YASKAWA ∑ - V series AC servo drive

Wiring and installation specifications

（1） Wiring system

1. Main circuit wiring (power circuit)

Terminal definitions: L1/L2/L3 (power input), U/V/W (motor wiring), B1/B2/B3 (regenerative resistance), FG (grounding)

Cable requirements: HIV series heat-resistant polyvinyl chloride insulated wire, with a cross-sectional area ranging from 1.25mm ² (low power) to 22mm ² (high power) depending on the model

Wiring principle:

Three phase power supply needs to distinguish phase sequence, single-phase power supply is connected to L1/L2 (L3 suspended)

Regenerative resistor: Some models require the removal of the B2-B3 short-circuit and external connection, while models such as 470A/550A require an external regenerative resistor unit

Grounding: Independent grounding, 200V series grounding resistance ≤ 100 Ω, 400V series ≤ 10 Ω

2. Signal circuit wiring (control circuit)

Connector signal type core terminal wiring requirements

CN1 I/O signal+24VIN (6-pin), SG (16 pin), ALM+/- (3/4-pin) shielded twisted pair, with a maximum length of 3m and a distance of ≥ 30cm from the power cable

CN2 encoder signal PG5V (1 pin), PG0V (2 pins), PS/PS - (5/6 pins) shielded twisted pair, up to 50m long, single ended grounded

CN8 safety signal/HWBB1+/- (4/3 pins),/HWBB2+/- (6/5 pins) redundant wiring, 0V common ground, avoid sharing cables with other signals

CN6A/CN6B communication signal MECHATROLINK-III differential signal shielded twisted pair, terminated with matching resistor

（2） Installation specifications

1. Installation environment

Avoid direct sunlight exposure, condensation, corrosive gases, dust, and strong magnetic field environments

When installing inside the control board, it is necessary to reserve heat dissipation space: up and down ≥ 10mm, left and right ≥ 5mm

Stay away from strong interference equipment such as frequency converters and welding machines, with a distance of ≥ 1m

2. Mechanical installation

Fixed method: Standard base installation, optional rack installation/air duct ventilation type (high-power models such as 470A/550A)

Screw specification: 10.9 grade hexagonal socket screw, tightening torque 3.6-41.5N · m (depending on the model size)

When installed vertically: a counterweight or braking device should be configured to prevent the load from falling due to power failure

Core functions and operating procedures

（1） Safety function (HWBB hard wired base block)

1. Functional principle

Dual redundant input signals (/HWBB1//HWBB2), when either of them is OFF, cut off the motor current within 20ms and enter the HWBB state (no torque output from the motor)

External device monitoring (EDM1): ON in normal state, OFF when HWBB is activated, requiring host monitoring to meet EN ISO13849-1 PLd safety level

2. Key points of operation

Wiring: The signal requires 0V common ground and adopts dual circuit independent wiring to avoid disconnection faults

Reset process: After HWBB activation, it is necessary to first restore/HWBB1//HWBB2 to ON, then send the SV_SFF command, and finally resend the SV_SON command to unlock

Vertical axis application: Additional mechanical braking is required. When HWBB is activated, the brake signal (/BK) will immediately turn off to prevent the load from falling

（2） Tuning and vibration suppression

1. Tuning function system

Function code, function name, applicable scenarios, operation points

Fn200 has no tuning and does not require manual adjustment. It adapts to regular loads by selecting stiffness levels (0-4) and load levels (0-2), and automatically optimizes

Fn201 advanced self-tuning dynamic load, complex mechanical systems require stroke setting (≥ 0.5 motor rotation), automatic calculation of inertia, gain, filter

Note 202: The dynamic tuning based on the host reference input for reference self-tuning requires the host to send a positioning reference and automatically optimize the gain and filter

Note 203: Fine tuning of single parameter, adjustment of response characteristics, adjustment of LEVEL value (0-100), automatic correlation of gain and filter

Note 204: Anti resonance control suppresses 100-1000Hz vibration and automatically detects resonance frequency, setting damping gain (0-200%)

Fn205 vibration suppression suppression residual vibration detection vibration frequency of 1-100Hz after positioning, set suppression parameters

2. Tuning process (taking Fn201 as an example)

Preparation: Confirm correct wiring, no alarms, servo OFF, and travel setting ≥ 3 motor rotations

Start: The digital operator enters the FUTURE menu, selects Fn201, and sets Jcalc=ON (inertia calculation) and Mode=2 (positioning optimization)

Execution: Press the JOG/SVON key to start, the motor will move back and forth, and the parameters will be automatically adjusted

Save: After completion, press the DATA key to save and restart to take effect

（3） Absolute encoder related operations

1. Battery maintenance

Battery model: JZSP-BA01 (encoder cable comes with battery box or installed on the host side)

Replacement timing: A.830 alarm/A.930 warning triggered when battery voltage ≤ 2.7V

Replacement process: Keep the control power on → Replace the battery → Turn off the control power → Restart → Clear the alarm