a difference between the two I/O ports and in most cases both will be used, and is recommended. The Sigma II I/O (CN1 connector) is mostly dedicated I/O with some user defined I/O. The MP940 (I/O connector) is all user defined. Below is an explanation of the inputs and outputs for each device: I/O (MP940): - 8 digital inputs (programmable, isolated 24VDC) - 1 high speed latch input (for external encoder position latching), DC Voltage: 24, 12, or 5 VDC - 1 external encoder input (must be 5 VDC) - 8 digital outputs (programmable, isolated 24VDC) - 1 Analog Output (+/- 10.75VDC, 16-bit resolution, 328uV/bit) CN1 (Servopack): - 4 digital inputs (programmable, isolated 24VDC) - 1 high speed latch input (for motor encoder position latching, can be used as programmable input if latch is not necessary, 24VDC) - 2 overtravel inputs (can be used as programmable inputs if overtravel switches are not necessary, 24VDC) - 1 analog input (+/- 12VDC, 16-bit resolution) - 3 digital alarm code outputs (open collector) - 1 digital servo alarm output (This output will only indicate Servopack alarms, some MP940 alarms will not activate this output.) - 3 digital semi-programmable outputs (These can be configured for various functions which the Servopack activates. For example, one of these must be used to control the brake if a servomotor with a brake is used. 24VDC) - 1 motor encoder output If the system requires I/O from both the MP940 and the Servopack than two breakout cables will be needed. Yaskawa recommends using the standardized I/O (such as Overtravel, SON, and Brake Control) to maintain consistency and system robustness. Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Specifications, Start Up - Installation, Wiring Document Number: MNEN-5CJMM2 Published Date: 04/26/2001 Share \| Rate Rate this article :	04/26/2001
	What is the difference between JEPMC-W6060 and JZSP-CKI01 cables? Posted Date: 06/25/2014 Answer: Both cables are 50 pin with 3M connectors at one end and pigtails at the other end, and are interchangable with each other. JEPMC-W6060-xx cable: 1. This cable is typically selected when specifying MP920 amd MP2x00 System Components, when connecting external I/O to a module. (SVA-01 CN5, DO-01/DI-01/PO-01/CNTR-01 CN1 & CN2 / LIO-05 and LIO-05) 2. "xx" indicates the cable length (05=0.5m, 10=1.0m, 30=3.0m) 3. The wire color code for the cable is attached below (JEPMC-W6060-xx Pinout and Color Code .pdf) 4. The JUSP-WA50P-xx cable may also serve as a substitute cable JZSP-CKI01-x(A) cable: 1. This cable is typically selected when specifying SGDH, MP940, NS300, NS500, NS600, NS100 cable components. a. SGDH/NS300/NS500/NS600/NS100: 1CN I/O connector b. MP940: I/O connector. 2. "x" indicates the cable length (1=1m, 2=2m, 3=3m) 3. "A" indicates the revision level 4. The wire color code for the cable is attached below (JZSP-CKI01-XX.dwg) 5. For wire function on SGDH/NS300/NS500/NS600, see dwg below 6. For wire function on MP940, (See FAQ # MNEN-5CJMPJ) This same type of cable is available with a D-Sub connector in place of pigtails, click this link for more information on the JZSP-CKI0D cable option. Attachments: 375KB 11KB Product Group/Line: Controllers, Servo Products, MP920 Machine Controller, MP940 Machine Controller, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Parts or Replacement, Wiring Document Number: MTN-5T7MNG Published Date: 06/25/2014 Share \| Rate Rate this article :	06/25/2014
	What is the current requirement of the 24VDC control power supply for 400V Sigma II amplifiers? Posted Date: 01/03/2002 Answer: The 400V Sigma II amplifier requires 24VDC for its control circuit. The specification for this DC power supply is: 24VDC +/- 15%, 1A. For amplifiers with capacity of 6 to 15 kW , use of an isolated 24VDC power supply for each amplifier is strongly recommended. For more information, please refer to the attached document. Attachments: 21KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Integration, Specifications Document Number: MNEN-5CJMK2 Published Date: 01/03/2002 Share \| Rate Rate this article :	01/03/2002
	What is the cause of an A.CC Alarm? Posted Date: 08/27/2004 Answer: When using the DD Motor's single-turn absolute encoder as absolute with Sigma II application modules, e.g. MP940, NS600, etc., Pn205 in the Sigma II Renewal amplifier must be set to 0. The application module reads Pn205 at power on, if Pn205 is not set to 0, an A.CC alarm will be generated. For more information on Alarm Codes, please see FAQ MNEN-5CJMGY. Product Group/Line: Servo Products, SGDH Sigma II, SGMCS Direct Drive Topic/Sub Topic: Ask a Technical Question, Alarm, Start Up - Installation, Troubleshooting Document Number: MTN-5SYMCT Published Date: 08/27/2004 Related Files: Is there a compiled list of Sigma II alarms? Share \| Rate Rate this article :	08/27/2004
	What is the approximate maximum number of times the Sigma II Series flash ROM can be written? Posted Date: 02/14/2006 Answer: The flash ROM can be written to approximately 10,000 times. One should avoid frequent and unecessary writing to the flash ROM when possible. If frequent tuning is necessary, Yaskawa recommends using methods which minimize frequent overwriting of the flash ROM. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Programming, Tuning Document Number: MTN-5RQJXA Published Date: 02/14/2006 Share \| Rate Rate this article :	02/14/2006
	What is speed feedback compensation and when should it be used? Posted Date: 07/13/2004 Answer: Speed feedback compensation is typically applied when there is mechanical resonance in the system and the speed loop gain cannot be raised to achieve good response, such as shortened settling time in positioning. It allows the increase of speed reference gain with the speed feedback gain kept low by adjusting the speed feedback compensation value. Because the speed feedback gain is low, there is no vibration added to the resonance part of the machine, and good response is achieved due to the higher speed reference gain. The speed feedback compensation loop uses the speed feedback as the input. Using a proprietary algorithm, this signal is filtered to reduce the effect of disturbance and phase-lag compensation. The output is called the compensated feedback speed. This output, rather than the normal speed feedback signal may be selected via Pn110.1 for use in the speed control loop. Speed feedback compensation level, parameter Pn111, adjusts the gain of the speed compensation loop. Please note that with speed feedback compensation enabled, disturbance response is degraded because speed feedback gain is reduced. Also, the inertia ratio in Pn103 must be correctly set for the speed feedback compensation to function properly. Refer to section 6.2.6 in the Sigma II Servo System User's Manual for adjustment procedure. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Specifications, Tuning Document Number: BLEG-5LETC6 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is an A.E7 alarm and how is it cleared? Posted Date: 07/13/2004 Answer: The A.E7 is an alarm from the Sigma2 (SGDH-xxyE) Servopack that is missing an option card such as an MP940 or NS300 If an amplifier previously had an option card attached, and it is missing at power up, this alarm will occur and persist until the following is performed. Using a Hand Operator or the Built in Operator on the Servopack, the proper procedure is as follows: 1) Execute an "Initialize Parameters to Factory Default" Operation :Fn005 (Section 7.2.9 in Sigma2 manual) 2) Execute an "Alarm History Trace Back Clear" Operation: Fn006 (Section 7.2.5 in Sigma2 manual) 3) Execute an "Option Unit Detection Reset" Operation: Fn014 (Section 7.2.13 in Sigma2 manual) Keywords: AE7, error Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: DZIK-5HV62J Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is an A.E5 alarm? Posted Date: 01/22/2002 Answer: An A.E5 (AE5) alarm is a Mechatrolink Synchronization Error between an MP920 or MP930 controller (using SVB modules) and an NS-100. Every mechatrolink communications cycle, the controller increments Watch Dog Timer data (WDT). If the expected data does not match with the data in the NS-100 module, then it is known that the transmission packet also did not get written to/from local register memory (hence the node did not get updated with new deterministic data). Since this is a deterministic control system and data must be transfered, this will flag an A.E5 alarm and it will display on the SGDH LED display. To reset this alarm, the controller must perform the alarm clear sequence TWICE. Product Group/Line: Controllers, Servo Products, MP920 Machine Controller, MP930 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Network Communications, Troubleshooting Document Number: MNEN-5CJMKC Published Date: 01/22/2002 Share \| Rate Rate this article :	01/22/2002
	What is an A.9F alarm? Posted Date: 09/12/2000 Answer: The MP940 uses the A.9F (A9F) alarm as a general warning for several conditions. The conditions include: 1) Excessive positioning error 2) Local I/O error 3) External Encoder disconnected 4) Network communication error 5) Divide by zero or parameter setting error To help isolate the problem causing an A.9F warning, please see the documents below. It should also be noted that an A.9F warning does not necessarily prevent the MP940 program from executing. Key words: A9F, A.9F, alarm, error Attachments: 27KB 25KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMEC Published Date: 09/12/2000 Share \| Rate Rate this article :	09/12/2000
	What is an A.09 alarm? Posted Date: 12/22/2011 Answer: An A.09 alarm occurs for SGDH servo amplifiers modified with the Y213 modification when the maximum encoder output frequency is exceeded (Y213 modification applies to a linear motor application). The maximum frequency is 12.8MHz. The frequency is calculated at power-up based on the motor peak speed (Pn384), the linear scale pitch (Pn280), and the PG dividing ratio (Pn281). To reduce the output frequency, either decrease the motor peak speed or decrease the PG dividing ratio. Un010 will display the setting limit at which the frequency will not exceed the maximum (12.8MHz) for either the motor peak speed or the PG dividing ratio. The limit value can by chosen by parameter Pn080.3. Additional Keywords: A09, error, linear motor, Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Start Up - Installation, Troubleshooting Document Number: PZAC-5LTTLN Published Date: 12/22/2011 Share \| Rate Rate this article :	12/22/2011
	What could cause an motor to run away when it is enabled (/S-ON goes low)? Posted Date: 07/13/2004 Answer: If the motor is running away, the amplifier must be getting a command from somewhere to run the motor. Typically this occurs when the host controller sends the amplifier a pulse train to the amplifier BEFORE the servo is initialized. This causes a build-up of position error, and when the amp is initialized, the motor tries to catch up. One option to eliminate the timing issue between controller and amplifier is to "mask on" the /S-ON input. The user can do this by changing Pn50A.2 to 7. After cycling control power, the amp is enabled and ready to run as soon as main power is applied. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Start Up - Installation, Operation, Troubleshooting Document Number: MNEN-5CJMHJ Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What are the pin-outs for SGDH analog monitor connector CN5? Posted Date: 09/21/2004 Answer: The analog monitor signals found in CN5 connector are accessible using the DE9404559 cable. Analog Monitors 1 and 2 can be set via Pn003.0 and Pn003.1, respectively. The output voltage range is ±8V. Note: the polarity of the output voltage will be changed if ±8 V is exceeded. See the attached .PDF file for the related diagram and charts. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Wiring Document Number: MTN-5WKT26 Published Date: 09/21/2004 Share \| Rate Rate this article :	09/21/2004
	What are the minimum parameters required to start-up a Sigma II SGDH type servo amplifier for use with a linear motor? Posted Date: 07/25/2005 Answer: Pn000.1 Control Method Selection Set the amplifier to the correct control method (force control, speed control, position control, etc.) Note: Set Pn000.1=2 for force control Pn280 Linear Scale Pitch [microns] Set the linear scale pitch parameter to the scale pitch (i.e. grating pitch or signal period) of the linear encoder. The linear encoder must output a 1Vpp analog sin/cos waveform. The default setting of Pn280 is 0. Alarm A.08 (linear encoder scale pitch setting error) will occur at power-up if this parameter is left at setting 0. Pn281 Encoder Output Resolution [Pulse/Scale Pitch (Pn280)] - Force/Speed Control This parameter is used to scale the encoder output resolution from the servo amplifier. The factory setting is 20; therefore, for a linear encoder with a scale pitch of 40 micron (Pn280=40), the encoder output resolution is 20 pulses (Pn281) divided by 40 micron (Pn280), or 1 pulse per 2 microns. Pn202 Electronic Gear Ratio (Numerator) - Position Control The Electronic Gear Ratio is used to scale the input position reference. See the following FAQ: How are the Electronic Gear Ratio parameters, Pn202 and Pn203, set for linear motors? Pn203 Electronic Gear Ratio (Denominator) - Position Control The Electron Gear Ratio is used to scale the input position reference. See the following FAQ: How are the Electronic Gear Ratio parameters, Pn202 and Pn203, set for linear motors? Pn483 Forward Thrust Limit [%] To prevent danger during motor setup, the factory setting of the forward force limit is set low to 30%. Verify that the linear motor is working properly before increasing this value. Pn484 Reverse Thrust Limit To prevent danger during motor setup, the factory setting of the reverse force limit is set low to 30%. Verify that the linear motor is working properly before increasing this value. Pn50A.3 P-OT Input Signal Mapping The positive overtravel input is factory set to prohibit forward motion. Connect a limit switch to the P-OT input to prevent forward motion beyond the allowable range. The P-OT input can also be disabled to always allow forward motion by setting Pn50A.3 equal to 8. Pn50B.0 N-OT Input Signal Mapping The negative overtravel input is factory set to prohibit reverse motion. Connect a limit switch to the N-OT input to prevent reverse motion beyond the allowable range. The N-OT input can also be disabled to always allow reverse motion by setting Pn50B.0 equal to 8. Product Group/Line: Servo Products, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Programming, Start Up - Installation Document Number: PZAC-5PBLP6 Published Date: 07/25/2005 Share \| Rate Rate this article :	07/25/2005
	What are some remedies to an A.C9 (Encoder Communications) alarm? Posted Date: 07/13/2004 Answer: The Sigma II User manual points out how to start troubleshooting. The most likely causes to A.C9 (AC9) alarms are: A.C9 Alarm Causes: A) Wiring issue causing electrical noise to enter the system B) Defective encoder board on the motor C) Defective amplifier A) Wiring issue causing electrical noise to enter the system If the system is faulting out on an A.C9 alarm while the servo is operating, the system wiring should be reviewed. The most common source of this error is due to poor installation. The overall system ground should be first checked and verified against recommended installation procedures in the manual. In the event that this alarm does occur, if it is random, the encoder cable and its installation should be examined next. 1) Check to insure the cable is wired according to the Yaskawa Manual 2) SGMG, SGMGH, SGMS, SGMSH encoder cables should be shielded on both ends of the cable 3) When dealing with longer encoder lengths, its important that larger size wire is used for the encoder +5VDC power and common (to prevent IR drop). See Yaskawa manual for special cable to suit this. Assuming the encoder cable is electrically o.k., consider the following: 1) Are the encoder cable and power cable running the same conduit? If yes, separate them. 2) If the power and encoder cables are already running at least 10" apart, or the encoder cable must share conduit with other signal lines, try installing a ferrite core (YEA p/n ESD-SR25) at each end of the encoder cable. This will effectively increase the high frequency impedence, improving the system noise immunity. 3) If the amplifier is a 400V SGDH, and is 6kw and higher, a separate isolated 24VDC control power supply is required for each unit. The ferrite core clamps easily on to the cable and dampens high frequency noise which can cause the A.C9 alarm. This is a low cost (less than $10) solution that often does the trick. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting, Wiring Document Number: MNEN-5CJMNE Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What are some potential causes of an A.E2 alarm? Posted Date: 06/24/2013 Answer: An A.E2 alarm is a watchdog timer alarm, caused by either an MP940 processor time-out or an MP940-SGDH communications synchronization error. Below are some remedies. 1. Excessive system noise - Be sure that the MP940 is grounded to the SGDH (MP940 FG connection on power connector to the SGDH screw terminal on the front side of heat sink with a 16awg short ground wire), and the SGDH is connected directly to the field ground ground bar in the cabinet. Verify that the SGDH is properly grounded. Verify that the subpanel / ground terminal is properly grounded. Make sure that the machine is properly grounded to a sufficient building ground. 2. SGDH Comm Synch Error (Insufficient 24VDC power or bad wire connection) 1) Control power on SGDH and MP940 must power ON within 3 sec of each other 2) Check Dual Port Ram connection between SGDH and MP940 3) Check the 24VDC power supply capacity (if it dips below 21VDC for the unit will automatically watchdog trip as a safety precaution and generate an A.E2 alarm to indicate to user that there is a power supply issue). If the error occurs at the same point in the program all the time, chances are that the program is controlling an output point that draws more current than the power supply is capable of. 4) Verify that all terminal screws that bond wires are securly tightened, sometimes an intermittent connection in the power supply can be caused by loose wires after shipping or moving a machine (vibration of the machine may also cause screws to loosen). 3. MP940 Processor Time-Out - Typically caused when actual H or L scan 'time' exceeds H or L scan 'setting' respectively. The H scan will deterministically execute the entire H program/drawing and sub programs/drawings every H scan setting time cycle. Higher priority background tasks will interrupt the execution, but the H execution must occur in its entirety within the H scan setting. Otherwise, an error will occur. Any remaining time is left over to perform lower priority tasks. Likewise, the L scan will also deterministically execute the entire L program/drawing and sub programs/drawings every L scan setting time cycle. Higher priority tasks will interrupt its execution (such as the H scan), but the L execution must occur within the L scan setting. Otherwise, an error will occur. Hence, if too much time is spent in the H scan, the L scan will be starved of time! As a program grows in size during development, and if this error occurs, most commonly the H scan time will need to be increased. In MW+, it will be necessary to perform a full compile/download for the new values to take effect and maintain after a power cycle. Troubleshooting a Processor time-out - Verify that mProgram_HighScan_Current (SW00005, units of ms/100) and mProgram_HighScan_Maximum (SW00006, units of ms/100) does not exceed the High Scan setting (an MP940 Property attribute in MW+). Note that due to programming differences, various sections of code may not be run under certain conditions. Therefore, it will be necessary to test all conditions so that the maximum scan value can be determined. Example: If mProgram_HighScan_Maximum starts to exceed 70 (0.7 ms) when the high scan setting is 1msec, it would be advisable to increase the high scan setting to 2msec or more as needed. 1) If that does not work, verify that mProgram_LowScan_Current (SW00011, units of ms/100) and mProgram_LowScan_Maximum (SW00012, units of ms/100) do not exceeded the Low scan setting). 2) Another method is prevention. Place critical tasks under high scan setting programs or drawings, and non-critical tasks under low scan programs or drawings. This logical separation also lends itself to good programming practices. View our MP940/MW+ Program Template for an example by viewing FAQ # MMIR-5CM5LM Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMG6 Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	What are some potential causes of an A.84 Alarm? Posted Date: 06/30/2008 Answer: An A.84 (A84) alarm is an encoder data error alarm. This alarm is valid for both absolute and incremental encoders, and its meaning depends on the type of encoder. Most common application issues that cause an A.84 alarm are: - Excessive Mechanical Vibration - Excessive Electrical Noise If efforts to reduce the above causes do not eliminate the A.84 Alarm, Contact Yaskawa Technical Support for further assistance at 1-800-927-5292, then press 3 for Servo Products. Detailed Information: 12 bit Absolute Encoder This indicates that the absolute encoder data is abnormal. If this alarm appears at power on, the absolute encoder is malfunctioning and replacement may be necessary. If this alarm appears during motor operation, it could be caused by external electrical noise. In this case, check and correct wiring around the encoder (grounding of servo motor, separation of encoder and power cables, insertion of toroidal cores on cables, etc.) - to reduce noise. Incremental Encoder This indicates that data in the encoder is abnormal. If this alarm appears either during operation or at power on (intermittently or static), most commonly system vibration should be examined. Excessive vibration (exceeding motor specifications) (See FAQ # MTN-5XTTDJ) can cause high vibration forces at the cantilevered encoder end (G-forces generated by vibration cause an A.84 alarm if they exceed the motors rated spec). Remedies include: Decrease acceleration values, implement S-Curve acceleration, check the mounting face accuracy and alignment, check the coupling alignment. If alarm persists, permanent damage to encoder may have occurred and motor replacement may be required. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMKE Published Date: 06/30/2008 Share \| Rate Rate this article :	06/30/2008
	What are some of the potential causes of an A.80 Alarm? Posted Date: 04/12/2006 Answer: An A.80 (A80) alarm is most often caused by external noise injection into the position feedback system (encoder or encoder cable). For a Sigma I system, this alarm occurs when there is more than 2 counts drift between the actual and expected pulse count at the positive rise of the U-Phase Hall Feedback (amplifier expects count to increase by encoder resolution per motor commutation cycle). For a Sigma II system, this alarm occurs when there is more than 2 counts drift between the actual and expected pulse count at the positive rise of the C-Phase Pulse Feedback (amplifier expects count to increase by encoder resolution per motor revolution). If the alarm is generated at power supply on, either the encoder is wired incorrectly or the servo amplifier should be replaced. If the alarm is generated at run time, noise is most likely the cause, and the following should be checked: 1) If encoder cable distance is long, check to insure that the proper wire gauge is used according to manual spec. 2) Verify the encoder cable construction according to manual spec. 3) Check to insure the encoder cable is not pinched. 4) Check to verify that the Amplifier is properly grounded to the panel field ground according to the manual spec (mounted to metal panel, and proper field ground wire used). 5) Noise entry into the system can also be reduced by using a Ferrite Core on the encoder cable - ZCAT1325-0530A, EMI/RFI clamp filter by TDK, try one or more loops of encoder wire. 6) Check that the system is not subject to excessive vibration impact *Most common fixes Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting, Wiring Document Number: MNEN-5CJMKG Published Date: 04/12/2006 Share \| Rate Rate this article :	04/12/2006
	What are potential implications of using an Electro-Mechanical Relay or Switching Power Supply in conjunction with a Sigma II Servo System to enable the motor? Can A.C9 and A.E2 alarms be symptoms? Posted Date: 07/13/2004 Answer: Sigma II Servo Systems (SGDH amplifier) require a 24VDC input to enable the motor. It has been observed that in many cases, an Electro- Mechanical Relay or Contactor is utilized as a Master Control Relay to feed this 24VDC signal to the amplifier and perhaps turn on other devices in the control panel at the same time. In some cases, an A.C9 (Encoder Communications) alarm occurs as soon as the relay is engaged. Assuming the wiring for the encoder and grounding of the amplifier have been done properly, the cause is noise generated from the Electro-Mechanical Relay. Here are some remedies: 1) When using a DC relay, install a "fly wheel diode" across the relay coil. When using an AC relay (or contactor,) use a surge suppression device. This will reduce the potential for chattering, which in turn damps the noise. 2) Mount the relay as far as possible from the Servo Amplifier in the panel. 3) Route encoder cables away from the relay. 4) Install a ferrite core (Yaskawa #ESD-SR25) at the SGDH end of the encoder cable in the panel. 5) Consider using a Solid State switching device instead of an Electro-Mechanical one. If an MP940 is used in conjunction with Sigma II amplifier, an A.E2 alarm may occur. Assuming the cause is not MP940 processor time-out or MP940-SGDH synchronization error, the cause can be noise generated from the Electro-Mechanical relays. The same remedies mentioned above should prove helpful. Switching Power Supplies are also noise-generating devices that could potentially cause an A.C9 (Encoder Communications) alarm. Here are some remedies: 1) Mount the power supply as far as possible from servo amplifier. 2) Route encoder cables away from the power supply. 3) Install a ferrite core (Yaskawa #ESD-SR25) at the SGDH side of the encoder cable. 4) Consider using a linear power supply instead of a switching model. Keywords: Error, AC9, AE2 Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Start Up - Installation, Troubleshooting Document Number: REKR-5E6MAE Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	On a linear motor x-x'-y gantry system, what is the best method to control the two x-axes? Posted Date: 06/06/2003 Answer: The preferred method is to set-up a master/slave relationship using two axes of a motion controller. The motion controller must monitor the linear encoder feedback from both the x and x'. The x' axis must track the position of the x axis. Another alternative is to set-up a master/slave relationship using only one axis of a motion controller. The motion controller would monitor the linear encoder feedback from the x axis and command the x' axis. The x' axis would follow the encoder output directly from the x axis encoder output. Caution should be taken when implementing this method, since each amplifier operates in a different control method and different loop updates may exist. The following example lists the necessary SGDH amplifier parameter settings for a linear motor master/slave application (assuming a linear encoder grating pitch of 20 microns). Master Axis Parameter Settings: Pn000.1=2 Sets amplifier in Force Control. Pn280=20 Linear encoder grating pitch is 20 micron. Pn281=20 Sets encoder output resolution to 20 micron per 20 pulses (or 1 micron per 1 pulse). Slave Axis Parameter Settings: Pn000.1=1 Sets amplifier in Position Mode. Pn280=20 Linear encoder grating pitch is 20 micron. Pn202=256 Electron gear ratio numerator. Pn203=20 Electronic gear ratio denominator. The electronic gear ratio is used to scale the postion command input. Product Group/Line: Servo Products, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Applications, Integration, Start Up - Installation Document Number: PZAC-5N9KGR Published Date: 06/06/2003 Share \| Rate Rate this article :	06/06/2003
	Many new computers do not offer serial communication ports. How is communication possible to Yaskawa products if no serial port is available? Posted Date: 06/25/2013 Answer: Currently most Yaskawa products require serial communication; some do offer Ethernet as an alternative. However, if neither method of communication is available, most computers offer USB (Universal Serial Bus). A USB to serial adaptor device may be used to establish communication. These adaptors are widely available on the Internet and at electronics stores. All current Yaskawa software will work with a USB to serial port adaptor (provided the operating system supports it). Yaskawa has used the following inexpensive model successfully with current generation products and software (SGDH, SMC-2000, SMC-3010, SMC-4000, MP-940, MP-930, MP-920, NS-600, NS-500, NS-300, SigmaWin100, SigmaWin+, YTerm, MotionWorks, MotionWorks+, IndexWorks, NS-XXX): http://www.cablestogo.com/product.asp?cat%5Fid=101&sku=26886 USB to serial adaptors can be purchased from many different vendors, including many PC vendors. The results from google search yielded a cost effective unit available, the link is listed below: Some sources for USB-to-Serial adapters: - CBW: manufactured by Zonet and is their Model # ZUC3100. SKU# 830762001706 - Cable America: http://www.cablestogo.com/product.asp?cat%5Fid=101&sku=26886 See attached. JPG file for photo example of cable. Attachments: 8KB Product Group/Line: Servo Products, Controllers, CACR-HR, IndexWorks Software, MotionWorks Software, MotionWorks Plus Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, NS600 Indexer, NSxxx Software, SGDA, SGDB, SGDC, SGDH Sigma II, SigmaWin100-200 Software, SMC-2000, SMC-3010 LEGEND-MC, YTerm Software Topic/Sub Topic: Ask a Technical Question, Environment, Maintenance, Programming Document Number: MTN-5VDNR9 Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
	Is upgrading from Sigma to Sigma II the best option? Posted Date: 04/13/2006 Answer: There are generally three service choices available to existing users of Sigma I: repair, replace, or upgrade to the latest technology. Yaskawa Customer Service will be happy to provide price and current availability for any or all three of the above options. It is only important to have a complete description of existing P/N numbers that require servicing (Example: Motor P/N# SGM-01U3B4L and Amp P/N# SGDA-01AS). Custom servo systems have part numbers that typically end with a special code, such as SGM-01U3B-Y22 or SGDA-01AS-Y13. See the document below titled Service Options for Customized Servos which will help determine the best course of action. The Upgrade Option: Yaskawa's latest generation products (Sigma II servo systems) closely parallel the previous product offering and are designed to provide an option for upgrade. Generally, these upgrades install in the same mounting locations, have similar wiring arrangements, and subsequently run the machine with performance equal to or better than the previous system. However, good planning is always a prerequisite to a successful upgrade. To decide if upgrading is the best option, read the attached summary of the upgrade process for summary comparisons of mounting, wiring, and performance. For any additional price and availability information required for the decision to upgrade, use the Part Number Converter utility (Sigma I to Sigma II) and Yaskawa's customer service will be able to provide those estimates as an alternative to repair or replace. To simplify the process, these summary documents and utilities are classified by the particular Sigma products being replaced. For determining price and availability for an upgrade, both the motor and amp P/N#s are required. What's Next? If upgrading is chosen as the best option, a more detailed description of the upgrade process is available in a subsequent FAQ in this database titled "What steps are required to upgrade Sigma products to Sigma II?". This FAQ will provide step-by-step instructions on upgrading an existing Sigma installation to Sigma II. Attachments: 72KB 455KB 62KB 71KB 63KB 568KB 558KB 516KB 62KB 507KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Maintenance, Parts or Replacement Document Number: MNEN-5CJMS4 Published Date: 04/13/2006 Share \| Rate Rate this article :	04/13/2006
	Is there information available file types / extensions associated with Yaskawa motion software products? Posted Date: 05/19/2017 Answer: Here is a list of file extensions that apply to Yaskawa software products: For Motion Controllers: .MAL - MotionWorks v5.xx software for MP900 series controllers. .SMC - Yterm software for SMC Series Motion Controllers. .VPC - MotionWorks+ software for the MP940 controller. .YMW - MotionWorks v6.xx software for MP2000 series controllers. .YMW7 - MotionWorks v7.xx software for MP2000 and MP3000 series controllers. .ZWE - MotionWorks IEC Express software for MPiec Series Controllers. (Note: a .MWE file is the unzipped project file, but is not the complete project, which includes a subdirectory.) .ZWT - MotionWorks IEC Pro software for MPiec Series Controllers. (Note: a .MWT file is the unzipped project file, but is not the complete project, which includes a subdirectory.) For Sigma Series Servo Products: .PRM, .SGD, .SGB, .DR2, .DRB, .GRP - SVMON software for Sigma Series servos. .SPJ - IndexWorks software for the NS600 Indexer. .PGT - Program Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .ZNT - Zone Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .JGT - Jog Speed Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .PNT - Point Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .PRM - Parameters file from NS_MMI software for Devicenet (NS300) and Profibus (NS500) Indexers. .USR - SigmaWin+ software for all Sigma Series Servos. .XDR - FlexWorks software for the FSP series amplifiers. .YPM - SigmaWinLite Product Group/Line: Controllers, Servo Products, MotionWorks IEC, MotionWorks Plus Software, MotionWorks Software, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, SGDH Sigma II, SGDS, Sigma FSP, YTerm Software, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV SigmaLogic, SGDV MP2600iec Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-9H7NY7 Published Date: 05/19/2017 Share \| Rate Rate this article :	05/19/2017
	Is there a wiring example of an MP940 following a Sigma II SGDH servo master? Posted Date: 07/13/2004 Answer: Yes. Attached Below is an example wiring of a Sigma II SGDH servo system as a master, wired to the external encoder input of the MP940 system. In this case the SGDH motors encoder is output on the 1CN connector as simulated encoder. The Encoder Output resolution from the SGDH can be changed or divided out by adjusting the PG Dividing Ration Parameter (Pn201). For more information on wiring connections and wiring techniques, please refer to the Sigma II Users manual and the attached MP940 I/O connection diagram. Attachments: 110KB 22KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Applications, Integration, Wiring Document Number: MNEN-5CJMKL Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there a way to get 4 bi-directional 'contact speeds' with sigma II (SGDH)? Posted Date: 05/22/2006 Answer: Yes using two relays and a potentiometer (or resistor) it is possible to "add" one contact input speed to the standard 3 speeds. Please refer to the attached document. Attachments: 14KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Wiring Document Number: MTN-6ND4FS Published Date: 05/22/2006 Share \| Rate Rate this article :	05/22/2006
	Is there a quick way to reset SGDH servo alarms without using PC software? Posted Date: 05/21/2001 Answer: To reset an alarm on a Sigma II amplifier, just press the middle two buttons ("up arrow" and "down arrow") on the digital operator at the same time. This has the same effect as the ALM-RST input or executing the Fault Reset block in MotionWorks+. Not all alarms can be reset this way; some require you to cycle power. For a list of alarms that can't be reset, see your Sigma II User's Guide, section 9.2.3. The alarms with a single asterisk require the power to be cycled. If an external controller is attached to the SGDH, the motion program must be aborted before resetting the servo alarm to prevent an unsafe situation. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMMQ Published Date: 05/21/2001 Share \| Rate Rate this article :	05/21/2001
	Is there a procedure for starting-up a Sigma II Servo System with an Absolute Encoder? Posted Date: 07/13/2004 Answer: Commissioning a Sigma II (SGDH) Servopack. When using an absolute encoder: In the case where an ABS encoder is used, the ABS encoder should be set-up before any option units are attached and before the trial operation is commenced. Section 5.7 in the users manual should be read and understood before an Absolute encoder is used for the first time. Basic Servopack/Servomotor Check: Trial Operation Section 4.1 in users manual. 1) Direction- Verify the direction by energizing control power (L1C & LC2) only, then monitoring Un-000 (7.1.7 Monitor Mode - 'Actual Motor Speed' [RPM]) for positive and negative numbers as the axis is moved by hand. 2) Change direction reference if required: This is done by changing the value in Pn-000.0 between 0 and 1. Don't forget to cycle the power if a change is made. 3) JOG the servo system: Jog is initiated with Fn-002 (7.2.2 'JOG operation using Digital operator'.) Always remember that the default JOG Speed is 500RPM and is set at Pn-304. Main Power (L1, L2 and L3) should be ON in order to JOG. When using Option units: 1) If an absolute encoder exists, set it up first (5.7 'Absolute Encoders'). 2) Check the Servopack and Servomotor connections and do the trial test described above (4.1 'Two Step Trial Operation') 3) If all is well, power everything down. Then connect option unit and re-power. 4) Adjust additional user parameters added to the system related to the option unit's existence. Resetting a SGDH (Sigma II) Servopack to factory default: 1) Fn-005 (7.2.9 'Initializing Parameter Settings') 2) Fn-006 (7.2.5 'Clearing Alarm Trace back Data') This step is not mandatory, but is suggested. 3) Fn-014 (7.2.13 'Clearing Option Unit Detection Alarm') If no option unit was used, this is not required. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Start Up - Installation Document Number: MNEN-5CJMKJ Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there any information available about a free software to use for opening Yaskawa 2D drawings such as dwg and dxf? Posted Date: 05/15/2014 Answer: To open and edit 2D dwg and dxf drawings; use DraftSight which can be downloaded from its website. Search for DraftSight on the web. Product Group/Line: Servo Products, SGDG LEGEND, SGDH Sigma II, SGDS, SGLF Series, SGLG Series, SGLT Series, SGMAH Sigma II, SGMAV Sigma-5, SGMBH Sigma II, SGMCS Direct Drive, SGMGH Sigma II, SGMGV Sigma-5, SGMJV Sigma-5, SGMM Sigma Mini, SGMPH Sigma II, SGMSH Sigma II, SGMSV Sigma-5, SGMUH Sigma II, Sigma FSP, Sigma Trac, SGT Sigma Trac, STF Sigma Trac, SJDE Junma, SJME Junma, Controllers, JAMSC-Network IO, JUSP-FC100 Full Closed IF Unit, MotionWorks IEC, MotionWorks Plus Software, MP2000 Series (MP2300-MP2200), MP2000iec Series, MP2100, MP2200, MP2300, MP2300Siec, MP2310iec, MP2600iec, MP3200, MP3200iec, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, NS100 Mechatrolink, NS115 Mechatrolink II, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, NT001, SMC-2000, SMC-3010 LEGEND-MC, SMC-4000, YTerm Software, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic, Network-Comm-EtherCAT, Network-Comm-MECHATROLINK-II, Network-Comm-Options Topic/Sub Topic: Ask a Technical Question, Dimensions Document Number: MTN-9G4SB7 Published Date: 05/15/2014 Share \| Rate Rate this article :	05/15/2014
	Is there an alternative explanation of the term "User Units" pertaining to Yaskawa's electronic gearing built into the Servopacks and JUSP-NSxxx option board products? Posted Date: 07/13/2004 Answer: User units are a description of the resultant position units after electronic gearing parameters are adjusted. This is a feature used when a Yaskawa Servopack is in position mode. A Servopack may be in position mode under two circumstances: accepting pulses from a stepper motor indexer or when an application module such as an NS600, NS300 or NS500 is attached. Electronic gearing is expressed as a ratio. The result is that the position can be pulsed or commanded in logical user units, not just motor-encoder counts. Positioning in user units allows the application programmer to set position targets in realistic units rather than encoder counts. The Ratio is expressed as B/A, where B and A are integers. 'B' is the number of Quadrature [x4] encoder counts the motor will move for a given 'A' number of commanded user units. If B=300 and A=20, then for every 20 user units sent to the Servopack via pulses or a position command issued from an option card, the servomotor will move 300 encoder counts. If only 10 user units are commanded, then the servomotor will move 150 encoder counts. To see the equation and further information, please see the attached .PDF file. Attachments: 31KB Product Group/Line: Controllers, Servo Products, NS100 Mechatrolink, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, SGDA, SGDB, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Start Up - Installation Document Number: MTN-5RJHGB Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there a list of technical recommendations for safe guarding an MP940 Servo Control System against overspeed conditions? Posted Date: 08/29/2005 Answer: Yes, below is an example written up for an MP940 Indexing System with a Direct Drive Motor, but can also be applied to various other applications: Product Description Ordering Part Number Direct Drive Motor: SGMCS-2ZN*** Sigma II Amplifier: SGDH-30AE MP940 Machine Controller: JEPMC-MC400 MotionWorks Software: MPE720 The Yaskawa 3kW Direct Drive Servo, SGDH Sigma II Servo Amplifier, MP940 Machine Controller, and MPE720 MotionWorks Software is a programmable system capable of operating the motor in various applications such as absolute rotary motion indexing. To insure that the system controls the motor in the way the machine designer expects, the system design specifics should be considered. Since the Yaskawa system is scalable, it allows the designer to add modules for increased ability and flexibility to suit the needs of various applications, including segmented variations of indexing applications. The description below describes some features of how each module monitors and handles speed concerns. 1) Motor: SGDH servo amplifier has a feature that will auto-id the SGMCS-2ZN direct drive motor through the serial encoder, and identify that it has a max speed of 250 rpm. If the encoder wire is unplugged, or if the serial communications data becomes compromised due to electrical noise, the system will automatically detect it, and fault out on an A.C* alarm. There is more information about these alarms in the manual or in our faq site, faq.yaskawa.com. 2) Amplifier: SGDH servo amplifier has a feature that will fault out on overspeed A.51 alarm if the motor exceeds 250 rpm by an amount. Alarm detection occurs within about 1msec of when the servo amplifier calculates that the speed has reached 20% above max speed. Once the alarm is detected, the amplifier faults out on overspeed, and annunciates the alarm. The motor will stop according to stop condition parameter settings (coast or dynamic brake, see Pn001). - The alarm output of the SGDH amplifier should be wired in series with the E-Stop circuit to insure main power gets dropped out in the event of a Servo Amplifier Alarm. Refer to section 5.5.2 in the MP940 Design and Maintenance Users Manual, SIEZ-C887-4.1. - The Servo Amplifier has a feature that allows the servo to be jogged regardless of the state of the controller, overriding the controller. This is available for startup and testing purposes, and ease of use. When the machine is commissioned for production, it is recommended that this feature as well as access to any parameter be locked out. SGDH Parameter access through the front panel can be locked out by setting Fn010=1. Refer to section 7.2.12 in Sigma II Servo User Manual, YEA-SIA-S800-32.2. 3) Controller: MP940 controls the servo amplifier via Dual Port Ram interface connection, and should be used to enable/disable the servo, as well as supply the control reference signal. This interface is completely digital, and handshakes communication on a watch dog timer. If the CPU faults out on a serious error it will cause a watch dog error, and the amplifier will automatically fault out on an A.E2 alarm, disabling the servo. - It is recommended that all low power control signals be wired to the MP940 I/O connector with exception to the following which wire to the 1CN connector: Positive and Negative over travels inputs, Home Latch or Motor Position Latch input, and Pulse Generator output. All 1CN inputs can be used as programmable inputs monitored via register IWC025. 4) Software Setup: MPE720 MotionWorks software programming environment is used to setup, program, and monitor the MP940 and servo system. Fixed parameters and setup parameters are available for flexibility and assurance of control. Proper setup of these parameters as recommended in the users manual will insure the direct drive servo positions accurately and as expected. It is recommended that all adjustments to the setup and parameters be made from this software. OWC004/OWC005 are also available parameters that can be set to limit speed (refer to manual section 11.3, SIEZ-C887-4.1 position mode preparation info when motion command is used, see control mode block diagram 11.21). - During software setup, its important to characterize a complete set of tuning gains for the mechanical system, first without the load, and finally with the load (Primarily parameters: Pn100, Pn101, Pn103, OWC010, OWC011, OWC035, and all low pass or notch filtering). See section 6.4.3 for a complete set of gain-related parameters. Taking measurements of torque and speed profile during a positioning move cycle, and recording this information is called 'servo gain baselining'. Documenting this is recommended for future reference when troubleshooting a system. Guidelines on Tuning can also be found in Example FAQs on faq.yaskawa.com: BFAR-5DHHXL, MTN-5WZJZ7. - Any constant or variable values that are considered default parameter settings for the machine installation, should be hard coded into the Startup A drawing, so that the A drawing will store the hard coded values into the register which is used in the application program. This insures that all default values are stored in the program in the event that an MP940 controller is swapped out. Parameter set changes during machine operation can be set by downloading recipes from an HMI, or tweaked from the HMI. 5) Software Programming: There are several ways to program the system because of the variety of applications, including indexing. If the chosen method to position is by setting the Motion Command Code to positioning (OWC020=1), then the final position command should be conditioned and checked, then sent to the Command Register (OWC012). Good practice for coding in ladder would also include interlocking code to protect the overall control of the system such as: servo ready/fault check, over travel check, safety I/O check, speed command verification and limit checking, actual speed calculation check, etc. - It is also recommended that a general purpose output be dedicated to interlock in series with the hardwired E-Stop circuit, preventing the E-Stop circuit from engaging main power until the MP940 code is running and controlling the output. If software safety check code detects abnormalities, it should set the output to off, causing dropout of E-Stop power. This is possible because the MP940 and SGDH amplifier control power is separate from the servomotor main power. - In instances where load will be changing, changing gains on the fly should be considered. If the system is rigid enough, it may be possible to linearly scale the gains using Pn103, otherwise, gain relationships may need to be adjusted. This can be determined through testing. - Software application code can be secured by password protecting through the user management section. Seven levels of read and write access protection are available. 6) Software Testing and Verification: Good practice for machine commissioning is to validate program functions through sign-off testing. This is often performed with the help of a checklist that shows columns for: Test item, verification test, acceptance criteria, and a place for the tester to sign and date. 7) Software Maintenance: Once the program and system has been tested, the application program should be baselined by assigning a production version, and should be backed up. In addition, the critical control software modules should be secured with password protection to support authorized changes only through an 'application software version control process'. 8) External Devices: HMI variable settings should be limited to insure the system does not operate as unexpected when the operator (or external device) enters set values outside of the expected range. If needed, an external speed monitor with independent circuitry could be connected, and hardwired to provide a final layer of independent overspeed protection. 9) System Level: Layered protection at each level (motor, amplifier, controller, setup, programming, testing, maintenance, external devices) will insure mitigation as well as contingency execution in the event that any particular safety element is compromised by mistake (example, if someone changes a programmable value accidentally, or by-passes a wired protection). Ultimately each application is different, and demands a varying level of protection against anomalies based on a balance of safety requirement and feasibility of cost. These are all at the discretion of the installer. It should also be recognized that the operators or users of this machine may alter the system at any point based on the ease of access to bypass functions or features. For this reason, it is also recommended that lock-out tag-out hardware be installed on the control enclosure, as well as a maintenance safety procedure be written to support that. In any of these cases, the Direct Drive motor, SGDH amplifier, MP940 controller, and MPE720 software is designed to operate together, and if wired, installed, setup, programmed, and maintained in accordance to the respective product users manual, and utilizing best practices, the motor will position as expected. Resources: - MPE720 Software Users Manual# SIEPC88070005A - MP940 Users Manual# SIEZ-C887-4.1 - Sigma II Users Manual# YEA-SIA-S800-32.2 - Sigma II Servo Tuning FAQ# BFAR-5DHHXL - Tuning Tips for Direct Drive Servo FAQ# MTN-5WZJZ7 Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II, SGMCS Direct Drive Topic/Sub Topic: Ask a Technical Question, Procedure - Policy Document Number: MTN-6FJT79 Published Date: 08/29/2005 Share \| Rate Rate this article :	08/29/2005
	Is there a driver available to communicate between an Exor HMI and a Yaskawa Sigma ServoPack? Posted Date: 07/13/2004 Answer: Yes, the driver and an example Designer project can be found in the attached EXOR_sigma2driver.zip file. The Exor driver included in the attached file is version: Yaskawa SGDx - FW Drv Ver. 3.01 - DLL Ver.5.01 It will allow communication to all Yaskawa Sigma ServoPacks, including, but not limited to the following models: SGD, SGDA, SGDB, SGDC, SGDH This driver also allows communication to multiple ServoPacks. Attachments: 54KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration Document Number: MMIR-5GKK9L Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there a compiled list of Sigma II alarms? Posted Date: 07/13/2004 Answer: Attached is one file that describes all Sigma II (Sigma2) and option card alarms. For further detailed information, please see the Sigma II users manual. This file includes descriptions and possible causes/solutions for the following alarms: Sigma2_Alarms_CompleteList.pdf Standard Sigma Alarms: A.02, A.03, A.04, A.10. A.30, A.32, A.40, A.41, A.51, A.71, A.72, A.73, A.74, A.7A, A.80, A.81, A.82, A.83, A.84, A.85, A.86, A.b1, A.b2, A.bF, A.C1, A.C8, A.CA, A.Cb, A.CC, A.d0, A.E7, A.F1, CPF00, CPF01, A.91, A.92 S2_Add_Alarms.pdf Extended Sigma and Linear Alarms: A.08, A.09, A.0A, A.33, A.55, A.76, A.90, A.b1, A.b3, A.C2, A.C5, A.C5, A.F5, A.F6 Alarms when combined with Option Cards: A.D1, A.E0, A.E1, A.E2, A.E5, A.E6, A.E7 Alarms Generated from Option Cards: A.94, A.95, A.9F, A.B6, A.E9, A.EA, A.Eb, A.EC, A.Ed Attachments: 122KB 98KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Document Clarification, Troubleshooting Document Number: MNEN-5CJMGY Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is the MP-940 capable of operating Yaskawa linear motors? Posted Date: 01/14/2005 Answer: Yes, it is possible when using MotionWorks. The only difference between using a rotary motor and a linear motor with the MP-940 is to select Linear Type vs Rotary Type in the SVA section of Module Configuration. By doing this, the additional parameters for Linear Motors are displayed in the "ServoPack" tab. There are three, however, that will require immediate attention to allow motion to occur. Please reference the users manuals for information regarding all other parameters. SGDH Parameter Settings: 1) Pn280: Linear Scale Pitch (micrometers), the ServoPack will remain in an alarm state until this is set. 2) Pn483: Forward Force Limit (% of rated), factory default is 30% (for safety), set appropriately for application. 2) Pn484: Reverse Force Limit (% of rated), factory default is 30% (for safety), set appropriately for application. Minimum firmware & software versions required: MP940: B01 or higher SGDH: xx214 or higher MotionWorks: 4.20 or higher Attachments: 61KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Operation, Start Up - Installation Document Number: MNEN-5CJMRC Published Date: 01/14/2005 Share \| Rate Rate this article :	01/14/2005
	Is it possible to simply control speed in a Sigma II amplifier without a controller? Posted Date: 10/24/2002 Answer: Yes. A speed control feature is integrated into Sigma II amplifiers. This mode of operation is called Contact Input Speed Control. It allows the user to initially set three different motor speeds with parameters, then select one of the speeds externally using a contact input. For details and learning more on how to set this up, please refer to section 5.2.6 of the Sigma II user's manual. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Applications, Integration Document Number: REKR-5F8QD6 Published Date: 10/24/2002 Share \| Rate Rate this article :	10/24/2002

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SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!

Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.

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