YASKAWA ∑ - V series AC servo drive

YASKAWA ∑ - V series AC servo drive

Core positioning

The YASKAWA ∑ - V series AC servo drive focuses on the entire lifecycle of design, testing, adjustment, and maintenance. It is compatible with SGDV series servo amplifiers and SGMMV/SGMJV/SGMAV rotary servo motors, as well as SGMCV/SGMCS direct drive servo motors. Its core applications include high-frequency, high-speed, and high-precision positioning scenarios (such as automated production lines, precision machine tools, robots, etc.), and it also specifies compliance requirements and safety operating standards such as UL in North America, CE in the European Union, and UKCA.

Product Core Parameter System

（1） Power supply and electrical parameters

Power supply type, model series, voltage range, frequency, continuous output current, instantaneous maximum output current

Single phase 100V SGDV-F series (R70F/R90F/2R1F/2R8F) 100-115VAC,+10%/-15% 50/60Hz 0.66-2.8 Arm 2.1-9.3 Weapon

Single phase 200V SGDV-A series (120A21A008000) 220-230VAC,+10%/-15% 50/60Hz 11.6 weapons 28 weapons

Three phase 200V SGDV-A series (R70A/1R6A/3R8A, etc.) 200-230VA,+10%/-15% 50/60Hz 0.66-78.0 weapons 2.1-170 weapons

Three phase 400V SGDV-D series (1R9D/3R5D/8R4D, etc.) 380-480VAC,+10%/-15% 50/60Hz 1.9-37.2 weapons 5.5-85 weapons

（2） Performance indicators

Speed control range: 1:5000 (the lower limit should be lower than the rated torque without causing the motor to stop)

Speed regulation accuracy: ± 0.01% (rated speed) when the load changes from 0% to 100%; 0% when voltage fluctuation is within ± 10%; ± 0.1% when the temperature changes by 25 ± 25 ℃

Repeatability of torque control: ± 1%

Positioning completion accuracy: can be fine tuned through electronic gear ratio (Pn20E/Pn210) and positioning completion width (Pn522), with a minimum reference unit of 1 μ m

Response characteristics: Soft start time 0-10s (acceleration/deceleration can be independently set)

（3） Environmental and Protection Parameters

Working temperature: 0-55 ℃; Storage temperature: -20-85 ℃

Relative humidity: ≤ 90% RH (no condensation, no freezing)

Vibration resistance: 4.9m/s ²; Impact resistance: 19.6m/s ²

Protection level: IP10 (to avoid contact with corrosive gases, dust, and oil-water)

Altitude limit: ≤ 1000m

Pollution level: Level 2

Key operations and configuration system

（1） Panel and digital operator

1. Core components

Seven segment LED display: displays servo status, alarm codes, parameter values

Function keys (MODE/SET, DATA, JOG/SVON, etc.): used for parameter configuration, utility function execution, and manual operation

Indicator lights: CHARGE (main circuit capacitor charging), L1/L2 (communication data transmission), CN (communication connection normal)

2. Core operating procedures

Parameter configuration: Switch to the "PRM/MON" menu using the MODE/SET keys, select the parameter (Pn series) using the directional keys, modify the value using the DATA key and save it

Utility function execution: Switch to the "Function" menu with MODE/SET keys, select Fn code (such as Fn201 advanced self-tuning), and press the DATA key to start

Monitoring view: Switch the MODE/SET key to the "PRM/MON" menu, switch to the monitoring item starting with "Un", and check the motor speed (Un000), torque (Un002), etc

（2） Parameter classification and core parameters

1. Parameter classification

Setup parameter: Basic operating condition configuration (such as Pn002 encoder type, Pn00B single-phase/three-phase power supply selection), after modification, it needs to be restarted to take effect

Tuning parameters: Control gain, filter, etc. (such as Pn100 speed loop gain, Pn102 position loop gain), partially effective in real-time

2. High frequency core parameters

Parameter Code Parameter Name Function Description Typical Setting Range

Pn002 encoder type selection switches between absolute/incremental encoder mode n.  0  (absolute), n.  1  (incremental)

Pn00B. 2 Power Supply Type Selection Three phase 200V Model Switching Single phase/Three phase Input 0 (Three phase), 1 (Single phase)

PN103 moment of inertia ratio matching motor and load inertia, affecting stability 1-1000 (adjusted according to actual load)

Pn20E/PN210 electronic gear ratio adjustment reference unit to actual displacement ratio 1-1073741824

Pn402/PN403 forward/reverse torque limit protection for mechanical loads, preventing overload from 0-800 (unit: rated torque%)

When the width positioning error of Pn522 positioning is less than this value, output the completion signal 0-1073741824 (reference unit)

（3） MECHATROLINK-III Communication Configuration

1. Hardware settings

Station address: Set by rotating switch S1 (high), S2 (low), range 03h EFh (disable 00h-02h, F0h FFh)

Number of transmitted bytes: set through DIP switch S3, 16/32/48 bytes (standard servo profile requires 32/48 bytes)

Wiring: CN6A/CN6B connector, shielded twisted pair, maximum distance between stations 75m, terminal needs to be connected to 220-470 Ω matching resistor

2. Communication parameters

Protocol: MECHATROLINK-III

Baud rate: 100Mbps

Transmission cycle: 125 μ s, 250 μ s, 500 μ s, 750 μ s, 1.0-4.0ms (0.5ms step)

Core commands: CONNECT (establish communication), SENS-ON (read absolute encoder data), SV_SON (servo enable)

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

2. Multi circle limit setting

Parameter: Pn205 (multi turn limit value), set as the number of rotations of the load axis -1

Effective: After modification, Fn013 (multi turn limit reset) must be executed, otherwise A.CC0 alarm will be triggered

Maintenance and troubleshooting

（1） Regular maintenance system

1. Daily maintenance (daily)

Appearance inspection: The cable is free of wear, looseness, oil and water stains

Operating status: No abnormal vibration or noise, motor temperature ≤ 60 ℃

Indicator light: No alarm light on, CHARGE light will turn off within ≤ 5 minutes after power failure

2. Annual maintenance

Insulation testing: Disconnect the servo amplifier and measure the resistance between the motor U/V/W and FG using a 500VDC insulation resistance meter. A resistance of ≥ 10M Ω is considered normal

Gap calibration: Use a non-magnetic feeler gauge to measure the gap between the rotor and the magnetic track. If the deviation exceeds 0.5mm, it needs to be adjusted

Cable inspection: The shielding layer is not damaged, the joints are firm, and there is no aging at the bends

3. Overhaul cycle (every 5 years)

Component replacement: cooling fan, aluminum electrolytic capacitor, cable (frequent bending scenario)

Comprehensive testing: winding insulation, magnetic track magnetism, sensor calibration (contact YASKAWA technical personnel)

（2） Common faults and solutions

Alarm code, fault name, possible cause, and solution

A. 830 absolute encoder battery fault, low battery voltage, poor battery contact. Replace the battery, check the battery wiring, restart and clear

A. 9A0 over travel warning limit switch triggered, P-OT/N-OT signal wiring error checked limit switch status, verified signal wiring, sent ALM_CLR to clear

A. F10 main circuit phase loss power supply wiring loose, single-phase/three-phase setting error check power supply wiring, confirm Pn00B. 2 setting matches power supply type

A. Insufficient capacity of 320 regeneration overload regeneration resistor, frequent replacement of larger capacity regeneration resistor for braking, and prolonged deceleration time

A. Eb1 safety function signal timing error HWBB signal single input, signal delay exceeding 10 seconds. Check HWBB dual wiring to eliminate signal interference

（3） Principles of troubleshooting

Power off before troubleshooting: Do not measure live signals, operate only after the CHARGE light is turned off

Mechanical first, electrical later: prioritize checking mechanical clearances and fixing screws, then checking wiring and parameters

Basic first, then complex: first confirm power supply, grounding, and wiring, then investigate parameters and communication

Compliance and environmental requirements

（1） Compliance standards

North America: UL 508C, UL 1004-1, CSA C22.2 No.100, branch circuits require specified semiconductor fuses

EU: CE certification (EMC Directive 2014/30/EU, LVD Directive 2014/35/EU), compliant with EN 61800-3 (C2 environment)

UK: UKCA certification, compliant with Supply of Machinery (Safety) Regulations, etc

China: Energy Efficiency Labeling for Permanent Magnet Synchronous Motors (CEL 038-2020, GB 30253-2013)

（2） Environmental Protection and Scrapping

Environmental requirements: RoHS Directive 2011/65/EU, restricting six harmful substances including lead and mercury

Scrap disposal:

Demagnetization treatment: Heat the magnetic track to above 300 ℃ and maintain it for 1 hour to eliminate magnetism

Classification and recycling: Separate electronic components (windings, sensors), metal components (magnetic tracks, shells), plastic components

Prohibited from littering: Dispose of by professional environmental organizations in accordance with the WEEE directive