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	Question	Posted Date
	What are the most important parameters that need to be set to establish motion? Posted Date: 12/17/2001 Answer: See the attached document below This document discusses the parameters that are most commonly used to achieve basic point-to-point positioning or jogging. This document should be used in conjunction with the JUSP-NS300 or JUSP-NS500 User Manual. The parameters discussed are only the most common parameters. More parameters may need to be adjusted depending on the mode of positioning. The manual can be found at FTP.YASKAWA.COM under Public/Development/Servo. These configurations are most commonly completed with the associated electronic data sheets. The parameters can also be changed with Yaskawa's NSxxx software and a YS-16 cable. NSXXX software, the NS300 EDS sheet, and a document titled "NSXXX Configuration Guide" can be found at FTP.YASKAWA.COM under Public/Development/Servo. Attachments: 72KB Product Group/Line: Controllers, NS300 DeviceNet Topic/Sub Topic: Ask a Technical Question, Network Communications, Programming, Start Up - Installation Document Number: MNEN-5CJMJW Published Date: 12/17/2001 Share \| Rate Rate this article :	12/17/2001
	What are the most apparent differences between the Z1000 and HV600? Posted Date: 09/03/2019 Answer: The HV600 features a completely redesigned HOA keypad with tactile buttons and a brighter, crisper display capable of conveying much more information at a glance. In addition, like its industrial cousins, every HV600 sports a bright, multi-colored LED Status Ring that provides a clear indication of drive status at all times. Product Group/Line: Inverter Drives, HV600 Drive, Z1000 Drive Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: INV-EPBS9U Published Date: 09/03/2019 Share \| Rate Rate this article :	09/03/2019
	What are the minimum settings required to start-up a LEGEND SGDG type servo amplifier for use with a linear motor? Posted Date: 07/13/2004 Answer: See the attached .PDF file for information and tables regarding the SW2 Linear Scale Pitch setting Attachments: 19KB Product Group/Line: Servo Products, SGDG LEGEND, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Programming, Start Up - Installation Document Number: PZAC-5PBSRG Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	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 the major features and benefits of the LEGEND amplifier (SGDG)? Is an introductory presentation on the product available? Posted Date: 07/30/2003 Answer: Yes. Yaskawa has developed an "eLearning Module" that presents the major product features, benefits, specifications, and technical information for the Legend amplifier. This presentation runs as an executable file on a PC. A sound card and speakers are required to hear the audio. Screen resolution of 800X600 or greater is recommended. The following are links to other FAQs with more specific technical information: - Adding External Regen on SGDG - Regen Determination - 36pin I/O Interface Cable - Controlling the Mechanical Brake - Linear Motor & Direction Setup - Linear Motor & SGDG Startup - Servo Enable Signal (5 or 24VDC) Attachments: 2.1MB Product Group/Line: Servo Products, SGDG LEGEND Topic/Sub Topic: Ask a Technical Question, Document Clarification, Specifications, Training Document Number: MPER-5PXRZQ Published Date: 07/30/2003 Share \| Rate Rate this article :	07/30/2003
	What are the main causes of the VCF/VCN alarm? Posted Date: 12/20/2014 Answer: See attached. Attachments: 50KB Product Group/Line: Inverter Drives, G7 Drive Topic/Sub Topic: Ask a Technical Question, Alarm Document Number: DRV-8VNQGK Published Date: 12/20/2014 Share \| Rate Rate this article :	12/20/2014
	What are the functions of INIT, CNFG and SUP/MNT switches on the MPiec controllers? Posted Date: 02/15/2017 Answer: The INIT switch bypasses the loading of any saved configuration. Use this switch if there are suspected configuration issues causing alarms on the controller that may prevent you from connecting to the MPiec controller. If the INIT switch is ON and the CNFG switch is OFF, the controller will show no axes connected. The CNFG switch automatically configures the MPiec controller with the supported devices attached to the Mechatrolink network and I/O cards. When this switch is ON the MPiec controller can control any supported devices attached regardless if they are in a saved configuration or not. Yaskawa recommends leaving this switch on. The SUP/MNT switch puts the MPiec controller in supervisor mode for firmware upgrades. When this switch is ON, the controller will not “control” anything (The PLC will not run.) Servos cannot be enabled and I/O cannot be read or written. Product Group/Line: MP3300iec, Controllers, MP3200iec, MP2600iec, MP2310iec, MP2300Siec, MP2000iec Series, Sigma-7Siec Topic/Sub Topic: Customer Support, Troubleshooting, Ask a Technical Question, Start Up, Installation Document Number: CNT-AR2THD Published Date: 02/15/2017 Share \| Rate Rate this article :	02/15/2017
	What are the features of a Junma servo motor? Posted Date: 08/15/2011 Answer: Compared with a stepper motor, a Junma servo motor can output constant torque in low- to high-speed ranges. Unlike a stepper motor, which causes problems with vibration, noise, heat generation, and loss of control (out of synchronization), a Junma servo motor ensures smooth rotation. Product Group/Line: Servo Products, SJME Junma Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: MTN-8EZL3A Published Date: 08/15/2011 Share \| Rate Rate this article :	08/15/2011
	What are the encoder cable electrical specifications for greater than 20m? Posted Date: 03/08/2016 Answer: Please see attached document for details Attachments: 160KB Product Group/Line: SGM7A Sigma-7, Servo Products, SGM, SGM7F Direct Drive, SGM7G Sigma-7, SGM7J Sigma-7, SGM7P Sigma-7, SGMAH Sigma II, SGMAJ, SGMAV Sigma-5, SGMBH Sigma II, SGMCS Direct Drive, SGMCV Direct Drive, SGMDH Sigma II, SGMDM Sigma II, SGMGH Sigma II, SGMG, SGME, SGMGV Sigma-5, SGMJV Sigma-5, SGML, SGMM Sigma Mini, SGMMV Sigma-5 Mini, SGMP, SGMPH Sigma II, SGMPS, SGMS, SGMSH Sigma II, SGMSV Sigma-5, SGMUH Sigma II, SGMVH, SGMVV Sigma-5, SGT Sigma Trac Topic/Sub Topic: Wiring, Ask a Technical Question Document Number: SRV-83O72Q Published Date: 03/08/2016 Share \| Rate Rate this article :	03/08/2016
	What are the embedded network protocols for the Z1000? Posted Date: 11/29/2011 Answer: The Z1000 drive incorporates built-in BACnet protocol along with Modbus/Memobus. Protocol are accessible via RS-422/485 communication, which is standard. Product Group/Line: Inverter Drives, Z1000 Drive Topic/Sub Topic: Ask a Technical Question, Network Communications, Product Launch Document Number: DRV-8P2QCA Published Date: 11/29/2011 Share \| Rate Rate this article :	11/29/2011
	What are the embedded network protocols for the R1000? Posted Date: 07/15/2015 Answer: The R1000 incorporates built-in Modbus/Memobus. Protocol are accessible via RS-422/485 communication, which is standard. Product Group/Line: Inverter Drives, R1000 Regenerative Unit Topic/Sub Topic: Ask a Technical Question, Product Launch, Network Communications Document Number: INV-F8QN7M Published Date: 07/15/2015 Share \| Rate Rate this article :	07/15/2015
	What are the embedded network protocols for the D1000? Posted Date: 07/15/2015 Answer: The D1000 incorporates built-in Modbus/Memobus. Protocol are accessible via RS-422/485 communication, which is standard. Product Group/Line: Inverter Drives, D1000 Regenerative Converter Topic/Sub Topic: Ask a Technical Question, Product Launch, Network Communications Document Number: INV-7VF3K9 Published Date: 07/15/2015 Share \| Rate Rate this article :	07/15/2015
	What are the differences between the set-up of a GPD515/G5 and a F7 drive on DeviceNet when using CM053 or CM056 option cards? Posted Date: 11/28/2005 Answer: Please review the attached which addresses a number of questions on setting up the CM056 DeviceNet interface for the CIMR-F7U drive. For more information, refer to the TM4556 technical manual. Attachments: 23KB Product Group/Line: Inverter Drives, F7 Drive, G5 GPD515 Drive, Network Comms-DeviceNet, G5 Drive 600 Volt Topic/Sub Topic: Ask a Technical Question, Network Communications Document Number: DRV-5S3PBE Published Date: 11/28/2005 Share \| Rate Rate this article :	11/28/2005
	What are the differences between the A1000 600V and A1000 240/480V models? Posted Date: 01/04/2011 Answer: The following items are the only differences: The 600V models do not have CE certification (LVD and EMC). Although the 600V models have Hardware Safety Disable inputs, because they are not CE certified, they cannot be certified by TUV for functional safety The 600V models do not contain Permanent Magnet (PM) motor control methods. We may offer PM motor control in the 600V models in the future. Product Group/Line: Inverter Drives, A1000 Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-7TWRTR Published Date: 01/04/2011 Share \| Rate Rate this article :	01/04/2011
	What are the differences between single-axis and multi-axis function blocks? Posted Date: 09/21/2004 Answer: To see the main differences between single-axis and multi-axis function blocks, please download the attached .PDF file with further information and illustrations. Attachments: 31KB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-5WKPTA Published Date: 09/21/2004 Share \| Rate Rate this article :	09/21/2004
	What are the differences between MECHATROLINK-II and MECHATROLINK-III? Posted Date: 11/05/2013 Answer: There are many differences including speed, slave count, and behavior. These differences arise because the physical layer differs and are summarized in the table attached to this document (.PDF file). These differences mean that while MECHATROLINK-III performs better, the motion programmer must be more thoughtful in choosing a network topology and configuring the network. With MECHATROLINK-III, the time it takes for a master to send a packet to a slave and receive the slave's reply is called the response time, and it depends on the number of intermediate slave nodes, the packet size and the sum of the cable lengths. The sum of the response times for each slave and the number of retries configured determines the minimum communication cycle. Consequently, for the same number of nodes, a star topology will have a lower minimum communication cycle than a line topology. The network configuration for MECHATROLINK-III contains the expected response times for each slave node, the number of retries and the communication cycle. As a result, the network configuration depends on how the slave nodes are physically connected. Changing the physical connection without updating the configuration may cause the controller to be unable to communicate with a slave node. The motion programmer can increase the expected response times to allow the system to work with different topologies, but doing so may result in a slower communication cycle. Attachments: 18KB Product Group/Line: Controllers, MP2000 Series (MP2300-MP2200), MP2000iec Series, MP2100, MP2200, MP2300, MP2300Siec, MP2310iec, MP3200, MP3200iec, NS100 Mechatrolink, NS115 Mechatrolink II Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-98TTHL Published Date: 11/05/2013 Share \| Rate Rate this article :	11/05/2013
	What are the details regarding P1000 12 Pulse? Posted Date: 06/29/2012 Answer: P1000 12 Pulse capability is available only in 480V ratings from 58 to 1200 amps. For 58 through 675 amps, specific 12 pulse models provide this capability, and are only meant to be used for 12 pulse applications (different from previous generations). The 930 amp and 1200 amp models (to be released later in 2012) are field configurable for either 6 or 12 pulse applications. Product Group/Line: Inverter Drives, P1000 Drive Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: DRV-8VQKNE Published Date: 06/29/2012 Share \| Rate Rate this article :	06/29/2012
	What are the details regarding A1000 12 Pulse? Posted Date: 05/30/2012 Answer: A1000 12 Pulse capability is available only in 480V ratings from 58 to 1200 amps. For 58 through 675 amps, specific 12 pulse models provide this capability, and are only meant to be used for 12 pulse applications (different from previous generations). The 930 amp and 1200 amp models are field configurable for either 6 or 12 pulse applications. Product Group/Line: Inverter Drives, A1000 Drive Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: DRV-8USTK6 Published Date: 05/30/2012 Share \| Rate Rate this article :	05/30/2012
	What are the details of CoE objects 2217h and 2216h? Are these parameters used to achieve an S-curve (jerk) motion? I see the descriptions in my controller after importing the Yaskawa ESI file, but in the Yaskawa CoE user's manual, these are not described. Posted Date: 02/09/2015 Answer: CoE objects 2217 and 2216 are the same as SGDV parameters Pn217 and Pn216 respectively. These parameters are used to achieve an S-curve-like (similar to jerk) motion from the motor. The descriptions of these parameters can be found in the Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference, Yaskawa.com document SIEPS80000045. Product Group/Line: SGDV EtherCAT, Servo Products Topic/Sub Topic: Document Clarification, Ask a Technical Question, Parameters, Tuning Document Number: SRV-LY43O3 Published Date: 02/09/2015 Share \| Rate Rate this article :	02/09/2015
	What are the D1000 ratings? Posted Date: 07/15/2015 Answer: 240V, 5 – 150 HP and 480V, 5 – 750 HP. Product Group/Line: Inverter Drives, D1000 Regenerative Converter Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: INV-280017 Published Date: 07/15/2015 Share \| Rate Rate this article :	07/15/2015
	What are the concerns when operating a motor with a AC drive rated for less output voltage than the motor namplate . Example: The AC drive rating is 480 VAC and the motor is 600VAC. Posted Date: 08/19/2004 Answer: This is not recommended. Essentially, the motor needs a specific proportion of voltage to frequency to product rated torque. The motor will not be able to provide the torque that it should, because it is drawing more current to make up the lack of voltage. The motor will be unable to deliver it's rated horsepower. Product Group/Line: Inverter Drives, AC Motors, General Inverter Drives Topic/Sub Topic: Ask a Technical Question, Drive Size, Motors, Tuning Document Number: DRV-5FLLGT Published Date: 08/19/2004 Share \| Rate Rate this article :	08/19/2004
	What are the available jumper settings for the SMC-4000? Posted Date: 06/25/2013 Answer: There are two circuit boards with jumper locations in the SMC-4000 controller. The following features are described in detail in the referenced document link below: - Reset - Equivalent to pressing the reset button on controller. - Master Reset Return to factory defaults. - Upgrade Jumper Force the controller to accept a firmware upgrade. - Baud Rate Select 9600 or 19200. - Stepper Mode Jumpers - Configure axes for step & direction operation. - Motor Enable setting Select motor enable state at power up. - Alarm Jumpers - Map alarm outputs to SMC inputs. - Alarm Reset Jumpers - Map SMC outputs to amplifier alarm reset. Product Group/Line: Controllers, SMC-4000 Topic/Sub Topic: Ask a Technical Question, Options Document Number: MTN-6HTU6V Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
	What are the available jumper settings for the SMC-3010? Posted Date: 06/25/2013 Answer: There are four jumper locations on the SMC-3010 controller. The following features are described in detail in the referenced document link below: - Master Reset - Return to factory defaults. - Baud Rate - Select 9600 or 19200. - Upgrade Jumper - Force the controller to upgrade the firmware. - Motor Enable setting - Select power up motor enable state. - Enable the "Output Compare" function. Search for DOC # TN.MCD.05.129 for the document about SMC-3010 jumpers. Product Group/Line: Controllers, SMC-3010 LEGEND-MC Topic/Sub Topic: Ask a Technical Question, Options Document Number: MTN-6HTU2P Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
	What are the advantages of "Serial Command Method" when using an NS600 indexer? Posted Date: 02/20/2003 Answer: If the application requires various index moves that are not pre-determined and consequently cannot be configured as a preset index table, then by using the 'Serial Command Method', immediate interpretation of commands can be achieved. This method can be used in conjunction with many PLCs (often without special modules) and all industrial computers. The IndexWorks software offers a built-in terminal to be used for this method of control. HyperTerminal, a standard utility of the Windows operating system, may also be utilized to establish communications and programming. This method also allows for preset table execution, so in applications where certain moves can be configured as pre-determined, this method can execute the preset table moves as well as diverting to different undetermined moves based on the machines modes. This method also supports separate Acceleration and Deceleration for every index move as a temporary parameter. If used as a Serial Network, up to 16 addressable stations can be configured. The baud rate is settable up to 38.4K, and it supports standard RS232C, RS422 & RS485. To learn more about the control configuration and Serial Command Functions, please refer to 'Sigma II Indexer User's Manual'. Product Group/Line: Controllers, NS600 Indexer Topic/Sub Topic: Ask a Technical Question, Operation, Programming Document Number: REKR-5JXQ96 Published Date: 02/20/2003 Share \| Rate Rate this article :	02/20/2003
	What are the additional pigtail leads on cables SMCCBLAxx and SMCCBLBxx? Posted Date: 10/20/2006 Answer: The pigtail leads on these cables are for connections to the amplifier I/O pins that are not connected to the SMC2000/4000 through the axis connector. These additional leads can be used to tie the available control signals into other customer connections such as a PLC or machine I/O. For instance, if an alarm LED is desired indicating an amplifier alarm, pigtails white/black 2 and black 2 of the SMCCBLAxx cable can be wired into the LED circuit. These signals may also be wired into the general I/O of the SMC controller. See tables with additional details by opening the attached .PDF file. Attachments: 18KB Product Group/Line: Controllers, SMC-2000, SMC-4000 Topic/Sub Topic: Ask a Technical Question, Wiring Document Number: MTN-68DQS5 Published Date: 10/20/2006 Share \| Rate Rate this article :	10/20/2006
	What are the A1000's ratings? Posted Date: 01/04/2011 Answer: 200-240V 3/4 to 175HP (3.2 to 415A); 400-480V 3/4 to 1000HP (1.8 to 1200A), and 500-600V 1 to 250HP (1.7 to 242A). Product Group/Line: Inverter Drives, A1000 Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-8CCTU8 Published Date: 01/04/2011 Share \| Rate Rate this article :	01/04/2011
	What are some tips for operating a single load with multiple servo motors? Posted Date: 03/12/2014 Answer: With Yaskawa MP Controllers, position mode is quite effective as Mechatrolink is a high-speed deterministic network enabling all of the servopacks process information at the same time (synchronized). Declare (arbitrarily) one axis a master and the other(s) as a slave(s). 1. Configuration To lessen torque discrepancy (fighting) among the axes, it is often useful to set PN10C = 0 in the slave(s). This sets the ServoPack to operate the velocity loop in proportional (P) only mode. It will keep the speed loop integrator in the ServoPack from building up and adding torque disturbance. 2. Alignment Hold the master axis stationary. Limit the torque in the slave axis to something reasonable (that will not damage the mechanism). Slowly (referencing or homing speed) move the slave axis reverse, when torque limit is reached, record the slaves actual position. Move the slave axis forward, when torque limit is reached, record slaves actual position. Move the slave to the mid-point of those two positions, and then enable 1:1 gearing to the master. Typically this is completed as a referencing routine in the motion/machine controller, such as Yaskawa MP controller. 3. Gains When tuning it is important to change the gains on all shared axes at the same time. If using Model Following Control (MFC) tuning methodology, it is important that these ServoPack parameters are the same for all axes. Theses include PN140 - PN14F. Product Group/Line: Controllers, Servo Products, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec, NS115 Mechatrolink II, SGMAV Sigma-5, SGMGV Sigma-5, SGMJV Sigma-5, SGMSV Sigma-5, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic, Network-Comm-EtherCAT, Network-Comm-MECHATROLINK-II Topic/Sub Topic: Ask a Technical Question, Start Up - Installation, Tuning Document Number: MTN-9GRS96 Published Date: 03/12/2014 Share \| Rate Rate this article :	03/12/2014
	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 possible remedies if the #ININT (Input Interrupt) special label does not work? Posted Date: 06/24/2013 Answer: The #ININT special label routine requires the "II" Input Interrupt command somewhere at the top of the program, in the initialization section to execute properly. The #ININT label will not execute unless it has been configured. An active low interrupt requires a setting such as II2. An active high input on input 4, for example, requires the command II,,,4 (Check the "II" command page in the manual for more details.) Attached is a template program. It documents all the special labels and discusses the 3 methods that can be used to resume after an interrupt. You must use the RI command, which restores the interrupt configuration (II) and returns to the program location where the interrupt first occurred. OTHERWISE, use ZS to clear the stack, re-issue the II command just as it was in the initialization section, and use the JP command to have the program. Usually this is the main program loop. It is very important to use either the RI command or re-issue the II command, because the interrupt will not execute again until either of those commands have been executed. Attachments: 7KB Product Group/Line: Controllers, SMC-2000, SMC-3010 LEGEND-MC, YTerm Software Topic/Sub Topic: Ask a Technical Question, Application Example, Programming Document Number: MNEN-5CJMPE Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	What are some possible causes for and FGN instruction error ? Posted Date: 02/18/2009 Answer: The FGN is a very simple instruction, and there are only four error possibilities: 1) The number of data pairs must match the number defined in the top of the parameter table. 2) Discontinuous X data. X axis data must be increasing. 3) Incorrect data type a) Input is float type but parameter table data is long type. b) Input is long type but parameter table data is float type. c) Input is word (16 bit) but parameter table data is 32 bit type (Long or Float.) d) Input is 32 bit type (Float or Long) but parameter table data is word (16-bit) 4) Incorrect Output Register type. Output must be a writable type. This excludes I, C, and # type. Input and Parameter Table registers can be of any type. Product Group/Line: Controllers, MotionWorks Software, MP2000 Series (MP2300-MP2200) Topic/Sub Topic: Ask a Technical Question, Alarm Document Number: MTN-6XP3TN Published Date: 02/18/2009 Share \| Rate Rate this article :	02/18/2009
	What are some of the potential causes of the A.E72 alarm? Posted Date: 02/06/2009 Answer: A.E72 alarm is the option card detection/initialization fault. It occurs when power is applied to the SGDV amplifier the first time after the removal of an option card. This alarm may occur if the option card is removed accidentally, or the amplfier was not reset after the option card is removed. To reset the A.E72 alarm, execute function Fn014 by using the digital operator or SigmaWin+. Be sure to cycle the power to the SGDV to complete the alarm reset procedure. Product Group/Line: Servo Products, SGDV EtherCAT, SGDV SigmaLogic, SGDV MP2600iec Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MTN-7FNRKP Published Date: 02/06/2009 Share \| Rate Rate this article :	02/06/2009
	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 some methods for physical connections (wiring) to the MP920 218IF Ethernet Module? Posted Date: 07/13/2004 Answer: The MP920 218IF module comes with a standard AUI (Attachment Unit Interface) D-sub (DB-15) socket connector with slide latch. This AUI is provided to allow the user to select the physical connection type. To interface this with standard type physical connections such as 10Base-T (RJ-45) or 10Base-5 (Co-axial), a Transceiver Module will be required. See the attached .PDF file for complete information including cable diagrams. Attachments: 42KB Product Group/Line: Controllers, MP920 Machine Controller Topic/Sub Topic: Ask a Technical Question, Integration, Network Communications, Wiring Document Number: BFAR-5EPPAB Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What are some issues that would cause a web application to drift when using camming with registration, and what are some remedies to this condition? Posted Date: 07/13/2004 Answer: The slave (SGDH motor) on a web handling or similar system may drift for the following reasons: 1) Slave has a non-integer based machine cycle. 2) Master has a non-integer based machine cycle. 3) Cam calculations are flawed. Please see the attached Word file for detailed information about these conditions. Attachments: 16KB 105KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Application Example, Programming, Software, Troubleshooting Document Number: KHUL-5DUSAN Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What are some counter-measures to reduce harmonics created by AC drives? Posted Date: 06/08/2007 Answer: With inverters, some counter-measures include installing a reactor on the input side (there are both AC and DC type reactors), or the addition of a sinusoidal power supply regen converter. Product Group/Line: Inverter Drives, G5HHP Drive, G7 Drive, P7 Drive, V74X Drive, V7N Drive Topic/Sub Topic: Ask a Technical Question, Harmonics Document Number: DRV-5NVJSV Published Date: 06/08/2007 Share \| Rate Rate this article :	06/08/2007
	What are some concerns when the motor cable is over 100 meters? Posted Date: 06/20/2013 Answer: Motor torque will be reduced from a drop in voltage over the cable length. When using lengthy wires with the inverter and the motor, use wires that are thick enough to assist in reducing cable loss. Drive V/f characteristics may need adjusting to compensate for cable losses . The carrier frequency should typically be reduced as follows based on the cable length. up to 50 meters: under 10kHz. Up to 100 meters, under 5 kHz. To tune a custom V/f pattern. see the attached. For additional information, refer to TM4515, TM.E7.01, TM.E7.02, and TM.F7.01 Attachments: 31KB Product Group/Line: Inverter Drives, E7 Drive, F7 Drive, G5HHP Drive, G5 GPD515 Drive, G5 Drive 600 Volt Topic/Sub Topic: Ask a Technical Question, Installation, Lead Length, Tuning, Wiring Document Number: DRV-5NTJ6D Published Date: 06/20/2013 Share \| Rate Rate this article :	06/20/2013
	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
	What are cable leads +BA and -BA used for on cable SMCCBL0XX when using the SMC-4000? Posted Date: 04/10/2006 Answer: These leads are connected to pins 18 and 20 of the SMC-4000 axis connector which are both labeled as no connection in the SMC-4000 User's Manual. Cable SMCCBL0XX is also used for the SMC-2000, which had a battery connection on pins 18 and 20. However, when being used with an SMC-4000, leads +BA and -BA should not be connected. Typically, the SMC-2000 has been used with Sigma I amplifiers that have no battery provision of their own, so the SMC-2000 included a battery holder and connections to supply the absolute encoder with power. The SMC-4000 is typically used with Sigma II amplifiers, which do include a provision for an absolute encoder battery, so there is no need to supply battery power from the controller. Product Group/Line: Controllers, SMC-4000 Topic/Sub Topic: Ask a Technical Question, Wiring Document Number: MTN-6L5RBH Published Date: 04/10/2006 Share \| Rate Rate this article :	04/10/2006
	What applications is the Single Phase Converter appropriate for? Posted Date: 02/08/2018 Answer: The Single Phase Converter was designed with variable torque applications like fans and pumps in mind. However, it can also be used in constant torque applications that require little overload demands during acceleration and deceleration. Product Group/Line: Single Phase Converter, Inverter Drives Topic/Sub Topic: Ask a Technical Question, Applications Document Number: INV-T4QN83 Published Date: 02/08/2018 Share \| Rate Rate this article :	02/08/2018
	What Add-On Instructions are available with SigmaLogic? Posted Date: 10/29/2014 Answer: MAB_Yaskawa - Motion Axis Blend MAFR_Yaskawa - Motion Axis Fault Reset MAG_Yaskawa - Motion Axis Gear MAH_Yaskawa - Motion Axis Home MHSI_Yaskawa - Motion Axis High Speed Index MAHSP_Yaskawa - Motion Axis Home Set Position MAJ_Yaskawa - Motion Axis Jog MAM_Yaskawa - Motion Axis Move MAS_Yaskawa - Motion Axis Stop MCFG_Yaskawa - Motion Axis Configuration and Status MCLK_Yaskawa - Motion Axis Set Clock MPLS_Yaskawa Motion Programmable Limit Switch MSF_Yaskawa - Motion Axis Servo OFF MSO_Yaskawa - Motion Axis Servo ON MSQE_Yaskawa - Motion Sequence Edit MSQR_Yaskawa - Motion Sequence Run MTRQ_Yaskawa - Motion Axis Torque Control Product Group/Line: SGDV SigmaLogic, Servo Products Topic/Sub Topic: Programming, Ask a Technical Question Document Number: SRV-3UYEFK Published Date: 10/29/2014 Share \| Rate Rate this article :	10/29/2014
	What additional FP605 ratings are planned for the future, and what is the schedule? Posted Date: 03/30/2022 Answer: 480 V, 700 to 1000 HP is planned. Schedule has not yet been determined. 480 V, 12-Pulse is planned. Schedule has not yet been determined. 240/480 V IP55 backside (Flange) drives are planned. Schedule has not been determined. 600 V up to at least 500 HP is planned. Schedule has not yet been determined. Product Group/Line: Inverter Drives, FP605 Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: INV-OJS7RD Published Date: 03/30/2022 Share \| Rate Rate this article :	03/30/2022
	What about UL Type enclosed packages? Posted Date: 05/14/2020 Answer: At product release, UL Type 1, UL Type 12, and UL Type 3R enclosure packages will be available in 208 V, 240 V, and 480 V models with a limited range of options with new, smaller dimensions. Product Group/Line: Inverter Drives, HV600 Enclosed Bypass, HV600 Enclosed Configured, HV600 Drive Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: INV-C041H6 Published Date: 05/14/2020 Share \| Rate Rate this article :	05/14/2020
	What A1000 enclosure types are available? Posted Date: 01/03/2011 Answer: NEMA 1 is the standard offering up to 200-240V 75HP ND, 380-480V 150HP ND, and 500-600V 100HP ND; IP00 protected chassis versions are available above those ratings. The standard product can be mounted conventionally, or with its heatsink external (with addition of NEMA 1 external heatsink kit for small drives); however, for installations requiring both NEMA 12 and heatsink external, the A1000 is offered in a special 'Flange' model that provides NEMA 12 integrity on its backside. Product Group/Line: Inverter Drives, A1000 Drive Topic/Sub Topic: Ask a Technical Question, Enclosure Document Number: DRV-8CDJW7 Published Date: 01/03/2011 Share \| Rate Rate this article :	01/03/2011
	We have two raycap options (7 & 9). When would I use option 7 verses option 9? Posted Date: 05/13/2021 Answer: Raycap option 9 is specifically intended for 480 VAC WYE secondary transformer power. When not using this type of power supply use raycap option 7. Product Group/Line: Inverter Drives, U1000 Industrial Configured Topic/Sub Topic: Ask a Technical Question, Power Quality, Product Launch Document Number: INV-4218SG Published Date: 05/13/2021 Share \| Rate Rate this article :	05/13/2021
	UV -- Fault Code Description Posted Date: 06/08/2007 Answer: Digital Operator Display Text: UV DC Bus Undervolt Description: The main circuit or control circuit voltage has fallen below the under voltage trip point momentarily. A minor fault contact output can be programmed by using the multi-function outputs. (GPD515/G5 only) Possible Cause(s): Single phase condition on the input, low input voltage at L1, L2, and L3. Corrective Action: Check the three phase input voltage, verify setting of L2-05 for GPD515/G5. For more information and a complete list of fault codes see the following manuals TM4515 and PP.P5G5.01. Product Group/Line: Inverter Drives, G5 GPD515 Drive, P5 GPD506 Drive, P5 Drive 600 Volt, G5 Drive 600 Volt Topic/Sub Topic: Ask a Technical Question, Fault Code Description Document Number: DRV-5P2L6Y Published Date: 06/08/2007 Share \| Rate Rate this article :	06/08/2007
	UV -- Fault Code Description Posted Date: 06/08/2007 Answer: Digital Operator Display Text: Uv (blinking) Description: UV (Main circuit low voltage) Main circuit DC voltage drops below the low-voltage detection level while the drive output is OFF. 230V: Stops at main circuit DC voltage below appox. 200V (160 for singelphase) 460V: Stops at main circuit DC voltage below approx. 400V. Causes and Corrective Actions: Check the following: * Power supply voltage * Main circuit power supply wiring is connected. * Terminal screws are securely tightened. A complete list of fault codes is available in the instruction manual. Find the TM.V7.01 manual on the Yaskawa website. Product Group/Line: Inverter Drives, V7 Drive Topic/Sub Topic: Ask a Technical Question, Fault Code Description Document Number: DRV-5P3H6A Published Date: 06/08/2007 Share \| Rate Rate this article :	06/08/2007
	UV3 -- Fault Code Description Posted Date: 11/16/2009 Answer: Digital Operator Display Text: UV3 MC Answerback Description: Soft Charge Circuit Fault. The pre-charge contactor opened while the Drive was running. Causes: Contacts on the soft charge contactor are dirty and the soft charge contactor does not function mechanically. Corrective Actions: Cycle power off and on to the Drive - - - Check the condition of the soft charge contactor - - - Repair or replace the Power PCB/Gate Drive PCB. For information on resetting a fault, see FAQ# DRV-5P8PGJ. For more information and a complete list of fault codes see the following manuals TM.E7.01, TM.F7.01 and TM.P7.01. Product Group/Line: Inverter Drives, E7 Drive, E7B Drive Bypass, E7C Drive Configured, E7E Drive Engineered, E7L Drive Bypass, E7N Narrow Bypass Package, E7S Slim Configured Drive, F7 Drive, P7 Drive Topic/Sub Topic: Ask a Technical Question, Fault Code Description Document Number: DRV-5P4QFF Published Date: 11/16/2009 Share \| Rate Rate this article :	11/16/2009
	UV3 - Fault Code Description Posted Date: 06/20/2013 Answer: Digital Operator Display Text: UV3 MC Answerback Description: The pre-charge contactor opened while the inverter is running. This fault only applies to 230 V units 18kW ~ 75kW, 460 V units 22kW ~ 160kW and 600 V units 30kW ~ 160kW Possible Cause(s): Contacts on contactor are dirty, contactor does not function mechanically Corrective Action: Check the contactor, check the ribbon cable from the control board to the gate drive board. For information on resetting a fault on G5, E7, F7or G7 Drives, see FAQ# DRV-5P8PGJ. For more information and a complete list of fault codes see the following manuals TM4515, TM4506 and PP.P5G5.01. Product Group/Line: Inverter Drives, G5 GPD515 Drive, P5 GPD506 Drive, P5 Drive 600 Volt, G5 Drive 600 Volt Topic/Sub Topic: Ask a Technical Question, Fault Code Description Document Number: DRV-5NZR3T Published Date: 06/20/2013 Share \| Rate Rate this article :	06/20/2013

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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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