Panasonic MINAS A5 User Manual To The E580ff51 84f3 4530 B03d Eee2c1cff23b

User Manual: Panasonic MINAS A5 to the manual

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Operating Instructions (Overall)
AC Servo Motor & Driver

MINAS A5-series

* This product image is 200W type of A5-series.

‡
‡

Thank you for purchasing this Panasonic product.
Before operating this product, please read the instructions carefully, and save this manual for future use.

Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This
instruction manual contains information necessary to correctly and safely use the MINAS
A5-series motor and driver. By reading this instruction manual, you will learn how to
identify the model of the motor and driver that will be best suitable your application, how
to wire and set up them, how to set parameters, and how to locate possible cause of
symptom and to take corrective action.
This is the original instruction.

Caution

2

1) Any part or whole of this document shall not be reproduced without written permission from us.
2) Contents of this document are subject to change without notice.

Organization of this manual

1
Before Using the Products

1. Before Using the Products
Check of the Driver Model ... Installation

2. Preparation

2
Preparation

Describes how to identify and select the desired product and components, how to
UHDGWKHVSHFLÀFDWLRQVDQGKRZWRLQVWDOOWKHHTXLSPHQW

Operating requirements and procedure
Shows the timing chart and the list of parameters, and describes how to make
wiring and to use the front panel.

3
Connection

3. Connection
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.

Setup

4. Setup

4

Describes parameters ... JOG running
Shows describes parameters and procedure of test operation.

5
Adjustment

5. Adjustment
Gain adjustment ... Auto tuning
Describes various adjusting method including auto tuning and manual gain tuning.

6

6. When in Trouble

When in Trouble

Read this section when you encounter trouble or error.

7. Supplement
Contains S-T characteristic diagram, dimensional outline drawing, supplemental
description on communications and operation.

7
Supplement

3

Contents

page

Organization of this manual ............................................................................................ 3
Safety Precautions ............................................................................................................. 6
Conformance to international standards ................................................................... 10
Maintenance and Inspections ....................................................................................... 11

1. Before Using the Products

................................................................... 1-1

1. Introduction ............................................................................................................... 1-2
2. Driver ........................................................................................................................ 1-3
3. Motor ....................................................................................................................... 1-21
4. Check of the Combination of the Driver and the Motor ........................................... 1-23
6. Installation ............................................................................................................... 1-28
7. Permissible Load at Output Shaft ........................................................................... 1-35

2. Preparation

......................................................................................................... 2-1

1. Conformance to international standards ................................................................... 2-2


6\VWHP&RQÀJXUDWLRQDQG:LULQJ ........................................................................... 2-10
3. Wiring to the Connector, X1 .................................................................................... 2-51
4. Wiring to the Connector, X2 .................................................................................... 2-51
5. Wiring to the Connector, X3 .................................................................................... 2-53
6. Wiring to the Connector, X4 .................................................................................... 2-54
7. Wiring to the Connector, X5 .................................................................................... 2-55
8. Wiring to the Connector, X6 .................................................................................... 2-57
9. Wiring to the Connector, X7 .................................................................................... 2-60
10. Timing Chart .......................................................................................................... 2-61
11. Built-in Holding Brake ............................................................................................ 2-65
12. Dynamic Brake....................................................................................................... 2-67
13. Setup of Parameter and Mode .............................................................................. 2-72
14. Setup of command division and multiplication ratio (electronic gear ratio) ........... 2-84
15. How to Use the Front Panel .................................................................................. 2-86

3. Connection

......................................................................................................... 3-1

1. Outline of mode ......................................................................................................... 3-2
2. Control Block Diagram ............................................................................................ 3-14
3. Wiring to the Connector, X4 .................................................................................... 3-18
4. Inputs and outputs on connector X4 ....................................................................... 3-30
5. IF Monitor Settings .................................................................................................. 3-50

4

1

4. Setup

........................................................................................................................ 4-1

1. Describes parameters ............................................................................................... 4-2
2. JOG running ............................................................................................................ 4-59

1. Gain Adjustment ........................................................................................................ 5-2

2
Preparation

5. Adjustment .......................................................................................................... 5-1

Before Using the Products

page

2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4
3. Adaptive Filter ......................................................................................................... 5-10
4. Manual Auto-Gain Tuning (Basic) ............................................................................ 5-13

3

5. Manual Auto-Gain Tuning (Application) ................................................................... 5-24

6. When in Trouble

Connection

6. About Homing Operation ......................................................................................... 5-39

............................................................................................. 6-1

1. When in Trouble ........................................................................................................ 6-2

4

2. Setup of gain pre-adjustment protection ................................................................. 6-18

7. Supplement

Setup

3. Troubleshooting ...................................................................................................... 6-21

........................................................................................................ 7-1

1. Safety function ..........................................................................................................7-2
2. Absolute System ..................................................................................................... 7-10

5

3. Setup Support Software, PANATERM ..................................................................... 7-26

5. Motor Characteristics (S-T Characteristics) ............................................................ 7-55

Adjustment

4. Communication ....................................................................................................... 7-27

6. Dimensions ............................................................................................................. 7-73
7. Options .................................................................................................................... 7-92

6
Cautions for Proper Use ................................................................................................... 7-127
After-Sale Service .................................................................................................... Back cover

When in Trouble

Warranty ........................................................................................................................... 7-126

7
Supplement

5

Safety Precautions

Please observe safety precautions fully.

The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
‡0LVXVHVWKDWFRXOGUHVXOWLQKDUPRUGDPDJHDUHVKRZQDVIROORZVFODVVLÀHGDFFRUGLQJWRWKH
degree of potential harm or damage.

Danger

Indicates great possibility of death or serious injury.

Caution

Indicates the possibility of injury or property damage.

‡7KHIROORZLQJLQGLFDWLRQVVKRZWKLQJVWKDWPXVWEHREVHUYHG
Indicates something that must not be done.

Indicates something that must be done.

Danger
Do not subject the Product to water, corrosive or
ÁDPPDEOHJDVHVDQGFRPEXVWLEOHV
Do not place combustibles near by the motor,
driverd regenerative resistor and dynamic brake
resister..
Don't use the motor in a place subject to excessive vibration or shock.

Failure to observe this instruction could result in electrical
VKRFNLQMXU\RUÀUH

Don't use cables soaked in water or oil.

Failure to observe this instruction could result in electrical
shocks, damages and breakdowns.

The installation area should be away from heat
generating objects such as a heater and a large
wire wound resistor.
Never connect the motor directly to the commercial power supply.

6

Failure to observe this instrucWLRQFRXOGUHVXOWLQÀUHHOHFWULFDO
shocks, damages and breakdowns.

Failure to observe this instrucWLRQFRXOGUHVXOWLQÀUHDQG
breakdowns.

Don't attempt to carry out wiring or manual operation with wet hand.

Failure to observe this instruction could result in electrical
VKRFNLQMXU\RUÀUH

Do not put your hands in the servo driver.

Failure to observe this instruction could result in burn and
electrical shocks.

1

Installation area should be free from excessive
dust, and from splashing water and oil.
Mount the motor, driver and peripheral equipments on incombustible material such as metal.

Correctly run and arrange wiring.

3

4

5

)DLOXUHWRKHHGWKLVUHTXLUHPHQW
will result in electric shock, perVRQDOLQMXU\ÀUHPDOIXQFWLRQRU
damage.

)DLOXUHWRKHHGWKHVHUHTXLUHments will result in electric
VKRFNSHUVRQDOLQMXU\RUÀUH

6
When in Trouble

7
Supplement

Ground the earth terminal of the motor and driver
without fail.
Install and mount the Product and machinery
VHFXUHO\WRSUHYHQWDQ\SRVVLEOHÀUHRUDFFLGHQWV
incurred by earthquake.
Install an emergency stop circuit externally so that
you can stop the operation and shut off the power
immediately.
Install an overcurrent protection, earth leakage
breaker, over-temperature protection and emergency stop apparatus without fail.
&KHFNDQGFRQÀUPWKHVDIHW\RIWKHRSHUDWLRQ
after the earthquake.
Before transporting, wiring and inspecting the
driver, turn off power and wait for a time longer
WKDQWKDWVSHFLÀHGRQWKHQDPHSODWHRQWKHVLGH
panel of the product; and make sure that there is
no risk of electrical shock.

Failure to observe this instrucWLRQFRXOGUHVXOWLQÀUH
Failure to observe this instruction could result in electrical
shocks, damages and breakdowns.
Failure to heed this precaution
will result in electric shock, perVRQDOLQMXU\ÀUHPDOIXQFWLRQRU
damage.
,QVWDOODWLRQRQDÁDPPDEOHPDWHULDOPD\FDXVHÀUH
Allowing a person with no expertise to carry out wiring will
result in electrical shocks.
Incorrect wiring will result in
short circuit, electric shock, personal injury, etc.
Incorrect wiring will result short
FLUFXLWHOHFWULFVKRFNÀUHRU
malfunction.
Floating ground circuit will
cause electric shock.

Adjustment

After correctly connecting cables, insulate the live
parts with insulator.

Failure to observe this instruction could result in burns.

Setup

:LULQJKDVWREHFDUULHGRXWE\WKHTXDOLÀHGDQG
authorized specialist.

2

Connection

Do not subject the cables to excessive force,
heavy object, or pinching force, nor damage the
cables.

Failure to observe this instruction could result in personal
injury.

Preparation

Do not drive the motor with external power.

Before Using the Products

In the case of the motor with shaft end keyway, do
not touch the keyway with bare hands.
Do not touch the rotating portion of the motor
while it is running.
Failure to observe this instruction could result in
damages and breakdowns.
Do not touch the motor, servo driver, heat sink,
regenerative resistor and dynamic brake resister,
since they become very hot.

Energized circuit will cause
electric shock.

7

Safety Precautions

Please observe safety precautions fully.

Caution
Do not hold the motor cable or motor shaft during
the transportation.

Failure to observe this instruction could result in injuries.

Don't drop or cause topple over of something during transportation or installation.

Failure to observe this instruction could result in injuries and
breakdowns.

Do not step on the Product nor place the heavy
object on them.

Failure to observe this instruction could result in electrical
shocks, injuries, breakdowns
and damages.

Don't use the equipment under direct sunshine.

Failure to heed these instructions will cause personal injury
RUÀUH

Do not block the heat dissipating holes or put the
foreign particles into them.

Failure to observe this instruction could result in electrical
VKRFNVDQGÀUH

Do not give strong impact shock to the Product.

Failure to observe this instruction could result in breakdowns.

Do not give strong impact shock to the motor
shaft.

Failure to observe this instruction could result in a failure of
the detector etc.

Do not turn on and off the main power of the driver repeatedly.
Never run or stop the motor with the electro-magnetic contactor installed in the main power side.

8

Failure to observe this instruction could result in breakdowns.

Do not make an extreme gain adjustment or
change of the drive.
Do not keep the machine running/operating unstably.

Failure to observe this instruction could result in injuries.

Do not use the built-in brake as a "Braking" to
stop the moving load.

Failure to observe this instruction could result in injuries and
breakdowns.

Do not approach to the machine since it may suddenly restart after the power resumption.
Design the machine to secure the safety for the
operator even at a sudden restart.

Failure to observe this instruction could result in injuries.

1HYHUDWWHPSWWRSHUIRUPPRGLÀFDWLRQGLVPDQWOH
or repair.

Failure to heed this instruction
ZLOOUHVXOWLQÀUHHOHFWULFVKRFN
personal injury or malfunction.

1

2EVHUYHWKHVSHFLÀHGPRXQWLQJPHWKRGDQGGLrection.

)DLOXUHWRKHHGWKHVHUHTXLUHments will result in personal
injury or malfunction.
Using it for transportation of the
machine will cause personal
injury or malfunction.

Don't place any obstacle object around the motor
and peripheral, which blocks air passage.

Temperature rise will cause
EXUQLQMXU\RUÀUH

3

)DLOXUHWRKHHGWKHVHUHTXLUHments will result in personal
injury or malfunction.

Provide protection device against idling of electromagnetic brake or gear head, or grease leakage
from gear head.

No protection will cause personal injury, damage, pollution
RUÀUH

8VHWKHPRWRUDQGWKHGULYHULQWKHVSHFLÀHGFRPbination.

Not using the motor and the
GULYHULQWKHVSHFLÀHGFRPELQDWLRQZLOOUHVXOWLQÀUH

7HVWUXQWKHVHFXUHO\À[HGPRWRUZLWKRXWORDGLQJ
to verify normal operation, and then connect it to
the mechanical system.

Operation using a wrong model
or wrong wiring connection will
result in personal injury.

When any error occurs, remove the cause and
release the error after securing the safety, then
restart.

Not removing the cause of the
error will result in personal injury.

If the driver fails, shut off the power on the power
supply side of the driver.

Allowing a large current to conWLQXHWRSDVVZLOOUHVXOWLQÀUH

Maintenance must be performed by an experienced personnel.

Wrong wiring will cause personal injury or electric shock.

Always keep power disconnected when the power
is not necessary for a long time.

Improper operation will cause
personal injury.

5

6
When in Trouble

Missing of one of these devices
will result in personal injury or
malfunction.

Adjustment

Connect the brake control relay to the relay which
is to shut off at emergency stop in series.

4
Setup

2EVHUYHWKHVSHFLÀHGYROWDJH

Operation from a voltage outside the rated voltage will cause
electric shock, personal injury
RUÀUH

Connection

&UHDWHWKHVSHFLÀHGFOHDUDQFHEHWZHHQWKHGULYHU
and the control panel inner surface or other devices.

2
Preparation

Use the eye bolt of the motor for transportation of
the motor only, and never use this for transportation of the machine.

Adjust the motor and driver ambient environmental condition to match the motor operating temperature and humidity.

Before Using the Products

Make an appropriate mounting of the Product
matching to its wight and output rating.

7
Supplement

When you dispose the batteries, observe any applicable regulations or laws after
insulating them with tape.
This Product shall be treated as Industrial Waste when you dispose.

9

Conformance to international standards

Conformed Standards
Driver

EC Directives

EMC
Directives

EN55011
EN61000-6-2
EN61800-3

Low-Voltage
Directives

EN61800-5-1

Machinery
Directives
Functional
safety
(*1)

Motor
–
EN60034-1
EN60034-5

EN954-1 (Cat. 3)
ISO13849-1 (PL c,d*2) (Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1

–

UL1004-1
to 750W (200V)
( E327868: from
)
6.0kW

UL Standards

UL508C (E164620)

UL1004

(
CSA Standards

C22.2 No.14

)

E327868: 400W (400V)
600W (400V), 750W (400V)
0.9kW to 5.0kW

C22.2 No.100

IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
‡Products shall conform to the statutory regulations applied in the place of destination.
‡2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWIXQFWLRQDOVDIHW\(*1) standards.
*2 PL d: Provided that EDM is used.

Note

10

For details on compatibility with international standard, refer to P.2-2 Conformance to
international standards.

Maintenance and Inspections

1
Before Using the Products

Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.

2

Notes on Maintenance and Inspection

Preparation

3
Connection

1) Turn on and turn off should be done by operators or inspectors themselves. When establishing a system using safety functions, completely understand the applicable safety
standards and the operating instruction manual or technical documents for the product.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they
can discolor or damage the exterior case.
5) The upper fan on H-frame driver is kept deactivated while servo is off, for the purpose
of energy saving. This is normal.

4

Inspection Items and Cycles
General and normal running condition

Setup

$PELHQWFRQGLWLRQVÝ& DQQXDODYHUDJH ORDGIDFWRURIRU
lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type

6

‡/RRVHWLJKWHQLQJ
‡7UDFHRIRYHUKHDW
‡'DPDJHWRWKHWHUPLQDOEORFN
‡/RRVHIDVWHQHUVRQWHUPLQDOEORFN

7
Supplement

Note

Annual

‡$PELHQWWHPSHUDWXUHKXPLGLW\VSHFNGXVWRUIRUHLJQREMHFW
‡$EQRUPDOYLEUDWLRQDQGQRLVH
‡0DLQFLUFXLWYROWDJH
‡2GRU
‡/LQWRURWKHUSDUWLFOHVDWDLUKROHV
‡&OHDQQHVVDWIURQWSRUWLRQRIWKHGULYHUDQGFRQQHFWRU
‡'DPDJHRIWKHFDEOHV
‡/RRVHFRQQHFWLRQRUPLVDOLJQPHQWEHWZHHQWKHPRWRUDQG
PDFKLQHRUHTXLSPHQW
‡3LQFKLQJRIIRUHLJQREMHFWDWWKHORDG

When in Trouble

Motor
with Gear
Reducer

Daily

5

Items to be inspected

Adjustment

Daily
inspection

Cycles

Inspection cycle may change when the running conditions of the above change.

11

Maintenance and Inspections

Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.

Prohibited

Product

Disassembling for inspection and repair should be
carried out only by authorized dealers or service
company.

Component

Standard replacement
cycles (hour)

Smoothing condenser

Approx. 5 years

Cooling fan

2 to 3 years
(10,000 to 30,000 hours)

Aluminum electrolytic
capacitor (on PCB)

Approx. 5 years

Rush current
preventive relay

Approx. 100,000 times
(depending on working
condition)

Rush current
preventive resistor

Approx. 20,000 times
(depending on working
condition)

Bearing

3 to 5 years
(20,000 to 30,000 hours)

Oil seal

5000 hours

Encoder

3 to 5 years
(20,000 to 30,000 hours)

Battery
for absolute encoder

Life time varies depending
on working conditions.
Refer to the Operating
Instructions attached to the
battery for absolute
encoder.

Driver

Motor

Related page

12

‡3´:DUUDQW\µ

Note

These hours or cycles are
reference.
When you experience any
HUURUUHSODFHPHQWLVUHTXLUHG
even before this standard
replacement cycle.

1. Introduction

Before Using the Products

1. Before Using the Products

1

2

Outline .........................................................................................................1-2
On Opening the Product Package ...............................................................1-2

Preparation

2. Driver
Check of the Model ......................................................................................1-3
Parts Description
A to E-frame..............................................................................................1-4
F-frame .....................................................................................................1-5
G-frame.....................................................................................................1-6

3

H-frame .....................................................................................................1-7
D to F-frame (400 V) .................................................................................1-8

Connection

G-frame (400 V) ........................................................................................1-9
H-frame (400 V) ......................................................................................1-10
Specifications.............................................................................................1-11
Block Diagram ...........................................................................................1-15

3. Motor

4

Check of the Model ....................................................................................1-21
Parts Description .......................................................................................1-22

Setup

4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit ..............................................................1-23
Absolute Specifications, 17-bit...................................................................1-25
Junction cable for motor ...........................................................................1-27

5

5. Installation
Driver .........................................................................................................1-28

Adjustment

Motor..........................................................................................................1-32

6. Permissible Load at Output Shaft
Motor..........................................................................................................1-35

6
When in Trouble

7
Supplement

1-1

1Before Using
the Products

1. Introduction
Outline

The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all
GHPDQGVIURPDYDULHW\RIPDFKLQHVZKLFKUHTXLUHKLJKVSHHGKLJKSUHFLVLRQDQGKLJK
SHUIRUPDQFHRUZKLFKUHTXLUHVLPSOLÀHGVHWWLQJV
Compared with the preceding A4-series, product of A5-series offers superior performance
ZKLOHUHTXLULQJVLPSOHVHWXSDQGDGMXVWPHQWE\WKHXVHU
Newly designed motors have wide range of outputs from 50 W to 15.0 kW, associated
ZLWKELWLQFUHPHQWDOHQFRGHUDQGUHGXFHGFRJJLQJWRUTXH
(Only for position control type have range of outputs from 50 W to 5.0 kW.)
They are compatible with 2 closed controls (serial communication type and A-/B-phase
output type) and provided with various automatic adjusting functions such as real time
auto tuning with many automatic setting parameters to make complex tuning easy.
(Only for position control type do not conform to full-closed control.)
These motors assure higher stability with low stiffness machine and high-speed, high
accurate operation with high stiffness machine. They can be used in combination with a
wide variety of machines.
This manual is written as a complete guide for you so that you can fully and correctly
make use of all functions available from MINAS A5.

1Before Using
the Products

1. Introduction
On Opening the Product Package

‡0DNHVXUHWKDWWKHPRGHOLVZKDW\RXKDYHRUGHUHG
‡&KHFNLIWKHSURGXFWLVGDPDJHGRUQRWGXULQJWUDQVSRUWDWLRQ
‡&KHFNLIWKH2SHUDWLQJ,QVWUXFWLRQV VDIHW\ DUHLQFOXGHGRUQRW
‡&KHFN LI WKH SRZHU FRQQHFWRU PRWRU FRQQHFWRUV FRQQHFWRU IRU H[WHUQDO UHJHQHUDWLYH
resistor connection (D-frame (400 V) and E-frame) and safety by-pass plug are included or not.
(Neither the power connector nor motor connector are included to F-frame to H-frame.)
(Safety bypass plug is not supplied with only for position control type because it does not use
this plug.)

&RQWDFWWRDGHDOHULI\RXÀQGDQ\IDLOXUHV

1-2

1
Before Using the Products

2. Driver

1Before Using

Check of the Model

the Products

Contents of Name Plate
Model number

Serial Number
e.g.) : P09 04 0001N

Input/output voltage

2

Lot number

Number of phase

Preparation

Month of production

Rated input/output current

Year of production
(Lower 2 digits of AD year)

Input/output frequency
Rated output of
applicable motor

Manufacture date
e.g.) : 2009 04 01
Manufacture year

3

Manufacture date

Manufacture month
Connection

Model Designation
Velocity, position,
torque and full-closed
FRQWUROW\SH

M A D H T 1 5 0 5
1 to 4

5 to 6

7

8 to 9

10 to 12

Special specifications
(letters and numbers)

M A D H T 1 5 0 5 E
1 to 4

5 to 6

7

8 to 9

10

Setup

Only for position
control type

4

11 to 12

Special specifications
(letters and numbers)

Frame-size symbol

NOTE)
Only for position control type is
SURYLGHG$)UDPHWR)IUDPH

Symbol Current rating
10A
T1
15A
T2
30A
T3
35A
T4
50A
T5
70A
T7
100A
TA
150A
TB
300A
TC

Specifications
Single phase, 100V
3-phase, 200V
3-phase, 400V
Single/3-phase, 200V

7
Supplement

Related page

6

Power supply
Symbol
1
3
4
5

5

When in Trouble

Frame
A5-series, A-frame
A5-series, B-frame
A5-series, C-frame
A5-series, D-frame
A5-series, E-frame
A5-series, F-frame
A5-series, G-frame
A5-series, H-frame

Current detector rating
Symbol Current rating
5A
05
7.5A
07
10A
10
12A
12
20A
20
30A
30
40A
40
64A
64
90A
90
120A
A2
240A
B4

Adjustment

Symbol
MADH
MBDH
MCDH
MDDH
MEDH
MFDH
MGDH
MHDH

Only for position control type

Max. current rating
of power device

‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ

1-3

1Before Using
the Products

2. Driver
Parts Description

A to D-frame
Front panel
Connector XA:
for main power connection

Connector X7: Monitor connector

05JFAT-SAXGF (JST)

Connector X1: USB connector
Main power
input terminals
Control power
input terminals
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)

L1
L2
L3
L1C
L2C

Connector X2: for Serial bus
Connector X3: Safety function connector

Connector X4: Parallel I/O connector

B1
B3
B2
U
V
W

Connector X5:
for feedback scale
connection

Terminals for motor
connection
Connector XB:
for motor connection

Connector X6:
for encoder
connection
Screws for earth (x2)

06JFAT-SAXGF (JST)

Charge lamp

LED cover
Safety by-pass prug

E-frame

Front panel
Connector XA:
for main power connection

Connector X7: Monitor connector

05JFAT-SAXGSA-L (JST)

Main power
input terminals
Control power
input terminals
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for motor
connection

Connector X1: USB connector

L1
L2
L3
L1C
L2C

Connector X2: for Serial bus
Connector X3: Safety function connector

B1
B3
B2
NC*

Connector X4: Parallel I/O connector
Connector X5:
for feedback scale
connection

U
V
W

Connector X6:
for encoder
connection

Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)

Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L (JST)

Note

1-4

Screws for earth
(x2)

Charge lamp

LED cover

* NC is no connect.

Safety by-pass prug

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Only for position control type is not provided with X2, X3 and X5.

2. Driver

1
Before Using the Products

Parts Description

F-frame
Details of terminal block

2

Front panel
Connector X7: Monitor connector

Control power
input terminals
Terminals for external
regenerative resistor

Terminals for motor
connection
* NC is no connect.

Screws for earth (x2)

Connector X1: USB connector
Connector X2: for Serial bus
Connector X3: Safety function connector
Connector X4: Parallel I/O connector

3

Connector X5:
for feedback scale
connection

Connection

(Normally short-circuit
B3 to B2)

Preparation

Main power
input terminals

L1
L2
L3
L1C
L2C
B1
B3
B2
NC*
U
V
W

Connector X6:
for encoder
connection

4

Charge lamp
LED cover

Safety by-pass prug

Setup

Terminal cover

5
Adjustment

6
When in Trouble

7

Related page

Supplement

Note

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Only for position control type is not provided with X2, X3 and X5.
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1-5

2. Driver
Parts Description

G-frame

Front panel
Terminal cover
screw

Connector X7: Monitor connector
ワヤ

L1

ヹヒ

ロヒヤ
ヹビ

L2
ロ ビヤ
ヹピ

Terminal cover

L3

B1

ワヤ

Connector X1: USB connector
Connector X2: for Serial bus
Connector X3: Safety function connector

ワヤ

ヹフ

ュャヒ

B2

Connector X4: Parallel I/O connector

ュャビ

NC
ワヤ
ヹブ

U
ワヤ
ヹプ

V

ュャピ

Connector X5: for feedback scale
connection
Connector X6: for encoder connection

ュャフ

W

Terminal cover
screw

ワヤ
ヤラモンヨユ

Charge lamp

Screws for earth (x2)
Details of terminal block
NC*
L1C
L2C
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*

L1

Main power
input terminals
Terminals for external
regenerative resistor

L2
L3
B1
B2
NC*
U

Terminals for motor
connection

V
W

Control power input terminals

Control terminal for dynamic brake resister

Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)

* NC is no connect.

LED cover
Safety by-pass prug
Terminal cover

Note
Related page

1-6

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
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2. Driver

1
Before Using the Products

Parts Description

H-frame

2
Front panel
Preparation

Connector X7: Monitor connector
Connector X1: USB connector
Connector X2: for Serial bus
Connector X3: Safety function connector

ヹヒ

ヹビ

ヹピ

Connector X4: Parallel I/O connector

ヹフ

3

Connector X5: for feedback scale connection

ヹブ

ヹプ

Connection

Connector X6: for encoder connection
ヤラモンヨユ

Charge lamp

4
L1C

L2C

DB1

DB2

Setup

L1

L2

L3

B1

B2

NC

U

V

W

5
Adjustment

Screws for earth (x2)
Details of terminal block
DB1
DB2

Control power
input terminals

Control terminal for
dynamic brake resister

L1C
L2C

6
LED cover
When in Trouble

Safety by-pass prug

L1 L2 L3

Main power
input terminals

B1 B2

NC*

U

V

Terminals for motor
connection

Terminals for external
regenerative resistor

Related page

* NC is no connect.

7
Terminal cover

Terminal
cover screw

Supplement

Note

W

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
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1-7

2. Driver
Parts Description

D, E-frame (400 V)
Connector XA:
for main power connection

Front panel

03JFAT-SAYGSA-L (JST)

Connector XD:
Control power input terminals

Connector X7: Monitor connector

02MJFAT-SAGF (JST)

Control power
input terminals
Main power
input terminals

24V
0V
L1
L2
L3

Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)

B1
B3
B2
NC*

Terminals for
motor connection

Connector X1: USB connector
Connector X2: for Serial bus
Connector X3: Safety function connector
Connector X4: Parallel I/O connector
Connector X5:
for feedback scale
connection
Connector X6:
for encoder
connection

U
V
W

Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)

Connector XC:
Connector for external
regenerative resistor

Screws for earth
(x2)

04JFAT-SAXGSA-L(JST)

Charge lamp
LED cover

* NC is no connect.

Safety by-pass prug

F-frame (400 V)

Details of terminal block
Control power
input terminals
Main power
input terminals
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)

Terminals for motor
connection

24V
0V
L1
L2
L3
B1
B3
B2
NC*
U
V
W

* NC is no connect.

Front panel
Connector X7: Monitor connector
Connector X1: USB connector
Connector X2: for Serial bus
Connector X3: Safety function connector
Connector X4: Parallel I/O connector
Connector X5:
for feedback scale
connection
Connector X6:
for encoder
connection
Charge lamp

Screws for earth (x2)
LED cover

Safety by-pass prug
Terminal cover

Note

1-8

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‡&RQQHFWRU;$;%;&DQG;'DUHDWWDFKHGLQ'DQG(IUDPH 9 GULYHU
‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.

2. Driver

1
Before Using the Products

Parts Description

G-frame (400 V)

2

Front panel
Terminal cover
screw

Connector X7: Monitor connector
ワヤ
ヹヒ

ビフヷ
ヹビ

パヷ
ヹピ

Terminal cover

L3

B1

ワヤ

Connector X1: USB connector
Connector X2: for Serial bus
Connector X3: Safety function connector

Preparation

L1

L2

ワヤ

ヹフ

ュャヒ

B2

Connector X4: Parallel I/O connector

ュャビ

NC
ワヤ
ヹブ

U
ワヤ
ヹプ

V

ュャピ

ュャフ

W

Terminal cover
screw

ワヤ
ヤラモンヨユ

フパパヷ

Charge lamp

3
Connection

Connector X5: for feedback scale
connection
Connector X6: for encoder connection

4

Screws for earth (x2)
Details of terminal block

L2
L3

Terminals for external
regenerative resistor

B1
B2
NC*
U
V
W

Control power input terminals

5

Control terminal for dynamic brake resister

Adjustment

Terminals for motor
connection

Setup

NC*
24V
0V
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*

L1

Main power
input terminals

Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)

* NC is no connect.

6
When in Trouble

LED cover
Safety by-pass prug

7

Terminal cover

Related page

Supplement

Note

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
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‡3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ‡3WR´'LPHQVLRQVµ
1-9

2. Driver
Parts Description

H-frame (400 V)

Front panel
Connector X7: Monitor connector
Connector X1: USB connector
Connector X2: for Serial bus
Connector X3: Safety function connector

ヹヒ

ヹビ

ヹピ

Connector X4: Parallel I/O connector

ヹフ

Connector X5: for feedback scale connection

ヹブ

ヹプ

Connector X6: for encoder connection
ヤラモンヨユ

Charge lamp

24V

L1

L2

L3

0V

DB1

B1

DB2

B2

NC

U

V

W

Screws for earth (x2)
Details of terminal block
DB1
DB2

Control power
input terminals

Control terminal for
dynamic brake resister

24V
0V
LED cover

Safety by-pass prug

L1 L2 L3

Main power
input terminals

B1 B2

NC*

U

V

Terminals for motor
connection

Terminals for external
regenerative resistor

Note
Related page

1-10

W

* NC is no connect.

Terminal cover

Terminal
cover screw

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Only for position control type is not provided with X2, X3 and X5.
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the Products

Specifications (Velocity, position, torque, full-closed control type)

Main circuit

Single phase, 100 to 120V

Control circuit

Single phase, 100 to 120V

100V

A to
Control D-frame
circuit
E to
H-frame
Main circuit

400V
*1

Control circuit

temperature
Environment

humidity
Altitude
Vibration

Encoder feedback

Feedback scale feedback

Input
Control signal

Analog signal

Input
Output
Input

Pulse signal
Output

Safety function
Front panel
Regeneration
Dynamic brake

50/60Hz
50/60Hz
50/60Hz

3

DC24V ± 15%
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
* 400V control circuit is excluded.
$PELHQWWHPSHUDWXUHÝ&WRÝ& IUHHIURPIUHH]LQJ
6WRUDJHWHPSHUDWXUH²Ý&WRÝ& (Max. temperature guarantee: 80ÝC for 72 hours
free from condensation*2)
Both operating and storage : 20 to 85%RH or less (free from condensation*2)
Lower than 1000m
5.88m/s2RUOHVVWR+] 1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\ 
IGBT PWM Sinusoidal wave drive
17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Magnescale Co., Ltd. (old Sony Manufacturing Systems Corp.)
General purpose 10 inputs
The function of general-purpose input is selected by parameters.
General purpose 6 outputs
The function of general-purpose input is selected by parameters.
3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
2 outputs (Analog monitor: 2 output)
2 inputs (Photo-coupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse (EXA,
EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open
collector.
Connection with PC etc.
1 : 1 communication to a host.
1 : n communication to a host.
Used for functional safety.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Monitor connector (Analog monitor output (2ch), Digital monitor output (1ch))
A, B, G and H-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
A to G-frame: Built-in (external resistor is also available to G-frame)
H-frame: External only
Switching among the following 7 mode is enabled,
 3RVLWLRQFRQWURO  9HORFLW\FRQWURO  7RTXHFRQWURO  3RVLWLRQ9HORFLW\FRQWURO
 3RVLWLRQ7RUTXHFRQWURO  9HORFLW\7RUTXHFRQWURO  )XOOFORVHGFRQWURO

Caution

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*2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

Related page

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1-11

4

5

6

7
Supplement

Control mode

3-phase, 380 to 480V

50/60Hz

When in Trouble

Communication
function

USB
RS232
RS485

Single phase, 200 to 230V

2

50/60Hz

Adjustment

Parallel I/O connector

Output

Single phase, 200 to 240V

50/60Hz

Setup

%DVLF6SHFLÀFDWLRQV

Control method

3-phase, 200 to 230V

50/60Hz

Connection

Withstand voltage

Single/3-phase, 200 to 240V

+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%

Preparation

Input power

200V

A to
Main D-frame
circuit
E to
H-frame

1

2. Driver

Before Using the Products

1Before Using

2. Driver
Specifications (Velocity, position, torque, full-closed control type)

Control input

Control output

Control input

Position control

Control output
Max. command
SXOVHIUHTXHQF\
Input pulse signal
Pulse format
input
Electronic gear
(Division/Multiplication of
command pulse)

6PRRWKLQJÀOWHU
7RUTXHOLPLW
Analog command input
input
7RUTXHIHHGIRUZDUGLQSXW
Instantaneous Speed Observer
Damping Control
Control input

Function

Velocity control

Control output
Velocity command
input
Analog
7RUTXHOLPLW
input
command input
7RUTXHIHHGIRUZDUGLQSXW
Internal velocity command
Soft-start/down function

7RUTXHFRQWURO

Zero-speed clamp
Instantaneous Speed Observer
Control input
Control output
Analog 7RUTXHFRPPDQG
input
input
Speed limit function
Control input

Full-closed control

Control output
Max. command
SXOVHIUHTXHQF\
Input pulse signal
Pulse format
input
Electronic gear
(Division/Multiplication of
command pulse)

6PRRWKLQJÀOWHU
7RUTXHOLPLW
Analog command input
input
7RUTXHIHHGIRUZDUGLQSXW
Setup range of division/
multiplication of feedback
scale
Auto tuning

Common

Division of encoder feedback pulse
Protective
function

Hard error

Soft error
Traceability of alarm data

1-12

(1) Servo-ON input (2) Alarm clear input (3) Gain switching input
(4) Positive direction over-travel inhibition input (5) Negative direction over-travel inhibition input
(6) Forced alarm input (7) Inertia ratio switching input
(1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal
 6SHHGDUULYDORXWSXW  7RUTXHLQOLPLWVLJQDORXWSXW
(6) Zero-speed detection output signal (7) Alarm output (8) Alarm attribute output
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
 7RUTXHOLPLWVZLWFKLQJ  &RQWUROPRGHVZLWFKLQJ
(1) Positioning complete (In-position) (2)Positional command ON/OFF output
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)

( 1 to 2 )
30

3URFHVVFRPPDQGSXOVHIUHTXHQF\ðHOHFWURQLFJHDUUDWLR 1 to 230 as positional command
input. Use electronic gear ratio in the range 1/1000 to 1000 times.
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,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
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Available
Available
(1) Selection of internal velocity setup (2) Speed zero clamp
(3) Speed command sign input (4)Control mode switching
(1) Speed coincidence output (2)Speed command ON/OFF output
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (6V/Rated rotational speed Default)
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$QDORJYROWDJHFDQEHXVHGDVWRUTXHIHHGIRUZDUGLQSXW
Switching the internal 8speed is enabled by command input.
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min.
Sigmoid acceleration/deceleration is also enabled.
0-clamp of internal velocity command with speed zero clamp input is enabled.
Available
 6SHHG]HURFODPS  7RUTXHFRPPDQGVLJQLQSXW  &RQWUROPRGHVZLWFKLQJ
(1) Speed coincidence output (2) Speed in-limit output
7RUTXHFRPPDQGLQSXWFDQEHSURYLGHGE\PHDQVRIDQDORJYROWDJH
3DUDPHWHUVDUHXVHGIRUVFDOHVHWWLQJDQGFRPPDQGSRODULW\ 9UDWHGWRUTXH'HIDXOW
Speed limit value with parameter t is enabled.
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
 7RUTXHOLPLWVZLWFKLQJ
(1) Full-closed positioning complete (2) Positional command ON/OFF output
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and
B-phase, (3) Command and direction)

( 1 to 2 )
30

3URFHVVFRPPDQGSXOVHIUHTXHQF\ðHOHFWURQLFJHDUUDWLR 1 to 230 as positional command
input. Use electronic gear ratio in the range 1/1000 to 1000 times.
3ULPDU\GHOD\ÀOWHURU),5W\SHÀOWHULVDGDSWDEOHWRWKHFRPPDQGLQSXW
,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
$QDORJYROWDJHFDQEHXVHGDVWRUTXHIHHGIRUZDUGLQSXW
1/40 to 160 times
The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 220
(numerator) to 1 to 220 (denominator), but should be set to a ratio within the range shown above.
The load inertia is identified in real time by the driving state of the motor operating according
WRWKHFRPPDQGJLYHQE\WKHFRQWUROOLQJGHYLFHDQGVHWXSVXSSRUWVRIWZDUH´3$1$7(50µ
The gain is set automatically in accordance with the rigidity setting.
Set up of any value is enabled (encoder feedback pulses count is the max.).
Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Excess position deviation, command pulse division error, EEPROM error etc.
The alarm data history can be referred to.

Single phase, 100 to 120V

+10%
50/60Hz
–15%

Control circuit

Single phase, 100 to 120V

+10%
50/60Hz
–15%

A to
D-frame

Single/3-phase, 200 to 240V

+10%
50/60Hz
–15%

E to
F-frame

3-phase, 200 to 230V

+10%
50/60Hz
–15%

A to
D-frame

Single phase, 200 to 240V

+10%
50/60Hz
–15%

E to
F-frame

Single phase, 200 to 230V

+10%
50/60Hz
–15%

100V

Input power

200V
Control
circuit

D to
F-frame

Control
circuit

D to
F-frame

Withstand voltage

Environment

Both operating and storage : 20 to 85%RH or less (free from condensation)
Lower than 1000m

Vibration

5.88m/s2RUOHVVWR+] 1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\ 
IGBT PWM Sinusoidal wave drive
20-bit (1048576 resolution) incremental encoder, 5-wire serial

Input

General purpose 10 inputs
The function of general-purpose input is selected by parameters.

Output

General purpose 6 outputs
The function of general-purpose input is selected by parameters.

Output

2 outputs (Analog monitor: 2 output)

Control signal

Pulse signal
Output

USB

5

2 inputs (Photo-coupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse
(EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed
out in open collector.
Connection with PC etc.
(1) 5 keys (2) LED (6-digit) (3) Analog monitor output (2ch)

Regeneration

A, B-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)

Dynamic brake

A to F-frame: Built-in

Control mode

(1) Position control (2) Internal velocity control (3) Position/ Internal velocity control

6
When in Trouble

Front panel

4

Adjustment

Parallel I/O connector

Input

Communication
function

Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
* 400V control circuit is excluded.
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6WRUDJH WHPSHUDWXUH ²Ý& WR Ý& (Max. temperature guarantee: 80ÝC for 72
hours free from condensation*2)

Altitude

Encoder feedback

Analog signal

DC 24V ± 15%

humidity

Control method

3

+10%
50/60Hz
–15%

Setup

%DVLF6SHFLÀFDWLRQV

temperature

3-phase, 380 to 480V

Connection

Main
circuit

2
Preparation

Main circuit

Main
circuit

Before Using the Products

Specifications (Only for position control type)

the Products

400V

1

2. Driver

1Before Using

7
 7KHVSHFLÀFDWLRQRXWRI-DSDQ
*2 Air containing water vapor will become saturated with water vapor as the temperature falls,
causing dew.

Related page

‡3´,QVWDOODWLRQRI'ULYHUµ‡3´,QVWDOODWLRQRI0RWRUµ

Caution

Only for position control type is provided A-Frame to F-frame.
1-13

Supplement

Caution

2. Driver
Specifications (Only for position control type)

Control input

(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching
(4) Damping control switching etc.

Control output

Positioning complete (In-position) etc.

Position control

Pulse
input

Max. command
SXOVHIUHTXHQF\

Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps

Input pulse signal
format

Differential input
((1) Positive and Negative direction, (2) A and B-phase, (3) Command and
direction)

Electronic gear
(Division/
Multiplication of
command pulse)

3URFHVV FRPPDQG SXOVH IUHTXHQF\ ð HOHFWURQLF JHDU UDWLR 1 to 230 as positional
command input. Use electronic gear ratio in the range 1/1000 to 1000 times.

6PRRWKLQJÀOWHU

3ULPDU\GHOD\ÀOWHURU),5W\SHÀOWHULVDGDSWDEOHWRWKHFRPPDQGLQSXW

30

Internal velocity control

Function

Common

Instantaneous Speed
Observer

Available

Damping Control

Available

Control input

(1) Selection of internal velocity setup (2) Speed zero clamp

Control output

Speed arrival

Internal velocity command

Switching the internal 8speed is enabled by command input.

Soft-start/down function

Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/
min. Sigmoid acceleration/deceleration is also enabled.

Zero-speed clamp

0-clamp of internal velocity command with speed zero clamp input is enabled.

Instantaneous Speed
Observer

Available

Auto tuning

The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controlling device and set up support
VRIWZDUH´3$1$7(50µ
The gain is set automatically in accordance with the rigidity setting.

Division of encoder feedback
pulse

Set up of any value is enabled (encoder pulses count is the max.).

Protective
function

Hard error

Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.

Soft error

Excess position deviation, command pulse division error, EEPROM error etc.

Traceability of alarm data

1-14

( 1 to 2 )

The alarm data history can be referred to.

1
Before Using the Products

2. Driver

1Before Using

Block Diagram

the Products

A, B-frame (100/200 V)
U

P
L1
L2
L3

Fuse

+
Fuse

2

M

W

Voltage
detection

N

RE

Fuse

+
DC/DC

L2C

(12V
+5V
PS for gate drive
PS for RE

Preparation

L1C

V

Gate drive

B1
B3
B2
Front panel

Error
detection

Sequence control
Display
operation
control

X1

Parameter control

3

Protective
curcuit

EEPROM

USB

X2
Serial

Connection

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command

Division/ +
mulitiplication –

Position
deviation amp.

Deviation
counter

Position

16-bit

–
Speed

Internal speed
command
Internal

Control
input

Speed Velocity
deviation
amp.

+

External

A/D

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D

Control
output

X6

Encoder signal
processing
limit

Pusle
output

Division
processing

4

X5
Feedback scale signal
processing limit

Setup

Feedback scale unit

C, D-frame (100/200 V)
U

P
L1
L2
L3

+

V

Resistor

Fuse
Voltage
detection

W

+
DC/DC

L2C

Adjustment

Fuse

M

N
Fan (D-frame only)

L1C

5

Fuse

RE

(12V
+5V
PS for gate drive
PS for RE

Gate drive

B1
B3
B2

Front panel

X1

Error
detection

Sequence control
Display
operation
control

Parameter control

EEPROM

6

Protective
curcuit

When in Trouble

USB

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input

Division/ +
mulitiplication –
A/D
16-bit

Deviation
counter

Position
deviation amp.

Internal speed
command
Internal

Control
output

Pusle
output

Position

+

External

–

Speed Velocity
deviation
amp.

Speed

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D
Encoder signal
processing
limit

Division
processing

7

X6

X5

Supplement

Feedback scale signal
processing limit

Feedback scale unit

Note

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
1-15

2. Driver
Block Diagram

E-frame (200 V)
U

P
L1
L2
L3

Fuse

+

V

Resistor

Fuse
Voltage
detection

N
Fan

L1C

Fuse

+

M

W

RE

Gate drive

(12V
+5V
PS for gate drive
PS for RE

DC/DC

L2C

B1
B3
B2

Front panel

Error
detection

Sequence control
Display
operation
control

X1

Parameter control

Protective
curcuit

EEPROM

USB

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command

Division/ +
mulitiplication –

Position
deviation amp.

Deviation
counter

Position

A/D
16-bit

–
Speed

Internal speed
command
Internal

Control
input

Speed Velocity
deviation
amp.

+

External

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D

Control
output

X6

Encoder signal
processing
limit

Pusle
output

Division
processing

X5
Feedback scale signal
processing limit

Feedback scale unit

F-frame (200 V)
U

P
L1
L2
L3

Fuse
Resistor

Fuse

M

W

N

Voltage
detection

L1C

V

+

Fan

Fuse

+

L2C

DC/DC

RE

Gate drive

(12V
+5V
PS for gate drive
PS for RE

B1
B3
B2

Front panel
Display
operation
control

X1

Sequence control

Error
detection

Parameter control

Protective
curcuit

EEPROM

USB

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input

Division/ +
mulitiplication –
A/D
16-bit

Deviation
counter

Position
deviation amp.

Internal speed
command
Internal

Control
output

Pusle
output

Position

+

External

–

Speed Velocity
deviation
amp.

Speed

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D
Encoder signal
processing
limit

Division
processing

X6

X5
Feedback scale signal
processing limit

Feedback scale unit

Note
1-16

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.

2. Driver

1
Before Using the Products

Block Diagram

G-frame (200 V)
U

P
L1
L2
L3

Fuse

2

M

W

N

Voltage
detection

Fan

Fuse

+

Gate drive

DB1

(12V
+5V
PS for gate drive
PS for RE

DC/DC

L2C

RE

Preparation

L1C

V

+
Fuse

DB2
DB3
DB4

B1
B3
B2

Front panel

Error
detection

Sequence control
Display
operation
control

X1

Parameter control

3

Protective
curcuit

EEPROM

USB

X2
Serial

Connection

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command

Division/ +
mulitiplication –

Position
deviation amp.

Deviation
counter

Position

+

External

A/D
16-bit

–
Speed

Internal speed
command
Internal

Control
input

Speed Velocity
deviation
amp.

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D

Control
output

X6

Encoder signal
processing
limit

Pusle
output

Division
processing

4

X5
Feedback scale signal
processing limit

Setup

Feedback scale unit

H-frame (200 V)
U

P
L1
L2
L3

Fuse

Fuse

5

M

W

N
Fan

Fuse

+

L2C

DC/DC

Gate drive

DB1

(12V
+5V
PS for gate drive
PS for RE

Adjustment

Voltage
detection

L1C

V

+

RE

DB2

B1
B3
B2

Front panel

X1

Error
detection

Sequence control
Display
operation
control

Parameter control

6

Protective
curcuit

EEPROM

USB

When in Trouble

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input

Division/ +
mulitiplication –
A/D
16-bit

Deviation
counter

Position
deviation amp.

Internal speed
command
Internal

Control
output

Pusle
output

Position

+

External

–

Speed Velocity
deviation
amp.

Speed

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D
Encoder signal
processing
limit

Division
processing

7

X6

X5

Supplement

Feedback scale signal
processing limit

Feedback scale unit

Note

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
1-17

2. Driver
Block Diagram

D-frame (400 V)
U

P
L1
L2
L3

Fuse

+

V

Fuse

W

Voltage
detection

N

RE

Fan

24V

M

Resistor

Fuse

+

DC/DC

0V

±12V
+5V
PS for gate drive
PS for RE

Gate drive

B1
B3
B2

Front panel

Error
detection

Sequence control
Display
operation
control

X1

Parameter control

Protective
curcuit

EEPROM

USB

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command

Division/ +
mulitiplication –

Position
deviation amp.

Deviation
counter

Position

+

External

A/D
16-bit

–
Speed

Internal speed
command
Internal

Control
input

Speed Velocity
deviation
amp.

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D

Control
output

X6

Encoder signal
processing
limit

Pusle
output

Division
processing

X5
Feedback scale signal
processing limit

Feedback scale unit

E-frame (400 V)
U

P
L1
L2
L3

Fuse

+

V

W

Voltage
detection

N

RE

Fan

24V

M

Resistor

Fuse

Fuse

+

DC/DC

0V

±12V
+5V
PS for gate drive
PS for RE

Gate drive

B1
B3
B2

Front panel

X1

Error
detection

Sequence control
Display
operation
control

Parameter control

Protective
curcuit

EEPROM

USB

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input

Division/ +
mulitiplication –
A/D
16-bit

Deviation
counter

Position
deviation amp.

Internal speed
command
Internal

Control
output

Pusle
output

Position

+

External

–

Speed Velocity
deviation
amp.

Speed

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D
Encoder signal
processing
limit

Division
processing

X6

X5
Feedback scale signal
processing limit

Feedback scale unit

Note
1-18

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.

2. Driver

1
Before Using the Products

Block Diagram

F-frame (400 V)
U

P
L1
L2
L3

Fuse

+

V

Resistor

Fuse
Voltage
detection

N

Fuse

+

±12V
+5V
PS for gate drive
PS for RE

DC/DC

0V

Preparation

RE

Fan

24V

2

M

W

Gate drive

B1
B3
B2

Front panel

Error
detection

Sequence control
Display
operation
control

X1

Parameter control

3

Protective
curcuit

EEPROM

USB

X2
Serial

Connection

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command

Division/ +
mulitiplication –

Position
deviation amp.

Deviation
counter

Position

+

External

A/D
16-bit

–

Torque
limit

Speed

Internal speed
command
Internal

Control
input

Speed Velocity
deviation
amp.

Speed
detection

Current
control

PWM
circuit

Torque

A/D

Control
output

X6

Encoder signal
processing
limit

Pusle
output

4

Division
processing

X5
Feedback scale signal
processing limit

Setup

Feedback scale unit

G-frame (400 V)
U

P
L1
L2
L3

Fuse

5

M

W

N
Fan

Fuse

+

0V

DC/DC

Gate drive

DB1

(12V
+5V
PS for gate drive
PS for RE

RE

Adjustment

Voltage
detection

24V

V

+
Fuse

DB2
DB3
DB4

B1
B3
B2

Front panel

X1

Error
detection

Sequence control
Display
operation
control

Parameter control

6

Protective
curcuit

EEPROM

USB

When in Trouble

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input

Division/ +
mulitiplication –
A/D
16-bit

Deviation
counter

Position
deviation amp.

Internal speed
command
Internal

Control
output

Pusle
output

Position

+

External

–

Speed Velocity
deviation
amp.

Speed

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D
Encoder signal
processing
limit

Division
processing

X6

7

X5

Supplement

Feedback scale signal
processing limit

Feedback scale unit

Note

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
G-frame: Only for position control type is not provided.
1-19

2. Driver
Block Diagram

H-frame (400 V)
U

P
L1
L2
L3

Fuse

M

W

N

Voltage
detection

24V

V

+
Fuse

Fan

Fuse

+

0V

DC/DC

Gate drive

DB1

(12V
+5V
PS for gate drive
PS for RE

RE

DB2

B1
B3
B2

Front panel

X1

Error
detection

Sequence control
Display
operation
control

Parameter control

Protective
curcuit

EEPROM

USB

X2
Serial

X3
Safety function

X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input

Division/ +
mulitiplication –
A/D
16-bit

Deviation
counter

Position
deviation amp.

Internal speed
command
Internal

Control
output

Pusle
output

Position

+

External

–

Speed Velocity
deviation
amp.

Speed

Speed
detection

Torque
limit

Current
control

PWM
circuit

Torque

A/D
Encoder signal
processing
limit

Division
processing

X6

X5
Feedback scale signal
processing limit

Feedback scale unit

Note

1-20

‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided.

1
Before Using the Products

3. Motor

1Before Using

Check of the Model

the Products

Contents of Name Plate
Serial Number
e.g.) : 09 04 0001N

Model
Rated input voltage/current

2

Rated output
Rated frequency
Rated
rotational speed

M S M E 5 A Z S 1 S
1 to 4

Type

5 to 6

7

Motor rated output

Symbol
MSMD
*1

*1

MSME
*2

MDME
*2

MFME
*2

MGME
*2

*2

*1 The position control type only.
*2 Only for position control type is
MSME, MDME and MHME:
1.0kW to 5.0kW,
MGME: 0.9kW to 3.0kW,
MFME is none.

10

11 to 12

Special specifications
Motor structure
Design order
Symbol
Specifications
1 Standard
Voltage specifications
Connector for encoder
: N/MS3102A20-29P
Symbol Specifications
C IP65 motor
1 100 V
0.9 kW to 5.0 kW
2 200 V
only selectable
4 400 V
100/200 V common
Z (50W only)

(

4

)

5

Rotary encoder specifications
Specifications
Symbol
Format
Pulse count Resolution Wire count
20bit
1,048,576
G Incremental
5-wire
17bit
131,072
S *3 Absolute
7-wire

Adjustment

MHME

Symbol Output
50W
5A
100W
01
200W
02
400W
04
600W
06
750W
08
900W
09
1.0kW
10
1.5kW
15
2.0kW
20
2.5kW
25
3.0kW
30
4.0kW
40
4.5kW
45
5.0kW
50
6.0kW
60
7.5kW
75
C1 11.0kW
C5 15.0kW

9

Setup

MHMD

Specifications
Low inertia
(50W to 750W)
High inertia
(200W to 750W)
Low inertia
(50W to 5.0kW)
Middle inertia
(400W to 15.0kW)
Middle inertia
(1.5kW to 4.5kW)
Middle inertia
(0.9kW to 6.0kW)
High inertia
(1.0kW to 7.5kW)

8

3
Connection

Model Designation

Preparation

Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 2009 04 01
Manufacture year
Manufacture date
Manufacture month

*3 Only for position control type does not support the 17-bit absolute
specification. It supports only 20-bit incremental specification.

6

Motor structure

Symbol

Shaft
Holding brake Oil seal
Round Key way Without With Without With*4

MSME (750W(400V), 1.0kW to 5.0kW),
MDME, MFME, MGME, MHME
Symbol

When in Trouble

MSME (50W to 750W)

Holding brake Oil seal
Shaft
Round Key way Without With Without With

A
C
B
D
*5
S
G
*5
T
H
*4 The product with oil seal is a special order product. *5 Key way with center tap
[Products are standard stock items or manufactured by order. For details, inquire the dealer.]

Related page

Supplement

Note

7

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1-21

3. Motor

1Before Using

Parts Description

the Products

‡060(

:WR:
Connector for encoder
Connector for motor

Flange
Motor frame

Mounting holes (X4)

[with Brake]
Connector for encoder
Connector for brake
Connector for motor

Flange
Motor frame

Mounting holes (X4)

e.g.) : Low inertia type (MSME series, 50W)
‡MSME
‡MDME
‡MFME
‡MGMA
‡MHME

750W(400V), 1.0kW to 5.0kW
400W to 15.0kW
1.5kW to 4.5kW
0.9kW to 6.0kW
1.0kW to 7.5kW
Connector for encoder
Connector for motor
Oil seal

Flange

Motor frame

Mounting holes (X4)

e.g.) : Middle inertia type (MDME series, 1.0kW)

Note

1-22

)RUGHWDLOVRIVSHFLÀFPRGHOUHIHUWRWKH'LPHQVLRQVRI6XSSOHPHQW 3WR

the Products

4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit

7KLVGULYHULVGHVLJQHGWREHXVHGLQDFRPELQDWLRQZLWKWKHPRWRUZKLFKDUHVSHFLÀHGE\
XV&KHFNWKHVHULHVQDPHRIWKHPRWRUUDWHGRXWSXWWRUTXHYROWDJHVSHFLÀFDWLRQVDQG
HQFRGHUVSHFLÀFDWLRQV

Remarks

Type

Single
phase,
100V
MSMD

Single/
3-phase,
200V

Low inertia

3000r/min

Single/
3-phase,
200V

Low inertia

3000r/min

3-phase,
200V

3-phase,
400V

2000r/min

3-phase,
200V

MDME

Middle inertia
2000r/min

3-phase,
400V

Note

MADHT1505E

MADHT1507
MBDHT2510
MCDHT3520
MADHT1105
MADHT1107
MBDHT2110
MCDHT3120

MADHT1507E
MBDHT2510E
MCDHT3520E
MADHT1105E
MADHT1107E
MBDHT2110E
MCDHT3120E

MADHT1505

MADHT1505E

MADHT1507
MBDHT2510
MCDHT3520

MADHT1507E
MBDHT2510E
MCDHT3520E

B-frame
C-frame

MDDHT5540

MDDHT5540E

D-frame

MEDHT7364
MFDHTA390

MEDHT7364E
MFDHTA390E

E-frame

MFDHTB3A2

MFDHTB3A2E

MDDHT2412
MDDHT3420
MDDHT3420
MEDHT4430
MFDHT5440

MDDHT2412E
MDDHT3420E
MDDHT3420E
MEDHT4430E
MFDHT5440E

MFDHTA464

MFDHTA464E

MDDHT3530
MDDHT5540
MEDHT7364
MFDHTA390

MDDHT3530E
MDDHT5540E
MEDHT7364E
MFDHTA390E

MFDHTB3A2

MFDHTB3A2E

MGDHTC3B4
MHDHTC3B4

A-frame
B-frame
C-frame
A-frame
B-frame
C-frame
A-frame

3

4

F-frame

D-frame

5

E-frame
F-frame
D-frame
E-frame
F-frame

6

G-frame
−

MDDHT2407

MDDHT2407E

MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440

MDDHT2412E
MDDHT3420E
MEDHT4430E
MFDHT5440E

MFDHTA464

MFDHTA464E

MGDHTB4A2
MHDHTB4A2

B-frame
C-frame

H-frame

D-frame
E-frame
F-frame
G-frame

−

H-frame

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1-23

7
Supplement

1500r/min

MADHT1505

A-frame

When in Trouble

1500r/min

50W
100W
200W
400W
50W
100W
200W
400W
750W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW
400W
600W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW

Adjustment

Single/
3-phase, 200V

MSMD5AZG1 *
MSMD011G1 *
MSMD021G1 *
MSMD041G1 *
MSMD5AZG1 *
MSMD012G1 *
MSMD022G1 *
MSMD042G1 *
MSMD082G1 *
MSME5AZG1 *
MSME011G1 *
MSME021G1 *
MSME041G1 *
MSME5AZG1 *
MSME012G1 *
MSME022G1 *
MSME042G1 *
MSME082G1 *
MSME102G□ *
MSME152G□ *
MSME202G□ *
MSME302G□ *
MSME402G□ *
MSME502G□ *
MSME084G1 *
MSME104G□ *
MSME154G□ *
MSME204G□ *
MSME304G□ *
MSME404G□ *
MSME504G□ *
MDME102G□ *
MDME152G□ *
MDME202G□ *
MDME302G□ *
MDME402G□ *
MDME502G□ *
MDME752G1 *
MDMEC12G1 *
MDMEC52G1 *
MDME044G1 *
MDME064G1 *
MDME104G□ *
MDME154G□ *
MDME204G□ *
MDME304G□ *
MDME404G□ *
MDME504G□ *
MDME754G1 *
MDMEC14G1 *
MDMEC54G1 *

Frame

Setup

MSME

Rated
output

Driver
Model of Only for
position control
type
MADHT1105E
MADHT1107E
MBDHT2110E
MCDHT3120E

Connection

Single
phase,
100V

Model

Model of velocity,
position, torque and
full-closed control type
MADHT1105
MADHT1107
MBDHT2110
MCDHT3120

Preparation

Power
supply

2

Do not use in other combinations than those listed below.
Motor
Rated
rotational
speed

1
Before Using the Products

1Before Using

4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit

Motor
Power
supply

Type

Rated
rotational
speed

Single/
3-phase,
200V
MFME
3-phase,
2000r/min
200V
Middle inertia
3-phase,
400V
Single/
3-phase,
200V
3-phase,
200V

MGME

Middle inertia

1000r/min

3-phase,
400V
Single
phase,
100V
Single/
3-phase,
200V
Single/
3-phase,
200V

MHMD

High inertia

3000r/min

2000r/min

3-phase,
200V
MHME

High inertia

3-phase,
400V

1500r/min

2000r/min

1500r/min

Note

1-24

Driver
Model

Rated
output

Model of velocity,
position, torque and
full-closed control type

Model of Only for
position control
type

Frame

MFME152G1 *

1.5kW

MDDHT5540

MDDHT5540E

D-frame

MFME252G1 *
MFME452G1 *
MFME154G1 *
MFME254G1 *
MFME454G1 *

2.5kW
4.5kW
1.5kW
2.5kW
4.5kW

MEDHT7364
MFDHTB3A2
MDDHT3420
MEDHT4430
MFDHTA464

MEDHT7364E
MFDHTB3A2E
MDDHT3420E
MEDHT4430E
MFDHTA464E

E-frame
F-frame
D-frame
E-frame
F-frame

MGME092G□ *

0.9kW

MDDHT5540

MDDHT5540E

D-frame

MGME202G□ *
MGME302G□ *
MGME452G1 *
MGME602G1 *
MGME094G□ *
MGME204G□ *
MGME304G□ *
MGME454G1 *
MGME604G1 *
MHMD021G1 *

2.0kW
3.0kW
4.5kW
6.0kW
0.9kW
2.0kW
3.0kW
4.5kW
6.0kW
200W

MFDHTA390

MFDHTA390E

MFDHTB3A2

MFDHTB3A2E

MGDHTC3B4
MDDHT3420
MFDHT5440

−
MDDHT3420E
MFDHT5440E

MFDHTA464

MFDHTA464E

MGDHTB4A2
MBDHT2110

−
MBDHT2110E

G-frame
B-frame

MHMD041G1 *

400W

MCDHT3120

MCDHT3120E

C-frame

MHMD022G1 *
MHMD042G1 *
MHMD082G1 *
MHME102G□ *

200W
400W
750W
1.0kW

MADHT1507
MBDHT2510
MCDHT3520
MDDHT3530

MADHT1507E
MBDHT2510E
MCDHT3520E
MDDHT3530E

A-frame
B-frame
C-frame

MHME152G□ *

1.5kW

MDDHT5540

MDDHT5540E

MHME202G□ *
MHME302G□ *
MHME402G□ *
MHME502G□ *
MHME752G1 *
MHME104G□ *
MHME154G□ *
MHME204G□ *
MHME304G□ *
MHME404G□ *
MHME504G□ *
MHME754G1 *

2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW

MEDHT7364
MFDHTA390

MEDHT7364E
MFDHTA390E

MFDHTB3A2

MFDHTB3A2E

MGDHTC3B4
MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440

−
MDDHT2412E
MDDHT3420E
MEDHT4430E
MFDHT5440E

MFDHTA464

MFDHTA464E

MGDHTB4A2

−

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F-frame
G-frame
D-frame
F-frame

D-frame
E-frame
F-frame
G-frame
D-frame
E-frame
F-frame
G-frame

the Products

4. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit

7KLVGULYHULVGHVLJQHGWREHXVHGLQDFRPELQDWLRQZLWKWKHPRWRUZKLFKDUHVSHFLÀHGE\
XV&KHFNWKHVHULHVQDPHRIWKHPRWRUUDWHGRXWSXWWRUTXHYROWDJHVSHFLÀFDWLRQVDQG
HQFRGHUVSHFLÀFDWLRQV

Remarks

Type

Rated rotational
speed

Single phase,
100V

MSME

Low inertia

3000r/min

3-phase,
200V

Single/3-phase,
200V
2000r/min

1500r/min
MDME

Middle inertia
2000r/min

1500r/min

MADHT1505

A-frame
B-frame
C-frame

MADHT1507
MBDHT2510
MCDHT3520

B-frame
C-frame

MDDHT5540

D-frame

MEDHT7364
MFDHTA390

E-frame

MFDHTB3A2
MDDHT2412
MDDHT3420
MDDHT3420
MEDHT4430
MFDHT5440
MFDHTA464
MDDHT3530
MDDHT5540
MEDHT7364
MFDHTA390
MFDHTB3A2

3

A-frame

F-frame

4

D-frame
E-frame
F-frame
D-frame
E-frame
F-frame

MGDHTC3B4

G-frame

MHDHTC3B4

H-frame

5

MDDHT2407
MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440
MFDHTA464

D-frame
E-frame
F-frame

MGDHTB4A2

G-frame

MHDHTB4A2

H-frame

6
When in Trouble

3-phase,
400V

50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW
400W
600W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW

Adjustment

3-phase,
200V

MSME5AZS1 *
MSME011S1 *
MSME021S1 *
MSME041S1 *
MSME5AZS1 *
MSME012S1 *
MSME022S1 *
MSME042S1 *
MSME082S1 *
MSME102S□ *
MSME152S□ *
MSME202S□ *
MSME302S□ *
MSME402S□ *
MSME502S□ *
MSME084S1 *
MSME104S□ *
MSME154S□ *
MSME204S□ *
MSME304S□ *
MSME404S□ *
MSME504S□ *
MDME102S□ *
MDME152S□ *
MDME202S□ *
MDME302S□ *
MDME402S□ *
MDME502S□ *
MDME752S1 *
MDMEC12S1 *
MDMEC52S1 *
MDME044S1 *
MDME064S1 *
MDME104S□ *
MDME154S□ *
MDME204S□ *
MDME304S□ *
MDME404S□ *
MDME504S□ *
MDME754S1 *
MDMEC14S1 *
MDMEC54S1 *

Frame

Setup

3-phase,
400V

Rated
output

Connection

Single/
3-phase,
200V

Model

Driver
Model of velocity,
position, torque and
full-closed control type
MADHT1105
MADHT1107
MBDHT2110
MCDHT3120

Preparation

Power
supply

Note

2

Do not use in other combinations than those listed below.
Motor

1
Before Using the Products

1Before Using

7
Supplement

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‡'HIDXOWRIWKHGULYHULVVHWIRUWKHLQFUHPHQWDOHQFRGHUVSHFLÀFDWLRQV
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) 6ZLWFKWKHSDUDPHWHU3U $EVROXWHHQFRGHUVHWXS IURP GHIDXOW WR
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1-25

4. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit

Motor
Power
supply

Type

Single/3-phase,
200V
3-phase,
200V

MFME

Middle inertia

Rated rotational
speed

2000r/min

3-phase,
400V
Single/3-phase,
200V
3-phase,
200V

MGME

Middle inertia

1000r/min

3-phase,
400V
Single/
3-phase,
200V
2000r/min

3-phase,
200V
MHME

High inertia

3-phase,
400V

1500r/min

2000r/min

1500r/min

Note

1-26

Driver
Model of velocity,
position, torque and
Frame
full-closed control type

Model

Rated
output

MFME152S1 *

1.5kW

MDDHT5540

D-frame

MFME252S1 *
MFME452S1 *
MFME154S1 *
MFME254S1 *
MFME454S1 *

2.5kW
4.5kW
1.5kW
2.5kW
4.5kW

MEDHT7364
MFDHTB3A2
MDDHT3420
MEDHT4430
MFDHTA464

E-frame
F-frame
D-frame
E-frame
F-frame

MGME092S□ *

0.9kW

MDDHT5540

D-frame

MGME202S□ *
MGME302S□ *
MGME452S1 *
MGME602S1 *
MGME094S□ *
MGME204S□ *
MGME304S□ *
MGME454S1 *
MGME604S1 *
MHME102S□ *

2.0kW
3.0kW
4.5kW
6.0kW
0.9kW
2.0kW
3.0kW
4.5kW
6.0kW
1.0kW

MFDHTA390

MHME152S□ *

1.5kW

MDDHT5540

MHME202S□ *
MHME302S□ *
MHME402S□ *
MHME502S□ *
MHME752S1 *
MHME104S□ *
MHME154S□ *
MHME204S□ *
MHME304S□ *
MHME404S□ *
MHME504S□ *
MHME754S1 *

2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW

MEDHT7364
MFDHTA390

MFDHTB3A2
MGDHTC3B4
MDDHT3420
MFDHT5440
MFDHTA464
MGDHTB4A2
MDDHT3530

MFDHTB3A2
MGDHTC3B4
MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440
MFDHTA464
MGDHTB4A2

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‡'HIDXOWRIWKHGULYHULVVHWIRUWKHLQFUHPHQWDOHQFRGHUVSHFLÀFDWLRQV
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) 6ZLWFKWKHSDUDPHWHU3U $EVROXWHHQFRGHUVHWXS IURP GHIDXOW WR
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,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ

F-frame
G-frame
D-frame
F-frame
G-frame
D-frame
E-frame
F-frame
G-frame
D-frame
E-frame
F-frame
G-frame

the Products

4. Check of the Combination of the Driver and the Motor
Junction cable for motor

Encoder cable
Motor series

,QFUHPHQWDO6SHFLÀFDWLRQVELW Note)1

MSMD 50W to 750W

MSME

50W
to 750W (200V)

7-98

MFECA0 ** 0EAM

—

MFECA0 ** 0MJD

MFECA0 ** 0MJE

(Highly bendable type, Direction of motor shaft)

(Highly bendable type, Direction of motor shaft)

MFECA0 ** 0MKD

MFECA0 ** 0MKE

(Highly bendable type, Opposite direction of motor shaft)

(Highly bendable type, Opposite direction of motor shaft)

7-98

MFECA0 ** 0TJD

MFECA0 ** 0TJE

7-99

(Standard bendable type, Direction of motor shaft)

(Standard bendable type, Direction of motor shaft)

MFECA0 ** 0TKD

MFECA0 ** 0TKE

(Standard bendable type, Opposite direction of motor shaft)

(Standard bendable type, Opposite direction of motor shaft)

note)2

750W (400V),
1.0kW to 5.0kW

MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
MFECA0 ** 0ESEnote)2
MFECA0 ** 0ETE note)3
MFECA0 ** 0ETE
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
—
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3

1.5kW to 4.5kW

MGME 0.9kW to 6.0kW
MHMD 200W to 750W
MHME 1.0kW to 7.5kW

2

3
7-99
to
7-100

Connection

MFECA0 ** 0ESD
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ETD
MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0EAM
MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3

MDME 400W to 15.0kW
MFME

Detail
page

Preparation

MSME

Absolute Specifications, 17-bit Note)1

1
Before Using the Products

1Before Using

1RWH ´ µUHSUHVHQWVWKHFDEOHOHQJWK1RWH 'HVLJQRUGHU& N:WRN: 0*0(WRN: 1RWH 'HVLJQRUGHU

4

Motor cable/ Brake cable

MSMD 50W to 750W

MFMCA0 ** 0EED

—

MFMCA0 ** 0NJD

MFMCA0 ** 0RJD

(

Standard bendable type,
Direction of motor shaft

—

)

MFMCA0 ** 3FCT
MFMCA0 ** 2FCD
MFMCE0 ** 2FCD
MFMCA0 ** 3FCT
—
MFMCA0 ** 2FCD

MFMCD0 ** 2ECD

MFMCE0 ** 2FCD

—

—

6
7-102
to
7-106

—
MFMCB0 ** 0GET

7

—

MFMCA0 ** 3FCT

1RWH ´ µUHSUHVHQWVWKHFDEOHOHQJWK

Caution

‡0RWRUFDEOH IRU0+0(N:0*0(N:0'0(N:WRN: LVQRWSUHSDUHGLQ
option.

Related page

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1-27

Supplement

MFMCE0 ** 2ECD
MFMCA0 ** 3ECT

—

When in Trouble

MFMCD0 ** 3ECT

MFMCA0 ** 3ECT
MFMCA0 ** 0EED

)

Adjustment

MFMCE0 ** 2FCD

MFMCD0 ** 2ECD

5

Standard bendable type,
(Opposite
direction of motor shaft)

MFMCF0 ** 2ECD

MFMCD0 ** 2ECD

7-106

(

MFMCA0 ** 3ECT
MFMCA0 ** 2ECD

MFMCA0 ** 3ECT

7-101

MFMCB0 ** 0SJT
MFMCB0 ** 0SKT

MFMCA0 ** 2FCD
MFMCE0 ** 2FCD
MFMCA0 ** 3FCT
MFMCA0 ** 2FCD
MFMCE0 ** 2FCD
MFMCA0 ** 3FCT
MFMCA0 ** 2FCD

MFMCD0 ** 2ECD

Highly bendable type,
(Opposite
direction of motor shaft)
Standard bendable type,
Direction of motor shaft

Standard bendable type,
(Opposite
direction of motor shaft)

1.0kW to 2.0kW（200V）
750W to 2.0kW（400V）
3.0kW to 5.0kW
1.0kW to 2.0kW（200V）
400W to 2.0kW（400V）
3.0kW to 5.0kW
1.5kW（200V）
1.5kW（400V）
2.5kW
4.5kW
0.9kW（200V）
0.9kW（400V）
2.0kW to 4.5kW
200W to 750W
1.0kW, 1.5kW（200V）
1.0kW, 1.5kW（400V）
2.0kW
3.0kW to 5.0kW

7-101
7-106

MFMCB0 ** 0PKT

MFMCA0 ** 0RKD

MSME
MSME
MSME
MDME
MDME
MDME
MFME
MFME
MFME
MFME
MGME
MGME
MGME
MHMD
MHME
MHME
MHME
MHME

MFMCB0 ** 0GET
Highly bendable type,
(Direction
of motor shaft)

MFMCA0 ** 0NKD

MSME 50W to 750W

Detail
page

MFMCB0 ** 0PJT

Highly bendable type,
(Direction
of motor shaft)

Highly bendable type,
(Opposite
direction of motor shaft)

Brake cable Note)1

Setup

Motor cable Note)1
without Brake
with Brake

Motor series

1Before Using
the Products

5. Installation
Driver

Install the driver properly to avoid a breakdown or an accident.

Installation Place
1) Install the driver in a control panel enclosed in noncombustible material and placed indoor where the product is not subjected to rain or direct sunlight. The products are not
waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulÀGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH
DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and low humidity and dust-free place.
5) Vibration-free place.
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can
discolor or damage the exterior case.

Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature*1
Storage humidity
Vibration
Altitude

Conditions
Ý&WRÝ& IUHHIURPIUHH]LQJ
20% to 85% RH (free from condensation)
²Ý&WRÝ&

(Max. temperature guarantee: 80ÝC for 72 hours free from condensation*2)

20% to 85% RH (free from condensation*2)
Lower than 5.88m/s2 (0.6G), 10 to 60Hz
(Do not continuously use the driver for along time at the resonance point.)
Lower than 1000m

*1 Extreme temperatures are permissible only for short period such as during transportation.
*2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
2) Base mount (rear mount) is standard for A/B/C/D-frame driver.
3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting brackHW)RUFKRRVLQJWKHFRUUHFWRSWLRQDOPRXQWLQJEUDFNHWUHIHUWR3´0RXQWLQJ%UDFNHWµ
4) In consideration of strength of the screws and the material of the mounting base, seOHFWDSSURSULDWHIDVWHQLQJWRUTXHIRUWKHSURGXFWPRXQWLQJVFUHZVVRWKDWWKHVFUHZV
will not be loosened or damaged.
Example) To tighten a steel screw into a steel base
A to G-frame: M5 2.7 to 3.3 N·m, H-frame: M6 4.68 to 5.72 N·m
H-frame
A to D-frame
E to G-frame
Basemount (Standard)
[Rear mount]

Frontmount
[Use mounting bracket]

Front or rearmount
[Use mounting bracket]

Mounting bracket
(optional parts)


Fastening torque of ground terminal (M4)
to be 0.7 to 0.8 N ‡ m.
1-28

Rearmount [Basemount]

Mounting bracket
(Attachment)

Fastening torque of ground terminal (M4)
to be 0.7 to 0.8 N ‡ m.
 Fastening torque of ground terminal (M5)
to be 1.4 to 1.6 N‡ m.

Fastening torque of
ground terminal (M6)
to be 2.4 to 2.6 N‡ m.

5. Installation

1

Mounting Direction and Spacing

Fan

Control panel

Fan

100mm
or more

2
Preparation

‡5HVHUYHHQRXJKVXUURXQGLQJVSDFHIRUHIIHFWLYHFRROLQJ
‡,QVWDOOIDQVWRSURYLGHXQLIRUPGLVWULEXWLRQRIWHPSHUDWXUHLQWKHFRQWUROSDQHO
‡'WR+IUDPHLVSURYLGHGZLWKDFRROLQJIDQDWWKHERWWRP (On the H-frame, the cooling
fan is also installed on the upper side.)
‡Observe the environmental conditions of the control panel described in the previous page.

Before Using the Products

Driver

3
a

a

a

40mm
or
more

Connection

40mm
or
more

a
Direction of air flowing
from the internal
cooling fan (D to H-frame)

Note

100mm
or more

A to F-frame

10mm or more

G, H-frame

50mm or more

It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after peeling off the paint on the machine for installing the products, in order
to make noise countermeasure.

Setup

Caution on Installation
Caution

1-29

6

7
Supplement

‡3´6SHFLÀFDWLRQVµ‡3´,QVWDOODWLRQRIPRWRUµ
‡3´'LPHQVLRQVµ‡3´0RXQWLQJEUDFNHWµ

5

When in Trouble

‡ :KHQHYHU OLIWLQJ WKH SURGXFW GXULQJ WUDQVSRUWDWLRQLQVWDOODWLRQ RI + IUDPH VHUYR GULYHU  WZR RU
more persons should hold it by metallic member, not by plastic member.
‡ :HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\KRZHYHUDSSOLFDWLRQRIH[FHStionally large external noise disturbance and static electricity, or failure in input power, wiring and
components may result in unexpected action. It is highly recommended that you make a fail-safe
design and secure the safety in the operative range.
‡If stranded wires are used as the cable, bunch the conductors of the cable using a rod terminals or
a round terminals. If stranded wires are used as they are, unexpected accidents such as an electric
shock and short circuit or injury may result.
‡7KHUHPLJKWEHDFKDQFHRIVPRNHJHQHUDWLRQGXHWRWKHIDLOXUHRIWKHVHSURGXFWV3D\DQH[WUD
attention when you apply these products in a clean room environment.
‡%H VXUH WR LQVWDOO D QRIXVH EUHDNHU LQ WKH SRZHU VXSSO\ ,Q DGGLWLRQ EH VXUH WR JURXQG WKH
grounding terminal or grounding wire provided. (In order to prevent electric shock and malfuncWLRQV&ODVV'JURXQGLQJ JURXQGLQJUHVLVWDQFHRIїRUOHVV LVUHFRPPHQGHG
 ,IWKHSURGXFWLVJURXQGHGLQVXIÀFLHQWO\QRWRQO\WKHGULYHUPD\QRWGHOLYHULWVSHUIRUPDQFHVXIÀFLHQWO\EXWDOVRVDIHW\KD]DUGVVXFKDVDPDOIXQFWLRQGXHWRDHOHFWULÀFDWLRQRUDGLVWXUEDQFH
may be caused.
‡,IHOHFWULFZLUHVDUHERXQGDQGUXQWKURXJKPHWDOGXFWWKH\FDQQRWFDUU\WKHUDWHGFXUUHQWGXHWR
temperature rise. If they are forced to carry the rated current, they may burn. When determining
size of the wire.
‡'RQRWXVHRUVWRUHWKHSURGXFWLQDSODFHVXEMHFWWRPV2 or more vibration or shock, forHLJQPDWHULDOVVXFKDVGXVWPHWDOOLFSRZGHUDQGRLOPLVWOLTXLGVVXFKDVZDWHURLODQGJULQGLQJ
ÁXLG FORVH WR ÁDPPDEOH PDWHULDOV RU LQ DQ DWPRVSKHUH RI FRUURVLYH JDV +2S, SO2, NO2, Cl2,
HWF RULQÁDPPDEOHJDVXQGHUDQ\FLUFXPVWDQFH

Adjustment

Related page

4

5. Installation
Driver

‡Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor running out of control or being damaged from overheating. In addition, pay attention not to allow conductive materials, such as wire chips, entering the driver during the installation and wiring.
‡6HFXUHWKHVFUHZVDQGHDUWKVFUHZRQWKHWHUPLQDOEORFNZLWKWKHWRUTXHVSHFLÀHGLQWKHVSHFLÀcation.
‡:KHQHVWDEOLVKLQJDV\VWHPXVLQJVDIHW\IXQFWLRQVFRPSOHWHO\XQGHUVWDQGWKHDSSOLFDEOHVDIHW\
standards and the operating instruction manual or technical documents for the product.
‡1HYHU PDNH DQ DSSURDFK WRWKH PRWRUDQG WKH PDFKLQH V GULYHQ E\ WKHPRWRU ZKLOH SRZHU LV
applied because they may become failure or malfunction.
‡'RQRWXVHVHUYRRQVLJQDO 65921 DVWKHVWDUWVWRSVLJQDO'RLQJVRPD\GDPDJHWKHEXLOWLQ
dynamic brake circuit in the driver.
‡3D\DWWHQWLRQWRWKHKHDWGLVVLSDWLRQ7KHGULYHUZLOOJHQHUDWHKHDWZKLOHWKHPRWRULVLQRSHUDtion. Using the driver in a sealed control box may cause an abnormal heating of the control
box. A proper consideration should be given to cool the driver so that the ambient temperature
PDWFKHVWKHVSHFLÀHGRSHUDWLQJWHPSHUDWXUHUDQJH
‡7KHUHLVDSRVVLELOLW\WKDWWKHPRWRUZLOOEHGDPDJHGE\KHDWRUHPLWVPRNHRUGXVWGXHWRDIDXOW
in the motor itself or the driver coupled with it. A proper consideration should be given if the motor is used in a clean room or similar environment.
‡7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDO
‡,I WKH G\QDPLF EUDNH LV DSSOLHG GXULQJ RSHUDWLRQ DW D KLJK VSHHG SURYLGH DSSUR[ PLQXWH
dwell period.
Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake inoperable.
‡7KHFDSDFLWDQFHRIFDSDFLWRULQWKHSRZHUVXSSO\UHFWLÀHUFLUFXLWGHFUHDVHVLWVFDSDFLWDQFHZLWK
age.
To prevent a secondary accident due to malfunction, it should be replaced with new one after
5-year use.
Replacement should be performed by us or our authorized distributor.
‡%HIRUHXVLQJWKHSURGXFWEHVXUHWRUHDGWKHLQVWUXFWLRQPDQXDO 6DIHW\SDUW 

Recommended Electric Wires for Driver
‡)RUWKHPDLQFLUFXLWXVHHOHFWULFZLUHWKDWZLWKVWDQGVDWOHDVW9$&ZLWKWHPSHUDWXUHUDWLQJʝRUKLJKHU
‡:KHQ XVLQJ EXQGOHG ZLUHV UXQQLQJ WKURXJK PHWDOOLF FRQGXLW WKH DPRXQWV RI FXUUHQW
determined according to the reduction rate must be subtracted from the nominal allowable current.
‡(OHFWULFZLUHV

Use heat resistant wire.
Common polyvinyl chloride wires will deteriorate by heat at a higher rate.

The surface of vinyl chloride insulation becomes hardened and brittle at low temperaWXUHDQGQHHGVVSHFLÀFSURWHFWLYHPHDVXUHZKHQXVHGLQFROGUHJLRQ
‡%HQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU
‡&DEOHVFDQQRWEHXVHGIRUFRQWLQXRXVUHJHQHUDWLRQEHFDXVHWKH\DUHQRWGHVLJQHGIRU
such application.

Related page

1-30

‡3´-XQFWLRQFDEOHIRUPRWRUµ

5. Installation

1

Relationship between Wire Diameter and Permissible Current
‡:KHQVHOHFWLQJDFDEOHUHIHUWRWKHIROORZLQJVHOHFWLRQJXLGHVKRZLQJUHODWLRQVKLSEHWZHHQFDEOHVSHFLÀFDWLRQDQGFXUUHQWFDUU\LQJFDSDFLW\
Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30°C

49
61
88
115
139
162
217
298
395


‡ 7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGXVLQJWKHIROORZLQJIRUPXOD

4

(Max. permissible temp. – ambient temp.) ÷ 30

Caution

7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGDFFRUGLQJWRWKHFDEOH&KHFNWKHVSHFLÀFDWLRQRIWKHFDEOH
used.
‡ 7KH FXUUHQW UHGXFWLRQ FRHIILFLHQW LV SURYLGHG IRU WKH FDVH
‡&XUUHQWUHGXFWLRQFRHIILFLHQW
where the cable (4-conductor cable in the case of example),
No. of wires in a tube Coefficient
is housed in plastic race/sheath, plastic tube, metal race/ ◎
Up to 3
0.70
VKHDWKPHWDOWXEHRUÁH[LEOHFRQGXLW
4
0.63
Because the neutral conductor is not counted as a wire, the cur5 or 6
0.56
UHQWUHGXFWLRQFRHIÀFLHQWIRU´RUOHVVµLVDSSOLHGDVLQGLFDWHGE\
7 to 15
0.49
( ) in the table right.
16 to 40
0.43
41 to 60
61 or more

‡5HFRPPHQGHGHFRFDEOH

0.39
0.34

Conductor

14
22
38
60
100
150

Caution
Note

Max.
Sheath
(Reference) conductor
thickness Finish O.D. resistance
(mm)
(mm)
(20°C)
(W/km)
1.5
12.0
9.42
1.5
13.5
5.30
1.5
16.0
3.40
1.5
17.0
2.36

Outside
diameter
(mm)

7/0.6
7/0.8
7/1.0
7/1.2

1.8
2.4
3.0
3.6

0.8
0.8
1.0
1.0

Circular
compression
Circular
compression
Circular
compression
Circular
compression
Circular
compression
Circular
compression
Circular
compression

4.4

1.0

1.5

19.0

5.5

1.2

1.6

7.3

1.2

9.3

Test
voltage
(V/1 min.)

Minimum (Reference)
insulation
Approx.
resistance
mass
0:‡NP
(kg/km)

1500
1500
1500
1500

2500
2500
2500
2000

170
250
360
475

1.34

2000

1500

730

23

0.849

2000

1500

1100

1.8

28

0.491

2500

1500

1800

1.5

2.0

35

0.311

2500

1500

2790

12.0

2.0

2.4

44

0.187

2500

1500

4630

14.7

2.0

2.6

51

0.124

3000

1000

6710

17.0

2.5

2.9

60

0.0933

3000

1500

8990

6

7

6KLHOGZLOOLQFUHDVHÀQLVKRXWVLGHGLDPHWHUE\DSSUR[PP
‡ $SSURSULDWHFDEOHVKRXOGEHVHOHFWHGWRKDYHVXIÀFLHQWDOORZDQFHIRUSDUDPHWHUVVXFKDVRSHUDWLQJDPELent temperature and current.
‡ &XUUHQW UHGXFWLRQ FRHIILFLHQW IXQGDPHQWDO SHUPLVVLEOH FXUUHQW HWF VWDWHG RQ WKLV SDJH DUH VXEMHFW WR
change due to e.g. standard revision. Consult cable manufacturers for the latest information.
1-31

Supplement

200

Insulation
thickness
(mm)

Structure
or shape
(wires/mm2)

When in Trouble

Nominal
cross
section
(mm2)
2
3.5
5.5
8

5
Adjustment

Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath
(Standard: EM JIS C 3605) Maximum permissible temperature: 90°C

Setup

Caution

3
Connection

5.5 to 8 (excl.)
8 to 14 (excl.)
14 to 22 (excl.)
11 to 30 (excl.)
30 to 38 (excl.)
38 to 68 (excl.)
60 to 100 (excl.)
100 to 150 (excl.)
150 to 200 (excl.)

Applicable permissible current
= IXQGDPHQWDOSHUPLVVLEOHFXUUHQW[FXUUHQWUHGXFWLRQFRHIÀFLHQW[FXUUHQW
FRUUHFWLRQFRHIÀFLHQW
= 37 x 0.7 x 1.414
.
=. 36.6 (A)
This permissible value is larger than 35 A to be carried though the
cable. Therefore, according to the list of recommended eco-cables,
the cable to be selected for the cable with nominal cross section 3.5
mm2 is a polyethylene-insulated heat-resistant 4-conductor power
FDEOHKDYLQJPPÀQLVK2' DSSUR[PPZLWKVKLHOG 

2
Preparation

Determine the fundamental permissible current according to the
‡)XQGDPHQWDOSHUPLVVLEOH
cable conductor material (example: stranded copper wire). (For the
current
Copper
purpose of this example, the ampere indicated by
is selected from
Stranded conductor
wire
the table right.)
(nominal cross section: mm2)
(unit: A)
Next, determine the number of conductors. (In this example, the
2 to 3.5 (excl.)
27
cable contains 4 conductors (3 + ground).) Determine the applicable
3.5
to
5.5
(excl.)
37
◇
permissible current using the following formula.

Before Using the Products

Driver

1Before Using
the Products

5. Installation
Motor

Install the motor properly to avoid a breakdown or an accident.

Installation Place
Since the conditions of location affect a lot to the motor life, select a place which
meets the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The products
are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulÀGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH
DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.

Environmental Conditions
Item
Ambient temperature*1
Ambient humidity
Storage temperature*2
Storage humidity
Vibration Motor only
Impact
Motor only
Enclosure Motor only
rating (Connector type)
Altitude

Conditions
Ý&WRÝ& IUHHIURPIUHH]LQJ 
20% to 85% RH (free from condensation)
²Ý&WRÝ&
(Max. temperature guarantee: 80ÝC for 72 hours free from condensation*5)

20% to 85% RH (free from condensation*5)
Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Lower than 98m/s2 (10G)
IP67 (except rotating portion of output shaft and connecting pin
part of the motor connector and the encoder connector)*3*4
Lower than 1000m

*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
*3 7KHVHPRWRUVFRQIRUPWRWKHWHVWFRQGLWLRQVVSHFLÀHGLQ(1VWDQGDUGV (1(1 'R
QRWXVHWKHVHPRWRUVLQDSSOLFDWLRQZKHUHZDWHUSURRISHUIRUPDQFHLVUHTXLUHGVXFKDVFRQWLQXRXV
wash-down operation.
*4 This condition is applied when the connector mounting screw in case of motor 750W or less are
WLJKWHQHG WR WKH UHFRPPHQGHG WLJKWHQLQJ WRUTXH 5HIHU WR 3   %H VXUH WR XVH PRXQWLQJ
screw supplied with the connector. Correctly install and secure the gasket supplied with the cable
connector.
*5 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
‡0RXQWWKHPRWRUZLWKFDEOHRXWOHWIDFLQJGRZQZDUGIRUZDWHURLOFRXQWHUPHDVXUH
2) Vertical mounting
‡8VH WKH PRWRU ZLWK RLO VHDO PDNHWRRUGHU LQ FDVH RI PRWRU : RU OHVV  ZKHQ
mounting the motor with gear reducer to prevent the reducer oil/grease from entering
to the motor.
1-32

5. Installation

1
Before Using the Products

Motor

Oil/Water Protection

2
Motor
Preparation

1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is always subjectCable
ed to oil or water.
4) Use the motor with an oil seal when used with the
gear reducer, so that the oil may not enter to the
Oil / Water
motor through shaft.

Stress to Cables

4

Permissible Load to Output Shaft

5
Adjustment

)RUSHUPLVVLEOHORDGRIHDFKPRGHOUHIHUWR3´3HUPLVVLEOH/RDGDW2XWSXW6KDIWµ.

Setup

1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
VSHFLÀHGWRHDFKPRGHO
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life.)
 8VHDÁH[LEOHFRXSOLQJZLWKKLJKVWLIIQHVVGHVLJQHGH[FOXVLYHO\IRUVHUYRDSSOLFDWLRQLQ
order to make a radial thrust caused by micro misalignment smaller than the permissible value.

Note

3
Connection

1) Avoid a stress application to the cable outlet and connecting portion by bending or selfweight.
 (VSHFLDOO\LQDQDSSOLFDWLRQZKHUHWKHPRWRULWVHOIWUDYHOVÀ[WKHMXQFWLRQFDEOHLQWRWKH
bearer so that the stress by bending can be minimized.
3) Take the cable bending radius as large as possible. (When you use our optional cable,
Minimum R20mm)

Notes on Installation

‡3´-XQFWLRQFDEOHIRUPRWRUµ‡3´,QVWDOODWLRQRIGULYHUµ
‡3´3HUPLVVLEOH/RDGDW2XWSXW6KDIWµ‡3´'LPHQVLRQVµ

1-33

7
Supplement

Related page

6
When in Trouble

1) Do not apply direct impact to the shaft by hammer
while attaching/detaching a coupling to and from
the motor shaft.
Motor
(Or it may damage the encoder mounted on the
other side of the shaft.)
2) Make a full alignment. (incomplete alignment may
cause vibration and damage the bearing.)
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the
bearing depending on the condition of the machine and its mounting environment, and
PD\UHVXOWLQWKHEHDULQJQRLVH&KHFNDQGYHULÀFDWLRQE\FXVWRPHULVUHTXLUHG

5. Installation
Motor

Wiring Precautions on Movable Section
When wiring cable bear, take the following precautions:

‡&DEOHEHDUZLULQJ
7KHEHQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU
)RUÀQLVKRXWVLGHGLDPHWHUUHIHUWR3+RZWR,QVWDOO´5HODWLRQVKLSEHWZHHQ:LUH
'LDPHWHUDQG3HUPLVVLEOH&XUUHQWµDQGDVVRFLDWHGWDEOHV
'RQRWÀ[RUEXQGOHZLUHVLQWKHFDEOHEHDU
:KHQVHFXULQJWKHFDEOHÀ[LWRQO\DWQRQPRYDEOHHQGVRIWKHFDEOHEHDUZKHUHWKH
cable is free from any stress (e.g. tension). (Avoid tight lock.)
[Recommended cable bear wiring]
Cable bear

Cable

Caution

Cable end

Do not keep the cable loosened (too long) or under tension (too short).
Otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other
cable, etc., causing unpredictable troubles.

‡ &DEOHGLVWRUWLRQ
Keep the cable free from twists or kinks.
Distorted cable will cause loose connection, lowering performance and reliability.

‡/DPLQDWLRQIDFWRURIFDEOHLQFDEOHEHDU
 3ODFHFDEOHVRQDÁDWVXUIDFHLQSDUDOOHOZLWKRXWEULQJLQJWKHPLQWRFRQWDFWZLWKHDFK
other and measure the dimension necessary to cover these cables. Then select a cable bear which is wider than the measured dimension.
The lamination factor of cables should be lower than 60% (recommended factor is 30%
or below).
Do not run smaller and larger size cables in the same cable bear. Thin cables may
break under the pressure of thick cables. If it is necessary to mix cables of different
size, isolate them by using suitable separating material such as partition.
[Wiring arrangement in cable bear – example]

Cable

Thick cable

1-34

Partition

Thin cable

Cable

Partition

the Products

6. Permissible Load at Output Shaft
Motor

Radial load (P) direction
L

Thrust load (A and B) direction

1
Before Using the Products

1Before Using

2

A
M

P

Unit : N (1kgf=9.8N)

At assembly
Motor
series

MSME

During running

Thrust load
Radial thrust

A-direction B-direction
88

117.6

68.6

58.8

200W, 400W

392

147

196

245

98

750W

686

294

392

392

147

50W, 100W

147

88

117.6

68.6

58.8

200W, 400W

392

147

196

245

98

750W (200V)

686

294

392

392

147

750W (400V),
1.0kW, 1.5kW,
2.0kW, 3.0kW

980

588

686

490

196

784

343

490

196

784

343

588

686

1666

784

980

7.5kW

2058

980

1176

1176

490

11.0kW, 15.0kW

4508

1470

1764

2254

686

0.9kW

980

588

686

686

196

2.0kW

1666

784

980

1176

3.0kW
4.0kW
5.0kW

3.0kW
4.5kW

2058

980

1176

6.0kW

MHMD

MHME

1764

588

490

196

784

294

980

588

2.5kW, 4.0kW

1862

686

200W, 400W

392

147

196

245

98

750W

686

294

392

392

147

1.0kW, 1.5kW

980

588

686

490

196

2.0kW to 5.0kW

1666

784

980

784

343

7.5kW

2058

980

1176

1176

490

6

7

When the load point varies, calculate the permissible radial load, P (N) from the distance
RIWKHORDGSRLQW/ PP IURPWKHPRXQWLQJÁDQJHEDVHGRQWKHIRUPXODRIWKHULJKWWDble, and make it smaller than the calculated result.

1-35

Supplement

Note

490

1.5kW

686

5

When in Trouble

MFME

1470

4

Adjustment

980

3

Setup

147

400W to 2.0kW

MGME

Thrust load A
and
B-direction

50W, 100W

4.0kW, 5.0kW

MDME

Radial thrust

Connection

MSMD

Motor output

Preparation

B
L/2

6. Permissible Load at Output Shaft
Motor

L
P
Motor
series

MSMD

MSME

MDME

1-36

Motor
output

Formula of Load
and load point
relation

Motor
series

Motor
output

Formula of Load
and load point
relation

50W

P＝

3533
L+39

0.9kW

P＝

33957
L+14.5

100W

P＝

4905
L+59

2.0kW

P＝

69384
L+19

200W

14945
P＝
L+46

3.0kW

P＝

86730
L+19

400W

P＝

19723
L+65.5

4.5kW
6.0kW

P＝

89964
L+20

750W

P＝

37044
L+77

1.5kW

P＝

25235
L+19

50W

P＝

3533
L+39

2.5kW

P＝

40376
L+19

100W

P＝

4905
L+59

4.0kW

P＝

42336
L+19

200W

P＝

14945
L+46

200W

P＝

14945
L+46

400W

P＝

19723
L+65.5

400W

P＝

19723
L+65.5

750W (200V)

P＝

37044
L+77

750W

P＝

37044
L＋77

750W (400V)
1.0kW to 3.0kW

P＝

20090
L+13.5

1.0kW
1.5kW

P＝

24255
L＋14.5

4.0kW
5.0kW

P＝

36848
L+14.5

2.0kW to 5.0kW

P＝

46256
L+19

400W
600W

P＝

20090
L＋13.5

7.5kW

P＝

89964
L+20

1.0kW to 2.0kW

P＝

20580
L＋14.5

3.0kW

P＝

36848
L+14.5

4.0kW
5.0kW

P＝

42336
L+19

7.5kW

P＝

89946
L+20

11.0kW
15.0kW

P＝

200606
L+31

MGME

MFME

MHMD

MHME

2. Preparation

1
Before Using the Products

1. Conformance to international standards
EC Directives .............................................................................................2-2
Composition of Peripheral Equipments ......................................................2-6

2. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments ...............................2-10
A to G-frame, 100/200 V type:
Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..................................2-12
E-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-16
F-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-20
G-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..2-24
H-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram...2-28
D, E-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..2-32
F-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-36
G-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..2-40
H-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram...2-44
Specifications of Motor connector ............................................................2-48
Wiring method to connector .....................................................................2-50

2
Preparation

3
Connection

3. Wiring to the connector, X1
Connecting host computer.............................................................................. 2-51

4. Wiring to the connector, X2
Connecting communication connector ........................................................... 2-51

5. Wiring to the connector, X3
Safety function connector.........................................................................2-53

6. Wiring to the connector, X4

4

Connection to Host Controller ..................................................................2-54

7. Wiring to the connector, X5
Connect on to External Scale...................................................................2-55

Setup

8. Wiring to the connector, X6
Connection to Encoder.............................................................................2-57

9. Wiring to the connector, X7
Monitor output ..........................................................................................2-60

10. Timing Chart
Timing on power-up .................................................................................2-61
Alarm ........................................................................................................2-62
Servo-Lock ...............................................................................................2-63
Servo-ON/OFF .........................................................................................2-64

5
Adjustment

11. Built-in Holding Brake
Outline ......................................................................................................2-65
Specifications ...........................................................................................2-66

12. Dynamic Brake
Outline ......................................................................................................2-67
Connections of external dynamic brake resistor (Example) ........................... 2-68
Condition setting chart .................................................................................... 2-70

6

13. Setup of Parameter and Mode

When in Trouble

Outline / Setup / Connection ....................................................................2-72
Composition and List of Parameters ........................................................2-73
List of Parameters ....................................................................................2-74
Setup of Torque Limit ...............................................................................2-82

14. Setup of command division and multiplication ratio
(electronic gear ratio)
Relation between Electronic Gear and Position Resolution or Traveling Speed ...2-84

15. How to Use the Front Panel

7
Supplement

Setup ........................................................................................................2-86
Structure of Each Mode ...........................................................................2-88
Setup of front panel lock ..........................................................................2-90
Monitor Mode (SELECTION display) .......................................................2-91
Monitor Mode (EXECUTION display).......................................................2-92
Parameter Setup Mode ..........................................................................2-106
EEPROM Writing Mode .........................................................................2-107
Auxiliary Function Mode (SELECTION display) .....................................2-108
Auxiliary Function Mode (EXECUTION display) ....................................2-109
2-1

1. Conformance to international standards

2

Preparation

EC Directives

EC Directives
7KH(&'LUHFWLYHVDSSO\WRDOOVXFKHOHFWURQLFSURGXFWVDVWKRVHKDYLQJVSHFLÀFIXQFWLRQV
and have been exported to EU and directly sold to general consumers. Those products
DUHUHTXLUHGWRFRQIRUPWRWKH(8XQLÀHGVWDQGDUGVDQGWRIXUQLVKWKH&(PDUNLQJRQWKH
products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so
that the machine or equipment comprising our AC servos can meet EC Directives.

EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor and
the driver. And actual working condition often differs from this model condition especially
in wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to examine the machine incorporating our servos.

Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1.
(e.g. Install in the control box with IP54 enclosure.)
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed
PDUNHG EHWZHHQWKHSRZHUVXSSO\DQGWKHQRLVHÀOWHU

Remarks
Note



8VHDFRSSHUFDEOHZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU
For rated current of circuit breaker and fuse, refer to P.2-10 “Driver and List of Applicable Peripheral Equipments”.

(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds
115% or more than the rated current based on the time characteristics (see the next
SDJH &RQÀUPWKDWWKHHIIHFWLYHFXUUHQWRIWKHGULYHUGRHVQRWH[FHHGWKHUDWHGFXUrent. Set up the peak permissible current with Pr0.13 (Setup of 1st torque limit) and
Pr5.22 (Setup 2nd torque limit).
(4) Motor over-temperature protection is not provided.
 0RWRURYHUORDGWHPSHUDWXUHSURWHFWLRQVKDOOEHSURYLGHGDWWKHÀQDOLQVWDOODWLRQXSRQ
required by the NEC (National Electric Code).

Note

2-2

For Overload protection time characterstics, refer to P.6-14.

1. Conformance to international standards

1

SEMI F47
‡,QFOXGHVDIXQFWLRQLQFRPSOLDQFHZLWKWKH6(0,)VWDQGDUGIRUYROWDJHVDJLPPXQLW\
under no load or light load.
‡,GHDOIRUWKHVHPLFRQGXFWRUDQG/&'LQGXVWULHV
(1) Excluding the single-phase 100-V type.
(2) Please verify the actual compliance of your machine with the F47 standard for voltage sag immunity.

2
Preparation

Caution

Before Using the Products

EC Directives

Conformed Standards
Driver
EN55011
EN61000-6-2
EN61800-3

Low-Voltage
Directives

EN61800-5-1

Machinery
Directives
Functional
safety

EN60034-1
EN60034-5

EN954-1 (Cat. 3)
ISO13849-1 (PL c,d*2) (Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1

4

–

Setup

(*1)

–

Connection

EC Directives

EMC
Directives

3

Motor

UL1004-1
to 750W (200V)
( E327868: from
)
6.0kW

UL Standards

UL508C (E164620)

UL1004

(
C22.2 No.14

5

C22.2 No.100

Adjustment

CSA Standards

)

E327868: 400W (400V)
600W (400V), 750W (400V)
0.9kW to 5.0kW

IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association

6
When in Trouble

Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
‡2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWIXQFWLRQDOVDIHW\(*1) standards.
*2 PL d: Provided that EDM is used.

7

Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.
2-3

Supplement

Caution

1. Conformance to international standards
EC Directives

Installation Environment
Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in
IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
100V/200V
Power
supply

Metallic control box
Noise filter for signal lines *1

Residual
current device
(RCD)

Circuit
breaker

①

Surge
absorber

②

Noise filter

Driver
XA
L1
L2
L3

XB
U
V
W

L1C
L2C

⑥

③

X6

Noise filter for
signal lines
⑦

Insulated power supply
for interface

Noise filter for
signal lines *2

X4
⑧

Controller

④

Motor
M
RE

Noise filter for A to F-frame:
signal lines
Motor cable
X3
without shield
cable
Noise filter for
G, H-frame:
signal lines
⑤
Safety *3 Motor cable
with shield
controller
cable

Ground (PE)
*1 A to D-frame: Noise filter for signal lines, E to H-frame: Noise filter for signal lines 
*2 A to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines 
*3 Only for position control type is not provided with X3 terminal.

400V
Power
supply

Metallic control box
Noise filter for signal lines *1
Residual
current device
(RCD)

Circuit
breaker

①

Surge
absorber

②

Noise filter

⑥

Driver
XA
L1
L2
L3

Insulated
DC24V

24V
0V

③

X6

Noise filter for
signal lines
⑦

Insulated power supply
for interface

XB
U
V
W

Noise filter for
signal lines *2

X4
⑧

Controller

④

Motor
M
RE

Noise filter for D to F-frame:
signal lines
Motor cable
X3
without shield
cable
Noise filter for
G, H-frame:
signal lines
⑤
Safety *3 Motor cable
with shield
controller
cable

Ground (PE)
*1 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines 
*2 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines 
*3 Only for position control type is not provided with X3 terminal.

‡0DQGDWRU\UHTXLUHPHQWVWRFRQIRUPWR(0&GLUHFWLYH
･ Install the servo driver on the metallic casing (control board).
･,QVWDOOQRLVHÀOWHUDQGOLJKWQLQJVXUJHDEVRUEHULQWKHSRZHUVXSSO\OLQH
･ Use braided shield cable (tin plated annealed copper wire) for I/O signal cable and
encoder cable.
･3URYLGH WKH QRLVH ÀOWHU DV VKRZQ LQ WKH ÀJXUH IRU HDFK FDEOH ,2 OLQH DQG SRZHU
source line to be connected to the servo driver.
･6KLHOGRIFDEOHVQRWVKRZQRQWKHÀJXUHVKRXOGEHGLUHFWO\JURXQGHGWKURXJK3(
Because these conditions for EMC directive are affected by status of connected devices, wiring, connection and location, compliance should be checked after completing
installation.

2-4

1. Conformance to international standards

1
Before Using the Products

EC Directives

‡'HWDLOVRIFDEOH OHIWKDQGILJXUH
From

To

Cable function

Length

Remarks

Shield

1RLVHÀOWHU
for signal
lines

①

Breaker

1RLVHÀOWHU

Power line

2m

Single phase
or 3-phase

none

none

②

1RLVHÀOWHU

Servo driver

Power line

2m

ー

none

with

③

Servo driver

Servo motor

Junction cable
for motor

20m

ー

*1

with

④

Servo driver

Servo motor

Junction cable
for encoder

20m

ー

with

with

⑤

Switch box

Servo driver

I/O cable

3m

ー

with

with

⑥

Frame ground

1RLVHÀOWHU

FG line

1m

ー

none

none

⑦

Frame ground

1RLVHÀOWHU

FG line

1m

ー

none

none

⑧

AC power supply

Switch box

Power line

1m

ー

none

none

2
Preparation

Symbol

3
Connection

*1 Frame A to F: none, Frame G and H: with.

‡5HIHUWR3IRUDOHIWKDQGILJXUHDQGWKHOLVWRIWKH3HULSKHUDO(TXLSPHQWVDIWHU

4
Setup

5
Adjustment

6
When in Trouble

7

Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.
2-5

Supplement

Caution

1. Conformance to international standards

2

Preparation

&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV

Power Supply
+10%
100V type :
Single phase, 100V
–15%
(A to C-frame)
+10%
200V type :
Single/3-phase, 200V
–15%
(A to D-frame)
+10%
200V type :
3-phase, 200V
–15%
(E to H-frame)
+10%
400V type : Main power supply 3-phase, 380V
–15%
(D to H-frame)
: Control power supply
DC 24V ± 15%

to

120V

+10%
–15%

50/60Hz

to

240V

+10%
–15%

50/60Hz

to

230V

+10%
–15%

50/60Hz

to

480V

+10%
–15%

50/60Hz

(1) This product is designed to be used in over-voltage category (installation category) III
of EN 61800-5-1:2007.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950.

Remarks

‡Use sheathed (jacketed) cable, twisted cable or closely bundled cable for power cable.
‡3RZHUFDEOHDQGVLJQDOZLUHVPXVWEHVXIÀFLHQWO\LVRODWHGIURPHDFKRWKHU
Twisted

Servo driver

Closely bundled cable

Servo driver
L1

L1C

L2

L2C

L3

United

Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and PDUNHG EHWZHHQSRZHUVXSSO\DQGQRLVHÀOWHU
The short-circuit protection circuit on the product is not for protection of branch circuit.
The branch circuit should be protected in accordance with NEC and the applicable local
regulations in your area.

Note

2-6

For driver and applicable peripheral equipments, refer to P.2-10 "Driver and List of Applicable
Peripheral Equipments".

1. Conformance to international standards

1
Before Using the Products

&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV

Noise Filter
Option part No.

9ROWDJHVSHFLÀFDWLRQV
for driver

Manufacturer’s
part No.

Applicable
driver (frame)

DV0P4170

Single phase 100V/200V

SUP-EK5-ER-6

A, B-frame

3-phase 200V

Manufacturer

2

A, B-frame

Single phase 100V/200V
3-phase 200V

3SUP-HU10-ER-6

DV0P4220

Single/ 3-phase 200V

3SUP-HU30-ER-6

D-frame

DV0PM20043

3-phase 200V

3SUP-HU50-ER-6

E-frame

DV0P3410

3-phase 200V

3SUP-HL50-ER-6B

F-frame

C-frame

Okaya Electric Ind.

3

‡5HFRPPHQGHGFRPSRQHQWV
Model No.

Remarks

3-phase 200V

3-phase 400V

Applicable driver
(frame)
A, B, C-frame
D-frame
E, F-frame
G-frame
H-frame
D, E-frame
F-frame

Manufacturer

TDK-Lambda Corp.

4

Schaffner

G, H-frame

Isolate the input and output
AC input

Noise Filter

The effect of the noise filter is a little.
AC output

AC input

Noise Filter

1

4

2

5

2

6

3

3

E

4

1

5
E

6

6

Ground

Ground

AC output

When in Trouble

Do not place the input and output lines
in the same duct or do not tie both in a bundle.

Surge Absorber
9ROWDJHVSHFLÀFDWLRQV
for driver

Manufacturer’s
part No.

DV0P1450

3-phase 200V

R･A･V-781BXZ-4

DV0P4190

Single phase 100V/200V

R･A･V-781BWZ-4

DV0PM20050

3-phase 400V

R･A･V-801BXZ-4

Manufacturer

7

Okaya Electric Ind.

Remarks

When performing withstand voltage test of machine and equipment, be sure to remove the
surge absorber; otherwise, it will be damaged.

Related page

‡3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ‡3´2SWLRQµ
2-7

Supplement

Option part No.

5
Adjustment

‡6HOHFWDQRLVHÀOWHUZKRVHFDSDFLW\LVFRPPHQVXUDWHZLWKWKHSRZHUVRXUFHFDSDFLW\ LQ
consideration of the load condition).
‡)RUWKHGHWDLOHGVSHFLÀFDWLRQVRIHDFKQRLVHÀOWHUFRQWDFWWKHPDQXIDFWXUHU
‡:KHQWZRRUPRUHVHUYRGULYHUVDUHXVHGZLWKDVLQJOHQRLVHÀOWHUDWWKHFRPPRQSRZHUVRXUFHFRQVXOWZLWKWKHQRLVHÀOWHUPDQXIDFWXUHU
‡Do not run the input and output wiring on the same passage: noise resistance will drop. (Figure
at lower right)
‡Isolate the input and output line from each other. (Figure at lower left)

Setup

RTHN-5010
RTHN-5030
RTHN-5050
FS5559-60-34
FS5559-80-34
FN258L-16-07
FN258L-30-07
FN258-42-07
FN258-42-33

Rated
current
10
30
50
60
80
16
30
42
42

Connection

9ROWDJHVSHFLÀFDWLRQV
for driver

Preparation

DV0PM20042

1. Conformance to international standards
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV

Noise Filter for Signal Lines
Signal line, Encoder line, Control power line, Power line (A to D-frame: 100V/ 200V and
D to F-frame: 400V) and Motor line (A to F-frame).
Option part No.

Manufacturer’s
part No.

Manufacturer

DV0P1460

ZCAT3035-1330

TDK Corp.

‡5HFRPPHQGHGFRPSRQHQWV
Option part No.

Manufacturer’s
part No.

Applicable driver
(frame)

RJ8035

E-frame 200 V, F-frame 200 V

RJ8095

G, H-frame

T400-61D

G, H-frame

Power cable
Motor cable

Manufacturer
KK-CORP.CO.JP
MICROMETALS


6LJQDOZLUH
Power wire

0RWRUOLQH

(QFRGHUOLQH

:LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHÀOWHU
If sheathed (jacketed): remove the sheath (jacket) to the length so that wires (L1, L2,
/ FDQEHZRXQGRQWKHVLJQDOQRLVHÀOWHU LQFOXGLQJSRZHUOLQHGHGLFDWHGÀOWHU )RU
effective noise reduction capability, L1, L2 and L3 should be wound together.
If not effective, increase the number of signal noise filters (including power line
GHGLFDWHGÀOWHUV  6HHÀJXUHEHORZ
:KHQ LQVWDOOLQJ WKH VLJQDO QRLVH ÀOWHU LQFOXGLQJ PRWRU OLQH GHGLFDWHG ÀOWHU  WR RXU
optional cable, remove the sheath (jacket) to the length so that wires can be wound
RQ WKH VLJQDO QRLVH ÀOWHU LQFOXGLQJ SRZHU OLQH GHGLFDWHG ÀOWHU  )RU HIIHFWLYH QRLVH
reduction capability, U, V and W should be wound together.
If not effective, increase the number of signal noise filters (including power line
GHGLFDWHGÀOWHUV  6HHÀJXUHEHORZ
:LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHÀOWHU
DV0P1460

Sheath (jacket)

Cover

Electric wire

* If not effective, increase
the number of turns.
FG line

Sheath (jacket)

Cover

Electric wire

* If not effective, increase
the number of turns.
FG line

DV0P1460
Sheath (jacket)

Cover

Electric wire

* If not effective, increase
the number of filters.
FG line

2-8

1. Conformance to international standards

1
Before Using the Products

&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV

Residual current device
Install a type B Residual current device (RCD) at primary side of the power supply.

2

Grounding

Preparation

(1) To prevent electric shock, be sure to connect the ground terminal (
) of the driver,
and the ground terminal (PE) of the control panel.
(2) The ground terminal (
) must not be shared with other equipment. Two ground terminals are provided.

Structure of control board

3
Connection

If there is a gap at cable inlet/outlet, mounting hole of operation panel or a door, radio
waves will penetrate into or radiate out through the gap. To prevent unfavorable conditions due to radio frequency activities, observe the following control board design and
selection instruction.
‡The control board should be made of metal which provides electrical continuity.
‡The control board should not have electrically-isolated conductor.
‡All units installed in the casing should be grounded to the case.

4

Increasing noise resistance of control I/O signal
Setup

5
Adjustment

When noise is applied to the control input/output, it causes displacement and malfunctioning of I/O signal.
‡X1 to X7 are secondary side circuit which should be isolated from the primary power
source (24 VDC control power source, 24 VDC braking power source and 24 VDC for
regenerative resistor). Do not connect the secondary side circuit to the primary power
source and ground wire. Otherwise, I/O signal will cause error operation.
‡Control power source (particularly 24 VDC) should be completely isolated from external
operating power source. Never connect the ground of the control power source to that
of external power source.
‡The signal line should have shield, the both end of which should be connected to the
ground.

6
When in Trouble

7
For driver and applicable peripheral equipments, refer to P.2-10 “Driver and List of Applicable
Peripheral Equipments”.

Caution

Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.
2-9

Supplement

Note

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV

Preparation

Driver

Applicable
Voltage
motor
*1

Rated
output

MSME 3-phase,
200V
MHME
MDME
MFME
MDDH MSME
MSME
MDME
MHME
MGME 3-phase,
400V
MSME
MDME
MFME
MHME
MDME
MSME
3-phase,
MHME
200V
MEDH

0.9kW
1.0kW

1.5kW

1.0kW

approx.
0.5kVA

approx.
1.3kVA

approx.
1.8kVA
approx.
1.8kVA

)

(

)

approx.
2.3kVA

／

DV0P1450

DV0P4170

DV0P4190

DV0P4170

DV0P4190

／

／

DV0PM20042

DV0P1450

20A
(3P+1a)

0.75mm2/
AWG18
600 VAC
or more

15A
DV0P1460
DV0P4190
／

DV0P1450

DV0P4220

30A
(3P+1a)

20A

2.0kW

approx.
3.3kVA

MFME

2.5kW

MGME

2.0kＷ

FN258L-16-07

20A
(3P+1a)

Recommended DV0PM20050
component

)

DV0P1460
RJ8035
30A

DV0PM20043

DV0P1450

(

Recommended
component

)

approx.
3.8kVA
approx.
3.8kVA

FN258L-16-07

(

Recommended
component

)

DV0PM20050

DV0P1460

4.5kＷ

approx.
6.8kVA

5.0kＷ

approx.
7.5kVA

2.0kW

approx.
3.8kVA

3.0kW

approx.
4.5kVA

4.0kW

approx.
6.0kVA

4.5kＷ

approx.
6.8kVA

5.0kW

approx.
7.5kVA

0.75mm2/
AWG18
600 VAC
or more

30A
(3P+1a)

0.52mm2/
AWG20
100 VAC
or more
0.75mm2/
AWG18
100 VAC
or more
11mm or
smaller

DV0P1460
RJ8035
50A

DV0P3410

DV0P1450

(

Recommended
component

ø5.3

)

Terminal
block
M5

*5
100A
(3P+1a)

11mm or
smaller

0.75mm2/
AWG18
600 VAC
or more

ø5.3

Terminal
block
M5

3.5mm2/
AWG12
600 VAC
or more

3.5mm2/
AWG12
600 VAC
or more
7mm or
smaller

10mm or
smaller

30A

FN258L-30-07

(

Recommended
component

)

DV0PM20050

DV0P1460

2.0mm2/
AWG14
600 VAC
or more

0.52mm2/
AWG20
100 VAC
or more

60A
(3P+1a)

60A
(3P+1a)

approx.
4.5kVA

approx.
6.0kVA

2.0mm2/
AWG14
600V VAC
or more

*5

15A

Diameter
and
withstand
voltage of
brake cable

0.28mm2/
AWG22 to
0.75mm2/
AWG18
100VAC
or more

0.75mm2/
AWG18
600 VAC
or more

DV0P4190

(

Diameter
Crimp
Diameter
and
terminal
and
withstand for control
withstand
voltage
power
voltage of
of control
supply
motor cable
power
terminal
*4
supply cable
block

DV0P4190

／

DV0PM20042

DV0PM20042

10A

1.5kW

Crimp
terminal
for main
circuit
terminal
block

DV0P4190

approx.
1.8kVA

approx.
3.3kVA

MFME

／

3-phase

Rated
Diameter
operating
and
current of
withstand
magnetic
voltage of
contactor Contact
FRQÀJXUDWLRQ main circuit
cable
*2

approx.
2.3kVA

2.0kW

MGME
MSME
MDME
MHME

10A

Single phase

Noise
ÀOWHUIRU
signal

approx.
1.8kVA

MSME
MDME
3-phase,
MHME
400V

MSME
MDME
MGME
MHME
MSME
3-phase,
MDME
400V
MHME

)(

approx.
0.9kVA

approx.
3.8kVA

MGME

／

3-phase

DV0P4170

approx.
0.9kVA

2.5kW

MGME
MDME
MHME
MSME

Single phase

DV0P4170

approx.
0.5kVA

MFME

MFME

(

approx.
0.4kVA

0.9kW

MDME
MHME
3.0kＷ
MSME
MGME
MDME
3-phase,
4.0kＷ
MHME
200V
MSME

MFDH

at the
rated
(rated
load) (current)

Surge
absorber

Connection to exclusive connector

MGME

Noise
ÀOWHU

Circuit
breaker

Connection to exclusive connector

Single
50W to
MSME phase,
100W
100V
MADH MSMD
Single/
MHMD 3-phase, 50W to
200W
200V
Single
200W
MSME
100V
MBDH MSMD Single/
MHMD 3-phase, 400W
200V
Single
400W
MSME
100V
MCDH MSMD Single/
MHMD 3-phase, 750W
200V
MDME
1.0kW
MHME

5HTXLUHG
Power

60A
(3P+1a)

ø4.3

Terminal
block
M4

0.75mm2/
AWG18
100 VAC
or more

ø3.2

Terminal
block
M3

*1 Select peripheral equipments for single/3phase common specification according to the power source.
*2 For the external dynamic brake resistor, use the magnetic contactor with the same rating as that for the main circuit.
*3 When use the external regenerative resistor of the option (DV0PM20058, DV0PM20059), use the cable with the same diameter as the
main circuit cable.
*4 The diameter of the ground cable and the external dynamic brake resistor cable must be equal to, or larger than that of the motor cable.
The motor cable is a shield cable, which conforms to the EC Directives and UL Standards. (G, H-frame only)
*5 Use thses products to suit an international standard.

Related page

2-10

1RLVHÀOWHU36XUJHDEVRUEHU3
1RLVHÀOWHUIRUVLJQDO30RWRUEUDNHFRQQHFWRU3

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

Driver

Applicable
Voltage
motor
*1

Rated
output

5HTXLUHG
Power

6.0kW

approx.
9.0kVA

MHME

7.5kW

approx.
11kVA

MDME

7.5kW

approx.
11kVA

6.0kW

approx.
9.0kVA

7.5kW

approx.
11kVA

11kW

approx.
17kVA

3-phase,
200V

MGDH

MGME

3-phase,
400V

MHME

3-phase,
200V

15kW

MHDH MDME
11kW

approx.
22kVA

60A

30A

FS5559-60-34

(

Recommended
component

)

FN258-42-07
or
FN258-42-33 DV0PM20050

50A

60A

5.3mm2/
AWG10
600 VAC
or more
DV0P1460
RJ8095

60A
（3P+1a）

(

Recommended
component

)

Diameter
Crimp
Diameter
and
terminal
and
withstand for control
withstand
voltage
power
voltage of
of control
supply
motor cable
power
terminal
*4
supply cable
block
0.75mm2/
AWG18
600 VAC
or more

ø5.3

Terminal
block
M5

0.75mm /
AWG18
100 VAC
or more

2

10mm or
smaller

ø5.3
2

Diameter
and
withstand
voltage of
brake cable

Terminal
block
M5

13.3 mm2/
AWG6
600 VAC
or more

DV0P1450

(Recommended
component )
*5

FN258-42-07
or
FN258-42-33 DV0PM20050

(Recommended
component )

150A
（3P+1a）

100A
（3P+1a）

16mm or
smaller

13.3mm2/
AWG6
600 VAC
or more
*3

0.75mm2/
AWG18
600 VAC
or more

ø6.4

Terminal
block
M6

10mm or
smaller

ø4.3

0.75mm2/
AWG18
100 VAC
or more

Terminal
block
M4

21.1 mm2/
AWG4
600 VAC
or more

0.75mm2/
AWG18
100 VAC
or more

3

13.3 mm2/
AWG6
600 VAC
or more

Connection

approx.
22kVA

11mm or
smaller

T400-61D
FS5559-80-34

approx.
17kVA

)

Crimp
terminal
for main
circuit
terminal
block

(Recommended
component )

100A

125A

(

Rated
Diameter
operating
and
current of
withstand
magnetic
voltage of
contactor Contact
FRQÀJXUDWLRQ main circuit
cable
*2

100A
（3P+1a）

DV0P1450

(Recommended
component )

3-phase,
400V
15kW

Surge
absorber

Noise
ÀOWHUIRU
signal

Preparation

approx.
11kVA

MGME

Noise
ÀOWHU

at the
rated
(rated
load) (current)

7.5kW

MDME

Circuit
breaker

Before Using the Products

'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV

21.1 mm2/
AWG4
600 VAC
or more

‡ $ERXWFLUFXLWEUHDNHUDQGPDJQHWLFFRQWDFWRU
 7R FRPSO\ WR (& 'LUHFWLYHV LQVWDOO D FLUFXLW EUHDNHU EHWZHHQ WKH SRZHU DQG WKH QRLVH ÀOWHU
without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed
and
marked).
Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, below the maximum input voltage of the product.

6HOHFWDFLUFXLWEUHDNHUDQGQRLVHÀOWHUZKLFKPDWFKWRWKHFDSDFLW\RISRZHU
supply (including a load condition).

Setup

Remarks

4

‡ Terminal block and protective ground terminals
‡8VHDFRSSHUFRQGXFWRUFDEOHVZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU
‡8VHWKHDWWDFKHGH[FOXVLYHFRQQHFWRUIRU$WR(IUDPHDQGPDLQWDLQWKHSHHOHGRIIOHQJWKRIWR
9mm. (Refer to P.2-50)

‡)DVWHQLQJWRUTXHOLVW 7HUPLQDOEORFNVFUHZ7HUPLQDOFRYHUIDVWHQLQJVFUHZ

Terminal name

F200V

L1, L2, Ｌ３, L1C, L2C, B1, B2, B3, NC, U, V, W
24V、0V
L1, L2, Ｌ３, B1, B2, B3, NC, U, V, W
L1C, L2C, 24V, 0V, DB1, DB2, DB3, DB4, NC
L1, L2, Ｌ３, B1, B2, NC, U, V, W
L1C, L2C, 24V, 0V, DB1, DB2
L1, L2, Ｌ３, B1, B2, NC, U, V, W

F400V
G
H

‡)DVWHQLQJWRUTXHOLVW *URXQGWHUPLQDOVFUHZ&RQQHFWRUWRKRVWFRQWUROOHU ;
Connector to host
controller (X4)
Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH
size
1‡P *1
size
1‡P *1
M4
0.7 to 0.8
M5
1.4 to 1.6
M2.6
0.3 to 0.35
M6
2.4 to 2.6
Terminal block screw

Driver frame
A to E
F, G
H

*1 ‡Applying fastening torque larger than the maximum value may result in damage to the product.

Remarks

Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor
running out of control or being damaged from overheating. In addition, pay attention not to allow
conductive materials, such as wire chips, entering the driver during the installation and wiring.
2-11

7
Supplement

‡'RQRWWXUQRQSRZHUZLWKRXWWLJKWHQLQJDOOWHUPLQDOEORFNVFUHZVSURSHUO\
‡'R QRW WXUQ RQ SRZHU ZLWKRXW WLJKWHQLQJ DOO WHUPLQDO EORFN VFUHZV SURSHUO\ RWKHUZLVH
ORRVHFRQWDFWVPD\JHQHUDWHKHDW VPRNLQJÀULQJ 
‡7RFKHFNIRUORRVHQHVVFRQGXFWSHULRGLFLQVSHFWLRQRIIDVWHQLQJWRUTXHRQFHD\HDU

6
When in Trouble

Frame

Terminal cover fastening
screw
Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH
size
1‡P *1
size
1‡P *1
M5
1.0 to 1.7
M3
0.4 to 0.6
M3
0.19 to 0.21
M4
0.7 to 1.0
M5
1.0 to 1.7
M5
2.0 to 2.4
M3
0.3 to 0.5
M4
0.7 to 1.0
M5
2.0 to 2.5
M6
2.2 to 2.5
Terminal block screw

Adjustment

Driver

5

2

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

Preparation

Overall Wiring (A to D-frame, 100/200 V type)

Connecting Example of A to D-frame
‡$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH
 IURPWKHSRZHUVRXUFH

0DLQV
5HVLGXDO
FXUUHQWGHYLFH

6\PPHWULFFXUUHQWVKRXOGEH$UPVRUEHORZ
,IWKHVKRUWFLUFXLWFXUUHQWRQWKHSRZHUVRXUFH
H[FHHGVWKLVYDOXHXVHDFXUUHQWOLPLWLQJGHYLFH
HJFXUUHQWOLPLWLQJIXVHFXUUHQWOLPLWLQJFLUFXLW
EUHDNHURUWUDQVIRUPHU 

‡:LULQJRI0DLQ&RQQHFWRU ;$
Wiring to Connector, XA
‡&RQQHFWLRQWRLQSXWSRZHU

&LUFXLW%UHDNHU 0&&%
7RSURWHFWSRZHUVXSSO\OLQHIURPRYHUORDGLQJLQVWDOODZLULQJFLUFXLWEUHDNHUUDWHGWR
WKHFDSDFLW\RIWKHSRZHUVXSSO\

P.2-14

/ 3LQ
/ 3LQ

Noise Filter (NF)
5HPRYHVH[WHUQDOQRLVHIURPWKHSRZHU
OLQHV$QGUHGXFHVDQHIIHFWRIWKHQRLVH
JHQHUDWHGE\WKHVHUYRGULYHU

/ 3LQ
/& 3LQ
/& 3LQ

0DJQHWLF&RQWDFWRU 0&
7XUQVRQRIIWKHPDLQSRZHURIWKHVHUYR
GULYHU
8VHFRLOVXUJHVXSSUHVVLRQXQLWVWRJHWKHU
ZLWKWKLV
‡Never start nor stop the servo motor
ZLWKWKLV0DJQHWLF&RQWDFWRU
Reactor (L) WREHVXSSOLHGE\FXVWRPHU
5HGXFHVKDUPRQLFFXUUHQWRIWKHPDLQ
SRZHU

:LULQJWR&RQQHFWRU;%

‡:LULQJRI0RWRU&RQQHFWRU ;%
3LQ% SLQ % SLQ DQG
% SLQ
‡%DQG%WREHNHSWVKRUWHGIRU
QRUPDORSHUDWLRQ )RU&IUDPH
DQG'IUDPH 
‡:KHQ\RXFRQQHFWDQH[WHUQDO
UHJHQHUDWLYHUHVLVWRUGLVFRQQHFWD
VKRUWFLUFXLWZLUHEHWZHHQ%DQG%
)RU&IUDPHDQG'IUDPH WKHQ
FRQQHFWWKHH[WHUQDOUHJHQHUDWLYH
UHVLVWRUEHWZHHQ%DQG%VHWXS
3UWRRU

Note
1RWHWKDWQRUHJHQHUDWLYHUHVLVWRULV
HTXLSSHGLQ)UDPH$DQG%W\SH

Note
Related page
2-12

P.2-14

‡&RQQHFWLRQWRH[WHUQDOFRPSRQHQWV
% 3LQ
% 3LQ
Regenerative resistor (optional)

Remarks

‡:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
install an external protective apparatus, such
as thermal fuse without fail.
‡7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
UHJHQHUDWLYHUHVLVWRU 2SWLRQ If the thermal
fuse is activated, it will not resume.
‡0RXQWWKHUHJHQHUDWLYHUHVLVWRUon
incombustible material such as metal.

7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
‡3´2SWLRQVµ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

: High voltage

3& WREHVXSSOLHG
E\FXVWRPHU

Wiring to Connector, X7
‡0RQLWRURXWSXW

2

3

6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
3OHDVHGRZQORDGIURPRXUZHEVLWH

:LULQJWR&RQQHFWRU; P.2-51
‡&RQQHFWLRQWR3& 3$1$7(50

:LULQJWR&RQQHFWRU; 3
‡&RQQHFWLRQWR6DIHW\E\SDVVSOXJ
&KDUJHODPS
5HG/(' *1

4

6KRUWFLUFXLWZLUH %%

:LULQJWR&RQQHFWRU;

P.2-54

‡&RQQHFWLRQWRKRVWFRQWUROOHU

:LULQJWR&RQQHFWRU; P.2-55
‡&RQQHFWLRQWRIHHGEDFNVFDOH

7KHVHFRORUVDUHXVHG
 IRURSWLRQDOFDEOH

:LULQJWR&RQQHFWRU;
‡&RQQHFWLRQWRHQFRGHU
*URXQG
HDUWK

-XQFWLRQFDEOHIRUHQFRGHU
-XQFWLRQFDEOHIRUPRWRU
:LULQJWR&RQQHFWRU;% P.2-14
‡&RQQHFWLRQWRPRWRUGULYLQJSKDVH
DQGJURXQG

P.2-57

5

Remarks
‡;WR;DUHXVHGIRUWKH
VHFRQGDU\FLUFXLW7RFRQQHFWWKHVH
WHUPLQDOVWRWKHSULPDU\SRZHU
VXSSO\ SDUWLFXODUO\9'&SRZHU
VXSSO\IRUEUDNH LQVXODWLRQLV
UHTXLUHG
 'RQRWFRQQHFWWKHVHWHUPLQDOVWR
WKHVDPHSRZHUVXSSO\

'&3RZHUVXSSO\
IRUEUDNH'&9
WREHVXSSOLHGE\FXVWRPHU

7
Supplement

Related page

6
When in Trouble

-XQFWLRQFDEOH
IRUEUDNH

'RQRWPDNHGLVSODFHPHQWZLULQJRULQVSHFWLRQ
 ZKLOHWKH/('LVOLWFDXVHRIHOHFWULFVKRFN

Adjustment

*URXQG
WHUPLQDO

Setup

8SKDVH UHG
9SKDVH ZKLWH
:SKDVH EODFN

Note

3
Connection

:LULQJWR&RQQHFWRU; P.2-51
‡&RQQHFWLRQWR5656
RUKRVWFRQWUROOHU

Preparation

+DQGOHOHYHU
8VHWKLVIRUFRQQHFWRU
FRQQHFWLRQ6WRUHWKLV
DIWHUFRQQHFWLRQIRU
RWKHURFFDVLRQV
5HIHUWR32-50 IRU
FRQQHFWLRQ

Before Using the Products

Overall Wiring (A to D-frame, 100/200 V type)

•7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
• Only for position control type is not provided with X2, X3 and X5.
‡3´Wiring of the Main Circuit (A to G-frame, 100/200 V type)µ‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-13

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Wiring of the Main Circuit (A to D-frame, 100/200 V type)

Preparation

A to D-frame, 100 V / 200 V type
‡:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
‡'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
‡1HYHUWRXFKWKHSRZHUFRQQHFWRU ;$DQG;% WRZKLFKKLJKYROWDJHLVDSSOLHG
There is a risk of electric shock.

‡ Tips on Wiring
1) Wire connector (XA and XB).
2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks.

Power
supply

5&'

MCCB

NF

MC

L

5
4
3
2
1

L1
L2
/
L1C
L2C
XA

([WHUQDOUHJHQHUDWLYH
resistor

W

6
5
4
3
2
1

DC
24V

DC power supply
IRUEUDNH

U

5HG

V

:KLWH

Varistor
Fuse (125 V 10 A)

Note
Related page

2-14

%
B2
U
V

‡0DWFKWKHFRORUVRIWKHPRWRUOHDGZLUHVWRWKRVHRIWKH
FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89: 
‡'RQ WGLVFRQQHFWWKHVKRUWLQJFDEOHEHWZHHQ%DQG%
&DQG'IUDPHW\SH 6KRUWLQJFDEOHLVQRWUHTXLUHGIRU
$DQG%IUDPH'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDO
UHJHQHUDWLYHUHJLVWHULVXVHG
‡Avoid shorting and grounding. Don't connect the
main power.

W

‡Earth-ground this.
‡7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
*UHHQRU E
WHUPLQDO  RIWKHGULYHUDQGWKHJURXQGWHUPLQDO
*UHHQ\HOORZ
JURXQGSODWH RIWKHFRQWUROSDQHO
7KHVHFRORUV
‡
7
KHJURXQGWHUPLQDO  PXVWQRWEHVKDUHGZLWKRWKHU
 DUHXVHGIRU
 RSWLRQDOFDEOH
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3 ‡Don't connect the earth cable to other inserting slot,
nor make them touch.

%ODFN

Motor

B1

‡&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU
VSHFLILFDWLRQV
‡3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDO
FXUUHQWGHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHU
DQGLVHTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
‡3URYLGHDFLUFXLWEUHDNHU
‡0DNHVXUHWRSURYLGHDQRLVHILOWHU
‡3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
‡3URYLGHDQ$&5HDFWRU
‡Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.

XB

‡&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
‡7KHKROGLQJEUDNHKDVQRSRODULWLHV
‡)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
%UDNHµRQ3
‡3URYLGHDYDULVWRU
 &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ‡3´:LULQJPHWKRGWRFRQQHFWRUµ
‡3´&RQQHFWRUNLWIRU;$µ‡3´&RQQHFWRUNLWIRU;%µ

Preparation

Wiring Diagram (A to D-frame, 100/200 V type)

Compose the circuit so that the main circuit power will be shut off when an error occurs.

In Case of Single Phase, A to D-frame, 100 V / 200 V type
Power supply Single phase, 100V –15% to 120V +10%

Single phase, 200V –15% to 240V +10%

Remarks
ON

OFF

ALM

MC

Coil surge suppression units
L

Noise filter

MCCB

L1
L2
L3
L1C
L2C

MC

Remove the short wire when you connect
the external regenerative resistor.
(C, D-Frame)

Red
White
* These colors
Black
are used for
Green or Green/Yellow
optional cable.

Motor

Main power
supply
Control power
supply

3

XB
Connection

B1
B3
B2
U
V
W

External regenerative resistor

XA

Motor
connection

4

ALM

37
36

X4

ALM+
Setup

Insulated +
DC12 to 24V
ï
(±5%)

2
Preparation

When you use single phase,
connect the main power
between L1 and L3 terminals.

Built-in thermostat of
an external regenerative
resistor (light yellow)

1
Before Using the Products

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

$/0ï

In Case of 3-Phase, A to D-frame, 200 V type
Power supply 3-phase, 200V –15% to 240V +10%
ON

OFF

ALM

MC

Built-in thermostat of
an external regenerative
resistor (light yellow)

Noise filter

MCCB

L

MC

External regenerative resistor
Red
White
* These colors
Black
are used for
Green or Green/Yellow
optional cable.

Motor

Note
Related page

Control power
supply

6

XB

Motor
connection

7

ALM

37
36

X4

ALM+

Supplement

Insulated +
DC12 to 24V
ï
(±5%)

B1
B3
B2
U
V
W

XA

Main power
supply

When in Trouble

Remove the short wire when you connect
the external regenerative resistor.
(C, D-Frame)

L1
L2
L3
L1C
L2C

Adjustment

Coil surge suppression units

5

$/0ï

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ‡3´:LULQJPHWKRGWRFRQQHFWRUµ
2-15

2

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

Preparation

Overall Wiring (E-frame, 200 V type)

Connecting Example of E-frame
‡$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH
IURPWKHSRZHUVRXUFH
6\PPHWULFFXUUHQWVKRXOGEH$UPVRUEHORZ
,IWKHVKRUWFLUFXLWFXUUHQWRQWKHSRZHUVRXUFHH[FHHGV
WKLVYDOXHXVHDFXUUHQWOLPLWLQJGHYLFH HJFXUUHQWOLPLWLQJIXVHFXUUHQWOLPLWLQJFLUFXLWEUHDNHURU
WUDQVIRUPHU 

0DLQV
Residual
FXUUHQWGHYLFH

‡:LULQJRI0DLQ&RQQHFWRU ;$
&LUFXLW%UHDNHU 0&&%
7RSURWHFWSRZHUVXSSO\OLQHIURPRYHUORDGLQJLQVWDOODZLULQJFLUFXLWEUHDNHUUDWHGWR
WKHFDSDFLW\RIWKHSRZHUVXSSO\

:LULQJWR&RQQHFWRU;$
‡&RQQHFWLRQWRLQSXWSRZHU

3

/ 3LQ

Noise Filter (NF)
5HPRYHVH[WHUQDOQRLVHIURPWKHSRZHU
OLQHV$QGUHGXFHVDQHIIHFWRIWKHQRLVH
JHQHUDWHGE\WKHVHUYRGULYHU

L2 (Pin-4)

0DJQHWLF&RQWDFWRU 0&
7XUQVRQRIIWKHPDLQSRZHURIWKHVHUYR
GULYHU
8VHFRLOVXUJHsuppression unitsWRJHWKHU
ZLWKWKLV
‡Never start nor stop the servo motor
ZLWKWKLV0DJQHWLF&RQWDFWRU

L2C (Pin-1)

L3 (Pin-3)
L1C (Pin-2)

Reactor (L) (to be supplied by customer)
5HGXFHVKDUPRQLFFXUUHQWRIWKHPDLQ
SRZHU

‡:LULQJRI0RWRU&RQQHFWRU ;&
3LQ% SLQ % SLQ DQG
%SLQ
‡%DQG%WREHNHSWVKRUWHGIRU
normal operation.
‡:KHQ\RXFRQQHFWDQH[WHUQDO
UHJHQHUDWLYHUHVLVWRUGLVFRQQHFWD
VKRUWFLUFXLWZLUHEHWZHHQ%DQG
%WKHQFRQQHFWWKHH[WHUQDO
UHJHQHUDWLYHUHVLVWRUEHWZHHQ%
DQG%VHWXS3UWRRU

Note
Related page
2-16

:LULQJWR&RQQHFWRU;&

3

‡&RQQHFWLRQWRH[WHUQDOFRPSRQHQWV
B1 (Pin-6)
B2 (Pin-4)

Regenerative resistor (optional)

5HPDUNV

‡:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
install an external protective apparatus, such
as thermal fuse without fail.
‡7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
UHJHQHUDWLYHUHVLVWRU 2SWLRQ If the thermal
fuse is activated, it will not resume.
‡0RXQWWKHUHJHQHUDWLYHUHVLVWRUon
incombustible material such as metal.

7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
‡3´2SWLRQVµ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

+LJKYROWDJH

PC (to be supplied
by customer)

:LULQJWR&RQQHFWRU;
‡0RQLWRURXWSXW

2

3

6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
3OHDVHGRZQORDGIURPRXUZHEVLWH

:LULQJWR&RQQHFWRU; 3
‡&RQQHFWLRQWR3& 3$1$7(50

:LULQJWR&RQQHFWRU; 3
‡&RQQHFWLRQWR6DIHW\E\SDVVSOXJ

4

6KRUWFLUFXLWZLUH %%

:LULQJWR&RQQHFWRU;
3

3

‡&RQQHFWLRQWRKRVWFRQWUROOHU

:LULQJWR&RQQHFWRU; 3
‡&RQQHFWLRQWRfeedback scale

&KDUJHODPS
5HG/(' *1

Ground
terminal

Junction cable
for encoder

3

Brake cable

5

5HPDUNV
‡;WR;DUHXVHGIRUWKH
VHFRQGDU\FLUFXLW7R
FRQQHFWWKHVHWHUPLQDOVWR
WKHSULPDU\SRZHUVXSSO\
SDUWLFXODUO\9'&
SRZHUVXSSO\IRUEUDNH 
LQVXODWLRQLVUHTXLUHG
 'RQRWFRQQHFWWKHVH
WHUPLQDOVWRWKHVDPH
SRZHUVXSSO\

DC Power supply
for brake DC24V
(to be supplied by customer)

7

Related page

Supplement

'RQRWPDNHGLVSODFHPHQWZLULQJRULQVSHFWLRQZKLOHWKH/('LVOLWFDXVHRIHOHFWULFVKRFN

Note

6
When in Trouble

Junction cable for motor
&RQQHFWLRQWRPRWRUGULYLQJ
phase and ground

3

Adjustment

Ground
HDUWK

:LULQJWR&RQQHFWRU;
‡&RQQHFWLRQWRencoder

Setup

:LULQJWR&RQQHFWRU;%
‡&RQQHFWLRQWRPRWRU
8SKDVH UHG
9SKDVH ZKLWH
:SKDVH EODFN
7KHVHFRORUVDUHXVHG
 IRURSWLRQDOFDEOH

3
Connection

:LULQJWR&RQQHFWRU; 3
‡&RQQHFWLRQWR5656
RUKRVWFRQWUROOHU

Preparation

+DQGOHOHYHU
8VHWKLVIRUFRQQHFWRU
FRQQHFWLRQ6WRUHWKLV
after connection for
RWKHURFFDVLRQV
5HIHUWR3for
FRQQHFWLRQ

Before Using the Products

Overall Wiring (E-frame, 200 V type)

•7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
• Only for position control type is not provided with X2, X3 and X5.
‡3´Wiring of the Main Circuit (IUDPH9W\SH µ‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-17

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Wiring of the Main Circuit (E-frame, 200 V type)

Preparation
E-frame, 200 V type

‡:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
‡'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
‡1HYHUWRXFKWKHSRZHUFRQQHFWRU ;$;%DQG;& WRZKLFKKLJKYROWDJHLVDSSOLHG
There is a risk of electric shock.

‡ Tips on Wiring
1) Wire connector (XA, XB and XC).
2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks.

3RZHU
VXSSO\

5&'

0&&%

1)

L

MC

5
4
3
2
1

L1
L2
/
L1C
L2C
XA

4
3
2
1

([WHUQDOUHJHQHUDWLYH
resistor

%
%
%
1&
XC

U

5HG

V

:KLWH
%ODFN

W

*UHHQ

Motor

3
2
1

U
V
W
;%

E

7KHVHFRORUV
 DUHXVHGIRU
 RSWLRQDOFDEOH

*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3

DC
24V

Varistor
Fuse (125 V 10 A)

Note
Related page

2-18

'&SRZHUVXSSO\
IRUEUDNH

‡&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU
VSHFLILFDWLRQV
‡3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
‡3URYLGHDFLUFXLWEUHDNHU
‡0DNHVXUHWRSURYLGHDQRLVHILOWHU
‡3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
‡3URYLGHDQ$&5HDFWRU
‡Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
‡'RQ WGLVFRQQHFWWKHVKRUWLQJFDEOHEHWZHHQ%DQG%
'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDOUHJHQHUDWLYH
UHJLVWHULVXVHG
‡'RQRWFRQQHFWDQ\WKLQJWR1&
‡0DWFKWKHFRORUVRIWKHPRWRUOHDGZLUHVWRWKRVHRIWKH
FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89: 
‡Avoid shorting and grounding. Don't connect the
main power.
‡Earth-ground this.
‡7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
WHUPLQDO  RIWKHGULYHUDQGWKHJURXQGWHUPLQDO
JURXQGSODWH RIWKHFRQWUROSDQHO
‡7KHJURXQGWHUPLQDO  PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
‡Don't connect the earth cable to other inserting slot,
nor make them touch.
‡&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
‡7KHKROGLQJEUDNHKDVQRSRODULWLHV
‡)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
%UDNHµRQ3
‡3URYLGHDYDULVWRU
 &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ‡3´:LULQJPHWKRGWRFRQQHFWRUµ
‡3´&RQQHFWRUNLWIRU;$µ‡3´&RQQHFWRUNLWIRU;%;&µ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

Preparation

Wiring Diagram (E-frame, 200 V type)

Compose the circuit so that the main circuit power will be shut off when an error occurs.

In Case of 3-Phase, E-frame, 200 V type

2

Power supply 3-phase, 200V –15% to 230V +10%

OFF

ALM

MC

Built-in thermostat of an external
regenerative resistor (light yellow)
Preparation

ON

Noise filter

Coil surge suppression units
MCCB

L

MC

Red
White
* These colors
Black
are used for
Green
optional cable.

3

Control power
supply
XC

XB

Motor
connection

4

ALM

37
36

X4

ALM+

Setup

Insulated +
DC12 to 24V
ï
(±5%)

U
V
W

XA

Main power
supply

Connection

Remove the short wire when you connect
the external regenerative resistor.

Motor

L1
L2
L3
L1C
L2C
B1
B3
B2
NC

External regenerative resistor

1
Before Using the Products

2

$/0ï

5
Adjustment

6
When in Trouble

7

Related page

Supplement

Note

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ‡3´:LULQJPHWKRGWRFRQQHFWRUµ

2-19

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Preparation

Overall Wiring (F-frame, 200 V type)

Connecting Example of F-frame
‡$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH
from the power source.

0DLQV
Residual
current device

Symmetric current should be 5000 Arms or below.
If the short-circuit current on the power source
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit
breaker or transformer).

&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\

‡:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading, install a wiring circuit breaker rated to
the capacity of the power supply.

P.2-22

L1
L2
L3
L1C

1RLVH)LOWHU 1)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.

L2C

0DJQHWLF&RQWDFWRU 0&
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
‡1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU
ZLWKWKLV0DJQHWLF&RQWDFWRU
5HDFWRU / (to be supplied by customer)
Reduces harmonic current of the main
power.
3LQ%%DQG%
‡%DQG%WREHNHSWVKRUWHG
IRUQRUPDORSHUDWLRQ
‡:KHQ\RXFRQQHFWDQH[WHUQDO
regenerative resistor, disconnect a
short bar between B2 and B3,
then connect the external regenerative resistor between B1 and
B2, set up Pr0.16 to 1 or 2.
3LQ1&
‡'RQRWFRQQHFWDQ\WKLQJ

Note
Related page
2-20

&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV

P.2-22

B1
B2
5HJHQHUDWLYHUHVLVWRU RSWLRQDO

5HPDUNV

‡:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO
‡7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDO
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH
‡0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO

7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
‡3´2SWLRQVµ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

: High voltage

:LULQJWR&RQQHFWRU;
‡0RQLWRURXWSXW

P.2-60

Before Using the Products

Overall Wiring (F-frame, 200 V type)

PC (to be supplied by customer)
Setup support software
´3$1$7(50µ
Please download
from our web site.

2

:LULQJWR&RQQHFWRU;

P.2-51

‡&RQQHFWLRQWR5656
or host controller

:LULQJWR&RQQHFWRU;

3
P.2-53

:LULQJWR&RQQHFWRU;

P.2-54

‡&RQQHFWLRQWRKRVWFRQWUROOHU

:LULQJWR&RQQHFWRU; P.2-55
‡&RQQHFWLRQWRfeedback scale
:LULQJWR&RQQHFWRU;
‡&RQQHFWLRQWRencoder

* These colors are
used for optional
cable.

P.2-57

5HPDUNV

Ground
terminal

Charge lamp
(Red LED)*1

P.2-22

Junction cable
for encoder

DC Power supply for brake
DC24V
(to be supplied by customer)

Supplement

Related page

6

7

*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.

Note

5

When in Trouble

Junction cable for motor
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG

‡;WR;DUHXVHGIRUWKHVHFRQGDU\
circuit. To connect these terminals to
the primary power supply (particularly,
24 VDC power supply for brake),
insulation is required.
Do not connect these terminals to the
same power supply.

Adjustment

Junction cable
for brake

Ground
(earth)

4
Setup

U-phase(red)
V-phase(white)
W-phase(black)

Connection

‡&RQQHFWLRQWR6DIHW\E\SDVVSOXJ

Short circuit wire
(B2-B3)

Preparation

:LULQJWR&RQQHFWRU; P.2-51
‡&RQQHFWLRQWR3& 3$1$7(50

•7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
• Only for position control type is not provided with X2, X3 and X5.
‡3´Wiring of the Main Circuit )IUDPH9W\SH µ‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-21

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Wiring of the Main Circuit (F-frame, 200 V type)

Preparation
F-frame, 200 V type

‡:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
‡'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
‡Never touch the terminal to which high voltage is applied. There is a risk of electric shock.

‡ Tips on Wiring
  7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral Equipments" (P.2-10).
Tighten the terminal block screw with a torque between 1.0 and 1.7 N ‡P
  $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with a torque written on P.2-11.

L1
3RZHU
VXSSO\

5&'

MCCB

1)

MC

L

L2
L3
L1C
L2C
B1

([WHUQDOUHJHQHUDWLYH
UHVLVWRU

B3
B2
NC

U

5HG
:KLWH
%ODFN
*UHHQ

Motor

U

V

V

W

W

E

7KHVHFRORUV
 DUHXVHGIRU
 RSWLRQDOFDEOH

*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3
DC
24V

'&SRZHU
VXSSO\
IRUEUDNH

Varistor
)XVH 9$

Note
Related page

2-22

‡&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHUVSHFLILFDWLRQV
‡3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
‡3URYLGHDFLUFXLWEUHDNHU
‡0DNHVXUHWRSURYLGHDQRLVHILOWHU
‡3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
start/stop the motor with this Magnetic Contactor.
‡3URYLGHDQ$&5HDFWRU
‡'RQ WGLVFRQQHFWWKHVKRUWEDUEHWZHHQ%DQG%
'LVFRQQHFWWKLVRQO\ZKHQDQH[WHUQDOUHJHQHUDWLYHUHJLVWHU
LVXVHG
‡'RQRWFRQQHFWDQ\WKLQJWR1&
‡0DWFKWKHFRORUVRIWKHPRWRUOHDGZLUHVWRWKRVHRIWKH
FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89: 
‡Avoid shorting and grounding.
Don't connect the main power.
‡Earth-ground this.
‡7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
WHUPLQDO  RIWKHGULYHUDQGWKHJURXQGWHUPLQDO JURXQG
SODWH RIWKHFRQWUROSDQHO
‡7KHJURXQGWHUPLQDO  PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
‡Don't connect the earth cable to other inserting slot,
nor make them touch.
‡&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKHEUDNH
FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
‡7KHKROGLQJEUDNHKDVQRSRODULWLHV
‡)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
%UDNHµRQ3
‡3URYLGHDYDULVWRU
 &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

Preparation

Wiring Diagram (F-frame, 200 V type)

Compose the circuit so that the main circuit power will be shut off when an error occurs.

In Case of 3-Phase, F-frame, 200 V type

2

Power supply 3-phase, 200V –15% to 230V +10%

OFF

ALM

MC

Built-in thermostat of
an external regenerative
resistor (light yellow)

Preparation

ON

Noise filter

Coil surge suppression units

MCCB

L

MC

(Remove the short wire when you connect
the external regenerative resistor.)
Red
White
* These colors
Black
are used for
optional cable.
Green

Motor

L1
L2
L3
L1C
L2C
B1
B3
B2
NC
U
V
W

Main power
supply

3

Control power
supply

Motor
connection

4
ALM

37
36

X4

ALM+

Setup

Insulated +
DC12 to 24V
ï
(±5%)

Terminal block

Connection

External regenerative resistor

1
Before Using the Products

2

$/0ï

5
Adjustment

6
When in Trouble

7

Related page

Supplement

Note

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

2-23

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Preparation

Overall Wiring (G-frame, 200 V type)

Connecting Example of G-frame
‡$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH
from the power source.

0DLQV
Residual
current device

Symmetric current should be 5000 Arms or below.
If the short-circuit current on the power source
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit
breaker or transformer).

&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\

‡:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading,
install a wiring circuit breaker rated to the capacity
of the power supply.

L1C

1RLVH)LOWHU 1)
Removes external noise from the power lines. And
reduces an effect of the noise generated by the
servo driver.

L2

P.2-26

L2C
L1
L3

0DJQHWLF&RQWDFWRU 0&
Turns on/off the main power of the servo driver.
Use coil surge suppression units together with this.
‡1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV
0DJQHWLF&RQWDFWRU
5HDFWRU / (to be supplied by customer)
Reduces harmonic current of the main power.

&RQQHFWLRQWRH[WHUQDOFRPSRQHQWVP.2-26

B1
B2
5HJHQHUDWLYHUHVLVWRU(optional)

5HPDUNV
‡:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO.
‡7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
‡0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO.

1RWH
The wiring indicated with the broken line shall be
provided only when required.

Note
Related page
2-24

3LQ%DQG%
‡:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative resistor
between B1 and B2, set up Pr0.16 to 1 or 2.
3LQ'%'%'%DQG'%
･ 1RUPDOO\OHDYH'%DQG'%VKRUWFLUFXLWHG
･ To connect the external dynamic brake resistor,
UHIHUWR´'\QDPLF%UDNHµRQ3'RQRWXVH
WKHH[WHUQDOG\QDPLFEUDNHUHVLVWRUWRJHWKHU
ZLWKWKHEXLOWLQUHVLVWRU
3LQ1&
‡'RQRWFRQQHFWDQ\WKLQJ

7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
‡3´2SWLRQVµ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

: High voltage

Before Using the Products

Overall Wiring (G-frame, 200 V type)

PC (to be supplied
by customer)

2
P.2-60

6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
Please download from our web site.

:LULQJWR&RQQHFWRU;

Preparation

:LULQJWR&RQQHFWRU;
‡0RQLWRURXWSXW

P.2-51

‡&RQQHFWLRQWR3& 3$1$7(50

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L1

ヹヒ

ロヒヤ
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L2
ロ ビヤ
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L3

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:LULQJWR&RQQHFWRU; P.2-53
‡&RQQHFWLRQWR6DIHW\E\SDVVSOXJ

3
Connection

:LULQJWR&RQQHFWRU; P.2-51
‡&RQQHFWLRQWR5656
or host controller

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B1

ヹフ

ュャヒ

:LULQJWR&RQQHFWRU; P.2-54
‡&RQQHFWLRQWRKRVWFRQWUROOHU

B2

ュャビ

NC

U-phase

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V-phase

ヹプ

ュャピ

V

:-phase

ュャフ

:LULQJWR&RQQHFWRU;
‡&RQQHFWLRQWRencoder

W

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P.

Junction cable for encoder

5

Short bar (DB3-DB4)
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause
of electric shock.

Ground
(earth)

0RWRUFDEOH 6KLHOGZLUH
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG

5HPDUNV
‡;WR;DUHXVHGIRUWKHVHFRQGDU\
circuit. To connect these terminals to
the primary power supply (particularly,
24 VDC power supply for brake),
insulation is required.
Do not connect these terminals to the
same power supply.

DC Power supply
for brake DC24V
(to be supplied
by customer)

7
Supplement

Related page

6
When in Trouble

Brake cable

P.2-26

Adjustment

Ground
terminal

Setup

:LULQJWR&RQQHFWRU; P.2-55
‡&RQQHFWLRQWRfeedback scale

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U

Note

4

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‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHG
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2-25

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2

Wiring of the Main Circuit (G-frame, 200 V type)

Preparation
G-frame, 200 V type

‡:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
‡'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
‡Never touch the terminal to which high voltage is applied. There is a risk of electric shock.

‡ Tips on Wiring
 7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal
block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral
Equipments" (P.2-11).
Tighten the terminal block screw with a torque between 2.0 and 2.4 1‡ m (left side) and
1.0 and 1.7 1‡ m (right side).
 $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with the torque written on P.2-11.

NC
L1C
L2C
3RZHU 5&' MCCB
VXSSO\

1)

MC

U
V
W
E

L

L1

NC

L2

NC

L3

DB1

B1

DB2

B2

NC

NC

NC

U

DB3

V

DB4

W

NC

/HIW
VLGH

5LJKW
VLGH

Motor
*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3
DC
24V

'&SRZHU
VXSSO\
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Varistor
)XVH 9$

Note
Related page

2-26

‡&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU
VSHFLILFDWLRQV
‡3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
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HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
‡3URYLGHDFLUFXLWEUHDNHU
‡0DNHVXUHWRSURYLGHDQRLVHILOWHU
‡3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
start/stop the motor with this Magnetic Contactor.
‡3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU 
‡7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH9$&
RUEHORZRU9'&RUEHORZ
‡0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU´89:µ
‡Avoid shorting and grounding.
Don't connect the main power.
‡)RUQRUPDORSHUDWLRQGRQRWGLVFRQQHFWWKHVKRUWLQJEDU
IURP'%DQG'%UHPRYHWKHEDURQO\ZKHQWKHH[WHUQDO
G\QDPLFEUDNHUHVLVWRULVXVHG
‡Earth-ground this.
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WHUPLQDO  RIWKHGULYHUDQGWKHJURXQGWHUPLQDO JURXQG
SODWH RIWKHFRQWUROSDQHO
‡7KHJURXQGWHUPLQDO  PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
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‡Don't connect the earth cable to other inserting slot,
nor make them touch.
‡&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKHEUDNH
FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
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XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
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* Do not connect anything to NC.

The wiring indicated with the broken line shall be provided only when required.
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Wiring Diagram (G-frame, 200 V type)

Preparation

Compose the circuit so that the main circuit power will be shut off when an error occurs.

In Case of 3-Phase, G-frame, 200 V type

2

Power supply 3-phase, 200V –15% to 230V +10%

ALM

OFF

MC1

Built-in thermostat of an external
regenerative resistor (light yellow)

Preparation

ON

Coil surge suppression units
L

Noise filter

MCCB

Power supply
(3-phase)

1
Before Using the Products

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

MC1

External
regenerative resistor

Main power
supply

3

Control power
supply

Connection

Note 1)

L1
L2
L3
L1C
L2C
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W

Motor
connection

4
Motor

37
36

ALM＋

Setup

Insulated +
DC12 to 24V
ï
(±5%)

ALM

ALM−

Note 1)
Normally, do not disconnect the shorting bar.

5
Adjustment

6
When in Trouble

7

Related page

Supplement

Note

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

2-27

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Preparation

Overall Wiring (H-frame, 200 V type)

Connecting Example of H-frame
‡$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHplate from the power source.

Mains
Residual
current device

Symmetric current should be 5000 Arms or below.
If the short-circuit current on the power source
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit
breaker or transformer).

‡:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading,
install a wiring circuit breaker rated to the capacity
of the power supply.

Charge lamp (LED)
Do not make displacement,
wiring or inspection while
the LED is lit - cause of
electric shock.

1RLVH)LOWHU 1)
Removes external noise from the power lines. And
reduces an effect of the noise generated by the
servo driver.
0DJQHWLF&RQWDFWRU 0&
Turns on/off the main power of the servo driver.
Use coil surge suppression units together with this.
‡1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV
0DJQHWLF&RQWDFWRU
L2C

5HDFWRU / (to be supplied by customer)
Reduces harmonic current of the main power.
9'&
SRZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU
to be supplied by
customer

(

)

L1 L2 L3

&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV

Related page
2-28

P.2-30

P.2-30

B2
5HJHQHUDWLYHUHVLVWRU
(optional)

‡:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH
resistor, LQVWDOODQH[WHUQDOSURWHFWLYH
DSSDUDWXVVXFKDVWKHUPDOIXVHZLWKRXW
IDLO.
‡7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDO
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH
‡0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO.
‡)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ
Diagram” on P.2-31.

Note

&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\

B1

* Use a power
supply with
5 A or larger
capacity.

5HPDUNV

L1C

0DJQHWLF&RQWDFWRU 0&
'\QDPLF%UDNH
UHVLVWRU
be supplied by
(tocustomer
)

Turns on/off the dynamic brake
resistor.
Use coil surge suppression units
together with this.

5HPDUNV
‡:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRULQVWDOODQ
H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH
ZLWKRXWIDLO
‡0RXQWWKHG\QDPLFEUDNHUHVLVWRURQLQFRPEXVWLEOHPDWHULDO
VXFKDVPHWDO
‡)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ'LDJUDPµRQ3
‡)RUDQH[DPSOHRIWKHUHFRPPHQGHGSURWHFWLYHFLUFXLWUHIHUWR
“Dynamic Brake” on P.2-67.

7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
‡3´2SWLRQVµ

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1

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:LULQJWR&RQQHFWRU;

P.2-60

‡0RQLWRURXWSXW

Before Using the Products

Overall Wiring (H-frame, 200 V type)

PC(to be supplied by customer)
Setup support software
“PANATERM”
Please download
from our web site.

2

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Preparation

:LULQJWR&RQQHFWRU; P.2-51
‡&RQQHFWLRQWR3& 3$1$7(50

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:LULQJWR&RQQHFWRU;

P.2-51

‡&RQQHFWLRQWR5656
or host controller

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3

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:LULQJWR&RQQHFWRU; P.2-54
‡&RQQHFWLRQWRKRVWFRQWUROOHU
:LULQJWR&RQQHFWRU; P.2-55
‡&RQQHFWLRQWRfeedback scale
L1C

L2

L3

B1

DB1

DB2

B2

NC

U

V

W

Junction cable
for encoder

Ground terminal

Motor cable (Shield wire)
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG

5

3LQ%DQG%

P.2-30

‡:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative
resistor between B1 and B2, set up Pr0.16
to 1 or 2.
3LQ'%DQG'%
‡:KHQLQVWDOOLQJDQH[WHUQDOG\QDPLFEUDNH
resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to
between LIC and DB1.

5HPDUNV
DC Power supply
for brake DC24V
(to be supplied
by customer)

Related page

7

3LQ1&
‡'RQRWFRQQHFWDQ\WKLQJ

Supplement

Note

‡7KHYROWDJHDSSOLHGDFURVV'%DQG
'%PXVWEH9$&RUEHORZRU
9'&RUEHORZ

6
When in Trouble

Brake cable

5HPDUNV
‡;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW
To connect these terminals to the primary
power supply (particularly, the 24 VDC
power supply for brake and the 24 VDC
power supply for regenerative resistor),
insulation is required.
Do not connect these terminals to the same
power supply.

Adjustment

Ground
(earth)

U-phase
V-phase
W-phase

4

P.2-57
Setup

L1

L2C

:LULQJWR&RQQHFWRU;
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Connection

:LULQJWR&RQQHFWRU; P.2-53
‡&RQQHFWLRQWR6DIHW\E\SDVVSOXJ

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‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHG
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-29

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Wiring of the Main Circuit (H-frame, 200 V type)

Preparation
H-frame, 200 V type

‡:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
‡'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
‡Never touch the terminal to which high voltage is applied. There is a risk of electric shock.

‡ Tips on Wiring
 7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal
block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral
Equipments" (P.2-11).
Tighten the terminal block screw with a torque between 0.7 and 0.8 1‡ m (upper side)
and 2.2 and 2.5 1‡ m (lower side).
 $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with the torque written on P.2-11.

Upper
VLGH

L1C
L2C
Power 5&' MCCB
supply

1)

MC

L

L1

DB1

L2

DB2

L3
DC
24V

3RZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU

B1
B2
NC

U
V
W
E

U
V
W
Lower
VLGH

Motor
*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3
DC
24V

DC power
supply
IRUEUDNH

Varistor
)XVH 9$

Note
Related page

2-30

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VSHFLILFDWLRQV
‡3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
‡3URYLGHDFLUFXLWEUHDNHU
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
‡7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH
9$&RUEHORZRU9'&RUEHORZ
‡3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU 
‡'RQRWFRQQHFWDQ\WKLQJWR1&
‡0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU“U, V, W”
‡Avoid shorting and grounding.
Don't connect the main power.
‡Earth-ground this.
‡7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
WHUPLQDO  RIWKHGULYHUDQGWKHJURXQGWHUPLQDO
JURXQGSODWH RIWKHFRQWUROSDQHO
‡7KHJURXQGWHUPLQDO  PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
‡Don't connect the earth cable to other inserting slot,
nor make them touch.
‡&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
‡7KHKROGLQJEUDNHKDVQRSRODULWLHV
‡)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
%UDNHµRQ3
‡3URYLGHDYDULVWRU
 &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU

The wiring indicated with the broken line shall be provided only when required.
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Wiring Diagram (H-frame, 200 V type)

Preparation

Compose the circuit so that the main circuit power will be shut off when an error occurs.

In Case of 3-Phase, H-frame, 200 V type

2

Power supply 3-phase, 200V –15% to 230V +10%

OFF

ALM

MC1

Coil surge suppression units
L

Noise filter

MCCB

Power supply
(3-phase)

MC1

Insulated +
DC24V ï

Note 1)
MC2

External
R1
regenerative resistor R2
Note 4)

Coil surge suppression units
Note 2) Note 5) Note 5) Note 5)

Dynamic Brake resistor
Note 3)

MC2

Motor

Note 4)

Main power
supply

3

Control power
supply

Connection

L1
L2
L3
L1C
L2C
B1
B2
NC
DB1
DB2
U
V
W

Built-in thermostat of
an external regenerative resistor
(T1 and T2 terminals)

Preparation

ON

Motor
connection

4

ALM
37
36

ALM＋
ALM−

Setup

Insulated +
DC12 to 24V
ï
(±5%)

Note 1)
Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.

5
Adjustment

Note 2)
Servo may be turned on in the external sequence if the contact deposits: to protect the system,
provide the auxiliary contact.
Note 3)
Use 1.2 ї, 400 W resistor (to be supplied by customer).
Note 4)
To use the external dynamic brake resistor:
Connect the R1 and R2 terminals to B1 and B2.
Connect the T1 and T2 terminals as shown in the left diagram.
Connect the 24 V and 0 V terminals to a 24 VDC power supply.
Connect the E terminal to the ground.
Refer to P.7-122 “Options” for the specifications of the external regenerative resistor.
Note 5)
Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external
dynamic brake resistor.

7
Supplement

Related page

6
When in Trouble

Note

1
Before Using the Products

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

The wiring indicated with the broken line shall be provided only when required.
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2-31

2

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

Preparation

Overall Wiring (D, E-frame, 400 V type)

Connecting Example of D, E-frame
‡$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH
from the power source.
Symmetric current should be 5000 Arms or below.
If the short-circuit current on the power source
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit
breaker or transformer).

‡:LULQJRI0DLQ&RQQHFWRU ;$
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading, install a wiring circuit breaker rated to
the capacity of the power supply.
1RLVH)LOWHU 1)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.

0DLQV
Residual
current device

* Use a power
supply with
2 A or larger
capacity.

9'&SRZHUVXSSO\
IRUFRQWURO
(to be supplied by customer)

24V
0V

:LULQJWR&RQQHFWRU;' P.2-34
‡&RQQHFWLRQWRcontrol power
:LULQJWR&RQQHFWRU;$

P.2-34

‡&RQQHFWLRQWRLQSXWSRZHU
L1 (Pin-3)
L2 (Pin-2)
L3 (Pin-1)

0DJQHWLF&RQWDFWRU 0&
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
‡1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU
ZLWKWKLV0DJQHWLF&RQWDFWRU
5HDFWRU / (to be supplied by customer)
Reduces harmonic current of the main
power.

‡:LULQJRI0RWRU&RQQHFWRU ;&
3LQ% SLQ % SLQ DQG% SLQ
‡%DQG%WREHNHSWVKRUWHGIRUQRUPDO
RSHUDWLRQ
‡:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, disconnect a short circuit wire
between B2 and B3, then connect the external
regenerative resistor between B1 and B2, set
up Pr0.16 to 1 or 2.

5HPDUNV

Note
Related page
2-32

:LULQJWR&RQQHFWRU;&

P.2-34

‡&RQQHFWLRQWRH[WHUQDOFRPSRQHQWV
B1 (Pin-4)
B2 (Pin-2)

5HJHQHUDWLYHUHVLVWRU(optional)
‡:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO
‡7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
‡0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO

7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
‡3´2SWLRQVµ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

: High voltage
:LULQJWR&RQQHFWRU;

P.2-60

‡0RQLWRURXWSXW

PC (to be supplied by customer)
Setup support software
´3$1$7(50µ
Please download
from our web site.

:LULQJWR&RQQHFWRU;

2
P.2-51

‡&RQQHFWLRQWR3& 3$1$7(50

:LULQJWR&RQQHFWRU;

Preparation

Handle lever
Use this for connector
connection. Store this
after connection for
other occasions.
(Refer to P.2-50 for
connection.)

Before Using the Products

Overall Wiring (D, E-frame, 400 V type)

P.2-51

‡&RQQHFWLRQWR5656
or host controller

3

:LULQJWR&RQQHFWRU; P.2-54
‡&RQQHFWLRQWRKRVWFRQWUROOHU

Connection

:LULQJWR&RQQHFWRU; P.2-53
‡&RQQHFWLRQWR6DIHW\E\SDVVSOXJ

Short circuit wire (B2-B3)

:LULQJWR&RQQHFWRU;%
‡&RQQHFWLRQWRPRWRU

:LULQJWR&RQQHFWRU; P.2-55
‡&RQQHFWLRQWRfeedback scale

P.2-34

:LULQJWR&RQQHFWRU;
‡&RQQHFWLRQWRencoder

P.2-57

Setup

U-phase(red)
V-phase(white)
:SKDVH EODFN

4

5HPDUNV
Ground
terminal

Ground
(earth)

Charge lamp
(Red LED)*1

Brake cable

6
P.2-34

When in Trouble

0RWRUFDEOH 6KLHOGZLUH
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG

DC Power supply for brake
DC24V
(to be supplied by customer)

7

Related page

Supplement

*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.

Note

5
Adjustment

Junction cable
for encoder

‡;WR;DUHXVHGIRUWKHVHFRQGDU\
circuit. To connect these terminals to
the primary power supply (particularly,
the 24 VDC power supply for control
and the 24 VDC power supply for
brake), insulation is required.
Do not connect these terminals to the
same power supply.

•7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
• Only for position control type is not provided with X2, X3 and X5.
‡3´Wiring of the Main Circuit '(IUDPH9W\SH µ‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-33

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Wiring of the Main Circuit (D, E-frame, 400 V type)

Preparation

D, E-frame, 400 V type
‡:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
‡'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
‡1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ ;% ;& DQG ;'  WR ZKLFK KLJK YROWDJH LV DSplied. There is a risk of electric shock.

‡ Tips on Wiring
1) Wire connector (XA, XB, XC and XD).
2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks.

2
1

DC
24V

Power RCD MCCB
supply

NF

MC

L

3
2
1
4
3
2
1

Yellow
(X2)

W

Black
*UHHQ
or
*UHHQ/
Yellow

Motor

L1
L2
/
XA
B1
%
B2
N

3
2
1

V

:KLWH

0V
XD

XC

U

Red

24V

U
V
W
XB

E

7KHVHFRORUV
 DUHXVHGIRU
 RSWLRQDOFDEOH

*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3

DC
24V

Varistor
Fuse (125 V 10 A)

Note
Related page

2-34

DC power supply
IRUEUDNH

‡'LUHFWSRZHUVXSSO\IRUFRQWUROFLUFXLW
‡&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU
VSHFLILFDWLRQV
‡3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
‡3URYLGHDFLUFXLWEUHDNHU
‡0DNHVXUHWRSURYLGHDQRLVHILOWHU
‡3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
‡3URYLGHDQ$&5HDFWRU
‡$&SKDVHSRZHUVXSSO\9IRUPDLQFLUFXLW
‡'RQ WGLVFRQQHFWWKHVKRUWLQJFDEOHEHWZHHQ%DQG
%'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDO
UHJHQHUDWLYHUHJLVWHULVXVHG
‡'RQRWFRQQHFWDQ\WKLQJWR1
‡0DWFKWKHFRORUVRIWKHPRWRUOHDGZLUHVWRWKRVHRIWKH
FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89: 
‡Avoid shorting and grounding. Don't connect the
main power.
‡Earth-ground this.
‡7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKH
JURXQGWHUPLQDO  RIWKHGULYHUDQGWKHJURXQG
WHUPLQDO JURXQGSODWH RIWKHFRQWUROSDQHO
‡7KHJURXQGWHUPLQDO  PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
‡Don't connect the earth cable to other inserting
slot, nor make them touch.
‡&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
‡7KHKROGLQJEUDNHKDVQRSRODULWLHV
‡)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZ
WRXVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ
+ROGLQJ%UDNHµRQ3
‡3URYLGHDYDULVWRU
 &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ‡3´:LULQJPHWKRGWRFRQQHFWRUµ
‡3´&RQQHFWRUNLWIRU;$µ‡3´&RQQHFWRUNLWIRU;%;&µ‡3´&RQQHFWRUNLWIRU;'µ

Preparation

Wiring Diagram (D, E-frame, 400 V type)

Compose the circuit so that the main circuit power will be shut off when an error occurs.

In Case of 3-Phase, D, E-frame, 400 V type

2

Power supply 3-phase, 380V –15% to 480V +10%

OFF

ALM

MC

Built-in thermostat of an external
regenerative resistor (light yellow)

Coil surge suppression units

Insulated +

XD

Note 1)

24V
0V

ï
MCCB

L

Noise filter

DC24V

L1
L2
L3

(Remove the short wire when you connect
the external regenerative resistor.)

U
V
W

XA

3

Main power
supply
XC

XB

Motor
connection

4

ALM

37
36

ALM+

X4

Setup

Insulated +
DC12 to 24V
ï
(±5%)

Control power
supply

Connection

B1
B3
B2
N

External regenerative resistor

Motor

Preparation

ON

1
Before Using the Products

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

$/0ï

Note 1)
Shielding the circuit is recommended for the purpose of noise reduction.

5
Adjustment

6
When in Trouble

7

Related page

Supplement

Note

The wiring indicated with the broken line shall be provided only when required.
‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ‡3´:LULQJPHWKRGWRFRQQHFWRUµ

2-35

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Preparation

Overall Wiring (F-frame, 400 V type)

Connecting Example of F-frame
‡$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH
from the power source.
Symmetric current should be 5000 Arms or below.
If the short-circuit current on the power source
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit
breaker or transformer).

0DLQV
Residual
current device

* Use a power
supply with
2 A or larger
capacity.

9'&SRZHUVXSSO\
IRUFRQWURO
(to be supplied by customer)

24V
0V

‡:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading, install a wiring circuit breaker rated to
the capacity of the power supply.
1RLVH)LOWHU 1)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.

&RQQHFWLRQZLWKFRQWURO
SRZHUVXSSO\

3

&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\

3

/
L2
/

0DJQHWLF&RQWDFWRU 0&
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
‡1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU
ZLWKWKLV0DJQHWLF&RQWDFWRU
5HDFWRU / (to be supplied by customer)
Reduces harmonic current of the main
power.
3LQ%%DQG%
‡%DQG%WREHNHSWVKRUWHGIRU
normal operation.
‡:KHQ\RXFRQQHFWDQH[WHUQDO
regenerative resistor, disconnect a
VKRUWEDUEHWZHHQ%DQG%
then connect the external regenHUDWLYHUHVLVWRUEHWZHHQ%DQG
%VHWXS3UWRRU
3LQ1&
‡'RQRWFRQQHFWDQ\WKLQJ

Note
Related page
2-36

&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV

3

%
%

5HJHQHUDWLYHUHVLVWRU RSWLRQDO

5HPDUNV

‡:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO
‡7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
‡0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO

7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
‡3´2SWLRQVµ

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

: High voltage

Before Using the Products

Overall Wiring (F-frame, 400 V type)

PC (to be supplied
by customer)

2
P.2-60

6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
Please download from our web site.

:LULQJWR&RQQHFWRU;

Preparation

:LULQJWR&RQQHFWRU;
‡0RQLWRURXWSXW

P.

‡&RQQHFWLRQWR3& 3$1$7(50

3

:LULQJWR&RQQHFWRU; P.
‡&RQQHFWLRQWR5656
or host controller

Connection

:LULQJWR&RQQHFWRU; P.
‡&RQQHFWLRQWR6DIHW\E\SDVVSOXJ
:LULQJWR&RQQHFWRU; P.2-54
‡&RQQHFWLRQWRKRVWFRQWUROOHU

Short bar
%%

U-phase(red)
V-phase(white)
:SKDVH EODFN

:LULQJWR&RQQHFWRU;

Setup

:LULQJWR&RQQHFWRU; P.2-55
‡&RQQHFWLRQWRfeedback scale

4

P.2-57

‡&RQQHFWLRQWRencoder

5HPDUNV

Charge lamp
5HG/(' 

Junction cable for motor
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG

3

Junction cable
for encoder

'&3RZHUVXSSO\IRUEUDNH
'&9
(to be supplied by customer)

7

Related page

Supplement

'RQRWPDNHGLVSODFHPHQWZLULQJRULQVSHFWLRQZKLOHWKH/('LVOLWFDXVHRIHOHFWULFVKRFN

Note

6
When in Trouble

Junction cable
for brake

Ground
(earth)

5
Adjustment

Ground
terminal

‡;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW
To connect these terminals to the primary
SRZHUVXSSO\ SDUWLFXODUO\WKH9'&SRZHU
VXSSO\IRUFRQWURODQGWKH9'&SRZHU
supply for brake), insulation is required.
 'RQRWFRQQHFWWKHVHWHUPLQDOVWRWKHVDPH
power supply.

•7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
• Only for position control type is not provided with X2, X3 and X5.
‡3´Wiring of the Main Circuit )IUDPH9W\SH µ‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-37

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Wiring of the Main Circuit (F-frame, 400 V type)

Preparation
F-frame, 400 V type

‡:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
‡'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
‡Never touch the terminal to which high voltage is applied. There is a risk of electric shock.

‡ Tips on Wiring
 7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal
block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral
Equipments" (P.2-10).
Tighten the terminal block screw with a torque written on P.2-11.
 $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with a torque written on P.2-11.

24V

DC
24V

0V

L1
3RZHU 5&' MCCB
VXSSO\

1)

MC

L

L2
L3
B1
B3
B2
NC


2
4

&RQQHFWRU
IRUPRWRU



1
3

1
2

172167-1
PIN No. Application
1
U-phase
V-phase
2
W-phase
3
Ground
4

172165-1
PIN No. Application
1
Brake
2
Brake

‡ :KHQWKHPRWRUVRI060( :WR: !DUHXVHGWKH\DUHFRQQHFWHGDVVKRZQEHORZ
Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)
* Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise,
the degree of protection of IP67 will not be guaranteed.

1
2
3
4

&RQQHFWRUIRUHQFRGHU

5
6
7

JN6CR07PM2

20-bit Incremental
PIN No. Application
FG(SHIELD)
1
—
2
E0V
3
PS
4
—
5
E5V
6
PS
7

17-bit Absolute
PIN No. Application
FG(SHIELD)
1
%$7ï
2
E0V
3
PS
4
BAT＋
5
E5V
6
PS
7

Tightening torque of the screw (M2) 0.19 to 0.21 N·m
* Be sure to use only the screw supplied with the connector, to
avoid damage.

PE

&RQQHFWRUIRUPRWRU

PIN No. Application
1
U-phase
2
V-phase
3
W-phase
PE
Ground

3
2
1

JN8AT04NJ1

Tightening torque of the screw (M2) 0.085 to 0.095 N·m
(screwed to plastic)
* Be sure to use only the screw supplied with the connector,
to avoid damage.

[Motor with brake]

1

&RQQHFWRUIRUEUDNH

Remarks
2-48

PIN No. Application
1
Brake
* Electromagnetic brake is
2
Brake
a nonpolar device.

2

Tightening torque of the screw (M2) 0.19 to 0.21 N·m

JN4AT02PJM-R

* Be sure to use only the screw supplied with the connector,
to avoid damage.

Do not connect anything to NC.

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

1

‡ :KHQWKHPRWRUVRI060( : 9 N:WRN: 0'0(0)0(0*0(0+0(!DUHXVHG
 WKH\DUHFRQQHFWHGDVVKRZQEHORZ
Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)

‡&RQQHFWRUIRUHQFRGHU 
M

K
J

A

B

N

L

C
P

T

G

1 2 3
4 5 6 7
8 9 10

D

R

S
H

E
F

JN2AS10ML3-R

N/MS3102A20-29P
20-bit Incremental
PIN No. Application

,3 motor
&RQQHFWRUIRUHQFRGHU
6PDOOW\SH

17-bit Absolute
PIN No. Application
NC
NC
NC
NC
NC
NC
E0V
E5V
FG(SHIELD)
PS
PS
NC
NC
NC
NC
BATï
BAT＋

A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T

E0V
NC
PS
E5V
NC
NC
PS
NC
FG(SHIELD)
NC

1
2
3
4
5
6
7
8
9
10

17-bit Absolute
PIN No. Application
E0V
1
NC
2
PS
3
E5V
4
BATï
5
BAT＋
6
PS
7
NC
8
FG(SHIELD)
9
10
NC

3

4
Remarks

Do not connect anything to NC.

Setup

NC
NC
NC
NC
NC
NC
E0V
E5V
FG(SHIELD)
PS
PS
NC
NC
NC
NC
NC
NC

20-bit Incremental
PIN No. Application

Connection

A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T

2
Preparation

,3 motor
&RQQHFWRUIRUHQFRGHU
/DUJHW\SH



Before Using the Products

Specifications of Motor connector

‡&RQQHFWRUIRUPRWRUEUDNH
Table of Connector for motor and Connector for brake
0RWRU
PRGHO

0RWRUFDSDFLW\

9
9
ZLWK%UDNH ZLWKRXW%UDNH ZLWK%UDNH ZLWKRXW%UDNH
C
C
'
'
1.5W
MFME
'
'
'
'
2.5kW, 4.5kW
C
A
'
A
0.9kW
'
%
'
%
MGME 2.0kW to 4.5kW
()
(
()
(
6.0kW
C
A
'
A
1.0kW to 1.5kW
'
%
'
%
MHME 2.0kW to 5.0kW
()
(
()
(
7.5kW

0RWRU
PRGHO

Connector for motor

Connector
for motor

I

A

C

B

A
JL04V-2E20-4PE-B-R

D

JL04HV-2E22-22PE-B-R
PIN No. Application
A
U-phase
B
V-phase
C
W-phase
D
Ground

F

E

G H

I

C

D

JL04V-2E20-18PE-B-R

JL04V-2E24-11PE-B-R

PIN No. Application
with Brake: Brake
G
without Brake: NC
with Brake: Brake
H
without Brake: NC
NC
A
U-phase
F
V-phase
I
W-phase
B
Ground
E
Ground
D
NC
C

PIN No. Application
with Brake: Brake
A
without Brake: NC
with Brake: Brake
B
without Brake: NC
NC
C
U-phase
D
V-phase
E
W-phase
F
Ground
G
Ground
H
NC
I





D

A

D

A

C

B

C

B

E
JL04V-2E32-17PE-B-R

F
N/MS3102A 14S-2P

PIN No. Application
U-phase
A
V-phase
B
W-phase
C
Ground
D

PIN No. Application
Brake
A
Brake
B
NC
C
NC
D

Remarks

Do not connect anything to NC.
2-49

7
Supplement

B

6

A B C
B

E D C

D

Connector
for brake

5

When in Trouble

G H A
F

0RWRUFDSDFLW\

Adjustment

750W
1.0kW to 2.0kW
3.0kW to 5.0kW
400W, 600W
1.0kW to 2.0kW
MDME
3.0kW to 5.0kW
7.5kW to 15.0kW
MSME

9
9
ZLWK%UDNH ZLWKRXW%UDNH ZLWK%UDNH ZLWKRXW%UDNH
—
—
'
A
C
A
'
A
'
%
'
%
—
—
'
A
C
A
'
A
'
%
'
%
()
(
()
(

2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ

2

Wiring method to connector

Preparation

‡)ROORZWKHSURFHGXUHVEHORZIRUWKHZLULQJFRQQHFWLRQWRWKH&RQQHFWRU XA , XB and XC .

How to connect
1. Peel off the insulation cover of the cable.
‡)RUVLQJOHZLUH 3OHDVHREH\WKHOHQJWKLQÀJXUH 
‡)RUVWUDQGHGZLUHV IHUUXOHVPXVWEHXVHGDVLOOXVWUDWHGEHORZ 
Example: Ferrules with plastic insulating sleeve
(AI series, Phoenix Contact, Ltd.)
1) Peel off the sheath so that the conductor portion of the
cable will protrude from the tip of the ferrule. (It should
protrude 1 mm or more from the ferrule.)
2) Insert the cable into the ferrule and crimp it with an appropriate crimping tool.
3) After crimping, cut off the cable conductor portion protruding from the ferrule. (The allowable protruding length
after cutting should be 0 to 0.5 mm.)
‡Part No. of the crimping tool:
CRIMPFOX U-D66 (1204436)
Available from Phoenix Contact, Ltd.
(1) A＞B

A

B

8 to 9 mm

Examples: Nylon-insulated ferrule
(NTUB series, J.S.T. Mfg. Co., Ltd.)
Vinyl-insulated ferrule
(VTUB series, J.S.T. Mfg. Co., Ltd.)
1) Peel off the sheath of the cable conductor
portion to the length equal to that of sheath
on the ferrule.
2) Insert the cable into the ferrule and crimp it
with an appropriate crimping tool.
‡3DUW1RRIWKHFULPSLQJWRRO<17
Available from J.S.T. Mfg. Co., Ltd

① A≧B A≦B＋C
A

B

C

(2)

②

1mm or more

(3)

‡:KHQSHHOLQJRIIWKHVKHDWKRIWKHFDEOHWDNHFDUHQRWWRGDPDJHRWKHUSRUWLRQV
‡:KHQFULPSLQJWKHIHUUXOHVXIÀFLHQWO\FKHFNWKHVWDWXVRIWKHIHUUXOHDQGFDEOH,IWKHFRQGXFWRUVRIWKHFDEOH
stick out from the insulation cover or protrude excessively from the tip of the ferrule, accidents such as an elecWULFVKRFNDQGÀUHIURPDVKRUWFLUFXLWPD\UHVXOW
100V/200V specifications

400V specifications


Conductor Size
AWG18 to 12
6KHDWK2XWOLQH
ѮWRѮPP

Conductor Size
AWG18
7HUPLQDO0RGHO1XPEHU $,*< 3KRHQL[&RQWDFW/WG
Conductor Size
AWG16 to 14
Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)

XA, XB, XC

Conductor Size
AWG18 to 12
6KHDWK2XWOLQH
ѮWRѮPP

Conductor Size
AWG16 to 14
Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
XD

Conductor Size
AWG24 to 20
6KHDWK2XWOLQH
ѮWRѮPP

Conductor Size
AWG24 to 22
Terminal Model Number VTUB-0.5 (J.S.T. Mfg. Co., Ltd)

2. Insert the cable to the connector in the following 2 methods.
(a) Insert the cable using the supplied handle lever.
 E ,QVHUWWKHFDEOHXVLQJDÁDWEODGHVFUHZGULYHU (GJHZLGWKWRPP 
(a) Using handle lever

1

Attach the handle
lever to the handling
slot on the upper
portion. Press down
the lever to push
down the spring.

2

Insert the peeled
cable while pressing
down the lever, until
it hits the insertion
slot (round hole).

(b) Using screw driver

3

Release the lever.

1

Press the screw
driver to the
handling slot on the
upper portion to
push down the
spring.

* You can pull out the cable by pushing down the spring as the above.

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‡,QVHUWRQO\RQHFDEOHLQWRHDFKRQHRIFDEOHLQVHUWLRQVORW
‡3D\DWWHQWLRQWRLQMXU\E\VFUHZGULYHU
2-50

2

Insert the peeled
cable while pressing
down the screw
driver, until it hits
the insertion slot
(round hole).

3

Release the screw
driver.

1

Connecting host computer

Preparation

This is used for USB connection to a personal computer. It is possible to change the parameter setting and perform monitoring.
Application

Caution

Connector
Pin No.

VBUS

1

Dï

2

D+

3

—

4

Do not connect.

GND

5

Connected to ground of control circuit.

Contents

2

Use for communication with personal
computer.

Preparation

USB signal terminal

Symbol

Before Using the Products

3. Wiring to the connector, X1

2

3

Use commercially available USB mini-B connector for the driver.
Connection

4. Wiring to the connector, X2

2

Connecting communication connector

Preparation

4

This is used for connection to the host controller when two or more units are used.
RS232 and RS485 interfaces are supplied.
Symbol

Connector
Pin No.

Signal ground

GND

1

Connected to ground of control circuit.

NC

–

2

Do not connect.

TXD

3

RXD

4

RS232
The transmission / reception method.

ï

5

485+

6

ï

7

485+

8

FG

Shell

RS485 signal

5

RS485
The transmission / reception method.

6
Connected with protective earth terminal in
the servo driver.

Connector (plug): 2040008-1 (optional, available from Tyco Electronics)
[Connector pin assignment]
8 6 4 2
7 5 3 1

Note
Related page

7

(Viewed from cable)

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supply (particularly, the 24 VDC power supply for control, the 24 VDC power supply for brake,
and the 24 VDC power supply for regenerative resistor [H-frame only]), insulation is required.
Do not connect these terminals to the same power supply.
‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;
‡3´&RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOH IRU5656 µ
2-51

Supplement

Remarks

When in Trouble

Frame ground

Contents

Adjustment

RS232 signal

Setup

Application

4. Wiring to the connector, X2
Connecting host computer

‡7KLVVHUYRGULYHUIHDWXUHVNLQGVRIFRPPXQLFDWLRQIXQFWLRQ56DQG56DQG\RXFDQXVHLQ
3 connecting methods.

To communicate with a single driver through RS232
Connect the host (PC or controller) to an driver through RS232.
[How to connect]
Shut off both powers of
the PC andthe driver
before inserting/pulling
out the connector.

Cable prepared
by the user

Connector X2

Connector

To communicate with multiple drivers through RS232 and RS485
By connecting the host (PC and host controller) and one driver via RS232 and connecting other drivers via RS485 each other, you can connect multiple drivers.
RS485

RS485

RS232
Connector X2

Connector X2

Set the axis number (Pr5.31) of driver
to be connected through RS485 to a value
in the range 1 to 31.

Note

Connector X2

Host controller
(PC controller)

Set the axis number (Pr5.31) of driver to be
connected to the host through RS232 to 0.

‡3$1$7(50@µ

Composition and List of Parameters

Preparation

‡7KHSDUDPHWHU1RLVGLVSOD\HGLQWKHIRUPRI3U;<< ;&ODVVLÀFDWLRQ<<1R 
‡)RUWKHGHWDLOVRQWKHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Parametr No.
Class No.*

Class name

Group

page

00 to 17 Basic setting

Parameter for Basic setting

P.2-74

1

00 to 27 Gain adjustment

Parameter for Gain adjustment

P.2-75

2

00 to 23 Damping control

Parameter for Damping control

P.2-76

3

00 to 29

4

00 to 44 I/F monitor setting

Parameter for I/F monitor setting

P.2-78

5

00 to 35 Enhancing setting

Parameter for Enhancing setting

P.2-79

6

00 to 39 Special setting

Parameter for Special setting

P.2-81

Verocity/ Torque/
Parameter for Verocity/ Torque/ Full-closed
Full-closed control control

2
Preparation

0

1
Before Using the Products

13. Setup of Parameter and Mode

2

P.2-77

3
Connection

* The Parameter No. consists of 2 digits.

4

‡,QWKLVGRFXPHQWIROORZLQJV\PEROVUHSUHVHQWHDFKPRGH
Symbol

Control mode
Position control

0

S

Velocity control

1

T

Torque control

2

F

Full-Closed control

6

P/S

Position (1st)/Velocity (2nd) control

3*

P/T

Position (1st)/Torque (2nd) control

4*

S/T

Velocity (1st)/Torque (2nd) control

5*

5
Adjustment

P

Setup

Setup value
of Pr0.01

6
When in Trouble

* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd
with control mode switching input (C-MODE).
When C-MODE is ON : 1st mode selection
When C-MODE is OFF : 2nd mode selection
Do not enter the command 10ms before/after the switching.

7
Supplement

2-73

13. Setup of Parameter and Mode

2

Preparation

List of Parameters

[Class 0] Basic setting
Parametr
No.

Default
Title

Range

Class No.

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

Turning
Related
on of Control Mode Detail
power
page
supply P S T F

0

00

Rotational direction setup

0 to 1

1

ï

○

○ ○ ○ ○

0

01

Control mode setup

0 to 6

0

ï

○

○ ○ ○ ○

0

02

Real-time auto-gain tuning setup

0 to 6

1

ï

○ ○ ○ ○

0

03

Selection of machine stiffness at realtime auto-gain tuning

0 to 31

ï

○ ○ ○ ○

0

04

Inertia ratio

○ ○ ○ ○

0

05

0

4-4

4-5

13

11

0 to 10000

250

%

Selection of command pulse input

0 to 1

0

ï

○

○

○

06

Command pulse rotational direction
setup

0 to 1

0

ï

○

○

○

0

07

Command pulse input mode setup

0 to 3

1

ï

○

○

○

0

08

Command pulse counts per one
motor revolution

0 to 220

10000

pulse

○

○

○

0

09

1st numerator of electronic gear

0 to 230

0

ï

○

○

0

10

Denominator of electronic gear

0 to 230

10000

ï

○

○

0

11

Output pulse counts per one motor
revolution

1 to 262144

2500

P/r

○

○ ○ ○ ○

0

12

Reversal of pulse output logic

0 to 3

0

ï

○

○ ○ ○ ○

0

13

1st torque limit

0 to 500

500*1

%

100000

Command
unit

1

ï

4-6

4-7

0 to 2

27

0

14

Position deviation excess setup

0

15

Absolute encoder setup

0 to 2

0

16

External regenerative resistor setup

0 to 3

0

17

Load factor of external regenerative
resistor selection

0 to 4

3

0

3

4-8

4-9

○ ○ ○ ○
4-11
○

○

○

○

○

ï

○

○ ○ ○ ○

ï

○

○ ○ ○ ○

4-12

0

'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 “Torque limit setting”.

Note

2-74

Parameter describes of this page is P.4-4 to P.4-12.

13. Setup of Parameter and Mode

1

[Class 1] Gain adjustment
Parametr
No.

Default
Title

Range

Class No.

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

Turning
Related
on of Control Mode Detail
power
page
supply P S T F

1

00

1st gain of position loop

0 to 30000

480

320

0.1/s*

○

1

01

1st gain of velocity loop

1 to 32767

270

180

0.1Hz*

○ ○ ○ ○

1

02

1st time constant of velocity loop
integration

1 to 10000

210

310

0.1ms*

○ ○ ○ ○ 4-13

1

03

VWÀOWHURIVSHHGGHWHFWLRQ

1

04

VWWLPHFRQVWDQWRIWRUTXHÀOWHU

0 to 2500

84

1

05

2nd gain of position loop

0 to 30000

1

06

2nd gain of velocity loop

1 to 32767

1

07

2nd time constant of velocity loop
integration

1 to 10000

1

08

QGÀOWHURIVSHHGGHWHFWLRQ

0 to 5

1

09

QGWLPHFRQVWDQWRIWRUTXHÀOWHU

0 to 2500

1

10

Velocity feed forward gain

0 to 1000

1

11

9HORFLW\IHHGIRUZDUGÀOWHU

1

12

1

0

○

○ ○ ○ ○

126

0.01ms

○ ○ ○ ○

570

380

0.1/s*

○

270

180

0.1Hz*

○ ○ ○ ○

10000

0.1ms*

○ ○ ○ ○

0

ï
126

3

○

○ ○ ○ ○ 4-14

0.01ms*

○ ○ ○ ○

300

0.10%*

○

○

0 to 6400

50

0.01ms*

○

○

Torque feed forward gain

0 to 1000

0

0.10%*

○ ○

○

13

7RUTXHIHHGIRUZDUGÀOWHU

0 to 6400

0

0.01ms*

○ ○

○ 4-15

1

14

2nd gain setup

0 to 1

1

ï

○ ○ ○ ○

1

15

Mode of position control switching

0 to 10

0

ï

○

○

1

16

Delay time of position control
switching

0 to 10000

50

0.1ms*

○

○

1

17

Level of position control switching

0 to 20000

50

ï

○

○

1

18

Hysteresis at position control
switching

0 to 20000

33

ï

○

○ 4-17

1

19

Position gain switching time

0 to 10000

33

0.1ms*

○

○

1

20

Mode of velocity control switching

0 to 5

0

ï

○

1

21

Delay time of velocity control
switching

0 to 10000

0

0.1ms*

○

1

22

Level of velocity control switching

0 to 20000

0

ï

○

1

23

Hysteresis at velocity control
switching

0 to 20000

0

ï

○

1

24

Mode of torque control switching

0 to 3

0

ï

○

1

25

Delay time of torque control switching 0 to 10000

0

0.1ms*

○

1

26

Level of torque control switching

0 to 20000

0

ï

○

1

27

Hysteresis at torque control switching 0 to 20000

0

ï

○

4

5

2-75

7
Supplement

Parameter describes of this page is P.4-13 to P.4-19.

6
When in Trouble

The symbol “ * ” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.

Adjustment

4-18

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power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO

Note

Setup

4-16

4-19

Caution

Connection

ï

84

2
Preparation

0 to 5

Before Using the Products

List of Parameters

13. Setup of Parameter and Mode
List of Parameters

[Class 2] Damping control
Parametr
No.

Default
Title

Range

Class No.

2

00

$GDSWLYHÀOWHUPRGHVHWXS

2

01

1st notch frequency

2

02

2

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

Turning
Related
on of Control Mode Detail
power
page
supply P S T F

0 to 4

0

ï

50 to 5000

5000

Hz

○ ○ ○ ○

1st notch width selection

0 to 20

2

ï

○ ○ ○ ○

03

1st notch depth selection

0 to 99

0

ï

○ ○ ○ ○

2

04

2nd notch frequency

50 to 5000

5000

Hz

○ ○ ○ ○

2

05

2nd notch width selection

0 to 20

2

ï

○ ○ ○ ○

2

06

2nd notch depth selection

0 to 99

0

ï

○ ○ ○ ○

2

07

3rd notch frequency

50 to 5000

5000

Hz

○ ○ ○ ○

2

08

3rd notch width selection

0 to 20

2

ï

○ ○ ○ ○

2

09

3rd notch depth selection

0 to 99

0

ï

○ ○ ○ ○ 4-21

2

10

4th notch frequency

50 to 5000

5000

Hz

○ ○ ○ ○

2

11

4th notch width selection

0 to 20

2

ï

○ ○ ○ ○

2

12

4th notch depth selection

0 to 99

0

ï

○ ○ ○ ○

2

13

6HOHFWLRQRIGDPSLQJÀOWHUVZLWFKLQJ

0 to 3

0

ï

○

○

2

14

1st damping frequency

0 to 2000

0

0.1Hz*

○

○

2

15

VWGDPSLQJÀOWHUVHWXS

0 to 1000

0

0.1Hz*

○

○ 4-23

2

16

2nd damping frequency

0 to 2000

0

0.1Hz*

○

○ 4-22

2

17

QGGDPSLQJÀOWHUVHWXS

0 to 1000

0

0.1Hz*

○

○ 4-23

2

18

3rd damping frequency

0 to 2000

0

0.1Hz*

○

○ 4-22

2

19

UGGDPSLQJÀOWHUVHWXS

0 to 1000

0

0.1Hz*

○

○ 4-23

2

20

4th damping frequency

0 to 2000

0

0.1Hz*

○

○ 4-22

2

21

WKGDPSLQJÀOWHUVHWXS

0 to 1000

0

0.1Hz*

○

○

2

22

3RVLWLRQDOFRPPDQGVPRRWKLQJÀOWHU

0 to 10000

0

0.1ms*

○

○

2

23

3RVLWLRQDOFRPPDQG),5ÀOWHU

0 to 10000

0

0.1ms*

○

○ 4-24

○ ○

○

4-20

4-22

4-23

'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO

Caution
Note
2-76

The symbol “ * ” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Parameter describes of this page is P.4-20 to P.4-24.

13. Setup of Parameter and Mode

1

>&ODVV@9HURFLW\7RUTXH)XOOFORVHGFRQWURO
Parametr
No.

Default
Title

Range

Class No.

Turning
Related
on of Control Mode Detail
power
page
supply P S T F

0

ï

○

0 to 1

0

ï

○

10 to 2000

500

(r/min)/
V

0 to 1

1

ï

○

1st speed of speed setup

ïWR

0

r/min

○

05

2nd speed of speed setup

ïWR

0

r/min

○

3

06

3rd speed of speed setup

ïWR

0

r/min

○

3

07

4th speed of speed setup

ïWR

0

r/min

○

3

08

5th speed of speed setup

ïWR

0

r/min

○

3

09

6th speed of speed setup

ïWR

0

r/min

○

3

10

7th speed of speed setup

ïWR

0

r/min

○

3

11

8th speed of speed setup

ïWR

0

r/min

○

00

3

01

3

02

Input gain of speed command

3

03

Reversal of speed command input

3

04

3

4-25

○ ○

4-26

3

4-27

4

3

12

Acceleration time setup

0 to 10000

0

3

13

Deceleration time setup

0 to 10000

0

ms/
(1000r/min)
ms/
(1000r/min)

3

14

Sigmoid acceleration/ deceleration
time setup

0 to 1000

0

ms

3

15

Speed zero-clamp function selection

0 to 3

0

ï

○ ○

3

16

Speed zero clamp level

10 to 20000

30

r/min

○ ○

3

17

Selection of torque command

0 to 2

0

ï

○

3

18

Torque command direction selection

0 to 1

0

ï

○

3

19

Input gain of torque command

10 to 100

30

0.1V/100%*

○

3

20

Input reversal of torque command

0 to 1

0

ï

○

3

21

Speed limit value 1

0 to 20000

0

r/min

○

3

22

Speed limit value 2

0 to 20000

0

r/min

○

3

23

External scale selection

0 to 2

0

ï

○

○

0

ï

○

○

○
○

Setup

○
4-28

5
4-29
Adjustment

20

4-30

24

Numerator of external scale division

0 to 2

3

25

Denominator of external scale
division

1 to 220

10000

ï

○

○

3

26

Reversal of direction of external scale

0 to 1

0

ï

○

○

3

27

External scale Z phase disconnection
detection disable

0 to 1

0

ï

○

○

3

28

Hybrid deviation excess setup

1 to 227

16000

Command
unit

○

○

3

29

Hybrid deviation clear setup

0 to 100

0

Revolution

○

○

6
4-31

4-32

The symbol “ * ” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Parameter describes of this page is P.4-25 to P.4-32.
2-77

7
Supplement

'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO

Note

When in Trouble

3

Caution

Connection

0 to 3

3

2
Preparation

Speed setup, Internal/External
switching
Speed command rotational direction
selection

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

Before Using the Products

List of Parameters

13. Setup of Parameter and Mode
List of Parameters

[Class 4] I/F monitor setting
Parametr
No.

Default
Title

Range

Class No.

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

Turning
Related
on of Control Mode Detail
power
page
supply P S T F

4

00

SI1 input selection (Pin No.8)

0 to 00FFFFFFh

8553090

ï

○

○ ○ ○ ○ 4-33

4

01

SI2 input selection (Pin No.9)

0 to 00FFFFFFh

8487297

ï

○

○ ○ ○ ○

4

02

SI3 input selection (Pin No.26)

0 to 00FFFFFFh

9539850

ï

○

○ ○ ○ ○

4

03

SI4 input selection (Pin No.27)

0 to 00FFFFFFh

394758

ï

○

○ ○ ○ ○

4

04

SI5 input selection (Pin No.28)

0 to 00FFFFFFh

4108

ï

○

○ ○ ○ ○

4

05

SI6 input selection (Pin No.29)

0 to 00FFFFFFh

197379

ï

○

○ ○ ○ ○ 4-34

4

06

SI7 input selection (Pin No.30)

0 to 00FFFFFFh

3847

ï

○

○ ○ ○ ○

4

07

SI8 input selection (Pin No.31)

0 to 00FFFFFFh

263172

ï

○

○ ○ ○ ○

4

08

SI9 input selection (Pin No.32)

0 to 00FFFFFFh

328965

ï

○

○ ○ ○ ○

4

09

SI10 input selection (Pin No.33)

0 to 00FFFFFFh

3720

ï

○

○ ○ ○ ○

4

10

0 to 00FFFFFFh

197379

ï

○

○ ○ ○ ○

4

11

0 to 00FFFFFFh

131586

ï

○

○ ○ ○ ○

4

12

0 to 00FFFFFFh

65793

ï

○

○ ○ ○ ○

4

13

0 to 00FFFFFFh

328964

ï

○

○ ○ ○ ○

4

14

ï

○

○ ○ ○ ○

15

) 0 to 00FFFFFFh
) 0 to 00FFFFFFh

460551

4

(
SO2 output selection (
SO3 output selection (
SO4 output selection (
SO5 output selection (
SO6 output selection (

394758

ï

○

○ ○ ○ ○

4

16

Type of analog monitor 1

0 to 21

0

ï

○ ○ ○ ○

4

17

Analog monitor 1 output gain

0 to 214748364

0

ï

○ ○ ○ ○

4

18

Type of analog monitor 2

0 to 21

4

ï

○ ○ ○ ○ 4-36

4

19

Analog monitor 2 output gain

0 to 214748364

0

ï

○ ○ ○ ○

4

20

Type of digital monitor

0 to 3

0

ï

○ ○ ○ ○

4

21

Analog monitor output setup

0 to 2

0

ï

○ ○ ○ ○

4

22

Analog input 1 (AI1) offset setup

ïWR

0

0.366mV

○ ○ ○ ○

4

23

$QDORJLQSXW $, ÀOWHU

0 to 6400

0

0.01ms*

○ ○ ○ ○

4

24

Analog input 1 (AI1) overvoltage
setup

0 to 100

0

0.1V*

○ ○ ○ ○

4

25

Analog input 2 (AI2) offset setup

ïWR

0

5.86mV

○ ○ ○ ○

4

26

$QDORJLQSXW $, ÀOWHU

0 to 6400

0

0.01ms*

○ ○ ○ ○

4

27

Analog input 2(AI2) overvoltage
setup

0 to 100

0

0.1V*

○ ○ ○ ○

4

28

Analog input 3 (AI3) offset setup

ïWR

0

5.86mV

○ ○ ○ ○

4

29

$QDORJLQSXW $, ÀOWHU

0 to 6400

0

0.01ms*

○ ○ ○ ○ 4-39

SO1 output selection

)
)
)
)

Pin No.10, 11
Line driver output
Pin No.34, 35
Line driver output
Pin No.36, 37
Line driver output
Pin No.38, 39
Line driver output
Pin No.12
Open collector output
Pin No.40
Open collector output

4-35

4-38

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power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO

Caution
Note
2-78

The symbol “ * ” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Parameter describes of this page is P.4-33 to P.4-39.

13. Setup of Parameter and Mode

1

Parametr
No.

Range

Class No.

4

30

Unit

Related
Turning
on of Control Mode Detail
power
page
supply P S T F

0

0.1V*

○ ○ ○ ○
○

○

Default
Title

A,B
C
D,E,F G,H
-frame -frame -frame -frame

0 to 262144

10

Command
unit

0 to 3

0

ï

○

○
○

0 to 100

2

4

31

4

32

4

33

INP hold time

0 to 30000

0

1ms

○

4

34

Zero-speed

10 to 20000

50

r/min

○ ○ ○ ○

4

35

Speed coincidence range

10 to 20000

50

r/min

○

4

36

At-speed (Speed arrival)

10 to 20000

1000

r/min

○ ○

4

37

0 to 10000

0

1ms

○ ○ ○ ○ 4-41

4

38

0 to 10000

0

1ms

○ ○ ○ ○

4

39

Brake release speed setup

30 to 3000

30

r/min

4

40

Selection of alarm output 1

0 to 10

0

ï

○ ○ ○ ○

4

41

Selection of alarm output 2

0 to 10

0

ï

○ ○ ○ ○

42

2nd Positioning complete (In-position)
0 to 262144
range

10

Command
unit

4-39

Preparation

Analog input 3 (AI3) overvoltage
setup
Positioning complete (In-position)
range
Positioning complete (In-position)
output setup

Before Using the Products

List of Parameters

4-40

○

○ ○ ○ ○

○

4-42

Title

Range

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

5

00

2nd numerator of electronic gear

0 to 230

0

ï

○

○

5

01

3rd numerator of electronic gear

0 to 230

0

ï

○

○

5

02

4th numerator of electronic gear

0 to 230

0

ï

○

○

5

03

Denominator of pulse output division 0 to 262144

0

ï

○

○ ○ ○ ○

5

04

Over-travel inhibit input setup

0 to 2

1

ï

○

○ ○ ○ ○

5

05

Sequence at over-travel inhibit

0 to 2

0

ï

○

○ ○ ○ ○

5

06

Sequence at Servo-Off

0 to 9

0

ï

○ ○ ○ ○

5

07

Sequence at main power OFF

0 to 9

0

ï

○ ○ ○ ○

5

08

LV trip selection at main power OFF

0 to 1

1

ï

○ ○ ○ ○

5

09

Detection time of main power off

70 to 2000

70

1ms

5
Adjustment

Class No.

Turning
Related
on of Control Mode Detail
power
page
supply P S T F

Setup

[Class 5] Enhancing setting
Default

4

○

'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO

Parametr
No.

Connection

4

Mechanical brake action at stalling
setup
Mechanical brake action at running
setup

3

4-43

6
When in Trouble

4-44

4-45
○

7

○ ○ ○ ○

Note

Parameter describes of this page is P.4-39 to P.4-45.

2-79

Supplement

'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO

13. Setup of Parameter and Mode
List of Parameters

Parametr
No.

Default
Title

Range

Class No.

5

10

Sequence at alarm

5

11

5

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

Related
Turning
on of Control Mode Detail
power
page
supply P S T F

0 to 7

0

ï

○ ○ ○ ○ 4-45

Torque setup for emergency stop

0 to 500

0

%

○ ○ ○ ○

12

Over-load level setup

0 to 500

0

%

○ ○ ○ ○

5

13

Over-speed level setup

0 to 20000

0

r/min

5

14

Motor working range setup

0 to 1000

10

0.1
revolution*

5

15

,)UHDGLQJÀOWHU

0 to 3

0

ï

○

○ ○ ○ ○

5

16

Alarm clear input setup

0 to 1

0

ï

○

○ ○ ○ ○

5

17

Counter clear input mode

0 to 4

3

ï

○

○

5

18

0 to 1

1

ï

○

○

5

19

0 to 4

0

ï

○

○

○

5

20

Position setup unit select

0 to 1

0

ï

○

○

○

5

21

Selection of torque limit

0 to 6

1

ï

○ ○

○ 4-48

5

22

2nd torque limit

0 to 500

500*1

%

○ ○

○

5

23

Torque limit switching setup 1

0 to 4000

0

ms/100%

○ ○

○

5

24

Torque limit switching setup 2

0 to 4000

0

ms/100%

○ ○

○

5

25

0 to 500

500*1

%

○ ○

○ 4-49

5

26

0 to 500

500*1

%

○ ○

○

5

27

Input gain of analog torque limit

10 to 100

30

0.1V/100%*

○ ○

○

5

28

LED initial status

0 to 35

1

ï

○

○ ○ ○ ○

5

29

RS232 baud rate setup

0 to 6

2

ï

○

○ ○ ○ ○ 4-50

5

30

RS485 baud rate setup

0 to 6

2

ï

○

○ ○ ○ ○

5

31

Axis address

0 to 127

1

ï

○

○ ○ ○ ○

5

32

Command pulse input maximum
setup

250 to 4000

4000

kpulse/s

○

○

5

33

Pulse regenerative output limit setup

0 to 1

0

ï

○

○ ○ ○ ○ 4-51

5

34

For manufactuer's use

ï

4

ï

5

35

Front panel lock setup

0 to 1

0

ï

○

○ ○ ○ ○

Invalidation of command pulse inhibit
input
Command pulse inhibit input reading
setup

External input positive direction
torque limit
External input negative direction
torque limit

○ ○ ○ ○ 4-46
○

○

4-47

○

'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 “Torque limit setting”.

Caution
Note
2-80

The symbol “ * ” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Parameter describes of this page is P.4-45 to P.4-51.

13. Setup of Parameter and Mode

1

[Class 6] Special setting
Parametr
No.

Default
Title

Range

Class No.

00

Analog torque feed forward
conversion gain

6

02

6

Turning
Related
on of Control Mode Detail
power
page
supply P S T F

0 to 100

0

0.1V/100%*

Velocity deviation excess setup

0 to 20000

0

r/min

○

04

JOG trial run command speed

0 to 500

300

r/min

○ ○ ○ ○ 4-51

6

05

Position 3rd gain valid time

0 to 10000

0

0.1ms*

○

○

6

06

Position 3rd gain scale factor

50 to 1000

100

%

○

○

6

07

Torque command additional value

ïWR

0

%

○ ○

○

6

08

ïWR

0

%

○

○

6

09

ïWR

0

%

○

○ 4-52

6

10

Function expansion setup

0 to 63

0

ï

○ ○ ○ ○

6

11

Current response setup

50 to 100

100

%

○ ○ ○ ○

6

13

Current response setup

0 to 10000

250

%

○ ○ ○ ○

6

14

Emergency stop time at alarm

0 to 1000

200

1ms

○ ○ ○ ○

6

15

2nd over-speed level setup

0 to 20000

0

r/min

○ ○ ○ ○

6

16

For manufacturer's use

ï

0

ï

○

6

17

Front panel parameter writing
selection

0 to 1

0

ï

○

○ ○ ○ ○

6

18

Power-up wait time

0 to 100

0

0.1s*

○

○ ○ ○ ○

6

19

Encoder Z phase setup

0 to 32767

0

pulse

○

○ ○ ○ ○

6

20

Z-phase setup of external scale

0 to 400

0

ѥV

○

○

6

21

0 to 228

0

pulse

○

○ 4-54

6

22

0 to 1

0

ï

○

○

6

23

Disturbance torque compensating gain ïWR

0

%

○ ○

6

24

'LVWXUEDQFHREVHUYHUÀOWHU

0 to 2500

53

0.01ms*

○ ○

6

27

Alarm latch time selection

0 to 10

5

s

6

31

Real time auto tuning estimation speed

0 to 3

1

ï

○ ○ ○ ○

6

32

Real time auto tuning custom setup

ïWR

0

ï

○ ○ ○ ○ 4-56

6

33

For manufacturer's use

ï

1000

ï

6

34

Hybrid vibration suppression gain

0 to 30000

0

0.1/s*

○

6

35

+\EULGYLEUDWLRQVXSSUHVVLRQÀOWHU

0 to 6400

10

0.01ms*

○

6

37

Oscillation detecting level

0 to 1000

0

0.1%*

6

38

Alarm mask setup

ïWR

4

ï

6

39

For manufactuer's use

ï

0

ï

4
4-53

○ ○ ○ ○ 4-55

○ ○ ○ ○

7

Note

The symbol “ * ” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Parameter describes of this page is P.4-51 to P.4-57.
2-81

Supplement

'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO

Caution

6
When in Trouble

4-57

○ ○ ○ ○
○

5
Adjustment

○

3

Setup

Serial absolute external scale Z
phase setup
A, B phase external scale pulse
output method selection

○

Connection

Positive direction torque
compensation value
Negative direction torque
compensation value

○ ○

2
Preparation

6

A,B
C
D,E,F G,H
-frame -frame -frame -frame

Unit

Before Using the Products

List of Parameters

13. Setup of Parameter and Mode

2

Preparation

6HWXSRI7RUTXH/LPLW

Torque limit setup range is 0 to 300 and default is 300 except the combinations of the
motor and the driver listed in the table below.
Frame

Model No.
MDDHT5540

D
MDDHT3420

MFDHTA390

MFDHTB3A2

F
MFDHT5440

MFDHTA464

Applicable motor

Max. value of
Frame
WRUTXHOLPLW

Model No.

Applicable motor

Max. value of
WRUTXHOLPLW

MGME092G**

225

MGME602G**

272

MGME092S**

225

MGME602S**

272

MGME094G**

225

MDME752G**

265

MGME094S**

225

MDME752S**

265

MGME202G**

250

MHME752G**

265

MGME202S**

250

MHME752S**

265

MGME302G**

250

MGME604G**

272

MGME302S**

250

MGME604S**

272

MGME452G**

262

MDME754G**

267

MGME452S**

262

MDME754S**

267

MGME204G**

250

MHME754G**

267

MGME204S**

250

MHME754S**

267

MGME304G**

250

MDMEC12G**

265

MGME304S**

250

MDMEC12S**

265

MGME454G**

263

MDMEC52G**

253

MGME454S**

263

MDMEC52S**

253

MDMEC14G**

265

MDMEC14S**

265

MDMEC54G**

253

MDMEC54S**

253

MGDHTC3B4

G

MGDHTB4A2

MHDHTC3B4

H

MHDHTB4A2

‡ The above limit applies to Pr0.13 (1st torque limit), Pr5.22 (2nd torque limit), Pr5.11
(Torque setup for emergency stop), Pr5.25 (External input positive direction torque
limit) and Pr5.26(External input negative direction torque limit).

Caution

2-82

When you change the motor model, above max. value may change as well. Check and
reset the setup values of Pr0.13, Pr5.22, Pr5.11, Pr5.25 and Pr5.26.

13. Setup of Parameter and Mode

1

Cautions on Replacing the Motor
As stated previously, torque limit setup range might change when you replace the combination of the motor and the driver. Pay attention to the followings.

Before Using the Products

6HWXSRI7RUTXH/LPLW

2

:KHQWKHPRWRUWRUTXHLVOLPLWHG

e.g.1)

before replacing the motor

after replacing the motor
MADHT1507

MADHT1507

3

MSME012S1A

MSME022S1A

Pr0.13 Setup range : 0 to 300%
Setup value : 100%.
Torque limit value
0.64N ‡ m x 100% =
0.64N ‡ m

Set up Pr0.13 to 200 to
make torque limit value
to 0.64N ‡ m
(0.32N ‡ m x 200% = 0.64N ‡ m)

Pr0.13 Setup range : Change to 0 to 300%.
Setup value : Keep 100%.
Torque limit value
0.32N ‡ m x 100% =
0.32N ‡ m

:KHQ\RXZDQWWRREWDLQWKHPD[PRWRUWRUTXH
 

Display shifts toward the arrowed direction by pressing

and reversed direction by pressing

.

7

(Mode switch button)

:KHQ\RXWXUQRQWKH3URGXFWIRUWKHÀUVWWLPHGLVSOD\VKRZV
To change this display, change the setup of Pr5.28 (Initial status of LED).

. (at motor stall)

2-91

Supplement

Parameter Setup Mode SELECTION display

Note

Setup

Encoder positional
deviation [Encoder unit] P.2-102 (16)

P.2-100 (10)

Connection

P.2-102 (15)

Feedback pulse sum P.2-93 (3)

Factor of
no-motor running

3

P.2-102 (13)

2

15. How to Use the Front Panel

Preparation

Monitor Mode (EXECUTION display)

(1) Display of positional command deviation [command unit]
Displays positional deviation of the command unit in High order or Low order.

Positional command deviation
......Low order
......High order
‡To switch between Low order (L) and High order (H), press

.

(2) Display of motor speed, positional command speed,
YHORFLW\FRQWUROFRPPDQGDQGWRUTXHFRPPDQG
‡0RWRUVSHHG UPLQ

Displays the motor speed (r/min).
‡3RVLWLRQDOFRPPDQGVSHHG UPLQ

Displays positional command speed (r/min).
‡9HORFLW\FRQWUROFRPPDQG UPLQ

Displays velocity control command (r/min).
‡7RUTXHFRPPDQG 

Displays torque command (%).

2-92

15. How to Use the Front Panel

1

(3) Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum
‡)HHGEDFN3XOVH6XP>(QFRGHUIHHGEDFNSXOVH]

Before Using the Products

Monitor Mode (EXECUTION display)

2
Preparation

Feedback Pulse Sum
......Low order
......High order
‡To switch between Low order (L) and High order (H), press

.

3
‡&RPPDQG3XOVH6XP>&RPPDQG3XOVH@
Connection

Command Pulse Sum
......Low order
......High order
‡To switch between Low order (L) and High order (H), press

4

.

Setup

‡([WHUQDO6FDOH)HHGEDFN3XOVH6XP

External Scale Feedback Pulse Sum

5

......Low order

‡To switch between Low order (L) and High order (H), press

Adjustment

......High order
.

6

(4) Display of Control Mode

When in Trouble

.....Position control mode
.....Velocity control mode
.....Torque control mode
.....Full-closed control mode

7
Supplement

2-93

15. How to Use the Front Panel
Monitor Mode (EXECUTION display)

(5) Display of I/O Signal Status
Displays the control input and output signal to be connected to connector X4.
Use this function to check if the wiring is correct or not.

.....Active *1
.....Inactive *1
Pin No.
.....Input signal
.....Output signal
‡6KLIWWKHIODVKLQJGHFLPDOSRLQWZLWK
5LJKWVLGHRIGHFLPDOSRLQW3LQ1RVHOHFWLRQ

/HIWVLGHRIGHFLPDOSRLQW,QSXW2XWSXW3LQ1RVHOHFWLRQ
‡6HOHFW,QRU2XWE\SUHVVLQJRUEXWWRQ

‡6HOHFWWKH3LQ1RWREHPRQLWRUHGE\SUHVVLQJ
/RZHVWSODFH3LQ1R
RIRXWSXWVLJQDO

(Highest place Pin No.
RILQSXWVLJQDO

*1 When input signal
When output signal

Note

2-94

Active : Input signal photocoupler is ON.
Inactive : Input signal photocoupler is OFF.
Active : Output signal transistor is ON.
Inactive : Output signal transistor is OFF.

For detail of input/output signal, refer to P.3-30 “Inputs and outputs on connector X4”
For detail of Error Code, refer to P.6-2 “Protective Function”.

15. How to Use the Front Panel

1
Before Using the Products

Monitor Mode (EXECUTION display)

(6) Display of Analog Input Value

2
Input voltage value [V]
Preparation

Input signal
‡Select the signal No. to be monitored by pressings
(Analog input 1 value, unit [V])

.
Displays the value after
offset correction.

3

(Analog input 2 value, unit [V])
Connection

(Analog input 3 value, unit [V])

Caution

Voltage exceeding ± 10V can not be displayed correctly.

4
Setup

5
Adjustment

6
When in Trouble

7
Supplement

2-95

15. How to Use the Front Panel
Monitor Mode (EXECUTION display)

(7) Display of Error Factor and Reference of History

Error code No. (

appears if no error occurs)

........Present error
........History 0 (latest error)
........History 13 (oldest error)

‡
Error code
Main

Sub

11

0

Control power supply under- voltage protection

12

0

Over-voltage protection

0

Main power supply under-voltage protection (between P to N)

1

Main power supply under-voltage protection (AC interception detection)

0

Over-current protection

1

IPM error protection

15

0

Over-heat protection

16

0

Over-load protection

0

Over-regeneration load protection

1

Over-regeneration Tr error protection

0

Encoder communication disconnect error protection

1

Encoder communication error protection

0

Encoder communication data error protection

0

Position deviation excess protection

1

Velocity deviation excess protection

0

Hybrid deviation excess error protection

0

Over-speed protection

1

2nd over-speed protection

0

Command pulse input frequency error protection

2

Command pulse multiplier error protection

28

0

Limit of pulse replay error protection

29

0

'HYLDWLRQFRXQWHURYHUÁRZSURWHFWLRQ

30

0

Safety detection

0

IF overlaps allocation error 1 protection

1

IF overlaps allocation error 2 protection

2

IF input function number error 1 protection

3

IF input function number error 2 protection

4

IF output function number error 1 protection

5

IF output function number error 2 protection

6

&/ÀWWLQJHUURUSURWHFWLRQ

7

,1+ÀWWLQJHUURUSURWHFWLRQ

13

14

18

21
23
24
25
26

27

33

2-96

Attribute
Protective function

History

Can be Immediate
cleared
stop

*1

15. How to Use the Front Panel

1

Error code
Main

Sub

34

0

Attribute
Protective function

37

0 to 2 EEPROM check code error protection
Analog input1 excess protection

1

Analog input2 excess protection

2

Analog input3 excess protection

40

0

Absolute system down error protection

41

0

Absolute counter over error protection

42

0

Absolute over-speed error protection

43

0

Initialization failure

44

0

Absolute single turn counter error protection

45

0

Absolute multi-turn counter error protection

47

0

Absolute status error protection

48

0

Encoder Z-phase error protection

49

0

Encoder CS signal error protection

0

External scale connection error protection

1

External scale communication error protection

0

External scale status 0 error protection

1

External scale status 1 error protection

2

External scale status 2 error protection

3

External scale status 3 error protection

4

External scale status 4 error protection

5

External scale status 5 error protection

0

A-phase connection error protection

1

B-phase connection error protection

2

Z-phase connection error protection

0

Compulsory alarm input protection

50

51

55

87
95

3

4

5
Adjustment

0

Setup

Over-travel inhibit input protection

Connection

0

2
Preparation

0 to 2 EEPROM parameter error protection

39

Can be Immediate
stop
cleared

Software limit protection

36

38

History

6

0 to 4 Motor automatic recognition error protection

1) Certain alarms are not included in the history. For detailed information on alarms e.g.
alarm numbers, refer to P.6-2.
2) When one of the errors which are listed in error history occurs, this error and history o
shows the same error No.

2-97

7
Supplement

Caution

History...The error will be stored in the error history.
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the error
and then turn on power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
(Setting of “Pr.5.10 Sequence at alarm” is also required.)

When in Trouble

Other number Other error

Note

Before Using the Products

Monitor Mode (EXECUTION display)

15. How to Use the Front Panel
Monitor Mode (EXECUTION display)

(8) Alarm Display
......No alarm occurred
......High priority alarm
Alarm number
‡7RGLVSOD\WKHDODUPRFFXUUHQFHFRQGLWLRQSUHVVRUEXWWRQ

alarm
No.

Alarm

Content

Latched
time *1

A0

Overload protection

Load factor is 85% or more the protection level.

A1

Over-regeneration
alarm

Regenerative load factor is 85% or more the
protection level.

A2

Battery alarm

Battery voltage is 3.2 V or lower.

A3

Fan alarm

Fan has stopped for 1 sec.

WRVRU’

A4

Encoder communication
alarm

The number of successive encoder communication
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH

WRVRU’

A5

Encoder overheat alarm

The encoder detects overheat alarm.

WRVRU’

A6

Oscillation detection
alarm

Oscillation or vibration is detected.

WRVRU’

A7

Lifetime detection alarm

Life expectancy of capacitor or fan is short.

A8

External scale error
alarm

The external scale detects the alarm.

WRVRU’

A9

External scale
communication alarm

The number of successive external scale
FRPPXQLFDWLRQHUURUVH[FHHGVWKHVSHFLÀHGYDOXH

WRVRU’

WRVRU’
VRU’
)L[HGDW’

)L[HGDW’

*1 Alarms can be cleared by using the alarm clear. Because the all existing alarms are kept cleared while the alarm
FOHDULQSXW $&/5 LVNHSW21EHVXUHWRWXUQLW2))GXULQJQRUPDORSHUDWLRQ(LWKHUVRU’FDQEHVHOHFWHG
by using user parameter.
 ([FHSWLRQ%DWWHU\DODUPLVÀ[HGDW’EHFDXVHLWLVODWFKHGE\WKHHQFRGHU
 %HFDXVHWKHHQGRIOLIHDODUPPHDQVWKDWWKHOLIHH[SHFWDQF\FDQQRWEHH[WHQGHGWKHDODUPLVVHWDW’

2-98

15. How to Use the Front Panel

1
Before Using the Products

Monitor Mode (EXECUTION display)

(9) Display of Regenerative Load Factor, Over-load Factor and Inertia Ratio
‡5HJHQHUDWLYH/RDG)DFWRU

2
Preparation

Display the ratio (%) against the alarm trigger level of regenerative
protection.
This is valid when Pr0.16 (External regenerative resistor setup) is 0
or 1.
‡2YHUORDG)DFWRU

3
Connection

Displays the ratio (%) against the rated load.
Refer to P.6-14, "Overload Protection Time Characteristics" of
When in Trouble.
‡,QHUWLD5DWLR

4
Setup

Displays the inertia ratio (%) .
Value of Pr0.04 (Inertia Ratio) will be displayed as it is.

5
Adjustment

6
When in Trouble

7
Supplement

Note

For alarm function, refer to P.4-42 "Pr4.40, Pr4.41".

2-99

15. How to Use the Front Panel
Monitor Mode (EXECUTION display)

10) Display of the Factor of No-Motor Running
Displays the factor of no-motor running in number.
.......Position control

.......Torque control

....... Velocity control

....... Full-closed control

Factor No.
Control mode
‡([SODQDWLRQRIIDFWRU1R
Factor
No.

Factor

Content

P S

T

F

Occurrence of
error/alarm

○

○

○

○

An error is occurring, and an alarm is triggered.

00

No particular factor

○

○

○

○

No factor is detected for No-motor run.
The motor runs in normal case.

01

Main power shutoff

○

○

○

○

The main power of the driver is not turned on.

02

No entry of
SRV-ON input

○

○

○

○

The Servo-ON input (SRV-ON) is not connected to COM–.

03

Over-travel
inhibition input
is valid

○

○

○

○

While Pr5.04 is 0 (Run-inhibition input is valid),
‡ 3RVLWLYH GLUHFWLRQ RYHUWUDYHO LQKLELWLRQ LQSXW 327  LV RSHQ DQG VSHHG
command is Positive direction.
‡ 1HJDWLYH GLUHFWLRQ RYHUWUDYHO LQKLELWLRQ LQSXW 127  LV RSHQ DQG VSHHG
command is Negative direction.

04

Torque limit setup
is small

○

○

○

○

Either one of the valid torque limit setup value of Pr0.13 (1st) or Pr5.22
(2nd) is set to 5% or lower than the rating.

○

While Pr5.21 is 0 (analog torque limit input accepted),
‡3RVLWLYHGLUHFWLRQDQDORJWRUTXHOLPLWLQSXW 3$7/ LVQHJDWLYHYROWDJH
and speed command is Positive direction.
‡1HJDWLYHGLUHFWLRQDQDORJWRUTXHOLPLWLQSXW 1$7/ LVSRVLWLYHYROWDJH
and speed command is Negative direction.

○

Pr5.18 is 0 (Command pulse inhibition input is valid.), and INH is open.

ÁDVKLQJ

05

Analog torque
limit input is valid.

○

06

INH input is valid.

○

07

Command pulse
input frequency
is low.

○

○

The position command per each control cycle is 1 pulse or smaller due to,
‡1RFRUUHFWHQWU\RIFRPPDQGSXOVH
‡1RFRUUHFWFRQQHFWLRQWRWKHLQSXWVHOHFWHGZLWK3U
‡1RPDWFKLQJWRLQSXWVWDWXVVHOHFWHGZLWK3USU3U

08

CL input is valid.

○

○

While Pr5.17 is 0 (Deviation counter clear at level), the deviation counter
clear input (CL) is connected to COM–.

09

ZEROSPD input
is valid.

○

10

External speed
command is small.

○

While the analog speed command is selected, the analog speed
command is smaller than 0.06[V].

11

Internal speed
command is 0.

○

While the internal speed command is selected, the internal speed
command is set to lower than 30 [r/min]

12

Torque command
is small.

○

The analog torque command input (SPR or P-ATL) is smaller than 5 [%]
of the rating.

13

Speed limit is
small.

○

‡ :KLOH 3U LV  VSHHG LV OLPLWHG E\ WK VSHHG RI LQWHUQDO VSHHG 
Pr3.07, (4th speed of speed setup) is set to lower than 30 [r/min].
‡:KLOH3ULV VSHHGLVOLPLWHGE\635LQSXW WKHDQDORJVSHHGOLPLW
input (SPR) is smaller than 0.06 [V].

○

The motor runs at 20 [r/min] or lower even though the factors from 1 to 13
are cleared,
(the command is small, the load is heavy, the motor lock or hitting, driver/
motor fault etc.)

14

Other factor

Note

2-100

Related
Control Mode

○

○

○

While Pr3.15 is 1 (Speed zero clamp is valid.), the speed zero clamp input
(ZEROSPD) is open.

○

○

* Motor might run even though the other number than 0 is displayed.
Refer to "6.In trouble".

15. How to Use the Front Panel

1
Before Using the Products

Monitor Mode (EXECUTION display)

(11) Display of No. of changes in I/O signals

2

No. of changes in I/O signals (the signal is invalid)

Preparation

Pin No.
.....Input signal
.....Output signal
‡6KLIWWKHIODVKLQJGHFLPDOSRLQWZLWK
/HIWVLGHRIGHFLPDOSRLQW3LQ1RVHOHFWLRQ

3
Connection

5LJKWVLGHRIGHFLPDOSRLQW,QSXW2XWSXW3LQ1RVHOHFWLRQ
‡7KHVZLWFKRILQSXWRXWSXWE\SUHVVLQJRUEXWWRQ

4
Setup

‡6HOHFWWKH1RRISLQWKHQXPEHURIFKDQJHVRQWKDWSLQVKRXOGEHGLVSOD\HG
E\SUHVVLQJRUEXWWRQ
/RZHVWSODFH3LQ1R
of output signal)

5
Adjustment

(Highest place Pin No.
of input signal)

(12) Display of absolute encoder data

6
When in Trouble

Encoder data
......One revolution data, Low order (L)
2QHUHYROXWLRQGDWD+LJKRUGHU +
......Multi-revolution data
‡6HOHFWWKHGDWDWREHGLVSOD\HGE\SUHVVLQJRUEXWWRQ

7
Supplement

2-101

15. How to Use the Front Panel
Monitor Mode (EXECUTION display)

(13) Display of absolute external scale position
‡'LVSOD\VWKHDEVROXWHSRVLWLRQRIVHULDODEVROXWHVFDOH
‡,IDVHULDOLQFUHPHQWDOVFDOHGLVSOD\VWKHVFDOHSRVLWLRQUHODWLYHWRWKHSRZHURQSRVLWLRQ
ZKLFKLVGHÀQHGDV

External scale data
......Absolute external scale position -Low order
......Absolute external scale position -High order
‡Select encoder or external scale by pressing

or

button.

(14) Display of No. of encoder/ external scale communication errors monitor

No. of communication errors
......Encoder
......External scale
‡Select encoder or external scale by pressing

or

button.

(15) Display of communication axis address

Displays the value set to Pr5.31 “Axis address”.

(16) Display of encoder positional deviation [Encoder unit]

encoder positional deviation [Encoder unit]
......Low order
......High order
‡To switch between Low order (L) and High order (H), press

2-102

.

15. How to Use the Front Panel

1
Before Using the Products

Monitor Mode (EXECUTION display)

(17) Display of External Scale Deviation [External Scale Unit]

2

External Scale Deviation [External scale unit]

Preparation

......Low order
......High order
‡To switch between Low order (L) and High order (H), press

.

3

(18) Display of hybrid deviation [Command unit]

Connection

Hybrid deviation [Command unit]
......Low order
......High order
‡To switch between Low order (L) and High order (H), press

4

.

Setup

(19) Display of voltage across PN [V]

5

Displays the voltage across PN [V]
(only for reference not an instrument)

Adjustment

(20) Display of Software Version

Displays the software version of the driver.
(Example of display: Ver 1.00)

6
When in Trouble

(21) Display of driver serial number

Driver serial number
......Driver serial number- Low order

7

......Driver serial number- High order
or

.
Supplement

‡To switch between Low order (L) and High order (H), press
(Example of display: Serial number 09010001)

2-103

15. How to Use the Front Panel
Monitor Mode (EXECUTION display)

(22) Display of motor serial number

Motor serial number
......Motor serial number- Low order
......Motor serial number- High order
‡To switch between Low order (L) and High order (H), press
(Example of display: Serial number 09040001)

or

.

(23) Display of accumulated operation time

Displays accumulated operation time [h].
......Low order
......High order
‡To switch between Low order (L) and High order (H), press

.

(24) Automatic Motor Recognizing Function
......Automatic recognition is valid.
......Automatic recognition is invalid.

(25) Display of temperature

Displays the driver temperature [C].
(This is not meter readings but only for reference.)

Displays the encoder temperature [C].
(This is not meter readings but only for reference.)

2-104

15. How to Use the Front Panel

1
Before Using the Products

Monitor Mode (EXECUTION display)

(26) Display of safety condition monitor

2

: Servo-off condition

Preparation

: Servo-on condition Dot information
: Alarm condition

Flashing Normal change is possible

3
Connection

Servo ready condition
OFF: Dot unlit
ON: Dot lit
‡6HOHFWGHVLUHGPRQLWRURSWLRQE\SUHVVLQJRUEXWWRQ

4
,QSXWSKRWRFRXSOHU21

,QSXWSKRWRFRXSOHU2))

,QSXWSKRWRFRXSOHU21

2XWSXWSKRWRFRXSOHU2))

2XWSXWSKRWRFRXSOHU21

Setup

,QSXWSKRWRFRXSOHU2))

5
Adjustment

6
When in Trouble

7
Supplement

Related page

P.7-2 “safety”.

2-105

15. How to Use the Front Panel

2

Parameter Setup Mode

Preparation

Monitor Mode SELECTION display
(Mode switch button)

EXECUTION display

Parameter Setup Mode SELECTION display

3DUDPHWHU1R
+H[DGHFLPDO1R

Parameter value

You can change the
value which digit has
a flashing decimal
point.

Class

Note
For parameters which place is displayed
with “
”, the content changed and
written to EEPROM becomes valid after
turning off the power once.
‡3UHVVRUWRVHOHFWSDUDPHWHU1R
to be set.
Pr0.00
Pr0.01
(SET button)

Pr6.32
Pr6.33
Pr0.00
‡3UHVVDQGWKHIODVKLQJGHFLPDO
separator shifts to the high order position,
allowing the figure at this digit to any other
figure.
Pr0.01

‡3UHVVRUWRVHWXSWKHYDOXHRI
parameter. (Value increases with
decreases with
.)
‡3UHVVDQGWKHIODVKLQJGHFLPDO
separator shifts to the high order position,
allowing the figure at this digit to any other
figure.
‡3URORQJHGGHSUHVVLRQRIXSGDWHVWKH
SDUDPHWHULQWKHGULYHU1RWHWKDWWKH
parameter value selected by
or
is
not reflected until
is pressed in this
way.
‡7RFDQFHOWKHYDOXHVHOHFWHGE\RU
press
instead of
, and the driver
internal parameter value is kept
unchanged and the display returns to the
parameter number display screen.

Remarks
After changing the parameter value and
pressing
, the content will be reflected in
the control. 'RQRWH[WUHPHO\FKDQJHWKH
parameter value which change might affect the
motor movement very much (especially
velocity loop or position loop gains).

Pr0.11
Pr1.11
‡'LVSOD\WKH1RRISDUDPHWHUWREH
changed and press
to change to
(;(&87,21GLVSOD\
(Mode switch button)

EEPROM Writing Mode SELECTION display

Note

2-106

‡$IWHUVHWWLQJXSSDUDPHWHUVUHWXUQWR6(/(&7PRGHUHIHUULQJWRVWUXFWXUHRIHDFKPRGH
(P.2-88).
‡(DFKSDUDPHWHUKDVDOLPLWLQQXPEHURISODFHVIRUXSSHUVKLIWLQJ

Preparation

EEPROM Writing Mode

Parameter Setup Mode SELECTION display
0RGHVZLWFKEXWWRQ

2

EXECUTION display

EEPROM Writing Mode SELECTION display

Preparation

‡7RZULWHWKHSDUDPHWHUWR((3520SUHVV
 WRFKDQJHWR(;(&87,21GLVSOD\

1
Before Using the Products

15. How to Use the Front Panel

2

‡.HHSSUHVVLQJXQWLOWKHGLVSOD\
changes to
when you
execute writing.
* “Start” flashes instantaneously and is
difficult to check visually.

3
Connection

“ ” increases while
keep pressing
(for
approx. 5sec) as the
right fig. shows.

4

Starts writing.

Setup

(SET button)

Writing completes

Writing error

When you change the parameters which
contents become valid after resetting,
will be displayed after finishing
wiring. Turn off the control power once to
reset.

Auxiliary Function Mode SELECTION display

Caution

is displayed indicating that no writing is made to EEPROM.

2-107

7
Supplement

1. When writing error occurs, make writing again. If the writing error repeats many times,
this might be a failure.
2. Don't turn off the power during EEPROM writing. Incorrect data might be written. If this
happens, set up all of parameters again, and re-write after checking the data.
:KHQWKHHUURUGHÀQHGE\(UU´8QGHUYROWDJHSURWHFWLRQRIFRQWUROSRZHUVXSSO\µ
occurs,

6
When in Trouble

0RGHVZLWFKEXWWRQ

Adjustment

Note

5

2

Preparation

15. How to Use the Front Panel
Auxiliary Function Mode (SELECTION display)

EEPROM Writing Mode SELECTION display
0RGHVZLWFKEXWWRQ

EXECUTION display

Auxiliary Function Mode SELECTION display
‡7RVHOHFWWKHGHVLUHGDX[LOLDU\IXQFWLRQ
SUHVVRU

Display
example

$ODUP&OHDU

Description

Pages to
refer

$ODUP&OHDU

3 

3UHVVLQJ
$ODUPFOHDUVWDUWV
$ODUPFOHDUFRPSOHWHV
$$XWRPDWLF
2IIVHW$GMXVWPHQW

$$XWRPDWLF
2IIVHW$GMXVWPHQW

3 

$$XWRPDWLF
2IIVHW$GMXVWPHQW

$$XWRPDWLF
2IIVHW$GMXVWPHQW

3 

$$XWRPDWLF
2IIVHW$GMXVWPHQW

$$XWRPDWLF
2IIVHW$GMXVWPHQW

3 

0RWRU7ULDO5XQ

3 

&OHDULQJRI
$EVROXWH(QFRGHU

&OHDULQJRI
$EVROXWH(QFRGHU

3 

,QLWLDOL]DWLRQRI
SDUDPHWHU

,QLWLDOL]DWLRQRI
SDUDPHWHU

3 

5HOHDVHRI
IURQWSDQHOORFN

5HOHDVHRI
IURQWSDQHOORFN

3 

7ULDO5XQ

$ODUP&OHDU
‡7'LVSOD\WKHDX[LOLDU\IXQFWLRQWREH
FKDQJHGDQGSUHVVWRFKDQJHWR
(;(&87,21GLVSOD\
0RGHVZLWFKEXWWRQ

Monitor Mode SELECTION display

2-108

6(7EXWWRQ

Preparation

Auxiliary Function Mode (EXECUTION display)

1) Alarm Clear Screen
This function releases the current alarm status.
Certain alarms will persist. If this is the case, refer to P.6-2 “When in Trouble - Protective
Function”.

‡3UHVVWRFDOOIRU
(;(&87,21GLVSOD\

(SET button)

2
Preparation

EXECUTION display

SELECTION display

1
Before Using the Products

15. How to Use the Front Panel

2

‡.HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
ZKHQ\RXH[HFXWHDODUPFUHDU

3
Connection

´µLQFUHDVHVZKLOHNHHS
SUHVVLQJ IRUDSSUR[VHF 
DVWKHOHIWILJVKRZV

4
$ODUPFOHDUVWDUWV
Setup

&OHDULQJ
ILQLVKHV
$ODUPFOHDUFRPSOHWHV

&OHDULVQRWILQLVKHG
5HOHDVHWKHHUURUE\
UHVHWWLQJWKHSRZHU

5
Adjustment

6
When in Trouble

7
‡ After alarm cleaning, return to SELECTION display, referring to structure of each mode (P.2-88).

2-109

Supplement

Note

15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)

(2) Analog inputs 1 to 3 automatic offset adjustment
This function automatically adjusts offset setting of analog input.
Analog input 1 (AI1)......Pr4.22 (Analog input 1 (AI1) offset setup)
Analog input 2 (AI2)......Pr4.25 (Analog input 2 (AI2) offset setup)
Analog input 3 (AI3)......Pr4.28 (Analog input 1 (AI3) offset setup)
EXECUTION display

SELECTION display

([DPSOHRI$QDORJLQSXW $, 
6(7EXWWRQ

‡:KHQ\RXH[HFXWHDXWRPDWLFRIIVHWDGMXVWPHQWPDNH
FRPPDQGLQSXWWR9WKHQNHHSSUHVVLQJXQWLOWKHGLVSOD\
FKDQJHVWR

‡3UHVVWRFDOOIRU
(;(&87,21GLVSOD\

´µLQFUHDVHVZKLOHNHHS
SUHVVLQJ IRUDSSUR[VHF 
DVWKHOHIWILJVKRZV

$XWRPDWLFRIIVHWDGMXVWPHQWVWDUWV
$GMXVWPHQW
ILQLVKHV
$XWRPDWLFRIIVHW
DGMXVWPHQWILQLVKHV

Remarks
Note

2-110

(UURURFFXUV

(

,QYDOLGPRGHLVVHOHFWHG
RURIIVHWYDOXHH[FHHGV
WKHVHWXSUDQJHRI3U

‡ 

Host
controller

Servo driver
Process of analog
torque command input

ZEROSPD input

Speed limit value
(Parameter)

Speed zero clamp (ZEROSPD) function

AT-SPEED output

Setup

Analog
torque command
(AI1, ±10V)

Torque
control
section

5

Attained speed output

V-COIN output

Speed coincidence output
Adjustment


Process of analog
torque command input

Speed limit input
(AI1, ±10V)

Process of
speed limit input

ZEROSPD input
AT-SPEED output
V-COIN output

Servo driver

Speed zero clamp (ZEROSPD) function

6
Torque
control
section

When in Trouble

Host
controller

Analog
torque command
(AI2, ±10V)

Attained speed output
Speed coincidence output

7

5HODWHGSDJH

Supplement

Note

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
‡3´&RQWURO%ORFN'LDJUDPµ‡3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ

3-9

1. Outline of mode
Torque Control Mode

Function
(1) Process of analog torque command input
7KLV SURFHVV FRQYHUWV WKH DQDORJ WRUTXH FRPPDQG LQSXW YROWDJH  WR WKH HTXLYDOHQW
GLJLWDOWRUTXHFRPPDQGKDYLQJWKHVDPHHIIHFW
Parameter
No.

Title

Pr3.18

Torque command
direction selection

Pr3.19

,QSXWJDLQRIWRUTXH
command

Pr3.20

,QSXWUHYHUVDORIWRUTXH
command

Pr4.22
Pr4.23

5DQJH

Unit

0 to 1

—

10 to 100

Function

6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
direction of torque command.

%DVHGRQWKHYROWDJH 9 DSSOLHGWRWKH
0.1V DQDORJWRUTXHFRPPDQG 7545 VHWXS
 WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG


0 to 1

—

6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJWRUTXHFRPPDQG 7545 

$QDORJLQSXW $, 
offset setup

ïWR
5578

0.359mV

6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW

$QDORJLQSXW $, 
ÀOWHU

0 to 6400

0.01ms

6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW

‡5HOHYDQWSDUDPHWHUV
Parameter
No.

Note

3-10

Title

Pr3.18

Torque command
direction selection

Pr3.19

,QSXWJDLQRIWRUTXH
command

Pr3.20

,QSXWUHYHUVDORIWRUTXH
command

Pr4.25
Pr4.26

5DQJH

Unit

0 to 1

—

10 to 100

Function

6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
direction of torque command.

%DVHGRQWKHYROWDJH 9 DSSOLHGWRWKH
0.1V DQDORJWRUTXHFRPPDQG 7545 VHWXS
 WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG


0 to 1

—

6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJWRUTXHFRPPDQG 7545 

$QDORJLQSXW $, 
offset setup

ïWR

5.86mV

6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW

$QDORJLQSXW $, 
ÀOWHU

0 to 6400

0.01ms

6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW

)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ

1. Outline of mode

1
Before Using the Products

Torque Control Mode

(2) Speed limit function
7KHVSHHGOLPLWLVRQHRISURWHFWLYHIXQFWLRQVXVHGGXULQJWRUTXHFRQWURO
7KLVIXQFWLRQUHJXODWHVWKHPRWRUVSHHGVRWKDWLWGRHVQRWH[FHHGWKHVSHHGOLPLWZKLOH

2

WKHWRUTXHLVFRQWUROOHG

Caution

:KLOHWKHVSHHGOLPLWLVXVHGWRFRQWUROWKHPRWRUWKHWRUTXHFRPPDQGDSSOLHGWRWKH
VKRXOGKDYHWKHIROORZLQJUHVXOWWKHPRWRUVSHHGLVHTXDOWRWKHVSHHGOLPLW
‡5HOHYDQWSDUDPHWHUV
Parameter
No.

Title

5DQJH

Unit

6SHHGOLPLWYDOXH

0 to 20000

UPLQ

Pr3.22

6SHHGOLPLWYDOXH

0 to 20000

UPLQ

Pr3.15

6SHHG]HURFODPS
function selection

0 to 3

—

Function

3

6HWXSWKHVSHHGOLPLWXVHGIRUWRUTXH
FRQWUROOLQJ

Parameter
No.

5DQJH

Unit

Function

Pr3.02

,QSXWJDLQRIVSHHG
command

10 to 2000

UPLQ
9

%DVHGRQWKHYROWDJHDSSOLHGWRWKH
DQDORJVSHHGFRPPDQG 635 VHWXSWKH
FRQYHUVLRQJDLQWRPRWRUFRPPDQGVSHHG

Pr4.22

$QDORJLQSXW $, 
offset setup

ïWR
5578

0.359mV

6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW

Pr4.23

$QDORJLQSXW $, 
ÀOWHU

0 to 6400

0.01ms

6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW

Pr3.15

6SHHG]HURFODPS
function selection

0 to 3

—


 7XUQRQWKHSRZHUDIWHUFKHFNLQJWKHZLULQJ
 &KHFN WKH YDOXHV LQLWLDO  IHHGEDFN SXOVH VXP DQG H[WHUQDO VFDOH IHHGEDFN SXOVH VXP ZLWK WKH
front panel.
 0RYHWKHZRUNDQGFKHFNWKHWUDYHOIURPWKHLQLWLDOYDOXHVRIWKHDERYH 
 ,IWKHWUDYHORIWKHIHHGEDFNSXOVHVXPDQGWKHH[WHUQDOVFDOHIHHGEDFNSXOVHVXPDUHUHYHUVHGLQ
SRVLWLYHDQGQHJDWLYHVHWXSWKHUHYHUVDORIH[WHUQDOVFDOHGLUHFWLRQ 3U WR
 6HWXSWKHH[WHUQDOVFDOHGLYLVLRQUDWLR 3U3U XVLQJWKHIRUPXODEHORZ
7RWDOYDULDWLRQRIIHHGEDFNSXOVHVXP

([WHUQDOVFDOHGLYLVLRQUDWLR
 


7RWDOYDULDWLRQRIH[WHUQDOVFDOHIHHGEDFNSXOVHVXP


,IWKHGHVLJQYDOXHRIWKHH[WHUQDOVFDOHGLYLVLRQUDWLRLVREWDLQHGVHWXSWKLVYDOXH

Note
5HODWHGSDJH

3-12

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKFRQQHFWRU;
‡3´&RQWURO%ORFN'LDJUDPµ‡3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ‡3´'HWDLOVRISDUDPHWHUµ

Pr3.24
Pr3.25

1. Outline of mode

1

2
Preparation

 6HWXSDSSURSULDWHYDOXHRIK\EULGGHYLDWLRQH[FHVV 3U LQFRPPDQGXQLWLQRUGHUWRDYRLG
WKHGDPDJHWRWKHPDFKLQH
 $VHULHVGULYHUFDOFXODWHVWKHGLIIHUHQFHEHWZHHQWKHHQFRGHUSRVLWLRQDQGWKHH[WHUQDOVFDOH
SRVLWLRQDVK\EULGGHYLDWLRQDQGLVXVHGWRSUHYHQWWKHPDFKLQHUXQDZD\RUGDPDJHLQFDVHRI
WKHH[WHUQDOVFDOHEUHDNGRZQRUZKHQWKHPRWRUDQGWKHORDGLVGLVFRQQHFWHG
 ,IWKHK\EULGGHYLDWLRQH[FHVVUDQJHLVWRRZLGHGHWHFWLRQRIWKHEUHDNGRZQRUWKHGLVFRQQHFWLRQ
ZLOOEHGHOD\HGDQGHUURUGHWHFWLRQHIIHFWZLOOEHORVW,IWKLVLVWRRQDUURZLWPD\GHWHFWWKHQRUPDO
GLVWRUWLRQEHWZHHQWKHPRWRUDQGWKHPDFKLQHXQGHUQRUPDORSHUDWLRQDVDQHUURU
 :KHQ WKH H[WHUQDO VFDOH GLYLVLRQ UDWLRQ LV QRW FRUUHFW K\EULG GHYLDWLRQ H[FHVV HUURU (UU 
PD\RFFXUHVSHFLDOO\ZKHQWKHZRUNWUDYHOVORQJGLVWDQFHHYHQWKRXJKWKHH[WHUQDOVFDOHDQG
WKHPRWRUSRVLWLRQPDWFKHV 
 ,QWKLVFDVHZLGHQWKHK\EULGGHYLDWLRQH[FHVVUDQJHE\PDWFKLQJWKHH[WHUQDOVFDOHGLYLVLRQUDWLRWRWKHFORVHVWYDOXH

Before Using the Products

Full-closed Control Mode

3
Connection

Function
(1) Selection of external scale type
6HOHFWWKHW\SHRIH[WHUQDOVFDOHWREHXVHG
‡5HOHYDQWSDUDPHWHUV
Parameter
No.

Pr3.23

Note

External scale
selection
5HYHUVDORIGLUHFWLRQRI
external scale

5DQJH

4

Function

0 to 2

6HOHFWWKHW\SHRIH[WHUQDOVFDOH

0 to 1

5HYHUVHWKHGLUHFWLRQRIH[WHUQDOVFDOHIHHGEDFN
counter.

Setup

Pr3.26

Title

)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR330 and 31´'HWDLOVRISDUDPHWHUµ

 6HWXSRIH[WHUQDOVFDOHGLYLVLRQUDWLR
6HWXSWKHGLYLVLRQUDWLRRIHQFRGHUUHVROXWLRQDQGH[WHUQDOVFDOHUHVROXWLRQ
‡5HOHYDQWSDUDPHWHUV

Pr3.24
Pr3.25

Note

Title

1XPHUDWRURIH[WHUQDO
VFDOHGLYLVLRQ
'HQRPLQDWRURI
H[WHUQDOVFDOHGLYLVLRQ

5DQJH

0 to 220
1 to 220

Function

6HWXSWKHQXPHUDWRURIWKHH[WHUQDOVFDOHGLYLGLQJ
setup.
6HWXSWKH'HQRPLQDWRURIWKHH[WHUQDOVFDOH
GLYLGLQJVHWXS

)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR331´'HWDLOVRISDUDPHWHUµ

6

 6HWXSRIK\EULGH[FHVVLYHGHYLDWLRQ

5DQJH

Pr3.28

+\EULGGHYLDWLRQ
excess setup

1 to 227

Pr3.29

+\EULGGHYLDWLRQFOHDU
setup

0 to 100

Function

³@1RIXQFWLRQDVVLJQHG
5HODWHGSDJH
P.3-50

7
Supplement

3-37

4. Inputs and outputs on connector X4
Input Signal and Pin No.

Function allocatable to control input
Title of
VLJQDO

6HUYR21LQSXW

Symbol

65921

Related
control mode
'HIDXOWDVVLJQPHQW

29 (SI6)

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡7KLVVLJQDOWXUQVRQRIIWKHVHUYR PRWRU 
Title of
VLJQDO

3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW

Symbol

POT

'HIDXOWDVVLJQPHQW

Related
control mode

9 (SI2)

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
‡7KH RSHUDWLRQ ZLWK WKLV LQSXW WXUQHG 21 LV VHW XS LQ 3U ´6HWXS RI RYHUWUDYHO LQKLELW
LQSXWµ
‡:KHQXVLQJWKLVLQSXWVHW3U´6HWXSRIRYHUWUDYHOLQKLELWLQSXWµWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGSRVLWLYHGLUHFWLRQ
Title of
VLJQDO

1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW

Symbol

NOT

'HIDXOWDVVLJQPHQW

Related
control mode

8 (SI1)

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
‡7KH RSHUDWLRQ ZLWK WKLV LQSXW WXUQHG 21 LV VHW XS LQ 3U ´6HWXS RI RYHUWUDYHO LQKLELW
LQSXWµ
‡:KHQXVLQJWKLVIXQFWLRQVHW3U´6HWXSRIRYHUWUDYHOLQKLELWLQSXWµWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGQHJDWLYHGLUHFWLRQ
Title of
VLJQDO

'HYLDWLRQFRXQWHUFOHDULQSXW

Symbol

CL

Related
control mode
'HIDXOWDVVLJQPHQW

30 (SI7)

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡&OHDUVWKHSRVLWLRQDOGHYLDWLRQFRXQWHU
‡'HIDXOWVHWXSFOHDUVWKHFRXQWHUDWWKHULVLQJHGJHRIWKHFOHDULQSXW7RFKDQJHWKHVHWXS
PRGLI\LWLQWKH3U´&RXQWHUFOHDULQSXWPRGHµ

Pr5.17

CL signal width

'HYLDWLRQFOHDUWLPLQJ

1

ѥVRUPRUH

2

1 ms or more

&RQWLQXDOO\FOHDUWKHFRXQWHUZKLOHWKHGHYLDWLRQFRXQWHU
FOHDULQSXWLV21*1

3

ѥVRUPRUH

2QO\ RQFH FOHDU WKH FRXQWHU DW 2)) WR 21 HGJH RI WKH

4

1 ms or more

GHYLDWLRQFRXQWHUFOHDULQSXWVLJQDO*1

'HYLDWLRQFRXQWHUFOHDULQSXW212)) LQSXWSKRWRFRXSOHU212))

Caution

5HODWHGSDJH

3-38

7KLV IXQFWLRQ FDQ EH DVVLJQHG WR RQO\ 6,$OORFDWLRQ RI WKLV IXQFWLRQ WR DQ\ RWKHU SLQ ZLOO
cause an error.

‡3´'HWDLOVRI3DUDPHWHUµ

4. Inputs and outputs on connector X4

1

Title of
VLJQDO

Alarm clear input

Symbol

$&/5

Related
control mode
'HIDXOWDVVLJQPHQW

31 (SI8)

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡&OHDUVWKHDODUPFRQGLWLRQ
‡7KLVLQSXWFDQQRWFOHDUVRPHDODUPV
‡)RUGHWDLOVUHIHUWR3:KHQLQ7URXEOH´3URWHFWLYHIXQFWLRQµ3´  $ODUP'LVSOD\µ
DQG3´'LVSOD\RI%DWWHU\$ODUPµ
Command pulse inhibition input

Symbol

INH

'HIDXOWDVVLJQPHQW

Related
control mode

33 (SI10)

,)FLUFXLW

P

S

T

2

F

SI 3-30 SDJH

3

‡,JQRUHVWKHSRVLWLRQDOFRPPDQGSXOVH
‡:KHQXVLQJWKLVIHDWXUHVHW3U´,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLRQLQSXWµWR
7KLVIXQFWLRQFDQEHDVVLJQHGWRRQO\6,$OORFDWLRQRIWKLV IXQFWLRQWRDQ\RWKHUSLQZLOO
cause an error.

Title of
VLJQDO

Control mode switching input

Symbol

C-MODE

'HIDXOWDVVLJQPHQW

Related
control mode

32 (SI9)

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

4

‡6HOHFWVDFRQWUROPRGH

Caution

(OHFWURQLFJHDU GLYLVLRQPXOWLSOLFDWLRQ VZLWFKLQJLQSXW

Symbol

DIV1

Title of
VLJQDO

(OHFWURQLFJHDU GLYLVLRQPXOWLSOLFDWLRQ VZLWFKLQJLQSXW

Symbol

DIV2

'HIDXOWDVVLJQPHQW

'HIDXOWDVVLJQPHQW

Related
control mode

28 (SI5)

,)FLUFXLW
Related
control mode

—

,)FLUFXLW

P

Setup

‡7KLVVLJQDOLVUHTXLUHGLQDOOFRQWUROPRGHV1RVHWWLQJZLOOFDXVHDQHUURU
‡'RQRWLQSXWDQ\FRPPDQGPVEHIRUHDQGDIWHUFKDQJLQJWKHFRQWUROPRGH

Title of
VLJQDO

S

T

F

SI 3-30 SDJH
P

S

T

F

OFF
OFF
21
21

Title of
VLJQDO

Damping control switching input 1

Symbol

VS-SEL1

Title of
VLJQDO

Damping control switching input 2

Symbol

VS-SEL2

'HIDXOWDVVLJQPHQW

'HIDXOWDVVLJQPHQW

Related
control mode

26 (SI3)

,)FLUFXLW
Related
control mode

—

,)FLUFXLW

P

6

S

T

F

SI 3-30 SDJH
P

S

T

F

SI 3-30 SDJH

$OVRUHIHUWR3´3U>'DPSLQJÀOWHUVZLWFKLQJVHOHFWLRQ@µ
3-39

7
Supplement

‡6HOHFWVDSSOLFDEOHIUHTXHQF\IRUGDPSLQJFRQWURO
 &RPELQDWLRQRIGDPSLQJFRQWUROLQSXWFKDQJHRYHUDQG 966(/966(/ HQDEOHV
select of max. 4 options.

Note

When in Trouble

OFF
21
OFF
21

6HOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV
Numerator
Denominator
Pr0.09
Pr0.10
Pr5.00
Pr0.10
Pr5.01
Pr0.10
Pr5.02
Pr0.10

Adjustment

DIV2

5

SI 3-30 SDJH

‡8SWRQXPHUDWRUVFDQEHXVHGIRUFRPPDQGGLYLGLQJPXOWLSO\LQJE\XVLQJ',9DQG',9
',9DQG',9YVQXPHUDWRUGHQRPLQDWRURIVHOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV!
DIV1

Connection

Caution

Preparation

Title of
VLJQDO

Before Using the Products

Input Signal and Pin No.

4. Inputs and outputs on connector X4
Input Signal and Pin No.

Title of
VLJQDO

Gain switching input

Symbol

GAIN

Related
control mode
'HIDXOWDVVLJQPHQW

27 (SI4)

P

S

T

F

SI 3-30 SDJH

,)FLUFXLW

‡6HOHFWVWRUQGJDLQ
Title of
VLJQDO

Torque limit switching input

Symbol

TL-SEL

Related
control mode
'HIDXOWDVVLJQPHQW

—

P

S

T

F

SI 3-30 SDJH

,)FLUFXLW

‡ Select 1st or 2nd torque limit.
Pr5.21

Torque limit
switching input
(TL-SEL)

Torque limit
switching setup
(Pr5.23, Pr5.24)

3RVLWLYHGLUHFWLRQ
Torque limit

$QDORJLQSXW*1

0
1

—

—

2

—

—

3

OFF
21

Pr0.13
Pr0.13

Pr5.22
Pr0.13

Valid

Pr5.22

4

$QDORJLQSXW*1

5
6

1HJDWLYHGLUHFWLRQ
Torque limit

OFF
21

—

Pr0.13

Pr5.22

Pr5.25

Pr5.26

*1 7RVSHFLI\WKHWRUTXHOLPLWYDOXHE\DQDQDORJLQSXWUHIHUWR3U´$QDORJWRUTXHOLPLWIXQFWLRQµ
‡6HWXSRIUDWHRIFKDQJHDIWHUWRUTXHOLPLWVZLWFKRYHU
:KHQ DSSO\LQJ 3U ´7RUTXH OLPLW VHOHFWLRQµ   FKDQJLQJ UDWH RI WRUTXH VORSH  DIWHU
VHOHFWLQJQHZWRUTXHOLPLWFDQEHFKDQJHG
:KHQFKDQJLQJIURPWKHVWWRUTXHOLPLWWRQGWRUTXHOLPLWWKHFKDQJLQJUDWH VORSH VHWDW
3U ´7RUTXH OLPLW VHOHFWLRQ VHWXS µ LV DSSOLHG DIWHU FKDQJLQJ IURP WKH QG WRUTXH OLPLW
WRVWWRUTXHOLPLWWKHFKDQJLQJUDWH VORSH VHWDW3U´7RUTXHOLPLWVHOHFWLRQVHWXSµLV
DSSOLHG7KHVLJQRIWKHFKDQJLQJUDWHLVDXWRPDWLFDOO\VHOHFWHGE\WKHGULYHUDFFRUGLQJWRWKH
GLIIHUHQFHLQYDOXHEHWZHHQWKHVWDQGQGWRUTXHOLPLW
,I3U´7RUTXHOLPLWVHOHFWLRQVHWXSµDQG3U´7RUTXHOLPLWVHOHFWLRQVHWXSµDUHVHWWR
VZLWFKRYHULVLQVWDQWDQHRXV

Torque limit selection input
(TL-SEL)
1st torque limit
(Pr0.13)
2nd torque limit
(Pr5.22)

Caution

Torque limit selection setup 1 (Pr5.23)

Torque limit selection setup 2 (Pr 5.24)

:KHQWKHVWWRUTXHOLPLW 3U DQGQGWRUTXHOLPLW 3U DUHFKDQJHGIURPWKHIURQW
SDQHORUWKURXJKFRPPXQLFDWLRQWKHFKDQJLQJUDWHVHWXSLVLJQRUHGDQGWKHQHZWRUTXHOLPLW
YDOXHLVLPPHGLDWHO\DQGGLUHFWO\DSSOLHG7KDWLVFKDQJLQJUDWHVHWWLQJLVHIIHFWLYHRQO\ZKHQ
WKHVHOHFWLRQLVPDGHE\XVLQJWKHWRUTXHOLPLWVHOHFWLQSXW 7/6(/ 

5HODWHGSDJH

3-40

‡3´'HWDLOVRI3DUDPHWHUµ

4. Inputs and outputs on connector X4

1

Selection 1 input of internal command speed

Symbol

INTSPD1

Title of
VLJQDO

Selection 2 input of internal command speed

Symbol

INTSPD2

Title of
VLJQDO

Selection 3 input of internal command speed

Symbol

INTSPD3

'HIDXOWDVVLJQPHQW

'HIDXOWDVVLJQPHQW

'HIDXOWDVVLJQPHQW

Related
control mode

33 (SI10)

P

Related
control mode

P

F

S

T

F

SI 3-30 SDJH

,)FLUFXLW
Related
control mode

28 (SI5)

T

SI 3-30 SDJH

,)FLUFXLW

30 (SI7)

S

P

S

T

F

SI 3-30 SDJH

,)FLUFXLW

‡6HOHFWRQHRILQWHUQDOFRPPDQGVSHHGV
5HODWLRQVKLSEHWZHHQ3U´6ZLWFKLQJEHWZHHQLQWHUQDODQGH[WHUQDOVSHHGVHWXSµ
and internal command speed selection 1-3 and the speed command selected>.
Pr3.00

2

Selection 2 of
internal command
speed (INTSPD2)
OFF
OFF
21
21
OFF
OFF
21

21

21

Selection of
speed command
1st speed
2nd speed
3rd speed
WKVSHHG
1st speed
2nd speed
3rd speed
$QDORJVSHHG
command
VWWRWKVSHHG
WKVSHHG
WKVSHHG
WKVSHHG
WKVSHHG

1RHIIHFW

1RHIIHFW

OFF
21
21
21
21

4

INTSPD2
Speed
command
[r/min]

open

COMï

open

COMï
4th

open

INTSPD2

open

INTSPD3

open

2nd
1st

Speed
command
[r/min]

Speed zero clamp input

Symbol

=(5263'

COMï
COMï
8th

4th
1st

2nd

5th

6

1st

Example 2) When Pr3.00=3
Related
control mode

'HIDXOWDVVLJQPHQW

6th

3rd

26 (SI3)

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡6HWWKHVSHHGFRPPDQGWR
‡:KHQXVLQJVHW3U´6SHHG]HURFODPSIXQFWLRQVHOHFWLRQµWRDYDOXHRWKHUWKDQ
Speed command sign input

Symbol

VC-SIGN

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

7
F

SI 3-30 SDJH

‡6SHFLI\WKHVLJQRIVSHHGFRPPDQGLQSXWDWYHORFLW\FRQWURO
 5HIHUWR3´3U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQµ
3-41

Supplement

Title of
VLJQDO

When in Trouble

Example 1) When Pr3.00=1 or 2
Title of
VLJQDO

COMï

7th

3rd
1st

INTSPD1

5
Adjustment

,QWHUQDOFRPPDQGVSHHGVZLWFKLQJSDWWHUQVKRXOGEHVRDUUDQJHGDVVKRZQEHORZWKDWVLQJOH
LQSXWVLJQDOVDUHVHOHFWHGDOWHUQDWHO\,IRUPRUHLQSXWVLJQDOVDUHVHOHFWHGVLPXOWDQHRXVO\
XQVSHFLÀHGLQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\VHOHFWHGZKRVHVHWWLQJYDOXHDQG
DFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ
INTSPD1

3

Setup

7KHVDPHDV3U 
OFF
OFF
21
OFF
OFF
21
21
21

3

Caution

Selection 3 of
internal command
speed (INTSPD3)

Connection

1

Selection 1 of
internal command
speed (INTSPD1)
OFF
21
OFF
21
OFF
21
OFF

2
Preparation

Title of
VLJQDO

Before Using the Products

Input Signal and Pin No.

4. Inputs and outputs on connector X4
Input Signal and Pin No.

Title of
VLJQDO

Torque command sign input

Symbol

TC-SIGN

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡6SHFLI\WKHVLJQRIWRUTXHFRPPDQGLQSXWDWWRUTXHFRQWURO
21
OFF

1HJDWLYHGLUHFWLRQ
3RVLWLYHGLUHFWLRQ

 5HIHUWR3´3U7RUTXHFRPPDQGGLUHFWLRQVHOHFWLRQµ
Title of
VLJQDO

Forced alarm input

Symbol

E-STOP

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡ *HQHUDWHV(UU´)RUFHGDODUPLQSXWHUURUµ
Title of
VLJQDO

Inertia ratio switching input

Symbol

J-SEL

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

F

SI 3-30 SDJH

‡ 6HOHFWVVWLQHUWLDUDWLRRUQGLQHUWLDUDWLRDFFRUGLQJWRWKHLQHUWLDUDWLRVHOHFWLQSXW -6(/ 
Inertia ratio switching
input (J-SEL)

Applicable inertia ratio

OFF

1st Inertia ratio (Pr0.04)

21

2nd Inertia ratio (Pr6.12)

 5HIHUWR3´3U)XQFWLRQH[SDQVLRQVHWXSµ

Note

3-42

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW

4. Inputs and outputs on connector X4

1
Before Using the Products

Input Signal and Pin No.

Input Signals (Analog Command)
14

Pin
1R

16

Pin
1R

18

Title of
VLJQDO

AI1 input

Symbol

AI1

Title of
VLJQDO

AI2 input

Symbol

AI2

Title of
VLJQDO

AI3 input

Symbol

AI3

Correspondence function

2

635754563/
Correspondence function

Preparation

Pin
1R

75453$7/
Correspondence function

N-ATL

3
Function allocatable to Input Signals (Analog Command)
3RVLWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW

Symbol

P-ATL

Title of
VLJQDO

1HJDWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW

Symbol

N-ATL

Related
control mode

P

S

T

F

$, 3-31 SDJH

,)FLUFXLW
Related
control mode

P

S

T

F

$, 3-31 SDJH

,)FLUFXLW

Connection

Title of
VLJQDO

4

‡ 6SHFLI\WKHWRUTXHOLPLWIRUHDFKGLUHFWLRQYDOXHE\WKHDQDORJYROWDJH
3RVLWLYHGLUHFWLRQ
Torque limit input
(P-ATL)

1HJDWLYHGLUHFWLRQ
Torque limit input
(N-ATL)

3RVLWLYHGLUHFWLRQ
Torque limit

1HJDWLYHGLUHFWLRQ
Torque limit

0

0 to 10V

ïWR9

3$7/

1$7/

Setup

Pr5.21

1
6HWXSWKURXJKSDUDPHWHU*1

—

2
3
4

0 to 10V

0 to 10V

5

0 to 10V

1RHIIHFW
—

5

1$7/
3$7/

Setup by parameter *1

* :KHQVSHFLI\LQJWKHWRUTXHOLPLWYDOXHWKURXJKWKHSDUDPHWHUUHIHUWR3´7RUTXHOLPLW
VHOHFWIXQFWLRQµ

Adjustment

6

3$7/

6
When in Trouble

7
Supplement

Note

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW

3-43

4. Inputs and outputs on connector X4
Input Signal and Pin No.

Title of
VLJQDO

Speed command input

Symbol

635

Related
control mode
,)FLUFXLW

P

S

T

F

$, 3-31 SDJH

‡,QSXWWKHVSHHGFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
‡7KHWDEOHEHORZVKRZVUHODWLRQVKLSEHWZHHQWKHFRPELQDWLRQRI3U´6ZLWFKLQJEHWZHHQ
LQWHUQDODQGH[WHUQDOVSHHGVHWXSµ3U´6SHHGFRPPDQGGLUHFWLRQVHOHFWLRQµ3U
´6SHHGFRPPDQGLQSXWLQYHUVLRQµDQDORJVSHHGFRPPDQG 635 RI,)FRQQHFWRUDQGVSHHG
FRPPDQGVLJQVHOHFWLRQ 9&6,*1 DQGWKHPRWRUURWDWLRQDOGLUHFWLRQDQGWKHFRQYHUVLRQ
JUDSKRIDQDORJVSHHGFRPPDQGLQSXWYROWDJHWRWKHVSHHGFRPPDQG
Pr3.00

Pr3.01

Pr3.03

Speed command input
635

Speed command
sign selection
(VC-SIGN)

9ROWDJH (0 to 10V)

1RHIIHFW

ï9ROWDJH ïWR9

1RHIIHFW

9ROWDJH (0 to 10V)

1RHIIHFW

ï9ROWDJH ïWR9

1RHIIHFW

0
0
1

0

1

Title of
VLJQDO

Torque command input

Symbol

7545

1RHIIHFW

9ROWDJH (0 to 10V)
ï9ROWDJH ïWR9
9ROWDJH (0 to 10V)
ï9ROWDJH ïWR9

OFF

1HJDWLYH
direction

21

Related
control mode
,)FLUFXLW

Motor
rotational
direction
3RVLWLYH
direction
1HJDWLYH
direction
1HJDWLYH
direction
3RVLWLYH
direction
3RVLWLYH
direction

P

S

T

F

$, 3-31 SDJH

‡ ,QSXWWKHWRUTXHFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
 :KHQ3U´7RUTXHFRPPDQGVHOHFWLRQµ SLQ1R
 :KHQ3U´7RUTXHFRPPDQGVHOHFWLRQµ SLQ1R
Pr3.17

Pr3.18

Pr3.20

Torque command input
7545

Torque command
sign selection
(TC-SIGN)

9ROWDJH (0 to 10V)

1RHIIHFW

ï9ROWDJH ïWR9

1RHIIHFW

9ROWDJH (0 to 10V)

1RHIIHFW

ï9ROWDJH ïWR9

1RHIIHFW

0
0
1

0

1

Title of
VLJQDO

Speed limit input

Symbol

SPL

1RHIIHFW

9ROWDJH (0 to 10V)
ï9ROWDJH ïWR9
9ROWDJH (0 to 10V)
ï9ROWDJH ïWR9

OFF

1HJDWLYH
direction

21

Related
control mode
,)FLUFXLW

Motor
rotational
direction
3RVLWLYH
direction
1HJDWLYH
direction
1HJDWLYH
direction
3RVLWLYH
direction
3RVLWLYH
direction

P

S

T

F

$, 3-31 SDJH

‡:KHQVHWWLQJ3U´7RUTXHFRPPDQGVHOHFWLRQµWRLQSXWWKHVSHHGOLPLWYDOXHLQWKHIRUP
RIDQDORJYROWDJH

Note

3-44

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW

4. Inputs and outputs on connector X4

Connection

Output Signal and Pin No.

Output Signals (Common) and Their Functions

1
Before Using the Products

3

&RQWURORXWSXWVLJQDORIGHVLUHGIXQFWLRQFDQEHDVVLJQHGWR,)FRQQHFWRU/RJLFRIWKHRXWSXW

2

SLQFDQQRWEHFKDQJHG

Title of
VLJQDO

6LJQDO

6LJQDO

%5.2))

%5.2))

%5.2))

SO2 output
3LQ1R62ï
3LQ1RSO2+

Pr4.11

K
(131586)

65'<

65'<

65'<

Pr4.12

K
(65793)

$/0

$/0

$/0

Pr4.13

K
(328964)

,13

$763(('

$763(('

Pr4.14

K
(460551)

=63

=63

=63

Pr4.15

K
(394758)

7/&

7/&

7/&

36
37

Pin
1R

38
39

Pin
1R

12

Title of
VLJQDO
Symbol

SO5 output

Pin
1R

40

Title of
VLJQDO
Symbol

SO6 output

Title of
VLJQDO

SO3 output

Symbol

3LQ1R62ï
3LQ1RSO3+

Title of
VLJQDO

SO4 output

Symbol

3LQ1R62ï
3LQ1RSO4+

SO5

SO6

‡ 7KHIXQFWLRQLVFKDQJHGE\WKHVHWWLQJRISDUDPHWHU)RUGHWDLOVUHIHUWR3
 6HH´)XQFWLRQVDVVLJQDEOHWRFRQWURORXWSXWµDVVKRZQEHORZ
>³@1RIXQFWLRQDVVLJQHG

5

P.3-52

Adjustment

5HODWHGSDJH

Function allocatable to control input
Title of
VLJQDO

6HUYR$ODUPRXWSXW

Symbol

ALM

Related
control mode
'HIDXOWDVVLJQPHQW

36, 37 (SO3)

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

6HUYR5HDG\RXWSXW

Symbol

65'<

Related
control mode
'HIDXOWDVVLJQPHQW

34, 35 (SO2)

,)FLUFXLW

P

S

T

F

6
When in Trouble

‡7KLVVLJQDOVKRZVWKDWWKHGULYHULVLQDODUPVWDWXV
‡2XWSXWWUDQVLVWRUWXUQV21ZKHQWKHGULYHULVDWQRUPDOVWDWXVDQGWXUQV2))DWDODUPVWDWXV
Title of
VLJQDO

4
Setup

Pin
1R

3
Connection

34
35

Note

6LJQDO

K
(197379)

Pin
1R

Symbol

Verocity control Torque control

Pr4.10

10
11

Title of
VLJQDO

3RVLWLRQ)XOO
closed control

SO1 output
3LQ1R62ï
3LQ1RSO1+

Pin
1R

Symbol

 GHFLPDO
notation

'HIDXOW6HWXS
Preparation

$SSOLFDEOH
parameter

'HIDXOW
parameter
VHWWLQJ

SO 3-32 SDJH

‡7KLVVLJQDOVKRZVWKDWWKHGULYHULVUHDG\WREHDFWLYDWHG
‡2XWSXWWUDQVLVWRUWXUQV21ZKHQERWKFRQWURODQGPDLQSRZHUDUH21EXWQRWDWDODUPVWDWXV

7
Supplement

3-45

4. Inputs and outputs on connector X4
Output Signal and Pin No.

Title of
VLJQDO

External brake release signal

Symbol

%5.2))

Related
control mode
'HIDXOWDVVLJQPHQW

10, 11 (SO1)

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡)HHGVRXWWKHWLPLQJVLJQDOZKLFKDFWLYDWHVWKHKROGLQJEUDNHRIWKHPRWRU
‡7XUQVWKHRXWSXWWUDQVLVWRU21DWWKHUHOHDVHWLPLQJRIWKHKROGLQJEUDNH
Title of
VLJQDO

Positioning complete

Symbol

INP

Title of
VLJQDO

Positioning complete 2

Symbol

INP2

Related
control mode
'HIDXOWDVVLJQPHQW

38, 39 (SO4)

,)FLUFXLW
Related
control mode

—

'HIDXOWDVVLJQPHQW

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH
P

S

T

F

SO 3-32 SDJH

‡2XWSXWVWKHSRVLWLRQLQJFRPSOHWHVLJQDOSRVLWLRQLQJFRPSOHWHVLJQDO
‡7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRPSOHWLRQRISRVLWLRQLQJ
Title of
VLJQDO

6SHHGDUULYDORXWSXW

Symbol

AT-SPPED

Related
control mode
'HIDXOWDVVLJQPHQW

38, 39 (SO4)

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡2XWSXWVWKHVSHHGDUULYDOVLJQDO
‡7XUQV21WKHRXWSXWWUDQVLVWRUXSRQDUULYHRIVSHHG
Title of
VLJQDO

Torque in-limit signal output

Symbol

TLC

Related
control mode
'HIDXOWDVVLJQPHQW

40 (SO6)

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡2XWSXWVWKHWRUTXHLQOLPLWVLJQDO
‡7XUQV21WKHRXWSXWWUDQVLVWRUXSRQOLPLWRIWRUTXH
Title of
VLJQDO

Zero-speed detection output signal

Symbol

ZSP

'HIDXOWDVVLJQPHQW

Related
control mode

12 (SO5)

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡2XWSXWVWKH]HURVSHHGGHWHFWLRQVLJQDO
‡7XUQV21WKHRXWSXWWUDQVLVWRUXSRQGHWHFWLRQRI=HURVSHHG
Title of
VLJQDO

Speed coincidence output

Symbol

V-COIN

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡2XWSXWVWKHVSHHGFRLQFLGHQFHVLJQDO
‡7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRLQFLGHQFHRIVSHHG
Title of
VLJQDO

Alarm output 1

Symbol

:$51

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

‡ 2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U´:DUQLQJRXWSXWVHOHFWµ
‡ 7XUQV21WKHRXWSXWWUDQVLVWRUXSRQRFFXUUHQFHRIZDUQLQJFRQGLWLRQ

3-46

P

S

T

SO 3-32 SDJH

F

4. Inputs and outputs on connector X4

1

Title of
VLJQDO

Alarm output 2

Symbol

:$51

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡ 2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U´:DUQLQJRXWSXWVHOHFWµ
‡ 7XUQV21WKHRXWSXWWUDQVLVWRUXSRQRFFXUUHQFHRIZDUQLQJFRQGLWLRQ

2

Alarm

$

Pr6.27 *1

Content

$

%DWWHU\DODUP

%DWWHU\YROWDJHLV9RUORZHU

$

Fan alarm
Encoder
communication alarm
(QFRGHURYHUKHDW
alarm
Oscillation detection
alarm
/LIHWLPHGHWHFWLRQ
alarm
External scale error
alarm
External scale
communication alarm

$

$
$
$
$
$
$

2

bit5

3

bit0

)DQKDVVWRSSHGIRUVHF
7KHQXPEHURIVXFFHVVLYHHQFRGHUFRPPXQLFDWLRQ
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH

4

bit6

5

bit4

7KHHQFRGHUGHWHFWVRYHUKHDWDODUP

6

bit3

2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG

7

bit9

8

bit2

7KHIHHGEDFNVFDOHGHWHFWVWKHDODUP

9

bit8

7KHQXPEHURIVXFFHVVLYHIHHGEDFNVFDOH
FRPPXQLFDWLRQHUURUVH[FHHGVWKHVSHFLÀHGYDOXH

10

bit10

Fixed at no
time limit.

7KHOLIHH[SHFWDQF\RIFDSDFLW\RUIDQEHFRPHV
VKRUWHUWKDQWKHVSHFLÀHGWLPH

Fixed at no
time limit.

3

4
Setup

/RDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKH
SURWHFWLRQOHYHO

Connection

2YHUORDGSURWHFWLRQ
2YHUUHJHQHUDWLRQ
alarm

Pr4.40/ Pr6.38
Corresponding
Pr4.41 *2 bit *3
1
bit7

Preparation

‡6HOHFWLRQRIDODUPRXWSXWDQGRXWSXW
Alarm
No.

Before Using the Products

Output Signal and Pin No.

5
Adjustment

* 7KH´FLUFOHµPHDQVWKDWDWLPHLQWKHUDQJHWRVRUQRWLPHOLPLWFDQEHVHOHFWHGWKURXJK3U
´:DUQLQJODWFKLQJWLPHµ1RWHWKDWWKHEDWWHU\ZDUQLQJDQGWKHHQGRIOLIHZDUQLQJKDYHQRWLPHOLPLW
* 6HOHFWWKHZDUQLQJRXWSXWVLJQDO :$51 RUZDUQLQJRXWSXWVLJQDO :$51 WKURXJK3U
´:DUQLQJRXWSXWVHOHFWµRU3U´:DUQLQJRXWSXWVHOHFWµ:KHQWKHVHWYDOXHLVDOOZDUQLQJV
DUH25HGEHIRUHEHLQJRXWSXW'RQRWVHWWRDQ\YDOXHRWKHUWKDQWKRVHVSHFLILHGLQWKHWDEOHDERYH
* $ZDUQLQJGHWHFWLRQFDQEHPDVNHGE\3U´:DUQLQJPDVNVHWXSµ&RUUHVSRQGLQJELWVDUHVKRZQ
LQWKHWDEOH:DUQLQJLVPDVNHGZLWKELW 
*4 7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDODQGQRIDQ
alarm is displayed.

Positional command ON/OFF output

Symbol

P-CMD

'HIDXOWDVVLJQPHQW

Related
control mode

—

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡ 7XUQVRQRXWSXWWUDQVLVWRUZLWKSRVLWLRQDOFRPPDQGDSSOLHG
Title of
VLJQDO

Speed in-limit output

Symbol

V-LIMIT

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

7

‡ 7XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGLVOLPLWHGE\WRUTXHFRQWUROOLQJIXQFWLRQ
Alarm attribute output

Symbol

ALM-ATB

Related
control mode
'HIDXOWDVVLJQPHQW

—

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡ 7XUQVRQRXWSXWWUDQVLVWRUZKHQDQDODUPWKDWFDQEHFOHDUHGJHQHUDWHV

3-47

Supplement

Title of
VLJQDO

6
When in Trouble

Title of
VLJQDO

4. Inputs and outputs on connector X4
Output Signal and Pin No.

Title of
VLJQDO

Speed command ON/OFF output

Symbol

V-CMD

'HIDXOWDVVLJQPHQW

Related
control mode

—

,)FLUFXLW

P

S

T

F

SO 3-32 SDJH

‡ 7XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGFRPPDQGLVDSSOLHGZKLOHWKHVSHHGLVFRQWUROOHG

Output Signals (Pulse Train) and Their Functions
Pin
1R

21
22

Pin
1R

48
49

Pin
1R

23
24

Title of
VLJQDO

A-phase output

Symbol

3LQ1ROA+
3LQ1ROA–

Title of
VLJQDO

B-phase output

Symbol

3LQ1ROB+
3LQ1ROB–

Title of
VLJQDO

Z-phase output

Symbol

3LQ1ROZ+
3LQ1ROZ–

Related
control mode
,)FLUFXLW
Related
control mode
,)FLUFXLW
Related
control mode
,)FLUFXLW

P

S

T

F

PO1 3-32 SDJH
P

S

T

F

PO1 3-32 SDJH
P

S

T

F

PO1 3-32 SDJH

‡)HHGVRXWWKHGLYLGHGHQFRGHUVLJQDORUIHHGEDFNVFDOHVLJQDO $%=SKDVH LQGLIIHUHQWLDO
HTXLYDOHQWWR56
‡*URXQGIRUOLQHGULYHURIRXWSXWFLUFXLWLVFRQQHFWHGWRVLJQDOJURXQG *1' DQGLVQRWLQVXODWHG
‡0D[RXWSXWIUHTXHQF\LV0SSV DIWHUTXDGUXSOHG

Pin
1R

19

Title of
VLJQDO

Z-phase output

Symbol

CZ

Related
control mode
,)FLUFXLW

P

S

T

F

PO2 3-33 SDJH

‡2SHQFROOHFWRURXWSXWRI=SKDVHVLJQDO
‡7KHHPLWWHUVLGHRIWKHWUDQVLVWRURIWKHRXWSXWFLUFXLWLVFRQQHFWHGWRWKHVLJQDOJURXQG *1' 
and is not insulated.
‡:KHQXVLQJWKH&=VLJQDOLVRODWHLWIURPH[WHUQDOQRLVH
‡1RWH WKDW WKH ORJLF RI = SKDVH RSHQ FROOHFWRU RXWSXW &=  LV D UHYHUVDO RI WKH OLQH GULYHU
RXWSXW 2= ORJLF

Note

‡:KHQWKHRXWSXWVRXUFHLVWKHHQFRGHU
‡,IWKHHQFRGHUUHVROXWLRQð

Pr0.11
LVPXOWLSOHRI=SKDVHZLOOEHIHGRXWV\QFKURQL]LQJ
Pr5.03

 ZLWK$SKDVH,QRWKHUFDVHWKH=SKDVHZLGWKZLOOEHHTXDOWRWKHHQFRGHUUHVROXWLRQDQG
ZLOOQRWV\QFKURQL]HZLWK$SKDVHEHFDXVHRIQDUURZHUZLGWKWKDQWKDWRI$SKDVH
Pr0.11
when the encoder resolution ×
is
Pr5.03
multiple of 4,

Pr0.11
when the encoder resolution ×
is
Pr5.03
not multiple of 4,

A

A

B

B

Z

Z
synchronized

not-synchronized

‡,QFDVHRIWKHZLUHELWLQFUHPHQWDOHQFRGHUWKHVLJQDOVHTXHQFHPLJKWQRWIROORZWKH
DERYHÀJXQWLOWKHÀUVW=SKDVHLVIHGRXW:KHQ\RXXVHWKHSXOVHRXWSXWDVWKHFRQWURO
VLJQDOURWDWHWKHPRWRURQHUHYROXWLRQRUPRUHWRPDNHVXUHWKDWWKH=SKDVHLVIHGRXWDW
OHDVWRQFHEHIRUHXVLQJ
3-48

4. Inputs and outputs on connector X4

1
Before Using the Products

Output Signal and Pin No.

Output Signals (Analog) and Their Functions
Pin
1R

42

Title of
VLJQDO

Torque monitor output

Symbol

IM

Related
control mode
,)FLUFXLW

P

S

T

F

$2 3-33 SDJH

Preparation

‡'HÀQLWLRQRIWKHRXWSXWVLJQDOYDULHVZLWKWKHRXWSXWRI3U DQDORJPRQLWRUW\SH 
‡7KHRXWSXWVLJQDOLVLGHQWLFDOWRWKHDQDORJPRQLWRURQWKHIURQWPRQLWRU
‡)RURXWSXWVHWWLQJUHIHUWR3´'HWDLOVRISDUDPHWHUµ

Pin
1R

43

Title of
VLJQDO

Speed monitor output

Symbol

SP

Related
control mode
,)FLUFXLW

P

S

T

2

F

$2 3-33 SDJH

3
Connection

‡'HÀQLWLRQRIWKHRXWSXWVLJQDOYDULHVZLWKWKHRXWSXWRI3U DQDORJPRQLWRUW\SH 
‡7KHRXWSXWVLJQDOLVLGHQWLFDOWRWKHDQDORJPRQLWRURQWKHIURQWPRQLWRU
‡)RURXWSXWVHWWLQJUHIHUWR3´'HWDLOVRISDUDPHWHUµ

Output Signals (Others) and Their Functions
Pin
1R

13, 15
17, 25

Title of
VLJQDO

Signal ground

Symbol

GND

Related
control mode

4
P

S

T

F

T

F

—

,)FLUFXLW

Setup

‡6LJQDOJURXQG
‡7KLVRXWSXWLVLQVXODWHGIURPWKHFRQWUROVLJQDOSRZHU &20² LQVLGHRIWKHGULYHU

Pin
1R

50

Title of
VLJQDO

Frame ground

Symbol

FG

Related
control mode
,)FLUFXLW

P

S
—

Adjustment

‡7KLVRXWSXWLVFRQQHFWHGWRWKHHDUWKWHUPLQDOLQVLGHRIWKHGULYHU

5

6
When in Trouble

7
Supplement

3-49

3

5. IF Monitor Settings

Connection

How to Assign Various I/O Functions to the I/F

Control Input Settings
Title of signal
SI1 input selection
SI2 input selection
SI3 input selection
SI4 input selection
SI5 input selection
SI6 input selection
SI7 input selection
SI8 input selection
SI9 input selection
SI10 input selection

Connector X4
Pin No.
8
9
26
27
28
29
30
31
32
33

Parameter No.
Pr4.00
Pr4.01
Pr4.02
Pr4.03
Pr4.04
Pr4.05
Pr4.06
Pr4.07
Pr4.08
Pr4.09

7KHVHSDUDPHWHUVVKDOOEHVHWE\XVLQJ
KH[DGHFLPDOQXPEHUV6HWWLQJVKDOOEHPDGHIRU
HDFKFRQWUROPRGHDVVKRZQLQH[DPSOHVEHORZ
00 ーーーー▲▲ K3RVLWLRQ)XOOFORVHGFRQWURO
00 ーー＊＊ーー K6SHHGFRQWURO
00 ■■ーーーー K7RUTXHFRQWURO
Set an appropriate function number in place of
´ ■■ µ´ ＊＊ µDQG´ ▲▲ µ)RUWKHIXQFWLRQ
QXPEHUVHHWKHWDEOHRQWKHEHORZ

Title

Symbol

,QYDOLG
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW
6HUYR21LQSXW*1
$ODUPFOHDULQSXW
&RQWUROPRGHVZLWFKLQJLQSXW*2
*DLQVZLWFKLQJLQSXW
'HYLDWLRQFRXQWHUFOHDULQSXW*3
&RPPDQGSXOVHLQKLELWLRQLQSXW*4
7RUTXHOLPLWVZLWFKLQJLQSXW
'DPSLQJFRQWUROVZLWFKLQJLQSXW
'DPSLQJFRQWUROVZLWFKLQJLQSXW
(OHFWURQLFJHDUVZLWFKLQJLQSXW
(OHFWURQLFJHDUVZLWFKLQJLQSXW
Selection 1 input of internal command speed
Selection 2 input of internal command speed
Selection 3 input of internal command speed
6SHHG]HURFODPSLQSXW
6SHHGFRPPDQGVLJQLQSXW
7RUTXHFRPPDQGVLJQLQSXW
Forced alarm input
,QHUWLDUDWLRVZLWFKLQJLQSXW

ï
POT
127
65921
$&/5
&02'(
*$,1
&/
,1+
7/6(/
966(/
966(/
',9
',9
,1763'
,1763'
,1763'
=(5263'
9&6,*1
7&6,*1
E-STOP
-6(/

6HWXSYDOXH
a-contact
b-contact
K
'RQRWVHWXS
K
K
K
K
K
K
K
'RQRWVHWXS
K
K
K
K
K
'RQRWVHWXS
K
K
K
K
$K
$K
%K
%K
&K
&K
'K
'K
(K
(K
)K
)K
K
K
K
K
K
K
K
K
K
K
K
K

(e.g. 1) Parameter setting
00 82 82 82 h (Hexadecimal numbers)
Position/ Full-closed Control (Negative direction over-travel inhibition input; b-contact)
Velocity Control

(Negative direction over-travel inhibition input; b-contact)

Torque Control

(Negative direction over-travel inhibition input; b-contact)

Convert to a decimal number
8553090

Enter this value to the relevant parameter.

(e.g. 2) Parameter setting
00 ■■ ＊＊ ▲▲ h (Hexadecimal numbers)
Position/ Full-closed Control (Damping control switching input 1; a-contact)
Velocity Control

(Speed zero clamp input; b-contact)

Torque Control

(Speed zero clamp input; b-contact)

Convert to a decimal number
Enter this value to the relevant parameter.

3-50

5. IF Monitor Settings

1
Before Using the Products

How to Assign Various I/O Functions to the I/F

The front panel display is in decimal (six digits).
For setting functions and parameters, hexadecimal and
decimal numbers should be used respectively.
6

1

The expression of “00 ■■ ＊＊ ▲▲ h” indicates that the number
is hexadecimal.

7
Supplement

Note

6
When in Trouble

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* :KHQXVLQJFRQWUROPRGHVZLWFKLQJLQSXW &02'( VHWWKHVLJQDOWRDOOFRQWUROPRGHV
,IWKHVLJQDOLVVHWWRRQO\RUFRQWUROPRGHV(UU,)LQSXWIXQFWLRQQXPEHUHUURU
RU(UU,)LQSXWIXQFWLRQQXPEHUHUURUZLOOEHJHQHUDWHG
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‡)XQFWLRQ VHUYRRQ LQSXW DODUP FOHDU HWF  WR EH XVHG LQ PXOWLSOH FRQWURO PRGHV
PXVWEHDVVLJQHGWRWKHVDPHSLQZLWKFRUUHFWORJLFDODUUDQJHPHQW,QFRUUHFWVHWWLQJ
ZLOO FDXVH (UU ,) LQSXW PXOWLSOH DVVLJQPHQW HUURU  RU (UU ,) LQSXW PXOWLSOH
DVVLJQPHQWHUURU
* 'HYLDWLRQFRXQWHUFOHDULQSXW &/ FDQEHDVVLJQHGRQO\WR6,LQSXW:URQJDVVLJQPHQW
ZLOOFDXVH(UU&RXQWHUFOHDUDVVLJQPHQWHUURU
* &RPPDQG SXOVH LQKLELW LQSXW ,1+  FDQ EH DVVLJQHG RQO\ WR 6, LQSXW :URQJ
DVVLJQPHQWZLOOFDXVH(UU&RPPDQGSXOVHLQSXWLQKLELWLQSXW

5
Adjustment

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‡'R QRW DVVLJQ VSHFLILF IXQFWLRQ WR  RU PRUH VLJQDOV 'XSOLFDWHG DVVLJQPHQW ZLOO FDXVH
(UU,)LQSXWPXOWLSOHDVVLJQPHQWHUURURU(UU,)LQSXWPXOWLSOHDVVLJQPHQWHUURU

4
Setup

Caution

3
Connection

The SI1 input (connector X4, pin No. 8) means that the negative direction over-travel
inhibition input is set to b-contact as a factory default.
For using the device in the position or full-closed control mode, the negative direction
over-travel inhibition input is set to b-contact by setting “8” and “2” in the seventh and eighth
digits from the left respectively. The settings in the first to sixth digits from the left do not
matter.
For the hexadecimal value “00000082h” or simply “82h”, enter “130” (decimal) to the
parameter Pr4.00.
To make multiple settings, enter the function number in the first eight digits from the left and
then enter a parameter in a decimal number after converting it from a hexadecimal number.
An example of this is shown in example 1 (the case on the left side).
Similarly, the SI3 input (connector X4, pin No. 26) has a function of damping control switching
input 1 as a default when used in the position control mode.
Also, if the speed control is used, it is set to the function of speed zero clamp input.
Therefore, in order to set it to the damping control switching input in the position control
mode, enter the value of “10” (decimal) in the parameter Pr4.02 meaning the hexadecimal
number “0Ah”, or “Ah”.
To change the speed zero clamp of pin No. 26 from b-contact to a-contact in the speed
control mode, enter the decimal number of “4352” in the parameter Pr4.02 meaning the
hexadecimal number of “00001100h”, or “1100h”.

Preparation

X7

2

‡,QSXWFLUFXLWUHIHUWR3DQGIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH 33

3-51

5. IF Monitor Settings
How to Assign Various I/O Functions to the I/F

Control Output Settings
Title of signal
SO1 input
SO2 input
SO3 input
SO4 input
SO5 input
SO6 input

Connector X4
Pin No.




12
40

Parameter No.
Pr4.10
Pr4.11
Pr4.12
Pr4.13
Pr4.14
Pr4.15

7KHVHSDUDPHWHUVVKDOOEHVHWE\XVLQJ
KH[DGHFLPDOQXPEHUV6HWWLQJVKDOOEHPDGHIRU
HDFKFRQWUROPRGHDVVKRZQLQH[DPSOHVEHORZ
00 ーーーー▲▲ K3RVLWLRQ)XOOFORVHGFRQWURO
00 ーー＊＊ーー K6SHHGFRQWURO
00 ■■ーーーー K7RUTXHFRQWURO
Set an appropriate function number in place of
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QXPEHUVHHWKHWDEOHRQWKHULJKW

(e.g. 1) Parameter setting

Setup
YDOXH
K
K
K
K
K
K
K
K
K
$K
%K
&K
'K
(K
)K

Title

Symbol

,QYDOLG
6HUYR5HDG\RXWSXW
([WHUQDOEUDNHUHOHDVHVLJQDO
3RVLWLRQLQJFRPSOHWHRXWSXW
$WVSHHGRXWSXW
Torque in-limit VLJQDOoutput
=HURVSHHGGHWHFWLRQRXWSXWVLJQDO
Speed coincidence output
$ODUPRXWSXW
$ODUPRXWSXW
3RVLWLRQDOFRPPDQG212))RXWSXW
3RVLWLRQLQJFRPSOHWH
Speed in-limit output
$ODUPDWWULEXWHRXWSXW
6SHHGFRPPDQG212))RXWSXW

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,13
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$/0$7%
9&0'

00 03 03 03 h (Hexadecimal numbers)
Position/ Full-closed Control (External brake release signal)
Velocity Control

(External brake release signal)

Torque Control

(External brake release signal)

Convert to a decimal number
197379

Enter this value to the relevant parameter.

(e.g. 2) Parameter setting
00 05 05 04 h (Hexadecimal numbers)
Position/ Full-closed Control (Positioning complete)
Velocity Control

(Speed arrival output)

Torque Control

(Speed zero clamp input; b-contact)

Convert to a decimal number
328964

Enter this value to the relevant parameter.

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‡ &RQWURORXWSXWSLQVHWWRLQYDOLGDOZD\VKDVWKHRXWSXWWUDQVLVWRUWXUQHG2))
‡ 'RQRWFKDQJHWKHVHWXSYDOXHVKRZQLQWKHWDEOH

Caution
Note

3-52

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‡,QSXWFLUFXLWUHIHUWR3DQGIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH
P.4-35

4. Setup

1
Before Using the Products

5. Details of parameter

2

List of Parameters .......................................................................................4-2
[Class 0] Basic setting ...............................................................................4-4

Preparation

[Class 1] Gain adjustment ........................................................................4-13
[Class 2] Damping control ........................................................................4-20
[Class 3] Verocity/ Torque/ Full-closed control .........................................4-25
[Class 4] I/F monitor setting .....................................................................4-33
[Class 5] Enhancing setting .....................................................................4-43
[Class 6] Special setting ..........................................................................4-52

3

2.Trial Run (JOG run)

Connection

Inspection Before Trial Run ......................................................................4-59
Trial Run by Connecting the Connector X4 ..............................................4-60
Setup of Motor Rotational Speed and Input Pulse Frequency .................4-63

4
Setup

5
Adjustment

6
When in Trouble

7
Supplement

4-1

4

1. Details of parameter

Setup

List of Parameters

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZV
Pr0.00
Class
Parameter No.
‡'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ
 3SRVLWLRQFRQWURO6YHORFLW\FRQWURO
 7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
Parametr No.

Title

Class No.

00
01

○ ̶ ̶ ○

07
[Class 1] Gain adjustment

08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27

Note
4-2

○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ̶ ̶ ○
○ ̶ ̶ ○
○ ̶ ̶ ○

4-5

4-6
4-7

○ ̶ ̶ ̶
○ ̶ ̶ ○

4-8

○ ̶ ̶ ○
○ ○ ○ ○

4-9

○ ○ ○ ○
○ ○ ○ ○
○ ̶ ̶ ○

4-11

00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23

Title

$GDSWLYHÀOWHUPRGHVHWXS
frequency
1st notch ZLGWKVHOHFWLRQ
depth selection
frequency
2nd notch ZLGWKVHOHFWLRQ
depth selection
frequency
3rd notch ZLGWKVHOHFWLRQ
depth selection
frequency
4th notch ZLGWKVHOHFWLRQ
depth selection
6HOHFWLRQRIGDPSLQJÀOWHUVZLWFKLQJ
frequency
1st
damping ÀOWHUVHWXS
frequency
2nd
damping ÀOWHUVHWXS
frequency
3rd
damping ÀOWHUVHWXS
frequency
4th
damping ÀOWHUVHWXS
Positional VPRRWKLQJÀOWHU
command ),5ÀOWHU

Related Control Mode Detail
P S T F page
○ ○ ̶ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○

4-20

○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○ 4-21
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ̶ ̶ ○
○ ̶ ̶ ○

4-22

○ ̶ ̶ ○ 4-23
○ ̶ ̶ ○ 4-22
○ ̶ ̶ ○ 4-23
○ ̶ ̶ ○ 4-22
○ ̶ ̶ ○ 4-23
○ ̶ ̶ ○ 4-22
○ ̶ ̶ ○
○ ̶ ̶ ○

4-23

○ ̶ ̶ ○ 4-24

○ ̶ ̶ ○
○ ○ ○ ○
○ ○ ○ ○

00
4-12

01

○ ○ ○ ○
○ ○ ○ ○ 4-13
○ ○ ○ ○
○ ○ ○ ○
○ ̶ ̶ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○

4-14

○ ○ ○ ○
○ ̶ ̶ ○
○ ̶ ̶ ○
○ ○ ̶ ○
○ ○ ̶ ○ 4-15
○ ○ ○ ○
○ ̶ ̶ ○
○ ̶ ̶ ○

4-16

○ ̶ ̶ ○
○ ̶ ̶ ○ 4-17
○ ̶ ̶ ○
̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶

4-18

̶ ○ ̶ ̶
̶ ̶ ○ ̶
̶ ̶ ○ ̶
̶ ̶ ○ ̶
̶ ̶ ○ ̶

[Class 3] Verocity/ Torque/ Full-closed control

03
04
05
06

○ ○ ○ ○

4-4

[Class 2] Damping control

[Class 0] Basic setting

○ ○ ○ ○

02

Class No.

Related Control Mode Detail
P S T F page

00 Rotational direction setup
01 Control mode setup
02 Real-time setup
auto-gain Selection of machine
03 tuning
stiffness
04 Inertia ratio
05
input selection
Command
06
otational direction setup
pulse
input mode setup
07
Command pulse counts
08
SHURQHPRWRUUHYROXWLRQ
09 1st numerator of electronic gear
10 Denominator of electronic gear
Output pulse counts per one motor
11
UHYROXWLRQ
12 5HYHUVDORISXOVHRXWSXWORJLF
13 1st torque limit
14 3RVLWLRQGHYLDWLRQH[FHVVVHWXS
15 $EVROXWHHQFRGHUVHWXS
16 ([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS
/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH
17
resistor selection
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
1st
integration
ÀOWHURIVSHHGGHWHFWLRQ
WLPHFRQVWDQWRIWRUTXHÀOWHU
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
2nd
integration
ÀOWHURIVSHHGGHWHFWLRQ
WLPHFRQVWDQWRIWRUTXHÀOWHU
gain
9HORFLW\IHHGIRUZDUG
ÀOWHU
gain
7RUTXHIHHGIRUZDUG
ÀOWHU
2nd gain setup
mode
Position
delay time
control
VZLWFKLQJ OHYHO
hysteresis
3RVLWLRQJDLQVZLWFKLQJWLPH
mode
Velocity
delay time
control
VZLWFKLQJ OHYHO
hysteresis
mode
Torque
delay time
control
VZLWFKLQJ OHYHO
hysteresis

Parametr No.

02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27

4-19

28
29

6SHHGVHWXS,QWHUQDO([WHUQDO
VZLWFKLQJ
rotational direction
selection
Speed
input gain
command
UHYHUVDOLQSXW
1st
2nd
3rd
4th
Speed
setup
5th
6th
7th
8th
acceleration
Time setup
deceleration
Sigmoid acceleration/ deceleration
time setup
function selection
Speed
zero-clamp OHYHO
selection
direction selection
Torque
command
input gain
LQSXWUHYHUVDO
Speed limit 1
YDOXH
2
selection
QXPHUDWRURIGLYLVLRQ
([WHUQDO
GHQRPLQDWRURIGLYLVLRQ
scale
UHYHUVDORIGLUHFWLRQ
Z phase disconnection
detection disable
H[FHVVVHWXS
Hybrid
GHYLDWLRQ
clear setup

̶ ○ ̶ ̶

4-25
̶ ○ ̶ ̶
̶ ○ ○ ̶
̶ ○ ̶ ̶

4-26

̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶

4-27

̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ̶ ̶
̶ ○ ○ ̶

4-28

̶ ○ ○ ̶
̶ ̶ ○ ̶
̶ ̶ ○ ̶
̶ ̶ ○ ̶

4-29

̶ ̶ ○ ̶
̶ ̶ ○ ̶
̶ ̶ ○ ̶ 4-30
̶ ̶ ̶ ○
̶ ̶ ̶ ○
̶ ̶ ̶ ○
̶ ̶ ̶ ○ 4-31
̶ ̶ ̶ ○
̶ ̶ ̶ ○
̶ ̶ ̶ ○

4-32

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IXQFWLRQFRQQHFWRU ; ([WHUQDOVFDOHFRQQHFWRU DQGDQDORJLQSXW

1. Details of parameter

1

Parametr No.
Class No.

○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○ 4-34
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○

4-35

○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○ 4-36
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○

26
27
28
29
30
31
32
33
34
35
00

4-38

○ ○ ○ ○

02
04
05
06
07

○ ̶ ̶ ○ 4-39

08

○ ̶ ̶ ○

09

○ ̶ ̶ ○

10
11
13
14
15

○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○

○ ○ ○ ○
̶ ○ ○ ̶

4-40

̶ ○ ○ ̶
○ ○ ○ ○ 4-41
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○

4-42

○ ̶ ̶ ○
○ ̶ ̶ ○

○ ○ ○ ○

4-43

○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○
○ ○ ○ ○

18
19
20
21
22

○ ̶ ̶ ○
○ ̶ ̶ ○

17

4-44

○ ○ ○ ○ 4-45
○ ○ ○ ○
○ ○ ○ ○

○ ○ ○ ○

4-46

2

○ ○ ○ ○
○ ̶ ̶ ○
○ ̶ ̶ ○

4-47

○ ̶ ̶ ○
○ ̶ ̶ ○
○ ○ ̶ ○ 4-48
○ ○ ̶ ○
○ ○ ̶ ○
○ ○ ̶ ○
○ ○ ̶ ○

4-49

3

○ ○ ̶ ○
○ ○ ̶ ○
○ ○ ○ ○
○ ○ ○ ○ 4-50
○ ○ ○ ○
○ ○ ○ ○
○ ̶ ̶ ○
○ ○ ○ ○ 4-51
○ ○ ○ ○

$QDORJWRUTXHIHHGIRUZDUG
○
FRQYHUVLRQJDLQ
○
9HORFLW\GHYLDWLRQH[FHVVVHWXS
○
JOG trial run command speed
○
YDOLGWLPH
Position 3rd gain
○
scale factor
○
7RUTXHFRPPDQGDGGLWLRQDOYDOXH
○
3RVLWLYHGLUHFWLRQ torque
compensation
○
1HJDWLYHGLUHFWLRQ YDOXH
○
)XQFWLRQH[SDQVLRQVHWXS
○
Current response setup
○
2nd Inertia ratio
○
Emergency stop time at alarm
○
QGRYHUVSHHGOHYHOVHWXS
)URQWSDQHOSDUDPHWHUZULWLQJ
○
selection
○
3RZHUXSZDLWWLPH
̶
Encoder Z phase setup
̶
=SKDVHVHWXSRIH[WHUQDOVFDOH
6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH
̶
setup
$%SKDVHH[WHUQDOVFDOHSXOVH
̶
output method selection
Disturbance torque compensating gain ○
○
'LVWXUEDQFHREVHUYHUÀOWHU
○
$ODUPODWFKWLPHVHOHFWLRQ
○
estimation
speed
Real time
auto tuning
○
custom setup
̶
+\EULGYLEUDWLRQ gain
suppression
̶
ÀOWHU
○
2VFLOODWLRQGHWHFWLRQOHYHO
○
$ODUPPDVNVHWXS
For manufacturer's use

4

○ ̶ ○
̶ ̶ ̶
○ ○ ○

4-52

̶ ̶ ○
̶ ̶ ○
○ ̶ ○
̶ ̶ ○
̶ ̶ ○ 4-53

5

○ ○ ○
○ ○ ○
○ ○ ○
○ ○ ○
○ ○ ○

4-54

○ ○ ○
○ ○ ○

6

̶ ̶ ○
̶ ̶ ○
̶ ̶ ○

4-55

̶ ̶ ○
○ ̶ ̶
○ ̶ ̶
○ ○ ○ 4-56
○ ○ ○
○ ○ ○ 4-57
̶ ̶ ○

7

̶ ̶ ○
○ ○ ○ 4-58
○ ○ ○

○ ○ ○ ○ 4-46
○ ○ ○ ○

4-3

Supplement

○ ○ ○ ○

23
24
27
31
32
34
35
37
38
39

○ ̶ ̶ ○

When in Trouble



25

0RWRUZRUNLQJUDQJHVHWXS
,)UHDGLQJÀOWHU
$ODUPFOHDULQSXWVHWXS
Counter clear input mode
Command pulse ,QYDOLGDWLRQ
inhibit input
reading setup
Position setup unit select
Selection of torque limit
2nd torque limit
1
7RUTXHOLPLWVZLWFKLQJ
setup
2
SRVLWLYHGLUHFWLRQWRUTXH
([WHUQDO limit
input
QHJDWLYHGLUHFWLRQWRUTXH
limit
Input gain of analog torque limit
LED initial status
RS232
baud rate setup
RS485
$[LVDGGUHVV
&RPPDQGSXOVHLQSXWPD[LPXPVHWXS
3XOVHUHJHQHUDWLYHRXWSXWOLPLWVHWXS
For manufacturer's use
Front panel lock setup

Adjustment

2nd
3rd numerator of electronic gear
4th
'HQRPLQDWRURISXOVHRXWSXWGLYLVLRQ
2YHUWUDYHOLQKLELWLQSXWVHWXS
6HTXHQFHDWRYHUWUDYHOLQKLELW
6HTXHQFHDW6HUYR2II
sequence
PDLQSRZHU
LV trip selection
OFF
detection time
Sequence at alarm
Torque setup for emergency stop
2YHUORDGOHYHOVHWXS
2YHUVSHHGOHYHOVHWXS

○ ○ ○ ○

14
15
16
17
18
19
20
21
22
23
24

Setup

[Class 5] Enhancing setting

00
01
02
03
04
05
06
07
08
09
10
11
12
13

○ ○ ○ ○

Related Control Mode Detail
P S T F page

Connection

42

○ ○ ○ ○ 4-33

Title

Preparation

40
41

Class No.

[Class 6] Special setting

39

6, 3LQ1R
6, 3LQ1R
6, 3LQ1R
6, 3LQ1R
6, 3LQ1R
Input
selection 6, 3LQ1R
6, 3LQ1R
6, 3LQ1R
6, 3LQ1R
6, 3LQ1R
3LQ1R
SO1  /LQHGULYHURXWSXW
 3LQ1R
SO2 /LQHGULYHURXWSXW
3LQ1R
SO3  /LQHGULYHURXWSXW
Output
3LQ1R
selection SO4  /LQHGULYHURXWSXW
3LQ1R
SO5  Open
collector output
 3LQ1R
SO6 Open collector output
type
$QDORJPRQLWRU
output gain
type
$QDORJPRQLWRU
output gain
Type of digital monitor
$QDORJPRQLWRURXWSXWVHWXS
offset setup
$QDORJLQSXW
ÀOWHU
$,
RYHUYROWDJHVHWXS
offset setup
$QDORJLQSXW
ÀOWHU
$,
RYHUYROWDJHVHWXS
offset setup
$QDORJLQSXW
ÀOWHU
$,
RYHUYROWDJHVHWXS
Positioning complete range
,QSRVLWLRQ
output setup
,13KROGWLPH
Zero-speed
Speed coincidence range
$WVSHHG 6SHHGDUULYDO
at stalling setup
Mechanical
brake action
at running setup
Mechanical brake action at running
setup
1
Selection of
alarm output
2
QG3RVLWLRQLQJFRPSOHWH ,QSRVLWLRQ
range

Parametr No.

[Class 5] Enhancing setting

[Class 4] I/F monitor setting

00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38

Related Control Mode Detail
P S T F page

Title

Before Using the Products

List of Parameters

4

1. Details of parameter

Setup

[Class 0] Basic setting
'HIDXOW>@

Pr0.00 *

Rotational direction setup

Range

Unit

Default

Related
control mode

0 to 1

—

1

P S T F

6HWXSWKHUHODWLRQVKLSEHWZHHQWKHGLUHFWLRQRIFRPPDQGDQGGLUHFWLRQRIPRWRUURWDWLRQ
0RWRUWXUQV&:LQUHVSRQVHWRSRVLWLYHGLUHFWLRQFRPPDQG &:ZKHQYLHZHGIURPORDG
VLGHVKDIWHQG
0RWRUWXUQV&&:LQUHVSRQVHWRSRVLWLYHGLUHFWLRQFRPPDQG &&:ZKHQYLHZHGIURPORDG
VLGHVKDIWHQG
Positive direction
(CCW)

Negative direction
(CW)

Default
Setup
value
0
[1]

Pr0.01 *

Command direction

Motor rotational
direction

Positive direction
drive inhibit input

Negative direction
drive inhibit input

3RVLWLYHGLUHFWLRQ

&:

Valid

—

1HJDWLYHGLUHFWLRQ

&&:

—

Valid

3RVLWLYHGLUHFWLRQ

&&:

Valid

—

1HJDWLYHGLUHFWLRQ

&:

—

Valid

Control mode setup

Range

Unit

Default

Related
control mode

0 to 6

—

0

P S T F

You can set up the control mode to be used.
Content

Setup
value

1st mode

2st mode

[0]

Position

—

1

Velocity

—

2

Torque

—

3 *1

Position

Velocity

4 *1

Position

Torque

Velocity

Torque

Full-closed

—

5
6

*1

*  :KHQ\RXVHWXSWKHFRPELQDWLRQPRGHRI
RU\RXFDQVHOHFWHLWKHUWKHVWRUWKHQG
ZLWKFRQWUROPRGHVZLWFKLQJLQSXW &02'( 

:KHQ&02'(LVRSHQWKHVWPRGHZLOOEH
selected.

:KHQ&02'(LVVKRUWHGWKHQGPRGHZLOO
be selected.
Don't enter commands 10ms before/after
VZLWFKLQJ
C-MODE

open

close

open

2nd

1st

1st

10ms or longer

10ms or longer

7KHZDYHIRUPDERYHVKRZVZKHQORJLFDO
VHWWLQJRI&02'(LQSXWLVDFRQWDFW:KHQ
EFRQWDFWLVXVHGRSHQDQGVKRUWLVUHYHUVHG

Note

Related page
4-4

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU ; 6DIHW\
IXQFWLRQFRQQHFWRU ; ([WHUQDOVFDOHFRQQHFWRU DQGDQDORJLQSXW
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr0.02

Real-time auto-gain tuning setup

Range

Unit

Default

Related
control mode

0 to 6

—

1

P S T F

You can set up the action mode of the real-time auto-gain tuning.

2

0

,QYDOLG

[1]

Standard

%DVLF PRGH 'R QRW XVH XQEDODQFHG ORDG IULFWLRQ FRPSHQVDWLRQ RU
JDLQVZLWFKLQJ

2

Positioning *1

Main application is positioning. It is recommended to use this mode
RQ HTXLSPHQW ZLWKRXW XQEDODQFHG KRUL]RQWDO D[LV EDOO VFUHZ GULYLQJ
HTXLSPHQWZLWKORZIULFWLRQHWF

3

9HUWLFDOD[LV*2

:LWK DGGLWLRQDO IHDWXUHV WR WKH SRVLWLRQLQJ PRGH  XVH WKLV PRGH WR
SRVLWLYHO\ DQG HIIHFWLYHO\ FRPSHQVDWH IRU XQEDODQFHG ORDG WR WKH
YHUWLFDOD[LVRUPLQLPL]HYDULDWLRQVLQVHWWLQJWLPH

4

Friction
compensation *3

:LWKDGGLWLRQDOIHDWXUHVWRWKHYHUWLFDOD[LVPRGHXVHWKLVPRGHWR
SRVLWLYHO\DQGHIIHFWLYHO\UHGXFHSRVLWLRQLQJVHWWLQJWLPHZKHQWKHEHOW
GULYLQJD[LVKDVKLJKIULFWLRQ

6

Varying degree of load inertia in motion
Real-time auto-gain tuning function is disabled.

Load characteristic (VWLPDWHWKHORDGFKDUDFWHULVWLFVZLWKRXWFKDQJLQJFXUUHQWSDUDPHWHU
measurement
VHWWLQJ7KLVPRGHUHTXLUHVXVHRIWKHVHWXSVXSSRUWVRIWZDUH
Customize *4

Functions of real-time auto-gain tuning can be customized to meet the
UHTXLUHPHQWVRIWKHVSHFLÀFDSSOLFDWLRQE\FRPELQLQJGHVLUHGIXQFWLRQV
DFFRUGLQJWRWKH3U´5HDOWLPHDXWRJDLQWXQLQJFXVWRPVHWWLQJµ

Range

Unit

0 to 31

—

5

Related
Default
control mode
$%&IUDPH13
P S T F
D to H-IUDPH11

@

Pr0.04

Inertia ratio

Range

Unit

Default

Related
control mode

0 to 10000

%

250 *

P S T F

Set 1st inertia ratio.
@
7KHLQHUWLDUDWLRZLOOEHHVWLPDWHGDWDOOWLPHZKLOHWKHUHDOWLPHDXWRJDLQWXQLQJLVYDOLGDQG
LWVUHVXOWZLOOEHVDYHGWR((3520HYHU\PLQ

Caution

Pr0.05 *

,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV +] :KHQ
WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU

Selection of command pulse input

Range

Unit

Default

0 to 1

—

0

Related
control mode

P

F

@

Pr0.06 *
Pr0.07 *

Command pulse rotational direction setup
Command pulse input mode setup

Range

Unit

Default

0 to 1

—

0

Related
control mode

P

Range

Unit

Default

0 to 3

—

1

F

Related
control mode

P

F

7KHWDEOHEHORZVKRZVFRPELQDWLRQVRI3U&RPPDQGSXOVHURWDWLRQDOGLUHFWLRQVHWXSDQG3U
&RPPDQGSXOVHLQSXWPRGHVHWXS
3XOVHVDUHFRXQWHGDWHGJHVLQGLFDWHGE\WKHDUURZVDVVKRZQLQWKHWDEOH
‡,QSXWIRUPDWFRPPDQGSXOVH

(

(

0 or 2

[0]

[1]

&RPPDQG
pulse format

ÝSKDVH
difference
2-phase pulse
(A + B-phase)
Positive direction
pulse train
+
Negative direction
pulse train

pulse train
+
Signal

Signal
title

3RVLWLYHGLUHFWLRQ
FRPPDQG
t1

t1

0 or 2

1

3

pulse train
+
Signal

t1

PULS
B-phase

SIGN

t1

t1

t1

%SKDVHDGYDQFHVWR$E\Ý

t1

%SKDVHGHOD\VIURP$E\Ý

4

t3

PULS

t2

t2

t4

t5

SIGN
PULS

t2

t2

t4

t5

SIGN

“L”

“H”
t6 t6
t1

t6

t1

t1

t1

A-phase

PULS
SIGN

5

B-phase
t1

t1

t1

t1

%SKDVHGHOD\VIURP$E\Ý %SKDVHDGYDQFHVWR$E\Ý

Adjustment

1

Positive direction
pulse train
+
Negative direction
pulse train

t1

A-phase

t6

ÝSKDVH
difference
2-phase pulse
(A + B-phase)

1HJDWLYHGLUHFWLRQ
FRPPDQG

Setup

3

3
Connection

Pr0.06 setup value Pr0.07 setup value
&RPPDQGSXOVH &RPPDQGSXOVH
rotational
LQSXWPRGH
GLUHFWLRQVHWXS
setup

2
Preparation

@

Pr0.08 *

Command pulse counts per one motor
revolution

Range

Unit

Default

0 to 1048576

pulse

10000

Related
control mode

P

Set the command pulses that causes single turn of the motor shaft.
:KHQWKLVVHWWLQJLV3UVWQXPHUDWRURIHOHFWURQLFJHDUDQG3U'HQRPLQDWRURI
HOHFWURQLFJHDUEHFRPHYDOLG

Pr0.09

1st numerator of electronic gear

Range

Unit

Default

0 to 230

—

0

Related
control mode

P

F

6HWWKHQXPHUDWRURIGLYLVLRQPXOWLSOLFDWLRQRSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVHLQSXW
7KLVVHWXSLVHQDEOHGZKHQ3UFRPPDQGSXOVHFRXQWVSHURQHPRWRUUHYROXWLRQ 

Pr0.10

Denominator of electronic gear

Range

Unit

Default

1 to 230

—

10000

Related
control mode

P

F

6HWWKH'HQRPLQDWRURIGLYLVLRQPXOWLSOLFDWLRQRSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQG
pulse input.
7KLVVHWXSLVHQDEOHGZKHQ3UFRPPDQGSXOVHFRXQWVSHURQHPRWRUUHYROXWLRQ 

,QWHUUHODWLRQVKLSEHWZHHQ3U3UDQG3UGXULQJ3RVLWLRQFRQWURO!
Pr0.08

Pr0.09

Pr0.10

Command division/multiplication operation
Command
pulse input

1 to 1048576

—
1RWHIIHFW

—
1RWHIIHFW

Positional
command

[Pr0.08 setup value]
 5HJDUGOHVV RI VHWXS RI 3U DQG 3U WKLV
RSHUDWLRQLVSURFHVVHGDFFRUGLQJWRVHWXSYDOXHRI
Pr0.08.

Command
pulse input
0

Encoder resolution

Encoder resolution

Positional
command

[Pr0.10 setup value]

0 to 1073741824

 :KHQ ERWK 3U DQG 3U DUH VHW WR  WKLV
RSHUDWLRQLVSURFHVVHGDFFRUGLQJWRVHWXSYDOXHRI
Pr0.10.

0

Command
pulse input
1 to 1073741824 1 to 1073741824

[Pr0.09 setting]

Positional
command

[Pr0.10 setting]
 :KHQ VHWXS YDOXH RI 3U LV  DQG 3Uʒ
 WKLV RSHUDWLRQLV SURFHVVHGDFFRUGLQJWR VHWXS
YDOXHRI3UDQG3U

,QWHUUHODWLRQVKLSEHWZHHQ3U3UDQG3UGXULQJIXOOFORVHGFRQWURO!

Related page

4-8

‡3´6HWXSRI0RWRU5RWDWLRQDO6SHHGDQG,QSXW3XOVH)UHTXHQF\µ
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1. Details of parameter

1
'HIDXOW>@

Pr0.08

Pr0.09

Pr0.10

Command division/multiplication operation
Command
pulse input

0

1 to 1073741824

1 to 1073741824

[Pr0.09 setting]

Positional
command

[Pr0.10 setting]

 :KHQ VHWXS YDOXH RI 3Uʒ WKLV RSHUDWLRQ LV
SURFHVVHGDFFRUGLQJWRVHWXSYDOXHRI3UDQG
Pr0.10.

7KH GHVLUHG VHWWLQJ FDQ EH GHWHUPLQHG E\ VHOHFWLQJ YDOXH RI QXPHUDWRU DQG GHQRPLQDWRU RI
HOHFWURQLFJHDU+RZHYHUDQH[FHVVLYHO\KLJKGLYLVLRQRUPXOWLSOLFDWLRQUDWLRFDQQRWJXDUDQWHH
WKHRSHUDWLRQ7KHUDWLRVKRXOGEHLQDUDQJHEHWZHHQDQG
([FHVVLYHO\ KLJK PXOWLSOLFDWLRQ UDWLR ZLOO FDXVH (UU FRPPDQG SXOVH PXOWLSOLFDWLRQ HUURU
SURWHFWLRQ GXHWRYDU\LQJFRPPDQGSXOVHLQSXWRUQRLVHVHYHQLIWKHRWKHUVHWWLQJVDUHZLWKLQ
WKHVSHFLÀHGUDQJH
'XULQJ IXOO FORVHG FRQWUROOLQJ GR QRW FKDQJH FRPPDQG GLYLVLRQ DQG PXOWLSOLFDWLRQ UDWLR
2WKHUZLVH(UU +\EULGRYHUGHYLDWLRQDODUP ZLOOEHJHQHUDWHG
Output pulse counts
per one motor revolution

2

Range

Unit

Default

Related
control mode

0 to 262144

P/r

2500

P S T F

3

4
Setup

Pr0.11 *

 ,I 3U LV  GXULQJ IXOO FORVHG FRQWUROOLQJ WKH
SURFHVV DV VKRZQ DERYH LV SHUIRUPHG ZLWK ERWK
numerator and denominator set to 1.

Connection

Caution

1

Command
pulse input

1 to 1073741824

Positional
command

Preparation

,QYDOLG

1

Before Using the Products

[Class 0] Basic setting

@

Pr5.03 *

Denominator of pulse output division

Range

Unit

Default

Related
control mode

0 to 262144

—

0

P S T F

)RUDQDSSOLFDWLRQZKHUHWKHQXPEHURIRXWSXWSXOVHVSHURQHPRWRUUHYROXWLRQLVQRWDQ
LQWHJHUVHWWKLVSDUDPHWHUWRDYDOXHRWKHUWKDQDQGWKHGLYLGLQJUDWLRFDQEHVHWE\XVLQJ
Pr0.11 as the numerator and Pr5.03 as the denominator.
2XWSXWSXOVHFRXQWVSHURQHUHYROXWLRQ
1
 3UVHWXSYDOXH/ Pr5.03 VHWXSYDOXH ð(QFRGHUUHVROXWLRQð
4
@

Pr0.12 *

Reversal of pulse output logic

Range

Unit

Default

Related
control mode

0 to 3

—

0

P S T F

Pr0.12
[0]

B-phase
logic
1RQ
UHYHUVDO

2

5HYHUVDO
3

Caution

CW direction
rotation

Encoder

$SKDVH

$SKDVH

([WHUQDO
scale

B-phase

B-phase

Encoder

$SKDVH

$SKDVH

([WHUQDO
scale

B-phase

B-phase

3

6HWXSYDOXHDQGDUHYDOLGRQO\IRUIXOOFORVHGFRQWURO6HWWLQJPXVWEHRULIQRWIRUIXOO
closed control.
The selection of the output source of Z-phase is held concurrently.
6HWXSYDOXHDQGDUH=SKDVHRXWSXWRIHQFRGHU
6HWXSYDOXHDQGDUH=SKDVHRXWSXWRIH[WHUQDOVFDOH

1st torque limit

4

Range

Unit

Default

Related
control mode

0 to 500

%

500

P S T F

Setup

Pr0.13

CCW direction
rotation

Connection

1

Output
source

2
Preparation

@

Pr0.16 *

([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS

Range

Unit

0 to 3

—

Related
Default
control mode
$%*+IUDPH3
P S T F
&'()IUDPH0

:LWK WKLV SDUDPHWHU \RX FDQ VHOHFW HLWKHU WR XVH WKH EXLOWLQ UHJHQHUDWLYH UHVLVWRU RI WKH
GULYHURUWRVHSDUDWHWKLVEXLOWLQUHJHQHUDWLYHUHVLVWRUDQGH[WHUQDOO\LQVWDOOWKHUHJHQHUDWLYH
UHVLVWRU EHWZHHQ%DQG%RI&RQQHFWRU;%LQFDVHRI$WR'IUDPHEHWZHHQ%DQG%
RI &RQQHFWRU ;& LQ FDVH RI 'IUDPH 9  DQG (IUDPH EHWZHHQ % DQG % RI WHUPLQDO
EORFNLQFDVHRI)WR+IUDPH 
$%*DQG+IUDPHGULYHULVQRWSURYLGHGZLWKEXLOWLQUHVLVWHU
Setup value

Regenerative
resistor
to be used

[0]
&WR)IUDPH

5HJHQHUDWLYHSURFHVVLQJFLUFXLWZLOOEHDFWLYDWHGDQG
Built-in resistor UHJHQHUDWLYHUHVLVWRURYHUORDGSURWHFWLRQZLOOEHWULJJHUHG
DFFRUGLQJWRWKHEXLOWLQUHVLVWRU DSSUR[GXW\ 

Function

1

([WHUQDO
resistor

7KHGULYHUWULSVGXHWRUHJHQHUDWLYHRYHUORDGSURWHFWLRQ
(UU ZKHQUHJHQHUDWLYHSURFHVVLQJFLUFXLWLVDFWLYDWHGDQG
LWVDFWLYHUDWLRH[FHHGV

2

([WHUQDO
resistor

5HJHQHUDWLYHSURFHVVLQJFLUFXLWLVDFWLYDWHGEXWQRUHJHQHUDWLYH
RYHUORDGSURWHFWLRQLVWULJJHUHG

[3]
$%*+IUDPH

1RUHVLVWRU

%RWKUHJHQHUDWLYHSURFHVVLQJFLUFXLWDQGUHJHQHUDWLYHSURWHFWLRQ
DUHQRWDFWLYDWHGDQGEXLOWLQFDSDFLWRUKDQGOHVDOOUHJHQHUDWLYH
SRZHU

Remarks

,QVWDOODQH[WHUQDOSURWHFWLRQVXFKDVWKHUPDOIXVHZKHQ\RXXVHWKHH[WHUQDOUHJHQHUDWLYH
resistor.
2WKHUZLVHWKHUHJHQHUDWLYHUHVLVWRUPLJKWEHKHDWHGXSDEQRUPDOO\DQGUHVXOWLQEXUQRXW
UHJDUGOHVVRIYDOLGDWLRQRULQYDOLGDWLRQRIUHJHQHUDWLYHRYHUORDGSURWHFWLRQ

Caution

:KHQ\RXXVHWKHEXLOWLQUHJHQHUDWLYHUHVLVWRUQHYHUWRVHWXSRWKHUYDOXHWKDQ'RQ W
WRXFKWKHH[WHUQDOUHJHQHUDWLYHUHVLVWRU
([WHUQDOUHJHQHUDWLYHUHVLVWRUJHWVYHU\KRWDQGPLJKWFDXVHEXUQLQJ

Pr0.17 *

/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH
resistor selection

Range

Unit

Default

Related
control mode

0 to 4

—

0

P S T F

:KHQ VHOHFWLQJ WKH H[WHUQDO UHJHQHUDWLYH UHVLVWRU 3U     VHOHFW WKH FRPSXWLQJ
PHWKRGRIORDGIDFWRURIUHJHQHUDWLYHUHVLVWRU
Setup value

Function

[0]

5HJHQHUDWLYHORDGIDFWRULVZKHQGXW\IDFWRURIH[WHUQDOUHJHQHUDWLYHUHVLVWRULV
10%.

1 to 4

Note
Related page
4-12

)RUPDQXIDFWXUHU VXVH GRQRWVHWXS

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´6\VWHP&RQÀJXUDWLRQDQG:LULQJµ‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

Setup

[Class 1] Gain adjustment

Pr1.00

1st gain of position loop

Range

Unit

0 to 30000

0.1/s

1

Related
Default
control mode
$%C-IUDPH480
P
F
D to H-IUDPH320

You can determine the response of the positional control system.
+LJKHUWKHJDLQRISRVLWLRQORRS\RXVHWIDVWHUWKHSRVLWLRQLQJWLPH\RXFDQREWDLQ
1RWHWKDWWRRKLJKVHWXSPD\FDXVHRVFLOODWLRQ

1st gain of velocity loop

Range

Unit

1 to 32767

0.1Hz

2

Related
Default
control mode
$%C-IUDPH270
P S T F
D to H-IUDPH180

@

Pr1.05

2nd gain of position loop

Pr1.06

2nd gain of velocity loop

Pr1.07

2nd time constant of velocity loop
integration

Pr1.08

2nd filter of speed detection

Pr1.09

2nd time constant of torque filter

Related
Default
control mode
$%C-IUDPH570
P
F
D to H-IUDPH380

Range

Unit

0 to 30000

0.1/s

Range

Unit

1 to 32767

0.1Hz

Range

Unit

Default

Related
control mode

1 to 10000

0.1ms

10000

P S T F

Range

Unit

Default

Related
control mode

0 to 5

—

0

P S T F

Range

Unit

0 to 2500

0.01ms

Related
Default
control mode
$%C-IUDPH270
P S T F
D to H-IUDPH180

Related
Default
control mode
$%C-IUDPH 84
P S T F
D to H-IUDPH126

3RVLWLRQORRSYHORFLW\ORRSVSHHGGHWHFWLRQÀOWHUDQGWRUTXH FRPPDQGÀOWHUKDYHWKHLU
SDLUVRIJDLQRUWLPHFRQVWDQW VWDQGQG 

Related page

Pr1.10

)RUGHWDLOVRIVZLWFKLQJWKHVWDQGWKHQGJDLQRUWKHWLPHFRQVWDQWUHIHUWR3*DLQ
6ZLWFKLQJ)XQFWLRQRI$GMXVWPHQW
The function and the content of each parameter is as same as that of the 1st gain and time
constant.

9HORFLW\IHHGIRUZDUGJDLQ

Range

Unit

Default

0 to 1000

0.10%

300

Related
control mode

P

F

0XOWLSO\ WKH YHORFLW\ FRQWURO FRPPDQG FDOFXODWHG DFFRUGLQJ WR WKH LQWHUQDO SRVLWLRQDO
command by the ratio of this parameter and add the result to the speed command resulting
from the positional control process.

Pr1.11

9HORFLW\IHHGIRUZDUGILOWHU

Range

Unit

Default

0 to 6400

0.01ms

50

Related
control mode

P

F

6HWWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWVWKHLQSXWRIYHORFLW\IHHGIRUZDUG
8VDJHH[DPSOHRIYHORFLW\IHHGIRUZDUG!
7KHYHORFLW\IHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHYHORFLW\IHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHG ZLWK WKH YHORFLW\ IHHG IRUZDUG ILOWHU VHW DW DSSUR[   PV 7KH SRVLWLRQDO
GHYLDWLRQGXULQJRSHUDWLRQDWDFRQVWDQWYHORFLW\LVUHGXFHGDVVKRZQLQWKHHTXDWLRQEHORZ
LQSURSRUWLRQWRWKHYDOXHRIYHORFLW\IHHGIRUZDUGJDLQ
3RVLWLRQDOGHYLDWLRQ>XQLWRIFRPPDQG@ FRPPDQGVSHHG>XQLWRIFRPPDQGV@
SRVLWLRQDOORRSJDLQ>V@ð YHORFLW\IHHGIRUZDUGJDLQ>@ 

Note
Related page
4-14

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr1.12

7RUTXHIHHGIRUZDUGJDLQ

Range

Unit

Default

0 to 1000

0.1%

0

Related
control mode

P S

F

Pr1.13

7RUTXHIHHGIRUZDUGILOWHU

Range

Unit

Default

0 to 6400

0.01ms

0

Related
control mode

P S

F

Caution

2nd gain setup

Range

Unit

Default

Related
control mode

0 to 1

—

1

P S T F

$UUDQJHWKLVSDUDPHWHUZKHQSHUIRUPLQJRSWLPXPDGMXVWPHQWE\XVLQJWKHJDLQVZLWFKLQJ
function.
*DLQVHOHFWLRQVZLWFKLQJ

0

VWJDLQLVÀ[HGDWDYDOXH%\XVLQJWKHJDLQVZLWFKLQJLQSXW *$,1 FKDQJH
WKHYHORFLW\ORRSRSHUDWLRQIURP3,WR3
*$,1LQSXWSKRWRFRXSOHU2)) PI operation
*$,1LQSXWSKRWRFRXSOHU21 P operation
*7KHDERYHGHVFULSWLRQDSSOLHVZKHQWKHORJLFDOVHWWLQJRI*$,1LQSXWLV
DFRQWDFW212))RISKRWRFRXSOHULVUHYHUVHGZKHQEFRQWDFW

[1]

(QDEOH JDLQ VZLWFKLQJ RI VW JDLQ 3U3U  DQG QG JDLQ 3U
3U 

4-15

7
Supplement

)RUVZLWFKLQJFRQGLWLRQRIWKHVWDQGWKHQGUHIHUWR3*DLQ6ZLWFKLQJ)XQFWLRQRI
$GMXVWPHQW

6
When in Trouble

Related page

Setup value

5
Adjustment

Pr1.14

=HURSRVLWLRQDOGHYLDWLRQLVLPSRVVLEOHLQDFWXDOVLWXDWLRQEHFDXVHRIGLVWXUEDQFHWRUTXH
$VZLWKWKHYHORFLW\IHHGIRUZDUGODUJHWRUTXHIHHGIRUZDUGÀOWHUWLPHFRQVWDQWGHFUHDVHV
WKHRSHUDWLQJQRLVHEXWLQFUHDVHVSRVLWLRQDOGHYLDWLRQDWDFFHOHUDWLRQFKDQJHSRLQW

4
Setup

8VDJHH[DPSOHRIWRUTXHIHHGIRUZDUG!
‡7RXVHWKHWRUTXHIHHGIRUZDUGFRUUHFWO\VHWWKHLQHUWLDUDWLR
8VHWKHYDOXHWKDWZDVGHWHUPLQHGDWWKHVWDUWRIWKHUHDOWLPHDXWRWXQLQJRUVHWWKHLQHUWLD
UDWLRWKDWFDQEHFDOFXODWHGIURPWKHPDFKLQHVSHFLÀFDWLRQWR3U,QHUWLDUDWLR
‡7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHGZLWKWKHWRUTXHIHHGIRUZDUGÀOWHULVVHWDWDSSUR[ PV 
‡3RVLWLRQDOGHYLDWLRQDWDFRQVWDQWDFFHOHUDWLRQGHFHOHUDWLRQFDQEHPLQLPL]HGFORVHWRE\
LQFUHDVLQJWKHWRUTXHIRUZDUGJDLQ7KLVPHDQVWKDWSRVLWLRQDOGHYLDWLRQFDQEHPDLQWDLQHG
DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO
FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH

3
Connection

‡6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWVWKHLQSXWRIWRUTXHIHHGIRUZDUG
‡7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHGZLWKWKHWRUTXHIHHGIRUZDUGÀOWHULVVHWDWDSSUR[ PV 

2
Preparation

‡0XOWLSO\WKHWRUTXHFRPPDQGFDOFXODWHGDFFRUGLQJWRWKHYHORFLW\FRQWUROFRPPDQGE\WKH
UDWLRRIWKLVSDUDPHWHUDQGDGGWKHUHVXOWWRWKHWRUTXHFRPPDQGUHVXOWLQJIURPWKHYHORFLW\
control process.
‡3RVLWLRQDOGHYLDWLRQDWDFRQVWDQWDFFHOHUDWLRQGHFHOHUDWLRQFDQEHPLQLPL]HGFORVHWRE\
LQFUHDVLQJWKHWRUTXHIRUZDUGJDLQ7KLVPHDQVWKDWSRVLWLRQDOGHYLDWLRQFDQEHPDLQWDLQHG
DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO
FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH

Before Using the Products

[Class 1] Gain adjustment

1. Details of parameter
[Class 1] Gain adjustment

Pr1.15

0RGHRISRVLWLRQFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 10

—

0

Related
control mode

P

F

6HWXSWKHWULJJHULQJFRQGLWLRQRIJDLQVZLWFKLQJIRUSRVLWLRQFRQWURO
Setup
value

6ZLWFKLQJ
condition

[0]

)L[HGWRVWJDLQ

1

)L[HGWRQGJDLQ

)L[HGWRWKHQGJDLQ 3UWR3U 

2

:LWKJDLQ
VZLWFKLQJLQSXW

‡VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVRSHQ
‡QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR&20
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1 WKHVWJDLQLVÀ[HG

3

Torque
command is
large

‡6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGH[FHHGHG OHYHO
K\VWHUHVLV   SUHYLRXVO\ZLWKWKHVWJDLQ
‡5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGZDVNHSWEHORZ OHYHO
K\VWHUHVLV   SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ

5

Speed
command is
large

‡9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
‡6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGH[FHHGHG OHYHO
K\VWHUHVLV  UPLQ SUHYLRXVO\ZLWKWKHVWJDLQ
‡5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGZDVNHSWEHORZ OHYHO
K\VWHUHVLV  UPLQ SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ

6

Position
GHYLDWLRQLV
large

‡9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
‡6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQH[FHHGHG OHYHO
K\VWHUHVLV  SXOVH SUHYLRXVO\ZLWKWKHVWJDLQ
‡5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQZDVNHSWEHORZ
OHYHOK\VWHUHVLV  SXOVH SUHYLRXVO\RYHUGHOD\WLPHZLWKWKHQGJDLQ
*8QLWRIOHYHODQGK\VWHUHVLV SXOVH LVVHWDVWKHHQFRGHUUHVROXWLRQIRUSRVLWLRQDOFRQWURO
DQGH[WHUQDOVFDOHUHVROXWLRQIRUIXOOFORVHGFRQWURO

7

Position
command
H[LVWV

‡9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
‡6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
‡5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVNHSWSUHYLRXVO\GXULQJGHOD\
WLPHZLWKWKHQGJDLQ

8

1RWLQ
positioning
complete

‡9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
‡6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQLQJZDVQRWFRPSOHWHGSUHYLRXVO\ZLWKWKHVWJDLQ
‡5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQLQJZDVNHSWLQFRPSOHWHGFRQGLWLRQSUHYLRXVO\
GXULQJGHOD\WLPHZLWKWKHQGJDLQ

9

$FWXDOVSHHGLV
large

‡9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
‡ 6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH DFWXDO VSHHG H[FHHGHG OHYHO 
K\VWHUHVLV  UPLQ SUHYLRXVO\ZLWKWKHVWJDLQ
‡5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHDFWXDOVSHHGZDVNHSWEHORZ OHYHO
K\VWHUHVLV  UPLQ SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ

10

Position
command
H[LVWV
$FWXDOVSHHG

‡9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
‡6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
‡ 5HWXUQ WR WKH VW JDLQ ZKHQ WKH SRVLWLRQDO FRPPDQG ZDV NHSW DW  GXULQJ WKH GHOD\
WLPHDQGWKHDEVROXWHYDOXHRIDFWXDOVSHHGZDVNHSWEHORZ OHYHOK\VWHUHVLV  UPLQ 
SUHYLRXVO\ZLWKWKHQGJDLQ

Pr1.16

*DLQVZLWFKLQJFRQGLWLRQ
)L[HGWRWKHVWJDLQ 3UWR3U 

'HOD\WLPHRISRVLWLRQFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 10000

0.1ms

50

Related
control mode

P

F

)RUSRVLWLRQFRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U3RVLWLRQ
FRQWURO VZLWFKLQJ PRGH VHW DW       RU  VHW XS WKH GHOD\ WLPH IURP WULJJHU
GHWHFWLRQWRWKHVZLWFKLQJRSHUDWLRQ

Note
Related page
4-16

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr1.17

/HYHORISRVLWLRQFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 20000

Modedependent

50

Related
control mode

P

F

)RUSRVLWLRQFRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U3RVLWLRQFRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH

Pr1.18

6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV

+\VWHUHVLVDWSRVLWLRQFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 20000

Modedependent

33

Related
control mode

P

F

)RU SRVLWLRQ FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 3RVLWLRQ FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDWRU
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH

Pr1.19

:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO

3RVLWLRQJDLQVZLWFKLQJWLPH

Range

Unit

Default

0 to 10000

0.1ms

33

Related
control mode

P

F

3RVLWLRQJDLQVZLWFKLQJWLPH!
:KHQXVLQJSRVLWLRQFRQWURODQGIXOOFORVHGFRQWUROJDLQRISRVLWLRQORRSUDSLGO\FKDQJHV
FDXVLQJ WRUTXH FKDQJH DQG YLEUDWLRQ %\ DGMXVWLQJ 3U 3RVLWLRQ JDLQ VZLWFKLQJ WLPH
LQFUHDVLQJUDWHRIWKHSRLVRQORRSJDLQFDQEHGHFUHDVHGDQGYLEUDWLRQOHYHOFDQEHUHGXFHG
6HWWLQJRIWKLVSDUDPHWHUGRHVQRWDIIHFWWKHJDLQVZLWFKLQJWLPHZKHQWKHJDLQRISRVLWLRQ
ORRSLVVZLWFKHGWRORZHUOHYHO JDLQLVVZLWFKHGLPPHGLDWHO\ 

2nd (Pr1.05)
Position gain
switching time (ms)
(Pr1.19)

1st (Pr1.00)
Result of
switching

1st

5
Adjustment

([DPSOHVW 3U !QG 3U

4
Setup

)RUSRVLWLRQFRQWUROOLQJ,IWKHGLIIHUHQFHEHWZHHQ3UVWJDLQRISRVLWLRQORRSDQG3U
QGJDLQRISRLVRQORRSLVODUJHWKHLQFUHDVLQJUDWHRISRVLWLRQORRSJDLQFDQEHOLPLWHGE\
this parameter.
7KHSRVLWLRQORRSJDLQZLOOLQFUHDVHRYHUWKHWLPHVHW

Caution

3
Connection

Caution

2
Preparation

Caution

Before Using the Products

[Class 1] Gain adjustment

2nd

6

1st

When in Trouble

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-17

Supplement

Note

1. Details of parameter
[Class 1] Gain adjustment

'HIDXOW>@

Pr1.20

0RGHRIYHORFLW\FRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 5

—

0

Related
control mode

S

)RUYHORFLW\FRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
Setup value

6ZLWFKLQJFRQGLWLRQ

[0]

)L[HGWRWKHVWJDLQ

)L[HGWRWKHVWJDLQ 3UWR3U 

1

)L[HGWRWKHQGJDLQ

)L[HGWRWKHQGJDLQ 3UWR3U 

2

3

4

Related page

Pr1.21

*DLQVZLWFKLQJFRQGLWLRQ

*DLQVZLWFKLQJLQSXW

‡VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVRSHQ
‡QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR
COM–.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1 
WKHVWJDLQLVÀ[HG

Torque command

‡ 6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH
FRPPDQG H[FHHGHG OHYHO  K\VWHUHVLV    SUHYLRXVO\ ZLWK
the 1st gain.
‡5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
FRPPDQGZDVNHSWEHORZ OHYHOK\VWHUHVLV   SUHYLRXVO\
GXULQJGHOD\WLPHZLWKWKHQGJDLQ

Speed command
YDULDWLRQLVODUJHU

‡9DOLGRQO\GXULQJYHORFLW\FRQWURO
‡ 6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH VSHHG
FRPPDQGYDULDWLRQVH[FHHGHG OHYHOK\VWHUHVLV  UPLQV 
SUHYLRXVO\ZLWKWKHVWJDLQ
‡5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHG
FRPPDQGYDULDWLRQVZDVNHSWEHORZ OHYHOK\VWHUHVLV  U
PLQV GXULQJGHOD\WLPHSUHYLRXVO\ZLWKWKHQGJDLQ
*7KHVWJDLQLVÀ[HGZKLOHWKHYHORFLW\FRQWUROLVQRWDSSOLHG

)RUWKHVZLWFKLQJOHYHODQGWLPLQJUHIHUWR36HWXSRI*DLQ6ZLWFKLQJ&RQGLWLRQRI$GMXVWPHQW

'HOD\WLPHRIYHORFLW\FRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 10000

0.1ms

0

Related
control mode

S

)RUYHORFLW\FRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U9HORFLW\
FRQWURO VZLWFKLQJ PRGH VHW DW   RU  VHW WKH GHOD\ WLPH IURP WULJJHU GHWHFWLRQ WR WKH
VZLWFKLQJRSHUDWLRQ

Pr1.22

/HYHORIYHORFLW\FRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 20000

Modedependent

0

Related
control mode

S

)RUYHORFLW\FRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U9HORFLW\FRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU

Caution

Pr1.23

8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV

+\VWHUHVLVDWYHORFLW\FRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 20000

Modedependent

0

Related
control mode

S

)RU YHORFLW\ FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 9HORFLW\ FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDWRU

Caution

Note
Related page
4-18

8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr1.24

0RGHRIWRUTXHFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 3

—

0

Related
control mode

T

)RUWRUTXHFRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
6ZLWFKLQJFRQGLWLRQ

[0]

)L[HGWRWKHVWJDLQ

)L[HGWRWKHVWJDLQ 3UWR3U 

1

)L[HGWRWKHQGJDLQ

)L[HGWRWKHQGJDLQ 3UWR3U 

2

Pr1.25

*DLQVZLWFKLQJLQSXW

‡VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVRSHQ
‡QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR
COM–.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1 
WKHVWJDLQLVÀ[HG

Torque command

‡ 6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH
FRPPDQG H[FHHGHG OHYHO  K\VWHUHVLV    SUHYLRXVO\ ZLWK
the 1st gain.
‡5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
FRPPDQGZDVNHSWEHORZ OHYHOK\VWHUHVLV   SUHYLRXVO\
GXULQJGHOD\WLPHZLWKWKHQGJDLQ

'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 10000

0.1ms

0

Related
control mode

T

/HYHORIWRUTXHFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 20000

Modedependent

0

Related
control mode

T

)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ OHYHO ZKHQ 3U7RUTXH FRQWURO JDLQ VZLWFKLQJ
mode is set at 3.
8QLWYDULHVGHSHQGLQJRQWKHVHWXSRIPRGHRIFRQWUROVZLWFKLQJ

Pr1.27

6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV

+\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ

Range

Unit

Default

0 to 20000

Modedependent

0

Related
control mode

T

:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO

6
When in Trouble

)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 7RUTXH FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDW
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH

Caution

5
Adjustment

Caution

4
Setup

)RUWRUTXHFRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U7RUTXH
FRQWUROVZLWFKLQJPRGHVHWDWVHWXSWKHGHOD\WLPHIURPWULJJHUGHWHFWLRQWRWKHVZLWFKLQJ
operation.

Pr1.26

3
Connection

3

2

*DLQVZLWFKLQJFRQGLWLRQ

Preparation

Setup value

Before Using the Products

[Class 1] Gain adjustment

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-19

Supplement

Note

4

1. Details of parameter

Setup

[Class 2] Damping control

Pr2.00

Adaptive filter mode setup

Range

Unit

Default

0 to 4

—

0

Related
control mode

P S

F

6HW XS WKH UHVRQDQFH IUHTXHQF\ WR EH HVWLPDWHG E\ WKH DGDSWLYH ILOWHU DQG VSHFLI\ WKH
operation after estimation.
Setup value

Pr2.01

Content

[0]

$GDSWLYHÀOWHU
LQYDOLG

3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUKROGWKH
FXUUHQWYDOXH

1

$GDSWLYHÀOWHU
ÀOWHULVYDOLG

2QHDGDSWLYHÀOWHULVHQDEOHG3DUDPHWHUVUHODWHGWRWKHUG
QRWFKÀOWHUZLOOEHXSGDWHGEDVHGRQDGDSWLYHSHUIRUPDQFH

2

$GDSWLYHÀOWHU
ÀOWHUVDUHYDOLG

7ZRDGDSWLYHÀOWHUVDUHHQDEOHG3DUDPHWHUVUHODWHGWRWKH
UGDQGWKQRWFKÀOWHUVZLOOEHXSGDWHGEDVHGRQDGDSWLYH
performance.

3

Resonance frequency
measurement mode

Measure the resonance frequency. Result of measurement
FDQEHFKHFNHGZLWK3$1$7(503DUDPHWHUVUHODWHGWRWKH
UGDQGWKQRWFKÀOWHUKROGWKHFXUUHQWYDOXH

4

Clear result of
adaptation

3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUDUH
GLVDEOHGDQGUHVXOWVRIDGDSWLYHRSHUDWLRQDUHFOHDUHG

1st notch frequency

Range

Unit

Default

Related
control mode

50 to 5000

Hz

5000

P S T F

6HWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU

Caution

Pr2.02

7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR

VWQRWFKZLGWKVHOHFWLRQ

Range

Unit

Default

Related
control mode

0 to 20

—

2

P S T F

6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU

Caution

Pr2.03

+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDO
operation.

1st notch depth selection

Range

Unit

Default

Related
control mode

0 to 99

—

0

P S T F

6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU

Caution

Pr2.04

+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ

2nd notch frequency

Range

Unit

Default

Related
control mode

50 to 5000

Hz

5000

P S T F

6HWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU

Caution

Pr2.05

7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR

QGQRWFKZLGWKVHOHFWLRQ

Range

Unit

Default

Related
control mode

0 to 20

—

2

P S T F

6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU

Caution

4-20

+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ

1. Details of parameter

1
'HIDXOW>@

Pr2.06

2nd notch depth selection

Range

Unit

Default

Related
control mode

0 to 99

—

0

P S T F

6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU

Caution

2

+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ

3rd notch frequency

Range

Unit

Default

Related
control mode

50 to 5000

Hz

5000

P S T F

1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHVWUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHÀOWHU

Caution

Pr2.08

,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHWWR

UGQRWFKZLGWKVHOHFWLRQ

Unit

Default

Related
control mode

0 to 20

—

2

P S T F

Pr2.09

+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ
:KHQWKHDSSOLFDEOHÀOWHUIXQFWLRQLVXVHGSDUDPHWHUYDOXHLVDXWRPDWLFDOO\VHW

3rd notch depth selection

Range

Unit

Default

Related
control mode

0 to 99

—

0

P S T F

3
Connection

Range

6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKÀOWHU

Caution

Preparation

Pr2.07

Before Using the Products

[Class 2] Damping control

4

6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKÀOWHU

Pr2.10

Setup

Caution

+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
:KHQWKHDSSOLFDEOHÀOWHUIXQFWLRQLVXVHGSDUDPHWHUYDOXHLVDXWRPDWLFDOO\VHW

4th notch frequency

Range

Unit

Default

Related
control mode

50 to 5000

Hz

5000

P S T F

5

1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHQGUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHÀOWHU

Pr2.11

7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR

WKQRWFKZLGWKVHOHFWLRQ

Range

Unit

Default

Related
control mode

0 to 20

—

2

P S T F

6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKÀOWHU

Caution

4th notch depth selection

Range

Unit

Default

Related
control mode

0 to 99

—

0

P S T F

6
When in Trouble

Pr2.12

+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ
:KHQWKHDSSOLFDEOHÀOWHUIXQFWLRQLVXVHGSDUDPHWHUYDOXHLVDXWRPDWLFDOO\VHW

Adjustment

Caution

6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKÀOWHU

Caution

Related page

7

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-21

Supplement

Note

+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
:KHQWKHDSSOLFDEOHÀOWHUIXQFWLRQLVXVHGSDUDPHWHUYDOXHLVDXWRPDWLFDOO\VHW

1. Details of parameter
[Class 2] Damping control

'HIDXOW>@

Pr2.13

6HOHFWLRQRIGDPSLQJILOWHUVZLWFKLQJ

Range

Unit

Default

0 to 3

—

0

Related
control mode

P

F

$PRQJÀOWHUVVHOHFWWKHÀOWHUVWREHXVHGIRUGDPSLQJFRQWURO
‡:KHQVHWXSYDOXHLV8SWRÀOWHUVFDQEHXVHGVLPXOWDQHRXVO\
‡:KHQVHWXSYDOXHLVRU6HOHFWWKHÀOWHUZLWKH[WHUQDOLQSXW V  966(/DQGRU966(/ 
Setup
value

VS-SEL2

VS-SEL1

[0]

—

—

1

1st damping 2nd damping 3rd damping 4th damping

—
—

2

‡:LWKVHWXSYDOXH6HOHFWWKHÀOWHUZLWKFRPPDQGGLUHFWLRQ
Setup
value
3

Caution

Pr2.14
Pr2.16

Position command
direction

1st damping 2nd damping 3rd damping 4th damping

3RVLWLYHGLUHFWLRQ
1HJDWLYHGLUHFWLRQ

‡ 6ZLWFKLQJ RI GDPSLQJ FRQWUROV ZLOO EH GRQH RQ WKH ULVLQJ HGJH RI WKH FRPPDQG ZKRVH
QXPEHU RI SXOVHV PV KDV EHHQ FKDQJHG IURP  ZKLOH WKH SRVLWLRQLQJ FRPSOHWH
signal is being output.
 :KHQWKHGDPSLQJIUHTXHQF\LVLQFUHDVHGRUGLVDEOHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLV
ODUJHDQGSXOVHVDUHVWRUHGLQWKHÀOWHUDWWKDWWLPH WKHDUHDUHSUHVHQWHGE\WKHYDOXHRI
SRVLWLRQFRPPDQGEHIRUHÀOWHUVXEWUDFWHGE\WKHYDOXHRISRVLWLRQFRPPDQGDIWHUÀOWHUDQG
LQWHJUDWHGZLWKWKHWLPH 1RWHWKDWVLQFHWKHVHSXOVHVZLOOEHGLVFKDUJHGDWDKLJKHUUDWH
XSRQVZLWFKLQJWRUHWXUQEDFNWRWKHRULJLQDOSRVLWLRQWKHPRWRUPD\UXQDWDVSHHGKLJKHU
than the command speed for a short time.

1st damping frequency
2nd damping frequency

Pr2.18

3rd damping frequency

Pr2.20

4th damping frequency

Range

Unit

Default

0 to 2000

0.1Hz

0

Range

Unit

Default

0 to 2000

0.1Hz

0

Range

Unit

Default

0 to 2000

0.1Hz

0

Range

Unit

Default

0 to 2000

0.1Hz

0

Related
control mode

P

F

Related
control mode

P

F

Related
control mode

P

F

Related
control mode

P

F

+]@

Related page

Note
Related page
4-22

7KHVHWXSIUHTXHQF\LVWR>+]@6HWXSRIWREHFRPHVLQYDOLG5HIHUWR3
'DPSLQJFRQWURODVZHOOEHIRUHXVLQJWKLVSDUDPHWHU

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1

Pr2.15
Pr2.17

Pr2.21

2nd damping filter setup
3rd damping filter setup
4th damping filter setup

Range

Unit

Default

0 to 1000

0.1Hz

0

Range

Unit

Default

0 to 1000

0.1Hz

0

Range

Unit

Default

0 to 1000

0.1Hz

0

Range

Unit

Default

0 to 1000

0.1Hz

0

Related
control mode

P

F

Related
control mode

P

F

P

F

Related
control mode

P

F

,IWRUTXHVDWXUDWLRQRFFXUVZLWKGDPSLQJIUHTXHQF\ VWWK HQDEOHGGHFUHDVHWKHVHWXS
YDOXHRULIWKHRSHUDWLRQLVVORZLQFUHDVHLW8VXDOO\VHWLWWR
7KHPD[LPXPVHWXSYDOXHLVLQWHUQDOO\OLPLWHGWRWKHFRUUHVSRQGLQJGDPSLQJIUHTXHQF\RU
GDPSLQJIUHTXHQF\ZKLFKHYHULVVPDOOHU

Related page

5HIHUWR3'DPSLQJFRQWURODVZHOOEHIRUHXVLQJWKLVSDUDPHWHU

Positional command smoothing filter

Range

Unit

Default

0 to 10000

0.1ms

0

Related
control mode

P

F

‡6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG
‡:KHQDVTXDUHZDYHFRPPDQGIRUWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKHWLPHFRQVWDQW
RIWKHVWGHOD\ÀOWHUDVVKRZQLQWKHÀJXUHEHORZ
Positional command before filter
Positional command after filter

4
Setup

Speed
[r/min]

3
Connection

Caution

Pr2.22

2

Related
control mode
Preparation

Pr2.19

1st damping filter setup

Before Using the Products

[Class 2] Damping control

Filter switching
waiting time *2

Vc
Vc×0.632 *1

Positional command smoothing
filter setup time [ms]
(Pr2.22 × 0.1 ms)

5

Vc×0.368 *1

6
When in Trouble

* $FWXDOÀOWHUWLPHFRQVWDQW VHWXSYDOXHðPV KDVWKHPD[LPXPDEVROXWHHUURURIPVIRUDWLPH
FRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH
* 6ZLWFKLQJRI3U3RVLWLRQDOFRPPDQGVPRRWKLQJÀOWHULVSHUIRUPHGRQWKHULVLQJHGJHRIWKHFRPPDQG
ZLWK WKH QXPEHU RI FRPPDQG SXOVHV PV LV FKDQJHG IURP  WR D YDOXH RWKHU WKDQ  ZKLOH WKH
positioning complete is being output.
 ,IWKHÀOWHUWLPHFRQVWDQWLVGHFUHDVHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLVLQFUHDVHGDQGDPDQ\QXPEHU
RISOXVVHVDUHDFFXPXODWHGLQWKHÀOWHU WKHDUHDHTXLYDOHQWRI´YDOXHRISRVLWLRQDOFRPPDQGÀOWHUYDOXH
RISRVLWLRQDOFRPPDQGDIWHUÀOWHUµLQWHJUDWHGRYHUWKHWLPH DWWKHWLPHRIVZLWFKLQJWKHVHSXOVHVDUH
GLVFKDUJHGDWDKLJKHUUDWHFDXVLQJWKHPRWRUWRUHWXUQWRWKHSUHYLRXVSRVLWLRQWKHPRWRUUXQVDWD
speed higher than the command speed for a short time.
* (YHQ LI 3U 3RVLWLRQDO FRPPDQG VPRRWKLQJ ILOWHU LV FKDQJHG LW LV QRW DSSOLHG LPPHGLDWHO\ ,I WKH
VZLWFKLQJDVGHVFULEHGLQ*RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG

Adjustment

Time

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-23

Supplement

Note

1. Details of parameter
[Class 2] Damping control

'HIDXOW>@

Pr2.23

Positional command FIR filter

Range

Unit

Default

0 to 10000

0.1ms

0

Related
control mode

P

F

‡6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG
‡:KHQDVTXDUHZDYHFRPPDQGRIWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKH9&DUULYDO
WLPHDVVKRZQLQWKHÀJXUHEHORZ
Speed
[r/min]

Positional command before filter
Positional command after filter

Filter switching
waiting time *2

Vc
Positional command
smoothing filter setup
time [ms]
(Pr2.23 × 0.1 ms)*1
Time
* 7KHDFWXDODYHUDJHWUDYHOWLPH VHWXSYDOXHðPV KDVWKHPD[LPXPDEVROXWHHUURURIPVIRUD
WLPHFRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH
* :KHQFKDQJLQJ3U3RVLWLRQDOFRPPDQG),5ÀOWHUVWRSWKHFRPPDQGSXOVHDQGZDLWXQWLOWKHÀOWHU
VZLWFKLQJZDLWWLPHKDVHODSVHG7KHÀOWHUVZLWFKLQJZDLWWLPH LVWKHVHWXSYDOXHðPVPV
ZKHQWKHVHWXSWLPHLVPVDQGVHWXSYDOXHðPVðZKHQWKHVHWXSWLPHLVPVRUPRUH,I
3ULVFKDQJHGZKLOHWKHFRPPDQGSXOVHLVEHLQJLQSXWWKHFKDQJHLVQRWUHÁHFWHGXQWLOWKHFRPPDQG
SXOVHOHVVVWDWHKDVFRQWLQXHGIRUWKHÀOWHUVZLWFKLQJZDLWWLPH
* (YHQLI3U3RVLWLRQDOFRPPDQG),5ÀOWHULVFKDQJHGLWLVQRWDSSOLHGLPPHGLDWHO\,IWKHVZLWFKLQJDV
described in *RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG

Note
Related page
4-24

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

4

1. Details of parameter

Setup

[Class 3] Verocity/ Torque/ Full-closed control

1

Pr3.00

6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ

Unit

Default

0 to 3

—

0

Related
control mode

S

7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHGVHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKHVSHHG
ZLWKFRQWDFWLQSXWVRQO\
Setup value

Preparation

1

,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG 3UWR3U

2

,QWHUQDOVSHHGFRPPDQGVWWRUGVSHHG 3UWR3U 
$QDORJVSHHGFRPPDQG 635

3

,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG 3UWR3U

3

5HODWLRQVKLSEHWZHHQ3U,QWHUQDOH[WHUQDOVZLWFKLQJVSHHGVHWXSDQGWKH
LQWHUQDOFRPPDQGVSHHGVHOHFWLRQDQGDQGVSHHGFRPPDQGWREHVHOHFWHG!

1

2

Selection 2 of
internal command
speed (INTSPD2)
OFF
OFF
21
21
OFF
OFF
21

21

21

Selection 3 of
internal command
speed (INTSPD3)

1st speed
2nd speed
3rd speed
4th speed
1st speed
2nd speed
3rd speed
$QDORJVSHHG
command
1st to 4th speed
5th speed
6th speed
7th speed
8th speed

1RHIIHFW

1RHIIHFW

The same as Pr3.00=1
OFF
OFF
21
OFF
OFF
21
21
21

3

Selection of
Speed command

OFF
21
21
21
21

4
Setup

Selection 1 of
internal command
speed (INTSPD1)
OFF
21
OFF
21
OFF
21
OFF

Connection

Setup
value

INTSPD2
Speed
command
[r/min]

open

COMï

open

COMï
4th

open

INTSPD2

open

INTSPD3

open

3rd
1st

Speed
command
[r/min]

COMï
COMï
8th

4th
1st

2nd

6th

6

5th

3rd
1st

Example 2) When Pr3.00=3

Speed command rotational direction
selection

Range

Unit

Default

0 to 1

—

0

Related
control mode

S

6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQVSHFLI\LQJPHWKRG
Setup value

1

Speed command
direction
(VC-SIGN)
1RHIIHFW
1RHIIHFW
OFF
21

7
Position command
direction
Supplement

[0]

Select speed
command sign
(1st to 8th speed)

ï
Sign has no effect.
Sign has no effect.

When in Trouble

Example 1) When Pr3.00=1 or 2

Pr3.01

COMï

7th

2nd
1st

INTSPD1

5
Adjustment

,QWHUQDO FRPPDQG VSHHG VZLWFKLQJ SDWWHUQ VKRXOG EH VR DUUDQJHG DV VKRZQ EHORZ
that single input signals are selected alternately. If 2 or more input signals are selected
VLPXOWDQHRXVO\ XQVSHFLÀHG LQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\ VHOHFWHGZKRVH
VHWWLQJYDOXHDQGDFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ
INTSPD1

2

Speed setup method
$QDORJVSHHGFRPPDQG 635

[0]

Before Using the Products

'HIDXOW>@

Range

3RVLWLYHGLUHFWLRQ
1HJDWLYHGLUHFWLRQ
3RVLWLYHGLUHFWLRQ
1HJDWLYHGLUHFWLRQ

4-25

1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control

'HIDXOW>@

Pr3.02

Input gain of speed command

Range

Unit

Default

Related
control mode

10 to 2000

UPLQ 9

500

S T

%DVHGRQWKHYROWDJHDSSOLHGWRWKHDQDORJVSHHGFRPPDQG 635 VHWXSWKHFRQYHUVLRQ
gain to motor command speed.
‡UPLQ@
hence input of 6V becomes 3000r/min.

Caution

 'RQRWDSSO\PRUHWKDQ“9WRWKHVSHHGFRPPDQGLQSXW 635 
 :KHQ\RXFRPSRVHDSRVLWLRQORRSRXWVLGHRIWKHGULYHUZKLOH\RXXVHWKH
GULYHULQYHORFLW\FRQWUROPRGHWKHVHWXSRI3UJLYHVODUJHUYDULDQFH
WRWKHRYHUDOOVHUYRV\VWHP
 3D\DQH[WUDDWWHQWLRQWRRVFLOODWLRQFDXVHGE\ODUJHUVHWXSRI3U
Positive direction
Speed (r/min)
3000

–10

–6
2

4 6 8 10
Command input voltage (V)

Slope at ex-factory
–3000
Negative direction

Pr3.03

Reversal of speed command input

Range

Unit

Default

0 to 1

—

1

Related
control mode

S

6SHFLI\WKHSRODULW\RIWKHYROWDJHDSSOLHGWRWKHDQDORJVSHHGFRPPDQG 635 
Setup value
0

1RQUHYHUVDO

´9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ´²9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ

[1]

5HYHUVDO

´9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ´²9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ

Note

'HIDXOW RI WKLV SDUDPHWHU LV  DQG WKH PRWRU WXUQV WR &: ZLWK   VLJQDO WKLV KDV
FRPSDWLELOLW\WRH[LVWLQJ0,1$6VHULHVGULYHU

Caution

:KHQ \RX FRPSRVH WKH VHUYR GULYH V\VWHP ZLWK WKLV GULYHU VHW WR YHORFLW\ FRQWURO PRGH
DQGH[WHUQDOSRVLWLRQLQJXQLWWKHPRWRUPLJKWSHUIRUPDQDEQRUPDODFWLRQLIWKHSRODULW\RI
the speed command signal from the unit and the polarity of this parameter setup does not
match.

Note
Related page
4-26

Motor rotating direction

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr3.04
Pr3.05

Pr3.07
Pr3.08
Pr3.09

2nd speed of speed setup
3rd speed of speed setup
4th speed of speed setup
5th speed of speed setup
6th speed of speed setup
7th speed of speed setup

Pr3.11

8th speed of speed setup

Default

ïWR

r/min

0

Range

Unit

Default

ïWR

r/min

0

Range

Unit

Default

ïWR

r/min

0

Range

Unit

Default

ïWR

r/min

0

Range

Unit

Default

ïWR

r/min

0

Range

Unit

Default

ïWR

r/min

0

Range

Unit

Default

ïWR

r/min

0

Range

Unit

Default

ïWR

r/min

0

Related
control mode

S
Related
control mode

S

S
Related
control mode

S
Related
control mode

S
Related
control mode

S
Related
control mode

S

Deceleration time setup

4
Range

Unit

Default

0 to 10000

ms/
(1000r/min)

0

Range

Unit

Default

0 to 10000

ms/
(1000r/min)

0

Related
control mode

S
Related
control mode

S

Stepwise input speed command

Speed command after
acceleration/deceleration
process

5
Adjustment

Set up acceleration/deceleration processing time in response to the speed command input.
6HWWKHWLPHUHTXLUHGIRUWKHVSHHGFRPPDQG VWHSZLVHLQSXW WRUHDFKUPLQWR3U
$FFHOHUDWLRQWLPHVHWXS$OVRVHWWKHWLPHUHTXLUHGIRUWKHVSHHGFRPPDQGWRUHDFKIURP
UPLQWRUPLQWR3U'HFHOHUDWLRQWLPHVHWXS
$VVXPLQJWKDW WKH WDUJHW YDOXHRI WKH VSHHGFRPPDQGLV9F UPLQ  WKH WLPH UHTXLUHGIRU
DFFHOHUDWLRQGHFHOHUDWLRQFDQEHFRPSXWHGIURPWKHIRUPXODVKRZQEHORZ
$FFHOHUDWLRQWLPH PV  9Fð3UðPV
'HFHOHUDWLRQWLPH PV  9Fð3UðPV
Speed
[r/min]

Setup

Pr3.13

Acceleration time setup

3

S
Related
control mode

6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK

Pr3.12

2

Related
control mode

Connection

Pr3.10

Unit

Preparation

Pr3.06

1st speed of speed setup

Range

Before Using the Products

[Class 3] Verocity/ Torque/ Full-closed control

6

1000r/min
When in Trouble

Time
Pr3.12×1ms

Caution

Related page

:KHQ WKH VSHHG GLIIHUHQFH EHWZHHQ WKH VSHHG FRPPDQG EHLQJ VHOHFWHG DQG WKH VSHHG
command after acceleration/deceleration indicates the same direction as that of the speed
FRPPDQGDSSOLHGDIWHUDFFHOHUDWLRQGHFHOHUDWLRQUHVXOWLV´DFFHOHUDWLRQµDQGLIWKHUHYHUVH
GLUHFWLRQWKHUHVXOWLV´GHFHOHUDWLRQµ
‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-27

7
Supplement

Note

Pr3.13×1ms

1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control

'HIDXOW>@

Pr3.14

Sigmoid acceleration/ deceleration time
setup

Range

Unit

Default

0 to 1000

ms

0

Related
control mode

S

6HW6FXUYHWLPHIRUDFFHOHUDWLRQGHFHOHUDWLRQSURFHVVZKHQWKHVSHHGFRPPDQGLVDSSOLHG
$FFRUGLQJ WR 3U$FFHOHUDWLRQ WLPH VHWXS DQG 3U 'HFHOHUDWLRQ WLPH VHWXS VHW XS
VLJPRLGWLPHZLWKWLPHZLGWKFHQWHULQJWKHLQÁHFWLRQSRLQWRIDFFHOHUDWLRQGHFHOHUDWLRQ
ts

Speed
[r/min]

Target speed (Vc)

ts

Speed command after
acceleration/deceleration
process

ta = Vc/1000 × Pr3.12 × 1ms
td = Vc/1000 × Pr3.13 × 1ms
ts = Pr3.14 × 1ms
* Use with the setup of
ta/2 > ts, td/2 > ts

ts

ts

Time
ta

Pr3.15

td

Speed zero-clamp function selection

Range

Unit

Default

Related
control mode

0 to 3

—

0

S T

You can set up the function of the speed zero clamp input.
Setup value
[0]

Function of ZEROSPD (Pin-26)
,QYDOLG6SHHG]HURFODPSLQSXWLVLJQRUHG

1

6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDO
LVWXUQHG21 *1.

2

6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDO
LVWXUQHG21 *1$QGZKHQWKHDFWXDOPRWRUVSHHGGURSVWR3U6SHHG]HURFODPS
OHYHORUEHORZWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFNLVDFWLYDWHGDWWKLVSRLQW
7KHIXQGDPHQWDORSHUDWLRQVH[FHSWIRUWKLVIXQFWLRQ VZLWFKLQJWRWKHSRVLWLRQFRQWURO 
DUHLGHQWLFDOWRWKRVHZKHQVHWXSYDOXHLV

3

:KHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDOLV21 *1 and speed command is
EHORZ3U
6SHHG]HURFODPSOHYHO²UPLQWKHQWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFN
LVDFWLYDWHGDWWKDWSRLQW

 7KH GHIDXOW ORJLF LV EFRQWDFW WKH IXQFWLRQ LV HQDEOHG ZKLOH WKH WHUPLQDO LV RSHQ LQSXW VLJQDO LV
21 5HIHUWR3&RQWUROLQSXW

Pr3.16

Speed zero clamp level

Range

Unit

Default

Related
control mode

10 to 20000

r/min

30

S T

6HOHFWWKHWLPLQJDWZKLFKWKHSRVLWLRQFRQWUROLVDFWLYDWHGDVWKH3U6SHHG]HURFODPS
function selection is set to 2 or 3.
,I3U WKHQK\VWHUHVLVRIUPLQLVSURYLGHGIRUGHWHFWLRQ

Note
Related page
4-28

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr3.17

Selection of torque command

Range

Unit

Default

0 to 2

—

0

Related
control mode

T

You can select the input of the torque command and the speed limit.
Torque command input

Velocity limit input

[0]

$QDORJLQSXW *1
$,ELWUHVROXWLRQ

3DUDPHWHUYDOXH
3U

1

$QDORJLQSXW
$,ELWUHVROXWLRQ

$QDORJLQSXW
$,ELWUHVROXWLRQ

2

$QDORJLQSXW *1
$,ELWUHVROXWLRQ

3DUDPHWHUYDOXH
3U3U

2
Preparation

Setup value

* )RU3U&RQWUROPRGHVHWXS  YHORFLW\WRUTXHFRQWURO WKHWRUTXHFRPPDQGLQSXW
LVWKHDQDORJLQSXW $,ELWUHVROXWLRQ 

Torque command direction selection

Range

Unit

Default

0 to 1

—

0

Related
control mode

T

6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYHGLUHFWLRQRIWRUTXHFRPPDQG
Setup value
[0]
1

3
Connection

Pr3.18

Before Using the Products

[Class 3] Verocity/ Torque/ Full-closed control

Designation
6SHFLI\WKHGLUHFWLRQZLWKWKHVLJQRIWRUTXHFRPPDQG
([DPSOH7RUTXHFRPPDQGLQSXW  IRUSRVLWLYHGLUHFWLRQ ² IRUQHJDWLYHGLUHFWLRQ

4

6SHFLI\WKHGLUHFWLRQZLWKWRUTXHFRPPDQGVLJQ 7&6,*1 
2))3RVLWLYHGLUHFWLRQ211HJDWLYHGLUHFWLRQ
Setup

Pr3.19

Input gain of torque command

Range

Unit

Default

10 to 100

0.1V/100%

30

Related
control mode

T

%DVHG RQ WKH YROWDJH 9  DSSOLHG WR WKH DQDORJ WRUTXH FRPPDQG 7545  VHW XS WKH
FRQYHUVLRQJDLQWRWRUTXHFRPPDQG  

DQGVHWXSLQSXWYROWDJHQHFHVVDU\WR
Default

produce the rated torque.
‡ 'HIDXOWVHWXSRIUHSUHVHQWV9

Positive direction

Adjustment

torque
300[%]

‡ 8QLWRIWKHVHWXSYDOXHLV>9@

Rated 200
torque

100
–10V –8 –6 –4 –2
2

4

100

6 8 10V
command input v

300[%]

Negative direction

Input reversal of torque command

Range

Unit

Default

0 to 1

—

0

Related
control mode

T

6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHGWRWKHDQDORJWRUTXHFRPPDQG 7545 
Direction of motor output torque

[0]

1RQUHYHUVDO

´9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ´²9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ

1

5HYHUVDO

´9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ´²9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ

7
Supplement

Setup value

6
When in Trouble

200

Pr3.20

5

4-29

1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control

'HIDXOW>@

Pr3.21

Speed limit value 1

Range

Unit

Default

0 to 20000

r/min

0

Related
control mode

T

Set up the speed limit used for torque controlling.
'XULQJWKHWRUTXHFRQWUROOLQJWKHVSHHGVHWE\WKHVSHHGOLPLWYDOXHFDQQRWEHH[FHHGHG
:KHQ3U WKHVSHHGOLPLWLVDSSOLHGXSRQUHFHLYLQJSRVLWLYHGLUHFWLRQFRPPDQG

Pr3.22

Speed limit value 2

Range

Unit

Default

0 to 20000

r/min

0

Related
control mode

T

6SHHGOLPLWYDOXHRIQHJDWLYHGLUHFWLRQFRPPDQGZKHQ3U 
Pr3.17

Pr3.21

Pr3.22

Pr3.15
0

0

0 to 20000

1RHIIHFW

1 to 3

0 to 20000 0 to 20000
2

Pr3.23 *

0

Speed zero clamp
Analog torque
(ZEROSPD)
command direction
1RHIIHFW

3UVHWXSYDOXH

OFF

1RHIIHFW

3UVHWXSYDOXH

21

0

1RHIIHFW

0 to 20000 0 to 20000

1 to 3

OFF

0 to 20000 0 to 20000

1 to 3

21

([WHUQDOVFDOHVHOHFWLRQ

Speed limit value

3RVLWLYHGLUHFWLRQ

3UVHWXSYDOXH

1HJDWLYHGLUHFWLRQ

3UVHWXSYDOXH

3RVLWLYHGLUHFWLRQ

3UVHWXSYDOXH

1HJDWLYHGLUHFWLRQ

3UVHWXSYDOXH

1RHIIHFW

0

Range

Unit

Default

0 to 2

—

0

Related
control mode

F

6HOHFWWKHW\SHRIH[WHUQDOVFDOH
Setup
value

([WHUQDOVFDOHW\SH

Compatible scale

Compatible
speed
to 4Mpps
DIWHUTXDGUXSOHG

$%SKDVHRXWSXWW\SH*1

([WHUQDOVFDOHRI$%SKDVHRXWSXWW\SH

1

Serial communication type
LQFUHPHQWDOYHUVLRQ *1

0DJQHVFDOH&R/WG
65656/6/

to 400Mpps

2

Serial communication type
DEVROXWHYHUVLRQ *1

Mitsutoyo Corp.
$767$67$
0DJQHVFDOH&R/WG
6565

to 400Mpps

[0]

* &RQQHFW WKH H[WHUQDO VFDOH VR WKDW LW LQFUHPHQWV WKH FRXQW DV WKH PRWRU VKDIW WXUQV
SRVLWLYH GLUHFWLRQ DQG GHFUHPHQWV DV WKH VKDIW WXUQV QHJDWLYH GLUHFWLRQ ,I WKLV
FRQQHFWLRQDUUDQJHPHQWLVLPSRVVLEOHGXHWRLQVWDOODWLRQFRQGLWLRQHWFXVHWKHFRXQW
UHYHUVHIXQFWLRQRI3U5HYHUVDORIGLUHFWLRQRIH[WHUQDOVFDOH

Caution

Note
Related page
4-30

:KHQ WKH VHWXS YDOXH LV  RU  ZKLOH WKH$ % SKDVH RXWSXW W\SH LV FRQQHFWHG (UU
([WHUQDO VFDOH ZLULQJ HUURU SURWHFWLRQ RFFXUV DQG LI WKH VHWXS YDOXH LV  ZKLOH WKH VHULDO
FRPPXQLFDWLRQW\SHLVFRQQHFWHG(UURU$SKDVH%SKDVHRU=SKDVHZLULQJHUURU
SURWHFWLRQZLOORFFXU

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ‡3´3URWHFWLYH)XQFWLRQµ

1. Details of parameter

1

Pr3.24 *

1XPHUDWRURIH[WHUQDOVFDOHGLYLVLRQ

Range

Unit

Default

WR

—

0

Related
control mode

F

6HWXSWKHQXPHUDWRURIWKHH[WHUQDOVFDOHGLYLGLQJVHWXS
:KHQVHWXSYDOXH HQFRGHUUHVROXWLRQLVXVHGDVQXPHUDWRURIWKHGLYLVLRQ

'HQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ

2

Range

Unit

Default

Related
control mode

WR

—

10000

F

Pr3.24 1048576
Pr3.25 100000

Caution

Encoder resolution per one motor revolution [pulse]
External scale resolution per one motor revolution [pulse]

,IWKLVUDWLRLVZURQJWKHGLIIHUHQFHEHWZHHQWKHSRVLWLRQFDOFXODWHGEDVHGRQWKHHQFRGHU
SXOVHVDQGWKHSRVLWLRQFDOFXODWHGEDVHGRQWKHH[WHUQDOVFDOHSXOVHVEHFRPHVODUJHRYHUD
ORQJWUDYHOGLVWDQFHDQGZLOODFWLYDWHWKHH[FHVVK\EULGGHYLDWLRQHUURUSURWHFWLRQ

5HYHUVDORIGLUHFWLRQRIH[WHUQDOVFDOH

Range

Unit

Default

0 to 1

—

0

Related
control mode

F

4
Setup

Pr3.26 *

=

3
Connection

‡&KHFNWKHQXPEHURIHQFRGHUIHHGEDFNSOXVHVSHURQHPRWRUUHYROXWLRQDQGWKHQXPEHURI
H[WHUQDOVFDOHSXOVHVSHURQHPRWRUUHYROXWLRQDQGWKHQVHWXSWKHQXPHUDWRURIH[WHUQDO
VFDOHGLYLVLRQ 3U DQGWKHGHQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ 3U WRHVWDEOLVK
WKHH[SUHVVLRQVKRZQEHORZ
‡:LWK3UVHWDWWKHHQFRGHUUHVROXWLRQLVDXWRPDWLFDOO\XVHGDVQXPHUDWRU
([DPSOH:KHQEDOOVFUHZSLWFKLVPPVFDOHBPSXOVHHQFRGHUUHVROXWLRQELWV
SXOVHV 

Preparation

Pr3.25 *

Before Using the Products

[Class 3] Verocity/ Torque/ Full-closed control

5HYHUVHWKHGLUHFWLRQRIH[WHUQDOVFDOHIHHGEDFNFRXQWHU
Setup value
[0]
1

Pr3.27 *

5

&RXQWYDOXHRIH[WHUQDOVFDOHFDQEHXVHGDVLWLV
6LJQ SRVLWLYHQHJDWLYH RIFRXQWYDOXHRIH[WHUQDOVFDOHVKRXOGEHLQYHUWHG

)RUVHWWLQJPHWKRGRIWKLVSDUDPHWHUUHIHUWR3)XOOFORVHGFRQWUROPRGH

([WHUQDOVFDOH=SKDVHGLVFRQQHFWLRQ
detection disable

Range

Unit

Default

0 to 1

—

0

Related
control mode

F

(QDEOHGLVDEOH=SKDVHGLVFRQQHFWLRQGHWHFWLRQZKHQ$%SKDVHRXWSXWW\SHH[WHUQDOVFDOH
is used.
Content

[0]

Valid

1

,QYDOLG

6
When in Trouble

Setup value

Adjustment

Note

Content

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-31

Supplement

Note

1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control

'HIDXOW>@

Pr3.28 *

+\EULGGHYLDWLRQH[FHVVVHWXS

Range

Unit

WR Command
unit

Default

Related
control mode

16000

F

@

Pr4.10 *

SO1 output selection

Range

Unit

0 to 00FFFFFFh

—

Default

Related
control mode

00030303h
P S T F


$VVLJQIXQFWLRQVWR62RXWSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV*1
+H[DGHFLPDOSUHVHQWDWLRQLVIROORZHGE\DVSHFLÀFFRQWUROPRGHGHVLJQDWLRQ
0 0 – – – – * * K SRVLWLRQIXOOFORVHGFRQWURO
0 0 – – * * ² ² K YHORFLW\FRQWURO
0 0 * * ² ² ² ² K WRUTXHFRQWURO
Replace * *ZLWKWKHIXQFWLRQQXPEHU
)RUWKHIXQFWLRQQXPEHUVHHWKHWDEOHEHORZ/RJLFDOVHWXSLVDOVRDIXQFWLRQQXPEHU

,QYDOLG
6HUYR5HDG\RXWSXW
([WHUQDOEUDNHUHOHDVHsignal
Positioning complete output
$WVSHHGRXWSXW
Torque in-limit signal output
Zero-speed detection output signal
Speed coincidence output
$ODUPRXWSXW
$ODUPRXWSXW
3RVLWLRQDOFRPPDQG212))RXWSXW
Positioning complete 2
Speed in-limit output
$ODUPDWWULEXWHRXWSXW
6SHHGFRPPDQG212))RXWSXW

ï
S-RDY
BRK-OFF
,13
$7633('
TLC
ZSP
9&2,1
:$51
:$51
P-CMD
,13
V-LIMIT
$/0$7%
V-CMD

Note
)RURXWSXWSLQDVVLJQPHQWZLWK
GHIDXOWVHWWLQJDOVRUHIHUWR3
2XWSXWVLJQDOV FRPPRQ 
and their functions.
Related page
P.3-52
([DPSOHRIFKDQJH!
To change the default setting
´([WHUQDOEUDNHUHOHDVHVLJQDOµ
LQDOOPRGHV WR´$ODUPRXWSXW
µVHWWKHLQSXWWRK
)RUHDVLHUVHWWLQJXVHWKH
VHWXSVXSSRUWVRIWZDUH
3$1$7(50

3

4
Setup

Symbol

Connection

Caution

Title

2
Preparation

Setup
value
00h
02h
03h
04h
05h
06h
07h
08h
09h
$K
0Bh
0Ch
0Dh
0Eh
0Fh

Before Using the Products

[Class 4] I/F monitor setting

‡ Same function can be assigned to 2 or more output signals.
‡ &RQWURORXWSXWSLQVHWWRLQYDOLGDOZD\VKDVWKHRXWSXWWUDQVLVWRUWXUQHG2))

5

‡ 'RQRWFKDQJHWKHVHWXSYDOXHVKRZQLQWKHWDEOH

*1RWHWKDWWKHVHWXSYDOXHVDUHGLVSOD\HGLQGHFLPDORQWKHIURQWSDQHO

Pr4.12 *

Pr4.14 *
Pr4.15 *

SO3 output selection

SO4 output selection

SO5 output selection

SO6 output selection

0 to 00FFFFFFh

—

Range

Unit

0 to 00FFFFFFh

—

Range

Unit

0 to 00FFFFFFh

—

Range

Unit

0 to 00FFFFFFh

—

Range

Unit

0 to 00FFFFFFh

—

Default

Related
control mode

00020202h P S T F

Default

Related
control mode

00010101h
P S T F

Default

Related
control mode

00050504h P S T F

Default

Related
control mode

00070707h P S T F

Default

Related
control mode

00060606h P S T F


7
Supplement

$VVLJQIXQFWLRQVWR62WR62RXWSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV
Setup procedure is the same as described for Pr4.10.

6
When in Trouble

Pr4.13 *

SO2 output selection

Unit

Adjustment

Pr4.11 *

Range

4-35

1. Details of parameter
[Class 4] I/F monitor setting

'HIDXOW>@

Pr4.16

Type of analog monitor 1

Range

Unit

Default

Related
control mode

0 to 21

—

0

P S T F

Select the type of monitor for analog monitor 1. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH

Pr4.17

Analog monitor 1 output gain

Range

Unit

Default

Related
control mode

0 to 214748364

[Monitor unit
in Pr4.16] / V

0

P S T F

Set up the output gain of analog monitor 1.
)RU3U 0RWRUVSHHG9LVRXWSXWDWWKHPRWRUVSHHG>UPLQ@ 3UVHWXSYDOXH

Pr4.18

Type of analog monitor 2

Range

Unit

Default

Related
control mode

0 to 21

—

4

P S T F

Select the type of monitor for analog monitor 2. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH

Pr4.19

Analog monitor 2 output gain

Range

Unit

Default

Related
control mode

0 to 214748364

[Monitor unit
in Pr4.16] / V

0

P S T F

Set up the output gain of analog monitor 2.
)RU3U 7RUTXHFRPPDQG9LVRXWSXWDWWKHWRUTXHFRPPDQG>@ 3UVHWXSYDOXH

Pr4.20

Type of digital monitor

Range

Unit

Default

Related
control mode

0 to 3

—

0

P S T F

Select type of the digital monitor.

Note

Related page
4-36

Digital signal output

Setup value

Type of monitor

L output

H output

[0]

Positioning complete condition

1RWFRPSOHWHG

Completed

1

Positional command

:LWKRXWFRPPDQG

:LWKFRPPDQG

2

$ODUP

1RWJHQHUDWHG

Generated

3

Gain selected

1st gain

2nd gain
LQFOXGLQJUGJDLQ

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKGLJLWDOPRQLWRURXWSXW
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1

Unit

Output gain for setting
Pr4.17/Pr4.19 = 0

0

Motor speed

r/min

500

1

Positional command speed *3

r/min

500

2

Internal positional command speed *3

r/min

500

3

Velocity control command

r/min

500

4

Torque command

%

33

SXOVH &RPPDQGXQLW

3000

5

&RPPDQGSRVLWLRQDOGHYLDWLRQ

6

(QFRGHUSRVLWLRQDOGHYLDWLRQ*4

SXOVH (QFRGHUXQLW

3000

7

)XOOFORVHGGHYLDWLRQ*4

SXOVH ([WHUQDOVFDOHXQLW

3000

8

+\EULGGHYLDWLRQ

SXOVH &RPPDQGXQLW

3000

9

9ROWDJHDFURVV31

V

80

10

5HJHQHUDWLYHORDGIDFWRU

%

33

11

2YHUORDGIDFWRU

%

33

12

3RVLWLYHGLUHFWLRQWRUTXHOLPLW

%

33

13

1HJDWLYHGLUHFWLRQWRUTXHOLPLW

%

33

14

6SHHGOLPLWYDOXH

r/min

500

15

Inertia ratio

%

500

16

$QDORJLQSXW

*2

V

1

17

$QDORJLQSXW*2

V

1

18

*2

V

1

$QDORJLQSXW

*5

Encoder temperature

ʝ

10

20

'ULYHUWHPSHUDWXUH

ʝ

10

21

Encoder single-turn data *1

SXOVH (QFRGHUXQLW

110000

4

7KHHQFRGHUURWDWLRQGDWD&&:LVDOZD\VSRVLWLYHYDOXHUHJDUGOHVVRI3U5RWDWLRQDOGLUHFWLRQVHWXS
7KHGLUHFWLRQRIRWKHUPRQLWRUGDWDEDVLFDOO\IROORZV3U5RWDWLRQDOGLUHFWLRQVHWXS
$QDORJLQSXWVDQGDOZD\VRXWSXWWHUPLQDOYROWDJHUHJDUGOHVVRIXVDJHRIDQDORJLQSXWIXQFWLRQ
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXWV
)RUWKHFRPPDQGSXOVHLQSXWWKHVSHHGEHIRUHWKHFRPPDQGÀOWHU VPRRWKLQJ),5ÀOWHU LVGHÀQHGDVSRVLWLRQDO
FRPPDQGVSHHGDQGVSHHGDIWHUÀOWHULVGHÀQHGDVLQWHUQDOFRPPDQGVSHHG

Command
division/
multiplication
process

Command
pulse input

Positional
command
filter

+

Position
control

–

Encoder feedback/
external scale feedback

6

Command
division/
multiplication

–

Command
division/multiplication
reverse conversion

+
–

Positional
control

7

Encoder feedback/
external scale feedback

Supplement

+

Positional
command
filter

When in Trouble

* &RPPDQGSRVLWLRQDOGHYLDWLRQLVWKHGHYLDWLRQZLWKUHVSHFWWRWKHFRPPDQGSXOVHLQSXWDQGWKHHQFRGHUSRVLWLRQDO
GHYLDWLRQIXOOFORVHGSRVLWLRQDOGHYLDWLRQLVWKHGHYLDWLRQDWWKHLQSXWVHFWLRQRIWKHSRVLWLRQDOFRQWURODVGHVFULEHGLQ
WKHÀJXUHEHORZ
Encoder positional deviation (encoder unit)
/ Full-closed deviation (external unit)
Command
pulse input

5
Adjustment

Positional command
Internal position
speed [r/min]
command speed [r/min]

Setup

19

3
Connection

*

*

*

*4

2
Preparation

Type of monitor

Pr4.16/Pr4.18

Before Using the Products

[Class 4] I/F monitor setting

Positional command deviation (command unit)
* 7HPSHUDWXUHLQIRUPDWLRQIURPWKHHQFRGHULQFOXGHVYDOXHRQO\ZKHQLWLVDELWLQFUHPHQWDOHQFRGHU2WKHUZLVH
WKHYDOXHLVDOZD\V
4-37

1. Details of parameter
[Class 4] I/F monitor setting

'HIDXOW>@

Pr4.21

Analog monitor output setup

Range

Unit

Default

Related
control mode

0 to 2

—

0

P S T F

Select output format of the analog monitor.
Setup value
Signed data output

–10 V to 10 V

1

$EVROXWHYDOXHGDWDRXWSXW

9WR9

2

'DWDRXWSXWZLWKRIIVHW

9WR9 9DWFHQWHU

[0]

Pr4.22

Output format

Analog input 1 (AI1) offset setup

Range

Unit

Default

Related
control mode

ïWR

0.359mV

0

P S T F

6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW

Pr4.23

Analog input 1 (AI1) filter

Range

Unit

Default

Related
control mode

0 to 6400

0.01ms

0

P S T F

6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 1.

Pr4.24

Analog input 1 (AI1) overvoltage setup

Range

Unit

Default

Related
control mode

0 to 100

0.1V

0

P S T F

6HW XS WKH H[FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW  E\ XVLQJ WKH YROWDJH
DVVRFLDWHGZLWKRIIVHW

Pr4.25

Analog input 2 (AI2) offset setup

Range

Unit

Default

Related
control mode

ïWR

5.86mV

0

P S T F

6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW

Pr4.26

Analog input 2 (AI2) filter

Range

Unit

Default

Related
control mode

0 to 6400

0.01ms

0

P S T F

6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 2.

Pr4.27

Analog input 2 (AI2) overvoltage setup

Range

Unit

Default

Related
control mode

0 to 100

0.1V

0

P S T F

6HW XS WKH H[FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW  E\ XVLQJ WKH YROWDJH
DVVRFLDWHGZLWKRIIVHW

Pr4.28

Analog input 3 (AI3) offset setup

Range

Unit

Default

Related
control mode

ïWR

5.86mV

0

P S T F

6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW

Note
Related page
4-38

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1

Pr4.29

Analog input 3 (AI3) filter

Range

Unit

Default

Related
control mode

0 to 6400

0.01ms

0

P S T F

6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 3.

Analog input 3 (AI3) overvoltage setup

Range

Unit

Default

Related
control mode

0 to 100

0.1V

0

P S T F

6HW XS WKH H[FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW  E\ XVLQJ WKH YROWDJH
DVVRFLDWHGZLWKRIIVHW

Pr4.31

Positioning complete (In-position) range

Range

Unit

Default

0 to 262144

Command
unit

10

Related
control mode

P

Pr4.32

The command unit is used as the default unit but can be replaced by the encoder unit by
XVLQJ 3U 3RVLWLRQLQJ XQLW VHOHFWLRQ 1RWH WKDW ZKHQ WKH HQFRGHU XQLW LV XVHG XQLW RI
3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG
)RUGHVFULSWLRQRI´FRPPDQGXQLWµDQG´HQFRGHUXQLWµUHIHUWR3´3Uµ

4

Range

Unit

Default

0 to 3

—

0

Related
control mode

P

F

6HOHFWWKHFRQGLWLRQWRRXWSXWWKHSRVLWLRQLQJFRPSOHWHVLJQDO ,13 
Action of positioning complete signal

[0]

7KHVLJQDOZLOOWXUQRQZKHQWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U 3RVLWLRQLQJ
FRPSOHWHUDQJH

1

7KH VLJQDO ZLOO WXUQ RQ ZKHQ WKHUH LV QR SRVLWLRQ FRPPDQG DQG WKH SRVLWLRQDO
GHYLDWLRQLVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH 

2

7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGWKH]HURVSHHGGHWHFWLRQVLJQDO
LV21DQGWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH 

3

7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGDQGWKHSRVLWLRQDOGHYLDtion
LVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH 7KHQKROGV21VWDWXVXQWLOWKH
QH[WSRVLWLRQFRPPDQGLVHQWHUHG6XEVHTXHQWO\21VWDWHLVPDLQWDLQHGXQWLO3U
,13KROGWLPHKDVHODSVHG$IWHUWKHKROGWLPH,13RXWSXWZLOOEHWXUQHG212))DFFRUGLQJWRWKHFRPLQJSRVLWLRQDOFRPPDQGRUFRQGLWLRQRIWKHSRVLWLRQDOGHYLDWLRQ

Range

Unit

Default

0 to 30000

1ms

0

6

Related
control mode

P

F

6HWXSWKHKROGWLPHZKHQ3U3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS 
Setup value
[0]
1 to 30000

Related page

State of positioning complete signal
7KHKROGWLPHLVPDLQWDLQHGGHÀQLWHO\NHHSLQJ21VWDWHXQWLOWKHQH[WSRVLWLRQDO
FRPPDQGLVUHFHLYHG

7

21VWDWHLVPDLQWDLQHGIRUVHWXSWLPH PV EXWVZLWFKHGWR2))VWDWHDVWKHSRVLWLRQDO
FRPPDQGLVUHFHLYHGGXULQJKROGWLPH

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-39

Supplement

Note

When in Trouble

INP hold time

5
Adjustment

Pr4.33

Setup value

Setup

Positioning complete (In-position)
output setup

Connection

Note

3

F

6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQDWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO ,13 LVRXWSXW

Caution

2
Preparation

Pr4.30

Before Using the Products

[Class 4] I/F monitor setting

1. Details of parameter
[Class 4] I/F monitor setting

'HIDXOW>@

Pr4.34

Zero-speed

Range

Unit

Default

Related
control mode

10 to 20000

r/min

50

P S T F

UPLQ@

Positive direction
speed
(Pr4.34+10)r/min

(Pr4.34–10)r/min
Negative direction
ON

ZSP

Pr4.35

Speed coincidence range

Range

Unit

Default

Related
control mode

10 to 20000

r/min

50

S T

6HWWKHVSHHGFRLQFLGHQFH 9&2,1 RXWSXWGHWHFWLRQWLPLQJ
2XWSXWWKHVSHHGFRLQFLGHQFH 9&2,1 ZKHQWKHGLIIHUHQFHEHWZHHQWKHVSHHGFRPPDQG
DQGWKHPRWRUVSHHGLVHTXDOWRRUVPDOOHUWKDQWKHVSHHGVSHFLÀHGE\WKLVSDUDPHWHU

Speed
[r/min]

Speed
command

Speed command after
acceleration/deceleration
process

Pr4.35 *1
(Speed coincidence
range)

Pr4.35 *1
(Speed coincidence range)

Motor speed
Time
Pr4.35 *1
(Speed coincidence range)

Speed coincidence
output
V-COIN

ON

OFF

ON

OFF

*1 %HFDXVHWKHVSHHGFRLQFLGHQFHGHWHFWLRQLVDVVRFLDWHGZLWKUPLQK\VWHUHVLVDFWXDO
GHWHFWLRQUDQJHLVDVVKRZQEHORZ
Speed coincidence output OFF 21WLPLQJ 3U² UPLQ
6SHHGFRLQFLGHQFHRXWSXW21 2))WLPLQJ 3U UPLQ

Note
Related page
4-40

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr4.36

At-speed (Speed arrival)

Range

Unit

Default

Related
control mode

10 to 20000

r/min

1000

S T

Speed
[r/min]
Pr4.36+10
3Uï

Motor speed

Time

ï 3Uï
ï 3U

Pr4.37

OFF

ON

OFF

Mechanical brake action at stalling setup

3

ON

Connection

the speed
arrival output
AT-SPEED

Range

Unit

Default

Related
control mode

0 to 10000

1ms

0

P S T F

@

Pr4.39

Brake release speed setup

Range

Unit

Default

Related
control mode

30 to 3000

r/min

30

P S T F

Set up the speed timing of brake output checking during operation.

Pr4.40

Selection of alarm output 1

Pr4.41

Selection of alarm output 2

Range

Unit

Default

Related
control mode

0 to 10

—

0

P S T F

Range

Unit

Default

Related
control mode

0 to 10

—

0

P S T F

Select the type of alarm issued as the alarm output 1 or 2.
Setup
value

Alarm
—

[0]

Content
ORed output of all alarms.

1

2YHUORDGSURWHFWLRQ

/RDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO

2

2YHUUHJHQHUDWLRQDODUP

5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO

3

Battery alarm

%DWWHU\YROWDJHLV9RUORZHU

4

Fan alarm

Fan has stopped for 1 sec. *1

5

Encoder communication
alarm

7KHQXPEHURIVXFFHVVLYHHQFRGHUFRPPXQLFDWLRQHUURUV
H[FHHGVWKHVSHFLÀHGYDOXH

6

(QFRGHURYHUKHDWDODUP

7KHHQFRGHUGHWHFWVRYHUKHDWDODUP

7

Oscillation detection alarm

2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG

8

Lifetime detection alarm

/LIHH[SHFWDQF\RIFDSDFLWRURUIDQEHFRPHVVKRUW

9

([WHUQDOVFDOHHUURUDODUP

7KHH[WHUQDOVFDOHGHWHFWVWKHDODUP

10

([WHUQDOVFDOH
communication alarm

7KHQXPEHURIVXFFHVVLYHH[WHUQDOVFDOHFRPPXQLFDWLRQ
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH

7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDO

Related page

Pr4.42

)RUGHWDLOHGGHVFULSWLRQRIDODUPW\SHVUHIHUWR3

2nd Positioning complete (In-position)
range

Range

Unit

Default

0 to 262144

Command
unit

10

Related
control mode

P

F

7KH,13WXUQV21ZKHQHYHUWKHSRVLWLRQDOGHYLDWLRQLVORZHUWKDQWKHYDOXHVHWXSLQWKLV
SDUDPHWHUZLWKRXWEHLQJDIIHFWHGE\3U3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS 3UHVHQFH
DEVHQFHRISRVLWLRQDOFRPPDQGLVQRWUHODWHGWRWKLVMXGJPHQW 

Caution

Note

)RUGHVFULSWLRQRI´FRPPDQGXQLWµDQG´HQFRGHUXQLWµUHIHUWR3´3Uµ

Note

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU

Related page
4-42

The command unit is used as the default unit but can be replaced by the encoder unit by
XVLQJ 3U 3RVLWLRQLQJ XQLW VHOHFWLRQ 1RWH WKDW ZKHQ WKH HQFRGHU XQLW LV XVHG XQLW RI
3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG

‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

Setup

[Class 5] Enhancing setting

1
'HIDXOW>@

Pr5.00
Pr5.01

Unit

Default

0 to 230

—

0

Range

3rd numerator of electronic gear

30

0 to 2

Range

4th numerator of electronic gear

30

0 to 2

Related
control mode

P

Unit

Default

—

0

P

Unit

Default

—

0

F

Related
control mode

F

P

F

Denominator of pulse output division

Range

Unit

Default

Related
control mode

0 to 262144

—

0

P S T F

)RUGHWDLOVUHIHUWR3

4

Over-travel inhibit input setup

Range

Unit

Default

Related
control mode

0 to 2

—

1

P S T F

Setup

Pr5.04 *

3
Connection

6HW WKH QG WR WK QXPHUDWRU RI GLYLVLRQPXOWLSOLFDWLRQ RSHUDWLRQ PDGH DFFRUGLQJ WR WKH
command pulse input.
7KLVVHWXSLVHQDEOHGZKHQ3UFRPPDQGSXOVHFRXQWVSHURQHPRWRUUHYROXWLRQ RU
full closed controlling.
:KHQ WKH VHWWLQJ YDOXH LV  IRU SRVLWLRQLQJ FRQWUROOLQJ HQFRGHU UHVROXWLRQ LV VHW DV D
numerator.
:KHQWKHVHWWLQJYDOXHLVIRUIXOOFORVHGFRQWUROOLQJERWKQXPHUDWRUDQGGHQRPLQDWRUDUH
set to 1.

Pr5.03 *

2

Related
control mode
Preparation

Pr5.02

2nd numerator of electronic gear

Range

Before Using the Products

4

6HWXSWKHRSHUDWLRQRIWKHUXQLQKLELWLRQ 327127 LQSXWV
Setup value
0

5

'LVDEOH327127

[1]

327RU127LQSXWDFWLYDWHV(UU5XQLQKLELWLRQLQSXWSURWHFWLRQ

Sequence at over-travel inhibit

Range

Unit

Default

Related
control mode

0 to 2

—

0

P S T F

:KHQ3U2YHUWUDYHOLQKLELWLRQ VSHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDQGVWRSDIWHU
DSSOLFDWLRQRIWKHRYHUWUDYHOLQKLELWLRQ 327127 

Pr5.04

0

Related page

During deceleration

After stalling

Deviation counter
content

[0]

Dynamic brake
action

Torque command=0
WRZDUGVLQKLELWHGGLUHFWLRQ

Hold

1

Torque command=0
WRZDUGVLQKLELWHGGLUHFWLRQ

Torque command=0
WRZDUGVLQKLELWHGGLUHFWLRQ

Hold

2

Emergency stop

Command=0
WRZDUGVLQKLELWHGGLUHFWLRQ

Clears before/
after deceleration

7

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ‡3´3URWHFWLYH)XQFWLRQµ
4-43

Supplement

Note

Pr5.05

6
When in Trouble

'HWDLOVRI3U 6HTXHQFHDWRYHUWUDYHOLQKLELW !

Adjustment

2

Pr5.05 *

Operation
POT ,QKLELWSRVLWLYHGLUHFWLRQWUDYHO
127 ,QKLELWQHJDWLYHGLUHFWLRQWUDYHO

1. Details of parameter
[Class 5] Enhancing setting

'HIDXOW>@

Pr5.06

Sequence at Servo-Off

Range

Unit

Default

Related
control mode

0 to 9

—

0

P S T F

6SHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDQGDIWHUVWRSDIWHUVHUYRRII
Setup
value

During deceleration *3

After stalling

Positional deviation/
H[WHUQDOVFDOH
deviation

[0]

'\QDPLF%UDNH '% DFWLRQ

'\QDPLF%UDNH '% DFWLRQ

Clear *4

1

)UHHUXQ '%2))

'\QDPLF%UDNH '% DFWLRQ

Clear *4

2

'\QDPLF%UDNH '% DFWLRQ

)UHHUXQ '%2))

Clear *4

3

)UHHUXQ '%2))

)UHHUXQ '%2))

Clear *4

4

'\QDPLF%UDNH '% DFWLRQ

'\QDPLF%UDNH '% DFWLRQ

Hold *2

5

)UHHUXQ '%2))

'\QDPLF%UDNH '% DFWLRQ

Hold *2

6

'\QDPLF%UDNH '% DFWLRQ

)UHHUXQ '%2))

Hold *2

7

)UHHUXQ '%2))

)UHHUXQ '%2))

Hold *2

8

Emergency stop *1

'\QDPLF%UDNH '% DFWLRQ

Clear *4

9

Emergency stop *1

)UHHUXQ '%2))

Clear *4

* (PHUJHQF\VWRSUHIHUVWRDFRQWUROOHGLPPHGLDWHVWRSZLWKVHUYRRQ

7KHWRUTXHFRPPDQGYDOXHLVOLPLWHGGXULQJWKLVSURFHVVE\3U(PHUJHQF\VWRSWRUTXHVHWXS
* ,IWKHSRVLWLRQDOFRPPDQGLVNHSWDSSOLHGRUWKHPRWRULVNHSWUXQQLQJZLWKVHUYRRIIFRQGLWLRQSRVLWLRQDO
GHYLDWLRQ LV DFFXPXODWHG FDXVLQJ (UU ([FHVV SRVLWLRQDO GHYLDWLRQ SURWHFWLRQ WR EH LVVXHG ,I WKH
VHUYRLVWXUQHG21ZKLOHWKHSRVLWLRQRUH[WHUQDOVFDOHLVVLJQLÀFDQWO\GHYLDWLQJWKHPRWRUPD\UDSLGO\
RSHUDWH WR UHGXFH WKH GHYLDWLRQ WR  5HPHPEHU WKHVH UHTXLUHPHQWV LI \RX ZDQW WR PDLQWDLQ WKH
SRVLWLRQDOGHYLDWLRQH[WHUQDOVFDOHGHYLDWLRQ
* 'HFHOHUDWLRQ SHULRG LV WKH WLPH UHTXLUHG IRU WKH UXQQLQJ PRWRU WR VSHHG GRZQ WR  UPLQ 2QFH WKH
PRWRUVSHHGGURSVEHORZUPLQLWLVWUHDWHGDVLQVWRSVWDWHUHJDUGOHVVRILWVVSHHG
* 3RVLWLRQDOGHYLDWLRQH[WHUQDOVFDOHGHYLDWLRQLVDOZD\VFOHDUHGWR

Caution

,IDQHUURURFFXUVGXULQJVHUYRRIIIROORZ3U6HTXHQFHDWDODUP,IWKHPDLQSRZHULV
WXUQHGRIIGXULQJVHUYRRIIIROORZ3U6HTXHQFHGXULQJPDLQSRZHULQWHUUXSWLRQ

Related page

5HIHU WR 3 7LPLQJ &KDUW6HUYR212)) DFWLRQ ZKLOH WKH PRWRU LV DW VWDOO RI
3UHSDUDWLRQDVZHOO

Pr5.07

6HTXHQFHDWPDLQSRZHU2))

Range

Unit

Default

Related
control mode

0 to 9

—

0

P S T F

6SHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDIWHUPDLQSRZHULQWHUUXSWRUDIWHUVWRSSDJH
7KH UHODWLRQVKLS EHWZHHQ WKH VHWXS YDOXH RI 3U DQG WKH RSHUDWLRQ DQG SURFHVV DW
GHYLDWLRQFRXQWHUVLVWKHVDPHDVWKDWIRU3U VHTXHQFHDWPDLQSRZHU2)) 

Caution

Note
Related page
4-44

,I DQ HUURU RFFXUV ZLWK WKH PDLQ SRZHU VXSSO\ WXUQHG RII 3U 6HTXHQFH DW DODUP LV
applied to the operation.
:KHQ WKH PDLQ SRZHU VXSSO\ LV WXUQHG RII ZLWK VHUYRRQ VWDWH (UU 0DLQ SRZHU
XQGHUYROWDJH HUURU RFFXUV LI 3U /9 WULS VHOHFWLRQ ZLWK PDLQ SRZHU RII   DQG WKH
RSHUDWLRQIROORZV3U6HTXHQFHDWDODUP

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr5.08

/9WULSVHOHFWLRQDWPDLQSRZHU2))

Range

Unit

Default

Related
control mode

0 to 1

—

1

P S T F

@

Pr5.11

Torque setup for emergency stop

Range

Unit

Default

Related
control mode

0 to 500

%

0

P S T F

Set up the torque limit at emergency stop.

Note

Pr5.12

:KHQVHWXSYDOXHLVWKHWRUTXHOLPLWIRUQRUPDORSHUDWLRQLVDSSOLHG

Over-load level setup

Range

Unit

Default

Related
control mode

0 to 500

%

0

P S T F

‡@E\VHWWLQJXSWKLV
to 0.
‡8VHWKLVZLWKVHWXSLQQRUPDORSHUDWLRQ6HWXSRWKHUYDOXHRQO\ZKHQ\RXQHHGWRORZHU
WKHRYHUORDGOHYHO
‡7KHVHWXSYDOXHRIWKLVSDUDPHWHULVOLPLWHGE\>@RIWKHPRWRUUDWLQJ

Pr5.13

Over-speed level setup

Range

Unit

Default

Related
control mode

0 to 20000

r/min

0

P S T F

‡,IWKHPRWRUVSHHGH[FHHGVWKLVVHWXSYDOXH(UU2YHUVSHHGSURWHFWLRQRFFXUV
‡7KHRYHUVSHHGOHYHOEHFRPHVWLPHVRIWKHPRWRUPD[VSHHGE\VHWWLQJXSWKLVWR

Pr5.14

0RWRUZRUNLQJUDQJHVHWXS

Range

Unit

Default

Related
control mode

0 to 1000

UHYROXWLRQ

10

P S T F

‡@

Pr5.16 *

Alarm clear input setup

Range

Unit

Default

Related
control mode

0 to 1

—

0

P S T F

6HOHFWDODUPFOHDULQSXW $&/5 UHFRJQLWLRQWLPH

2

Setup value

Recognition time

[0]

120ms

1

7R3U,)UHDGLQJÀOWHU

Counter clear input mode

Range

Unit

Default

0 to 4

—

3

Related
control mode

P

F

You can set up the clearing conditions of the counter clear input signal.
0

,QYDOLG

1

&OHDUDWDOHYHO QRUHDGLQJÀOWHU

2

&OHDUDWDOHYHO ZLWKUHDGLQJÀOWHU

[3]

&OHDUDWDQHGJH QRUHDGLQJÀOWHU

4

&OHDUDWDQHGJH ZLWKUHDGLQJÀOWHU

3

4

)RUVLJQDOZLGWKWLPLQJUHTXLULQJWKHGHYLDWLRQFRXQWHULQSXWUHIHUWR3

Invalidation of command pulse inhibit
input

Range

Unit

Default

0 to 1

—

1

Related
control mode

P

F

Setup

Pr5.18

Clear condition

Connection

Note

Setup value

Preparation

Pr5.17

Before Using the Products

[Class 5] Enhancing setting

Select command pulse inhibit input enable/disable.
Setup value
0

Valid

[1]

,QYDOLG

5

Command pulse inhibit input reading
setup

Range

Unit

Default

0 to 4

—

0

Related
control mode

P

F

6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOHVLJQDOUHDGLQJSHULRG :KHQ WKH VWDWXV RI
VHYHUDOVLJQDOVUHDGGXULQJWKHSUHGHWHUPLQHGUHDGLQJSHULRGDUHVDPHXSGDWHWKHVLJQDOVWDWXV

Related page

[0]

0.166ms

1

0.333ms

2

1ms

3

1.666ms

4

PV QRFKHFNIRUPXOWLSOHFRLQFLGHQFH

6

Longer reading period protects against operation error due to noise but decreases response
to input signal.

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ‡3´3URWHFWLYH)XQFWLRQµ
4-47

7
Supplement

Note

Signal reading period

When in Trouble

Caution

Setup value

Adjustment

Pr5.19 *

INH input

1. Details of parameter
[Class 5] Enhancing setting

Pr5.20 *

Position setup unit select

Range

Unit

Default

0 to 1

—

0

Related
control mode

P

F

6SHFLI\ WKH XQLW WR GHWHUPLQH WKH UDQJH RI SRVLWLRQLQJ FRPSOHWH DQG H[FHVVLYH SRVLWLRQDO
GHYLDWLRQ

Note

Setup value

Unit

[0]

Command unit

1

Encoder unit

7KHFRPPDQGXQLWGHÀQHVFRPPDQGSXOVHIURPWKHKLJKHUOHYHOGHYLFHDVVHWWLQJYDOXH
ZKLOHWKHHQFRGHUXQLWGHÀQHVHQFRGHUSXOVHDVVHWWLQJYDOXH
:KHQWKHHOHFWURQLFJHDUUDWLRVHWE\XVLQJWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQIXQFWLRQ
HOHFWURQLFJHDU LV5WKHIROORZLQJUHODWLRQVKLSLVREWDLQHG
Command unit × R = encoder unit
)RUH[DPSOHLIELWHQFRGHULVXVHGZLWKWKHGHIDXOWVHWWLQJ
R=

Pr5.21

220
220
WKHQFRPPDQGXQLW
= encoder unit.
10000
10000

Selection of torque limit

Range

Unit

Default

0 to 6

—

1

Related
control mode

P S

F

You can set up the torque limiting method.
Setup value

Positive direction

0

3$7/ WR9

Negative direction
1$7/ ïWR9
VWWRUTXHOLPLW 3U

[1]
2

VWWRUTXHOLPLW 3U

QGWRUTXHOLPLW 3U

TL-SEL OFF VWWRUTXHOLPLW 3U
7/6(/21 QGWRUTXHOLPLW 3U

3
4

3$7/ WR9

5

1$7/ WR9
3$7/ WR9

TL-SEL OFF
VWWRUTXHOLPLW 3U
6

QGWRUTXHOLPLW 3U

7/6(/21
([WHUQDOLQSXWSRVLWLYHGLUHFWLRQWRUTXH
OLPLW 3U

Pr5.22

2nd torque limit

([WHUQDOLQSXWQHJDWLYHGLUHFWLRQWRUTXH
OLPLW 3U

Range

Unit

Default

0 to 500

%

500

Related
control mode

P S

F

@

Pr5.23

7RUTXHOLPLWVZLWFKLQJVHWXS

Range

Unit

Default

0 to 4000

ms/100%

0

Related
control mode

P S

F

6SHFLI\WKHUDWHRIFKDQJH VORSH IURPVWWRQGGXULQJWRUTXHOLPLWVZLWFKLQJ

7RUTXHOLPLWVZLWFKLQJVHWXS

Range

Unit

Default

0 to 4000

ms/100%

0

2
Related
control mode

P S

F

6SHFLI\WKHUDWHRIFKDQJH VORSH IURPQGWRVWGXULQJWRUTXHOLPLWVZLWFKLQJ

Pr5.25

([WHUQDOLQSXWSRVLWLYHGLUHFWLRQ
torque limit

Range

Unit

Default

0 to 500

%

500

Related
control mode

P S

F

Note

Pr5.26

)RUGHWDLOVRIWRUTXHOLPLWYDOXHUHIHUWR3
([WHUQDOLQSXWQHJDWLYHGLUHFWLRQ
torque limit

Range

Unit

Default

0 to 500

%

500

Related
control mode

P S

F

Note

Pr5.27

4
Setup

6HWXSQHJDWLYHGLUHFWLRQWRUTXHOLPLWXSRQUHFHLYLQJ7/6(/ZLWK3U6HOHFWLRQRIWRUTXH
limit set at 6.
7KHYDOXHRISDUDPHWHULVOLPLWHGWRWKHPD[LPXPWRUTXHRIWKHDSSOLFDEOHPRWRU

3
Connection

6HWXSSRVLWLYHGLUHFWLRQWRUTXHOLPLWXSRQUHFHLYLQJ7/6(/ZLWK3U6HOHFWLRQRIWRUTXH
limit set at 6.
7KHYDOXHRISDUDPHWHULVOLPLWHGWRWKHPD[LPXPWRUTXHRIWKHDSSOLFDEOHPRWRU

Preparation

Pr5.24

Before Using the Products

[Class 5] Enhancing setting

)RUGHWDLOVRIWRUTXHOLPLWYDOXHUHIHUWR3

Input gain of analog torque limit

Range

Unit

Default

10 to 100

0.1V/100%

30

Related
control mode

P S

F

Adjustment

)URPWKHYROWDJH>9@DSSOLHGWRWKHDQDORJWRUTXHOLPLWLQSXW 3$7/1$7/ VHWFRQYHUVLRQ
gain to torque limit [%].

5

6
When in Trouble

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´6HWXSRI7RUTXH/LPLWµ‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ‡3´3URWHFWLYH)XQFWLRQµ

4-49

Supplement

Note

1. Details of parameter
[Class 5] Enhancing setting

'HIDXOW>@

Pr5.28 *

LED initial status

Range

Unit

Default

Related
control mode

0 to 35

—

1

P S T F

(QFRGHUXQLW@

[1]

Motor speed

13

$ODUP'LVSOD\

25

([WHUQDOVFDOHGHYLDWLRQ>([WHUQDOVFDOHXQLW@

2

Positional command speed

14

5HJHQHUDWLYHORDGIDFWRU

26

+\EULGGHYLDWLRQ>&RPPDQGXQLW@

3

Velocity control command

15

2YHUORDGIDFWRU

27

9ROWDJHDFURVV31>9@

4

Torque command

16

Inertia ratio

28

6RIWZDUHYHUVLRQ

5

Feedback pulse sum

17

Factor of no-motor running

29

'ULYHUVHULDOQXPEHU

6

Command pulse sum

18

1RRIFKDQJHVLQ,2VLJQDOV

30

Motor serial number

8

([WHUQDOVFDOHIHHGEDFNSXOVHVXP 20

$EVROXWHHQFRGHUGDWD

31

$FFXPXODWHGRSHUDWLRQWLPH

9

Control mode

21

$EVROXWHH[WHUQDOVFDOHSRVLWLRQ

32

$XWRPDWLFPRWRUUHFRJQL]LQJIXQFWLRQ

33

Temperature information

35

Safety condition monitor

10

I/O signal status

22

1RRIHQFRGHUH[WHUQDOVFDOH
communication errors monitor

11

$QDORJLQSXWYDOXH

23

&RPPXQLFDWLRQD[LVDGGUHVV

Related page

Pr5.29 *

)RUGHWDLOVRIGLVSOD\UHIHUWR3+RZWR8VHWKH)URQW3DQHORI3UHSDUDWLRQ

Baud rate setup of
RS232 communication

Range

Unit

Default

Related
control mode

0 to 6

—

2

P S T F

Range

Unit

Default

Related
control mode

0 to 6

—

2

P S T F

You can set up the communication speed of RS232.

Note

Pr5.30 *

)RUEDXGUDWHVHWXSYDOXHUHIHUWR56VHWXS
Baud rate setup of
RS485 communication

You can set up the communication speed of RS485.
Setup value
0
1
[2]
3

Baud rate
2400bps
4800bps
9600bps
19200bps

Setup value
4
5
6

Baud rate
38400bps
57600bps
115200bps

%DXGUDWHHUURULV“IRUWRESVDQG“IRUWRESV

Note

4-50

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU 

1. Details of parameter

1

Pr5.31 *

$[LVDGGUHVV

Range

Unit

Default

Related
control mode

0 to 127

—

1

P S T F

'XULQJFRPPXQLFDWLRQZLWKWKHKRVW HJ3& WRFRQWUROPXOWLSOHVKDIWVWKHVKDIWEHLQJ
DFFHVVHGE\WKHKRVWVKRXOGEHLGHQWLÀHG

Note

2

:KHQXVLQJ5656WKHPD[LPXPYDOLGYDOXHLV

&RPPDQGSXOVHLQSXWPD[LPXPVHWXS

Range

Unit

Default

250 to 4000

k pulse/s

4000

Related
control mode

P

F

6HWWKHPD[LPXPQXPEHURISXOVHVWREHXVHGDVFRPPDQGSXOVHLQSXW,IWKHQXPEHURI
LQSXWSXOVHVH[FHHGVWKHVHWXSYDOXHð(UU&RPPDQGSXOVHLQSXWIUHTXHQF\HUURU
protection occurs.

Caution

Pr5.32 setting range

'LJLWDOÀOWHU

250 to 499

200 ns 2-time reading

500 to 999

100 ns 2-time reading

1000 or more

1RUHDGLQJ WKUX

Enable/disable detection of Err28.0 Pulse
UHJHQHUDWLYHOLPLWSURWHFWLRQ

For manufacturer's use

Range

Unit

Default

Related
control mode

0 to 1

—

0

P S T F

Setup value
[0]
1

Content
,QYDOLG
Valid

5
Related
control mode

Range

Unit

Default

—

—

4

Range

Unit

Default

Related
control mode

0 to 1

—

0

P S T F

Adjustment

Pr5.34

4
Setup

Pulse regenerative output limit setup

3
Connection

Pr5.33 *

7KHQXPEHURILQSXWSXOVHVUHFHLYHGE\WKHGULYHULVDOZD\VFKHFNHG,IWKHIUHTXHQF\RIWKH
UHFHLYHGSXOVHLVKLJKHUWKDQWKHXSSHUOLPLWRIWKHVHWWLQJLQSXWSXOVHVDUHQRWDFFXUDWHO\
detected.
%\ VHOHFWLQJ D YDOXH ORZHU WKDQ  D GLJLWDO ILOWHU RI WKH VSHFLILFDWLRQ VKRZQ EHORZ LV
enabled against the command pulse input.

Preparation

Pr5.32 *

Before Using the Products

[Class 5] Enhancing setting

)L[HGWR

Pr5.35 *

Front panel lock setup

When in Trouble

Lock the operation on the front panel.

6

Setup value
Content
1ROLPLWRQWKHIURQWSDQHORSHUDWLRQ
[0]
1
Lock the operation on the front panel

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-51

Supplement

Note

4

1. Details of parameter

Setup

[Class 6] Special setting
'HIDXOW>@

Pr6.00

$QDORJWRUTXHIHHGIRUZDUGFRQYHUVLRQ
gain

Range

Unit

Default

0 to 100

0.1V/100%

0

Related
control mode

P S

F

‡6HWWKHLQSXWJDLQRIDQDORJWRUTXHIHHGIRUZDUG
 WRDUHLQYDOLG
8VDJHH[DPSOHRI$QDORJWRUTXHIHHGIRUZDUG!
‡6HWWLQJELWSODFHRI3U)XQFWLRQH[SDQVLRQVHWXSWRHQDEOHVWKHDQDORJWRUTXHIHHG
IRUZDUG:KHQWKHDQDORJLQSXWLVXVHGE\DQRWKHUIXQFWLRQ HJDQDORJWRUTXHOLPLW WKH
IXQFWLRQEHFRPHVLQYDOLG
‡7KHYROWDJH 9 DSSOLHGWRWKHDQDORJLQSXWLVFRQYHUWHGWRWKHWRUTXHYLD3U$QDORJ
WRUTXHIHHGIRUZDUGFRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQG  LQ&&:
GLUHFWLRQLILWLVSRVLWLYHYROWDJHRULQ&:GLUHFWLRQLIQHJDWLYH
‡7KH FRQYHUVLRQ RI DQDORJ LQSXW  LQSXW YROWDJH >9@ WR WKH WRUTXH FRPPDQG >@ WR WKH
PRWRUPD\EHH[SUHVVHGPDWKHPDWLFDOO\DVIROORZV
7RUTXHFRPPDQG   ðLQSXWYROWDJH 9  3UVHWXSYDOXHð

Pr6.02

9HORFLW\GHYLDWLRQH[FHVVVHWXS

Range

Unit

Default

0 to 20000

r/min

0

Related
control mode

P

:KHQWKHVSHHGGHYLDWLRQ GLIIHUHQFHEHWZHHQLQWHUQDOSRVLWLRQDOFRPPDQGDQGDFWXDO
VSHHG H[FHHGVWKLVYDOXH(UU6SHHGRYHUGHYLDWLRQSURWHFWLRQRFFXUV
7KLVSURWHFWLRQLVQRWGHWHFWHGZKHQWKHVHWXSYDOXHLV

Pr6.04

JOG trial run command speed

Range

Unit

Default

Related
control mode

0 to 500

r/min

300

P S T F

Related
control mode

6HWXSWKHFRPPDQGVSHHGXVHGIRU-2*WULDOUXQ YHORFLW\FRQWURO 

Related page

Pr6.05

%HIRUHXVLQJUHIHUWR33UHSDUDWLRQ7ULDO5XQ

Position 3rd gain valid time

Range

Unit

Default

0 to 10000

0.1ms

0

P

F

‡6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG
‡:KHQQRWXVLQJWKLVSDUDPHWHUVHW3UWRDQG3UWR
‡7KLVLVYDOLGIRURQO\SRVLWLRQFRQWUROIXOOFORVHGFRQWURO

Pr6.06

Position 3rd gain scale factor

Range

Unit

Default

50 to 1000

%

100

Related
control mode

P

F

‡6HWXSWKHUGJDLQE\DPXOWLSO\LQJIDFWRURIWKHVWJDLQ
‡UGJDLQ VWJDLQð Pr6.06/100

Note
Related page
4-52

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ‡3´3URWHFWLYH)XQFWLRQµ

1. Details of parameter

1
'HIDXOW>@

Pr6.07

Torque command additional value

Range

Unit

Default

ïWR

%

0

Related
control mode

P S

F

‡6HW XS WKH RIIVHW ORDG FRPSHQVDWLRQ YDOXH XVXDOO\ DGGHG WR WKH WRUTXH FRPPDQG LQ D
FRQWUROPRGHH[FHSWIRUWKHWRUTXHFRQWUROPRGH
‡8SGDWHWKLVSDUDPHWHUZKHQWKHYHUWLFDOD[LVPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Positive direction torque compensation
value

Range

Unit

Default

ïWR

%

0

Related
control mode

P

F

‡6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHGWRWKHWRUTXHFRPPDQGZKHQ
IRUZDUGSRVLWLRQDOFRPPDQGLVIHG
‡8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Negative direction torque compensation
value

Range

Unit

Default

ïWR

%

0

Related
control mode

P

F

‡6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHGWRWKHWRUTXHFRPPDQGZKHQ
QHJDWLYHGLUHFWLRQSRVLWLRQDOFRPPDQGLVIHG
‡8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG

Pr6.10

)XQFWLRQH[SDQVLRQVHWXS

Range

Unit

Default

Related
control mode

0 to 63

—

0

P S T F

4
Setup

Set up the function in unit of bit.
Function

3
Connection

Pr6.09

2
Preparation

Pr6.08

Before Using the Products

[Class 6] Special setting

Setup value
[0]

1
Valid

bit 0

6SHHGREVHUYHU

,QYDOLG

bit 1

'LVWXUEDQFHREVHUYHU

,QYDOLG

Valid

$OZD\VYDOLG

9DOLGRQO\ZKHQVWJDLQ
is selected.
Valid

'LVWXUEDQFHREVHUYHURSHUDWLRQVHWXS

bit 3

,QHUWLDUDWLRVZLWFKLQJ

,QYDOLG

bit 4

&XUUHQWUHVSRQVHLPSURYHPHQW

,QYDOLG

Valid

bit 5

$QDORJWRUTXH))

,QYDOLG

Valid

Adjustment

bit 2

5

* bit 0 = LSB

Current response setup

Unit

Default

Related
control mode

50 to 100

%

100

P S T F

)LQHWXQHWKHFXUUHQWUHVSRQVHZLWKUHVSHFWWRGHIDXOWVHWXS  

6
When in Trouble

Pr6.11

Range

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-53

Supplement

Note

1. Details of parameter
[Class 6] Special setting

'HIDXOW>@

Pr6.13

2nd Inertia ratio

Range

Unit

Default

Related
control mode

0 to 10000

%

250

P S T F

Set 2nd inertia ratio.
@

Caution

Pr6.14

,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV +] :KHQ
WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU

Emergency stop time at alarm

Range

Unit

Default

Related
control mode

0 to 1000

1ms

200

P S T F

6HWXSWKHWLPHDOORZHGWRFRPSOHWHHPHUJHQF\VWRSLQDQDODUPFRQGLWLRQ([FHHGLQJWKLV
time puts the system in alarm state.
:KHQVHWXSYDOXHLVLPPHGLDWHVWRSLVGLVDEOHGDQGWKHLPPHGLDWHDODUPVWRSLVHQDEOHG

Pr6.15

2nd over-speed level setup

Range

Unit

Default

Related
control mode

0 to 20000

r/min

0

P S T F

:KHQ WKH PRWRU VSHHG H[FHHGV WKLV VHWXS WLPH GXULQJ HPHUJHQF\ VWRS VHTXHQFH LQ DQ
DODUPFRQGLWLRQ(UUQGRYHUVSHHGSURWHFWLRQZLOOEHDFWLYDWHG
7KHRYHUVSHHGOHYHOEHFRPHVWLPHVRIWKHPRWRUPD[VSHHGE\VHWWLQJXSWKLVWR

Pr6.17 *

)URQWSDQHOSDUDPHWHUZULWLQJVHOHFWLRQ

Range

Unit

Default

Related
control mode

0 to 1

—

0

P S T F

6SHFLI\WKH((3520ZULWLQJSURFHGXUHZKHQSDUDPHWHULVHGLWHGIRUPWKHIURQWSDQHO
Setup value

Writing

[0]

'RQRWZULWHWR((3520DWWKHVDPHWLPH

1

Pr6.18 *

:ULWHWR((3520DWWKHVDPHWLPH

3RZHUXSZDLWWLPH

Range

Unit

Default

Related
control mode

0 to 100

0.1s

0

P S T F

6HWXSWKHVWDQGDUGLQLWLDOL]DWLRQWLPH Vњ DIWHUSRZHUXS

Note
Related page
4-54

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´((3520:ULWLQJ0RGHµ‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1
'HIDXOW>@

Pr6.19 *

Encoder Z phase setup

Range

Unit

Default

Related
control mode

0 to 32767

pulse

0

P S T F

,IWKHQXPEHURIRXWSXWSXOVHVSHURQHPRWRUUHYROXWLRQDIWHUGLYLVLRQRISXOVHRXWSXWLVQRW
DQLQWHJHUÀQHDGMXVWWKHZLGWKRIHQFRGHU=SKDVH

=SKDVHVHWXSRIH[WHUQDOVFDOH

Range

Unit

Default

0 to 400

ѥV

0

2

Related
control mode

F

6HWXSWKH=SKDVHUHJHQHUDWLYHZLGWKRIH[WHUQDOVFDOHLQXQLWRIWLPH(YHQLIWKHZLGWKRI
=SKDVHVLJQDOFDQQRWEHGHWHFWHGEHFDXVHWKHZLGWKHTXLYDOHQWRIWKHWUDYHOGLVWDQFHIURP
WKHH[WHUQDOVFDOHLVWRRVKRUWWKH=SKDVHVLJQDOZLOOEHRXWSXWIRUDWOHDVWWKHSHULRGVHWWR
this parameter.
6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH
setup

Range

Unit

Default

0 to 228

pulse

0

Related
control mode

F

)XOOFORVHGFRQWUROXVLQJVHULDODEVROXWHH[WHUQDOVFDOH:KHQRXWSXWWLQJSXOVHVE\XVLQJWKH
H[WHUQDOVFDOHDVWKHVRXUFHRIWKHRXWSXWVHWWKH=SKDVHRXWSXWLQWHUYDOLQXQLWVRI$SKDVH
RXWSXWSXOVHVRIWKHH[WHUQDOVFDOH EHIRUHPXOWLSOLHGE\ 
Setup value

4

Content
2XWSXW=SKDVHRQO\DWDEVROXWHSRVLWLRQRIH[WHUQDOVFDOH

[0]

$IWHUWKHSRZHULVIHGWRWKHGULYHUWKH=SKDVHDVLWFURVVHVWKH]HURDW
WKHDEVROXWHSRVLWLRQRIH[WHUQDOVFDOHLVRXWSXWLQV\QFKURQRXVZLWKWKH
$SKDVH6XEVHTXHQWO\WKH=SKDVHLVRXWSXWDWWKH$SKDVHRXWSXWSXOVH
LQWHUYDOVVHWWRWKLVSDUDPHWHU

$%SKDVHH[WHUQDOVFDOHSXOVHRXWSXW
method selection

Range

Unit

Default

0 to 1

—

0

Setup

1 to 268435456

Pr6.22 *

Related
control mode

F

Setup value

1

Pr6.23

5
Adjustment

6HOHFWWKHSXOVHUHJHQHUDWLRQPHWKRGRI$%DQG=SDUDOOHOH[WHUQDOVFDOH
[0]

3
Connection

Pr6.21 *

Preparation

Pr6.20 *

Before Using the Products

[Class 6] Special setting

Regenerating method
'LUHFWO\RXWSXWWKHVLJQDOVIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
2XWSXW$DQG%SKDVHVLJQDOVUHFRYHUHGIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
Z-phase is output directly.

Disturbance torque compensating gain

Unit

Default

ïWR

%

0

Related
control mode

P S

‡6HWXSWRFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH
‡$IWHUVHWWLQJXS3ULQFUHDVH3U
 7KH GLVWXUEDQFH VXSSUHVVLQJ FDSDELOLW\ LQFUHDVHV E\ LQFUHDVLQJ WKH JDLQ EXW LW LV
DVVRFLDWHGZLWKLQFUHDVLQJYROXPHRIRSHUDWLRQQRLVH
 7KLVPHDQVWKDWZHOOEDODQFHGVHWXSFDQEHREWDLQHGE\DGMXVWLQJ3UDQG3U

6
When in Trouble

Range

7

Related page

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-55

Supplement

Note

1. Details of parameter
[Class 6] Special setting

'HIDXOW>@

Pr6.24

Disturbance observer filter

Range

Unit

Default

0 to 2500

0.01ms

53

Related
control mode

P S

‡6HWXSWKHÀOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFHWRUTXHFRPSHQVDWLRQ
‡)LUVW VHW XS 3U WR D ODUJHU YDOXH DQG FKHFN WKH RSHUDWLRQ ZLWK 3U 'LVWXUEDQFH
WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH
RI3U$ORZÀOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\
DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ
QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG

Pr6.27 *

Alarm latch time selection

Range

Unit

Default

Related
control mode

0 to 10

—

5

P S T F

Range

Unit

Default

Related
control mode

0 to 3

—

1

P S T F

Set up the latch time.
Setup value

Content

0

/DWFKWLPHLQÀQLWH

1

1 [s]

2

2 [s]

3

3 [s]

4

4 [s]

[5]
6

Pr6.31

Latch time

5 [s]
6 [s]

7

7 [s]

8

8 [s]

9

9 [s]

10

10 [s]

Real time auto tuning estimation speed

6HWXSWKHORDGFKDUDFWHULVWLFVHVWLPDWLRQVSHHGZLWKWKHUHDOWLPHDXWRWXQLQJEHLQJYDOLG$
KLJKHUVHWXSYDOXHDVVXUHVIDVWHUUHVSRQVHWRDFKDQJHLQORDGFKDUDFWHULVWLFVEXWLQFUHDVHV
YDULDWLRQV LQ GLVWXUEDQFH HVWLPDWLRQ 5HVXOW RI HVWLPDWLRQ LV VDYHG WR ((3520 HYHU\ 
minutes.
Setup value

Mode

Description

0

1RFKDQJH

[1]

$OPRVWFRQVWDQW

Stop estimation of load characteristics.
5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\PLQXWH

2

6ORZHUFKDQJH

5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\VHFRQG

3*

Faster change

Obtain best suitable estimation in response to changes in load
characteristics.

* ,IWKHDXWRPDWLFRVFLOODWLRQGHWHFWLRQLVHQDEOHGE\WKHVXSSRUWVRIWZDUH3$1$7(50WKH
VHWXSYDOXHLVXVHG

Note

Related page
4-56

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡7KHVHWXSVXSSRUWVRIWZDUH3$1$7(50FDQEHGRZQORDGHGIURPRXUZHEVLWH
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Details of parameter

1

Pr6.32

Real time auto tuning custom setup

Range

Unit

Default

Related
control mode

ïWR

—

0

P S T F

:KHQWKHRSHUDWLRQPRGHRIUHDOWLPHDXWRWXQLQJLVVHWWRWKHFXVWRPL]H 3U  VHW
WKHDXWRPDWLFDGMXVWLQJIXQFWLRQDVVKRZQEHORZ
Bit

Content

Preparation

Load characteristics
estimation *

Setup value
[0]
1

Function
Disable
Enable

* ,I WKH ORDG FKDUDFWHULVWLFV HVWLPDWLRQ LV GLVDEOHG WKH FXUUHQW VHWXS
FDQQRWEHFKDQJHGHYHQLIWKHLQHUWLDUDWLRLVXSGDWHGDFFRUGLQJWR
WKHHVWLPDWHGYDOXH:KHQWKHWRUTXHFRPSHQVDWLRQLVXSGDWHGE\
WKHHVWLPDWHGYDOXHLWLVFOHDUHGWR LQYDOLG 

Inertia ratio
update

Setup value
[0]
1

Function
Use the current setup.
8SGDWHE\WKHHVWLPDWHGYDOXH

6 to 4

Torque
compensation

Compensation setup
Pr6.07 Pr6.08 Pr6.09
0 clear 0 clear 0 clear
Update 0 clear 0 clear
/RZ

/RZ

Update

Middle

Middle

Update

High

High

5
Adjustment

Update

4
Setup

Set up the update to be made according to the results of load
FKDUDFWHULVWLFVHVWLPDWLRQRI3U7RUTXHFRPPDQGDGGLWLRQDOYDOXH
3U SRVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH DQG 3U
QHJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
Setup value
Function
Use current setup
[0]
1
Disable torque compensation
2
9HUWLFDOD[LVPRGH
Friction compensation
3
ORZ
Friction compensation
4
PLGGOH
Friction
compensation
5
KLJK

3
Connection

Set up update to be made based on result of the load characteristics
estimation of Pr0.04 Inertia ratio.
3 to 2

2

Description
Enable/disable the load characteristics estimation function.

1 to 0

Before Using the Products

[Class 6] Special setting

Enable/disable the basic gain setup to be made according to Pr0.03
Real time auto tuning mechanical stiffness selection.

Stiffness
setup

8

)L[HG
parameter
setup

Setup value
[0]
1

6

Function
Disable
Enable

(QDEOHGLVDEOHWKHFKDQJHRISDUDPHWHUWKDWLVQRUPDOO\VHWDWDÀ[HGYDOXH
Setup value
[0]
1

Function
Use the current setup.
6HWWRDÀ[HGYDOXH

7

6HOHFWWKHJDLQVZLWFKLQJUHODWHGSDUDPHWHUWREHXVHGZKHQWKHUHDO
time auto tuning is enabled.

Gain
VZLWFKLQJ
setup

Setup value
[0]
1
2

Function
Use the current setup.
'LVDEOHJDLQVZLWFKLQJ
(QDEOHJDLQVZLWFKLQJ

Supplement

10 to 9

When in Trouble

7

FRQWLQXHG
4-57

1. Details of parameter
[Class 6] Special setting

'HIDXOW>@

Caution

7KLVSDUDPHWHUVKRXOGEHVHWXSELWE\ELW7RSUHYHQWVHWWLQJHUURUXVHRIWKHVHWXSVXSSRUW
VRIWZDUHLVUHFRPPHQGHGZKHQHGLWLQJSDUDPHWHU
6HWXSSURFHGXUHRIELWZLVHSDUDPHWHU!
:KHQVHWWLQJSDUDPHWHUWRDYDOXHRWKHUWKDQFDOFXODWHWKHVHWXSYDOXHRI3ULQWKH
IROORZLQJSURFHGXUH
 ,GHQWLI\WKH/6%RIWKHVHWXS
 ([DPSOH/6%RIWKHWRUTXHFRPSHQVDWLRQIXQFWLRQLV
 0XOWLSO\WKHVHWXSYDOXHE\SRZHURI /6% 
([DPSOH7RVHWWKHWRUTXHFRPSHQVDWLRQIXQFWLRQWRIULFWLRQFRPSHQVDWLRQ PLGGOH 
24ð 
 3HUIRUPVWHSV DQG IRUHYHU\VHWXSVVXPXSWKHYDOXHVZKLFKDUHWREH3UVHWXSYDOXH
([DPSOH/RDG FKDUDFWHULVWLFV PHDVXUHPHQW  HQDEOH LQHUWLD UDWLR XSGDWH  HQDEOH
WRUTXHFRPSHQVDWLRQ IULFWLRQFRPSHQVDWLRQ PLGGOH VWLIIQHVVVHWXS HQDEOH
À[HGSDUDPHWHU VHWWRDÀ[HGYDOXHJDLQVZLWFKLQJVHWXS HQDEOHWKHQ
20ð2ð4ð7ð8ð9ð 

Pr6.34

Hybrid vibration suppression gain

Range

Unit

Default

0 to 30000

0.1/s

0

Related
control mode

F

6HWXSWKHK\EULGYLEUDWLRQVXSSUHVVLRQJDLQIRUIXOOFORVHGFRQWUROOLQJ
)LUVWVHWLWWRWKHYDOXHLGHQWLFDOWRWKDWRISRLVRQORRSJDLQDQGWKHQÀQHWXQHDVQHFHVVDU\

Pr6.35

Hybrid vibration suppression filter

Range

Unit

Default

0 to 6400

0.01ms

10

Related
control mode

F

6HWXSWKHWLPHFRQVWDQWRIWKHK\EULGYLEUDWLRQVXSSUHVVLRQÀOWHUIRUIXOOFORVHGFRQWUROOLQJ
:KLOH GULYLQJ XQGHU IXOOFORVHG FRQWURO JUDGXDOO\ LQFUHDVH WKH VHWXS YDOXH DQG FKHFN
changes in the response.

Pr6.37

Oscillation detecting level

Range

Unit

Default

Related
control mode

0 to 1000

0.1%

0

P S T F

6HWXSWKHRVFLOODWLRQGHWHFWLQJOHYHO
8SRQ GHWHFWLRQ RI D WRUTXH YLEUDWLRQ ZKRVH OHYHO LV KLJKHU WKDQ WKLV VHWXS YDOXH WKH
RVFLOODWLRQGHWHFWLRQDODUPZLOOEHLVVXHG

Pr6.38 *

Alarm mask setup

Range

Unit

Default

Related
control mode

ïWR

—

0

P S T F

Set up the alarm detection mask. Placing 1 to the corresponding bit position disables
detection of the alarm condition.

Pr6.39

For manufacturer's use

Range

Unit

Default

—

—

0

Related
control mode

)L[HGWR

Note
Related page
4-58

‡$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.
‡)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

2.Trial Run (JOG run)

Setup

Inspection Before Trial Run

1
Before Using the Products

4

(1) Inspection on wiring




‡0LVZLULQJ" (VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
‡6KRUWRUJURXQGHG"
‡/RRVHFRQQHFWLRQ"

2

(2) Confirmation of power supply and voltage
‡5DWHGYROWDJH"

Preparation



s la

Po er
s
l

3
Connection

4
(3) Fixing of the servo motor

‡8QVWDEOHPRXQWLQJ"
Setup

(4) Separation from the

PHFKDQLFDOV\VWHP

Co

e tor

(5) Release of the brake

5
e

Adjustment

ro
a

otor

(6) Turn to Servo-OFF after finishing the trial run by pressing

.

6
When in Trouble

7
‡'HWDLOVRIZLULQJUHIHUWR3´2YHUDOO:LULQJµ
‡7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU ; 6DIHW\
IXQFWLRQFRQQHFWRU ; ([WHUQDOVFDOHFRQQHFWRU 
4-59

Supplement

Note

4

2.Trial Run (JOG run)

Setup

Trial Run by Connecting the Connector X4

Trial Run (JOG run) at Position Control Mode






 &RQQHFWWKH&RQQHFWRU;
 (QWHUWKHSRZHU '&WR9 WRFRQWUROVLJQDO &20&20²
 (QWHUWKHSRZHUWRWKHGULYHU
 &RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV
 0DWFKWRWKHRXWSXWIRUPDWRIWKHKRVWFRQWUROOHUZLWK3U &RPPDQGSXOVHLQSXW
PRGHVHWXS 
  :ULWHWR((3520DQGWXUQRIIRQWKHSRZHU RIWKHGULYHU 
  &RQQHFW WKH 6HUYR21 LQSXW 65921  DQG &20² &RQQHFWRU ; 3LQ  WR EULQJ
WKHGULYHUWR6HUYR21VWDWXVDQGHQHUJL]HWKHPRWRU

  (QWHUORZIUHTXHQF\IURPWKHKRVWFRQWUROOHUWRUXQWKHPRWRUDWORZVSHHG
  &KHFNWKHPRWRUURWDWLRQDOVSHHGDWPRQLWRUPRGHZKHWKHU
 URWDWLRQDOVSHHGLVDVSHUWKHVHWXSRUQRWDQG
 WKHPRWRUVWRSVE\VWRSSLQJWKHFRPPDQG SXOVH RUQRW
  ,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RI)DFWRUIRU1R0RWRU
5XQQLQJRI3UHSDUDWLRQ

‡:LULQJ'LDJUDP
Connector X4
7
29

DC
12V to 24V

41
3

1kї
DC
12V

1kї

COM+
SRV-ON
COMPULS1

4

PULS2

5

SIGN1

6

SIGN2

44
45
46

PULSH1

In case of
open collector input

2kї
120ї

PULSH2

2kї
2kї

SIGNH1

47

SIGNH2

13

GND

20kї
20kї
20kї

120ї
2kї

H/L
PULS

SIGN

in case of
line receiver
input

20kї

‡3DUDPHWHU
Pr No.

Title

Setup value

0.01

Control mode setup

0

5.04

2YHUWUDYHOLQKLELWLQSXWVHWXS

1

0.05

Selection of command pulse input

0/1

0.07

Command pulse input mode setup

1

5.18

,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLQSXW

1

5.17

Counter clear input mode

2

‡,QSXWVLJQDOVWDWXV
No.
0
4-60

Title of signal
6HUYR21

Monitor display
$

2.Trial Run (JOG run)

1

Trial Run (JOG run) at Velocity Control Mode

29
DC
12V to 24V

26
41

15

COM+
SRV-ON
ZEROSPD
COMï

SPR/TRQR/SPL
GND

Run with ZEROSPD switch close,
and Stop with open

5

In case of bi-directional operation
(Positive/Negative), provide a bipolar
power supply, or use with Pr3.15 = 3.
In case of one-directional operation

‡3DUDPHWHU
Title
Control mode setup
2YHUWUDYHOLQKLELWLQSXWVHWXS
Speed zero-clamp function selection
6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
Speed command rotational direction selection
Input gain of speed command
5HYHUVDORIVSHHGFRPPDQGLQSXW
$QDORJLQSXW $, RIIVHWVHWXS
$QDORJLQSXW $, ILOWHU

Setup value
1
1
1

6
When in Trouble

Pr No.
0.01
5.04
3.15
3.00
3.01
3.02
3.03
4.22
4.23

Set up as
required

7

‡,QSXWVLJQDOVWDWXV

Note

Title of signal
6HUYR21
Speed zero clamp

Monitor display
$
—

Supplement

No.
0
5

4

Adjustment

14
DC
10V

3

Setup

‡:LULQJ'LDJUDP
7

2

Connection

&RQQHFWWKH&RQQHFWRU;
(QWHUWKHSRZHU '&WR9 WRFRQWUROVLJQDO &20&20²
(QWHUWKHSRZHUWRWKHGULYHU
&RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV
&RQQHFWWKH6HUYR21LQSXW 65921&RQQHFWRU;3LQ DQG&20² &RQQHFWRU
;3LQ WRWXUQWR6HUYR21DQGHQHUJL]HWKHPRWRU
 &ORVHWKHVSHHG]HURFODPSLQSXW =(5263' DQGDSSO\'&YROWDJHEHWZHHQYHORFLW\
FRPPDQGLQSXW635 &RQQHFWRU;3LQ DQG*1' &RQQHFWRU;3LQ DQG
JUDGXDOO\LQFUHDVHIURP9WRFRQÀUPWKHPRWRUUXQV
 &RQÀUPWKHPRWRUURWDWLRQDOVSHHGLQPRQLWRUPRGH
 ‡:KHWKHUWKHURWDWLRQDOVSHHGLVSHUWKHVHWXSRUQRW
 ‡:KHWKHUWKHPRWRUVWRSVZLWK]HURFRPPDQGRUQRW
 ,IWKHPRWRUGRHVURWDWHDWDPLFURVSHHGZLWKFRPPDQGYROWDJHRI
 :KHQ\RXZDQWWRFKDQJHWKHURWDWLRQDOVSHHGDQGGLUHFWLRQVHWXSWKHIROORZLQJSDrameters again.
 3U6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
5HIHUWR33DUDP 3U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQ HWHU6HWXS 3DUDPHWHUVIRU
9HORFLW\7RUTXH&RQWURO
 3U5HYHUVDORIVSHHGFRPPDQGLQSXW
 ,I WKH PRWRU GRHV QRW UXQ FRUUHFWO\ UHIHU WR 3 'LVSOD\ RI )DFWRU IRU 1R0RWRU
5XQQLQJRI3UHSDUDWLRQ

Preparation







Before Using the Products

Trial Run by Connecting the Connector X4

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW

4-61

2.Trial Run (JOG run)
Trial Run by Connecting the Connector X4

Trial Run (JOG run) at Torque Control Mode










&RQQHFWWKH&RQQHFWRU;
(QWHUWKHSRZHU '&9 WRFRQWUROVLJQDO &20&20²
(QWHUWKHSRZHUWRWKHGULYHU
&RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV
6HWDORZHUYDOXHWR3U WKVSHHGRIVSHHGVHWXS 
(QHUJL]H WKH PRWRU E\ FRQQHFWLQJ WKH 6HUYR21 LQSXW 65921 &RQQHFWRU ;
3LQ DQG&20² 3LQRI&RQQHFWRU; WRWXUQWR6HUYR21VWDWXV
&RQÀUPWKDWWKHPRWRUUXQVDVSHUWKHVHWXSRI3UE\DSSO\LQJ'&YROWDJH SRVLWLYHQHJDWLYH EHWZHHQWKHWRUTXHFRPPDQGLQSXW 3LQRI&RQQHFWRU; DQG*1'
3LQRI&RQQHFWRU; 
,I\RXZDQWWRFKDQJHWKHWRUTXHPDJQLWXGHGLUHFWLRQDQGYHORFLW\OLPLWYDOXHDJDLQVW
WKHFRPPDQGYROWDJHVHWXSWKHIROORZLQJSDUDPHWHUV
3UInput gain of torque command
5HIHUWR33DUDPHWHU6HWXS
3DUDPHWHUVIRU9HORFLW\7RUTXH&RQ3U,QSXWUHYersal of torque command
WURO
3U6SHHGOLPLWYDOXH




 ,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RIIDFWRUIRU1RPRWRUUXQQLQJRI3UHSDUDWLRQ

‡:LULQJ'LDJUDP
C
C

N

to

C

or
ro

re t o al r
Pos t e Ne at e
ea
olar o er s
l .

P

C
0

ase o o e

N

a r

‡3DUDPHWHU
Pr No.

Title

Setup value

0.01

Control mode setup

2

5.04

2YHUWUDYHOLQKLELWLQSXWVHWXS

1

3.15

Speed zero-clamp function selection

0

3.17

Selection of torque command

0

3.19

Input gain of torque command

3.20

,QSXWUHYHUVDORIWRUTXHFRPPDQG

Set up as
required

3.21

6SHHGOLPLWYDOXH

ORZHUYDOXH

‡,QSXWVLJQDOVWDWXV
No.

Note

4-62

Title of signal

Monitor display

0

6HUYR21

$

5

Speed zero clamp

—

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW

4

2.Trial Run (JOG run)

Setup

Setup of Motor Rotational Speed and Input Pulse Frequency
Motor rotational speed
(r/min)

Pr0.08
17-bit

20-bit

17

2
40000

220
40000

500K

3000

217
10000

220
10000

250K

3000

217
5000

220
5000

100K

3000

217
2000

220
2000

500K

1500

217
20000

220
20000

2
Preparation

3000

2M

3

Caution

‡0D[LQSXWSXOVHIUHTXHQF\YDULHVGHSHQGLQJRQLQSXWWHUPLQDOV
‡7KHGHVLUHGVHWWLQJFDQEHGHWHUPLQHGE\VHOHFWLQJYDOXHRIQXPHUDWRUDQGGHQRPLQDWRURIHOHFWURQLFJHDU+RZHYHUDQH[FHVVLYHO\KLJKGLYLVLRQRUPXOWLSOLFDWLRQUDWLRFDQQRWJXDUDQWHHWKHRSHUDWLRQ7KHUDWLRVKRXOGEHLQDUDQJHEHWZHHQDQG
 ([FHVVLYHO\ KLJK PXOWLSOLFDWLRQ UDWLR ZLOO FDXVH (UU FRPPDQG SXOVH PXOWLSOLFDWLRQ
HUURUSURWHFWLRQ GXHWRYDU\LQJFRPPDQGSXOVHLQSXWRUQRLVHVHYHQLIWKHRWKHUVHWWLQJVDUHZLWKLQWKHVSHFLÀHGUDQJH
0

ear

P lle rat o
otal re

Command
pulse

determine
parameter

Decimal figures

0

1

21

2

22

4

2

2

3

8

24

16

25

32

6

64

2
20-bit

27

128

5840

28

256

67500

To rotate the output shaft by
ƒHQWHUWKHFRPPDQGRI
 13 SXOVHVIURPWKH
host controller.

To rotate the output shaft by
ƒHQWHUWKHFRPPDQGRI
10000 pulses from the host
controller.

365
ð17
ƒ
×
×
18
213
ƒ
5840
＝
108

365
ð20
ƒ
×
×
18
10000
ƒ
5840
＝
67500

5HIHUWR3´6HWXSRIFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQUDWLR
 HOHFWURQLFJHDUUDWLR µRI6XSSOHPHQW

9

2

512

210

1024

211

2048

12

4096

2

213

8192

214

16384

215

32768

216

65536

217

131072

218

262144

219

524288

220

1048576

6

7
Supplement

+RZWR

108

2n

When in Trouble

Pr0.10

5840

5

t o rat o

Adjustment

Encoder

Pr0.09

0

ear rat o

:KHQ VHWWLQJ WKH FRPPDQG GLYLVLRQ DQG PXOWLSOLFDWLRQ UDWLR
DV QXPHUDWRUGHQRPLQDWRU H[SUHVV LW DV 3U3U ZLWK
Pr0.08 = 0. )RU IXOO FORVHG FRQWUROOLQJ VHWWLQJ RI 3U LV LJQRUHGDQGVHWWLQJVRI3UDQG3UDUHDOZD\VDSSOLHG
HJ :KHQ\RXZDQWWRURWDWHWKHPRWRUE\ƒZLWKWKHORDG
of total reduction ratio of 18/365.
17-bit

4
Setup

:KHQVHWWLQJ3UDQGHQFRGHUUHVROXWLRQLVDXWRPDWLFDOO\VHWXSDVQXPHUDWRUV)RU
IXOOFORVHGFRQWUROOLQJVHWWLQJRI3ULVLJQRUHGDQGVHWWLQJVRI3UDQG3UDUH
DOZD\VDSSOLHG

Connection

Note

Relation between the motor
rotational speed and input
pulse counts

Before Using the Products

Input pulse frequency
(pps)

1

4-63

MEMO

4-64

5. Adjustment

1
Before Using the Products

1. Gain Adjustment

2

Outline ........................................................................................................5-2

2. Real-Time Auto-Gain Tuning
Preparation

Basic ...........................................................................................................5-4

3. Adaptive filter
$GDSWLYHÀOWHU ............................................................................................5-10

4. Manual Gain Tuning (Basic)
Outline ......................................................................................................5-13

3

$GMXVWPHQWLQ3RVLWLRQ&RQWURO0RGH........................................................5-14
$GMXVWPHQWLQ9HORFLW\&RQWURO0RGH ........................................................5-15

Connection

$GMXVWPHQWLQ7RUTXH&RQWURO0RGH .........................................................5-15
$GMXVWPHQWLQ)XOO&ORVHG&RQWURO0RGH ..................................................5-16
Gain Switching Function ...........................................................................5-17
6XSSUHVVLRQRI0DFKLQH5HVRQDQFH ........................................................5-20

5. Manual Gain Tuning (Application)

4

'DPSLQJ&RQWURO .......................................................................................5-24
)HHGIRUZDUGIXQFWLRQ ...............................................................................5-26

Setup

,QVWDQWDQHRXV6SHHG2EVHUYHU ................................................................5-28
'LVWXUEDQFHREVHUYHU................................................................................5-30
UGJDLQVZLWFKLQJIXQFWLRQ .......................................................................5-32
)ULFWLRQWRUTXHFRPSHQVDWLRQ ...................................................................5-34
,QHUWLDUDWLRVZLWFKLQJIXQFWLRQ ..................................................................5-36

5

+\EULGYLEUDWLRQGDPSLQJIXQFWLRQ ............................................................5-38

6. About Homing Operation
Adjustment

&DXWLRQRQ+RPLQJ2SHUDWLRQ ..................................................................5-39
Homing with Hit & Stop .............................................................................5-40
3UHVV +ROG&RQWURO ................................................................................5-41

6
When in Trouble

7
Supplement

5-1

5

1. Gain Adjustment

Adjustment

Outline

Purpose
,W LV UHTXLUHG IRU WKH VHUYR GULYHU WR UXQ WKH PRWRU LQ OHDVW WLPH GHOD\ DQG DV IDLWKIXO DV
SRVVLEOHDJDLQVWWKHFRPPDQGVIURPWKHKRVWFRQWUROOHU
Gain setup : Low

[r/min]
+2000

Gain setup : High

Gain setup : High + feed forward setup

0
Motor actual speed
Command Speed

-2000

0.0

125

250

375

0.0

125

250

375

0.0

125

250

375

Position loop gain
Velocity loop gain

: 20
: 100

Position loop gain
Velocity loop gain

: 100
: 50

Position loop gain
Velocity loop gain

: 100
: 50

Time constant of
V-loop integration

: 50

Time constant of
V-loop integration

: 50

Time constant of
V-loop integration

: 50

Velocity loop feed forward : 0
Inertia ratio
: 100

Velocity loop feed forward : 0
Inertia ratio
: 100

Velocity loop feed forward : 500
Inertia ratio
: 100

Procedures
Start adjustment
Automatic
adjustment ?

No

Yes
Ready for
command
input ?

Release of
auto-adjusting
function
No

Yes
(Default)

(see P.5-4)

Operation by using
the trial run function

Use the
gain setup of autoadjustment ?

No

(see P.5-17)

Gain automatic
setup function

Real time
auto-gain tuning

Action O.K.?

Yes

No

Yes
Release of
auto-adjusting
function

(see P.5-24)

Manual gain tuning

Action O.K.?

No

Yes
Writing to EEPROM
Finish adjustment

Note

5-2

Consult to authorized dealer

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EHIRUHJDLQDGMXVWPHQW

1. Gain Adjustment

1

Type
Function

Explanation

Pages
to refer

$GDSWLYHÀOWHU

5HGXFHVWKHUHVRQDQFHYLEUDWLRQSRLQWE\DXWRPDWLFDOO\VHWWLQJXS
WKHQRWFKÀOWHUFRHIÀFLHQWZKLFKUHPRYHVWKHUHVRQDQFHFRPSRQHQWIURPWKHWRUTXHFRPPDQGZKLOHHVWLPDWLQJWKHUHVRQDQFH
IUHTXHQF\IURPWKHYLEUDWLQJFRPSRQHQWZKLFKDSSHDUVLQWKHPRWRUVSHHGLQDFWXDORSHUDWLQJFRQGLWLRQ

P.5-10

0DQXDOJDLQWXQLQJ EDVLF

([HFXWHWKHPDQXDODGMXVWPHQWRUÀQHWXQLQJZKHQUHDOWLPH
DXWRJDLQWXQLQJFDQQRWEHDFWLYDWHGGXHWRWKHOLPLWDWLRQRIRSHUDWLRQRUORDGFRQGLWLRQRUZKHQ\RXZDQWWRREWDLQDQRSWLPXP
UHVSRQVHDQGVWDELOLW\XQGHUWKHVHFRQGLWLRQV

P.5-13

$GMXVWPHQWRISRVLWLRQFRQWUROPRGH

P.5-14

$GMXVWPHQWRIYHORFLW\FRQWUROPRGH

P.5-15

$GMXVWPHQWRIWRUTXHFRQWUROPRGH

P.5-15

$GMXVWPHQWRIIXOOFORVHGFRQWUROPRGH

P.5-16

*DLQVZLWFKLQJIXQFWLRQ

UPLQ@RUORZHU
‡$FFHOHUDWLRQGHFHOHUDWLRQLVVORZ >UPLQ@SHU>V@RUORZ 
‡$FFHOHUDWLRQGHFHOHUDWLRQ WRUTXH LV VPDOOHU WKDQ XQEDODQFHG ZHLJKWHG
YLVFRXVIULFWLRQWRUTXH
‡:KHQ WKH VSHHG FRQGLWLRQ RI  >UPLQ@ RU PRUH DQG DFFHOHUDWLRQ
GHFHOHUDWLRQ FRQGLWLRQ RI  >UPLQ@ SHU  >V@ DUH QRW PDLQWDLQHG IRU
>PV@

2. Real-Time Auto-Gain Tuning

1

How to Operate

,ISRZHULVWXUQHGRIIZLWKLQPLQXWHVDIWHUWKHHQGRIWXQLQJSURFHVVWKHUHVXOWRIWKH
UHDOWLPHDXWRWXQLQJLVQRWVDYHG,IWKHUHVXOWLVQRWVDYHGPDQXDOO\ZULWHSDUDPHWHUVWR
((3520DQGWKHQWXUQRIISRZHU

5
Adjustment

Caution

4
Setup

(VWLPDWLRQRIORDGFKDUDFWHULVWLFVVWDUWV
 :KHQWKHORDGFKDUDFWHULVWLFVDUHGHWHUPLQHG3U,QHUWLDUDWLRLVXSGDWHG
,QDVSHFLÀFPRGHWKHIROORZLQJSDUDPHWHUVDUHFKDQJHG
3U7RUTXHFRPPDQGDGGLWLRQDOYDOXH
3U3RVLWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
3U1HJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
 :KHQYDOXHRI3U5HDOWLPHDXWRWXQLQJVWLIIQHVVVHWXSLVLQFUHDVHGWKHPRWRUUHVSRQVLYHQHVVZLOOEHLPSURYHG
'HWHUPLQHWKHPRVWDSSURSULDWHVWLIIQHVVLQUHODWLRQWRWKHSRVLWLRQLQJVHWXSWLPHDQG
YLEUDWLRQFRQGLWLRQ
 7RVDYHWKHUHVXOWWRPHPRU\ZULWHWKHGDWDWR((3520

3
Connection

&RQWUROSDUDPHWHULVDXWRPDWLFDOO\VHWDFFRUGLQJWR3U5HDOWLPHDXWRWXQLQJVWLIIQHVVVHWXS)RUGHWDLOVVHH3DQG
 7XUQRQVHUYRDQGVWDUWWKHPDFKLQH

2
Preparation

 %ULQJWKHPRWRUWRVWDOO 6HUYR2)) 




 6HWXS3U 6HWXSRIUHDOWLPHDXWRJDLQWXQLQJPRGH WR
'HIDXOWLVVHWWR
* 9HORFLW\DQGWRUTXHFRQWUROVDUHWKH
Setup
Real-time auto-gain tuning
value
VDPHDVLQWKHVWDQGDUGPRGH
* 7RUTXHFRQWUROLVWKHVDPHDVLQWKH
0
Invalid
VWDQGDUGPRGH
1
6WDQGDUG
*
9HORFLW\FRQWUROLVWKHVDPHDVLQWKH
2
Positioning *1
YHUWLFDOD[LVPRGH7RUTXHFRQWUROLV
3
9HUWLFDOD[LV*2
WKHVDPHDVLQWKHVWDQGDUGPRGH
4
)ULFWLRQFRPSHQVDWLRQ*3
* &HUWDLQIXQFWLRQ V LVQRWDYDLODEOH
LQDVSHFLÀFFRQWUROPRGH5HIHUWR
5
/RDGFKDUDFWHULVWLFPHDVXUHPHQW
GHVFULSWLRQLQ3U
6
Customize *4

Before Using the Products

Basic

6
When in Trouble

7

Related page

‡:KLOHWKHDXWRWXQLQJLVYDOLGSDUDPHWHUVWKDWDUHWREHDXWRPDWLFDOO\DGMXVWHGFDQQRWEH
changed.
‡3´((3520:ULWLQJ0RGHµ‡3´'HWDLOVRISDUDPHWHUµ
5-5

Supplement

Note

2. Real-Time Auto-Gain Tuning
Basic

Parameters set/changed by real-time auto-gain tuning
‡3DUDPHWHUVZKLFKDUHXSGDWHG
7KH UHDOWLPH DXWRWXQLQJ IXQFWLRQ XSGDWHV WKH IROORZLQJ SDUDPHWHUV DFFRUGLQJ WR
3U 5HDOWLPH DXWRWXQLQJ VHWXS DQG 3U 5HDOWLPH DXWRWXQLQJ FXVWRP VHWXS
DQGE\XVLQJWKHORDGFKDUDFWHULVWLFHVWLPDWHYDOXHV
Class No.

Title

Function

0

04

,QHUWLDUDWLR

8SGDWHVWKLVSDUDPHWHUZKHQWKHUHDOWLPHDXWR
WXQLQJLQHUWLDUDWLRXSGDWHLVHQDEOHG

6

07

7RUTXHFRPPDQG
additional value

8SGDWHWKLVSDUDPHWHUZKHQWKHYHUWLFDOD[LVPRGH
IRUUHDOWLPHDXWRWXQLQJLVYDOLG

6

08

3RVLWLYHGLUHFWLRQWRUTXH 8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQ
compensation value
FRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG

6

09

1HJDWLYHGLUHFWLRQWRUTXH 8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQ
compensation value
FRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG

‡Parameters which are updated to setup value corresponding to stiffness setup
7KHUHDOWLPHDXWRWXQLQJIXQFWLRQXSGDWHVWKHIROORZLQJEDVLFJDLQVHWXSSDUDPHWHUV
DFFRUGLQJWR3U5HDOWLPHDXWRWXQLQJVWLIIQHVVVHWXS
Class No.

Title

1

00

VWJDLQRISRVLWLRQORRS

1

01

VWJDLQRIYHORFLW\ORRS

1

02

1

04

1

05

1

06

1

07

QGWLPHFRQVWDQWRIYHORFLW\
ORRSLQWHJUDWLRQ

1

09

QGWLPHFRQVWDQWRIWRUTXHÀOWHU

Function

VWWLPHFRQVWDQWRIYHORFLW\ORRS
:KHQVWLIIQHVVVHWXSLVYDOLGXSGDWHVWKH
LQWHJUDWLRQ
SDUDPHWHUEDVHGRQWKHVHWXSYDOXH
VWWLPHFRQVWDQWRIWRUTXHÀOWHU
5HIHUWR3%DVLFJDLQSDUDPHWHUVHWXS
QGJDLQRISRVLWLRQORRS
table.
QGJDLQRIYHORFLW\ORRS

‡3DUDPHWHUVZKLFKDUHVHWWRIL[HGYDOXH
5HDOWLPHDXWRWXQLQJIXQFWLRQVHWVWKHIROORZLQJSDUDPHWHUVWRWKHÀ[HGYDOXH
Class No.

Related page

5-6

Title

Setup value when fixed parameter
setup is valid.

1

03

VWÀOWHURIVSHHGGHWHFWLRQ

1

08

QGÀOWHURIVSHHGGHWHFWLRQ

1

10

9HORFLW\IHHGIRUZDUGJDLQ

 

1

11

9HORFLW\IHHGIRUZDUGÀOWHU

 PV

1

12

7RUTXHIHHGIRUZDUGJDLQ

1

13

7RUTXHIHHGIRUZDUGÀOWHU

‡3´3Uµ‡3´3Uµ‡3´3Uµ

0

0

2. Real-Time Auto-Gain Tuning

1

‡3DUDPHWHUVZKLFKDUHVHWLQUHVSRQVHWRJDLQVZLWFKLQJVHWXS
7KH UHDOWLPH DXWRWXQLQJ IXQFWLRQ VHWV WKH IROORZLQJ SDUDPHWHUV DV WKH JDLQ LV
switched.
Class No.

Title

2

Function

14

2nd gain setup

6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.

1

15

0RGHRISRVLWLRQFRQWUROVZLWFKLQJ

Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.

1

16

'HOD\WLPHRISRVLWLRQFRQWURO
switching

1

17

/HYHORISRVLWLRQFRQWUROVZLWFKLQJ

1

18

+\VWHUHVLVDWSRVLWLRQFRQWURO
switching

1

19

Position gain switching time

1

20

0RGHRIYHORFLW\FRQWUROVZLWFKLQJ

1

21

'HOD\WLPHRIYHORFLW\FRQWURO
switching

1

22

/HYHORIYHORFLW\FRQWUROVZLWFKLQJ

1

23

+\VWHUHVLVDWYHORFLW\FRQWURO
switching

1

24

0RGHRIWRUTXHFRQWUROVZLWFKLQJ

1

25

'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ

1

26

/HYHORIWRUTXHFRQWUROVZLWFKLQJ

1

27

+\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ

Preparation

1

6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.

3
Connection

6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.

4

6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.

Setup

‡3DUDPHWHUVZKLFKDUHDOZD\VVHWWRLQYDOLG
7KH IROORZLQJ VHWWLQJV DUH DOZD\V VHW WR LQYDOLG ZKHQ 3U 5HDOWLPH DXWRWXQLQJ
setup is not 0.
Title

10

)XQFWLRQH[SDQVLRQVHWXS

6

13

QG,QHUWLDUDWLR

6

23

'LVWXUEDQFHWRUTXH
compensating gain

6

24

'LVWXUEDQFHREVHUYHUÀOWHU

,QVWDQWDQHRXV VSHHG REVHUYHU IXQFWLRQ HQDEOH
ELW ELW GLVWXUEDQFHREVHUYHUIXQFWLRQHQDEOH
ELW ELW   DQG LQHUWLD UDWLR VZLWFKLQJ IXQFWLRQ
HQDEOHELW ELW DUHLQWHUQDOO\GLVDEOHG
3 D U D P H W H U V H W X S F D Q E H F K D Q J H G  E X W
GLVWXUEDQFHREVHUYHULVGLVDEOHG

6
When in Trouble

6

Function

5
Adjustment

Class No.

Before Using the Products

Basic

7
Supplement

Related page

‡3´3Uµ‡3´3Uµ

5-7

2. Real-Time Auto-Gain Tuning
Basic

Caution


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UHSHDWVIRURUPRUHUHFLSURFDWLQJRSHUDWLRQVWDNHWKHIROORZLQJFRXQWHUPHDVXUHV
 /RZHU WKH VHWXS RI 3U 6HOHFWLRQ RI PDFKLQH VWLIIQHVV DW UHDOWLPH DXWRJDLQ
WXQLQJ 
 6HW3U5HDOWLPHDXWRWXQLQJVHWXSWRWRGLVDEOHWKHUHDOWLPHDXWRWXQLQJ
 6HW3U,QHUWLDOUDWLRWRWKHFDOFXODWLRQDOYDOXHRIWKHHTXLSPHQWDQGVHW3U
7RUTXH FRPPDQG DGGLWLRQ YDOXH 3U 3RVLWLYH GLUHFWLRQ FRPSHQVDWLRQ YDOXH
DQG3U1HJDWLYHGLUHFWLRQFRPSHQVDWLRQYDOXHWR
  :KHQ DEQRUPDO QRLVH DQG RVFLOODWLRQ RFFXU 3U ,QHUWLD UDWLR  RU 3U 7RUTXH
FRPPDQG DGGLWLRQDO YDOXH  3U 3RVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH 
3U 1HJDWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH  PLJKW KDYH FKDQJHG WR H[WUHPHYDOXHV7DNHWKHVDPHPHDVXUHVDVWKHDERYHLQWKHVHFDVHV
  $PRQJ WKH UHVXOWV RI UHDOWLPH DXWRJDLQ WXQLQJ 3U ,QHUWLD UDWLR  DQG 3U
7RUTXH FRPPDQG DGGLWLRQDO YDOXH  3U 3RVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ
YDOXH  3U 1HJDWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH  ZLOO EH ZULWWHQ WR ((3520HYHU\PLQXWHV:KHQ\RXWXUQRQWKHSRZHUDJDLQWKHDXWRJDLQWXQLQJZLOO
EHH[HFXWHGXVLQJWKHODWHVWGDWDDVLQLWLDOYDOXHV
  %HFDXVH WKH FRQWURO JDLQ LV XSGDWHG ZKLOH WKH PRWRU VWRSV FKDQJHG VHWWLQJ YDOXH
RI 3U ´5HDOWLPH DXWRWXQLQJ VWLIIQHVV VHWXSµ PD\ QRW EH UHÁHFWHG LI WKH PRWRU
FDQQRWVWRSGXHWRH[FHVVLYHO\ORZJDLQRUDSSOLFDWLRQRIDFRPPDQGWKDWGLUHFWVWKH
PRWRUWRWXUQLQWKHVDPHGLUHFWLRQFRQWLQXRXVO\,IWKHFKDQJHGVWLIIQHVVVHWWLQJYDOXH
LVUHÁHFWHGDIWHUPRWRUVWRSVLWPD\JHQHUDWHDEQRUPDOVRXQGRURVFLOODWH
$IWHU FKDQJLQJ VWLIIQHVV VWRS WKH PRWRU DQG FKHFN WR VHH WKDW WKH QHZ VWLIIQHVV
VHWWLQJLVPDGHHIIHFWLYH

Invalidation of Real-Time Auto-Gain Tuning
UPLQ@SHU>V@

$GDSWLYHÀOWHU

1

How to Operate
(QWHUWKHDFWLRQFRPPDQGZLWK3U$GDSWLYHÀOWHUPRGHVHWWRDYDOXHRWKHUWKDQ
,IWKHUHVRQDQFHSRLQWDIIHFWVWKHPRWRUVSHHGSDUDPHWHUVRIUGQRWFKÀOWHUDQGRUWK
QRWFKÀOWHUVDUHDXWRPDWLFDOO\VHWDFFRUGLQJWRWKHQXPEHURIDGDSWLYHÀOWHUV

00

Function

0

>$GDSWLYHÀOWHULQYDOLG@
7KHDGDSWLYHÀOWHULVGLVDEOHG3DUDPHWHUVUHODWHGWR
WKHUGDQGWKQRWFKÀOWHUKROGWKHFXUUHQWYDOXH

1

>$GDSWLYHÀOWHUÀOWHULVYDOLG@
2QHDGDSWLYHÀOWHULVHQDEOHG3DUDPHWHUVUHODWHG
WRWKHUGQRWFKÀOWHUZLOOEHXSGDWHGEDVHGRQ
DGDSWLYHSHUIRUPDQFH

2

>$GDSWLYHÀOWHUÀOWHUVDUHYDOLG@
7ZRDGDSWLYHÀOWHUVDUHHQDEOHG3DUDPHWHUVUHODWHG
WRWKHUGDQGWKQRWFKÀOWHUVZLOOEHXSGDWHGEDVHG
RQDGDSWLYHSHUIRUPDQFH

3

>5HVRQDQFHIUHTXHQF\PHDVXUHPHQWPRGH@
0HDVXUHWKHUHVRQDQFHIUHTXHQF\5HVXOWRI
PHDVXUHPHQWFDQEHFKHFNHGZLWK3$1$7(50
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHU
KROGWKHFXUUHQWYDOXH

4

>&OHDUUHVXOWRIDGDSWDWLRQ@
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHU
DUHGLVDEOHGDQGUHVXOWVRIDGDSWLYHRSHUDWLRQDUH
FOHDUHG

$GDSWLYHÀOWHU
mode setup

Title

2

07

UGQRWFKIUHTXHQF\

2

08

UGQRWFKZLGWKVHOHFWLRQ

2

09

UGQRWFKGHSWKVHOHFWLRQ

10

WKQRWFKIUHTXHQF\

2

11

4th notch width selection

2

12

4th notch depth selection

Function

,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHW
to 5000.
$XWRPDWLFDOO\VHWZKHQWKHDGDSWLYHILOWHULVDFWLYH

1RWFK IUHTXHQF\ LV DXWRPDWLFDOO\ VHW WR WKH QG
UHVRQDQFH IUHTXHQF\ HVWLPDWHG E\ WKH DGDSWLYH
ÀOWHU
,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHW
to 5000.

5

6
When in Trouble

2

4

Adjustment

$WWKHVDPHWLPHWKHIROORZLQJSDUDPHWHUVDUHDXWRPDWLFDOO\VHW
Class No.

3

Setup

Setup
value

Connection

2

Title

2
Preparation

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Class No.

Before Using the Products

Adaptive filter

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7
Supplement

Related page

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5-11

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Adaptive filter

Caution
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Related page

5-12

‡3´'HWDLOVRISDUDPHWHUµ

4. Manual Gain Tuning (Basic)

Adjustment

Outline

1

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3
Connection

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1. Analog monitor output
6SHHGOLPLWYDOXH@
3U>6SHHGOLPLWYDOXH@RU63/LQSXWDVDVSHHGOLPLW+HUHZHH[SODLQWKHVHWXSRI
speed limiting value.

The torque command selection (Pr3.17) specifies the setup method.
Pr3.17 = 0 Set up by using speed limit value 1 (Pr3.21)

5

Pr3.17 = 1 Set up by using analog input (SPL)
Pr3.17 = 2 For positive direction, set up by using the speed limit value 1

Adjustment

(Pr3.21)
For negative direction, set up by using the speed limit value 2
(Pr3.22)

Related page

7
Supplement

Note

6
When in Trouble

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value.
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5-15

5

4. Manual Gain Tuning (Basic)

Adjustment

Adjustment in Full-Closed Control Mode

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1) Setup of external scale ratio
Setup the external scale ratio using the numerator of external scale division
(Pr3.24) and denominator of external scale division (Pr3.25).
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Number of encoder feedback pulses per motor rotation
Number of external scale pulses per motor rotation
Pr3.25
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Pr3.24

=

2) Setup of hybrid deviation excess
Set up the minimum value of hybrid deviation excess (Pr3.28) within the
range where the gap between the motor (encoder) position and the load
(feedback scale) position will be considered to be an excess.
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Note
Related page
5-16

We recommend the external scale as 1/40

”

external scale ratio ” 160.

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4. Manual Gain Tuning (Basic)

Adjustment

Gain Switching Function

1

Action Command speed
Status
Gain

Stop
(Servo-Lock)
Low gain
(1st gain)

Run
High gain
(2nd gain)

Stop
(Servo-Lock)

Time

Low gain
(1st gain)

3


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Parameter
No.
(Pr
)

1.01
1.02
1.03
1.04
1.10
1.11
1.06
1.07
1.08
1.09
1.14
1.15
1.16
1.18
1.19

0.04

630
350

270

160
0
65

84

5

300
50
630
350
160
0
65
0

1

6

7
30
0
0
0
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value from load
calculation
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inertia ratio by
executing nor
mal auto-gain
tuning
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7
Supplement

Related page

Inertia ration

4

When in Trouble

1.17

Adjust Pr1.01
and 1.04 at
stopping
(1st gain)

Adjustment

1.05

1st gain of position loop
1st gain of velocity loop
1st time constant of velocity integration
1st filter of velocity detection
1st time constant of torque filter
Velocity feed forward
Filter of velocity feed forward
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity integration
2nd filter of velocity detection
2nd time constant of torque filter time
Action setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Switching time of position gain

Set up Pr1.14 to
1.19
(Gain switching
condition)

Setup

1.00

Title of parameter

Set up the same
value as Pr1.05
to 1.09 (2nd gain)
to Pr1.00 to 1.04
(1st gain)

Connection

1ms
2ms
Suppress the vibration by lowering the gain.

Execute manual
gain-tuning
without gain
switching

2
Preparation

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Before Using the Products

5

‡3´'HWDLOVRISDUDPHWHUµ

5-17

4. Manual Gain Tuning (Basic)
Gain Switching Function

Setup of Gain Switching Condition
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Setup parameters at position control, full-closed control

Setup of gain switching condition
Pr1.15
0

Switching condition to
2nd gain

: Corresponding parameter is valid, – : invalid)

Fig.

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Delay time *1

Level

Hysteresis *2

Pr1.16

Pr1.17

Pr1.18

–

–

–

1

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–

–

–

2

Gain switching input

–

–

–

3

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Invalid )L[HGWRVWJDLQ

–

–

5

Speed command

C

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6

Position deviation

D

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*3

A
–

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7

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E

–

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8

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9

Speed

C

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10

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G

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Setup parameters at velocity control mode

Setup of gain switching condition
Pr1.20
0

Switching condition to
2nd gain

Fig.

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Delay time *1

Level

Hysteresis *2

Pr1.16, 1.21

Pr1.17, 1.22

Pr1.18, 1.23

–

–

–

1

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–

–

–

2

Gain switching input

–

–

–

3

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A

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ODUJH

B

*4

*4

5

Speed command

C

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–

> UPLQ V@

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Setup parameters at torque control mode

Setup of gain switching condition
Pr1.24

Switching condition to
2nd gain

Fig.

Delay time *1

Level

Hysteresis *2
Pr1.18, 1.27

Pr1.16, 1.25

Pr1.17, 1.26

0

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–

–

–

1

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–

–

–

2

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ODUJH

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gain.
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Hysteresis
H
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(Pr1.18, 1.23, 1.27)
LV VSHHG YDULDWLRQ RI UPLQ LQ V VHW
Level
up the value to 1.
L
Pr1.17
Pr1.22
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0
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(

5-18

)

4. Manual Gain Tuning (Basic)

1

Fig.A

speed N

Fig. B

command
speed S

2

уS
level

switching level

Preparation

level

switching level

delay
1st

1st gain

2nd

2nd

1st

1st

Before Using the Products

Gain Switching Function

1st gain

2nd

2nd

1st

3
Fig. C

motor speed or
commanded
speed S
level

Fig. D

delay
1st

2nd gain

Connection

speed N

deviation pulse

1st

level

4

delay
1st

2nd gain

Fig. F

Setup

Fig. E

1st

speed N

command
speed S

5

delay
1st

2nd gain

1st
Adjustment

COIN
delay
1st

2nd gain

1st

Fig. G

at stall
1st gain

no command pulse
× Pr1.16,delay time

in action
2nd gain

| actual speed | <
Pr1.17 level

at settling

proximity of stall

2nd gain

2nd gain for velocity integrating
only and 1st gain for others

6
When in Trouble

command pulse
exists.

| actual speed | < (Pr1.17 level - Pr1.18 hysteresis)

7

| actual speed | < (Pr1.17 level - Pr1.178 hysteresis)

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5-19

Supplement

Caution

5

4. Manual Gain Tuning (Basic)

Adjustment

Suppression of Machine Resonance

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ï10
ï15
ï20
ï25
ï30

10

100

Frequency [Hz]
5-22

1000

4. Manual Gain Tuning (Basic)

1

How to Check the Resonance Frequency of the Machine

Note

3
Connection

Remarks

2
Preparation

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Before Using the Products

Suppression of Machine Resonance

4

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5

6
When in Trouble

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5. Manual Gain Tuning (Application)

1

How to Use

4
Setup

Caution

3
Connection

(2) Setup of damping filter (1st: Pr2.15, 2nd: Pr2.17, 3rd: Pr2.19, 4th: Pr2.21))
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Positional deviation

Velocity feed forward gain
0[%]

Motor speed
Command speed

Positional deviation within the
constant speed range will
reduce as the velocity
forward gain is increased.

50[%]
80[%]
Time

5-26

5. Manual Gain Tuning (Application)

1

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Velocity feed forward gain = Fixed 100[%]

Torque feed forward
gain
0[%]

Time

4

Positional deviation in the
region where acceleration
is constant can be reduced
by torque feed forward.

Setup

50[%]

3
Connection

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Positional deviation
Command speed

2
Preparation

Usage example of torque feed forward

Motor speed

Before Using the Products

Feed forward function

100[%]

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$VZLWKWKHYHORFLW\IHHGIRUZDUGODUJHWRUTXHIHHGIRUZDUGÀOWHUWLPHFRQVWDQWGHFUHDVHV
WKHRSHUDWLQJQRLVHEXWLQFUHDVHVSRVLWLRQDOGHYLDWLRQDWDFFHOHUDWLRQFKDQJHSRLQW

7
Supplement

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Related page

6
When in Trouble

6HWWLQJELWSODFHRI3U)XQFWLRQH[SDQVLRQVHWXSWR
Torque command [%]
HQDEOHVWKHDQDORJWRUTXHIHHGIRUZDUG:KHQWKHDQDORJ
333
LQSXW  LV XVHG E\ DQRWKHU IXQFWLRQ HJ DQDORJ WRUTXH
200
OLPLW WKHIXQFWLRQEHFRPHVLQYDOLG
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ï6 ï10
WRWKHWRUTXHYLD3U$QDORJWRUTXHIHHGIRUZDUG
6
10
Input voltage
FRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQG
[V]
 LQ&&:GLUHFWLRQLILWLVSRVLWLYHYROWDJHRULQ&:
ï200
GLUHFWLRQLIQHJDWLYH
ï333
7KHYROWDJH 9 DSSOLHGWRWKHDQDORJLQSXWLVFRQYHUWHG
WRWKHPRWRUWRUTXHFRPPDQG  WKURXJKWKHSURFHVVDV
VKRZQLQWKHJUDSKEHORZ
7KHVORSHUHSUHVHQWVZKHQ3U 7KHVORSHFKDQJHVDVWKHVHWXSYDOXHFKDQJHV

Adjustment

Usage example of analog torque feed forward

5

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5-27

5

5. Manual Gain Tuning (Application)

Adjustment

Instantaneous Speed Observer

Outline
7KLVIXQFWLRQHQDEOHVERWKUHDOL]DWLRQRIKLJKUHVSRQVHDQGUHGXFWLRQRIYLEUDWLRQDWVWRSSLQJE\HVWLPDWLQJWKHPRWRUVSHHGXVLQJDORDGPRGHOKHQFHLPSURYLQJWKHDFFXUDF\
RIWKHVSHHGGHWHFWLRQ
Velocity
command

Velocity
control

Estimated
velocity
value

Torque
command
Current
control

Motor
current
Motor

Load

Instantaneous
speed observer
Load model

Position control

(Total inertia)
Motor
position
Encoder

Servo driver

Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the instantaneous speed observer is activated
‡&RQWUROPRGHWREHHLWKHURUERWKSRVLWLRQFRQWURORUDQGYHORFLW\FRQWURO
Control mode 3U 3RVLWLRQFRQWURO
3U 9HORFLW\FRQWURO

Others

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FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
‡5HDOWLPHDXWRWXQLQJVKRXOGEHGLVDEOHG 3U 

Caution
7KLVIXQFWLRQGRHVQRWZRUNSURSHUO\RUQRHIIHFWLVREWDLQHGXQGHUWKHIROORZLQJFRQGLtions.
Conditions which obstruct instantaneous speed observer action

Load

Others

Related page

5-28

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PDFKLQHLVODUJH
HJ /DUJHUHVRQDQFHSRLQWH[LVWVLQIUHTXHQF\EDQGRI>+]@RU
EHORZ1RQOLQHDUIDFWRUVXFKDVODUJHEDFNODVKH[LVWV
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‡6HWWOLQJUDQJHLVYHU\VPDOO

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5. Manual Gain Tuning (Application)

1
Before Using the Products

Instantaneous Speed Observer

Related Parameter
Class No.

6

10

Title

)XQFWLRQH[SDQVLRQ
setup

Function

2
Preparation

6SHHGREVHUYHUHQDEOHELW ELW YDOLGLQYDOLGWKH
IXQFWLRQ
ELW,QYDOLG9DOLG
*ELW /6%

How to Use
(1) Setup of inertia ratio (Pr0.04)

3

‡:KHQWKHLQHUWLDUDWLR 3U LVDOUHDG\REWDLQHGWKURXJKUHDOWLPHDXWRJDLQWXQLQJ DQG LV DSSOLFDEOH DW QRUPDO SRVLWLRQ FRQWURO XVH WKLV YDOXH DV 3U VHWXS
value.
‡:KHQ WKH LQHUWLD UDWLR LV DOUHDG\ NQRZQ WKURXJK FDOFXODWLRQ HQWHU WKLV FDOFXODWHG
value.
‡:KHQWKHLQHUWLDUDWLRLVQRWNQRZQH[HFXWHWKHQRUPDOPRGHDXWRJDLQWXQLQJDQG
PHDVXUHWKHLQHUWLDUDWLR

4

5
Adjustment

(3) Setup of instantaneous velocity observer (Pr6.10)
‡%\ HQDEOLQJ LQVWDQWDQHRXV VSHHG REVHUYHU IXQFWLRQ WKURXJK IXQFWLRQ H[SDQVLRQ
VHWXS 3U  WKH VSHHG GHWHFWLRQ PHWKRG FKDQJHV WR WKH LQVWDQWDQHRXV VSHHG
REVHUYHU
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WRDQGUHFRQÀUPWKHDERYHFDXWLRQVDQG  
‡:KHQ\RXREWDLQWKHHIIHFWVXFKDVDUHGXFWLRQRIWKHYDULDWLRQRIWKHWRUTXHZDYHIRUP DQG QRLVH VHDUFK DQ RSWLPXP VHWXS E\ PDNLQJ D ÀQH DGMXVWPHQW RI 3U
,QHUWLD UDWLR  ZKLOH REVHUYLQJ WKH SRVLWLRQ GHYLDWLRQ ZDYHIRUP DQG DFWXDO VSHHG
ZDYHIRUP WR obtain WKH OHDVW YDULDWLRQ ,I \RX FKDQJH WKH SRVLWLRQ ORRS JDLQ DQG
YHORFLW\ORRSJDLQWKHRSWLPXPYDOXHRIWKHLQHUWLDUDWLR 3U PLJKWKDYHEHHQ
FKDQJHGDQG\RXQHHGWRPDNHDÀQHDGMXVWPHQWDJDLQ

Setup

(2) Adjustment at normal position control
‡$GMXVWWKHSRVLWLRQORRSJDLQYHORFLW\ORRSJDLQHWF

Connection

Set up as exact inertia ratio as possible.

6
When in Trouble

7
Supplement

5-29

5

5. Manual Gain Tuning (Application)

Adjustment

Disturbance observer

Outline
7KLVIXQFWLRQXVHVWKHGLVWXUEDQFHWRUTXHGHWHUPLQHGE\WKHGLVWXUEDQFHREVHUYHUWRUHGXFHHIIHFWRIGLVWXUEDQFHWRUTXHDQGYLEUDWLRQ
Disturbance torque
–
Torque command +
Added in the direction to
cancel the disturbance

+

Motor + load

+
Torque command
–

+

Motor speed

Load model

Gain
Set in Pr6.23

Filter

Set in Pr6.24

Disturbance observer
Estimated disturbance torque value

Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the disturbance observer is activated
‡&RQWUROPRGHWREHHLWKHURUERWKSRVLWLRQFRQWURORUDQGYHORFLW\FRQWURO
Control mode 3U 3RVLWLRQFRQWURO
3U 9HORFLW\FRQWURO

Others

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FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
‡5HDOWLPHDXWRWXQLQJVKRXOGEHGLVDEOHG 3U 
‡,QVWDQWDQHRXVVSHHGREVHUYHUVKRXOGEHGLVDEOHG 3UELW 

Caution
(IIHFWPD\QRWEHH[SHFWHGLQWKHIROORZLQJFRQGLWLRQ
Conditions which obstruct disturbance observer action
Load

Related page

5-30

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GLVWXUEDQFHREVHUYHU
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5. Manual Gain Tuning (Application)

1
Before Using the Products

Disturbance observer

Related Parameter
Class No.

10

Function

Function
H[SDQVLRQVHWXS

6HWVELWVUHODWHGWRGLVWXUEDQFHREVHUYHU
ELW ,QYDOLG
9DOLG
ELW $OZD\VYDOLG alid only when 1st gain is selected.
*ELW /6%
([DPSOH
7RXVHWKHGLVWXUEDQFHREVHUYHULQWKHHQDEOHGPRGHRQO\
ZKHQVWJDLQLVVHOHFWHG
6HWXSYDOXH 
7RXVHWKHGLVWXUEDQFHREVHUYHUDOZD\VLQWKHHQDEOHG
PRGH
6HWXSYDOXH 

23

6

24

'LVWXUEDQFH
REVHUYHUÀOWHU

3
Connection

6

'LVWXUEDQFH
WRUTXHFRPSHQsating gain

2
Preparation

6

Title

6HWXSFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH
6HWXSWKHÀOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFH
WRUTXHFRPSHQVDWLRQ

4

How to Use

Setup

 :LWK3U)XQFWLRQHQKDQFHPHQWVHWXSVHWREVHUYHUHQDEOHGLVDEOHDQGRSHUDWLRQ
PRGH DOZD\VHQDEOHHQDEOHRQO\ZKHQVWJDLQLVVHOHFWHG 
2) Setup of Pr6.24 (Disturbance observer filter)
)LUVW VHW XS 3U WR D ODUJHU YDOXH DQG FKHFN WKH RSHUDWLRQ ZLWK 3U 'LVWXUEDQFH

3) Setup of Pr6.23 (Disturbance torque compensating gain)
$IWHUVHWWLQJXS3ULQFUHDVH3U
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 7KLVPHDQVWKDWZHOOEDODQFHGVHWXSFDQEHREWDLQHGE\DGMXVWLQJ3UDQG3U

5
Adjustment

WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH
RI3U$ORZÀOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\
DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ
QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG

6
When in Trouble

7
Supplement

5-31

5

5. Manual Gain Tuning (Application)

Adjustment

3rd gain switching function

Outline
,QDGGLWLRQWRWKHQRUPDOJDLQVZLWFKLQJIXQFWLRQGHVFULEHGRQ3UGJDLQVZLWFKLQJ
IXQFWLRQ FDQ EH VHW WR LQFUHDVH WKH JDLQ MXVW EHIRUH VWRSSLQJ7KH KLJKHU JDLQ VKRUWHQV
positioning adjusting time.

Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the 3rd gain switching function is activated
‡&RQWUROPRGHWREHHLWKHURUERWKSRVLWLRQFRQWURORUDQGIXOOFORVHG
FRQWURO
Control mode
3U 3RVLWLRQFRQWURO
3U )XOOFORVHGFRQWURO

Others

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FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\

Related Parameter
Class No.

Related page

5-32

Title

Function

6

5

3RVLWLRQUGJDLQ
valid time

6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG

6

6

3RVLWLRQUGJDLQ
VFDOHIDFWRU

6HWXSWKHUGJDLQE\DPXOWLSO\LQJIDFWRURIWKHVWJDLQ
UGJDLQ VWJDLQð3U

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5. Manual Gain Tuning (Application)

1

How to Use

:KHQWKHJDLQLVVZLWFKHGIURPQGWRVWE\WKHFKDQJHLQSDUDPHWHUWKHUGJDLQSHULRGDSSHDUV
([DPSOH 
3U3RVLWLRQFRQWUROVZLWFKLQJPRGH VZLWFKLQJFRQGLWLRQZLWKSRVLWLRQDOFRPPDQG

3
Connection

Caution

2
Preparation

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DSSOLFDWLRQWLPHWR3U3RVLWLRQUGJDLQHQDEOHWLPHDQGVHWWKHUGJDLQ VFDOHIDFWRUZLWKUHIHUHQFHWRVWJDLQ WR3U3RVLWLRQUGJDLQPDJQLÀFDWLRQUDWLR
‡,IUGJDLQLVQRWXVHGVHW3UWRDQG3UWR
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‡'XULQJWKHUGJDLQSHULRGRQO\SRVLWLRQORRSJDLQVSHHGSURSRUWLRQDOJDLQEHFRPHVUG
JDLQGXULQJRWKHUSHULRGVVWJDLQVHWWLQJLVXVHG
‡:KHQWKHQGJDLQVZLWFKLQJFRQGLWLRQLVHVWDEOLVKHGGXULQJUGJDLQSHULRGQGJDLQLV
used.
‡'XULQJ WUDQVLWLRQ IURP QG JDLQ WR UG JDLQ 3U 3RVLWLRQ JDLQ VZLWFKLQJ WLPH LV DSplied.

Before Using the Products

3rd gain switching function

4

Position speed command [r/min]
Setup

Pr6.05×0.1ms

2nd gain
Pr1.05 to 1.09

3rd gain

5

1st gain
Pr1.00 to 1.04

Adjustment

[3rd gain period]
Position loop gain = Pr1.00 × Pr6.06/100
Speed proportional gain = Pr1.01 × Pr6.06/100
Time constant of velocity integration, speed
detection filter and torque filter directly use the
1st gain value.

6
When in Trouble

7
Supplement

5-33

5

5. Manual Gain Tuning (Application)

Adjustment

Friction torque compensation

Outline
7RUHGXFHHIIHFWRIIULFWLRQUHSUHVHQWHGE\PHFKDQLFDOV\VWHPW\SHVRIIULFWLRQWRUTXH
FRPSHQVDWLRQ FDQ EH DSSOLHG RIIVHW ORDG FRPSHQVDWLRQ WKDW FDQFHOV FRQVWDQW RIIVHW
WRUTXHDQGWKHG\QDPLFIULFWLRQFRPSHQVDWLRQWKDWYDULHVGLUHFWLRQDVWKHRSHUDWLQJGLUHFWLRQYDULHV

Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the Friction torque compensation is activated
Control mode

‡6SHFLILF WR LQGLYLGXDO IXQFWLRQV 5HIHU WR 5HODWHG SDUDPHWHUV VKRZQ
below.

Others

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LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\

Related Parameter
&RPELQHWKHIROORZLQJSDUDPHWHUVWRVHWXSDSSURSULDWHIULFWLRQWRUTXHFRPSHQVDWLRQ
Class No.

6

6

6

Related page

5-34

Title

Function

7

7RUTXH
command
additional value

6HWXSWKHRIIVHWORDGFRPSHQVDWLRQYDOXHXVXDOO\DGGHGWR
WKHWRUTXHFRPPDQGLQDFRQWUROPRGHH[FHSWIRUWKHWRUTXH
FRQWUROPRGH

8

Positive
GLUHFWLRQWRUTXH
compensation
value

6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG
WRWKHWRUTXHFRPPDQGZKHQIRUZDUGSRVLWLRQDOFRPPDQG
LVIHG

9

1HJDWLYH
GLUHFWLRQWRUTXH
compensation
value

6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG
WRWKHWRUTXHFRPPDQGZKHQQHJDWLYHGLUHFWLRQSRVLWLRQDO
FRPPDQGLVIHG

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5. Manual Gain Tuning (Application)

1

How to Use
7KH IULFWLRQ WRUTXH FRPSHQVDWLRQ ZLOO EH DGGHG LQ UHVSRQVH WR WKH HQWHUHG SRVLWLRQDO
FRPPDQGGLUHFWLRQDVVKRZQEHORZ

Before Using the Products

Friction torque compensation

2

[Positive direction]

[

Pr6.07
Torque command
additional value

]

Pr6.08
Positive direction torque
compensation value
Pr6.09
Negative direction torque
compensation value

[

Preparation

Command speed

]

[

]
3

Time

Connection

[Negative direction]
Motor
de-energized

Motor energized

Motor
de-energized

The friction compensation torque is the sum of the offset load compensation value which is set

4

according to the torque command additional value (always constant) and the dynamic friction
compensation torque which is set according to positive/negative direction torque compensation
Setup

value.
The command speed direction is reset upon power-up or when the motor is de-energized.

Caution

7
Supplement

5-35

6
When in Trouble

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3U7KHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHLVXSGDWHGWRSDUDPHWHUV3UDQG
3UGHSHQGLQJRQFRPPDQGGLUHFWLRQ

5
Adjustment

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SHUIRUPDQFHLVDIIHFWHGE\GLUHFWLRQRIPRYHPHQW 7KHVHYDULDWLRQVRFFXUZKHQFRQVWDQWRIIVHWWRUTXHUHVXOWLQJIURPZHLJKWRQYHUWLFDOD[LVLVDSSOLHGWRWKHPRWRU
‡&HUWDLQ ORDGV VXFK DV EHOW GULYHQ VKDIW UHTXLUHV KLJK G\QDPLF IULFWLRQ WRUTXH ZKLFK
OHQJWKHQV SRVLWLRQLQJ VHWWLQJ WLPH RU YDULHV SRVLWLRQLQJ DFFXUDF\7KHVH SUREOHPV FDQ
EHPLQLPL]HGE\VHWWLQJWKHIULFWLRQWRUTXHRIHYHU\URWDWLQJGLUHFWLRQLQWRLQGLYLGXDOSDUDPHWHUV 3U >3RVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH@ DQG 3U >1HJDWLYH
GLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH@FDQEHXVHGIRUWKLVSXUSRVH

5

5. Manual Gain Tuning (Application)

Adjustment

Inertia ratio switching function

Outline
,QHUWLDUDWLRFDQEHVZLWFKHGEHWZHHQ1RDQG1RE\WKHVZLWFKLQJLQSXW -6(/ 7KLV
IHDWXUHLVXVHIXOLQDSSOLFDWLRQZKHUHWKHORDGLQHUWLDFKDQJHVLQWZRVWHSV

Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the Inertia ratio switching function is activated
‡&DQEHXVHGLQDOOFRQWUROPRGHV
3U 3RVLWLRQFRQWURO
3U 9HORFLW\FRQWURO
3U 7RUTXHFRQWURO
Control mode
3U 3RVLWLRQ9HORFLW\FRQWURO
3U 3RVLWLRQ7RUTXHFRQWURO
3U 9HORFLW\7RUTXHFRQWURO
3U )XOOFORVHGFRQWURO

Others

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LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
‡5HDOWLPHDXWRWXQLQJVKRXOGEHGLVDEOHG 3U 
‡$GDSWLYHÀOWHUVKRXOGEHGLVDEOHG 3U 
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‡'LVWXUEDQFHREVHUYHUVKRXOGEHGLVDEOHG 3U ELW 

Caution
‡%HVXUHWRFKDQJHWKHLQHUWLDUDWLRZKLOHWKHPRWRULVLQVWRSVWDWH2WKHUZLVHYLEUDWLRQ
RURVFLOODWLRQZLOORFFXU
‡,IWKHGLIIHUHQFHEHWZHHQWKHVWLQHUWLDUDWLRDQGQGLQHUWLDUDWLRLVODUJHYLEUDWLRQHWF
PD\RFFXUHYHQLQVWRSPRGH7KHVHSRWHQWLDOSUREOHPVVKRXOGEHLGHQWLÀHGRQWKHDFtual model.

Related page

5-36

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5. Manual Gain Tuning (Application)

1

Related Parameter
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Class No.

Title

2

Function

04

,QHUWLDUDWLR

6

13

QG,QHUWLDUDWLR

6HWQGLQHUWLDUDWLR
@ 6HW3U+\EULGYLEUDWLRQVXSSUHVVLRQJDLQWRWKHYDOXHHTXDOWRWKDWRISRVLWLRQDOORRS
gain.
>@ 'ULYLQJXQGHUIXOOFORVHGFRQWUROJUDGXDOO\LQFUHDVHWKHVHWXSYDOXHRI3U
 +\EULGYLEUDWLRQVXSSUHVVLRQILOWHUZKLOHFKHFNLQJUHVSRQVHFKDQJH
 :KHQWKHUHVSRQVHLVLPSURYHGDGMXVW3UDQG3UWRGHWHUPLQHWKHFRPELQDWLRQ
WKDWSURYLGHVWKHEHVWUHVSRQVH

Related page

5-38

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6. About Homing Operation

Adjustment

Caution on Homing Operation

1

‡([DPSOHRI+RPLQJ$FWLRQ
3UR[LPLW\GRJRQ'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
RIWKHÀUVWRULJLQLQSXW =SKDVH
proximity dog

speed

origin input

3
Connection

proximity input

2
Preparation

‡,Q KRPLQJ DFWLRQ E\ XVLQJ WKH KRVW FRQWUROOHU VWRS SRVLWLRQ PLJKW QRW EH VWDELOL]HG LI
WKHRULJLQLQSXW =SKDVHRIWKHHQFRGHU LVHQWHUHGZKLOHWKHPRWRULVQRWGHFHOHUDWHG
HQRXJKDIWHUWKHSUR[LPLW\LQSXWLVWXUQHGRQ6HWXSWKH21SRVLWLRQVRISUR[LPLW\LQSXW
DQGWKHSRVLWLRQRIRULJLQSRLQWFRQVLGHULQJWKHQHFHVVDU\SXOVHFRXQWVIRUGHFHOHUDWLRQ7DNHWKHSRVLWLRQLQJDFWLRQDQGKRPLQJDFWLRQLQWRDFFRXQWZKHQ\RXVHWSXWDFFHOHUDWLRQGHFHOHUDWLRQWLPHZLWKSDUDPHWHUVLQFHWKLVDIIHFWWKHVHDFWLRQDVZHOO
For the details of homing, observe the instruction manual of the host controller.

Before Using the Products

5

4

encoder Z-phase

Setup

3UR[LPLW\GRJRII'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
RIWKHÀUVWRULJLQLQSXW =SKDVH DIWHUWKHLQSXWLVWXQHGRII
proximity dog
proximity input

5
speed
Adjustment

origin input
encoder Z-phase

6
When in Trouble

7
Supplement

5-39

5

6. About Homing Operation

Adjustment

Homing with Hit & Stop


Error code

Attribute

Protective function

Main Sub

11



12



13
1
14
15
16

1


21
1
23




24
1


26


1


27
2










1
2
3
4
5
6
7

37
38


6-5


6-6


41
42
43
44

6-7

45
47
48



6-8

51

55


87


2


3
6-11

4

6-12

5

6-13

6
When in Trouble

33

6-4

 Software limit protection
WR EEPROM parameter error pro2 tection
WR EEPROM check code error
2 protection
 Over-travel inhibit input protection
 Analog input1 excess protection
1 Analog input2 excess protection
2 Analog input3 excess protection
Absolute system down error

protection
Absolute counter over error

protection
Absolute over-speed error pro
tection
 Initialization failure
Absolute single turn counter

error protection
Absolute multi-turn counter er
ror protection
 Absolute status error protection
 Encoder Z-phase error protection
 Encoder CS signal error protection
Feedback scale connection er
ror protection
Feedback scale communication
1
error protection
)HHGEDFNVFDOHVWDWXVHUURU

protection
Feedback scale status 1 error
1
protection
Feedback scale status 2 error
2
protection
Feedback scale status 3 error
3
protection
Feedback scale status 4 error
4
protection
Feedback scale status 5 error
5
protection
 A-phase connection error protection
1 B-phase connection error protection
2 Z-phase connection error protection
 Compulsory alarm input protection
Motor automatic recognition
WR
error protection

Adjustment

28

36

Detail
Can be Immediate page
History cleared stop

Setup

25

34

Attribute

Protective function

Connection

18


1




Error code
Main Sub

Preparation



Control power supply undervoltage protection
Over-voltage protection
Main power supply under-voltage protection (between P and N)
Main power supply undervoltage protection
(AC interception detection)
Over-current protection
IPM error protection
Over-heat protection
Over-load protection
Over-regeneration load protection
Over-regeneration Tr error
protection
Encoder communication disconnect error protection
Encoder communication error
protection
Encoder communication data
error protection
Position deviation excess protection
Velocity deviation excess protection
+\EULGGHYLDWLRQH[FHVVHUURU
protection
Over-speed protection
2nd over-speed protection
Command pulse input frequency error protection
Command pulse multiplier error
protection
Limit of pulse replay error protection
'HYLDWLRQFRXQWHURYHUÁRZ
protection
Safety detection
IF overlaps allocation error 1
protection
IF overlaps allocation error 2
protection
IF input function number error 1
protection
IF input function number error 2
protection
IF output function number error
1 protection
IF output function number error
2 protection
&/ÀWWLQJHUURUSURWHFWLRQ
,1+ÀWWLQJHUURUSURWHFWLRQ

Detail
Can be Immediate page
History cleared stop

Before Using the Products

Protective Function (What is Error Code ?)

 
Other Other error
number



+LVWRU\7KHHUURUZLOOEHVWRUHGLQWKHHUURUKLVWRU\
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the error and then turn on
power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
  6HWWLQJRI´3U6HTXHQFHDWDODUPµLVDOVRUHTXLUHG

Note

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;;; and analog input.
6-3

7
Supplement

Note

6

1. When in Trouble

When in Trouble

Protective function (Detail of error code)

Protective
function
Control
power
supply
undervoltage
protection

Over-voltage
protection

Error code No.
Main Sub

11

12

0

0

Causes
Voltage between P and N of the converter
portion of the control power supply has
IDOOHQEHORZWKHVSHFLÀHGYDOXH
9YHUVLRQapprox.9'& approx.9$&
9YHUVLRQapprox. 145 VDC (approx.9$&
9YHUVLRQapprox. 15 VDC
1) Power supply voltage is low.
Instantaneous power failure has
occurred
2) Lack of power capacity...Power supply
voltage has fallen down due to inrush
current at the main power-on.
3) Failure of servo driver (failure of the circuit)

Measure the voltage between lines of
connector and terminal block.
99GULYHU/&/&
9GULYHU99

Voltage between P and N of the
converter portion of the control power
VXSSO\KDVH[FHHGHGWKHVSHFLÀHGYDOXH
9YHUVLRQapprox.9'& approx.9$&
9YHUVLRQapprox.9'& approx.9$&
9YHUVLRQapprox.9'& approx.9$&
1) Power supply voltage has exceeded
the permissible input voltage. Voltage
surge due to the phase-advancing
capacitor or UPS (Uninterruptible
Power Supply) have occurred.
2) Disconnection of the regeneration
discharge resistor

Measure the voltage between lines of
connector (L1, L2 and L3).

3) External regeneration discharge
resistor is not appropriate and could
not absorb the regeneration energy.
4) Failure of servo driver (failure of the
circuit)
Main power
supply
undervoltage
protection
(PN)
Main power
supply
undervoltage
protection
(AC)

13

0

1

Instantaneous power failure has occurred
between L1 and L3 for longer period than
WKHSUHVHWWLPHZLWK3U 0DLQSRZHU
RIIGHWHFWLQJWLPH ZKLOH3U /9WULS
selection at the main power-off) is set
to 1. Or the voltage between P and N of
the converter portion of the main power
VXSSO\KDVIDOOHQEHORZWKHVSHFLÀHG
value during Servo-ON.
9YHUVLRQapprox.9'& approx. 55 VAC)
9YHUVLRQapprox.9'& approx. 75 VAC)
9YHUVLRQapprox.9'& approx. 125 VAC)
1) Power supply voltage is low.
Instantaneous power failure has
occurred
2) Instantaneous power failure has
occurred.
3) Lack of power capacity...Power supply
voltage has fallen down due to inrush
current at the main power-on.
4) Phase lack...3-phase input driver has
been operated with single phase input.
5) Failure of servo driver (failure of the circuit)

6-4

Measures

1) Increase the power capacity. Change the
power supply.
2) Increase the power capacity.

3) Replace the driver with a new one.

1) Enter correct voltage. Remove a phaseadvancing capacitor.

2) Measure the resistance of the external
resistor connected between terminal B1
- B2 of the driver. Replace the external
UHVLVWRULIWKHYDOXHLV’
 &KDQJHWRWKHRQHZLWKVSHFLÀHG
resistance and wattage.
4) Replace the driver with a new one.
Measure the voltage between lines of
connector (L1, L2 and L3).

1) Increase the power capacity. Change the
power supply. Remove the causes of the
shutdown of the magnetic contactor or the
main power supply, then re-enter the power.
 6HWXSWKHORQJHUWLPHWR3U 0DLQ
power off detecting time). Set up each
phase of the power correctly.
3) Increase the power capacity. For the capacity,
UHIHUWR3'ULYHUDQG/LVWRI$SSOLFDEOH
Peripheral Equipments" of Preparation.
4) Connect each phase of the power supply
(L1, L2 and L3) correctly. For single phase,
9DQG9GULYHUXVH/DQG/
5) Replace the driver with a new one.

1. When in Trouble

1

Protective
function
*
Over-current
protection

Error code No.
Main Sub

14

Current through the converter portion has
H[FHHGHGWKHVSHFLÀHGYDOXH
1) Failure of servo driver (failure of the
circuit, IGBT or other components)

1
2) Short of the motor wire (U, V and W)

,30
Intelligent
Power Module

3) Earth fault of the motor wire

4) Burnout of the motor

6) Welding of contact of dynamic braking
relay due to frequent servo ON/OFF
operations.
7) Timing of pulse input is same as or
earlier than Servo-ON.
8) Blowout of thermal fuse due to
overheating dynamic brake circuit.
(Only F and G frames)
15

0

Temperature of the heat sink or power
GHYLFHKDVEHHQULVHQRYHUWKHVSHFLÀHG
temperature.
1) Ambient temperature has risen over
WKHVSHFLÀHGWHPSHUDWXUH
2) Over-load

2

3

4
Setup

*
Over-heat
protection

1) Turn to Servo-ON, while disconnecting the
motor. If error occurs immediately, replace
with a new driver.
2) Check that the motor wire (U, V and W) is
not shorted, and check the branched out
wire out of the connector. Make a correct
wiring connection.
3) Measure the insulation resistance between
motor wires, U, V and W and earth wire. In
case of poor insulation, replace the motor.
4) Check the balance of resister between
each motor line, and if unbalance is found,
replace the motor.
5) Check the loose connectors. If they are, or
SXOOHGRXWÀ[WKHPVHFXUHO\
6) Replace the servo driver. Do not use
Servo-ON/Servo-OFF as a means of
staring/stopping the operation.
 (QWHUWKHSXOVHVPVRUORQJHUDIWHU
Servo-ON.
8) Replace the driver.

Connection

5) Poor contact of the motor wire.

Measures

Preparation

*
IPM error
protection

0

Causes

Before Using the Products

Protective function (Detail of error code)

1) Improve the ambient temperature and
cooling condition.
2) Increase the capacity of the driver
and motor. Set up longer acceleration/
deceleration time. Lower the load.

5
Adjustment

6
When in Trouble

7

Related page

‡ :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK * in the protective function table is activated, it cannot be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
‡3´6\VWHP&RQÀJXUDWLRQDQG:LULQJµ‡3´'HWDLOVRISDUDPHWHUµ
6-5

Supplement

Note

1. When in Trouble
Protective function (Detail of error code)

Protective
function
Over-load
protection

Error code No.
Main Sub

16

0

Causes
Torque command value has exceeded
the over-load level set with Pr5.12
(Setup of over-load level) and resulted in
overload protection according to the time
characteristics (described later)
1) Load was heavy and actual torque has
exceeded the rated torque and kept
running for a long time.
2) Oscillation and hunching action due to
poor adjustment.
Motor vibration, abnormal noise.
,QHUWLDUDWLR 3U VHWXSHUURU
3) Miswiring, disconnection of the motor.
4) Machine has collided or the load has
gotten heavy. Machine has been
distorted.
5) Electromagnetic brake has been kept
engaged.
6) While wiring multiple axes, miswiring
has occurred by connecting the motor
cable to other axis.

Measures
Check that the torque (current) does not
RVFLOODWHVQRUÁXFWXDWHXSDQGRZQYHU\
much on the analog outoput and via
communication. Check the over-load alarm
display and load factor with the analog
outoput and via communication..
1) Increase the capacity of the driver
and motor. Set up longer acceleration/
deceleration time. Lower the load.
2) Make a re-adjustment.

3) Make a wiring as per the wiring diagram.
Replace the cables.
4) Remove the cause of distortion. Lower the
load.
5) Measure the voltage between brake
terminals. Release the brake
6) Make a correct wiring by matching the
correct motor and encoder wires.

‡7KHRYHUORDGSURWHFWLRQWLPHFKDUDFWHULVWLFVDUHGHVFULEHGRQ3

Caution
*

18

Overregeneration
load
protection

0

Regenerative energy has exceeded the
capacity of regenerative resistor.

Check the load factor of the regenerative
resistor from the front panel or via communication.
Do not use in the continuous regenerative
1) Due to the regenerative energy during
brake application.
deceleration caused by a large load
1) Check the running pattern (velocity
inertia, converter voltage has risen,
monitor). Check the load factor of the
and the voltage is risen further due to
regenerative resistor and over-regeneration
the lack of capacity of absorbing this
warning display. Increase the capacity
energy of the regeneration discharge
of the driver and the motor, and loosen
resistor.
the deceleration time. Use the external
regenerative resistor.
2) Check the running pattern (speed monitor).
2) Regenerative energy has not been
Check the load factor of the regenerative
DEVRUEHGLQWKHVSHFLÀHGWLPHGXHWRD
resistor. Increase the capacity of the driver
high motor rotational speed.
and the motor, and loosen the deceleration
time. Lower the motor rotational speed.
Use an external regenerative resistor.
3) Active limit of the external regenerative  6HWXS3UWR
UHVLVWRUKDVEHHQOLPLWHGWRGXW\

Caution

Note
Related page
6-6

2QFHWKLVHUURURFFXUVLWFDQQRWEHFOHDUHGDWOHDVWIRUVHF

Install an external protection such as thermal fuse without fail when
\RXVHWXS3UWR2WKHUZLVHUHJHQHUDWLYHUHVLVWRUORVHVWKH
protection and it may be heated up extremely and may burn out.

‡ :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK * in the protective function table is activated, it cannot be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
‡3´'HWDLOVRISDUDPHWHUµ

1. When in Trouble

1

Protective
function

Error code No.
Main Sub

18

*
Encoder
communication disconnection error
protection

21

1

0

Regenerative driver transistor on the
servo driver is defective.

Replace the driver.

Communication between the encoder
and the driver has been interrupted
in certain times, and disconnection
detecting function has been triggered.

Make a wiring connection of the encoder as
per the wiring diagram. Correct the miswiring
of the connector pins.

2

3

23

Position
deviation
excess
protection

24

Communication error has occurred in
data from the encoder. Mainly data
error due to noise. Encoder cables are
connected, but communication data has
some errors.

0

Data communication between the
encoder is normal, but contents of data
are not correct.
Mainly data error due to noise. Encoder
cables are connected, but communication
data has some errors.

0

Deviation pulses have exceeded the
VHWXSRI3U
1) The motor movement has not followed
the command.

1

1) Check that the motor follows to the position
command pulses. Check that the output
toque has not saturated in torque monitor.
Make a gain adjustment. Set up maximum
YDOXHWR3UDQG3U0DNHD
encoder wiring as per the wiring diagram.
Set up the longer acceleration/deceleration
time. Lower the load and speed.
 6HWXSDODUJHUYDOXHWR3U

‡,QFUHDVHWKHVHWXSYDOXHRI3U
‡/HQJWKHQWKHDFFHOHUDWLRQGHFHOHUDWLRQ
time of internal positional command speed,
or improve the follow-up characteristic by
adjusting the gain.
‡'LVDEOHWKHH[FHVVVSHHGGHYLDWLRQ
GHWHFWLRQ 3U  

5

6
When in Trouble

7
Supplement

The difference between the internal
positional command speed and actual
speed (speed deviation) exceeds the
VHWXSYDOHRI3U
Note) If the internal positional command
VSHHGLVIRUFLEO\VHWWRGXHWR
instantaneous stop caused by the
FRPPDQGSXOVHLQKLELWLQSXW ,1+ RU
CW/CCW over-travel inhibit input, the
speed deviation rapidly increases at this
PRPHQW3UVHWXSYDOXHVKRXOGKDYH
VXIÀFLHQWPDUJLQEHFDXVHWKHVSHHG
deviation also largely increases on the
rising edge of the internal positional
command speed.

4

Adjustment

 6HWXSYDOXHRI3U 3RVLWLRQ
deviation excess setup) is small.

‡6HFXUHWKHSRZHUVXSSO\IRUWKHHQFRGHU
RI'&9WR9 SD\DQDWWHQWLRQ
especially when the encoder cables are
long.
‡6HSDUDWHWKHHQFRGHUFDEOHDQGWKHPRWRU
cable if they are bound together.
‡&RQQHFWWKHVKLHOGWR)*

Setup

*
Encoder
communication data
error
protection

1

Connection

*
Encoder
communication error
protection

Velocity
deviation
excess
protection

Measures

Preparation

*
Regenerative
transistor
error
protection

Causes

Before Using the Products

Protective function (Detail of error code)

6-7

1. When in Trouble
Protective function (Detail of error code)

Protective
function
*
Hybrid
deviation
excess error
protection

Error code No.
Main Sub

25

0

Causes

Measures

‡3RVLWLRQRIORDGE\WKHH[WHUQDOVFDOH
and position of the motor by the
encoder slips larger than the setup
pulses with Pr3.28 (Setup of hybrid
deviation excess) at full-closed control.

‡&KHFNWKHFRQQHFWLRQEHWZHHQWKHPRWRU
and the load.
‡&KHFNWKHFRQQHFWLRQEHWZHHQWKHH[WHUQDO
scale and the driver.
‡&KHFNWKDWWKHYDULDWLRQRIWKHPRWRU
position (encoder feedback value) and
the load position (external scale feedback
value) is the same sign when you move the
load.
Check that the numerator and denominator
of the external scale division (Pr3.24 and
3.25) and reversal of external scale direction
(Pr3.26) are correctly set.
‡'RQRWFKDQJHFRPPDQGGLYLVLRQ
multiplication during full closed control.

‡'XULQJIXOOFORVHGFRQWUROQXPHUDWRU
of command division/multiplication is
changed or switched over.
Over-speed
protection

26

2nd Overspeed
protection

Command
pulse input
frequency
error
protection

27

Electronic
gear error
protection

Pulse
regeneration
limit
protection

6-8

28

0

The motor rotational speed has exceeded
the setup value of Pr5.13.

1

The motor rotational speed has exceeded
the setup value of Pr6.15.

‡'RQRWJLYHDQH[FHVVLYHVSHHGFRPPDQG
‡&KHFNWKHFRPPDQGSXOVHLQSXWIUHTXHQF\
and division/multiplication ratio.
‡0DNHDJDLQDGMXVWPHQWZKHQDQRYHUVKRRW
has occurred due to a poor gain adjustment.
‡0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
per the wiring diagram.

0

The frequency of command pulse input is
more than 1.2 times the setting in Pr5.32.

Check the command pulse input for
frequency.

2

Division and multiplication ratio which are
set up with the command pulse counts
per single turn and the1st and the 4th
numerator/denominator of the electronic
gear are not appropriate.
7KHFRPPDQGSXOVHVSHUPV
multiplied by the command division and
PXOWLSOLFDWLRQUDWLRH[FHHGV0SSV
7KHFRPPDQGSXOVHLQSXWÁXFWXDWHV
Noises mixed with the command pulse
input cause counting error.

‡6HWWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQ
ratio to a value as small as possible e.g.
EHWZHHQDQG
‡&KHFNWKHVHWXSYDOXHRIHOHFWURQLFJHDU
‡,ISRVVLEOHXVHWKHOLQHGULYHU,)
‡6HW3U VHWWLQJRIPD[FRPPDQGSXOVH
LQSXW WRDYDOXHOHVVWKDQDQGHQDEOH
GLJLWDOÀOWHU

0

The output frequency of pulse
regeneration has exceeded the limit.

‡&KHFNWKHVHWXSYDOXHVRI3UDQG
‡7RGLVDEOHWKHGHWHFWLRQVHW3UWR

1. When in Trouble

1

Protective
function

Error code No.
Main Sub

0

Measures

Positional deviation of encoder pulse
reference has exceeded 2  

‡&KHFNWKDWWKHPRWRUUXQVDVSHUWKH
position command pulses.
‡&KHFNWKDWWKHRXWSXWWRTXHKDVQRW
saturated in torque monitor.
‡0DNHDJDLQDGMXVWPHQW
‡6HWXSPD[LPXPYDOXHWR3UDQG
Pr5.22.
‡0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
per the wiring diagram.

Safety input
protection

30

0

Input photocoupler of both or one of
safety input 1 and 2 is OFF.

Check wiring of safety input 1 and 2.

*
I/F input
duplicated
allocation
error 1
protection

33

0

Input signals (SI1, SI2, SI3, SI4, SI5) are
assigned with two functions.

Allocate correct function to each connector
pin.

*
I/F input
duplicated
allocation
error 2
protection

1

,QSXWVLJQDOV 6,6,6,6,6, 
are assigned with two functions.

*
I/F input
function
number error
1 protection

2

Input signals (SI1, SI2, SI3, SI4, SI5) are
DVVLJQHGZLWKXQGHÀQHGQXPEHU

*
I/F input
function
number error
2 protection

3

,QSXWVLJQDOV 6,6,6,6,6, 
DUHDVVLJQHGZLWKXQGHÀQHGQXPEHU

*
I/F output
function
number error
1 protection

4

Output signals (SO1, SO2, SO3) are
DVVLJQHGZLWKXQGHÀQHGQXPEHU

*
I/F output
function
number error
2 protection

5

2

3

4
Setup

29

Connection

Deviation
counter
RYHUÁRZ
protection

Preparation

Causes

Before Using the Products

Protective function (Detail of error code)

5
Adjustment

6
When in Trouble

Output signals (SO4, SO5, SO6) are
DVVLJQHGZLWKXQGHÀQHGQXPEHU

7
‡ :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK * in the protective function table is activated, it cannot be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
‡ 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;DQGDQODRJLQSXW


Supplement

Note

1. When in Trouble
Protective function (Detail of error code)

Protective
function
*
CL
assignment
error

Error code No.
Main Sub

33

*
INH
assignment
error
Software
limit
protection

34

Causes

6

Counter clear function is assigned to a
signal number other than SI7.

7

Command pulse inhibit input function is
assigned to a signal number other than
6,

0

When a position command within the
VSHFLÀHGLQSXWUDQJHLVJLYHQWKHPRWRU
operates outside its working range
VSHFLÀHGLQ3U
1) Gain is not appropriate.

2) Pr5.14 setup value is low.

Allocate correct function to each connector
pin.

1) Check the gain (balance between position
loop gain and speed loop gain) and inertia
ratio.
2) Increase the setup value of Pr5.14. Or,
6HW3UWRWRGLVDEOHWKHSURWHFWLYH
function.

Data in parameter storage area has been
damaged when reading the data from
EEPROM at power-on.

‡6HWXSDOOSDUDPHWHUVDJDLQ
‡,IWKHHUURUSHUVLVWVUHSODFHWKHGULYHU LW
may be a failure.) Return the product to the
dealer or manufacturer.

'DWDIRUZULWLQJFRQÀUPDWLRQWR((3520
has been damaged when reading the
data from EEPROM at power-on.

Replace the driver. (it may be a failure).
Return the product to a dealer or
manufacturer.

0

:LWK3URYHUWUDYHOLQKLELWLQSXW
VHWXS ERWKSRVLWLYHDQGQHJDWLYH
over-travel inhibit inputs (POT/NOT)
have been ON.
:LWK3U SRVLWLYHRUQHJDWLYH
over-travel inhibit input has turned ON.

Check that there are not any errors in
switches, wires or power supply which are
connected to positive direction/ negative
direction over-travel inhibit input. Check that
the rising time of the control power supply
(DC12 to 24V) is not slow.

0

+LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH
analog input 1 than the value that has
been set by Pr4.24.

‡6HWXS3UFRUUHFWO\&KHFNWKH
FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
‡6HWXS3UWRDQGLQYDOLGDWHWKH
protective function.

Analog
input 2 (AI2)
excess
protection

1

+LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH
analog input 2 than the value that has
been set by Pr4.27.

‡6HWXS3UFRUUHFWO\&KHFNWKH
FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
‡6HWXS3UWRDQGLQYDOLGDWHWKH
protective function.

Analog
input 3 (AI3)
excess
protection

2

+LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH
analog input 3 than the value that has
EHHQVHWE\3U

‡6HWXS3UFRUUHFWO\&KHFNWKH
FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
‡6HWXS3UWRDQGLQYDOLGDWHWKH
protective function.

*
EEPROM
parameter
error
protection

36

*
EEPROM
check code
error
protection

37

*
Over-travel
inhibit
input
protection

38

Analog
input 1 (AI1)
excess
protection

39

Note



Measures

0
1
2
0
1
2

‡ 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW

1. When in Trouble

1

Protective
function
Absolute
system
down error
protection

Error code No.
Main Sub

40

0

Causes
Voltage of the built-in capacitor has fallen
EHORZWKHVSHFLÀHGYDOXHEHFDXVHWKH
power supply or battery for the absolute
encoder has been down.

41

*

0

Absolute
counter
over error
protection
42

0

After connecting the power supply for the
battery, clear the absolute encoder.

Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.

Multi-turn counter of the absolute
HQFRGHUKDVH[FHHGHGWKHVSHFLÀHG
value.

‡6HW3UWRWRLJQRUHWKHPXOWLWXUQ
counter over.
‡/LPLWWKHWUDYHOIURPWKHPDFKLQHRULJLQ
within 32767 revolutions.

The motor speed has exceeded the
VSHFLÀHGYDOXHZKHQRQO\WKHVXSSO\
from the battery has been supplied to
17-bit encoder during the power failure.

‡&KHFNWKHVXSSO\YROWDJHDWWKHHQFRGHU
VLGH 9“
‡&KHFNWKHFRQQHFWLQJFRQGLWLRQRIWKH
FRQQHFWRU;

Caution

2

3
Connection

Absolute
overspeed error
protection

Measures

Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.

43

0

Encoder initialization error was detected.

Replace the motor.

*
Absolute
single turn
counter error
protection *1

44

0

$EVROXW
single turn counter error protection
LQFUHPHQWDO
single turn counter error protection

Replace the motor.

*
Absolute
multi-turn
counter error
protection *1

45

0

$EVROXW
multi-turn counter error protection
LQFUHPHQWDO
single turn counter error protection

Replace the motor.

*
Absolute
status error
protection *1

47

0

Encoder has been running at faster
VSHHGWKDQWKHVSHFLÀHGYDOXHDWSRZHU
on.

Arrange so as the motor does not run at
power-on.

*
Encoder
Z-phase
error
protection*1

48

0

Missing pulse of Z-phase of serial
incremental encoder has been detected.
The encoder might be a failure.

Replace the motor.

4
Setup

*
Encoder
initialization
error
protection *1

Preparation

Caution

Before Using the Products

Protective function (Detail of error code)

5
Adjustment

6
When in Trouble

7
‡ :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK * in the protective function table is activated, it cannot be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
6-11

Supplement

Note

1. When in Trouble
Protective function (Detail of error code)

Protective
function

Error code No.
Main Sub

Measures

*
Encoder CS
signal error
protection*1

49

0

CS signal logic error of serial incremental
encoder has been detected.
The encoder might be a failure.

Replace the motor.

*
Feedback
scale
wiring error
protection

50

0

Communication between the external
scale and the driver has been interrupted
in certain times, and disconnection
detecting function has been triggered.

‡0DNHDZLULQJFRQQHFWLRQRIWKHH[WHUQDO
scale as per the wiring diagram.
‡&RUUHFWWKHPLVZLULQJRIWKHFRQQHFWRUSLQV

1

Communication error has occurred in
data from the external scale. Mainly data
error due to noise. External scale cables
are connected, but communication date
has some error.

‡6HFXUHWKHSRZHUVXSSO\IRUWKHH[WHUQDO
VFDOHRI'&“ WR9 SD\
attention especially when the external scale
cables are long.
‡6HSDUDWHWKHH[WHUQDOVFDOHFDEOHDQGWKH
motor cable if they are bound together.
‡&RQQHFWWKHVKLHOGWR)*UHIHUWRZLULQJ
diagram.

0

%LWRIWKHH[WHUQDOVFDOHHUURUFRGH
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.

Remove the causes of the error, then clear
the external scale error from the front panel.
And then, shut off the power to reset.

*
External
scale status
1 error
protection *1

1

Bit 1 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.

*
External
scale status
2 error
protection *1

2

Bit 2 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.

*
External
scale status
3 error
protection *1

3

Bit 3 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.

*
External
scale status
4 error
protection *1

4

Bit 4 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.

*
External
scale status
5 error
protection *1

5

Bit 5 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.

*
External
communication data
error
protection

*
External
scale status
0 error
protection *1

Note

6-12

Causes

51

‡ :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK * in the protective function table is activated, it cannot be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
‡ 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;

1. When in Trouble

1

Protective
function
*
A-phase
wiring error
protection

Error code No.
Main Sub

55

0

Causes

Before Using the Products

Protective function (Detail of error code)

Measures

A-phase wiring in the external scale is
defective, e.g. discontinued.

Check the A-phase wiring connection.

2

1

B-phase wiring in the external scale is
defective, e.g. discontinued.

Check the B-phase wiring connection.

*
Z-phase
wiring error
protection

2

Z-phase wiring in the external scale is
defective, e.g. discontinued.

Check the Z-phase wiring connection.

Preparation

*
B-phase
wiring error
protection

3
Forced alarm input (E-STOP) is applied.

87

*
Motor
automatic
recognition
error
protection

95 0 to 4 The motor and the driver has not been
matched.

*
Other error

99

0

Check the wiring of forced alarm input
(E-STOP).

Connection

Forced
alarm input
protection

Replace the motor which matches to the
driver.

4
‡7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
‡,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Stop using the products, and replace the
motor and the driver. Return the products to
the dealer or manufacturer.
‡$GMXVWWKHFRQGLWLRQRIWKHVDIHW\LQSXW
safety input 2 and then start the alarm clear.

Control circuit has malfunctioned due to
excess noise or other causes.
Some error has occurred inside of the
driver while triggering self-diagnosis
function of the driver.

‡7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
‡,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Stop using the products, and replace the
motor and the driver. Return the products to
the dealer or manufacturer.

5
Adjustment

Excessive noise or the like is detected as
an abnormal signal.
This type of error will occur if the alarm
clear is attempted while the safety input
1/safety input 2 is not in normal state
(input photocoupler is ON).

Setup

Other
No.

0

6
When in Trouble

7
Supplement

6-13

1. When in Trouble
Protective function (Detail of error code)

Time characteristics of Err16.0 (Overload protection)
Overload protection time characteristics

Motor Type: M * MD
MSMD 50W
MSMD 100W（100V）

Time [s]
100

MSMD 100W（200V）
MSMD
MHMD
MSMD
MHMD

200W
200W
400W
400W

MSMD 750W
MHMD 750W
* Only for position control type.

10

1

0.1

115
100

200

300

400

500

Torque [%]

Motor Type: M * ME
MSME 50W
MSME 100W（100V）

Time [s]
100

MSME 100W（200V）
MSME 200W
MSME 400W

10

MSME 750W（200V）
MSME 750W(400V),
1.0kW to 5.0kW
MDME 400W(400V),
600W(400V),
1.0kW to 15.0kW
MFME 1.5kW to 4.5kW
MHME 1.0kW to 7.5kW
MGME 0.9kW to 6.0kW

1

0.1

115
100

200

300

400

500

Torque [%]

* MDME 7.5kW to 15.0kW, MHME 7.5kW and MGME 6.0kW is less than 300%.
* Only for position control type is not provided with MSME 50W to 750W(200V), 750W(400V),
MDME 400W(400V), 600W(400V), 7.5kW to 15.0kW, MFME, MHME 7.5kW and MGME 4.5kW, 6.0kW.

Caution

6-14

Use the motor so that actual torque stays in the continuous running range shown in “S-T
characteristic” of the motor. For the S-T characteristics, see P.7-55 Motor characteristics
(S-T characteristics).

1. When in Trouble

1

Software Limit Function (Err34.0)

Conditions under which the software limit works
Control mode

3

‡3RVLWLRQFRQWURO)XOOFORVHGFRQWURO
‡6KRXOGEHLQVHUYRRQFRQGLWLRQ
‡,QSXWVLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQGLQSXW
inhibit, and parameters except for controls such as torque limit setup,
are correctly set, assuring that the motor can run smoothly.

4
Setup

3) Cautions
‡ 7KLVIXQFWLRQLVQRWDSURWHFWLRQDJDLQVWWKHDEQRUPDOSRVLWLRQFRPPDQG
‡ :KHQWKLVVRIWZDUHOLPLWSURWHFWLRQLVDFWLYDWHGWKHPRWRUGHFHOHUDWHVDQGVWRSVDFFRUGLQJWR3U VHTXHQFHDWDODUP  

The work (load) may collide to the machine end and be damaged depending on the
load during this deceleration, hence set up the range of Pr5.14 including the deceleration movement.
‡ 7KLV VRIWZDUH OLPLW SURWHFWLRQ ZLOO EH LQYDOLGDWHG GXULQJ WKH WULDO UXQ DQG IUHTXHQF\
characteristics functioning of the PANATERM.

Connection

Others

2
Preparation

1) Outline
 UPLQ@LQRSHUDWLQJFRQGLWLRQ
Factor in ( ) is margin to prevent frequent activation of over-speed protection.
When running the motor at a low speed during initial adjustment stage, setup the overspeed protection by multiplying the adjusting speed by a certain margin to protect the motor against possible oscillation.
Related page

P.4-46 (Pr5.13)
(Continued ...)

6-18

2. Setup of gain pre-adjustment protection

1

2
Preparation

During the position control or full-closed control, this function detects potential excesVLYHGLIIHUHQFHEHWZHHQWKHSRVLWLRQDOFRPPDQGDQGPRWRUSRVLWLRQDQGLVVXHV(UU
Excess positional deviation protection.
([FHVV SRVLWLRQDO GHYLDWLRQ OHYHO FDQ EH VHW WR 3U 6HWXS RI SRVLWLRQDO GHYLDWLRQ
excess. The deviation can be detected through command positional deviation [pulse
(command unit)] and encoder positional deviation [pulse (encoder unit)], and one of
ZKLFKFDQEHVHOHFWHGE\3U3RVLWLRQVHWXSXQLWVHOHFW 6HHWKHFRQWUROEORFNGLDgram.)
'HIDXOWVHWWLQJLV>SXOVH FRPPDQGXQLW @
Because the positional deviation during normal operation depends on the operating
VSHHGDQGJDLQVHWWLQJÀOOWKHHTXDWLRQEHORZEDVHGRQ\RXURSHUDWLQJFRQGLWLRQDQG
LQSXWWKHUHVXOWLQJYDOXHWR3U

Before Using the Products

4) Setup of the excess positional deviation protection

3
Connection

‡:KHQ3U  GHWHFWLRQWKURXJKFRPPDQGSRVLWLRQDOGHYLDWLRQ
3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9FNSð WR
9FPD[LPXPIUHTXHQF\RISRVLWLRQDOFRPPDQGSXOVH>SXOVH FRPPDQGXQLW V@
.SSRVLWLRQORRSJDLQ>V@
Factor in ( ) is margin to prevent frequent activation of excess positional deviation

4

protection.

3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9H.S× WR
9HPD[LPXPRSHUDWLRQIUHTXHQF\>SXOVHV@LQHQFRGHUXQLWRUIXOOFORVHGXQLW
.SSRVLWLRQORRSJDLQ>V@
Note 3) When switching position loop gain Kp, select the smallest value for calculation.
1RWH  :KHQ3U VHWXSVRISRVLWLRQDOFRPPDQGILOWHUDQGGDPSLQJFRQWUROKDYH

3 3U 3 3U
5) Setup of motor working range

During the position control or full-closed control, this function detects the motor position which exceeds the revolutions set to Pr5.14 Motor working range setup, and isVXHV(UUSoftware limit protection.
P.4-46 (Pr5.14)

7
Supplement

Related page

6
When in Trouble

no effect.
Related page

5
Adjustment

‡:KHQ3U  GHWHFWLRQWKURXJKHQFRGHUSRVLWLRQDOGHYLDWLRQ
full-closed positional deviation)

Setup

Note 1) When switching position loop gain Kp, select the smallest value for calculation.
Note 2) When using the positional command filter and damping control, add the
following values.

3RVLWLRQDOFRPPDQGVPRRWKLQJILOWHU9F× filter time constant [s]

3RVLWLRQDOFRPPDQG),5ILOWHU9F× filter time constant [s]/2

'DPSLQJFRQWURO9F › ×GDPSLQJIUHTXHQF\>+]@



2. Setup of gain pre-adjustment protection

6) Setup of hybrid deviation excess error protection

At the initial operation with full-closed control, operation failure may occur due to reverse connection of external scale or wrong external scale division ratio.
7R LQGLFDWH WKLV W\SH RI GHIHFW (UU +\EULG GHYLDWLRQ H[FHVV HUURU SURWHFWLRQ LV LVsued when the deviation of motor position (encoder unit) and load position (external
scale unit) exceed Pr3.28 Setup of hybrid deviation excess.
'HIDXOWVHWWLQJLVSXOVH FRPPDQGXQLW %HFDXVHWKHGHYLDWLRQLQQRUPDORSHUDtion varies with the operation speed and gain setup. Add a margin to this setting according to your operating condition.
Related page



P.4-32 (Pr3.28)

3. Troubleshooting

When in Trouble

Motor Does Not Run

1

:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
&ODVVLÀFDWLRQ
Parameter

2

Check that the present
control mode is correct
with monitor mode of the
front panel.

 6HWXS3UDJDLQ
2) Check that the input to control mode switching
&02'( RIWKH&QQHFWRU;LVFRUUHFWZKHQ
3ULVVHWWRWR

Selection of
torque limit is not
correct

Check that the external
analog input (N-ATL/
P-ATL) is not used for the
torque limit.

 6HWXS3UWRDQGDSSO\>9@WR1$7/DQG
>9@WR3$7/ZKHQ\RXXVHWKHH[WHUQDOLQSXW
 6HWXS3UWRDQGVHWXSWKHPD[YDOXHWR
3UZKHQ\RXXVHWKHSDUDPHWHUYDOXH

Setup of
electronic gear
is not correct.
(Position/Fullclosed)

Check that the motor
moves by expected
revolution against the
command pulses.

 &KHFNWKHVHWXSVRI3U3UDQG3UWR
3UDJDLQ
2) Connect the electronic gear switching input (DIV) of
&RQQHFWRU;WR&20²RULQYDOLGDWHWKHGLYLVLRQ
multiplication switching by setting up the same
YDOXHWR3UDQG3U

Servo-ON input
of Connector
; 65921 LV
open.

In the front panel monitor
mode, is the Pin No.
corresponding to SRVON in “ - ” state?

Check and make a wiring so as to connect the SRV21LQSXWWR&20²

Positive/negative
direction overtravel inhibit input
RI&RQQHFWRU;
(NOT/POT) is
open.

In the front panel monitor
mode, is the Pin No.
corresponding to NOT/
POT in “ A ” state?

1) Check and make a wiring so as to connect both
127327LQSXWVWR&20²
 6HWXS3UWR LQYDOLG DQGUHVHWWKHSRZHU

Command pulse
input setup
is incorrect.
(Position/Fullclosed)

Check that the input
pulse counts and
variation of command
pulse sum does not slips,
with monitor mode of the
front panel.

1) Check that the command pulses are entered
FRUUHFWO\WRWKHGLUHFWLRQVHOHFWHGZLWK3U
2) Check that the command pulses are entered
FRUUHFWO\LQWKHIRUPDWVHOHFWHGZLWK3U

Command
pulse input
LQKLELWLRQ ,1+ RI
&RQQHFWRU;LV
open. (Position/
Full-closed)

In the front panel monitor
mode, is the Pin No.
FRUUHVSRQGLQJWR,1+LQ
“ A ” state?

 &KHFNDQGPDNHDZLULQJVRDVWRFRQQHFWWKH,1+
LQSXWWR&20²
2) Set up Pr5.18 to 1 (invalid).

Counter clear
input (CL) of
&RQQHFWRU;
is connected to
&20² 3RVLWLRQ
Full-closed)

In the front panel monitor
mode, is the Pin No.
corresponding to CL in
“ A ” state?

1) Check and make wiring so as to open the CL input
 6HWXS3UWR LQYDOLG 

3

4
Setup

Setup of the
control mode is
not correct

Connection

5
Adjustment

6
When in Trouble

7
Supplement

Related page

Measures

Preparation

Wiring

Causes

Before Using the Products

6

‡3´+RZWR8VHWKH)URQW3DQHOµ‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
‡3´'HWDLOVRISDUDPHWHUµ

6-21

3. Troubleshooting
Motor Does Not Run

:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
&ODVVLÀFDWLRQ
Wiring

Installation

Related page

6-22

Causes

Measures

Speed command
is invalid
(Velocity)

Check that the velocity
command input method
(external analog
command/internal
velocity command) is
correct.

 &KHFNWKHVHWXSVRI3UWR3UDJDLQE\
VHWWLQJXS3UWRZKHQ\RXXVHWKHH[WHUQDO
analog command.
 6HWXS3UWR3UDQG3UWR3UE\
VHWWLQJXS3UWRHLWKHURQHRIRUZKHQ
you use the internal speed command.

Speed zero
clamp input
(ZEROSPD) of
&RQQHFWHU;LV
open.
(Velocity/Torque)

In the front panel
monitor mode, is the Pin
No. corresponding to
ZEROSPD in “ A ” state?

1) Check and make wiring so as to connect speed
]HURFODPSLQSXWWR&20²
2) Set up Pr3.15.

Torque command
is invalid (Torque)

Check that the torque
command input method
(SPR/TRQR input,
P-ATL/TRQR input) is
correct.

1) Check that the input voltage is applied correctly by
VHWWLQJXS3UWRZKHQ\RXXVH6357545
input.
2) Check that the input voltage is applied correctly by
setting up Pr3.17 to 1, when you use the P-ATL/
TRQR input.

Velocity control is
invalid (Torque)

Check that the velocity
limit input method
(parameter velocity, SPR/
TRQR/SPL input) is
correct.

1) Set up the desired value to Pr3.21 by setting up
3UWRZKHQ\RXXVHWKHSDUDPHWHUVSHHG
2) Check that the input voltage is applied correctly
by setting up Pr3.17 to 1, when you use the SPR/
TRQR/SPL input.

Main power is
shut off.

In the front panel monitor
mode, is the Pin No.
FRUUHVSRQGLQJWR65'<
in “ - ” state?

Check the wiring/voltage of main power of the driver
(L1, L2 and L3).

The motor shaft
drags, the motor
does not run.

1)Check that you can
turn the motor shaft,
after turning off the
power and separate it
from the machine.
2)Check that you can
turn the motor shaft
while applying DC24V
to the brake in case
of the motor with
electromagnetic brake.

If you cannot turn the motor shaft, consult with the
dealer for repair.

‡3´'HWDLOVRISDUDPHWHUµ‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

6
&ODVVLÀFDWLRQ

Adjustment

Unstable Rotation (Not Smooth),
Motor Runs Slowly Even with Speed Zero at Velocity Control Mode

Causes
Setup of the control mode is not
correct.

Measures
,I\RXVHWXS3UWR 9HORFLW\FRQWUROPRGH E\PLVWDNHDW
position control mode, the motor runs slowly at servo-ON due to
VSHHGFRPPDQGRIIVHW&KDQJHWKHVHWXSRI3UWR

2

Velocity and position command
are not stable.

&KHFNWKHPRWRUPRYHPHQWZLWKFRQQHFWRU;RIWKHIURQWSDQHO
or the waveform graphic function of the PANATERM. Review the
wiring, connector contact failure and controller.

Each input signal of Connector
;LVFKDWWHULQJ
1) Servo-ON signal

 &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV
Correct the wiring and connection so that the Servo-ON signal
can be turned on normally. Review the controller.
2) Check the wiring and connection between Pin-18 and 17, 16 and
RIWKH&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH&RUUHFWWKH
wiring and connection so that Positive/Negative direction torque
limit input can be entered normally.
 &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the deviation counter input can
be turned on normally. Review the controller.
4) Check the wiring and connection between Pin-26 and 41of the
&RQQHFWRU;XVLQJ'LVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the speed zero clamp input can
be entered normally. Review the controller.
5) Check the wiring and connection between Pin-33 and 41of the
&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the command pulse inhibition
input can be entered normally. Review the controller.

2) Positive/Negative direction
torque limit input signal

3) Deviation counter input signal

4) Speed zero clamp signal

5) Command pulse inhibition
input

8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;
6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQH FPRUORQJHU LQWKH
separate duct.

Slip of offset

Check the voltage between Pin-14 and 15 (speed command input)
using a tester or an oscilloscope.

Noise is on the position
command.

8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;
6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQH FPRUORQJHU LQWKH
separate duct.

4

5
Adjustment

Noise is on the velocity
command.

3

Setup

,QFUHDVHWKHVHWXSRI3UVWYHORFLW\ORRSJDLQ(QWHUWRUTXH
ÀOWHURI3UDQGLQFUHDVHWKHVHWXSRI3UDJDLQ

Connection

Gain adjustment is not proper.

Preparation

Wiring

Before Using the Products

When in Trouble

Parameter

1

3. Troubleshooting

6
When in Trouble

7
Supplement

Related page

‡3´'HWDLOVRISDUDPHWHUµ‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
‡3´2XWOLQHRI6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ

6-23

6

3. Troubleshooting

When in Trouble

Positioning Accuracy Is Poor

&ODVVLÀFDWLRQ

Causes
Position command is not correct.
(Amount of command pulse)

Count the feedback pulses with a monitor function of the
PANATERM or feedback pulse monitor mode of the console while
repeating the movement of the same distance. If the value does
not return to the same value, review the controller. Make a noise
measure to command pulse.

Captures the positioning
complete signal at the edge.

Monitor the deviation at positioning complete signal reception
ZLWKWKH&RQQHFWRU;RUWKHZDYHIRUPJUDSKLFIXQFWLRQRIWKH
PANATERM.
Make the controller capture the signal not at the edge but with
some time allowance.

Shape or width of the
command pulse is not per the
VSHFLÀFDWLRQV

If the shape of the command pulse is broken or narrowed, review
the pulse generating circuit. Make a noise measure.

Noise is superposed on
deviation counter clear input CL
&RQQHFWRU;3LQ 

Make a noise measure to external DC power supply and make no
wiring of the unused signal lines.

Adjustment

Position loop gain is small.

Check the position deviation with the monitor function of the
PANATERM or at the monitor mode of the console.
,QFUHDVHWKHVHWXSRI3UZLWKLQWKHUDQJHZKHUHQRRVFLOODWLRQ
occurs.

Parameter

Setup of the positioning
complete range is large.

Lower the setup of Pr4.31 within the range where no chattering of
complete signal occurs.

Command pulse frequency have
H[FHHGHGNSSVRU0SSV

Lower the command pulse frequency. Change the division/
multiplication ratio of 1st and 2nd numerator of command division/
PXOWLSOLFDWLRQ3UDQG3U8VHDSXOVHOLQHLQWHUIDFH
exclusive to line driver when pulse line interface is used.

Setup of the division/
multiplication is not correct.

Check if the repetition accuracy is same or not. If it does not
change, use a larger capacity motor and driver.

Velocity loop gain is proportion
action at motor in stall.

‡6HWXS3UDQG3URIWLPHFRQVWDQWRIYHORFLW\ORRS
LQWHJUDWLRQWRRUVPDOOHU
‡5HYLHZWKHZLULQJDQGFRQQHFWLRQVRWKDWWKHFRQQHFWLRQEHWZHHQ
Pin-27 and 41 of the gain switching input connector, Connector
;EHFRPHVRIIZKLOH\RXVHWXS3URIQGJDLQVHWXSWR

Each input signal of Connector
;LVFKDWWHULQJ
1) Servo-ON signal

 &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
FRQQHFWRU&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the servo-On
signal can be turned on normally. Review the controller.
 &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
FRQQHFWRU&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the deviation
counter clear input can be turned on normally. Review the
controller.
3 Check the wiring and connection between Pin-18 and 17, 16 and
RIWKHFRQQHFWRU&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH
Correct the wiring and connection so that Positive/Negative
direction torque limit input can be entered normally.
4) Check the wiring and connection between Pin-33 and 41of the
FRQQHFWRU&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the command
pulse inhibition input can be entered normally. Review the controller.

System

Wiring

2) Deviation counter clear input
signal

3) Positive/Negative direction
torque limit input signal

4) Command pulse inhibition
input

Installation

Related page

6-24

Measures

Load inertia is large.

Check the overshoot at stopping with graphic function of the
PANATERM. If no improvement is obtained, increase the driver and
motor capacity.

‡3´'HWDLOVRISDUDPHWHUµ‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
‡3´2XWOLQHRI6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ

3. Troubleshooting

When in Trouble

Origin Point Slips

&ODVVLÀFDWLRQ
System

Measures

Z-phase is not detected.

Check that the Z-phase matches to the center of proximity dog.
Execute the homing matching to the controller correctly.

+RPLQJFUHHSVSHHGLVIDVW

Lower the homing speed at origin proximity. Or widen the origin
sensor.

Chattering of proximity sensor
(proximity dog sensor) output .

Check the dog sensor input signal of the controller with
oscilloscope.
Review the wiring near to proximity dog and make a noise measure
or reduce noise.

Noise is on the encoder line.

5HGXFHQRLVH LQVWDOODWLRQRIQRLVHÀOWHURUIHUULWHFRUH VKLHOG
treatment of I/F cables, use of a twisted pair or separation of power
and signal lines.

2

Check the Z-phase signal with oscilloscope. Check that the PinRIWKHFRQQHFWRUFRQQHFWRU;LVFRQQHFWHGWRWKHHDUWKRIWKH
controller. Connect the earth of the controller because the open
collector interface is not insulated. Replace the motor and driver.
Request for repair.

Miswiring of Z-phase output.

Check the wiring to see only one side of the line driver is connected
or not. Use a CZ output (open collector if the controller is not
differential input.

3
Connection

No Z-phase signal output.

Preparation

Wiring

Causes

1
Before Using the Products

6

4
Setup

6

3. Troubleshooting

When in Trouble

Abnormal Motor Noise or Vibration

Causes

Measures

Wiring

Noise is on the speed command.

Measure the speed command inputs of Pin-14 and 15 of the
connector, &RQQHFWRU; with an oscilloscope. Reduce noise
LQVWDOODWLRQRIQRLVHÀOWHURUIHUULWHFRUH VKLHOGWUHDWPHQWRI,)
cables, use of a twisted pair, separation of power and signal lines.

Adjustment

Gain setup is large.

/RZHUWKHJDLQE\VHWWLQJXSORZHUYDOXHVWR3UDQGRI
YHORFLW\ORRSJDLQDQG3UDQG3URISRVLWLRQORRSJDLQ

Installation

Resonance of the machine and
the motor.

5HDGMXVW3UDQG
Check if the machine resonance exists or not with frequency
characteristics analyzing function of the PANATERM. Set up the
QRWFKIUHTXHQF\WR3U3U3URU3ULIUHVRQDQFH
exists.

Motor bearing

Check the noise and vibration near the bearing of the motor while
running the motor with no load. Replace the motor to check.
Request for repair.

Electro-magnetic sound, gear
noise, rubbing noise at brake
engagement, hub noise or
rubbing noise of encoder.

Check the noise of the motor while running the motor with no load.
Replace the motor to check. Request for repair.

Adjustment

&ODVVLÀFDWLRQ

5

6
When in Trouble
Supplement

6-25

7

6

3. Troubleshooting

When in Trouble
&ODVVLÀFDWLRQ

Causes

Measures

Adjustment

Gain adjustment is not proper.

Check with graphic function of PANATERM or monitor (connector
; 0DNHDFRUUHFWJDLQDGMXVWPHQW5HIHUWR´$GMXVWPHQWµ

Installation

Load inertia is large.

Check with graphic function of PANATERM or monitor (Connector
; 0DNHDQDSSURSULDWHDGMXVWPHQW,QFUHDVHWKHPRWRUDQG
driver capacity and lower the inertia ratio. Use a gear reducer.

Looseness or slip of the
machine.

Review the mounting to the machine.

Ambient temperature,
environment.

Lower the temperature with cooling fan if the ambient temperature
exceeds the predications.

Stall of cooling fan, dirt of fan
ventilation duct.

Check the cooling fans of the driver and the machine. Replace the
GULYHUIDQRUUHTXHVWIRUUHSDLU 7KHXSSHUIDQRQWKH+IUDPHGULYHU
stops during servo OFF to save energy. This is normal.)

Mismatching of the driver and
the motor.

Check the name plates of the driver and the motor. Select a
correct combination of them referring to the instruction manual or
catalogue.

Failure of motor bearing.

Check that the motor does not generate rumbling noise while
turning it by hand after shutting off the power. Replace the motor
and request for repair if the noise is heard.

Electromagnetic brake is kept
engaged (left un-released).

Check the voltage at brake terminals. Apply the power (DC24V) to
release the brake.

Motor failure (oil, water or
others)

Avoid the installation place where the motor is subject to high
temperature, humidity, oil, dust or iron particles.

Motor has been turned by
external force while dynamic
brake has been engaged.

Check the running pattern, working condition and operating status,
and inhibit the operation under the condition of the left.

6

3. Troubleshooting

When in Trouble
&ODVVLÀFDWLRQ

Motor Speed Does Not Reach to the Setup,
Motor Revolutions (Travel) Is Too Large or Small

Causes

Measures

Parameter

Velocity command input gain is
not correct.

&KHFNWKDWWKHVHWXSRI3UVSHHGFRPPDQGLQSXWJDLQLV
PDGHVRDVWRPDNHWKHVHWXSRIPDNHVUPLQ9

Adjustment

Position loop gain is low.

6HWXS3UDQG3USRVLWLRQORRSJDLQWRDSSUR[

Division/Multiplication is not
proper.

6HWXSFRUUHFWYDOXHVWR3UVWQXPHUDWRURIHOHFWURQLF
JHDU3UQXPHUDWRUPXOWLSOLHURIHOHFWURQLFJHDUDQG3U
denominator of electronic gear. Refer to parameter setup at each
mode.

Related page

6-26

Overshoot/Undershoot,
Overheating of the Motor (Motor Burn-Out)

‡3´'HWDLOVRISDUDPHWHUµ‡3´2XWOLQHRI6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ

3. Troubleshooting

When in Trouble

Parameter Returns to Previous Setup

&ODVVLÀFDWLRQ

Causes

Parameter

No writing to EEPROM has been
carried out before turning off the
power.

1
Before Using the Products

6

Measures
5HIHUWR3´((3520:ULWLQJ0RGHµRI3UHSDUDWLRQ

2
Preparation

3
Connection

4
Setup

5
Adjustment

6
When in Trouble

7
Supplement

6-27

MEMO

6-28

7. Supplement

1
Before Using the Products

1. Safety function
Outline ........................................................................................................7-2
Input & output signals .................................................................................7-3

2
Preparation

Safety Circuit Block Diagram ......................................................................7-5
Timing Chart ...............................................................................................7-6
Example of connection ...............................................................................7-8

2. Absolute system
Outline ......................................................................................................7-10
&RQÀJXUDWLRQ ............................................................................................7-11
Battery (for Backup) Installation ................................................................7-12
Setup (Initialization) of Absolute Encoder .................................................7-16
Transferring absolute data ........................................................................7-16
Transferring external scale absolute data .................................................7-21
Display of Battery Alarm ...........................................................................7-25

3
Connection

3.Outline of Setup Support Software, “PANATERM”
Setup on the PC .......................................................................................7-26

4. Communication
Outline ......................................................................................................7-27
6SHFLÀFDWLRQV............................................................................................7-28
List of Communication Command .............................................................7-39

4

Details of Communication Command .......................................................7-40
Setup

5. Motor Characteristics (S-T Characteristics)
Motor .........................................................................................................7-55

6. Dimensions
Driver A-frame, B-frame .........................................................................7-73
C-frame, D-frame (200 V) ............................................................7-74
D-frame (400 V), E-frame (200 V) ................................................7-75
E-frame (400 V), F-frame .............................................................7-76

5
Adjustment

G-frame ........................................................................................7-77
H-frame ........................................................................................7-78
Motor .........................................................................................................7-79

7. Options
Noise Filter ................................................................................................7-94

6
When in Trouble

Surge Absorber .........................................................................................7-98
Noise Filter for Signal Lines ......................................................................7-99
Junction Cable for Encoder ....................................................................7-100
Junction Cable for Motor (Without brake) ...............................................7-103
Junction Cable for Motor (With brake) ....................................................7-106
Junction Cable for Brake ........................................................................7-108
Connector Kit ..........................................................................................7-109
Battery For Absolute Encoder .................................................................7-118
Mounting Bracket ....................................................................................7-119
Reactor ...................................................................................................7-120
External Regenerative Resistor ..............................................................7-122

7
Supplement

Recommended components(Surge absorber for motor brake) ..............7-124
List of Peripheral Equipments .................................................................7-125

7-1

7

1. Safety function

Supplement

Outline

Outline description of safe torque off (STO)
The safe torque off (STO) function is a safety function that shuts the motor current
and turns off motor output torque by forcibly turning off the driving signal of the servo
driver internal power transistor. For this purpose, the STO uses safety input signal and
hardware (circuit).
When STO function operates, the servo driver turns off the servo ready output signal
(S-RDY) and enters safety state.
This is an alarm condition and the 7-seg LED on the front panel displays the error code
number.

Safety precautions
‡ When using the STO function, be sure to perform equipment risk assessment to ensure
that the system conforms to the safety requirements.
‡ Even while the STO function is working, the following potential safety hazards exist.
Check safety in risk assessment.
‡ The motor may move when external force (e.g. gravity force on vertical axis) is
exerted on it. Provide an external brake, etc., as necessary to secure the motor. Note
that the purpose of motor with brake is holding and it cannot be used for braking
application.
‡ When parameter Pr5.10 Sequence at alarm is set to free run (disable dynamic
brake), the motor is free run state and requires longer stop distance even if no
external force is applied. Make sure that this does not cause any problem.
‡ When power transistor, etc., becomes defective, the motor will move to the extent
equivalent of 180 electrical angle (max.). Make sure that this does not cause any
problem.
‡ The STO turns off the current to the motor but does not turn off power to the servo
driver and does not isolate it. When starting maintenance service on the servo driver,
turn off the driver by using a different disconnecting device.
‡ External device monitor (hereafter EDM) output signal is not a safety signal. Do not use
it for an application other than failure monitoring.
‡ Dynamic brake and external brake release signal output are not related to safety
function. When designing the system, make sure that the failure of external brake
release during STO condition does not result in danger condition.
‡ When using STO function, connect equipment conforming to the safety standards.

Note
Related page

7-2

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‡3´&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGVµ‡3´+RZWR8VHWKH)URQW3DQHOµ
‡3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

1. Safety function

Supplement

Input & output signals

1
Before Using the Products

7
Safety input signal

For list of connector pin numbers, refer to P.2-53,
Signal

SF1+

4

6)ï

3

SF2+

6

6)ï

5

Safety
input 1

Safety
input 2

Control
mode

Contents
‡ Input 1 that triggers STO function. This input turns
off the upper arm drive signal of power transistor.
‡ When using the function, connect this pin in a way
so that the photocoupler of this input circuit turns off
to activate STO function.
‡ Input 2 that triggers STO function. This input turns
off the lower arm drive signal of power transistor.
‡ When using the function, connect this pin in a way
so that the photocoupler of this input circuit turns off
to activate STO function.

Compatible
all control
mode


Safety input 1 or 2 enables STO to operate: within 5 ms of response time, the motor
output torque will be turned off.

Caution

2

4
Setup

‡6DIHW\HTXLSPHQWVHOIGLDJQRVLV/SXOVH
Safety output signal from the safety controller and safety sensor may include L pulse for
self-diagnosis.
To prevent the L pulse from mis-triggering STO function, the safety input circuit has
EXLOWLQÀOWHUWKDWUHPRYHVWKHVHOIGLDJQRVLV/SXOVH
Therefore, if the off period of safety input signal less than 1 ms, the safety input circuit
GRHVQRWGHWHFWWKLV´RIIµHYHQW
7RYDOLGDWHWKLV´RIIµSHULRGWXUQRIIWKHLQSXWVLJQDOIRUPRUHWKDQPV

3
Connection

Pin No.

Preparation

Symbol

5

L pulse for self-diagnosis

5 ms or more

1 ms or shorter
Servo driver
Operate

Adjustment

Safety input
signal

5 ms or shorter
Response time

6

STO state

When in Trouble

7
Supplement

Note

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; 6DIHW\IXQFWLRQFRQQHFWRU 

7-3

1. Safety function
Input & output signals

External device monitor (EDM) output signal
The monitor output signal is used by the external device to monitor the state of the safety
input signal. Connect the monitor output to the external device monitor terminal of the
safety devices such as safety controller and safety sensor.
Signal

Control
mode

Symbol

Pin No.

Contents

EDM+

8

Outputs monitor signal that is used to check the

EDM
output

safety function.
('0ï

7

Caution

This output signal is not a safety output.

Compatible
all control
mode

/RJLFDOUHODWLRQVKLSEHWZHHQVDIHW\LQSXWVLJQDODQG('0RXWSXWVLJQDO
When both safety input 1 and 2 are off, i.e. when STO function of 2 safety input channels
are active, the photocoupler in EDM output circuit turns on.
Signal
Safety input
EDM output

Symbol
SF1

Photocoupler logic
ON

ON

OFF

OFF

SF2

ON

EDM

OFF

OFF

ON

OFF

OFF

OFF

ON

By monitoring the logics (all 4 states) of photocoupler shown in the table above, the
external device can determine the status (normal or abnormal) of safety input circuit and
EDM output circuit.

7-4

Note

Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms.

Note

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; 6DIHW\IXQFWLRQFRQQHFWRU 

7

1. Safety function

Supplement

Safety Circuit Block Diagram

μC
analog
input

SF2+

6

LPF（3ms）

μC
analog
input

5

EDM+

8

+5V

+5V

I_SF2

+5V

+5V
in

N
O_EDM

7

PC

5V

μC port
3.3V
level
shifter

('0ï

3

PC

Connection

6)ï

ASIC

IL_ERR1
+5V

Power section interface

+5V

Preparation

IL_EMG
I_SF1

3

Before Using the Products

Control
Circuit

X3
4

6)ï

2

Power

+5V

+5V

SF1+

1

5V

+5V
out

+5V PS
Voltage
Monitor

4
Motor
Setup

M

5
Adjustment

6
When in Trouble

7
Supplement

Note

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; 6DIHW\IXQFWLRQFRQQHFWRU 

7-5

7

1. Safety function

Supplement

Timing Chart

Operating timing for safety status
Servo-ON input
(SRV-ON)

input coupler OFF
(Servo-OFF command)

input coupler ON
(Servo-ON command)

Safety input 1
Safety input 2 *3

input coupler OFF (STO)

input coupler ON

max 5ms
Motor energization
energized

not-energized
max 6ms

EDM output

output coupler ON

output coupler OFF

0.5 to 5ms
Dynamic brake

*2

released

Servo-Ready output
(S-RDY)

Servo-Alarm output
(ALM)

External brake
release output
(BRK-OFF)

engaged
output coupler OFF
(not ready)

output coupler ON
(ready)

output coupler ON
(not Alarm)

output coupler ON
(Break release)

output coupler OFF
(Alarm)
Setup value of Pr4.38
output coupler OFF
(Break engage)
t1*1

motor speed
Setup value of Pr4.39

Setup value of Pr4.38

when setup
value of Pr4.38
is shorter,

output coupler OFF
(Break engage)

output coupler ON
(Break release)
t1*1
motor speed
Setup value of Pr4.39

when time to fall
below value of
Pr4.39 is shorter,

*1 t1 is the value set to Pr4.38 Setup of mechanical brake action at running or the time
at which the motor revolution speed drops below the time set to Pr4.39 Brake release
speed setup, whichever comes first.
*2 Dynamic brake operates to the setting of Pr5.10 Sequence at alarm.
*3 When safety input 1 or 2 turns off, the state changes to STO condition.

Note
Related page

7-6

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; 6DIHW\IXQFWLRQFRQQHFWRU 
‡3´3U3Uµ‡3´3Uµ

1. Safety function

1
Before Using the Products

Timing Chart

Return timing from safety state
input coupler OFF
(Servo-OFF command)

Servo-ON input
(SEV-ON) *1
input coupler OFF

input coupler ON

Motor energization

2
Preparation

Safety input 1
Safety input 2

input coupler ON
(Servo-ON command)

not-energized
max 6ms

EDM output

released/engaged *2
generated alarm

Servo-Ready output
(S-RDY)

Servo-Clear intput
(ALM) *1

input coupler OFF

output coupler OFF
(Alarm)

External brake
release output
(BRK-OFF)

released/engaged *3
Servo-OFF
output coupler ON
(ready)

Once the servo
on command is
input, the
operation
proceeds in
synchronous
with normal
servo on/off
timing.
(Refer to P.2-61
“Timing Chart”)

3

4

input coupler ON
Setup

Servo-Alarm output
(ALM)

output coupler OFF
(not ready)

output coupler OFF

Connection

Dynamic brake

output coupler ON

output coupler ON
(not Alarm)

output coupler OFF (Break engage)

5
Adjustment

6
When in Trouble

*1 Photocouplers for safety input 1 and 2 should be turned on again with servo-on input
turned off. Otherwise, alarm occurs, and should be cleared.
Alarm clear should be performed after the safety input 1 and 2 have been turned
back to on.
Otherwise, alarm occurs.
*2 This is an alarm condition and the dynamic brake operates according to Pr5.10 Sequence at alarm.
*3 This is normal servo-off condition and the dynamic brake operates according to
Pr5.06 Sequence at servo-off.

7

Related page

Supplement

Note

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‡3´3Uµ‡3´3Uµ

7-7

7

1. Safety function

Supplement

Example of connection

Example of connection to safety switch
24V

Safety
switch

Servo driver
Contact output

SF1+

Safety input
6)ï

M
Safety input

SF2+
6)ï

0V

EDM output

EDM+
EDMï

Example of connection to safety sensor
Safety sensor

Sefety output
(source)

Servo driver

Control output 1
SF1+

Safety input
6)ï

M

Control output 2

Safety input

SF2+

0V

6)ï

24V

EDM+

EDM input

EDMï

EDM output

Example of connection to safety controller
Safety
controller

Contact output
T31

Servo driver
T33
SF1+

Safety input
6)ï

M
SF2+
A2

S14

6)ï

S24

EDM+
EDMï

Sefety output
(source)

Note

7-8

EDM output
0V

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1. Safety function

1
Before Using the Products

Example of connection

Example of connection when using multiple axes
Safety sensor

Sefety output
(source)

2

Control
output 1

Servo driver
Preparation

Control
output 2

SF1+
6)ï

M

0V
SF2+
24V

6)ï

3

EDM input
EDM+
EDMï

Connection

EDM
output

Servo driver
SF1+

4

6)ï

M
SF2+

Setup

6)ï

EDM+
EDMï

EDM
output

5
Servo driver
Adjustment

SF1+
6)ï

M
SF2+
6)ï

6

EDM+

EDM output

‡ Capacity requirement per safety output (source) channel: 50 × No. of connected axes
(mA)
‡ 24 VDC supply allowable voltage: 24 V±15%
‡ Maximum No. of connectable axes: 8

7
Supplement

Note

When in Trouble

EDMï

‡2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; 6DIHW\IXQFWLRQFRQQHFWRU 

7-9

7

2. Absolute system

Supplement

Outline

Outline of Absolute System
When you compose an absolute system using an absolute encoder, you are not required
to carry out homing operation at the power-on, and this function suits very well to such an
application as a robot.
&RQQHFWWKHKRVWFRQWUROOHUZLWKWKH0,1$6$ZLWKDEVROXWHVSHFLÀFDWLRQV PRWRUZLWK
absolute encoder and driver with absolute spec) and set up the parameter, Pr0.15 to 0 or 2,
then connect the battery for absolute encoder to compose an absolute system with which
you can capture the exact present position information after the power-ON.
Shift the system to origin once after installing the battery and clear the multi-turn data by
clearing the absolute encoder, then you can detect the absolute position without carrying
out homing operation.
Via RS232 or RS485 communication, the host controller can connect up to 32 MINAS-A5
and capture the present position information as serial data to obtain the absolute position
of each axis by processing. each data.

Applicable Mode
UPLQ@
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‡6SHHGZLOOEH²IRUQHJDWLYHGLUHFWLRQDQGIRUSRVLWLYHGLUHFWLRQ

‡5HDGRXWRISUHVHQWWRUTXHRXWSXW
5HFHSWLRQGDWD
0
axis
5

7UDQVPLVVLRQGDWD
3
axis
2



5
4
&RPPDQGHUURU 56HUURU

3

2



When in Trouble

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7
Supplement

‡5HDGVRXWWKHSUHVHQWWRUTXHRXWSXW 8QLW&RQYHUWHGZLWK5DWHGPRWRUWRUTXH 
‡2XWSXWYDOXHLQELW
‡7RUTXHFRPPDQGZLOOEH²YDOXHIRUQHJDWLYHGLUHFWLRQDQGYDOXHIRUSRVLWLYHGLUHFWLRQ

7-43

4. Communication
Details of Communication Command

command
2

mode
6

‡5HDGRXWRISUHVHQWSRVLWLRQDOFRPPDQGGHYLDWLRQ
5HFHSWLRQGDWD
0
axis
6

7UDQVPLVVLRQGDWD
5
axis
2

6

checksum

2
GDWD GHYLDWLRQ /

H
Error code
checksum
(UURUFRGH
bit7
0 : Normal
1 : Error

6

5
4
Command error 56HUURU

3

2

1

0

‡5HDGVRXWWKHSUHVHQWSRVLWLRQDOFRPPDQGGHYLDWLRQ 8QLW>FRPPDQGXQLW@
‡2XWSXWYDOXHLQELW
‡%HFRPHVZKHQWKHHQFRGHULVORFDWHGDWQHJDWLYHGLUHFWLRQDJDLQVWSRVLWLRQFRPPDQGDQG²ZKHQLWLVORFDWHG
at positive direction.

command
2

mode
7

‡5HDGRXWRILQSXWVLJQDO
5HFHSWLRQGDWD
0
axis
7

7UDQVPLVVLRQGDWD
5
axis
2

7

checksum

2
data L

data H
Error code
checksum
(UURUFRGH
bit7
0 : Normal
1 : Error

6

5
4
Command error 56HUURU

3

2

1

0

'DWD
6
5
bit7
For
6ZLWFKLQJRI
6SHHG]HUR
manufacturer's use electronic gear 1 clamp

4
Control mode
switching

bit15
14
13
Internal speed
For
For
command
manufacturer's use manufacturer's use selection 2

Internal speed
command
selection 1

bit23
22
21
Damping control Torque limit
6ZLWFKLQJRI
electronic gear 2 switching 2
switching

Internal speed
command
selection 3

12

20

31
29

bit31
For
For
For
6DIHW\LQSXW
manufacturer's use manufacturer's use manufacturer's use

2
1
3
CCW over-travel CW over-travel Alarm clear
inhibit
inhibit

0
6HUYR21

11
10
For
Counter clear
manufacturer's use


Command pulse
input inhibition

9
Gain switching

19

17
16
Damping control For
For
For
switching 1
manufacturer's use manufacturer's use manufacturer's use
27
6DIHW\LQSXW

26
25
Torque
For
manufacturer's use command sign

24
6SHHG
command sign

‡Logic of input signal is based on assignment set in the parameter.
‡Because of the internal logical data after conversion of input, it does not directly correspond to the input signal from the
connector X5.
‡CW over-travel inhibit input and CCW over-travel inhibit input will change according to the input logic, even if they have
been disabled by the parameter,

7-44

4. Communication

1

command
2

mode
8

Before Using the Products

Details of Communication Command

‡5HDGRXWRIRXWSXWVLJQDO
5HFHSWLRQGDWD
0
axis
8

7UDQVPLVVLRQGDWD
7
axis
2

8

checksum

2

2
data L

Preparation

data H
alarm data L
H
error code
checksum
HUURUFRGH
bit7
0 : Normal
1 : Error

6

5
4
Command error RS485 error

3

2

1

0

3

'DWD
5
Torque in-limit

bit15
Excite motor

13
11
12
Dynamic brake Control inrush Control
regeneration
engagement
suppression relay brake

bit23
6DIHW\('0

14
&RQWUROSRZHU
latch
22
Speed
command
ON/OFF

21
Alarm attribute
output

4
Zero speed
detection

20
Speed in-limit
output

3
Mechanical
brake released

2
Positioning
complete
(In-position)

10
Full-closed
positioning
complete

19

18

2nd positioning Positional
command
complete
ON/OFF
(In-position)

1
Servo-Alarm

0
Servo-Ready

9
At-speed

8
For
PDQXIDFWXUHU VXVH

17
Alarm output 2

16
Alarm output 1

4

6
Fan
alarm

Setup

31
29
28
27
26
25
24
bit31
For
For
For
For
For
For
For
For
PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH
DODUPGDWD
bit7
Overload
protection

Connection

bit7
6
For
In-speed
PDQXIDFWXUHU VXVH

4
3
5
2
1
0
Over-regeneration Encoder
Encoder overheat /LIHWLPH
For
Battery
communication
alarm
alarm
detection alarm PDQXIDFWXUHU VXVH alarm
alarm

bit15
14
13
For
For
For
PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH

12

11

10

9

External scale Oscillation
communication detection
alarm
alarm

8
External scale
error alarm

5

0
Servo-Not Ready
Normal
Positioning not completed
Mechanical brake engaged
Zero speed not detected
Torque not in-limit
Not at-speed(Speed not arrived)
Not in-speed(Speed not coincided)
Full-closed positioning not completed
7XUQRIIUHJHQHUDWLRQ7U
Release inrush suppression relay
Dynamic brake released
5HOHDVHSRZHUODWFK
Energize motor

1
At Servo-Ready
At Servo-Alarm
Positioning in-complete
Mechanical brake released
Zero speed detected
Torque in-limit
Speed arriving
In-speed (Speed coincided)
Full-closed positioning completed
Turn on regeneration Tr
Operate inrush suppression relay
Dynamic brake engaged
3RZHUDEQRUPDOODWFKLQJ
6HUYRIUHH

6
When in Trouble

Signal title
Servo-Ready
Servo-Alarm
Positioning completed
Mechanical brake released
Zero speed detection
Torque in-limit
At-speed (Speed arrival)
In-speed (Speed coincidence)
Full-closed positioning complete
Control regeneration brake
Control inrush suppression relay
Dynamic brake engagement
&RQWUROSRZHUODWFK
Excite motor

Adjustment

‡7KHWDEOHEHORZVKRZVWKHUHODWLRQRIWKHVLJQDOVDQGDFWLRQV

7
Supplement

‡%HFDXVHRIWKHLQWHUQDOORJLFDOGDWDEHIRUHRXWSXWFRQYHUVLRQLWGRHVQRWGLUHFWO\FRUUHVSRQGWRWKHRXWSXWVLJQDOWRWKH
FRQQHFWRU;
‡1DPHVDQGIXQFWLRQVVKRZQDERYHDUHIRU0,1$6$ JHQHUDOSXUSRVHPRGHO 6RPHRILQSXWVLJQDOVZLOOKDYH
GLIIHUHQWPHDQLQJIRUGLIIHUHQWVHULHV

7-45

4. Communication
Details of Communication Command

command
2

mode
9

‡5HDGRXWRISUHVHQWVSHHGWRUTXHDQGSRVLWLRQDOFRPPDQGGHYLDWLRQ
5HFHSWLRQGDWD
0
axis
9

7UDQVPLVVLRQGDWD
9
axis
2

9

(UURUFRG
ELW
1RUPDO
(UURU

2
GDWD/
VSHHG +
GDWD/
WRUTXH +
GDWD/

checksum

GHYLDWLRQ +
HUURUFRGH
checksum
6

5
4
&RPPDQGHUURU 56HUURU

3

2

1

0

‡2XWSXWYDOXHRIVSHHGDQGWRUTXHDUHLQELWDQGGHYLDWLRQLQELW
‡8QLWDQGVLJQRIWKHRXWSXWGDWDLVDVVDPHDVWKDWRIFRPPDQG1R FRPPDQG PRGH   PRGH  
DQG PRGH  

command
2

mode
A

‡5HDGRXWRIVWDWXVLQSXWVLJQDODQGRXWSXWVLJQDO
7UDQVPLVVLRQGDWD
 'K
axis

5HFHSWLRQGDWD
0
axis
A

2

A

checksum

2
FRQWUROPRGH
VWDWXV
LQSXWVLJQDO/

LQSXWVLJQDO+
RXWSXWVLJQDO/

RXWSXWVLJQDO+
DODUPGDWD/
DODUPGDWD+
HUURUFRGH
checksum
(UURUFRG
ELW
1RUPDO
(UURU

6

5
4
&RPPDQGHUURU 56HUURU

3

2

1

0

‡0HDQLQJRIHDFKELWRIFRQWUROPRGHVWDWXVLQSXWVLJQDORXWSXWVLJQDODQGDODUPGDWDLVDVVDPHDVWKDWRIFRPPDQG
1R FRPPDQG PRGH   PRGH  DQG PRGH  

7-46

4. Communication

1

command
2

mode
C

Before Using the Products

Details of Communication Command

‡5HDGRXWRIIHHGEDFNVFDOH
5HFHSWLRQGDWD
0
axis
C

7UDQVPLVVLRQGDWD
 %K
axis
C

2

2

2

Preparation

encoder ID (L)
(H)
status (L)
(H)
(L)

checksum

DEVROXWHSRVLWLRQGDWD ELW

(H)
error code
checksum

3

(QFRGHU,'
Encoder ID (H)
32h
31h

Connection

Encoder ID (L)
$GGUHVVGDWDRI((3520
$GGUHVVGDWDRI((3520

ST771
$7VHULHV

‡&RPPDQGHUURURFFXUVDWRWKHUFRQWUROPRGHVWKDQIXOOFORVHGFRQWURO
‡67
6WDWXV /
bit7
Thermal alarm
6WDWXV +
bit7
0

4
5
6
Signal intensity Signal intensity Transducer
error
error
alarm

1
Initialization
error

4
3
2
1
Encoder
0
0
0
error *2
*2 bit4 : logical sum of bit6 and bit 7 of status (L)

4
CPU, memory
error

3
&DSDFLW\DQG
SKRWRHOHFWULF
error

2
Encoder
non-matching
error

1
Initialization
error

4
3
2
1
Encoder
0
0
0
alarm *4
*4 bit4 : logical sum of bit6 and bit 7 of status (L)

5
4
Command error 56HUURU

3

2

1

0
2YHUVSHHG

4

0
0

0
2YHUVSHHG

5

0
0

Adjustment

6

2
Hardware
error

Setup

5
Encoder
error *1
*1 bit5 : Logical sum of bit0 to bit 5 of status (L)
‡$7VHULHV
6WDWXV /
bit7
6
5
Thermal alarm 0
Communication
error
6WDWXV +
bit7
6
5
0
0
Encoder
error *3
*3 bit5 : Logical sum of bit0 to bit 5 of status (L)
(UURUFRGH
bit7
0 : Normal
1 : Error

6

0

3
$%6GHWHFWLRQ
error

0

‡$EVROXWHSRVLWLRQGDWD ELW WR)))))))))))K 

6
When in Trouble

7
Supplement

7-47

4. Communication
Details of Communication Command

command
2

mode
D

‡5HDGRXWRIDEVROXWHHQFRGHU
5HFHSWLRQGDWD
0
axis
D

7UDQVPLVVLRQGDWD
 %K
axis
D

2

(QFRGHU,' /
3

ELWDEVROXWH
6WDWXV /
ELW
%DWWHU\DODUP


6\VWHPGRZQ


0XOWLWXUQHUURU

2
HQFRGHU,' /
 +
VWDWXV  /

+

/
VLQJOHWXUQGDWD

+
PXOWLWXUQGDWD /
 +
0
(UURUFRGH
checksum

checksum

(QFRGHU,' +
K



3
&RXQWHU
RYHUIORZ

0

2
&RXQWHUURU


)XOODEVROXWH
VWDWXV

0
2YHUVSHHG

6WDWXV +

‡ELW6\VWHPGRZQ
‡ELW%DWWHU\DODUPPXOWLWXUQHUURUFRXQWHURYHUIORZFRXQWHUURUIXOODEVROXWHVWDWXVDQGORJLFDOVXPRIRYHUVSHHG
(UURUFRGH
ELW
1RUPDO
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&RPPDQGHUURU 56HUURU

3

2



0

‡&RPPDQGHUURUZLOORFFXUZKHQ\RXXVHWKHDERYHHQFRGHURUDEVROXWHHQFRGHUDVDQLQFUHPHQWDOHQFRGHU
‡6LQJOHWXUQGDWD ELW KWR))))K
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command
2

mode
(

‡5HDGRXWRIH[WHUQDOVFDOHGHYLDWLRQDQGVXPRISXOVHV
5HFHSWLRQGDWD
0
axis
(

7UDQVPLVVLRQGDWD
9
axis
(
2
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H[WHUQDOVFDOH
)%SXOVHVXP
 +
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H[WHUQDOVFDOHGHYLDWLRQ

2
checksum

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ELW
1RUPDO
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3

2



0

‡([WHUQDOVFDOH)%SXOVHVXPZLOOUHWXUQWKHSUHVHQWSRVLWLRQRIWKHH[WHUQDOVFDOHFRXQWHULQDEVROXWHFRRUGLQDWHVIURP
WKHVWDUWLQJSRLQW
‡([WHUQDOVFDOH)%SXOVHVXPZLOOEHIRUQHJDWLYHGLUHFWLRQDQGIRUSRVLWLYHGLUHFWLRQ
‡([WHUQDOVFDOHGHYLDWLRQEHFRPHVZKHQWKHH[WHUQDOVFDOHLVSRVLWLRQHGDWQHJDWLYHGLUHFWLRQDJDLQVWSRVLWLRQ
FRPPDQGDQG²ZKHQLWLVSRVLWLRQHGDWSRVLWLYHGLUHFWLRQ

7-48

4. Communication

1

command
7

mode


Before Using the Products

Details of Communication Command

‡,QGLYLGXDOUHDGRXWRISDUDPHWHU
5HFHSWLRQGDWD

D[LV



7UDQVPLVVLRQGDWD
5
D[LV



7

2

7
 L
SDUDPHWHUYDOXH

Preparation

SDUDPHWHUW\SH
SDUDPHWHU1R
FKHFNVXP

 H
error code
FKHFNVXP
(UURUFRGH
ELW
1RUPDO
(UURU

6

5
4
Command error 56HUURU


1R(UURU



1



3

command
7

mode
1

Connection

‡,IWKHSDUDPHWHUW\SHRUWKHSDUDPHWHU1RLVRXWVLGHWKHUDQJHUHWXUQV1RHUURU
‡3DUDPHWHUYDOXHLVVLJQH[WHQGHGWRELWVDQGUHWXUQHG

‡,QGLYLGXDOZULWLQJRISDUDPHWHU
5HFHSWLRQGDWD
6
D[LV

1

7UDQVPLVVLRQGDWD
1
D[LV

7

1

SDUDPHWHUW\SH
SDUDPHWHU1R
 L
SDUDPHWHUYDOXH

4

7
error code
FKHFNVXP

Setup

 H
FKHFNVXP
(UURUFRGH
ELW
1RUPDO
(UURU

6
'DWD(UURU

5
4
Command error 56HUURU


1R(UURU



1



5

command
7

mode


6

‡:ULWLQJRISDUDPHWHUWR((3520

7



FKHFNVXP

(UURUFRGH
ELW
1RUPDO
(UURU

6
'DWD(UURU

5
4
Command error 56HUURU

When in Trouble

7UDQVPLVVLRQGDWD
1
D[LV

5HFHSWLRQGDWD

D[LV


7
error code
FKHFNVXP



Adjustment

‡,IWKHSDUDPHWHUW\SHRUWKHSDUDPHWHU1RLVRXWVLGHWKHUDQJHUHWXUQV1RHUURU
‡7KLVFRPPDQGFKDQJHSDUDPHWHUVRQO\WHPSRUDULO\,I\RXZDQWWRZULWHLQWR((3520H[HFXWHWKHSDUDPHWHUZULWLQJ
WR((3520 PRGH  
‡6HWXSSDUDPHWHUVQRWLQXVHWRZLWKRXWIDLORULWOHDGVWRGDWDHUURU'DWDHUURUDOVRRFFXUVZKHQWKHSDUDPHWHUYDOXH
H[FHHGVWKHVHWXSUDQJH
‡3DUDPHWHUYDOXHVKRXOGEHVLJQH[WHQGHGWRELWVEHIRUHEHLQJWUDQVPLWWHG



1
Control LV

7



Supplement

‡:ULWHVWKHSUHVHWSDUDPHWHUVWR((3520
‡7UDQVPLVVLRQGDWDZLOOEHUHWXUQHGDIWHU((3520ZULWLQJFRPSOHWHV,WPD\WDNHPD[VHFIRU((3520ZULWLQJ
ZKHQDOOSDUDPHWHUVKDYHEHHQFKDQJHG
‡'DWDHUURUZLOORFFXUZKHQZULWLQJIDLOV
‡:KHQXQGHUYROWDJHRFFXUVHUURUFRGHRIFRQWURO/9ZLOOEHUHWXUQHGLQVWHDGRIH[HFXWLQJZULWLQJ

7-49

4. Communication
Details of Communication Command

command
7

mode
6

‡,QGLYLGXDOUHDGRXWRIXVHUSDUDPHWHU
5HFHSWLRQGDWD
2
D[LV
6

7UDQVPLVVLRQGDWD
17 (11h)
D[LV
6

7
parameter type
parameter No.
checksum

7
parameter type
parameter No.
(L)
parameter value
(H)
(L)
0,1 value
(H)
(L)
0$; value
(H)
Property L
H
Error code
checksum

3URSHUW\
bit7
Parameter
not in use

6
Display inhibited

5

bit15

14

13

(UURUFRGH
bit7
0 : Normal
1 : Error

6

4
Change at
initialization
12

5
4
Command error RS485 error

3

2

1

11

10

9

3
No.Error

2

1

‡,IWKHSDUDPHWHUW\SHRUWKHSDUDPHWHU1RLVRXWVLGHWKHUDQJHUHWXUQV1RHUURU
‡3DUDPHWHUYDOXH0,1YDOXHDQG0$;YDOXHVKRXOGEHVLJQH[WHQGHGWRELWVEHIRUHEHLQJWUDQVPLWWHG

7-50

0

8
Read only

0

4. Communication

1

command
7

mode
7

Before Using the Products

Details of Communication Command

‡5HDGRXWRIWZRRUPRUHXVHUSDUDPHWHU
5HFHSWLRQGDWD
K(16)
D[LV

7

7UDQVPLVVLRQGDWD
 K)
D[LV

7

7

SDUDPHWHUW\SH
SDUDPHWHU1R
SDUDPHWHUW\SH
SDUDPHWHU1R



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 SDUDPHWHU1R
FKHFNVXP

2

7
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 SDUDPHWHU1R

/
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+
/






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+
/

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3
Connection



+
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+)

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 SDUDPHWHU1R

4

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+)
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ELW

5

14



6

4
&KDQJHDW
LQLWLDOL]DWLRQ


5
4
&RPPDQGHUURU 56HUURU





1

11

10

9


1R(UURU



1

0

8
5HDGRQO\

5

0
Adjustment

(UURUFRGH
ELW
1RUPDO
(UURU

6
'LVSOD\
LQKLELWHG

Setup

3URSHUW\
ELW
3DUDPHWHU
QRWLQXVH

‡,IWKHSDUDPHWHUW\SHRUWKHSDUDPHWHU1RLVRXWVLGHWKHUDQJHUHWXUQV1RHUURU
‡3DUDPHWHUYDOXH0,1YDOXHDQG0$;YDOXHVKRXOGEHVLJQH[WHQGHGWRELWVEHIRUHEHLQJWUDQVPLWWHG

6
When in Trouble

7
Supplement

7-51

4. Communication
Details of Communication Command

command
7

mode
8

‡:ULWLQJRIWZRRUPRUHXVHUSDUDPHWHU
5HFHSWLRQGDWD
30h(48)
axis

8

7UDQVPLVVLRQGDWD
17(11h)
axis

8

7
(1) parameter type
(1) parameter No.
(L)
(1) parameter value

7
(1) parameter type
(1) parameter No.
(2) parameter type
(2) parameter No.

(H)
(8) parameter type
(8) parameter No.
Error code
checksum

(8) parameter type
(8) parameter No.
(L)
(8) parameter value
(H)
checksum
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ELW
0 : Normal
1 : Error


Data Error

5
4
Command error RS485 error

3
No.Error

2

1

0

‡6HWWRXQXVHGSDUDPHWHU2WKHUZLVHGDWDHUURURFFXUV:KHQGDWDRXWVLGHWKHVSHFLILHGVHWWLQJUDQJHLVVHQWGDWD
error occurs.
‡,IWKHSDUDPHWHUW\SHRUWKHSDUDPHWHU1RLVRXWVLGHWKHUDQJHUHWXUQV1RHUURU

command
9

mode
0

‡5HDGRXWRISUHVHQWDODUPGDWD
5HFHSWLRQGDWD
0
axis
0

7UDQVPLVVLRQGDWD
3
axis
9

0

checksum

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ELW
0 : Normal
1 : Error



5
4
Command error RS485 error

9
alarm No. (Main)
DODUP1R 6XE
error code
checksum

3

2

‡,IQRDODUPRFFXUVDODUP1REHFRPHV
 )RUDODUP1RUHIHUWR33URWHFWLYHIXQFWLRQ :KDWLVDODUPFRGH" RI:KHQLQ7URXEOH

7-52

1

0

4. Communication

1

command
9

mode
2

‡%DWFKUHDGRXWRIDODUPKLVWRU\
5HFHSWLRQGDWD
0
axis
2

7UDQVPLVVLRQGDWD
 'K
axis
9

2
VWODWHVW

checksum

3

DODUP1R 0DLQ
DODUP1R 6XE
HUURUFRGH
checksum

2

3

1

0
Connection

5
4
&RPPDQGHUURU &RPPDQGHUURU

Preparation

WKODWHVW

6

2

9
DODUP1R 0DLQ
DODUP1R 6XE
DODUP1R 0DLQ
DODUP1R 6XE

QGODWHVW

(UURUFRGH
ELW
1RUPDO
(UURU

Before Using the Products

Details of Communication Command

‡@

0.5
(0.4)

3HDNUXQQLQJUDQJH

0.25

* Continuous torque vs. ambient temp.


95

0.5

50

0.25

3000

4000 5000
VSHHG>UPLQ@

0



20

30

40

(3600)

0



2000

3000

ambient temp. >ƒ&@

4000 5000
VSHHG>UPLQ@

0



20

‡MSMD011 * 1 *

,QSXWYROWDJHWRGULYHU$&9
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

,QSXWYROWDJHWRGULYHU$&9
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

* Continuous torque vs. ambient temp.

torque
>1ÃP@

ratio vs. rated torque
>@

95







0.5

Continuous running range

0



2000

3000

75
70
50

3HDNUXQQLQJUDQJH

without
EUDNH

ZLWKEUDNH

Continuous running range

4000

5000

0



VSHHG>UPLQ@

20

30

40

0



2000

3000

ambient temp. >ƒ&@

4000

5000

0



20

VSHHG>UPLQ@

‡MSMD012 * 1 *

Input voltage to driver: AC2009
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

Input voltage to driver: AC2009
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

* Continuous torque vs. ambient temp.



2000

3000

75
70
50

3HDNUXQQLQJUDQJH

0.5

Continuous running range

0





50

0.5

without
EUDNH

ZLWKEUDNH

Adjustment

ratio vs. rated torque
>@


95
3HDNUXQQLQJUDQJH

5

* Continuous torque vs. ambient temp.

ratio vs. rated torque
>@



40

ambient temp. >ƒ&@

‡MSMD012 * 1 *

torque
>1ÃP@

30

4
Setup

0.5

ratio vs. rated torque
>@

(0.6)

50

40

* Continuous torque vs. ambient temp.

torque
>1ÃP@

(0.8)

3HDNUXQQLQJUDQJH

(0.6)

30

ambient temp. >ƒ&@

‡MSMD011 * 1 *

(0.8)

3

ZLWKEUDNH

Connection

2000

70
60
50

3HDNUXQQLQJUDQJH

Continuous running range
(3600)



without
EUDNH



(0.4)

Continuous running range

0

ratio vs. rated torque
>@

torque
>1ÃP@

Preparation

‡MSMD5AZ * 1 *

torque
>1ÃP@

1
Before Using the Products

7

Continuous running range

4000

5000

VSHHG>UPLQ@

0



20

30

40

0



2000

ambient temp. >ƒ&@

3000

4000

5000

VSHHG>UPLQ@

0



20

30

40

ambient temp. >ƒ&@

When in Trouble

* These are subject to change. Contact us when you use these values for your machine design.
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRIÝ&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

6

7

5XQQLQJUDQJH 7RUTXHOLPLWVHWXS

Continuous running range

speed

7-55

Supplement

5XQQLQJUDQJH 7RUTXHOLPLWVHWXS
5XQQLQJUDQJH 7RUTXHOLPLWVHWXS

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MSMD series

:

MSMD series (200W)
Without oil seal

With oil seal

‡MSMD021 * 1 *

‡MSMD021 * 1 *

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]
100

2.0
Peak running range

1.0

Continuous running range

1000

2000

3000

4000 5000
speed [r/min]

0

80
70
50

1.0

(0.9)
(0.5)

10

20

30

40

0

(3600)

1000

2000

3000

30

ratio vs. rated torque
[%]

100

2.0
(1.5)
(1.2)

40

1.0

Continuous running range

80
70
50

Peak running range

with brake

Continuous running range
(4500)

3000

without
brake

100

2.0
(1.5)
(1.2)

50

Peak running range

2000

20

ambient temp. [°C]

* Continuous torque vs. ambient temp.

ratio vs. rated torque
[%]

1000

10

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

0

0

4000 5000
speed [r/min]

‡MSMD022 * 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

1.0

with brake

Continuous running range

ambient temp. [°C]

‡MSMD022 * 1 *

without
brake

100
Peak running range

50

(3600)

ratio vs. rated torque
[%]

2.0

(0.9)
(0.5)

0

* Continuous torque vs. ambient temp.

torque
[N·m]

4000 5000
speed [r/min]

0

10

20

30

40

0

(4500)

1000

2000

ambient temp. [°C]

3000

4000 5000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)

Continuous running range

speed

7-56

5. Motor Characteristics (S-T
Characteristics )

Supplement

MSMD series

:WR:

MSMD series (400W to 750W)
Without oil seal

With oil seal

‡MSMD041 * 1 *

‡MSMD041 * 1 *

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

2

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.

* Continuous torque vs. ambient temp.

ratio vs. rated torque
[%]

torque
[N·m]

ratio vs. rated torque
[%]

4.0

100
90

4.0

100

50

2.0

Preparation

torque
[N·m]

75
Peak running range

2.0
(1.3)
(0.6)

(1.3)

Continuous running range

0

(0.6)

(2800) (3200)

1000

2000

3000 4000 5000
回転速度 [r/min]

0

10

20

30

40

Peak running range

50

Continuous running range

0

周囲温度 [°C]

‡MSMD042 * 1 *

(2800) (3200)

1000

2000

0

3000 4000 5000
回転速度 [r/min]

10

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

4.0

100
90

4.0

100

50

2.0

Peak running range

(1.7)
(1.3)

75
50

4

Continuous running range

(3400)(3800)

3000

Peak running range

(1.7)
(1.3)

Continuous running range

4000 5000
speed [r/min]

0

10

20

30

40

0

(3400)(3800)

1000

2000

3000

ambient temp. [°C]

0

4000 5000
speed [r/min]

10

20

30

40

ambient temp. [°C]

Setup

‡MSMD082 * 1 *

‡MSMD082 * 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

torque
[N·m]

ratio vs. rated torque
[%]

8.0

100

8.0

100

Peak running range

Peak running range

50

4.0

5

50

4.0

(3.0)

(3.0)

Continuous running range

(3200)(3600)

1000

2000

3000

4000 5000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

0

(3200)(3600)

1000

2000

3000

4000 5000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

Adjustment

Continuous running range

0

3
Connection

* Continuous torque vs. ambient temp.

2000

40

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

ratio vs. rated torque
[%]

1000

30

周囲温度 [°C]

torque
[N·m]

0

20

‡MSMD042 * 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

2.0

1
Before Using the Products

7

* These are subject to change. Contact us when you use these values for your machine design.

6
When in Trouble

7
Supplement

7-57

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MSME series

:WR:

MSME series (50W to 100W)
Without oil seal

With oil seal

‡MSME5AZ * 1 *

‡MSME5AZ * 1 *

,QSXWYROWDJHWRGULYHU$&9
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

,QSXWYROWDJHWRGULYHU$&9
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

* Continuous torque vs. ambient temp.

ratio vs. rated torque
>@

torque
>1ÃP@
0.5


0



0.5

50

0.25

3HDNUXQQLQJUDQJH



0.25


* Continuous torque vs. ambient temp.

Continuous running range



 2000 3000 4000 5000 6000

0



ratio vs. rated torque
>@

torque
>1ÃP@

20

30

40

0

‡MSME5AZ * 1 *

Continuous running range

 2000 3000 4000 5000 6000

* Continuous torque vs. ambient temp.

20



50



0



20

30

40

0

ZLWKEUDNH

70
60
50

Continuous running range

 2000 3000 4000 5000 6000

0



VSHHG>UPLQ@

ambient temp. >ƒ&@

VSHHG>UPLQ@

20

‡MSME011 * 1 *

,QSXWYROWDJHWRGULYHU$&9
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

,QSXWYROWDJHWRGULYHU$&9
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

* Continuous torque vs. ambient temp.

torque
>1ÃP@

ratio vs. rated torque
>@



ratio vs. rated torque
>@



75
70

0.5

50

3HDNUXQQLQJUDQJH

50

0.5





Continuous running range


 

 2000 3000 4000 5000 6000
VSHHG>UPLQ@

0



20

30

40

0

ambient temp. >ƒ&@

without
EUDNH
ZLWKEUDNH





3HDNUXQQLQJUDQJH


Continuous running range
 

 2000 3000 4000 5000 6000
VSHHG>UPLQ@

0



20

‡MSME012 * 1 *

Input voltage to driver: AC2009
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

Input voltage to driver: AC2009
 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 

* Continuous torque vs. ambient temp.

ratio vs. rated torque
>@





0

3HDNUXQQLQJUDQJH

50

0.5


0



20

30

40

ambient temp. >ƒ&@

0

without
EUDNH
ZLWKEUDNH





Continuous running range

 2000 3000 4000 5000 6000
VSHHG>UPLQ@

ratio vs. rated torque
>@



3HDNUXQQLQJUDQJH

0.5

75
70
50

Continuous running range

 2000 3000 4000 5000 6000
VSHHG>UPLQ@

0



20

30

40

ambient temp. >ƒ&@

* These are subject to change. Contact us when you use these values for your machine design.
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRIÝ&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH

7-58

40

* Continuous torque vs. ambient temp.

torque
>1ÃP@





30

ambient temp. >ƒ&@

‡MSME012 * 1 *

torque
>1ÃP@

40

* Continuous torque vs. ambient temp.

torque
>1ÃP@



30

ambient temp. >ƒ&@

‡MSME011 * 1 *

0

40

without
EUDNH


3HDNUXQQLQJUDQJH

0.25

Continuous running range

 2000 3000 4000 5000 6000

ratio vs. rated torque
>@

0.5

3HDNUXQQLQJUDQJH

0.25



30

ambient temp. >ƒ&@

* Continuous torque vs. ambient temp.

torque
>1ÃP@



0.5

0



Input voltage to driver: AC2009

ratio vs. rated torque
>@

torque
>1ÃP@



0

VSHHG>UPLQ@

‡MSME5AZ * 1 *

Input voltage to driver: AC2009



ZLWKEUDNH

70
60
50

3HDNUXQQLQJUDQJH

ambient temp. >ƒ&@

VSHHG>UPLQ@

without
EUDNH



5. Motor Characteristics (S-T
Characteristics )

Supplement

MSME series

:

MSME series (200W)
Without oil seal

With oil seal

‡MSME021 * 1 *

‡MSME021 * 1 *

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

100

Peak running range

1.0

50

0

(0.32)

(2600) (3100)

1000 2000 3000 4000 5000 6000
speed [r/min]

0

50

(0.8)

Continuous running range

10

20

30

40

Continuous running range

0

ambient temp. [°C]

‡MSME022 * 1 *

(2600) (3100)

20

30

40

ambient temp. [°C]

3

100

(1.3)
(1.1)

50

(0.32)

1000 2000 3000 4000 5000 6000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

0

without
brake
with brake

100
80
70

Peak running range

50

1.0

Continuous running range
(4600)

ratio vs. rated torque
[%]

2.0

Peak running range

1.0

* Continuous torque vs. ambient temp.

torque
[N·m]

Connection

ratio vs. rated torque
[%]

2.0

0

10

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

(0.32)

0

1000 2000 3000 4000 5000 6000
speed [r/min]

‡MSME022 * 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(1.3)
(1.1)

without
brake
with brake

100
80
70

2.0

Peak running range

1.0

(0.8)
(0.32)

ratio vs. rated torque
[%]

Preparation

ratio vs. rated torque
[%]

2.0

2

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

1
Before Using the Products

7

4

Continuous running range
(4600)

1000 2000 3000 4000 5000 6000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

Setup

* These are subject to change. Contact us when you use these values for your machine design.

5
Adjustment

6
When in Trouble

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

7

Running range (Torque limit setup : 100%)

Continuous running range

speed

7-59

Supplement

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MSME series

:WR:

MSME series (400W to 750W)
Without oil seal

With oil seal

‡MSME041 * 1 *

‡MSME041 * 1 *

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

4.0

* Continuous torque vs. ambient temp.

torque
[N·m]

100
90

4.0

50

2.0

Peak running range
(1.7)

75

(0.32)

(2600) (3100)

1000 2000 3000 4000 5000 6000
speed [r/min]

0

50

(1.7)

Continuous running range

0

100
Peak running range

2.0

(0.32)

ratio vs. rated torque
[%]

10

20

30

40

Continuous running range
(2600) (3100)

0

ambient temp. [°C]

‡MSME042 * 1 *

* Continuous torque vs. ambient temp.

4.0

40

100

4.0

50

2.0

ratio vs. rated torque
[%]
100
75

Peak running range

(1.7)

(0.64)

(3100)(3600)

1000 2000 3000 4000 5000 6000
speed [r/min]

0

50

(1.7)

Continuous running range

10

20

30

40

Continuous running range
(3100)(3600)

0

0

1000 2000 3000 4000 5000 6000
speed [r/min]

ambient temp. [°C]

‡MSME082 * 1 *

10

20

30

40

ambient temp. [°C]

‡MSME082 * 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

8.0

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

8.0

100
Peak running range

100
Peak running range

4.0 (3.4)

4.0 (3.4)

50

(3.0)

0

30

* Continuous torque vs. ambient temp.

torque
[N·m]

Peak running range

2.0

(0.6)

20

ambient temp. [°C]

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

ratio vs. rated torque
[%]

torque
[N·m]

0

10

‡MSME042 * 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(0.64)

0

1000 2000 3000 4000 5000 6000
speed [r/min]

(0.6)

(3200)(3600)

1000 2000 3000 4000 5000 6000
speed [r/min]

0

50

(3.0)

Continuous running range

10

20

30

40

Continuous running range

0

(3200)(3600)

0

1000 2000 3000 4000 5000 6000

ambient temp. [°C]

10

speed [r/min]

20

30

40

ambient temp. [°C]

‡MSME084 * 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

8.0

100
Peak running range

4.0
(2.6)
(1.6)

0

50
Continuous running range
(3500)(3800)

1000 2000 3000 4000 5000 6000
speed [r/min]

* These are subject to change. Contact us when you use these values for your machine design.

7-60

0

10

20

30

40

ambient temp. [°C]

5. Motor Characteristics (S-T
Characteristics )

Supplement

MSME series

N:WRN:

MSME series (1.0kW to 2.0kW)
With oil seal
‡060(* 1 *

‡060(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

100

100
Peak running range

(6.0)

50

5

ratio vs. rated torque
[%]

10

Peak running range

(6.0)

* Continuous torque vs. ambient temp.

torque
[N·m]

50

5

(4.0)

(4.0)

Continuous running range

Continuous running range

(1.9)

0

(1.9)

1000

2000

3000

(3800) (4200)

0

4000 5000
speed [r/min]

10

20

30

40

0

1000

2000

3000

ambient temp. [°C]

‡060(* 1 *

(3800) (4200)

15

(4.0)

Continuous running range
(3200) (3600)

3000

4000 5000
speed [r/min]

0

100
85

3

10

20

30

0

40

without
brake

with brake

Peak running range

50

4

Continuous running range

1000

2000

(3200) (3600)

3000

ambient temp. [°C]

4000 5000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

Setup

‡060(* 1 *

‡060(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

20
Peak running range

without
brake

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

20

100
85
70

10

100
85
70

Peak running range

with brake
10

50

(7.0)

without
brake

5

with brake

50

(7.0)

Continuous running range

1000

2000

(2.0)

(3300) (3700)

3000

4000 5000
speed [r/min]

0

10

20

30

0

40

Continuous running range

1000

2000

ambient temp. [°C]

(3300) (3700)

3000

4000 5000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

Adjustment

0

40

* Continuous torque vs. ambient temp.

7.5

50

2000

30

ratio vs. rated torque
[%]

torque
[N·m]

with brake

Peak running range

7.5

without
brake

15

100
85

1000

20

ambient temp. [°C]

Connection

* Continuous torque vs. ambient temp.

0

10

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

ratio vs. rated torque
[%]

torque
[N·m]

(4.0)

0

4000 5000
speed [r/min]

‡060(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(2.0)

Preparation

ratio vs. rated torque
[%]

10

2

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

1
Before Using the Products

7

* These are subject to change. Contact us when you use these values for your machine design.

6
When in Trouble

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

7

Running range (Torque limit setup : 100%)

Continuous running range

speed

7-61

Supplement

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MSME series

N:WRN:

MSME series (3.0kW to 5.0kW)
With oil seal
‡060( * 1 *

‡060( * 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

ratio vs. rated torque
[%]

torque
[N·m]

100
90
85

30

1000

(3100) (3400)

2000

3000

4000 5000
speed [r/min]

50

(12)
(8.0)
(5.7)

0

10

20

30

Continuous running range

0

40

1000

(3100) (3400)

2000

3000

ambient temp. [°C]

‡060(* 1 *

4000 5000
speed [r/min]

ratio vs. rated torque
[%]
100
90
85

40

without
brake

(10)

Continuous running range

2000

(2800) (3100)

3000

4000 5000
speed [r/min]

100
90
85

40

0

10

20

30

with brake

50
Continuous running range

0

40

without
brake

Peak running range

20

1000

2000

(2800) (3100)

3000

ambient temp. [°C]

‡060(* 1 *

4000 5000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

‡060(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

50

100

50

25

70
50

25

Peak running range

(15)

ratio vs. rated torque
[%]
100
70
50

Peak running range

(15)

Continuous running range

0

30

ratio vs. rated torque
[%]

40

50

1000

20

ambient temp. [°C]

* Continuous torque vs. ambient temp.

torque
[N·m]

with brake

Peak running range

0

10

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

(10)

0

‡060(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

20

without
brake

with brake

Peak running range

15

Continuous running range

0

100
90
85

30

50

(12)
(8.0)
(5.7)

* Continuous torque vs. ambient temp.

ratio vs. rated torque
[%]

torque
[N·m]

with brake

Peak running range

15

without
brake

1000

Continuous running range

(2800) (3200)

2000

3000

4000 5000
speed [r/min]

0

10

20

30

40

0

1000

(2800) (3200)

2000

ambient temp. [°C]

3000

4000 5000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)

Continuous running range

speed

7-62

5. Motor Characteristics (S-T
Characteristics )

Supplement

MDME series

:WRN:

MDME series (400W to 2.0kW)
With oil seal
‡0'0(* *

‡0'0(* *

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

4

(3.5)

0

Peak running range

50

5

Continuous running range

1000

2000
3000
speed [r/min]

0

100
Peak running range

50

(4.5)
(1.9)

(2400) (2700)

ratio vs. rated torque
[%]

10

100

2

(1.3)

* Continuous torque vs. ambient temp.

トルク
torque
[N·m]

10

20

30

40

0

Continuous running range

1000

ambient temp. [°C]

‡0'0(* *

(2100)(2400)

50

Peak running range

50

4

5

(4.0)
(3.2)

Continuous running range

1000

(2200)

2000
3000
speed [r/min]

0

10

20

30

40

0

Continuous running range

1000

ambient temp. [°C]

(2200)

10

20

30

40

ambient temp. [°C]

Setup

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]
20

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

ratio vs. rated torque
[%]

20

100
Peak running range

5

100
Peak running range

50

10

2000
3000
speed [r/min]

0

10

20

30

40

0

Continuous running range

1000

ambient temp. [°C]

‡0'0(* *

(2300)

0

2000
3000
speed [r/min]

10

20

30

40

ambient temp. [°C]

Adjustment

(2300)

50

10
(6.0)
(4.8)

Continuous running range

‡0'0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

* Continuous torque vs. ambient temp.

torque
[N·m]

100

30

50

15

Peak running range

ratio vs. rated torque
[%]
100
Peak running range

15
(11)

(11)

(6.4)

(6.4)

Continuous running range
(2200)

2000
3000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

0

50
Continuous running range

1000

(2200)

2000
3000
speed [r/min]

0

10

20

30

40

6
When in Trouble

30

1000

0

2000
3000
speed [r/min]

‡0'0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

1000

3

100

(6.0)

‡0'0(* *

0

40

Connection

10

Peak running range

5

0

30

ratio vs. rated torque
[%]

15

100

(6.0)

(6.0)
(4.8)

20

ambient temp. [°C]

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

15

0

10

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

(4.0)
(3.2)

0

2000
3000
speed [r/min]

‡0'0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

10

Preparation

ratio vs. rated torque
[%]

6

2

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

1
Before Using the Products

7

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

7
Supplement

7-63

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MDME series

N:WRN:

MDME series (3.0kW to 5.0kW)
With oil seal
‡0'0(* 1 *

‡0'0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]
50
(28)

25

Peak running range

(9.5)

0

(28)

50

25

1000

(9.5)

0

2000
3000
speed [r/min]

100

Peak running range

50

(20)

Continuous running range
(2200)(2400)

ratio vs. rated torque
[%]

50

100

(20)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

10

20

30

40

Continuous running range

0

(2200)(2400)

1000

‡0'0(* 1 *

50

100
Peak running range

50

25
Continuous running range
(1900)(2100)

0

2000
3000
speed [r/min]

50

25
(13)

10

20

30

40

Continuous running range

0

(1900)(2100)

1000

20

30

40

ambient temp. [°C]

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

without
brake
with
brake

100
90
85

70
Peak running range

2000
3000
speed [r/min]

(3)

10

20

30

40

without
brake
with
brake

100
90
85

70

(20)

0

ratio vs. rated torque
[%]

50

35

Continuous running range
(1900)(2100)

* Continuous torque vs. ambient temp.

torque
[N·m]

Peak running range

50

35

1000

10

‡0'0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

0

0

2000
3000
speed [r/min]

ambient temp. [°C]

‡0'0(* 1 *

(3)

40

ratio vs. rated torque
[%]

50

100
Peak running range

(20)

30

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

1000

20

ambient temp. [°C]

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

0

10

‡0'0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(13)

0

2000
3000
speed [r/min]

ambient temp. [°C]

Continuous running range

0

(1900)(2100)

1000

2000
3000
speed [r/min]

ambient temp. [°C]

0

10

20

30

40

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)

Continuous running range

speed

7-64

5. Motor Characteristics (S-T
Characteristics )

Supplement

MDME series

N:WRN:

0'0(series(N:WRN:)
:LWKRLOVHDO
‡0'0(* *

‡0'0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(60)

50

50

100
90

100

Peak running range

Peak running range

50

50

(47.8)

(47.8)

Continuous running range

0

1000

(1500)

(12)
(2200) (2500)

2000
3000
speed [r/min]

0

10

20

30

40

Continuous running range

0

150

20

30

40

ambient temp. [°C]

ratio vs. rated torque
[%]

150

3

100

(130)

Peak running range

Peak running range

50

75

(1500)(1700)

2000
3000
speed [r/min]

0

50

75

(70)
(52.5)

Continuous running range

10

20

30

40

0

4

Continuous running range

1000

(1500)(1700)

0

2000
3000
speed [r/min]

ambient temp. [°C]

10

20

30

40

ambient temp. [°C]

Setup

‡0'0(&* *

‡0'0(&* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

(224)

200

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

(224)

200

100
90
Peak running range

5

100
90
Peak running range

50

100

2000
3000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

0

Continuous running range

1000

(1500)(1700)

2000
3000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

Adjustment

(1500)(1700)

50

100

(95.5)
(57)

Continuous running range

1000

10

* Continuous torque vs. ambient temp.

torque
[N·m]
(175)

100

(130)

0

0

Connection

ratio vs. rated torque
[%]

(175)

1000

(2200) (2500)

2000
3000
speed [r/min]

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

0

(1500)

‡0'0(&* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(70)
(52.5)

1000

ambient temp. [°C]

‡0'0(&* *

(95.5)
(57)

ratio vs. rated torque
[%]

（119）

100
90

100

(12)

* Continuous torque vs. ambient temp.

torque
[N·m]

Preparation

ratio vs. rated torque
[%]

（119）

(60)

2

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

1
Before Using the Products

7

* These are subject to change. Contact us when you use these values for your machine design.

6
When in Trouble

7
Supplement

7-65

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MFME series (1.5kW to 4.5kW)

MFME series (1.5kW to 4.5kW)
With oil seal
‡0)0(* 1 *

‡0)0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

（21.5）

（14）

Peak running range

0

100

20

（14）

10

ratio vs. rated torque
[%]

（21.5）

100

20

（7.16）
（4.8）

* Continuous torque vs. ambient temp.

torque
[N·m]

50

Continuous running range
(2200) (2600)

1000

Peak running range

10

（7.16）
（4.8）

2000
3000
speed [r/min]

0

10

20

30

40

Continuous running range

0

(2200) (2600)

1000

20

30

40

ambient temp. [°C]

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

* Continuous torque vs. ambient temp.

torque
[N·m]

（30.4）

ratio vs. rated torque
[%]

（30.4）

100

30

100

30

Peak running range

Peak running range

50

15

（11.9）

Continuous running range

Continuous running range

（5）

1000

50

15

（11.9）

（5）

(1800)

2000
3000
speed [r/min]

0

10

20

30

40

0

(1800)

1000

0

2000
3000
speed [r/min]

ambient temp. [°C]

‡0)0(* 1 *

10

20

30

40

ambient temp. [°C]

‡0)0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

* Continuous torque vs. ambient temp.

torque
[N·m]

（54.9）

ratio vs. rated torque
[%]

（54.9）

100

50

100

50

Peak running range

Peak running range

50

25

50

25

（21.5）

（21.5）

（10）

（10）

Continuous running range

0

10

‡0)0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

0

0

2000
3000
speed [r/min]

ambient temp. [°C]

‡0)0(* 1 *

50

1000

Continuous running range

(1800)

2000
3000
speed [r/min]

0

10

20

30

40

0

(1800)

1000

2000
3000
speed [r/min]

ambient temp. [°C]

0

10

20

30

40

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)

Continuous running range

speed

7-66

5. Motor Characteristics (S-T
Characteristics )

Supplement

MGME series

N:WRN:

0*0(VHULHV(N:WRN:)
:LWKRLOVHDO
‡0*0$* *

‡0*0$* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
ratio vs. rated torque
[%]

20

torque
[N·m]

50

(8)
(4.3)

1000

Peak running range

10

50

(8)
(4.3)

Continuous running range

0

100

(14)

Peak running range

10

ratio vs. rated torque
[%]

20

100

(14)

* Continuous torque vs. ambient temp.

Continuous running range

(1600)(1800)

2000
3000
speed [r/min]

0

10

20

30

40

0

1000

(1600)(1800)

50
Peak running range

(18)
(9.6)

2000
3000
speed [r/min]

0

Peak running range

50

25

Continuous running range

10

20

30

40

4

Continuous running range

0

(1400)(1600)

1000

0

2000
3000
speed [r/min]

ambient temp. [°C]

10

20

30

40

ambient temp. [°C]

Setup

‡0*0$* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

70

ratio vs. rated torque
[%]

70

Peak running range

(40)

50

35

* Continuous torque vs. ambient temp.

torque
[N·m]

100

100

5

Peak running range

50

35

(1400)(1600)

2000
3000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

0

1000

(1400)(1600)

2000
3000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

Adjustment

(20)
(14) Continuous running range

(20)
(14) Continuous running range

1000

3

100

(28)

50

(1400)(1600)

ratio vs. rated torque
[%]

50

‡0*0$* *

0

40

* Continuous torque vs. ambient temp.

torque
[N·m]

100

25

(40)

30

Connection

ratio vs. rated torque
[%]

1000

20

ambient temp. [°C]

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

0

10

‡0*0$* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(18)
(9.6)

0

2000
3000
speed [r/min]

ambient temp. [°C]

‡0*0$* *

(28)

Preparation

torque
[N·m]

2

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

1
Before Using the Products

7

* These are subject to change. Contact us when you use these values for your machine design.

6
When in Trouble

7
Supplement

7-67

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MGME series

N:WRN:

0'0(series (N:WRN:)
With oil seal
‡0*0(* 1 *

‡0*0(* 1 *

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

* Continuous torque vs. ambient temp.

torque
[N·m]

(107)

(107)

100

100

100

100

Peak running range

Peak running range

(70)

(70)

50

50

(43)
(22)

ratio vs. rated torque
[%]

(22)

Continuous running range

0

1000

(1500)(1700)

2000
3000
speed [r/min]

0

50

50

(43)

10

20

30

40

Continuous running range

0

1000

(1500)(1700)

20

30

40

ambient temp. [°C]

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

150

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

150

100

(143)

100

(143)

(100)

(100)

50

75 Peak running range

0

10

‡0*0(* 1 *

‡0*0(* 1 *

(57.3)
(28)

0

2000
3000
speed [r/min]

ambient temp. [°C]

Continuous running range

1000

(1500)(1700)

2000
3000
speed [r/min]

0

50

75 Peak running range
(57.3)
(28)

10

20

30

40

Continuous running range

0

1000

(1500)(1700)

2000
3000
speed [r/min]

ambient temp. [°C]

0

10

20

30

40

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)

Continuous running range

speed

7-68

5. Motor Characteristics (S-T
Characteristics )

Supplement

MHMD series

:

MHMD series (200W)
Without oil seal

With oil seal

‡0+0'* *

‡0+0'* *

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
ratio vs. rated torque
[%]

2.0

100
Peak running range

1.0

(0.5)

torque
[N·m]

0

(0.5)

1000

2000

3000

4000 5000
speed [r/min]

0

Peak running range

1.0

10

20

30

40

Continuous running range

0

1000

2000

(3600)

3000

4000

2.0

100

30

40

* Continuous torque vs. ambient temp.

torque
[N·m]

Peak running range

3

Continuous running range

without
brake

100
80
70

Peak running range

1.0

50

3000

ratio vs. rated torque
[%]

2.0
(1.5)
(1.2)

1.0

2000

20

ambient temp. [°C]

with brake

50

4

Continuous running range
(4500)

4000

5000

speed [r/min]

0

10

20

30

40

ambient temp. [°C]

0

1000

2000

Connection

ratio vs. rated torque
[%]

1000

10

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

0

0

5000

speed [r/min]

‡0+0'* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(1.5)
(1.2)

with brake

50

ambient temp. [°C]

‡0+0'* *

without
brake

100
80
70

(0.9)

Continuous running range
(3600)

ratio vs. rated torque
[%]

2.0

50

(0.9)

* Continuous torque vs. ambient temp.

Preparation

torque
[N·m]

2

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

1
Before Using the Products

7

3000

(4500)

4000

5000

speed [r/min]

0

10

20

30

40

ambient temp. [°C]

Setup

* These are subject to change. Contact us when you use these values for your machine design.

5
Adjustment

6
When in Trouble

7
Supplement

7-69

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MHMD series

:WR:

MHME series (400W to 750W)
Without oil seal

With oil seal

‡0+0'* *

‡0+0'* *

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

torque
[N·m]

4.0

100
90

4.0

50

2.0

ratio vs. rated torque
[%]
100
75

Peak running range

2.0

Peak running range

(1.3)
Continuous running range
(0.6)

0

1000

2000

50

(1.3)
Continuous running range
(0.6)

(2800) (3200)

3000

4000

5000

0

10

speed [r/min]

20

30

40

0

1000

2000

(2800) (3200)

3000

ambient temp. [°C]

‡0+0'* *

4000

0

5000

10

speed [r/min]

20

30

40

ambient temp. [°C]

‡0+0'* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

torque
[N·m]

4.0

100
90

4.0

ratio vs. rated torque
[%]
100
75

Peak running range

Peak running range

50

2.0

50

2.0

(1.7)
(1.3)

(1.7)
(1.3)

Continuous running range

0

1000

2000

Continuous running range
(3400) (3800)

3000

4000 5000
speed [r/min]

0

10

20

30

40

0

1000

2000

(3400) (3800)

3000

ambient temp. [°C]

‡0+0'* *

4000

ratio vs. rated torque
[%]

8.0

30

40

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

8.0

100
Peak running range

100
Peak running range

4.0

4.0

50

(3.0)

Continuous running range

(3200) (3600)

3000

50

(3.0)

Continuous running range

2000

20

ambient temp. [°C]

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

1000

10

‡0+0'* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

0

0

5000

speed [r/min]

4000 5000
speed [r/min]

0

10

20

30

40

0

1000

2000

ambient temp. [°C]

(3200) (3600)

3000

4000

5000

speed [r/min]

0

10

20

30

40

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)

Continuous running range

speed

7-70

5. Motor Characteristics (S-T
Characteristics )

Supplement

MHME series

N:WRN:

0+0(series (N:WRN:)
With oil seal
‡0+0(* *

‡0+0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
ratio vs. rated torque
[%]

15
10

torque
[N·m]

10

Peak running range

50

100
Peak running range

50

(6.0)

5

0

ratio vs. rated torque
[%]

15

100

(6.0)
(4.0)
(3.2)

* Continuous torque vs. ambient temp.

5

(4.0)
(3.2)

Continuous running range

1000

(2200)

2000
3000
speed [r/min]

0

10

20

30

40

0

Continuous running range

1000

ambient temp. [°C]

‡0+0(* *

(2200)

20

100

Continuous running range
(2300)

2000
3000
speed [r/min]

0

50

10
(6.0)
(4.8)

10

20

30

40

0

1000

(2300)

10

20

30

40

ambient temp. [°C]

Setup

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

30

* Continuous torque vs. ambient temp.

torque
[N·m]

100

30

50

15

Peak running range

ratio vs. rated torque
[%]
100

5

Peak running range

15

(2200)

2000
3000
speed [r/min]

0

10

20

30

40

0

50
Continuous running range

1000

ambient temp. [°C]

‡0+0(* *

(2200)

0

2000
3000
speed [r/min]

10

20

30

40

ambient temp. [°C]

Adjustment

(6.4)

Continuous running range

‡0+0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

50

100
Peak running range

100
Peak running range

50

25

(20)

(9.5)

Continuous running range
(2400)

2000
3000
speed [r/min]

0

50

25

(20)

10

20

30

40

ambient temp. [°C]

0

Continuous running range

1000

(2400)

2000
3000
speed [r/min]

0

10

20

30

40

6
When in Trouble

50

1000

0

2000
3000
speed [r/min]

‡0+0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

0

4

Continuous running range

ambient temp. [°C]

‡0+0(* *

(9.5)

3

Peak running range

50

1000

40

ratio vs. rated torque
[%]

20

100

10

0

30

* Continuous torque vs. ambient temp.

torque
[N·m]

Peak running range

(6.4)

20

ambient temp. [°C]

Connection

ratio vs. rated torque
[%]

1000

10

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

0

0

2000
3000
speed [r/min]

‡0+0(* *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(6.0)
(4.8)

Preparation

torque
[N·m]

2

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

1
Before Using the Products

7

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

7
Supplement

7-71

7

5. Motor Characteristics (S-T
Characteristics )

Supplement

MHME series

N:WRN:

0+0(series (N:WRN:)
With oil seal
‡0+0(* 1 *

‡0+0(* 1 *

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

* Continuous torque vs. ambient temp.

torque
[N·m]

torque
[N·m]

ratio vs. rated torque
[%]

50

50

100

100
Peak running range

Peak running range

(13)

Continuous running range

0

(1900) (2100)

1000

50

25

50

25
(13)

ratio vs. rated torque
[%]

0

2000
3000
speed [r/min]

10

20

30

40

Continuous running range

0

(1900) (2100)

1000

‡0+0(* 1 *

ratio vs. rated torque
[%]
100
90
85

70
Peak running range

without
brake

30

40

* Continuous torque vs. ambient temp.

torque
[N·m]

ratio vs. rated torque
[%]

70

100
90
85

with brake

Peak running range

50

35

without
brake

with brake

50

35

(20)

(20)

Continuous running range

(3)

0

1000

Continuous running range

(3)

(1900) (2100)

2000
3000
speed [r/min]

0

10

20

30

40

0

(1900) (2100)

1000

0

2000
3000
speed [r/min]

ambient temp. [°C]

‡0+0(* 1 *

10

20

30

40

ambient temp. [°C]

‡0+0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

ratio vs. rated torque
[%]

torque
[N·m]

* Continuous torque vs. ambient temp.

ratio vs. rated torque
[%]

torque
[N·m]

（119）

（119）

100

100

100

100

Peak running range

(60)

50

50

Peak running range

50

50

(47.8)

0

20

ambient temp. [°C]

Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)

* Continuous torque vs. ambient temp.

torque
[N·m]

(12)

10

‡0+0(* 1 *

Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)

(60)

0

2000
3000
speed [r/min]

ambient temp. [°C]

(47.8)

Continuous running range

1000

(1500)

(12)
(2200) (2500)

2000
3000
speed [r/min]

0

10

20

30

40

Continuous running range

0

1000

(1500)

ambient temp. [°C]

(2200) (2500)

2000
3000
speed [r/min]

0

10

20

30

40

ambient temp. [°C]

* These are subject to change. Contact us when you use these values for your machine design.

‡:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG 
running range at high speed might be lowered as well.
torque

Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)

Continuous running range

speed

7-72

6. Dimensions

Supplement

Driver

1
Before Using the Products

7
A-frame

2
(22.4)

40
7

2.5

20.4

Mounting bracket
(Option)

.2
(18)

ø5

(20)

Preparation

40

3.5

ø5

.2

125

140

5.2

2.5

7

4.5

Rack mount type
Option :
Front-end mounting

(

3

Mounting bracket
(Option)

5

180

5

24

Connection

Name plate

170

150

150

(27)

5.2
28

130

(70)

6

Base mount type
Standard:
Back-end mounting

)

(

)

4

Mass: 0.8kg
Setup

B-frame

5
55

55
7

2.5

20.4

Mounting bracket
(Option)

.2
(18)

ø5

(20)

Adjustment

(22.4)

47

3.5

ø5

.2

125

140

24

2.5
4.5

7

Rack mount type
Option :
Front-end mounting

(

Mounting bracket
(Option)

5.2
43

6

130

(70)

)

Base mount type
Standard:
Back-end mounting

(

)

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7-73

7
Supplement

Mass: 1.0kg

Related page

When in Trouble

Name plate
5.2

6

5

180

170

150

150

(27)

6. Dimensions
Driver

C-frame

65

65
40

(22.4)
20.4

(22)

20

2.5

Mounting bracket
(Option)

2

(15)

ø5.

4

ø5

.2

120

140

180

170

150

150

(27)

Name plate

24

5

5.2

2.5
4.5

20

Mounting bracket
(Option)

5.2
50

170

Rack mount type
Option :
Front-end mounting

(

7.5

Base mount type
Standard:
Back-end mounting

(70)

40

5

(18)

(

)

)

Mass: 1.6kg

'IUDPH 9

(86)

(86)
85

(22.4)

60
10

(22)

40

2.5

20.4

Mounting bracket
(Option)

(15)

2-ø5.2

4

ø5

.2

120

140

180

170

150

150

(27)

Name plate

24

5

(18)

Direction of air flowing
from the internal
cooling fan

5.2 5.2
40
60

10

Rack mount type
Option :
Front-end mounting

(

2.5
4.5

Mounting bracket
(Option)

5.2
70

170

(70)

)

R2
.6

8.5

Base mount type
Standard:
Back-end mounting

(

)

Mass: 1.8kg

Related page

7-74

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6. Dimensions

1
Before Using the Products

Driver

'IUDPH 9

2
(92)
85
60
(22)

40
2-ø5.2

(15)

10

(22.4)
20.4

Preparation

(92)

2.5

Mounting bracket
(Option)

4

4

ø5

.2

120

3
140

24

180

170

150

150

(27)

Name plate

Connection

Direction of air flowing
from the internal
cooling fan

10

5.2
40

4.5

5.2

Mounting bracket(Option)

5.2

170

7.5

(70)

Rack mount type
Option :
Front-end mounting

(

2.5

5

(18)

70

Base mount type
Standard:
Back-end mounting

(

)

)

Setup

Mass: 1.9kg

4

(IUDPH 9

5
85
17.5

50
42.5

(33.1)
31.7

2.5

Mounting bracket
(deviation from shipping specification)

(3.5)

.2

Mounting bracket

(29)

ø5

5.2

(22)

(to shipping specification)

6

130

198

188

168

When in Trouble

168

(32)

Name plate

24

(18)

5.2
42.5
17.5

ø5.2

50
85

5.2

7

Mounting bracket (to shipping specification)
Mounting bracket
2.5

(deviation from shipping specification)

193

Supplement

Direction of air flowing
from the internal
cooling fan

Adjustment

(86)

(86)

Mass: 2.7kg
7-75

6. Dimensions
Driver

(IUDPH 9

94
85

94
17.5

50
42.5
.2

5.2

2.5

Mounting bracket
(deviation from shipping specification)

Mounting bracket

(29)

ø5

5.2

(33.1)
31.7

(22)

(to shipping specification)

130

198

188

168

168

(32)

Name plate

24

(18)

ø5.2

5.2
42.5

Direction of air flowing
from the internal
cooling fan

17.5

Mounting bracket (to shipping specification)
Mounting bracket

5.2

2.5
50

(deviation from shipping specification)
193

Mass: 2.7kg

)IUDPH 9

130

214
(22)

5.2

42.7

2.5

Mounting bracket

(deviation from shipping specification)
Mounting bracket (to shipping specification)

(23)

ø5

65
5.2

.2

130
100

15

125

(32)

Mass: 4.8kg [200V]
4.7kg [400V]
7-76

5.2
65
15

ø5.2

Direction of air flowing
from the internal
cooling fan

100
130

5.2

Name plate

250

240

220

220

24

Mounting bracket (to shipping specification)
Mounting bracket
2.5

(deviation from shipping specification)

(3.5)

(3.5)

6. Dimensions

1
Before Using the Products

Driver

*IUDPH 9

2
ワヤ

L1

ヹヒ

ロヒヤ

Preparation

ヹビ

L2
ロ ビヤ
ヹピ

L3

ワヤ

ワヤ

B1

ヹフ

ュャヒ

B2

ュャビ

NC
ワヤ
ヹブ

U
ワヤ
ヹプ

ュャピ

V

ュャフ

W

3

ワヤ
ヤラモンヨユ

Connection

Direction of air flowing
from the internal
cooling fan
233
210

12
90

27

90
(22)

5.2

ø5

5.2

ø5

Mounting bracket

52
2.5

(deviation from shipping specification)

.2

.2

Mounting bracket

(23)

5.2

334

90

72

(to shipping specification)

3.5

4

Handle

125

Setup

ワヤ

L1

(32)

ヹヒ

ロヒヤ
ヹビ

L2
ロ ビヤ
ヹピ

L3

24

ワヤ

ュャヒ

B2

250

ヹフ

220
235

ワヤ

B1

ュャビ

NC

5

Name plate

ワヤ
ヹブ

U
ワヤ
ヹプ

ュャピ

V

ュャフ

W

ワヤ
ヤラモンヨユ

90

Adjustment

2

2

27

Mounting bracket
5.2

2.5

(to shipping specification)

Mounting bracket

(deviation from shipping specification)

90

72
12

5.2

ø5.

ø5.

5.2

90
210

6
When in Trouble

7
Related page

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7-77

Supplement

Mass: 13.5kg

6. Dimensions
Driver

+IUDPH 9

261

21

270

30.5

200
4

ø7

ø7

125

(32)

435

450

Name
plate

7

7
30.5

200

Direction of air flowing
from the internal
cooling fan

7.5

Name
plate

Base mount type
(Back-end mounting)
266

4

Mount

Mount

Related page

7-78

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Mass: 21.0kg

6. Dimensions

Supplement

Motor

1
Before Using the Products

7

060':WR:

2
Brake connector

RH
RH

90
°±
1°

LW
LK

3
ѮLBh7

Connection

4-ѮLZ
ѮLA

(Key way with center tap shaft)
LW
KW
LK
KH

□LC

LH

(7)

(D-cut shaft)

Motor connector

ѮSh6

(7)

Shaft end spec.

200

230

LF

LR
LE

TP
RH

LL

Preparation

Encoder connector

LN

4
Setup

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

060'VHULHV /RZLQHUWLD
50W
5A * * 1□ *
72
102

100W
01 * * 1 *
92
122

5

25
8
45
30
38
3
6
32
26.3

Adjustment

6

46.5

Key way
dimensions

3.4
25
20
7.5
14
12.5
3h9
3
6.2
M3 depth 6

When in Trouble

カット
寸法

7

0.32
0.47
0.53
0.68
5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
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Supplement

Motor output
Motor model
MSMD
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
LN
LZ
LW
D
LK
RH
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
&RQQHFWRUVSHFLÀFDWLRQV

7-79

6. Dimensions
Motor

060':WR:

Encoder connector

Shaft end spec.

Brake connector

(D-cut shaft)
LW
1°

LK

RH

°±

Motor connector

4-ѮLZ

□LC

ѮLBh7

LH

ѮLA

(Key way with center tap shaft)
LW
KW
LK
KH

(7)

ѮSh6

(7)

200

220

90

LF

LR
LE

RH

LL

RH

TP

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

060'VHULHV /RZLQHUWLD
200W
02 * * 1□ *
79.5
116

400W
04 * * 1□ *
99
135.5
30

11

14
70
50
60

750W
08 * * 1□ *
112.2
149.2
35
19
90
70
80

3
6.5
43
4.5
30
22

カット
寸法

Motor output
Motor model
MSMD
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
LZ
LW
D
LK
RH
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
&RQQHFWRUVSHFLÀFDWLRQV

Key way
dimensions

10
20
18
4h9
4
8.5
M4 depth 8
0.82
1.3

12.5
25
22.5
5h9
5
11
M5 depth 10
1.2
1.7
5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

8
53
6
35
25
17.5
25
22
6h9
6
15.5
2.3
3.1

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
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7-80

6. Dimensions

1
Before Using the Products

Motor

060(:WR:
Encoder connector
Motor connector
LL
LM

LT

2

LR

LC

Shaft end spec.
(Key way with center tap shaft)

LH

KW
KH

ѮLA

ѮLBh7

LN

LW
LK

4-ѮLZ

ѮSh6

LE

Preparation

LF

RH

TP

3

[With brake]

LL
LM

LT

LR

LC

Shaft end spec.
(Key way with center tap shaft)

LH

ѮLA

ѮLBh7

LN

LW
LK

4-ѮLZ

KW
KH

LE

ѮSh6

LF

4

RH

TP

Setup

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

060(VHULHV /RZLQHUWLD
50W
5A * * 1 *
72
102

100W
01 * * 1 *
92
122

200W
02 * * 1 *
79.5
116

400W
04 * * 1 *
99
135.5
30

11

14
70
50
60

750W
082 * 1 *
112.2
148.2
35
19
90
70
80

5
Adjustment

25
8
45
30
38

3
—
46.6

6.5
52.5
64.8
94.8
43

27.2
3.4
14
12.5
3h9
3
6.2
M3 depth 6

72.5
109
—
26.5

4.5
20
25
18
22.5
4h9
5h9
4
5
8.5
11
M4 depth 8
M5 depth 10
0.46
0.78
1.2
0.66
1.2
1.6
5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

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6

6
25
22
6h9
6
15.5

7

2.3
3.1

Supplement

0.31
0.51

53
89.5
—

8
61.6
85.7
121.7
—

When in Trouble

44.8
74.8
23

Key way
dimensions

Motor output
Motor model
MSME
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
Without brake
LM
With brake
LN
LT
LZ
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
&RQQHFWRUVSHFLÀFDWLRQV

Connection

Encoder connector Brake connector
Motor connector

7-81

6. Dimensions
Motor

060(: 9 N:WRN: 'HVLJQ2UGHU

LL

Motor/Brake
connector

44

LC

LR
LM

Shaft end spec.
(Key way shaft)

LF LE
LH

KW

KH

ѮSh6

D
ѮL

ѮLBh7

LG

M3 through

LW
LK

4-ѮLZ

ѮL
A

RH

Encoder
connector

 * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF.
LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

060(VHULHV /RZLQHUWLD
Motor output
Motor model
LL

MSME
Without brake
With brake

750W

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

084 * 1 *

10 * * 1 *

15 * * 1 *

20 * * 1 *

30 * * 1 *

40 * * 1 *

50 * * 1 *

131.5

141

159.5

178.5

190

208

243

158.5

168

186.5

205.5

215

233

LR

55

S

19

LA

115

LB

95

LC

100

LD

135

LE

22
110
120

130

162

165
6

10

12

LG

60

LH

101

113

118

Without brake

87.5

97

115.5

134.5

146

164

199

With brake

114.5

124

142.5

161.5

171

189

224

LZ
Key way
dimensions
Mass (kg)

24
145

3

LF

LM

268
65

9
LW

45

LK

42

KW

6h9

KH

6

RH

15.5

55
41

51
8h9
7

18

20

Without brake

3.1

3.5

4.4

5.3

8.3

11.0

14.0

With brake

4.1

4.5

5.4

6.3

9.4

12.6

16.0

&RQQHFWRUVSHFLÀFDWLRQV

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ

7-82

6. Dimensions

1
Before Using the Products

Motor

060(N:WRN: 'HVLJQ2UGHU&

LL

Motor/Brake
connector

46

□LC

LR

2

LM

Shaft end spec.
(Key way shaft)

LF LE
LH

KH

ѮL
A

KW

RH

ѮSh6

D
ѮL

ѮLBh7

LG

M3 through

LW
LK

4-ѮLZ

Preparation

Encoder
connector

3
Connection

 * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF.
LF

4
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Setup

060(VHULHV /RZLQHUWLD
Motor output
Motor model
LL

MSME
Without brake
With brake

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

10 * * C *

15 * * C *

20 * * C *

30 * * C *

40 * * C *

50 * * C *

143

161.5

180.5

192

210

245

170

188.5

207.5

217

235

LR

55
19
115

LB

95

LC

100

LD

135

LE

22
110

130

162

165
6
12

6

84

LH

101

113

118

97

115.5

134.5

146

164

199

124

142.5

161.5

171

189

224

Key way
dimensions

When in Trouble

Without brake
With brake
LZ

Mass (kg)

120

10

LG

LM

24
145

3

LF

5
Adjustment

S
LA

270
65

9
LW

45

LK

42

KW

6h9

KH

6

RH

15.5

55
41

51
8h9
7

18

7

20

3.5

4.4

5.3

8.3

11.0

14.0

With brake

4.5

5.4

6.3

9.4

12.6

16.0

&RQQHFWRUVSHFLÀFDWLRQV

Supplement

Without brake

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ
7-83

6. Dimensions
Motor

0'0(:WRN: 'HVLJQ2UGHU

Encoder connector
Motor/Brake connector
LL
44

LR

LC

LM

Shaft end spec.
(Key way shaft)

LE

4-ѮLZ

KW

KH
ѮLBh7

ѮSh6

ѮLD

ѮLA

RH

LG

M3 through

LW
LK

LH

LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MDME series (Middle inertia)
Motor output

600W

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

044 * 1 *

064 * 1 *

10 * * 1 *

15 * * 1 *

20 * * 1 *

30 * * 1 *

40 * * 1 *

50 * * 1 *

Without brake

131.5

141

138

155.5

173

208

177

196

With brake

158.5

168

163

180.5

198

233

202

Motor model
LL

400W
MDME

LR

55

S

19

22

24

35

LA

115

145

200

95

110

114.3

LC

100

130

176

LD

135

165

233

LE

3

6

3.2

LF

10

12

18

60

LH

101

116

118

140

Without brake

87.5

97

94

111.5

129

164

133

152

With brake

114.5

124

119

136.5

155

189

158

177

LZ

9
LW

13.5

45

55

Key way
dimensions

LK

42

KW

6h9

8h9

10h9

KH

6

7

8

RH
Mass (kg)

70

LB

LG

LM

221

65

41

15.5

18

Without brake

3.1

3.5

With brake

4.1

4.5

&RQQHFWRUVSHFLÀFDWLRQV

51

50

20

30

5.2

6.7

8.0

11.0

15.5

18.6

6.7

8.2

9.5

12.6

18.7

21.8

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ

7-84

6. Dimensions

1
Before Using the Products

Motor

0'0(:WRN: 'HVLJQ2UGHU&

2

Encoder connector
Motor/Brake connector
LR

□LC

Preparation

LL
46

LM

Shaft end spec.
(Key way shaft)

LE

4-ѮLZ

KH

KW

ѮLA

3

ѮLD

RH

ѮSh6

M3 through

LW
LK

Connection

ѮLBh7

LG

LH

LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

4

MDME series (Middle inertia)
Motor output

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

15 * * C *

20 * * C *

30 * * C *

40 * * C *

50 * * C *

140

157.5

175

210

179

198

With brake

165

182.5

200

235

204

MDME

LR

55

65

35

LA

145

200

LB

110

114.3

LC

130

176

LD

165

233

LE

6

3.2

LF

12

18
84

116

118

140

94

111.5

129

164

133

152

With brake

119

136.5

155

189

158

177

9

Key way
dimensions

LW

45

LK

41

13.5
55
51

50

KW

8h9

10h9

KH

7

8

RH

18

20

7

30

5.2

6.7

8.0

11.0

15.5

18.6

With brake

6.7

8.2

9.5

12.6

18.7

21.8

Supplement

Without brake

&RQQHFWRUVSHFLÀFDWLRQV

6
When in Trouble

Without brake
LZ

Mass (kg)

5
Adjustment

22

LH
LM

223
70

S

LG

Setup

10 * * C *

Without brake

Motor model
LL

1.0kW

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ
7-85

6. Dimensions
Motor

0'0(N:WRN:


LL
LM

44

□LC
43.5 43.5

LR
Eye bolt
(Thread 10)

48

Shaft end spec.
(Key way shaft)
LW
LK

4-ѮLZ

M4 through
KW

KH

LH
ѮLBh7

LG

ѮSh6

LF LE

D
ѮL

ѮL
A

RH

Encoder
connector

Motor connector
Brake connector


LL
LM

44

□LC
57 57

LR

Shaft end spec.

Eye bolt
(Thread 10)

(Key way shaft)

LE

KH

M5 through

D
ѮL

ѮL
A
RH

LG

LW
LK

4-ѮLZ
LH

LF

ѮSm6
ѮLBh7

48

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MDME series (Middle inertia)

Key way
dimensions

Motor output
Motor model
MDME
Without brake
LL
With brake
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
Without brake
LM
With brake
LZ
LW
LK
KW
KH
RH

Without brake
With brake
&RQQHFWRUVSHFLÀFDWLRQV

Mass (kg)

7.5kW
75 * * 1 *
312
337
113
42
200
114.3
176
233
3.2
24

11.0kW
C1 * * 1 *
316
364

15.0kW
C5 * * 1 *
348
432
116
55
235
200
220
268
4
32

60
184
268
293
96
90
12h9
8
37 ï0
36.4
40.4

205
272
320
13.5

340
388
98

90
16h9
10
49

0
ï

52.7
58.9
5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

70.2
76.3

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ

7-86

KW

6. Dimensions

1
Before Using the Products

Motor

MFME 1.5kW to 4.5kW

2

Encoder connector
Motor/Brake connector
LL
LM

□LC

LR

Preparation

44

Shaft end spec.
(Key way shaft)

LE

4-ѮLZ
LW
LK

M3 through
KH

LH

D
ѮL

ѮL
A

KW

3
Connection

RH

ѮLBh7

LG

ѮSh6

LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

4

MFME series (Middle inertia)
Motor output

2.5kW

4.5kW

25 * * 1 *

45 * * 1 *

142

136

156

With brake

167

169

189

MFME

LR

70

S

35
200

235

LB

114.3

200

LC

176

220

LD

233

266

LE

3.2

4

LF

18

16

LG

60

LH
LM

140

162

98

91

111

With brake

123

124

144

6

Key way
dimensions

When in Trouble

Without brake
LZ

176
LW

55

LK

50

KW

10h9

KH

8

RH
Mass (kg)

5
Adjustment

LA

Setup

15 * * 1 *

Without brake

Motor model
LL

1.5kW

With brake

12.5

13.1

18.2

17.2

23.1

Supplement

9.5

&RQQHFWRUVSHFLÀFDWLRQV

7

30

Without brake

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ
7-87

6. Dimensions
Motor

0*0(:WRN: 'HVLJQ2UGHU
Encoder connector
Motor/Brake connector
LL
44

LR

LC

LM

Shaft end spec.
(Key way shaft)

LE

4-ѮLZ

LW
LK

KH

M3 through

ѮLD

ѮLA

RH

ѮLBh7

LG

ѮSh6

LH

LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MGME series (Middle inertia)
Motor output

2.0kW

3.0kW

09 * * 1 *

20 * * 1 *

30 * * 1 *

Without brake

155.5

163.5

209.5

With brake

180.5

188.5

Motor model
LL

900W
MGME

70

80

S

22

35

LA

145

200

LB

110

114.3

LC

130

176

LD

165

233

LE

6

3.2

LF

12

18

LG

60

LH
LM

116

140

Without brake

111.5

119.5

165.5

With brake

136.5

144.5

190.5

LZ
Key way
dimensions

9

13.5

LW

45

55

LK

41

50

KW

8h9

10h9

KH

7

8

RH
Mass (kg)

234.5

LR

18

Without brake

6.7

With brake

8.2

&RQQHFWRUVSHFLÀFDWLRQV

30
14.0

20.0

17.5

23.5

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ

7-88

KW

6. Dimensions

1
Before Using the Products

Motor

0*0(:WRN: 'HVLJQ2UGHU&

2

Encoder connector
Motor/Brake connector
LR

□LC

Preparation

LL
LM

46

Shaft end spec.
(Key way shaft)

LE

4-ѮLZ

M3 throug

LH

LW
LK

KH

3

ѮLD

RH

ѮLA

Connection

ѮLBh7

LG

ѮSh6

LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

4

MGME series (Middle inertia)
Motor output

2.0kW

3.0kW

20 * * C *

30 * * C *

157.5

165.5

211.5

With brake

182.5

190.5

MGME

80

S

22

35

LA

145

200

LB

110

114.3

LC

130

176

LD

165

233

LE

6

3.2

LF

12

18
84

116

140

111.5

119.5

165.5

With brake

136.5

144.5

190.5

Key way
dimensions

9

13.5

LW

45

55

LK

41

50

KW

8h9

10h9

KH

7

8

RH

18
6.7

With brake

8.2

&RQQHFWRUVSHFLÀFDWLRQV

7

30
14.0

20.0

17.5

23.5

Supplement

Without brake

6
When in Trouble

Without brake
LZ

Mass (kg)

5
Adjustment

70

LH
LM

236.5

LR

LG

Setup

09 * * C *

Without brake

Motor model
LL

900W

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ
7-89

6. Dimensions
Motor

0*0(N:N:


Motor/Brake connector
LR

□LC
43.5 43.5

Eye bolt
(Thread 10)

Shaft end spec.
(Key way shaft)

LF LE

KH

D
ѮL

Motor connector
Brake connector
LL
LM

44

ѮL
A

Shaft end spec.
(Key way shaft)
LW
LK

4-ѮLZ

LH
ѮLBh7

LG

ѮSh6

LF LE

D
ѮL

ѮL
A

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MGME series (Middle inertia)

Key way
dimensions

Motor output
Motor model
MGME
Without brake
LL
With brake
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
Without brake
LM
With brake
LZ
LW
LK
KW
KH
RH
Without brake
Mass (kg)
With brake
&RQQHFWRUVSHFLÀFDWLRQV

4.5kW
45 * * 1 *
266
291

6.0kW
60 * * 1 *
312
337
113
42
200
114.3
176
233
3.2
24
60

140
222
247

184
268
293
13.5
96
90
12h9
8
0
37 ï

29.4
36.4
33.0
40.4
5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ

7-90

KW

□LC
43.5 43.5

LR
Eye bolt
(Thread 10)

48

M4 through

M4 through
KH

Encoder
connector

LH

ѮSh6
ѮLBh7

LG



LW
LK

4-ѮLZ

RH

LL
LM

44

RH

Encoder
connector

KW

6. Dimensions

1
Before Using the Products

Motor

0+0':WR:

2

±1

°

RH

3
LH

4-ѮLZ

(Key way with center tap shaft)
LW
KW
LK

Connection

ѮSh6

□LC

KH

200

(7)

220

(7)

LK

RH

LF

(D-cut shaft)
LW

LR
LE

90
°

LL

Shaft end spec.

Motor connector

Preparation

Encoder connector
Brake connector

ѮLBh7

ѮLA

RH

TP

4
Setup

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MHMD series (High inertia)
200W
02 * * 1 *
99
135.5

400W
04 * * 1 *
118.5
155

750W
08 * * 1 *
164.2
127.2
35
19
90±0.2
70
80

14
70
50
60

5
Adjustment

30
11

3

Key way
dimensions

12.5
25
22.5
5h9
5
11

6

7

M5 depth 10
1.4
1.8
5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

2.5
3.3

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ

Supplement

10
20
18
4h9
4
8.5
M4 depth 8
0.96
1.4

8
53
6
35
25
17.5
25
22
6h9
6
15.5

When in Trouble

6.5
43
4.5
30
22

カット
寸法

Motor output
Motor model
MHMD
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
LZ
LW
D
LK
RH
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
&RQQHFWRUVSHFLÀFDWLRQV

7-91

6. Dimensions
Motor

0+0(N:WRN: 'HVLJQ2UGHU


Motor/Brake connector

LL
44

Encoder
connector

LR

□LC

LM

Shaft end spec.
(Key way shaft)
LE

4-ѮLZ

LW
LK



KH

KW

ѮLD

ѮLA

Motor connector
LL
LM

44

LR

□LC
43.5 43.5

Brake connector

Shaft end spec.
(Key way shaft)

Eye bolt
(Thread 10)

LF LE

M4 through
KW

KH

LH
ѮLBh7

LG

LW
LK

4-ѮLZ

D
ѮL

ѮL
A

RH

48

ѮSh6

Encoder
connector

M3 through

RH

LG

ѮSh6
ѮLBh7

LH

LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MHME series (High inertia)
1.0kW
10 * * 1 *
173
198

&RQQHFWRUVSHFLÀFDWLRQV

1.5kW
15 * * 1 *
190.5
215.5

2.0kW
20 * * 1 *
177
202

3.0kW
30 * * 1 *
196
221

70
22
145
110
130
165
6
12

4.0kW
40 * * 1 *
209.5
234.5

5.0kW
50 * * 1 *
238.5
263.5

80
35
200
114.3
176
233
3.2
18

24

116
129
154

140
146.5
171.5

133
158

152
177

9
45
41
8h9
7
18
6.7
8.1

165.5
190.5
13.5

194.5
219.5

55
50
10h9

184
313
338
96
90
12h9

8
30
8.6
10.1

12.2
15.5

16.0
19.2

18.6
21.8

23.0
26.2

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

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‡3´67&KDUDFWHULVWLFVµ

7-92

7.5kW
75 * * 1 *
357
382
113
42

60

Key way
dimensions

Motor output
Motor model
MHME
Without brake
LL
With brake
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
Without brake
LM
With brake
LZ
LW
LK
KW
KH
RH
Without brake
Mass (kg)
With brake

0
37 ï
42.3
46.2

6. Dimensions

1
Before Using the Products

Motor

0+0(N:WRN: 'HVLJQ2UGHU&

2

Encoder connector
Motor/Brake connector

Preparation

LL
46

□LC

LR
LM

Shaft end spec.
(Key way shaft)

LE
4-ѮLZ

LW
LK

KW

KH

ѮLA

M3 through

RH

ѮLD

3
Connection

ѮLBh7

ѮSh6

LG

LH

LF

* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

4

MHME series (High inertia)
Motor output

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

15 * * C *

20 * * C *

30 * * C *

40 * * C *

50 * * C *

175

192.5

179

198

211.5

240.5

With brake

200

217.5

204

223

236.5

265.5

MHME

70

80

S

22

35

LA

145

200

LB

110

114.3

LC

130

176

LD

165

233

LE

6

3.2

LF

12

18

LG

84

LH
LM

116

140

129

146.5

133

152

165.5

194.5

With brake

154

171.5

158

177

190.5

219.5

Key way
dimensions

9

13.5

LW

45

55

LK

41

50

KW

8h9

10h9

KH

7

8

RH

18

7

30

6.7

8.6

12.2

16.0

18.6

23.0

With brake

8.1

10.1

15.5

19.2

21.8

26.2

Supplement

Without brake

&RQQHFWRUVSHFLÀFDWLRQV

6
When in Trouble

Without brake
LZ

Mass (kg)

5
Adjustment

LR

Setup

10 * * C *

Without brake

Motor model
LL

1.0kW

5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

Caution

Reduce the moment of inertia ratio if high speed response operation is required.

Related page

‡3´&KHFNRIWKH0RGHOµ‡3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
‡3´67&KDUDFWHULVWLFVµ
7-93

7

7. Options

Supplement

Noise Filter

:KHQ\RXLQVWDOORQHQRLVHÀOWHUDWWKHSRZHUVXSSO\IRUPXOWLD[HVDSSOLFDWLRQFRQWDFWWR
DPDQXIDFWXUHRIWKHQRLVHÀOWHU,IQRLVHPDUJLQLVUHTXLUHGFRQQHFWÀOWHUVLQVHULHVWR
emphasize effectiveness.

‡2SWLRQV
9ROWDJH
specifications
for driver
Single phase
100V, 200V

Option
part No.
DV0P4170
100.0 ± 2.0
88.0
75.0

7.0

5.0

Manufacturer's
part No.

Applicable
driver (frame)

Manufacturer

683(.(5

A and B-frame

Okaya Electric Ind.

Terminal cover
(transparent)
53.1±1.0

IN

Circuit diagram
L

12.0
50.0
60.0

1
2.0

6 – M4

9ROWDJH
specifications
for driver
3-phase 200V

Option
part No.

DV0PM20042

3
Cx

2

2 – ø4.5

2 – ø4.5 x 6.75

Cy

Cx
Cy

10.0

Label

R

OUT
L

Single phase
100V, 200V
3-phase 200V

(11.6)
(13.0)

4

[Unit: mm]

Manufacturer's
part No.

Applicable
driver (frame)
A and B-frame

683+8(5

C-frame
Okaya Electric Ind.

DV0P4220

Single/3-phase
200V

683+8(5

D-frame

DV0PM20043

3-phase 200V

683+8(5

E-frame

[DV0PM20042, DV0P4220]

Manufacturer

[DV0PM20043]

A
B
C

H

A
B
C

H

Earth terminal
M4

Label

D
E

F

10

Label

E

D

F

Earth terminal
M4

Screw for cover
M3
M4

Screw for cover
M3

M5

Cover
G

G

Cover

Body

Body

Circuit diagram
[Size]

[Unit: mm]

A
B
C
D E F G H
DV0PM20042 115 105 95 70 43 10 52 5.5
DV0P4220 145 135 125 70 50 10 52 5.5
DV0PM20043 165 136 165 90 80 40 54 5.5

IN

7-94

4

2

5

3

6

For single phase application, use 2 terminals among 3 terminals,
leaving the remaining terminal unconnected.

Related page

OUT

L1

1

‡3´&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGVµ
‡3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ

R

Cx1

Cx1
Cy1

7. Options

1
Before Using the Products

Noise Filter

Option
part No.

9ROWDJH
specifications
for driver

Manufacturer's
part No.

Applicable
driver (frame)

Manufacturer

DV0P3410

3-phase 200V

683+/(5%

F-frame

Okaya Electric Ind.

Circuit diagram

2-ø5.5 x 7
150

2-ø5.5

(13) (18)
90±1.0
120

6-6M

Label

IN

OUT

1

4

2

5

3

6

[Unit: mm]

3

‡5HFRPPHQGHGFRPSRQHQWV

RTHN-5010

Current rating Applicable driver
(A)
(frame)
10

Single phase
100V, 200V
3-phase 200V

RTHN-5030
RTHN-5050

[RTHN-5010]

Connection

9ROWDJH
specifications
for driver

Part No.

Manufacturer

A, B, C-frame

30

D-frame

50

E, F-frame

TDK-Lambda Corp.

4

[RTHN-5030]
210±2
195±1

M4
4.5

6-M4

M4

10±1

18.5±1 18.5±1

105±2
85±1
4.5±1

18.5±1 18.5±1

10±1

240±2
225±1

Setup

95±2
78±1
4.5±1

2
Preparation

286±3.0
270
255±1.0
240

6-M4

4.5
55±2

50±2

5
Adjustment

[RTHN-5050]

12.5±1

21±1 21±1

128±2
102±1
5.5±1

300±2
280±1

M4

6

6-M5

5.5
68±2

Use options correctly after reading operation manuals of the options to better understand the precautions.
Take care not to apply excessive stress to each optional part.
7-95

7
Supplement

Caution

‡ 6HOHFWDQRLVHÀOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFH DOVR
check for load condition).
‡ )RUGHWDLOHGVSHFLÀFDWLRQRIWKHÀOWHUFRQWDFWWKHPDQXIDFWXUHU

When in Trouble

Remarks

7. Options
Noise Filter

9ROWDJH
specifications
for driver

part No.
FS5559-60-34

Current rating Applicable driver
(A)
(frame)
60

G-frame

80

H-frame

FN258L-16-07

16

D, E-frame

FN258L-30-07

30

F-frame

FS5559-80-34

FN258-42-07

3-phase 200V

3-phase 400V

42

FN258-42-33

Manufacturer

Schaffner

G, H-frame

42

[FS5559-60-34, FS5559-80-34]
C

1.5

25

95

[Unit: mm]

A

[Size]

25

M8

50

B

140

50

6.5

D

FS5559-60-34
FS5559-80-34

A
410
460

B
170
180

C
370
420

D
388
438

Circuit diagram
L1

L1'

L2

L2'

L3

L3'

PE
LINE

LOAD

[FN258L-16-07]

[FN258L-30-07]
275

300`10

305

400`10
9

M5

150

142

9

Litze AWG14

M5

Litze AWG10

60

290

55

35

30

6.5

6.5

320

L2'

L2

L3

L3'

E

3x1,5μF(X2)

47nF(Y2)
E

LINE

L2

3x1,35mH

3x0,65mH

L2'

L1

L1'
3x2,2μF(X2)SH

E

3x1,5MOhm
3x2,2μF(X2)SH
L3'

3x2,2μF(X2)SH

47nF(Y2)SH
E

LOAD

Circuit diagram

LOAD

LINE

3x1,5MOhm
3x2,2μF(X2)

L3

3x2,2μF(X2)

7-96

3x1mH

L1'

L1

[Unit: mm]

344.5

Circuit diagram
3x2mH

335

[Unit: mm]

305

7. Options

1

[FN258-42-07]

[FN258-42-33]
300

1.5

1.5

45
6.5

45
6.5

70

314

70

Preparation

314

329

2

185

500±10
12

185

300

Before Using the Products

Noise Filter

329

[Unit: mm]

350

[Unit: mm]

Circuit diagram

3
L1'

L2

L2'

L3

L3'

E

Connection

L1

E
LINE

LOAD

4
Setup

5
Adjustment

6
When in Trouble

Remarks

Use options correctly after reading operation manuals of the options to better understand the precautions.
Take care not to apply excessive stress to each optional part.
7-97

7
Supplement

Caution

‡ 6HOHFWDQRLVHÀOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFH DOVR
check for load condition).
‡ )RUGHWDLOHGVSHFLÀFDWLRQRIWKHÀOWHUFRQWDFWWKHPDQXIDFWXUHU

7

7. Options

Supplement

Surge Absorber

3URYLGHDVXUJHDEVRUEHUIRUWKHSULPDU\VLGHRIQRLVHÀOWHU
Option
part No.

9ROWDJH
specifications
for driver

Manufacturer's
part No.

DV0P1450

3-phase 200V

R･A･9%;=

DV0PM20050

3-phase 400V

R･A･9%;=

Manufacturer

5.5±1
11±1

Okaya Electric Ind.

[Unit: mm]

Circuit diagram
(1)

28±1

1 2 3

(1) (3)

UL-1015 AWG16

4.5±0.5

+30
200 -0

28.5±1

Ѯ4.2±0.2

41±1

9ROWDJH
specifications
for driver
Single phase
100V, 200V

Option
part No.

5.5±1
11±1

DV0P4190

Manufacturer

R･A･V-781BWZ-4

Okaya Electric Ind.

[Unit: mm]

Circuit diagram
(1)

(2)

UL-1015 AWG16

4.5±0.5

1 2

28±1

+30
200 -0

28.5±1

Ѯ4.2±0.2

Manufacturer's
part No.

41±1

Remarks

Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may damage the surge absorber.

Related page

‡3´&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGVµ
‡3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ

7-98

7

7. Options

Supplement

1RLVH)LOWHUIRU6LJQDO/LQHV

1

‡2SWLRQV
<24 V 3RZHUFDEOH0RWRUFDEOH(QFRGHUFDEOH,QWHUIDFHFDEOH86%FDEOH>
Manufacturer's part No.

Manufacturer

DV0P1460

ZCAT3035-1330

TDK Corp.

39±1

Remarks

34±1

To connect the noise filter to
the connector XB connection
cable, adjust the sheath length
at the tip of the cable, as
required.

Mass: 62.8g

30±1

13±1

2
Preparation

Option part No.

3
Connection

[Unit: mm]

‡5HFRPPHQGHGFRPSRQHQWV

Part No.

Applicable driver (frame)

RJ8035

E-frame 200 V, F-frame 200 V

Manufacturer

4

KK-CORP.CO.JP
RJ8095

Before Using the Products

IQVWDOOQRLVHÀOWHUVIRUVLJQDOOLQHVWRDOOFDEOHV SRZHUFDEOHPRWRUFDEOHHQFRGHUFDEOH
and interface cable)

G-frame, H-frame

D1

D2

Setup

5

A
B

C

Adjustment

F
E

'LPHQVLRQ>8QLWPP@

Manufacturer's
part No.

Current
value

100kHz
ѥ+

A

B

C

RJ8035

35A

9.9±3

170

150

23

80

53

24

R3.5

7

RJ8095

95A

7.9±3

200

180

34

130

107

35

R3.5

7

D1

D2

Core thikness

E

F

6

Part No.

Applicable driver (frame)

Manufacturer

T400-61D

G-frame, H-frame

MICROMETALS

When in Trouble



Remarks

Supplement

33

ø57.2
ø102

7
[Unit: mm]

)L[WKHVLJQDOOLQHQRLVHÀOWHULQSODFHWRHOLPLQDWHH[FHVVLYHVWUHVVWRWKHFDEOHV
7-99

7

7. Options

Supplement

Junction Cable for Encoder
Compatible
motor output

0)(&$* * ($0

Part No.

MSMD 50W to 750W, MHMD 200W to 750W

Specifications For 20-bit incremental encoder (Without battery box)

(11.8)

(ø6.5)

L

(4)

(14)

(4)

Title

Part No.

Connector (Driver side)

3E206-0100 KV

Shell kit

3E306-3200-008

Connector (Motor side)

172160-1

Connector pin

170365-1

Cable

0.20mm2×3P (6-wire type)

Manufacturer
Sumitomo 3M *1
Tyco Electronics

/ P

Part No.

3

MFECA0030EAM

5

MFECA0050EAM

10

MFECA0100EAM

20

MFECA0200EAM

Oki Electric Cable Co., Ltd.

*1 Old model number: 55100-0670 (Japan Molex Inc.)

0)(&$ * * 0-'

(Highly bendable type, Direction of motor shaft)

0)(&$ * * 0.'
(Highly bendable type, Opposite direction of motor shaft)

Part No.

Compatible
motor output

0)(&$ * * 7-'

50W to
750W (200V)

(Standard bendable type, Direction of motor shaft)

0)(&$ * * 7.'
(Standard bendable type, Opposite direction of motor shaft)
Specifications For 20-bit incremental encoder (Without battery box) * Also for 17-bit version.
L
(ø5.5)

Direction of
motor shaft

Opposite direction of
motor shaft

Identification label

Title

Part No.

Connector (Driver side)

3E206-0100 KV

Shell kit

3E306-3200-008

Connector

JN6FR07SM1

Manufacturer
Sumitomo 3M *1

Connector pin

LY10-C1-A1-10000

Japan Aviation
Electronics Ind.

Cable

AWG24×4P, AWG22×2P

Hitachi Cable, Ltd.

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Caution

Option cable does not conform to IP65 and IP67.

Related page

‡3´-XQFWLRQFDEOHIRUPRWRUµ‡3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

7-100

/ P

Part No.

3

MFECA0030MJD

5

MFECA0050MJD

10

MFECA0100MJD

20

MFECA0200MJD

7. Options

1
Before Using the Products

Junction Cable for Encoder

0)(&$ * * 0-(

(Highly bendable type, Direction of motor shaft)

0)(&$ * * 0.(
(Highly bendable type, Opposite direction of motor shaft)

Part No.

0)(&$ * * 7-(

Compatible
motor output

50W to
750W (200V)

2

(Standard bendable type, Direction of motor shaft)
Preparation

0)(&$ * * 7.(
(Standard bendable type, Opposite direction of motor shaft)
Specifications For 17-bit absolute encoder (With battery box)
L

Direction of
motor shaft

300

3

(ø5.5)

110

Connection

Opposite direction of
motor shaft
Identification label

Part No.
3E206-0100 KV

Manufacturer

Shell kit

3E306-3200-008

Connector

ZMR-02

Connector pin

SMM-003T-P0.5

Connector

JN6FR07SM1

Connector pin

LY10-C1-A1-10000

Japan Aviation
Electronics Ind.

Cable

AWG24 ×4P, AWG22×2P

Hitachi Cable, Ltd.

Sumitomo 3M *1
J.S.T Mfg. Co., Ltd.

/ P

Part No.

3

MFECA0030MJE

5

MFECA0050MJE

10

MFECA0100MJE

20

MFECA0200MJE

*1 Old model number: 55100-0670 (Japan Molex Inc.)

5

Compatible
motor output

400W (400V), 600W (400V), 750W (400V),
0.9kW to 15.0kW

Adjustment

0)(&$ * * (7'

Part No.

4
Setup

Title
Connector (Driver side)

Specifications For 20-bit incremental encoder (Without battery box), Design order: 1

L

ø20

(ø6)

6

Part No.

Connector (Driver side)

3E206-0100 KV

Shell kit

3E306-3200-008

Connector

JN2DS10SL1-R

Connector pin

JN1-22-22S-PKG100

Cable

2

0.2mm ×3P

Manufacturer
Sumitomo 3M *1
Japan Aviation
Electronics Ind.

/ P

Part No.

3

MFECA0030ETD

5

MFECA0050ETD

10

MFECA0100ETD

20

MFECA0200ETD

When in Trouble

Title

7

Oki Electric Cable Co., Ltd.
Supplement

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Caution

Option cable does not conform to IP65 and IP67.

Related page

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7-101

7. Options
Junction Cable for Encoder

Part No.

0)(&$* * (6'

Compatible
motor output

0.9kW to 5.0kW (IP65 Motor)

Specifications For 20-bit incremental encoder (Without battery box), Design order: C

ø37.3

(ø6.5)

L

Title
Connector (Driver side)
Shell kit
Connector (Motor side)
Cable clamp
Cable

Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
0.2mm2 ×3P (6-wire type)

Manufacturer

/ P
3
5
10
20

Sumitomo 3M *1
Japan Aviation
Electronics Ind.
Oki Electric Cable Co., Ltd.

Part No.
MFECA0030ESD
MFECA0050ESD
MFECA0100ESD
MFECA0200ESD

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

0)(&$ * * (7(

400W (400V), 600W (400V), 750W (400V),
0.9kW to 15.0kW

Compatible
motor output

Specifications For 17-bit absolute encoder (With battery box), Design order: 1
L
300

ø20

(ø6)

110

Title
Connector (Driver side)
Shell kit
Connector
Connector pin
Connector
Connector pin
Cable

Part No.
3E206-0100 KV
3E306-3200-008
ZMR-02
SMM-003T-P0.5
JN2DS10SL1-R
JN1-22-22S-PKG100
0.2mm2 ×3P

Manufacturer

/ P
3
5
10
20

Sumitomo 3M *1
J.S.T Mfg. Co., Ltd.

Part No.
MFECA0030ETE
MFECA0050ETE
MFECA0100ETE
MFECA0200ETE

Japan Aviation
Electronics Ind.
Oki Electric Cable Co., Ltd.

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

0)(&$* * (6(

Compatible
motor output

0.9kW to 5.0kW (IP65 Motor)

Specifications For 17-bit absolute encoder (With battery box), Design order: C
L
300

ø37.3

(ø8)

110

Title
Connector (Driver side)
Shell kit
Connector (Motor side)
Cable clamp
Cable

Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
0.2mm2 ×4P (8-wire type)

Manufacturer
Sumitomo 3M *1
Japan Aviation
Electronics Ind.
Oki Electric Cable Co., Ltd.

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Caution
7-102

Option cable does not conform to IP65 and IP67.

/ P
3
5
10
20

Part No.
MFECA0030ESE
MFECA0050ESE
MFECA0100ESE
MFECA0200ESE

7

7. Options

Supplement

Junction Cable for Motor (Without brake)

Before Using the Products

Applicable
MSMD 50W to 750W, MHMD 200W to 750W
model

0)0&$* * (('

Part No.

1

(50)

(50)

2

(4)



Preparation



Ѯ

L

(4)

Title

Part No.

Connector

172159-1

Manufacturer
Tyco Electronics

170366-1

Rod terminal

AI0.75-8GY

Phoenix Contact

Nylon insulated
round terminal

N1.25-M4

J.S.T Mfg. Co., Ltd.

Cable

ROBO-TOP 600V 0.75mm2 4-wire type

Daiden Co.,Ltd.

Part No.

3

MFMCA0030EED

5

MFMCA0050EED

10

MFMCA0100EED

20

MFMCA0200EED

3
Connection

Connector pin

/ P

0)0&$ * * 1-'

(Highly bendable type, Direction of motor shaft)

4

0)0&$ * * 1.'
(Highly bendable type, Opposite direction of motor shaft)

Part No.

0)0&$ * * 5-'

Applicable
MSME 50W to 750W
model
Setup

(Standard bendable type, Direction of motor shaft)

0)0&$ * * 5.'
(Standard bendable type, Opposite direction of motor shaft)
(28.8)

L

(50)

5

(ø6)

Direction of
motor shaft

Adjustment

Opposite direction of
motor shaft

Identification label

Caution

Motor cable for opposite direction of
motor shaft cannot be used with a
motor 50W and 100W.

Part No.
JN8FT04SJ1

Manufacturer

/ P

Part No.
MFMCA0030NJD

ST-TMH-S-C1B-3500

Japan Aviation
Electronics Ind.

3

Connector pin

5

MFMCA0050NJD

Rod terminal

AI0.75-8GY

Phoenix Contact

10

MFMCA0100NJD

20

MFMCA0200NJD

Nylon insulated
round terminal

N1.25-M4

J.S.T Mfg. Co., Ltd.

Cable

AWG18×4P

Hitachi Cable, Ltd.

Option cable does not conform to IP65 and IP67.

Related page

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7
Supplement

Caution

When in Trouble

Title
Connector

6

7-103

7. Options
Junction Cable for Motor (Without brake)

MSME 750W (400V), 1.0kW to 2.0kW,

0)0&' * * 2ECD

Part No.

Applicable
MDME 1.0kW to 2.0kW, MHME 1.0kW to 1.5kW,
model

MGME 0.9kW
(50)

ø37.3

(Ѯ12.5)

L

Title

Part No.

Manufacturer

/ P

Part No.

Connector

JL04V-6A20-4SE-EB-R

3

MFMCD0032ECD

5

MFMCD0052ECD

10

MFMCD0102ECD

20

MFMCD0202ECD

Cable clamp

JL04-2022CK(14)-R

Japan Aviation
Electronics Ind.

Rod terminal

178%

J.S.T Mfg. Co., Ltd.

Nylon insulated
round terminal

N2-M4

J.S.T Mfg. Co., Ltd.

Cable

ROBO-TOP 600V 2.0mm2

Daiden Co.,Ltd.

0)0&( * * 2ECD

Part No.

Applicable
MHME 2.0kW
model
(50)

ø40.5

L

Title

Part No.

Manufacturer

/ P

Part No.

Connector

JL04V-6A22-22SE-EB-R

3

MFMCE0032ECD

5

MFMCE0052ECD

10

MFMCE0102ECD

20

MFMCE0202ECD

Cable clamp

JL04-2022CK(14)-R

Japan Aviation
Electronics Ind.

Rod terminal

178%

J.S.T Mfg. Co., Ltd.

Nylon insulated
round terminal

N2-M4

J.S.T Mfg. Co., Ltd.

Cable

ROBO-TOP 600V 2.0mm2

Daiden Co.,Ltd.

0)0&$ * * 3ECT

Part No.

Applicable MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
model
MHME 3.0kW to 5.0kW, MGME 2.0kW to 3.0kW
(50)

ø40.5

(Ѯ14)

L

Title

Part No.

Connector

JL04V-6A22-22SE-EB-R

Cable clamp
Nylon insulated
round terminal
Cable

Manufacturer

/ P

Part No.
MFMCA0033ECT

JL04-2022CK(14)-R

Japan Aviation
Electronics Ind.

3
5

MFMCA0053ECT

N5.5-5

J.S.T Mfg. Co., Ltd.

10

MFMCA0103ECT

20

MFMCA0203ECT

ROBO-TOP 600V 3.5mm

2

Daiden Co.,Ltd.

Caution

Option cable does not conform to IP65 and IP67.

Related page

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7-104

7. Options

1

0)0&$ * * 2ECD

Part No.

Before Using the Products

Junction Cable for Motor (Without brake)

Applicable
MFME 1.5kW (200V)
model
(50)

2
Preparation

ø37.3

(Ѯ12.5)

L

Title

Part No.

Manufacturer

/ P

Part No.

Connector

JL04V-6A20-18SE-EB-R

3

MFMCA0032ECD

Cable clamp

JL04-2022CK(14)-R

Japan Aviation
Electronics Ind.

5

MFMCA0052ECD

Rod terminal

$,%8

Phoenix Contact

10

MFMCA0102ECD

20

MFMCA0202ECD

N2-M4

J.S.T Mfg. Co., Ltd.

Cable

ROBO-TOP 600V 2.0mm2

Daiden Co.,Ltd.

0)0&) * * 2ECD

Part No.

Applicable
MFME 1.5kW (400V), 2.5kW
model
(50)

4

ø43.7

L

3
Connection

Nylon insulated
round terminal

Setup

Title

Part No.

Manufacturer

/ P

Part No.

Connector

JL04V-6A24-11SE-EB-R

MFMCF0032ECD

JL04-2428CK(14)-R

Japan Aviation
Electronics Ind.

3

Cable clamp

5

MFMCF0052ECD

Rod terminal

178%

Phoenix Contact

10

MFMCF0102ECD

20

MFMCF0202ECD

N2-M4

J.S.T Mfg. Co., Ltd.

Cable

ROBO-TOP 600V 2.0mm2

Daiden Co.,Ltd.

0)0&' * * 3ECT

Part No.

Applicable
MFME 4.5kW
model
(50)

6

ø43.7

When in Trouble

(Ѯ14)

L

Title

Part No.

Manufacturer

/ P
3

MFMCA0033ECT

5

MFMCA0053ECT

10

MFMCA0103ECT

20

MFMCA0203ECT

Connector

JL04V-6A24-11SE-EB-R

Cable clamp

JL04-2428CK(17)-R

Japan Aviation
Electronics Ind.

Nylon insulated
round terminal

N5.5-5

J.S.T Mfg. Co., Ltd.

ROBO-TOP 600V 3.5mm

Part No.

Daiden Co.,Ltd.

Caution

Option cable does not conform to IP65 and IP67.

Related page

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7
Supplement

Cable

2

5
Adjustment

Nylon insulated
round terminal

7-105

7

7. Options

Supplement

Junction Cable for Motor (With brake)
MSME
MDME
Applicable
MFME
model
MHME
MGME

0)0&$ * * 2FCD

Part No.

1.0kW to 2.0kW (200V)
1.0kW to 2.0kW (200V)
1.5kW (200V)
1.0kW to 1.5kW (200V)
0.9kW (200V)

(50)

(ø 9

.8)

ø37.3

(ø12.5)

L

L
(50
)

Title

Part No.

Manufacturer

/ P

Part No.

Connector

JL04V-6A20-18SE-EB-R

MFMCA0032FCD

JL04-2022CK(14)-R

Japan Aviation
Electronics Ind.

3

Cable clamp

5

MFMCA0052FCD

Rod terminal

178%

J.S.T Mfg. Co., Ltd.

10

MFMCA0102FCD

20

MFMCA0202FCD

Nylon insulated
round terminal

Earth

N2-M4

Brake

N1.25-M4
ROBO-TOP 600V 0.75mm2 and
ROBO-TOP 600V 2.0mm2

Cable

0)0&( * * 2FCD

Part No.

J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.

MSME
MDME
Applicable
MFME
model
MGME
MHME

750W to 2.0kW (400V)
400W to 2.0kW (400V)
1.5kW (400V), 2.5kW
0.9kW (400V)
1.0kW (400V), 1.5kW (400V), 2.0kW
(50)

ø43.7

L

L

(50
)

Title

Part No.

Connector

JL04V-6A24-11SE-EB-R

Cable clamp
Rod terminal
Nylon insulated
round terminal
Cable

Manufacturer

/ P

Part No.
MFMCE0032FCD

JL04-2428CK(17)-R

Japan Aviation
Electronics Ind.

3
5

MFMCE0052FCD

178%

J.S.T Mfg. Co., Ltd.

Earth

N2-M4

Brake

N1.25-M4
ROBO-TOP 600V 0.75mm2 and
ROBO-TOP 600V 2.0mm2

J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.

Caution

Option cable does not conform to IP65 and IP67.

Related page

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7-106

10

MFMCE0102FCD

20

MFMCE0202FCD

7. Options

1

0)0&$ * * 3FCT

Part No.

Before Using the Products

Junction Cable for Motor (With brake)

MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
MHME 3.0kW to 5.0kW
MGME 2.0kW to 4.5kW

Applicable
MFME 4.5kW,
model

L

2

(ø9

.8)

Preparation

ø43.7

(ø14)

(50)

L

(50
)

Part No.
JL04V-6A24-11SE-EB-R

Cable clamp

JL04-2428CK(17)-R

Nylon insulated
round terminal
Cable

Earth

N5.5-5

Brake

N1.25-M4
ROBO-TOP 600V 0.75mm2 and
ROBO-TOP 600V 3.5mm2

Manufacturer

/ P

Part No.

Japan Aviation
Electronics Ind.

3

MFMCA0033FCT

5

MFMCA0053FCT

J.S.T Mfg. Co., Ltd.

10

MFMCA0103FCT

20

MFMCA0203FCT

Connection

Title
Connector

3

4

Daiden Co.,Ltd.

Setup

5
Adjustment

6
When in Trouble

7
Option cable does not conform to IP65 and IP67.

Related page

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Supplement

Caution

7-107

7

7. Options

Supplement

Junction Cable for Brake

0)0&%* * *(7

Part No.

Applicable
MSMD 50W to 750W, MHMD 200W to 750W
model








Ѯ

L



Title

Part No.

Connector

172157-1

Connector pin

170366-1, 170362-1

Manufacturer
Tyco Electronics

Nylon insulated
round terminal

N1.25-M4

J.S.T Mfg. Co., Ltd.

Cable

ROBO-TOP 600V 0.75mm2 ×2-wire type

Daiden Co.,Ltd.

/ P

Part No.

3

MFMCB0030GET

5

MFMCB0050GET

10

MFMCB0100GET

20

MFMCB0200GET

0)0&% * * 3-7

(Highly bendable type, Direction of motor shaft)

0)0&% * * 3.7
(Highly bendable type, Opposite direction of motor shaft)

Part No.

0)0&% * * 6-7

Applicable
MSME 50W to 750W
model

(Standard bendable type, Direction of motor shaft)

0)0&% * * 6.7
(Standard bendable type, Opposite direction of motor shaft)
(26.6)

L

(50)
(ø4.3)

Direction of
motor shaft

Opposite direction of
motor shaft

Identification label

Title

Part No.

Connector

JN4FT02SJMR

Manufacturer

/ P

Part No.
MFMCB0030PJT

ST-TMH-S-C1B-3500

Japan Aviation
Electronics Ind.

3

Connector pin

5

MFMCB0050PJT

Nylon insulated
round terminal

N1.25-M4

J.S.T Mfg. Co., Ltd.

10

MFMCB0100PJT

20

MFMCB0200PJT

Cable

AWG22

Hitachi Cable, Ltd.

Caution

Option cable does not conform to IP65 and IP67.

Related page

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7-108

7. Options

Supplement

&RQQHFWRU.LW

1
Before Using the Products

7

&RQQHFWRU.LWIRU,QWHUIDFH
'93

Part No.

2

‡&RPSRQHQWV
Title

Number

Connector

10150-3000PE equivalent

1

Connector cover

10350-52A0-008 equivalent

1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU;
(50-pins)

*1 Old model number: Connector 54306-5019, Connector cover 54331-0501 (Japan Molex Inc.)

Preparation

Part No.

‡Pin disposition (50 pins) (viewed from the soldering side)
26
SI3

28
SI5
29
SI6

32
SI9
31
SI8

34
SO2–
33
SI10

1
3
5
7
OPC1 PULS1 SIGN1 COM
2
4
6
8
OPC2 PULS2 SIGN2 SI1

9
SI2

36
SO3–

35
SO2+

37
SO3+

11
SO1+
10
SO1–

38
SO4–

39
SO4+

13
GND

12
SO5

40
SO6

41
COM

15
GND

14
SPR/
SPL

42
IM

44
46
48
PULSH1 SIGNH1 OB
43
SP

17
GND

3

50
FG

45
47
49
PULSH2 SIGNH2 OB
19
CZ

21
OA

16
18
20
P-ATL N-ATL NC
/TRQR

23
OZ
22
OA

Connection

27
SI4

30
SI7

25
GND
24
OZ

4
Setup

1) Check the stamped pin-No. on the connector body while making a wiring.
2) For the function of each signal title or its symbol, refer to the wiring example of the connector X4.
3) Do not connect anything to NC pins in the above table.

Interface Cable
'93
Connector cover: 10350-52A0-008
Sumitomo 3M or equivalent

12.7
50
26

52.4

50 +10
0

25

39

Adjustment

2000+200
0

5

Connector: 10150-3000PE
Sumitomo 3M or equivalent

1

Part No.

18

‡7DEOHIRUZLULQJ
color
Pin No.
Orange (Red1)
11
Orange (Black1)
12
Gray (Red1)
13
Gray (Black1)
14
White (Red1)
15
White (Black1)
16
Yellow (Red1)
17
Pink (Red1)
18
Pink (Black1)
19
Orange (Red2)
20

color
Pin No.
Orange (Black2)
21
Yellow (Black1)
22
Gray (Red2)
23
Gray (Black2)
24
White (Red2)
25
Yellow (Red2)
26
Yel (Blk2)/Pink (Blk2) 27
Pink (Red2)
28
White (Black2)
29
–
30

color
Pin No.
Orange (Red3)
31
Orange (Black3)
32
Gray (Red3)
33
Gray (Black3)
34
White (Red3)
35
White (Black3)
36
Yellow (Red3)
37
Yellow (Black3)
38
Pink (Red3)
39
Pink (Black3)
40

color
Pin No.
Orange (Red4)
41
Orange (Black4)
42
Gray (Red4)
43
White (Red4)
44
White (Black4)
45
Yellow (Red4)
46
Yellow (Black4)
47
Pink (Red4)
48
Pink (Black4)
49
Gray (Black4)
50

color
Orange (Red5)
Orange (Black5)
Gray (Red5)
White (Red5)
White (Black5)
Yellow (Red5)
Yellow (Black5)
Pink (Red5)
Pink (Black5)
Gray (Black5)


Color designation of the cable e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable
The shield of this cable is connected to the connector shell but not to the terminal.
7-109

7
Supplement

Pin No.
1
2
3
4
5
6
7
8
9
10

When in Trouble

This 2 m connector cable contains AWG28 conductors.

6

7. Options
&RQQHFWRU.LW

&RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOH IRU5656
Part No.

'930

‡&RPSRQHQWV
Title

Part No.

Manufacturer

Note

Connector

2040008-1

Tyco Electronics

)RU&RQQHFWRU; SLQV

5.2

GND
TXD (Viewed from cable)

ï
ï

8 (1.5)

Shell: FG

8 6 4 2
7 5 3 1

7.3

10.7

RXD
NC

(ø6.7)

485+
485+

11

‡3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; ‡'LPHQVLRQV

(33)

(11)

&RQQHFWRU.LWIRU6DIHW\
Part No.

'930

‡&RPSRQHQWV
Title

Part No.

Manufacturer

Note

Connector

2013595-1

Tyco Electronics

)RU&RQQHFWRU; SLQV

5.2

NC
6)ï

('0ï
6)ï

8 (1.5)

Shell: FG

8 6 4 2
7 5 3 1

7.3

10.7

SF1+
NC

(ø6.7)

SF2+
EDM+

11

‡3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; ‡'LPHQVLRQV

(33)

(Viewed from cable)

(11)

&RQQHFWRU.LWIRU([WHUQDO6FDOH
Part No.

'930

‡&RPSRQHQWV
Title

Part No.

Manufacturer

Note

Connector

08)3..;

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;

Remarks

3
2

5
4

7
6

EXA

9
8 10

EXZ
EXB (Viewed from cable)

18.5

11.9
10.4

1

E0V
PS

EXB
EXZ

EXA

13.6

PS
E5V

7.1

‡3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; ‡'LPHQVLRQV

(10.5)

(32)

‡&RQQHFWRU;XVHZLWKFRPPHUFLDOO\DYDLODEOHFDEOH
‡&RQÀJXUDWLRQRIFRQQHFWRU;86%PLQL%

‡)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-110

7. Options

1
Before Using the Products

&RQQHFWRU.LW

&RQQHFWRU.LWIRU(QFRGHU
'930

Part No.

2

‡&RPSRQHQWV
Title

Part No.
3E206-0100 KV

Shell kit

3E306-3200-008

Note

Sumitomo 3M *1

)RU&RQQHFWRU;

Preparation

Connector (Driver side)

Manufacturer

*1 Old model number: 55100-0670 (Japan Molex Inc.)

‡3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; ‡'LPHQVLRQV

6

PS

0.8

2.4
13.7
18.2

37.4

7.1

PS

1.7
5.4
5.8

4.5

12.0

Shell: FG
(Viewed from cable)

3

2.0
2.0

5

11.0

NC

10.1

E0V

4

18.8

2

NC

7.8

E5V

3

Connection

1



18.8



33.0

&RQQHFWRU.LWIRU$QDORJ0RQLWRU6LJQDO

4

'930

Part No.

Title

Part No.

Number

Connector

510040600

1

Connector pin

500118100

6

Setup

‡&RPSRQHQWV
Manufacturer

Note

Molex Inc

)RU&RQQHFWRU; SLQV

5

DM
5

14±0.3

NC
6

5.3±0.3

4

Adjustment

3 GND
AM2
1 AM1
2

0.8

‡3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; ‡'LPHQVLRQV

NC

MX
12.9±0.3

3.35±0.3

6

1

&RQQHFWRU.LWIRUPower Supply Input

When in Trouble

'930 (For A to D-frame: Single row type)

Part No.

‡&RPSRQHQWV
Title

Part No.

Number

Connector

-)$76$;*)

1

Handle lever

J-FAT-OT

2

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;$

7

‡)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".

7-111

Supplement

Remarks

Manufacturer

7. Options
&RQQHFWRU.LW

Part No.

'930 (For A to D-frame: double row type)

‡&RPSRQHQWV
Title

Part No.

Number

Connector

-)$76$;*6$&

1

Handle lever

J-FAT-OT

2

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;$

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;$

‡'LPHQVLRQV
B
2

3

5

4

5

4

26

1

2

1

2

1

3

A

5

Part No.

4

3

27.6

39.3

'930 (For E-frame 200 V)

‡&RPSRQHQWV

Part No.

Title

Part No.

Number

Connector

-)$76$;*6$/

1

Handle lever

J-FAT-OT-L

2

'930 (For D-frame 400 V, E-frame 400 V and 24 V Input power)

‡&RPSRQHQWV

Part No.

Title

Part No.

Number

Connector

02MJFAT-SAGF

1

Handle lever

MJFAT-OT

2

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;'

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;$

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;$

'930 (For D-frame 400 V)

‡&RPSRQHQWV

Part No.

Title

Part No.

Number

Connector

03JFAT-SAYGSA-M

1

Handle lever

J-FAT-OT-L

2

'930 (For E-frame 400 V)

‡&RPSRQHQWV

7-112

Title

Part No.

Number

Connector

03JFAT-SAYGSA-L

1

Handle lever

J-FAT-OT-L

2

7. Options

1
Before Using the Products

&RQQHFWRU.LW

&RQQHFWRU.LWIRU5HJHQHUDWLYH5HVLVWRU&RQQHFWLRQ (E-frame)
Part No.

'930 (For E-frame)

2

‡&RPSRQHQWV
Part No.

Number

Connector

-)$76$;*6$/

1

Handle lever

J-FAT-OT-L

2

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;&

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;&

Preparation

Part No.

Title

'930 (For D-frame 400 V)

‡&RPSRQHQWV
Part No.

Number

Connector

-)$76$;*6$0

1

Handle lever

J-FAT-OT-L

2

3
Connection

Title

&RQQHFWRU.LWIRU0RWRU&RQQHFWLRQ
Part No.

4

'930 (For A to D-frame)

‡&RPSRQHQWV
Part No.

Number

Connector

-)$76$;*)

1

Handle lever

J-FAT-OT

2

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;%

Setup

Part No.

Title

'930 (For E-frame)

5

‡&RPSRQHQWV
Part No.

Number

Connector

-)$76$;*6$/

1

Handle lever

J-FAT-OT-L

2

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;%

Adjustment

Part No.

Title

'930 (For D-frame 400 V)

6

‡&RPSRQHQWV
Part No.

Number

Connector

-)$76$;*6$0

1

Handle lever

J-FAT-OT-L

2

Manufacturer

Note

J.S.T Mfg. Co., Ltd.

)RU&RQQHFWRU;%

When in Trouble

Title

7
Supplement

7-113

7. Options
&RQQHFWRU.LW

&RQQHFWRU.LWIRU0RWRU(QFRGHU&RQQHFWLRQ
Applicable MSMD 50W to 750W, MHMD 200W to 750W
model
(incremental encoder type)

'93

Part No.

‡&RPSRQHQWV
Title
Connector (Driver side)
Shell kit
Connector
Connector pin
Connector
Connector pin

Part No.
3E206-0100 KV
3E306-3200-008
172160-1
170365-1
172159-1
170366-1

Number
1
1
1
6
1
4

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV
For Encoder cable
(6-pins)
For Motor cable
(4-pins)

Tyco Electronics
Tyco Electronics

*1 Old model number: 55100-0670 (Japan Molex Inc.)

‡3LQGLVSRVLWLRQRIFRQQHFWRU
FRQQHFWRU;
1

E5V

2

E0V

3

NC*

4

NC*

5

PS

6

PS

(

Case
FG

)

*NC: None Connect

‡3LQGLVSRVLWLRQRIFRQQHFWRU
for motor cable

1

2

3

1

2

NC

PS

PS

U

V

4

5

6

3

4

E5V

E0V

FG

W

E

Applicable
MSME 50W to 750W
model

'930

Part No.

‡3LQGLVSRVLWLRQRIFRQQHFWRU
for encoder cable

‡&RPSRQHQWV
Title
Connector (Driver side)
Shell kit
Encoder plug connector
Socket contact
Motor plug connector
Socket contact

Part No.
3E206-0100 KV
3E306-3200-008
JN6FR07SM1
LY10-C1-A1-10000
JN8FT04SJ1
ST-TMH-S-C1B-3500

Number
1
1
1
7
1
4

Manufacturer
Sumitomo 3M

Note

*1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable
(7-pins)
For Motor cable
(4-pins)

*1 Old model number: 55100-0670 (Japan Molex Inc.)

‡3LQGLVSRVLWLRQRIFRQQHFWRU
FRQQHFWRU;

1

E5V

3

NC

*1

5

PS

(Case
FG )

2

E0V

4

NC

*1

6

PS

‡3LQGLVSRVLWLRQRIFRQQHFWRU
‡3LQGLVSRVLWLRQRIFRQQHFWRU
for encoder cable
for motor cable
[Direction of motor shaft]
4

PS

3

E0V

2

BAT–

1

FG

5

PS

2

U
V

3

W

1

Gasket

E5V

BAT+

PE

E

[Opposite direction of motor shaft]
5
6

Secure the gasket in place
without removing it from the
connector. Otherwise, the degree
of protection of IP67 will not be
guaranteed.

7
6

*1 NC: None Connect

Remarks

Gasket

7

BAT+
E5V

PS

Gasket

1

FG

PE

2

BAT–

3

E
W

3

E0V

2

V

4

PS

1

U

Gasket

* Pins 2 and 5 are left unused (NC)
with an incremental encoder.

Caution

‡:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ

Remarks

‡)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".

7-114

7. Options

1

Part No.

'930

Specifications Design order: 1

MSME 750W (400V), 1.0kW to 2.0kW,

Applicable
MDME 400W (400V), 600W (400V), 1.0kW to 2.0kW
model

MHME 1.0kW to 1.5kW, MGME 0.9kW

Without
brake

2

‡&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04V-6A-20-4SE-EB-R
JL04-2022CK(14)-R

Number
1
1
1
5
1
1

Manufacturer
Sumitomo 3M

*1

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

Note
)RU&RQQHFWRU; SLQV
For Encoder cable
For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

'93

3

Applicable MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW
model
MHME 1.0kW to 1.5kW, MGME 0.9kW

Without
brake

‡&RPSRQHQWV
Title
Connector (Driver side)
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp

Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-4S
N/MS3057-12A

Number
1
1
1
1
1
1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable

Setup

'930

Specifications Design order: 1

Applicable MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
model
MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW

Without
brake

5

‡&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04V-6A22-22SE-EB-R
JL04-2022CK(14)-R

Number
1
1
1
5
1
1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable

Adjustment

Title
Connector (Driver side)
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp

4

For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

Connection

Specifications Design order: C

Preparation

Title
Connector (Driver side)
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp

Before Using the Products

&RQQHFWRU.LW

For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

'93

Without
brake

‡&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B22-22S
N/MS3057-12A

Number
1
1
1
1
1
1

Manufacturer
Sumitomo 3M

*1

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

Note
)RU&RQQHFWRU; SLQV
For Encoder cable

7

For Motor cable
Supplement

Title
Connector (Driver side)
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp

When in Trouble

Specifications Design order: C

6

Applicable MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
model
MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Caution

‡:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ

Remarks

‡)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-115

7. Options
&RQQHFWRU.LW

Part No.

'930

Specifications Design order: 1

MSME 1.0kW to 2.0kW (200V),
Applicable MDME 1.0kW to 2.0kW (200V),
model
MFME 1.5kW (Common to with/without brake) (200V),

With
brake

MHME 1.0kW to 1.5kW (200V), MGME 0.9kW (200V)

‡&RPSRQHQWV
Title
Connector (Driver side)
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp

Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04V-6A20-18SE-EB-R
JL04-2022CK(14)-R

Number
1
1
1
5
1
1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable
For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

'93

Specifications Design order: C

Applicable MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW
model
MHME 1.0kW to 1.5kW, MGME 0.9kW

With
brake

‡&RPSRQHQWV
Title
Connector (Driver side)
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp

Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-18S
N/MS3057-12A

Number
1
1
1
1
1
1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable
For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

'930

Specifications Design order: 1

MSME
MDME
Applicable
MFME
model
MHME
MGME

750W to 2.0kW (400V), 3.0kW to 5.0kW
400W to 2.0kW (400V), 3.0kW to 5.0kW
With
1.5kW (400V), 2.5kW to 4.5kW (Common to with/without brake)
brake
1.0kW to 1.5kW (400V), 2.0kW to 5.0kW
0.9kW (400V), 2.0kW to 4.5kW

‡&RPSRQHQWV
Title
Connector (Driver side)
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp

Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04V-6A24-11SE-EB-R
JL04-2428CK(17)-R

Number
1
1
1
5
1
1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable
For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Part No.

'93

Specifications Design order: C

Applicable MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
model
MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW

With
brake

‡&RPSRQHQWV
Title
Connector (Driver side)
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp

Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B24-11S
N/MS3057-16A

Number
1
1
1
1
1
1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable
For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)

Caution

‡:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ

Remarks

‡)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".

7-116

7. Options

1

Part No.

'930

Specifications Design order: 1

Applicable MDME 7.5kW to 15.0kW
model
MGME 6.0kW, MHME 7.5kW

Without
brake

2

‡&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04V-6A32-17SE-EB-R
JL04-32CK(24)-R *2

Number
1
1
1
5
1
1

Manufacturer

Note

Sumitomo 3M *1

)RU&RQQHFWRU; SLQV

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

For Encoder cable

Preparation

Title
Connector (Driver side)
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp

Before Using the Products

&RQQHFWRU.LW

For Motor cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)
*2 &DEOHFRYHUVL]HєWRє&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG

'930

Specifications Design order: 1

Applicable MDME 7.5kW to 15.0kW
model
MGME 6.0kW, MHME 7.5kW

With
brake

‡&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04V-6A32-17SE-EB-R
JL04-32CK(24)-R *2
N/MS3106B14S-2S
N/MS3057-6A

Number
1
1
1
5
1
1
1
1

Manufacturer
Sumitomo 3M

*1

Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.

Note
)RU&RQQHFWRU; SLQV
For Encoder cable
For Motor cable

4
Setup

Title
Connector (Driver side)
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp
Brake connector
Cable clamp

Connection

Part No.

3

For Brake cable

*1 Old model number: 55100-0670 (Japan Molex Inc.)
*2 &DEOHFRYHUVL]HєWRє&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG

5
&RQQHFWRU.LWIRU0RWRU%UDNH&RQQHFWLRQ
Adjustment

Part No.

'930

‡&RPSRQHQWV
Title

Part No.

Number

Manufacturer

Connector

JN4FT02SJM-R

1

Socket contact

ST-TMH-S-C1B-3500

2

Japan Aviation
Electronics Ind.

Note

6

%UDNH

%UDNH

Remarks

*DVNHW

%UDNH

When in Trouble

‡3LQGLVSRVLWLRQRIFRQQHFWRUIRUEUDNHFDEOH
>'LUHFWLRQRIPRWRUVKDIW@
>2SSRVLWHGLUHFWLRQRIPRWRUVKDIW@
*DVNHW

%UDNH

7

6HFXUHWKHJDVNHWLQSODFHZLWKRXWUHPRYLQJLWIURPWKHFRQQHFWRU2WKHUZLVHWKHGHJUHHRI
SURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG

‡:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ

Remarks

‡)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-117

Supplement

Caution

7

7. Options

Supplement

Battery For Absolute Encoder

Battery For Absolute Encoder
Part No.

'93

‡/LWKLXPEDWWHU\9P$K
84

Lead wire length 50mm

DV0P2990
00090001

ZHR-2
(J.S.T Mfg. Co., Ltd.)

14.5

1

2

BAT+ BAT–
18

Paper insulator

Caution

This battery is categorized as hazardous substance, and you may be required to present
an application of hazardous substance when you transport by air (both passenger and
cargo airlines).

Battery Box For Absolute Encoder
Part No.

'93

‡&RPSRQHQWV
(112)
(110)

DV0P4430

(27)

P04090001*

(31)

R5

Related page

7-118

‡3´$EVROXWHV\VWHPµ

7

7. Options

Supplement

Mounting Bracket

15

40

3
B-frame

17

9.5

2-R
1

15

10

R1

ss
le
or
2.5

R2

5.2

2.5

R2

2
R

2
R

.2

5 18 ± 0.2

R1

ss
le
or

10

9.5

2.5

Connection

18 ± 0.2

Bottom side

Upper side

Dimensions

ø5

2-M4, Pan head

5
C
2-

5
C
2-

2-M4, Pan head

24

M4 × L6 Pan head 4pcs

Mounting screw

2.5

Frame symbol of
applicable driver

'930

17

ss
le
or

33
40

15

2.5

R2

R1

7

Part No.

5.2

2-R
1

2.5

17

9.5

11 ± 0.2

10

10

R1

ss
le
or
2.5

17

9.5

R2

5

2
R

.2

2
Preparation

2.5

Bottom side

2
R

ø5

2-M4, Pan head

5
C
2-

5
C
2-

Upper side

Dimensions

11 ± 0.2

M4 × L6 Pan head 4pcs

Mounting screw

2-M4, Pan head

24

15

A-frame

Before Using the Products

Frame symbol of
applicable driver

'930

Part No.

1

7

4

40
47

47

Setup

9.5

17
15

2.5

40

17
15

2.5

.2
ø5
2-

10

R1

ss
le
or

2
R

2
R

R2

19
5.2

36 ± 0.2
5.2

1
4-R

2.5

R2

R1
10

9.5

2.5

Bottom side

36 ± 0.2

2-M4, Pan head

9.5

2-M4, Pan head

40 ± 0.2
60

M4 × L6 Pan head 4pcs

10

6
When in Trouble

17

Mounting screw
5
C
2-

5
C
2-

Upper side

Dimensions

15

D-frame

ss
le
or
2.5

Frame symbol of
applicable driver

'930

10

ss
le
or

20
40

5

2.5

R2

R1

20

Part No.

5.2

10

9.5
10

R1

ss
le
or

30 ± 0.2

2-R
1

Adjustment

R2

5
2
R

15

2-M4, Pan head

5
C
2-

2
R

.2

2.5

Bottom side

Upper side

Dimensions

30 ± 0.2

ø5

M4 × L6 Pan head 4pcs

Mounting screw

2-M4, Pan head

5
C
2-

17

C-frame

2.5

Frame symbol of
applicable driver

'930

Part No.

7

40 ± 0.2
60

For E, F and G-frame, you con make a front end and back end mounting by changing the
mounting direction of L-shape bracket (attachment).

Related page

‡3´'LPHQVLRQVRIGULYHUµ
7-119

Supplement

Caution

7

7. Options

Supplement

Reactor

Fig.1

X Y Z

NP

R S T

6-I

E

A

A

4-H

(Mounting pitch)

F

F: Center-to-center distance
on outer circular arc

(Mounting pitch)

B

Fig.2

G

2-I

E

A

A

4-H

(Mounting pitch)

F

F: Center-to-center distance
on slotted hole

(Mounting pitch)

G

B

Fig.2

Part No.

A

B

C

D

E (Max)

F

G

H

I

'93
'93
'93
'93
'93
'93
'93
'93
'930

65±1
60±1
60±1
60±1
60±1
60±1
55±0.7
55±0.7
55±0.7

125±1
150±1
150±1
150±1
150±1
150±1
80±1
80±1
80±1

(93)
(113)
(113)
(113)
(113)
(113)
66.5±1
66.5±1
66.5±1

136Max
155Max
155Max
155Max
160Max
160Max
110Max
110Max
110Max

155
130
140
150
155
170
90
95
105

ï
ï
ï
ï
ï
ï
41±2
46±2
56±2

85±2
75±2
85±2
95±2
100±2
115±2
55±2
60±2
70±2

Ѯð
Ѯð
Ѯð
Ѯð
Ѯð
Ѯð
Ѯð
Ѯð
Ѯð

M4
M4
M4
M4
M5
M5
M4
M4
M4

Motor
series

Power supply

Rated output

Part No.

MSME

Single phase,
100V

50W to 100W

DV0P227

MSME

200W to 400W

DV0P228

MDME

MSME

Single phase,
200V

50W to 200W

DV0P227

MHME

400W to 750W

DV0P228

MGME

1.0kW

DV0P228

MSME

1.5kW

DV0PM20047

MDME

0.9kW

DV0P228

MHME

MSME
MDME
MHME

Single phase,
200V

MGME

Single phase,
200V

Motor
series

MSME

50W to 750W

DV0P220

MGME

MGME

0.9kW

DV0P221

MSME

MSME

MDME

3-phase, 200V

MDME

1.0kW
1.5kW

DV0P222

1.5kW

DV0PM20047

1.5kW

DV0P222

2.5kW

DV0P224

MHME
Single phase,
200V

MFME
3-phase, 200V

7-120

F

D

C

H

Fig.1

F

D

C

H

MHME

Power supply

3-phase, 200V

Inductance Rated
current
(mH)
(A)
6.81
3
4.02
5
2
8
1.39
11
0.848
16
0.557
25
4.02
5
2
8
1.39
11

Rated output

Part No.

2.0kW

DV0P223

3.0kW

DV0P224

4.0kW

DV0P225

7. Options

1

Harmonic restraint

3
Connection

4
Setup

5
Adjustment

6
When in Trouble

$OOW\SHVRIWKHJHQHUDOSXUSRVHLQYHUWHUVDQGVHUYRGULYHUVXVHGE\VSHFLÀFXVHUVDUH
XQGHUWKHFRQWURORIWKH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKHDY\FRQVXPHUVZKRUHFHLYHSRZHUWKURXJKKLJKYROWDJHV\VWHPRUH[WUDKLJKYROWDJHV\VWHPµ7KHXVHUVZKR
are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must take appropriate countermeasures
LIWKHKDUPRQLFFXUUHQWH[FHHGVDOLPLWYDOXHVSHFLÀHGLQDFRQWUDFWGHPDQG 5HIHUWR
JEM-TR 210 and JEM-TR 225.)
7KH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKRXVHKROGHOHFWULFDODSSOLDQFHVDQGJHQHUDO
SXUSRVH DUWLFOHVµ ZDV DEROLVKHG RQ 6HSWHPEHU   +RZHYHU EDVHG RQ FRQYHQtional guidelines, JEMA applies the technical documents JEM-TR 226 and JEM-TR
 WR DQ\ XVHUV ZKR GR QRW ÀW LQWR WKH ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KHDY\
consumers who receive power through high voltage system or extra high voltage sysWHPµIURPDSHUVSHFWLYHRQHQOLJKWHQPHQWRQJHQHUDOKDUPRQLFUHVWUDLQW7KHSXUSRVH
of these guidelines is the execution of harmonic restraint at every device by a user as
usual to the utmost extent.

2
Preparation

Harmonic restraint measures are not common to all countries. Therefore, prepare the
measures that meet the requirements of the destination country.
:LWK SURGXFWV IRU -DSDQ RQ 6HSWHPEHU  ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ
heavy consumers who receive power through high voltage system or extra high voltage
V\VWHPµ DQG ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG
JHQHUDOSXUSRVH DUWLFOHVµ HVWDEOLVKHG E\ WKH$JHQF\ IRU 1DWXUDO 5HVRXUFHV DQG (QHUJ\
of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and
Industry). According to those guidelines, the Japan Electrical Manufacturers’ Association
(JEMA) have prepared technical documents (procedure to execute harmonic restraint:
JEM-TR 198, JEM-TR 199 and JEM-TR 201) and have been requesting the users to understand the restraint and to cooperate with us. On January, 2004, it has been decided to
H[FOXGHWKHJHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUIURPWKH´*XLGHOLQHVIRUKDUPRQLF
UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDOSXUSRVH DUWLFOHVµ$IWHU WKDW
WKH ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDO
SXUSRVHDUWLFOHVµZDVDEROLVKHGRQ6HSWHPEHU
We are pleased to inform you that the procedure to execute the harmonic restraint on
JHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUZDVPRGLÀHGDVIROORZV

Before Using the Products

Reactor

7
Supplement

7-121

7

7. Options

Supplement

External Regenerative Resistor
Specifications

Manufacturer's
Resistance
part No.

Part No.

Mass

Free air

with fan

mm

kg

W

W

0.1

10

25

ї
DV0P4280

Rated power
(reference) *1

cable core
outside
diameter

RF70M

50

DV0P4281

RF70M

100

0.1

10

25

DV0P4282

RF180B

25

0.4

17

50

DV0P4283

RF180B

50

0.2

17

50

DV0P4284

RF240

30

DV0P4285

RH450F

20

DV0PM20048

RF240

120

DV0PM20049

RH450F

80

DV0PM20058

RH450F × 6

3.3

DV0PM20059

RH450F × 6

13.3

(

Ѯ
AWG18
stranded
wire

)

0.5

40

100

1.2

52

130

0.5

35

80

1.2

65

190

16

— *3

780

16

*3

— *2
—

*2

—

Activation
temperature of
built-in thermostat

“Ý&
B-contact
Open/Close capacity
(resistance load)
1A 125VAC 6000 times
0.5A 250VAC 10000 times

1140

Manufacturer : Iwaki Musen Kenkyusho

*1 Power with which the driver can be used without activating the built-in thermostat.

A built-in thermal fuse and a thermal protector are provided for safety.
The circuit should be so designed that the power supply will be turned off as the thermal protector operates.
The built-in thermal fuse blows depending on changes in heat dissipation condition, operating temperature limit, power
supply voltage or load.
Mount the regenerative resistor on a machine operating under aggressive regenerating condition (high power supply
voltage, large load inertia, shorter deceleration time, etc.) and make sure that the surface temperature will not exceed
100°C.
$WWDFKWKHUHJHQHUDWLYHUHVLVWRUWRDQRQÁDPPDEOHPDWHULDOVXFKDVPHWDO
&RYHUWKHUHJHQHUDWLYHUHVLVWRUZLWKDQRQÁDPPDEOHPDWHULDOVRWKDWLWFDQQRWEHGLUHFWO\WRXFKHG
Temperatures of parts that may be directly touched by people should be kept below 70°C.
*2 Terminal block with screw tightening torque as shown below.
T1, T2, 24V, 0V, E：M4：1.2 to 1.4N·m
R1, R2
：M5：2.0 to 2.4N·m
 8VHWKHFDEOHZLWKWKHVDPHGLDPHWHUDVWKHPDLQFLUFXLWFDEOH 5HIHUWR3 
*3 With built-in fan which should always be operated with the power supply connected across 24 V and 0 V.

DV0P4280, DV0P4281


17

8

60

13


30

7



thermostat
(light yellow ×2)

DV0P4283

D

DV0P4284

DV0PM20048

E

DV0P4284
× 2 in parallel or
DV0P4285

DV0PM20049

DV0P4285
× 2 in parallel

DV0PM20049
× 2 in parallel

G

DV0P4285
× 3 in parallel

DV0PM20049
× 3 in parallel

H

DV0P4285
× 6 in parallel or
DV0PM20058

DV0PM20049
× 6 in parallel or
DV0PM20059

DV0P4282, DV0P4283
170±1


160“

Ѯ



thermostat
(light yellow ×2)

7

10

Drawing process
(2mm MAX)

±1


300±30



24
23

—

21

13

—

“

DV0P4282

SKDVH9

28“

C




Ѯ



DV0P4283

300

13

DV0P4280

DV0P4281
(50W, 100W)
DV0P4283
(200W)

B

F

7-122

Single phase,
9
SKDVH9

10MAX


A

Single phase,
9



Frame

10MAX

Power supply

7. Options

1

DV0P4284, DV0PM20048

DV0P4285, DV0PM20049

300
290
280

300
278

（5）

Ѯ

thermostat
(light yellow ×2)

300

450

100
50

15

20

10
288
18
11

9MAX

10MAX

Preparation

300
71

140
130

70

14

15

100
25
4.5

450

10

2

450


Ѯ

53

thermostat
(light yellow ×2)

Before Using the Products

External Regenerative Resistor

DV0PM20058, DV0PM20059
R1 R2

3

T1 T2 24V 0V E

T.F R

T.F R

T.F R

T.F R

T.F R

ѡ

FAN

Connection

T.F R

The third from the top

FG

Ѯ
6-

7

5 ї（DV0PM20058）
5 ї（DV0PM20059）

4
240
228

Circuit diagram

Setup

20

215

215

20

470
380

193

Cover (Punching metal)

124
(38)

Adjustment

270 MAX

5

470

6

Regenerative resistor gets very hot.

7
Supplement

Caution

Thermal fuse is installed for safety. Compose the circuit so that the power will
be turned off when the thermostat is activated. The thermal fuse may blow
due to heat dissipating condition, working temperature, supply voltage or load
fluctuation.
0DNHLWVXUHWKDWWKHVXUIDFHWHPSHUDWXUHRIWKHUHVLVWRUPD\QRWH[FHHGÝ&DW
the worst running conditions with the machine, which brings large regeneration
(such case as high supply voltage, load inertia is large or deceleration time is
short) Install a fan for a forced cooling if necessary.

When in Trouble

Remarks

Take preventive measures for fire and burns.
Avoid the installation near inflammable
objects, and easily accessible place by hand.
7-123

7

7. Options

Supplement

Recommended components

Surge absorber for motor brake
Motor

Part No.

50W to 750W (200V)
MSME

Manufacturer

Z15D271

750W (400V)
1.0kW to 5.0kW

Ishizuka Electronics Co.
Z15D151

400W (400V)
600W (400V)
MDME

1.0kW to 3.0kW

NVD07SCD082

KOA CORPORATION

4.0kW to 7.5kW

Z15D151

Ishizuka Electronics Co.

NVD07SCD082

KOA CORPORATION

0.9kW to 6.0kW

Z15D151

Ishizuka Electronics Co.

1.0kW, 1.5kW

NVD07SCD082

KOA CORPORATION

2.0kW to 7.5kW

Z15D151

Ishizuka Electronics Co.

11kW, 15kW
1.5kW
MFME
2.5kW, 4.5kW
MGME
MHME

7-124

7. Options

Supplement

/LVWRI3HULSKHUDO(TXLSPHQWV

Manufacturer

Tel No. / Home Page

1

Peripheral components

81-6-6908-1131
http://panasonic-denko.co.jp/ac

Circuit breaker
Surge absorber

Iwaki Musen Kenkyusho Co., Ltd.

81-44-833-4311
http://www.iwakimusen.co.jp/

Regenerative resistor

Ishizuka Electronics Corp.

81-3-3621-2703
http://www.semitec.co.jp/

KOA CORPORATION

81-42-336-5300
http://www.koanet.co.jp/

TDK Corp.

81-3-5201-7229
http://www.tdk.co.jp/

(Nisshin Electric Co., Ltd.)

81-4-2934-4151
http://www.nisshin-electric.com/

81-3-4544-7040
http://www.okayatec.co.jp/

Japan Aviation Electronics Industry, Ltd.

81-3-3780-2717
http://www.jae.co.jp

Sumitomo 3M

81-3-5716-7290
http://www.mmmco.jp

Tyco Electronics

81-44-844-8052
http://www.tycoelectronics.com/
japan/

Japan Molex Inc.

81-462-65-2313
http://www.molex.co.jp

J.S.T. Mfg. Co., Ltd.

81-45-543-1271
http://www.jst-mfg.com/index_i.
html

Daiden Co., Ltd.

81-3-5805-5880
http://www.dyden.co.jp/

Mitutoyo Corp.

81-44-813-8236
http://www.mitutoyo.co.jp

Magnescale Co., Ltd.

81-463-92-7973
http://www.mgscale.com

Schaffner EMC, Inc.

81-3-5712-3650
http://www.schaffner.jp/

4

Surge absorber
1RLVHÀOWHU

5
Connector

6
When in Trouble

Okaya Electric Industries Co. Ltd.

1RLVHÀOWHUIRUVLJQDOOLQHV

Adjustment

81-184-53-2307
http://www.kk-corp.co.jp/

3

Setup

KK-CORP.CO.JP

Surge absorber
for holding brake

Cable

External scale

7
1RLVHÀOWHU
Supplement

Note

Connection

MICROMETALS

2
Preparation

Automation Controls Company
Panasonic Electric Works, Co.,Ltd

Before Using the Products

7

Contact information shown above is as of Februaly 2011.
This list is for reference only and subject to change without notice.

7-125

Warranty

Warranty period
‡ 7KH ZDUUDQW\ SHULRG LV RQH \HDU IURP WKH GDWH RI SXUFKDVH RU  PRQWKV IURP WKH
month of manufacture in our plant.
For a motor with brake, the axis accelerated and decelerated more times than the
VSHFLÀHGOLPLWLVQRWFRYHUHGE\ZDUUDQW\

Warranty information
‡ 6KRXOG DQ\ GHIHFW GHYHORS GXULQJ ZDUUDQW\ SHULRG XQGHU VWDQGDUG VHUYLFH FRQGLWLRQV
as described in the manual, the company agrees to make repairs free of charge.
Even during warranty period, the company makes fee-based repair on product containing:
[1] Failure or damage due to misuse, improper repair or alteration.
[2] Failure or damage due to falling, or damage during transportation, after the original delivery
>@ 'HIHFWVUHVXOWLQJIURPQHJOHFWRIWKHVSHFLÀFDWLRQLQXVHRIWKHSURGXFW
>@ )DLOXUHRUGDPDJHGXHWRXQUHJXODWHGYROWDJHDQGÀUHDQGDFWRIQDWXUDOGLVDVWHUVVXFKDVHDUWKTXDNHOLJKWQLQJZLQGÁRRGDQGVDOWSROOXWLRQ
[5] Defects resulting from invasion of foreign materials such as water, oil and metal
pieces.
3DUWVH[FHHGLQJWKHLUVWDQGDUGOLIHWLPHVSHFLÀHGLQWKLVGRFXPHQWDUHH[FOXGHG
‡ 7KHFRPSDQ\VKDOOQRWEHOLDEOHIRUDQ\LQGLUHFWLQFLGHQWDORUFRQVHTXHQWLDOGDPDJHRU
loss of any nature that may arise in connection with the product.

7-126

Cautions for Proper Use

‡3UDFWLFDOFRQVLGHUDWLRQVIRUH[SRUWLQJWKHSURGXFWRUDVVHPEO\FRQWDLQLQJWKHSURGXFW
When the end user of the product or end use of the product is associated with military
affair or weapon, its export may be controlled by the Foreign Exchange and Foreign
Trade Control Law. Complete review of the product to be exported and export formalities
should be practiced.
‡7KLVSURGXFWLVLQWHQGHGWREHXVHGZLWKDJHQHUDOLQGXVWULDOSURGXFWEXWQRWGHVLJQHG
or manufactured to be used in a machine or system that may cause personal death
when it is failed.
‡,QVWDOODWLRQ ZLULQJ RSHUDWLRQ PDLQWHQDQFH HWF RI WKH HTXLSPHQW VKRXOG EH GRQH E\
TXDOLÀHGDQGH[SHULHQFHGSHUVRQQHO
‡$SSO\DGHTXDWHWLJKWHQLQJWRUTXHWRWKHSURGXFWPRXQWLQJVFUHZE\WDNLQJLQWRFRQVLGeration strength of the screw and the characteristics of material to which the product is
LQVWDOOHG 2YHUWLJKWHQLQJ FDQ GDPDJH WKH VFUHZ DQGRU PDWHULDO XQGHUWLJKWHQLQJ FDQ
result in loosening.
Example) Steel screw into steel section:
M4 1.35 to 1.65 N·m.
M5 2.7 to 3.3 N·m.
M6 4.68 to 5.72 N·m.
M8 11.25 to 13.75 N·m.
M10 22.05 to 26.95 N·m.
M11 37.8 to 46.2 N·m.
‡,QVWDOODVDIHW\HTXLSPHQWVRUDSSDUDWXVLQ\RXUDSSOLFDWLRQZKHQDVHULRXVDFFLGHQWRU
loss of property is expected due to the failure of this product.
‡Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment, various
safety equipments or equipments which require a lesser air contamination.
‡:HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\RIWKHSURGXFWVKRZever, application of exceptionally larger external noise disturbance and static electricity,
or failure in input power, wiring and components may result in unexpected action. It is
highly recommended that you make a fail-safe design and secure the safety in the operative range.
‡,IWKHPRWRUVKDIWLVQRWHOHFWULFDOO\JURXQGHGLWPD\FDXVHDQHOHFWURO\WLFFRUURVLRQWR
the bearing, depending on the condition of the machine and its mounting environment,
DQGPD\UHVXOWLQWKHEHDULQJQRLVH&KHFNLQJDQGYHULÀFDWLRQE\FXVWRPHULVUHTXLUHG
‡)DLOXUH RI WKLV SURGXFW GHSHQGLQJ RQ LWV FRQWHQW PD\ JHQHUDWH VPRNH RI DERXW RQH
cigarette. Take this into consideration when the application of the machine is clean room
related.
‡3OHDVH EH FDUHIXO ZKHQ XVLQJ LQ DQ HQYLURQPHQW ZLWK KLJK FRQFHQWUDWLRQV RI VXOIXU RU
sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a poor
contact connection.
‡7DNHFDUHWRDYRLGLQSXWWLQJDVXSSO\YROWDJHZKLFKVLJQLÀFDQWO\H[FHHGVWKHUDWHGUDQJH
to the power supply of this product. Failure to heed this caution may result in damage to
WKHLQWHUQDOSDUWVFDXVLQJVPRNLQJDQGRUDÀUHDQGRWKHUWURXEOH
‡The user is responsible for matching between machine and components in terms of
FRQÀJXUDWLRQGLPHQVLRQVOLIHH[SHFWDQF\FKDUDFWHULVWLFVZKHQLQVWDOOLQJWKHPDFKLQH
RU FKDQJLQJ VSHFLÀFDWLRQ RI WKH PDFKLQH 7KH XVHU LV DOVR UHVSRQVLEOH IRU FRPSO\LQJ
with applicable laws and regulations.
‡7KHSURGXFWZLOOQRWEHJXDUDQWHHGZKHQLWLVXVHGRXWVLGHLWVVSHFLÀFDWLRQOLPLWV
‡Parts are subject to minor change to improve performance.

7-127

After-Sale Service (Repair)

Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacturer or the dealer of the machine or equipment.

Technical information
Technical information of this product (Operating Instructions, CAD data) can be downloaded from the
following web site.

http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

Panasonic Corporation, Motor Business Unit, Industrial Sales Group
Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031
 

TEL +81-3-3538-2961
)$; 

Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044



TEL +81-72-870-3065
)$; 

For your records:
The model number and serial number of this product can be found on either the back or the bottom of the unit.
Please note them in the space provided and keep for future reference.
Model No.

M

DH

M

ME

Serial No.

Date of
purchase
Name

Dealer

Address
Phone

(

)

-

7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
© Panasonic Corporation 2009

IME10
A1009-3121



---

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