SGDH Sigma II

SGDH Sigma II - YAI

30W to 55kW

Sigma II Amplifier is the ultimate servo solution for your automation needs. A single platform covers 30 watts to 55 kW and input voltages of 110, 230 and 480 VAC. The Sigma II amplifier can be set to torque, speed, or position control. A single-axis controller and a variety of network interface modules can be attached to the amplifier for the utmost flexibility. The Sigma II amplifier utilizes serial encoder technology to automatically recognize Sigma II rotary and linear servomotors.

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Question	Posted Date
Why does the SGDH servopack flash "bb" continuously? Posted Date: 09/06/2004 Answer: 1) The MP-940 24VDC is not connected, or the polarity of the power is reversed 2) The internal protection fuse (FU1) inside the MP-940 has been blown. (Attached please find the fuse specifications, 1.5A required, Cautionary Note: Field replacement of this field could void warranty) 3) The 24VDC power supply could be undersized, and inrush could causes a device to drop out. Keep the following specifications in mind when sizing the power supply: Continuous power consumption: MP-940 control power 0.4A SGDH (400V) control power 1.0A (3.0A surge for 50msec) (DC motor brakes should be powered by a separate supply to reduce noise) 4) If the MP-940 and SGDH are powered up together and successfuly synchronize but the SGDH subsequently loses control power and has it reapplied while the MP-940 24VDC remains constant, bb will blink. 5) If the MP-940 has been without power for over 24 hours without a backup battery attached, or the program is stored in flash. Note: Firmware Version in SGDH: 14, MP-940: A05 A fuse Source: http://www.mouser.com Attachments: 139KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMR6 Published Date: 09/06/2004	09/06/2004
Why does the Servopack display an AF1 alarm when main power is removed? None of the solutions in the User's manual remedy the problem. Posted Date: 07/13/2004 Answer: A.F1 (AF1) alarm is an open phase error. Two potential external causes: 1) One or more of the contactor contacts are sticking and causing one or two phases to stay connected when they should open. Solution: Replace/Clean contacts (if serviceable), or replace contactor. 2) Another possible cause: A power line filter has been improperly installed between the contactor and the ServoPack. The three phase power line filter discharges unequally and it appears to the ServoPack that there is an open phase. Solution: Install power line filters properly, prior to the contactors in the electrical circuit. (Reference Section 3.1 in Sigma II User's Manual [YEA-SIA-S800-32.2] for wiring specifications) Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMRA Published Date: 07/13/2004	07/13/2004
Where can pin out details for the YS-12 cable be found? Posted Date: 07/13/2004 Answer: The attached drawing contains the full details on this serial (RS232) data transfer cable. The following parts will be needed to make this cable: 1) Standard 9 pin female D shell connector (PC side). 2) 24 AWG x 2 pair, 300V shielded cable. 3) Qty. 1 of Yaskawa p/n YSC-1 (mates to 3CN on SGDH, or the 6CN or 7CN when used with Application Modules). YSC-1 consists of 3M p/n's 10114-300VE (connector) + 10314-52A0-008 (shell). This part may also be found through other suppliers. If it is necessary only to increase the length of the cable (and not to build the cable from scratch), a popular option is to buy the YS-12 cable and build a serial "extension" cable. The extension cable is not Yaskawa specific and can thus be used in other RS232 communication applications. Note: Recommended maximum cable length for error free data transfer is 15 meters (50 feet). Longer cables are made at your own risk! Attachments: 1.0MB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Wiring Document Number: MNEN-5CJMHC Published Date: 07/13/2004	07/13/2004
When using SigmaWin software, what are the units when graphing torque? Posted Date: 07/13/2004 Answer: When using a matched Servo Pack / Servo Motor combination (eg. SGDH-05xx, SGMGH-05xxxxx) the units are percentage of rated torque. Sigma II allows (for emergency situations) operation of the Servo Pack / Servo Motor combinations of up two times larger or one-half smaller. This affects the units of the torque monitor by displaying the percentage of rated torque for the lowest rated component. For example: If an SGDH-05xx and an SGMGH-09xxxxx were combined, the display units would be percentage of rated torque (current) for the SGDH-05xx. If an SGDH-10xx and an SGMGH-05xxxxx were combined, the display units would be percentage of rated torque (current) for the SGMGH-05xxxxx. Product Group/Line: Servo Products, SGDH Sigma II, SigmaWin100-200 Software Topic/Sub Topic: Ask a Technical Question, Document Clarification, Operation Document Number: MMIR-5KCKFN Published Date: 07/13/2004	07/13/2004
When using an absolute encoder, is it possible to set the absolute zero position through the Fieldbus Network? Posted Date: 01/09/2002 Answer: An absolute encoder reset must be done to clear the A.81 alarm. For safety reasons, this can only be performed through the SGDH front panel with a Function 8 or through the monitor software. This operation is typically only performed at machine startup when the mechanical system is coupled to the motion control system. Once the absolute zero is set, a new zero point can be established over the Fieldbus Network for the convenience of the user. Define the new zero point by using the Define Zero Point Command in the Set/Read section of Command/Response format - Section 5.3 of the NS300 User Manual. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Applications, Network Communications, Start Up - Installation Document Number: MNEN-5CJMK6 Published Date: 01/09/2002	01/09/2002
When setting parameter Pn300 (Speed Reference Input Gain) what rated speed should be used for Linear Motor applications? Posted Date: 07/13/2004 Answer: The configuration of Parameter Pn300 is the same for Linear Motor applications as it is for Rotary Motor applications. The motor speed is controlled in proportion to the input voltage between V-REF (CN1-5) and SG (CN1-6). This is depicted in the attached .PDF file that includes graphs and setting examples. For further information regarding adjustment of parameter Pn300, refer to the Sigma II Series Servo System User's Manual [YEA-SIA-S800-32.2] section 5.2.1. Attachments: 20KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Programming, Start Up - Installation Document Number: MNEN-5CJMSY Published Date: 07/13/2004	07/13/2004
When setting parameter Pn300 (Speed Reference Input Gain) what rated speed should be used for Linear Motor applications? Posted Date: 02/18/2009 Answer: The configuration of Parameter Pn300 is the same for Linear Motor applications as it is for Rotary Motor applications. The motor speed is controlled in proportion to the input voltage between V-REF (CN1-5) and SG (CN1-6). This is depicted in the attached .PDF File. For further information regarding adjustment of parameter Pn300, refer to the Sigma II Series SGDH User's Manual Supplement for Linear Sigma Series [YEA-SIA-S800-39.21] section 4.7 Operating Using Speed Control with Analog Reference. Attachments: 22KB Product Group/Line: Servo Products, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Programming, Start Up - Installation Document Number: MMIR-5CM5KN Published Date: 02/18/2009	02/18/2009
What voltage levels will cause an overvoltage or undervoltage alarm? Posted Date: 02/06/2009 Answer: All Yaskawa Sigma and LEGEND series amplifiers input power specifications are +10% to -15%. 10% above the highest voltage input specified will cause an overvoltage alarm, while 15% below the lowest voltage specified will cause an undervoltage alarm. For a 100-115 amplifier +10% / -15% equates to 85 VAC and 126 VAC respectively. For a 200-230 amplifier +10% / -15% equates to 170 VAC and 253 VAC respectively. For a 400-480 amplifier +10% / -15% equates to 340 VAC and 528 VAC respectively. Product Group/Line: Servo Products, SGDG LEGEND, SGDH Sigma II, SGDS, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic Topic/Sub Topic: Ask a Technical Question, Document Clarification, Specifications, Troubleshooting Document Number: MTN-79NT2N Published Date: 02/06/2009	02/06/2009
What voltage levels will cause an overvoltage or undervoltage alarm? Posted Date: 03/02/2015 Answer: All Yaskawa Sigma and LEGEND series amplifiers recommended input power specifications are nominal +10% to -15%. For a 100VAC Class (100-115VAC) amplifier +10% / -15% equates to 75 - 126 VAC respectively. For a 200VAC Class (200-230VAC) amplifier +10% / -15% equates to 170 - 253 VAC respectively. For a 400VAC Class (380-480VAC) amplifier +10% / -15% equates to 323 -528 VAC respectively. The A.400 (Overrvoltage) Alarm will occur at the following voltage thresholds: For a 100-VAC Class amplifier 145 VAC or more For a 200-VAC Class amplifier 290 VAC or more For a 400-VAC Class amplifier 580 VAC or more For a 200-VDC Class amplifier 410 VDC or more For a 400-VDC Class amplifier 820 VDC or more The A.410 (Ondervoltage) Alarm will occur at the following voltage thresholds: For a 100-VAC Class amplifier 49 VAC or less For a 200-VAC Class amplifier 120 VAC or less For a 400-VAC Class amplifier 240 VAC or less For a 200-VDC Class amplifier 170 VDC or less For a 400-VDC Class amplifier 340 VDC or less Product Group/Line: Servo Products, SGD, SGDB, SGDG LEGEND, SGDH Sigma II, SGDM, SGDS Topic/Sub Topic: Ask a Technical Question, Alarm Document Number: SRV-7N87DL Published Date: 03/02/2015	03/02/2015
What version of Sigma II fimware is required if using an option card such as the MP940? Posted Date: 04/04/2002 Answer: Version 5 or greater firmware is required in the Sigma II if using an MP940. Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Start Up - Installation, Upgrade (Software - Firmware) Document Number: MNEN-5CJMPC Published Date: 04/04/2002	04/04/2002
What steps are required to upgrade Sigma products to Sigma II? Posted Date: 04/10/2006 Answer: Required Reading: It is recommended and assumed that you have read the following FAQ in this same database: "Is upgrading from Sigma to Sigma II the best option?" The information in that FAQ provides the basic information necessary to determine if upgrading is the best option without getting into unnecessary details. Planning an Upgrade: The documents provided in this FAQ provide a step-by-step guide to creating an upgrade plan and developing a draft of the bill of material (BOM). The worksheet below directly addresses the topic of retrofits and upgrades and should only be considered supplementary to the standard Sigma II product documentation. During the planning process and especially during the procurement phase of an upgrade, be sure to secure the recommended product documentation as outlined in the worksheet so that thorough documentation is available during the installation of the upgrade. These documents will be helpful for the mounting and wiring of the upgraded system as well as other facets of a successfully running Sigma II system.. In addition to the worksheet, Yaskawa also provides several tools to assist with upgrading. These tools include an abbreviated version of the Sigma II Product Catalog Supplement as well as a Parameter Converter that converts Sigma I parameters to the parameters the Sigma II amplifier needs to achieve the same performance. Step-by-step instructions for obtaining existing installation parameters, making the conversion, and installing the new Sigma II parameters are included with this utility. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Parts or Replacement, Specifications Document Number: MNEN-5CJMSN Published Date: 04/10/2006	04/10/2006
What should the inertia ratio parameter, Pn103, be set to in the Sigma II amplifier when the inertia ratio is not known? Posted Date: 06/24/2013 Answer: Pn103 only takes effect when the amplifier is in Speed Mode or Position Mode (Pn000.1=0 or 1). If the amplifier is in Torque Mode (Pn000.1=2), then Pn103 has no effect on the servo tuning parameters. If machine performance is satisfactory with the default setting of Pn103, it can be left at the default setting. However, it is important to note that if Pn103 (inertia ratio setting) is set to the true inertia ratio, then Pn100 value itself will accurately represent the actual speed loop frequency response in Hz. But when high performance is required, Pn103 should always be set as close as possible to the true inertia ratio before beginning to manually tune the Sigma II and/or controller. There are 3 methods for determining the inertia ratio. 1. Use the inertia ratio from the sizing results in "SigmaSize" based on the dimensions and material properties of all the parts that the servomotor causes to move. 2. Use the amplifier's built-in online auto-tuning algorithm. (Fn007 on the digital operator). 3. Use graphical analysis techniques. When the components of the machine cannot be accurately measured or modeled with SigmaSize, the preferred method is #3 - graphical analysis techniques. Yaskawa has developed a spreadsheet to be used for this purpose. This spreadsheet is attached below. Yaskawa has also developed an "eLearning Module" on this subject. This interactive training tutorial simulates both SigmaWin100 and the attached spreadsheet. The user is guided through a real-life example, while being given the opportunity to click and enter data at the appropriate times as if the software was actually being used. This eLearning Module takes 15-20 minutes to complete. It is attached below. The eLearning Module runs as an executable file on any PC. A sound card and speakers are recommended since there is audio. However, the audio is not absolutely necessary since all information and instructions are also displayed as text. Screen resolution of 800X600 or greater is recommended. The Inertia Ratio Parameter, Pn103, is only one part of tuning the SigmaII amplifier. Yaskawa also offers a complete Tuning Class. For further information, see the eLearning module, doc # eLM.Sigma2.01.InertiaBGA Attachments: 454KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Start Up - Installation, Tuning Document Number: MPER-5PXL83 Published Date: 06/24/2013	06/24/2013
What might be the cause of a brake relay chattering (turning on and off rapidly) on a vertical axis? Posted Date: 07/13/2004 Answer: The /BK (Brake relay interlock) signal must be mapped to one of three selectable outputs. If multiple functions are mapped to the same output, the signals use OR logic on the output circuit. When mapping the /BK signal, be sure to disable the original mapping to that output. For example, if it is desired to map /BK to selectable output #1 (SO1), first change Pn50F.2 to'1' (maps /BK to output terminals 25 and 26), and then change Pn50E.0 and Pn50E.1 to '0' (disables the /COIN and /V-CMP output signal originally mapped to the output). If the original mapping is not disabled, then whenever the motor is "in position" the brake relay (wired to output terminals 25 and 26) will release the brake! This is not desireable in vertical applications that are not "self locking". For futher details on mapping the /BK signal, and setting these parameters, please refer to the Sigma II User's Manual, sections 5.4.4, 5.5.3, and 5.5.4. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Operation, Start Up - Installation, Troubleshooting Document Number: MNEN-5CJMHL Published Date: 07/13/2004	07/13/2004
What is the purpose of the Near Output Signal (/NEAR) in Sigma II drives? Posted Date: 01/13/2003 Answer: The purpose of this output signal is to inform the host controller that the servomotor is close to completing operation. Since this signal is generated before the positioning completed signal (/COIN) and has a setting range of 1 to 250 reference units, it is useful for applications where the host controller needs to activate other devices or axes before motion is completed. When the servomotor is tuned well, this output could be generated even during the move and not necessarily close to completion of the move. Again, the settings can be manipulated based on the given range. When implemented properly, this can also reduce cycle time because the host controller can prepare the next motion sequence before receiving the positioning completed (/COIN) signal. This output signal is only operational when the servo amplifier is in position control mode. To learn more about wiring & settings of this output signal, please refer to section 5.5.8 of the Sigma II users manual. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration, Operation, Programming Document Number: REKR-5HRQVY Published Date: 01/13/2003	01/13/2003
What is the proper value to enter in Pn600 when Yaskawa Regenerative Resistor Unit is used? Posted Date: 07/13/2004 Answer: For Sigma II ServoPack up to 6.0 kW, if internal regeneration is used, leave Pn600 at factory default, 0. The value for Pn600 is in units of 10 watts. Its important to note that it is necessary to derate wattage of the external resistor to 20% or less for natural convection cooling and 50% or less with forced air cooling For example: JUSP-RA04 is wired default as 6.25 ohm @ 4x220W = 880W 880W0.2 = 180W Hence, Pn-600 = 18 To see a chart with models and PN-600 settings, please see the attached .PDF file. Please refer to Sigma II User's Manual (YEA-SIA-S800-32.2B) section 5.6 for additional details. JUSP-RA04 is wired default as 6.25 ohm @ 4x220W = 880W JUSP-RA05 is wired default as 3.13 ohm @ 8x220W = 1760W JUSP-RA18 is wired default as 18 ohm @ 4x220W = 880W JUSP-RA19 is wired default as 14.25 ohm @ 8220W = 1760W Attachments: 16KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration, Start Up - Installation Document Number: MNEN-5CJMS8 Published Date: 07/13/2004	07/13/2004
What is the maximum setting for parameter Pn281 (PG Divider) given the linear scale pitch and maximum speed of the linear motor? Posted Date: 07/13/2004 Answer: When using linear motors, the maximum encoder frequency is 12.8MHz. The maximum setting of parameter Pn281 (Encoder Resolution) is dependent upon parameter Pn280 (Linear Scale Pitch) and Pn384 (Peak Motor Speed.) Attached to this document (.JPG file) is a table showing the maximum setting for Pn281 for specific Pn280 and Pn384 settings. Monitor Un010 can also be used to monitor the following: A) The maximum value of Pn281 (Encoder Resolution) for a given Pn280 (Linear Scale Pitch) and Pn384 (Peak Motor Speed) (default monitor.) B) The maximum value of Pn384 (Peak Motor Speed) for a given Pn280 (Linear Scale Pitch) and Pn281 (Encoder Resolution.) Set Pn080.3=1 to enable this monitor. Attachments: 33KB Product Group/Line: Servo Products, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Specifications, Start Up - Installation Document Number: PZAC-5MXTZF Published Date: 07/13/2004	07/13/2004
What is the inrush current of an SGDH amplifier? Posted Date: 04/16/2001 Answer: For an SGDH 200VAC up to 400W: Normal conditions: 35A (peak) Normal condition is room temperature (20 - 25C degrees) and after enough cool down time for the in-rush current protection thermister. (This means first time to power on, not frequent power on and off) Thermister resistance at room temperature is 8 ohms. In-rush current = 200 x 1.41 / 8 = 35 A Worst case: Max.190A (peak) I2xT (I squared T) = 30[A2sec] <----- 200W, 400W I2xT (I squared T) = 15[A2sec] <----- 100W The worst case condition is at a temperature 30 degrees C and main power turned on for five seconds, then powered off for 5 seconds, repeated 100 times. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Specifications, Wiring Document Number: MNEN-5CJMLS Published Date: 04/16/2001	04/16/2001
What is the difference between the I/O on the Sigma II and the MP940? Do both need to be used? Posted Date: 04/26/2001 Answer: There is a difference between the two I/O ports and in most cases both will be used, and is recommended. The Sigma II I/O (CN1 connector) is mostly dedicated I/O with some user defined I/O. The MP940 (I/O connector) is all user defined. Below is an explanation of the inputs and outputs for each device: I/O (MP940): - 8 digital inputs (programmable, isolated 24VDC) - 1 high speed latch input (for external encoder position latching), DC Voltage: 24, 12, or 5 VDC - 1 external encoder input (must be 5 VDC) - 8 digital outputs (programmable, isolated 24VDC) - 1 Analog Output (+/- 10.75VDC, 16-bit resolution, 328uV/bit) CN1 (Servopack): - 4 digital inputs (programmable, isolated 24VDC) - 1 high speed latch input (for motor encoder position latching, can be used as programmable input if latch is not necessary, 24VDC) - 2 overtravel inputs (can be used as programmable inputs if overtravel switches are not necessary, 24VDC) - 1 analog input (+/- 12VDC, 16-bit resolution) - 3 digital alarm code outputs (open collector) - 1 digital servo alarm output (This output will only indicate Servopack alarms, some MP940 alarms will not activate this output.) - 3 digital semi-programmable outputs (These can be configured for various functions which the Servopack activates. For example, one of these must be used to control the brake if a servomotor with a brake is used. 24VDC) - 1 motor encoder output If the system requires I/O from both the MP940 and the Servopack than two breakout cables will be needed. Yaskawa recommends using the standardized I/O (such as Overtravel, SON, and Brake Control) to maintain consistency and system robustness. Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Specifications, Start Up - Installation, Wiring Document Number: MNEN-5CJMM2 Published Date: 04/26/2001	04/26/2001
What is the difference between JEPMC-W6060 and JZSP-CKI01 cables? Posted Date: 06/25/2014 Answer: Both cables are 50 pin with 3M connectors at one end and pigtails at the other end, and are interchangable with each other. JEPMC-W6060-xx cable: 1. This cable is typically selected when specifying MP920 amd MP2x00 System Components, when connecting external I/O to a module. (SVA-01 CN5, DO-01/DI-01/PO-01/CNTR-01 CN1 & CN2 / LIO-05 and LIO-05) 2. "xx" indicates the cable length (05=0.5m, 10=1.0m, 30=3.0m) 3. The wire color code for the cable is attached below (JEPMC-W6060-xx Pinout and Color Code .pdf) 4. The JUSP-WA50P-xx cable may also serve as a substitute cable JZSP-CKI01-x(A) cable: 1. This cable is typically selected when specifying SGDH, MP940, NS300, NS500, NS600, NS100 cable components. a. SGDH/NS300/NS500/NS600/NS100: 1CN I/O connector b. MP940: I/O connector. 2. "x" indicates the cable length (1=1m, 2=2m, 3=3m) 3. "A" indicates the revision level 4. The wire color code for the cable is attached below (JZSP-CKI01-XX.dwg) 5. For wire function on SGDH/NS300/NS500/NS600, see dwg below 6. For wire function on MP940, (See FAQ # MNEN-5CJMPJ) This same type of cable is available with a D-Sub connector in place of pigtails, click this link for more information on the JZSP-CKI0D cable option. Attachments: 375KB 11KB Product Group/Line: Controllers, Servo Products, MP920 Machine Controller, MP940 Machine Controller, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Parts or Replacement, Wiring Document Number: MTN-5T7MNG Published Date: 06/25/2014	06/25/2014
What is the current requirement of the 24VDC control power supply for 400V Sigma II amplifiers? Posted Date: 01/03/2002 Answer: The 400V Sigma II amplifier requires 24VDC for its control circuit. The specification for this DC power supply is: 24VDC +/- 15%, 1A. For amplifiers with capacity of 6 to 15 kW , use of an isolated 24VDC power supply for each amplifier is strongly recommended. For more information, please refer to the attached document. Attachments: 21KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Integration, Specifications Document Number: MNEN-5CJMK2 Published Date: 01/03/2002	01/03/2002

Showing 1 to 20 of 90 entries.

SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!

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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