Have more than 25 years of experience with Yaskawa installation & use, I have moved from Yaskawa to Dmm Tec because of cost Dmm do the same job at a much lower cost
DMM | AC SERVO DRIVE | AC SERVO MOTOR | ROTARY ENCODER
A 30w motor is very small, as long as the motor is for the sigma 5 drive & is 200v rated you should be good to go, if this motor is for a different drive because of Voltage Ac or Dc plus the encoder configuration not being correct it is not going to run
It's always better to pair the motor with the drive, Yaskawa does not recommend doing it any other way, usually I have found the drives to be ok with up to 2 motor sizes lower than the Drive max motor size
The 100v AC motors will only run on the 100v AC Drives as with the 200v AC motors will only run with the 200v AC Drives, they also have the DC series that will not run on the AC series Drives, so be careful what you buy
You can find on there web site motor Drive compatibility