Yaskawa ∑ - V Servo Drive Debugging Guide

A. 41 main circuit undervoltage power supply voltage too low, phase loss check power supply and wiring

A. Check the U/V/W wiring for phase sequence error and excessive reference input of the 51 overspeed motor line; Reduce reference value

A. 71/72 overload load is too large, and the motor line is broken to reduce the load; Check the motor power line

A. Backup error of 81 absolute value encoder battery voltage depleted, replace battery in powered on state, execute Fn008 initialization

A. 83 Absolute Value Encoder Battery Error Battery voltage<2.7V Power on Replace battery

A. The d0 position error pulse overflow position gain is too low, and the load inertia increases significantly by Pn102; Adjust electronic gear

A. F1 power supply phase loss inspection, main power supply phase loss inspection, L1/L2/L3 wiring and MCCB

A. E60 option module communication error option module not connected or faulty check option module installation and communication settings

5.2 Alarm reset method

Press the DATA key through the numeric operator (to be confirmed according to the operation manual, usually a combination key)

Reset through CN1 input signal (/ALM-RST)

Power off and restart

Partial alarms (such as A.81, A.82) need to be cleared through Fn008

5.3 Hardwire Base Block (HWBB)

When both/HWBB1 and/HWBB2 are at low levels, the servo output base is blocked and the motor stops freely. The panel displays "Hbb". This is part of the safety function, used for emergency stop.

5.4 Overtravel Display

P-OT signal ON: forward rotation prohibited, displaying "P-OT"

N-OT signal ON: Reverse prohibited, displaying "N-OT"

Simultaneous ON of both: display alternates

Chapter 6: Maintenance and upkeep

6.1 Regular inspection items

Check the frequency and content of the inspection site

Appearance: Dust and oil stains are cleaned with compressed air every year

Every year, if the screws of the terminal block and connector become loose, they need to be tightened again

Cooling fan replacement in 4-5 years (under standard operating conditions)

Smooth capacitor replacement within 7-8 years

Circuit board electrolytic capacitor replacement within 5 years

Check the contacts of the relay as needed and replace them if necessary

Fuse replacement within 10 years

6.2 Precautions for Replacement

Before replacement, the main power and control power must be cut off, and wait for at least 5 minutes after the CHARGE light goes out.

After replacement, the parameters need to be reset (it is recommended to use SigmaWin+backup/restore).

Pay attention to the direction of airflow when replacing the fan.

6.3 Absolute value encoder battery replacement

Battery model: ER6VC3 (Toshiba) or JZSP-BA01. When replacing, it is necessary to keep the SERVOPACK control power on, otherwise multiple cycles of data will be lost. After replacement, execute Fn008 to reset multiple cycles of data.

6.4 Long term storage

If stored for more than 6 months, it is recommended to power on every six months to prevent the degradation of electrolytic capacitors.

Chapter 7: Practical Debugging Techniques

7.1 Inertia identification and automatic tuning

By using SigmaWin+software or the tuning function of digital operators (such as Fn200), the load inertia ratio can be automatically measured and the speed loop gain can be set. The correct setting of the inertia ratio (Pn103) directly affects the speed loop response.

7.2 JOG Operation Inspection

Select Fn002 in practical function mode to perform jog operation, quickly verifying the motor rotation direction, encoder feedback, and load connection status.

7.3 Input signal monitoring

By monitoring the input signal status in monitoring mode (Un005), it can be confirmed whether external switches, limit switches, emergency stops, and other signals are properly connected. The status is displayed as bit data, with the upper LED on indicating high level and the lower LED on indicating low level.

7.4 Output signal verification

Monitor the output signals (such as ALM, BK, TGON, etc.) through Un006 to confirm if the servo status feedback is normal.

7.5 Parameter Backup and Recovery

SigmaWin+allows for easy parameter backup, comparison, and batch copying. When replacing the drive, first backup the original parameters, and then restore the new drive to quickly put it into operation.

Chapter 8: Safety Precautions

The output terminals U, V, and W of the servo drive must not be connected to the power supply, otherwise the drive will be burned.

After power failure, wait for at least 5 minutes to confirm that the CHARGE light is off before touching the interior.

The grounding resistance must be ≤ 100 Ω and cannot be shared with high current equipment such as welding machines.

External emergency stop circuit and overtravel limit switch must be configured, and cannot rely solely on the stop function of servo software.

Dynamic braking (DB) is only used for emergency stop and cannot replace normal start stop with frequent start stop servo ON signals.

When using the safety function (HWBB), independent mechanical safety measures still need to be provided externally.