To Next PageTo Next PageWhat to do if A.521 alarm (Autotuning Alarm) occurs on YASKAWA Controller?
If you encounter an A.521 alarm (Autotuning Alarm) on your YASKAWA Controller, try the following: * Decrease the setting of Pn170 = n.X??? or the setting of Pn170 = n.?X??. * Alternatively, increase the setting of Pn170 = n.X??? or decrease the setting of Pn170 = n.?X??.
General| Type | Servo Drive |
|---|---|
| Communication Interface | MECHATROLINK-III, EtherCAT, EtherNet/IP |
| Control Modes | Position, Speed, Torque |
| Protection Features | Overvoltage, Undervoltage, Overcurrent |
| Ambient Temperature | 0°C to +55°C (32°F to 131°F) |
| Certifications | UL, CE |
| Series | Σ-7 (Sigma-7) |
Introduces the Σ-7 series SERVOPACKs designed for high-speed and high-precision positioning.
Explains how to read the basic information provided on the SERVOPACK nameplate.
Identifies and describes the various parts and connectors of the SERVOPACK.
Explains how to interpret SERVOPACK and Servomotor model numbers for selection.
Lists compatible combinations of SERVOPACKs with rotary, direct drive, and linear servomotors.
Lists the functions provided by SERVOPACKs and refers to pages for details.
Provides detailed ratings, overload protection characteristics, and specifications for SERVOPACK models.
Shows the internal block diagrams for various SERVOPACK models, illustrating connections and components.
Details the front cover dimensions, connector specifications, and external dimensions of SERVOPACKs.
Illustrates standard wiring examples for connecting SERVOPACKs to peripheral devices and motors.
Provides essential precautions to consider before installing the SERVOPACK in the ambient installation conditions.
Describes the different mounting types (base-mounted, rack-mounted, duct-ventilated) and the correct vertical orientation.
Provides the dimensions for mounting holes required to securely mount the SERVOPACK to the surface.
Specifies the required spaces and intervals around the SERVOPACK for proper cooling and installation.
Explains how to use the Installation Environment Monitor parameter to check operating conditions.
Details the derating rates required when operating the SERVOPACK at higher surrounding air temperatures or altitudes.
Outlines the installation conditions used for EMC certification testing to ensure compliance.
Covers general precautions, countermeasures against noise, and grounding procedures for wiring.
Provides basic wiring diagrams illustrating the connections of the SERVOPACK to power supplies and peripheral devices.
Details terminal symbols, wiring procedures, power ON sequence, and diagrams for power supply connections.
Explains terminal symbols, pin arrangements, and wiring procedures for connecting servomotors and holding brakes.
Describes I/O signal connector names, pin arrangements, and examples for various input and output signals.
Details pin arrangements and I/O circuits for connecting safety function devices.
Explains how to connect serial communications, computer, and analog monitor connectors.
Describes parameter classifications, notation, setting methods, write prohibition, and initialization.
Explains how to set the control method for speed, position, or torque control using Pn000.
Details settings for AC and DC power supply inputs, including single-phase and three-phase options.
Explains how the SERVOPACK automatically detects the connected motor type (Rotary or Linear).
Describes the function of the /S-ON signal and how to set it to keep the servo ON continuously.
Explains how to reverse the Servomotor rotation direction by changing Pn000 without altering signal polarity.
Details how to set the scale pitch of the linear encoder in Pn282 when using a Serial Converter Unit.
Explains how to write motor parameters to the linear encoder using SigmaWin+ for correct operation.
Guides on selecting the phase sequence to match the encoder's count-up direction for forward movement.
Explains how to specify whether the Linear Servomotor has a polarity sensor using Pn080.
Describes the process of detecting polarity for Linear Servomotors that do not have a polarity sensor.
Covers parameters for overtravel function, including signals, enabling/disabling, stopping methods, and warnings.
Explains the function of the holding brake, its operating sequence, and signal allocation.
Details the four methods to stop the Servomotor when servo is turned OFF or an alarm occurs.
Describes how to set the threshold for detecting overload alarms and warnings to prevent overheating.
Explains how to use electronic gears to convert travel distances to pulses for actual movement.
Provides procedures for resetting the absolute encoder, especially for multiturn data and when alarms occur.
Guides on how to set any position as the origin for linear encoders.
Explains how to set the regenerative resistor capacity based on cooling conditions and component ratings.
Details how to allocate input and output signals to connector pins, including default settings and parameters.
Explains how the SERVOPACK maintains motor power supply during brief interruptions using Pn509.
Describes the SEMI F47 function for detecting undervoltage and limiting output current to prevent overheating.
Explains how to set the maximum motor speed using Pn316 or Pn385 to protect the machine and prevent alarms.
Covers basic settings for speed control using analog voltage references or internal set speeds.
Details how to input pulse train references for target position control and manage speed with pulse frequency.
Explains how to perform torque control by inputting an analog voltage reference to the SERVOPACK.
Describes the encoder divided pulse output signals and phase forms, used for position feedback.
Explains setting motor speeds and direction using external input signals, utilizing internal parameters.
Covers specifying switching between two control methods like speed, position, or torque control.
Details methods to limit the output torque of the Servomotor using parameters, input signals, or analog references.
Explains how absolute encoders record current position without power and how to connect and read their data.
Covers connecting absolute linear encoders and reading their position data, including structure and transmission specifications.
Describes how to reset the SERVOPACK internally using software for parameter changes or alarm clearing.
Explains setting vibration detection levels to accurately detect alarms and warnings.
Details how to adjust the motor current detection signal offset automatically or manually to reduce torque ripple.
Explains how to force the Servomotor to stop using the FSTP signal and select stopping methods.
Outlines the procedure for trial operation, including preparations and steps for rotary and linear servomotors.
Lists essential checks and confirmations required before starting trial operation for safe and correct usage.
Describes using jogging for trial operation of the Servomotor without connecting it to the host controller.
Explains how to perform trial operation from the host controller for speed and position control without a load.
Provides procedures for trial operation with the Servomotor connected to the machine, including precautions.
Introduces convenient operations like program jogging, origin search, and test without a motor.
Provides an overview of tuning, the process of adjusting servo gains to optimize response, and related precautions.
Explains how to use data tracing and analog monitor signals for monitoring machine operation status and SERVOPACK waveforms.
Lists important precautions for safe tuning, including overtravel settings, torque limits, and position deviation alarms.
Describes the tuning-less function for automatic adjustment of servo gains to achieve stable operation.
Explains how to estimate the moment of inertia ratio, which is used in other tuning functions.
Details the autotuning function that automatically adjusts servo gains for machine characteristics without host controller input.
Describes the autotuning function that makes optimum adjustments based on position reference input from the host controller.
Explains how to manually adjust servo gains for fine-tuning, prioritizing stability or response.
Describes how to suppress continuous vibration frequencies that occur when control gain is increased.
Explains how to suppress transient vibration at low frequencies where notch filters and anti-resonance control are ineffective.
Describes how speed ripple compensation reduces motor speed ripple due to torque ripple or cogging torque.
Covers functions for further adjustments after autotuning, including gain switching, friction compensation, and model following control.
Explains how to manually tune servo gains for optimizing response characteristics, including torque reference filter and notch filters.
Introduces tools for measuring machine frequency characteristics, such as mechanical analysis and Easy FFT.
Details how to monitor product information such as model/type, serial number, and software version.
Explains how to display and interpret the SERVOPACK status, including servo drive status and I/O signals.
Describes how to monitor machine operation status and signal waveforms using SigmaWin+ or measuring instruments.
Provides information on monitoring the service life prediction of components like fans, capacitors, and surge prevention circuits.
Explains how alarm tracing records data before and after an alarm to help isolate its cause.
Explains the concept of a fully-closed system using an external encoder for high-precision positioning.
Outlines the procedure for commissioning the SERVOPACK for both semi-closed and fully-closed loop control.
Details parameter settings related to fully-closed loop control, including block diagrams and specific parameter functions.
Provides an overview of safety functions built into the SERVOPACK to reduce risks and increase machine safety.
Explains the HWBB safety function designed to shut off motor current with a hardwired circuit.
Describes the EDM1 signal used to monitor failures in the HWBB function.
Provides connection examples and failure detection methods for safety functions like HWBB and EDM1.
Details the validation test for the HWBB function after wiring, maintenance, or replacement.
Guides on how to connect a safety function device to the SERVOPACK connector CN8.
Describes inspections and guidelines for replacing parts like cooling fans and capacitors based on their standard replacement periods.
Lists alarms that may occur in the SERVOPACK, their meanings, stopping methods, reset possibilities, and alarm code outputs.
Lists warnings that may occur before an alarm, their meanings, and causes of warnings.
Provides troubleshooting guidance for common Servomotor operation and condition issues.
Explains the components of the Panel Operator, including its display and keys, and how to change modes.
Details how to set parameters that require numeric input or function selection using the Panel Operator.
Describes how to monitor SERVOPACK status, input signals, and output signals using the Panel Operator.
Lists and explains various utility functions accessible via the Panel Operator for setup, tuning, and diagnostics.
Provides a comprehensive list of SERVOPACK parameters, their settings, and applicable motors.
Offers a table to record parameter settings, including default values and when they are enabled.
Provides example connection diagrams for various host controllers with SERVOPACKs.
Lists the names and numbers of utility functions and monitor display functions used by SERVOPACKs and SigmaWin+.
