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

User Manual: Panasonic MINAS A5 to the manual

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* This product image is 200W type of A5-series.
Operating Instructions (Overall)
AC Servo Motor & Driver
MINAS 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.
2
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
1) Any part or whole of this document shall not be reproduced without written permis-
sion from us.
2) Contents of this document are subject to change without notice.
3
1. Before Using the Products
Check of the Driver Model ... Installation
Describes how to identify and select the desired product and components, how to
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2. Preparation
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
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.
4. Setup
Describes parameters ... JOG running
Shows describes parameters and procedure of test operation.
5. Adjustment
Gain adjustment ... Auto tuning
Describes various adjusting method including auto tuning and manual gain tuning.
6. 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.
Organization of this manual 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4
Contents
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&RQÀJXUDWLRQDQG: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
page
5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Setup ........................................................................................................................4-1
1. Describes parameters ...............................................................................................4-2
2. JOG running ............................................................................................................4-59
5. Adjustment ..........................................................................................................5-1
1. Gain Adjustment ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4
3. Adaptive Filter .........................................................................................................5-10
4. Manual Auto-Gain Tuning (Basic) ............................................................................5-13
5. Manual Auto-Gain Tuning (Application) ...................................................................5-24
6. About Homing Operation .........................................................................................5-39
6. When in Trouble .............................................................................................6-1
1. When in Trouble ........................................................................................................ 6-2
2. Setup of gain pre-adjustment protection ................................................................. 6-18
3. Troubleshooting ......................................................................................................6-21
7. Supplement ........................................................................................................7-1
1. Safety function ..........................................................................................................7-2
2. Absolute System .....................................................................................................7-10
3. Setup Support Software, PANATERM .....................................................................7-26
4. Communication .......................................................................................................7-27
5. Motor Characteristics (S-T Characteristics) ............................................................7-55
6. Dimensions .............................................................................................................7-73
7. Options ....................................................................................................................7-92
Warranty ........................................................................................................................... 7-126
Cautions for Proper Use ...................................................................................................7-127
After-Sale Service .................................................................................................... Back cover
page
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6
The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
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degree of potential harm or damage.
Danger Indicates great possibility of death or serious injury.
Caution Indicates the possibility of injury or property damage.
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Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
ÁDPPDEOHJDVHVDQGFRPEXVWLEOHV Failure to observe this instruc-
WLRQFRXOGUHVXOWLQÀUHHOHFWULFDO
shocks, damages and break-
downs.
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 exces-
sive vibration or shock.
Failure to observe this instruc-
tion could result in electrical
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Don't use cables soaked in water or oil.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
The installation area should be away from heat
generating objects such as a heater and a large
wire wound resistor.
Failure to observe this instruc-
WLRQFRXOGUHVXOWLQÀUHDQG
breakdowns.
Never connect the motor directly to the commer-
cial power supply.
Don't attempt to carry out wiring or manual opera-
tion with wet hand.
Failure to observe this instruc-
tion could result in electrical
VKRFNLQMXU\RUÀUH
Do not put your hands in the servo driver.
Failure to observe this instruc-
tion could result in burn and
electrical shocks.
Safety Precautions Please observe safety precautions fully.
7
In the case of the motor with shaft end keyway, do
not touch the keyway with bare hands. Failure to observe this instruc-
tion could result in personal
injury.
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.
Failure to observe this instruc-
tion could result in burns.
Do not drive the motor with external power. Failure to observe this instruc-
WLRQFRXOGUHVXOWLQÀUH
Do not subject the cables to excessive force,
heavy object, or pinching force, nor damage the
cables.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
Installation area should be free from excessive
dust, and from splashing water and oil.
Failure to heed this precaution
will result in electric shock, per-
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damage.
Mount the motor, driver and peripheral equip-
ments on incombustible material such as metal.
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WHULDOPD\FDXVHÀUH
:LULQJKDVWREHFDUULHGRXWE\WKHTXDOLÀHGDQG
authorized specialist.
Allowing a person with no ex-
pertise to carry out wiring will
result in electrical shocks.
Correctly run and arrange wiring.
Incorrect wiring will result in
short circuit, electric shock, per-
sonal injury, etc.
After correctly connecting cables, insulate the live
parts with insulator.
Incorrect wiring will result short
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malfunction.
Ground the earth terminal of the motor and driver
without fail.
Floating ground circuit will
cause electric shock.
Install and mount the Product and machinery
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incurred by earthquake.
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will result in electric shock, per-
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damage.
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 emer-
gency stop apparatus without fail.
)DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in electric
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&KHFNDQGFRQÀUPWKHVDIHW\RIWKHRSHUDWLRQ
after the earthquake.
Before transporting, wiring and inspecting the
driver, turn off power and wait for a time longer
WKDQWKDWVSHFLÀHGRQWKHQDPHSODWHRQWKHVLGH
panel of the product; and make sure that there is
no risk of electrical shock.
Energized circuit will cause
electric shock.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
8
Caution
Do not hold the motor cable or motor shaft during
the transportation.
Failure to observe this instruc-
tion could result in injuries.
Don't drop or cause topple over of something dur-
ing transportation or installation.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not step on the Product nor place the heavy
object on them.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries, breakdowns
and damages.
Don't use the equipment under direct sunshine.
Failure to heed these instruc-
tions will cause personal injury
RUÀUH
Do not block the heat dissipating holes or put the
foreign particles into them.
Failure to observe this instruc-
tion could result in electrical
VKRFNVDQGÀUH
Do not give strong impact shock to the Product. Failure to observe this instruc-
tion could result in breakdowns.
Do not give strong impact shock to the motor
shaft.
Failure to observe this instruc-
tion could result in a failure of
the detector etc.
Do not turn on and off the main power of the driv-
er repeatedly. Failure to observe this instruc-
tion could result in breakdowns.
Never run or stop the motor with the electro-mag-
netic contactor installed in the main power side.
Do not make an extreme gain adjustment or
change of the drive.
Do not keep the machine running/operating unsta-
bly.
Failure to observe this instruc-
tion could result in injuries.
Do not use the built-in brake as a "Braking" to
stop the moving load.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not approach to the machine since it may sud-
denly restart after the power resumption.
Design the machine to secure the safety for the
operator even at a sudden restart.
Failure to observe this instruc-
tion could result in injuries.
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or repair.
Failure to heed this instruction
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personal injury or malfunction.
Safety Precautions Please observe safety precautions fully.
9
Make an appropriate mounting of the Product
matching to its wight and output rating. )DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in personal
injury or malfunction.
2EVHUYHWKHVSHFLÀHGPRXQWLQJPHWKRGDQGGL-
rection.
Use the eye bolt of the motor for transportation of
the motor only, and never use this for transporta-
tion of the machine.
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
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Adjust the motor and driver ambient environmen-
tal condition to match the motor operating tem-
perature and humidity. )DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in personal
injury or malfunction.
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and the control panel inner surface or other de-
vices.
2EVHUYHWKHVSHFLÀHGYROWDJH
Operation from a voltage out-
side the rated voltage will cause
electric shock, personal injury
RUÀUH
Connect the brake control relay to the relay which
is to shut off at emergency stop in series.
Missing of one of these devices
will result in personal injury or
malfunction.
Provide protection device against idling of electro-
magnetic brake or gear head, or grease leakage
from gear head.
No protection will cause per-
sonal injury, damage, pollution
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8VHWKHPRWRUDQGWKHGULYHULQWKHVSHFLÀHGFRP-
bination.
Not using the motor and the
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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 in-
jury.
If the driver fails, shut off the power on the power
supply side of the driver.
Allowing a large current to con-
WLQXHWRSDVVZLOOUHVXOWLQÀUH
Maintenance must be performed by an experi-
enced personnel.
Wrong wiring will cause person-
al injury or electric shock.
Always keep power disconnected when the power
is not necessary for a long time.
Improper operation will cause
personal injury.
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.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
10
Conformed Standards
Driver Motor
EC Direc-
tives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3
–
Low-Voltage
Directives EN61800-5-1 EN60034-1
EN60034-5
Machinery
Directives
Functional
safety
(*1)
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
–
UL Standards UL508C (E164620)
UL1004-1
E327868: to 750W (200V)
(
from 6.0kW
)
UL1004
E327868: 400W (400V)
600W (400V), 750W (400V)
(
0.9kW to 5.0kW
)
CSA Standards C22.2 No.14 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.
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*2 PL d: Provided that EDM is used.
Note For details on compatibility with international standard, refer to P.2-2 Conformance to
international standards.
Conformance to international standards
11
Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves. When es-
tablishing 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.
Inspection Items and Cycles
General and normal running condition
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lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type Cycles Items to be inspected
Daily
inspection Daily
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0DLQFLUFXLWYROWDJH
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&OHDQQHVVDWIURQWSRUWLRQRIWKHGULYHUDQGFRQQHFWRU
'DPDJHRIWKHFDEOHV
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3LQFKLQJRIIRUHLJQREMHFWDWWKHORDG
Motor
with Gear
Reducer
Annual
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7UDFHRIRYHUKHDW
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/RRVHIDVWHQHUVRQWHUPLQDOEORFN
Note Inspection cycle may change when the running conditions of the above change.
Maintenance and Inspections 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
12
Related page
3´:DUUDQW\µ
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the ac-
tual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.
Prohibited
Disassembling for inspection and repair should be
carried out only by authorized dealers or service
company.
Product Component Standard replacement
cycles (hour) Note
Driver
Smoothing condenser Approx. 5 years
These hours or cycles are
reference.
When you experience any
HUURUUHSODFHPHQWLVUHTXLUHG
even before this standard
replacement cycle.
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)
Motor
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.
Maintenance and Inspections
1-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Before Using the Products
1. Introduction
Outline .........................................................................................................1-2
On Opening the Product Package ...............................................................1-2
2. Driver
Check of the Model ......................................................................................1-3
Parts Description
A to E-frame..............................................................................................1-4
F-frame .....................................................................................................1-5
G-frame.....................................................................................................1-6
H-frame .....................................................................................................1-7
D to F-frame (400 V) .................................................................................1-8
G-frame (400 V) ........................................................................................1-9
H-frame (400 V) ......................................................................................1-10
Specifications.............................................................................................1-11
Block Diagram ...........................................................................................1-15
3. Motor
Check of the Model ....................................................................................1-21
Parts Description .......................................................................................1-22
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. Installation
Driver .........................................................................................................1-28
Motor..........................................................................................................1-32
6. Permissible Load at Output Shaft
Motor..........................................................................................................1-35
1-2
The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all
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SHUIRUPDQFHRUZKLFKUHTXLUHVLPSOLÀHGVHWWLQJV
Compared with the preceding A4-series, product of A5-series offers superior performance
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Newly designed motors have wide range of outputs from 50 W to 15.0 kW, associated
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(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.
1 Before Using
the Products
1. Introduction
On Opening the Product Package
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resistor connection (D-frame (400 V) and E-frame) and safety by-pass plug are includ-
ed 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.)
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1 Before Using
the Products
1. Introduction
Outline
1-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
2. Driver
Check of the Model
Contents of Name Plate
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output current
Input/output frequency
Number of phase
Serial Number
e.g.) : P09040001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20090401
Manufacture dateManufacture year
Manufacture month
Model Designation
MADHT1505E
Special specifications
(letters and numbers)
Special specifications
(letters and numbers)
Only for position control type
Current detector rating
Power supply
Max. current rating
of power device
Frame-size symbol
Velocity, position,
torque and full-closed
FRQWUROW\SH
Only for position
control type
MADH
MBDH
MCDH
MDDH
MEDH
MFDH
MGDH
MHDH
Frame
Symbol
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 rating
Symbol
Specifications
Symbol
1
3
4
5
Single phase, 100V
3-phase, 200V
3-phase, 400V
Single/3-phase, 200V
Current rating
Symbol
1 to 4 7 105 to 6 11 to 128 to 9
MADHT1505
1 to 4 75 to 6 10 to 128 to 9
NOTE)
Only for position control type is
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T1
T2
T3
T4
T5
T7
TA
TB
TC
10A
15A
30A
35A
50A
70A
100A
150A
300A
05
07
10
12
20
30
40
64
90
A2
B4
5A
7.5A
10A
12A
20A
30A
40A
64A
90A
120A
240A
Related page
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1-4
A to D-frame
E-frame
LED cover
Safety by-pass prug
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
V
U
W
Connector XA:
for main power connection
05JFAT-SAXGF (JST)
Connector XB:
for motor connection
06JFAT-SAXGF (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Screws for earth (x2)
Main power
input terminals
Control power
input terminals
Terminals for motor
connection
1 Before Using
the Products
2. Driver
Parts Description
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Only for position control type is not provided with X2, X3 and X5.
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
NC*
* NC is no connect.
U
V
W
Connector XA:
for main power connection
05JFAT-SAXGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for motor
connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
1-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
F-frame
Terminal cover
LED cover
Safety by-pass prug
Control power
input terminals
L1
L2
L3
L1C
L2C
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
* NC is no connect.
Details of terminal block
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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1-6
2. Driver
Parts Description
G-frame
Terminal cover
LED cover
Safety by-pass prug
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ロビヤ
ロヒヤ
ワヤ
ワヤ
ワヤ
ュャピ
ュャビ
ュャヒ
ュャフ
L1
L2
L3
B1
B2
NC
U
V
W
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
Control power input terminals
NC*
L1C
L2C
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*
L1
L2
L3
B1
B2
NC*
U
V
W
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale
connection
Connector X7: Monitor connector
Front panel
Details of terminal block
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
* NC is no connect.
Terminal cover
screw
Terminal cover
screw
Terminal cover
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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1-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
H-frame
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
L1 L2 L3 B1 B2 NC
L1C L2C DB1 DB2
UVW
L1
L1C
L2C
DB1
DB2
L2 L3 B1 B2 NC* UVW
Control power
input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale connection
Connector X7: Monitor connector
Front panel
Control terminal for
dynamic brake resister
Main power
input terminals Terminals for motor
connection
Terminals for external
regenerative resistor
Details of terminal block
* NC is no connect.
Terminal cover Terminal
cover screw
LED cover
Safety by-pass prug
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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1-8
2. Driver
Parts Description
D, E-frame (400 V)
F-frame (400 V)
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
24V
0V
L1
L2
L3
B1
B3
B2
U
V
W
Connector XA:
for main power connection
03JFAT-SAYGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XD:
Control power input terminals
02MJFAT-SAGF (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L(JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for
motor connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
NC*
* NC is no connect.
Control power
input terminals
L1
L2
L3
24V
0V
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Terminal cover
LED cover
Safety by-pass prug
* NC is no connect.
Details of terminal block
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Only for position control type is not provided with X2, X3 and X5.
1-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
G-frame (400 V)
Terminal cover
LED cover
Safety by-pass prug
NC*
NC*
NC*
NC*
NC*
NC*
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)
Details of terminal block
* NC is no connect.
NC*
24V
0V
DB1
DB2
DB3
DB4
L1
L2
L3
B1
B2
U
V
W
ワヤ
ワヤ
ワヤ
パヷ
ビフヷ
ワヤ
ワヤ
ワヤ
ュャピ
ュャビ
ュャヒ
ュャフ
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
フパパヷ
Control power input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale
connection
Connector X7: Monitor connector
Front panel
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
L1
L2
L3
B1
B2
NC
U
V
W
Terminal cover
screw
Terminal cover
screw
Terminal cover
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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1-10
2. Driver
Parts Description
H-frame (400 V)H-frame (400 V)
Control terminal for
dynamic brake resister
Details of terminal block
NC*
* NC is no connect.
L1
24V
0V
DB1
DB2
L2 L3 B1 B2 U V W
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
L1 L2 L3 B1 B2 NC
DB2
24V 0V
DB1
UVW
Control power
input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale connection
Connector X7: Monitor connector
Front panel
Main power
input terminals Terminals for motor
connection
Terminals for external
regenerative resistor
Terminal cover Terminal
cover screw
LED cover
Safety by-pass prug
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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1-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
2. Driver
Specifications (Velocity, position, torque, full-closed control type)
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Input power
100V
Main circuit Single phase, 100 to 120V +10% 50/60Hz
–15%
Control circuit Single phase, 100 to 120V +10% 50/60Hz
–15%
200V
Main
circuit
A to
D-frame Single/3-phase, 200 to 240V +10% 50/60Hz
–15%
E to
H-frame 3-phase, 200 to 230V +10% 50/60Hz
–15%
Control
circuit
A to
D-frame Single phase, 200 to 240V +10% 50/60Hz
–15%
E to
H-frame Single phase, 200 to 230V +10% 50/60Hz
–15%
400V
*1
Main circuit 3-phase, 380 to 480V +10% 50/60Hz
–15%
Control circuit DC24V ± 15%
Withstand voltage
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.
Environment
temperature
$PELHQWWHPSHUDWXUHÝ&WRÝ&IUHHIURPIUHH]LQJ
6WRUDJHWHPSHUDWXUH²Ý&WRÝ& (Max. temperature guarantee: 80ÝC for 72 hours
free from condensation*2)
humidity Both operating and storage : 20 to 85%RH or less (free from condensation*2)
Altitude Lower than 1000m
Vibration 5.88m/s2RUOHVVWR+]1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
Feedback scale feedback
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Magnescale Co., Ltd. (old Sony Manufacturing Systems Corp.)
Parallel I/O connector
Control signal
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.
Analog signal Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
Output 2 outputs (Analog monitor: 2 output)
Pulse signal
Input
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.
Output
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.
Communication
function
USB Connection with PC etc.
RS232 1 : 1 communication to a host.
RS485 1 : n communication to a host.
Safety function Used for functional safety.
Front panel (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Monitor connector (Analog monitor output (2ch), Digital monitor output (1ch))
Regeneration 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.)
Dynamic brake A to G-frame: Built-in (external resistor is also available to G-frame)
H-frame: External only
Control mode
Switching among the following 7 mode is enabled,
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Caution
Related page
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*2
Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
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1-12
Function
Control input
(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
Control output
(1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal
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(6) Zero-speed detection output signal (7) Alarm output (8) Alarm attribute output
Position control
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
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Control output (1) Positioning complete (In-position) (2)Positional command ON/OFF output
Pulse
input
Max. command
SXOVHIUHTXHQF\
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse signal
format
Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)
Electronic gear
(Division/Multiplication of
command pulse)
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(
1 to 230
1 to 230
)
as positional command
input. Use electronic gear ratio in the range 1/1000 to 1000 times.
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Analog
input
7RUTXHOLPLW
command input ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
7RUTXHIHHGIRUZDUGLQSXW
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Instantaneous Speed Observer
Available
Damping Control Available
Velocity control
Control input (1) Selection of internal velocity setup (2) Speed zero clamp
(3) Speed command sign input (4)Control mode switching
Control output (1) Speed coincidence output (2)Speed command ON/OFF output
Analog
input
Velocity command
input
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)
7RUTXHOLPLW
command input ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
7RUTXHIHHGIRUZDUGLQSXW
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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
7RUTXHFRQWURO
Control input 6SHHG]HURFODPS7RUTXHFRPPDQGVLJQLQSXW&RQWUROPRGHVZLWFKLQJ
Control output (1) Speed coincidence output (2) Speed in-limit output
Analog
input
7RUTXHFRPPDQG
input
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3DUDPHWHUVDUHXVHGIRUVFDOHVHWWLQJDQGFRPPDQGSRODULW\9UDWHGWRUTXH'HIDXOW
Speed limit function Speed limit value with parameter t is enabled.
Full-closed control
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
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Control output (1) Full-closed positioning complete (2) Positional command ON/OFF output
Pulse
input
Max. command
SXOVHIUHTXHQF\
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse signal
format
Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and
B-phase, (3) Command and direction)
Electronic gear
(Division/Multiplication of
command pulse)
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(
1 to 230
1 to 230
)
as positional command
input. Use electronic gear ratio in the range 1/1000 to 1000 times.
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Analog
input
7RUTXHOLPLW
command input ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
7RUTXHIHHGIRUZDUGLQSXW
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Setup range of division/
multiplication of feedback
scale
1/40 to 160 times
The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 2
20
(numerator) to 1 to 2
20
(denominator), but should be set to a ratio within the range shown above.
Common
Auto tuning
The load inertia is identified in real time by the driving state of the motor operating according
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The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback pulse
Set up of any value is enabled (encoder feedback 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 The alarm data history can be referred to.
2. Driver
Specifications (Velocity, position, torque, full-closed control type)
1-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
2. Driver
Specifications (Only for position control type)
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Input power
100V
Main circuit Single phase, 100 to 120V +10% 50/60Hz
–15%
Control circuit Single phase, 100 to 120V +10% 50/60Hz
–15%
200V
Main
circuit
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%
Control
circuit
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%
400V
Main
circuit
D to
F-frame 3-phase, 380 to 480V +10% 50/60Hz
–15%
Control
circuit
D to
F-frame DC 24V ± 15%
Withstand voltage
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.
Environment
temperature
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6WRUDJHWHPSHUDWXUH²Ý&WRÝ& (Max. temperature guarantee: 80ÝC for 72
hours free from condensation*2)
humidity Both operating and storage : 20 to 85%RH or less (free from condensation)
Altitude Lower than 1000m
Vibration 5.88m/s2RUOHVVWR+]1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 20-bit (1048576 resolution) incremental encoder, 5-wire serial
Parallel I/O connector
Control signal
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.
Analog signal Output 2 outputs (Analog monitor: 2 output)
Pulse signal
Input
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.
Output
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.
Communication
function USB Connection with PC etc.
Front panel (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
Caution
Related page
Caution
 7KHVSHFLÀFDWLRQRXWRI-DSDQ
*2 Air containing water vapor will become saturated with water vapor as the temperature falls,
causing dew.
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Only for position control type is provided A-Frame to F-frame.
1-14
2. Driver
Specifications (Only for position control type)
Function
Position control
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.
Pulse
input
Max. command
SXOVHIUHTXHQF\
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
1 to 230
)
as positional
command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
6PRRWKLQJÀOWHU 3ULPDU\GHOD\ÀOWHURU),5W\SHÀOWHULVDGDSWDEOHWRWKHFRPPDQGLQSXW
Instantaneous Speed
Observer
Available
Damping Control
Available
Internal velocity control
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
Common
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 The alarm data history can be referred to.
1-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
A, B-frame (100/200 V)
B1
B3
N
P
+
Fuse
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
X5
Feedback scale signal
processing limit
Feedback scale unit
DC/DC
X1
X2
X6
U
V
W
M
RE
X4
+(12V
+5V
PS for gate drive
Gate drive
PS for RE
Front panel
Alarm
signal
USB
Serial
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Division
processing
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Tor q ue
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Control
output
X3
Safety function
L 1
L 2
L 3
Fuse
Fuse
C, D-frame (100/200 V)
B1
B3
N
P
+
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
Division
processing
Feedback scale signal
processing limit
DC/DC
X6
U
V
W
M
RE
+(12V
+5V
PS for gate drive
Gate drive
PS for RE
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Tor qu e
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Control
output
Fuse
Fan
(D-frame only)
Front panel
X5
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 2
L 3
L 1 Fuse
Fuse Resistor
1 Before Using
the Products
2. Driver
Block Diagram
Note 7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
1-16
E-frame (200 V)
B1
B3
N
P
+
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
Division
processing
DC/DC
X6
U
V
W
M
RE
+(12V
+5V
PS for gate drive
PS for RE
Fuse
Parameter control
EEPROM
Fan
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Tor qu e
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Gate drive
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1 Fuse
Fuse
L 2
L 3 Resistor
F-frame (200 V)
B1
B3
Error
detection
Sequence control
B2
L1C
L2C
Division
processing
DC/DC
X6
U
V
W
M
RE
+(12V
+5V
PS for gate drive
PS for RE
Fuse
Parameter control
EEPROM
Fan
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Tor q ue
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Gate drive
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
N
P
+
Fuse
Resistor
Fuse
Voltage
detection
2. Driver
Block Diagram
Note 7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
1-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
G-frame (200 V)
H-frame (200 V)
2. Driver
Block Diagram
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Tor qu e
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Tor q ue
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
L1C
L2C
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
DB3
DB4
Fuse
Fuse
Voltage
detection
(12V
+5V
PS for gate drive
PS for RE
Fan
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Tor qu e
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Tor q ue
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
L1C
L2C
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
Fuse
Fuse
Voltage
detection
(12V
+5V
PS for gate drive
PS for RE
Fan
Note 7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
1-18
D-frame (400 V)
E-frame (400 V)
2. Driver
Block Diagram
L 2
L 3
L 1
B1
B3
N
P
+
Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+±12V
+5V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
L 2
L 3
L 1
B1
B3
N
P
+
Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+±12V
+5V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Tor qu e
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Tor q ue
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
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Only for position control type is not provided with X2, X3 and X5.
1-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
F-frame (400 V)
G-frame (400 V)
2. Driver
Block Diagram
L 2
L 3
L 1
B1
B3
N
P
+
Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+±12V
+5V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torq u e
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torq u e
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
24V
0V
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
DB3
DB4
Fuse
Fuse
Voltage
detection
(12V
+5V
PS for gate drive
PS for RE
Fan
Note 7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
G-frame: Only for position control type is not provided.
1-20
H-frame (400 V)
2. Driver
Block Diagram
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
–
–
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
24V
0V
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
Fuse
Fuse
Voltage
detection
(12V
+5V
PS for gate drive
PS for RE
Fan
Note 7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided.
1-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
3. Motor
Check of the Model
Contents of Name Plate
Serial Number
e.g.) : 0904 0001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20090401
Manufacture dateManufacture year
Manufacture month
Model
Rated output
Rated input voltage/current
Rated frequency
Rated
rotational speed
Model Designation
MSME5AZS1S
1 to 4 5 to 6 11 to 12
78 9 10
Special specifications
Motor structure
Rotary encoder specifications
Voltage specifications
Specifications
Type
Symbol
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)
G
S
Incremental
Absolute
Specifications
Symbol
Format
Pulse count
Output
Motor rated output
Symbol
Specifications
Symbol
Resolution
5-wire
7-wire
Wire count
Motor structure
MSME
(50W to 750W)
*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.]
A
B
S
T
Shaft
Holding brake
Oil seal
Without
With
Round
Key way
Without
With
Symbol
MSME
(750W(400V), 1.0kW to 5.0kW)
,
MDME, MFME, MGME, MHME
C
D
G
H
Shaft
Holding brake
Oil seal
Without
With
Round
Key way
Without
With
Symbol
*4
*5
*5
MSMD
MHMD
MSME
MDME
MFME
MGME
MHME
5A
01
02
04
06
08
09
10
15
20
25
30
40
45
50
60
75
C1
C5
50W
100W
200W
400W
600W
750W
900W
1.0kW
1.5kW
2.0kW
2.5kW
3.0kW
4.0kW
4.5kW
5.0kW
6.0kW
7.5kW
11.0kW
15.0kW
20bit
17bit
1,048,576
131,072
*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.
1
2
4
Z
100 V
200 V
400 V
100/200 V common
(50W only)
Design order
Symbol
Specifications
1
C
Standard
Connector for encoder
: N/MS3102A20-29P
IP65 motor
0.9 kW to 5.0 kW
(
only selectable
)
*3 Only for position control type does not support the 17-bit absolute
specification. It supports only 20-bit incremental specification.
*1
*1
*2
*2
*2
*2
*2
*3
Note
Related page
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1-22
1 Before Using
the Products
3. Motor
Parts Description
Motor frame
Flange
Connector for motor
Connector for encoder
Connector for motor
Connector for brake
Connector for encoder
[with Brake]
Motor frame
Flange
Mounting holes (X4)
Mounting holes (X4)
Connector for motor
Connector for encoder
Oil seal
Motor frame
Flange
Mounting holes (X4)
Note )RUGHWDLOVRIVSHFLÀFPRGHOUHIHUWRWKH'LPHQVLRQVRI6XSSOHPHQW3WR
060( :WR:
MSME 750W(400V), 1.0kW to 5.0kW
MDME 400W to 15.0kW
MFME 1.5kW to 4.5kW
MGMA 0.9kW to 6.0kW
MHME 1.0kW to 7.5kW
e.g.) : Low inertia type (MSME series, 50W)
e.g.) : Middle inertia type (MDME series, 1.0kW)
1-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
4.
Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit
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Remarks
Do not use in other combinations than those listed below.
Motor Driver
Power
supply Type
Rated
rotational
speed
Model Rated
output
Model of velocity,
position, torque and
full-closed control type
Model of Only for
position control
type
Frame
Single
phase,
100V
MSMD
Low inertia 3000r/min
MSMD5AZG1 * 50W MADHT1105 MADHT1105E A-frame
MSMD011G1 * 100W MADHT1107 MADHT1107E
MSMD021G1 * 200W MBDHT2110 MBDHT2110E B-frame
MSMD041G1 * 400W MCDHT3120 MCDHT3120E C-frame
Single/
3-phase,
200V
MSMD5AZG1 * 50W MADHT1505 MADHT1505E A-frameMSMD012G1 * 100W
MSMD022G1 * 200W MADHT1507 MADHT1507E
MSMD042G1 * 400W MBDHT2510 MBDHT2510E B-frame
MSMD082G1 * 750W MCDHT3520 MCDHT3520E C-frame
Single
phase,
100V
MSME
Low inertia 3000r/min
MSME5AZG1 * 50W MADHT1105 MADHT1105E A-frame
MSME011G1 * 100W MADHT1107 MADHT1107E
MSME021G1 * 200W MBDHT2110 MBDHT2110E B-frame
MSME041G1 * 400W MCDHT3120 MCDHT3120E C-frame
Single/
3-phase,
200V
MSME5AZG1 * 50W MADHT1505 MADHT1505E A-frameMSME012G1 * 100W
MSME022G1 * 200W MADHT1507 MADHT1507E
MSME042G1 * 400W MBDHT2510 MBDHT2510E B-frame
MSME082G1 * 750W MCDHT3520 MCDHT3520E C-frame
MSME102G□ * 1.0kW MDDHT5540 MDDHT5540E D-frame
MSME152G□ * 1.5kW
3-phase,
200V
MSME202G□ * 2.0kW MEDHT7364 MEDHT7364E E-frame
MSME302G□ * 3.0kW MFDHTA390 MFDHTA390E
F-frameMSME402G□ * 4.0kW MFDHTB3A2 MFDHTB3A2E
MSME502G□ * 5.0kW
3-phase,
400V
MSME084G1 * 750W MDDHT2412 MDDHT2412E
D-frameMSME104G□ * 1.0kW MDDHT3420 MDDHT3420E
MSME154G□ * 1.5kW MDDHT3420 MDDHT3420E
MSME204G□ * 2.0kW MEDHT4430 MEDHT4430E E-frame
MSME304G□ * 3.0kW MFDHT5440 MFDHT5440E
F-frameMSME404G□ * 4.0kW MFDHTA464 MFDHTA464E
MSME504G□ * 5.0kW
Single/
3-phase, 200V
MDME
Middle inertia
2000r/min
MDME102G□ * 1.0kW MDDHT3530 MDDHT3530E D-frame
MDME152G□ * 1.5kW MDDHT5540 MDDHT5540E
3-phase,
200V
MDME202G□ * 2.0kW MEDHT7364 MEDHT7364E E-frame
MDME302G□ * 3.0kW MFDHTA390 MFDHTA390E
F-frameMDME402G□ * 4.0kW MFDHTB3A2 MFDHTB3A2E
MDME502G□ * 5.0kW
1500r/min
MDME752G1 * 7.5kW MGDHTC3B4
−
G-frame
MDMEC12G1 * 11.0kW MHDHTC3B4 H-frame
MDMEC52G1 * 15.0kW
3-phase,
400V
2000r/min
MDME044G1 * 400W MDDHT2407 MDDHT2407E
D-frame
MDME064G1 * 600W
MDME104G□ * 1.0kW MDDHT2412 MDDHT2412E
MDME154G□ * 1.5kW MDDHT3420 MDDHT3420E
MDME204G□ * 2.0kW MEDHT4430 MEDHT4430E E-frame
MDME304G□ * 3.0kW MFDHT5440 MFDHT5440E
F-frameMDME404G□ * 4.0kW MFDHTA464 MFDHTA464E
MDME504G□ * 5.0kW
1500r/min
MDME754G1 * 7.5kW MGDHTB4A2
−
G-frame
MDMEC14G1 * 11.0kW MHDHTB4A2 H-frame
MDMEC54G1 * 15.0kW
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1-24
Motor Driver
Power
supply Type
Rated
rotational
speed
Model Rated
output
Model of velocity,
position, torque and
full-closed control type
Model of Only for
position control
type
Frame
Single/
3-phase,
200V
MFME
Middle inertia 2000r/min
MFME152G1 * 1.5kW MDDHT5540 MDDHT5540E D-frame
3-phase,
200V
MFME252G1 * 2.5kW MEDHT7364 MEDHT7364E E-frame
MFME452G1 * 4.5kW MFDHTB3A2 MFDHTB3A2E F-frame
3-phase,
400V
MFME154G1 * 1.5kW MDDHT3420 MDDHT3420E D-frame
MFME254G1 * 2.5kW MEDHT4430 MEDHT4430E E-frame
MFME454G1 * 4.5kW MFDHTA464 MFDHTA464E F-frame
Single/
3-phase,
200V
MGME
Middle inertia 1000r/min
MGME092G□ * 0.9kW MDDHT5540 MDDHT5540E D-frame
3-phase,
200V
MGME202G□ * 2.0kW MFDHTA390 MFDHTA390E
F-frameMGME302G□ * 3.0kW MFDHTB3A2 MFDHTB3A2E
MGME452G1 * 4.5kW
MGME602G1 * 6.0kW MGDHTC3B4 −G-frame
3-phase,
400V
MGME094G□ * 0.9kW MDDHT3420 MDDHT3420E D-frame
MGME204G□ * 2.0kW MFDHT5440 MFDHT5440E
F-frameMGME304G□ * 3.0kW MFDHTA464 MFDHTA464E
MGME454G1 * 4.5kW
MGME604G1 * 6.0kW MGDHTB4A2 −G-frame
Single
phase,
100V MHMD
High inertia 3000r/min
MHMD021G1 * 200W MBDHT2110 MBDHT2110E B-frame
MHMD041G1 * 400W MCDHT3120 MCDHT3120E C-frame
Single/
3-phase,
200V
MHMD022G1 * 200W MADHT1507 MADHT1507E A-frame
MHMD042G1 * 400W MBDHT2510 MBDHT2510E B-frame
MHMD082G1 * 750W MCDHT3520 MCDHT3520E C-frame
Single/
3-phase,
200V
MHME
High inertia
2000r/min
MHME102G□ * 1.0kW MDDHT3530 MDDHT3530E
D-frame
MHME152G□ * 1.5kW MDDHT5540 MDDHT5540E
3-phase,
200V
MHME202G□ * 2.0kW MEDHT7364 MEDHT7364E E-frame
MHME302G□ * 3.0kW MFDHTA390 MFDHTA390E
F-frameMHME402G□ * 4.0kW MFDHTB3A2 MFDHTB3A2E
MHME502G□ * 5.0kW
1500r/min MHME752G1 * 7.5kW MGDHTC3B4 −G-frame
3-phase,
400V
2000r/min
MHME104G□ * 1.0kW MDDHT2412 MDDHT2412E D-frame
MHME154G□ * 1.5kW MDDHT3420 MDDHT3420E
MHME204G□ * 2.0kW MEDHT4430 MEDHT4430E E-frame
MHME304G□ * 3.0kW MFDHT5440 MFDHT5440E
F-frameMHME404G□ * 4.0kW MFDHTA464 MFDHTA464E
MHME504G□ * 5.0kW
1500r/min MHME754G1 * 7.5kW MGDHTB4A2 −G-frame
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4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit
1-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
4.
Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit
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Remarks
Do not use in other combinations than those listed below.
Motor Driver
Power
supply Type
Rated rotational
speed
Model Rated
output
Model of velocity,
position, torque and
full-closed control type
Frame
Single phase,
100V
MSME
Low inertia 3000r/min
MSME5AZS1 * 50W MADHT1105 A-frame
MSME011S1 * 100W MADHT1107
MSME021S1 * 200W MBDHT2110 B-frame
MSME041S1 * 400W MCDHT3120 C-frame
Single/
3-phase,
200V
MSME5AZS1 * 50W MADHT1505 A-frameMSME012S1 * 100W
MSME022S1 * 200W MADHT1507
MSME042S1 * 400W MBDHT2510 B-frame
MSME082S1 * 750W MCDHT3520 C-frame
MSME102S□ * 1.0kW MDDHT5540 D-frame
MSME152S□ * 1.5kW
3-phase,
200V
MSME202S□ * 2.0kW MEDHT7364 E-frame
MSME302S□ * 3.0kW MFDHTA390
F-frameMSME402S□ * 4.0kW MFDHTB3A2
MSME502S□ * 5.0kW
3-phase,
400V
MSME084S1 * 750W MDDHT2412
D-frameMSME104S□ * 1.0kW MDDHT3420
MSME154S□ * 1.5kW MDDHT3420
MSME204S□ * 2.0kW MEDHT4430 E-frame
MSME304S□ * 3.0kW MFDHT5440
F-frameMSME404S□ * 4.0kW MFDHTA464
MSME504S□ * 5.0kW
Single/3-phase,
200V
MDME
Middle inertia
2000r/min
MDME102S□ * 1.0kW MDDHT3530 D-frame
MDME152S□ * 1.5kW MDDHT5540
3-phase,
200V
MDME202S□ * 2.0kW MEDHT7364 E-frame
MDME302S□ * 3.0kW MFDHTA390
F-frameMDME402S□ * 4.0kW MFDHTB3A2
MDME502S□ * 5.0kW
1500r/min
MDME752S1 * 7.5kW MGDHTC3B4 G-frame
MDMEC12S1 * 11.0kW MHDHTC3B4 H-frame
MDMEC52S1 * 15.0kW
3-phase,
400V
2000r/min
MDME044S1 * 400W MDDHT2407
D-frame
MDME064S1 * 600W
MDME104S□ * 1.0kW MDDHT2412
MDME154S□ * 1.5kW MDDHT3420
MDME204S□ * 2.0kW MEDHT4430 E-frame
MDME304S□ * 3.0kW MFDHT5440
F-frameMDME404S□ * 4.0kW MFDHTA464
MDME504S□ * 5.0kW
1500r/min
MDME754S1 * 7.5kW MGDHTB4A2 G-frame
MDMEC14S1 * 11.0kW MHDHTB4A2 H-frame
MDMEC54S1 * 15.0kW
Note 6XIÀ[RI□LQWKHDSSOLFDEOHPRWRUPRGHOUHSUHVHQWVGHVLJQRUGHU
6XIÀ[RI*LQWKHDSSOLFDEOHPRWRUPRGHOUHSUHVHQWVWKHPRWRUVWUXFWXUH
'HIDXOWRIWKHGULYHULVVHWIRUWKHLQFUHPHQWDOHQFRGHUVSHFLÀFDWLRQV
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b)
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2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
1-26
Motor Driver
Power
supply Type
Rated rotational
speed
Model Rated
output
Model of velocity,
position, torque and
full-closed control type
Frame
Single/3-phase,
200V
MFME
Middle inertia 2000r/min
MFME152S1 * 1.5kW MDDHT5540 D-frame
3-phase,
200V
MFME252S1 * 2.5kW MEDHT7364 E-frame
MFME452S1 * 4.5kW MFDHTB3A2 F-frame
3-phase,
400V
MFME154S1 * 1.5kW MDDHT3420 D-frame
MFME254S1 * 2.5kW MEDHT4430 E-frame
MFME454S1 * 4.5kW MFDHTA464 F-frame
Single/3-phase,
200V
MGME
Middle inertia 1000r/min
MGME092S□ * 0.9kW MDDHT5540 D-frame
3-phase,
200V
MGME202S□ * 2.0kW MFDHTA390
F-frameMGME302S□ * 3.0kW MFDHTB3A2
MGME452S1 * 4.5kW
MGME602S1 * 6.0kW MGDHTC3B4 G-frame
3-phase,
400V
MGME094S□ * 0.9kW MDDHT3420 D-frame
MGME204S□ * 2.0kW MFDHT5440
F-frameMGME304S□ * 3.0kW MFDHTA464
MGME454S1 * 4.5kW
MGME604S1 * 6.0kW MGDHTB4A2 G-frame
Single/
3-phase,
200V
MHME
High inertia
2000r/min
MHME102S□ * 1.0kW MDDHT3530
D-frame
MHME152S□ * 1.5kW MDDHT5540
3-phase,
200V
MHME202S□ * 2.0kW MEDHT7364 E-frame
MHME302S□ * 3.0kW MFDHTA390
F-frameMHME402S□ * 4.0kW MFDHTB3A2
MHME502S□ * 5.0kW
1500r/min MHME752S1 * 7.5kW MGDHTC3B4 G-frame
3-phase,
400V
2000r/min
MHME104S□ * 1.0kW MDDHT2412 D-frame
MHME154S□ * 1.5kW MDDHT3420
MHME204S□ * 2.0kW MEDHT4430 E-frame
MHME304S□ * 3.0kW MFDHT5440
F-frameMHME404S□ * 4.0kW MFDHTA464
MHME504S□ * 5.0kW
1500r/min MHME754S1 * 7.5kW MGDHTB4A2 G-frame
Note 6XIÀ[RI□LQWKHDSSOLFDEOHPRWRUPRGHOUHSUHVHQWVGHVLJQRUGHU
6XIÀ[RI*LQWKHDSSOLFDEOHPRWRUPRGHOUHSUHVHQWVWKHPRWRUVWUXFWXUH
'HIDXOWRIWKHGULYHULVVHWIRUWKHLQFUHPHQWDOHQFRGHUVSHFLÀFDWLRQV
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b)
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,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
4. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit
1-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Encoder cable
Motor series ,QFUHPHQWDO6SHFLÀFDWLRQVELW Note)1 Absolute Specifications, 17-bit Note)1 Detail
page
MSMD 50W to 750W MFECA0 ** 0EAM — 7-98
MSME 50W
to 750W (200V)
MFECA0 ** 0MJD
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKD
(Highly bendable type, Opposite direction of motor shaft)
MFECA0 ** 0TJD
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKD
(Standard bendable type, Opposite direction of motor shaft)
MFECA0 ** 0MJE
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKE
(Highly bendable type, Opposite direction of motor shaft)
MFECA0 ** 0TJE
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKE
(Standard bendable type, Opposite direction of motor shaft)
7-98
7-99
MSME 750W (400V),
1.0kW to 5.0kW
MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
7-99
to
7-100
MDME 400W to 15.0kW MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESEnote)2
MFECA0 ** 0ETE note)3
MFME 1.5kW to 4.5kW MFECA0 ** 0ETD MFECA0 ** 0ETE
MGME 0.9kW to 6.0kW MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
MHMD 200W to 750W MFECA0 ** 0EAM —
MHME 1.0kW to 7.5kW MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
1RWH´µUHSUHVHQWVWKHFDEOHOHQJWK1RWH'HVLJQRUGHU&N:WRN:0*0(WRN:1RWH'HVLJQRUGHU
Motor cable/ Brake cable
Motor series Motor cable Note)1
Brake cable Note)1 Detail
page
without Brake with Brake
MSMD 50W to 750W MFMCA0 ** 0EED — MFMCB0 ** 0GET 7-101
7-106
MSME 50W to 750W
MFMCA0 ** 0NJD
Highly bendable type,
(
Direction of motor shaft
)
MFMCA0 ** 0NKD
Highly bendable type,
(
Opposite direction of motor shaft
)
MFMCA0 ** 0RJD
Standard bendable type,
(
Direction of motor shaft
)
MFMCA0 ** 0RKD
Standard bendable type,
(
Opposite direction of motor shaft
)
—
MFMCB0 ** 0PJT
Highly bendable type,
(
Direction of motor shaft
)
MFMCB0 ** 0PKT
Highly bendable type,
(
Opposite direction of motor shaft
)
MFMCB0 ** 0SJT
Standard bendable type,
(
Direction of motor shaft
)
MFMCB0 ** 0SKT
Standard bendable type,
(
Opposite direction of motor shaft
)
7-101
7-106
MSME 1.0kW to 2.0kW（200V）MFMCD0 ** 2ECD MFMCA0 ** 2FCD
—
7-102
to
7-106
MSME 750W to 2.0kW（400V）MFMCE0 ** 2FCD
MSME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MDME 1.0kW to 2.0kW（200V）MFMCD0 ** 2ECD MFMCA0 ** 2FCD
—MDME 400W to 2.0kW（400V）MFMCE0 ** 2FCD
MDME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MFME 1.5kW（200V）MFMCA0 ** 2ECD MFMCA0 ** 2FCD
—
MFME 1.5kW（400V）MFMCF0 ** 2ECD MFMCE0 ** 2FCD
MFME 2.5kW
MFME 4.5kW MFMCD0 ** 3ECT MFMCA0 ** 3FCT
MGME 0.9kW（200V）MFMCD0 ** 2ECD MFMCA0 ** 2FCD
—MGME 0.9kW（400V）MFMCE0 ** 2FCD
MGME 2.0kW to 4.5kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MHMD 200W to 750W MFMCA0 ** 0EED — MFMCB0 ** 0GET
MHME 1.0kW, 1.5kW（200V）MFMCD0 ** 2ECD MFMCA0 ** 2FCD
—
MHME 1.0kW, 1.5kW（400V）MFMCE0 ** 2FCD
MHME 2.0kW MFMCE0 ** 2ECD
MHME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
1RWH´µUHSUHVHQWVWKHFDEOHOHQJWK
1 Before Using
the Products
4.
Check of the Combination of the Driver and the Motor
Junction cable for motor
Caution
Related page
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option.
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1-28
1 Before 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 in-
door 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 sul-
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DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV
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 Conditions
Ambient temperature Ý&WRÝ&IUHHIURPIUHH]LQJ
Ambient humidity 20% to 85% RH (free from condensation)
Storage temperature
*1²Ý&WRÝ&
(Max. temperature guarantee: 80ÝC for 72 hours free from condensation*2)
Storage humidity 20% to 85% RH (free from condensation*2)
Vibration Lower than 5.88m/s2 (0.6G), 10 to 60Hz
(Do not continuously use the driver for along time at the resonance point.)
Altitude 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 brack-
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4) In consideration of strength of the screws and the material of the mounting base, se-
OHFWDSSURSULDWHIDVWHQLQJWRUTXHIRUWKHSURGXFWPRXQWLQJVFUHZVVRWKDWWKHVFUHZV
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
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)
Mounting bracket
(Attachment)
Fastening torque of ground terminal (M4)
to be 0.7 to 0.8 Nm.
<E-frame> Fastening torque of ground terminal (M4)
to be 0.7 to 0.8 Nm.
<F, G-frame> Fastening torque of ground terminal (M5)
to be 1.4 to 1.6 Nm.
H-frame
Rearmount [Basemount]
Fastening torque of
ground terminal (M6)
to be 2.4 to 2.6 Nm.
1-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Related page
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Mounting Direction and Spacing
5HVHUYHHQRXJKVXUURXQGLQJVSDFHIRUHIIHFWLYHFRROLQJ
,QVWDOOIDQVWRSURYLGHXQLIRUPGLVWULEXWLRQRIWHPSHUDWXUHLQWKHFRQWUROSDQHO
'WR+IUDPHLVSURYLGHGZLWKDFRROLQJIDQDWWKHERWWRP (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.
Note It is recommended to use the conductive paint when you make your own mounting brack-
et, or repaint after peeling off the paint on the machine for installing the products, in order
to make noise countermeasure.
Caution on Installation
Caution
 :KHQHYHUOLIWLQJWKH SURGXFW GXULQJWUDQVSRUWDWLRQLQVWDOODWLRQ RI +IUDPHVHUYR GULYHU WZRRU
more persons should hold it by metallic member, not by plastic member.

:HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\KRZHYHUDSSOLFDWLRQRIH[FHS-
tionally 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.
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attention when you apply these products in a clean room environment.
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grounding terminal or grounding wire provided. (In order to prevent electric shock and malfunc-
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may be caused.
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temperature rise. If they are forced to carry the rated current, they may burn. When determining
size of the wire.
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HWFRULQÁDPPDEOHJDVXQGHUDQ\FLUFXPVWDQFH
Fan Fan 100mm
or more
100mm
or more
40mm
or
more
40mm
or
more
aa a
Direction of air flowing
from the internal
cooling fan (D to H-frame)
Control panel
5. Installation
Driver
 a
A to F-frame 10mm or more
G, H-frame 50mm or more
1-30

Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the mo-
tor running out of control or being damaged from overheating. In addition, pay attention not to al-
low conductive materials, such as wire chips, entering the driver during the installation and wiring.
6HFXUHWKHVFUHZVDQGHDUWKVFUHZRQWKHWHUPLQDOEORFNZLWKWKHWRUTXHVSHFLÀHGLQWKHVSHFLÀ-
cation.
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standards and the operating instruction manual or technical documents for the product.
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applied because they may become failure or malfunction.
'RQRWXVHVHUYRRQVLJQDO65921DVWKHVWDUWVWRSVLJQDO'RLQJVRPD\GDPDJHWKHEXLOWLQ
dynamic brake circuit in the driver.
3D\DWWHQWLRQWRWKHKHDWGLVVLSDWLRQ7KHGULYHUZLOOJHQHUDWHKHDWZKLOHWKHPRWRULVLQRSHUD-
tion. 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
PDWFKHVWKHVSHFLÀHGRSHUDWLQJWHPSHUDWXUHUDQJH
7KHUHLVDSRVVLELOLW\WKDWWKHPRWRUZLOOEHGDPDJHGE\KHDWRUHPLWVPRNHRUGXVWGXHWRDIDXOW
in the motor itself or the driver coupled with it. A proper consideration should be given if the mo-
tor is used in a clean room or similar environment.
7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDO
,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 in-
operable.
7KHFDSDFLWDQFHRIFDSDFLWRULQWKHSRZHUVXSSO\UHFWLÀHUFLUFXLWGHFUHDVHVLWVFDSDFLWDQFHZLWK
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.
%HIRUHXVLQJWKHSURGXFWEHVXUHWRUHDGWKHLQVWUXFWLRQPDQXDO6DIHW\SDUW
Recommended Electric Wires for Driver
)RUWKHPDLQFLUFXLWXVHHOHFWULFZLUHWKDWZLWKVWDQGVDWOHDVW9$&ZLWKWHPSHUD-
WXUHUDWLQJʝRUKLJKHU
:KHQ XVLQJ EXQGOHG ZLUHV UXQQLQJ WKURXJK PHWDOOLF FRQGXLW WKH DPRXQWV RI FXUUHQW
determined according to the reduction rate must be subtracted from the nominal allow-
able current.
(OHFWULFZLUHV
<In high ambient temperature>
Use heat resistant wire.
Common polyvinyl chloride wires will deteriorate by heat at a higher rate.
<In low ambient temperature>
The surface of vinyl chloride insulation becomes hardened and brittle at low tempera-
WXUHDQGQHHGVVSHFLÀFSURWHFWLYHPHDVXUHZKHQXVHGLQFROGUHJLRQ
%HQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU
&DEOHVFDQQRWEHXVHGIRUFRQWLQXRXVUHJHQHUDWLRQEHFDXVHWKH\DUHQRWGHVLJQHGIRU
such application.
5. Installation
Driver
Related page
3´-XQFWLRQFDEOHIRUPRWRUµ
1-31
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Relationship between Wire Diameter and Permissible Current
Caution
Caution
:KHQVHOHFWLQJDFDEOHUHIHUWRWKHIROORZLQJVHOHFWLRQJXLGHVKRZLQJUHODWLRQVKLSEH-
WZHHQFDEOHVSHFLÀFDWLRQDQGFXUUHQWFDUU\LQJFDSDFLW\
Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30°C
Determine the fundamental permissible current according to the
cable conductor material (example: stranded copper wire). (For the
purpose of this example, the ampere indicated by is selected from
the table right.)
Next, determine the number of conductors. (In this example, the
cable contains 4 conductors (3 + ground).) Determine the applicable
permissible current using the following formula.
Applicable permissible current
=
IXQGDPHQWDOSHUPLVVLEOHFXUUHQW[FXUUHQWUHGXFWLRQFRHIÀFLHQW[FXUUHQW
FRUUHFWLRQFRHIÀFLHQW
= 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
FDEOHKDYLQJPPÀQLVK2'DSSUR[PPZLWKVKLHOG
<Supplement>
 7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGXVLQJWKHIROORZLQJIRUPXOD
(Max. permissible temp. – ambient temp.) ÷ 30
7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGDFFRUGLQJWRWKHFDEOH&KHFNWKHVSHFLÀFDWLRQRIWKHFDEOH
used.
 7KHFXUUHQWUHGXFWLRQFRHIILFLHQWLVSURYLGHGIRUWKHFDVH
where the cable (4-conductor cable in the case of example),
is housed in plastic race/sheath, plastic tube, metal race/
VKHDWKPHWDOWXEHRUÁH[LEOHFRQGXLW
Because the neutral conductor is not counted as a wire, the cur-
UHQWUHGXFWLRQFRHIÀFLHQWIRU´RUOHVVµLVDSSOLHGDVLQGLFDWHGE\
() in the table right.
Conductor
Insulation
thickness
(mm)
Sheath
thickness
(mm)
(Reference)
Finish O.D.
(mm)
Max.
conductor
resistance
(20°C)
(W/km)
Test
voltage
(V/1 min.)
Minimum
insulation
resistance
0:NP
(Reference)
Approx.
mass
(kg/km)
Nominal
cross
section
(mm2)
Structure
or shape
(wires/mm2)
Outside
diameter
(mm)
2 7/0.6 1.8 0.8 1.5 12.0 9.42 1500 2500 170
3.5 7/0.8 2.4 0.8 1.5 13.5 5.30 1500 2500 250
5.5 7/1.0 3.0 1.0 1.5 16.0 3.40 1500 2500 360
8 7/1.2 3.6 1.0 1.5 17.0 2.36 1500 2000 475
14 Circular
compression 4.4 1.0 1.5 19.0 1.34 2000 1500 730
22 Circular
compression 5.5 1.2 1.6 23 0.849 2000 1500 1100
38 Circular
compression 7.3 1.2 1.8 28 0.491 2500 1500 1800
60 Circular
compression 9.3 1.5 2.0 35 0.311 2500 1500 2790
100 Circular
compression 12.0 2.0 2.4 44 0.187 2500 1500 4630
150 Circular
compression 14.7 2.0 2.6 51 0.124 3000 1000 6710
200 Circular
compression 17.0 2.5 2.9 60 0.0933 3000 1500 8990
Caution
Note
5HFRPPHQGHGHFRFDEOH
Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath
(Standard: EM JIS C 3605) Maximum permissible temperature: 90°C
6KLHOGZLOOLQFUHDVHÀQLVKRXWVLGHGLDPHWHUE\DSSUR[PP
 $SSURSULDWHFDEOHVKRXOGEHVHOHFWHGWRKDYHVXIÀFLHQWDOORZDQFHIRUSDUDPHWHUVVXFKDVRSHUDWLQJDPEL-
ent 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.
5. Installation
Driver
&XUUHQWUHGXFWLRQFRHIILFLHQW
No. of wires in a tube Coefficient
◎Up to 3 0.70
40.63
5 or 6 0.56
7 to 15 0.49
16 to 40 0.43
41 to 60 0.39
61 or more 0.34
)XQGDPHQWDOSHUPLVVLEOH
current
Stranded conductor
(nominal cross section: mm
2
)
Copper
wire
(unit: A)
2 to 3.5 (excl.) 27
◇3.5 to 5.5 (excl.) 37
5.5 to 8 (excl.) 49
8 to 14 (excl.) 61
14 to 22 (excl.) 88
11 to 30 (excl.) 115
30 to 38 (excl.) 139
38 to 68 (excl.) 162
60 to 100 (excl.) 217
100 to 150 (excl.) 298
150 to 200 (excl.) 395
1-32
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 sul-
ÀGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH
DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV
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 Conditions
Ambient temperature*1Ý&WRÝ&IUHHIURPIUHH]LQJ
Ambient humidity 20% to 85% RH (free from condensation)
Storage temperature*2²Ý&WRÝ&
(Max. temperature guarantee: 80ÝC for 72 hours free from condensation*5)
Storage humidity 20% to 85% RH (free from condensation*5)
Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Impact Motor only Lower than 98m/s2 (10G)
Enclosure
rating
Motor only
(Connector type)
IP67 (except rotating portion of output shaft and connecting pin
part of the motor connector and the encoder connector)*3*4
Altitude 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 7KHVHPRWRUVFRQIRUPWRWKHWHVWFRQGLWLRQVVSHFLÀHGLQ(1VWDQGDUGV(1(1'R
QRWXVHWKHVHPRWRUVLQDSSOLFDWLRQZKHUHZDWHUSURRISHUIRUPDQFHLVUHTXLUHGVXFKDVFRQWLQXRXV
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
0RXQWWKHPRWRUZLWKFDEOHRXWOHWIDFLQJGRZQZDUGIRUZDWHURLOFRXQWHUPHDVXUH
2) Vertical mounting
8VHWKHPRWRU ZLWKRLOVHDOPDNHWRRUGHU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 Before Using
the Products
5. Installation
Motor
1-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Oil/Water Protection
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 subject-
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
motor through shaft.
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or self-
weight.
(VSHFLDOO\LQDQDSSOLFDWLRQZKHUHWKHPRWRULWVHOIWUDYHOVÀ[WKHMXQFWLRQFDEOHLQWRWKH
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)
Permissible Load to Output Shaft
Note
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
VSHFLÀHGWRHDFKPRGHO
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may dam-
age the shaft or deteriorate the bearing life.)
8VHDÁH[LEOHFRXSOLQJZLWKKLJKVWLIIQHVVGHVLJQHGH[FOXVLYHO\IRUVHUYRDSSOLFDWLRQLQ
order to make a radial thrust caused by micro misalignment smaller than the permis-
sible value.
)RUSHUPLVVLEOHORDGRIHDFKPRGHOUHIHUWR3´3HUPLVVLEOH/RDGDW2XWSXW6KDIWµ.
Notes on Installation
1) Do not apply direct impact to the shaft by hammer
while attaching/detaching a coupling to and from
the motor shaft.
(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\UHVXOWLQWKHEHDULQJQRLVH&KHFNDQGYHULÀFDWLRQE\FXVWRPHULVUHTXLUHG
Cable Motor
Oil / Water
Motor
Related page
3´-XQFWLRQFDEOHIRUPRWRUµ3´,QVWDOODWLRQRIGULYHUµ
3´3HUPLVVLEOH/RDGDW2XWSXW6KDIWµ3´'LPHQVLRQVµ
5. Installation
Motor
1-34
Wiring Precautions on Movable Section
When wiring cable bear, take the following precautions:
&DEOHEHDUZLULQJ
7KHEHQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU
)RUÀQLVKRXWVLGHGLDPHWHUUHIHUWR3+RZWR,QVWDOO´5HODWLRQVKLSEHWZHHQ:LUH
'LDPHWHUDQG3HUPLVVLEOH&XUUHQWµDQGDVVRFLDWHGWDEOHV
'RQRWÀ[RUEXQGOHZLUHVLQWKHFDEOHEHDU
:KHQVHFXULQJWKHFDEOHÀ[LWRQO\DWQRQPRYDEOHHQGVRIWKHFDEOHEHDUZKHUHWKH
cable is free from any stress (e.g. tension). (Avoid tight lock.)
[Recommended cable bear wiring]
Caution
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.
 &DEOHGLVWRUWLRQ
Keep the cable free from twists or kinks.
Distorted cable will cause loose connection, lowering performance and reliability.
/DPLQDWLRQIDFWRURIFDEOHLQFDEOHEHDU
 3ODFHFDEOHVRQDÁDWVXUIDFHLQSDUDOOHOZLWKRXWEULQJLQJWKHPLQWRFRQWDFWZLWKHDFK
other and measure the dimension necessary to cover these cables. Then select a ca-
ble 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
Cable bear
Cable end
Cable Cable Partition
Partition
Thick cable Thin cable
5. Installation
Motor
1-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
6.
Permissible Load at Output Shaft
Motor
L
L/2
P
A
M
B
Radial load (P) direction Thrust load (A and B) direction
Unit : N (1kgf=9.8N)
Motor
series Motor output
At assembly During running
Radial thrust
Thrust load
Radial thrust
Thrust load A
and
B-direction
A-direction B-direction
MSMD
50W, 100W 147 88 117.6 68.6 58.8
200W, 400W 392 147 196 245 98
750W 686 294 392 392 147
MSME
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
4.0kW, 5.0kW 784 343
MDME
400W to 2.0kW 980 588 686 490 196
3.0kW
784 3434.0kW 1666 784 980
5.0kW
7.5kW 2058 980 1176 1176 490
11.0kW, 15.0kW 4508 1470 1764 2254 686
MGME
0.9kW 980 588 686 686 196
2.0kW 1666 784 980 1176
4903.0kW
2058 980 1176 1470
4.5kW
6.0kW 1764 588
MFME 1.5kW 980 588 686 490 196
2.5kW, 4.0kW 1862 686 784 294
MHMD 200W, 400W 392 147 196 245 98
750W 686 294 392 392 147
MHME
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
Note When the load point varies, calculate the permissible radial load, P (N) from the distance
RIWKHORDGSRLQW/PPIURPWKHPRXQWLQJÁDQJHEDVHGRQWKHIRUPXODRIWKHULJKWWD-
ble, and make it smaller than the calculated result.
1-36
L
P
Motor
series
Motor
output
Formula of Load
and load point
relation
MSMD
50W P＝ 3533
L+39
100W P＝ 4905
L+59
200W P＝ 14945
L+46
400W P＝ 19723
L+65.5
750W P＝ 37044
L+77
MSME
50W P＝ 3533
L+39
100W P＝ 4905
L+59
200W P＝ 14945
L+46
400W P＝ 19723
L+65.5
750W (200V) P＝ 37044
L+77
750W (400V)
1.0kW to 3.0kW P＝ 20090
L+13.5
4.0kW
5.0kW P＝ 36848
L+14.5
MDME
400W
600W P＝ 20090
L＋13.5
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
Motor
series
Motor
output
Formula of Load
and load point
relation
MGME
0.9kW P＝ 33957
L+14.5
2.0kW P＝ 69384
 
L+19
3.0kW P＝ 86730
 
L+19
4.5kW
6.0kW P＝ 89964
 
L+20
MFME
1.5kW P＝ 25235
 
L+19
2.5kW P＝ 40376
 
L+19
4.0kW P＝ 42336
 
L+19
MHMD
200W P＝ 14945
L+46
400W P＝ 19723
L+65.5
750W P＝ 37044
L
＋77
MHME
1.0kW
1.5kW P＝ 24255
L＋14.5
2.0kW to 5.0kW P＝ 46256
 
L+19
7.5kW P＝ 89964
 
L+20
6.
Permissible Load at Output Shaft
Motor
2-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Preparation
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
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
Connection to Host Controller ..................................................................2-54
7. Wiring to the connector, X5
Connect on to External Scale...................................................................2-55
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
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
13. Setup of Parameter and Mode
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
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
2-2
2
Preparation
1.
Conformance to international standards
EC Directives
EC Directives
7KH(&'LUHFWLYHVDSSO\WRDOOVXFKHOHFWURQLFSURGXFWVDVWKRVHKDYLQJVSHFLÀFIXQFWLRQV
and have been exported to EU and directly sold to general consumers. Those products
DUHUHTXLUHGWRFRQIRUPWRWKH(8XQLÀHGVWDQGDUGVDQGWRIXUQLVKWKH&(PDUNLQJRQWKH
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 Di-
rectives, especially for noise emission and noise terminal voltage, it is necessary to ex-
amine the machine incorporating our servos.
Conformity to UL Standards
Remarks
Note
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EHWZHHQWKHSRZHUVXSSO\DQGWKHQRLVHÀOWHU
 8VHDFRSSHUFDEOHZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU
For rated current of circuit breaker and fuse, refer to P.2-10 “Driver and List of Appli-
cable 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&RQÀUPWKDWWKHHIIHFWLYHFXUUHQWRIWKHGULYHUGRHVQRWH[FHHGWKHUDWHGFXU-
rent. 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.
 0RWRURYHUORDGWHPSHUDWXUHSURWHFWLRQVKDOOEHSURYLGHGDWWKHÀQDOLQVWDOODWLRQXSRQ
required by the NEC (National Electric Code).
Note For Overload protection time characterstics, refer to P.6-14.
2-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
SEMI F47
Caution
,QFOXGHVDIXQFWLRQLQFRPSOLDQFHZLWKWKH6(0,)VWDQGDUGIRUYROWDJHVDJLPPXQLW\
under no load or light load.
,GHDOIRUWKHVHPLFRQGXFWRUDQG/&'LQGXVWULHV
(1) Excluding the single-phase 100-V type.
(2) Please verify the actual compliance of your machine with the F47 standard for volt-
age sag immunity.
Conformed Standards
Driver Motor
EC Direc-
tives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3
–
Low-Voltage
Directives EN61800-5-1 EN60034-1
EN60034-5
Machinery
Directives
Functional
safety
(*1)
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
–
UL Standards UL508C (E164620)
UL1004-1
E327868: to 750W (200V)
(
from 6.0kW
)
UL1004
E327868: 400W (400V)
600W (400V), 750W (400V)
(
0.9kW to 5.0kW
)
CSA Standards C22.2 No.14 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
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWIXQFWLRQDOVDIHW\(*1) standards.
*2 PL d: Provided that EDM is used.
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.
1. Conformance to international standards
EC Directives
2-4
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.)
*3
Metallic control box
100V/200V
Controller
Insulated power supply
for interface
Power
supply
Circuit
breaker
Residual
current device
(RCD)
①②
⑤
⑧
③
④
⑥
⑦
Surge
absorber
Noise filter
Noise filter for signal lines *1
*1 A to D-frame: Noise filter for signal lines, E to H-frame: Noise filter for signal lines <Power supply cable>
*2 A to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines <Motor cable>
*3 Only for position control type is not provided with X3 terminal.
Noise filter for
signal lines
Noise filter for
signal lines
Ground (PE)
L1
U
X4
XA
XB
X6
M
RE
V
W
L2
L3
L1C
L2C
Noise filter for
signal lines *2
Driver
Motor
A to F-frame:
Motor cable
without shield
cable
G, H-frame:
Motor cable
with shield
cable
Safety
controller
X3
400V
*1 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines <Power supply cable>
*2 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines <Motor cable>
*3 Only for position control type is not provided with X3 terminal.
Insulated
DC24V
*3
Metallic control box
Controller
Insulated power supply
for interface
Power
supply
Circuit
breaker
Residual
current device
(RCD)
①②
⑤
⑧
③
④
⑥
⑦
Surge
absorber
Noise filter
Noise filter for signal lines *1
Noise filter for
signal lines
Noise filter for
signal lines
Noise filter for
signal lines
Ground (PE)
L1
U
X4
XA
XB
X6
M
RE
V
W
L2
L3
24V
0V
Noise filter for
signal lines *2
Driver
Motor
Noise filter for
signal lines
D to F-frame:
Motor cable
without shield
cable
G, H-frame:
Motor cable
with shield
cable
Safety
controller
X3
1. Conformance to international standards
EC Directives
0DQGDWRU\UHTXLUHPHQWVWRFRQIRUPWR(0&GLUHFWLYH
･ Install the servo driver on the metallic casing (control board).
･,QVWDOOQRLVHÀOWHUDQGOLJKWQLQJVXUJHDEVRUEHULQWKHSRZHUVXSSO\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.
･6KLHOGRIFDEOHVQRWVKRZQRQWKHÀJXUHVKRXOGEHGLUHFWO\JURXQGHGWKURXJK3(
Because these conditions for EMC directive are affected by status of connected de-
vices, wiring, connection and location, compliance should be checked after completing
installation.
2-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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.
'HWDLOVRIFDEOHOHIWKDQGILJXUH
Symbol From To Cable function Length Remarks Shield
1RLVHÀOWHU
for signal
lines
①Breaker 1RLVHÀOWHU Power line 2m Single phase
or 3-phase none none
②1RLVHÀOWHU Servo driver Power line 2m ーnone with
③Servo driver Servo motor Junction cable
for motor 20m ー*1 with
④Servo driver Servo motor Junction cable
for encoder 20m ーwith with
⑤Switch box Servo driver I/O cable 3m ーwith with
⑥Frame ground 1RLVHÀOWHU FG line 1m ーnone none
⑦Frame ground 1RLVHÀOWHU FG line 1m ーnone none
⑧AC power supply Switch box Power line 1m ーnone none
*1 Frame A to F: none, Frame G and H: with.
5HIHUWR3IRUDOHIWKDQGILJXUHDQGWKHOLVWRIWKH3HULSKHUDO(TXLSPHQWVDIWHU
1. Conformance to international standards
EC Directives
2-6
Power Supply
Remarks
100V type : Single phase, 100V +10% to 120V +10% 50/60Hz
(A to C-frame) –15%
–15%
200V type : Single/3-phase, 200V +10% to 240V +10% 50/60Hz
(A to D-frame) –15%
–15%
200V type : 3-phase, 200V +10% to 230V +10% 50/60Hz
(E to H-frame) –15%
–15%
400V type : Main power supply 3-phase, 380V +10% to 480V +10% 50/60Hz
(D to H-frame) –15%
–15%
: Control power supply DC 24V ± 15%
(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.
Use sheathed (jacketed) cable, twisted cable or closely bundled cable for power cable.
3RZHUFDEOHDQGVLJQDOZLUHVPXVWEHVXIÀFLHQWO\LVRODWHGIURPHDFKRWKHU
Twisted Servo driver
L1C
L2C
Closely bundled cable
United
Servo driver
L2
L3
L1
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and PDUNHGEHWZHHQSRZHUVXSSO\DQGQRLVHÀOWHU
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.
2
Preparation
1.
Conformance to international standards
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Note For driver and applicable peripheral equipments, refer to P.2-10 "Driver and List of Applicable
Peripheral Equipments".
2-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Noise Filter
Option part No. 9ROWDJHVSHFLÀFDWLRQV
for driver
Manufacturer’s
part No.
Applicable
driver (frame) Manufacturer
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A, B-frame
Okaya Electric Ind.
DV0PM20042
3-phase 200V
3SUP-HU10-ER-6
A, B-frame
Single phase 100V/200V
3-phase 200V C-frame
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
Remarks
5HFRPPHQGHGFRPSRQHQWV
Model No. 9ROWDJHVSHFLÀFDWLRQV
for driver
Rated
current
Applicable driver
(frame) Manufacturer
RTHN-5010
3-phase 200V
10 A, B, C-frame
TDK-Lambda Corp.RTHN-5030 30 D-frame
RTHN-5050 50 E, F-frame
FS5559-60-34 60 G-frame
Schaffner
FS5559-80-34 80 H-frame
FN258L-16-07
3-phase 400V
16 D, E-frame
FN258L-30-07 30 F-frame
FN258-42-07 42 G, H-frame
FN258-42-33 42
6HOHFWDQRLVHÀOWHUZKRVHFDSDFLW\LVFRPPHQVXUDWHZLWKWKHSRZHUVRXUFHFDSDFLW\LQ
consideration of the load condition).

)RUWKHGHWDLOHGVSHFLÀFDWLRQVRIHDFKQRLVHÀOWHUFRQWDFWWKHPDQXIDFWXUHU
:KHQWZRRUPRUHVHUYRGULYHUVDUHXVHGZLWKDVLQJOHQRLVHÀOWHUDWWKHFRPPRQSRZ-
HUVRXUFHFRQVXOWZLWKWKHQRLVHÀOWHUPDQXIDFWXUHU

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)
1
Isolate the input and output
2
3
4
5
6
E
Noise Filter
AC input AC output
Ground
1
The effect of the noise filter is a little.
Do not place the input and output lines
in the same duct or do not tie both in a bundle.
2
3
4
5
6
E
Noise Filter
AC input
AC output
Ground
Surge Absorber
Remarks
Option part No. 9ROWDJHVSHFLÀFDWLRQV
for driver
Manufacturer’s
part No. Manufacturer
DV0P1450 3-phase 200V R･A･V-781BXZ-4
Okaya Electric Ind.DV0P4190 Single phase 100V/200V R･A･V-781BWZ-4
DV0PM20050 3-phase 400V R･A･V-801BXZ-4
When performing withstand voltage test of machine and equipment, be sure to remove the
surge absorber; otherwise, it will be damaged.
1. Conformance to international standards
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Related page
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2-8
1. Conformance to international standards
&RPSRVLWLRQRI3HULSKHUDO(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.
5HFRPPHQGHGFRPSRQHQWV
Option part No. Manufacturer’s
part No.
Applicable driver
(frame) Manufacturer
Power cable RJ8035 E-frame 200 V, F-frame 200 V KK-CORP.CO.JP
RJ8095 G, H-frame
Motor cable T400-61D G, H-frame MICROMETALS
<Attaching signal noise filter>
6LJQDOZLUH :LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHÀOWHU
Power wire If sheathed (jacketed): remove the sheath (jacket) to the length so that wires (L1, L2,
/FDQEHZRXQGRQWKHVLJQDOQRLVHÀOWHULQFOXGLQJSRZHUOLQHGHGLFDWHGÀOWHU)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
GHGLFDWHGÀOWHUV6HHÀJXUHEHORZ
0RWRUOLQH :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
GHGLFDWHGÀOWHUV6HHÀJXUHEHORZ
(QFRGHUOLQH :LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHÀOWHU
Sheath (jacket)
Cover
FG line
Electric wire
Sheath (jacket)
* If not effective, increase
the number of turns.
* If not effective, increase
the number of turns.
Cover
DV0P1460
FG line
Electric wire
Sheath (jacket)
* If not effective, increase
the number of filters.
Cover
DV0P1460
FG line
Electric wire
2-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Conformance to international standards
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Note
Caution
For driver and applicable peripheral equipments, refer to P.2-10 “Driver and List of Applicable
Peripheral Equipments”.
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.
Residual current device
Install a type B Residual current device (RCD) at primary side of the power supply.
Grounding
(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 ter-
minals are provided.
Structure of control board
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 condi-
tions 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.
Increasing noise resistance of control I/O signal
When noise is applied to the control input/output, it causes displacement and malfunc-
tioning 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.
2-10
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
Driver
Applicable
motor
Voltage
*1
Rated
output
5HTXLUHG
Power
at the
(
rated load
)
Circuit
breaker
rated
(
current
)
Noise
ÀOWHU
(
Single phase
／
3-phase
)
Surge
absorber
(
Single phase
／
3-phase
)
Noise
ÀOWHUIRU
signal
Rated
operating
current of
magnetic
contactor Contact
(
FRQÀJXUDWLRQ
)
*2
Diameter
and
withstand
voltage of
main circuit
cable
Crimp
terminal
for main
circuit
terminal
block
Diameter
and
withstand
voltage
of control
power
supply cable
Crimp
terminal
for control
power
supply
terminal
block
Diameter
and
withstand
voltage of
motor cable
*4
Diameter
and
withstand
voltage of
brake cable
MADH
MSME
MSMD
MHMD
Single
phase,
100V
50W to
100W
approx.
0.4kVA
10A
DV0P4170 DV0P4190
DV0P1460
20A
(3P+1a)
0.75mm2/
AWG18
600 VAC
or more
Connection to exclusive connector
0.75mm2/
AWG18
600 VAC
or more
Connection to exclusive connector
2.0mm2/
AWG14
600 VAC
or more
0.28mm2/
AWG22 to
0.75mm2/
AWG18
100VAC
or more
Single/
3-phase,
200V
50W to
200W
approx.
0.5kVA
DV0P4170
／
DV0PM20042
DV0P4190
／
DV0P1450
MBDH
MSME
MSMD
MHMD
Single
100V
200W
approx.
0.5kVA
DV0P4170 DV0P4190
Single/
3-phase,
200V
400W
approx.
0.9kVA
DV0P4170
／
DV0PM20042
DV0P4190
／
DV0P1450
MCDH
MSME
MSMD
MHMD
Single
100V
400W
approx.
0.9kVA
DV0PM20042
DV0P4190
Single/
3-phase,
200V
750W
approx.
1.3kVA
15A
DV0P4190
／
DV0P1450
MDDH
MDME
3-phase,
200V
1.0kW
approx.
1.8kVA
DV0P4220
30A
(3P+1a)
2.0mm2/
AWG14
600V VAC
or more
0.75mm2/
AWG18
100 VAC
or more
MHME
MGME 0.9kW
approx.
1.8kVA
20A
MSME 1.0kW
approx.
1.8kVA
MHME
1.5kW
approx.
2.3kVA
MDME
MFME
MSME
MSME
3-phase,
400V
1.0kW
approx.
1.8kVA
10A
FN258L-16-07
Recommended
(
component
)
DV0PM20050
20A
(3P+1a)
0.52mm2/
AWG20
100 VAC
or more
MDME
MHME
MGME 0.9kW
MSME
1.5kW
approx.
2.3kVA
MDME
MFME
MHME
MEDH
MDME
3-phase,
200V
2.0kW
approx.
3.3kVA
30A
DV0PM20043 DV0P1450
DV0P1460
RJ8035
Recommended
(
component
)
*5
60A
(3P+1a)
0.75mm2/
AWG18
600 VAC
or more
MSME
MHME
MFME 2.5kW
approx.
3.8kVA
MSME
3-phase,
400V
2.0kW
approx.
3.3kVA
15A
FN258L-16-07
Recommended
(
component
)
DV0PM20050 DV0P1460
30A
(3P+1a)
0.52mm2/
AWG20
100 VAC
or more
MDME
MHME
MFME 2.5kW
approx.
3.8kVA
MFDH
MGME
3-phase,
200V
2.0kＷ
approx.
3.8kVA
50A
DV0P3410 DV0P1450
DV0P1460
RJ8035
Recommended
(
component
)
*5
60A
(3P+1a)
3.5mm2/
AWG12
600 VAC
or more
11mm or
smaller
ø5.3
Terminal
block
M5
0.75mm2/
AWG18
600 VAC
or more
11mm or
smaller
ø5.3
Terminal
block
M5
3.5mm2/
AWG12
600 VAC
or more
MDME
3.0kＷ
approx.
4.5kVA
MHME
MSME
MGME
MDME
4.0kＷ
approx.
6.0kVA
100A
(3P+1a)
MHME
MSME
MFME 4.5kＷ
approx.
6.8kVA
MGME
approx.
7.5kVA
MDME
5.0kＷ
MHME
MSME
MGME
3-phase,
400V
2.0kW
approx.
3.8kVA
30A
FN258L-30-07
Recommended
(
component
)
DV0PM20050 DV0P1460
60A
(3P+1a)
10mm or
smaller
ø4.3
Terminal
block
M4
0.75mm2/
AWG18
100 VAC
or more
7mm or
smaller
ø3.2
Terminal
block
M3
MSME
3.0kW
approx.
4.5kVA
MDME
MGME
MHME
MSME
4.0kW
approx.
6.0kVA
MDME
MHME
MFME 4.5kＷ
approx.
6.8kVA
MGME
approx.
7.5kVA
MSME
5.0kWMDME
MHME
Related page
1RLVHÀOWHU36XUJHDEVRUEHU3
1RLVHÀOWHUIRUVLJQDO30RWRUEUDNHFRQQHFWRU3
*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.
2-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ
'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
Driver
Applicable
motor
Voltage
*1
Rated
output
5HTXLUHG
Power
at the
(
rated load
)
Circuit
breaker
rated
(
current
)
Noise
ÀOWHU
Surge
absorber
Noise
ÀOWHUIRU
signal
Rated
operating
current of
magnetic
contactor Contact
(
FRQÀJXUDWLRQ
)
*2
Diameter
and
withstand
voltage of
main circuit
cable
Crimp
terminal
for main
circuit
terminal
block
Diameter
and
withstand
voltage
of control
power
supply cable
Crimp
terminal
for control
power
supply
terminal
block
Diameter
and
withstand
voltage of
motor cable
*4
Diameter
and
withstand
voltage of
brake cable
MGDH
MDME
3-phase,
200V
7.5kW
approx.
11kVA
60A FS5559-60-34
Recommended
(
component
)
DV0P1450
DV0P1460
RJ8095
Recommended
(
component
)
T400-61D
Recommended
(
component
)
*5
100A
（3P+1a）
5.3mm2/
AWG10
600 VAC
or more
11mm or
smaller
ø5.3
Terminal
block
M5
0.75mm2/
AWG18
600 VAC
or more
10mm or
smaller
ø5.3
Terminal
block
M5
13.3 mm2/
AWG6
600 VAC
or more
0.75mm2/
AWG18
100 VAC
or more
MGME 6.0kW
approx.
9.0kVA
MHME 7.5kW
approx.
11kVA
MDME
3-phase,
400V
7.5kW
approx.
11kVA
30A
FN258-42-07
or
FN258-42-33
Recommended
(
component
)
DV0PM20050
60A
（3P+1a）
0.75mm2/
AWG18
100 VAC
or more
MGME 6.0kW
approx.
9.0kVA
MHME 7.5kW
approx.
11kVA
MHDH MDME
3-phase,
200V
11kW
approx.
17kVA 100A
FS5559-80-34
Recommended
(
component
)
DV0P1450 150A
（3P+1a）
13.3mm2/
AWG6
600 VAC
or more
*3
16mm or
smaller
ø6.4
Terminal
block
M6
0.75mm2/
AWG18
600 VAC
or more
10mm or
smaller
ø4.3
Terminal
block
M4
15kW
approx.
22kVA 125A
21.1 mm2/
AWG4
600 VAC
or more
3-phase,
400V
11kW
approx.
17kVA 50A FN258-42-07
or
FN258-42-33
Recommended
(
component
)
DV0PM20050
100A
（3P+1a）
0.75mm2/
AWG18
100 VAC
or more
13.3 mm2/
AWG6
600 VAC
or more
15kW
approx.
22kVA 60A
21.1 mm2/
AWG4
600 VAC
or more
Remarks
 $ERXWFLUFXLWEUHDNHUDQGPDJQHWLFFRQWDFWRU
7R FRPSO\ WR (& 'LUHFWLYHV LQVWDOO D FLUFXLW EUHDNHU EHWZHHQ WKH SRZHU DQG WKH QRLVH ÀOWHU
without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed
and marked).
Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, be-
low the maximum input voltage of the product.
Remarks
6HOHFWDFLUFXLWEUHDNHUDQGQRLVHÀOWHUZKLFKPDWFKWRWKHFDSDFLW\RISRZHU
supply (including a load condition).
 Terminal block and protective ground terminals
8VHDFRSSHUFRQGXFWRUFDEOHVZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU
8VHWKHDWWDFKHGH[FOXVLYHFRQQHFWRUIRU$WR(IUDPHDQGPDLQWDLQWKHSHHOHGRIIOHQJWKRIWR
9mm. (Refer to P.2-50)
)DVWHQLQJWRUTXHOLVW7HUPLQDOEORFNVFUHZ7HUPLQDOFRYHUIDVWHQLQJVFUHZ
Driver Terminal block screw Terminal cover fastening
screw
Frame
Terminal name
Nominal
size
)DVWHQLQJWRUTXH
1P *1
Nominal
size
)DVWHQLQJWRUTXH
1P *1
F200V L1, L2,
Ｌ３
, L1C, L2C, B1, B2, B3, NC, U, V, W M5 1.0 to 1.7
M3 0.19 to 0.21F400V 24V、
0V M3 0.4 to 0.6
L1, L2,
Ｌ３
, B1, B2, B3, NC, U, V, W M4 0.7 to 1.0
GL1C, L2C, 24V, 0V, DB1, DB2, DB3, DB4, NC M5 1.0 to 1.7
L1, L2,
Ｌ３
, B1, B2, NC, U, V, W M5 2.0 to 2.4 M3 0.3 to 0.5
HL1C, L2C, 24V, 0V, DB1, DB2 M4 0.7 to 1.0 M5 2.0 to 2.5
L1, L2,
Ｌ３
, B1, B2, NC, U, V, W M6 2.2 to 2.5
)DVWHQLQJWRUTXHOLVW*URXQGWHUPLQDOVFUHZ&RQQHFWRUWRKRVWFRQWUROOHU;
Driver frame
Terminal block screw Connector to host
controller (X4)
Nominal
size
)DVWHQLQJWRUTXH
1P *1
Nominal
size
)DVWHQLQJWRUTXH
1P *1
A to E M4 0.7 to 0.8
M2.6 0.3 to 0.35F, G M5 1.4 to 1.6
H M6 2.4 to 2.6
*1 
Applying fastening torque larger than the maximum value may result in damage to the product.
'RQRWWXUQRQSRZHUZLWKRXWWLJKWHQLQJDOOWHUPLQDOEORFNVFUHZVSURSHUO\
'R QRW WXUQ RQ SRZHU ZLWKRXW WLJKWHQLQJ DOO WHUPLQDO EORFN VFUHZV SURSHUO\ RWKHUZLVH
ORRVHFRQWDFWVPD\JHQHUDWHKHDWVPRNLQJÀULQJ
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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.
2-12
&RQQHFWLRQWRLQSXWSRZHU
Wiring to Connector, XA P. 2 - 1 4
&RQQHFWLRQWRH[WHUQDOFRPSRQHQWV
Regenerative resistor (optional)
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
install an external protective apparatus, such
as thermal fuse without fail.
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
UHJHQHUDWLYHUHVLVWRU2SWLRQIf the thermal
fuse is activated, it will not resume.
0RXQWWKHUHJHQHUDWLYHUHVLVWRUon
incombustible material such as metal.
Remarks
Note
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LQJLQVWDOODZLULQJFLUFXLWEUHDNHUUDWHGWR
WKHFDSDFLW\RIWKHSRZHUVXSSO\
Noise Filter (NF)
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OLQHV$QGUHGXFHVDQHIIHFWRIWKHQRLVH
JHQHUDWHGE\WKHVHUYRGULYHU
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GULYHU
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ZLWKWKLV
Never start nor stop the servo motor
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Reactor (L)WREHVXSSOLHGE\FXVWRPHU
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Note
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application. The wiring indicated with the broken line shall be provided only when required.
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Overall Wiring (A to D-frame, 100/200 V type)
2-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
: High voltage
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Remarks
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• Only for position control type is not provided with X2, X3 and X5.
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Wiring of the Main Circuit (A to G-frame, 100/200 V type)
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Overall Wiring (A to D-frame, 100/200 V type)
2-14
A to D-frame, 100 V / 200 V type
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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.
Motor
Varistor
DC
24V
MCCB
Power
supply NF MC
U
V
W
E
L
Fuse (125 V 10 A)
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Never start/stop the motor with this Magnetic
Contactor.
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Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
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Avoid shorting and grounding. Don't connect the
main power.
Earth-ground this.
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Don't connect the earth cable to other inserting slot,
nor make them touch.
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L1C
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L1
L2C
B1
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U
V
W
XA
XB
2
3
4
5
1
2
3
4
5
6
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DC power supply
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resistor
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The wiring indicated with the broken line shall be provided only when required.
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Wiring of the Main Circuit (A to D-frame, 100/200 V type)
2-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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
Noise filter
Noise filter
Motor
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
B3
B2
U
V
W
L1
$/0ï
External regenerative resistor
Remove the short wire when you connect
the external regenerative resistor.
(C, D-Frame)
External regenerative resistor
36
L
ON
Motor
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
ALM
OFF
B3
B2
U
V
W
L1
Coil surge suppression units
Built-in thermostat of
an external regenerative
resistor (light yellow)
Built-in thermostat of
an external regenerative
resistor (light yellow)
$/0ï
Red
White
Black
Green or
Green/Yellow
Red
White
Black
Green or
Green/Yellow
XA
XB
X4
36
L
ON MC
ALM
ALM
OFF
MC
ALM
Main power
supply
Control power
supply
Motor
connection
Main power
supply
Control power
supply
Motor
connection
Power supply Single phase, 100V to 120V–15% +10% Single phase, 200V to 240V–15% +10%
Power supply 3-phase, 200V to 240V–15% +10%
XA
XB
X4
When you use single phase,
connect the main power
between L1 and L3 terminals.
Coil surge suppression units
Remarks
Remove the short wire when you connect
the external regenerative resistor.
(C, D-Frame)
* These colors
are used for
optional cable.
* These colors
are used for
optional cable.
Insulated
DC12 to 24V
(±5%)
+
ï
Insulated
DC12 to 24V
(±5%)
+
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In Case of 3-Phase, A to D-frame, 200 V type
2
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Wiring Diagram (A to D-frame, 100/200 V type)
Note
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The wiring indicated with the broken line shall be provided only when required.
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2-16
B1 (Pin-6)
B2 (Pin-4)
Regenerative resistor (optional)
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install an external protective apparatus, such
as thermal fuse without fail.
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fuse is activated, it will not resume.
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incombustible material such as metal.
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Noise Filter (NF)
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GULYHU
8VHFRLOVXUJHsuppression unitsWRJHWKHU
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Never start nor stop the servo motor
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Reactor (L) (to be supplied by customer)
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normal operation.
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UHJHQHUDWLYHUHVLVWRUGLVFRQQHFWD
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/3LQ
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
0DLQV
Residual
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Connecting Example of E-frame
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Overall Wiring (E-frame, 200 V type)
Note
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application. The wiring indicated with the broken line shall be provided only when required.
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2-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Brake cable
DC Power supply
for brake DC24V
(to be supplied by customer)
+LJKYROWDJH
Ground
terminal
8SKDVHUHG
9SKDVHZKLWH
:SKDVHEODFN
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 IRURSWLRQDOFDEOH
PC (to be supplied
by customer)
6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
3OHDVHGRZQORDGIURPRXUZHEVLWH
&KDUJHODPS
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Ground
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+DQGOHOHYHU
8VHWKLVIRUFRQQHFWRU
FRQQHFWLRQ6WRUHWKLV
after connection for
RWKHURFFDVLRQV
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FRQQHFWLRQ
Junction cable
for encoder
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RUKRVWFRQWUROOHU
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&RQQHFWLRQWRencoder
&RQQHFWLRQWRfeedback scale
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Junction cable for motor
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phase and ground
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Overall Wiring (E-frame, 200 V type)
Note
Related page
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• Only for position control type is not provided with X2, X3 and X5.
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Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-18
E-frame, 200 V type
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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.
Motor
Varistor
DC
24V
U
V
W
E
Fuse (125 V 10 A)
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GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
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Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
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'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDOUHJHQHUDWLYH
UHJLVWHULVXVHG
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FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV89:
Avoid shorting and grounding. Don't connect the
main power.
Earth-ground this.
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WHUPLQDORIWKHGULYHUDQGWKHJURXQGWHUPLQDO
JURXQGSODWHRIWKHFRQWUROSDQHO
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HTXLSPHQW
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Don't connect the earth cable to other inserting slot,
nor make them touch.
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EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
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XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
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L1C
/
L2
L1
L2C
%
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1&
U
V
W
XA
XC
;%
2
3
4
5
1
2
3
1
3
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2
4
1
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([WHUQDOUHJHQHUDWLYH
resistor
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2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring of the Main Circuit (E-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
XC
XB
Motor
37
ALM+
L2
L3
L1C
L2C
MC
MCCB L1
$/0ï
XA
X4
36
L
ON
ALM
B1
B3
B2
NC
U
V
W
ALM
OFF
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
External regenerative resistor
Remove the short wire when you connect
the external regenerative resistor.
Red
White
Black
Green
Main power
supply
Control power
supply
Motor
connection
Power supply 3-phase, 200V to 230V
–15% +10%
Noise filter
Coil surge suppression units
* These colors
are used for
optional cable.
Insulated
DC12 to 24V
(±5%)
+
ï
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
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (E-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-20
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&LUFXLW%UHDNHU0&&%
To protect power supply line from overload-
ing, 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.
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
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ZLWKWKLV0DJQHWLF&RQWDFWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main
power.
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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).
B1
B2
L3
L2
L1
L2C
L1C
5HJHQHUDWLYHUHVLVWRURSWLRQDO
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDO
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO
5HPDUNV
0DLQV
Residual
current device
3LQ%%DQG%
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IRUQRUPDORSHUDWLRQ
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regenerative resistor, disconnect a
short bar between B2 and B3,
then connect the external regen-
erative resistor between B1 and
B2, set up Pr0.16 to 1 or 2.
3LQ1&
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SRZHUVXSSO\
&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV
P.2-22
P.2-22
Connecting Example of F-frame
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (F-frame, 200 V type)
Note
Related page
7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
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2-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
P.2-22
Short circuit wire
(B2-B3)
Ground
(earth)
Ground
terminal Charge lamp
(Red LED)*1
Junction cable
for brake
DC Power supply for brake
DC24V
(to be supplied by customer)
Junction cable for motor
Junction cable
for encoder
: High voltage
U-phase(red)
V-phase(white)
W-phase(black)
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
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:LULQJWR&RQQHFWRU; P.2-60
PC (to be supplied by customer)
Setup support software
´3$1$7(50µ
Please download
from our web site.
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&RQQHFWLRQWR5656
or host controller
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&RQQHFWLRQWRencoder
&RQQHFWLRQWRfeedback scale
&RQQHFWLRQWRKRVWFRQWUROOHU
:LULQJWR&RQQHFWRU; P.2-57
:LULQJWR&RQQHFWRU; P.2-55
:LULQJWR&RQQHFWRU; P. 2 - 5 4
:LULQJWR&RQQHFWRU; P.2-53
:LULQJWR&RQQHFWRU; P.2-51
:LULQJWR&RQQHFWRU; P.2-51
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG
* These colors are
used for optional
cable. ;WR;DUHXVHGIRUWKHVHFRQGDU\
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.
5HPDUNV
2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (F-frame, 200 V type)
Note
Related page
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• Only for position control type is not provided with X2, X3 and X5.
3´
Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-22
F-frame, 200 V type
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
Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
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2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the termi-
nal block. For cable diameter and size, reter to "Driver and List of Applicable Periph-
eral Equipments" (P.2-10).
Tighten the terminal block screw with a torque between 1.0 and 1.7 NP
 $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with a torque written on P.2-11.
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
L1C
L2C
B1
B3
B2
NC
U
V
W
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GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
3URYLGHDFLUFXLWEUHDNHU
0DNHVXUHWRSURYLGHDQRLVHILOWHU
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
start/stop the motor with this Magnetic Contactor.
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'RQWGLVFRQQHFWWKHVKRUWEDUEHWZHHQ%DQG%
'LVFRQQHFWWKLVRQO\ZKHQDQH[WHUQDOUHJHQHUDWLYHUHJLVWHU
LVXVHG
'RQRWFRQQHFWDQ\WKLQJWR1&
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FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV89:
Avoid shorting and grounding.
Don't connect the main power.
Earth-ground this.
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WHUPLQDORIWKHGULYHUDQGWKHJURXQGWHUPLQDOJURXQG
SODWHRIWKHFRQWUROSDQHO
7KHJURXQGWHUPLQDOPXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting slot,
nor make them touch.
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FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
7KHKROGLQJEUDNHKDVQRSRODULWLHV
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XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
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*URXQGUHVLVWDQFHїPD[
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2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring of the Main Circuit (F-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Motor
37
ALM+
L2
L3
L1C
L2C
MC
MCCB L1
$/0ï
X4
Terminal block
36
L
ON
ALM
B1
B3
B2
NC
U
V
W
ALM
OFF
Built-in thermostat of
an external regenerative
resistor (light yellow)
MC
Noise filter
External regenerative resistor
(Remove the short wire when you connect
the external regenerative resistor.)
Main power
supply
Control power
supply
Motor
connection
Power supply 3-phase, 200V to 230V–15% +10%
Red
White
Black
Green
Coil surge suppression units
* These colors
are used for
optional cable.
Insulated
DC12 to 24V
(±5%)
+
ï
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
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (F-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-24
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&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.
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo driver.
Use coil surge suppression units together with this.
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV
0DJQHWLF&RQWDFWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main power.
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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). &RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\ P.2-26
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO.
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO.
The wiring indicated with the broken line shall be
provided only when required.
L3
L2
L1
L2C
L1C
0DLQV
Residual
current device
B1
B2
5HJHQHUDWLYHUHVLVWRU(optional) 3LQ%DQG%
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative resistor
between B1 and B2, set up Pr0.16 to 1 or 2.
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･ 1RUPDOO\OHDYH'%DQG'%VKRUWFLUFXLWHG
･ To connect the external dynamic brake resistor,
UHIHUWR´'\QDPLF%UDNHµRQ3'RQRWXVH
WKHH[WHUQDOG\QDPLFEUDNHUHVLVWRUWRJHWKHU
ZLWKWKHEXLOWLQUHVLVWRU
3LQ1&
'RQRWFRQQHFWDQ\WKLQJ
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Connecting Example of G-frame
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (G-frame, 200 V type)
Note
Related page
7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
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2-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
: High voltage
Ground
(earth)
Ground
terminal
Short bar (DB3-DB4)
0RWRUFDEOH6KLHOGZLUH
;WR;DUHXVHGIRUWKHVHFRQGDU\
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.
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
Junction cable for encoder
U
-phase
V
-phase
:
-phase
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause
of electric shock.
PC (to be supplied
by customer)
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Please download from our web site.
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&RQQHFWLRQWR5656
or host controller
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&RQQHFWLRQWRencoder
&RQQHFWLRQWRfeedback scale
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:LULQJWR&RQQHFWRU; P. 
:LULQJWR&RQQHFWRU; P.2-55
:LULQJWR&RQQHFWRU; P.2-54
:LULQJWR&RQQHFWRU; P. 2 - 5 3
:LULQJWR&RQQHFWRU; P. 2 - 5 1
:LULQJWR&RQQHFWRU; P.2-51
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P. 2 - 2 6
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L2
L3
B1
B2
NC
U
V
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Overall Wiring (G-frame, 200 V type)
Note
Related page
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Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-26
G-frame, 200 V type
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
Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
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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).
$WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with the torque written on P.2-11.
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
NC
L1C
L2C
NC
NC
DB1
DB2
NC
NC
DB3
DB4
NC
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3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
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0DNHVXUHWRSURYLGHDQRLVHILOWHU
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
start/stop the motor with this Magnetic Contactor.
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RUEHORZRU9'&RUEHORZ
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Avoid shorting and grounding.
Don't connect the main power.
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IURP'%DQG'%UHPRYHWKHEDURQO\ZKHQWKHH[WHUQDO
G\QDPLFEUDNHUHVLVWRULVXVHG
Earth-ground this.
7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
WHUPLQDORIWKHGULYHUDQGWKHJURXQGWHUPLQDOJURXQG
SODWHRIWKHFRQWUROSDQHO
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HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting slot,
nor make them touch.
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FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
7KHKROGLQJEUDNHKDVQRSRODULWLHV
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XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
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* Do not connect anything to NC.
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)RUDSSOLFDEOHZLUHUHIHUWR3
/HIW
VLGH 5LJKW
VLGH
'&SRZHU
VXSSO\
IRUEUDNH
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MCCB
3RZHU
VXSSO\
1) MC
L
5&'
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring of the Main Circuit (G-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Power supply 3-phase, 200V to 230V–15% +10%
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
L1C
L2C
MC1
L1
ALM−
MCCB
Motor
connection
36
L
ON
ALM
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
ALM
OFF
Coil surge suppression units
Built-in thermostat of an external
regenerative resistor (light yellow)
External
regenerative resistor
Power supply
(3-phase)
MC1
Note 1)
Normally, do not disconnect the shorting bar.
Note 1)
Insulated
DC12 to 24V
(±5%)
+
ï
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
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (G-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
2-28
:LULQJRI0DLQ&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.
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo driver.
Use coil surge suppression units together with this.
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV
0DJQHWLF&RQWDFWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main power.
$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPH-
plate 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).
L1 L2 L3
L1CL2C
Charge lamp (LED)
Do not make displacement,
wiring or inspection while
the LED is lit - cause of
electric shock.
0DJQHWLF&RQWDFWRU0&
B1
B2
5HJHQHUDWLYHUHVLVWRU
(optional)
9'&
SRZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU
to be supplied by
(
customer
)
* Use a power
supply with
5 A or larger
capacity.
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H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH
ZLWKRXWIDLO
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VXFKDVPHWDO
)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ'LDJUDPµRQ3
)RUDQH[DPSOHRIWKHUHFRPPHQGHGSURWHFWLYHFLUFXLWUHIHUWR
“Dynamic Brake” on P.2-67.
'\QDPLF%UDNH
UHVLVWRU
to be supplied by
(
customer
)
Turns on/off the dynamic brake
resistor.
Use coil surge suppression units
together with this.
Mains
Residual
current device
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH
resistor, LQVWDOODQH[WHUQDOSURWHFWLYH
DSSDUDWXVVXFKDVWKHUPDOIXVHZLWKRXW
IDLO.
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDO
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO.
)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ
Diagram” on P.2-31.
5HPDUNV
5HPDUNV
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SRZHUVXSSO\ P. 2 - 3 0
&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV P.2-30
Connecting Example of H-frame
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (H-frame, 200 V type)
Note
Related page
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application. The wiring indicated with the broken line shall be provided only when required.
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2-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
: High voltage PC(to be supplied by customer)
Setup support software
“PANATERM”
Please download
from our web site.
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:LULQJWR&RQQHFWRU; P.2-60
Motor cable (Shield wire)
P.2-30
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG
U
-phase
V
-phase
W
-phase
Ground
(earth)
Junction cable
for encoder
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
Ground terminal
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
L1 L2 L3 B1 B2 NC
L1C L2C DB1 DB2
UVW ;WR;DUHXVHGIRUWKHVHFRQGDU\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.
3LQ%DQG%
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative
resistor between B1 and B2, set up Pr0.16
to 1 or 2.
3LQ'%DQG'%
:KHQLQVWDOOLQJDQH[WHUQDOG\QDPLFEUDNH
resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to
between LIC and DB1.
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'%PXVWEH9$&RUEHORZRU
9'&RUEHORZ
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or host controller
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&RQQHFWLRQWRencoder
&RQQHFWLRQWRfeedback scale
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:LULQJWR&RQQHFWRU; P. 2 - 5 7
:LULQJWR&RQQHFWRU; P. 2 - 5 5
:LULQJWR&RQQHFWRU; P.2-54
:LULQJWR&RQQHFWRU; P.2-53
:LULQJWR&RQQHFWRU; P.2-51
:LULQJWR&RQQHFWRU; P. 2 - 5 1
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Overall Wiring (H-frame, 200 V type)
Note
Related page
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Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-30
H-frame, 200 V type
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'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG

Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
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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).
$WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with the torque written on P.2-11.
Power
supply
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
L1C
L2C
DB1
DB2
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VSHFLILFDWLRQV
3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
3URYLGHDFLUFXLWEUHDNHU
0DNHVXUHWRSURYLGHDQRLVHILOWHU
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
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9$&RUEHORZRU9'&RUEHORZ
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'RQRWFRQQHFWDQ\WKLQJWR1&
0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU“U, V, W”
Avoid shorting and grounding.
Don't connect the main power.
Earth-ground this.
7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
WHUPLQDORIWKHGULYHUDQGWKHJURXQGWHUPLQDO
JURXQGSODWHRIWKHFRQWUROSDQHO
7KHJURXQGWHUPLQDOPXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting slot,
nor make them touch.
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EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
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XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
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DC power
supply
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MCCB
1) MC
L
5&'
Upper
VLGH
Lower
VLGH
3RZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU
DC
24V
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring of the Main Circuit (H-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-31
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Power supply 3-phase, 200V to 230V–15% +10%
Note 1)
Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.
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.
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
L1C
L2C
MC1
L1
ALM−
MCCB
Motor
connection
36
L
ON
ALM
B1
B2
DB1
NC
DB2
U
V
W
ALM
OFF
Coil surge suppression units
Built-in thermostat of
an external regenerative resistor
(T1 and T2 terminals)
Note 4)
Power supply
(3-phase)
MC1
Note 1)
Note 4)
R1
R2
Note 5) Note 5) Note 5)
Dynamic Brake resistor
Note 3)
Note 2)
MC2
MC2
Coil surge suppression units
External
regenerative resistor
Insulated
DC12 to 24V
(±5%)
+
ï
Insulated
DC24V
+
ï
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
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (H-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-32
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&LUFXLW%UHDNHU0&&%
To protect power supply line from overload-
ing, 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.
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU
ZLWKWKLV0DJQHWLF&RQWDFWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main
power.
$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH
from the power source.
Symmetric current should be 5000 Arms or below.
If the short-circuit current on the power source
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit
breaker or transformer).
5HJHQHUDWLYHUHVLVWRU(optional)
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO
5HPDUNV
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3LQ%SLQ%SLQDQG%SLQ
%DQG%WREHNHSWVKRUWHGIRUQRUPDO
RSHUDWLRQ
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resistor, disconnect a short circuit wire
between B2 and B3, then connect the external
regenerative resistor between B1 and B2, set
up Pr0.16 to 1 or 2.
&RQQHFWLRQWRLQSXWSRZHU
:LULQJWR&RQQHFWRU;$ P. 2 - 3 4
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:LULQJWR&RQQHFWRU;' P. 2 - 3 4
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:LULQJWR&RQQHFWRU;& P. 2 - 3 4
L3 (Pin-1)
L2 (Pin-2)
L1 (Pin-3)
0V
24V
* Use a power
supply with
2 A or larger
capacity.
B1 (Pin-4)
B2 (Pin-2)
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IRUFRQWURO
(to be supplied by customer)
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Residual
current device
Connecting Example of D, E-frame
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (D, E-frame, 400 V type)
Note
Related page
7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
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2-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
PC (to be supplied by customer)
Setup support software
´3$1$7(50µ
Please download
from our web site.
&RQQHFWLRQWRencoder
&RQQHFWLRQWRKRVWFRQWUROOHU
:LULQJWR&RQQHFWRU; P. 2 - 5 7
:LULQJWR&RQQHFWRU; P. 2 - 5 4
U-phase(red)
V-phase(white)
:SKDVHEODFN
Ground
(earth)
Ground
terminal Charge lamp
(Red LED)*1
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Brake cable
DC Power supply for brake
DC24V
(to be supplied by customer)
Junction cable
for encoder
Handle lever
Use this for connector
connection. Store this
after connection for
other occasions.
(Refer to P.2-50 for
connection.)
Short circuit wire (B2-B3)
;WR;DUHXVHGIRUWKHVHFRQGDU\
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.
: High voltage
0RQLWRURXWSXW
:LULQJWR&RQQHFWRU; P. 2 - 6 0
&RQQHFWLRQWRfeedback scale
:LULQJWR&RQQHFWRU; P. 2 - 5 5
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or host controller
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:LULQJWR&RQQHFWRU; P. 2 - 5 3
:LULQJWR&RQQHFWRU; P. 2 - 5 1
:LULQJWR&RQQHFWRU; P. 2 - 5 1
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P.2-34
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Overall Wiring (D, E-frame, 400 V type)
Note
Related page
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• Only for position control type is not provided with X2, X3 and X5.
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Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-34
D, E-frame, 400 V type
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plied. 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.
Red
Black
Motor
Varistor
DC
24V
MCCB
Power
supply
DC
24V
NF MC L
U
V
W
E
Yellow
(X2)
Fuse (125 V 10 A)
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GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
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UHJHQHUDWLYHUHJLVWHULVXVHG
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FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV89:
Avoid shorting and grounding. Don't connect the
main power.
Earth-ground this.
7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKH
JURXQGWHUPLQDORIWKHGULYHUDQGWKHJURXQG
WHUPLQDOJURXQGSODWHRIWKHFRQWUROSDQHO
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HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting
slot, nor make them touch.
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EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
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WRXVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ
+ROGLQJ%UDNHµRQ3
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2
3
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L1
L2
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2
3
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2
1
2
3
B1
4
1
DC power supply
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or
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Yellow
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Wiring of the Main Circuit (D, E-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Power supply 3-phase, 380V to 480V–15% +10%
Motor
37
ALM+
L2
L3
0V
MCCB L1
$/0ï
24V
XC
XB
XA
XD
X4
36
L
ON
ALM
B1
B3
B2
N
U
V
W
ALM
OFF
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
External regenerative resistor
(Remove the short wire when you connect
the external regenerative resistor.)
Main power
supply
Control power
supply
Motor
connection
Noise filter
Coil surge suppression units
Insulated
DC24V
Insulated
DC12 to 24V
(±5%)
+
ï
+
ï
Note 1)
Shielding the circuit is recommended for the purpose of noise reduction.
Note 1)
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
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (D, E-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-36
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU0&&%
To protect power supply line from overload-
ing, 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.
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU
ZLWKWKLV0DJQHWLF&RQWDFWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main
power.
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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).
5HJHQHUDWLYHUHVLVWRURSWLRQDO
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO
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regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
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PDWHULDOVXFKDVPHWDO
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normal operation.
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regenerative resistor, disconnect a
VKRUWEDUEHWZHHQ%DQG%
then connect the external regen-
HUDWLYHUHVLVWRUEHWZHHQ%DQG
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3LQ1&
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SRZHUVXSSO\
&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV
3    
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L2
/
0V
24V
0DLQV
Residual
current device
* Use a power
supply with
2 A or larger
capacity.
9'&SRZHUVXSSO\
IRUFRQWURO
(to be supplied by customer)
Connecting Example of F-frame
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (F-frame, 400 V type)
Note
Related page
7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
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2-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
: High voltage
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:LULQJWR&RQQHFWRU; P.2-60
PC (to be supplied
by customer)
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Please download from our web site.
3
Junction cable
for brake
Junction cable for motor
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SKDVHDQGJURXQG
Junction cable
for encoder
Short bar
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U-phase(red)
V-phase(white)
:SKDVHEODFN
Ground
(earth)
Ground
terminal
Charge lamp
5HG/('
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'&3RZHUVXSSO\IRUEUDNH
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(to be supplied by customer)
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or host controller
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&RQQHFWLRQWRencoder
&RQQHFWLRQWRfeedback scale
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:LULQJWR&RQQHFWRU; P.2-57
:LULQJWR&RQQHFWRU; P.2-55
:LULQJWR&RQQHFWRU; P. 2 - 5 4
:LULQJWR&RQQHFWRU; P. 
:LULQJWR&RQQHFWRU; P. 
:LULQJWR&RQQHFWRU; P. 
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To connect these terminals to the primary
SRZHUVXSSO\SDUWLFXODUO\WKH9'&SRZHU
VXSSO\IRUFRQWURODQGWKH9'&SRZHU
supply for brake), insulation is required.
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power supply.
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Overall Wiring (F-frame, 400 V type)
Note
Related page
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• Only for position control type is not provided with X2, X3 and X5.
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Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-38
F-frame, 400 V type
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
Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
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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.
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Tighten the screw securing the cover with a torque written on P.2-11.
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
24V
0V
B1
B3
B2
NC
U
V
W
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3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQWGHYLFH
WREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLVHTXLSSHGZLWK
FRXQWHUPHDVXUHVIRUKDUPRQLFV
3URYLGHDFLUFXLWEUHDNHU
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3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
start/stop the motor with this Magnetic Contactor.
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'LVFRQQHFWWKLVRQO\ZKHQDQH[WHUQDOUHJHQHUDWLYHUHJLVWHULV
XVHG
'RQRWFRQQHFWDQ\WKLQJWR1&
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FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV89:
Avoid shorting and grounding.
Don't connect the main power.
Earth-ground this.
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WHUPLQDORIWKHGULYHUDQGWKHJURXQGWHUPLQDOJURXQG
SODWHRIWKHFRQWUROSDQHO
7KHJURXQGWHUPLQDOPXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting slot, nor
make them touch.
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FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
7KHKROGLQJEUDNHKDVQRSRODULWLHV
)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWRXVH
WKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ%UDNHµRQ
3
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*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3
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24V
2
Preparation
2.
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Wiring of the Main Circuit (F-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-39
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Power supply 3-phase, 380V to 480V–15% +10%
Motor
37
ALM+
L2
L3
MC
MCCB L1
$/0ï
Noise filter
X4
36
L
ON
ALM
B1
B3
B2
NC
U
V
W
ALM
OFF
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
External regenerative resistor
(Remove the short wire when you connect
the external regenerative resistor.)
Main power
supply
24V
0V
Control power
supply
Motor
connection
Coil surge suppression units
Insulated
DC12 to 24V
(±5%)
+
ï
Insulated
DC24V
+
ï
Note 1)
Shielding the circuit is recommended for the purpose of noise reduction.
Note 1)
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of 3-Phase, F-frame, 400 V type
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (F-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-40
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU0&&%
To protect power supply line from overloading,
install a wiring circuit breaker rated to the capacity
of the power supply.
1RLVH)LOWHU1)
Removes external noise from the power lines. And
reduces an effect of the noise generated by the
servo driver.
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo driver.
Use coil surge suppression units together with this.
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV
0DJQHWLF&RQWDFWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main power.
$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPH-
plate 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).
&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\ P.2-42
&RQQHFWLRQZLWKFRQWURO
SRZHUVXSSO\ P.2-42
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO.
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO.
The wiring indicated with the broken line shall be
provided only when required.
5HJHQHUDWLYHUHVLVWRU(optional) 3LQ%DQG%
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative resistor
EHWZHHQ%DQG%VHWXS3UWRRU
3LQ'%'%'%DQG'%
･ 1RUPDOO\OHDYH'%DQG'%VKRUWFLUFXLWHG
･ To connect the external dynamic brake resistor,
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 'RQRWXVHWKHH[WHUQDOG\QDPLFEUDNHUHVLVWRU
WRJHWKHUZLWKWKHEXLOWLQUHVLVWRU
3LQ1&
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5HPDUNV
1RWH
L3
L2
/
0V
24V
* Use a power
supply with
5 A or larger
capacity.
%
B2
9'&SRZHUVXSSO\
IRUFRQWURO
(to be supplied by customer)
0DLQV
Residual
current device
Connecting Example of G-frame
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (G-frame, 400 V type)
Note
Related page
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application. The wiring indicated with the broken line shall be provided only when required.
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2-41
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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パヷ
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L2
L3
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B2
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U
V
W
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ヤラモンヨユ
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: High voltage
;WR;DUHXVHGIRUWKHVHFRQGDU\
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.
Charge lamp (LED)
Do not make displacement, wiring
or inspection while the LED is lit -
cause of electric shock.
PC (to be supplied
by customer)
6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
Please download from our web site.
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:LULQJWR&RQQHFWRU; P. 
Ground
(earth)
Ground
terminal
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P. 2 - 4 2
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SKDVHDQGJURXQG
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U-phase
V-phase
:SKDVH
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
Junction cable for encoder
Short bar (DB3-DB4)
&RQQHFWLRQWRencoder
&RQQHFWLRQWRfeedback scale
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:LULQJWR&RQQHFWRU; P. 2 - 5 5
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:LULQJWR&RQQHFWRU; P. 
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or host controller
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Overall Wiring (G-frame, 400 V type)
Note
Related page
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Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-42
G-frame, 400 V type
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
Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
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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).
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Tighten the screw securing the cover with the torque written on P.2-11.
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
NC
24V
0V
NC
NC
DB1
DB2
NC
NC
DB3
DB4
NC
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HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
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9$&RUEHORZRU9'&RUEHORZ
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Avoid shorting and grounding.
Don't connect the main power.
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H[WHUQDOG\QDPLFEUDNHUHVLVWRULVXVHG
Earth-ground this.
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JURXQGWHUPLQDORIWKHGULYHUDQGWKHJURXQG
WHUPLQDOJURXQGSODWHRIWKHFRQWUROSDQHO
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RWKHUHTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting
slot, nor make them touch.
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EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
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+ROGLQJ%UDNHµRQ3
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* Do not connect anything to NC.
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1) MC
L
5&'
DC
24V
2
Preparation
2.
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Wiring of the Main Circuit (G-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-43
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Power supply 3-phase, 380V to 480V–15% +10%
Note 1)
Shielding the circuit is recommended for the purpose of noise reduction.
Note 2)
Normally, do not disconnect the shorting bar.
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
24V
0V
MC1
L1
ALM−
MCCB
Motor
connection
Power supply
(3-phase)
36
L
ON
ALM
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
ALM
OFF
Coil surge suppression units
Built-in thermostat of
an external regenerative
resistor (light yellow)
External
regenerative resistor
Note 2)
MC1
Insulated
DC12 to 24V
(±5%)
+
ï
Insulated
DC24V
+
ï
Note 1)
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of 3-Phase, G-frame, 400 V type
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (G-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
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2-44
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&LUFXLW%UHDNHU0&&%
To protect power supply line from overloading,
install a wiring circuit breaker rated to the capacity
of the power supply.
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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.
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0DJQHWLF&RQWDFWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main power.
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plate 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).
5HJHQHUDWLYHUHVLVWRU
(optional)
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH
resistor, LQVWDOODQH[WHUQDOSURWHFWLYH
DSSDUDWXVVXFKDVWKHUPDOIXVHZLWKRXW
IDLO.
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regenerative resistor (Option). ,IWKHWKHUPDO
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH
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LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO.
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Diagram” on P.2-47.
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SRZHUVXSSO\ P.2-46
Charge lamp (LED)
Do not make displacement,
wiring or inspection while
the LED is lit - cause of
electric shock.
24V0V
Neutral point
L1C
B1
B2
L1 L2 L3
0DJQHWLF&RQWDFWRU0&
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H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH
ZLWKRXWIDLO
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VXFKDVPHWDO
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“Dynamic Brake” on P.2-67.
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UHVLVWRU
to be supplied by
(
customer
)
Turns on/off the dynamic brake
resistor.
Use coil surge suppression units
together with this.
5HPDUNV
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SRZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU
to be supplied by
(
customer
)
* Use a power
supply with
5 A or larger
capacity.
&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV P.2-46
Mains
Residual
current device
* Use a power
supply with
5 A or larger
capacity.
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IRUFRQWURO
(to be supplied by customer)
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VXSSO\ P. 2 - 4 6
Connecting Example of H-frame
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (H-frame, 400 V type)
Note
Related page
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application. The wiring indicated with the broken line shall be provided only when required.
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2-45
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
: High voltage PC(to be supplied by customer)
Setup support software
“PANATERM”
Please download
from our web site.
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:LULQJWR&RQQHFWRU; P.2-60
U
-phase
V
-phase
:
-phase
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
L1 L2 L3 B1 B2 NC
DB2
24V 0V
DB1
UVW
Ground
(earth)
Ground terminal
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or host controller
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&RQQHFWLRQWRencoder
&RQQHFWLRQWRfeedback scale
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:LULQJWR&RQQHFWRU; P. 2 - 5 7
:LULQJWR&RQQHFWRU; P.2-55
:LULQJWR&RQQHFWRU; P. 2 - 5 4
:LULQJWR&RQQHFWRU; P.2-53
:LULQJWR&RQQHFWRU; P. 2 - 5 1
:LULQJWR&RQQHFWRU; P. 2 - 5 1
Motor cable (Shield wire)
P.2-46
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SKDVHDQGJURXQG
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connect these terminals to the primary power
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), insulation is required.
Do not connect these terminals to the same power
supply.
3LQ%DQG%
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative resistor
between B1 and B2, set up Pr0.16 to 1 or 2.
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:KHQLQVWDOOLQJDQH[WHUQDOG\QDPLFEUDNH
resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to between
LIC and DB1.
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PXVWEH9$&RUEHORZRU9'&RU
EHORZ
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filter.
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3LQ1&
'RQRWFRQQHFWDQ\WKLQJ
5HPDUNV
5HPDUNV
1RWH
Junction cable
for encoder
2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Overall Wiring (H-frame, 400 V type)
Note
Related page
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Wiring of the Main Circuit
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URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-46
H-frame, 400 V type
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'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG

Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
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2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal
block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral
Equipments" (P.2-11).
Tighten the terminal block screw with a torque between 0.7 and 1.0 1m (upper side)
and 2.2 and 2.5 1m (lower side).
$WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with the torque written on P.2-11.
Power
supply
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
24V
0V
DB1
DB2
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3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
3URYLGHDFLUFXLWEUHDNHU
0DNHVXUHWRSURYLGHDQRLVHILOWHU
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0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
'LUHFWSRZHUVXSSO\IRUFRQWUROFLUFXLW
7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH
9$&RUEHORZRU9'&RUEHORZ
3URYLGHDQ$&5HDFWRUWREHVXSSOLHGE\FXVWRPHU
$&SKDVHSRZHUVXSSO\9IRUPDLQFLUFXLW
'RQRWFRQQHFWDQ\WKLQJWR1&
0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU´89:µ
Avoid shorting and grounding.
Don't connect the main power.
Earth-ground this.
7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKH
JURXQGWHUPLQDORIWKHGULYHUDQGWKHJURXQG
WHUPLQDOJURXQGSODWHRIWKHFRQWUROSDQHO
7KHJURXQGWHUPLQDOPXVWQRWEHVKDUHGZLWK
RWKHUHTXLSPHQW
 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting
slot, nor make them touch.
&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
7KHKROGLQJEUDNHKDVQRSRODULWLHV
)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZ
WRXVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ
+ROGLQJ%UDNHµRQ3
3URYLGHDYDULVWRU
 &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU
*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3
DC power
supply
IRUEUDNH
)XVH9$
MCCB
1) MC
L
5&'
Upper
VLGH
Lower
VLGH
DC
24V
3RZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU
DC
24V
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring of the Main Circuit (H-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
2-47
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Power supply 3-phase, 380V to 480V–15% +10%
Note 1)
Shielding the circuit is recommended for the purpose of noise reduction.
Note 2)
Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.
Note 3)
Servo may be turned on in the external sequence if the contact deposits: to protect the system,
provide the auxiliary contact.
Note 4)
Use 4.8 ї, 400 W resistor (to be supplied by customer).
Note 5)
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 6)
Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external
dynamic brake resistor.
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
24V
0V
MC1
MC2
L1
ALM−
MCCB
Motor
connection
Power supply
(3-phase)
Power supply
(Neutral point)
The AC voltage across
DB1 and DB2 must be
300 V or below.
36
L
ON
ALM
B1
B2
NC
DB1
DB2
U
V
W
ALM
OFF
Coil surge suppression units
Coil surge suppression units
Built-in thermostat of
an external regenerative
resistor
(T1 and T2 terminals)
Note 5)
R1
R2
Dynamic Brake resistor
Note 4)
Note 3)
MC2
Note 2)
MC1
Note 5)
Note 1)
External
regenerative resistor
Note 6) Note 6) Note 6)
Insulated
DC12 to 24V
(±5%)
+
ï
Insulated
DC24V
+
ï
Insulated
DC24V
+
ï
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of 3-Phase, H-frame, 400 V type
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring Diagram (H-frame, 400 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
2-48
Do not connect anything to NC.
Remarks
JN6CR07PM2
20-bit Incremental 17-bit Absolute
 :KHQWKHPRWRUVRI060(:WR:!DUHXVHGWKH\DUHFRQQHFWHGDVVKRZQEHORZ
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.
JN8AT04NJ1
1U-phase
V-phase
W-phase
Ground
PIN No.
2
3
PE
Application
PE
3
2
1
2
1
JN4AT02PJM-R
1
2
Brake
Brake
PIN No. Application
1
2
3
4
5
6
7
&RQQHFWRUIRUHQFRGHU
[Motor with brake]
&RQQHFWRUIRUPRWRU
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.
&RQQHFWRUIRUEUDNH
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.
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.
1
2
3
4
5
6
7
FG
(SHIELD)
—
E0V
PS
—
E5V
PS
PIN No. Application
1
2
3
4
5
6
7
FG
(SHIELD)
%$7ï
E0V
PS
BAT＋
E5V
PS
PIN No. Application
* Electromagnetic brake is
a nonpolar device.
172167-1
172168-1
1 U-phase
V-phase
W-phase
Ground
PIN No.
2
3
4
Application
 :KHQWKHPRWRUVRI060'0+0'!DUHXVHGWKH\DUHFRQQHFWHGDVVKRZQEHORZ
Connector: Made by Tyco Electronics k.k, (The figures below show connectors for the motor.)
172165-1
1
2
Brake
Brake
PIN No. Application
&RQQHFWRUIRUHQFRGHU
&RQQHFWRUIRUEUDNH
&RQQHFWRU
IRUPRWRU
20-bit Incremental
1
2
3
4
5
6
NC
PS
PS
E5V
E0V
FG
(SHIELD)
PIN No. Application
<Connector for motor> <Connector for brake>
21
43
1
2
321
654
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Specifications of Motor connector
2-49
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Remarks
Remarks
Connector
for brake
A
B
D
C
A
B
D
C
JL04V-2E32-17PE-B-R N/MS3102A 14S-2P
<Motor> <Brake>
Connector
for motor
 :KHQWKHPRWRUVRI060(:9N:WRN:0'0(0)0(0*0(0+0(!DUHXVHG
 WKH\DUHFRQQHFWHGDVVKRZQEHORZ
Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)
20-bit Incremental 17-bit Absolute
1
2
3
4
5
6
7
8
9
10
E0V
NC
PS
E5V
NC
NC
PS
NC
FG
(
SHIELD
)
NC
PIN No. Application
JN2AS10ML3-R
123
89
10
7
6
54
,3 motor
&RQQHFWRUIRUHQFRGHU
6PDOOW\SH
,3 motor
&RQQHFWRUIRUHQFRGHU
/DUJHW\SH
&RQQHFWRUIRUHQFRGHU
&RQQHFWRUIRUPRWRUEUDNH
1
2
3
4
5
6
7
8
9
10
E0V
NC
PS
E5V
BATï
BAT＋
PS
NC
FG
(
SHIELD
)
NC
PIN No. Application
<IP67 Encoder connector for motor><IP65 Encoder connector for motor>
N/MS3102A20-29P
A
N
B
C
PD
E
R
F
G
H
S
J
M
T
L
K
20-bit Incremental 17-bit Absolute
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
PIN No. Application
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
NC
NC
NC
NC
NC
NC
E0V
E5V
FG
(
SHIELD
)
PS
PS
NC
NC
NC
NC
BATï
BAT＋
PIN No. Application
NC
NC
NC
NC
NC
NC
E0V
E5V
FG
(
SHIELD
)
PS
PS
NC
NC
NC
NC
NC
NC Do not connect anything to NC.
Do not connect anything to NC.
MSME
MDME
750W
1.0kW to 2.0kW
3.0kW to 5.0kW
400W, 600W
1.0kW to 2.0kW
3.0kW to 5.0kW
7.5kW to 15.0kW
0RWRU
PRGHO 0RWRUFDSDFLW\ 9
—
C
'
—
C
'
()
ZLWK%UDNH
—
A
%
—
A
%
(
ZLWKRXW
%UDNH
9
'
'
'
'
'
'
()
ZLWK%UDNH
A
A
%
A
A
%
(
ZLWKRXW
%UDNH
MFME
MGME
MHME
1.5W
2.5kW, 4.5kW
0.9kW
2.0kW to 4.5kW
6.0kW
1.0kW to 1.5kW
2.0kW to 5.0kW
7.5kW
0RWRU
PRGHO 0RWRUFDSDFLW\ 9
C
'
C
'
()
C
'
()
ZLWK%UDNH
C
'
A
%
(
A
%
(
ZLWKRXW
%UDNH
9
'
'
'
'
()
'
'
()
ZLWK%UDNH
'
'
A
%
(
A
%
(
ZLWKRXW
%UDNH
Table of Connector for motor and Connector for brake
A
B
C
D
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
U-phase
V-phase
W-phase
Ground
PIN No. Application
B
C
DA
Connector for motor
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
G
H
A
F
I
B
E
D
C
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
with Brake
: Brake
without Brake
: NC
PIN No.
Application
with Brake
: Brake
without Brake
: NC
with Brake
: Brake
without Brake
: NC
with Brake
: Brake
without Brake
: NC
A
B
C
D
Brake
Brake
NC
NC
PIN No. Application
A
B
C
D
U-phase
V-phase
W-phase
Ground
PIN No. Application
A
B
C
D
E
F
G
H
I
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
PIN No.
Application
I
H
G
F
E
D
C
B
A
C
D
E
B
I
F
A
H
G
C D
E F
A
B
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Specifications of Motor connector
2-50
)ROORZWKHSURFHGXUHVEHORZIRUWKHZLULQJFRQQHFWLRQWRWKH&RQQHFWRU
XA
,
XB
and
XC
.
How to connect
1. Peel off the insulation cover of the cable.
)RUVLQJOHZLUH3OHDVHREH\WKHOHQJWKLQÀJXUH
)RUVWUDQGHGZLUHVIHUUXOHVPXVWEHXVHGDVLOOXVWUDWHGEHORZ
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 ap-
propriate crimping tool.
3) After crimping, cut off the cable conductor portion pro-
truding 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)
(2)
(3)
A
A＞B
1mm or more
B
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.
3DUW1RRIWKHFULPSLQJWRRO<17
Available from J.S.T. Mfg. Co., Ltd
①
②
A
A≧B  A≦B＋C
BC
:KHQSHHOLQJRIIWKHVKHDWKRIWKHFDEOHWDNHFDUHQRWWRGDPDJHRWKHUSRUWLRQV
:KHQFULPSLQJWKHIHUUXOHVXIÀFLHQWO\FKHFNWKHVWDWXVRIWKHIHUUXOHDQGFDEOH,IWKHFRQGXFWRUVRIWKHFDEOH
stick out from the insulation cover or protrude excessively from the tip of the ferrule, accidents such as an elec-
WULFVKRFNDQGÀUHIURPDVKRUWFLUFXLWPD\UHVXOW
100V/200V specifications
<Cables Compatible with Connector>
Conductor Size AWG18 to 12
6KHDWK2XWOLQH ѮWRѮPP
<Recommended Connector Bar Terminal>
Conductor Size AWG18
7HUPLQDO0RGHO1XPEHU $,*<3KRHQL[&RQWDFW/WG
Conductor Size AWG16 to 14
Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
400V specifications
XA, XB, XC
<Cables Compatible with Connector>
Conductor Size AWG18 to 12
6KHDWK2XWOLQH ѮWRѮPP
<Recommended Connector Bar Terminal>
Conductor Size AWG16 to 14
Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
XD
<Cables Compatible with Connector>
Conductor Size AWG24 to 20
6KHDWK2XWOLQH ѮWRѮPP
<Recommended Connector Bar Terminal>
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,QVHUWWKHFDEOHXVLQJDÁDWEODGHVFUHZGULYHU(GJHZLGWKWRPP
Attach the handle
lever to the handling
slot on the upper
portion. Press down
the lever to push
down the spring.
Insert the peeled
cable while pressing
down the lever, until
it hits the insertion
slot (round hole).
Release the lever. Release the screw
driver.
Press the screw
driver to the
handling slot on the
upper portion to
push down the
spring.
Insert the peeled
cable while pressing
down the screw
driver, until it hits
the insertion slot
(round hole).
(a) Using handle lever (b) Using screw driver
* You can pull out the cable by pushing down the spring as the above.
123 123
7DNHRIIWKHFRQQHFWRUIURPWKH6HUYR'ULYHUEHIRUHPDNLQJFRQQHFWLRQ
,QVHUWRQO\RQHFDEOHLQWRHDFKRQHRIFDEOHLQVHUWLRQVORW
3D\DWWHQWLRQWRLQMXU\E\VFUHZGULYHU
8 to 9 mm
2
Preparation
2.
6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Wiring method to connector
2-51
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2
Preparation
3. Wiring to the connector, X1
Connecting host computer
Caution
This is used for USB connection to a personal computer. It is possible to change the pa-
rameter setting and perform monitoring.
Application Symbol Connector
Pin No. Contents
USB signal terminal
VBUS 1
Use for communication with personal
computer.
Dï2
D+ 3
— 4 Do not connect.
GND 5 Connected to ground of control circuit.
Use commercially available USB mini-B connector for the driver.
2
Preparation
4. Wiring to the connector, X2
Connecting communication connector
This is used for connection to the host controller when two or more units are used.
RS232 and RS485 interfaces are supplied.
Application Symbol Connector
Pin No. Contents
Signal ground GND 1 Connected to ground of control circuit.
NC – 2 Do not connect.
RS232 signal
TXD 3 RS232
The transmission / reception method.
RXD 4
RS485 signal
ï 5
RS485
The transmission / reception method.
485+ 6
ï 7
485+ 8
Frame ground FG Shell Connected with protective earth terminal in
the servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics)
[Connector pin assignment]
(Viewed from cable)
8642
7531
Remarks
Note
Related page
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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.
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2-52
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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]
To communicate with multiple drivers through RS232 and RS485
By connecting the host (PC and host controller) and one driver via RS232 and connect-
ing other drivers via RS485 each other, you can connect multiple drivers.
Note <RXFDQFRQQHFWXSWRGULYHUVZLWKWKHKRVW
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To communicate with multiple drivers only through RS485
Communications between the host (PC or controller) and multiple drivers can be made
through RS485.
Note <RXFDQFRQQHFWXSWRGULYHUVZLWKWKHKRVW
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Connector X2 Connector
Shut off both powers of
the PC andthe driver
before inserting/pulling
out the connector.
Cable prepared
by the user
RS485RS485
RS232
Host controller
(PC controller)
Connector X2 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.
Set the axis number (Pr5.31) of driver to be
connected to the host through RS232 to 0.
4. Wiring to the connector, X2
Connecting host computer
RS485RS485
RS232
Host controller
(PC controller)
Connector X2 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.
Remarks
Note
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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.
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2-53
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal
times.
When controlling the safety function from the connected host controller, accessory con-
QHFWRUFDQQRWEHXVHG3UHSDUHDQGZLUHWKHFRQQHFWRURSWLRQDVVSHFLÀHGEHORZ
Since the standard connector cannot be used when controlling the safety function from
the host controller, purchase the optional connector and make connection as shown be-
low.
Application Symbol Connector
Pin No. Contents
NC
–1
Do not connect.
–2
Safety input 1
SF1ï3
These are two independent circuits that
turn off the operation signal to the power
module to shut off the motor current.
SF1+ 4
Safety input 2
SF2ï5
SF2+ 6
EDM output
EDMï7This is an output for monitoring the failure
of the safety function.
EDM+ 8
Frame ground FG Shell Connected with protective earth terminal in
the servo driver.
Connector (plug): 2013595-1 (optional, available from Tyco Electronics)
8642
7531
[Connector pin assignment]
(Viewed from cable)
2
Preparation
5. Wiring to the connector, X3
Safety function connector
Remarks
Caution
Note
Related page
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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.
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2-54
Tips on wiring
Controller
3m
or shorter
30cm or longer
Power
supply
Motor
COM+
GND
1
Connector X4
COM–
FG
VDC
2
Peripheral apparatus such as host controller should be located
within3m.
Separate the main circuit at least 30cm away.
Don't pass them in the same duct, nor bind them together.
Power supply for control signals (VCC) between COM+ and
COM– (VDC) should be prepared by customer.
Use shield twisted pair for the wiring of command pulse input
and encoder signal output.
Don't apply more than 24V to the control signal output
terminals, nor run 50mA or more to them.
When the relay is directly driven by the control output signals,
install a diode in parallel with a relay, and in the direction as
the Fig. shows. The driver might be damaged without a diode
installment, or by reverse direction.
Frame ground (FG) and the shell of connector is connected to
the earth terminal inside of the driver.
Related page
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and outputs on connector X4”.
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Connector at
driver side
Connecter to be prepared by customer Manufacturer
Part name Part No.
52986-5079
equivalent
Connecter (soldering type) 54306-5019
equivalent Molex Inc.
Connector cover 54331-0501
equivalent
or
10250-52A2**
equivalent
Connecter (soldering type) 10150-3000PE
equivalent Sumitomo 3M
Connector cover 10350-52A0-008
equivalent
Note
Remarks
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0.3 to 0.35Nm. Larger tightening torque than these may damage the connector at the
driver side.
2
Preparation
6. Wiring to the connector, X4
Connection to Host Controller
Remarks
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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.
2-55
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Provide a power supply for the external scale on your part or use the following power out-
put (250mA or less).
Application Symbol Connector
Pin No. Contents
Power supply
output
EX5V 1 Supply the power of external scale or A, B,
Z phase encoder.
EX0V 2 Connected to ground of control circuit.
I/F of external
scale signals
EXPS 3 Serial signal
The transmission / reception method.
/EXPS 4
A, B, Z phase
Endoder signal
input
EXA 5
Parallel signal
reception
Correspondence speed :
4Mpps (after quadruple)
/EXA 6
EXB 7
/EXB 8
EXZ 9
/EXZ 10
Frame ground FG Shell Connected with protective earth terminal in
the servo driver.
Connector (plug) sirial external signal: MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)
1357
2468
9
10
PS EXA
EXA
E0V
EXZ
EXZ
EXB
EXB
PS
E5V
(Viewed from cable)
Caution
1) The manufacturers applicable external scales for this product are as follows.
Mitutoyo Corp.
Magnescale Co., Ltd.
For the details of the external scale product, contact each company.
2) 5HFRPPHQGHGH[WHUQDOVFDOHUDWLRLV([WHUQDOVFDOHUDWLR
If you set up the external scale ratio to smaller value than 50/position loop gain (Pr1.00
and Pr.1.05), you may not be able to control per 1 pulse unit, even if within the range
as described above. Setup of larger scale ratio may result in larger noise.
2
Preparation
7. Wiring to the connector, X5
Connect on to External Scale
Remarks
Note
Related page
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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.
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2-56
Wiring Diagram of X5
External scale side
External scale unit
Detection head
Junction cable Servo driver
EX5V
EX0V
EXPS
EXPS
EXA
EXA
EXB
EXB
EXZ
EXZ
EX5V
EX0V
EXPS
EXPS
EXA
EXA
EXB
EXB
EXZ
EXZ
FG
Connector X5
1
2
+5V
0V
3
4
5
6
7
8
9
10
Regulator
Shell of X5 (FG)
MUF-PK10-X
(J.S.T. Mfg. Co., Ltd.)
Twisted pair
7. Wiring to the connector, X5
Connect on to Feedback Scale
How to Wiring
Wire the signals from the external scale to the external scale connector, X5.
1) Cable for the external scale to be the twisted pair with bundle shielding and to hav-
ing the twisted core wire with diameter of 0.18mm2.
2) Cable length to be max. 20m. Double wiring for 5V power supply is recommended
when the wiring length is long to reduce the voltage drop effect.
&RQQHFWWKHRXWHUÀOP RIWKH VKLHOGZLUH RIWKHH[WHUQDOVFDOHWRWKHVKLHOGRIWKH
MXQFWLRQFDEOH$OVRFRQQHFWWKHRXWHUÀOPRIWKHVKLHOGZLUHWRWKHVKHOO)*RIFRQ-
nector X5 of the driver without fail.
4) Separate the wiring to X7 from the power line (L1, L2, L3, B1, B2, B3, U, V. W, )
as much as possible (30cm or more). Do not pass these wires in the same duct, nor
bundle together.
5) Do not connect anything to the vacant pins of X5.
6) The maximum power available from the connector X5 is 250 mA at 5 V ±5%. If you
use an external scale requiring more power, you should provide the suitable power
source by yourself. Some external scales need longer initialization period after
SRZHUXS<RXUGHVLJQVKRXOGPHHWWKLVRSHUDWLRQWLPLQJDIWHUSRZHUXS
7) When driving the external scale from an external power supply, keep the EX5V
pin open circuit so that it does not receive any external voltage. Connect the
GND circuit (0 V) to EX0V (connector X5, pin 2) of the driver to eliminate potential
difference.
Input circuit
(;$(;%(;=LQSXWFLUFXLW
EXA, EXB, EXZ
EXA, EXB, EXZ
20kї
2kї
2kї20kї
120ї
PULS
Remarks
Note
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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\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;
2-57
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Tips on Wiring
Motor Encoder 30cm or more
20m max.
Maximum cable length between the driver and the motor to be
20m. Consult with a dealer or distributor if you want to use the
longer cable than 20m. (Refer to the back cover.)
Keep this wiring away from the main circuit by 30 cm or more.
Don't guide this wiring through the same duct with the main,
nor bind them together.
The voltage of input power to encoder side connector should
be in the range 4.90–5.25 VDC.
When you make your own encoder junction cable (for
connectors, refer to P.7-111, "Options (Connector Kit for Motor
and Encoder connection)" of Supplement.
1) Refer to the Wiring Diagram below.
2) Cable to be : Shielded twisted pair cable with core diameter
of 0.18mm2 or larger (AWG24), and with higher bending
resistance.
3) Use twisted pair cable for corresponding signal/power
wiring.
4) Shielding treatment
6KLHOG ZDOO RI WKH GULYHU VLGH  ,W VROGHUV WKH VKHOO RI
Connector X6.
6KLHOGZDOORIWKHPRWRUVLGH
manufactured by JAE
Small type motor (50W to 750W): connect to 6-pins
Large type motor (0.9W to 15.0kW): connect to 9-pins
5) Connect nothing to the empty terminals of each connector.
Power
supply
Encoder
junction cable
Encoder side
connector
Driver side
Connector X6
E5V
E0V
PS
PS
PS
PS
FG
E5V
E0V
2
Preparation
8. Wiring to the connector, X6
Connection to Encoder
Remarks
Related page
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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.
3´&RQQHFWRU.LWIRU(QFRGHUµ
2-58
Wiring Diagram
,QFDVHRIELWLQFUHPHQWDOHQFRGHU
Shell (FG)
+5V
0V
1
2
3
4
5
6
4
1
3
7
Twisted pair
Encoder cable
Cable connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.)
Motor Driver
E5V
E0V
PS
PS
9
PS
PS
FG
E5V
E0V
X6
Regulator Regulator Regulator
Shell (FG)
+5V
0V
1
2
3
4
5
6
6
3
7
4
Twisted pair
Encoder cable
Cable connector: JN6FR07SM1
(by Japan Aviation Electronics Ind.)
Motor Driver
E5V
E0V
PS
PS
1
PS
PS
FG
E5V
E0V
X6
Connector pin
[
assignment
]
25
1
36
47
(Viewed from cable)
MSME 50W to 750W
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Nm. To avoid damage, be sure to use only the screw supplied with the connector.
'RQRWUHPRYHWKHJDVNHWVXSSOLHGZLWKWKHMXQFWLRQFDEOHFRQQHFWRU6HFXUHO\LQVWDOOWKH
JDVNHWLQSODFH2WKHUZLVHWKHGHJUHHRISURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
MSMD 50W to 750W MHMD 200W to 750W
Motor Driver
＋5V
0V
X6
Shell (FG)
Motor
1
2
3
4
5
6
4
5
2
3
6
Twisted pair
Encoder cable
172160-1
(Tyco Electronics)
%ODFN
Purple
White
Light blue
E5V
E0V
E5V
E0V
PS
PS
FG
PS PS
Caution
2QO\WKHW\SHRIRQO\IRUSRVLWLRQFRQWURO
Caution
MSME 750W (400V), 1.0kW to 5.0kW
MFME 1.5kW to 4.5kW MGME 0.9kW to 6.0kW
MDME 400W to 15.0kW
MHME 1.0kW to 7.5kW
8. Wiring to the connector, X6
Connection to Encoder
Remarks
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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.
2-59
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
In case of 17-bit absolute encoder
Shell (FG)
+5V
0V
1
2
3
4
5
6
4
1
3
7
Twisted pair
Encoder cable
Cable connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.)
Motor Driver
E5V
E0V
PS
PS
9
PS
5
BATï
6
BAT+
PS
FG
E5V
E0V
X6
Shell (FG)
+5V
0V
1
2
3
4
5
6
6
3
7
2
5
4
Twisted pair
Encoder cable
Cable connector: JN6FR07SM1
(by Japan Aviation Electronics Ind.)
Motor Driver
E5V
E0V
PS
PS
1
PS
BATï
BAT+
PS
FG
E5V
E0V
X6
battery
battery
Regulator Regulator
Connector pin
[
assignment
]
25
1
36
47
(Viewed from cable)
MSME 50W to 750W
7LJKWHQWKHPRWRUFRQQHFWRUPRXQWLQJVFUHZ0ZLWKDWRUTXHEHWZHHQDQG
Nm. To avoid damage, be sure to use only the screw supplied with the connector.
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JDVNHWLQSODFH2WKHUZLVHWKHGHJUHHRISURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
Caution
&RQQHFWWKHEDWWHU\IRUDEVROXWHHQFRGHUDFURVV3DQG3RIWKHMXQFWLRQFRQQHFWRUWKH
figure above).
$EDWWHU\KROGHUDQGDEDWWHU\FRQQHFWLRQFDEOHVKRXOGEHWKHRSWLRQFDEOHRUSUHSDUHGE\
the user.
Remarks
&RQQHFWWKHEDWWHU\IRUDEVROXWHHQFRGHUDFURVV3DQG3RIWKHMXQFWLRQFRQQHFWRUWKH
figure above).
$EDWWHU\KROGHUDQGDEDWWHU\FRQQHFWLRQFDEOHVKRXOGEHWKHRSWLRQFDEOHRUSUHSDUHGE\
the user.
Remarks
MSME 750W (400V), 1.0kW to 5.0kW
MFME 1.5kW to 4.5kW MGME 0.9kW to 6.0kW
MDME 400W to 15.0kW
MHME 1.0kW to 7.5kW
8. Wiring to the connector, X6
Connection to Encoder
Remarks
;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW7RFRQQHFWWKHVHWHUPLQDOVWRWKHSULPDU\SRZHU
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.
2-60
The connector X7 of the front panel is for monitor output.
Analogue output : 2 systems
Digital output : 1 systems
In both cases, it is possible to switch the output signal by setting parameters.
Connector X7
Manufacturer’s part No.: 530140610
Manufacturer: Japan Molex Inc.
61
X7
Measuring
instrument
Output circuit
1
Nї
Nї
AM1
DM 4
GND 3
Nї AM2 2
Application Symbol Connector
Pin No. Contents
Analogue monitor
output 1 AM1 1 2XWSXWWKHDQDORJXHVLJQDOIRUPRQLWRU
7KHDPSOLWXGHRIWKHRXWSXWVLJQDOLV9
2XWSXWLPSHGDQFHLVN::KHQ
connecting a measuring instrument, check
its input circuit for impedance matching.
Analogue monitor
output 2 AM2 2
Signal ground GND 3 Connected to ground of control circuit.
Digital monitor
output *1 DM 4
2XWSXWWKHGLJLWDOVLJQDOIRUPRQLtor.
2XWSXWYROWDJHLV&026OHYHOFRPSDWLEOH
2XWSXWLPSHGDQFHLVN::KHQ
connecting a measuring instrument, check
its input circuit for impedance matching.
NC – 5 Do not connect.
NC – 6 Do not connect.
*1 Position, Velocity, torque, Full closed type.
NC on Only for position control type. Leave this pin unconnected.
3DUDPHWHUUHUDWHGWRPRQLWRURXWSXW
Parametr No.
Title
Function
Class No.
416
Type of analog
monitor 1 Select the type of monitor for analog monitor 1.
417
Analog monitor 1
output gain Set up the output gain of analog monitor 1.
418
Type of analog
monitor 2 Select the type of monitor for analog monitor 2.
419
Analog monitor 2
output gain Set up the output gain of analog monitor 2.
420
Type of digital
monitor Select type of the digital monitor.
421
Analog monitor
output setup Select output format of the analog monitor.
*1 Position, Velocity, torque, Full closed type.
Only for position control type is not provided with this function.
2
Preparation
9. Wiring to the connector, X7
Monitor output
Remarks
Related page
;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW7RFRQQHFWWKHVHWHUPLQDOVWRWKHSULPDU\SRZHU
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.
3´'HWDLOVRISDUDPHWHUµ3´&RQQHFWRU.LWIRU$QDORJ0RQLWRU6LJQDOµ
2-61
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Servo-on signal accept timing on power-up
Caution
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$FWLYDWHWKHH[WHUQDOFRPPDQGLQSXWDFFRUGLQJWRWKHDERYHWLPLQJFKDUW
*1. In this term Servo-ON input (SRV-ON) turns ON as a hard ware, but operation com-
mand can not be received.
65'<RXWSXWZLOOWXUQRQZKHQERWKFRQGLWLRQVDUHPHWLQLWLDOL]DWLRQRIPLFURFRP-
puter has been completed and the main power has been turned on.
*3. After Internal control power supply , protective functions are active from approx. 1.5
sec after the start of initializing microcomputer. Please set the signals, especially for
protective function, for example over-travel inhibit input (POT, NOT) or external scale
input, so as to decide their logic until this term.
The lapse time can be changed with Pr6.18 Wait time after power-up.
Servo-Ready output
(S-RDY)
Servo-ON input
(SRV-ON)
External brake
release output
(BRK-OFF)
output Tr OFF output Tr ON
input coupler ONinput coupler OFF
Control
power supply
(L1C,L2C)
Internal control
power supply
Action of
driver CPU
Main
power supply
(L1,L2,L3)
Dynamic
brake
Motor
energization
Position/Speed/
Torque command
10ms or longer
*2
10ms or longer
*2
OFF
OFF
ON
reset
(initialization)
usually operation
OFF ON
output Tr OFF (brake engaged) ON
(brake released)
releasedengaged
not-energized energized
No command entry Command
entry
100ms or longer
*1
approx.2s
approx.100 to 300 ms
approx.1.5s
established
approx.60ms
approx.2ms
approx.4ms
0ms or longer
0s or longer
*3
2
Preparation
10. Timing Chart
Timing on power-up
Related page
3´'HWDLOVRISDUDPHWHUµ
2-62
When an Error (Alarm) Has Occurred (at Servo-ON Command)
When an Alarm Has Been Cleared (at Servo-ON Command)
Caution
*1. t1 will be a shorter time of either the setup value of Pr4.38[Mechanical brake action at
running setup] or elapsing time for the motor speed to fall below Pr4.39[Brake release
speed setup].
t1 will be 0 when the motor is in stall regardless of the setup pf Pr4.37.
*2. When an alarm is generated, the dynamic brake operates according to Pr5.10 Se-
quence at alarm.
normal
released
energized
output Tr ON
(not Alarm)
alarm
engaged *2
non-energized
output Tr OFF (not ready)
output Tr OFF (Alarm)
0.5 to 5 ms
t1 *1 output Tr OFF (Break engage)
engaged (OFF)
output Tr ON
(Break release)
Setup value of Pr4.39
output Tr ON
(Break release)
motor speed
motor speed t1 *1
Setup value of Pr4.38
Alarm
Dynamic brake
Motor energization
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
when time to fall
below value of
Pr4.39 is shorter,
output Tr ON
(ready)
value of Pr4.38
Setup value of Pr4.39
when setup
value of Pr4.38
is shorter,
approx.60ms
approx.2ms
120ms or longer *1
input coupler ON
input coupler
OFF
input coupler
OFF
engaged released
energizednot-energized
output Tr OFF
(Break engage) output Tr ON
(Break release)
output Tr ON
(ready)
output Tr OFF
(alarm) output Tr ON
(not alarm)
no input entry
input enabled
100ms or longer
approx.4ms
Dynamic brake
Motor energization
External brake
release output
(BRK-OFF)
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
Alarm-clear input
(A-CLR)
Position/Speed/
Torque command
output Tr OFF
(not ready)
Caution
*1. The alarm clear input recognition time can be changed in Pr5.16 Alarm clear input setup.
2
Preparation
10. Timing Chart
Alarm
2-63
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)
Remarks
To turn on/off the servo during normal operation, first stop the motor.
Caution
*1 t1 depends on the setup value of Pr4.37 Setup of mechanical brake action at stalling.
*2 The operation of dynamic brake during servo off depends on the setup value of
Pr5.06 Sequence at servo off.
*3. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
Dynamic brake
Motor energization
External brake
release output
(BRK-OFF)
Servo-ON input
(SRV-ON)
approx.60ms
approx.2ms
approx.4ms
1 to 6ms
t1 *1
output Tr ON
(Break release)
input coupler
OFF
not-energized
input coupler ON
released
energized
output Tr OFF
(Break engage)
input coupler
OFF
engaged *2engaged *3
not-energized
output Tr OFF
(Break engage)
2
Preparation
10. Timing Chart
Servo-Lock
Related page
3´'HWDLOVRI3DUDPHWHUµ
2-64
input coupler
OFF
input coupler
OFF
input coupler ON
engaged *3 released
not-energized
engaged *3
*4
not-energized *5energized
Output Tr OFF Output Tr.ON
engaged (OFF)released (ON)
No servo-ON until the motor speed
falls below approx. 30r/min.
1 to 5ms
approx.60ms
Setup value of
Pr4.38
Setup value of
Pr4.38
when setup
value of Pr4.38
is shorter
approx.4ms
approx.30r/min
Dynamic brake
Motor energization
Motor rotational
speed
Motor rotational speed
servo validated
External brake
release output
(BRK-OFF)
Servo-ON input
(SRV-ON)
when time to fall
below value of
Pr4.39 is shorter
Motor rotational
speed
Setup value of
Pr4.39
Motor rotational
speed
Setup value of
Pr4.39
at Servo-ON at Servo-OFF
t1 *1
t1 *1
Output Tr OFF
Servo-ON/OFF Action While the Motor Is in Motion
Remarks
7LPLQJDWHPHUJHQF\VWRSRUWULS'RQRWUHSHDWWKLVVHTXHQFH
Caution
*1. t1 will be a shorter time of either the setup value of Pr4.38 “Mechanical brake action
at running setup” or elapsing time for the motor speed to fall below Pr4.39 “Brake re-
lease speed setup”.
*2. Even though the SRV-ON signal is turned on again during the motor deceleration,
Servo-ON will not be activated until the motor stops.
*3. For the action of dynamic brake at alarm occurrence, refer to an explanation of
Pr5.06, “Sequence at Servo-OFF” as well.
*4. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
*5. For the motor energization during deceleration at Servo-OFF depends on the setup value
of Pr.5.08, “Sequence at Servo-OFF”.
Related page
3´'\QDPLFEUDNHµ
2
Preparation
10. Timing Chart
Servo-ON/OFF
2-65
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2
Preparation
11. Built-in Holding Brake
Outline
In the applications where the motor drives the vertical axis, this brake would be used to
hold and prevent the work (moving load) from falling by gravity while the power to the
servo is shut off.
Caution
Use this built-in brake for "Holding" purpose only, that is to hold
the stalling status. Never use this for "Brake" purpose to stop the
load in motion.
Connecting Example
The following shows the example when the brake is controlled by using the brake release
output signal (BRK-OFF) of the driver.
Note
Caution
1. The brake coil has no polarity.
2. Power supply for the brake to be provided by customer. Do not co-use the power sup-
ply for the brake and for the control signals (VDC).
3. Install a surge absorber as the above Fig. shows to suppress surge voltage gener-
DWHGE\212))DFWLRQRIWKHUHOD\5<:KHQ\RXXVHDGLRGHQRWHWKDWWKHWLPH
from the brake release to brake engagement is slower than that of the case of using a
surge absorber.
4. For a surge absorber, refer to P.7-124, "Recommended Components" of Supplement.
5HFRPPHQGHGFRPSRQHQWVDUHVSHFLÀHGWRPHDVXUHWKHEUDNHUHOHDVLQJWLPH
Reactance of the cable varies depending on the cable length, and it might generate
surge voltage.
Select a surge absorber so that relay coil voltage (max. rating : 30V, 50mA) and termi-
nal voltage may not exceed the rating.
Output Timing of BRK-OFF Signal
Note
)RUWKHEUDNHUHOHDVHWLPLQJDWSRZHURQRUEUDNLQJWLPLQJDW6HUYR2))6HUYR$ODUP
while the motor is in motion, refer to P.2-61, "Timing Chart".
:LWK WKH SDUDPHWHU 3U 6HWXS RI PHFKDQLFDO EUDNH DFWLRQ ZKLOH WKH PRWRU LV LQ
motion), you can set up a time between when the motor enters to a free-run from en-
ergized status and when BRK-OFF signal turns off (brake will be engaged), when the
Servo-OFF or alarm occurs while the motor is in motion.
1. The lining sound of the brake (chattering and etc.) might be generated while running
the motor with built-in brake, however this does not affect any functionality.
0DJQHWLFÁX[PLJKWEHJHQHUDWHGWKURXJKWKHPRWRUVKDIWZKLOHWKHEUDNHFRLOLVHQHU-
gized (brake is open). Pay an extra attention when magnetic sensors are used nearby
the motor.
Driver
Surge
absorber
Relays to be shut off
at emergency stop
Motor
Brake coil
BRK-OFF+
11
10
41
RY
BRK-OFF–
VDC
RY
12 to 24V
Power supply
for brake
DC24V
COM–
Connector X4
Fuse
(10A)
2-66
Motor
series
Motor
output
Static
friction
WRUTXH
N·m
Rotor
inertia
x 10–4 kg·m2
Engaging
time
ms
Releasing
time
ms
Exciting
current
DC A
(at cool-off)
Releasing
voltage
Permissible
work (J) per
one braking
Permissible
total work
x 10
3
J
Permissible
angular
acceleration
rad/s
2
MSMD
50W, 100W 0.29 or less 0.002 35 or less 20 or less 0.3
DC1V
or more
39.2 4.9
30000200W, 400W 1.27 or less 0.018 50 or less 15 or less 0.36 137 44.1
750W 2.45 or less 0.075 70 or less 20 or less 0.42 196 147
MSME
50W, 100W 0.29 or less 0.002 35 or less 20 or less 0.3
DC1V
or more
39.2 4.9
30000200W, 400W 1.27 or less 0.018 50 or less 15 or less 0.36 137 44.1
750W(200V) 2.45 or less 0.075 70 or less 20 or less 0.42 196 147
750W(400V) 2.5 or less
0.33 50 or less
15 or less 0.7
DC2V
or more
392 490
10000
1.0kW, 1.5kW,
2.0kW 7.8 or less 15 or less
（100）0.81
3.0kW 11.8 or less 80 or less
4.0kW, 5.0kW 16.2 or less 1.35 110 or less 50 or less
（130）0.9 1470 2200
MDME
400W, 600W 2.5 or less
1.35
50 or less 15 or less 0.70
DC2V
or more
392 490
10000
1.0kW 4.9 or less 80 or less 70 or less
（200）0.59 588 780
1.5kW, 2.0kW 13.7 or less 100 or less 50 or less
（130）
0.79 1176 1500
3.0kW 16.2 or less 110 or less 0.9 1470 2200
4.0kW, 5.0kW 24.5 or less 4.7 80 or less 25 or less
（200）1.3 1372 2900 5440
7.5kW 58.8 or less 150 or less 50 or less 1.4 5000
11kW, 15kW 100 or less 7.1 300 or less 140 or less 1.08 2000 4000 3000
MFME
1.5kW 7.8 or less 4.7 80 or less 35 or less 0.83
DC2V
or more
1372 2900
100002.5kW 21.6 or less 8.75 150 or less 100 or less 0.75 1470 1500
4.5kW 31.4 or less 2200
MGME
0.9kW 13.7 or less 1.35 100 or less 50 or less
（130）0.79
DC2V
or more
1176 1500 10000
2.0kW 24.5 or less
4.7
80 or less 25 or less
（200）1.3
1372 2900 5440
3.0kW 58.8 or less 150 or less
50 or less
（130）1.4
4.5kW, 6.0kW 50 or less 5000
MHMD 200W, 400W 1.27 or less 0.018 50 or less 15 or less 0.36 DC1V
or more
137 44.1 30000
750W 2.45 or less 0.075 70 or less 20 or less 0.42 196 147
MHME
1.0kW 4.9 or less
1.35
80 or less 70 or less
（200）0.59
DC2V
or more
588 780
10000
1.5kW 13.7 or less 100 or less 50 or less
（130）0.79 1176 1500
2.0kW to
5.0kW 24.5 or less 4.7 80 or less 25 or less
（200）1.3 1372 2900 5440
7.5kW 58.8 or less 150 or less 50 or less 1.4 5000
([FLWDWLRQYROWDJHLV'&9
5HOHDVLQJWLPHYDOXHVUHSUHVHQWWKHRQHVZLWK'&FXWRIIXVLQJDYDULVWRU
Values in ( ) represent those measured by using a diode (V03C by Hitachi, Ltd.)
$ERYHYDOXHVH[FHSWVWDWLFIULFWLRQWRUTXHUHOHDVLQJYROWDJHDQGH[FLWDWLRQFXUUHQWUHSUHVHQWW\SLFDO
values.
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6HUYLFHOLIHRIWKHQXPEHURIDFFHOHUDWLRQGHFHOHUDWLRQZLWKWKHDERYHSHUPLVVLEOHDQJXODUDFFHOHUD-
WLRQLVPRUHWKDQPLOOLRQWLPHV/LIHHQGLVGHÀQHGDVZKHQWKHEUDNHEDFNODVKGUDVWLFDOO\FKDQJ-
es.)
2
Preparation
11. Built-in Holding Brake
Specifications
2-67
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Caution
This driver (A to G-frame) is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.
The H-frame driver does not incorporate the dynamic brake.
1. Dynamic brake is only for emergency stop.
Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Otherwise it may damage the dynamic brake circuit of the driver.
The Motor becomes a dynamo when driven externally and short circuit cur-
UHQWRFFXUUHGZKLOHG\QDPLFEUDNHLVDFWLYDWHGPD\FDXVHVPRNLQJRUÀUH
2.
Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow ap-
prox. 10 minutes pause when the dynamic brake is activated during high-speed running.
(F-frame(200V), G-frame(200V/400V) built-in dynamic brake resistor is capable of
handling up to 3 continuous halts at the rated revolutions with max. permissible inertia.
When overheated under more critical operating conditions, the brake will blow out and
should be replaced with a new one.)
<RXFDQDFWLYDWHWKHG\QDPLFEUDNHLQWKHIROORZLQJFDVHV
1) When the main power is turned off
2) At Servo-OFF
3) When one of the protective function is activated.
4) When over-travel inhibit input (NOT, POT) of connector X4 is activated
In the above cases from 1) to 4), you can select either activation of the dynamic brake
or making the motor free-run during deceleration or after the stop, with parameter.
Note that when the control power is off, for A to F-frame driver, the dynamic brake will
be kept actived, and for G and H-frame driver, the dynamic brake will be kept released.
 ,IWKHEXLOWLQG\QDPLFEUDNHUHVLVWRURIWKH*IUDPHGULYHULVLQVXIÀFLHQWH[WHU-
nal dynamic brake resistors can be connected.
 )RUWKH+IUDPHGULYHUH[WHUQDOG\QDPLFEUDNHUHVLVWRUVFDQEHFRQQHFWHG
Connections of the external dynamic brake resistors are the same as those of
the G-frame driver. (The DB3 and DB4 terminals are not provided.)
 8VHWKHIROORZLQJUHVLVWRUVDVWKHH[WHUQDOG\QDPLFEUDNHUHVLVWRUV7REHSUH-
pared by user)
Driver
Resistance specifications per piece
Quantity of use
Frame Voltage Resistance Electric power
G, H 200V ї 400W 3 pcs.
G, H 400V ї 400W 3 pcs.
Dynamic Brake Characteristics (e.g. Motor MDME 15kW 200V)
0 500 1000 1500 2000
Motor speed (r/min)
Brake torque (N・m)
Resistor 1.2ї
Resistor 2.4ї
0
10
20
30
40
50
60
70
80
2
Preparation
12. Dynamic Brake
Outline
Related page
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
3´'HWDLOVRI3DUDPHWHUµ
3´3URWHFWLYH)XQFWLRQµ
2-68
2
Preparation
12. Dynamic Brake
Connections of external dynamic brake resistor (Example)
G-frame, 200 V
Remarks
Magnetic Contactor (MC)
Turns on/off the dynamic brake resistor.
Use coil surge suppression units together with
this.
6KRXOGEHWKHVDPHUDWLQJDVWKDWRIWKH
magnetic contactor for main circuit.
3URYLGHDQDX[LOLDU\FRQWDFW(*1) as protection
means so that servo ON will not occur in
the external sequence even if the contact
deposits.
Dynamic Brake Resistor (to be supplied by customer)
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU
install an external protective apparatus, such as
thermal fuse without fail.
0RXQWWKHG\QDPLFEUDNHUHVLVWRUon incombustible
material such as metal.
Do not use an external dynamic brake resistor
together with the built-in resistor.

Provide one dynamic brake resistor for each phase.

:KHQXVLQJDQH[WHUQDOG\QDPLFEUDNHEHVXUHWRXVHWKH
resistor.
Do not make short circuit.
Remarks
Remarks
U-phase
V-phase
:SKDVH
Terminals DB1, DB2, DB3 and DB4
7RFRQQHFWDQH[WHUQDOG\QDPLFEUDNH
UHVLVWRUGLVFRQQHFWWKHVKRUWLQJEDU
between DB3 and DB4.
&RQQHFWDPDJQHWLFFRQWDFWRUIRU
FRQWUROIRUWKHH[WHUQDOG\QDPLFEUDNH
EHWZHHQ/&DQG'%
3URYLGHDQH[WHUQDOSURWHFWLYHGHYLFH
(e.g. thermal fuse) between DB2 and
/&
7KHYROWDJHDSSOLHGDFURVV'%DQG
DB2 must be 300 VAC or below or
100 VDC or below.
Pin NC
'RQRWFRQQHFWDQ\WKLQJ
L3
L2
L1
/&
/&
9'&SRZHUVXSSO\
for brake
(to be supplied by
customer)
Thermal fuse
(one fuse for each resistor)
(to be supplied by customer)
Disconnect the
shorting bar
(between DB3
and DB4).
ワヤ
ワヤ
ワヤ
ロビヤ
ロヒヤ
ワヤ
ワヤ
ワヤ
ュャピ
ュャビ
ュャヒ
ュャフ
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
L1
L2
L3
B1
B2
NC
U
V
W
0DLQV
Residual
FXUUHQWGHYLFH
$X[LOLDU\FRQWDFW
2-69
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
G-frame, 400 V
12. Dynamic Brake
Connections of external dynamic brake resistor (Example)
ワヤ
ワヤ
ワヤ
パヷ
ビフヷ
ワヤ
ワヤ
ワヤ
ュャピ
ュャビ
ュャヒ
ュャフ
L1
L2
L3
B1
B2
NC
U
V
W
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
フパパヷ
L3
L2
L1
L1C
Neutral point
U-phase
V-phase
W-phase
0V
24V
24 VDC power supply
for control
(to be supplied by customer)
* Use a power
supply with
5 A or larger
capacity.
Terminals DB1, DB2, DB3 and DB4
7RFRQQHFWDQH[WHUQDOG\QDPLFEUDNH
resistor, disconnect the shorting bar
between DB3 and DB4.
&RQQHFWDPDJQHWLFFRQWDFWRUIRU
FRQWUROIRUWKHH[WHUQDOG\QDPLFEUDNH
between L1C and DB1.
3URYLGHDQH[WHUQDOSURWHFWLYHGHYLFH
HJWKHUPDOIXVHEHWZHHQ'%DQG
the neutral point.
7KHYROWDJHDSSOLHGDFURVV'%DQG
DB2 must be 300 VAC or below or
100 VDC or below.
/&LVFRQQHFWHGDIWHUWKH5SKDVHRI
WKHQRLVHILOWHU
/&LVQRWLQGLFDWHGRQWKHGULYHUERG\
Pin NC
'RQRWFRQQHFWDQ\WKLQJ
24 VDC power supply
IRUEUDNH
(to be supplied by
customer)
7KHUPDOIXVH
RQHIXVHIRUHDFKUHVLVWRU
(to be supplied by customer)
Disconnect the
shorting bar
(between DB3
and DB4).
0DJQHWLF&RQWDFWRU0&
7XUQVRQRIIWKHG\QDPLFEUDNHUHVLVWRU
Use coil surge suppression units together with
this.
6KRXOGEHWKHVDPHUDWLQJDVWKDWRIWKH
PDJQHWLFFRQWDFWRUIRUPDLQFLUFXLW
3URYLGHDQDX[LOLDU\FRQWDFW(*1) as protection
PHDQVVRWKDWVHUYR21ZLOOQRWRFFXULQ
WKHH[WHUQDOVHTXHQFHHYHQLIWKHFRQWDFW
deposits.
Dynamic Brake Resistor (to be supplied by customer)
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDV
WKHUPDOIXVHZLWKRXWIDLO
0RXQWWKHG\QDPLFEUDNHUHVLVWRUon incombustible
PDWHULDOVXFKDVPHWDO
'RQRWXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU
WRJHWKHUZLWKWKHEXLOWLQUHVLVWRU
3URYLGHRQHG\QDPLFEUDNHUHVLVWRUIRUHDFKSKDVH

:KHQXVLQJDQH[WHUQDOG\QDPLFEUDNHEHVXUHWRXVHWKH
resistor.
 'RQRWPDNHVKRUWFLUFXLW
0DLQV
5HVLGXDO
FXUUHQWGHYLFH
Remarks
Remarks
Remarks
Note
$X[LOLDU\FRQWDFW
2-70
Torque limit value at emergency stop will be that of Pr5.11 (Setup of torque at emergency stop)
when the setup value is 8 or 9.
Torque limit value at emergency stop will be that of Pr5.11 (Setup of torque at emergency stop)
when the setup value is 8 or 9.
D B
D B
Free-run
Free-run
D B
D B
Free-run
Free-run
D B
Free-run
Free-run
D B
D B
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Free-run
Free-run
Emergency stop
Clear
D B
Emergency stop
Clear
Free-run
D B
0
Setup value of Pr5.07
1
2
3
4
5
6
7
8
9
Sequence at main
power-off (Pr5.07)
Driving condition
During deceleration
After stalling
Contents of
deviation
counter
D B
D B
Free-run
Free-run
D B
D B
Free-run
Free-run
D B
Free-run
Free-run
D B
D B
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Free-run
Free-run
D B
0
Setup value of Pr5.06
1
2
3
4
5
6
7
Sequence at main
Servo-OFF (Pr5.06)
Contents of
deviation
counter
Driving condition
During deceleration
After stalling
Emergency stop
ClearD B
Emergency stop
Clear
Free-run
8
9
1)
Setup of driving condition from deceleration to after stop by main power-off (Pr5.07)
2)
Setup of driving condition from deceleration to after stop by Servo-OFF (Pr5.06)
2
Preparation
12. Dynamic Brake
Condition setting chart
2-71
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
When setup value is within the range 4 and 7, the protection function that supports
immediate stop acts according to operation A and the function that does not support
acts according to operation B.
During deceleration to stop, the main power supply must be maintained.
When the protection function acts, content of deviation counter is cleared as the alarm
is cleared.
Torque limit value during deceleration will be that of Pr5.11 (Setup of torque at emergency
stop) when the setup value is 2.
Changes will be validated after the control power is turned on.
DB Hold
Hold
0
Setup value of Pr5.05
1
2
Sequence at over-travel
inhibit input (Pr5.05)
Contents of
deviation
counter
Driving condition
During deceleration
After stalling
Emergency stop clear
Torque command to
inhibited direction is 0
Torque command to
inhibited direction is 0
Torque command to
inhibited direction is 0
Torque command to
inhibited direction is 0
D B
D B
Free-run
Free-run
D B
Free-run
Free-run
D B
Hold
Hold
Hold
Hold
0
Setup value of Pr5.10
1
2
3
4
5
6
7
Sequence at over-travel
inhibit input (Pr5.10)
Driving condition
During deceleration
After stalling
Contents of
deviation
counter
Hold
Hold
Hold
Hold
Engaged A: Emergency stop
Engaged B: DB
Engaged A: Emergency stop
Engaged B: Free-run
Engaged A: Emergency stop
Engaged B: DB
Engaged A: Emergency stop
Engaged B: Free-run
D B
Free-run
Free-run
D B
3)
Setup of driving condition from deceleration to after stop by activation of protective function (Pr5.10)
4)
Setup of driving condition from deceleration to after stop by validation of over-travel inhibit input (Pr5.05)
12. Dynamic Brake
Condition setting chart
2-72
Outline of Parameter
This driver is equipped with various parameters to set up its characteristics and functions.
This section describes the function and purpose of each parameter. Read and compre-
hend very well so that you can adjust this driver in optimum condition for your running
requirements.
Setup of Parameter
Note
<RXFDQUHIHUDQGVHWXSWKHSDUDPHWHUZLWKHLWKHURQHRIWKHIROORZLQJ
1) front panel of the driver
2) combination of the setup support software, "PANATERM" and PC.
How to control the front panel, refer to P.2-86.
Setup with the PC
Note
It is possible to connect your personal computer to connector X1 of MINAS A5 using a
USB cable for personal computer connection. Downloading the setup support software
“PANATERM” from our web site and installing it on your personal computer will allow you
to perform the following easily.
:LWKWKH3$1$7(50\RXFDQH[HFXWHWKHIROORZLQJV
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O, pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.
Because no production software such as CD-ROM is available, download the setup sup-
port software from our web site and install it on your personal computer.
+RZWR&RQQHFW
86%FDEOH
On the driver, use commercially available USB mini-B connector.
7KHFRQQHFWRURQWKHSHUVRQDOFRPSXWHUVLGHVKRXOGEHLQDFFRUGDQFHZLWKWKHVSHFLÀ-
cations of the PC.
:KHQWKHFDEOHGRHVQRWKDYHQRLVHÀOWHUDWWDFKDVLJQDOOLQHQRLVHÀOWHU'93
to both ends of the cable.
Connect to X1
(USB mini-B)
Setup support software “PANATERM”
Please download from our web site and
use after install to the PC.
2
Preparation
13.
Setup of Parameter and Mode
Outline / Setup / Connection
Related page
3´'HWDLOVRI3DUDPHWHUµ
3´6HWXSVXSSRUWVRIWZDUH>3$1$7(50@µ
2-73
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement

7KHSDUDPHWHU1RLVGLVSOD\HGLQWKHIRUPRI3U;<<;&ODVVLÀFDWLRQ<<1R
)RUWKHGHWDLOVRQWKHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Parametr No. Class name Group page
Class No.*
0 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 Verocity/ Torque/
Full-closed control
Parameter for Verocity/ Torque/ Full-closed
control P.2-77
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
* The Parameter No. consists of 2 digits.
,QWKLVGRFXPHQWIROORZLQJV\PEROVUHSUHVHQWHDFKPRGH
Symbol Control mode Setup value
of Pr0.01
P 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 *
* 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.
2
Preparation
13.
Setup of Parameter and Mode
Composition and List of Parameters
2-74
[Class 0] Basic setting
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
0 00 Rotational direction setup 0 to 1 1 ï○○○○○
4-4
0 01 Control mode setup 0 to 6 0 ï○○○○○
0 02 Real-time auto-gain tuning setup 0 to 6 1 ï○○○○
4-5
003
Selection of machine stiffness at real-
time auto-gain tuning 0 to 31 13 11 ï○○○○
0 04 Inertia ratio 0 to 10000 250 % ○○○○
4-6
0 05 Selection of command pulse input 0 to 1 0 ï○○○
006
Command pulse rotational direction
setup 0 to 1 0 ï○○○
4-7
0 07 Command pulse input mode setup 0 to 3 1 ï○○○
008
Command pulse counts per one
motor revolution 0 to 220 10000 pulse ○○○
4-8
0 09 1st numerator of electronic gear 0 to 230 0ï○○
0 10 Denominator of electronic gear 0 to 230 10000 ï○○
011
Output pulse counts per one motor
revolution
1 to 262144
2500 P/r ○○○○○ 4-9
0 12 Reversal of pulse output logic 0 to 3 0 ï○○○○○
4-11
0 13 1st torque limit 0 to 500 500*1%○○○○
0 14 Position deviation excess setup 0 to 227 100000 Command
unit ○○
0 15 Absolute encoder setup 0 to 2 1 ï○○○
0 16 External regenerative resistor setup 0 to 3 3 0 3 ï○○○○○
4-12
017
Load factor of external regenerative
resistor selection 0 to 4 0 ï○○○○○
'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
*
'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 “Torque limit setting”.
2
Preparation
13.
Setup of Parameter and Mode
List of Parameters
Note Parameter describes of this page is P.4-4 to P.4-12.
2-75
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
[Class 1] Gain adjustment
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
1 00 1st gain of position loop 0 to 30000 480 320 0.1/s*○○
4-13
1 01 1st gain of velocity loop 1 to 32767 270 180 0.1Hz*○○○○
102
1st time constant of velocity loop
integration 1 to 10000 210 310 0.1ms*○○○○
103VWÀOWHURIVSHHGGHWHFWLRQ 0 to 5 0 ï○○○○
104VWWLPHFRQVWDQWRIWRUTXHÀOWHU 0 to 2500 84 126 0.01ms ○○○○
1 05 2nd gain of position loop 0 to 30000 570 380 0.1/s*○○
4-14
1 06 2nd gain of velocity loop 1 to 32767 270 180 0.1Hz*○○○○
107
2nd time constant of velocity loop
integration 1 to 10000 10000 0.1ms*○○○○
108QGÀOWHURIVSHHGGHWHFWLRQ 0 to 5 0 ï○○○○
109QGWLPHFRQVWDQWRIWRUTXHÀOWHU 0 to 2500 84 126 0.01ms*○○○○
1 10 Velocity feed forward gain 0 to 1000 300 0.10%*○○
1119HORFLW\IHHGIRUZDUGÀOWHU 0 to 6400 50 0.01ms*○○
1 12 Torque feed forward gain 0 to 1000 0 0.10%*○○ ○
4-15
1137RUTXHIHHGIRUZDUGÀOWHU 0 to 6400 0 0.01ms*○○ ○
1 14 2nd gain setup 0 to 1 1 ï○○○○
1 15 Mode of position control switching 0 to 10 0 ï○○
4-16
116
Delay time of position control
switching 0 to 10000 50 0.1ms*○○
1 17 Level of position control switching 0 to 20000 50 ï○○
4-17
118
Hysteresis at position control
switching 0 to 20000 33 ï○○
1 19 Position gain switching time 0 to 10000 33 0.1ms*○○
1 20 Mode of velocity control switching 0 to 5 0 ï○
4-18
121
Delay time of velocity control
switching 0 to 10000 0 0.1ms*○
1 22 Level of velocity control switching 0 to 20000 0 ï○
123
Hysteresis at velocity control
switching 0 to 20000 0 ï○
1 24 Mode of torque control switching 0 to 3 0 ï○
4-19
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○
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power to the driver is turned off and then on again.
*
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13.
Setup of Parameter and Mode
List of Parameters
Caution
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.4-13 to P.4-19.
2-76
[Class 2] Damping control
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
200$GDSWLYHÀOWHUPRGHVHWXS 0 to 4 0 ï○○ ○
4-20
2 01 1st notch frequency 50 to 5000 5000 Hz ○○○○
2 02 1st notch width selection 0 to 20 2 ï○○○○
2 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○○○○
4-21
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○○○○
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○○○○
2136HOHFWLRQRIGDPSLQJÀOWHUVZLWFKLQJ 0 to 3 0 ï○○
4-22
2 14 1st damping frequency 0 to 2000 0 0.1Hz*○○
215VWGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz*○○
4-23
2 16 2nd damping frequency 0 to 2000 0 0.1Hz*○○
4-22
217QGGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz*○○
4-23
2 18 3rd damping frequency 0 to 2000 0 0.1Hz*○○
4-22
219UGGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz*○○
4-23
2 20 4th damping frequency 0 to 2000 0 0.1Hz*○○
4-22
221WKGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz*○○
4-23
2223RVLWLRQDOFRPPDQGVPRRWKLQJÀOWHU 0 to 10000 0 0.1ms*○○
2233RVLWLRQDOFRPPDQG),5ÀOWHU 0 to 10000 0 0.1ms*○○
4-24
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power to the driver is turned off and then on again.
*
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13.
Setup of Parameter and Mode
List of Parameters
Caution
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.4-20 to P.4-24.
2-77
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
>&ODVV@9HURFLW\7RUTXH)XOOFORVHGFRQWURO
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
300
Speed setup, Internal/External
switching 0 to 3 0 ï○
4-25
301
Speed command rotational direction
selection 0 to 1 0 ï○
302
Input gain of speed command 10 to 2000 500 (r/min)/
V○○
4-26
303
Reversal of speed command input 0 to 1 1 ï○
304
1st speed of speed setup
ïWR
0r/min ○
4-27
305
2nd speed of speed setup
ïWR
0r/min ○
306
3rd speed of speed setup
ïWR
0r/min ○
307
4th speed of speed setup
ïWR
0r/min ○
308
5th speed of speed setup
ïWR
0r/min ○
309
6th speed of speed setup
ïWR
0r/min ○
310
7th speed of speed setup
ïWR
0r/min ○
311
8th speed of speed setup
ïWR
0r/min ○
312
Acceleration time setup 0 to 10000 0 ms/
(1000r/min)
○
313
Deceleration time setup 0 to 10000 0 ms/
(1000r/min)
○
314
Sigmoid acceleration/ deceleration
time setup 0 to 1000 0 ms ○
4-28
315
Speed zero-clamp function selection 0 to 3 0 ï○○
316
Speed zero clamp level 10 to 20000 30 r/min ○○
317
Selection of torque command 0 to 2 0 ï○
4-29
318
Torque command direction selection 0 to 1 0 ï○
319
Input gain of torque command 10 to 100 30
0.1V/100%*
○
320
Input reversal of torque command 0 to 1 0 ï○
321
Speed limit value 1 0 to 20000 0 r/min ○
4-30322
Speed limit value 2 0 to 20000 0 r/min ○
323
External scale selection 0 to 2 0 ï○○
324
Numerator of external scale division 0 to 220 0ï○○
4-31
325
Denominator of external scale
division 1 to 220 10000 ï○○
326
Reversal of direction of external scale
0 to 1 0 ï○○
327
External scale Z phase disconnection
detection disable 0 to 1 0 ï○○
328
Hybrid deviation excess setup 1 to 227 16000 Command
unit ○○
4-32
329
Hybrid deviation clear setup 0 to 100 0
Revolution
○○
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power to the driver is turned off and then on again.
*
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13.
Setup of Parameter and Mode
List of Parameters
Caution
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.4-25 to P.4-32.
2-78
[Class 4] I/F monitor setting
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
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○○○○○
4-34
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 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 SO1 output selection Pin No.10, 11
(
Line driver output
)
0 to 00FFFFFFh
197379 ï○○○○○
4-35
4 11 SO2 output selection Pin No.34, 35
(
Line driver output
)
0 to 00FFFFFFh
131586 ï○○○○○
4 12 SO3 output selection Pin No.36, 37
(
Line driver output
)
0 to 00FFFFFFh
65793 ï○○○○○
4 13 SO4 output selection Pin No.38, 39
(
Line driver output
)
0 to 00FFFFFFh
328964 ï○○○○○
4 14 SO5 output selection Pin No.12
(
Open collector output
)
0 to 00FFFFFFh
460551 ï○○○○○
4 15 SO6 output selection Pin No.40
(
Open collector output
)
0 to 00FFFFFFh
394758 ï○○○○○
4 16 Type of analog monitor 1 0 to 21 0ï○○○○
4-36
4 17 Analog monitor 1 output gain
0 to 214748364
0ï○○○○
4 18 Type of analog monitor 2 0 to 21 4ï○○○○
4 19 Analog monitor 2 output gain
0 to 214748364
0ï○○○○
4 20 Type of digital monitor 0 to 3 0ï○○○○
4 21 Analog monitor output setup 0 to 2 0ï○○○○
4-38
4 22 Analog input 1 (AI1) offset setup
ïWR
0
0.366mV
○○○○
423$QDORJLQSXW$,ÀOWHU 0 to 6400 00.01ms*○○○○
424
Analog input 1 (AI1) overvoltage
setup 0 to 100 00.1V*○○○○
4 25 Analog input 2 (AI2) offset setup
ïWR
05.86mV ○○○○
426$QDORJLQSXW$,ÀOWHU 0 to 6400 00.01ms*○○○○
427
Analog input 2(AI2) overvoltage
setup 0 to 100 00.1V*○○○○
4 28 Analog input 3 (AI3) offset setup
ïWR
05.86mV ○○○○
429$QDORJLQSXW$,ÀOWHU 0 to 6400 0 0.01ms*○○○○ 4-39
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power to the driver is turned off and then on again.
*
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13.
Setup of Parameter and Mode
List of Parameters
Caution
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.4-33 to P.4-39.
2-79
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
430
Analog input 3 (AI3) overvoltage
setup 0 to 100 0 0.1V*○○○○
4-39
431
Positioning complete (In-position)
range
0 to 262144
10 Command
unit ○○
432
Positioning complete (In-position)
output setup 0 to 3 0ï○○
4 33 INP hold time 0 to 30000 01ms ○○
4 34 Zero-speed 10 to 20000 50 r/min ○○○○
4-40
4 35 Speed coincidence range 10 to 20000 50 r/min ○
4 36 At-speed (Speed arrival) 10 to 20000 1000 r/min ○○
4-41
437
Mechanical brake action at stalling
setup 0 to 10000 01ms ○○○○
438
Mechanical brake action at running
setup 0 to 10000 01ms ○○○○
4 39 Brake release speed setup 30 to 3000 30 r/min ○○○○○
4-42
4 40 Selection of alarm output 1 0 to 10 0ï○○○○
4 41 Selection of alarm output 2 0 to 10 0ï○○○○
442
2nd Positioning complete (In-position)
range 0 to 262144 10 Command
unit ○○
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power to the driver is turned off and then on again.
*
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[Class 5] Enhancing setting
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
5 00 2nd numerator of electronic gear 0 to 230 0ï○○
4-43
5 01 3rd numerator of electronic gear 0 to 230 0ï○○
5 02 4th numerator of electronic gear 0 to 230 0ï○○
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○○○○
4-44
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○○○○
4-45
5 09 Detection time of main power off 70 to 2000 70 1ms ○○○○○
'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
*
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13.
Setup of Parameter and Mode
List of Parameters
Note Parameter describes of this page is P.4-39 to P.4-45.
2-80
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
5 10 Sequence at alarm 0 to 7 0 ï○○○○ 4-45
5 11 Torque setup for emergency stop 0 to 500 0 % ○○○○
4-46
5 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*○○
515,)UHDGLQJÀOWHU 0 to 3 0 ï○○○○○
5 16 Alarm clear input setup 0 to 1 0 ï○○○○○
4-47
5 17 Counter clear input mode 0 to 4 3 ï○○
518
Invalidation of command pulse inhibit
input 0 to 1 1 ï○○
519
Command pulse inhibit input reading
setup 0 to 4 0 ï○○○
5 20 Position setup unit select 0 to 1 0 ï○○○
4-48
5 21 Selection of torque limit 0 to 6 1 ï○○ ○
5 22 2nd torque limit 0 to 500 500*1%○○ ○
5 23 Torque limit switching setup 1 0 to 4000 0
ms/100%
○○ ○
4-49
5 24 Torque limit switching setup 2 0 to 4000 0
ms/100%
○○ ○
525
External input positive direction
torque limit 0 to 500 500*1%○○ ○
526
External input negative direction
torque limit 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○○○○○
4-50
5 29 RS232 baud rate setup 0 to 6 2 ï○○○○○
5 30 RS485 baud rate setup 0 to 6 2 ï○○○○○
5 31 Axis address 0 to 127 1 ï○○○○○
4-51
532
Command pulse input maximum
setup 250 to 4000 4000 kpulse/s ○○○
5 33 Pulse regenerative output limit setup 0 to 1 0 ï○○○○○
5 34 For manufactuer's use ï4ï
5 35 Front panel lock setup 0 to 1 0 ï○○○○○
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power to the driver is turned off and then on again.
*
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*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 “Torque limit setting”.
13.
Setup of Parameter and Mode
List of Parameters
Caution
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.4-45 to P.4-51.
2-81
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
[Class 6] Special setting
Parametr
No. Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class
No. A,B
-frame
C
-frame
D,E,F
-frame
G,H
-frame PSTF
600
Analog torque feed forward
conversion gain 0 to 100 0
0.1V/100%*
○○ ○
4-51
6 02 Velocity deviation excess setup 0 to 20000 0r/min ○
6 04 JOG trial run command speed 0 to 500 300 r/min ○○○○
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
ïWR
0%
○○ ○
4-52
608
Positive direction torque
compensation value
ïWR
0%
○○
609
Negative direction torque
compensation value
ïWR
0%
○○
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 % ○○○○
4-53
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 ○○○○
616
For manufacturer's use ï0ï○
617
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 ○○○○○
4-54
6 20 Z-phase setup of external scale 0 to 400 0 ѥV ○○
621
Serial absolute external scale Z
phase setup 0 to 228 0 pulse ○○
622
A, B phase external scale pulse
output method selection 0 to 1 0 ï○○
623
Disturbance torque compensating gain
ïWR 0%
○○
624'LVWXUEDQFHREVHUYHUÀOWHU 0 to 2500 53 0.01ms*○○
4-55
6 27 Alarm latch time selection 0 to 10 5 s ○○○○○
631
Real time auto tuning estimation speed
0 to 3 1 ï○○○○
6 32 Real time auto tuning custom setup
ïWR
0ï○○○○4-56
6 33 For manufacturer's use ï1000 ï
4-57
6 34 Hybrid vibration suppression gain
0 to 30000
0 0.1/s*○
635+\EULGYLEUDWLRQVXSSUHVVLRQÀOWHU
0 to 6400
10 0.01ms*○
6 37 Oscillation detecting level
0 to 1000
00.1%
*○○○○
6 38 Alarm mask setup
ïWR
4ï○○○○○
6 39 For manufactuer's use ï0ï
'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
*
'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
13.
Setup of Parameter and Mode
List of Parameters
Caution
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.
2-82
Caution
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.
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).
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.
2
Preparation
13.
Setup of Parameter and Mode
6HWXSRI7RUTXH/LPLW
Frame Model No. Applicable motor
Max. value of
WRUTXHOLPLW
Frame Model No. Applicable motor
Max. value of
WRUTXHOLPLW
D
MDDHT5540 MGME092G** 225
G
MGDHTC3B4
MGME602G** 272
MGME092S** 225 MGME602S** 272
MDDHT3420 MGME094G** 225 MDME752G** 265
MGME094S** 225 MDME752S** 265
F
MFDHTA390 MGME202G** 250 MHME752G** 265
MGME202S** 250 MHME752S** 265
MFDHTB3A2
MGME302G** 250
MGDHTB4A2
MGME604G** 272
MGME302S** 250 MGME604S** 272
MGME452G** 262 MDME754G** 267
MGME452S** 262 MDME754S** 267
MFDHT5440 MGME204G** 250 MHME754G** 267
MGME204S** 250 MHME754S** 267
MFDHTA464
MGME304G** 250
H
MHDHTC3B4
MDMEC12G** 265
MGME304S** 250 MDMEC12S** 265
MGME454G** 263 MDMEC52G** 253
MGME454S** 263 MDMEC52S** 253
MHDHTB4A2
MDMEC14G** 265
MDMEC14S** 265
MDMEC54G** 253
MDMEC54S** 253
2-83
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Cautions on Replacing the Motor
As stated previously, torque limit setup range might change when you replace the combi-
nation of the motor and the driver. Pay attention to the followings.
:KHQWKHPRWRUWRUTXHLVOLPLWHG
When you replace the motor series or to the different wattage motor, you need to reset
the torque limit setup because the rated toque of the motor is different from the previ-
ous motor. (see e.g.1)
:KHQ\RXZDQWWRREWDLQWKHPD[PRWRUWRUTXH
 <RXQHHGWRUHVHWWKHWRUTXHOLPLWLQJVHWXSWRWKHXSSHUOLPLWEHFDXVHWKHXSSHUOLPLW
value might be different from the previous motor. (see e.g.2)
e.g.1)
Pr0.13 Setup range : 0 to 300%
Setup value : 100%.
before replacing the motor
Rated torque
0.64Nm
Rated torque
0.32Nm
MADHT1507
MSME022S1A
Pr0.13 Setup range :
Change to 0 to 300%.
Setup value : Keep 100%.
after replacing the motor
MADHT1507
MSME012S1A
Torque limit value
0.32Nm
0.32Nm x 100% =
Torque limit value
0.64Nm
0.64Nm x 100% =
Set up Pr0.13 to 200 to
make torque limit value
to 0.64Nm
(0.32Nm x 200% = 0.64Nm)
MADHT1507 MADHT1507
MSME022S1A MSME012S1A
e.g.2)
before replacing the motor
after replacing the motor
Pr0.13 Setup range : 0 to 300%
Setup value : 300%.
Pr0.13 Setup range :
change to 0 to 300%
Setup value : Keep 300%.
Rated torque
0.32Nm
Set up Pr0.13 to 300 to obtain
the max. output torque.
13.
Setup of Parameter and Mode
6HWXSRI7RUTXH/LPLW
2-84
Note
Here we take a ball screw drive as an example of machine.
A travel distance of a ball screw M [mm] corresponding to travel command P1 [P], can be
described by the following formula (1) by making the lead of ball screw as L [mm]
M = P1 x (D/E) x (1/R) x L .................. (1)
WKHUHIRUH SRVLWLRQ UHVROXWLRQ WUDYHO GLVWDQFH ¨0 SHU RQH FRPPDQG SXOVH ZLOO EH GH-
scribed by the formula (2)
¨0 '([5[/
modifying the above formula (2), electronic gear ratio can be found in the formula (3).
' ¨0[([5[/
Actual traveling velocity of ball screw, V[mm/s] can be described by the formula (4) and
the motor rotational speed, N at that time can be described by the formula (5).
V = F x (D/E) x (1/R) x L ..................... (4)
N = F x (D/E) x 60 ............................... (5)
modifying the above formula (5), electronic gear ratio can be found in the formula (6).
D = (N x E)/ (F x 60) ........................... (6)
0DNHDSRVLWLRQUHVROXWLRQ¨0DVDSSUR[WRRIWKHPDFKLQHSRVLWLRQLQJDF-
FXUDF\¨ў, considering a mechanical error.
2) Set up Pr0.09 and Pr0.10 to any values between 1 to 230.
3) The desired setting can be determined by selecting value of numerator and denomina-
tor of electronic gear. However, an excessively high division or multiplication ratio can-
not guarantee the operation. The ratio should be in a range between 1/1000 and 1000.
Excessively high multiplication ratio will cause Err27.2 (command pulse multiplication
error protection) due to varying command pulse input or noises, even if the other set-
WLQJVDUHZLWKLQWKHVSHFLÀHGUDQJH
4) 2nDecimal 2nDecimal
2012
11 2048
2122
12 4096
2242
13 8192
2382
14 16384
2416 215 32768
2532 216 65536
2664 217 131072
27128 218 262144
28256 219 524288
29512 220 1048576
210 1024
Pulse train position
command
Travel distance : P1 [P]
Traveling speed : F [PPS]
Electronic gear ratio
Driver
D= Pr0.09
Pr0.10 Motor
Encoder
Gear
Machine
Rotational speed : N[r/min]
Reduction ratio : R
Encoder pulse counts : E [P/r]
* 1,048,576 (=20bit)
* 131,072 (=17bit)
Example of ball screw drive by servo motor
[ ]
+
–
2
Preparation
14.
Relation between Electronic Gear and Position Resolution or Traveling Speed
Setup of command division and
multiplication ratio (electronic gear ratio)
2-85
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Electronic gear ratio
=
10
0.0005×217×1
10×104
5×217
= 100000
655360
= 0.32768
20
0.00005×217×1
20
0.00005×220×1 = =
20×105
5×220
2000000
5242880
D < 1, hence
use 120-bit.
D = L
уM×E×R
Electronic gear ratio
Travel distance per command pulse (mm)
(Position resolution)
D = F × 60
N × E
“D = 1” is the
condition for
minimum resolution.
Pr0.09 = 655360
Pr0.10 = 100000
Pr0.09 = 5242880
Pr0.10 = 2000000
Pr0.09 = 262144000
Pr0.10 = 30000000
D = Pr0.10
Pr0.09
Motor rotational speed (r/min), N = F × × 60
E
D
= 50 × 60 × = 750
22
1
500000 × × ×60
10000
1×215
уM = × × L
E
D
217
1
1
1
R
1
× × × 20 =
3750
215
D = = =
500000×60
2000×217
30000000
2000×217
30000000
262144000
22
20
× =
3750
1 = 0.00133mm
3750 × 4
20
217
1
Lead of ball screw, L =10mm
Gear reduction ratio, R = 1
Position resolution,
у0 PP
Encoder, 17-bit
(E= 217P/r)
Lead of ball screw, L =20mm
Gear reduction ratio, R = 1
Position resolution,
у0 PP
Encoder, 17-bit
(E= 217P/r)
Lead of ball screw, L =20mm
Gear reduction ratio, R = 1
Position resolution,
у0 PP
Line driver pulse input,
500kpps
Encoder, 17-bit
Ditto
To make it to 2000r/min.
Encoder : 20-bit (E = 220 P/r)
D = Pr0.10
Pr0.09
Related page
3´'HWDLOVRI3DUDPHWHUµ
14. Setup of command division and multiplication ratio (electronic gear ratio)
Relation between Electronic Gear and Position Resolution or Traveling Speed
2-86
Setup with the Front Panel
Press these to change display and data, select
parameters and execute actions.
(Change/Selection/Execution is valid to the digit
which decimal point flashes.)
Numerical value increases by pressing, ,
decreases by pressing .
Shifting of the digit for data
changing to higher digit.
X7
Output connector for monitor
Display LED (6-digit)
Switch to error display screen when error
occurs, and LED will flash (about 2Hz).
LED will flash slowly (about 1Hz) when warning
occurs.
Mode switching button
(valid at SELECTION display)
Press this to switch 4 kinds of mode.
1) Monitor Mode
2) Parameter Set up Mode
3) EEPROM Writing Mode
4) Auxiliary Function Mode
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTION display.
61
X7
Note For connector X7, refer to P.2-60 “Wiring to the connector, X7”.
2
Preparation
15. How to Use the Front Panel
Setup
2-87
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
approx. 2 sec approx. 0.6 sec approx. 0.6 sec
Initial display of LED
(Determined by the setup of Parameter, Pr5.28 "Initial status of LED".)
approx. 0.8 sec
Repeatedly(during continuous alarm)
0.3 sec
Initial Status of the Front Panel Display (7 Segment LED)
Status
Front panel display shows the following after turning on the power of the driver.
Upon Occurrence of an Alarm
If a driver alarm is generated, the front panel display shows the following repeatedly.
Below shows possible cause of an alarm.
alarm
No. Alarm Content
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.
A4 Encoder
communication alarm
The number of successive encoder communication errors
H[FHHGVWKHVSHFLÀHGYDOXH
A5 Encoder overheat
alarm The encoder detects overheat alarm.
A6 Oscillation detection
alarm Oscillation or vibration is detected.
A7 Lifetime detection
alarm
The life expectancy of capacity or fan becomes shorter
WKDQWKHVSHFLÀHGWLPH
A8 External scale error
alarm The external scale detects the alarm.
A9 External scale
communication alarm
The number of successive external scale communication
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH
15. How to Use the Front Panel
Setup
Related page
3´'HWDLOVRI3DUDPHWHUµ
2-88
Use each button on the touch panel to select the structure and switch the mode.
,QLWLDOVWDWXVRI
WKH&RQVROH/('
0RQLWRU
PRGH
0RGHVZLWFKLQJEXWWRQ
3DUDPHWHU
VHWXSPRGH
((3520
ZULWLQJPRGH
$X[LOLDU\
IXQFWLRQPRGH
0RGHVZLWFKLQJEXWWRQ
0RGHVZLWFKLQJEXWWRQ
0RGHVZLWFKLQJEXWWRQ
6(7EXWWRQ P.2-91
P. 2 - 1 0 8
P. 2 - 1 0 6
P. 2 - 1 0 7
SELECTION display
Note
Caution
<RXFDQFKDQJHWKHÁDVKLQJGHFLPDOSRLQWZLWK , then shift the digit for data change “ ”
On power-up, the monitor mode executed is displayed according to the setup of Pr5.28 LED
initial status.
2
Preparation
15. How to Use the Front Panel
Structure of Each Mode
2-89
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
......P.2-106
)RUGHWDLOVRISDUDPHWHUVUHIHUWR
3'HWDLOVRISDUDPHWHU
3WR105
......P.2-107
......P.2-111
0RWRUWULDOUXQ-2*
......P.2-110
$XWRPDWLFRIIVHWDGMXVWPHQW$,WR
......P.2-109
$ODUPFOHDU
3
&OHDULQJRIDEVROXWHHQFRGHU
......P.2-114
,QLWLDOL]DWLRQRISDUDPHWHU
6(7EXWWRQ
6(7EXWWRQ
6(7EXWWRQ
6(7EXWWRQ
......P.2-115
5HOHDVHRIIURQWSDQHOORFN
EXECUTION display
15. How to Use the Front Panel
Structure of Each Mode
2-90
Outline
To prevent operational error e.g. unintentional parameter modification, the front panel
may be locked.
Once locked, operations on the panel are limited as follows:
Mode Locked panel conditions
Monitor Mode No limitation: all monitored data can be checked.
Parameter Set up Mode No parameter can be changed but setting can be checked.
EEPROM Writing Mode Cannot be run. (No display)
Auxiliary Function Mode Cannot be run except for “Release of front panel lock”. (No
display)
How to operate
5HODWHGSDUDPHWHUV
Parameter No. Title Function
Class
No.
5 35 Setup of front panel lock Locks the operation attempted from the front
panel.
Lock and unlock can be made in one of two ways.
Procedure Front panel Setup support software
PANATERM
Lock
(1) Set Pr5.35 “Front panel lock” to 1, and writ the setting to EEPROM.
(2) Turn on power to the driver.
(3) The front panel is locked.
Unlock
(1) Execute the auxiliary function
mode, front panel lock release
function.
(2) Turn on power to the driver.
(3) The front panel is unlocked.
(1) Set Pr5.35 “Front panel lock” to 0,
and writ the setting to EEPROM.
(2) Turn on power to the driver.
(3) The front panel is unlocked.
Note
Related page
For details of front panel lock release, refer to P.2-113.
3´'HWDLOVRI3DUDPHWHUµ
2
Preparation
15. How to Use the Front Panel
Setup of front panel lock
2-91
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Display shifts toward the arrowed direction by pressing and reversed direction by pressing .
<Return to “Positional command deviation”.>
(SET button)
(Mode switch button)
Display
example Description Pages to
refer
Display
example Description Pages to
refer
EXECUTION
display
SELECTION display
Parameter Setup Mode
SELECTION display
Monitor Mode
P.2-92 (1)
P.2-92 (2)
P.2-92 (2)
P.2-92 (2)
P.2-92 (2)
P.2-93 (3)
P.2-93 (3)
P.2-93 (3)
P.2-93 (4)
P.2-94 (5)
P.2-95 (6)
P.2-96 (7)
P.2-98 (8)
P.2-99 (9)
P.2-99 (9)
P.2-99 (9)
P.2-100 (10)
P.2-101 (11)
P.2-101 (12)
P.2-102 (13)
P.2-102 (14)
P.2-102 (15)
P.2-102 (16)
P.2-103 (17)
P.2-103 (18)
P.2-103 (19)
P.2-103 (20)
P.2-103 (21)
P.2-104 (22)
P.2-104 (23)
P.2-104 (24)
P.2-104 (25)
P.2-105 (26)
Positional command
deviation
No. of changes in
I/O signals
Absolute encoder data
Absolute external
scale position
No. of encoder/ external scale
communication errors monitor
Communication
axis address
Encoder positional
deviation
[Encoder unit]
External scale deviation
[External scale unit]
Hybrid deviation
[Command unit]
Voltage across PN [V]
Software version
Driver serial number
Motor serial number
Accumulated
operation time
Automatic motor
recognizing function
Temperature
information
Safety condition
monitor
Motor speed
Positional command
speed
Velocity control
command
Torque command
Feedback pulse sum
Command pulse sum
External scale
feedback pulse sum
Control mode
I/O signal status
Analog input value
Error factor and
reference of history
Alarm Display
Regenerative load
factor
Over-load factor
Inertia ratio
Factor of
no-motor running
To change the monitor display setting, select the display option to be changed
from “ SELECTION display”, and press to change to “ EXECUTION display”.
After completion of changing, press to return to the selection display,
Note :KHQ\RXWXUQRQWKH3URGXFWIRUWKHÀUVWWLPHGLVSOD\VKRZV . (at motor stall)
To change this display, change the setup of Pr5.28 (Initial status of LED).
2
Preparation
15. How to Use the Front Panel
Monitor Mode (SELECTION display)
2-92
(1) Display of positional command deviation [command unit]
Displays positional deviation of the command unit in High order or Low order.
......Low order
......High order
Positional command deviation
To switch between Low order (L) and High order (H), press .
(2) Display of motor speed, positional command speed,
YHORFLW\FRQWUROFRPPDQGDQGWRUTXHFRPPDQG
Displays the motor speed (r/min).
0RWRUVSHHGUPLQ
Displays positional command speed (r/min).
3RVLWLRQDOFRPPDQGVSHHGUPLQ
Displays velocity control command (r/min).
9HORFLW\FRQWUROFRPPDQGUPLQ
Displays torque command (%).
7RUTXHFRPPDQG
2
Preparation
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
2-93
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
(3)
Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum
......Low order
......High order
Feedback Pulse Sum
)HHGEDFN3XOVH6XP>(QFRGHUIHHGEDFNSXOVH]
......Low order
......High order
Command Pulse Sum
&RPPDQG3XOVH6XP>&RPPDQG3XOVH@
......Low order
......High order
External Scale Feedback Pulse Sum
([WHUQDO6FDOH)HHGEDFN3XOVH6XP
To switch between Low order (L) and High order (H), press .
To switch between Low order (L) and High order (H), press .
To switch between Low order (L) and High order (H), press .
(4) Display of Control Mode
.....Position control mode
.....Velocity control mode
.....Torque control mode
.....Full-closed control mode
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
2-94
(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.
.....Input signal
.....Output signal
Pin No.
.....Active *1
.....Inactive *1
*1 When input signal Active : Input signal photocoupler is ON.
Inactive : Input signal photocoupler is OFF.
When output signal Active : Output signal transistor is ON.
Inactive : Output signal transistor is OFF.
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/RZHVWSODFH3LQ1R
RIRXWSXWVLJQDO
(Highest place Pin No.
RILQSXWVLJQDO
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
Note 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”.
2-95
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
(6) Display of Analog Input Value
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
(Analog input 1 value, unit [V])
(Analog input 2 value, unit [V])
(Analog input 3 value, unit [V])
Input signal
Input voltage value [V]
Select the signal No. to be monitored by pressings .
Displays the value after
offset correction.
Caution
Voltage exceeding ± 10V can not be displayed correctly.
2-96
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
(7) Display of Error Factor and Reference of History
<List of error code No.>
Error code
Protective function
Attribute
Main Sub History Can be
cleared
Immediate
stop
11 0 Control power supply under- voltage protection
12 0 Over-voltage protection
13 0 Main power supply under-voltage protection (between P to N)
1 Main power supply under-voltage protection (AC interception detection)
14 0 Over-current protection
1 IPM error protection
15 0 Over-heat protection
16 0 Over-load protection *1
18 0 Over-regeneration load protection
1 Over-regeneration Tr error protection
21 0 Encoder communication disconnect error protection
1 Encoder communication error protection
23 0 Encoder communication data error protection
24 0 Position deviation excess protection
1 Velocity deviation excess protection
25 0 Hybrid deviation excess error protection
26 0 Over-speed protection
1 2nd over-speed protection
27 0 Command pulse input frequency error protection
2 Command pulse multiplier error protection
28 0 Limit of pulse replay error protection
29 0 'HYLDWLRQFRXQWHURYHUÁRZSURWHFWLRQ
30 0 Safety detection
33
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&/ÀWWLQJHUURUSURWHFWLRQ
7,1+ÀWWLQJHUURUSURWHFWLRQ
........Present error
........History 0 (latest error)
........History 13 (oldest error)
Error code No. ( appears if no error occurs)
<RXFDQUHIHUWKHODVW
error factors (including
present one)
Press to select
WKHIDFWRUWREHUHIHUUHG
2-97
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
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.)
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.
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
Error code
Protective function
Attribute
Main Sub History Can be
cleared
Immediate
stop
34 0 Software limit protection
36 0 to 2 EEPROM parameter error protection
37 0 to 2 EEPROM check code error protection
38 0 Over-travel inhibit input protection
39
0 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
50 0 External scale connection error protection
1 External scale communication error protection
51
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
55
0 A-phase connection error protection
1 B-phase connection error protection
2 Z-phase connection error protection
87 0 Compulsory alarm input protection
95 0 to 4 Motor automatic recognition error protection
Other number
Other error
2-98
(8) Alarm Display
alarm
No. Alarm Content Latched
time *1
A0 Overload protection Load factor is 85% or more the protection level. WRVRU
A1 Over-regeneration
alarm
Regenerative load factor is 85% or more the
protection level. VRU
A2 Battery alarm Battery voltage is 3.2 V or lower. )L[HGDW
A3 Fan alarm Fan has stopped for 1 sec. WRVRU
A4 Encoder communication
alarm
The number of successive encoder communication
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH WRVRU
A5 Encoder overheat alarm The encoder detects overheat alarm. WRVRU
A6 Oscillation detection
alarm Oscillation or vibration is detected. WRVRU
A7 Lifetime detection alarm Life expectancy of capacitor or fan is short. )L[HGDW
A8 External scale error
alarm The external scale detects the alarm. WRVRU
A9 External scale
communication alarm
The number of successive external scale
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*1 Alarms can be cleared by using the alarm clear. Because the all existing alarms are kept cleared while the alarm
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by using user parameter.
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......No alarm occurred
......High priority alarm
Alarm number
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15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
2-99
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
(9) Display of Regenerative Load Factor, Over-load Factor and Inertia Ratio
5HJHQHUDWLYH/RDG)DFWRU
2YHUORDG)DFWRU
,QHUWLD5DWLR
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.
Displays the ratio (%) against the rated load.
Refer to P.6-14, "Overload Protection Time Characteristics" of
When in Trouble.
Displays the inertia ratio (%) .
Value of Pr0.04 (Inertia Ratio) will be displayed as it is.
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
Note For alarm function, refer to P.4-42 "Pr4.40, Pr4.41".
2-100
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.
([SODQDWLRQRIIDFWRU1R
Factor
No.
Factor
Related
Control Mode Content
PSTF
ÁDVKLQJ
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RYHUWUDYHOLQKLELWLRQLQSXW327LVRSHQDQGVSHHG
command is Positive direction.
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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.
05 Analog torque
limit input is valid. ○○ ○
While Pr5.21 is 0 (analog torque limit input accepted),
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and speed command is Positive direction.
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and speed command is Negative direction.
06 INH input is valid. ○○
Pr5.18 is 0 (Command pulse inhibition input is valid.), and INH is open.
07
Command pulse
input frequency
is low.
○○
The position command per each control cycle is 1 pulse or smaller due to,
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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. ○○ While Pr3.15 is 1 (Speed zero clamp is valid.), the speed zero clamp input
(ZEROSPD) is open.
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. ○
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Pr3.07, (4th speed of speed setup) is set to lower than 30 [r/min].
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input (SPR) is smaller than 0.06 [V].
14 Other factor ○○○○
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.)
.......Position control
....... Velocity control
.......Torque control
....... Full-closed control
Control mode
Factor No.
Note * Motor might run even though the other number than 0 is displayed.
Refer to "6.In trouble".
2-101
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
(11) Display of No. of changes in I/O signals
.....Input signal
.....Output signal
Pin No.
No. of changes in I/O signals (the signal is invalid)
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E\SUHVVLQJRUEXWWRQ
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of output signal)
(Highest place Pin No.
of input signal)
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(12) Display of absolute encoder data
Encoder data
......One revolution data, Low order (L)
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2QHUHYROXWLRQGDWD+LJKRUGHU+
......Multi-revolution data
2-102
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
(13) Display of absolute external scale position
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ZKLFKLVGHÀQHGDV
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
Select encoder or external scale by pressing or button.
......Encoder
......External scale
(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 .
2-103
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
(17) Display of External Scale Deviation [External Scale Unit]
External Scale Deviation [External scale unit]
......Low order
......High order
To switch between Low order (L) and High order (H), press .
(18) Display of hybrid deviation [Command unit]
Hybrid deviation [Command unit]
......Low order
......High order
To switch between Low order (L) and High order (H), press .
(19) Display of voltage across PN [V]
Displays the voltage across PN [V]
(only for reference not an instrument)
(20) Display of Software Version
Displays the software version of the driver.
(Example of display: Ver 1.00)
(21) Display of driver serial number
Driver serial number
......Driver serial number- Low order
......Driver serial number- High order
To switch between Low order (L) and High order (H), press or .
(Example of display: Serial number 09010001)
2-104
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 or .
(Example of display: Serial number 09040001)
(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.)
2-105
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
15. How to Use the Front Panel
Monitor Mode (EXECUTION display)
(26) Display of safety condition monitor
: Servo-off condition
: Servo-on condition
: Alarm condition
Servo ready condition
OFF: Dot unlit
ON: Dot lit
Flashing Normal change is possible
Dot information
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,QSXWSKRWRFRXSOHU2)) ,QSXWSKRWRFRXSOHU21
,QSXWSKRWRFRXSOHU2)) ,QSXWSKRWRFRXSOHU21
2XWSXWSKRWRFRXSOHU2)) 2XWSXWSKRWRFRXSOHU21
Related page
P.7-2 “safety”.
2-106
For parameters which place is displayed
with “ ”, the content changed and
written to EEPROM becomes valid after
turning off the power once.
'LVSOD\WKH1RRISDUDPHWHUWREH
changed and press to change to
(;(&87,21GLVSOD\
3UHVVDQGWKHIODVKLQJGHFLPDO
separator shifts to the high order position,
allowing the figure at this digit to any other
figure.
(SET button)
3UHVVRUWRVHWXSWKHYDOXHRI
parameter. (Value increases with
decreases with .)
3UHVVDQGWKHIODVKLQJGHFLPDO
separator shifts to the high order position,
allowing the figure at this digit to any other
figure.
3URORQJHGGHSUHVVLRQRIXSGDWHVWKH
SDUDPHWHULQWKHGULYHU1RWHWKDWWKH
parameter value selected by or is
not reflected until is pressed in this
way.
7RFDQFHOWKHYDOXHVHOHFWHGE\RU
press instead of , and the driver
internal parameter value is kept
unchanged and the display returns to the
parameter number display screen.
After changing the parameter value and
pressing , the content will be reflected in
the control.
'RQRWH[WUHPHO\FKDQJHWKH
parameter value which change might affect the
motor movement very much
(especially
velocity loop or position loop gains).
(Mode switch button)
(Mode switch button)
Pr0.00
Pr0.00
Pr0.01
Pr6.32
Pr0.01
Pr6.33
3UHVVRUWRVHOHFWSDUDPHWHU1R
to be set.
3DUDPHWHU1R
+H[DGHFLPDO1R Parameter value
Class
Pr0.11
Pr1.11
You can change the
value which digit has
a flashing decimal
point.
SELECTION display
Monitor Mode
SELECTION display
Parameter Setup Mode
SELECTION display
EEPROM Writing Mode
EXECUTION display
Remarks
Note
Note $IWHUVHWWLQJXSSDUDPHWHUVUHWXUQWR6(/(&7PRGHUHIHUULQJWRVWUXFWXUHRIHDFKPRGH
(P.2-88).
(DFKSDUDPHWHUKDVDOLPLWLQQXPEHURISODFHVIRUXSSHUVKLIWLQJ
2
Preparation
15. How to Use the Front Panel
Parameter Setup Mode
2-107
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
(SET button)
“ ” increases while
keep pressing (for
approx. 5sec) as the
right fig. shows.
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.
.HHSSUHVVLQJXQWLOWKHGLVSOD\
changes to when you
execute writing.
* “Start” flashes instantaneously and is
difficult to check visually.
7RZULWHWKHSDUDPHWHUWR((3520SUHVV
 WRFKDQJHWR(;(&87,21GLVSOD\
0RGHVZLWFKEXWWRQ
0RGHVZLWFKEXWWRQ
Writing completes
Writing error
Starts writing.
SELECTION display
EEPROM Writing Mode
SELECTION display
Parameter Setup Mode
SELECTION display
Auxiliary Function Mode
EXECUTION display
Note
Caution
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.
:KHQWKHHUURUGHÀQHGE\(UU´8QGHUYROWDJHSURWHFWLRQRIFRQWUROSRZHUVXSSO\µ
occurs, is displayed indicating that no writing is made to EEPROM.
2
Preparation
15. How to Use the Front Panel
EEPROM Writing Mode
2-108
7RVHOHFWWKHGHVLUHGDX[LOLDU\IXQFWLRQ
SUHVVRU
7'LVSOD\WKHDX[LOLDU\IXQFWLRQWREH
FKDQJHGDQGSUHVVWRFKDQJHWR
(;(&87,21GLVSOD\
6(7EXWWRQ
0RGHVZLWFKEXWWRQ
0RGHVZLWFKEXWWRQ
3UHVVLQJ
$ODUP&OHDU
$$XWRPDWLF
2IIVHW$GMXVWPHQW
$$XWRPDWLF
2IIVHW$GMXVWPHQW
$ODUP&OHDU 3
$ODUPFOHDUVWDUWV
$ODUPFOHDUFRPSOHWHV
$$XWRPDWLF
2IIVHW$GMXVWPHQW
7ULDO5XQ
&OHDULQJRI
$EVROXWH(QFRGHU
,QLWLDOL]DWLRQRI
SDUDPHWHU
,QLWLDOL]DWLRQRI
SDUDPHWHU
$$XWRPDWLF
2IIVHW$GMXVWPHQW
$$XWRPDWLF
2IIVHW$GMXVWPHQW
$$XWRPDWLF
2IIVHW$GMXVWPHQW
0RWRU7ULDO5XQ
&OHDULQJRI
$EVROXWH(QFRGHU
$ODUP&OHDU
5HOHDVHRI
IURQWSDQHOORFN
5HOHDVHRI
IURQWSDQHOORFN
SELECTION display
Auxiliary Function Mode
SELECTION display
Monitor Mode
EXECUTION display
Display
example Description Pages to
refer
3
3
3
3
3
3
3
SELECTION display
EEPROM Writing Mode
2
Preparation
15. How to Use the Front Panel
Auxiliary Function Mode (SELECTION display)
2-109
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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”.
Note
After alarm cleaning, return to SELECTION display, referring to structure of each mode (P.2-88).
(SET button)
.HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
ZKHQ\RXH[HFXWHDODUPFUHDU
$ODUPFOHDUFRPSOHWHV &OHDULVQRWILQLVKHG
5HOHDVHWKHHUURUE\
UHVHWWLQJWKHSRZHU
$ODUPFOHDUVWDUWV
&OHDULQJ
ILQLVKHV
SELECTION display EXECUTION display
´µLQFUHDVHVZKLOHNHHS
SUHVVLQJIRUDSSUR[VHF
DVWKHOHIWILJVKRZV
3UHVVWRFDOOIRU
(;(&87,21GLVSOD\
2
Preparation
15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)
2-110
(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)
Remarks
Note
<RXFDQQRWZULWHWKHGDWDRQO\E\H[HFXWLQJDXWRPDWLFRIIVHWDGMXVWPHQW
([HFXWHDZULWLQJWR((3520ZKHQ\RXQHHGWRUHÁHFWWKHUHVXOWDIWHUZDUG
After completion of the automatic offset adjustment, return to SELECTION display by
referring to P.2-88 “Structure of Each Mode”.
:KHQ\RXH[HFXWHDXWRPDWLFRIIVHWDGMXVWPHQWPDNH
FRPPDQGLQSXWWR9WKHQNHHSSUHVVLQJXQWLOWKHGLVSOD\
FKDQJHVWR
3UHVVWRFDOOIRU
(;(&87,21GLVSOD\
6(7EXWWRQ
$XWRPDWLFRIIVHW
DGMXVWPHQWILQLVKHV
$XWRPDWLFRIIVHWDGMXVWPHQWVWDUWV
([DPSOHRI$QDORJLQSXW$,
(UURURFFXUV
$GMXVWPHQW
ILQLVKHV
(
,QYDOLGPRGHLVVHOHFWHG
RURIIVHWYDOXHH[FHHGV
WKHVHWXSUDQJHRI3U
´µLQFUHDVHVZKLOHNHHS
SUHVVLQJIRUDSSUR[VHF
DVWKHOHIWILJVKRZV
6(7EXWWRQ
SELECTION display EXECUTION display
15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)
2-111
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
(3) Motor trial run
Remarks
<RXFDQPDNHDWULDOUXQ-2*UXQZLWKRXWFRQQHFWLQJWKH&RQQHFWRU&RQQHFWRU;WR
the host controller such as PLC.
6HSDUDWHWKHPRWRUIURPWKHORDGGHWDFKWKH&RQQHFWRUConnector X4 before the trial
run.
%ULQJWKHXVHUSDUDPHWHUVHWXSVHVSHFLDOO\3UDQG3UWRWRGHIDXOWVWR
avoid oscillation or other failure.
,QVSHFWLRQ%HIRUH7ULDO5XQ
Display LED
Connector X6
ground
Power
supply
Motor
Machine
(1) Inspection on wiring
 0LVZLULQJ"(VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
 6KRUWRUJURXQGHG"
 /RRVHFRQQHFWLRQ"
(2) Confirmation of power supply and voltage
 5DWHGYROWDJH"
(3) Fixing of the servo motor
 8QVWDEOHPRXQWLQJ"
(4) Separation from the
 PHFKDQLFDOV\VWHP
(5) Release of the brake
(6) Turn to Servo-OFF after finishing the trial run by pressing .
(1) Inspection on wiring
 0LVZLULQJ"(VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
 6KRUWRUJURXQGHG"
 /RRVHFRQQHFWLRQ"
(2) Confirmation of power supply and voltage
 5DWHGYROWDJH"
(3) Fixing of the servo motor
 8QVWDEOHPRXQWLQJ"
(4) Separation from the
 PHFKDQLFDOV\VWHP
(5) Release of the brake
(6) Turn to Servo-OFF after finishing the trial run by pressing .
15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)
Related page
)RUZLULQJGHWDLOVUHIHUWR3´2YHUDOO:LULQJµ
3´3Uµ
3´3UWRµ
2-112
3URFHGXUHIRU7ULDO5XQ
Caution
Note
Before starting the trial run, set the gain-related parameters to appropriate values to avoid
problems such as oscillation. If the load is removed, be sure to set Pr0.04 “Inertia Ratio” to 0.
During the trial run, use the velocity control mode. Various settings including parameters
should assure safe and positive operation under appropriate velocity control.
If SRV-ON becomes valid during trial run, the display changes to which is nor-
mal run through external command.
$IWHUÀQLVKHGWULDOUXQQLQJUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUHRIHDFKPRGH
(P.2-88).
Keep pressing (approx. 5 sec)
to shift the decimal point toward
left as the left fig. shows.
7KHQNHHSSUHVVLQJXQWLOWKHGLVSOD\RI/('FKDQJHVWR
.
1RWDVHUYRUHDG\VWDWXV
6KXWVRIIWKHPDLQZKHQ
HUURURFFXUV
$IWHUWKH6HUYR21RISUHSDUDWLRQVWHSIRUWULDOUXQ
 WKHPRWRUUXQVDWWKHSUHVHWVSHHGZLWK3U-3*VSHHG
WR3RVLWLYHGLUHFWLRQGLUHFWLRQE\SUHVVLQJ1HJDWLYH
GLUHFWLRQE\SUHVVLQJ
3UHSDUDWLRQ
VWHS
3UHSDUDWLRQ
VWHS
1RWD6HUYR5HDG\
Or SRV-ON signal is
not entered.
3UHVVWRFDOOIRU
(;(&87,21GLVSOD\
6(7EXWWRQ
6(/(&7,21GLVSOD\ (;(&87,21GLVSOD\
´µLQFUHDVHVZKLOHNHHS
pressing (for approx. 5sec)
as the left fig. shows.
.HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
ZKHQ\RXH[HFXWH0RWRUWULDOUXQ
15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)
2-113
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4) Clearing of Absolute Encoder
<RXFDQFOHDUWKHPXOWLWXUQGDWDRIWKHDEVROXWHHQFRGHU
Clearing of
absolute encoder
completes
Error occurs
(
When non-applicable
)
encoder is connected
Clearing of absolute encoder starts
Clearing
finishes
3UHVVWRFDOOIRU
EXECUTION display.
(SET button)
SELECTION display EXECUTION display
“ ” increases while keep
pressing (for approx. 5sec)
as the left fig. shows.
.HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
when you execute Clearing of Absolute Encoder.
Note $IWHUFOHDULQJRIDEVROXWHHQFRGHUÀQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXF-
ture of each mode (P.2-88).
15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)
2-114
(5) Initialization of parameter
Initialize the parameter.
Initialization of
parameter completes
Error occurs
(Minor error occurs)
Initialization of parameter
Initialization
finishes
3UHVVWRFDOOIRU
EXECUTION display.
(SET button)
SELECTION display EXECUTION display
“ ” increases while keep
pressing (for approx. 5sec)
as the left fig. shows.
.HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
when you execute Initialization of parameter.
Caution
Parameter cannot be initialized when one of the following error occurs: Err11.0 “Under
voltage protection of control power supply”, EEPROM related errors (Err36.0, Err36.1,
Err36.2, Err37.0, Err37.1 and Err37.2) - initialization will result in “Error” display.
15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)
Note $IWHULQLWLDOL]DWLRQRISDUDPHWHUÀQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUH
of each mode (P.2-88).
2-115
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
(6) Release of front panel lock
Release the front panel lock setting.
Release of
front panel lock
completes
Error occurs
Release of front panel lock
Release
finishes
3UHVVWRFDOOIRU
EXECUTION display.
(SET button)
SELECTION display EXECUTION display
“ ” increases while keep
pressing (for approx. 5sec)
as the left fig. shows.
.HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
when you execute Release of front panel lock.
15. How to Use the Front Panel
Auxiliary Function Mode (EXECUTION display)
Note $IWHUUHOHDVHRIIURQWSDQHOORFNÀQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUH
of each mode (P.2-88).
2-116
MEMO
3-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3. Connection
1. Outline of mode
Position Control Mode ................................................................................3-2
Velocity Control Mode .................................................................................3-6
Torque Control Mode ..................................................................................3-9
Full-closed Control Mode ..........................................................................3-12
2. Control Block Diagram
Position Control Mode ..............................................................................3-14
Velocity Control Mode ...............................................................................3-15
Torque Control Mode ................................................................................3-16
Full-closed Control Mode ..........................................................................3-17
3. Wiring Diagram to the connector, X4
([DPSOHRIFRQWUROPRGHVSHFLÀFZLULQJ...................................................3-18
&RQQHFWLQJ([DPSOHWR+RVW&RQWUROOHU....................................................3-20
4. Inputs and outputs on connector X4
Interface Circuit (Input) .............................................................................3-30
Interface Circuit (Output) ..........................................................................3-32
,QSXW6LJQDODQG3LQ1R ...........................................................................3-34
2XWSXW6LJQDODQG3LQ1R ........................................................................3-45
5. IF Monitor Settings
+RZWR$VVLJQ9DULRXV,2)XQFWLRQVWRWKH,) ........................................3-50
3-2
31. Outline of mode
Connection Position Control Mode
Outline
<RXFDQSHUIRUPSRVLWLRQFRQWUROEDVHGRQWKHSRVLWLRQDOFRPPDQGSXOVHWUDLQIURPWKH
KRVWFRQWUROOHU
7KLVVHFWLRQGHVFULEHVWKHIXQGDPHQWDOVHWXSWREHXVHGIRUWKHSRVLWLRQFRQWURO
Function
Caution
Note
(1) Process of command pulse input
7KHSRVLWLRQDOFRPPDQGVRIWKHIROORZLQJW\SHVSXOVHWUDLQDUHDYDLODEOH
SKDVHSXOVH
3RVLWLYHGLUHFWLRQSXOVHQHJDWLYHGLUHFWLRQSXOVH
3XOVHWUDLQVLJQ
6HWWKHSXOVHFRQÀJXUDWLRQDQGSXOVHFRXQWLQJPHWKRGEDVHGRQWKHVSHFLÀFDWLRQDQG
FRQÀJXUDWLRQRILQVWDOODWLRQRIWKHKRVWFRQWUROOHU
7KHLQSXWWHUPLQDOVFDQDFFRPPRGDWHWKHIROORZLQJV\VWHPV
,QSXW´38/6+38/6+6,*1+6,*1+µOLQHUHFHLYHULQSXW0SSV
,QSXW´38/638/66,*16,*1µSKRWRFRXSOHULQSXWNSSV
)RUOLQHGULYHURXWSXW´,QSXWµFDQDOVREHXVHGZLWKRXWFKDQJLQJWKHDOORZDEOHLQSXW
frequency.
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Function
Pr0.05 Selection of command
pulse input 0 to 1
<RXFDQVHOHFWHLWKHUWKHSKRWRFRXSOHULQSXWRUWKH
H[FOXVLYHLQSXWIRUOLQHGULYHUDVWKHFRPPDQGSXOVH
input.
Pr0.06
Command pulse rotational
direction setup
0 to 1 6HWVWKHFRXQWLQJGLUHFWLRQZKHQFRPPDQGSXOVHLV
input.
Pr0.07 Command pulse input
mode setup 0 to 3 6HWVWKHFRXQWLQJPHWKRGZKHQFRPPDQGSXOVHLV
input.
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
5HODWHGSDJH
3´&RQWURO%ORFN'LDJUDPµ
3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ
Command pulse
input section
Pulse regeneration
function
Positioning complete
output (INP) function
Electronic
gear section
Positional command
filtering function
CL input
INP
output
Counter clear function
INH input
Pulse output Command pulse inhibition (INH) function
Positional
command
(pulse train) Servo driver
Host
controller
Position
control
section
3-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Outline of mode
Position Control Mode
Note
(2) Electronic gear function
7KLVIXQFWLRQPXOWLSOLHVWKHLQSXWSXOVHFRPPDQGIURPWKHKRVWFRQWUROOHUE\WKHSUH-
GHWHUPLQHGGLYLGLQJRU PXOWLSO\LQJIDFWRUDQGDSSOLHVWKH UHVXOWWRWKHSRVLWLRQFRQWURO
VHFWLRQDVWKHSRVLWLRQDOFRPPDQG%\XVLQJWKLVIXQFWLRQGHVLUHGPRWRUURWDWLRQVRU
PRYHPHQWGLVWDQFHSHUXQLWLQSXWFRPPDQGSXOVHFDQEHVHWRUWKHFRPPDQGSXOVH
IUHTXHQF\FDQEHLQFUHDVHGLIWKHGHVLUHGPRWRUVSHHGFDQQRWEHREWDLQHGGXHWROLP-
LWHGSXOVHRXWSXWFDSDFLW\RIWKHKRVWFRQWUROOHU
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Function
Pr0.08
Command pulse
counts per one motor
UHYROXWLRQ
0 to
1048576
6HWWKHFRPPDQGSXOVHVWKDWFDXVHVVLQJOHWXUQRI
WKHPRWRUVKDIW
Pr0.09 1st numerator of
HOHFWURQLFJHDU
0 to
1073741824
6HWWKHQXPHUDWRURIGLYLVLRQPXOWLSOLFDWLRQ
RSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVH
input.
Pr0.10 'HQRPLQDWRURI
HOHFWURQLFJHDU
1 to
1073741824
6HWWKH'HQRPLQDWRURIGLYLVLRQPXOWLSOLFDWLRQ
RSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVH
input.
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Note
(3) Positional command filtering function
7RPDNHWKHSRVLWLRQDOFRPPDQGGLYLGHGRUPXOWLSOLHGE\WKHHOHFWURQLFJHDUVPRRWK
VHWWKHFRPPDQGÀOWHU
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr2.22 Positional command
VPRRWKLQJÀOWHU 0 to 10000 0.1ms
6HWXSWKHWLPHFRQVWDQWRIWKHVW
GHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDO
command.
Pr2.23 Positional command
),5ÀOWHU 0 to 10000 0.1ms
6HWXSWKHWLPHFRQVWDQWRIWKHVW
GHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDO
command.
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
3-4
1. Outline of mode
Position Control Mode
Note
(4) Pulse regeneration function
7KHLQIRUPDWLRQRQWKHDPRXQWRIPRYHPHQWFDQEHVHQWWRWKHKRVWFRQWUROOHULQWKH
IRUPRI$DQG %SKDVHSXOVHVIURPWKH VHUYR GULYHU:KHQ WKH RXWSXW VRXUFH LVWKH
HQFRGHU=SKDVHVLJQDOLVRXWSXWRQFHSHUPRWRUUHYROXWLRQRULIWKHIHHGEDFNVFDOH
WKHVLJQDOLVRXWSXWDWDEVROXWH]HURSRVLWLRQ7KHRXWSXWUHVROXWLRQ%SKDVHORJLFDQG
RXWSXWVRXUFHHQFRGHURUH[WHUQDOVFDOHFDQEHVHWZLWKSDUDPHWHUV
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr0.11
Output pulse counts
per one motor
UHYROXWLRQ
1 to 262144 3U
<RXFDQVHWXSWKHRXWSXWSXOVHFRXQWVSHU
RQHPRWRUUHYROXWLRQIRUHDFK2$DQG2%
ZLWKWKH3UVHWXS
Pr0.12 5HYHUVDORISXOVH
RXWSXWORJLF 0 to 3 —
<RXFDQVHWXSWKH%SKDVHORJLFDQG
WKHRXWSXWVRXUFHRIWKHSXOVHRXWSXW
:LWKWKLVSDUDPHWHU\RXFDQUHYHUVHWKH
SKDVHUHODWLRQEHWZHHQWKH$SKDVHSXOVH
DQGWKH%SKDVHSXOVHE\UHYHUVLQJWKH
%SKDVHORJLF
Pr5.03 'HQRPLQDWRURISXOVH
RXWSXWGLYLVLRQ 0 to 262144 —
)RUDSSOLFDWLRQZKHUHWKHQXPEHURI
SXOVHVSHUUHYROXWLRQLVQRWDQLQWHJHU
WKLVSDUDPHWHUFDQEHVHWWRDYDOXHRWKHU
WKDQDQGWKHGLYLGLQJUDWLRFDQEHVHWE\
VHWWLQJQXPHUDWRURIGLYLVLRQWR3UDQG
GHQRPLQDWRURIGLYLVLRQWR3U
Pr5.33 3XOVHUHJHQHUDWLYH
output limit setup 0 to 1 — (QDEOHGLVDEOHGHWHFWLRQRI(UU3XOVH
UHJHQHUDWLYHOLPLWSURWHFWLRQ
Pr6.20 =SKDVHVHWXSRI
external scale 0 to 400 ѥV 6HWXSWKH=SKDVHUHJHQHUDWLYHZLGWKRI
IHHGEDFNVFDOHLQXQLWRIWLPH
Pr6.21
Serial absolute
H[WHUQDOVFDOH=SKDVH
setup
0 to
268435456 pulse
)XOOFORVHGFRQWUROXVLQJVHULDODEVROXWH
IHHGEDFNVFDOH:KHQRXWSXWWLQJSXOVHVE\
XVLQJWKHIHHGEDFNVFDOHDVWKHVRXUFHRI
WKHRXWSXWVHWWKH=SKDVHRXWSXWLQWHUYDO
LQXQLWVRI$SKDVHRXWSXWSXOVHVRIWKH
IHHGEDFNVFDOHEHIRUHPXOWLSOLHGE\
Pr6.22
$%SKDVHH[WHUQDO
scale pulse output
PHWKRGVHOHFWLRQ
0 to 1 — 6HOHFWWKHSXOVHUHJHQHUDWLRQPHWKRGRI$
%DQG=SDUDOOHOIHHGEDFNVFDOH
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRI
SDUDPHWHUµ
Note
'HYLDWLRQFRXQWHUFOHDUIXQFWLRQ
7KHGHYLDWLRQFRXQWHUFOHDULQSXW&/FOHDUVWKHFRXQWVRISRVLWLRQDOGHYLDWLRQFRXQWHU
DWWKHSRVLWLRQFRQWUROWR
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Function
Pr5.17 Counter clear input
mode 0 to 4 <RXFDQVHWXSWKHFOHDULQJFRQGLWLRQVRIWKH
FRXQWHUFOHDULQSXWVLJQDO
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3-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Outline of mode
Position Control Mode
Note
(6) Positioning complete output (INP) function
7KHFRPSOHWLRQRISRVLWLRQLQJFDQEHYHULÀHGE\WKHSRVLWLRQLQJFRPSOHWHRXWSXW,13
:KHQWKH DEVROXWH YDOXHRI WKH SRVLWLRQDOGHYLDWLRQFRXQWHU DW WKHSRVLWLRQFRQWURO LV
HTXDOWRRUEHORZWKHSRVLWLRQLQJFRPSOHWHUDQJHE\WKHSDUDPHWHUWKHRXWSXWLV21
3UHVHQFH DQG DEVHQFH RI SRVLWLRQDO FRPPDQG FDQ EH VSHFLÀHG DV RQH RI MXGJPHQW
conditions.
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr4.31 3RVLWLRQLQJFRPSOHWH
,QSRVLWLRQUDQJH 0 to 262144 Command
unit
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQ
DWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO
,13LVRXWSXW
Pr4.32
3RVLWLRQLQJFRPSOHWH
(In-position) output
setup
0 to 3 —6HOHFWWKHFRQGLWLRQWRRXWSXWWKH
SRVLWLRQLQJFRPSOHWHVLJQDO,13
Pr4.33 ,13KROGWLPH 0 to 30000 1ms 6HWXSWKHKROGWLPHZKHQ3U
3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS 
Pr4.42
QG3RVLWLRQLQJ
complete (In-position)
UDQJH
0 to 262144 Command
unit
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQ
DWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO
,13LVRXWSXW
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
Note
(7) Command pulse inhibition (INH) function
7KH FRPPDQG SXOVH LQSXW FRXQWLQJ SURFHVV FDQ EH IRUFLEO\ WHUPLQDWHG E\ XVLQJ WKH
FRPPDQGSXOVHLQKLELWLQSXWVLJQDO,1+:KHQ,1+LQSXWLV21WKHVHUYRGULYHULJ-
QRUHVWKHFRPPDQGSXOVHGLVDEOLQJSXOVHFRXQWLQJIXQFWLRQ
7KHGHIDXOWVHWWLQJRIWKLVLQKLELWLRQIXQFWLRQLVGLVDEOH7RXVH,1+IXQFWLRQFKDQJHWKH
VHWWLQJRI3U´,QYDOLGDWLRQRIFRPPDQGSXOVHSURKLELWLRQLQSXWµ
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Function
Pr5.18
,QYDOLGDWLRQRI
FRPPDQGSXOVHLQKLELW
input
0 to 1 6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOH
Pr5.19 &RPPDQGSXOVHLQKLELW
LQSXWUHDGLQJVHWXS 0 to 4
6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOH
VLJQDOUHDGLQJSHULRG:KHQWKHVWDWXVRIVHYHUDO
VLJQDOVUHDGGXULQJWKHSUHGHWHUPLQHGUHDGLQJ
SHULRGDUHVDPHXSGDWHWKHVLJQDOVWDWXV
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
3-6
31. Outline of mode
Connection Velocity Control Mode
Outline
<RXFDQFRQWUROWKHVSHHGDFFRUGLQJWRWKHDQDORJVSHHGFRPPDQGIURPWKHKRVWFRQ-
WUROOHURUWKHVSHHGFRPPDQGVHWLQWKHVHUYRGULYHU
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
Function
Note
(1) Velocity control by analog speed command
7KHDQDORJVSHHGFRPPDQGLQSXWYROWDJHLVFRQYHUWHGWRHTXLYDOHQWGLJLWDOVSHHG
FRPPDQG<RXFDQVHWWKHÀOWHUWRHOLPLQDWHQRLVHRUDGMXVWWKHRIIVHW
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr3.00 6SHHGVHWXS,QWHUQDO
([WHUQDOVZLWFKLQJ 0 to 3 —
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHG
VHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKH
VSHHGZLWKFRQWDFWLQSXWVRQO\
Pr3.01
Speed command
rotational direction
selection
0 to 1 — 6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQ
VSHFLI\LQJPHWKRG
Pr3.02 ,QSXWJDLQRIVSHHG
command 10 to 2000 UPLQ
9
%DVHGRQWKHYROWDJHDSSOLHGWRWKH
DQDORJVSHHGFRPPDQG635VHWXSWKH
FRQYHUVLRQJDLQWRPRWRUFRPPDQGVSHHG
Pr3.03 5HYHUVDORIVSHHG
command input 0 to 1 — 6SHFLI\WKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJVSHHGFRPPDQG635
Pr4.22 $QDORJLQSXW$,
offset setup
ïWR
5578
0.359mV
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.23 $QDORJLQSXW$,
ÀOWHU 0 to 6400
0.01ms
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
Servo driver
Host
controller
Velocity
control
section
Process of analog
speed command input
Analog
speed command
(±10V)
ZEROSPD input
AT-SPEED output
V-COIN output
Internal speed
command settings
Speed zero clamp (ZEROSPD) function
Attained speed output
Speed coincidence output
5HODWHGSDJH
3´&RQWURO%ORFN'LDJUDPµ
3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ
3-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Outline of mode
Velocity Control Mode
Note
(2) Velocity control by internal speed command
<RXFDQFRQWUROWKHVSHHGE\XVLQJWKHLQWHUQDOVSHHGFRPPDQGVHWWRWKHSDUDPHWHU
%\ XVLQJ WKH LQWHUQDO VSHHG FRPPDQG VHOHFWLRQV    ,1763'\RXFDQ
VHOHFWEHVWDSSURSULDWHRQHDPRQJXSWRLQWHUQDOVSHHGFRPPDQGVHWWLQJV'HIDXOW
VHWWLQJXVHVWKHDQDORJVSHHGFRPPDQG7RXVHWKHLQWHUQDOVSHHGFRPPDQGVHOHFWLW
WKURXJK3U´,QWHUQDOH[WHUQDOVSHHGVHWXSµ
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr3.00 6SHHGVHWXS,QWHUQDO
([WHUQDOVZLWFKLQJ 0 to 3 —
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHG
VHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKH
VSHHGZLWKFRQWDFWLQSXWVRQO\
Pr3.01
Speed command
rotational direction
selection
0 to 1 — 6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQ
VSHFLI\LQJPHWKRG
Pr3.04
1st speed of speed setup
ïWR
20000 UPLQ
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRVW
Pr3.05
2nd speed of speed setup
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRQG
Pr3.06
3rd speed of speed setup
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRUG
Pr3.07
WKVSHHGRIVSHHGVHWXS
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
Pr3.08
WKVSHHGRIVSHHGVHWXS
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
Pr3.09
WKVSHHGRIVSHHGVHWXS
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
Pr3.10
WKVSHHGRIVSHHGVHWXS
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
Pr3.11
WKVSHHGRIVSHHGVHWXS
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
Note
6SHHG]HURFODPS=(5263'IXQFWLRQ
<RXFDQIRUFLEO\VHWWKHVSHHGFRPPDQGWRE\XVLQJWKHVSHHG]HURFODPSLQSXW
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr3.15 6SHHG]HURFODPS
function selection 0 to 3 — <RXFDQVHWXSWKHIXQFWLRQRIWKHVSHHG
]HURFODPSLQSXW
Pr3.16 6SHHG]HURFODPS
OHYHO 0 to 1 UPLQ
HOHFWWKHWLPLQJDWZKLFKWKHSRVLWLRQ
FRQWUROLVDFWLYDWHGDVWKH3U6SHHG
]HURFODPSIXQFWLRQVHOHFWLRQLVVHWWRRU
3.
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Note
(4) Attained speed output (AT-SPEED)
7KHVLJQDO$763(('LVRXWSXWDVWKHPRWRUUHDFKHVWKHVSHHGVHWWR3U´$WWDLQHG
VSHHGµ
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr4.36 $WVSHHG
6SHHGDUULYDO 10 to 20000 UPLQ 6HWWKHGHWHFWLRQWLPLQJRIWKHVSHHG
DUULYDORXWSXW$763(('
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
3-8
1. Outline of mode
Velocity Control Mode
Note
(5) Speed coincidence output (V-COIN)
7KLVVLJQDO LVRXWSXW ZKHQWKHPRWRU VSHHGLV HTXDOWRWKH VSHHGVSHFLILHGE\ WKH
VSHHGFRPPDQG7KHPRWRUVSHHGLVMXGJHGWREHFRLQFLGHQWZLWKWKHVSHFLÀHGVSHHG
ZKHQWKHGLIIHUHQFHIURPWKHVSHHGFRPPDQGEHIRUHDIWHUDFFHOHUDWLRQGHFHOHUDWLRQLV
ZLWKLQWKHUDQJHVSHFLÀHGE\3U´6SHHGFRLQFLGHQWUDQJHµ
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr4.35 Speed coincidence
UDQJH 10 to 20000 UPLQ 6HWWKHVSHHGFRLQFLGHQFH9&2,1
RXWSXWGHWHFWLRQWLPLQJ
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Caution
Note
(6) Speed command acceleration/deceleration setting function
7KLVIXQFWLRQ FRQWUROV WKHVSHHGE\ DGGLQJ DFFHOHUDWLRQRUGHFHOHUDWLRQ LQVWUXFWLRQ LQ
WKHGULYHUWRWKHLQSXWVSHHGFRPPDQG
8VLQJWKLVIXQFWLRQ\RXFDQXVHWKHVRIWVWDUWZKHQLQSXWWLQJVWHSZLVHVSHHGFRPPDQG
RUZKHQXVLQJLQWHUQDOVSHHGVHWXS<RXFDQDOVRXVH6VKDSHGDFFHOHUDWLRQGHFHOHUD-
WLRQIXQFWLRQWRPLQLPL]HVKRFNGXHWRFKDQJHLQVSHHG
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Unit Function
Pr3.12 $FFHOHUDWLRQWLPH
setup 0 to 10000 PV
UPLQ
6HWXSDFFHOHUDWLRQSURFHVVLQJWLPHLQ
UHVSRQVHWRWKHVSHHGFRPPDQGLQSXW
Pr3.13 'HFHOHUDWLRQWLPH
setup 0 to 10000 PV
UPLQ
6HWXSGHFHOHUDWLRQSURFHVVLQJWLPHLQ
UHVSRQVHWRWKHVSHHGFRPPDQGLQSXW
Pr3.14 6LJPRLGDFFHOHUDWLRQ
deceleration time setup 0 to 1000 ms
6HW6FXUYHWLPHIRUDFFHOHUDWLRQ
GHFHOHUDWLRQSURFHVVZKHQWKHVSHHG
command is applied.
:KHQWKHSRVLWLRQORRSLVH[WHUQDOWRWKHGULYHUGRQRWXVHWKHDFFHOHUDWLRQ
GHFHOHUDWLRQWLPHVHWWLQJ6HWWKHVHYDOXHVWR
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
3-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
31. Outline of mode
Connection Torque Control Mode
Outline
Note
7KHWRUTXHFRQWUROLVSHUIRUPHGDFFRUGLQJWRWKHWRUTXHFRPPDQGVSHFLÀHGLQWKHIRUPRI
DQDORJYROWDJH)RUFRQWUROOLQJWKHWRUTXHWKHVSHHGOLPLWLQSXWLVUHTXLUHGLQDGGLWLRQWR
WKHWRUTXHFRPPDQGWRPDLQWDLQWKHPRWRUVSHHGZLWKLQWKHVSHHGOLPLW
:LWKWKH$VHULHVWRUTXHFRQWUROPRGHVDUHDYDLODEOHHDFKUHTXLUHVGLIIHUHQWWRUTXH
FRPPDQGDQGVSHHGOLPLWDVVKRZQLQWKHWDEOHEHORZ
3U6HOHFWLRQRIWRUTXHFRPPDQG
Setup
YDOXH Torque command input Velocity limit input
0Selection of torque
command 1
$QDORJLQSXW*1
$,ELWUHVROXWLRQ
3DUDPHWHUYDOXH
(Pr3.21)
1Selection of torque
command 2
$QDORJLQSXW
$,ELWUHVROXWLRQ
$QDORJLQSXW
$,ELWUHVROXWLRQ
2Selection of torque
command 3
$QDORJLQSXW*1
$,ELWUHVROXWLRQ
3DUDPHWHUYDOXH
3U3U
*1 )RU 3U &RQWURO PRGH VHWXS  YHORFLW\WRUTXH FRQWURO WKH WRUTXH FRPPDQG
LQSXWLVWKHDQDORJLQSXW$,ELWUHVROXWLRQ
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
<Selection of torque command 1, 3>
<Selection of torque command2>
Servo driver
Host
controller
Torq ue
control
section
Analog
torque command
(AI1, ±10V)
ZEROSPD input
AT-SPEED output
V-COIN output
Process of analog
torque command input
Speed zero clamp (ZEROSPD) function
Attained speed output
Speed coincidence output
Speed limit value
(Parameter)
Servo driver
Host
controller
Torq ue
control
section
Process of analog
torque command input
Analog
torque command
(AI2, ±10V)
Process of
speed limit input
Speed limit input
(AI1, ±10V)
ZEROSPD input
AT-SPEED output
V-COIN output
Speed zero clamp (ZEROSPD) function
Attained speed output
Speed coincidence output
Note
5HODWHGSDJH
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
3´&RQWURO%ORFN'LDJUDPµ3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ
3-10
1. Outline of mode
Torque Control Mode
Function
Note
(1) Process of analog torque command input
7KLV SURFHVV FRQYHUWV WKH DQDORJ WRUTXH FRPPDQG LQSXW YROWDJH WR WKH HTXLYDOHQW
GLJLWDOWRUTXHFRPPDQGKDYLQJWKHVDPHHIIHFW<RXFDQVHWWKHÀOWHURUDGMXVWWKHRII-
set to eliminate noise.
5HOHYDQWSDUDPHWHUV<Selection of torque command 1, 3>
Parameter
No.
Title 5DQJH Unit Function
Pr3.18 Torque command
direction selection 0 to 1 — 6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
direction of torque command.
Pr3.19 ,QSXWJDLQRIWRUTXH
command 10 to 100 0.1V

%DVHGRQWKHYROWDJH9DSSOLHGWRWKH
DQDORJWRUTXHFRPPDQG7545VHWXS
WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG

Pr3.20 ,QSXWUHYHUVDORIWRUTXH
command 0 to 1 — 6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJWRUTXHFRPPDQG7545
Pr4.22 $QDORJLQSXW$,
offset setup
ïWR
5578
0.359mV
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.23 $QDORJLQSXW$,
ÀOWHU 0 to 6400
0.01ms
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW
5HOHYDQWSDUDPHWHUV<Selection of torque command 2>
Parameter
No.
Title 5DQJH Unit Function
Pr3.18 Torque command
direction selection 0 to 1 — 6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
direction of torque command.
Pr3.19 ,QSXWJDLQRIWRUTXH
command 10 to 100 0.1V

%DVHGRQWKHYROWDJH9DSSOLHGWRWKH
DQDORJWRUTXHFRPPDQG7545VHWXS
WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG

Pr3.20 ,QSXWUHYHUVDORIWRUTXH
command 0 to 1 — 6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJWRUTXHFRPPDQG7545
Pr4.25 $QDORJLQSXW$,
offset setup ïWR
5.86mV
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.26 $QDORJLQSXW$,
ÀOWHU 0 to 6400
0.01ms
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW
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3-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Outline of mode
Torque Control Mode
Caution
Note
(2) Speed limit function
7KHVSHHGOLPLWLVRQHRISURWHFWLYHIXQFWLRQVXVHGGXULQJWRUTXHFRQWURO
7KLVIXQFWLRQUHJXODWHVWKHPRWRUVSHHGVRWKDWLWGRHVQRWH[FHHGWKHVSHHGOLPLWZKLOH
WKHWRUTXHLVFRQWUROOHG
:KLOHWKHVSHHGOLPLWLVXVHGWRFRQWUROWKHPRWRUWKHWRUTXHFRPPDQGDSSOLHGWRWKH
PRWRU LV QRW GLUHFWO\ SURSRUWLRQDO WR WKH DQDORJ WRUTXH FRPPDQG7RUTXH FRPPDQG
VKRXOGKDYHWKHIROORZLQJUHVXOWWKHPRWRUVSHHGLVHTXDOWRWKHVSHHGOLPLW
5HOHYDQWSDUDPHWHUV<Selection of torque command 1, 3>
Parameter
No.
Title 5DQJH Unit Function
Pr3.21 6SHHGOLPLWYDOXH 0 to 20000 UPLQ 6HWXSWKHVSHHGOLPLWXVHGIRUWRUTXH
FRQWUROOLQJ
Pr3.22 6SHHGOLPLWYDOXH 0 to 20000 UPLQ
Pr3.15 6SHHG]HURFODPS
function selection 0 to 3 — <RXFDQVHWXSWKHIXQFWLRQRIWKHVSHHG
]HURFODPSLQSXW
5HOHYDQWSDUDPHWHUV<Selection of torque command 2>
Parameter
No.
Title 5DQJH Unit Function
Pr3.02 ,QSXWJDLQRIVSHHG
command 10 to 2000 UPLQ
9
%DVHGRQWKHYROWDJHDSSOLHGWRWKH
DQDORJVSHHGFRPPDQG635VHWXSWKH
FRQYHUVLRQJDLQWRPRWRUFRPPDQGVSHHG
Pr4.22 $QDORJLQSXW$,
offset setup
ïWR
5578
0.359mV
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.23 $QDORJLQSXW$,
ÀOWHU 0 to 6400
0.01ms
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW
Pr3.15 6SHHG]HURFODPS
function selection 0 to 3 — <RXFDQVHWXSWKHIXQFWLRQRIWKHVSHHG
]HURFODPSLQSXW
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
3-12
Cautions on Full-Closed Control
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 ,IWKHFRPPDQGSXOVHVGRQRWPDWFKWRWKHH[WHUQDOVFDOHSXOVHVXVHWKHFRPPDQGGLYLVLRQ
PXOWLSOLFDWLRQIXQFWLRQ3UWR3UDQGVHWXSVRWKDWWKHFRPPDQGSXOVHVDIWHUGLYLVLRQ
PXOWLSOLFDWLRQLVEDVHGRQWKHH[WHUQDOVFDOHUHIHUHQFH    
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WLRQW\SH,QLWLDOL]HWKHSDUDPHWHUVDFFRUGLQJWRWKHIROORZLQJSURFHGXUHVDQGZULWHWR((3520
DQGWXUQRQSRZHU
:KHQXVLQJDVFDOHRI$DQG%SKDVHRXWSXWW\SHFRUUHFWO\FRQQHFWLWVRWKDWWKHURWDWLQJGL-
UHFWLRQRIWKHPRWRU&:&&:DQG$SKDVHDQG%SKDVHRIWKHH[WHUQDOVFDOHKDYHWKHIROORZ-
LQJUHODWLRQVKLS
CCW direction
t1 t1
t2
t1 t1
EXA
t1＞ѥV t2＞ѥV
EXB
t1＞ѥV t2＞ѥV
t1 t1
t2
t1 t1
EXA
EXB
CW direction
Outline
,QWKLVIXOOFORVHGFRQWURO\RX FDQPDNH DSRVLWLRQFRQWUROE\XVLQJDH[WHUQDOVFDOH
PRXQWHGH[WHUQDOO\ZKLFKGHWHFWVWKHSRVLWLRQGLUHFWO\DQGIHHGVLWEDFN:LWKWKLVFRQWURO
\RXFDQ FRQWURO ZLWKRXWEHLQJDIIHFWHGE\ WKH SRVLWLRQDOYDULDWLRQGXHWR WKH EDOOVFUHZ
HUURURUWHPSHUDWXUHDQG\RXFDQH[SHFWWRDFKLHYHDYHU\KLJKSUHFLVLRQSRVLWLRQLQJLQ
sub-micron order.
Controller
Position
command
(Speed detection)
Position detection
External scale
We recommend the external scale division ratio of ExternalVFDOHGLYLVLRQUDWLR

31. Outline of mode
Connection Full-closed Control Mode
<How to make an initial setup of parameters related to external scale >
7XUQRQWKHSRZHUDIWHUFKHFNLQJWKHZLULQJ
&KHFN WKH YDOXHV LQLWLDO IHHGEDFN SXOVH VXP DQG H[WHUQDO VFDOH IHHGEDFN SXOVH VXP ZLWK WKH
front panel.
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,IWKHWUDYHORIWKHIHHGEDFNSXOVHVXPDQGWKHH[WHUQDOVFDOHIHHGEDFNSXOVHVXPDUHUHYHUVHGLQ
SRVLWLYHDQGQHJDWLYHVHWXSWKHUHYHUVDORIH[WHUQDOVFDOHGLUHFWLRQ3UWR
6HWXSWKHH[WHUQDOVFDOHGLYLVLRQUDWLR3U3UXVLQJWKHIRUPXODEHORZ
 ,IWKHGHVLJQYDOXHRIWKHH[WHUQDOVFDOHGLYLVLRQUDWLRLVREWDLQHGVHWXSWKLVYDOXH
([WHUQDOVFDOHGLYLVLRQUDWLR 7RWDOYDULDWLRQRIIHHGEDFNSXOVHVXP Pr3.24
  7RWDOYDULDWLRQRIH[WHUQDOVFDOHIHHGEDFNSXOVHVXP Pr3.25
Note
5HODWHGSDJH
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKFRQQHFWRU;
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3-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Outline of mode
Full-closed Control Mode
6HWXSDSSURSULDWHYDOXHRIK\EULGGHYLDWLRQH[FHVV3ULQFRPPDQGXQLWLQRUGHUWRDYRLG
WKHGDPDJHWRWKHPDFKLQH
 $VHULHVGULYHUFDOFXODWHVWKHGLIIHUHQFHEHWZHHQWKHHQFRGHUSRVLWLRQDQGWKHH[WHUQDOVFDOH
SRVLWLRQDVK\EULGGHYLDWLRQDQGLVXVHGWRSUHYHQWWKHPDFKLQHUXQDZD\RUGDPDJHLQFDVHRI
WKHH[WHUQDOVFDOHEUHDNGRZQRUZKHQWKHPRWRUDQGWKHORDGLVGLVFRQQHFWHG
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ZLOOEHGHOD\HGDQGHUURUGHWHFWLRQHIIHFWZLOOEHORVW,IWKLVLVWRRQDUURZLWPD\GHWHFWWKHQRUPDO
GLVWRUWLRQEHWZHHQWKHPRWRUDQGWKHPDFKLQHXQGHUQRUPDORSHUDWLRQDVDQHUURU
 :KHQ WKH H[WHUQDO VFDOH GLYLVLRQ UDWLRQ LV QRW FRUUHFW K\EULG GHYLDWLRQ H[FHVV HUURU (UU
PD\RFFXUHVSHFLDOO\ZKHQWKHZRUNWUDYHOVORQJGLVWDQFHHYHQWKRXJKWKHH[WHUQDOVFDOHDQG
WKHPRWRUSRVLWLRQPDWFKHV 
 ,QWKLVFDVHZLGHQWKHK\EULGGHYLDWLRQH[FHVVUDQJHE\PDWFKLQJWKHH[WHUQDOVFDOHGLYLVLRQUD-
WLRWRWKHFORVHVWYDOXH
Function
Note
(1) Selection of external scale type
6HOHFWWKHW\SHRIH[WHUQDOVFDOHWREHXVHG
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Function
Pr3.23 External scale
selection 0 to 2 6HOHFWWKHW\SHRIH[WHUQDOVFDOH
Pr3.26 5HYHUVDORIGLUHFWLRQRI
external scale 0 to 1 5HYHUVHWKHGLUHFWLRQRIH[WHUQDOVFDOHIHHGEDFN
counter.
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR330 and 31´'HWDLOVRISDUDPHWHUµ
Note
6HWXSRIH[WHUQDOVFDOHGLYLVLRQUDWLR
6HWXSWKHGLYLVLRQUDWLRRIHQFRGHUUHVROXWLRQDQGH[WHUQDOVFDOHUHVROXWLRQ
5HOHYDQWSDUDPHWHUV
Parameter
No.
Title 5DQJH Function
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setup.
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Note
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Parameter
No.
Title 5DQJH Function
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excess setup 1 to 227
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external scale position.
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3-14
32. Control Block Diagram
Connection Position Control Mode
Pulse train
PULS
SIGN
Input setup
Sum of command pulses
[Command unit]
0.05
Input
selection
0.06
Direction
setup
0.07Mode
Notch filter
2.011st
Frequency
Depth
2.04
2.02
2.052nd
2.10 2.11
2.00
Width
2.03
2.06
2.07 2.083rd 2.09
2.124th
Adaptive
mode setup
Velocity control
1.011st
Propor-
tion Integra-
tion
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
Function
expansion
6.132nd inertia ratio
Damping control
2.141st
2.13
Switching
selection
Frequency
Filter
2.16
2.18
2.20
2.15
2.172nd
2.19
2.21
3rd
4th
Smoothing
filter
Electric gear
0.08
One
revolu-
tion
0.09
1st
numerator
0.10
Denominator
Gain switching
1.14
2nd
setup
1.15Mode
1.16
Delay
time
1.17Level
1.18
Hysteresis
1.19
Switching
time
6.05
3rd
setup
6.06
Scale
factor
5.00
2nd
numerator
5.01
3rd
numerator
2.22
FIR 2.23
Primary
delay
Motor
Load
Main
power
supply
Encoder
Velocity
feed forward
1.10Gain
1.11Filter
Torque
feed forward
1.12Gain
1.13Filter
Position control
1.001st
1.052nd
Current control
Speed detection
6.11
Response
setup
Torque filter
1.041st
1.092nd
Disturbance
observer
6.23Gain
6.24Filter
Speed detection
filter
1.031st
1.082nd
6.10
Instantaneous
speed
Torque limit
5.21
Selection
0.131st
5.222nd
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
5.02
4th
numerator
Command positional deviation
[Command unit]
Encoder
positional deviation
[Encoder pulse]
velocity control
command [r/min]
Torque command
[％]
＋
−
＋
−
＋
＋
＋
＋
＋
＋
＋
＋
−
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
Inversion of
electric gear
Friction
compensation
6.07
6.08
6.09
additional
value
Positive
direction
Negative
direction
Positional command
speed [r/min]
Internal positional
command speed [r/min]
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3-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
32. Control Block Diagram
Connection Velocity Control Mode
Analog input
Analog
input 1
16bit A/D
AI1
Al1 input voltage
[Ｖ]
Velocity control
command [r/min]
4.22Offset
4.23Filter
Scaling
3.02Gain
3.03Reversal
Gain switching
1.14
1.20
1.21
1.22
1.23
Internal velocity setup
3.041st
3.052nd
3.063rd
3.074th
3.107th
3.118th
3.085th
3.096th
Velocity command
selection
3.00
3.01
Current control
Velocity detection
6.11
Friction
compensation
6.07
Acceleration/
Deceleration limit
3.12
Accelera-
tion
3.13
Decelera-
tion
Internal/External
switching
Direction
selection 3.14Sigmoid
＋
−
＋
＋
＋
＋
＋
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
1.12
1.13
2nd
setup
Mode
Delay
time
Level
Hysteresis
additional
value
Torque
feed forward
Gain
Filter
Notch filter
2.011st
Frequency
Depth
2.04
2.02
2.052nd
2.10 2.11
2.00
Width
2.03
2.06
2.07 2.083rd 2.09
2.124th
Adaptive
mode setup
Main
power
supply
Torque filter
1.041st
1.092nd
Disturbance
observer
6.23Gain
6.24Filter
Torque limit
5.21
Selection
0.131st
5.222nd
Torque command
[％]
Motor
Load
Encoder
Response
setup
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Velocity
detection filter
1.031st
1.082nd
6.10
Instantaneous
speed
Velocity control
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.132nd inertia ratio
Propor-
tion Integra-
tion
Function
expansion
Note
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3-16
32. Control Block Diagram
Connection Torque Control Mode
Gain switching
2nd
setup
Mode
Delay
time
Level
Hysteresis
Analog input
Analog
input 2
12bit A/D
AI2
Analog
input 1
16bit A/D
AI1
Al2 input voltage
[Ｖ]
4.25
4.26
Analog input
4.22Offset
4.23Filter
Scaling
3.19
3.20
1.14
1.24
1.25
1.26
1.27
Motor
Load
Encoder
Scaling
（Torque command）
3.19Gain
3.20Reversal
Scaling
（Speed limit）
3.02Gain
3.03Reversal
Speed detection
Torque command
selection
3.17
3.18
Speed limit
[r/min]
Al1 input voltage
[Ｖ]
＋
−
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
Internal
speed limit
3.21
Limit
value 1
3.22
Limit
value 2
Speed limit
selection
3.17
Command
selection
Sign
Absolute value
Offset
Filter
Gain
Reversal
Current control
6.11
Main
power
supply
Torque limit
5.21
Selection
0.131st
5.222nd
Torque command
[％]
Response
setup
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Velocity
detection filter
1.031st
1.082nd
6.10
Instantaneous
speed
Velocity control
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.132nd inertia ratio
Notch filter
2.011st
Frequency
Width
2.04
2.02
2.052nd
2.10 2.11
Depth
2.03
2.06
2.07 2.083rd 2.09
2.124th
Torque filter
1.041st
1.092nd
Internal/External
switching
Direction
selection
Propor-
tion Integra-
tion
Function
expansion
Note
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3-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
32. Control Block Diagram
Connection Full-closed Control Mode
External scale
Pulse
regeneration
0.11
Numera-
tor
5.03
Denomi-
nator
0.12Reversal
6.20
Z-phase
Width
6.21
Z-phase
setup
6.22
output
method
External scale
dividing
3.24
3.25
Motor
External scale
Encoder
Speed detection
Input setup
3.23Type
3.26Reversal
3.27
Ｚ-phase
invalid
Positional command
speed [r/min]
Internal positional
command speed [r/min]
＋
−
＋
−
＋
＋
＋
＋
＋
＋−
＋
＋
＋
−
Hybrid
deviation
[Command unit]
External scale
Reverse dividing
3.25
Numera-
tor
3.24
Denomi-
nator
External
scale
pulse
output
EXA
EXB
EXZ
Torque command
[％]
Current control
6.11
Response
setup
velocity control
command [r/min]
Motor speed
[r/min]
Inversion of
electric gear
Inversion of
electric gear
Pulse train
PULS
SIGN
Input setup
0.05
Input
selection
0.06
Direction
setup
0.07Mode
Electric gear
0.08
One
revolu-
tion
0.09
1st
numerator
0.10
Denominator
5.00
2nd
numerator
5.01
3rd
numerator
5.02
4th
numerator
Damping control
2.141st
2.13
Switching
selection
Frequency
Filter
2.16
2.18
2.20
2.15
2.172nd
2.19
2.21
3rd
4th
Smoothing
filter Gain switching
1.14
2nd
setup
1.15Mode
1.16
Delay
time
1.17Level
1.18
Hysteresis
1.19
Switching
time
6.05
3rd
setup
6.06
Scale
factor
2.22
FIR 2.23
Primary
delay
Friction
compensation
6.07
6.08
6.09
additional
value
Positive
direction
Negative
direction
Tor q ue
feed forward
1.12Gain
1.13Filter
Velocity
feed forward
1.10Gain
1.11Filter
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.132nd inertia ratio
Speed detection
filter
1.031st
1.082nd
6.10
Instantaneous
speed
Pulse
regeneration
Encoder
feedback
pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Main
power
supply
Torque filter
1.041st
1.092nd
Disturbance
observer
6.23Gain
6.24Filter
Torque limit
5.21
Selection
0.131st
5.222nd
Notch filter
2.011st
Frequency
Width
2.04
2.02
2.052nd
2.10 2.11
2.00
Depth
2.03
2.06
2.07 2.083rd 2.09
2.124th
Adaptive
mode setup
Position control
1.001st
1.052nd
Sum of command pulses
[Command unit]
Command positional deviation
[Command unit]
Sum of
feedback pulses
[External scale pulse]
Full-closed
deviation
[External scale pulse]
Numera-
tor
Denomi-
nator
Velocity control
Propor-
tion Integra-
tion
Function
expansion
Note
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3-18
33.
Wiring Diagram to the connector, X4
Connection Example of control mode specific wiring
2.2kї
2.2kї
2.2kї
2.2kї
14
15
16
17
43
18
42
In case of open collector I/F
7
COM+
PULS2
SIGN1
SIGN2
GND
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
4
3
1
2
5
6
13
21
22
48
24
25
19
49
23
1kї
1kї
PULS1
OPC2
OPC1
INH
CL
SRV-ON
GAIN
DIV1
VS-SEL1
C-MODE
A-CLR
POT
NOT
S-RDY
+
S-RDY
-
ALM+
INP+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 to 24V
ZSP
COM
-
SIGNH1
SIGNH2
PULSH1
PULSH2
GND
FG
INP
-
ALM
-
33
30
29
27
28
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
44
45
13
50
26
Z-phase output
(open collector)
3
PULS1
4
PULS2
X4
46
47
14kї
10kї
20kї20kї
14kї
10kї
20kї20kї
47kї
47kї47kї
47kї
20kї
20kї
+
–
+
–
–
20kї
2kї
2kї20kї
120ї
20kї
2kї
2kї20kї
120ї
220ї
VDC
R
5
SIGN1
6
SIGN2
220ї
R
1
OPC1
4
PULS2
220ї
24VDC
2
OPC1
6
SIGN2
220ї
2.2kї
2.2kї
(1) When you use the external
resistor with 12V and 24V
power supply
(2) When you do not use the
external resistor with 24V
power supply
Positive direction torque limit input
(0 to +10V)
Negative direction
torque limit input
(
-
10 to +10V)
Velocity monitor output
Torque monitor output
Command
pulse
input A
(Use with
500 kpps or less.)
Divider
A-phase
output
B-phase
output
Z-phase
output
Command pulse input B
(Use with 4Mpps or less.)
Be sure to connect.
V
DC
12V
24V
Specifications
of R
1kї1/2W
2kї1/2W
V
DC
-
1.5
R
+
220 =10mA
.
.
Servo-ON input
Gain switching input
Electronic gear
switching input 1
Control mode
switching input
Damping control
switching input 1
Alarm clear input
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
Servo-Ready output
Servo-Alarm output
Positioning complete output
External brake release output
Torque in-limit output
Zero speed detection output
Deviation counter
clear input
Command pulse
inhibition input
( : Twisted pair)
4.7kї
220ї
2.2kї
2.2kї
220ї
2.2kї
2.2kї
7COM+
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
21
22
48
24
25
19
49
23
1kї
1kї
INTSPD1
INTSPD2
SRV-ON
GAIN
INTSPD3
ZEROSPD
C-MODE
A-CLR
POT
NOT
S-RDY+
S-RDY
-
ALM+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 to 24V
ZSP
COM
-
FG
ALM
-
33
30
29
27
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
50
28
14
15
16
17
18
43
42
26
14kї
10kї
20kї20kї
14kї
10kї
20kї20kї
47kї
47kї47kї
47kї
20kї
20kї
X4
A-phase output
B-phase output
Z-phase output
Z-phase output (open collector)
Velocity command
input (0 to ± 10V)
Positive direction torque
limit input (0 to ± 10V)
Negative direction torque
limit input (-10 to 0V)
Velocity monitor output
Torque monitor output
Servo-ON input
Gain switching input
Alarm clear input
Speed zero clamp input
Selection 1 input of
internal command speed
Selection 2 input of
internal command speed
Selection 3 input of
internal command speed
Control mode switching
input
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
Servo-Ready output
Servo alarm output
At-speed output
Torque in-limit output
Zero speed detection output
Divider
+
–
+
–
+
–
AT-SPEED
+
AT-SPEED
-
( : Twisted pair)
4.7kї
External brake release output
Wiring Example of Position Control Mode
Wiring Example of Velocity Control Mode
Note
Caution
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3-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Wiring Example of Torque Control Mode
Wiring Example of Full-closed Control Mode
2.2kї
2.2kї
2.2kї
2.2kї
14
15
16
17
43
18
42
In case of open collector I/F
7
COM+
PULS2
SIGN1
SIGN2
GND
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
4
3
1
2
5
6
13
21
22
48
24
25
19
49
23
1kї
1kї
PULS1
OPC2
OPC1
INH
CL
SRV-ON
GAIN
DIV1
VS-SEL1
C-MODE
A-CLR
POT
NOT
S-RDY
+
S-RDY
-
ALM+
INP+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 to 24V
ZSP
COM
-
SIGNH1
SIGNH2
PULSH1
PULSH2
GND
FG
INP
-
ALM
-
33
30
29
27
28
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
44
45
13
50
26
Z-phase output
(open collector)
3
PULS1
4
PULS2
X4
46
47
14kї
10kї
20kї20kї
14kї
10kї
20kї20kї
47kї
47kї47kї
47kї
20kї
20kї
+
–
+
–
–
20kї
2kї
2kї20kї
120ї
20kї
2kї
2kї20kї
120ї
220ї
VDC
R
5
SIGN1
6
SIGN2
220ї
R
1
OPC1
4
PULS2
220ї
24VDC
2
OPC1
6
SIGN2
220ї
2.2kї
2.2kї
(1) When you use the external
resistor with 12V and 24V
power supply
(2) When you do not use the
external resistor with 24V
power supply
Positive direction torque limit input
(0 to +10V)
Negative direction
torque limit input
(
-
10 to +10V)
Velocity monitor output
Torque monitor output
Command
pulse
input A
(Use with
500 kpps or less.)
Divider
A-phase
output
B-phase
output
Z-phase
output
Command pulse input B
(Use with 4Mpps or less.)
Be sure to connect.
V
DC
12V
24V
Specifications
of R
1kї1/2W
2kї1/2W
V
DC
-
1.5
R
+
220 =10mA
.
.
Servo-ON input
Gain switching input
Electronic gear
switching input 1
Control mode
switching input
Damping control
switching input 1
Alarm clear input
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
Servo-Ready output
Servo-Alarm output
Positioning complete output
External brake release output
Torque in-limit output
Zero speed detection output
Deviation counter
clear input
Command pulse
inhibition input
( : Twisted pair)
4.7kї
220ї
2.2kї
2.2kї
220ї
2.2kї
2.2kї
7COM+
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
21
22
48
24
25
19
14
15
16
17
43
18
42
49
23
14kї
10kї
20kї20kї
14kї
10kї
20kї20kї
47kї
47kї47kї
47kї
20kї
20kї
1kї
1kї
INH
CL
SRV-ON
GAIN
DIV1
ZEROSPD
C-MODE
A-CLR
POT
NOT
S-RDY+
S-RDY
-
ALM+
AT-SPEED
+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 to 24V
ZSP
COM
-
FG
AT-SPEED
-
ALM
-
33
30
29
27
28
26
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
50
Z-phase output (open collector)
X4
Divider
A-phase
output
B-phase
output
Z-phase
output
Torque command input or
velocity limit input (0 to ±10V)
Velocity monitor output
Torque monitor output
Wiring example when control mode Pr0.01=5 or Pr3.17=1
CCWTL/TRQR
GND
16
17
Negative direction torque
limit input
(0 to ±10V)
Select with Pr3.17.
+
–
+
–
+
–
Servo-ON input
Gain switching input
Alarm clear input
Servo-Ready output
Servo-Alarm output
At-speed output
External brake release output
Torque in-limit output
Zero speed detection output
Speed zero clamp
input
Control mode
switching input
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
( : Twisted pair)
4.7kї
3. Wiring Diagram to the connector, X4
Example of control mode specific wiring
Note
Caution
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3-20
33.
Wiring Diagram to the connector, X4
Connection Connecting Example to Host Controller
Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works)
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
A5-series
50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
＋24VDC
GND
FP2-PP22 AFP2434
(Panasonic Electric Works)
from
PLC I/O
output
to
PLC I/O
input
A1
B1
A2
B2
A4
B3
A7
B7
B4
A5
A6
B6
A20
B20
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
○
○
CW limit sensor
Origin proximity sensor
CCW limit sensor
390Ω
3.6kΩ
6.8kΩ
GND + 24V
DC24V
Power supply
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
DriverPLC
CW pulse command
output
CCW pulse command
output
Origin input
Deviation counter
reset output
External power supply
input
Origin proximity input
Limit excess ＋
Limit excess −
* Process of shield wire varies with equipment.
3-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Connection between MINAS A5 and FPG-PP12 AFPG432 (Panasonic Electric Works)
to
PLC I/O
input
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Gain switching input
CW pulse command
output
CCW pulse command
output
Origin input
Deviation counter
reset output
External power supply
input
Origin proximity input from
PLC I/O
output
to
PLC I/O
input
GND + 24V
DC24V
Power supply
CW limit sensor
Origin proximity sensor
CCW limit sensor
A5-seriesFPG-PP12 AFPG432
(Panasonic Electric Works)
DriverPLC
Command
pulse
input 2
Command sign
input 2
* Process of shield wire varies with equipment. 50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
560Ω
6.8kΩ
FG
FG
＋24VDC
GND
A1
B1
A2
B2
A4
B3
A7
B7
B4
A5
A19
B19
A20
B20
3-22
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works)
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
A5-seriesFP2-PP2 AFP2430
(Panasonic Electric Works)
to
PLC I/O
input
CW limit sensor
Origin proximity sensor
CCW limit sensor
from
PLC I/O
output
to
PLC I/O
input
GND + 24V
DC24V
Power supply
DriverPLC
CW pulse command
output
CCW pulse command
output
Origin input
Deviation counter
reset output
External power supply
input
Origin proximity input
* Process of shield wire varies with equipment. 50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
FG
FG
＋24VDC
GND
A1
B1
A2
B2
A4
B3
A7
B7
B4
A5
A19
B19
A20
B20
220Ω
1.6Ω
3-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Connection between MINAS A5 and FPG-C32T (Panasonic Electric Works)
A5-seriesFPG-C32T
(Panasonic Electric Works)
from
PLC I/O
output
to
PLC I/O
input
GND + 24V
DC24V
Power supply
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
DriverPLC
CCW limit sensor
Origin proximity sensor
CW limit sensor
CW pulse command
output
CCW pulse command
output
Origin input
Deviation counter
reset output
Origin proximity input
CCW limit excess
input
CW limit excess
input
* Process of shield wire varies with equipment.
Y0
Y1
X2
COM
＋
Y2
−
COM
X3
X5
X6
5.6kΩ
3kΩ
5.6kΩ
5.6kΩ
○
○
2kΩ
2kΩ
50
3
4
5
6
19
13
25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
CZ
GND
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
3-24
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
Connection between MINAS A5 and F3YP14-ON/F3YP18-ON (Yokogawa Electric Corp.)
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
from
PLC I/O
output
to
PLC I/O
input
CCW limit sensor
Origin proximity sensor
CW limit sensor
A5-seriesF3YP14-ON/F3YP18-ON
(Yokogawa Electric Corp.)
DriverPLC
CW pulse command
output
CCW pulse command
output
Origin line driver
input
Deviation counter
reset output
5V power supply
for pulse output
Origin proximity input
CW limit input
CCW limit input
* Process of shield wire varies with equipment.
14a
13a
12a
11a
15a
16a
10a
9a
8b
8a
1a
3a
2a
4a
＋V
GND
50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
240Ω
7.4kΩ
7.4kΩ
7.4kΩ
GND + 24V
DC24V
Power supply
GND + 5V
DC5V
Power supply
3-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Connection between MINAS A5 and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.)
A5-seriesF3NC32-ON/F3NC34-ON
(Yokogawa Electric Corp.)
from
PLC I/O
output
to
PLC I/O
input
GND + 24V
DC24V
Power supply
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
DriverPLC
CCW limit sensor
Origin proximity sensor
CW limit sensor
Pulse output A
Pulse output B
Origin input
Deviation counter
reset output
Contact point
input COM
External power supply
24VDC input
External power supply
24VDC input (GND)
Negative direction
limit input
Positive direction
limit input
Encoder Z-phase
output +
Encoder Z-phase
output –
* Process of shield wire varies with equipment. 50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
3a
4a
5a
6a
19a
20a
14a
1a
1b
13a
8a
9a
7a
240Ω
7.4kΩ
7.4kΩ
7.4kΩ
3-26
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
Connection between MINAS A5 and CJ1W-NC113 (Omron Corp.)
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
A5-seriesCJ1W-NC113
(Omron Corp.)
from
PLC I/O
output
to
PLC I/O
input
GND + 24V
DC24V
Power supply
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
DriverPLC
CCW limit sensor
Origin proximity sensor
CW limit sensor
CW pulse command
output
CCW pulse command
output
Origin line driver
input
Power supply
for output
Deviation counter
reset output
Emergency stop
input
Origin proximity
input
CCW limit excess
input
CW limit excess
input
* Process of shield wire varies with equipment. 50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
A6
A8
A16
A14
A1
A2
A10
A24
A20
A21
A23
A22
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
＋V
GND
150Ω
1.6kΩ
1.6kΩ
3-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Connection between MINAS A5 and CJ1W-NC133 (Omron Corp.)
A5-seriesCJ1W-NC133
(Omron Corp.)
DriverPLC
A5-series
CJ1W-NC113
(Omron Corp.)
from
PLC I/O
output
to
PLC I/O
input
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
DriverPLC
GND + 24V
DC24V
Power supply
GND + 5V
DC5V
Power supply
CCW limit sensor
Origin proximity sensor
CW limit sensor
CW pulse command
output
CCW pulse command
output
Origin line driver
input
Deviation counter
reset output
24V power supply
for output
Emergency stop
input
Origin proximity input
CCW limit over input
CW limit over input
5V power supply
for pulse output
* Process of shield wire varies with equipment. 50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
A5
A6
A7
A8
A16
A14
A1
A2
A10
A24
A20
A21
A23
A22
A3
A4
＋V
GND
150Ω
GND
＋V
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
3-28
Connection between MINAS A5 and QD75D1 (Mitsubishi
Electric
Corp.)
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
* Process of shield wire varies with equipment.
A5-seriesQD75D1
(Mitsubishi Electric Corp.)
from
PLC I/O
output
to
PLC I/O
input
GND + 24V
DC24V
Power supply
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
DriverPLC
CW limit sensor
Origin proximity sensor
CCW limit sensor
CW pulse command
output
CCW pulse command
output
Zero point signal
Deviation counter clear
Common
Proximity signal
Upper limit
Lower limit
Drive unit ready
50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7kΩ
300Ω
15
16
17
18
9
10
13
14
12
11
6
7
3
1
2
4.7kΩ
4.7kΩ
4.3kΩ
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
3-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
5HODWHGSDJH
UHSUHVHQWVWZLVWHGSDLUZLUH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Connection between MINAS A5 and KV-5000/3000 (keyence Corp.)
Origin sensor input
X axis limit switch CW
X axis limit switch CCW
X axis CW
X sxis deviation
counter clear
X axis CCW
A5-seriesKV-5000/3000
(keyence Corp.)
from
PLC I/O
output
to
PLC I/O
input
GND + 24V
DC24V
Power supply
Command
pulse
input 2
Counter clear input
Servo-ON input
Servo-Ready output
Servo-Alarm
output
Positioning complete
output
Alarm clear input
Inhibit negative direction
travel input
Inhibit positive direction
travel input
Z-phase output
Command sign
input 2
Gain switching input
DriverPLC
CW limit sensor
Origin proximity sensor
CCW limit sensor
* Process of shield wire varies with equipment. 50
3
4
5
6
23
24
13,25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
OZ＋
OZ−
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
1
3
4
14
15
16
19
26
36
40
2kΩ
2kΩ
4.3kΩ
4.3kΩ
4.3kΩ
1.2kΩ
3. Wiring Diagram to the connector, X4
Connecting Example to Host Controller
3-30
34.
Inputs and outputs on connector X4
Connection Interface Circuit (Input)
Input Circuit
SI Connection to sequence input signals Related
control mode PSTF
Note
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failure.
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VHFXUHWKHSULPDU\FXUUHQWIRUSKRWRFRXSOHUV
12 to 24V 7COM+4.7k1
SRV-ON etc.
Relay
7COM+4.7k1
Relay
SRV-ON etc.
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5HODWHGSDJH
P.3-50
PI1
Connection to sequence input signals (Pulse train interface)
Related
control mode PSTF
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3HUPLVVLEOHPD[LQSXWIUHTXHQF\RIFRPPDQGSXOVHLQSXWVLJQDO
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NSSV
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 UHTXLUHGLQWKLVFDVH
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VDC
12V
24V
Specifications
1k11/2W
2k11/2W
VDC –1.5
R+220
.
=
. 10mA
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NSSV
&RQQHFWLQJGLDJUDPZKHQDFXUUHQWUHJXODWLQJUHVLVWRULVQRWXVHGZLWK9SRZHUVXSSO\
(1)
(2)
(3)
3PULS1
4PULS2
220ї
VDC
R
5SIGN1
6SIGN2
220ї
2.2kї
2.2kї
R
1OPC1
4PULS2
220ї
24VDC
2OPC1
6SIGN2
220ї
2.2kї
2.2kї
2.2kї
2.2kї
1PULS1
4PULS2
220ї
2SIGN1
6SIGN2
220ї
2.2kї
2.2kї
2.2kї
2.2kї
13 13
13
* Keep the length of wiring short (1 m or less).
0D[LQSXWYROWDJH
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UHSUHVHQWVWZLVWHGSDLU
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3-31
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
PI2 Connection to sequence input signals
3XOVHWUDLQLQWHUIDFHH[FOXVLYHWROLQHGULYHU
Related
control mode PSTF
/LQHGULYHU,)
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AI Analog command input Related
control mode PSTF
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ODUJHU
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UHSUHVHQWVWZLVWHGSDLU
44
45
13
46
47
20kї
2kї
2kї20kї
120ї
PULS
SIGN
20kї
2kї
2kї20kї
120ї
4. Inputs and outputs on connector X4
Interface Circuit (Input)
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
＋12V
SPR
AI3
P-ATL
N-ATL
R
14
15
16
17
18
R
VR
–12V
14kї
10kї
20kї20kї
＋
ï
14kї
10kї
20kї20kї
＋
ï
47kї
47kї47kї
47kї
20kї
20kї
＋
ï
AI2
AI1
UHSUHVHQWVWZLVWHGSDLU
3-32
34.
Inputs and outputs on connector X4
Connection Interface Circuit (Output)
Output Circuit
SO
Sequence output circuit Related
control mode PSTF
Note
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FRQQHFWLRQDQGFRQQHFWWRUHOD\VRUSKRWRFRXSOHUV
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'DUOLQJWRQFRQQHFWLRQRIWKHRXWSXWRU1RWHWKDWQRUPDO77/,&FDQQRWEHGLUHFWO\FRQQHFWHG
VLQFHLWGRHVQRWPHHW9,/
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VKRXOGEHSUHYHQWHG
)RUWKHUHFRPPHQGHGSULPDU\FXUUHQWYDOXHUHIHUWRWKHGDWDVKHHWRIWKHHTXLSPHQWDQG
SKRWRFRXSOHUWREHXVHG
VDC
SO1 to 4
ALM+ etc.
ALM– etc.
COM–41
ZSP, TLC
Install toward the direction as
the fig. shows without fail.
Max. rating 30V, 50mA
R [k1] = VDC[V] – 2.5[V]
10
12 to 24V
Pay attention to the polarity
of the power supply.
Connection in the opposite
polarity will damage the
servo driver.
SO5, 6
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5HODWHGSDJH
P.3-52
PO1 /LQHGULYHU'LIIHUHQWLDORXWSXWRXWSXW Related
control mode PSTF
)HHGVRXWWKHGLYLGHGHQFRGHU
RXWSXWV$%DQG=SKDVHLQ
GLIIHUHQWLDOWKURXJKHDFKOLQHGULYHU
$WWKHKRVWVLGHUHFHLYHWKHVHLQOLQH
UHFHLYHU,QVWDOODWHUPLQDOUHVLVWRU
DSSUR[їULJKWÀJXUH
EHWZHHQOLQHUHFHLYHULQSXWVZLWKRXW
fail.
7KHVHRXWSXWVDUHQRWLQVXODWHG
)RUIXQFWLRQUHIHUWR3 UHSUHVHQWVWZLVWHGSDLU
AM26LS32 or equivalent
AM26LS31 or
equivalent
A
B
Z
22
21
OA+
OA–
OZ+
OZ–
OB+
OB–
48
23
25GND
24
49
Connect signal ground of the host
and the driver without fail.
(1)
3-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
PO2 Open collector output Related
control mode PSTF
)HHGVRXWWKH=SKDVHVLJQDODPRQJWKHHQFRGHUVLJQDOVLQRSHQFROOHFWRU7KLVRXWSXWLV
not insulated.
5HFHLYHWKLVRXWSXWZLWKKLJKVSHHGSKRWRFRXSOHUVDWWKHKRVWVLGHVLQFHWKHSXOVHZLGWKRI
WKH=SKDVHVLJQDOLVQDUURZ
)RUIXQFWLRQUHIHUWR3
AO Analog monitor output Related
control mode PSTF
7KHUHDUHWZRRXWSXWVWKHVSHHGPRQLWRUVLJQDORXWSXW63DQGWKHWRUTXHPRQLWRU
VLJQDORXWSXW,0
2XWSXWVLJQDOZLGWKLV9
7KHRXWSXWLPSHGDQFHLVNї3D\DQDWWHQWLRQWRWKHLQSXWLPSHGDQFHRIWKHPHDVXULQJ
LQVWUXPHQWRUWKHH[WHUQDOFLUFXLWWREHFRQQHFWHG
5HVROXWLRQ!
(1) Speed monitor output (SP)
 :LWKDVHWXSRI9UPLQWKHUHVROXWLRQFRQYHUWHGWRVSHHGLVUPLQP9
(2) Torque monitor output (IM)
 :LWKDUHODWLRQRI9UDWHGWRUTXHWKHUHVROXWLRQFRQYHUWHGWRWRUTXHLV
P9
)RUIXQFWLRQUHIHUWR3
High speed photo-coupler
(TLP554 by Toshiba or equivalent)
19
25
CZ
Max. rating 30V,
50mA
GND
UHSUHVHQWVWZLVWHGSDLU
43 Nї
Nї
SP
IM
42
GND
17
Measuring
instrument
or
external
circuit
4. Inputs and outputs on connector X4
Interface Circuit (Output)
3-34
34.
Inputs and outputs on connector X4
Connection Input Signal and Pin No.
Input Signals (common) and Their Functions
Pin
1R 7
Title of
VLJQDO Power supply for control signal (+) Related
control mode PSTF
Symbol COM+ ,)FLUFXLW —
&RQQHFWRIWKHH[WHUQDO'&SRZHUVXSSO\WR9
8VHWKHSRZHUVXSSO\YROWDJHRI9²9
Pin
1R 41
Title of
VLJQDO Power supply for control signal (-) Related
control mode PSTF
Symbol &20ï ,)FLUFXLW —
&RQQHFW²RIWKHH[WHUQDO'&SRZHUVXSSO\WR9
7KHSRZHUFDSDFLW\YDULHVGHSHQGLQJRQDFRPSRVLWLRQRI,2FLUFXLW$RUPRUHLV
recommended.
3-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Input Signals (Pulse Train) and Their Functions
<RXFDQVHOHFWDSSURSULDWHLQWHUIDFHRXWRIWZRNLQGVGHSHQGLQJRQWKHFRPPDQGSXOVHVSHFLÀFDWLRQV
3XOVHWUDLQLQWHUIDFHH[FOXVLYHIRUOLQHGULYHU
Pin
1R
44
45
Title of
VLJQDO Command pulse input 1 Related
control mode PSTF
Symbol 3LQ1RPULSH1
3LQ1RPULSH2 ,)FLUFXLW PI2 3-31 SDJH
Pin
1R
46
47
Title of
VLJQDO Command pulse sign input 1 Related
control mode PSTF
Symbol 3LQ1RSIGNH1
3LQ1RSIGNH2 ,)FLUFXLW PI2 3-31 SDJH
,QSXWWHUPLQDOIRUSRVLWLRQFRPPDQGSXOVH<RXFDQVHOHFWE\VHWWLQJXS3U6HOHFWLRQRI
command pulse input) to 1.
7KLVLQSXWEHFRPHVLQYDOLGDWVXFKFRQWUROPRGHDVYHORFLW\FRQWURORUWRUTXHFRQWUROZKHUH
no position command is required.
3HUPLVVLEOHPD[LQSXWIUHTXHQF\LV0SSV
<RXFDQVHOHFWXSWRFRPPDQGSXOVHLQSXWIRUPDWVZLWK3U6HWXSRIFRPPDQGSXOVH
rotational direction) and Pr0.07 (Setup of command pulse input mode).
)RUGHWDLOVUHIHUWRWKHWDEOHQH[WSDJH&RPPDQGSXOVHLQSXWIRUPDW
3XOVHWUDLQLQWHUIDFHVXSSRUWVERWKOLQHGULYHUDQGRSHQFROOHFWRU
Pin
1R
1
3
4
Title of
VLJQDO Command pulse input 2 Related
control mode PSTF
Symbol
3LQ1ROPC1
3LQ1RPULS1
3LQ1RPULS2
,)FLUFXLW PI1 3-30 SDJH
Pin
1R
2
5
6
Title of
VLJQDO Command pulse sign input 2 Related
control mode PSTF
Symbol
3LQ1ROPC2
3LQ1RSIGN1
3LQ1RSIGN2
,)FLUFXLW PI1 3-30 SDJH
,QSXWWHUPLQDOIRUWKHSRVLWLRQFRPPDQG<RXFDQVHOHFWE\VHWWLQJXS3U6HOHFWLRQRI
command pulse input) to 0.
7KLVLQSXWEHFRPHVLQYDOLGDWVXFKFRQWUROPRGHDVWKHYHORFLW\FRQWURORUWRUTXHFRQWURO
ZKHUHQRSRVLWLRQFRPPDQGLVUHTXLUHG
3HUPLVVLEOHPD[LQSXWIUHTXHQF\LVNSSVDWOLQHGULYHULQSXWDQGNSSVDWRSHQ
collector input.
<RXFDQVHOHFWXSWRFRPPDQGSXOVHLQSXWIRUPDWVZLWK3U6HWXSRIFRPPDQGSXOVH
rotational direction) and Pr0.07 (Setup of command pulse input mode).
)RUGHWDLOVUHIHUWRWKHWDEOHQH[WSDJH&RPPDQGSXOVHLQSXWIRUPDW
5HODWHGSDJH
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
3´'HWDLOVRISDUDPHWHUµ
3-36
%SKDVHDGYDQFHVWR$E\Ý %SKDVHGHOD\VIURP$E\Ý
t1
A-phase
B-phase
t1 t1 t1
t1 t1t1 t1
t2 t2
t2
t3
t2
t4
“H” “L”
t5t4
t6 t6 t6 t6
t5
%SKDVHDGYDQFHVWR$E\Ý%SKDVHGHOD\VIURP$E\Ý
t1
A-phase
B-phase
t1t1 t1
t1 t1 t1 t1
t2 t2
t2
t3
t2
t4
“L” “H”
t5t4
t6 t6 t6 t6
t5
Line driver interface
Open collector interface
Pulse train interface exclusive to line driver
Pulse train interface
Input I/F of PULS/SIGN signal Permissible max.
input frequency
4Mpps
500kpps
200kpps
t1

2
5
0LQQHFHVVDU\WLPHZLGWKѥV
t2

1

t3

1

t4

1

t5

1

t6

1

3HUPLVVLEOHPD[LQSXWIUHTXHQF\DQGPLQQHFHVVDU\WLPHZLGWKRIFRPPDQGSXOVHLQSXWVLJQDO
Pr0.06 setup value
&RPPDQGSXOVH
rotational
(
GLUHFWLRQVHWXS
Pr0.07 setup value
&RPPDQGSXOVH
LQSXWPRGH
(
setup
Signal
title
3RVLWLYHGLUHFWLRQ
FRPPDQG
1HJDWLYHGLUHFWLRQ
FRPPDQG
&RPPDQG
pulse format
0 or 2
01
3
0 or 2
11
3
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
ÝSKDVH
difference
2-phase pulse
(A + B-phase)
Positive direction
pulse train
+
Negative direction
pulse train
pulse train
+
Signal
ÝSKDVH
difference
2-phase pulse
(A + B-phase)
Positive direction
pulse train
+
Negative direction
pulse train
pulse train
+
Signal
,QSXWIRUPDWFRPPDQGSXOVH
38/6DQG6,*1UHSUHVHQWVWKHRXWSXWVRISXOVHWUDLQLQSXWFLUFXLW5HIHUWRWKHILJRI3,QSXW&LUFXLW
,QFDVHRIQHJDWLYHGLUHFWLRQSXOVHWUDLQSRVLWLYHGLUHFWLRQSXOVHWUDLQDQGSXOVHWUDLQVLJQSXOVHWUDLQZLOO
EHFDSWXUHGDWWKHULVLQJHGJH
,QFDVHRISKDVHSXOVHSXOVHWUDLQZLOOEHFDSWXUHGDWHDFKHGJH
4. Inputs and outputs on connector X4
Input Signal and Pin No.
5HODWHGSDJH
3´'HWDLOVRI3DUDPHWHUµ
3-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Control Input
&RQWUROVLJQDOKDYLQJWKHGHVLUHGIXQFWLRQFDQEHDSSOLHGWRDQ\LQSXWSLQRI,)FRQQHFWRU
7KHORJLFFDQEHFKDQJHG
'HIDXOWDVVLJQPHQW
$SSOLFDEOH
parameter
'HIDXOW
parameter
VHWWLQJ
GHFLPDO
notation
'HIDXOW6HWXS
3RVLWLRQ)XOOFORVHGFRQWURO
Verocity control Torque control
6LJQDO
/RJLF*1
6LJQDO
/RJLF*1
6LJQDO
/RJLF*1
Pin
1R 8
Title of
VLJQDO SI1 input Pr4.00 K
(8553090) 127 b
-contact
127 b
-contact
127 b
-contact
Symbol SI1
Pin
1R 9
Title of
VLJQDO SI2 input Pr4.01 K
(8487297) POT b
-contact
POT b
-contact
POT b
-contact
Symbol SI2
Pin
1R 26
Title of
VLJQDO SI3 input Pr4.02 $K
(9539850)
966(/
a
-contact =(5263'
b
-contact =(5263'
b
-contact
Symbol SI3
Pin
1R 27
Title of
VLJQDO SI4 input Pr4.03 K
(394758) *$,1 a
-contact
*$,1 a
-contact
*$,1 a
-contact
Symbol SI4
Pin
1R 28
Title of
VLJQDO SI5 input Pr4.04 &K
(4108) ',9 a
-contact
,1763'
a
-contact
——
Symbol SI5
Pin
1R 29
Title of
VLJQDO SI6 input Pr4.05 K
(197379) 65921 a
-contact
65921 a
-contact
65921 a
-contact
Symbol SI6
Pin
1R 30
Title of
VLJQDO SI7 input Pr4.06 IK
(3847) &/ a
-contact
,1763'
a
-contact
——
Symbol SI7
Pin
1R 31
Title of
VLJQDO SI8 input Pr4.07 K
(263172) $&/5 a
-contact
$&/5 a
-contact
$&/5 a
-contact
Symbol SI8
Pin
1R 32
Title of
VLJQDO SI9 input Pr4.08 K
(328965) &02'( a
-contact
&02'( a
-contact
&02'( a
-contact
Symbol SI9
Pin
1R 33
Title of
VLJQDO SI10 input Pr4.09 (K
(3720) ,1+ b
-contact
,1763'
a
-contact
——
Symbol SI10
Note
7KHIXQFWLRQGHSHQGVRQSDUDPHWHUVHWXS5HIHUWR3
5HIHUWRWKHQH[WVHFWLRQ´)XQFWLRQDVVLJQDEOHWRJHQHUDOSXUSRVHLQSXWµ
*2SHUDWLRQRIDFRQWDFWDQGEFRQWDFW
 DFRQWDFW,QSXWVLJQDOGLVFRQQHFWHGIURP&20²IXQFWLRQGLVDEOHG2))VWDWH
  ,QSXWVLJQDOFRQQHFWHGWR&20²IXQFWLRQHQDEOHG21VWDWH
 EFRQWDFW,QSXWVLJQDOGLVFRQQHFWHGIURP&20²IXQFWLRQHQDEOHG21VWDWH
  ,QSXWVLJQDOFRQQHFWHGWR&20IXQFWLRQGLVDEOHG2))VWDWH
>³@1RIXQFWLRQDVVLJQHG
5HODWHGSDJH
P.3-50
3-38
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Function allocatable to control input
Title of
VLJQDO 6HUYR21LQSXW Related
control mode PSTF
Symbol 65921
'HIDXOWDVVLJQPHQW
29 (SI6) ,)FLUFXLW SI 3-30 SDJH
7KLVVLJQDOWXUQVRQRIIWKHVHUYRPRWRU
Title of
VLJQDO 3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW Related
control mode PSTF
Symbol POT
'HIDXOWDVVLJQPHQW
9 (SI2) ,)FLUFXLW SI 3-30 SDJH
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
7KHRSHUDWLRQZLWKWKLVLQSXWWXUQHG21LVVHWXSLQ3U´6HWXSRIRYHUWUDYHOLQKLELW
LQSXWµ
:KHQXVLQJWKLVLQSXWVHW3U´6HWXSRIRYHUWUDYHOLQKLELWLQSXWµWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGSRVLWLYHGLUHFWLRQ
Title of
VLJQDO 1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW Related
control mode PSTF
Symbol NOT
'HIDXOWDVVLJQPHQW
8 (SI1) ,)FLUFXLW SI 3-30 SDJH
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
7KHRSHUDWLRQZLWKWKLVLQSXWWXUQHG21LVVHWXSLQ3U´6HWXSRIRYHUWUDYHOLQKLELW
LQSXWµ
:KHQXVLQJWKLVIXQFWLRQVHW3U´6HWXSRIRYHUWUDYHOLQKLELWLQSXWµWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGQHJDWLYHGLUHFWLRQ
Title of
VLJQDO 'HYLDWLRQFRXQWHUFOHDULQSXW Related
control mode PSTF
Symbol CL
'HIDXOWDVVLJQPHQW
30 (SI7) ,)FLUFXLW SI 3-30 SDJH
Caution
&OHDUVWKHSRVLWLRQDOGHYLDWLRQFRXQWHU
'HIDXOWVHWXSFOHDUVWKHFRXQWHUDWWKHULVLQJHGJHRIWKHFOHDULQSXW7RFKDQJHWKHVHWXS
PRGLI\LWLQWKH3U´&RXQWHUFOHDULQSXWPRGHµ
<Signal width and clear timing>
Pr5.17 CL signal width 'HYLDWLRQFOHDUWLPLQJ
1ѥVRUPRUH &RQWLQXDOO\FOHDUWKHFRXQWHUZKLOHWKHGHYLDWLRQFRXQWHU
FOHDULQSXWLV21*1
21 ms or more
3ѥVRUPRUH 2QO\RQFHFOHDUWKHFRXQWHUDW2))WR21HGJHRIWKH
GHYLDWLRQFRXQWHUFOHDULQSXWVLJQDO*1
4 1 ms or more
'HYLDWLRQFRXQWHUFOHDULQSXW212)) LQSXWSKRWRFRXSOHU212))
7KLVIXQFWLRQFDQEHDVVLJQHGWRRQO\6,$OORFDWLRQRIWKLVIXQFWLRQWRDQ\RWKHUSLQZLOO
cause an error.
5HODWHGSDJH
3´'HWDLOVRI3DUDPHWHUµ
3-39
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Title of
VLJQDO Alarm clear input Related
control mode PSTF
Symbol $&/5
'HIDXOWDVVLJQPHQW
31 (SI8) ,)FLUFXLW SI 3-30 SDJH
&OHDUVWKHDODUPFRQGLWLRQ
7KLVLQSXWFDQQRWFOHDUVRPHDODUPV
)RUGHWDLOVUHIHUWR3:KHQLQ7URXEOH´3URWHFWLYHIXQFWLRQµ3´$ODUP'LVSOD\µ
DQG3´'LVSOD\RI%DWWHU\$ODUPµ
Title of
VLJQDO Command pulse inhibition input Related
control mode PSTF
Symbol INH
'HIDXOWDVVLJQPHQW
33 (SI10) ,)FLUFXLW SI 3-30 SDJH
Caution
,JQRUHVWKHSRVLWLRQDOFRPPDQGSXOVH
:KHQXVLQJWKLVIHDWXUHVHW3U´,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLRQLQSXWµWR
7KLVIXQFWLRQFDQEHDVVLJQHGWRRQO\6,$OORFDWLRQRIWKLVIXQFWLRQWRDQ\RWKHUSLQZLOO
cause an error.
Title of
VLJQDO Control mode switching input Related
control mode PSTF
Symbol C-MODE
'HIDXOWDVVLJQPHQW
32 (SI9) ,)FLUFXLW SI 3-30 SDJH
Caution
6HOHFWVDFRQWUROPRGH
7KLVVLJQDOLVUHTXLUHGLQDOOFRQWUROPRGHV1RVHWWLQJZLOOFDXVHDQHUURU
'RQRWLQSXWDQ\FRPPDQGPVEHIRUHDQGDIWHUFKDQJLQJWKHFRQWUROPRGH
Title of
VLJQDO (OHFWURQLFJHDUGLYLVLRQPXOWLSOLFDWLRQVZLWFKLQJLQSXW Related
control mode PSTF
Symbol DIV1
'HIDXOWDVVLJQPHQW
28 (SI5) ,)FLUFXLW SI 3-30 SDJH
Title of
VLJQDO (OHFWURQLFJHDUGLYLVLRQPXOWLSOLFDWLRQVZLWFKLQJLQSXW Related
control mode PSTF
Symbol DIV2
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SI 3-30 SDJH
8SWRQXPHUDWRUVFDQEHXVHGIRUFRPPDQGGLYLGLQJPXOWLSO\LQJE\XVLQJ',9DQG',9
',9DQG',9YVQXPHUDWRUGHQRPLQDWRURIVHOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV!
DIV1 DIV2 6HOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV
Numerator Denominator
OFF OFF Pr0.09 Pr0.10
21 OFF Pr5.00 Pr0.10
OFF 21 Pr5.01 Pr0.10
21 21 Pr5.02 Pr0.10
Title of
VLJQDO Damping control switching input 1 Related
control mode PSTF
Symbol VS-SEL1
'HIDXOWDVVLJQPHQW
26 (SI3) ,)FLUFXLW SI 3-30 SDJH
Title of
VLJQDO Damping control switching input 2 Related
control mode PSTF
Symbol VS-SEL2
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SI 3-30 SDJH
Note
6HOHFWVDSSOLFDEOHIUHTXHQF\IRUGDPSLQJFRQWURO
 &RPELQDWLRQRIGDPSLQJFRQWUROLQSXWFKDQJHRYHUDQG966(/966(/HQDEOHV
select of max. 4 options.
$OVRUHIHUWR3´3U>'DPSLQJÀOWHUVZLWFKLQJVHOHFWLRQ@µ
4. Inputs and outputs on connector X4
Input Signal and Pin No.
3-40
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Title of
VLJQDO Gain switching input Related
control mode PSTF
Symbol GAIN
'HIDXOWDVVLJQPHQW
27 (SI4) ,)FLUFXLW SI 3-30 SDJH
6HOHFWVWRUQGJDLQ
Title of
VLJQDO Torque limit switching input Related
control mode PSTF
Symbol TL-SEL
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SI 3-30 SDJH
 Select 1st or 2nd torque limit.
Pr5.21
Torque limit
switching input
(TL-SEL)
Torque limit
switching setup
(Pr5.23, Pr5.24)
3RVLWLYHGLUHFWLRQ
Torque limit
1HJDWLYHGLUHFWLRQ
Torque limit
0$QDORJLQSXW*1
1 — — Pr0.13
2 — — Pr0.13 Pr5.22
3OFF Valid Pr0.13
21 Pr5.22
4$QDORJLQSXW*1
5
6OFF —Pr0.13 Pr5.22
21 Pr5.25 Pr5.26
*1
7RVSHFLI\WKHWRUTXHOLPLWYDOXHE\DQDQDORJLQSXWUHIHUWR3U´$QDORJWRUTXHOLPLWIXQFWLRQµ
6HWXSRIUDWHRIFKDQJHDIWHUWRUTXHOLPLWVZLWFKRYHU
:KHQDSSO\LQJ3U´7RUTXHOLPLWVHOHFWLRQµFKDQJLQJUDWHRIWRUTXHVORSHDIWHU
VHOHFWLQJQHZWRUTXHOLPLWFDQEHFKDQJHG
:KHQFKDQJLQJIURPWKHVWWRUTXHOLPLWWRQGWRUTXHOLPLWWKHFKDQJLQJUDWHVORSHVHWDW
3U´7RUTXHOLPLWVHOHFWLRQVHWXSµLVDSSOLHGDIWHUFKDQJLQJIURPWKHQGWRUTXHOLPLW
WRVWWRUTXHOLPLWWKHFKDQJLQJUDWHVORSHVHWDW3U´7RUTXHOLPLWVHOHFWLRQVHWXSµLV
DSSOLHG7KHVLJQRIWKHFKDQJLQJUDWHLVDXWRPDWLFDOO\VHOHFWHGE\WKHGULYHUDFFRUGLQJWRWKH
GLIIHUHQFHLQYDOXHEHWZHHQWKHVWDQGQGWRUTXHOLPLW
,I3U´7RUTXHOLPLWVHOHFWLRQVHWXSµDQG3U´7RUTXHOLPLWVHOHFWLRQVHWXSµDUHVHWWR
VZLWFKRYHULVLQVWDQWDQHRXV
Caution
Torque limit selection setup 1 (Pr5.23)
Torque limit selection setup 2 (Pr 5.24)
Torque limit selection input
(TL-SEL)
1st torque limit
(Pr0.13)
2nd torque limit
(Pr5.22)
:KHQWKHVWWRUTXHOLPLW3UDQGQGWRUTXHOLPLW3UDUHFKDQJHGIURPWKHIURQW
SDQHORUWKURXJKFRPPXQLFDWLRQWKHFKDQJLQJUDWHVHWXSLVLJQRUHGDQGWKHQHZWRUTXHOLPLW
YDOXHLVLPPHGLDWHO\DQGGLUHFWO\DSSOLHG7KDWLVFKDQJLQJUDWHVHWWLQJLVHIIHFWLYHRQO\ZKHQ
WKHVHOHFWLRQLVPDGHE\XVLQJWKHWRUTXHOLPLWVHOHFWLQSXW7/6(/
5HODWHGSDJH
3´'HWDLOVRI3DUDPHWHUµ
3-41
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Title of
VLJQDO Selection 1 input of internal command speed Related
control mode PSTF
Symbol INTSPD1
'HIDXOWDVVLJQPHQW
33 (SI10) ,)FLUFXLW SI 3-30 SDJH
Title of
VLJQDO Selection 2 input of internal command speed Related
control mode PSTF
Symbol INTSPD2
'HIDXOWDVVLJQPHQW
30 (SI7) ,)FLUFXLW SI 3-30 SDJH
Title of
VLJQDO Selection 3 input of internal command speed Related
control mode PSTF
Symbol INTSPD3
'HIDXOWDVVLJQPHQW
28 (SI5) ,)FLUFXLW SI 3-30 SDJH
Caution
6HOHFWRQHRILQWHUQDOFRPPDQGVSHHGV
5HODWLRQVKLSEHWZHHQ3U´6ZLWFKLQJEHWZHHQLQWHUQDODQGH[WHUQDOVSHHGVHWXSµ
and internal command speed selection 1-3 and the speed command selected>.
Pr3.00
Selection 1 of
internal command
speed (INTSPD1)
Selection 2 of
internal command
speed (INTSPD2)
Selection 3 of
internal command
speed (INTSPD3)
Selection of
speed command
1
OFF OFF
1RHIIHFW
1st speed
21 OFF 2nd speed
OFF 21 3rd speed
21 21 WKVSHHG
2
OFF OFF
1RHIIHFW
1st speed
21 OFF 2nd speed
OFF 21 3rd speed
21 21 $QDORJVSHHG
command
3
7KHVDPHDV3U  OFF VWWRWKVSHHG
OFF OFF 21 WKVSHHG
21 OFF 21 WKVSHHG
OFF 21 21 WKVSHHG
21 21 21 WKVSHHG
,QWHUQDOFRPPDQGVSHHGVZLWFKLQJSDWWHUQVKRXOGEHVRDUUDQJHGDVVKRZQEHORZWKDWVLQJOH
LQSXWVLJQDOVDUHVHOHFWHGDOWHUQDWHO\,IRUPRUHLQSXWVLJQDOVDUHVHOHFWHGVLPXOWDQHRXVO\
XQVSHFLÀHGLQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\VHOHFWHGZKRVHVHWWLQJYDOXHDQG
DFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ
1st
2nd
4th
3rd
open
open
COMï
COMï
1st
INTSPD1
open
open COMï
open
COMï
COMï
1st 1st
2nd
4th 3rd
7th 8th
6th 5th
Example 1) When Pr3.00=1 or 2 Example 2) When Pr3.00=3
INTSPD1
INTSPD2
INTSPD3
INTSPD2
Speed
command
[r/min]
Speed
command
[r/min]
Title of
VLJQDO Speed zero clamp input Related
control mode PS T F
Symbol =(5263'
'HIDXOWDVVLJQPHQW
26 (SI3) ,)FLUFXLW SI 3-30 SDJH
6HWWKHVSHHGFRPPDQGWR
:KHQXVLQJVHW3U´6SHHG]HURFODPSIXQFWLRQVHOHFWLRQµWRDYDOXHRWKHUWKDQ
Title of
VLJQDO Speed command sign input Related
control mode PSTF
Symbol VC-SIGN
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SI 3-30 SDJH
6SHFLI\WKHVLJQRIVSHHGFRPPDQGLQSXWDWYHORFLW\FRQWURO
 5HIHUWR3´3U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQµ
3-42
Title of
VLJQDO Torque command sign input Related
control mode PSTF
Symbol TC-SIGN
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SI 3-30 SDJH
6SHFLI\WKHVLJQRIWRUTXHFRPPDQGLQSXWDWWRUTXHFRQWURO
21 1HJDWLYHGLUHFWLRQ
OFF 3RVLWLYHGLUHFWLRQ
 5HIHUWR3´3U7RUTXHFRPPDQGGLUHFWLRQVHOHFWLRQµ
Title of
VLJQDO Forced alarm input Related
control mode PSTF
Symbol E-STOP
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SI 3-30 SDJH
 *HQHUDWHV(UU´)RUFHGDODUPLQSXWHUURUµ
Title of
VLJQDO Inertia ratio switching input Related
control mode PSTF
Symbol J-SEL
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SI 3-30 SDJH
 6HOHFWVVWLQHUWLDUDWLRRUQGLQHUWLDUDWLRDFFRUGLQJWRWKHLQHUWLDUDWLRVHOHFWLQSXW-6(/
Inertia ratio switching
input (J-SEL) Applicable inertia ratio
OFF 1st Inertia ratio (Pr0.04)
21 2nd Inertia ratio (Pr6.12)
 5HIHUWR3´3U)XQFWLRQH[SDQVLRQVHWXSµ
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
3-43
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Input Signals (Analog Command)
Pin
1R 14
Title of
VLJQDO AI1 input Correspondence function
Symbol AI1 635754563/
Pin
1R 16
Title of
VLJQDO AI2 input Correspondence function
Symbol AI2 75453$7/
Pin
1R 18
Title of
VLJQDO AI3 input Correspondence function
Symbol AI3 N-ATL
Function allocatable to Input Signals (Analog Command)
Title of
VLJQDO 3RVLWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW Related
control mode PSTF
Symbol P-ATL ,)FLUFXLW $, 3-31 SDJH
Title of
VLJQDO 1HJDWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW Related
control mode PSTF
Symbol N-ATL ,)FLUFXLW $, 3-31 SDJH
 6SHFLI\WKHWRUTXHOLPLWIRUHDFKGLUHFWLRQYDOXHE\WKHDQDORJYROWDJH
Pr5.21
3RVLWLYHGLUHFWLRQ
Torque limit input
(P-ATL)
1HJDWLYHGLUHFWLRQ
Torque limit input
(N-ATL)
3RVLWLYHGLUHFWLRQ
Torque limit
1HJDWLYHGLUHFWLRQ
Torque limit
0 0 to 10V ïWR9 3$7/ 1$7/
1
—6HWXSWKURXJKSDUDPHWHU*1
2
3
4 0 to 10V 0 to 10V 3$7/ 1$7/
5 0 to 10V 1RHIIHFW 3$7/
6 — Setup by parameter *1
* :KHQVSHFLI\LQJWKHWRUTXHOLPLWYDOXHWKURXJKWKHSDUDPHWHUUHIHUWR3´7RUTXHOLPLW
VHOHFWIXQFWLRQµ
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
3-44
4. Inputs and outputs on connector X4
Input Signal and Pin No.
Title of
VLJQDO Speed command input Related
control mode PSTF
Symbol 635 ,)FLUFXLW $, 3-31 SDJH
,QSXWWKHVSHHGFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
7KHWDEOHEHORZVKRZVUHODWLRQVKLSEHWZHHQWKHFRPELQDWLRQRI3U´6ZLWFKLQJEHWZHHQ
LQWHUQDODQGH[WHUQDOVSHHGVHWXSµ3U´6SHHGFRPPDQGGLUHFWLRQVHOHFWLRQµ3U
´6SHHGFRPPDQGLQSXWLQYHUVLRQµDQDORJVSHHGFRPPDQG635RI,)FRQQHFWRUDQGVSHHG
FRPPDQGVLJQVHOHFWLRQ9&6,*1DQGWKHPRWRUURWDWLRQDOGLUHFWLRQDQGWKHFRQYHUVLRQ
JUDSKRIDQDORJVSHHGFRPPDQGLQSXWYROWDJHWRWKHVSHHGFRPPDQG
Pr3.00 Pr3.01 Pr3.03 Speed command input
635
Speed command
sign selection
(VC-SIGN)
Motor
rotational
direction
0
0
0
9ROWDJH (0 to 10V) 1RHIIHFW 3RVLWLYH
direction
ï9ROWDJHïWR9 1RHIIHFW 1HJDWLYH
direction
1
9ROWDJH (0 to 10V) 1RHIIHFW 1HJDWLYH
direction
ï9ROWDJHïWR9 1RHIIHFW 3RVLWLYH
direction
11RHIIHFW
9ROWDJH (0 to 10V) OFF 3RVLWLYH
direction
ï9ROWDJHïWR9
9ROWDJH (0 to 10V) 21 1HJDWLYH
direction
ï9ROWDJHïWR9
Title of
VLJQDO Torque command input Related
control mode PSTF
Symbol 7545 ,)FLUFXLW $, 3-31 SDJH
 ,QSXWWKHWRUTXHFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
 :KHQ3U´7RUTXHFRPPDQGVHOHFWLRQµ SLQ1R
 :KHQ3U´7RUTXHFRPPDQGVHOHFWLRQµ SLQ1R
Pr3.17 Pr3.18 Pr3.20 Torque command input
7545
Torque command
sign selection
(TC-SIGN)
Motor
rotational
direction
0
0
0
9ROWDJH (0 to 10V) 1RHIIHFW 3RVLWLYH
direction
ï9ROWDJHïWR9 1RHIIHFW 1HJDWLYH
direction
1
9ROWDJH (0 to 10V) 1RHIIHFW 1HJDWLYH
direction
ï9ROWDJHïWR9 1RHIIHFW 3RVLWLYH
direction
11RHIIHFW
9ROWDJH (0 to 10V) OFF 3RVLWLYH
direction
ï9ROWDJHïWR9
9ROWDJH (0 to 10V) 21 1HJDWLYH
direction
ï9ROWDJHïWR9
Title of
VLJQDO Speed limit input Related
control mode PSTF
Symbol SPL ,)FLUFXLW $, 3-31 SDJH
:KHQVHWWLQJ3U´7RUTXHFRPPDQGVHOHFWLRQµWRLQSXWWKHVSHHGOLPLWYDOXHLQWKHIRUP
RIDQDORJYROWDJH
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
3-45
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Output Signals (Common) and Their Functions
&RQWURORXWSXWVLJQDORIGHVLUHGIXQFWLRQFDQEHDVVLJQHGWR,)FRQQHFWRU/RJLFRIWKHRXWSXW
SLQFDQQRWEHFKDQJHG
$SSOLFDEOH
parameter
'HIDXOW
parameter
VHWWLQJ
GHFLPDO
notation
'HIDXOW6HWXS
3RVLWLRQ)XOO
closed control Verocity control Torque control
6LJQDO 6LJQDO 6LJQDO
Pin
1R
10
11
Title of
VLJQDO SO1 output
Pr4.10 K
(197379) %5.2)) %5.2)) %5.2))
Symbol 3LQ1R62ï
3LQ1RSO1+
Pin
1R
34
35
Title of
VLJQDO SO2 output
Pr4.11 K
(131586) 65'< 65'< 65'<
Symbol 3LQ1R62ï
3LQ1RSO2+
Pin
1R
36
37
Title of
VLJQDO SO3 output
Pr4.12 K
(65793) $/0 $/0 $/0
Symbol 3LQ1R62ï
3LQ1RSO3+
Pin
1R
38
39
Title of
VLJQDO SO4 output
Pr4.13 K
(328964) ,13 $763((' $763(('
Symbol 3LQ1R62ï
3LQ1RSO4+
Pin
1R 12
Title of
VLJQDO SO5 output Pr4.14 K
(460551) =63 =63 =63
Symbol SO5
Pin
1R 40
Title of
VLJQDO SO6 output Pr4.15 K
(394758) 7/& 7/& 7/&
Symbol SO6
Note
 7KHIXQFWLRQLVFKDQJHGE\WKHVHWWLQJRISDUDPHWHU)RUGHWDLOVUHIHUWR3
 6HH´)XQFWLRQVDVVLJQDEOHWRFRQWURORXWSXWµDVVKRZQEHORZ
>³@1RIXQFWLRQDVVLJQHG
5HODWHGSDJH
P.3-52
Function allocatable to control input
Title of
VLJQDO 6HUYR$ODUPRXWSXW Related
control mode PSTF
Symbol ALM
'HIDXOWDVVLJQPHQW
36, 37 (SO3) ,)FLUFXLW SO 3-32 SDJH
7KLVVLJQDOVKRZVWKDWWKHGULYHULVLQDODUPVWDWXV
2XWSXWWUDQVLVWRUWXUQV21ZKHQWKHGULYHULVDWQRUPDOVWDWXVDQGWXUQV2))DWDODUPVWDWXV
Title of
VLJQDO 6HUYR5HDG\RXWSXW Related
control mode PSTF
Symbol 65'<
'HIDXOWDVVLJQPHQW
34, 35 (SO2) ,)FLUFXLW SO 3-32 SDJH
7KLVVLJQDOVKRZVWKDWWKHGULYHULVUHDG\WREHDFWLYDWHG
2XWSXWWUDQVLVWRUWXUQV21ZKHQERWKFRQWURODQGPDLQSRZHUDUH21EXWQRWDWDODUPVWDWXV
34.
Inputs and outputs on connector X4
Connection Output Signal and Pin No.
3-46
4. Inputs and outputs on connector X4
Output Signal and Pin No.
Title of
VLJQDO External brake release signal Related
control mode PSTF
Symbol %5.2))
'HIDXOWDVVLJQPHQW
10, 11 (SO1) ,)FLUFXLW SO 3-32 SDJH
)HHGVRXWWKHWLPLQJVLJQDOZKLFKDFWLYDWHVWKHKROGLQJEUDNHRIWKHPRWRU
7XUQVWKHRXWSXWWUDQVLVWRU21DWWKHUHOHDVHWLPLQJRIWKHKROGLQJEUDNH
Title of
VLJQDO Positioning complete Related
control mode PSTF
Symbol INP
'HIDXOWDVVLJQPHQW
38, 39 (SO4) ,)FLUFXLW SO 3-32 SDJH
Title of
VLJQDO Positioning complete 2 Related
control mode PSTF
Symbol INP2
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHSRVLWLRQLQJFRPSOHWHVLJQDOSRVLWLRQLQJFRPSOHWHVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRPSOHWLRQRISRVLWLRQLQJ
Title of
VLJQDO 6SHHGDUULYDORXWSXW Related
control mode PSTF
Symbol AT-SPPED
'HIDXOWDVVLJQPHQW
38, 39 (SO4) ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHVSHHGDUULYDOVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQDUULYHRIVSHHG
Title of
VLJQDO Torque in-limit signal output Related
control mode PSTF
Symbol TLC
'HIDXOWDVVLJQPHQW
40 (SO6) ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHWRUTXHLQOLPLWVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQOLPLWRIWRUTXH
Title of
VLJQDO Zero-speed detection output signal Related
control mode PSTF
Symbol ZSP
'HIDXOWDVVLJQPHQW
12 (SO5) ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKH]HURVSHHGGHWHFWLRQVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQGHWHFWLRQRI=HURVSHHG
Title of
VLJQDO Speed coincidence output Related
control mode PSTF
Symbol V-COIN
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHVSHHGFRLQFLGHQFHVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRLQFLGHQFHRIVSHHG
Title of
VLJQDO Alarm output 1 Related
control mode PSTF
Symbol :$51
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH
 2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U´:DUQLQJRXWSXWVHOHFWµ
 7XUQV21WKHRXWSXWWUDQVLVWRUXSRQRFFXUUHQFHRIZDUQLQJFRQGLWLRQ
3-47
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Inputs and outputs on connector X4
Output Signal and Pin No.
Title of
VLJQDO Alarm output 2 Related
control mode PSTF
Symbol :$51
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH
 2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U´:DUQLQJRXWSXWVHOHFWµ
 7XUQV21WKHRXWSXWWUDQVLVWRUXSRQRFFXUUHQFHRIZDUQLQJFRQGLWLRQ
6HOHFWLRQRIDODUPRXWSXWDQGRXWSXW
Alarm
No. Alarm Content Pr6.27 *1Pr4.40/
Pr4.41 *2
Pr6.38
Corresponding
bit *3
$ 2YHUORDGSURWHFWLRQ /RDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO 1 bit7
$ 2YHUUHJHQHUDWLRQ
alarm
5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKH
SURWHFWLRQOHYHO 2 bit5
$ %DWWHU\DODUP %DWWHU\YROWDJHLV9RUORZHU Fixed at no
time limit. 3bit0
$ Fan alarm )DQKDVVWRSSHGIRUVHF 4 bit6
$ Encoder
communication alarm
7KHQXPEHURIVXFFHVVLYHHQFRGHUFRPPXQLFDWLRQ
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH 5 bit4
$ (QFRGHURYHUKHDW
alarm 7KHHQFRGHUGHWHFWVRYHUKHDWDODUP 6 bit3
$ Oscillation detection
alarm 2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG 7 bit9
$ /LIHWLPHGHWHFWLRQ
alarm
7KHOLIHH[SHFWDQF\RIFDSDFLW\RUIDQEHFRPHV
VKRUWHUWKDQWKHVSHFLÀHGWLPH
Fixed at no
time limit. 8bit2
$ External scale error
alarm 7KHIHHGEDFNVFDOHGHWHFWVWKHDODUP 9 bit8
$ External scale
communication alarm
7KHQXPEHURIVXFFHVVLYHIHHGEDFNVFDOH
FRPPXQLFDWLRQHUURUVH[FHHGVWKHVSHFLÀHGYDOXH 10 bit10
* 7KH´FLUFOHµPHDQVWKDWDWLPHLQWKHUDQJHWRVRUQRWLPHOLPLWFDQEHVHOHFWHGWKURXJK3U
´:DUQLQJODWFKLQJWLPHµ1RWHWKDWWKHEDWWHU\ZDUQLQJDQGWKHHQGRIOLIHZDUQLQJKDYHQRWLPHOLPLW
* 6HOHFWWKHZDUQLQJRXWSXWVLJQDO:$51RUZDUQLQJRXWSXWVLJQDO:$51WKURXJK3U
´:DUQLQJRXWSXWVHOHFWµRU3U´:DUQLQJRXWSXWVHOHFWµ:KHQWKHVHWYDOXHLVDOOZDUQLQJV
DUH25HGEHIRUHEHLQJRXWSXW'RQRWVHWWRDQ\YDOXHRWKHUWKDQWKRVHVSHFLILHGLQWKHWDEOHDERYH
* $ZDUQLQJGHWHFWLRQFDQEHPDVNHGE\3U´:DUQLQJPDVNVHWXSµ&RUUHVSRQGLQJELWVDUHVKRZQ
LQWKHWDEOH:DUQLQJLVPDVNHGZLWKELW 
*4 7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDODQGQRIDQ
alarm is displayed.
Title of
VLJQDO Positional command ON/OFF output Related
control mode PSTF
Symbol P-CMD
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH
 7XUQVRQRXWSXWWUDQVLVWRUZLWKSRVLWLRQDOFRPPDQGDSSOLHG
Title of
VLJQDO Speed in-limit output Related
control mode PSTF
Symbol V-LIMIT
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH
 7XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGLVOLPLWHGE\WRUTXHFRQWUROOLQJIXQFWLRQ
Title of
VLJQDO Alarm attribute output Related
control mode PSTF
Symbol ALM-ATB
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH
 7XUQVRQRXWSXWWUDQVLVWRUZKHQDQDODUPWKDWFDQEHFOHDUHGJHQHUDWHV
3-48
4. Inputs and outputs on connector X4
Output Signal and Pin No.
Title of
VLJQDO Speed command ON/OFF output Related
control mode PSTF
Symbol V-CMD
'HIDXOWDVVLJQPHQW
—,)FLUFXLW SO 3-32 SDJH

7XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGFRPPDQGLVDSSOLHGZKLOHWKHVSHHGLVFRQWUROOHG
Output Signals (Pulse Train) and Their Functions
Pin
1R
21
22
Title of
VLJQDO A-phase output Related
control mode PSTF
Symbol 3LQ1ROA+
3LQ1ROA– ,)FLUFXLW PO1 3-32 SDJH
Pin
1R
48
49
Title of
VLJQDO B-phase output Related
control mode PSTF
Symbol 3LQ1ROB+
3LQ1ROB– ,)FLUFXLW PO1 3-32 SDJH
Pin
1R
23
24
Title of
VLJQDO Z-phase output Related
control mode PSTF
Symbol 3LQ1ROZ+
3LQ1ROZ– ,)FLUFXLW PO1 3-32 SDJH
)HHGVRXWWKHGLYLGHGHQFRGHUVLJQDORUIHHGEDFNVFDOHVLJQDO$%=SKDVHLQGLIIHUHQWLDO
HTXLYDOHQWWR56

*URXQGIRUOLQHGULYHURIRXWSXWFLUFXLWLVFRQQHFWHGWRVLJQDOJURXQG*1'DQGLVQRWLQVXODWHG
0D[RXWSXWIUHTXHQF\LV0SSVDIWHUTXDGUXSOHG
Pin
1R 19
Title of
VLJQDO Z-phase output Related
control mode PSTF
Symbol CZ ,)FLUFXLW PO2 3-33 SDJH
2SHQFROOHFWRURXWSXWRI=SKDVHVLJQDO
7KHHPLWWHUVLGHRIWKHWUDQVLVWRURIWKHRXWSXWFLUFXLWLVFRQQHFWHGWRWKHVLJQDOJURXQG*1'
and is not insulated.
:KHQXVLQJWKH&=VLJQDOLVRODWHLWIURPH[WHUQDOQRLVH
1RWHWKDWWKHORJLFRI=SKDVHRSHQFROOHFWRURXWSXW&=LVDUHYHUVDORIWKHOLQHGULYHU
RXWSXW2=ORJLF
Note :KHQWKHRXWSXWVRXUFHLVWKHHQFRGHU
,IWKHHQFRGHUUHVROXWLRQðPr0.11
Pr5.03 LVPXOWLSOHRI=SKDVHZLOOEHIHGRXWV\QFKURQL]LQJ
 ZLWK$SKDVH,QRWKHUFDVHWKH=SKDVHZLGWKZLOOEHHTXDOWRWKHHQFRGHUUHVROXWLRQDQG
ZLOOQRWV\QFKURQL]HZLWK$SKDVHEHFDXVHRIQDUURZHUZLGWKWKDQWKDWRI$SKDVH
A
B
Z
synchronized
A
B
Z
not-synchronized
Pr0.11
Pr5.03
when the encoder resolution × is
multiple of 4,
Pr0.11
Pr5.03
when the encoder resolution × is
not multiple of 4,
,QFDVHRIWKHZLUHELWLQFUHPHQWDOHQFRGHUWKHVLJQDOVHTXHQFHPLJKWQRWIROORZWKH
DERYHÀJXQWLOWKHÀUVW=SKDVHLVIHGRXW:KHQ\RXXVHWKHSXOVHRXWSXWDVWKHFRQWURO
VLJQDOURWDWHWKHPRWRURQHUHYROXWLRQRUPRUHWRPDNHVXUHWKDWWKH=SKDVHLVIHGRXWDW
OHDVWRQFHEHIRUHXVLQJ
3-49
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Output Signals (Analog) and Their Functions
Pin
1R 42
Title of
VLJQDO Torque monitor output Related
control mode PSTF
Symbol IM ,)FLUFXLW $2 3-33 SDJH
'HÀQLWLRQRIWKHRXWSXWVLJQDOYDULHVZLWKWKHRXWSXWRI3UDQDORJPRQLWRUW\SH
7KHRXWSXWVLJQDOLVLGHQWLFDOWRWKHDQDORJPRQLWRURQWKHIURQWPRQLWRU
)RURXWSXWVHWWLQJUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Pin
1R 43
Title of
VLJQDO Speed monitor output Related
control mode PSTF
Symbol SP ,)FLUFXLW $2 3-33 SDJH
'HÀQLWLRQRIWKHRXWSXWVLJQDOYDULHVZLWKWKHRXWSXWRI3UDQDORJPRQLWRUW\SH
7KHRXWSXWVLJQDOLVLGHQWLFDOWRWKHDQDORJPRQLWRURQWKHIURQWPRQLWRU
)RURXWSXWVHWWLQJUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Output Signals (Others) and Their Functions
Pin
1R
13, 15
17, 25
Title of
VLJQDO Signal ground Related
control mode PSTF
Symbol GND ,)FLUFXLW —
6LJQDOJURXQG
7KLVRXWSXWLVLQVXODWHGIURPWKHFRQWUROVLJQDOSRZHU&20²LQVLGHRIWKHGULYHU
Pin
1R 50
Title of
VLJQDO Frame ground Related
control mode PSTF
Symbol FG ,)FLUFXLW —
7KLVRXWSXWLVFRQQHFWHGWRWKHHDUWKWHUPLQDOLQVLGHRIWKHGULYHU
4. Inputs and outputs on connector X4
Output Signal and Pin No.
3-50
35. IF Monitor Settings
Connection
How to Assign Various I/O Functions to the I/F
Control Input Settings
Title of signal Connector X4
Pin No. Parameter No.
SI1 input selection 8 Pr4.00
SI2 input selection 9 Pr4.01
SI3 input selection 26 Pr4.02
SI4 input selection 27 Pr4.03
SI5 input selection 28 Pr4.04
SI6 input selection 29 Pr4.05
SI7 input selection 30 Pr4.06
SI8 input selection 31 Pr4.07
SI9 input selection 32 Pr4.08
SI10 input selection 33 Pr4.09
(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.
Title Symbol 6HWXSYDOXH
a-contact b-contact
,QYDOLG ï K 'RQRWVHWXS
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW POT K K
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW 127 K K
6HUYR21LQSXW*165921 K K
$ODUPFOHDULQSXW $&/5 K 'RQRWVHWXS
&RQWUROPRGHVZLWFKLQJLQSXW*2&02'( K K
*DLQVZLWFKLQJLQSXW *$,1 K K
'HYLDWLRQFRXQWHUFOHDULQSXW*3&/ K 'RQRWVHWXS
&RPPDQGSXOVHLQKLELWLRQLQSXW*4,1+ K K
7RUTXHOLPLWVZLWFKLQJLQSXW 7/6(/ K K
'DPSLQJFRQWUROVZLWFKLQJLQSXW 966(/ $K $K
'DPSLQJFRQWUROVZLWFKLQJLQSXW 966(/ %K %K
(OHFWURQLFJHDUVZLWFKLQJLQSXW ',9 &K &K
(OHFWURQLFJHDUVZLWFKLQJLQSXW ',9 'K 'K
Selection 1 input of internal command speed ,1763' (K (K
Selection 2 input of internal command speed ,1763' )K )K
Selection 3 input of internal command speed ,1763' K K
6SHHG]HURFODPSLQSXW =(5263' K K
6SHHGFRPPDQGVLJQLQSXW 9&6,*1 K K
7RUTXHFRPPDQGVLJQLQSXW 7&6,*1 K K
Forced alarm input E-STOP K K
,QHUWLDUDWLRVZLWFKLQJLQSXW -6(/ K K
7KHVHSDUDPHWHUVVKDOOEHVHWE\XVLQJ
KH[DGHFLPDOQXPEHUV6HWWLQJVKDOOEHPDGHIRU
HDFKFRQWUROPRGHDVVKRZQLQH[DPSOHVEHORZ
00 ーーーー▲▲ K3RVLWLRQ)XOOFORVHGFRQWURO
00 ーー＊＊ーー K6SHHGFRQWURO
00 ■■ーーーー K7RUTXHFRQWURO
Set an appropriate function number in place of
´■■ µ´ ＊＊ µDQG´ ▲▲ µ)RUWKHIXQFWLRQ
QXPEHUVHHWKHWDEOHRQWKHEHORZ
3-51
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5. IF Monitor Settings
How to Assign Various I/O Functions to the I/F
Caution
Note
'RQRWVHWXSWRDYDOXHRWKHUWKDQWKDWVSHFLÀHGLQWKHWDEOH
'RQRWDVVLJQVSHFLILFIXQFWLRQWRRUPRUHVLJQDOV'XSOLFDWHGDVVLJQPHQWZLOOFDXVH
(UU,)LQSXWPXOWLSOHDVVLJQPHQWHUURURU(UU,)LQSXWPXOWLSOHDVVLJQPHQWHUURU
* 6HUYRRQLQSXWVLJQDO65921PXVWEHXVHGWRHQDEOHVHUYRRQ
* :KHQXVLQJFRQWUROPRGHVZLWFKLQJLQSXW&02'(VHWWKHVLJQDOWRDOOFRQWUROPRGHV
,IWKHVLJQDOLVVHWWRRQO\RUFRQWUROPRGHV(UU,)LQSXWIXQFWLRQQXPEHUHUURU
RU(UU,)LQSXWIXQFWLRQQXPEHUHUURUZLOOEHJHQHUDWHG
7KHFRQWUROLQSXWSLQVHWWRLQYDOLGVWDWHGRHVQRWDIIHFWDQ\RSHUDWLRQ
)XQFWLRQVHUYRRQLQSXWDODUPFOHDUHWFWREHXVHGLQPXOWLSOHFRQWUROPRGHV
PXVWEHDVVLJQHGWRWKHVDPHSLQZLWKFRUUHFWORJLFDODUUDQJHPHQW,QFRUUHFWVHWWLQJ
ZLOOFDXVH(UU,)LQSXWPXOWLSOHDVVLJQPHQWHUURURU(UU,)LQSXWPXOWLSOH
DVVLJQPHQWHUURU
* 'HYLDWLRQFRXQWHUFOHDULQSXW&/FDQEHDVVLJQHGRQO\WR6,LQSXW:URQJDVVLJQPHQW
ZLOOFDXVH(UU&RXQWHUFOHDUDVVLJQPHQWHUURU
* &RPPDQGSXOVHLQKLELWLQSXW,1+FDQEHDVVLJQHGRQO\WR6,LQSXW:URQJ
DVVLJQPHQWZLOOFDXVH(UU&RPPDQGSXOVHLQSXWLQKLELWLQSXW
,QSXWFLUFXLWUHIHUWR3DQGIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH
33
61
X7
The front panel display is in decimal (six digits).
For setting functions and parameters, hexadecimal and
decimal numbers should be used respectively.
The expression of “00 ■■
＊＊
▲▲
h” indicates that the number
is hexadecimal.
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”.
3-52
Control Output Settings
5. IF Monitor Settings
How to Assign Various I/O Functions to the I/F
Title of signal Connector X4
Pin No. Parameter No.
SO1 input Pr4.10
SO2 input  Pr4.11
SO3 input  Pr4.12
SO4 input  Pr4.13
SO5 input 12 Pr4.14
SO6 input 40 Pr4.15
(e.g. 1) Parameter setting
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.
Caution
Note
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P.4-35
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00 ーー＊＊ーー K6SHHGFRQWURO
00 ■■ーーーー K7RUTXHFRQWURO
Set an appropriate function number in place of
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Setup
YDOXH Title Symbol
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4-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Setup
5. Details of parameter
List of Parameters .......................................................................................4-2
[Class 0] Basic setting ...............................................................................4-4
[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
2.Trial Run (JOG run)
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
4-2
41. Details of parameter
Setup List of Parameters
$SDUDPHWHULVGHVLJQDWHGDVIROORZV
Pr0.00
Parameter No.Class
'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ
 3SRVLWLRQFRQWURO6YHORFLW\FRQWURO
 7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
[Class 0] Basic setting
00 Rotational direction setup ○○○○ 4-4
01 Control mode setup ○○○○
02 Real-time
auto-gain
tuning
setup
Selection of machine
stiffness
○○○○
4-5
03 ○○○○
04 Inertia ratio ○○○○ 4-6
05 Command
pulse
input selection
otational direction setup
input mode setup
○̶̶○
06 ○̶̶○ 4-7
07 ○̶̶○
08 Command pulse counts
SHURQHPRWRUUHYROXWLRQ ○̶̶̶
4-8
09 1st numerator of electronic gear ○̶̶○
10 Denominator of electronic gear ○̶̶○
11 Output pulse counts per one motor
UHYROXWLRQ ○○○○ 4-9
12 5HYHUVDORISXOVHRXWSXWORJLF ○○○○
4-11
13 1st torque limit ○○○○
14 3RVLWLRQGHYLDWLRQH[FHVVVHWXS ○̶̶○
15 $EVROXWHHQFRGHUVHWXS ○̶̶○
16 ([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS ○○○○
4-12
17 /RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH
resistor selection ○○○○
[Class 1] Gain adjustment
00
1st
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
integration
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WLPHFRQVWDQWRIWRUTXHÀOWHU
2nd
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
integration
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WLPHFRQVWDQWRIWRUTXHÀOWHU
○̶̶○
4-13
01 ○○○○
02 ○○○○
03 ○○○○
04 ○○○○
05 ○̶̶○
4-14
06 ○○○○
07 ○○○○
08 ○○○○
09 ○○○○
10 9HORFLW\IHHGIRUZDUG gain
ÀOWHU
○̶̶○
11 ○̶̶○
12 7RUTXHIHHGIRUZDUG gain
ÀOWHU
○○̶○
4-15
13 ○○̶○
14 2nd gain setup ○○○○
15
Position
control
VZLWFKLQJ
mode
delay time
OHYHO
hysteresis
○̶̶○4-16
16 ○̶̶○
17 ○̶̶○
4-17
18 ○̶̶○
19 3RVLWLRQJDLQVZLWFKLQJWLPH ○̶̶○
20
Velocity
control
VZLWFKLQJ
mode
delay time
OHYHO
hysteresis
Torque
control
VZLWFKLQJ
mode
delay time
OHYHO
hysteresis
̶○̶̶
4-18
21 ̶○̶̶
22 ̶○̶̶
23 ̶○̶̶
24 ̶̶○̶
4-19
25 ̶̶○̶
26 ̶̶○̶
27 ̶̶○̶
[Class 2] Damping control
00 $GDSWLYHÀOWHUPRGHVHWXS ○○̶○
4-20
01
1st notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○○○○
02 ○○○○
03 ○○○○
04
2nd notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○○○○
05 ○○○○
06 ○○○○
4-21
07
3rd notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○○○○
08 ○○○○
09 ○○○○
10
4th notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○○○○
11 ○○○○
12 ○○○○
13 6HOHFWLRQRIGDPSLQJÀOWHUVZLWFKLQJ ○̶̶○4-22
14 1st
damping
frequency
ÀOWHUVHWXS
○̶̶○
15 ○̶̶○4-23
16 2nd
damping
frequency
ÀOWHUVHWXS
○̶̶○4-22
17 ○̶̶○4-23
18 3rd
damping
frequency
ÀOWHUVHWXS
○̶̶○4-22
19 ○̶̶○4-23
20 4th
damping
frequency
ÀOWHUVHWXS
○̶̶○4-22
21 ○̶̶○4-23
22 Positional
command
VPRRWKLQJÀOWHU
),5ÀOWHU
○̶̶○
23 ○̶̶○4-24
[Class 3] Verocity/ Torque/ Full-closed control
00 6SHHGVHWXS,QWHUQDO([WHUQDO
VZLWFKLQJ ̶○̶̶
4-25
01 Speed
command
rotational direction
selection
input gain
UHYHUVDOLQSXW
̶○̶̶
02 ̶○○̶4-26
03 ̶○̶̶
04
Speed
setup
1st
2nd
3rd
4th
5th
6th
7th
8th
̶○̶̶
4-27
05 ̶○̶̶
06 ̶○̶̶
07 ̶○̶̶
08 ̶○̶̶
09 ̶○̶̶
10 ̶○̶̶
11 ̶○̶̶
12 Time setup acceleration
deceleration
̶○̶̶
13 ̶○̶̶
14 Sigmoid acceleration/ deceleration
time setup ̶○̶̶
4-28
15 Speed
zero-clamp
function selection
OHYHO
̶○○̶
16 ̶○○̶
17
Torque
command
selection
direction selection
input gain
LQSXWUHYHUVDO
̶̶○̶
4-29
18 ̶̶○̶
19 ̶̶○̶
20 ̶̶○̶
21 Speed limit
YDOXH
1
2
̶̶○̶
4-30
22 ̶̶○̶
23
([WHUQDO
scale
selection
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GHQRPLQDWRURIGLYLVLRQ
UHYHUVDORIGLUHFWLRQ
Z phase disconnection
detection disable
̶̶̶○
24 ̶̶̶○
4-31
25 ̶̶̶○
26 ̶̶̶○
27 ̶̶̶○
28 Hybrid
GHYLDWLRQ
H[FHVVVHWXS
clear setup
̶̶̶○4-32
29 ̶̶̶○
Parametr No.
Title
Related Control Mode
Detail
page
Class No.
PSTF
Parametr No.
Title
Related Control Mode
Detail
page
Class No.
PSTF
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRU;6DIHW\
IXQFWLRQFRQQHFWRU;([WHUQDOVFDOHFRQQHFWRUDQGDQDORJLQSXW
4-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Details of parameter
List of Parameters
[Class 4] I/F monitor setting
00
Input
selection
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
○○○○4-33
01 ○○○○
4-34
02 ○○○○
03 ○○○○
04 ○○○○
05 ○○○○
06 ○○○○
07 ○○○○
08 ○○○○
09 ○○○○
10
Output
selection
SO1  3LQ1R
/LQHGULYHURXWSXW
SO2  3LQ1R
/LQHGULYHURXWSXW
SO3  3LQ1R
/LQHGULYHURXWSXW
SO4  3LQ1R
/LQHGULYHURXWSXW
SO5  3LQ1R
Open collector output
SO6  3LQ1R
Open collector output
○○○○
4-35
11 ○○○○
12 ○○○○
13 ○○○○
14 ○○○○
15 ○○○○
16 $QDORJPRQLWRU type
output gain
○○○○
4-36
17 ○○○○
18 $QDORJPRQLWRU type
output gain
○○○○
19 ○○○○
20 Type of digital monitor ○○○○
21 $QDORJPRQLWRURXWSXWVHWXS ○○○○
4-38
22 $QDORJLQSXW
$,
offset setup
ÀOWHU
RYHUYROWDJHVHWXS
○○○○
23 ○○○○
24 ○○○○
25 $QDORJLQSXW
$,
offset setup
ÀOWHU
RYHUYROWDJHVHWXS
○○○○
26 ○○○○
27 ○○○○
28 $QDORJLQSXW
$,
offset setup
ÀOWHU
RYHUYROWDJHVHWXS
○○○○
29 ○○○○
4-39
30 ○○○○
31 Positioning complete
,QSRVLWLRQ
range
output setup
○̶̶○
32 ○̶̶○
33 ,13KROGWLPH ○̶̶○
34 Zero-speed ○○○○4-40
35 Speed coincidence range ̶○○̶
36 $WVSHHG6SHHGDUULYDO ̶○○̶
4-41
37 Mechanical
brake action
at stalling setup
at running setup
○○○○
38 ○○○○
39 Mechanical brake action at running
setup ○○○○
4-42
40 Selection of
alarm output
1
2
○○○○
41 ○○○○
42 QG3RVLWLRQLQJFRPSOHWH,QSRVLWLRQ
range ○̶̶○
[Class 5] Enhancing setting
00 2nd
numerator of electronic gear
3rd
4th
○̶̶○
4-43
01 ○̶̶○
02 ○̶̶○
03 'HQRPLQDWRURISXOVHRXWSXWGLYLVLRQ ○○○○
04 2YHUWUDYHOLQKLELWLQSXWVHWXS ○○○○
05 6HTXHQFHDWRYHUWUDYHOLQKLELW ○○○○
06 6HTXHQFHDW6HUYR2II ○○○○4-44
07 PDLQSRZHU
OFF
sequence
LV trip selection
detection time
○○○○
08 ○○○○
4-45
09 ○○○○
10 Sequence at alarm ○○○○
11 Torque setup for emergency stop ○○○○
4-46
12 2YHUORDGOHYHOVHWXS ○○○○
13 2YHUVSHHGOHYHOVHWXS ○○○○
[Class 5] Enhancing setting
14 0RWRUZRUNLQJUDQJHVHWXS ○̶̶○4-46
15 ,)UHDGLQJÀOWHU ○○○○
16 $ODUPFOHDULQSXWVHWXS ○○○○
4-47
17 Counter clear input mode ○̶̶○
18 Command pulse
inhibit input
,QYDOLGDWLRQ
reading setup
○̶̶○
19 ○̶̶○
20 Position setup unit select ○̶̶○
4-48
21 Selection of torque limit ○○̶○
22 2nd torque limit ○○̶○
23 7RUTXHOLPLWVZLWFKLQJ
setup
1
2
○○̶○
4-49
24 ○○̶○
25 ([WHUQDO
input
SRVLWLYHGLUHFWLRQWRUTXH
limit
QHJDWLYHGLUHFWLRQWRUTXH
limit
○○̶○
26 ○○̶○
27 Input gain of analog torque limit ○○̶○
28 LED initial status ○○○○
4-50
29 RS232 baud rate setup
RS485
○○○○
30 ○○○○
31 $[LVDGGUHVV ○○○○
4-51
32
&RPPDQGSXOVHLQSXWPD[LPXPVHWXS
○̶̶○
33 3XOVHUHJHQHUDWLYHRXWSXWOLPLWVHWXS ○○○○
34 For manufacturer's use
35 Front panel lock setup ○○○○
[Class 6] Special setting
00 $QDORJWRUTXHIHHGIRUZDUG
FRQYHUVLRQJDLQ ○○̶○
4-52
02 9HORFLW\GHYLDWLRQH[FHVVVHWXS ○̶̶̶
04 JOG trial run command speed ○○○○
05 Position 3rd gain YDOLGWLPH
scale factor
○̶̶○
06 ○̶̶○
07 7RUTXHFRPPDQGDGGLWLRQDOYDOXH ○○̶○
4-53
08 3RVLWLYHGLUHFWLRQ torque
compensation
YDOXH
1HJDWLYHGLUHFWLRQ
○̶̶○
09 ○̶̶○
10 )XQFWLRQH[SDQVLRQVHWXS ○○○○
11 Current response setup ○○○○
13 2nd Inertia ratio ○○○○
4-54
14 Emergency stop time at alarm ○○○○
15 QGRYHUVSHHGOHYHOVHWXS ○○○○
17 )URQWSDQHOSDUDPHWHUZULWLQJ
selection ○○○○
18 3RZHUXSZDLWWLPH ○○○○
19 Encoder Z phase setup ̶̶̶○
4-55
20 =SKDVHVHWXSRIH[WHUQDOVFDOH ̶̶̶○
21 6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH
setup ̶̶̶○
22 $%SKDVHH[WHUQDOVFDOHSXOVH
output method selection ̶̶̶○
23
Disturbance torque compensating gain
○○̶̶
24 'LVWXUEDQFHREVHUYHUÀOWHU ○○̶̶
4-56
27 $ODUPODWFKWLPHVHOHFWLRQ ○○○○
31 Real time
auto tuning
estimation speed
custom setup
○○○○
32 ○○○○4-57
34 +\EULGYLEUDWLRQ
suppression
gain
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̶̶̶○
4-58
35 ̶̶̶○
37 2VFLOODWLRQGHWHFWLRQOHYHO ○○○○
38 $ODUPPDVNVHWXS ○○○○
39 For manufacturer's use
Parametr No.
Title
Related Control Mode
Detail
page
Class No.
PSTF
Parametr No.
Title
Related Control Mode
Detail
page
Class No.
PSTF
4-4
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41. Details of parameter
Setup [Class 0] Basic setting
Pr0.00 *Rotational direction setup Range Unit Default Related
control mode
0 to 1 — 1 P S T F
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0RWRUWXUQV&:LQUHVSRQVHWRSRVLWLYHGLUHFWLRQFRPPDQG&:ZKHQYLHZHGIURPORDG
VLGHVKDIWHQG
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&&:ZKHQYLHZHGIURPORDG
VLGHVKDIWHQG
Positive direction
(CCW)
Default
Negative direction
(CW)
Setup
value Command direction Motor rotational
direction
Positive direction
drive inhibit input
Negative direction
drive inhibit input
03RVLWLYHGLUHFWLRQ &: Valid —
1HJDWLYHGLUHFWLRQ &&: — Valid
[1] 3RVLWLYHGLUHFWLRQ &&: Valid —
1HJDWLYHGLUHFWLRQ &: — Valid
Pr0.01 *Control mode setup Range Unit Default Related
control mode
0 to 6 — 0 P S T F
You can set up the control mode to be used.
Setup
value
Content
1st mode 2st mode
[0] Position —
1 Velocity —
2 Torque —
3 *1Position Velocity
4 *1Position Torque
5 *1Velocity Torque
6 Full-closed —
* :KHQ\RXVHWXSWKHFRPELQDWLRQPRGHRI
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ZLWKFRQWUROPRGHVZLWFKLQJLQSXW&02'(
 :KHQ&02'(LVRSHQWKHVWPRGHZLOOEH
selected.
 :KHQ&02'(LVVKRUWHGWKHQGPRGHZLOO
be selected.
Don't enter commands 10ms before/after
VZLWFKLQJ
1st 2nd
close
open
C-MODE
10ms or lon
g
er 10ms or lon
g
er
open
1st
7KHZDYHIRUPDERYHVKRZVZKHQORJLFDO
VHWWLQJRI&02'(LQSXWLVDFRQWDFW:KHQ
EFRQWDFWLVXVHGRSHQDQGVKRUWLVUHYHUVHG
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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IXQFWLRQFRQQHFWRU;([WHUQDOVFDOHFRQQHFWRUDQGDQDORJLQSXW
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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1. Details of parameter
[Class 0] Basic setting
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.
Setup
value Mode Varying degree of load inertia in motion
0,QYDOLG Real-time auto-gain tuning function is disabled.
[1] Standard %DVLFPRGH'RQRWXVHXQEDODQFHGORDGIULFWLRQFRPSHQVDWLRQRU
JDLQVZLWFKLQJ
2 Positioning *1
Main application is positioning. It is recommended to use this mode
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HTXLSPHQWZLWKORZIULFWLRQHWF
39HUWLFDOD[LV*2
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SRVLWLYHO\DQGHIIHFWLYHO\FRPSHQVDWHIRUXQEDODQFHGORDGWRWKH
YHUWLFDOD[LVRUPLQLPL]HYDULDWLRQVLQVHWWLQJWLPH
4Friction
compensation *3
:LWKDGGLWLRQDOIHDWXUHVWRWKHYHUWLFDOD[LVPRGHXVHWKLVPRGHWR
SRVLWLYHO\DQGHIIHFWLYHO\UHGXFHSRVLWLRQLQJVHWWLQJWLPHZKHQWKHEHOW
GULYLQJD[LVKDVKLJKIULFWLRQ
5Load characteristic
measurement
(VWLPDWHWKHORDGFKDUDFWHULVWLFVZLWKRXWFKDQJLQJFXUUHQWSDUDPHWHU
VHWWLQJ7KLVPRGHUHTXLUHVXVHRIWKHVHWXSVXSSRUWVRIWZDUH
6 Customize *4
Functions of real-time auto-gain tuning can be customized to meet the
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*1 Velocity and torque controls are the same as in the standard mode.
*2 Torque control is the same as in the standard mode.
* 9HORFLW\FRQWUROLVWKHVDPHDVLQWKHYHUWLFDOD[LVPRGH7RUTXHFRQWUROLVWKHVDPHDV
in the standard mode.
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Pr6.32.
Pr0.03 Selection of machine stiffness
at real-time auto-gain tuning
Range Unit Default Related
control mode
0 to 31 —
$%&
IUDPH
13
D to H-
IUDPH
11 PSTF
Caution
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0, 1 - - - - - - - 11 - - 13 - - - - - - - - - - - - 30, 31
low machine stiffness high
low servo gain high
low response high
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IRUXSGDWH,IWKHFKDQJHGVWLIIQHVVVHWWLQJLVPDGHYDOLGDIWHUWKHPRWRUVWRSSHGDEQRUPDO
VRXQGRURVFLOODWLRQZLOOEHJHQHUDWHG7RSUHYHQWWKLVSUREOHPVWRSWKHPRWRUDIWHUFKDQJLQJ
the stiffness setting and check that the changed setting is enabled.
4-6
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Pr0.04 Inertia ratio Range Unit Default Related
control mode
0 to 10000 % 250 *PSTF
Caution
Set 1st inertia ratio.
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7KHLQHUWLDUDWLRZLOOEHHVWLPDWHGDWDOOWLPHZKLOHWKHUHDOWLPHDXWRJDLQWXQLQJLVYDOLGDQG
LWVUHVXOWZLOOEHVDYHGWR((3520HYHU\PLQ
,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV+]:KHQ
WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU
Pr0.05 *Selection of command pulse input Range Unit Default Related
control mode
0 to 1 — 0 P F
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command pulse input.
Setup value Content
[0] 3KRWRFRXSOHULQSXW38/638/66,*16,*1
1([FOXVLYHLQSXWIRUOLQHGULYHU38/6+38/6+6,*1+6,*1+
1. Details of parameter
[Class 0] Basic setting
Note 3DUDPHWHUVZKLFKGHIDXOWYDOXHVKDYHDVXIIL[RI*ZLOOEHDXWRPDWLFDOO\VHWXSGXULQJ
UHDOWLPHDXWRJDLQWXQLQJ:KHQ\RXFKDQJHPDQXDOO\LQYDOLGDWHWKHUHDOWLPHDXWRJDLQ
WXQLQJÀUVWWKHQVHWUHIHUULQJWR35HOHDVHRI$XWRPDWLF*DLQ$GMXVWLQJ)XQFWLRQRI
$GMXVWPHQW
4-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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Pr0.06 *
Command pulse rotational direction setup
Range Unit Default Related
control mode
0 to 1 — 0 P F
Pr0.07 *Command pulse input mode setup Range Unit Default Related
control mode
0 to 3 — 1 P F
%SKDVHDGYDQFHVWR$E\Ý %SKDVHGHOD\VIURP$E\Ý
t1
A-phase
B-phase
t1 t1 t1
t1 t1t1 t1
t2 t2
t2
t3
t2
t4
“H” “L”
t5t4
t6 t6 t6 t6
t5
%SKDVHDGYDQFHVWR$E\Ý%SKDVHGHOD\VIURP$E\Ý
t1
A-phase
B-phase
t1t1 t1
t1 t1 t1 t1
t2 t2
t2
t3
t2
t4
“L” “H”
t5t4
t6 t6 t6 t6
t5
Line driver interface
Open collector interface
Pulse train interface exclusive to line driver
Pulse train interface
Input I/F of PULS/SIGN signal Permissible max.
input frequency
4Mpps
500kpps
200kpps
t1

2
5
0LQQHFHVVDU\WLPHZLGWKѥV
t2

1

t3

1

t4

1

t5

1

t6

1

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0DNHWKHULVLQJIDOOLQJWLPHRIWKHFRPPDQGSXOVHLQSXWVLJQDOWRѥVRUVPDOOHU
7KHWDEOHEHORZVKRZVFRPELQDWLRQVRI3U&RPPDQGSXOVHURWDWLRQDOGLUHFWLRQVHWXSDQG3U
&RPPDQGSXOVHLQSXWPRGHVHWXS
3XOVHVDUHFRXQWHGDWHGJHVLQGLFDWHGE\WKHDUURZVDVVKRZQLQWKHWDEOH
Pr0.06 setup value
&RPPDQGSXOVH
rotational
(
GLUHFWLRQVHWXS
Pr0.07 setup value
&RPPDQGSXOVH
LQSXWPRGH
(
setup
Signal
title
3RVLWLYHGLUHFWLRQ
FRPPDQG
1HJDWLYHGLUHFWLRQ
FRPPDQG
&RPPDQG
pulse format
0 or 2
[0] [1]
3
0 or 2
11
3
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
ÝSKDVH
difference
2-phase pulse
(A + B-phase)
Positive direction
pulse train
+
Negative direction
pulse train
pulse train
+
Signal
ÝSKDVH
difference
2-phase pulse
(A + B-phase)
Positive direction
pulse train
+
Negative direction
pulse train
pulse train
+
Signal
,QSXWIRUPDWFRPPDQGSXOVH
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pulse input format.
1. Details of parameter
[Class 0] Basic setting
4-8
'HIDXOW>@
Pr0.08 *Command pulse counts per one motor
revolution
Range Unit Default Related
control mode
0 to 1048576 pulse 10000 P
Set the command pulses that causes single turn of the motor shaft.
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HOHFWURQLFJHDUEHFRPHYDOLG
Pr0.09 1st numerator of electronic gear Range Unit Default Related
control mode
0 to 230 —0PF
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7KLVVHWXSLVHQDEOHGZKHQ3UFRPPDQGSXOVHFRXQWVSHURQHPRWRUUHYROXWLRQ 
Pr0.10 Denominator of electronic gear Range Unit Default Related
control mode
1 to 230 — 10000 P F
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pulse input.
7KLVVHWXSLVHQDEOHGZKHQ3UFRPPDQGSXOVHFRXQWVSHURQHPRWRUUHYROXWLRQ 
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Pr0.08 Pr0.09 Pr0.10 Command division/multiplication operation
1 to 1048576 —
1RWHIIHFW
—
1RWHIIHFW
Encoder resolution
[Pr0.08 setup value]
Command
pulse input
Positional
command
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RSHUDWLRQLVSURFHVVHGDFFRUGLQJWRVHWXSYDOXHRI
Pr0.08.
0
0 0 to 1073741824
Encoder resolution
[Pr0.10 setup value]
Command
pulse input
Positional
command
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Pr0.10.
1 to 1073741824 1 to 1073741824
[Pr0.09 setting]
[Pr0.10 setting]
Command
pulse input
Positional
command
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1. Details of parameter
[Class 0] Basic setting
Related page
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4-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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Pr0.08 Pr0.09 Pr0.10 Command division/multiplication operation
,QYDOLG
0 1 to 1073741824
1
1
Command
pulse input
Positional
command
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SURFHVVDVVKRZQDERYHLVSHUIRUPHGZLWKERWK
numerator and denominator set to 1.
1 to 1073741824 1 to 1073741824
[Pr0.09 setting]
[Pr0.10 setting]
Command
pulse input
Positional
command
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SURFHVVHGDFFRUGLQJWRVHWXSYDOXHRI3UDQG
Pr0.10.
Caution
7KHGHVLUHGVHWWLQJFDQEHGHWHUPLQHGE\VHOHFWLQJYDOXHRIQXPHUDWRUDQGGHQRPLQDWRURI
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([FHVVLYHO\KLJKPXOWLSOLFDWLRQUDWLRZLOOFDXVH(UUFRPPDQGSXOVHPXOWLSOLFDWLRQHUURU
SURWHFWLRQGXHWRYDU\LQJFRPPDQGSXOVHLQSXWRUQRLVHVHYHQLIWKHRWKHUVHWWLQJVDUHZLWKLQ
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Pr0.11 *Output pulse counts
per one motor revolution
Range Unit Default Related
control mode
0 to 262144 P/r 2500 PSTF
Caution
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the Pr0.11 setup.
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1. Details of parameter
[Class 0] Basic setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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4-10
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Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
3´6HWXSRI7RUTXH/LPLWµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
3´3URWHFWLYH)XQFWLRQµ
Pr5.03 *Denominator of pulse output division Range Unit Default Related
control mode
0 to 262144 — 0 P S T F
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LQWHJHUVHWWKLVSDUDPHWHUWRDYDOXHRWKHUWKDQDQGWKHGLYLGLQJUDWLRFDQEHVHWE\XVLQJ
Pr0.11 as the numerator and Pr5.03 as the denominator.
2XWSXWSXOVHFRXQWVSHURQHUHYROXWLRQ
3UVHWXSYDOXH/ Pr5.03 VHWXSYDOXHð(QFRGHUUHVROXWLRQð 1
4
<Combination of Pr0.11 Output pulse counts per one motor revolution and Pr5.03
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Pr0.11 Pr5.03 Pulse reproducing process
1 to 262144
[0]
When the output source is encoder
[Pr0.11 setup value]×4
Encoder resolution
Encoder
feedback pulse
[pulse]
Output pulse
[pulse]
* :KHQ3U WKHDERYHSURFHVVLVPDGHDFFRUGLQJWR
3UVHWXSYDOXH
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OB are the number of pulses set in Pr0.11. The resolution of
SXOVHRXWSXWSHURQHUHYROXWLRQLVHTXDOWRRUOHVVWKHHQFRGHU
resolution.
:KHQWKHRXWSXWVRXUFHLVH[WHUQDOVFDOH
1
1
External scale pulse
[pulse]
Output pulse
[pulse]
* 'LYLVLRQUDWLRLV
1 to 262144
[Pr0.11 setup value]
[Pr5.03 setup value]
Encoder feedback pulse
or external scale pulse
[pulse]
Output pulse
[pulse]
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When the output source is encoder
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RI$SKDVHUHGXFLQJSXOVHZLGWK7KHSXOVHRXWSXWUHVROXWLRQ
SHURQHUHYROXWLRQFDQQRWEHFRPHKLJKHUWKDQWKHHQFRGHU
resolution.
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 6HWWLQJ
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1. Details of parameter
[Class 0] Basic setting
4-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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Pr0.12 *Reversal of pulse output logic Range Unit Default Related
control mode
0 to 3 — 0 P S T F
Caution
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SDUDPHWHU\RXFDQUHYHUVHWKHSKDVHUHODWLRQEHWZHHQWKH$SKDVHSXOVHDQGWKH%SKDVH
SXOVHE\UHYHUVLQJWKH%SKDVHORJLF(QFRGHURUH[WHUQDOVFDOHFDQEHVHOHFWHGDVWKHRXWSXW
source for full-closed control. The encoder is selected as the source if not for full-closed control.
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Pr0.12 B-phase
logic
Output
source
CCW direction
rotation
CW direction
rotation
[0] 1RQ
UHYHUVDO
Encoder $SKDVH
B-phase
$SKDVH
B-phase
2([WHUQDO
scale
1
5HYHUVDO
Encoder $SKDVH
B-phase
$SKDVH
B-phase
3([WHUQDO
scale
6HWXSYDOXHDQGDUHYDOLGRQO\IRUIXOOFORVHGFRQWURO6HWWLQJPXVWEHRULIQRWIRUIXOO
closed control.
The selection of the output source of Z-phase is held concurrently.
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Pr0.13 1st torque limit Range Unit Default Related
control mode
0 to 500 % 500 P S T F
Note
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Pr0.14 3RVLWLRQGHYLDWLRQH[FHVVVHWXS Range Unit Default Related
control mode
WR Command
unit 100000 P F
Note
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,IWKHXQLWLVFKDQJHGVHWXSZLWKWKHHQFRGHUSXOVHFRXQWVDWWKHSRVLWLRQFRQWURODQGZLWK
WKHH[WHUQDOVFDOHSXOVHFRXQWVDWWKHIXOOFORVHGFRQWURO

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Pr0.15 *Absolute encoder setup Range Unit Default Related
control mode
0 to 2 — 1 P F
Caution
You can set up the using method of 17-bit absolute encoder.
Setup value Function
0 Use as an absolute encoder.
[1] Use as an incremental encoder.
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1. Details of parameter
[Class 0] Basic setting
4-12
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Pr0.16 *([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS Range Unit Default Related
control mode
0 to 3 —
$%*+IUDPH
3
&'()IUDPH
0
PSTF
Remarks
Caution
:LWKWKLVSDUDPHWHU\RXFDQVHOHFWHLWKHUWRXVHWKHEXLOWLQUHJHQHUDWLYHUHVLVWRURIWKH
GULYHURUWRVHSDUDWHWKLVEXLOWLQUHJHQHUDWLYHUHVLVWRUDQGH[WHUQDOO\LQVWDOOWKHUHJHQHUDWLYH
UHVLVWRUEHWZHHQ%DQG%RI&RQQHFWRU;%LQFDVHRI$WR'IUDPHEHWZHHQ%DQG%
RI&RQQHFWRU;&LQFDVHRI'IUDPH9DQG(IUDPHEHWZHHQ%DQG%RIWHUPLQDO
EORFNLQFDVHRI)WR+IUDPH
$%*DQG+IUDPHGULYHULVQRWSURYLGHGZLWKEXLOWLQUHVLVWHU
Setup value
Regenerative
resistor
to be used
Function
[0]
&WR)IUDPH Built-in resistor
5HJHQHUDWLYHSURFHVVLQJFLUFXLWZLOOEHDFWLYDWHGDQG
UHJHQHUDWLYHUHVLVWRURYHUORDGSURWHFWLRQZLOOEHWULJJHUHG
DFFRUGLQJWRWKHEXLOWLQUHVLVWRUDSSUR[GXW\
1([WHUQDO
resistor
7KHGULYHUWULSVGXHWRUHJHQHUDWLYHRYHUORDGSURWHFWLRQ
(UUZKHQUHJHQHUDWLYHSURFHVVLQJFLUFXLWLVDFWLYDWHGDQG
LWVDFWLYHUDWLRH[FHHGV
2([WHUQDO
resistor
5HJHQHUDWLYHSURFHVVLQJFLUFXLWLVDFWLYDWHGEXWQRUHJHQHUDWLYH
RYHUORDGSURWHFWLRQLVWULJJHUHG
[3]
$%*+IUDPH 1RUHVLVWRU
%RWKUHJHQHUDWLYHSURFHVVLQJFLUFXLWDQGUHJHQHUDWLYHSURWHFWLRQ
DUHQRWDFWLYDWHGDQGEXLOWLQFDSDFLWRUKDQGOHVDOOUHJHQHUDWLYH
SRZHU
,QVWDOODQH[WHUQDOSURWHFWLRQVXFKDVWKHUPDOIXVHZKHQ\RXXVHWKHH[WHUQDOUHJHQHUDWLYH
resistor.
2WKHUZLVHWKHUHJHQHUDWLYHUHVLVWRUPLJKWEHKHDWHGXSDEQRUPDOO\DQGUHVXOWLQEXUQRXW
UHJDUGOHVVRIYDOLGDWLRQRULQYDOLGDWLRQRIUHJHQHUDWLYHRYHUORDGSURWHFWLRQ
:KHQ\RXXVHWKHEXLOWLQUHJHQHUDWLYHUHVLVWRUQHYHUWRVHWXSRWKHUYDOXHWKDQ'RQW
WRXFKWKHH[WHUQDOUHJHQHUDWLYHUHVLVWRU
([WHUQDOUHJHQHUDWLYHUHVLVWRUJHWVYHU\KRWDQGPLJKWFDXVHEXUQLQJ
Pr0.17 */RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH
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
PHWKRGRIORDGIDFWRURIUHJHQHUDWLYHUHVLVWRU
Setup value Function
[0] 5HJHQHUDWLYHORDGIDFWRULVZKHQGXW\IDFWRURIH[WHUQDOUHJHQHUDWLYHUHVLVWRULV
10%.
1 to 4 )RUPDQXIDFWXUHUVXVHGRQRWVHWXS
1. Details of parameter
[Class 0] Basic setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´6\VWHP&RQÀJXUDWLRQDQG:LULQJµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Pr1.00 1st gain of position loop
Range Unit Default Related
control mode
0 to 30000 0.1/s
$%
C
-
IUDPH
480
D to H-
IUDPH
320 PF
You can determine the response of the positional control system.
+LJKHUWKHJDLQRISRVLWLRQORRS\RXVHWIDVWHUWKHSRVLWLRQLQJWLPH\RXFDQREWDLQ
1RWHWKDWWRRKLJKVHWXSPD\FDXVHRVFLOODWLRQ
Pr1.01 1st gain of velocity loop
Range Unit Default Related
control mode
1 to 32767 0.1Hz
$%
C
-
IUDPH
270
D to H-
IUDPH
180 PSTF
Caution
<RXFDQGHWHUPLQHWKHUHVSRQVHRIWKHYHORFLW\ORRS
,QRUGHUWRLQFUHDVHWKHUHVSRQVHRIRYHUDOOVHUYRV\VWHPE\VHWWLQJKLJKSRVLWLRQORRSJDLQ
\RXQHHGKLJKHUVHWXSRIWKLVYHORFLW\ORRSJDLQDVZHOO+RZHYHUWRRKLJKVHWXSPD\FDXVH
oscillation.
:KHQWKHLQHUWLDUDWLRRI3ULVVHWFRUUHFWO\WKHVHWXSXQLWRI3UEHFRPHV+]
Pr1.02 1st time constant of velocity loop
integration
Range Unit Default Related
control mode
1 to 10000 0.1ms
$%
C
-
IUDPH
210
D to H-
IUDPH
310 PSTF
<RXFDQVHWXSWKHLQWHJUDWLRQWLPHFRQVWDQWRIYHORFLW\ORRS
6PDOOHUWKHVHWXSIDVWHU\RXFDQGRJLQGHYLDWLRQDWVWDOOWR
7KHLQWHJUDWLRQZLOOEHPDLQWDLQHGE\VHWWLQJWR
7KHLQWHJUDWLRQHIIHFWZLOOEHORVWE\VHWWLQJWR
Pr1.03 1st filter of speed detection Range Unit Default Related
control mode
0 to 5 — 0 P S T F
<RXFDQVHWXSWKHWLPHFRQVWDQWRIWKHORZSDVVÀOWHU/3)DIWHUWKHVSHHGGHWHFWLRQLQ
steps.
+LJKHUWKHVHWXSODUJHUWKHWLPHFRQVWDQW\RXFDQREWDLQVRWKDW\RXFDQGHFUHDVHWKH
PRWRUQRLVHKRZHYHUUHVSRQVHEHFRPHVVORZ8VHZLWKDGHIDXOWYDOXHRILQQRUPDO
operation.
Pr1.04 1st time constant of torque filter
Range Unit Default Related
control mode
0 to 2500 0.01ms
$%
C
-
IUDPH
84
D to H-
IUDPH
126 PSTF
<RXFDQVHWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\ÀOWHULQVHUWHGLQWKHWRUTXHFRPPDQG
SRUWLRQ<RXPLJKWH[SHFWVXSSUHVVLRQRIRVFLOODWLRQFDXVHGE\GLVWRUWLRQUHVRQDQFH
41. Details of parameter
Setup [Class 1] Gain adjustment
Caution
Note
Related page
7R3DQDVRQLF0,1$6XVHUV$DQGKLJKHUVHULHV
 &$87,213DUDPHWHUVHWWLQJVVKRZQLQWKLVPDQXDOPD\GLIIHUIURPWKRVHDSSOLHGWR\RXU
SURGXFWV
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-14
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
'HIDXOW>@
Pr1.05 2nd gain of position loop
Range Unit Default Related
control mode
0 to 30000 0.1/s
$%
C
-
IUDPH
570
D to H-
IUDPH
380 PF
Pr1.06 2nd gain of velocity loop
Range Unit Default Related
control mode
1 to 32767 0.1Hz
$%
C
-
IUDPH
270
D to H-
IUDPH
180 PSTF
Pr1.07 2nd time constant of velocity loop
integration
Range Unit Default Related
control mode
1 to 10000 0.1ms 10000 P S T F
Pr1.08 2nd filter of speed detection Range Unit Default Related
control mode
0 to 5 — 0 P S T F
Pr1.09 2nd time constant of torque filter
Range Unit Default Related
control mode
0 to 2500 0.01ms
$%
C
-
IUDPH
84
D to H-
IUDPH
126 PSTF
Related page
3RVLWLRQORRSYHORFLW\ORRSVSHHGGHWHFWLRQÀOWHUDQGWRUTXHFRPPDQGÀOWHUKDYHWKHLU
SDLUVRIJDLQRUWLPHFRQVWDQWVWDQGQG
)RUGHWDLOVRIVZLWFKLQJWKHVWDQGWKHQGJDLQRUWKHWLPHFRQVWDQWUHIHUWR3*DLQ
6ZLWFKLQJ)XQFWLRQRI$GMXVWPHQW
The function and the content of each parameter is as same as that of the 1st gain and time
constant.
Pr1.10 9HORFLW\IHHGIRUZDUGJDLQ Range Unit Default Related
control mode
0 to 1000 0.10% 300 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\IHHGIRUZDUGILOWHU Range Unit Default Related
control mode
0 to 6400 0.01ms 50 P F
6HWWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWVWKHLQSXWRIYHORFLW\IHHGIRUZDUG
8VDJHH[DPSOHRIYHORFLW\IHHGIRUZDUG!
7KHYHORFLW\IHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHYHORFLW\IHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHGZLWKWKHYHORFLW\IHHGIRUZDUGILOWHUVHWDWDSSUR[PV7KHSRVLWLRQDO
GHYLDWLRQGXULQJRSHUDWLRQDWDFRQVWDQWYHORFLW\LVUHGXFHGDVVKRZQLQWKHHTXDWLRQEHORZ
LQSURSRUWLRQWRWKHYDOXHRIYHORFLW\IHHGIRUZDUGJDLQ
3RVLWLRQDOGHYLDWLRQ>XQLWRIFRPPDQG@ FRPPDQGVSHHG>XQLWRIFRPPDQGV@
SRVLWLRQDOORRSJDLQ>V@ðYHORFLW\IHHGIRUZDUGJDLQ>@
1. Details of parameter
[Class 1] Gain adjustment
4-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
'HIDXOW>@
1. Details of parameter
[Class 1] Gain adjustment
Pr1.12 7RUTXHIHHGIRUZDUGJDLQ Range Unit Default Related
control mode
0 to 1000 0.1% 0 P S F
0XOWLSO\WKHWRUTXHFRPPDQGFDOFXODWHGDFFRUGLQJWRWKHYHORFLW\FRQWUROFRPPDQGE\WKH
UDWLRRIWKLVSDUDPHWHUDQGDGGWKHUHVXOWWRWKHWRUTXHFRPPDQGUHVXOWLQJIURPWKHYHORFLW\
control process.
3RVLWLRQDOGHYLDWLRQDWDFRQVWDQWDFFHOHUDWLRQGHFHOHUDWLRQFDQEHPLQLPL]HGFORVHWRE\
LQFUHDVLQJWKHWRUTXHIRUZDUGJDLQ7KLVPHDQVWKDWSRVLWLRQDOGHYLDWLRQFDQEHPDLQWDLQHG
DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO
FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH
Pr1.13 7RUTXHIHHGIRUZDUGILOWHU Range Unit Default Related
control mode
0 to 6400 0.01ms 0 P S F
Caution
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWVWKHLQSXWRIWRUTXHIHHGIRUZDUG
7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHGZLWKWKHWRUTXHIHHGIRUZDUGÀOWHULVVHWDWDSSUR[PV
8VDJHH[DPSOHRIWRUTXHIHHGIRUZDUG!
7RXVHWKHWRUTXHIHHGIRUZDUGFRUUHFWO\VHWWKHLQHUWLDUDWLR
8VHWKHYDOXHWKDWZDVGHWHUPLQHGDWWKHVWDUWRIWKHUHDOWLPHDXWRWXQLQJRUVHWWKHLQHUWLD
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7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\
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FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH
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$VZLWKWKHYHORFLW\IHHGIRUZDUGODUJHWRUTXHIHHGIRUZDUGÀOWHUWLPHFRQVWDQWGHFUHDVHV
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Pr1.14 2nd gain setup Range Unit Default Related
control mode
0 to 1 — 1 P S T F
Related page
$UUDQJHWKLVSDUDPHWHUZKHQSHUIRUPLQJRSWLPXPDGMXVWPHQWE\XVLQJWKHJDLQVZLWFKLQJ
function.
Setup value *DLQVHOHFWLRQVZLWFKLQJ
0
VWJDLQLVÀ[HGDWDYDOXH%\XVLQJWKHJDLQVZLWFKLQJLQSXW*$,1FKDQJH
WKHYHORFLW\ORRSRSHUDWLRQIURP3,WR3
*$,1LQSXWSKRWRFRXSOHU2)) PI operation
*$,1LQSXWSKRWRFRXSOHU21 P operation
*7KHDERYHGHVFULSWLRQDSSOLHVZKHQWKHORJLFDOVHWWLQJRI*$,1LQSXWLV
DFRQWDFW212))RISKRWRFRXSOHULVUHYHUVHGZKHQEFRQWDFW
[1] (QDEOHJDLQVZLWFKLQJRIVWJDLQ3U3UDQGQGJDLQ3U
3U
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$GMXVWPHQW
4-16
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
Pr1.15 0RGHRISRVLWLRQFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 10 — 0 P F
Setup
value
6ZLWFKLQJ
condition *DLQVZLWFKLQJFRQGLWLRQ
[0]
)L[HGWRVWJDLQ
)L[HGWRWKHVWJDLQ3UWR3U
1
)L[HGWRQGJDLQ
)L[HGWRWKHQGJDLQ3UWR3U
2:LWKJDLQ
VZLWFKLQJLQSXW
VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVRSHQ
QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVFRQQHFWHGWR&20
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW*$,1WKHVWJDLQLVÀ[HG
3
Torque
command is
large
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGH[FHHGHGOHYHO
K\VWHUHVLVSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGZDVNHSWEHORZOHYHO
K\VWHUHVLVSUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
5
Speed
command is
large
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGH[FHHGHGOHYHO
K\VWHUHVLVUPLQSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGZDVNHSWEHORZOHYHO
K\VWHUHVLVUPLQSUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
6
Position
GHYLDWLRQLV
large
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6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQH[FHHGHGOHYHO
K\VWHUHVLVSXOVHSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQZDVNHSWEHORZ
OHYHOK\VWHUHVLVSXOVHSUHYLRXVO\RYHUGHOD\WLPHZLWKWKHQGJDLQ
*8QLWRIOHYHODQGK\VWHUHVLVSXOVHLVVHWDVWKHHQFRGHUUHVROXWLRQIRUSRVLWLRQDOFRQWURO
DQGH[WHUQDOVFDOHUHVROXWLRQIRUIXOOFORVHGFRQWURO
7
Position
command
H[LVWV
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVNHSWSUHYLRXVO\GXULQJGHOD\
WLPHZLWKWKHQGJDLQ
8
1RWLQ
positioning
complete
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQLQJZDVQRWFRPSOHWHGSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQLQJZDVNHSWLQFRPSOHWHGFRQGLWLRQSUHYLRXVO\
GXULQJGHOD\WLPHZLWKWKHQGJDLQ
9$FWXDOVSHHGLV
large
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHDFWXDOVSHHGH[FHHGHGOHYHO
K\VWHUHVLVUPLQSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHDFWXDOVSHHGZDVNHSWEHORZOHYHO
K\VWHUHVLVUPLQSUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
10
Position
command
H[LVWV
$FWXDOVSHHG
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVNHSWDWGXULQJWKHGHOD\
WLPHDQGWKHDEVROXWHYDOXHRIDFWXDOVSHHGZDVNHSWEHORZOHYHOK\VWHUHVLVUPLQ
SUHYLRXVO\ZLWKWKHQGJDLQ
6HWXSWKHWULJJHULQJFRQGLWLRQRIJDLQVZLWFKLQJIRUSRVLWLRQFRQWURO
Pr1.16 'HOD\WLPHRISRVLWLRQFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 10000 0.1ms 50 P F
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FRQWUROVZLWFKLQJPRGHVHWDWRUVHWXSWKHGHOD\WLPHIURPWULJJHU
GHWHFWLRQWRWKHVZLWFKLQJRSHUDWLRQ
1. Details of parameter
[Class 1] Gain adjustment
4-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
'HIDXOW>@
Pr1.17 /HYHORISRVLWLRQFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 20000 Mode-
dependent 50 P F
Caution
)RUSRVLWLRQFRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U3RVLWLRQFRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
Pr1.18 +\VWHUHVLVDWSRVLWLRQFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 20000 Mode-
dependent 33 P F
Caution
)RUSRVLWLRQFRQWUROOLQJ6HWXSWULJJHULQJK\VWHUHVLVZKHQ3U3RVLWLRQFRQWUROJDLQ
VZLWFKLQJPRGHLVVHWDWRU
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
Pr1.19 3RVLWLRQJDLQVZLWFKLQJWLPH Range Unit Default Related
control mode
0 to 10000 0.1ms 33 P F
Caution
)RUSRVLWLRQFRQWUROOLQJ,IWKHGLIIHUHQFHEHWZHHQ3UVWJDLQRISRVLWLRQORRSDQG3U
QGJDLQRISRLVRQORRSLVODUJHWKHLQFUHDVLQJUDWHRISRVLWLRQORRSJDLQFDQEHOLPLWHGE\
this parameter.
7KHSRVLWLRQORRSJDLQZLOOLQFUHDVHRYHUWKHWLPHVHW
3RVLWLRQJDLQVZLWFKLQJWLPH!
:KHQXVLQJSRVLWLRQFRQWURODQGIXOOFORVHGFRQWUROJDLQRISRVLWLRQORRSUDSLGO\FKDQJHV
FDXVLQJWRUTXHFKDQJHDQGYLEUDWLRQ%\DGMXVWLQJ3U3RVLWLRQJDLQVZLWFKLQJWLPH
LQFUHDVLQJUDWHRIWKHSRLVRQORRSJDLQFDQEHGHFUHDVHGDQGYLEUDWLRQOHYHOFDQEHUHGXFHG
6HWWLQJRIWKLVSDUDPHWHUGRHVQRWDIIHFWWKHJDLQVZLWFKLQJWLPHZKHQWKHJDLQRISRVLWLRQ
ORRSLVVZLWFKHGWRORZHUOHYHOJDLQLVVZLWFKHGLPPHGLDWHO\
([DPSOHVW3U!QG3U
2nd 1st1st
Result of
switching
1st (Pr1.00)
2nd (Pr1.05)
Position gain
switching time (ms)
(Pr1.19)
1. Details of parameter
[Class 1] Gain adjustment
4-18
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
'HIDXOW>@
Pr1.20 0RGHRIYHORFLW\FRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 5 — 0 S
Related page
)RUYHORFLW\FRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
Setup value 6ZLWFKLQJFRQGLWLRQ *DLQVZLWFKLQJFRQGLWLRQ
[0] )L[HGWRWKHVWJDLQ )L[HGWRWKHVWJDLQ3UWR3U
1)L[HGWRWKHQGJDLQ )L[HGWRWKHQGJDLQ3UWR3U
2*DLQVZLWFKLQJLQSXW
VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVRSHQ
QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVFRQQHFWHGWR
COM–.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW*$,1
WKHVWJDLQLVÀ[HG
3 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.
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
FRPPDQGZDVNHSWEHORZOHYHOK\VWHUHVLVSUHYLRXVO\
GXULQJGHOD\WLPHZLWKWKHQGJDLQ
4Speed command
YDULDWLRQLVODUJHU
9DOLGRQO\GXULQJYHORFLW\FRQWURO
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHG
FRPPDQGYDULDWLRQVH[FHHGHGOHYHOK\VWHUHVLVUPLQV
SUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHG
FRPPDQGYDULDWLRQVZDVNHSWEHORZOHYHOK\VWHUHVLVU
PLQVGXULQJGHOD\WLPHSUHYLRXVO\ZLWKWKHQGJDLQ
*7KHVWJDLQLVÀ[HGZKLOHWKHYHORFLW\FRQWUROLVQRWDSSOLHG
)RUWKHVZLWFKLQJOHYHODQGWLPLQJUHIHUWR36HWXSRI*DLQ6ZLWFKLQJ&RQGLWLRQRI$GMXVWPHQW
Pr1.21 'HOD\WLPHRIYHORFLW\FRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 10000 0.1ms 0 S
)RUYHORFLW\FRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U9HORFLW\
FRQWUROVZLWFKLQJPRGHVHWDWRUVHWWKHGHOD\WLPHIURPWULJJHUGHWHFWLRQWRWKH
VZLWFKLQJRSHUDWLRQ
Pr1.22 /HYHORIYHORFLW\FRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 20000 Mode-
dependent 0S
Caution
)RUYHORFLW\FRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U9HORFLW\FRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
Pr1.23 +\VWHUHVLVDWYHORFLW\FRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 20000 Mode-
dependent 0S
Caution
)RUYHORFLW\FRQWUROOLQJ6HWXSWULJJHULQJK\VWHUHVLVZKHQ3U9HORFLW\FRQWUROJDLQ
VZLWFKLQJPRGHLVVHWDWRU
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
1. Details of parameter
[Class 1] Gain adjustment
4-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
'HIDXOW>@
Pr1.24 0RGHRIWRUTXHFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 3 — 0 T
)RUWRUTXHFRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
Setup value 6ZLWFKLQJFRQGLWLRQ *DLQVZLWFKLQJFRQGLWLRQ
[0] )L[HGWRWKHVWJDLQ )L[HGWRWKHVWJDLQ3UWR3U
1)L[HGWRWKHQGJDLQ )L[HGWRWKHQGJDLQ3UWR3U
2*DLQVZLWFKLQJLQSXW
VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVRSHQ
QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVFRQQHFWHGWR
COM–.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW*$,1
WKHVWJDLQLVÀ[HG
3 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.
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
FRPPDQGZDVNHSWEHORZOHYHOK\VWHUHVLVSUHYLRXVO\
GXULQJGHOD\WLPHZLWKWKHQGJDLQ
Pr1.25 'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 10000 0.1ms 0 T
)RUWRUTXHFRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U7RUTXH
FRQWUROVZLWFKLQJPRGHVHWDWVHWXSWKHGHOD\WLPHIURPWULJJHUGHWHFWLRQWRWKHVZLWFKLQJ
operation.
Pr1.26 /HYHORIWRUTXHFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 20000 Mode-
dependent 0T
Caution
)RUWRUTXHFRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U7RUTXHFRQWUROJDLQVZLWFKLQJ
mode is set at 3.
8QLWYDULHVGHSHQGLQJRQWKHVHWXSRIPRGHRIFRQWUROVZLWFKLQJ
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
Pr1.27 +\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ Range Unit Default Related
control mode
0 to 20000 Mode-
dependent 0T
Caution
)RUWRUTXHFRQWUROOLQJ6HWXSWULJJHULQJK\VWHUHVLVZKHQ3U7RUTXHFRQWUROJDLQ
VZLWFKLQJPRGHLVVHWDW
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
1. Details of parameter
[Class 1] Gain adjustment
4-20
Pr2.00 Adaptive filter mode setup Range Unit Default Related
control mode
0 to 4 — 0 P S F
6HWXSWKHUHVRQDQFHIUHTXHQF\WREHHVWLPDWHGE\WKHDGDSWLYHILOWHUDQGVSHFLI\WKH
operation after estimation.
Setup value Content
[0] $GDSWLYHÀOWHU
LQYDOLG
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUKROGWKH
FXUUHQWYDOXH
1$GDSWLYHÀOWHU
ÀOWHULVYDOLG
2QHDGDSWLYHÀOWHULVHQDEOHG3DUDPHWHUVUHODWHGWRWKHUG
QRWFKÀOWHUZLOOEHXSGDWHGEDVHGRQDGDSWLYHSHUIRUPDQFH
2$GDSWLYHÀOWHU
ÀOWHUVDUHYDOLG
7ZRDGDSWLYHÀOWHUVDUHHQDEOHG3DUDPHWHUVUHODWHGWRWKH
UGDQGWKQRWFKÀOWHUVZLOOEHXSGDWHGEDVHGRQDGDSWLYH
performance.
3Resonance frequency
measurement mode
Measure the resonance frequency. Result of measurement
FDQEHFKHFNHGZLWK3$1$7(503DUDPHWHUVUHODWHGWRWKH
UGDQGWKQRWFKÀOWHUKROGWKHFXUUHQWYDOXH
4Clear result of
adaptation
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUDUH
GLVDEOHGDQGUHVXOWVRIDGDSWLYHRSHUDWLRQDUHFOHDUHG
Pr2.01 1st notch frequency Range Unit Default Related
control mode
50 to 5000 Hz 5000 P S T F
Caution
6HWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
Pr2.02 VWQRWFKZLGWKVHOHFWLRQ Range Unit Default Related
control mode
0 to 20 — 2 P S T F
Caution
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDO
operation.
Pr2.03 1st notch depth selection Range Unit Default Related
control mode
0 to 99 — 0 P S T F
Caution
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
Pr2.04 2nd notch frequency Range Unit Default Related
control mode
50 to 5000 Hz 5000 P S T F
Caution
6HWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
Pr2.05 QGQRWFKZLGWKVHOHFWLRQ Range Unit Default Related
control mode
0 to 20 — 2 P S T F
Caution
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ
41. Details of parameter
Setup [Class 2] Damping control
4-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
'HIDXOW>@
1. Details of parameter
[Class 2] Damping control
Pr2.06 2nd notch depth selection Range Unit Default Related
control mode
0 to 99 — 0 P S T F
Caution
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
Pr2.07 3rd notch frequency Range Unit Default Related
control mode
50 to 5000 Hz 5000 P S T F
Caution
1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHVWUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHÀOWHU
,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHWWR
Pr2.08 UGQRWFKZLGWKVHOHFWLRQ Range Unit Default Related
control mode
0 to 20 — 2 P S T F
Caution
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Pr2.09 3rd notch depth selection Range Unit Default Related
control mode
0 to 99 — 0 P S T F
Caution
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Pr2.10 4th notch frequency Range Unit Default Related
control mode
50 to 5000 Hz 5000 P S T F
Caution
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Pr2.11 WKQRWFKZLGWKVHOHFWLRQ Range Unit Default Related
control mode
0 to 20 — 2 P S T F
Caution
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Pr2.12 4th notch depth selection Range Unit Default Related
control mode
0 to 99 — 0 P S T F
Caution
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4-22
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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Pr2.13 6HOHFWLRQRIGDPSLQJILOWHUVZLWFKLQJ Range Unit Default Related
control mode
0 to 3 — 0 P F
Caution
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
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Setup
value VS-SEL2 VS-SEL1 1st damping 2nd damping 3rd damping 4th damping
[0] ——
1—
—
2
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Setup
value
Position command
direction 1st damping 2nd damping 3rd damping 4th damping
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1HJDWLYHGLUHFWLRQ
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signal is being output.
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than the command speed for a short time.
Pr2.14 1st damping frequency Range Unit Default Related
control mode
0 to 2000 0.1Hz 0 P F
Pr2.16 2nd damping frequency Range Unit Default Related
control mode
0 to 2000 0.1Hz 0 P F
Pr2.18 3rd damping frequency Range Unit Default Related
control mode
0 to 2000 0.1Hz 0 P F
Pr2.20 4th damping frequency Range Unit Default Related
control mode
0 to 2000 0.1Hz 0 P F
Related page
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1. Details of parameter
[Class 2] Damping control
4-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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1. Details of parameter
[Class 2] Damping control
Pr2.15 1st damping filter setup Range Unit Default Related
control mode
0 to 1000 0.1Hz 0 P F
Pr2.17 2nd damping filter setup Range Unit Default Related
control mode
0 to 1000 0.1Hz 0 P F
Pr2.19 3rd damping filter setup Range Unit Default Related
control mode
0 to 1000 0.1Hz 0 P F
Pr2.21 4th damping filter setup Range Unit Default Related
control mode
0 to 1000 0.1Hz 0 P F
Caution
Related page
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Pr2.22 Positional command smoothing filter Range Unit Default Related
control mode
0 to 10000 0.1ms 0 P F
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Speed
[r/min]
Vc
Vc×0.632 *1
Vc×0.368 *1
Positional command smoothing
filter setup time [ms]
(Pr2.22 × 0.1 ms)
Time
Positional command before filter
Positional command after filter Filter switching
waiting time *2
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positioning complete is being output.
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RISRVLWLRQDOFRPPDQGDIWHUÀOWHUµLQWHJUDWHGRYHUWKHWLPHDWWKHWLPHRIVZLWFKLQJWKHVHSXOVHVDUH
GLVFKDUJHGDWDKLJKHUUDWHFDXVLQJWKHPRWRUWRUHWXUQWRWKHSUHYLRXVSRVLWLRQWKHPRWRUUXQVDWD
speed higher than the command speed for a short time.
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4-24
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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Pr2.23 Positional command FIR filter Range Unit Default Related
control mode
0 to 10000 0.1ms 0 P F
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WLPHDVVKRZQLQWKHÀJXUHEHORZ
Speed
[r/min]
Vc
Positional command
smoothing filter setup
time [ms]
(Pr2.23 × 0.1 ms)*1
Time
Filter switching
waiting time *2
Positional command before filter
Positional command after filter
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SXOVHOHVVVWDWHKDVFRQWLQXHGIRUWKHÀOWHUVZLWFKLQJZDLWWLPH
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described in *RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG
1. Details of parameter
[Class 2] Damping control
4-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
'HIDXOW>@
41. Details of parameter
Setup [Class 3]
Verocity/ Torque/ Full-closed control
Pr3.00 6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ Range Unit Default Related
control mode
0 to 3 — 0 S
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHGVHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKHVSHHG
ZLWKFRQWDFWLQSXWVRQO\
Setup value Speed setup method
[0] $QDORJVSHHGFRPPDQG635
1,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG3UWR3U
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Setup
value
Selection 1 of
internal command
speed (INTSPD1)
Selection 2 of
internal command
speed (INTSPD2)
Selection 3 of
internal command
speed (INTSPD3)
Selection of
Speed command
1
OFF OFF
1RHIIHFW
1st speed
21 OFF 2nd speed
OFF 21 3rd speed
21 21 4th speed
2
OFF OFF
1RHIIHFW
1st speed
21 OFF 2nd speed
OFF 21 3rd speed
21 21 $QDORJVSHHG
command
3
The same as Pr3.00=1 OFF 1st to 4th speed
OFF OFF 21 5th speed
21 OFF 21 6th speed
OFF 21 21 7th speed
21 21 21 8th speed
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that single input signals are selected alternately. If 2 or more input signals are selected
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1st
2nd
4th
3rd
open
open
COMï
COMï
1st
INTSPD1
open
open COMï
open
COMï
COMï
1st 1st
2nd
4th 3rd
7th 8th
6th 5th
Exam
p
le 1
)
When Pr3.00=1 or 2 Exam
p
le 2
)
When Pr3.00=3
INTSPD1
INTSPD2
INTSPD3
INTSPD2
Speed
command
[r/min]
Speed
command
[r/min]
Pr3.01 Speed command rotational direction
selection
Range Unit Default Related
control mode
0 to 1 — 0 S
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Setup value
Select speed
command sign
(1st to 8th speed)
Speed command
direction
(VC-SIGN)
Position command
direction
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ï 1RHIIHFW 1HJDWLYHGLUHFWLRQ
1Sign has no effect. OFF 3RVLWLYHGLUHFWLRQ
Sign has no effect. 21 1HJDWLYHGLUHFWLRQ
4-26
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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Pr3.02 Input gain of speed command Range Unit Default Related
control mode
10 to 2000 UPLQ9 500 S T
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gain to motor command speed.
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PRWRUVSHHGZLWK3U
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hence input of 6V becomes 3000r/min.
Caution
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WRWKHRYHUDOOVHUYRV\VWHP
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3000
Speed (r/min)
–3000
Slope at ex-factory
–10 –6
246810
Positive direction
Negative direction
Command input voltage (V)
Pr3.03 Reversal of speed command input Range Unit Default Related
control mode
0 to 1 — 1 S
Note
Caution
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Setup value Motor rotating direction
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the speed command signal from the unit and the polarity of this parameter setup does not
match.
1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
4-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
Pr3.04 1st speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
Pr3.05 2nd speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
Pr3.06 3rd speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
Pr3.07 4th speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
Pr3.08 5th speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
Pr3.09 6th speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
Pr3.10 7th speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
Pr3.11 8th speed of speed setup Range Unit Default Related
control mode
ïWR r/min 0 S
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Pr3.12 Acceleration time setup Range Unit Default Related
control mode
0 to 10000 ms/
(1000r/min) 0S
Pr3.13 Deceleration time setup Range Unit Default Related
control mode
0 to 10000 ms/
(1000r/min) 0S
Caution
Set up acceleration/deceleration processing time in response to the speed command input.
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Speed
[r/min]
1000r/min
Pr3.13×1ms
Pr3.12×1ms
Speed command after
acceleration/deceleratio
n
process
Stepwise input speed command
Time
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command after acceleration/deceleration indicates the same direction as that of the speed
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4-28
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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Pr3.14 Sigmoid acceleration/ deceleration time
setup
Range Unit Default Related
control mode
0 to 1000 ms 0 S
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Speed
[r/min]
Target speed (Vc)
ts ts
ts
ts
ta td
Time
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
Speed command after
acceleration/deceleration
process
Pr3.15 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 Function of ZEROSPD (Pin-26)
[0] ,QYDOLG6SHHG]HURFODPSLQSXWLVLJQRUHG
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LVWXUQHG21 *1.
2
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DUHLGHQWLFDOWRWKRVHZKHQVHWXSYDOXHLV
3
:KHQWKHVSHHG]HURFODPS=(5263'LQSXWVLJQDOLV21 *1 and speed command is
EHORZ3U
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LVDFWLYDWHGDWWKDWSRLQW
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215HIHUWR3&RQWUROLQSXW
Pr3.16 Speed zero clamp level Range Unit Default Related
control mode
10 to 20000 r/min 30 S T
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function selection is set to 2 or 3.
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1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
4-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
'HIDXOW>@
1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
Pr3.17 Selection of torque command Range Unit Default Related
control mode
0 to 2 — 0 T
You can select the input of the torque command and the speed limit.
Setup value Torque command input Velocity limit input
[0] $QDORJLQSXW *1
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1$QDORJLQSXW
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$QDORJLQSXW
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2$QDORJLQSXW *1
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3DUDPHWHUYDOXH
3U3U
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Pr3.18 Torque command direction selection Range Unit Default Related
control mode
0 to 1 — 0 T
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Setup value Designation
[0] 6SHFLI\WKHGLUHFWLRQZLWKWKHVLJQRIWRUTXHFRPPDQG
([DPSOH7RUTXHFRPPDQGLQSXWIRUSRVLWLYHGLUHFWLRQ²IRUQHJDWLYHGLUHFWLRQ
16SHFLI\WKHGLUHFWLRQZLWKWRUTXHFRPPDQGVLJQ7&6,*1
2))3RVLWLYHGLUHFWLRQ211HJDWLYHGLUHFWLRQ
Pr3.19 Input gain of torque command Range Unit Default Related
control mode
10 to 100
0.1V/100%
30 T
%DVHGRQWKHYROWDJH9DSSOLHGWRWKHDQDORJWRUTXHFRPPDQG7545VHWXSWKH
FRQYHUVLRQJDLQWRWRUTXHFRPPDQG
 8QLWRIWKHVHWXSYDOXHLV>9@
DQGVHWXSLQSXWYROWDJHQHFHVVDU\WR
produce the rated torque.
 'HIDXOWVHWXSRIUHSUHVHQWV9
Rated
torque
torque
Default
command input
v
2
–2–4–6–8–10V
100
100
200
300[%]
200
300[%]
46810V
Negative direction
Positive direction
Pr3.20 Input reversal of torque command Range Unit Default Related
control mode
0 to 1 — 0 T
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Setup value Direction of motor output torque
[0] 1RQUHYHUVDO ´9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ´²9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ
15HYHUVDO ´9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ´²9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ
4-30
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Pr3.21 Speed limit value 1 Range Unit Default Related
control mode
0 to 20000 r/min 0 T
Set up the speed limit used for torque controlling.
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:KHQ3U WKHVSHHGOLPLWLVDSSOLHGXSRQUHFHLYLQJSRVLWLYHGLUHFWLRQFRPPDQG
Pr3.22 Speed limit value 2 Range Unit Default Related
control mode
0 to 20000 r/min 0 T
Pr3.17 Pr3.21 Pr3.22 Pr3.15 Speed zero clamp
(ZEROSPD)
Analog torque
command direction Speed limit value
0 0 to 20000 1RHIIHFW
01RHIIHFW
1RHIIHFW
3UVHWXSYDOXH
1 to 3 OFF 3UVHWXSYDOXH
21 0
2
0 to 20000 0 to 20000 0 1RHIIHFW 3RVLWLYHGLUHFWLRQ 3UVHWXSYDOXH
1HJDWLYHGLUHFWLRQ 3UVHWXSYDOXH
0 to 20000 0 to 20000 1 to 3 OFF 3RVLWLYHGLUHFWLRQ 3UVHWXSYDOXH
1HJDWLYHGLUHFWLRQ 3UVHWXSYDOXH
0 to 20000 0 to 20000 1 to 3 21 1RHIIHFW 0
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Pr3.23 *([WHUQDOVFDOHVHOHFWLRQ Range Unit Default Related
control mode
0 to 2 — 0 F
Caution
6HOHFWWKHW\SHRIH[WHUQDOVFDOH
Setup
value ([WHUQDOVFDOHW\SH Compatible scale Compatible
speed
[0] $%SKDVHRXWSXWW\SH*1([WHUQDOVFDOHRI$%SKDVHRXWSXWW\SH to 4Mpps
DIWHUTXDGUXSOHG
1Serial communication type
LQFUHPHQWDOYHUVLRQ*1
0DJQHVFDOH&R/WG
65656/6/ to 400Mpps
2Serial communication type
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Mitsutoyo Corp.
$767$67$
0DJQHVFDOH&R/WG
6565
to 400Mpps
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FRQQHFWLRQDUUDQJHPHQWLVLPSRVVLEOHGXHWRLQVWDOODWLRQFRQGLWLRQHWFXVHWKHFRXQW
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([WHUQDOVFDOHZLULQJHUURUSURWHFWLRQRFFXUVDQGLIWKHVHWXSYDOXHLVZKLOHWKHVHULDO
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1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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4-31
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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Pr3.24 *1XPHUDWRURIH[WHUQDOVFDOHGLYLVLRQ Range Unit Default Related
control mode
WR —0 F
6HWXSWKHQXPHUDWRURIWKHH[WHUQDOVFDOHGLYLGLQJVHWXS
:KHQVHWXSYDOXH HQFRGHUUHVROXWLRQLVXVHGDVQXPHUDWRURIWKHGLYLVLRQ
Pr3.25 *'HQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ Range Unit Default Related
control mode
WR — 10000 F
Caution
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H[WHUQDOVFDOHSXOVHVSHURQHPRWRUUHYROXWLRQDQGWKHQVHWXSWKHQXPHUDWRURIH[WHUQDO
VFDOHGLYLVLRQ3UDQGWKHGHQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ3UWRHVWDEOLVK
WKHH[SUHVVLRQVKRZQEHORZ
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([DPSOH:KHQEDOOVFUHZSLWFKLVPPVFDOHBPSXOVHHQFRGHUUHVROXWLRQELWV
SXOVHV
Encoder resolution per one motor revolution [pulse]
External scale resolution per one motor revolution [pulse]
=
Pr3.24 1048576
Pr3.25 100000
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Pr3.26 *5HYHUVDORIGLUHFWLRQRIH[WHUQDOVFDOH Range Unit Default Related
control mode
0 to 1 — 0 F
Note
5HYHUVHWKHGLUHFWLRQRIH[WHUQDOVFDOHIHHGEDFNFRXQWHU
Setup value Content
[0] &RXQWYDOXHRIH[WHUQDOVFDOHFDQEHXVHGDVLWLV
16LJQSRVLWLYHQHJDWLYHRIFRXQWYDOXHRIH[WHUQDOVFDOHVKRXOGEHLQYHUWHG
)RUVHWWLQJPHWKRGRIWKLVSDUDPHWHUUHIHUWR3)XOOFORVHGFRQWUROPRGH
Pr3.27 *([WHUQDOVFDOH=SKDVHGLVFRQQHFWLRQ
detection disable
Range Unit Default Related
control mode
0 to 1 — 0 F
(QDEOHGLVDEOH=SKDVHGLVFRQQHFWLRQGHWHFWLRQZKHQ$%SKDVHRXWSXWW\SHH[WHUQDOVFDOH
is used.
Setup value Content
[0] Valid
1,QYDOLG
1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
4-32
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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'HIDXOW>@
Pr3.28 *+\EULGGHYLDWLRQH[FHVVVHWXS Range Unit Default Related
control mode
WR Command
unit 16000 F
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DQGWKHSUHVHQWH[WHUQDOVFDOHSRVLWLRQ
Pr3.29 *Hybrid deviation clear setup Range Unit Default Related
control mode
0 to 100
5HYROXWLRQ
0F
Caution
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+\EULGGHYLDWLRQFOHDUIHDWXUH!
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Pr3.28
(Hybrid deviation
excess setup)
Pr3.29
(Hybrid deviation clear setup)
Pr3.29
(Hybrid deviation clear setup)
Excess hybrid deviation error
Hybrid deviation value
(command unit) (absolute value)
No. of motor revolutions [rev]
Note: Revolution in the hybrid deviation clear setup is counted by using encoder feedback pulses.
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DSSURSULDWHYDOXH,IWKHVHWXSYDOXHLVWRRVPDOOZLWKUHVSHFWWRWKHYDOXHRI3U+\EULG
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cannot be protected.
Limit sensor should be used to assure safety.
1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
4-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
41. Details of parameter
Setup [Class 4] I/F monitor setting
Pr4.00 *SI1 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00828282h
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7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV*5
+H[DGHFLPDOSUHVHQWDWLRQLVIROORZHGE\DVSHFLÀFFRQWUROPRGHGHVLJQDWLRQ
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00– – **² ² K YHORFLW\FRQWURO
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Replace **
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Title Symbol Setup value
a-contact b-contact
,QYDOLG ï 00h Do not setup.
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW POT 01h 81h
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW 127 02h 82h
6HUYR21LQSXW*165921 03h 83h
$ODUPFOHDULQSXW $&/5 04h Do not setup.
&RQWUROPRGHVZLWFKLQJLQSXW*2C-MODE 05h 85h
*DLQVZLWFKLQJLQSXW *$,1 06h 86h
'HYLDWLRQFRXQWHUFOHDULQSXW*3CL 07h Do not setup.
Command pulse inhibition input *4,1+ 08h 88h
7RUTXHOLPLWVZLWFKLQJLQSXW TL-SEL 09h 89h
'DPSLQJFRQWUROVZLWFKLQJLQSXW VS-SEL1 $K $K
'DPSLQJFRQWUROVZLWFKLQJLQSXW VS-SEL2 0Bh 8Bh
(OHFWURQLFJHDUVZLWFKLQJLQSXW DIV1 0Ch 8Ch
(OHFWURQLFJHDUVZLWFKLQJLQSXW DIV2 0Dh 8Dh
Selection 1 input of internal command speed ,1763' 0Eh 8Eh
Selection 2 input of internal command speed ,1763' 0Fh 8Fh
Selection 3 input of internal command speed ,1763' 10h 90h
Speed zero clamp input ZEROSPD 11h 91h
Speed command sign input 9&6,*1 12h 92h
Torque command sign input 7&6,*1 13h 93h
Forced alarm input E-STOP 14h 94h
,QHUWLDUDWLRVZLWFKLQJLQSXW J-SEL 15h 95h
Note
Caution
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Related page
P.3-50
([DPSOHRIFKDQJH!
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 )RUHDVLHUVHWWLQJXVHWKHVHWXSVXSSRUWVRIWZDUH3$1$7(50
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Err33.0 I/F input multiple assignment error 1 or Err33.1 I/F input multiple assignment error 2.
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* :KHQXVLQJFRQWUROPRGHVZLWFKLQJLQSXW&02'(VHWWKHVLJQDOWRDOOFRQWUROPRGHV,IWKHVLJQDOLV
VHWWRRQO\RUFRQWUROPRGHV(UU,)LQSXWIXQFWLRQQXPEHUHUURURU(UU,)LQSXWIXQFWLRQ
QXPEHUHUURUZLOOEHJHQHUDWHG
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WKHVDPHSLQZLWKFRUUHFWORJLFDODUUDQJHPHQW,QFRUUHFWVHWWLQJZLOOFDXVH(UU,)LQSXWPXOWLSOH
assignment error 1 or Err33.1 I/F input multiple assignment error 2.
* 'HYLDWLRQFRXQWHUFOHDULQSXW&/FDQEHDVVLJQHGRQO\WR6,LQSXW:URQJDVVLJQPHQWZLOOFDXVH
Err33.6 Counter clear assignment error.
* &RPPDQGSXOVHLQKLELWLQSXW,1+FDQEHDVVLJQHGRQO\WR6,LQSXW:URQJDVVLJQPHQWZLOOFDXVH
Err33.7 Command pulse input inhibit input.
* 1RWHWKDWWKHIURQWSDQHOLQGLFDWHVSDUDPHWHUYDOXHLQGHFLPDOQXPEHU
4-34
Pr4.01 *SI2 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00818181h
 PSTF
Pr4.02 *SI3 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — $K
 PSTF
Pr4.03 *SI4 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00060606h
 PSTF
Pr4.04 *SI5 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 0000100Ch
 PSTF
Pr4.05 *SI6 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00030303h
 PSTF
Pr4.06 *SI7 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00000f07h
 PSTF
Caution
'HYLDWLRQFRXQWHUFOHDU&/FDQEHVHWXSRQO\ZLWKWKLVSDUDPHWHU,IDQ\RWKHUSDUDPHWHU
LVXVHGIRUWKLVSXUSRVH(UU&RXQWHUFOHDUDVVLJQPHQWHUURUZLOOEHLVVXHG
Pr4.07 *SI8 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00040404h
 PSTF
Pr4.08 *SI9 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00050505h
 PSTF
Pr4.09 *SI10 input selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00000E88h
 PSTF
Note
Caution
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7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV
Setup procedure is the same as described for Pr4.00.
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SDUDPHWHULVXVHGIRUWKLVSXUSRVH(UU,1+DVVLJQPHQWHUURUZLOOEHLVVXHG
1. Details of parameter
[Class 4] I/F monitor setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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4-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
'HIDXOW>@
Pr4.10 *SO1 output selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00030303h
 PSTF
Caution
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+H[DGHFLPDOSUHVHQWDWLRQLVIROORZHGE\DVSHFLÀFFRQWUROPRGHGHVLJQDWLRQ
00––––**K SRVLWLRQIXOOFORVHGFRQWURO
00– – **² ² K YHORFLW\FRQWURO
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Replace **
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Setup
value Title Symbol Note
)RURXWSXWSLQDVVLJQPHQWZLWK
GHIDXOWVHWWLQJDOVRUHIHUWR3
2XWSXWVLJQDOVFRPPRQ
and their functions.
Related page
P.3-52
([DPSOHRIFKDQJH!
To change the default setting
´([WHUQDOEUDNHUHOHDVHVLJQDOµ
LQDOOPRGHVWR´$ODUPRXWSXW
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VHWXSVXSSRUWVRIWZDUH
3$1$7(50
00h ,QYDOLG ï
02h 6HUYR5HDG\RXWSXW S-RDY
03h ([WHUQDOEUDNHUHOHDVHsignal BRK-OFF
04h Positioning complete output ,13
05h $WVSHHGRXWSXW $7633('
06h Torque in-limit signal output TLC
07h Zero-speed detection output signal ZSP
08h Speed coincidence output 9&2,1
09h $ODUPRXWSXW :$51
$K $ODUPRXWSXW :$51
0Bh 3RVLWLRQDOFRPPDQG212))RXWSXW P-CMD
0Ch Positioning complete 2 ,13
0Dh Speed in-limit output V-LIMIT
0Eh $ODUPDWWULEXWHRXWSXW $/0$7%
0Fh 6SHHGFRPPDQG212))RXWSXW V-CMD
Same function can be assigned to 2 or more output signals.
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Pr4.11 *SO2 output selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00020202h
 PSTF
Pr4.12 *SO3 output selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00010101h
 PSTF
Pr4.13 *SO4 output selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00050504h
 PSTF
Pr4.14 *SO5 output selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00070707h
 PSTF
Pr4.15 *SO6 output selection
Range Unit Default Related
control mode
0 to 00FFFFFFh — 00060606h
 PSTF
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7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV
Setup procedure is the same as described for Pr4.10.
1. Details of parameter
[Class 4] I/F monitor setting
4-36
'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. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Pr4.17 Analog monitor 1 output gain Range Unit Default Related
control mode
0 to 214748364 [Monitor unit
in Pr4.16] / V 0PSTF
Set up the output gain of analog monitor 1.
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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. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Pr4.19 Analog monitor 2 output gain Range Unit Default Related
control mode
0 to 214748364 [Monitor unit
in Pr4.16] / V 0PSTF
Set up the output gain of analog monitor 2.
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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.
Setup value Type of monitor Digital signal output
L output H output
[0] Positioning complete condition 1RWFRPSOHWHG Completed
1 Positional command :LWKRXWFRPPDQG :LWKFRPPDQG
2$ODUP 1RWJHQHUDWHG Generated
3 Gain selected 1st gain 2nd gain
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1. Details of parameter
[Class 4] I/F monitor setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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4-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Details of parameter
[Class 4] I/F monitor setting
Pr4.16/Pr4.18 Type of monitor Unit Output gain for setting
Pr4.17/Pr4.19 = 0
0 Motor speed r/min 500
1 Positional command speed *3r/min 500
2 Internal positional command speed *3r/min 500
3 Velocity control command r/min 500
4 Torque command % 33
5&RPPDQGSRVLWLRQDOGHYLDWLRQ*4SXOVH&RPPDQGXQLW 3000
6(QFRGHUSRVLWLRQDOGHYLDWLRQ*4SXOVH(QFRGHUXQLW 3000
7)XOOFORVHGGHYLDWLRQ*4SXOVH([WHUQDOVFDOHXQLW 3000
8+\EULGGHYLDWLRQ SXOVH&RPPDQGXQLW 3000
99ROWDJHDFURVV31 V80
10 5HJHQHUDWLYHORDGIDFWRU %33
11 2YHUORDGIDFWRU %33
12 3RVLWLYHGLUHFWLRQWRUTXHOLPLW %33
13 1HJDWLYHGLUHFWLRQWRUTXHOLPLW %33
14 6SHHGOLPLWYDOXH r/min 500
15 Inertia ratio % 500
16 $QDORJLQSXW*2V1
17 $QDORJLQSXW*2V1
18 $QDORJLQSXW*2V1
19 Encoder temperature *5ʝ10
20 'ULYHUWHPSHUDWXUH ʝ 10
21 Encoder single-turn data *1SXOVH(QFRGHUXQLW 110000
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* $QDORJLQSXWVDQGDOZD\VRXWSXWWHUPLQDOYROWDJHUHJDUGOHVVRIXVDJHRIDQDORJLQSXWIXQFWLRQ
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FRPPDQGVSHHGDQGVSHHGDIWHUÀOWHULVGHÀQHGDVLQWHUQDOFRPPDQGVSHHG
Command
division/
multiplication
process
Positional
command
filter
Position
control
Positional command
speed [r/min]
Command
pulse input
Internal position
command speed [r/min]
+
–
Encoder feedback/
external scale feedback
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GHYLDWLRQIXOOFORVHGSRVLWLRQDOGHYLDWLRQLVWKHGHYLDWLRQDWWKHLQSXWVHFWLRQRIWKHSRVLWLRQDOFRQWURODVGHVFULEHGLQ
WKHÀJXUHEHORZ
Command
division/
multiplication
Command
pulse input
+
+
–
–
Encoder feedback/
external scale feedback
Positional command deviation (command unit)
Encoder positional deviation (encoder unit)
/ Full-closed deviation (external unit)
Command
division/multiplication
reverse conversion
Positional
command
filter
Positional
control
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4-38
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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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 Output format
[0] Signed data output –10 V to 10 V
1$EVROXWHYDOXHGDWDRXWSXW 9WR9
2'DWDRXWSXWZLWKRIIVHW 9WR99DWFHQWHU
Pr4.22 Analog input 1 (AI1) offset setup Range Unit Default Related
control mode
ïWR 0.359mV 0 P S T F
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Pr4.23 Analog input 1 (AI1) filter Range Unit Default Related
control mode
0 to 6400 0.01ms 0 P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 1.
Pr4.24 Analog input 1 (AI1) overvoltage setup Range Unit Default Related
control mode
0 to 100 0.1V 0 P S T F
6HWXSWKHH[FHVVLYHOHYHORIWKHLQSXWYROWDJHRIDQDORJLQSXWE\XVLQJWKHYROWDJH
DVVRFLDWHGZLWKRIIVHW
Pr4.25 Analog input 2 (AI2) offset setup Range Unit Default Related
control mode
ïWR 5.86mV 0 P S T F
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.26 Analog input 2 (AI2) filter Range Unit Default Related
control mode
0 to 6400 0.01ms 0 P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 2.
Pr4.27 Analog input 2 (AI2) overvoltage setup Range Unit Default Related
control mode
0 to 100 0.1V 0 P S T F
6HWXSWKHH[FHVVLYHOHYHORIWKHLQSXWYROWDJHRIDQDORJLQSXWE\XVLQJWKHYROWDJH
DVVRFLDWHGZLWKRIIVHW
Pr4.28 Analog input 3 (AI3) offset setup Range Unit Default Related
control mode
ïWR 5.86mV 0 P S T F
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1. Details of parameter
[Class 4] I/F monitor setting
4-39
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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1. Details of parameter
[Class 4] I/F monitor setting
Pr4.29 Analog input 3 (AI3) filter Range Unit Default Related
control mode
0 to 6400 0.01ms 0 P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 3.
Pr4.30 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
DVVRFLDWHGZLWKRIIVHW
Pr4.31 Positioning complete (In-position) range Range Unit Default Related
control mode
0 to 262144 Command
unit 10 P F
Caution
Note
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The command unit is used as the default unit but can be replaced by the encoder unit by
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)RUGHVFULSWLRQRI´FRPPDQGXQLWµDQG´HQFRGHUXQLWµUHIHUWR3´3Uµ
Pr4.32 Positioning complete (In-position)
output setup
Range Unit Default Related
control mode
0 to 3 — 0 P F
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Setup value Action of positioning complete signal
[0] 7KHVLJQDOZLOOWXUQRQZKHQWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U3RVLWLRQLQJ
FRPSOHWHUDQJH
17KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGDQGWKHSRVLWLRQDO
GHYLDWLRQLVVPDOOHUWKDQ3U3RVLWLRQLQJFRPSOHWHUDQJH
2
7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGWKH]HURVSHHGGHWHFWLRQVLJQDO
LV21DQGWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U3RVLWLRQLQJFRPSOHWHUDQJH
3
7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGDQGWKHSRVLWLRQDOGHYLD
tion
LVVPDOOHUWKDQ3U3RVLWLRQLQJFRPSOHWHUDQJH7KHQKROGV21VWDWXVXQWLOWKH
QH[WSRVLWLRQFRPPDQGLVHQWHUHG6XEVHTXHQWO\21VWDWHLVPDLQWDLQHGXQWLO3U
,13KROGWLPHKDVHODSVHG$IWHUWKHKROGWLPH,13RXWSXWZLOOEHWXUQHG212))DF-
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Pr4.33 INP hold time Range Unit Default Related
control mode
0 to 30000 1ms 0 P F
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Setup value State of positioning complete signal
[0] 7KHKROGWLPHLVPDLQWDLQHGGHÀQLWHO\NHHSLQJ21VWDWHXQWLOWKHQH[WSRVLWLRQDO
FRPPDQGLVUHFHLYHG
1 to 30000 21VWDWHLVPDLQWDLQHGIRUVHWXSWLPHPVEXWVZLWFKHGWR2))VWDWHDVWKHSRVLWLRQDO
FRPPDQGLVUHFHLYHGGXULQJKROGWLPH
4-40
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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Pr4.34 Zero-speed Range Unit Default Related
control mode
10 to 20000 r/min 50 P S T F
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rotational speed [r/min].
7KH]HURVSHHGGHWHFWLRQVLJQDO=63ZLOOEHIHGRXWZKHQWKHPRWRUVSHHGIDOOVEHORZWKH
VHWXSRIWKLVSDUDPHWHU3U
 7KHVHWXSRI3ULVYDOLGIRUERWK
3RVLWLYHDQG1HJDWLYHGLUHFWLRQ
regardless of the motor rotating
direction.
 7KHUHLVK\VWHUHVLVRI>UPLQ@
speed
ZSP ON
(Pr4.34+10)r/min
(Pr4.34–10)r/min
Positive direction
Negative direction
Pr4.35 Speed coincidence range Range Unit Default Related
control mode
10 to 20000 r/min 50 S T
6HWWKHVSHHGFRLQFLGHQFH9&2,1RXWSXWGHWHFWLRQWLPLQJ
2XWSXWWKHVSHHGFRLQFLGHQFH9&2,1ZKHQWKHGLIIHUHQFHEHWZHHQWKHVSHHGFRPPDQG
DQGWKHPRWRUVSHHGLVHTXDOWRRUVPDOOHUWKDQWKHVSHHGVSHFLÀHGE\WKLVSDUDPHWHU
ON ONOFF OFF
Motor speed
Pr4.35 *1
(Speed coincidence range)
Time
Speed command after
acceleration/deceleration
process
Speed
command
Speed
[r/min]
Pr4.35 *1
(Speed coincidence
range)
Speed coincidence
output
V-COIN
Pr4.35 *1
(Speed coincidence range)
*1 %HFDXVHWKHVSHHGFRLQFLGHQFHGHWHFWLRQLVDVVRFLDWHGZLWKUPLQK\VWHUHVLVDFWXDO
GHWHFWLRQUDQJHLVDVVKRZQEHORZ
Speed coincidence output OFF 21WLPLQJ3U²UPLQ
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1. Details of parameter
[Class 4] I/F monitor setting
4-41
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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1. Details of parameter
[Class 4] I/F monitor setting
Pr4.36 At-speed (Speed arrival) Range Unit Default Related
control mode
10 to 20000 r/min 1000 S T
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:KHQWKHPRWRUVSHHGH[FHHGVWKLVVHWXSYDOXHWKHVSHHGDUULYDORXWSXW$763(('LV
output.
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ONON OFFOFF
Time
Motor speed
Speed
[r/min]
Pr4.36+10
3Uï
ï3Uï
ï3U
the speed
arrival output
AT-SPEED
Pr4.37 Mechanical brake action at stalling setup Range Unit Default Related
control mode
0 to 10000 1ms 0 P S T F
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WKHPRWRULVGHHQHUJL]HG6HUYRIUHHZKHQWKHPRWRUWXUQVWR6HUYR2))ZKLOHWKHPRWRU
is at stall.
 6HWXSWRSUHYHQWDPLFURWUDYHOGURSRI
WKHPRWRUZRUNGXHWRWKHDFWLRQGHOD\
WLPHWERIWKHEUDNH
 $IWHUVHWWLQJXS3UWE 
then compose the sequence so as the
GULYHUWXUQVWR6HUYR2))DIWHUWKHEUDNH
LVDFWXDOO\DFWLYDWHG
ON
SRV-ON
BRK-OFF
actual brake
motor
energization
release
OFF
hold
release
energized
hold
non-
energized
Pr4.37
tb
Pr4.38 Mechanical brake action at running setup Range Unit Default Related
control mode
0 to 10000 1ms 0 P S T F
<RXFDQVHWXSWLPHIURPZKHQGHWHFWLQJWKHRIIRI6HUYR21LQSXWVLJQDO65921LVWR
ZKHQH[WHUQDOEUDNHUHOHDVHVLJQDO%5.2))WXUQVRIIZKLOHWKHPRWRUWXUQVWRVHUYRRII
during the motor in motion.
 6HWXSWRSUHYHQWWKHEUDNHGHWHULRUDWLRQ
due to the motor running.
 $W6HUYR2))GXULQJWKHPRWRULV
UXQQLQJWERIWKHULJKWÀJZLOOEHD
VKRUWHURQHRIHLWKHU3UVHWXSWLPH
or time lapse till the motor speed falls
EHORZ3UVHWXSVSHHG
tb
ON
SRV-ON
BRK-OFF
motor
energization
release
OFF
hold
actual
brake energized non-
energized
Pr4.39
setup speed.
4-42
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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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 Range Unit Default Related
control mode
0 to 10 — 0 P S T F
Pr4.41 Selection of alarm output 2 Range Unit Default Related
control mode
0 to 10 — 0 P S T F
Related page
Select the type of alarm issued as the alarm output 1 or 2.
Setup
value Alarm Content
[0] — ORed output of all alarms.
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22YHUUHJHQHUDWLRQDODUP 5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
3 Battery alarm %DWWHU\YROWDJHLV9RUORZHU
4 Fan alarm Fan has stopped for 1 sec. *1
5Encoder communication
alarm
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H[FHHGVWKHVSHFLÀHGYDOXH
6(QFRGHURYHUKHDWDODUP 7KHHQFRGHUGHWHFWVRYHUKHDWDODUP
7 Oscillation detection alarm 2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG
8 Lifetime detection alarm /LIHH[SHFWDQF\RIFDSDFLWRURUIDQEHFRPHVVKRUW
9([WHUQDOVFDOHHUURUDODUP 7KHH[WHUQDOVFDOHGHWHFWVWKHDODUP
10 ([WHUQDOVFDOH
communication alarm
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HUURUVH[FHHGVWKHVSHFLÀHGYDOXH
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Pr4.42 2nd Positioning complete (In-position)
range
Range Unit Default Related
control mode
0 to 262144 Command
unit 10 P F
Caution
Note
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The command unit is used as the default unit but can be replaced by the encoder unit by
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1. Details of parameter
[Class 4] I/F monitor setting
4-43
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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Pr5.00 2nd numerator of electronic gear Range Unit Default Related
control mode
0 to 230 —0PF
Pr5.01 3rd numerator of electronic gear Range Unit Default Related
control mode
0 to 230 —0PF
Pr5.02 4th numerator of electronic gear Range Unit Default Related
control mode
0 to 230 —0PF
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command pulse input.
7KLVVHWXSLVHQDEOHGZKHQ3UFRPPDQGSXOVHFRXQWVSHURQHPRWRUUHYROXWLRQRU
full closed controlling.
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numerator.
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set to 1.
Pr5.03 *Denominator of pulse output division Range Unit Default Related
control mode
0 to 262144 — 0 P S T F
)RUGHWDLOVUHIHUWR3
Pr5.04 *Over-travel inhibit input setup Range Unit Default Related
control mode
0 to 2 — 1 P S T F
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Setup value Operation
0POT ,QKLELWSRVLWLYHGLUHFWLRQWUDYHO
127 ,QKLELWQHJDWLYHGLUHFWLRQWUDYHO
[1] 'LVDEOH327127
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Pr5.05 *Sequence at over-travel inhibit Range Unit Default Related
control mode
0 to 2 — 0 P S T F
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Pr5.04 Pr5.05 During deceleration After stalling Deviation counter
content
0
[0] Dynamic brake
action
Torque command=0
WRZDUGVLQKLELWHGGLUHFWLRQ Hold
1Torque command=0
WRZDUGVLQKLELWHGGLUHFWLRQ
Torque command=0
WRZDUGVLQKLELWHGGLUHFWLRQ Hold
2 Emergency stop Command=0
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Clears before/
after deceleration
41. Details of parameter
Setup [Class 5] Enhancing setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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4-44
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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Pr5.06 Sequence at Servo-Off Range Unit Default Related
control mode
0 to 9 — 0 P S T F
Caution
Related page
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Setup
value During deceleration *3After stalling
Positional deviation/
H[WHUQDOVFDOH
deviation
[0] '\QDPLF%UDNH'%DFWLRQ '\QDPLF%UDNH'%DFWLRQ Clear *4
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2'\QDPLF%UDNH'%DFWLRQ )UHHUXQ'%2)) Clear *4
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4'\QDPLF%UDNH'%DFWLRQ '\QDPLF%UDNH'%DFWLRQ Hold *2
5)UHHUXQ'%2)) '\QDPLF%UDNH'%DFWLRQ Hold *2
6'\QDPLF%UDNH'%DFWLRQ )UHHUXQ'%2)) Hold *2
7)UHHUXQ'%2)) )UHHUXQ'%2)) Hold *2
8 Emergency stop *1'\QDPLF%UDNH'%DFWLRQ Clear *4
9 Emergency stop *1)UHHUXQ'%2)) Clear *4
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Pr5.07 6HTXHQFHDWPDLQSRZHU2)) Range Unit Default Related
control mode
0 to 9 — 0 P S T F
Caution
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applied to the operation.
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1. Details of parameter
[Class 5] Enhancing setting
4-45
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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1. Details of parameter
[Class 5] Enhancing setting
Pr5.08 /9WULSVHOHFWLRQDWPDLQSRZHU2)) Range Unit Default Related
control mode
0 to 1 — 1 P S T F
Caution
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GHWHFWLRQWLPH
Setup value $FWLRQRIPDLQSRZHUORZYROWDJHSURWHFWLRQ
0
:KHQWKHPDLQSRZHULVVKXWRIIGXULQJ6HUYR21(UUZLOOQRWEHWULJJHUHGDQG
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SRZHUUHVXPSWLRQ
[1] :KHQWKHPDLQSRZHULVVKXWRIIGXULQJ6HUYR21WKHGULYHUZLOOWULSGXHWR(UU
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7KLVSDUDPHWHULVLQYDOLGZKHQ3U'HWHFWLRQWLPHRIPDLQSRZHU2)) (UU
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Pr5.09 *'HWHFWLRQWLPHRIPDLQSRZHURII Range Unit Default Related
control mode
70 to 2000 1ms 70 P S T F
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7KHPDLQSRZHURIIGHWHFWLRQLVLQYDOLGZKHQ\RXVHWXSWKLVWR
Pr5.10 Sequence at alarm Range Unit Default Related
control mode
0 to 7 — 0 P S T F
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Setup
value During deceleration *3After stalling
Positional deviation/
H[WHUQDOVFDOH
deviation
[0] '\QDPLF%UDNH'%DFWLRQ '\QDPLF%UDNH'%DFWLRQ Hold *1
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2'\QDPLF%UDNH'%DFWLRQ )UHHUXQ'%2)) Hold *1
3)UHHUXQ'%2)) )UHHUXQ'%2)) Hold *1
4$FWLRQ$(PHUJHQF\VWRS
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6$FWLRQ$(PHUJHQF\VWRS
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4-46
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Pr5.11 Torque setup for emergency stop Range Unit Default Related
control mode
0 to 500 % 0 P S T F
Note
Set up the torque limit at emergency stop.
:KHQVHWXSYDOXHLVWKHWRUTXHOLPLWIRUQRUPDORSHUDWLRQLVDSSOLHG
Pr5.12 Over-load level setup Range Unit Default Related
control mode
0 to 500 % 0 P S T F
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to 0.
8VHWKLVZLWKVHWXSLQQRUPDORSHUDWLRQ6HWXSRWKHUYDOXHRQO\ZKHQ\RXQHHGWRORZHU
WKHRYHUORDGOHYHO
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Pr5.13 Over-speed level setup Range Unit Default Related
control mode
0 to 20000 r/min 0 P S T F
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7KHRYHUVSHHGOHYHOEHFRPHVWLPHVRIWKHPRWRUPD[VSHHGE\VHWWLQJXSWKLVWR
Pr5.14 0RWRUZRUNLQJUDQJHVHWXS Range Unit Default Related
control mode
0 to 1000
UHYROXWLRQ
10 P S T F
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ZLOOEHWULJJHUHG
Pr5.15 *I/F reading filter Range Unit Default Related
control mode
0 to 3 — 0 P S T F
Select reading period of the control input signal.
Setup value Reading period of the signal.
[0] 0.166ms
10.333ms
21ms
31.666ms
([FOXGHGHYLDWLRQFRXQWHUFOHDULQSXW&/DQGFRPPDQGSXOVHLQKLELWLQSXW,1+
1. Details of parameter
[Class 5] Enhancing setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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4-47
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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1. Details of parameter
[Class 5] Enhancing setting
Pr5.16 *Alarm clear input setup Range Unit Default Related
control mode
0 to 1 — 0 P S T F
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Setup value Recognition time
[0] 120ms
17R3U,)UHDGLQJÀOWHU
Pr5.17 Counter clear input mode Range Unit Default Related
control mode
0 to 4 — 3 P F
Note
You can set up the clearing conditions of the counter clear input signal.
Setup value Clear condition
0,QYDOLG
1&OHDUDWDOHYHOQRUHDGLQJÀOWHU
2&OHDUDWDOHYHOZLWKUHDGLQJÀOWHU
[3] &OHDUDWDQHGJHQRUHDGLQJÀOWHU
4&OHDUDWDQHGJHZLWKUHDGLQJÀOWHU
)RUVLJQDOZLGWKWLPLQJUHTXLULQJWKHGHYLDWLRQFRXQWHULQSXWUHIHUWR3
Pr5.18 Invalidation of command pulse inhibit
input
Range Unit Default Related
control mode
0 to 1 — 1 P F
Select command pulse inhibit input enable/disable.
Setup value INH input
0 Valid
[1] ,QYDOLG
Pr5.19 *Command pulse inhibit input reading
setup
Range Unit Default Related
control mode
0 to 4 — 0 P F
Caution
6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOHVLJQDOUHDGLQJSHULRG:KHQWKHVWDWXVRI
VHYHUDOVLJQDOVUHDGGXULQJWKHSUHGHWHUPLQHGUHDGLQJSHULRGDUHVDPHXSGDWHWKHVLJQDOVWDWXV
Setup value Signal reading period
[0] 0.166ms
1 0.333ms
21ms
31.666ms
4PVQRFKHFNIRUPXOWLSOHFRLQFLGHQFH
Longer reading period protects against operation error due to noise but decreases response
to input signal.
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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4-48
Pr5.20 *Position setup unit select Range Unit Default Related
control mode
0 to 1 — 0 P F
Note
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GHYLDWLRQ
Setup value Unit
[0] Command unit
1 Encoder unit
7KHFRPPDQGXQLWGHÀQHVFRPPDQGSXOVHIURPWKHKLJKHUOHYHOGHYLFHDVVHWWLQJYDOXH
ZKLOHWKHHQFRGHUXQLWGHÀQHVHQFRGHUSXOVHDVVHWWLQJYDOXH
:KHQWKHHOHFWURQLFJHDUUDWLRVHWE\XVLQJWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQIXQFWLRQ
HOHFWURQLFJHDULV5WKHIROORZLQJUHODWLRQVKLSLVREWDLQHG
Command unit × R = encoder unit
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R = 220
10000 WKHQFRPPDQGXQLW 220
10000 = encoder unit.
Pr5.21 Selection of torque limit Range Unit Default Related
control mode
0 to 6 — 1 P S F
You can set up the torque limiting method.
Setup value Positive direction Negative direction
03$7/WR9 1$7/ïWR9
[1] VWWRUTXHOLPLW3U
2VWWRUTXHOLPLW3U QGWRUTXHOLPLW3U
3TL-SEL OFF VWWRUTXHOLPLW3U
7/6(/21 QGWRUTXHOLPLW3U
43$7/WR9 1$7/WR9
53$7/WR9
6
TL-SEL OFF
VWWRUTXHOLPLW3U QGWRUTXHOLPLW3U
7/6(/21
([WHUQDOLQSXWSRVLWLYHGLUHFWLRQWRUTXH
OLPLW3U
([WHUQDOLQSXWQHJDWLYHGLUHFWLRQWRUTXH
OLPLW3U
Pr5.22 2nd torque limit Range Unit Default Related
control mode
0 to 500 % 500 P S F
Note
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7KHYDOXHRISDUDPHWHULVOLPLWHGWRWKHPD[LPXPWRUTXHRIWKHDSSOLFDEOHPRWRU
)RUGHWDLOVRIWRUTXHOLPLWYDOXHUHIHUWR3
1. Details of parameter
[Class 5] Enhancing setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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4-49
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
'HIDXOW>@
1. Details of parameter
[Class 5] Enhancing setting
Pr5.23 7RUTXHOLPLWVZLWFKLQJVHWXS Range Unit Default Related
control mode
0 to 4000 ms/100% 0 P S F
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Pr5.24 7RUTXHOLPLWVZLWFKLQJVHWXS Range Unit Default Related
control mode
0 to 4000 ms/100% 0 P S F
6SHFLI\WKHUDWHRIFKDQJHVORSHIURPQGWRVWGXULQJWRUTXHOLPLWVZLWFKLQJ
Pr5.25 ([WHUQDOLQSXWSRVLWLYHGLUHFWLRQ
torque limit
Range Unit Default Related
control mode
0 to 500 % 500 P S F
Note
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limit set at 6.
7KHYDOXHRISDUDPHWHULVOLPLWHGWRWKHPD[LPXPWRUTXHRIWKHDSSOLFDEOHPRWRU
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Pr5.26 ([WHUQDOLQSXWQHJDWLYHGLUHFWLRQ
torque limit
Range Unit Default Related
control mode
0 to 500 % 500 P S F
Note
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limit set at 6.
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Pr5.27 Input gain of analog torque limit Range Unit Default Related
control mode
10 to 100
0.1V/100%
30 P S F
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gain to torque limit [%].
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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4-50
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Pr5.28 *LED initial status Range Unit Default Related
control mode
0 to 35 — 1 P S T F
Power -ON
Setup value
of Pr5.28
Flashes (for approx. 2 sec) during initialization
Setup
value
Content
Setup
value
Content
Setup
value
Content
03RVLWLRQDOFRPPDQGGHYLDWLRQ 12
Error factor and reference of history
24
(QFRGHUSRVLWLRQDOGHYLDWLRQ>(QFRGHUXQLW@
[1] Motor speed 13 $ODUP'LVSOD\ 25
([WHUQDOVFDOHGHYLDWLRQ>([WHUQDOVFDOHXQLW@
2 Positional command speed 14 5HJHQHUDWLYHORDGIDFWRU 26 +\EULGGHYLDWLRQ>&RPPDQGXQLW@
3 Velocity control command 15 2YHUORDGIDFWRU 27 9ROWDJHDFURVV31>9@
4 Torque command 16 Inertia ratio 28 6RIWZDUHYHUVLRQ
5 Feedback pulse sum 17 Factor of no-motor running 29 'ULYHUVHULDOQXPEHU
6 Command pulse sum 18 1RRIFKDQJHVLQ,2VLJQDOV 30 Motor serial number
8
([WHUQDOVFDOHIHHGEDFNSXOVHVXP
20 $EVROXWHHQFRGHUGDWD 31 $FFXPXODWHGRSHUDWLRQWLPH
9 Control mode 21 $EVROXWHH[WHUQDOVFDOHSRVLWLRQ 32
$XWRPDWLFPRWRUUHFRJQL]LQJIXQFWLRQ
10 I/O signal status 22 1RRIHQFRGHUH[WHUQDOVFDOH
communication errors monitor 33 Temperature information
11 $QDORJLQSXWYDOXH 23 &RPPXQLFDWLRQD[LVDGGUHVV 35 Safety condition monitor
Related page
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LQLWLDOVWDWXVDIWHUSRZHURQ
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Pr5.29 *Baud rate setup of
RS232 communication
Range Unit Default Related
control mode
0 to 6 — 2 P S T F
Note
You can set up the communication speed of RS232.
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Pr5.30 *Baud rate setup of
RS485
communication
Range Unit Default Related
control mode
0 to 6 — 2 P S T F
You can set up the communication speed of RS485.
Setup value Baud rate Setup value Baud rate
0 2400bps 4 38400bps
1 4800bps 5 57600bps
[2] 9600bps 6 115200bps
3 19200bps
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1. Details of parameter
[Class 5] Enhancing setting
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRU
4-51
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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Pr5.31 *$[LVDGGUHVV Range Unit Default Related
control mode
0 to 127 — 1 P S T F
Note
'XULQJFRPPXQLFDWLRQZLWKWKHKRVWHJ3&WRFRQWUROPXOWLSOHVKDIWVWKHVKDIWEHLQJ
DFFHVVHGE\WKHKRVWVKRXOGEHLGHQWLÀHG
:KHQXVLQJ5656WKHPD[LPXPYDOLGYDOXHLV
Pr5.32 *&RPPDQGSXOVHLQSXWPD[LPXPVHWXS Range Unit Default Related
control mode
250 to 4000 k pulse/s 4000 P F
Caution
6HWWKHPD[LPXPQXPEHURISXOVHVWREHXVHGDVFRPPDQGSXOVHLQSXW,IWKHQXPEHURI
LQSXWSXOVHVH[FHHGVWKHVHWXSYDOXHð(UU&RPPDQGSXOVHLQSXWIUHTXHQF\HUURU
protection occurs.
7KHQXPEHURILQSXWSXOVHVUHFHLYHGE\WKHGULYHULVDOZD\VFKHFNHG,IWKHIUHTXHQF\RIWKH
UHFHLYHGSXOVHLVKLJKHUWKDQWKHXSSHUOLPLWRIWKHVHWWLQJLQSXWSXOVHVDUHQRWDFFXUDWHO\
detected.
%\VHOHFWLQJDYDOXHORZHUWKDQDGLJLWDOILOWHURIWKHVSHFLILFDWLRQVKRZQEHORZLV
enabled against the command pulse input.
Pr5.32 setting range 'LJLWDOÀOWHU
250 to 499 200 ns 2-time reading
500 to 999 100 ns 2-time reading
1000 or more 1RUHDGLQJWKUX
Pr5.33 *Pulse regenerative output limit setup Range Unit Default Related
control mode
0 to 1 — 0 P S T F
Enable/disable detection of Err28.0 Pulse
UHJHQHUDWLYHOLPLWSURWHFWLRQ
Setup value Content
[0] ,QYDOLG
1 Valid
Pr5.34 For manufacturer's use Range Unit Default Related
control mode
——4
)L[HGWR
Pr5.35 *Front panel lock setup Range Unit Default Related
control mode
0 to 1 — 0 P S T F
Lock the operation on the front panel. Setup value Content
[0]
1ROLPLWRQWKHIURQWSDQHORSHUDWLRQ
1
Lock the operation on the front panel
1. Details of parameter
[Class 5] Enhancing setting
4-52
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Pr6.00 $QDORJWRUTXHIHHGIRUZDUGFRQYHUVLRQ
gain
Range Unit Default Related
control mode
0 to 100
0.1V/100%
0PSF
6HWWKHLQSXWJDLQRIDQDORJWRUTXHIHHGIRUZDUG
 WRDUHLQYDOLG
8VDJHH[DPSOHRI$QDORJWRUTXHIHHGIRUZDUG!
6HWWLQJELWSODFHRI3U)XQFWLRQH[SDQVLRQVHWXSWRHQDEOHVWKHDQDORJWRUTXHIHHG
IRUZDUG:KHQWKHDQDORJLQSXWLVXVHGE\DQRWKHUIXQFWLRQHJDQDORJWRUTXHOLPLWWKH
IXQFWLRQEHFRPHVLQYDOLG
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WRUTXHIHHGIRUZDUGFRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQGLQ&&:
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7KHFRQYHUVLRQRIDQDORJLQSXWLQSXWYROWDJH>9@WRWKHWRUTXHFRPPDQG>@WRWKH
PRWRUPD\EHH[SUHVVHGPDWKHPDWLFDOO\DVIROORZV
7RUTXHFRPPDQG ðLQSXWYROWDJH93UVHWXSYDOXHð
Pr6.02 9HORFLW\GHYLDWLRQH[FHVVVHWXS Range Unit Default Related
control mode
0 to 20000 r/min 0 P
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VSHHGH[FHHGVWKLVYDOXH(UU6SHHGRYHUGHYLDWLRQSURWHFWLRQRFFXUV
7KLVSURWHFWLRQLVQRWGHWHFWHGZKHQWKHVHWXSYDOXHLV
Pr6.04 JOG trial run command speed Range Unit Default Related
control mode
0 to 500 r/min 300 P S T F
Related page
6HWXSWKHFRPPDQGVSHHGXVHGIRU-2*WULDOUXQYHORFLW\FRQWURO
%HIRUHXVLQJUHIHUWR33UHSDUDWLRQ7ULDO5XQ
Pr6.05 Position 3rd gain valid time Range Unit Default Related
control mode
0 to 10000 0.1ms 0 P F
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:KHQQRWXVLQJWKLVSDUDPHWHUVHW3UWRDQG3UWR
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Pr6.06 Position 3rd gain scale factor Range Unit Default Related
control mode
50 to 1000 %100 P F
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UGJDLQ VWJDLQð Pr6.06/100
41. Details of parameter
Setup [Class 6] Special setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
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4-53
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
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Pr6.07 Torque command additional value Range Unit Default Related
control mode
ïWR %0PSF
6HWXSWKHRIIVHWORDGFRPSHQVDWLRQYDOXHXVXDOO\DGGHGWRWKHWRUTXHFRPPDQGLQD
FRQWUROPRGHH[FHSWIRUWKHWRUTXHFRQWUROPRGH
8SGDWHWKLVSDUDPHWHUZKHQWKHYHUWLFDOD[LVPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Pr6.08 Positive direction torque compensation
value
Range Unit Default Related
control mode
ïWR %0PF
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IRUZDUGSRVLWLRQDOFRPPDQGLVIHG

8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Pr6.09 Negative direction torque compensation
value
Range Unit Default Related
control mode
ïWR %0PF
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHGWRWKHWRUTXHFRPPDQGZKHQ
QHJDWLYHGLUHFWLRQSRVLWLRQDOFRPPDQGLVIHG

8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Pr6.10 )XQFWLRQH[SDQVLRQVHWXS Range Unit Default Related
control mode
0 to 63 — 0 P S T F
Set up the function in unit of bit.
Function Setup value
[0] 1
bit 0 6SHHGREVHUYHU ,QYDOLG Valid
bit 1 'LVWXUEDQFHREVHUYHU ,QYDOLG Valid
bit 2 'LVWXUEDQFHREVHUYHURSHUDWLRQVHWXS $OZD\VYDOLG 9DOLGRQO\ZKHQVWJDLQ
is selected.
bit 3 ,QHUWLDUDWLRVZLWFKLQJ ,QYDOLG Valid
bit 4 &XUUHQWUHVSRQVHLPSURYHPHQW ,QYDOLG Valid
bit 5 $QDORJWRUTXH)) ,QYDOLG Valid
* bit 0 = LSB
Pr6.11 Current response setup Range Unit Default Related
control mode
50 to 100 % 100 P S T F
)LQHWXQHWKHFXUUHQWUHVSRQVHZLWKUHVSHFWWRGHIDXOWVHWXS
1. Details of parameter
[Class 6] Special setting
4-54
'HIDXOW>@
Pr6.13 2nd Inertia ratio Range Unit Default Related
control mode
0 to 10000 % 250 P S T F
Caution
Set 2nd inertia ratio.
<RXFDQVHWXSWKHUDWLRRIWKHORDGLQHUWLDDJDLQVWWKHURWRURIWKHPRWRULQHUWLD
3U ORDGLQHUWLDURWRULQHUWLDð>@
,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV+]:KHQ
WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU
Pr6.14 Emergency stop time at alarm Range Unit Default Related
control mode
0 to 1000 1ms 200 P S T F
6HWXSWKHWLPHDOORZHGWRFRPSOHWHHPHUJHQF\VWRSLQDQDODUPFRQGLWLRQ([FHHGLQJWKLV
time puts the system in alarm state.
:KHQVHWXSYDOXHLVLPPHGLDWHVWRSLVGLVDEOHGDQGWKHLPPHGLDWHDODUPVWRSLVHQDEOHG
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
DODUPFRQGLWLRQ(UUQGRYHUVSHHGSURWHFWLRQZLOOEHDFWLYDWHG
7KHRYHUVSHHGOHYHOEHFRPHVWLPHVRIWKHPRWRUPD[VSHHGE\VHWWLQJXSWKLVWR
Pr6.17 *)URQWSDQHOSDUDPHWHUZULWLQJVHOHFWLRQ Range Unit Default Related
control mode
0 to 1 — 0 P S T F
6SHFLI\WKH((3520ZULWLQJSURFHGXUHZKHQSDUDPHWHULVHGLWHGIRUPWKHIURQWSDQHO
Setup value Writing
[0] 'RQRWZULWHWR((3520DWWKHVDPHWLPH
1:ULWHWR((3520DWWKHVDPHWLPH
Pr6.18 *3RZHUXSZDLWWLPH Range Unit Default Related
control mode
0 to 100 0.1s 0 P S T F
6HWXSWKHVWDQGDUGLQLWLDOL]DWLRQWLPHVњDIWHUSRZHUXS
1. Details of parameter
[Class 6] Special setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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\RXWXUQRQWKHFRQWUROSRZHU
3´((3520:ULWLQJ0RGHµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4-55
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
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1. Details of parameter
[Class 6] Special setting
Pr6.19 *Encoder Z phase setup Range Unit Default Related
control mode
0 to 32767 pulse 0 P S T F
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DQLQWHJHUÀQHDGMXVWWKHZLGWKRIHQFRGHU=SKDVH
Pr6.20 *=SKDVHVHWXSRIH[WHUQDOVFDOH Range Unit Default Related
control mode
0 to 400 ѥV 0F
6HWXSWKH=SKDVHUHJHQHUDWLYHZLGWKRIH[WHUQDOVFDOHLQXQLWRIWLPH(YHQLIWKHZLGWKRI
=SKDVHVLJQDOFDQQRWEHGHWHFWHGEHFDXVHWKHZLGWKHTXLYDOHQWRIWKHWUDYHOGLVWDQFHIURP
WKHH[WHUQDOVFDOHLVWRRVKRUWWKH=SKDVHVLJQDOZLOOEHRXWSXWIRUDWOHDVWWKHSHULRGVHWWR
this parameter.
Pr6.21 *6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH
setup
Range Unit Default Related
control mode
0 to 228 pulse 0 F
)XOOFORVHGFRQWUROXVLQJVHULDODEVROXWHH[WHUQDOVFDOH:KHQRXWSXWWLQJSXOVHVE\XVLQJWKH
H[WHUQDOVFDOHDVWKHVRXUFHRIWKHRXWSXWVHWWKH=SKDVHRXWSXWLQWHUYDOLQXQLWVRI$SKDVH
RXWSXWSXOVHVRIWKHH[WHUQDOVFDOHEHIRUHPXOWLSOLHGE\
Setup value Content
[0] 2XWSXW=SKDVHRQO\DWDEVROXWHSRVLWLRQRIH[WHUQDOVFDOH
1 to 268435456
$IWHUWKHSRZHULVIHGWRWKHGULYHUWKH=SKDVHDVLWFURVVHVWKH]HURDW
WKHDEVROXWHSRVLWLRQRIH[WHUQDOVFDOHLVRXWSXWLQV\QFKURQRXVZLWKWKH
$SKDVH6XEVHTXHQWO\WKH=SKDVHLVRXWSXWDWWKH$SKDVHRXWSXWSXOVH
LQWHUYDOVVHWWRWKLVSDUDPHWHU
Pr6.22 *$%SKDVHH[WHUQDOVFDOHSXOVHRXWSXW
method selection
Range Unit Default Related
control mode
0 to 1 — 0 F
6HOHFWWKHSXOVHUHJHQHUDWLRQPHWKRGRI$%DQG=SDUDOOHOH[WHUQDOVFDOH
Setup value Regenerating method
[0] 'LUHFWO\RXWSXWWKHVLJQDOVIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
12XWSXW$DQG%SKDVHVLJQDOVUHFRYHUHGIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
Z-phase is output directly.
Pr6.23 Disturbance torque compensating gain Range Unit Default Related
control mode
ïWR %0PS
6HWXSWRFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH
$IWHUVHWWLQJXS3ULQFUHDVH3U
 7KHGLVWXUEDQFHVXSSUHVVLQJFDSDELOLW\LQFUHDVHVE\LQFUHDVLQJWKHJDLQEXWLWLV
DVVRFLDWHGZLWKLQFUHDVLQJYROXPHRIRSHUDWLRQQRLVH
 7KLVPHDQVWKDWZHOOEDODQFHGVHWXSFDQEHREWDLQHGE\DGMXVWLQJ3UDQG3U
4-56
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Pr6.24 Disturbance observer filter Range Unit Default Related
control mode
0 to 2500 0.01ms 53 P S
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)LUVWVHWXS3UWRDODUJHUYDOXHDQGFKHFNWKHRSHUDWLRQZLWK3U'LVWXUEDQFH
WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH
RI3U$ORZÀOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\
DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ
QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG
Pr6.27 *Alarm latch time selection Range Unit Default Related
control mode
0 to 10 — 5 P S T F
Set up the latch time.
Setup value Content
0/DWFKWLPHLQÀQLWH
1
Latch time
1 [s]
2 2 [s]
3 3 [s]
4 4 [s]
[5] 5 [s]
6 6 [s]
7 7 [s]
8 8 [s]
9 9 [s]
10 10 [s]
Pr6.31 Real time auto tuning estimation speed Range Unit Default Related
control mode
0 to 3 — 1 P S T F
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KLJKHUVHWXSYDOXHDVVXUHVIDVWHUUHVSRQVHWRDFKDQJHLQORDGFKDUDFWHULVWLFVEXWLQFUHDVHV
YDULDWLRQVLQGLVWXUEDQFHHVWLPDWLRQ5HVXOWRIHVWLPDWLRQLVVDYHGWR((3520HYHU\
minutes.
Setup value Mode Description
01RFKDQJH Stop estimation of load characteristics.
[1] $OPRVWFRQVWDQW 5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\PLQXWH
26ORZHUFKDQJH 5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\VHFRQG
3 *Faster change Obtain best suitable estimation in response to changes in load
characteristics.
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VHWXSYDOXHLVXVHG
1. Details of parameter
[Class 6] Special setting
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
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4-57
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Details of parameter
[Class 6] Special setting
Pr6.32 Real time auto tuning custom setup Range Unit Default Related
control mode
ïWR —0PSTF
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WKHDXWRPDWLFDGMXVWLQJIXQFWLRQDVVKRZQEHORZ
Bit Content Description
1 to 0
Load char-
acteristics
estimation *
Enable/disable the load characteristics estimation function.
Setup value Function
[0] Disable
1 Enable
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FDQQRWEHFKDQJHGHYHQLIWKHLQHUWLDUDWLRLVXSGDWHGDFFRUGLQJWR
WKHHVWLPDWHGYDOXH:KHQWKHWRUTXHFRPSHQVDWLRQLVXSGDWHGE\
WKHHVWLPDWHGYDOXHLWLVFOHDUHGWRLQYDOLG
3 to 2 Inertia ratio
update
Set up update to be made based on result of the load characteristics
estimation of Pr0.04 Inertia ratio.
Setup value Function
[0] Use the current setup.
18SGDWHE\WKHHVWLPDWHGYDOXH
6 to 4 Torque
compensation
Set up the update to be made according to the results of load
FKDUDFWHULVWLFVHVWLPDWLRQRI3U7RUTXHFRPPDQGDGGLWLRQDOYDOXH
3USRVLWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXHDQG3U
QHJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
Setup value Function Compensation setup
[0] Use current setup Pr6.07 Pr6.08 Pr6.09
1 Disable torque compensation 0 clear 0 clear 0 clear
29HUWLFDOD[LVPRGH Update 0 clear 0 clear
3Friction compensation
ORZ Update /RZ /RZ
4Friction compensation
PLGGOH Update Middle Middle
5Friction compensation
KLJK Update High High
7Stiffness
setup
Enable/disable the basic gain setup to be made according to Pr0.03
Real time auto tuning mechanical stiffness selection.
Setup value Function
[0] Disable
1 Enable
8
)L[HG
parameter
setup
(QDEOHGLVDEOHWKHFKDQJHRISDUDPHWHUWKDWLVQRUPDOO\VHWDWDÀ[HGYDOXH
Setup value Function
[0] Use the current setup.
16HWWRDÀ[HGYDOXH
10 to 9
Gain
VZLWFKLQJ
setup
6HOHFWWKHJDLQVZLWFKLQJUHODWHGSDUDPHWHUWREHXVHGZKHQWKHUHDO
time auto tuning is enabled.
Setup value Function
[0] Use the current setup.
1'LVDEOHJDLQVZLWFKLQJ
2(QDEOHJDLQVZLWFKLQJ
FRQWLQXHG
4-58
Note
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No.Class
)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
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1. Details of parameter
[Class 6] Special setting
Caution
7KLVSDUDPHWHUVKRXOGEHVHWXSELWE\ELW7RSUHYHQWVHWWLQJHUURUXVHRIWKHVHWXSVXSSRUW
VRIWZDUHLVUHFRPPHQGHGZKHQHGLWLQJSDUDPHWHU
6HWXSSURFHGXUHRIELWZLVHSDUDPHWHU!
:KHQVHWWLQJSDUDPHWHUWRDYDOXHRWKHUWKDQFDOFXODWHWKHVHWXSYDOXHRI3ULQWKH
IROORZLQJSURFHGXUH
,GHQWLI\WKH/6%RIWKHVHWXS
 ([DPSOH/6%RIWKHWRUTXHFRPSHQVDWLRQIXQFWLRQLV
0XOWLSO\WKHVHWXSYDOXHE\SRZHURI/6%
([DPSOH7RVHWWKHWRUTXHFRPSHQVDWLRQIXQFWLRQWRIULFWLRQFRPSHQVDWLRQPLGGOH
2
4ð 

3HUIRUPVWHSVDQGIRUHYHU\VHWXSVVXPXSWKHYDOXHVZKLFKDUHWREH3UVHWXSYDOXH
([DPSOH/RDGFKDUDFWHULVWLFVPHDVXUHPHQWHQDEOHLQHUWLDUDWLRXSGDWHHQDEOH
WRUTXHFRPSHQVDWLRQ IULFWLRQFRPSHQVDWLRQPLGGOHVWLIIQHVVVHWXS HQDEOH
À[HGSDUDPHWHU VHWWRDÀ[HGYDOXHJDLQVZLWFKLQJVHWXS HQDEOHWKHQ
20ð2ð4ð7ð8ð9ð 
Pr6.34 Hybrid vibration suppression gain Range Unit Default Related
control mode
0 to 30000 0.1/s 0 F
6HWXSWKHK\EULGYLEUDWLRQVXSSUHVVLRQJDLQIRUIXOOFORVHGFRQWUROOLQJ
)LUVWVHWLWWRWKHYDOXHLGHQWLFDOWRWKDWRISRLVRQORRSJDLQDQGWKHQÀQHWXQHDVQHFHVVDU\
Pr6.35 Hybrid vibration suppression filter Range Unit Default Related
control mode
0 to 6400 0.01ms 10 F
6HWXSWKHWLPHFRQVWDQWRIWKHK\EULGYLEUDWLRQVXSSUHVVLRQÀOWHUIRUIXOOFORVHGFRQWUROOLQJ
:KLOHGULYLQJXQGHUIXOOFORVHG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
6HWXSWKHRVFLOODWLRQGHWHFWLQJOHYHO
8SRQGHWHFWLRQRIDWRUTXHYLEUDWLRQZKRVHOHYHOLVKLJKHUWKDQWKLVVHWXSYDOXHWKH
RVFLOODWLRQGHWHFWLRQDODUPZLOOEHLVVXHG
Pr6.38 *Alarm mask setup Range Unit Default Related
control mode
ïWR —0PSTF
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 Related
control mode
——0
)L[HGWR
4-59
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
42.Trial Run (JOG run)
Setup Inspection Before Trial Run
sla
Coetor 
ro
Poer
sl
otor
ae
(1) Inspection on wiring
 0LVZLULQJ"(VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
 6KRUWRUJURXQGHG"
 /RRVHFRQQHFWLRQ"
(2) Confirmation of power supply and voltage
 5DWHGYROWDJH"
(3) Fixing of the servo motor
 8QVWDEOHPRXQWLQJ"
(4) Separation from the
 PHFKDQLFDOV\VWHP
(5) Release of the brake
(6) Turn to Servo-OFF after finishing the trial run by pressing .
(1) Inspection on wiring
 0LVZLULQJ"(VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
 6KRUWRUJURXQGHG"
 /RRVHFRQQHFWLRQ"
(2) Confirmation of power supply and voltage
 5DWHGYROWDJH"
(3) Fixing of the servo motor
 8QVWDEOHPRXQWLQJ"
(4) Separation from the
 PHFKDQLFDOV\VWHP
(5) Release of the brake
(6) Turn to Servo-OFF after finishing the trial run by pressing .
Note 'HWDLOVRIZLULQJUHIHUWR3´2YHUDOO:LULQJµ

7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRU;6DIHW\
IXQFWLRQFRQQHFWRU;([WHUQDOVFDOHFRQQHFWRU
4-60
42.Trial Run (JOG run)
Setup
Trial Run by Connecting the Connector X4
Trial Run (JOG run) at Position Control Mode
&RQQHFWWKH&RQQHFWRU;
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(QWHUWKHSRZHUWRWKHGULYHU
&RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV
0DWFKWRWKHRXWSXWIRUPDWRIWKHKRVWFRQWUROOHUZLWK3U&RPPDQGSXOVHLQSXW
PRGHVHWXS
:ULWHWR((3520DQGWXUQRIIRQWKHSRZHURIWKHGULYHU
&RQQHFW WKH6HUYR21LQSXW 65921DQG&20² &RQQHFWRU;3LQ WREULQJ
WKHGULYHUWR6HUYR21VWDWXVDQGHQHUJL]HWKHPRWRU 
(QWHUORZIUHTXHQF\IURPWKHKRVWFRQWUROOHUWRUXQWKHPRWRUDWORZVSHHG
&KHFNWKHPRWRUURWDWLRQDOVSHHGDWPRQLWRUPRGHZKHWKHU
 URWDWLRQDOVSHHGLVDVSHUWKHVHWXSRUQRWDQG
 WKHPRWRUVWRSVE\VWRSSLQJWKHFRPPDQGSXOVHRUQRW
 ,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RI)DFWRUIRU1R0RWRU
5XQQLQJRI3UHSDUDWLRQ
:LULQJ'LDJUDP
3DUDPHWHU
Pr No. Title Setup value
0.01 Control mode setup 0
5.04 2YHUWUDYHOLQKLELWLQSXWVHWXS 1
0.05 Selection of command pulse input 0/1
0.07 Command pulse input mode setup 1
5.18 ,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLQSXW 1
5.17 Counter clear input mode 2
,QSXWVLJQDOVWDWXV
No. Title of signal Monitor display
06HUYR21 $
COM+
7
29
41
3
4
5
6
COM
-
SRV-ON
PULS1
PULS2
SIGN1
SIGN2
1kї
1kї
In case of
open collector input
Connector X4
in case of
line receiver
input
DC
12V to 24V
DC
12V
20kї
2kї
2kї20kї
120ї
SIGNH1
SIGNH2
GND
PULSH1 PULS
H/L
PULSH2
44
45
SIGN
46
47
13
20kї
2kї
2kї20kї
120ї
4-61
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Trial Run (JOG run) at Velocity Control Mode
&RQQHFWWKH&RQQHFWRU;
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(QWHUWKHSRZHUWRWKHGULYHU
&RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV
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;3LQWRWXUQWR6HUYR21DQGHQHUJL]HWKHPRWRU
&ORVHWKHVSHHG]HURFODPSLQSXW=(5263'DQGDSSO\'&YROWDJHEHWZHHQYHORFLW\
FRPPDQGLQSXW635&RQQHFWRU;3LQDQG*1'&RQQHFWRU;3LQDQG
JUDGXDOO\LQFUHDVHIURP9WRFRQÀUPWKHPRWRUUXQV
&RQÀUPWKHPRWRUURWDWLRQDOVSHHGLQPRQLWRUPRGH
 :KHWKHUWKHURWDWLRQDOVSHHGLVSHUWKHVHWXSRUQRW
 :KHWKHUWKHPRWRUVWRSVZLWK]HURFRPPDQGRUQRW
,IWKHPRWRUGRHVURWDWHDWDPLFURVSHHGZLWKFRPPDQGYROWDJHRI
:KHQ\RXZDQWWRFKDQJHWKHURWDWLRQDOVSHHGDQGGLUHFWLRQVHWXSWKHIROORZLQJSD-
rameters again.
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 3U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQ
 3U5HYHUVDORIVSHHGFRPPDQGLQSXW
,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RI)DFWRUIRU1R0RWRU
5XQQLQJRI3UHSDUDWLRQ
:LULQJ'LDJUDP
3DUDPHWHU
Pr No. Title Setup value
0.01 Control mode setup 1
5.04 2YHUWUDYHOLQKLELWLQSXWVHWXS 1
3.15 Speed zero-clamp function selection 1
3.00 6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
Set up as
required
3.01 Speed command rotational direction selection
3.02 Input gain of speed command
3.03 5HYHUVDORIVSHHGFRPPDQGLQSXW
4.22 $QDORJLQSXW$,RIIVHWVHWXS
4.23 $QDORJLQSXW$,ILOWHU
,QSXWVLJQDOVWDWXV
No. Title of signal Monitor display
06HUYR21 $
5 Speed zero clamp —
COM+
SRV-ON
SPR/TRQR/SPL
GND
ZEROSPD
COMï
7
29
14
15
26
41
DC
12V to 24V Run with ZEROSPD switch close,
and Stop with open
In case of one-directional operation
DC
10V
In case of bi-directional operation
(Positive/Negative), provide a bipolar
power supply, or use with Pr3.15 = 3.
5HIHUWR33DUDP-
HWHU6HWXS3DUDPHWHUVIRU
9HORFLW\7RUTXH&RQWURO
2.Trial Run (JOG run)
Trial Run by Connecting the Connector X4
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
4-62
Trial Run (JOG run) at Torque Control Mode
&RQQHFWWKH&RQQHFWRU;
(QWHUWKHSRZHU'&9WRFRQWUROVLJQDO&20&20²
(QWHUWKHSRZHUWRWKHGULYHU
&RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV
6HWDORZHUYDOXHWR3UWKVSHHGRIVSHHGVHWXS
(QHUJL]HWKHPRWRUE\FRQQHFWLQJWKH6HUYR21LQSXW65921&RQQHFWRU;
3LQDQG&20²3LQRI&RQQHFWRU;WRWXUQWR6HUYR21VWDWXV
&RQÀUPWKDWWKHPRWRUUXQVDVSHUWKHVHWXSRI3UE\DSSO\LQJ'&YROWDJHSRVL-
WLYHQHJDWLYHEHWZHHQWKHWRUTXHFRPPDQGLQSXW3LQRI&RQQHFWRU;DQG*1'
3LQRI&RQQHFWRU;
,I\RXZDQWWRFKDQJHWKHWRUTXHPDJQLWXGHGLUHFWLRQDQGYHORFLW\OLPLWYDOXHDJDLQVW
WKHFRPPDQGYROWDJHVHWXSWKHIROORZLQJSDUDPHWHUV
 3UInput gain of torque command
 3U,QSXWUHYersal of torque command
 3U6SHHGOLPLWYDOXH
,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RIIDFWRUIRU1RPRWRUUXQ-
QLQJRI3UHSDUDWLRQ
:LULQJ'LDJUDP
3DUDPHWHU
Pr No. Title Setup value
0.01 Control mode setup 2
5.04 2YHUWUDYHOLQKLELWLQSXWVHWXS 1
3.15 Speed zero-clamp function selection 0
3.17 Selection of torque command 0
3.19 Input gain of torque command Set up as
required
3.20 ,QSXWUHYHUVDORIWRUTXHFRPPDQG
3.21 6SHHGOLPLWYDOXH ORZHUYDOXH
,QSXWVLJQDOVWDWXV
No. Title of signal Monitor display
06HUYR21 $
5 Speed zero clamp —
C 
N
P   
N
C 




C
 to 
 ase o oe a r
C
0
orretoal r Poste Neate 
roe a olar o er sl.
2.Trial Run (JOG run)
Trial Run by Connecting the Connector X4
5HIHUWR33DUDPHWHU6HWXS
3DUDPHWHUVIRU9HORFLW\7RUTXH&RQ-
WURO
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
4-63
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Input pulse frequency
(pps)
Motor rotational speed
(r/min)
Pr0.08
17-bit 20-bit
2M 3000 217
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
Note
Caution
:KHQVHWWLQJ3UDQGHQFRGHUUHVROXWLRQLVDXWRPDWLFDOO\VHWXSDVQXPHUDWRUV)RU
IXOOFORVHGFRQWUROOLQJVHWWLQJRI3ULVLJQRUHGDQGVHWWLQJVRI3UDQG3UDUH
DOZD\VDSSOLHG
0D[LQSXWSXOVHIUHTXHQF\YDULHVGHSHQGLQJRQLQSXWWHUPLQDOV
7KHGHVLUHGVHWWLQJFDQEHGHWHUPLQHGE\VHOHFWLQJYDOXHRIQXPHUDWRUDQGGHQRPLQD-
WRURIHOHFWURQLFJHDU+RZHYHUDQH[FHVVLYHO\KLJKGLYLVLRQRUPXOWLSOLFDWLRQUDWLRFDQ-
QRWJXDUDQWHHWKHRSHUDWLRQ7KHUDWLRVKRXOGEHLQDUDQJHEHWZHHQDQG
 ([FHVVLYHO\KLJK PXOWLSOLFDWLRQUDWLRZLOO FDXVH (UUFRPPDQGSXOVHPXOWLSOLFDWLRQ
HUURUSURWHFWLRQGXHWRYDU\LQJFRPPDQGSXOVHLQSXWRUQRLVHVHYHQLIWKHRWKHUVHW-
WLQJVDUHZLWKLQWKHVSHFLÀHGUDQJH
Relation between the motor
rotational speed and input
pulse counts
0Plle rato 
ear rato 
otal reto rato 
 ear

0




:KHQVHWWLQJWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQUDWLR
DVQXPHUDWRUGHQRPLQDWRUH[SUHVVLWDV 3U3UZLWK
Pr0.08 = 0. )RUIXOO FORVHG FRQWUROOLQJ VHWWLQJ RI 3ULVLJ-
QRUHGDQGVHWWLQJVRI3UDQG3UDUHDOZD\VDSSOLHG
HJ :KHQ\RXZDQWWRURWDWHWKHPRWRUE\ZLWKWKHORDG
of total reduction ratio of 18/365.
Encoder
17-bit 20-bit
Pr0.09
Pr0.10
5840
108
5840
67500
Command
pulse
To rotate the output shaft by
HQWHUWKHFRPPDQGRI
13SXOVHVIURPWKH
host controller.
To rotate the output shaft by
HQWHUWKHFRPPDQGRI
10000 pulses from the host
controller.
+RZWR
determine
parameter
365
18 × ð17
213 × 

＝ 5840
108
365
18 × ð20
10000 × 
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＝ 5840
67500
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42.Trial Run (JOG run)
Setup
Setup of Motor Rotational Speed and Input Pulse Frequency
2nDecimal figures
201
212
224
238
2416
2532
2664
27128
28256
29512
210 1024
211 2048
212 4096
213 8192
214 16384
215 32768
216 65536
217 131072
218 262144
219 524288
220 1048576
4-64
MEMO
5-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5. Adjustment
1. Gain Adjustment
Outline ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning
Basic ...........................................................................................................5-4
3. Adaptive filter
$GDSWLYHÀOWHU ............................................................................................5-10
4. Manual Gain Tuning (Basic)
Outline ......................................................................................................5-13
$GMXVWPHQWLQ3RVLWLRQ&RQWURO0RGH........................................................5-14
$GMXVWPHQWLQ9HORFLW\&RQWURO0RGH ........................................................5-15
$GMXVWPHQWLQ7RUTXH&RQWURO0RGH .........................................................5-15
$GMXVWPHQWLQ)XOO&ORVHG&RQWURO0RGH ..................................................5-16
Gain Switching Function ...........................................................................5-17
6XSSUHVVLRQRI0DFKLQH5HVRQDQFH ........................................................5-20
5. Manual Gain Tuning (Application)
'DPSLQJ&RQWURO .......................................................................................5-24
)HHGIRUZDUGIXQFWLRQ ...............................................................................5-26
,QVWDQWDQHRXV6SHHG2EVHUYHU ................................................................5-28
'LVWXUEDQFHREVHUYHU................................................................................5-30
UGJDLQVZLWFKLQJIXQFWLRQ .......................................................................5-32
)ULFWLRQWRUTXHFRPSHQVDWLRQ ...................................................................5-34
,QHUWLDUDWLRVZLWFKLQJIXQFWLRQ ..................................................................5-36
+\EULGYLEUDWLRQGDPSLQJIXQFWLRQ ............................................................5-38
6. About Homing Operation
&DXWLRQRQ+RPLQJ2SHUDWLRQ ..................................................................5-39
Homing with Hit & Stop .............................................................................5-40
3UHVV+ROG&RQWURO ................................................................................5-41
5-2
51. Gain Adjustment
Adjustment Outline
Purpose
,WLVUHTXLUHGIRUWKHVHUYRGULYHUWRUXQWKHPRWRULQOHDVWWLPHGHOD\DQGDVIDLWKIXODV
SRVVLEOHDJDLQVWWKHFRPPDQGVIURPWKHKRVWFRQWUROOHU<RXFDQPDNHDJDLQDGMXVWPHQW
VRWKDW\RXFDQUXQWKHPRWRUDVFORVHO\DVSRVVLEOHWRWKHFRPPDQGVDQGREWDLQWKHRS-
WLPXPSHUIRUPDQFHRIWKHPDFKLQH
<e.g. : Ball screw>
Procedures
Position loop gain : 20
Velocity loop gain : 100
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 500
Inertia ratio : 100
+2000
-
2000
0
0.0 375250125 0.0 375250125 0.0 375250125
[r/min]
Command Speed
Motor actual speed
Gain setup : Low Gain setup : High
Gain setup : High + feed forward setup
Start adjustment
Automatic
adjustment ?
Ready for
command
input ?
Action O.K.?
Yes
Yes
No
No
Yes
Yes
No
Action O.K.?
Yes
No
No
Real time
auto-gain tuning
(Default)
Release of
auto-adjusting
function
Release of
auto-adjusting
function
Manual gain tuning
Gain automatic
setup function
Finish adjustment
Writing to EEPROM
Consult to authorized dealer
(see P.5-4) (see P.5-17)
Operation by using
the trial run function
(see P.5-24)
Use the
gain setup of auto-
adjustment ?
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EHIRUHJDLQDGMXVWPHQW
5-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Remarks
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Type
Function Explanation Pages
to refer
Automatic
adjustment
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P. 5 - 1 0
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P. 5 - 1 3
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$GMXVWPHQWRISRVLWLRQFRQWUROPRGH P. 5 - 1 4
$GMXVWPHQWRIYHORFLW\FRQWUROPRGH P. 5 - 1 5
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$GMXVWPHQWRIIXOOFORVHGFRQWUROPRGH P. 5 - 1 6
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P.5-17
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P.5-20
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P.5-26
Instantaneous speed
REVHUYHU
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P.5-28
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P.5-32
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compensation
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1. Gain Adjustment
Outline
5-4
52. Real-Time Auto-Gain Tuning
Adjustment Basic
Outline
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Applicable Range
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Real-time auto-tuning condition
Control Mode
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time auto-tuning setup.
Others
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Caution
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Conditions which obstruct real-time auto-gain tuning action
Load inertia
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Load 7KHPDFKLQHVWLIIQHVVLVH[WUHPHO\ORZ
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Action
pattern
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Position/
Velocity
command Position/
Velocity
control
Servo driver
Load characteristic
estimation
Resonant frequency
measurement
Torque
command
Generation
Notch
filter
current
control
Basic gain automatic
setting
Friction torque
compensation
Adaptive
process Torque
command Motor
current
Motor
speed
Motor
Encoder
5-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
How to Operate
Caution
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Setup
value Real-time auto-gain tuning * 9HORFLW\DQGWRUTXHFRQWUROVDUHWKH
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3U1HJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
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VSRQVLYHQHVVZLOOEHLPSURYHG
'HWHUPLQHWKHPRVWDSSURSULDWHVWLIIQHVVLQUHODWLRQWRWKHSRVLWLRQLQJVHWXSWLPHDQG
YLEUDWLRQFRQGLWLRQ
 7RVDYHWKHUHVXOWWRPHPRU\ZULWHWKHGDWDWR((3520
,ISRZHULVWXUQHGRIIZLWKLQPLQXWHVDIWHUWKHHQGRIWXQLQJSURFHVVWKHUHVXOWRIWKH
UHDOWLPHDXWRWXQLQJLVQRWVDYHG,IWKHUHVXOWLVQRWVDYHGPDQXDOO\ZULWHSDUDPHWHUVWR
((3520DQGWKHQWXUQRIISRZHU
2. Real-Time Auto-Gain Tuning
Basic
Note
Related page
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changed.
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5-6
Parameters set/changed by real-time auto-gain tuning
3DUDPHWHUVZKLFKDUHXSGDWHG
7KHUHDOWLPH DXWRWXQLQJIXQFWLRQXSGDWHVWKH IROORZLQJSDUDPHWHUVDFFRUGLQJWR
3U 5HDOWLPH DXWRWXQLQJ VHWXS DQG 3U 5HDOWLPH DXWRWXQLQJ FXVWRP VHWXS
DQGE\XVLQJWKHORDGFKDUDFWHULVWLFHVWLPDWHYDOXHV
Class No.
Title Function
004,QHUWLDUDWLR 8SGDWHVWKLVSDUDPHWHUZKHQWKHUHDOWLPHDXWR
WXQLQJLQHUWLDUDWLRXSGDWHLVHQDEOHG
607
7RUTXHFRPPDQG
additional value
8SGDWHWKLVSDUDPHWHUZKHQWKHYHUWLFDOD[LVPRGH
IRUUHDOWLPHDXWRWXQLQJLVYDOLG
608
3RVLWLYHGLUHFWLRQWRUTXH
compensation value
8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQ
FRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
609
1HJDWLYHGLUHFWLRQWRUTXH
compensation value
8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQ
FRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG

Parameters which are updated to setup value corresponding to stiffness setup
7KHUHDOWLPHDXWRWXQLQJIXQFWLRQXSGDWHVWKHIROORZLQJEDVLFJDLQVHWXSSDUDPHWHUV
DFFRUGLQJWR3U5HDOWLPHDXWRWXQLQJVWLIIQHVVVHWXS
Class No.
Title Function
100VWJDLQRISRVLWLRQORRS
:KHQVWLIIQHVVVHWXSLVYDOLGXSGDWHVWKH
SDUDPHWHUEDVHGRQWKHVHWXSYDOXH
5HIHUWR3%DVLFJDLQSDUDPHWHUVHWXS
table.
101VWJDLQRIYHORFLW\ORRS
102
VWWLPHFRQVWDQWRIYHORFLW\ORRS
LQWHJUDWLRQ
104VWWLPHFRQVWDQWRIWRUTXHÀOWHU
105QGJDLQRISRVLWLRQORRS
106QGJDLQRIYHORFLW\ORRS
107
QGWLPHFRQVWDQWRIYHORFLW\
ORRSLQWHJUDWLRQ
109QGWLPHFRQVWDQWRIWRUTXHÀOWHU
3DUDPHWHUVZKLFKDUHVHWWRIL[HGYDOXH
5HDOWLPHDXWRWXQLQJIXQFWLRQVHWVWKHIROORZLQJSDUDPHWHUVWRWKHÀ[HGYDOXH
Class No.
Title Setup value when fixed parameter
setup is valid.
103VWÀOWHURIVSHHGGHWHFWLRQ 0
108QGÀOWHURIVSHHGGHWHFWLRQ
1109HORFLW\IHHGIRUZDUGJDLQ 
1119HORFLW\IHHGIRUZDUGÀOWHU PV
1127RUTXHIHHGIRUZDUGJDLQ 0
1137RUTXHIHHGIRUZDUGÀOWHU
Related page
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2. Real-Time Auto-Gain Tuning
Basic
5-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3DUDPHWHUVZKLFKDUHVHWLQUHVSRQVHWRJDLQVZLWFKLQJVHWXS
7KHUHDOWLPHDXWRWXQLQJIXQFWLRQVHWVWKHIROORZLQJSDUDPHWHUVDVWKHJDLQLV
switched.
Class No.
Title Function
114
2nd gain setup 6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.
115
0RGHRISRVLWLRQFRQWUROVZLWFKLQJ Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
116
'HOD\WLPHRISRVLWLRQFRQWURO
switching 6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.
117
/HYHORISRVLWLRQFRQWUROVZLWFKLQJ
118
+\VWHUHVLVDWSRVLWLRQFRQWURO
switching 6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.
119
Position gain switching time
120
0RGHRIYHORFLW\FRQWUROVZLWFKLQJ
6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
maintained.
121
'HOD\WLPHRIYHORFLW\FRQWURO
switching
122
/HYHORIYHORFLW\FRQWUROVZLWFKLQJ
123
+\VWHUHVLVDWYHORFLW\FRQWURO
switching
124
0RGHRIWRUTXHFRQWUROVZLWFKLQJ
125
'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ
126
/HYHORIWRUTXHFRQWUROVZLWFKLQJ
127
+\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ
3DUDPHWHUVZKLFKDUHDOZD\VVHWWRLQYDOLG
7KH IROORZLQJ VHWWLQJV DUH DOZD\V VHW WR LQYDOLG ZKHQ 3U 5HDOWLPH DXWRWXQLQJ
setup is not 0.
Class No.
Title Function
610)XQFWLRQH[SDQVLRQVHWXS
,QVWDQWDQHRXVVSHHG REVHUYHUIXQFWLRQ HQDEOH
ELWELWGLVWXUEDQFHREVHUYHUIXQFWLRQHQDEOH
ELWELW  DQGLQHUWLD UDWLRVZLWFKLQJIXQFWLRQ
HQDEOHELWELWDUHLQWHUQDOO\GLVDEOHG
613QG,QHUWLDUDWLR
3DUDPHWHUVHWXSFDQEHFKDQJHGEXW
GLVWXUEDQFHREVHUYHULVGLVDEOHG
623
'LVWXUEDQFHWRUTXH
compensating gain
624'LVWXUEDQFHREVHUYHUÀOWHU
2. Real-Time Auto-Gain Tuning
Basic
Related page
3´3Uµ3´3Uµ
5-8
Caution
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5HDOWLPH DXWRWXQLQJ VWLIIQHVV VHWXS DEQRUPDO VRXQG RU RVFLOODWLRQ PD\ EH JHQHU-
DWHGXQWLOWKHORDGFKDUDFWHULVWLFVHVWLPDWLRQLVVWDELOL]HG,IVXFKDEQRUPDOLW\ODVWVRU
UHSHDWVIRURUPRUHUHFLSURFDWLQJRSHUDWLRQVWDNHWKHIROORZLQJFRXQWHUPHDVXUHV
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WXQLQJ
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7RUTXH FRPPDQG DGGLWLRQ YDOXH 3U 3RVLWLYH GLUHFWLRQ FRPSHQVDWLRQ YDOXH
DQG3U1HJDWLYHGLUHFWLRQFRPSHQVDWLRQYDOXHWR
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FRPPDQG DGGLWLRQDO YDOXH 3U3RVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH
3U1HJDWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH PLJKW KDYH FKDQJHG WR H[-
WUHPHYDOXHV7DNHWKHVDPHPHDVXUHVDVWKHDERYHLQWKHVHFDVHV
$PRQJWKHUHVXOWVRIUHDOWLPHDXWRJDLQ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 ((-
3520HYHU\PLQXWHV:KHQ\RXWXUQRQWKHSRZHUDJDLQWKHDXWRJDLQWXQLQJZLOO
EHH[HFXWHGXVLQJWKHODWHVWGDWDDVLQLWLDOYDOXHV
 %HFDXVH WKH FRQWURO JDLQ LV XSGDWHG ZKLOH WKH PRWRU VWRSV FKDQJHG VHWWLQJ YDOXH
RI 3U ´5HDOWLPH DXWRWXQLQJ VWLIIQHVV VHWXSµ PD\ QRW EH UHÁHFWHG LI WKH PRWRU
FDQQRWVWRSGXHWRH[FHVVLYHO\ORZJDLQRUDSSOLFDWLRQRIDFRPPDQGWKDWGLUHFWVWKH
PRWRUWRWXUQLQWKHVDPHGLUHFWLRQFRQWLQXRXVO\,IWKHFKDQJHGVWLIIQHVVVHWWLQJYDOXH
LVUHÁHFWHGDIWHUPRWRUVWRSVLWPD\JHQHUDWHDEQRUPDOVRXQGRURVFLOODWH
$IWHUFKDQJLQJVWLIIQHVVVWRSWKHPRWRUDQGFKHFNWRVHHWKDWWKHQHZVWLIIQHVV
VHWWLQJLVPDGHHIIHFWLYH
Invalidation of Real-Time Auto-Gain Tuning
Caution
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WLPHDXWRJDLQWXQLQJE\VHWWLQJXS3U5HDOWLPHDXWRJDLQWXQLQJVHWXSWR
1RWHWKDWWKHFDOFXODWLRQUHVXOWRI3U,QHUWLDUDWLRZLOOEHKHOGDQGLIWKLVSDUDPHWHU
EHFRPHVDEQRUPDOYDOXHXVHWKHQRUPDOPRGHDXWRJDLQWXQLQJRUVHWXSSURSHUYDOXH
PDQXDOO\REWDLQHGIURPIRUPXODRUFDOFXODWLRQ
,ISRZHULVWXUQHGRIIZLWKLQPLQXWHVDIWHUWKHHQGRIWXQLQJSURFHVVWKHUHVXOWRIWKH
UHDOWLPHDXWRWXQLQJLVQRWVDYHG,IWKHUHVXOWLVQRWVDYHGPDQXDOO\ZULWHSDUDPHWHUVWR
((3520DQGWKHQWXUQRIISRZHU
2. Real-Time Auto-Gain Tuning
Basic
5-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note )RUGHWDLOVRISDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
'RZQORDGWKH$VHULHVPDQXDOIURPWKHZHEVLWHVKRZQEHORZ
KWWSLQGXVWULDOSDQDVRQLFFRPMSLPRWRUBIDPRWRUBIDKWPO
Basic gain parameter setup table
Stiffness
1st gain 2nd gain
A4
Series
Stiffness
setup
(reference)
*1
Pr1.00 Pr1.01 Pr1.02 Pr1.04 *2Pr1.05 Pr1.06 Pr1.07 Pr1.09 *2
Gain of
position
loop
[0.1/s]
Gain of
velocity
loop
[0.1Hz]
Time
constant
of velocity
loop
integration
[0.1ms]
Time
constant
of torque
filter
[0.01ms]
Gain of
position
loop
[0.1/s]
Gain of
velocity
loop
[0.1Hz]
Time
constant
of velocity
loop
integration
[0.1ms]
Time
constant
of torque
filter
[0.01ms]
0 20 15 3700 1500 25 15 10000 1500 —
1 25 20 2800 1100 30 20 10000 1100 —
2 30 25 2200 900 40 25 10000 900 —
3 40 30 1900 800 45 30 10000 800 —
4 45 35 1600 600 55 35 10000 600 —
5 55 45 1200 500 70 45 10000 500 —
6 75 60 900 400 95 60 10000 400 —
7 95 75 700 300 120 75 10000 300 —
8 115 90 600 300 140 90 10000 300 0
9 140 110 500 200 175 110 10000 200 —
10 175 140 400 200 220 140 10000 200 —
11 *3320 180 310 126 380 180 10000 126 1
12 390 220 250 103 460 220 10000 103 2
13 *3480 270 210 84 570 270 10000 84 3
14 630 350 160 65 730 350 10000 65 4
15 720 400 140 57 840 400 10000 57 5
16 900 500 120 45 1050 500 10000 45 6
17 1080 600 110 38 1260 600 10000 38 7
18 1350 750 90 30 1570 750 10000 30 8
19 1620 900 80 25 1880 900 10000 25 9
20 2060 1150 70 20 2410 1150 10000 20 10
21 2510 1400 60 16 2930 1400 10000 16 11
22 3050 1700 50 13 3560 1700 10000 13 12
23 3770 2100 40 11 4400 2100 10000 11 13
24 4490 2500 40 9 5240 2500 10000 9 14
25 5000 2800 35 8 5900 2800 10000 8 —
26 5600 3100 30 7 6500 3100 10000 7 15
27 6100 3400 30 7 7100 3400 10000 7 —
28 6600 3700 25 6 7700 3700 10000 6 —
29 7200 4000 25 6 8400 4000 10000 6 —
30 8100 4500 20 5 9400 4500 10000 5 —
31 9000 5000 20 5 10500 5000 10000 5 —
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2. Real-Time Auto-Gain Tuning
Basic
5-10
5$GDSWLYHÀOWHU
Adjustment Adaptive filter
Outline
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VSHHGLQPRWLRQWKHQUHPRYHVWKHUHVRQDQFHFRPSRQHQWIURPWKHWRUTXHFRPPDQGE\
VHWWLQJXSWKH QRWFKÀOWHUFRHIÀFLHQWDXWRPDWLFDOO\ KHQFHUHGXFHV WKHUHVRQDQFHYLEUD-
tion.
Applicable Range
7KLVIXQFWLRQZRUNVXQGHUWKHIROORZLQJFRQGLWLRQ
Conditions under which the Adaptive filter is activated
Control Mode $SSOLHVWRRWKHUFRQWUROPRGHVWKDQWRUTXHFRQWURO
Others
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FRPPDQGLQKLELWDQGWRUTXHOLPLWDUHDSSURSULDWHO\VHWHQDEOLQJWKHPRWRU
WRUXQQRUPDOO\
Caution
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ÀOWHUWRSUHYHQWUHVRQDQFH
Conditions which obstruct adaptive filter action
Resonance
point
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QRWDIIHFWHGE\WKLV
0XOWLSOHUHVRQDQFHRIRUPRUHSRLQWVH[LVW
Load 0RWRUVSHHGYDULDWLRQZLWKKLJKKDUPRQLFFRPSRQHQWLVJHQHUDWHGGXHWR
QRQOLQHDUIDFWRUVVXFKDVEDFNODVK
Command
pattern $FFHOHUDWLRQGHFHOHUDWLRQLVUDSLGVXFKDV>UPLQ@SHU>V@
Action command under
actual condition
Position/Velocity
command Position/
Velocity control
Servo driver
Real time
auto-gain tuning
Resonance frequency
estimation
Load inertia estimation
Adaptive
Filter
current
control
Gain
auto-setup
Filter
auto-adjustment
Torque
command Motor
current
Motor
speed
Motor
Encoder
5-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
How to Operate
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,IWKHUHVRQDQFHSRLQWDIIHFWVWKHPRWRUVSHHGSDUDPHWHUVRIUGQRWFKÀOWHUDQGRUWK
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Class No.
Title Setup
value Function
200
$GDSWLYHÀOWHU
mode setup
0
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1
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2
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RQDGDSWLYHSHUIRUPDQFH
3
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PHDVXUHPHQWFDQEHFKHFNHGZLWK3$1$7(50
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHU
KROGWKHFXUUHQWYDOXH
4
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3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHU
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FOHDUHG
$WWKHVDPHWLPHWKHIROORZLQJSDUDPHWHUVDUHDXWRPDWLFDOO\VHW
Class No.
Title Function
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to 5000.
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209UGQRWFKGHSWKVHOHFWLRQ
210WKQRWFKIUHTXHQF\
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UHVRQDQFH IUHTXHQF\ HVWLPDWHG E\ WKH DGDSWLYH
ÀOWHU
,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHW
to 5000.
2 11 4th notch width selection $XWRPDWLFDOO\VHWZKHQDGDSWLYHILOWHUVDUHDFWLYH
2 12 4th notch depth selection
$GDSWLYHÀOWHU
Adaptive filter
Related page
3´'HWDLOVRISDUDPHWHUµ
5-12
$GDSWLYHÀOWHU
Adaptive filter
Caution
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FLSURFDWLQJRSHUDWLRQVWDNHWKHIROORZLQJFRXQWHUPHDVXUHV
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LQJDGDSWLYHSURFHVV
Related page
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5-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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Before Making a Manual Adjustment
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1. Analog monitor output
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2. Waveform graphic function of the PANATERM
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54. Manual Gain Tuning (Basic)
Adjustment Outline
Front panel
Connector kit for
analog monitor signal
DV0PM20031
61
X7
USB mini-B
connection cable
* Caution
Connect to X1
Caution
Related page
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install to the PC.
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5-14
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Parameter
No.
(Pr )
Parameter
No.
(Pr )
1.00
1.01
1.02
1.03
1.04
1.10
1.11
1.05
1.06
1.07
1.08
1.09
2.01
2.02
Standard
value
Title of parameter
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter time
Velocity feed forward
Time constant of feed forward filter
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
1st notch frequency
1st notch width selection
0.04
0.02
2.00
2.14
2.15
2.16
2.17
1.14
1.15
1.16
1.17
1.18
1.19
2.22
2.23
Standard
value
100
0
0
0
0
0
0
0
0
0
0
0
0
1
0
Title of parameter
Inertia ratio
Setup of real time auto-gain tuning mode
Adaptive filter setup mode
1st damping frequency
Setup of 1st damping filter
2nd damping frequency
Setup of 2nd damping filter
2nd gain setup
Mode of position control switching
Delay time of position control switching delay
Level of position control switching
Hysteresis at position control switching
Position gain switching time
Positional command smoothing filter
Positional command FIR filter
270
150
370
0
152
0
0
270
150
370
0
152
5000
2
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Order
1
2
3
4
5
Standard
value
300
50
500
250
300
Title
Parameter
No.
(Pr )
Pr1.01
Pr1.04
Pr1.00
Pr1.02
Pr1.10
1st gain of
velocity loop
1st time constant
of torque filter
1st gain of
position loop
1st time constant
of velocity loop
integration
Velocity feed
forward gain
How to adjust
Increase the value within the range where no abnormal noise and no
vibration occur. If they occur, lower the value.
When vibration occurs by changing Pr1.01, change this value.
Setup so as to make Pr1.01 x Pr1.04 becomes smaller than 10000.
If you want to suppress vibration at stopping, setup larger value to
Pr1.04 and smaller value to Pr1.01. If you experience too large
vibration right before stopping, lower than value of Pr1.04.
Adjust this observing the positioning time. Larger the setup, faster
the positioning time you can obtain, but too large setup may cause
oscillation.
Setup this value within the range where no problem occurs. If you
setup smaller value, you can obtain a shorter positioning time, but
too small value may cause oscillation. If you setup too large value,
deviation pulses do not converge and will be remained.
Increase the value within the range where no abnormal noise
occurs.
Too large setup may result in overshoot or chattering of position
complete signal, hence does not shorten the settling time. If the
command pulse is not even,you can improve by setting up Pr1.11
(Feed forward filter) to larger value.
54. Manual Gain Tuning (Basic)
Adjustment Adjustment in Position Control Mode
Related page
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5-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
54. Manual Gain Tuning (Basic)
Adjustment Adjustment in Velocity Control Mode
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speed limiting value.
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The torque command selection (Pr3.17) specifies the setup method.
Pr3.17 = 0 Set up by using speed limit value 1 (Pr3.21)
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
(Pr3.21)
For negative direction, set up by using the speed limit value 2
(Pr3.22)
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value.
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54. Manual Gain Tuning (Basic)
Adjustment Adjustment in Torque Control Mode
Note
Related page
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5-16
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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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cally set up.
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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Caution
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 $%667$67$/$7$VHULHVE\0LWVXWR\R&RUS
 65656/6/E\0DJQHVFDOH&R/WG
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 We recommend the external scale as 1/40
external scale ratio 160.
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54. Manual Gain Tuning (Basic)
Adjustment Adjustment in Full-Closed Control Mode
Pr3.24 =
Pr3.25
Number of encoder feedback pulses per motor rotation
Number of external scale pulses per motor rotation
Note
Related page
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5-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
54. Manual Gain Tuning (Basic)
Adjustment Gain Switching Function
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<Example>
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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
Inertia ration
Execute manual
gain-tuning
without gain
switching
Set up the same
value as Pr1.05
to 1.09 (2nd gain)
to Pr1.00 to 1.04
(1st gain)
Set up Pr1.14 to
1.19
(Gain switching
condition)
Adjust Pr1.01
and 1.04 at
stopping
(1st gain)
Title of parameter
1.00
1.01
1.02
1.03
1.04
1.10
1.11
1.05
1.06
1.07
1.08
1.09
1.14
1.15
1.16
1.17
1.18
1.19
630
350
160
0
65
300
50
0
630
350
160
0
65
1
7
30
0
0
0
270
84
0.04
(QWHUWKHNQRZQ
value from load
calculation
0HDVXUHWKH
inertia ratio by
executing nor
mal auto-gain
tuning
'HIDXOWLV
Parameter
No.
(Pr )
Suppress the vibration by lowering the gain.
Stop
(Servo-Lock)
Low gain
(1st gain)
Low gain
(1st gain)
High gain
(2nd gain)
1ms 2ms
Stop
(Servo-Lock)
Run Time
Command speed
Action
Status
Gain
Related page
3´'HWDLOVRISDUDPHWHUµ
5-18
Setup of Gain Switching Condition
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Setup of gain switching condition Setup parameters at position control, full-closed control
Delay time *1Level Hysteresis *2
Pr1.15 Switching condition to
2nd gain
Fig.
Pr1.16 Pr1.17 Pr1.18
0)L[HGWRVWJDLQ –––
1)L[HGWRQGJDLQ –––
2 Gain switching input – – –
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4 Invalid)L[HGWRVWJDLQ –––
5 Speed command C >UPLQ@ >UPLQ@
6 Position deviation D *3>SXOVH@ *3>SXOVH@
73RVLWLRQFRPPDQGH[LVWV E––
81RWLQSRVLWLRQLQJFRPSOHWH F––
9 Speed C >UPLQ@ >UPLQ@
10 &RPPDQGH[LVWVYHORFLW\ G>UPLQ@ *5>UPLQ@ *5
9HORFLW\FRQWUROPRGH
Setup of gain switching condition Setup parameters at velocity control mode
Delay time *1Level Hysteresis *2
Pr1.20 Switching condition to
2nd gain
Fig.
Pr1.16, 1.21 Pr1.17, 1.22 Pr1.18, 1.23
0)L[HGWRVWJDLQ –––
1)L[HGWRQGJDLQ –––
2 Gain switching input – – –
37RUTXHFRPPDQG A>@ >@
49DULDWLRQRIVSHHGFRPPDQGLV
ODUJH B– *4>UPLQV@ *4>UPLQV@
5 Speed command C >UPLQ@ >UPLQ@
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Setup of gain switching condition Setup parameters at torque control mode
Delay time *1Level Hysteresis *2
Pr1.24 Switching condition to
2nd gain
Fig.
Pr1.16, 1.25 Pr1.17, 1.26 Pr1.18, 1.27
0)L[HGWRVWJDLQ –––
1)L[HGWRQGJDLQ –––
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4. Manual Gain Tuning (Basic)
Gain Switching Function
Hysteresis
(Pr1.18, 1.23, 1.27)
Level
Pr1.17
Pr1.22
(
Pr1.26
)
0
H
L
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gain.
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LVVSHHGYDULDWLRQRIUPLQLQVVHW
up the value to 1.
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OD\WLPHOHYHODQGK\VWHUHVLVDUHGLIIHU-
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5-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Fig.A Fig. B
Fig. C Fig. D
Fig. E
Fig. G
Fig. F
motor speed or
commanded
speed S
level
delay
2nd gain1st 1st
speed N
delay
2nd gain1st
COIN
1st
у
S
command
speed S
level
delay
1st gain2nd1st 2nd 1st
speed N
deviation pulse
level
delay
2nd gain1st 1st
at stall
no command pulse
× Pr1.16,delay time
|
actual speed
| <
Pr1.17 level
|
actual speed
| <
(Pr1.17 level - Pr1.18 hysteresis)
|
actual speed
| <
(Pr1.17 level - Pr1.178 hysteresis)
1st gain
in action
2nd gain
at settling
2nd gain
proximity of stall
2nd gain for velocity integrating
only and 1st gain for others
delay
2nd gain1st 1st
command
speed S
command pulse
exists.
speed N
level
1st gain2nd1st 2nd 1st
switching level
switching level
Caution
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4. Manual Gain Tuning (Basic)
Gain Switching Function
5-20
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5000.
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Pr2.12 4th notch depth selection
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width and depth.
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54. Manual Gain Tuning (Basic)
Adjustment Suppression of Machine Resonance
5-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
torque
command
Adaptive filter
daptive filter enabled Adaptive filter and
notch filter enabled
Depth adjustment enabled
frequency automatic following
frequency frequency
Depth
width
1st notch filter 2nd to 4th notch filter
torque
command
after filtering
width
Copying of the setup from
the adaptive filter to 1st
notch filter is enabled.
Adjustment of frequency,
width and depth is enabled.
(refer to P.5-22)
Suppress resonance point
instantaneously.
Gain
frequency
velocity response
Machine which resonance point
varies by each machine or by aging
Gain
frequency
Gain
frequency
Machine which has small peak
nearby velocity response
Machine which has multiple
resonance points
Example of application machine
4. Manual Gain Tuning (Basic)
Suppression of Machine Resonance
Notch
Notch filter
characteristics
Machine characteristics at resonance
gain
gain
frequency
frequency
Resonance
Anti-resonance
Related page
33´'HWDLOVRISDUDPHWHUµ
5-22
4. Manual Gain Tuning (Basic)
Suppression of Machine Resonance
Notch width and depth
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shown in the table below.
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VKRZVWKLVYDOXHLQG%RQWKHULJKW
Notch width
Band width/center
frequency Notch depth I/O ratio [dB]
A4 series
(reference) A5 series
0 0.41 0.5 0 0 ï
1 0.56 0.59 1 0.01 ï
2 0.71 0.71 2 0.02 ï
3 0.86 0.84 3 0.03 ï
41.011 40.04ï
5 — 1.19 5 0.05 ï
6—1.41 60.06ï
7 — 1.68 7 0.07 ï
8 — 2 8 0.08 ï
9 — 2.38 9 0.09 ï
10 — 2.83 10 0.1 ï
11 — 3.36 15 0.15 ï
12 — 4 20 0.2 ï
13 — 4.76 25 0.25 ï
14 — 5.66 30 0.3 ï
15 — 6.73 35 0.35 ï
16 — 8 40 0.4 ï
17 — 9.51 45 0.45 ï
18 — 11.31 50 0.5 ï
19 — 13.45 60 0.6 ï
20 — 16 70 0.7 ï
80 0.8 ï
90 0.9 ï
100 1 0
Notch filter frequency characteristics
ï30
ï25
ï20
ï15
ï10
ï5
0
5
10
Gain [dB]
10 100 1000
Frequency [Hz]
Depth 0, width 4
Depth 50, width 4
Depth 0, width 8
ï>G%@
5-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
3OHDVHGRZQORDGWKH6HWXSVXSSRUWVRIWZDUH´3$1$7(50µIURPRXUZHEVLWHDQGXVHDIWHU
install to the PC. http://industrial.panasonic.com/jp/i/fa_motor.html
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How to Check the Resonance Frequency of the Machine
Remarks
Note
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Relation of Gain Adjustment and Machine Stiffness
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4. Manual Gain Tuning (Basic)
Suppression of Machine Resonance
5-24
55.
Manual Gain Tuning (Application)
Adjustment Damping Control
Outline
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Applicable Range
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Conditions under which the damping control is activated
Control mode
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Caution
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tions.
Conditions which obstruct the damping control effect
Load
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Servo driver
Motor position
Motor
Coupling Ball
screw
Work
travel
Driver
PLC
Setup of front edge vibration
frequency
Motor
Encoder
Load
Position
command Damping
filter Position/Velocity
control
Torque
command
Current
control
Machine
base
Front edge vibrates. Vibration
measurement
with
displacement
sensor
Motor
current
Related page
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5-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
How to Use
Caution
(1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20))
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(2) Setup of damping filter (1st: Pr2.15, 2nd: Pr2.17, 3rd: Pr2.19, 4th: Pr2.21))
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(3) Setup of damping filter switching selection (Pr2.13)
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Pr2.13 VS-SEL2 VS-SEL1 1st damping 2nd damping 3rd damping 4th damping
0——
1— OFF
—21
2
OFF OFF
OFF 21
21 OFF
21 21
Pr2.13 Position command
direction 1st damping 2nd damping 3rd damping 4th damping
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Command
speed
Position deviation
Calculation of
vibration frequency
5. Manual Gain Tuning (Application)
Damping Control
Torque
command
Torque saturation
Damping filter setup is
too large.
Damping filter setup is
appropriate.
5-26
55.
Manual Gain Tuning (Application)
Adjustment Feed forward function
Outline
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command.
Related Parameter
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Class No.
Title Function
110
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gain
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111
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112
7RUTXHIHHGIRUZDUG
gain
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113
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60
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gain
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610
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setup
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Usage example of velocity feed forward
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Command speed
Motor speed
Positional deviation Velocity feed forward gain
0[%]
50[%]
80[%]
Time
Positional deviation within the
constant speed range will
reduce as the velocity
forward gain is increased.
5-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5. Manual Gain Tuning (Application)
Feed forward function
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Usage example of torque feed forward
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EHPDLQWDLQHGDWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHG
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Command speed
Positional deviation
0[%]
50[%]
100[%]
Time
Motor speed
Torque feed forward
gain
Velocity feed forward gain = Fixed 100[%]
Positional deviation in the
region where acceleration
is constant can be reduced
by torque feed forward.
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$VZLWKWKHYHORFLW\IHHGIRUZDUGODUJHWRUTXHIHHGIRUZDUGÀOWHUWLPHFRQVWDQWGHFUHDVHV
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Usage example of
analog torque feed forward
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HQDEOHVWKHDQDORJWRUTXHIHHGIRUZDUG:KHQWKHDQDORJ
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OLPLWWKHIXQFWLRQEHFRPHVLQYDOLG
7KHYROWDJH9DSSOLHGWRWKHDQDORJLQSXWLVFRQYHUWHG
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FRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQG
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GLUHFWLRQLIQHJDWLYH
7KHYROWDJH9DSSOLHGWRWKHDQDORJLQSXWLVFRQYHUWHG
WRWKHPRWRUWRUTXHFRPPDQGWKURXJKWKHSURFHVVDV
VKRZQLQWKHJUDSKEHORZ
7KHVORSHUHSUHVHQWVZKHQ3U 7KHVORSHFKDQJHVDVWKHVHWXSYDOXHFKDQJHV
7RUTXHFRPPDQG ðLQSXWYROWDJH93UVHWXSYDOXHð
Torque command [%]
333
200
610
ï6ï10
ï200
ï333
Input voltage
[V]
Related page
3´'HWDLOVRISDUDPHWHUµ
5-28
55.
Manual Gain Tuning (Application)
Adjustment Instantaneous Speed Observer
Outline
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SLQJE\HVWLPDWLQJWKHPRWRUVSHHGXVLQJDORDGPRGHOKHQFHLPSURYLQJWKHDFFXUDF\
RIWKHVSHHGGHWHFWLRQ
Applicable Range
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Conditions under which the instantaneous speed observer is activated
Control mode
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3U 9HORFLW\FRQWURO
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ
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LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
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Caution
7KLVIXQFWLRQGRHVQRWZRUNSURSHUO\RUQRHIIHFWLVREWDLQHGXQGHUWKHIROORZLQJFRQGL-
tions.
Conditions which obstruct instantaneous speed observer action
Load
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PDFKLQHLVODUJH
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EHORZ1RQOLQHDUIDFWRUVXFKDVODUJHEDFNODVKH[LVWV
/RDGLQHUWLDYDULHV
'LVWXUEDQFHWRUTXHZLWKKDUPRQLFFRPSRQHQWLVDSSOLHG
Others 6HWWOLQJUDQJHLVYHU\VPDOO
Current
control
Torque
command Motor
current
Motor
Servo driver
Load
Encoder
Velocity
control
Velocity
command
Load model
Estimated
velocity
value
Position control
Motor
position
(Total inertia)
Instantaneous
speed observer
Related page
33´'HWDLOVRISDUDPHWHUµ
5-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Related Parameter
Class No.
Title Function
610
)XQFWLRQH[SDQVLRQ
setup
6SHHGREVHUYHUHQDEOHELWELWYDOLGLQYDOLGWKH
IXQFWLRQ
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*ELW /6%
How to Use
(1) Setup of inertia ratio (Pr0.04)
Set up as exact inertia ratio as possible.
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LQJ DQG LV DSSOLFDEOH DW QRUPDO SRVLWLRQ FRQWURO XVH WKLV YDOXH DV 3U VHWXS
value.
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value.
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PHDVXUHWKHLQHUWLDUDWLR
(2) Adjustment at normal position control
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(3) Setup of instantaneous velocity observer (Pr6.10)
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VHWXS 3U WKH VSHHG GHWHFWLRQ PHWKRG FKDQJHV WR WKH LQVWDQWDQHRXV VSHHG
REVHUYHU
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WRDQGUHFRQÀUPWKHDERYHFDXWLRQVDQG
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IRUPDQGQRLVH VHDUFKDQRSWLPXPVHWXSE\PDNLQJDÀQH DGMXVWPHQWRI3U
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ZDYHIRUP WR obtain WKH OHDVW YDULDWLRQ ,I \RX FKDQJH WKH SRVLWLRQ ORRS JDLQ DQG
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5. Manual Gain Tuning (Application)
Instantaneous Speed Observer
5-30
55.
Manual Gain Tuning (Application)
Adjustment Disturbance observer
Outline
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GXFHHIIHFWRIGLVWXUEDQFHWRUTXHDQGYLEUDWLRQ
Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the disturbance observer is activated
Control mode
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3U 9HORFLW\FRQWURO
Others
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LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
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Caution
(IIHFWPD\QRWEHH[SHFWHGLQWKHIROORZLQJFRQGLWLRQ
Conditions which obstruct disturbance observer action
Load
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GLVWXUEDQFHREVHUYHU
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Disturbance observer
Estimated disturbance torque value
Motor speed
Added in the direction to
cancel the disturbance
Motor + load
Load model
+
+
+
+–
–
Disturbance torque
Torque command
Torque command
Gain
Filter
Set in Pr6.23 Set in Pr6.24
Related page
33´'HWDLOVRISDUDPHWHUµ
5-31
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Related Parameter
Class No.
Title Function
610
Function
H[SDQVLRQVHWXS
6HWVELWVUHODWHGWRGLVWXUEDQFHREVHUYHU
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ELW $OZD\VYDOLG 
alid only when 1st gain is selected.
*ELW /6%
([DPSOH
7RXVHWKHGLVWXUEDQFHREVHUYHULQWKHHQDEOHGPRGHRQO\
ZKHQVWJDLQLVVHOHFWHG
6HWXSYDOXH 
7RXVHWKHGLVWXUEDQFHREVHUYHUDOZD\VLQWKHHQDEOHG
PRGH
6HWXSYDOXH 
623
'LVWXUEDQFH
WRUTXHFRPSHQ-
sating gain
6HWXSFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH
624
'LVWXUEDQFH
REVHUYHUÀOWHU
6HWXSWKHÀOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFH
WRUTXHFRPSHQVDWLRQ
How to Use
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PRGHDOZD\VHQDEOHHQDEOHRQO\ZKHQVWJDLQLVVHOHFWHG
2) Setup of Pr6.24 (Disturbance observer filter)
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WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH
RI3U$ORZÀOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\
DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ
QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG
3) Setup of Pr6.23 (Disturbance torque compensating gain)
$IWHUVHWWLQJXS3ULQFUHDVH3U
 7KHGLVWXUEDQFHVXSSUHVVLQJFDSDELOLW\LQFUHDVHVE\LQFUHDVLQJWKHJDLQEXWLWLV
DVVRFLDWHGZLWKLQFUHDVLQJYROXPHRIRSHUDWLRQQRLVH
 7KLVPHDQVWKDWZHOOEDODQFHGVHWXSFDQEHREWDLQHGE\DGMXVWLQJ3UDQG3U
5. Manual Gain Tuning (Application)
Disturbance observer
5-32
55.
Manual Gain Tuning (Application)
Adjustment 3rd gain switching function
Outline
,QDGGLWLRQWRWKHQRUPDOJDLQVZLWFKLQJIXQFWLRQGHVFULEHGRQ3UGJDLQVZLWFKLQJ
IXQFWLRQFDQEHVHWWRLQFUHDVHWKHJDLQMXVWEHIRUHVWRSSLQJ7KHKLJKHUJDLQVKRUWHQV
positioning adjusting time.
Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the 3rd gain switching function is activated
Control mode
&RQWUROPRGHWREHHLWKHURUERWKSRVLWLRQFRQWURORUDQGIXOOFORVHG
FRQWURO
3U 3RVLWLRQFRQWURO
3U )XOOFORVHGFRQWURO
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ
,QSXW VLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQG LQSXW
LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
Related Parameter
Class No.
Title Function
65
3RVLWLRQUGJDLQ
valid time 6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG
66
3RVLWLRQUGJDLQ
VFDOHIDFWRU
6HWXSWKHUGJDLQE\DPXOWLSO\LQJIDFWRURIWKHVWJDLQ
UGJDLQ VWJDLQð3U
Related page
33´'HWDLOVRISDUDPHWHUµ
5-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Position speed command [r/min]
Pr6.05×0.1ms
2nd gain 3rd gain 1st gain
Pr1.05 to 1.09 Pr1.00 to 1.04
[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.
5. Manual Gain Tuning (Application)
3rd gain switching function
How to Use
Caution
:KLOHLQWKHFRQGLWLRQXQGHUZKLFKWKHQRUPDOJDLQVZLWFKLQJIXQFWLRQVVHWWKHUGJDLQ
DSSOLFDWLRQWLPHWR3U3RVLWLRQUGJDLQHQDEOHWLPHDQGVHWWKHUGJDLQVFDOHIDF-
WRUZLWKUHIHUHQFHWRVWJDLQWR3U3RVLWLRQUGJDLQPDJQLÀFDWLRQUDWLR
,IUGJDLQLVQRWXVHGVHW3UWRDQG3UWR
7KHUGJDLQLVHQDEOHGRQO\IRUSRVLWLRQFRQWURORUIXOOFORVHGFRQWURO
'XULQJWKHUGJDLQSHULRGRQO\SRVLWLRQORRSJDLQVSHHGSURSRUWLRQDOJDLQEHFRPHVUG
JDLQGXULQJRWKHUSHULRGVVWJDLQVHWWLQJLVXVHG
:KHQWKHQGJDLQVZLWFKLQJFRQGLWLRQLVHVWDEOLVKHGGXULQJUGJDLQSHULRGQGJDLQLV
used.
'XULQJWUDQVLWLRQIURPQGJDLQWRUGJDLQ3U3RVLWLRQJDLQVZLWFKLQJWLPHLVDS-
plied.
:KHQWKHJDLQLVVZLWFKHGIURPQGWRVWE\WKHFKDQJHLQSDUDPHWHUWKHUGJDLQSH-
ULRGDSSHDUV
([DPSOH
3U3RVLWLRQFRQWUROVZLWFKLQJPRGH VZLWFKLQJFRQGLWLRQZLWKSRVLWLRQDOFRPPDQG
5-34
55.
Manual Gain Tuning (Application)
Adjustment Friction torque compensation
Outline
7RUHGXFHHIIHFWRIIULFWLRQUHSUHVHQWHGE\PHFKDQLFDOV\VWHPW\SHVRIIULFWLRQWRUTXH
FRPSHQVDWLRQFDQEH DSSOLHGRIIVHWORDGFRPSHQVDWLRQWKDWFDQFHOVFRQVWDQWRIIVHW
WRUTXHDQGWKHG\QDPLFIULFWLRQFRPSHQVDWLRQWKDWYDULHVGLUHFWLRQDVWKHRSHUDWLQJGLUHF-
WLRQYDULHV
Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the Friction torque compensation is activated
Control mode 6SHFLILFWRLQGLYLGXDOIXQFWLRQV5HIHUWR5HODWHGSDUDPHWHUVVKRZQ
below.
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ
,QSXW VLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQG LQSXW
LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
Related Parameter
&RPELQHWKHIROORZLQJSDUDPHWHUVWRVHWXSDSSURSULDWHIULFWLRQWRUTXHFRPSHQVDWLRQ
Class No.
Title Function
67
7RUTXH
command
additional value
6HWXSWKHRIIVHWORDGFRPSHQVDWLRQYDOXHXVXDOO\DGGHGWR
WKHWRUTXHFRPPDQGLQDFRQWUROPRGHH[FHSWIRUWKHWRUTXH
FRQWUROPRGH
68
Positive
GLUHFWLRQWRUTXH
compensation
value
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG
WRWKHWRUTXHFRPPDQGZKHQIRUZDUGSRVLWLRQDOFRPPDQG
LVIHG
69
1HJDWLYH
GLUHFWLRQWRUTXH
compensation
value
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG
WRWKHWRUTXHFRPPDQGZKHQQHJDWLYHGLUHFWLRQSRVLWLRQDO
FRPPDQGLVIHG
Related page
3´'HWDLOVRISDUDPHWHUµ
5-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Command speed
Time
[Positive direction]
[Negative direction]
Pr6.08
Positive direction torque
[
compensation value
]
Pr6.09
Negative direction torque
[
compensation value
]
Pr6.07
Torque command
[
additional value
]
Motor
de-energized
Motor
de-energized
Motor energized
The friction compensation torque is the sum of the offset load compensation value which is set
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
value.
The command speed direction is reset upon power-up or when the motor is de-energized.
5. Manual Gain Tuning (Application)
Friction torque compensation
How to Use
7KH IULFWLRQ WRUTXH FRPSHQVDWLRQ ZLOO EH DGGHG LQ UHVSRQVH WR WKH HQWHUHG SRVLWLRQDO
FRPPDQGGLUHFWLRQDVVKRZQEHORZ
Caution
3U >7RUTXH FRPPDQG DGGLWLRQDO YDOXH@ UHGXFHV YDULDWLRQV LQ SRVLWLRQLQJ RSHUDWLRQ
SHUIRUPDQFHLVDIIHFWHGE\GLUHFWLRQRIPRYHPHQW7KHVHYDULDWLRQVRFFXUZKHQFRQ-
VWDQWRIIVHWWRUTXHUHVXOWLQJIURPZHLJKWRQYHUWLFDOD[LVLVDSSOLHGWRWKHPRWRU
&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
EHPLQLPL]HGE\VHWWLQJWKHIULFWLRQWRUTXHRIHYHU\URWDWLQJGLUHFWLRQLQWRLQGLYLGXDOSD-
UDPHWHUV3U >3RVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH@ DQG 3U>1HJDWLYH
GLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH@FDQEHXVHGIRUWKLVSXUSRVH
7KHRIIVHWORDGFRPSHQVDWLRQDQGG\QDPLFIULFWLRQFRPSHQVDWLRQFDQEHXVHGLQGLYLGX-
DOO\RULQFRPELQDWLRQ+RZHYHUVRPHFRQWUROPRGHVLPSRVHOLPLWRQDSSOLFDWLRQ
)RUWRUTXHFRQWURO2IIVHWORDGFRPSHQVDWLRQDQGG\QDPLFIULFWLRQFRPSHQVDWLRQDUHVHW
DWUHJDUGOHVVRISDUDPHWHUVHWWLQJ
)RUYHORFLW\FRQWUROZLWKVHUYRRII2IIVHWORDGFRPSHQVDWLRQSHU3ULVHQDEOHG'\-
QDPLFIULFWLRQFRPSHQVDWLRQLVVHWDWUHJDUGOHVVRISDUDPHWHUVHWWLQJ
)RUSRVLWLRQFRQWURORUIXOOFORVHGFRQWUROZLWKVHUYRRQ3UHYLRXVRIIVHWORDGFRPSHQVD-
WLRQDQGG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHVDUHPDLQWDLQHGXQWLOWKHÀUVWSRVLWLRQDO
FRPPDQGLVDSSOLHGZKHUHWKHRIIVHWORDGFRPSHQVDWLRQYDOXHLVXSGDWHGDFFRUGLQJWR
3U7KHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHLVXSGDWHGWRSDUDPHWHUV3UDQG
3UGHSHQGLQJRQFRPPDQGGLUHFWLRQ
5-36
55.
Manual Gain Tuning (Application)
Adjustment Inertia ratio switching function
Outline
,QHUWLDUDWLRFDQEHVZLWFKHGEHWZHHQ1RDQG1RE\WKHVZLWFKLQJLQSXW-6(/7KLV
IHDWXUHLVXVHIXOLQDSSOLFDWLRQZKHUHWKHORDGLQHUWLDFKDQJHVLQWZRVWHSV
Applicable Range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the Inertia ratio switching function is activated
Control mode
&DQEHXVHGLQDOOFRQWUROPRGHV
3U 3RVLWLRQFRQWURO
3U 9HORFLW\FRQWURO
3U 7RUTXHFRQWURO
3U 3RVLWLRQ9HORFLW\FRQWURO
3U 3RVLWLRQ7RUTXHFRQWURO
3U 9HORFLW\7RUTXHFRQWURO
3U )XOOFORVHGFRQWURO
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ
,QSXW VLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQGLQSXW
LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
5HDOWLPHDXWRWXQLQJVKRXOGEHGLVDEOHG3U 
$GDSWLYHÀOWHUVKRXOGEHGLVDEOHG3U 
,QVWDQWDQHRXVVSHHGREVHUYHUVKRXOGEHGLVDEOHG3UELW 
'LVWXUEDQFHREVHUYHUVKRXOGEHGLVDEOHG3U ELW 
Caution
%HVXUHWRFKDQJHWKHLQHUWLDUDWLRZKLOHWKHPRWRULVLQVWRSVWDWH2WKHUZLVHYLEUDWLRQ
RURVFLOODWLRQZLOORFFXU
,IWKHGLIIHUHQFHEHWZHHQWKHVWLQHUWLDUDWLRDQGQGLQHUWLDUDWLRLVODUJHYLEUDWLRQHWF
PD\RFFXUHYHQLQVWRSPRGH7KHVHSRWHQWLDOSUREOHPVVKRXOGEHLGHQWLÀHGRQWKHDF-
tual model.
Related page
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ33´'HWDLOVRISDUDPHWHUµ
5-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5. Manual Gain Tuning (Application)
Inertia ratio switching function
Related Parameter
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Class No.
Title Function
610
Function
H[SDQVLRQVHWXS
6HWVELWVUHODWHGWRLQHUWLDUDWLRVZLWFKLQJIXQFWLRQ
ELW ,QYDOLG 9DOLG
ELW $OZD\VYDOLG 9DOLG
only when 1st gain is selected.
*ELW /6%
([DPSOH
7RHQDEOHLQHUWLDOUDWLRVZLWFKLQJ
6HWXSYDOXH 
004,QHUWLDUDWLR
6HWVWLQHUWLDUDWLR
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WKHPRWRULQHUWLD
613QG,QHUWLDUDWLR
6HWQGLQHUWLDUDWLR
<RXFDQVHWXSWKHUDWLRRIWKHORDGLQHUWLDDJDLQVWWKHURWRURI
WKHPRWRULQHUWLD
How to Use
 6HOHFWVWLQHUWLDUDWLRRUQGLQHUWLDUDWLRDFFRUGLQJWRWKHLQHUWLDUDWLRVHOHFWLQSXW-6(/
Inertia ratio switching
input (J-SEL) Applicable inertia ratio
OFF VW,QHUWLDUDWLR3U
21 QG,QHUWLDUDWLR3U
5-38
55.
Manual Gain Tuning (Application)
Adjustment Hybrid vibration damping function
Outline
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Applicable range
7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG
Conditions under which the Hybrid vibration damping function is activated
Control mode )XOOFORVHGFRQWUROPRGH
Others
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,QSXW VLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQGLQSXW
LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
Caution
7KHHIIHFWRIWKLVIXQFWLRQZLOOEHSURSRUWLRQDOWRWKHDPRXQWRIWZLVWEHWZHHQWKHPRWRU
and load.
Related Parameter
Class No.
Title Function
634
+\EULGYLEUDWLRQ
VXSSUHVVLRQJDLQ
6HWXSWKHK\EULGYLEUDWLRQVXSSUHVVLRQJDLQIRUIXOOFORVHG
FRQWUROOLQJ
)LUVWVHWLWWRWKHYDOXHLGHQWLFDOWRWKDWRISRLVRQORRSJDLQDQG
WKHQÀQHWXQHDVQHFHVVDU\
635
+\EULGYLEUDWLRQ
VXSSUHVVLRQÀOWHU
6HWXSWKHWLPHFRQVWDQWRIWKHK\EULGYLEUDWLRQVXSSUHVVLRQÀOWHU
IRUIXOOFORVHGFRQWUROOLQJ
How to Use
>@ 6HW3U+\EULGYLEUDWLRQVXSSUHVVLRQJDLQWRWKHYDOXHHTXDOWRWKDWRISRVLWLRQDOORRS
gain.
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 :KHQWKHUHVSRQVHLVLPSURYHGDGMXVW3UDQG3UWRGHWHUPLQHWKHFRPELQDWLRQ
WKDWSURYLGHVWKHEHVWUHVSRQVH
Related page
3´'HWDLOVRISDUDPHWHUµ
5-39
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
56. About Homing Operation
Adjustment Caution on Homing Operation
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DQGWKHSRVLWLRQRIRULJLQSRLQWFRQVLGHULQJWKHQHFHVVDU\SXOVHFRXQWVIRUGHFHOHUD-
WLRQ7DNHWKHSRVLWLRQLQJDFWLRQDQGKRPLQJDFWLRQLQWRDFFRXQWZKHQ\RXVHWSXWDF-
FHOHUDWLRQGHFHOHUDWLRQWLPHZLWKSDUDPHWHUVLQFHWKLVDIIHFWWKHVHDFWLRQDVZHOO
For the details of homing, observe the instruction manual of the host controller.
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3UR[LPLW\GRJRQ'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
RIWKHÀUVWRULJLQLQSXW=SKDVH
3UR[LPLW\GRJRII'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
RIWKHÀUVWRULJLQLQSXW=SKDVHDIWHUWKHLQSXWLVWXQHGRII
proximity input
origin input
proximity dog
encoder Z-phase
speed
proximity input
origin input
proximity dog
speed
encoder Z-phase
5-40
56. About Homing Operation
Adjustment Homing with Hit & Stop
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VRUGXHWRHQYLURQPHQW
Remarks
Assign TL-SEL to the input signal.
8SRQFRPSOHWLRQRIWKHKRPLQJZLWKKLWDQGVWRSWXUQRII7/6(/RSHQLIORJLFDOVHWWLQJ
LVDFRQWDFWFORVHLIEFRQWDFW
1st
origin
origin
2nd torque limit 2nd torque limit
1st
TLC
Factory setting:
(
40-pin
)
TL-SEL *1
Factory setting:
(
no allocation
)
Torque
Counter
clear
command
50%
Motor
speed
TLC
Factory setting:
(
40-pin
)
TL-SEL *1
Factory setting:
(
no allocation
)
Torq ue
Counter
clear
command
Motor
speed
Z-phase
ON
ON
ON
ON
ON
ON
Parameter
No.
5.22
0.14
5.13
5.21
hits
hits
(1) (2) (1)
(1)
(1)
(2)
(2)
(2)
(3)
(3)
Title
Setup of 2nd torque limit
Excess setup of position deviation
Setup of over-speed level
Selection of torque limit
Setup example
50 (Set up to less than 100%)
25000
0 (6000r/min)
3
(1) when you make a point where the
work (load) hits as an origin
(2) when you stop the work (load) using
Z-phase after making a hitting point
as a starting point, then make that
stopping point as an origin.
Related page
3´'HWDLOVRISDUDPHWHUµ
5-41
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
56. About Homing Operation
Adjustment Press & Hold Control
Remarks
Assign TL-SEL to the input signal.
(1) (2) (3) (4) (5)
Holds the non-traveled
portion with deviation
counter
C=A+B
Search speed
(low speed)
B
A
Setup value of 2nd torque limit
Factory setting: *1
TL-SEL
(
no allocation
)
: Torque limit switching input
Factory setting:
TLC
(
40-pin
)
: Torque in-limit output
Torque
Command
Motor speed
(1) (2) (3) (4) (5)
Press fit
machine
Application example
ON
ON
(+)
(+)
(+)
(–)
(–)
(–)
5.21
0.13
5.22
0.14
5.13
Selection of torque limit
Setup of 1st torque limit
Setup of 2nd torque limit
Excess setup of position deviation
Setup of over-speed level
3
200
50
25000
0
Parameter
No.
Title
Setup
example
5-42
MEMO
6-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6. When in Trouble
1. When in Trouble
What to Check ? .........................................................................................6-2
Protective Function (What is Error Code ?) ................................................6-2
Protective function (Detail of error code) ....................................................6-4
2. Setup of gain pre-adjustment protection ................................6-18
3. Troubleshooting
Motor Does Not Run .................................................................................6-21
Unstable Rotation (Not Smooth) ,
Motor Runs Slowly Even with Speed Zero at Velocity Control Mode .......6-23
Positioning Accuracy Is Poor ....................................................................6-24
Origin Point Slips ......................................................................................6-25
Abnormal Motor Noise or Vibration ...........................................................6-25
Overshoot/Undershoot,
Overheating of the Motor (Motor Burn-Out) ..............................................6-26
Motor Speed Does Not Reach to the Setup,
Motor Revolutions (Travel) Is Too Large or Small .....................................6-26
Parameter Returns to Previous Setup ......................................................6-27
6-2
61. When in Trouble
When in Trouble What to Check ?

Various protective functions are equipped in the driver. When these are triggered, the motor
will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
(UURUVWDWXVDQGWKHLUPHDVXUHV
'XULQJWKHHUURUVWDWXVWKHHUURUFRGH1RZLOOEHGLVSOD\HGRQWKHIURQWSDQHO/('
and you cannot turn Servo-ON.
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:KHQRYHUORDGSURWHFWLRQLVWULJJHUHG\RXFDQFOHDULWE\$ODUPFOHDULQSXW$&/5
LQVHFRUORQJHUDIWHUWKHHUURURFFXUV7DEOHEHORZ<RXFDQFOHDUWKH2YHUORDG
protection time characteristics (refer to P.6-14) by turning off the control power supply
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VRIWZHDU3$1$7(505HIHUWR3“Alarm Clear Screen” of Preparation.
%HVXUHWRFOHDUWKHDODUPGXULQJVWRSDIWHUUHPRYLQJWKHFDXVHRIWKHHUURUDQGVH-
curing safety.
61. When in Trouble
When in Trouble Protective Function (What is Error Code ?)
Host
controller
Aren't the parameter
setups wrong ?
Motor does not run.
Check the cause by referring to P.2-98,
“Display of Factor of No Motor Running” of
Preparation, and then take necessary measure.
Is the wiring to Connector
X4 correct ?
Or aren't any wires pulled
off ?
Is the wiring to Connector X5
in case of full-closed control
correct ?
Or aren't any wires pulled off ?
Is the wiring to Connector X6
correct ?
Or aren't any wires pulled off ?
Isn't error code No. is displayed ?
Ground
Motor
External scale
Machine
Is the connecting portion
disconnected ?
(Broke wire, contact)
Is the wiring correct ?
Isn't the connector pulled off ?
Isn't the short wire pulled off ?
Doesn't the power voltage vary ?
Is the power turned on ?
Any loose connection ?
Is abnormal noise generated
from the motor ?
Isn't the holding
brake engaged ?
Isn't the connection
loose ?
Note
Related page
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driver.
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6-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note +LVWRU\7KHHUURUZLOOEHVWRUHGLQWKHHUURUKLVWRU\
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.
 6HWWLQJRI´3U6HTXHQFHDWDODUPµLVDOVRUHTXLUHG
<List of error code No.>
Error code
Protective function
Attribute
Detail
page
Main Sub
History Can be
cleared
Immediate
stop
11 Control power supply under-
voltage protection
6-4
12 Over-voltage protection
13
Main power supply under-volt-
age protection (between P and N)
1
Main power supply under-
voltage protection
(AC interception detection)
14 Over-current protection
6-5
1 IPM error protection
15 Over-heat protection
16 Over-load protection 
6-6
18
Over-regeneration load protection
1Over-regeneration Tr error
protection
6-7
21
Encoder communication dis-
connect error protection
1Encoder communication error
protection
23 Encoder communication data
error protection
24
Position deviation excess pro-
tection
1Velocity deviation excess pro-
tection
25 +\EULGGHYLDWLRQH[FHVVHUURU
protection
6-8
26 Over-speed protection
1 2nd over-speed protection
27
Command pulse input frequen-
cy error protection
2Command pulse multiplier error
protection
28 Limit of pulse replay error pro-
tection
 'HYLDWLRQFRXQWHURYHUÁRZ
protection

 Safety detection
33
IF overlaps allocation error 1
protection
1IF overlaps allocation error 2
protection
2IF input function number error 1
protection
3IF input function number error 2
protection
4IF output function number error
1 protection
5IF output function number error
2 protection
6&/ÀWWLQJHUURUSURWHFWLRQ 
7,1+ÀWWLQJHUURUSURWHFWLRQ
1. When in Trouble
Protective Function (What is Error Code ?)
Error code
Protective function
Attribute
Detail
page
Main Sub
History Can be
cleared
Immediate
stop
34 Software limit protection

36 WR
2
EEPROM parameter error pro-
tection
37 WR
2
EEPROM check code error
protection
38
Over-travel inhibit input protection

Analog input1 excess protection
1
Analog input2 excess protection
2
Analog input3 excess protection
 Absolute system down error
protection
6-11
41 Absolute counter over error
protection
42 Absolute over-speed error pro-
tection
43 Initialization failure
44 Absolute single turn counter
error protection
45 Absolute multi-turn counter er-
ror protection
47 Absolute status error protection
48
Encoder Z-phase error protection
 
Encoder CS signal error protection
6-12

Feedback scale connection er-
ror protection
1Feedback scale communication
error protection
51
)HHGEDFNVFDOHVWDWXVHUURU
protection
1Feedback scale status 1 error
protection
2Feedback scale status 2 error
protection
3Feedback scale status 3 error
protection
4Feedback scale status 4 error
protection
5Feedback scale status 5 error
protection
55
A-phase connection error protection
6-13
1
B-phase connection error protection
2
Z-phase connection error protection
87
Compulsory alarm input protection

WR
Motor automatic recognition
error protection
 
Other error
Other
number
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;;; and analog input.
Protective
function
Error code No.
Causes Measures
Main Sub
6-4
Control
power
supply
under-
voltage
protection
11 0 Voltage between P and N of the converter
portion of the control power supply has
IDOOHQEHORZWKHVSHFLÀHGYDOXH
9YHUVLRQ
approx.
9'&
approx.
9$&
9YHUVLRQ
approx.
145 VDC (
approx.
9$&
9YHUVLRQ
approx.
15 VDC
1) Power supply voltage is low.
Instantaneous power failure has
occurred
2) Lack of power capacity...Power supply
voltage has fallen down due to inrush
current at the main power-on.
3)
Failure of servo driver (failure of the circuit)
Measure the voltage between lines of
connector and terminal block.
99GULYHU/&/&
9GULYHU99
1) Increase the power capacity. Change the
power supply.
2) Increase the power capacity.
3) Replace the driver with a new one.
Over-voltage
protection
12 0 Voltage between P and N of the
converter portion of the control power
VXSSO\KDVH[FHHGHGWKHVSHFLÀHGYDOXH
9YHUVLRQ
approx.
9'&
approx.
9$&
9YHUVLRQ
approx.
9'&
approx.
9$&
9YHUVLRQ
approx.
9'&
approx.
9$&
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
3) External regeneration discharge
resistor is not appropriate and could
not absorb the regeneration energy.
4) Failure of servo driver (failure of the
circuit)
Measure the voltage between lines of
connector (L1, L2 and L3).
1) Enter correct voltage. Remove a phase-
advancing capacitor.
2) Measure the resistance of the external
resistor connected between terminal B1
- B2 of the driver. Replace the external
UHVLVWRULIWKHYDOXHLV
&KDQJHWRWKHRQHZLWKVSHFLÀHG
resistance and wattage.
4) Replace the driver with a new one.
Main power
supply
under-
voltage
protection
(PN)
13 0 Instantaneous power failure has occurred
between L1 and L3 for longer period than
WKHSUHVHWWLPHZLWK3U0DLQSRZHU
RIIGHWHFWLQJWLPHZKLOH3U/9WULS
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\KDVIDOOHQEHORZWKHVSHFLÀHG
value during Servo-ON.
9YHUVLRQ
approx.
9'&
approx.
55 VAC)
9YHUVLRQ
approx.
9'&
approx.
75 VAC)
9YHUVLRQ
approx.
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)
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.
6HWXSWKHORQJHUWLPHWR3U0DLQ
power off detecting time). Set up each
phase of the power correctly.
3)
Increase the power capacity. For the capacity,
UHIHUWR3'ULYHUDQG/LVWRI$SSOLFDEOH
Peripheral Equipments" of Preparation.
4) Connect each phase of the power supply
(L1, L2 and L3) correctly. For single phase,
9DQG9GULYHUXVH/DQG/
5) Replace the driver with a new one.
Main power
supply
under-
voltage
protection
(AC)
1
61. When in Trouble
When in Trouble Protective function (Detail of error code)
Protective
function
Error code No.
Causes Measures
Main Sub
6-5
1. When in Trouble
Protective function (Detail of error code) 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
*
Over-current
protection
14 0 Current through the converter portion has
H[FHHGHGWKHVSHFLÀHGYDOXH
1) Failure of servo driver (failure of the
circuit, IGBT or other components)
2) Short of the motor wire (U, V and W)
3) Earth fault of the motor wire
4) Burnout of the motor
5) Poor contact of the motor wire.
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)
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
SXOOHGRXWÀ[WKHPVHFXUHO\
6) Replace the servo driver. Do not use
Servo-ON/Servo-OFF as a means of
staring/stopping the operation.
(QWHUWKHSXOVHVPVRUORQJHUDIWHU
Servo-ON.
8) Replace the driver.
*
IPM error
protection
,30
Intelligent
Power Module
1
*
Over-heat
protection
15 0 Temperature of the heat sink or power
GHYLFHKDVEHHQULVHQRYHUWKHVSHFLÀHG
temperature.
1) Ambient temperature has risen over
WKHVSHFLÀHGWHPSHUDWXUH
2) Over-load
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.
Note
Related page
 :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK* in the protective function table is activated, it can-
not 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&RQÀJXUDWLRQDQG:LULQJµ3´'HWDLOVRISDUDPHWHUµ
Protective
function
Error code No.
Causes Measures
Main Sub
6-6
1. When in Trouble
Protective function (Detail of error code)
Over-load
protection
16 0 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.
,QHUWLDUDWLR3UVHWXSHUURU
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.
7KHRYHUORDGSURWHFWLRQWLPHFKDUDFWHULVWLFVDUHGHVFULEHGRQ3
Caution
2QFHWKLVHUURURFFXUVLWFDQQRWEHFOHDUHGDWOHDVWIRUVHF
Check that the torque (current) does not
RVFLOODWHVQRUÁXFWXDWHXSDQGRZQYHU\
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.
*
Over-
regeneration
load
protection
18 0 Regenerative energy has exceeded the
capacity of regenerative resistor.
1) Due to the regenerative energy during
deceleration caused by a large load
inertia, converter voltage has risen,
and the voltage is risen further due to
the lack of capacity of absorbing this
energy of the regeneration discharge
resistor.
2) Regenerative energy has not been
DEVRUEHGLQWKHVSHFLÀHGWLPHGXHWRD
high motor rotational speed.
3) Active limit of the external regenerative
UHVLVWRUKDVEHHQOLPLWHGWRGXW\
Caution
Install an external protection such as thermal fuse without fail when
\RXVHWXS3UWR2WKHUZLVHUHJHQHUDWLYHUHVLVWRUORVHVWKH
protection and it may be heated up extremely and may burn out.
Check the load factor of the regenerative
resistor from the front panel or via communi-
cation.
Do not use in the continuous regenerative
brake application.
1) Check the running pattern (velocity
monitor). Check the load factor of the
regenerative resistor and over-regeneration
warning display. Increase the capacity
of the driver and the motor, and loosen
the deceleration time. Use the external
regenerative resistor.
2) Check the running pattern (speed monitor).
Check the load factor of the regenerative
resistor. Increase the capacity of the driver
and the motor, and loosen the deceleration
time. Lower the motor rotational speed.
Use an external regenerative resistor.
6HWXS3UWR
Note
Related page
 :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK* in the protective function table is activated, it can-
not 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´'HWDLOVRISDUDPHWHUµ
Protective
function
Error code No.
Causes Measures
Main Sub
6-7
1. When in Trouble
Protective function (Detail of error code) 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
*
Regenerative
transistor
error
protection
18 1 Regenerative driver transistor on the
servo driver is defective.
Replace the driver.
*
Encoder
communica-
tion discon-
nection error
protection
21 0 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.
*
Encoder
communica-
tion error
protection
1Communication error has occurred in
data from the encoder. Mainly data
error due to noise. Encoder cables are
connected, but communication data has
some errors.
6HFXUHWKHSRZHUVXSSO\IRUWKHHQFRGHU
RI'&9WR9SD\DQDWWHQWLRQ
especially when the encoder cables are
long.
6HSDUDWHWKHHQFRGHUFDEOHDQGWKHPRWRU
cable if they are bound together.
&RQQHFWWKHVKLHOGWR)*
*
Encoder
communi-
cation data
error
protection
23 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.
Position
deviation
excess
protection
24 0 Deviation pulses have exceeded the
VHWXSRI3U
1) The motor movement has not followed
the command.
6HWXSYDOXHRI3U3RVLWLRQ
deviation excess setup) is small.
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
YDOXHWR3UDQG3U0DNHD
encoder wiring as per the wiring diagram.
Set up the longer acceleration/deceleration
time. Lower the load and speed.
6HWXSDODUJHUYDOXHWR3U
Velocity
deviation
excess
protection
1The difference between the internal
positional command speed and actual
speed (speed deviation) exceeds the
VHWXSYDOHRI3U
Note) If the internal positional command
VSHHGLVIRUFLEO\VHWWRGXHWR
instantaneous stop caused by the
FRPPDQGSXOVHLQKLELWLQSXW,1+RU
CW/CCW over-travel inhibit input, the
speed deviation rapidly increases at this
PRPHQW3UVHWXSYDOXHVKRXOGKDYH
VXIÀFLHQWPDUJLQEHFDXVHWKHVSHHG
deviation also largely increases on the
rising edge of the internal positional
command speed.
,QFUHDVHWKHVHWXSYDOXHRI3U
/HQJWKHQWKHDFFHOHUDWLRQGHFHOHUDWLRQ
time of internal positional command speed,
or improve the follow-up characteristic by
adjusting the gain.
'LVDEOHWKHH[FHVVVSHHGGHYLDWLRQ
GHWHFWLRQ3U 
Protective
function
Error code No.
Causes Measures
Main Sub
6-8
1. When in Trouble
Protective function (Detail of error code)
*
Hybrid
deviation
excess error
protection
25 0 3RVLWLRQRIORDGE\WKHH[WHUQDOVFDOH
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.
'XULQJIXOOFORVHGFRQWUROQXPHUDWRU
of command division/multiplication is
changed or switched over.
&KHFNWKHFRQQHFWLRQEHWZHHQWKHPRWRU
and the load.
&KHFNWKHFRQQHFWLRQEHWZHHQWKHH[WHUQDO
scale and the driver.
&KHFNWKDWWKHYDULDWLRQRIWKHPRWRU
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.
'RQRWFKDQJHFRPPDQGGLYLVLRQ
multiplication during full closed control.
Over-speed
protection
26 0 The motor rotational speed has exceeded
the setup value of Pr5.13.
'RQRWJLYHDQH[FHVVLYHVSHHGFRPPDQG
&KHFNWKHFRPPDQGSXOVHLQSXWIUHTXHQF\
and division/multiplication ratio.
0DNHDJDLQDGMXVWPHQWZKHQDQRYHUVKRRW
has occurred due to a poor gain adjustment.
0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
per the wiring diagram.
2nd Over-
speed
protection
1The motor rotational speed has exceeded
the setup value of Pr6.15.
Command
pulse input
frequency
error
protection
27 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.
Electronic
gear error
protection
2Division 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.
7KHFRPPDQGSXOVHVSHUPV
multiplied by the command division and
PXOWLSOLFDWLRQUDWLRH[FHHGV0SSV
7KHFRPPDQGSXOVHLQSXWÁXFWXDWHV
Noises mixed with the command pulse
input cause counting error.
6HWWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQ
ratio to a value as small as possible e.g.
EHWZHHQDQG
&KHFNWKHVHWXSYDOXHRIHOHFWURQLFJHDU
,ISRVVLEOHXVHWKHOLQHGULYHU,)
6HW3UVHWWLQJRIPD[FRPPDQGSXOVH
LQSXWWRDYDOXHOHVVWKDQDQGHQDEOH
GLJLWDOÀOWHU
Pulse
regeneration
limit
protection
28 0 The output frequency of pulse
regeneration has exceeded the limit.
&KHFNWKHVHWXSYDOXHVRI3UDQG
7RGLVDEOHWKHGHWHFWLRQVHW3UWR
Protective
function
Error code No.
Causes Measures
Main Sub

1. When in Trouble
Protective function (Detail of error code) 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Deviation
counter
RYHUÁRZ
protection
29 0 Positional deviation of encoder pulse
reference has exceeded 2
&KHFNWKDWWKHPRWRUUXQVDVSHUWKH
position command pulses.
&KHFNWKDWWKHRXWSXWWRTXHKDVQRW
saturated in torque monitor.
0DNHDJDLQDGMXVWPHQW
6HWXSPD[LPXPYDOXHWR3UDQG
Pr5.22.
0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
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,QSXWVLJQDOV6,6,6,6,6,
are assigned with two functions.
*
I/F input
function
number error
1 protection
2Input signals (SI1, SI2, SI3, SI4, SI5) are
DVVLJQHGZLWKXQGHÀQHGQXPEHU
*
I/F input
function
number error
2 protection
3,QSXWVLJQDOV6,6,6,6,6,
DUHDVVLJQHGZLWKXQGHÀQHGQXPEHU
*
I/F output
function
number error
1 protection
4Output signals (SO1, SO2, SO3) are
DVVLJQHGZLWKXQGHÀQHGQXPEHU
*
I/F output
function
number error
2 protection
5Output signals (SO4, SO5, SO6) are
DVVLJQHGZLWKXQGHÀQHGQXPEHU
Note  :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK* in the protective function table is activated, it can-
not 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\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;DQGDQODRJLQSXW
Protective
function
Error code No.
Causes Measures
Main Sub

1. When in Trouble
Protective function (Detail of error code)
*
CL
assignment
error
33 6 Counter clear function is assigned to a
signal number other than SI7.
Allocate correct function to each connector
pin.
*
INH
assignment
error
7Command pulse inhibit input function is
assigned to a signal number other than
6,
Software
limit
protection
34 0 When a position command within the
VSHFLÀHGLQSXWUDQJHLVJLYHQWKHPRWRU
operates outside its working range
VSHFLÀHGLQ3U
1) Gain is not appropriate.
2) Pr5.14 setup value is low.
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,
6HW3UWRWRGLVDEOHWKHSURWHFWLYH
function.
*
EEPROM
parameter
error
protection
36 0 Data in parameter storage area has been
damaged when reading the data from
EEPROM at power-on.
6HWXSDOOSDUDPHWHUVDJDLQ
,IWKHHUURUSHUVLVWVUHSODFHWKHGULYHULW
may be a failure.) Return the product to the
dealer or manufacturer.
1
2
*
EEPROM
check code
error
protection
37 0 'DWDIRUZULWLQJFRQÀUPDWLRQWR((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.
1
2
*
Over-travel
inhibit
input
protection
38 0 :LWK3URYHUWUDYHOLQKLELWLQSXW
VHWXS ERWKSRVLWLYHDQGQHJDWLYH
over-travel inhibit inputs (POT/NOT)
have been ON.
:LWK3U SRVLWLYHRUQHJDWLYH
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.
Analog
input 1 (AI1)
excess
protection
39 0 +LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH
analog input 1 than the value that has
been set by Pr4.24.
6HWXS3UFRUUHFWO\&KHFNWKH
FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
6HWXS3UWRDQGLQYDOLGDWHWKH
protective function.
Analog
input 2 (AI2)
excess
protection
1+LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH
analog input 2 than the value that has
been set by Pr4.27.
6HWXS3UFRUUHFWO\&KHFNWKH
FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
6HWXS3UWRDQGLQYDOLGDWHWKH
protective function.
Analog
input 3 (AI3)
excess
protection
2+LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH
analog input 3 than the value that has
EHHQVHWE\3U
6HWXS3UFRUUHFWO\&KHFNWKH
FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
6HWXS3UWRDQGLQYDOLGDWHWKH
protective function.
Note  2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
Protective
function
Error code No.
Causes Measures
Main Sub
6-11
1. When in Trouble
Protective function (Detail of error code) 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Absolute
system
down error
protection
40 0 Voltage of the built-in capacitor has fallen
EHORZWKHVSHFLÀHGYDOXHEHFDXVHWKH
power supply or battery for the absolute
encoder has been down.
Caution
Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.
After connecting the power supply for the
battery, clear the absolute encoder.
*
Absolute
counter
over error
protection
41 0 Multi-turn counter of the absolute
HQFRGHUKDVH[FHHGHGWKHVSHFLÀHG
value.
6HW3UWRWRLJQRUHWKHPXOWLWXUQ
counter over.
/LPLWWKHWUDYHOIURPWKHPDFKLQHRULJLQ
within 32767 revolutions.
Absolute
over-
speed error
protection
42 0 The motor speed has exceeded the
VSHFLÀHGYDOXHZKHQRQO\WKHVXSSO\
from the battery has been supplied to
17-bit encoder during the power failure.
Caution
Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.
&KHFNWKHVXSSO\YROWDJHDWWKHHQFRGHU
VLGH9
&KHFNWKHFRQQHFWLQJFRQGLWLRQRIWKH
FRQQHFWRU;
*
Encoder
initialization
error
protection *1
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
VSHHGWKDQWKHVSHFLÀHGYDOXHDWSRZHU
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.
Note  :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK* in the protective function table is activated, it can-
not 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.
Protective
function
Error code No.
Causes Measures
Main Sub
6-12
1. When in Trouble
Protective function (Detail of error code)
*
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.
0DNHDZLULQJFRQQHFWLRQRIWKHH[WHUQDO
scale as per the wiring diagram.
&RUUHFWWKHPLVZLULQJRIWKHFRQQHFWRUSLQV
*
External
communi-
cation data
error
protection
1Communication 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.
6HFXUHWKHSRZHUVXSSO\IRUWKHH[WHUQDO
VFDOHRI'&WR9SD\
attention especially when the external scale
cables are long.
6HSDUDWHWKHH[WHUQDOVFDOHFDEOHDQGWKH
motor cable if they are bound together.
&RQQHFWWKHVKLHOGWR)*UHIHUWRZLULQJ
diagram.
*
External
scale status
0 error
protection *1
51 0 %LWRIWKHH[WHUQDOVFDOHHUURUFRGH
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[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
1Bit 1 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.
*
External
scale status
2 error
protection *1
2Bit 2 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.
*
External
scale status
3 error
protection *1
3Bit 3 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.
*
External
scale status
4 error
protection *1
4Bit 4 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.
*
External
scale status
5 error
protection *1
5Bit 5 of the external scale error code
(ALMC) has been turned to 1.
&KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
scale.
Note  :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK* in the protective function table is activated, it can-
not 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\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;
Protective
function
Error code No.
Causes Measures
Main Sub
6-13
1. When in Trouble
Protective function (Detail of error code) 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
*
A-phase
wiring error
protection
55 0 A-phase wiring in the external scale is
defective, e.g. discontinued.
Check the A-phase wiring connection.
*
B-phase
wiring error
protection
1B-phase wiring in the external scale is
defective, e.g. discontinued.
Check the B-phase wiring connection.
*
Z-phase
wiring error
protection
2Z-phase wiring in the external scale is
defective, e.g. discontinued.
Check the Z-phase wiring connection.
Forced
alarm input
protection
87 0 Forced alarm input (E-STOP) is applied. Check the wiring of forced alarm input
(E-STOP).
*
Motor
automatic
recognition
error
protection
95
0 to 4
The motor and the driver has not been
matched.
Replace the motor which matches to the
driver.
*
Other error
99 0 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).
7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Stop using the products, and replace the
motor and the driver. Return the products to
the dealer or manufacturer.
$GMXVWWKHFRQGLWLRQRIWKHVDIHW\LQSXW
safety input 2 and then start the alarm clear.
Other
No.
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.
7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Stop using the products, and replace the
motor and the driver. Return the products to
the dealer or manufacturer.
6-14
1. When in Trouble
Protective function (Detail of error code)
Time characteristics of Err16.0 (Overload protection)
Overload protection time characteristics
Time [s]
MSME 50W
MSME 100W（100V）
MSME 100W（200V）
MSME 200W
MSME 400W
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
* 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.
100
115
0.1
1
10
100
200 300 400 500
Torque [%]
Time [s]
100
115
0.1
1
10
100
200 300 400 500
Torque [%]
Motor Type: M * MD
Motor Type: M * ME
MSMD 50W
MSMD 100W（100V）
MSMD 100W（200V）
MSMD 200W
MHMD 200W
MSMD 400W
MHMD 400W
MSMD 750W
MHMD 750W
* Only for position control type.
Caution
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).
6-15
1. When in Trouble
Protective function (Detail of error code) 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Software Limit Function (Err34.0)
1) Outline
 <RXFDQPDNHDQDODUPVWRSRIWKHPRWRUZLWKVRIWZDUHOLPLWSURWHFWLRQ(UUZKHQ
the motor travels exceeding the movable range which is set up with Pr5.14 (Motor
working range setup) against the position command input range.
 <RXFDQSUHYHQWWKHZRUNIURPFROOLGLQJWRWKHPDFKLQHHQGFDXVHGE\PRWRURVFLOOD-
tion.
2) Applicable range
This function works under the following conditions.
Conditions under which the software limit works
Control mode 3RVLWLRQFRQWURO)XOOFORVHGFRQWURO
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ
,QSXWVLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQGLQSXW
inhibit, and parameters except for controls such as torque limit setup,
are correctly set, assuring that the motor can run smoothly.
3) Cautions
 7KLVIXQFWLRQLVQRWDSURWHFWLRQDJDLQVWWKHDEQRUPDOSRVLWLRQFRPPDQG
 :KHQWKLVVRIWZDUHOLPLWSURWHFWLRQLVDFWLYDWHGWKHPRWRUGHFHOHUDWHVDQGVWRSVDF-
FRUGLQJWR3UVHTXHQFHDWDODUP 
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 decel-
eration movement.
 7KLVVRIWZDUHOLPLWSURWHFWLRQZLOOEHLQYDOLGDWHGGXULQJWKHWULDOUXQDQGIUHTXHQF\
characteristics functioning of the PANATERM.
Note
Related page
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;
3´'HWDLOVRISDUDPHWHUµ
6-16
1. When in Trouble
Protective function (Detail of error code)
4) Example of movement
(1) When no position command is entered (Servo-ON status),
The motor movable range will be the travel range which is set at both sides of the
motor with Pr5.14 since no position command is entered. When the load enters to
WKH(UURFFXUUHQFHUDQJHREOLTXHOLQHUDQJHVRIWZDUHOLPLWSURWHFWLRQZLOOEH
activated.
(2) When the load moves to the right (at Servo-ON),
When the position command to the right direction is entered, the motor movable
range will be expanded by entered position command, and the movable range will
be the position command input range + Pr5.14 setups in both sides.
(3) When the load moves to the left (at Servo-ON),
When the position command to the left direction, the motor movable range will be
expanded further.
5) Condition under which the position command input range is cleared
 7KHSRVLWLRQFRPPDQGLQSXWUDQJHZLOOEHFOHDUHGXQGHUWKHIROORZLQJFRQGLWLRQV
ZKHQWKHSRZHULVWXUQHGRQ
ZKLOHWKHSRVLWLRQGHYLDWLRQLVEHLQJFOHDUHG'HYLDWLRQFRXQWHUFOHDULVYDOLG3U
(Sequence at over-travel inhibition) is 2 and over-travel inhibition input is valid.)
$WWKHEHJLQQLQJDQGHQGLQJRIWULDOUXQYLDFRPPXQLFDWLRQ
Motor Load
Motor movable range
Position command
input range
Pr5.14 Pr5.14
Error occurrence range Error occurrence range
Motor Load
Motor movable range
Position command
input range
Error occurrence range Error occurrence range
Pr5.14 Pr5.14
Motor Load
Motor
movable
range
Error occurrence range Error occurrence range
Pr5.14 Pr5.14
Related page
3´'HWDLOVRISDUDPHWHUµ
6-17
1. When in Trouble
Protective function (Detail of error code) 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Warning Function
When an error condition e.g. overloading occurs, the alarm code is issued to indicate that the
corresponding protective function will be triggered if suitable corrective action is not taken.
7KHDODUPZLOOEHFOHDUHGDVWKHFDXVHRIWKHHUURULVUHPRYHG+RZHYHUFHUWDLQDODUPZLOO
remain latched for predetermined period as shown in the table below. To forcibly clear the
alarm, take the normal alarm clear procedure.
Alarm
Alarm
No. Pr6.27 *1Content
Overload protection $ /RDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
Over-regeneration alarm A1 5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKH
protection level.
Battery alarm A2 Fixed at no
time limit. Battery voltage is 3.2 V or lower.
Fan alarm A3 Fan has stopped for 1 sec. *2
Encoder communication
alarm A4 The number of successive encoder communication
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH
Encoder overheat alarm A5 The encoder detects overheat alarm.
Oscillation detection
alarm A6 Oscillation or vibration is detected.
Lifetime detection alarm A7 Fixed at no
time limit.
The life expectancy of capacity or fan becomes
VKRUWHUWKDQWKHVSHFLÀHGWLPH
External scale error alarm A8 The feedback scale detects the alarm.
External scale
communication alarm $ The number of successive feedback scale
FRPPXQLFDWLRQHUURUVH[FHHGVWKHVSHFLÀHGYDOXH
* 7KH´FLUFOHµPHDQVWKDWDWLPHLQWKHUDQJHWRVRUQRWLPHOLPLWFDQEHVHOHFWHG
through Pr6.27
“Warning latching time”. Note that the battery warning and the end of life
warning have no time limit.
*2 7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDODQG
no fan alarm is displayed.
6-18
62.
Setup of gain pre-adjustment protection
When in Trouble
Related page
Related page
Related page
Before starting gain adjustment, set the following parameters based on the conditions of
use, to assure safe operation.
1) Setup of over-travel inhibit input
By inputting the limit sensor signal to the driver, the bumping against mechanical end
can be prevented. Refer to interface specification, positive/negative direction over-
travel inhibit input (POT/NOT). Set the following parameters which are related to over-
travel inhibit input.
3U6HWXSRIRYHUWUDYHOLQKLELWLQSXW
3U6HTXHQFHDWRYHUWUDYHOLQKLELW
332712733U3U
2) Setup of torque limit
By limiting motor maximum torque, damage caused by failure or disturbance such as
bite of the machine and collision will be minimized. To apply standardized limit through
SDUDPHWHUVVHW3U7KHVWWRUTXHOLPLW
If the torque limit setup is lower than the value required during the actual application,
WKHIROORZLQJWZRSURWHFWLYH IHDWXUHVZLOO EHWULJJHUHG RYHUVSHHGSURWHFWLRQZKHQ
overshoot occurs, and excess positional deviation protection when response to the
command delays.
%\DOORFDWLQJWKHWRUTXHLQOLPLWRXWSXW7/&RILQWHUIDFHVSHFLÀFDWLRQWRWKHRXWSXWVLJ-
nal, torque limit condition can be detected externally.
37/&33U33U
3) Setup of over-speed protection
*HQHUDWHV(UU2YHUVSHHGSURWHFWLRQZKHQWKHPRWRUVSHHGLVH[FHVVLYHO\KLJK
Default setting is the applicable motor maximum speed [r/min] × 1.2.
If your application operates below the motor maximum speed, set Pr5.13 Setup of
over-speed level by using the formula below.
3U6HWXSRIRYHUVSHHGOHYHO 9PD[ð to 1.5)
9PD[PRWRUPD[LPXPVSHHG>UPLQ@LQRSHUDWLQJFRQGLWLRQ
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 over-
speed protection by multiplying the adjusting speed by a certain margin to protect the mo-
tor against possible oscillation.
P.4-46 (Pr5.13)
(Continued ...)

1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Related page
4) Setup of the excess positional deviation protection
During the position control or full-closed control, this function detects potential exces-
VLYHGLIIHUHQFHEHWZHHQWKHSRVLWLRQDOFRPPDQGDQGPRWRUSRVLWLRQDQGLVVXHV(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
ZKLFKFDQEHVHOHFWHGE\3U3RVLWLRQVHWXSXQLWVHOHFW6HHWKHFRQWUROEORFNGLD-
gram.)
'HIDXOWVHWWLQJLV>SXOVHFRPPDQGXQLW@
Because the positional deviation during normal operation depends on the operating
VSHHGDQGJDLQVHWWLQJÀOOWKHHTXDWLRQEHORZEDVHGRQ\RXURSHUDWLQJFRQGLWLRQDQG
LQSXWWKHUHVXOWLQJYDOXHWR3U
:KHQ3U GHWHFWLRQWKURXJKFRPPDQGSRVLWLRQDOGHYLDWLRQ
3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9FNSðWR
9FPD[LPXPIUHTXHQF\RISRVLWLRQDOFRPPDQGSXOVH>SXOVHFRPPDQGXQLWV@
.SSRVLWLRQORRSJDLQ>V@
Factor in ( ) is margin to prevent frequent activation of excess positional deviation
protection.
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.
 3RVLWLRQDOFRPPDQGVPRRWKLQJILOWHU9F× filter time constant [s]
 3RVLWLRQDOFRPPDQG),5ILOWHU9F× filter time constant [s]/2
 'DPSLQJFRQWURO9F ×GDPSLQJIUHTXHQF\>+]@
:KHQ3U GHWHFWLRQWKURXJKHQFRGHUSRVLWLRQDOGHYLDWLRQ
full-closed positional deviation)
3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9H.S×WR
9HPD[LPXPRSHUDWLRQIUHTXHQF\>SXOVHV@LQHQFRGHUXQLWRUIXOOFORVHGXQLW
.SSRVLWLRQORRSJDLQ>V@
Note 3) When switching position loop gain Kp, select the smallest value for calculation.
1RWH :KHQ3U VHWXSVRISRVLWLRQDOFRPPDQGILOWHUDQGGDPSLQJFRQWUROKDYH
no effect.
33U33U
Related page
5) Setup of motor working range
During the position control or full-closed control, this function detects the motor posi-
tion which exceeds the revolutions set to Pr5.14 Motor working range setup, and is-
VXHV(UUSoftware limit protection.
P.4-46 (Pr5.14)
2. Setup of gain pre-adjustment protection

Related page
6) Setup of hybrid deviation excess error protection
At the initial operation with full-closed control, operation failure may occur due to re-
verse 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LV-
sued when the deviation of motor position (encoder unit) and load position (external
scale unit) exceed Pr3.28 Setup of hybrid deviation excess.
'HIDXOWVHWWLQJLVSXOVHFRPPDQGXQLW%HFDXVHWKHGHYLDWLRQLQQRUPDORSHUD-
tion varies with the operation speed and gain setup. Add a margin to this setting ac-
cording to your operating condition.
P.4-32 (Pr3.28)
2. Setup of gain pre-adjustment protection
6-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
63. Troubleshooting
When in Trouble Motor Does Not Run
:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
&ODVVLÀFDWLRQ
Causes Measures
Parameter Setup of the
control mode is
not correct
Check that the present
control mode is correct
with monitor mode of the
front panel.
6HWXS3UDJDLQ
2) Check that the input to control mode switching
&02'(RIWKH&QQHFWRU;LVFRUUHFWZKHQ
3ULVVHWWRWR
Selection of
torque limit is not
correct
Check that the external
analog input (N-ATL/
P-ATL) is not used for the
torque limit.
6HWXS3UWRDQGDSSO\>9@WR1$7/DQG
>9@WR3$7/ZKHQ\RXXVHWKHH[WHUQDOLQSXW
6HWXS3UWRDQGVHWXSWKHPD[YDOXHWR
3UZKHQ\RXXVHWKHSDUDPHWHUYDOXH
Setup of
electronic gear
is not correct.
(Position/Full-
closed)
Check that the motor
moves by expected
revolution against the
command pulses.
&KHFNWKHVHWXSVRI3U3UDQG3UWR
3UDJDLQ
2) Connect the electronic gear switching input (DIV) of
&RQQHFWRU;WR&20²RULQYDOLGDWHWKHGLYLVLRQ
multiplication switching by setting up the same
YDOXHWR3UDQG3U
Wiring Servo-ON input
of Connector
;65921LV
open.
In the front panel monitor
mode, is the Pin No.
corresponding to SRV-
ON in “ - ” state?
Check and make a wiring so as to connect the SRV-
21LQSXWWR&20²
Positive/negative
direction over-
travel 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
127327LQSXWVWR&20²
6HWXS3UWRLQYDOLGDQGUHVHWWKHSRZHU
Command pulse
input setup
is incorrect.
(Position/Full-
closed)
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\WRWKHGLUHFWLRQVHOHFWHGZLWK3U
2) Check that the command pulses are entered
FRUUHFWO\LQWKHIRUPDWVHOHFWHGZLWK3U
Command
pulse input
LQKLELWLRQ,1+RI
&RQQHFWRU;LV
open. (Position/
Full-closed)
In the front panel monitor
mode, is the Pin No.
FRUUHVSRQGLQJWR,1+LQ
“ A ” state?
&KHFNDQGPDNHDZLULQJVRDVWRFRQQHFWWKH,1+
LQSXWWR&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
6HWXS3UWRLQYDOLG
Related page
3´+RZWR8VHWKH)URQW3DQHOµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
3´'HWDLOVRISDUDPHWHUµ
6-22
:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
&ODVVLÀFDWLRQ
Causes Measures
Wiring Speed command
is invalid
(Velocity)
Check that the velocity
command input method
(external analog
command/internal
velocity command) is
correct.
&KHFNWKHVHWXSVRI3UWR3UDJDLQE\
VHWWLQJXS3UWRZKHQ\RXXVHWKHH[WHUQDO
analog command.
6HWXS3UWR3UDQG3UWR3UE\
VHWWLQJXS3UWRHLWKHURQHRIRUZKHQ
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
]HURFODPSLQSXWWR&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
VHWWLQJXS3UWRZKHQ\RXXVH6357545
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
3UWRZKHQ\RXXVHWKHSDUDPHWHUVSHHG
2) Check that the input voltage is applied correctly
by setting up Pr3.17 to 1, when you use the SPR/
TRQR/SPL input.
Installation Main power is
shut off.
In the front panel monitor
mode, is the Pin No.
FRUUHVSRQGLQJWR65'<
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. Troubleshooting
Motor Does Not Run
Related page
3´'HWDLOVRISDUDPHWHUµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
6-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
&ODVVLÀFDWLRQ
Causes Measures
Parameter Setup of the control mode is not
correct.
,I\RXVHWXS3UWR9HORFLW\FRQWUROPRGHE\PLVWDNHDW
position control mode, the motor runs slowly at servo-ON due to
VSHHGFRPPDQGRIIVHW&KDQJHWKHVHWXSRI3UWR
Adjustment
Gain adjustment is not proper. ,QFUHDVHWKHVHWXSRI3UVWYHORFLW\ORRSJDLQ(QWHUWRUTXH
ÀOWHURI3UDQGLQFUHDVHWKHVHWXSRI3UDJDLQ
Velocity and position command
are not stable.
&KHFNWKHPRWRUPRYHPHQWZLWKFRQQHFWRU;RIWKHIURQWSDQHO
or the waveform graphic function of the PANATERM. Review the
wiring, connector contact failure and controller.
Wiring Each input signal of Connector
;LVFKDWWHULQJ
1) Servo-ON signal
2) Positive/Negative direction
torque limit input signal
3) Deviation counter input signal
4) Speed zero clamp signal
5) Command pulse inhibition
input
&KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV
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
RIWKH&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH&RUUHFWWKH
wiring and connection so that Positive/Negative direction torque
limit input can be entered normally.
&KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&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\IXQFWLRQRI,2VLJQDOVWDWXV&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;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the command pulse inhibition
input can be entered normally. Review the controller.
Noise is on the velocity
command.
8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;
6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQHFPRUORQJHULQWKH
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.
8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;
6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQHFPRUORQJHULQWKH
separate duct.
63. Troubleshooting
When in Trouble Unstable Rotation (Not Smooth),
Motor Runs Slowly Even with Speed Zero at Velocity Control Mode
Related page
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6-24
63. Troubleshooting
When in Trouble Positioning Accuracy Is Poor
&ODVVLÀFDWLRQ
Causes Measures
System 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
ZLWKWKH&RQQHFWRU;RUWKHZDYHIRUPJUDSKLFIXQFWLRQRIWKH
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.
,QFUHDVHWKHVHWXSRI3UZLWKLQWKHUDQJHZKHUHQRRVFLOODWLRQ
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[FHHGHGNSSVRU0SSV
Lower the command pulse frequency. Change the division/
multiplication ratio of 1st and 2nd numerator of command division/
PXOWLSOLFDWLRQ3UDQG3U8VHDSXOVHOLQHLQWHUIDFH
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.
6HWXS3UDQG3URIWLPHFRQVWDQWRIYHORFLW\ORRS
LQWHJUDWLRQWRRUVPDOOHU
5HYLHZWKHZLULQJDQGFRQQHFWLRQVRWKDWWKHFRQQHFWLRQEHWZHHQ
Pin-27 and 41 of the gain switching input connector, Connector
;EHFRPHVRIIZKLOH\RXVHWXS3URIQGJDLQVHWXSWR
Wiring Each input signal of Connector
;LVFKDWWHULQJ
1) Servo-ON signal
2) Deviation counter clear input
signal
3) Positive/Negative direction
torque limit input signal
4) Command pulse inhibition
input
&KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
FRQQHFWRU&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the servo-On
signal can be turned on normally. Review the controller.
&KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
FRQQHFWRU&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDO
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
RIWKHFRQQHFWRU&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH
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;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the command
pulse inhibition input can be entered normally. Review the controller.
Installation 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.
Related page
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6-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
63. Troubleshooting
When in Trouble Origin Point Slips
&ODVVLÀFDWLRQ
Causes Measures
System 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.
+RPLQJFUHHSVSHHGLVIDVW Lower the homing speed at origin proximity. Or widen the origin
sensor.
Wiring 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. 5HGXFHQRLVHLQVWDOODWLRQRIQRLVHÀOWHURUIHUULWHFRUHVKLHOG
treatment of I/F cables, use of a twisted pair or separation of power
and signal lines.
No Z-phase signal output. Check the Z-phase signal with oscilloscope. Check that the Pin-
RIWKHFRQQHFWRUFRQQHFWRU;LVFRQQHFWHGWRWKHHDUWKRIWKH
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.
63. Troubleshooting
When in Trouble Abnormal Motor Noise or Vibration
&ODVVLÀFDWLRQ
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
LQVWDOODWLRQRIQRLVHÀOWHURUIHUULWHFRUHVKLHOGWUHDWPHQWRI,)
cables, use of a twisted pair, separation of power and signal lines.
Adjustment
Gain setup is large. /RZHUWKHJDLQE\VHWWLQJXSORZHUYDOXHVWR3UDQGRI
YHORFLW\ORRSJDLQDQG3UDQG3URISRVLWLRQORRSJDLQ
Installation Resonance of the machine and
the motor.
5HDGMXVW3UDQG
Check if the machine resonance exists or not with frequency
characteristics analyzing function of the PANATERM. Set up the
QRWFKIUHTXHQF\WR3U3U3URU3ULIUHVRQDQFH
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.
6-26
63. Troubleshooting
When in Trouble Overshoot/Undershoot,
Overheating of the Motor (Motor Burn-Out)
&ODVVLÀFDWLRQ
Causes Measures
Adjustment
Gain adjustment is not proper. Check with graphic function of PANATERM or monitor (connector
;0DNHDFRUUHFWJDLQDGMXVWPHQW5HIHUWR´$GMXVWPHQWµ
Installation Load inertia is large. Check with graphic function of PANATERM or monitor (Connector
;0DNHDQDSSURSULDWHDGMXVWPHQW,QFUHDVHWKHPRWRUDQG
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
GULYHUIDQRUUHTXHVWIRUUHSDLU7KHXSSHUIDQRQWKH+IUDPHGULYHU
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.
63. Troubleshooting
When in Trouble Motor Speed Does Not Reach to the Setup,
Motor Revolutions (Travel) Is Too Large or Small
&ODVVLÀFDWLRQ
Causes Measures
Parameter Velocity command input gain is
not correct.
&KHFNWKDWWKHVHWXSRI3UVSHHGFRPPDQGLQSXWJDLQLV
PDGHVRDVWRPDNHWKHVHWXSRIPDNHVUPLQ9
Adjustment
Position loop gain is low. 6HWXS3UDQG3USRVLWLRQORRSJDLQWRDSSUR[
Division/Multiplication is not
proper.
6HWXSFRUUHFWYDOXHVWR3UVWQXPHUDWRURIHOHFWURQLF
JHDU3UQXPHUDWRUPXOWLSOLHURIHOHFWURQLFJHDUDQG3U
denominator of electronic gear. Refer to parameter setup at each
mode.
Related page
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6-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
63. Troubleshooting
When in Trouble Parameter Returns to Previous Setup
&ODVVLÀFDWLRQ
Causes Measures
Parameter No writing to EEPROM has been
carried out before turning off the
power.
5HIHUWR3´((3520:ULWLQJ0RGHµRI3UHSDUDWLRQ
6-28
MEMO
7-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
7. Supplement
1. Safety function
Outline ........................................................................................................7-2
Input & output signals .................................................................................7-3
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.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
Details of Communication Command .......................................................7-40
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
G-frame ........................................................................................7-77
H-frame ........................................................................................7-78
Motor .........................................................................................................7-79
7. Options
Noise Filter ................................................................................................7-94
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
Recommended components(Surge absorber for motor brake) ..............7-124
List of Peripheral Equipments .................................................................7-125
7-2
71. 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
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3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
7-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Safety input signal
Caution
For list of connector pin numbers, refer to P.2-53,
Signal Symbol Pin No. Contents Control
mode
Safety
input 1
SF1+ 4 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. Compatible
all control
mode
6)ï 3
Safety
input 2
SF2+ 6 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.
6)ï 5
<Response time>
Safety input 1 or 2 enables STO to operate: within 5 ms of response time, the motor
output torque will be turned off.
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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
EXLOWLQÀOWHUWKDWUHPRYHVWKHVHOIGLDJQRVLV/SXOVH
Therefore, if the off period of safety input signal less than 1 ms, the safety input circuit
GRHVQRWGHWHFWWKLV´RIIµHYHQW
7RYDOLGDWHWKLV´RIIµSHULRGWXUQRIIWKHLQSXWVLJQDOIRUPRUHWKDQPV
Safety input
signal
Servo driver
Operate
L pulse for self-diagnosis
1 ms or shorter 5 ms or shorter
Response time
5 ms or more
STO state
71. Safety function
Supplement Input & output signals
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;6DIHW\IXQFWLRQFRQQHFWRU
7-4
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 Symbol Pin No. Contents Control
mode
EDM
output
EDM+ 8 Outputs monitor signal that is used to check the
safety function.
Caution
This output signal is not a safety output.
Compatible
all control
mode
('0ï 7
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Note
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 Symbol Photocoupler logic
Safety input SF1 ON ON OFF OFF
SF2 ON OFF ON OFF
EDM output EDM 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.
Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms.
1. Safety function
Input & output signals
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;6DIHW\IXQFWLRQFRQQHFWRU
7-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
71. Safety function
Supplement Safety Circuit Block Diagram
Power
LPF（3ms）
Control
Circuit
Motor
M
ASIC
PC
PC
I_SF1
IL_EMG
I_SF2
O_EDM
('0ï
EDM+
6)ï
SF2+
SF1+
6)ï
X3
Power section interface
4
3
6
5
8
7
+5V
+5V
+5V
+5V
+5V
+5V
in
+5V
out
+5V
+5V
5V
5V
3.3V
level
shifter N
μC
analog
input
μC
analog
input
μC port
+5V PS
Voltage
Monitor
IL_ERR1
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;6DIHW\IXQFWLRQFRQQHFWRU
7-6
71. Safety function
Supplement Timing Chart
Operating timing for safety status
*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.
input coupler OFF
(Servo-OFF command)
input coupler ON
(Servo-ON command)
output coupler OFF
(not ready)
output coupler ON
(ready)
output coupler OFF
(Alarm)
output coupler ON
(not Alarm)
output coupler OFF
(Break engage)
output coupler ON
(Break release)
output coupler OFF
(Break engage)
output coupler ON
(Break release)
input coupler ON
output coupler OFF
energized not-energized
released engaged
Servo-ON input
(SRV-ON)
Motor energization
Dynamic brake *2
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
when time to fall
below value of
Pr4.39 is shorter,
when setup
value of Pr4.38
is shorter,
t1*1
t1*1
input coupler OFF (STO)
output coupler ON
Safety input 1
Safety input 2
*3
EDM output
max 5ms
max 6ms
0.5 to 5ms
Setup value of Pr4.38
Setup value of Pr4.38
motor speed
Setup value of Pr4.39
motor speed
Setup value of Pr4.39
Note
Related page
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7-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Safety function
Timing Chart
Return timing from safety state
*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 Se-
quence at alarm.
*3 This is normal servo-off condition and the dynamic brake operates according to
Pr5.06 Sequence at servo-off.
input coupler OFF
(Servo-OFF command) input coupler ON
(Servo-ON command)
output coupler OFF
(not ready) output coupler ON
(ready)
output coupler OFF
(Alarm) output coupler ON
(not Alarm)
input coupler OFF input coupler ON
output coupler OFF (Break engage)
input coupler ONinput coupler OFF
output coupler ON
generated alarm Servo-OFF
output coupler OFF
not-energized
Servo-ON input
(SEV-ON)
*1
Safety input
1
Safety input 2
Motor energization
EDM
output
Dynamic brake
Servo-Ready output
(S-RDY)
Servo-Clear intput
(ALM)
*1
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
max 6ms
released/engaged *2released/engaged *3
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”)
Note
Related page
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7-8
Example of connection to safety switch
71. Safety function
Supplement Example of connection
Example of connection to safety controller
Example of connection to safety sensor
Servo driver
M
Servo driver
M
M
0V
Safety input
EDM output
Safety input
Safety
switch
24V
Sefety output
(source)
Sefety output
(source)
Safety sensor
Safety
controller
Contact output
SF1+
6)ï
SF2+
6)ï
EDM+
EDM
ï
Safety input
EDM output
EDM output
Safety input
SF1+
Control output 1
Control output 2
0V
24V
EDM input
6)ï
SF2+
6)ï
EDM+
EDM
ï
Safety input
Contact output
Servo driver
SF1+
6)ï
SF2+
6)ï
0V
A2
T33
T31
S24S14
EDM+
EDM
ï
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;6DIHW\IXQFWLRQFRQQHFWRU
7-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Safety function
Example of connection
Example of connection when using multiple axes
M
M
M
Sefety output
(source)
EDM
output
EDM output
Servo driver
SF1+
Control
output 1
Control
output 2
0V
24V
EDM input
6)ï
SF2+
6)ï
EDM+
EDM
ï
Servo driver
SF1+
6)ï
SF2+
6)ï
EDM+
EDM
ï
EDM
output
Servo driver
SF1+
6)ï
SF2+
6)ï
EDM+
EDM
ï
Safety sensor
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
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;6DIHW\IXQFWLRQFRQQHFWRU
7-10
72. 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.
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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
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(7-wire type).
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There are 3 connecting methods of the host controller and MINAS-A5 driver as described
below, and select a method depending on the interface of the host controller specs or
number of axis to be connected. Designate a module ID to Pr5.31 of each MINAS-A5
driver when you connect multiple MINAS-A5 in communication to one host controller as
shown below.
[Parameter Pr5.31]
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communication individually, designate 0 to 31 to each MINAS-A5.
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with RS485, designate 0 to the MINAS-A5 connected with the host, and designate 1 to
31 to other MINAS-A5. (Max 32 axis are connectable.)
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and designate 1 to 31 to MINAS-A5. (Max 31 axis are connectable.)
M M S
8th place
Rotary encoder specifications
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7-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
72. Absolute system
Supplement Configuration
* No connection to X5 when no
external scale is used.
Host controller
RS232
interface SN751701 or equivalent
Motor
Relay
connector
Positioning
controller
TXD
RXD
GND
4
3
1
Servo driver
RXD
TXD
GND
6RS485+
5
8
7
RS485ï
RS485+
RS485ï
X2
RS485 can be
connecter to either
terminal pair.
X4
X6
Detection
head
External scale unit
Relay
connector
X5
SN751701 or equivalent
Motor
Relay
connector
4
3
1
RXD
TXD
GND
6RS485+
5RS485ï
8RS485+
7RS485ï
X2
X4
X6
Detection
head
External scale unit
Relay
connector
X5
RS485 can be
connecter to either
terminal pair.
When longer wirings
are used and/or drivers
are connected to
different power
sources, interconnect
GND terminals of these
drivers to prevent
potential generation.
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* No connection to X5 when no
external scale is used.
Motor
Relay
connector
X4
X6
Detection
head
External scale unit
Relay
connector
X5
RS485
interface ADM485 or equivalent
RS485+
RS485–
GND
8
7
Servo driver
X2
RS485+
6
5
1RS485–
GND
RS485+
RS485–
Host controller
Positioning
controller
Note * Battery for absolute encoder is required to store the multi-turn data into the encoder.
Connect the battery between BAT+ and BAT– of the motor.
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7-12
72. Absolute system
Supplement Battery (for Backup) Installation
First Installation of the Battery
After installing and connecting the back-up battery to the motor, execute an absolute en-
coder setup. Refer to P.7-16, "Setup (initialization) of Absolute Encoder ".
It is recommended to perform ON/OFF action once a day after installing the battery for
refreshing the battery.
A battery error might occur due to voltage delay of the battery if you fail to carry out the
battery refreshment.
Caution
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Battery .............Part No. : DV0P2990 (3.6V 2000mAh)
Battery box ......Part No. : DV0P4430
Replacement of the Battery
Caution
It is necessary to replace the battery for absolute encoder when battery alarm occurs.
Replace while turning on the control power. Data stored in the encoder might be
lost when you replace the battery while the control power of the driver is off.
After replacing the battery, clear the battery alarm. Refer to P.7-25, "How to Clear the
Battery Alarm".
When you execute the absolute encoder with the front panel (refer to P.2-113 of Prepara-
tion), or via communication (refer to P.7-54), all of error and multi-turn data will be cleared
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HQFRGHUµUHIHUWR3
How to Replace the Battery
CN601
Pull out after 5 min.
connection Raise the latch and
take off the cover.
1) Refresh the new battery.
Connector with lead wire of the
battery to CN601 and leave of 5 min.
Pull out the connector from CN601 5
min after.
2) Take off the cover of the battery box.
Note
Related page
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7-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Caution
Caution
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cause electrolyte to leak from the battery, giving rise to trouble where the product may be-
come corroded, and/or the battery itself may rupture.
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2) Leaving a battery which has been used for a long period of time or a battery which is no
longer usable sitting inside the product can cause electrolyte leakage and other trouble.
For this reason, ensure that such a battery is replaced at an early date. (As a general
guideline, it is recommended that the battery be replaced every two years.)
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only corrode the surrounding parts but also give rise to the danger of short-circuiting
since it is electrically conductive. For this reason, ensure that the battery is replaced
periodically.
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or apply heat to it as doing to may cause it to rupture.
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tube be peeled off.
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EDWWHU\VLQFHVXFKREMHFWVPD\FDXVHDKLJKFXUUHQWWRÁRZDOODWRQFHZKLFKZLOOQRW
only reduce the battery performance but also generate considerable heat, possibly
leading to the rupture of the battery.
7KLVEDWWHU\LVQRWUHFKDUJHDEOH8QGHUQRFLUFXPVWDQFHVPXVWDQ\DWWHPSWEHPDGHWR
recharge it.
The disposal of used batteries after they have been replaced may be subject to
restrictions imposed by local governing authorities. In such cases, ensure
that their disposal is in accordance with these restrictions.
Connect
the connector.
Place the battery with
+ facing downward.
Close the cover not to
pinch the connector cable.
3) Install the battery to the battery box.
4) Close the cover of the battery box.
2. Absolute system
Battery (for Backup) Installation
7-14
/LIHRIWKHEDWWHU\
Caution
Following example shows the life calculation of the back-up battery used in assumed ro-
bot operation.
2000[mAh] of battery capacity is used for calculation.
Note that the following value is not a guaranteed value, but only represents a calculated
value.
The values below were calculated with only the current consumption factored in. The cal-
culations do not factor in electrolyte leakage and other forms of battery deterioration.
Life time may be shortened depending on ambient condition.
1) 2 cycles/day
Annual consumption capacity =
(10h × a + 0.0014h × b + 2h × c) × 2 × 313 days + 24h × c × 52 days =
172.7[mAh] )
Battery life = 2000[mAh]/172.7[mAh/year] = 11.6 (11.581) [year]
2) 1 cycle/day
(2nd cycle of the above 1) is for rest.
Annual consumption capacity =
(10h × a + 0.0014h × b + 14h × c) × 313 days + 24h × c × 52 days =
349.1[mAh] )
Battery life = 2000[mAh]/349.1[mAh/year] = 5.7 (5.728) [year]
a : Current consumption in normal mode 3.6[ѥA]
b : Current consumption at power failure timer mode 180[ѥA]
* Power failure timer mode...Action mode in time period when the motor
can respond to max. speed even the power is off (5sec).
c : Current consumption at power failure mode 60[ѥA]
Mon. to Sat. 313 days/365 day Sun. 52 days/365 days
24h
10h 2h 10h 2h
ON
OFF
Power
supply
24h
acb cbac
2. Absolute system
Battery (for Backup) Installation
7-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6
Junction connector for
encoder cable
(Optional connector kit)
Pin number when a connector (small motor) is used
Pin number when a connector (large motor) is used Connector X6
(Optional connector kit)
3
5
2
1
2
5
6
1
Connector, ZHR-2
(by J.S.T.)
Connector for absolute encoder connection
(To be provided by customer)
*1 Battery for absolute encoder (Option):
DV0P2990
Battery box for absolute encoder:
DV0P4430
2
1
2
7
4
1
(4)
(1)
(6)
(5)
(3)
(7)
(9)
E5V
E0V
BAT+
BAT–
BAT+
BAT–
PS
BAT–
BAT+
FG
PS
E5V
E0V
PS
PS
FG (Case)
Twisted
pair
Title
Connector
Connector pin
Clamping Jig
Part No.
ZMR-2
SMM-003T-P0.5
YRS-800
Manufacturer
J.S.T.
J.S.T.
J.S.T.
Battery *1
:LULQJ'LDJUDP
2. Absolute system
Battery (for Backup) Installation
When you make your own cable for 17-bit absolute encoder
Caution
When you make your own cable for 17-bit absolute encoder, connect the optional battery
for absolute encoder, DV0P2990 as per the wiring diagram below. Connector of the bat-
tery for absolute encoder shall be provided by customer as well.
,QVWDOODQGÀ[WKHEDWWHU\VHFXUHO\,IWKHLQVWDOODWLRQDQGÀ[LQJRIWKHEDWWHU\LVQRWDSSUR-
priate, it may cause the wire breakdown or damage of the battery.
Refer to the instruction manual of the battery for handling the battery.
,QVWDOODWLRQ3ODFH
1) Indoors, where the products are not subjected to rain or direct sun beam.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
VXOÀGH VXOIXURXV DFLG FKORULQH DPPRQLD FKORULF JDV VXOIXULF JDV DFLG DONDOLQH
DQGVDOW DQG VR RQ DQG DUHIUHHIURPVSODVK RI LQÁDPPDEOH JDV JULQGLQJ RLO RLO
mist, iron powder or chips and etc.
3) Well-ventilated and humid and dust-free place.
4) Vibration-free place
Note
Related page
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
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7-16
72. Absolute system
Supplement Setup (Initialization) of Absolute Encoder
Absolute multi-turn data will be maintained by the absolute encoder battery.
:KHQRSHUDWLQJWKHPDFKLQHIRUWKHÀUVWWLPHDIWHULQVWDOOLQJWKHEDWWHU\WRWKHDEVROXWHHQ-
coder, clear the encoder data (multi-turn data) to 0 at the origin by following the procedure
described below.
Clear the absolute encoder from the front panel (see P.2-113) or PANATERM. Turn off
power and then on again.
72. Absolute system
Supplement Transferring absolute data
Transfer the absolute data (absolute data of external scale) from the servo driver to the
host controller: turn on power and wait until the servo ready output (S-RDY) is turned on,
and then start transfer.
Setup of serial communication interface on host controller
56
Baud rate 2400, 4800, 9600, 19200, 38400, 57600, 115200bps
Data 8 bit
Parity none
Start bit 1 bit
Stop bit 1 bit
The baud rate is set according to Pr5.29 Baud rate setup of RS232 communication.
56
Baud rate 2400, 4800, 9600, 19200, 38400, 57600, 115200bps
Data 8 bit
Parity none
Start bit 1 bit
Stop bit 1 bit
The baud rate is set according to Pr5.30 Baud rate setup of RS485 communication.
Note
Related page
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7-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
RS232 Communication Protocol
Refer to the instruction manual of the host for the transmission/reception method of com-
mand.
Transmission starts
N
N
N
N
Y
Y
Y
Y
transmission finishes
05h transmission
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
04h transmission
06h transmission 15h transmission
Reception of
absolute data
(15 characters)
04h reception
06h reception
05h reception
Check sum
OK'ed reception
01h transmission
00h transmission
2Dh transmission
*
1
*
2
D2h transmission
Enter the Pr5.31 value of the driver to which you want to communicate from the host to
axis (*1 data) of the command block, and transmit the command according to the RS232
communication protocol. For details of communication, refer to P.7-27, "Communication".
Caution
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWR
capture multiple axes data.
,WLVUHFRPPHQGHGIRU\RXWRUHSHDWWKHDERYHFRPPXQLFDWLRQPRUH
than 2 times to confirm the absolute data coincide, in order to avoid
mis-operation due to unexpected noise.
2. Absolute system
Transferring absolute data
Data of *1 and *2 are determined by the setup
RI3U´$[LVDGGUHVVµ
Axis address
(example)
Data of *1Data of *2
000h2Eh
1 01h 2Dh
202h2Ch
3 03h 2Bh
4 04h 2Ah
5 05h 29h
6 06h 28h
7 07h 27h
808h26h
9 09h 25h
10 0Ah 24h
11 0Bh 23h
12 0Ch 22h
13 0Dh 21h
14 0Eh 20h
15 0Fh 1Fh
16 10h 1Eh
17 11h 1Dh
18 12h 1Ch
19 13h 1Bh
20 14h 1Ah
21 15h 19h
22 16h 18h
23 17h 17h
24 18h 16h
25 19h 15h
26 1Ah 14h
27 1Bh 13h
28 1Ch 12h
29 1Dh 11h
30 1Eh 10h
31 1Fh 0Fh
Check sum becomes OK'ed when the lower
8-bit of the sum of the received absolute data
(15 characters) is 0.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRU
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
7-18
56&RPPXQLFDWLRQ3URWRFRO
Refer to the instruction manual of the host for the transmission/reception method of com-
PDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQH[DPSOHRIWKHGULYHUWR3U´$[LVDGGUHVV
µ
Reception of
absolute data
(15 characters)
N
N
N
N
Y
Y
Y
Y
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
Transmission starts
transmission finishes
06h transmission 15h transmission
Check sum
OK'ed reception
01h transmission
00h transmission
81h transmission
05h transmission
2Dh transmission
*
2
*
1
*
1
*
3
D2h transmission
80h reception
05h reception
80h transmission
04h transmission
81h reception
04h reception
06h reception
Command from the host will be transmitted to the desired driver based on RS485 trans-
mission protocol. For details of communication, refer to P.7-27, "Communication".
Caution
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWRFDS-
ture multiple axes data.
,W LV UHFRPPHQGHG IRU \RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH
WKDQ WLPHVWRFRQÀUP WKHDEVROXWH GDWDFRLQFLGH LQRUGHU WR DYRLG
mis-operation due to unexpected noise.
2. Absolute system
Transferring absolute data
Data of *1, *2 and *3 are determined by the setup of
3U´$[LVDGGUHVVµ
Axis
address
(example)
Data of *1 Data of *2 Data of *3
0 not usable with RS485 communication
1 81h 01h 2Dh
2 82h 02h 2Ch
3 83h 03h 2Bh
4 84h 04h 2Ah
5 85h 05h 29h
6 86h 06h 28h
7 87h 07h 27h
8 88h 08h 26h
9 89h 09h 25h
10 8Ah 0Ah 24h
11 8Bh 0Bh 23h
12 8Ch 0Ch 22h
13 8Dh 0Dh 21h
14 8Eh 0Eh 20h
15 8Fh 0Fh 1Fh
16 90h 10h 1Eh
17 91h 11h 1Dh
18 92h 12h 1Ch
19 93h 13h 1Bh
20 94h 14h 1Ah
21 95h 15h 19h
22 96h 16h 18h
23 97h 17h 17h
24 98h 18h 16h
25 99h 19h 15h
26 9Ah 1Ah 14h
27 9Bh 1Bh 13h
28 9Ch 1Ch 12h
29 9Dh 1Dh 11h
30 9Eh 1Eh 10h
31 9Fh 1Fh 0Fh
Check sum becomes OK'ed when the lower 8-bit of the
sum of the received absolute data (15 characters) is 0.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRU
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 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
7-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Composition of Absolute Data
Absolute data consists of singe-turn data which shows the absolute position per one
revolution and multi-turn data which counts the number of revolution of the motor after
clearing the encoder.
Single-turn data and multi-turn data are composed by using 15-character data (hexadeci-
mal binary code) which are received via RS232 or RS485.
Single-turn data
CW CCW
–1 0 0 1 1 2
131071 0,1,2 … …13107 1 0,1,2 131071 0,1,
Multi-turn data
Motor rotational direction
'HWDLOVRIPXOWLWXUQGDWD
65535
CW 0 CCW
Error
Absolute counter over
error protection Normal Error
Multi-turn data
0Bh
Axis address
D2h
03h
11h
Encoder status (L)
Setup value of Pr5.31 “Axis address”.
Encoder status (H)
Single-turn data (L)
Single-turn data (M)
Single-turn data (H)
Multi-turn data (L)
Multi-turn data (H)
00h
Error code
Checksum
Becomes to 0 when the communication is
carried out normally. If not 0, capture the
absolute data from the driver again
Received
absolute data
(15 characters)
Remarks
Note
,IWKH PXOWLWXUQ GDWD RIWKHDERYH ÀJ LV EHWZHHQWR  FRQYHUW LWWRVLJQHG
date after deducting 65536.
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2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
2. Absolute system
Transferring absolute data
Single-turn data Single-turn data (H)×10000h+Single-turn data (M)×100h+Single-turn data (L)
multi-turn data multi-turn data (H) ×100h+multi-turn data (L)
7-20
Remarks
)RUGHWDLORIWKH(QFRGHUVWDWXVUHIHUWRWKH(QFRGHUVSHFLÀFDWLRQ
Remarks
7UDQVPLWWKHDEVROXWHGDWDZKLOHIL[LQJWKHPRWRUZLWKEUDNHE\WXUQ-
ing to Servo-Off.
(1) Over-speed Err42.0 (Absolute over-speed error protection)
(5) Multi-turn error
(6) Battery error
(7) Battery alarm
(2) Full absolute status Err47.0 (Absolute status error protection)
Err44.0
(Absolute single-turn counter error protection)
Err41.0 (Absolute counter over error protection)
(3) Counter error
(4) Counter overflow
Err45.0
(Absolute multi-turn counter error protection)
Err40.0 (Absolute system down error protection)
Alarm No.A2 “Battery alarm”
(QFRGHUVWDWXV/UHSUHVHQWVHUURURFFXUUHQFH
(QFRGHUVWDWXV/UHSUHVHQWVHUURURFFXUUHQFH
Encoder status (L)
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
0
(1) (2) (3) (4) (5) (6) (7)
Encoder status (H)
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
00 0000
Battery error
One of the following has occurred.
Battery alarm, multi-turn error, counter overflow,
counter error, full absolute status, Counter overflow
multi-turn error, battery error or battery alarm
2. Absolute system
Transferring absolute data
Note
Related page
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3´3URWHFWLYH)XQFWLRQµ3´'LVSOD\RI%DWWHU\$ODUPµ
7-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
External scale RS232 communication procedure
Refer to the instruction manual of the host for the transmission/reception method of com-
PDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQH[DPSOHRIWKHGULYHUWR3U´$[LVDGGUHVV
µ
Transmission starts
N
N
N
N
Y
Y
Y
Y
transmission finishes
05h transmission
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
04h transmission
06h transmission 15h transmission
Reception of
absolute data
(15 characters)
04h reception
06h reception
05h reception
Check sum
OK'ed reception
01h transmission
00h transmission
3Dh transmission
*
1
*
2
C2h transmission
Enter the Pr5.31 value of the driver to which you want to communicate from the host to
axis (*1 data) of the command block, and transmit the command according to the RS232
communication protocol. For details of communication, refer to P.7-27, "Communication".
Caution
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWR
capture multiple axes data.
,WLVUHFRPPHQGHGIRU\RXWRUHSHDWWKHDERYHFRPPXQLFDWLRQPRUH
than 2 times to confirm the absolute data coincide, in order to avoid
mis-operation due to unexpected noise.
Data of *1 and *2 are determined by the setup
RI3U´$[LVDGGUHVVµ
Axis address
(example)
Data of *1Data of *2
K3Eh
1K 3Dh
2K 3Ch
3K 3Bh
4K 3Ah
5K 39h
6K K
7K 37h
K36h
9K 35h
 $K 34h
11 %K 33h
12 &K 32h
13 'K 31h
14 (K K
15 )K 2Fh
16 K 2Eh
17 11h 2Dh
 12h 2Ch
19 13h 2Bh
 14h 2Ah
21 15h 29h
22 16h K
23 17h 27h
24 K 26h
25 19h 25h
26 1Ah 24h
27 1Bh 23h
 1Ch 22h
29 1Dh 21h
 1Eh K
31 1Fh 1Fh
Check sum becomes OK'ed when the lower
8-bit of the sum of the received absolute data
(15 characters) is 0.
72. Absolute system
Supplement Transferring external scale absolute data
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
7-22
([WHUQDOVFDOH56FRPPXQLFDWLRQSURFHGXUH
Refer to the instruction manual of the host for the transmission/reception method of com-
PDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQH[DPSOHRIWKHGULYHUWR3U´$[LVDGGUHVV
µ
Reception of
absolute data
(15 characters)
N
N
N
N
Y
Y
Y
Y
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
Transmission starts
transmission finishes
06h transmission 15h transmission
Check sum
OK'ed reception
01h transmission
00h transmission
81h transmission
05h transmission
3Dh transmission
*
2
*
1
*
1
*
3
C2h transmission
80h reception
05h reception
80h transmission
04h transmission
81h reception
04h reception
06h reception
2. Absolute system
Transferring external scale absolute data
Data of *1, *2 and *3 are determined by the setup of
3U´$[LVDGGUHVVµ
Axis
address
(example)
Data of *1 Data of *2 Data of *3
 1RWXVDEOHZLWK56FRPPXQLFDWLRQ
1K K 3Dh
2K K 3Ch
3K K 3Bh
4K K 3Ah
5K K 39h
6K K K
7K K 37h
KK36h
9K K 35h
 $K $K 34h
11 %K %K 33h
12 &K &K 32h
13 'K 'K 31h
14 (K (K K
15 )K )K 2Fh
16 K K 2Eh
17 91h 11h 2Dh
 92h 12h 2Ch
19 93h 13h 2Bh
 94h 14h 2Ah
21 95h 15h 29h
22 96h 16h K
23 97h 17h 27h
24 K K 26h
25 99h 19h 25h
26 9Ah 1Ah 24h
27 9Bh 1Bh 23h
 9Ch 1Ch 22h
29 9Dh 1Dh 21h
 9Eh 1Eh K
31 9Fh 1Fh 1Fh
Check sum becomes OK'ed when the lower 8-bit of the
sum of the received absolute data (15 characters) is 0.
Command from the host will be transmitted to the desired driver based on RS485 trans-
mission protocol. For details of communication, refer to P.7-27, "Communication".
Caution
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWRFDS-
ture multiple axes data.
,W LV UHFRPPHQGHG IRU \RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH
WKDQ WLPHVWRFRQÀUP WKHDEVROXWH GDWDFRLQFLGH LQRUGHU WR DYRLG
mis-operation due to unexpected noise.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
7-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Composition of external scale absolute data
8VLQJFKDUDFWHUGDWDUHFHLYHGWKURXJK5656RUJDQL]HWXUQGDWDDQGPXOWL
turn data.
2. Absolute system
Transferring external scale absolute data
0Bh
Axis address
C2h
FFh *1
31h *2
External scale status (L)
Setup value of Pr5.31 “Axis address”.
*1 Undefined
*2 Depends on external scale.
31h: Mitsutoyo made
AT573
32h: Mitsutoyo made
ST771A, ST773A
41h: Magnescale made
SR77, SR87
External scale status (H)
Absolute data (1)
Absolute data (2)
Absolute data (3)
Absolute data (4)
Absolute data (5)
Absolute data (6)
Error code
Checksum
Becomes to 0 when the communication is
carried out normally. If not 0, capture the
absolute data from the driver again
Received
absolute data
(15 characters)
External scale absolute data
Absolute data (6)×10000000000h
+Absolute data (5)×100000000h
+Absolute data (4)×1000000h
+Absolute data (3)×10000h
+Absolute data (2)×100h
+Absolute data (1)
Absolute data of external scale is represented as 48 bit number (negative value is repre-
sented as two's complement).
Remarks
,IWKH PXOWLWXUQ GDWD RIWKHDERYH ÀJ LV EHWZHHQWR  FRQYHUW LWWRVLJQHG
date after deducting 65536.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
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7-24
2. Absolute system
Transferring external scale absolute data
(1) Alarm No. A8 “External scale error alarm”
(5) Err51.3 “External scale status 3 error protection”
(6) Err51.2 “External scale status 2 error protection”
(7) Err51.1 “External scale status 1 error protection”
(8) Err51.0 “External scale status 0 error protection”
(2) Alarm No. A8 “External scale error alarm”
(3) Err51.5 “External scale status 5 error protection”
(4) Err51.4 “External scale status 4 error protection”
(1) (2) (3) (4) (5) (6) (7) (8)
Logical sum of bit6 and bit 7 of external scale status (L)
Logical sum of bit0 to bit 5 of external scale status (L)
([WHUQDOVFDOHVWDWXV/UHSUHVHQWVHUURURFFXUUHQFH
([WHUQDOVFDOHVWDWXV+UHSUHVHQWVHUURURFFXUUHQFH
External scale status (L)
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
0
External scale status (H)
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
000000
Remarks
)RUGHWDLORIWKHH[WHUQDOVFDOHVWDWXVUHIHUWRWKHH[WHUQDOVFDOHVSHFLÀFDWLRQ
Remarks
7UDQVPLWWKH([WHUQDOVFDOHDEVROXWHGDWDZKLOHIL[LQJWKHPRWRUZLWK
brake by turning to Servo-Off.
Note
Related page
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
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7-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Following alarm will be displayed when making the front panel to alarm execution mode
of monitor mode.
72. Absolute system
Supplement Display of Battery Alarm
How to Clear the Battery Alarm
Replace the battery for absolute encoder when battery alarm occurs according to P.7-12,
"How to Replace the Battery". After replacement, clear the battery alarm in the following
3 methods.
D&RQQHFWRU;&RQQHFWLQJ$ODUPFOHDULQSXW$&/5WR&20²IRUPRUHWKDQPV
(b) Executing the alarm clear function in auxiliary function mode by using the front panel.
(c) Click the "Battery warning" Clear button, after select the "Absolute encoder" tab in the
monitor display window by using the PANATERM (option).
....... No alarm condition
...... Highest priority alarm
Alarm number
3UHVVWRVFUROODODUPFRQGLWLRQV
.LQGVRIDODUP
alarm
No. Alarm Content /DWFKHG
time *1
A0 Overload protection Load factor is 85% or more the protection level. WRVRU
A1 Over-regeneration alarm Regenerative load factor is 85% or more the
protection level. VRU
A2 Battery alarm Battery voltage is 3.2 V or lower. )L[HGDW
A3 Fan alarm Fan has stopped for 1 sec. WRVRU
A4 Encoder communication
alarm
The number of successive encoder communication
HUURUVH[FHHGVWKHVSHFLÀHGYDOXH WRVRU
A5 Encoder overheat alarm The encoder detects overheat alarm. WRVRU
A6 Oscillation detection alarm Oscillation or vibration is detected. WRVRU
A7 Lifetime detection alarm The life expectancy of capacity or fan becomes
VKRUWHUWKDQWKHVSHFLÀHGWLPH )L[HGDW
A8 External scale error alarm The external scale detects the alarm. WRVRU
A9 External scale
communication alarm
The number of successive external scale
FRPPXQLFDWLRQHUURUVH[FHHGVWKHVSHFLÀHGYDOXH WRVRU
*1 Alarms can be cleared by using the alarm clear. Because the all existing alarms are kept cleared while the alarm
clear input (A-CLR) is kept ON, be sure to turn it OFF during normal operation. Either 1-10s or can be selected
by using user parameter.
 ([FHSWLRQ%DWWHU\DODUPLVÀ[HGDWEHFDXVHLWLVODWFKHGE\WKHHQFRGHU
 %HFDXVHWKHHQGRIOLIHDODUPPHDQVWKDWWKHOLIHH[SHFWDQF\FDQQRWEHH[WHQGHGWKHDODUPLVVHWDW
Note
Related page
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7-26
73.
Outline of Setup Support Software, “PANATERM”
Supplement Setup on the PC
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Once you download the setup support software PANATERM from our web site and install it
to your PC, the following tasks can be easily performed.
Outline of PANATERM
Note
With the PANATERM, you can execute the followings.
(1) Setup and storage of parameters, and writing to the memory (EEPROM).
(2) Monitoring of I/O and pulse input and load factor.
(3) Display of the present alarm and reference of the error history.
(4) Data measurement of the wave-form graphic and bringing of the stored data.
(5) Normal auto-gain tuning
(6) Frequency characteristic measurement of the machine system.
Distribution media such as CD-ROM for this software are not prepared.
Download the software from our web site and install it to your PC.
How to Connect
Connect to connector X1.
(USB mini-B)
Download setup support software PANATERM
from our web site and install it to your PC.
86%FDEOH
7KHFRQQHFWLRQFDEOHVKRXOGEHSURYLGHGZLWK86%PLQL%FRQQHFWRUDWWKHGULYHUVLGH
and the PC compatible connector on the other end.
,IWKHFDEOHKDVQRQRLVHÀOWHULQVWDOODVLJQDOQRLVHÀOWHU'90P1460) to both ends of
the cable.
System required for PANATERM
To use PANATERM, the following system components are required.
3&
OS
Windows®;363ELW9HU
Windows® VISTA SP1 (32-bit Ver.)
Windows® 7 (32-bit Ver., 64-bit Ver.)
(Japanese, English, Chinese or Korean version)
CPU Pentium III 512 MHz or better
Memory 256 MB or more (512 MB recommended)
Hard disk 512 MB or more free space
Serial communication 86%SRUW
'LVSOD\ Resolution 1024 × 768 pixel or more
No. of colors 24-bit color (True Color) or better
3OHDVHFRQÀUPWKHODWHVWV\VWHPUHTXLUHPHQWVRQWKHKRPHSDJH
7-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
You can connect up to 32 MINAS-A5 series with your computer or NC via serial commu-
nication based on RS232 and RS484, and can execute the following functions.
(1) Change over of the parameters
(2) Referring and clearing of alarm data status and history
(3) Monitoring of control conditions such as status and I/O.
(4) Referring of the absolute data
(5) Saving and loading of the parameter data
0HULWV
<RXFDQZULWHSDUDPHWHUVIURPWKHKRVWWRWKHGULYHULQEDWFKZKHQ\RXVWDUWXSWKH
machine.
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<RXFDQFRPSRVHPXOWLD[LVDEVROXWHV\VWHPZLWKVLPSOHZLULQJ
74. Communication
Supplement Outline
Note
Related page
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
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7-28
&RQQHFWLRQRI&RPPXQLFDWLRQ/LQH
MINAS-A5 series provide 2 types of communications ports of RS232 and RS485, and
support the following 3 types of connection with the host.
56FRPPXQLFDWLRQ
Connect the host and the driver in one to one with RS232, and communicate accord-
ing to RS232 transmission protocol.
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<RXFDQVHWWKHVDPHPRGXOH,'DVORQJDVWKHKRVWKDVQRGLIÀFXOW\LQFRQWURO
56DQG56FRPPXQLFDWLRQ
When you connect one host to multiple MINAS-A5s, connect the host to connec-
WRU;RIRQHGULYHUZLWK56FRPPXQLFDWLRQDQGFRQQHFWHDFK0,1$6$ZLWK
RS485 communication. Set up the Pr5.31 of the driver to 0 which is connected to the
host, and set up 1 to 31 to other drivers each.
74. Communication
Supplement Specifications
RS232
Host
Pr5.31=1 Pr5.31=1 Pr5.31=1 Pr5.31=1
X2 X2 X2 X2
Selector etc.
RS232
X2
RS485
... Max. 32 axis
X2
RS485
X2 X2
RS485
Host
Pr5.31=0 Pr5.31=1 Pr5.31=2 Pr5.31=3
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nector for External Scale).
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7-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Communication
Specifications
56FRPPXQLFDWLRQ
Connect the host to multiple MINAS-A5s with RS485 communication, set up the
Pr5.31 of each front panel of MINAS-A5 to 1 to 31.
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tiple axes.
X2
RS485
X2
RS485
X2 X2
RS485
RS485
Pr5.31=1 Pr5.31=2 Pr5.31=3 Pr5.31=4
... Max. 31 axis
Module ID=0
Host
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
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7-30
Interface of Communication Connector
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4. Communication
Specifications
* No connection to X5 when no
external scale is used.
Host controller
RS232
interface SN751701 or equivalent
Motor
Relay
connector
Positioning
controller
TXD
RXD
GND
4
3
1
Servo driver
RXD
TXD
GND
6RS485+
5
8
7
RS485ï
RS485+
RS485ï
X2
RS485 can be
connecter to either
terminal pair.
X4
X6
Detection
head
External scale unit
Relay
connector
X5
SN751701 or equivalent
Motor
Relay
connector
4
3
1
RXD
TXD
GND
6RS485+
5RS485ï
8RS485+
7RS485ï
X2
X4
X6
Detection
head
External scale unit
Relay
connector
X5
RS485 can be
connecter to either
terminal pair.
When longer wirings
are used and/or drivers
are connected to
different power
sources, interconnect
GND terminals of these
drivers to prevent
potential generation.
* No connection to X5 when no
external scale is used.
Motor
Relay
connector
X4
X6
Detection
head
External scale unit
Relay
connector
X5
RS485
interface ADM485 or equivalent
RS485+
RS485–
GND
8
7
Servo driver
X2
RS485+
6
5
1RS485–
GND
RS485+
RS485–
Host controller
Positioning
controller
Communication Method
RS232 56
Full duplex, asynchronous Half duplex, asynchronous
Communication baud rate
2400, 4800, 9600, 19200, 38400, 57600, 115200bps 2400, 4800, 9600, 19200, 38400, 57600, 115200bps
Data 8 bit 8 bit
Parity none none
Start bit 1 bit 1 bit
Stop bit 1 bit 1 bit

Set up the RS232 communication baud rate with Pr5.29, and RS485 communication baud
rate with Pr5.30. The change of these parameters will be validated after the control power
entry. For details, refer to the following list of parameters related to communication.
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nector for External Scale).
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7-31
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Communication
Specifications
/LVWRI8VHU3DUDPHWHUVIRU&RPPXQLFDWLRQ
Class No.
Title Setup
value Function
5 31 Axis address 0 to
127
Set the axis number for serial communication to 0 to 31.
This parameter setup value has no effect on servo operation.
529
Baud rate
setup of RS232
communication
0 to
6
Set up the communication speed of RS232 communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
8SGDWHGVHWXSRILVYDOLGDWHGXSRQWXUQLQJRQRIFRQWUROSRZHU
530
Baud rate
setup of RS485
communication
0 to
6
Set up the communication speed of RS485 communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
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case of 9600[bps].
1000 / 9600 × (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit Stop bit
Data
Note that the time for processing the received command and time for switching the line
and transmission/reception control will added to the actual communication time.
Caution
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Following codes are used for line control.
Title Code Function
ENQ 05h (Module recognition byte of the transmitted) Enquire for transmission
EOT 04h (Module recognition byte of the transmitted) Ready for receiving
ACK 06h Acknowledgement
NAK 15h Negative acknowledgement
ENQ ..... The module (host or driver) sends out ENQ when it has a block to send.
EOT ..... The module (host or driver) sends out EOT when it is ready to receive a
block. The line enters to a transmission mode when ENQ is transmitted and
EOT is received.
ACK ..... When the received block is judged normal, the module (host or driver) will
send out ACK.
NAK ..... When the received block is judged abnormal, NAK will be sent. A judgment is
based on checksum and timeout.
1 byte of module recognition is added to ENQ and EOT at RS485 communication.
Module recognition byte... Make the Pr5.31 value of the front panel as a module ID,
and data which makes its bit7 as 1, becomes a module recognition byte.
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
1 0 0 0 Module ID
Module ID : The module ID of the host side will be 0 in case of RS485 communica-
tion, therefore set up Pr5.31 of MINAS-A5 to 1 to 31.
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nector for External Scale).
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7-32
Transmission Sequence
7UDQVPLVVLRQSURWRFRO
,QFDVHRI56
Host MINAS-A5
Receiving
data
Transmitting
data
1) ENQ(05h)
2) EOT(04h)
3) Data block
4) ACK(06h)
(or NAK (15h))
5) ENQ(05h)
6) EOT(04h)
7) Data block
8) ACK(06h)
(or NAK (15h))
,QFDVHRI56
Receiving
data
Transmitting
data
Host
Module ID : 0 Module ID : 1
1) 81h, ENQ (05h)
2) 81h, EOT (04h)
3) Data block
4) ACK (06h)
(or NAK (15h))
5) 80h, ENQ (05h)
6) 80h, EOT (04h)
7) Data block
8) ACK (06h)
(or NAK (15h))
MINAS-A5
/LQHFRQWURO
Decides the direction of transmission and solves the contention.
Reception mode... From when the module (host or driver) returns EOT after receiving ENQ.
Transmission mode... From when the module (host or driver) receives EOT after trans-
mitting ENQ.
At contention of transmission and reception... Slave side will enter to reception mode
when it receives ENQ while waiting for EOT after transmitting ENQ, by giving priority
to ENQ (of master side).
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On entering to transmission mode, the module transmits the command block continu-
ously and then waits for ACK reception. Transmission completes at reception of ACK..
ACK may not be returned at transmission failure of command byte counts. If no ACK
is received within T2 period, or other code than NAK or ACK is received, sequence will
be retried. Retry will start from ENQ.
5HFHSWLRQFRQWURO
On entering to reception mode, the module receives the transmitted block continuously. It
ZLOOUHFHLYHWKHFRPPDQGE\WHFRXQWVIURPWKHÀUVWE\WHDQGFRQWLQXRXVO\UHFHLYHH[WUD
bytes. It will return ACK when the received data sum becomes 0, by taking this status as
normal. In case of a check sum error or a timeout between characters, it will return NAK.
4. Communication
Specifications
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
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7-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
'DWD%ORFN&RPSRVLWLRQ
Below shows the composition of data block which is transmitted in physical phase.
N : Command byte counts (0 to 240)
Shows the number of parameters which are required by command.
axis : Sets up the value of Pr5.31.(0 to 127)
command : Control command (0 to 15)
mode : Command execution mode (0 to 15)
Contents vary depending on the mode.
check sum : 2's complement of the total number of bytes, ranging from the top to the
end of the block
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Following parameters are used to control the block transmission. You can set any
value with the INIT command (described later).
Title Function Initial value Setup range Unit
T1 Time out between characters RS232 5 (0.5 sec) 1 to 255 0.1 sec
RS485 1 (0.1 sec)
T2 Protocol time out RS232 5 (0.5 sec) 1 to 255 1 sec
RS485 1 (0.1 sec)
T6 Driver response time RS232 0 (0ms) 0 to 255 1 ms
RS485 6 (6ms) 2 to 255
RTY Retry limit 1 (once) 1–8 Once
M/S Master/Slave 0 (Slave) 0, 1 (Master)
7 3HUPLVVLEOHWLPH LQWHUYDO IRUWKLV GULYHU WRUHFHLYH WKH FRQVHFXWLYHFKDUDFWHU FRGV ZKLFKH[LVWV
between the module recognition bytes and ENQ/EOT, or in the transmission/reception data
block. Time out error occurs and the driver returns NAK to the transmitter when the actual recep-
tion time has exceed ed this setup time.
7 3HUPLVVLEOHWLPHLQWHUYDOIRUWKHGULYHUWRWUDQVPLW(14DQGWRUHFHLYH(27,IWKHDFWXDOUHFHS-
tion time exceeds this setup, this represents that the receiver is not ready to receive, or it has
failed to receive ENQ code in some reason, and the driver will re-transmit ENQ code to the re-
ceiver. (retry times)
3HUPLVVLEOH WLPH LQWHUYDO IRU WKH GULYHUWRWUDQVPLW(27DQGWRUHFHLYHWKHUHFHSWLRQRIWKHVW
FKDUDFWHUFRGH7KHGULYHUZLOOUHWXUQ1$.DQGÀQLVKHVWKHUHFHSWLRQPRGHLIWKHDFWXDOUHFHSWLRQ
has exceeded this setup time.
3HUPLVVLEOH WLPH LQWHUYDO IRU WKH PRGXOH WRWUDQVPLW WKH FKHFN VXP E\WHVDQG WR UHFHLYH$&.
The module will re-transmit ENQ code to the receiver in the same way as the NAK reception, if
the actual reception time exceeds this setup time.
7 3HUPLVVLEOH WLPH LQWHUYDO IRU WKH GULYHU WR UHFHLYH (14 DQG WR WUDQVPLW (27 3HUPLVVLEOH WLPH
LQWHUYDOIRUWKHGULYHUWRUHFHLYHWKHFKHFNVXPE\WHVDQGWRWUDQVPLW$&.DQG3HUPLVVLEOHWLPH
interval for the driver to receive EOT and to transmit the 1st character.
RTY: Maximum value of retry times. Transmission error occurs if the actual retry has exceeds this setup
value.
M/S: Switching of master and slave. When contention of ENQ has occurred, the module decides which
is to be given priority.
Priority is given to the transmitter which is set up as a master. (0: Slave mode, 1 : Master mode)
N
axis
Parameter
(N byte)
check sum
(1 byte)
commandmode
4. Communication
Specifications
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
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7-34
Example of Data Communication
HJ5HIHUHQFHRI$EVROXWH'DWD
When you connect the host to one driver with RS232 communication, and connect
PXOWLSOH 0,1$6$V ZLWK 56 FRPPXQLFDWLRQ )ROORZLQJ ÁRZ FKDUW GHVFULEHV WKH
DFWXDOÁRZRIWKHFRPPXQLFDWLRQGDWDZKHQ\RXZDQWWRFDSWXUHWKHDEVROXWHGDWDRI
the module ID=1.
e.g. of system composition
e.g. of capturing the absolute data
Following shows the communication data in time series when you want to capture the
absolute data. Data is presented in hexadecimals.
Caution
See the below for the captured data. Refer to P.7-48, "Read out of Absolute Encoder " of
details of communication command, for the data composition.
Multi-turn data : 0000h = 0
Single turn data : 01FFD8h = 131032
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X2
RS485
X2
RS485
X2 X2
RS485
RS232
Pr5.31=0 Pr5.31=1 Pr5.31=2 Pr5.31=3
Host
04 06 05 0B 01 D2
(EOT) (ACK) (ENQ)
05
(ENQ)
00 01 D2 2D 04
(EOT)
03 11 00 00 D8 FF 01 00 00 00 00 36
06
(ACK)
MINAS-A5 (0)
81 04 06 80 05
(ACK) (ENQ)(EOT)
81 05 00 01 D2 2D 80 04
(ENQ) (EOT)
MINAS-A5 (1)
MINAS-A5 (0)
0B 01 D2 03 11 00 00 D8 FF 01 00 00
MINAS-A5 (1)
MINAS-A5 (0)
00 00 36
06
(ACK)
MINAS-A5 (1)
Host
MINAS-A5 (0)
Host
MINAS-A5 (0)
RS232 communication
RS485 communication
*
Obtain data with RS485
(see the below)
4. Communication
Specifications
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nector for External Scale).
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7-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
([DPSOHRI3DUDPHWHU&KDQJH
Following shows the communication data in time series when you change parameters.
Communication in general will be carried out in sequence of (1) Request for captur-
ing of execution right, (2) Writing of individual parameter, and (3) Writing to EEPROM
when saving of data is required, and (4) Release of execution right. Here the hard-
ware connection shows the case that the driver (user ID=1) is directly connected to
the host with RS232. Date is presented in hexadecimals.
Caution
For details of command, refer to P.7-40, "Details of Communication Command".
Host
04 06 05 01 01 71
(EOT) (ACK) (ENQ)
05
1) Capture of execution right
(ENQ)
01 01 71 01 8C 04
(EOT)
MINAS-A5(1)
2) Writing of individual parameter
3) Writing of parameter to EEPROM
4) Release of execution right
Host
00 8D 04 06
(EOT) (ACK)
06 05 06 01 17 00 02 00 E0
(ACK) (ENQ)
(ACK) (ENQ)
00 00 00
MINAS-A5(1)
Host
05 01 01 17 00 E6 04
(ENQ) (EOT)
04 06 05 00 01 27
(EOT) (ACK) (ENQ)
MINAS-A5(1)
Host
06 05 01 01 27 00 D7
D8 04 06
(EOT) (ACK)
MINAS-A5(1)
Host
04 06 05 01 01 71
(EOT) (ACK) (ENQ)
05
(ENQ)
01 01 71 00 8D 04
(EOT)
MINAS-A5(1)
Host
00 8D
06
(ACK)
MINAS-A5(1)
4. Communication
Specifications
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nector for External Scale).
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7-36
Status Transition Chart
56&RPPXQLFDWLRQ
Receiver
Transmitter
Ready for EOT
Block transmission
Ready for ACK/NAK
Reception of remained block
Ready for finish of receiving data
Ready for command byte counts
Idling = It waits for the reception of ENQ, and or it is dealing with reception.
Reception of EOT
Size
←
Command bytes+3
T2 stop
Enquiry for
transmission, and
retry times are
within setup
Transmission of
ENQ,
T2 start
Enquiry for transmission, but
retry times are over.
Reset of retry times
Clear of transmission enquiry
T2 time out
One count of retry times
T2 stop
Clear of transmission
buffer
Size becomes 0
Trransmission of check sum
T2 start
Reception of other than
ACK orT2 time out
Count once of retry times
T2 stop
Clearance of transmission
buffer
Reception of ACK
Reset of retry times
T2 stop
Clear of transmission
enquiry
Transmission of
one character
Size
←
Command bytes–1
Reception of ENQ and
at slave
Return ENQ to reception
buffer
Clear of transmission enquiry
→(reception processing)
ENQ
Transmission
of
EOT
T2 start
T2 time out
Transmission of NAK,
T2 stop
Reception of command byte counts
Size
←
command byte counts + 3
Sum
←
command byte counts
T1 start, T2 stop
T1 time out
Transmission of NAK,
T1 stop
Success of reception
(Check sum OK'ed when
size becomes o.)
Transmission of ACK,
T1 stop
Failure of reception.
(Check sum OK'ed when
size becomes o.)
T1 start
Reception of one character
Size
←
Size –1
Sum
←
Sum + received character
T1 start
Reception of
one character
T1 start
T1 time out
Transmission
of NAK,
T1 stop
4. Communication
Specifications
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
7-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
56&RPPXQLFDWLRQ
Idling
= It waits for the reception of Module ID, and or it is dealing with reception.
Receiver
Transmitter
Block transmission
Ready for ACK/NAK
Module identification byte
of transmitter is the module
ID | 80h of the counterpart.
Ready for ID Ready for EOT
Ready for ENQ or EOT
Ready for command byte counts
Ready for finish of receiving data
Reception of remained block
Enquiry for
transmission,
and retry times
are within setup
Module
recognition byte,
Transmission
of ENQ,
T2 start
Module ID of opponent
T1 start
ID reception of other than
opponent and at slave
Return ENQ to reception
buffer
(→receipt processing)
Clear of transmission enquiry
Enquiry for transmission,
butretry times are over.
Reset of retry times
Clear of transmission
enquiry
Reception of EOT
Size Command bytes +3
T2 stop
T2 time out
One count of
retry times
T2 stop
Clearance of
transmission
buffering
T1 time out
One count of
retry times
T1 stop
Clearance of
transmission
buffering
Reception of ACK or
T2 time out
Count once of
retry times
T2 stop
Clearance of
transmission buffer
Reception of ACK
Reset of retry times
T2 stop
Clearance of
transmission enquiry
Size becomes 0
Trransmission of
check sum
T2 start
Transmission of
one character
Size←Size - 1
Reception of
module
recognition
bytes
T1 start
Reception of
of EOT
T2 start
T1 time out
T1 stop
Module
identification byte
isnot module ID
and ENQ
reception or
T1 timeout
T1 stop
Success of reception
(Check sum OK'ed and
module recognition
byte is module ID,
when size becomes o.)
Transmission of ACK,
T1 stop
T2 time out
Transmission of NAK
and T2 stop when
module recognition
byte is module ID.
T2 stop in other case
than the above.
Module recognition byte is
module ID and reception of ENQ
Module recognition byte,
Transmission of EOT, T2 start
Reception of command byte counts
Size←command byte counts + 3
Sum←command byte counts
T1 start, T2 stop
Reception of one character
Size
←
Size - 1
Sum
←
Sum + received character
T1 start
Reception of
one character
T1 start
Failure of reception.
(Check sum error when
size becomes o.)
T1 start
Transmission to other
axis (module recognition
byte is not module ID
when size becomes 0)
T1 stop
T1 time out
Transmission of NAK and
T1 stop when module
recognition byte is
module ID.
T1 stop in other case
than the above.
T1 time out
Transmission
of NAK,
T1 stop
4. Communication
Specifications
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
 ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
7-38
Timing of Data Communication
,QFDVHRI5656WRIROORZ
Caution
Above time represents a period from the rising edge of the stop bit.
T3
0 to 2ms
0 to 2ms 0 to 2ms0 to 2ms 0 to 2ms
0 to 2ms0 to 2ms 0 to 2ms
T3T4
Enquiry for transmission
Permission for
transmission
ACK/
NAK
Data block
Enquiry for
transmission
Permission for
transmission
ACK/NAK
Data block
T5 T4
T3 T3T5 T4 T5
Host to driver
Driver to host
RS485 bus
occupation
Host to driver
Driver to host
RS485 bus
occupation
Symbol
T3
T4
T5
Title
Continuous inter-character time
Response time of driver
Response time of host
Minimum
Stop bit length
Protocol parameter T6
2ms
Maximum
Protocol parameter T1
Protocol parameter T2
Protocol parameter T2
4. Communication
Specifications
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQ-
nector for External Scale).
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7-39
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
74. Communication
Supplement /LVWRI&RPPXQLFDWLRQ&RPPDQG
8VHWKHDERYHFRPPDQGVRQO\,I\RXXVHRWKHUFRPPDQGVDFWLRQRIWKHGULYHUFDQQRW
be guaranteed.
:KHQWKHUHFHSWLRQGDWDFRXQWVDUHQRWFRUUHFWLQWKHDERYHFRPPDQGWUDQVPLVVLRQ
byte1 (Error code only) will be returned regardless of communication command.
command
0
1
2
7
9
mode
1
5
6
7
8
9
0
1
2
4
5
6
7
8
9
A
C
D
E
0
1
2
6
7
8
0
2
3
4
B
Content
NOP
Read out of CPU version
Read out of driver model
Read out of motor model
INIT
Capture and release of execution right
Setup of RS232 protocol parameter
Setup of RS485 protocol parameter
POS, STATUS, I/O
Read out of status
Read out of command pulse counter
Read out of feedback pulse counter
Read out of present speed
Read out of present torque output
Read out of present deviation counter
Read out of input signal
Read out of output signal
Read out of present speed, torque and deviation counter
Read out of status, input signal and output signal
Read out of external scale
Read out of absolute encoder
Read out of external scale deviation and sum of pulses
PARAMETER
Individual read out of parameter
Individual writing of parameter
Writing of parameter to EEPROM
Individual read out of user parameter
Read out of two or more user parameter
Writing of two or more user parameter
ALARM
Read out of present alarm data
Batch read out of alarm history
Clear of user alarm history
Alarm clear
Absolute clear
7-40
74. Communication
Supplement Details of Communication Command
0Dh
axis
Model of ,motor (upper)
Model of motor (lower)
Error code
checksum
command
0
mode
15HDGRXWRI&38YHUVLRQ
5HFHSWLRQGDWD
0
axis
checksum
01
(UURUFRGH
7UDQVPLVVLRQGDWD
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9HUVLRQZLOOEHGLVSOD\HGLQILJXUHVIURPWRHJ9HUVLRQZLOOEHXSSHUGDWDKORZHUGDWDK
ELW
0 : Normal
1 : Error
65
Command error
56HUURU
210
axis
9HUVLRQXSSHU
9HUVLRQORZHU
Error code
checksum
01
command
0
mode
55HDGRXWRIGULYHUPRGH
5HFHSWLRQGDWD
0
axis
checksum
05
(UURUFRGH
7UDQVPLVVLRQGDWD
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ELW
0 : Normal
1 : Error
65
Command error
56HUURU
210
0Dh
axis
0RGHORIGULYHUXSSHU
0RGHORIGULYHUORZHU
Error code
checksum
05
command
0
mode
65HDGRXWRI0RWRU0RGHO
0
axis
checksum
06
(UURUFRGH
7UDQVPLVVLRQGDWD
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ELW
0 : Normal
1 : Error
65
Command error
56HUURU
210
0Dh
axis
Model of motor (upper)
Model of motor (lower)
Error code
checksum
06
5HFHSWLRQGDWD
7-41
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
command
1
mode
86HWXSRI56SURWRFROSDUDPHWHU
5HFHSWLRQGDWD
4
axis
T1
T2
T6
checksum
18
RTY0
(UURUFRGH
7UDQVPLVVLRQGDWD
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ELW
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65
7HUURU
4
56HUURU
3
57<HUURU
2
7HUURU
1
7HUURU
0
1
axis
(UURUFRGH
checksum
18
command
1
mode
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5HFHSWLRQGDWD
1
axis
mode
checksum
1
(UURUFRGH
7UDQVPLVVLRQGDWD
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ULJKWDIWHUWKHDFWLRQILQLVKHV
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FRPPXQLFDWLRQ
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ELW
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6543
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210
LQXVH
1
axis
(UURUFRGH
checksum
1
&RPPDQGHUURU 56HUURU
command
1
mode
96HWXSRI56SURWRFROSDUDPHWHU
5HFHSWLRQGDWD
4
axis
T1
T2
T6
checksum
19
(UURUFRGH
7UDQVPLVVLRQGDWD
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ELW
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6543210
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1
axis
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checksum
19
7HUURU 56HUURU 57<HUURU 7HUURU 7HUURU
4. Communication
Details of Communication Command
7-42
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FRPPDQG
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1
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21
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4
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20
0
1
2
4. Communication
Details of Communication Command
7-43
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
command
2
mode
45HDGRXWRISUHVHQWVSHHG
5HFHSWLRQGDWD
0
axis
checksum
24
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3
axis
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HUURUFRGH
checksum
24
command
2
mode
55HDGRXWRISUHVHQWWRUTXHRXWSXW
5HFHSWLRQGDWD
0
axis
checksum
25
(UURUFRGH
7UDQVPLVVLRQGDWD
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3
axis
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HUURUFRGH
checksum
25
command
2
mode
25HDGRXWRIIHHGEDFNSXOVHFRXQWHU
5HFHSWLRQGDWD
0
axis
checksum
22
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&RPPDQGHUURU 56HUURU
320
5
axis
FRXQWHUYDOXH/
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checksum
22
4. Communication
Details of Communication Command
7-44
5HDGRXWRILQSXWVLJQDO
5HDGRXWRISUHVHQWSRVLWLRQDOFRPPDQGGHYLDWLRQ
Internal speed
command
selection 1
Gain switching
Command pulse
input inhibition
Damping control
switching 1
command
2
mode
7
5HFHSWLRQGDWD
0
axis
checksum
27
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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,
bit7
0 : Normal
1 : Error
6543210
5
axis
data L
data H
Error code
checksum
27
command
2
mode
6
5HFHSWLRQGDWD
0
axis
checksum
26
(UURUFRGH
7UDQVPLVVLRQGDWD
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at positive direction.
bit7
0 : Normal
1 : Error
65
Command error
4
56HUURU
Command error 56HUURU
'DWD
3210
5
axis
GDWDGHYLDWLRQ/
H
Error code
checksum
26
bit7
For
manufacturer's use
6
6ZLWFKLQJRI
electronic gear 1
5
6SHHG]HUR
clamp
4
Control mode
switching
3
CCW over-travel
inhibit
CW over-travel
inhibit
21
Alarm clear
0
6HUYR21
bit15
For
manufacturer's use
14
For
manufacturer's use
13
Internal speed
command
selection 2
12 11
For
manufacturer's use
10
Counter clear
9
6ZLWFKLQJRI
electronic gear 2
22
Damping control
switching 2
21
Torque limit
switching
20
Internal speed
command
selection 3
19 
For
manufacturer's use
17
For
manufacturer's use
16
For
manufacturer's use
bit23
bit31
For
manufacturer's use
31
For
manufacturer's use
29
For
manufacturer's use

6DIHW\LQSXW
27
6DIHW\LQSXW
26
For
manufacturer's use
25
Torque
command sign
24
6SHHG
command sign
4. Communication
Details of Communication Command
7-45
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5HDGRXWRIRXWSXWVLJQDO
In-speed Torque in-limit Mechanical
brake released
Positioning
complete
(In-position)
Servo-Alarm Servo-Ready
Full-closed
positioning
complete
Speed
command
ON/OFF
2nd positioning
complete
(In-position)
Positional
command
ON/OFF
Encoder
communication
alarm
External scale
communication
alarm
command
2
mode
8
5HFHSWLRQGDWD
0
axis
checksum
28
7UDQVPLVVLRQGDWD
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28
HUURUFRGH
bit7
0 : Normal
1 : Error
6543210
Command error RS485 error
'DWD
DODUPGDWD
bit7
For
PDQXIDFWXUHUVXVH
654
Zero speed
detection
3210
bit15
Excite motor
14
&RQWUROSRZHU
latch
13
Dynamic brake
engagement
12
Control inrush
suppression relay
11
Control
regeneration
brake
10 9
At-speed
8
For
PDQXIDFWXUHUVXVH
6DIHW\('0
22 21
Alarm attribute
output
20
Speed in-limit
output
19 18 17
Alarm output 2
16
Alarm output 1
bit23
bit31
For
PDQXIDFWXUHUVXVH
31
For
PDQXIDFWXUHUVXVH
29
For
PDQXIDFWXUHUVXVH
28
For
PDQXIDFWXUHUVXVH
27
For
PDQXIDFWXUHUVXVH
26
For
PDQXIDFWXUHUVXVH
25
For
PDQXIDFWXUHUVXVH
24
For
PDQXIDFWXUHUVXVH
Overload
protection
6
Fan
alarm
5
Over-regeneration
alarm
43
Encoder overheat
alarm
2
/LIHWLPH
detection alarm
1
For
PDQXIDFWXUHUVXVH
0
Battery
alarm
bit7
bit15
For
PDQXIDFWXUHUVXVH
14
For
PDQXIDFWXUHUVXVH
13
For
PDQXIDFWXUHUVXVH
12 11 10 9
Oscillation
detection
alarm
8
External scale
error alarm
7
axis
data L
data H
alarm data L
H
error code
checksum
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
&RQWUROSRZHUODWFK
Excite motor
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
7XUQRIIUHJHQHUDWLRQ7U
Release inrush suppression relay
Dynamic brake released
5HOHDVHSRZHUODWFK
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
3RZHUDEQRUPDOODWFKLQJ
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4. Communication
Details of Communication Command
7-46
command
2
mode
A5HDGRXWRIVWDWXVLQSXWVLJQDODQGRXWSXWVLJQDO
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0
axis
checksum
2A
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65
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4
56HUURU
3210
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axis
FRQWUROPRGH
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DODUPGDWD+
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checksum
2A
command
2
mode
9
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65
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4
56HUURU
3210
0
axis
checksum
29
9
axis
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checksum
4. Communication
Details of Communication Command
7-47
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
command
2
mode
C5HDGRXWRIIHHGEDFNVFDOH
5HFHSWLRQGDWD
0
axis
checksum
2C
6WDWXV/
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*3 bit5 : Logical sum of bit0 to bit 5 of status (L) *4 bit4 : logical sum of bit6 and bit 7 of status (L)
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bit7
Thermal alarm
6
0
5
Communication
error
4
CPU, memory
error
3
&DSDFLW\DQG
SKRWRHOHFWULF
error
2
Encoder
non-matching
error
1
Initialization
error
0
2YHUVSHHG
bit7
0
6
0
5
Encoder
error *3
4
Encoder
alarm *4
3
0
2
0
1
0
0
0
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*1 bit5 : Logical sum of bit0 to bit 5 of status (L) *2 bit4 : logical sum of bit6 and bit 7 of status (L)
bit7
Thermal alarm
6
Signal intensity
alarm
5
Signal intensity
error
4
Transducer
error
3
$%6GHWHFWLRQ
error
2
Hardware
error
1
Initialization
error
0
2YHUVSHHG
bit7
0
6
0
5
Encoder
error *1
4
Encoder
error *2
3
0
2
0
1
0
0
0
(UURUFRGH
bit7
0 : Normal
1 : Error
65
Command error
4
56HUURU
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2C
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axis
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status (L)
(H)
(L)
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(H)
error code
checksum
4. Communication
Details of Communication Command
7-48
command
2
mode
D5HDGRXWRIDEVROXWHHQFRGHU
5HFHSWLRQGDWD
0
axis
checksum
2D
6WDWXV/
6WDWXV+
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axis
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0
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checksum
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(QFRGHU,'/ (QFRGHU,'+
command
2
mode
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0
axis
checksum
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9
axis
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4. Communication
Details of Communication Command
7-49
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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Control LV
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command
7
mode
1
5HFHSWLRQGDWD
(UURUFRGH
7UDQVPLVVLRQGDWD
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WR((3520PRGH 
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ELW
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4
56HUURU
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command
7
mode
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FKHFNVXP
7
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7UDQVPLVVLRQGDWD
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ELW
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error code
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7
command
7
mode
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ELW
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65
Command error
4
56HUURU
1R(UURU
1
D[LV
SDUDPHWHUW\SH
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FKHFNVXP
7
5
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SDUDPHWHUYDOXH
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error code
FKHFNVXP
7
6
D[LV
SDUDPHWHUW\SH
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SDUDPHWHUYDOXH
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FKHFNVXP
71
1
D[LV
error code
FKHFNVXP
71
4. Communication
Details of Communication Command
7-50
4. Communication
Details of Communication Command
command
7
mode
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6
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54
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bit7
0 : Normal
1 : Error
6543210
Command error No.ErrorRS485 error
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2
D[LV
parameter type
parameter No.
checksum
76
17 (11h)
D[LV
parameter type
parameter No.
(L)
parameter value
(H)
(L)
0,1 value
(H)
(L)
0$; value
(H)
Property L
H
Error code
checksum
76
7-51
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Communication
Details of Communication Command
command
7
mode
75HDGRXWRIWZRRUPRUHXVHUSDUDPHWHU
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77
7-52
4. Communication
Details of Communication Command
command
7
mode
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17(11h)
axis
(1) parameter type
(1) parameter No.
(2) parameter type
(2) parameter No.
(8) parameter type
(8) parameter No.
Error code
checksum
78
30h(48)
axis
(1) parameter type
(1) parameter No.
(L)
(1) parameter value
(H)
(8) parameter type
(8) parameter No.
(L)
(8) parameter value
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checksum
78
command
9
mode
05HDGRXWRISUHVHQWDODUPGDWD
5HFHSWLRQGDWD
0
axis
checksum
90
(UURUFRGH
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ELW
0 : Normal
1 : Error
543210
3
axis
alarm No. (Main)
DODUP1R6XE
error code
checksum
90
Command error RS485 error
(UURUFRGH
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error occurs.
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ELW
0 : Normal
1 : Error
543210
Data Error Command error No.ErrorRS485 error
7-53
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Communication
Details of Communication Command
command
9
mode
4$ODUPFOHDU
5HFHSWLRQGDWD
0
axis
checksum
94
(UURUFRGH
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ELW
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6543210
1
axis
(UURUFRGH
checksum
94
command
9
mode
3&OHDURIXVHUDODUPKLVWRU\
5HFHSWLRQGDWD
0
axis
checksum
93
(UURUFRGH
7UDQVPLVVLRQGDWD
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ELW
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(UURU
6543210
1
axis
(UURUFRGH
checksum
93
'DWD(UURU &RPPDQGHUURU 56HUURU
&RPPDQGHUURU 56HUURU
&RQWURO/9
command
9
mode
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5HFHSWLRQGDWD
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ELW
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(UURU
6543210
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WKODWHVW
0
axis
checksum
92
'K
axis
DODUP1R0DLQ
DODUP1R6XE
DODUP1R0DLQ
DODUP1R6XE
DODUP1R0DLQ
DODUP1R6XE
HUURUFRGH
checksum
92
7-54
4. Communication
Details of Communication Command
command
9
mode
B$EVROXWHFOHDU
5HFHSWLRQGDWD
0
axis
checksum
9B
(UURUFRGH
7UDQVPLVVLRQGDWD
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ELW
1RUPDO
(UURU
654320
axis
(UURUFRGH
checksum
9B
&RPPDQGHUURU 56HUURU
7-55
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSMD series :WR:
MSMD series (50W to 100W)
* These are subject to change. Contact us when you use these values for your machine design.
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRIÝ&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH
50

95
0 203040
0.25
0
 2000 3000 4000 5000
0.5
(0.4)
3HDNUXQQLQJUDQJH
Continuous running range
(3600)
50

70
60
0203040
0.25
0
 2000 3000 4000 5000
3HDNUXQQLQJUDQJH
Continuous running range
ZLWKEUDNH
without
EUDNH
0.5
(0.4)
(3600)
50

95
0 203040
0.5
0
 2000 3000 4000 5000

(0.8)
(0.6)
3HDNUXQQLQJUDQJH
Continuous running range
50

75
70
0203040
0.5
0
 2000 3000 4000 5000

Continuous running range
ZLWKEUDNH
without
EUDNH
(0.8)
(0.6)
3HDNUXQQLQJUDQJH
50

95
0203040
0.5
0
 2000 3000 4000 5000

3HDNUXQQLQJUDQJH
Continuous running range
50

75
70
0203040
0.5
0
 2000 3000 4000 5000

3HDNUXQQLQJUDQJH
Continuous running range
ZLWKEUDNH
without
EUDNH
Without oil seal With oil seal
MSMD5AZ * 1 *
,QSXWYROWDJHWRGULYHU$&99
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSMD5AZ * 1 *
,QSXWYROWDJHWRGULYHU$&99
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSMD011 * 1 *
,QSXWYROWDJHWRGULYHU$&9
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSMD011 * 1 *
,QSXWYROWDJHWRGULYHU$&9
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSMD012 * 1 *
Input voltage to driver: AC2009
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSMD012 * 1 *
Input voltage to driver: AC2009
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
1RWHWKDWWKHPRWRUFKDUDFWHULVWLFVPD\YDU\GXHWRWKHH[LVWHQFHRIRLOVHDORUEUDNH
&RQWLQXRXVWRUTXHYVDPELHQWWHPSHUDWXUHFKDUDFWHULVWLFVKDYHEHHQPHDVXUHGZLWKDQ
aluminum flange attached to the motor (approx. twice as large as the motor flange).
ratio vs. rated torque
>@
ambient temp. >&@
ratio vs. rated torque
>@
ambient temp. >&@
torque
>1ÃP@
torque
>1ÃP@
ratio vs. rated torque
>@
VSHHG>UPLQ@ ambient temp. >&@ VSHHG>UPLQ@
ratio vs. rated torque
>@
ambient temp. >&@
torque
>1ÃP@
ratio vs. rated torque
>@
VSHHG>UPLQ@ ambient temp. >&@ VSHHG>UPLQ@
ratio vs. rated torque
>@
ambient temp. >&@
torque
>1ÃP@
VSHHG>UPLQ@
torque
>1ÃP@
VSHHG>UPLQ@
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
5XQQLQJUDQJH7RUTXHOLPLWVHWXS
5XQQLQJUDQJH7RUTXHOLPLWVHWXS
5XQQLQJUDQJH7RUTXHOLPLWVHWXS
7-56
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSMD series :
* These are subject to change. Contact us when you use these values for your machine design.
50
100
100203040
1.0
0
1000 2000 3000 4000 5000
2.0
(0.5)
(0.9)
Peak running range
Continuous running range
(3600)
50
100
80
70
100 203040
with brake
without
brake
1.0
0
1000 2000 3000 4000 5000
2.0
(0.9)
(0.5)
Peak running range
Continuous running range
(3600)
50
100
100203040
1.0
0
1000 2000 3000 4000 5000
2.0
(1.5)
(1.2)
Peak running range
Continuous running range
(4500)
50
100
80
70
100203040
with brake
without
brake
1.0
0
1000 2000 3000 4000 5000
2.0
(1.5)
(1.2)
Peak running range
Continuous running range
(4500)
MSMD series (200W)
Without oil seal With oil seal
MSMD021 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
MSMD021 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
MSMD022 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MSMD022 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
torque
[N·m]
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C] speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C] speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
7-57
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSMD series :WR:
MSMD series (400W to 750W)
Without oil seal With oil seal
* These are subject to change. Contact us when you use these values for your machine design.
MSMD041 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
50
90
100
100 203040
ratio vs. rated torque
[%]
周囲温度 [°C]
torque
[N·m]
回転速度 [r/min]
2.0
0
1000 2000 3000 4000 5000
4.0
(1.3)
(0.6)
Peak running range
Continuous running range
(3200)(2800)
50
100
75
100 203040
ratio vs. rated torque
[%]
周囲温度 [°C]
torque
[N·m]
回転速度 [r/min]
2.0
0
1000 2000 3000 4000 5000
4.0
(1.3)
(0.6)
Peak running range
Continuous running range
(3200)(2800)
50
90
100
100 203040
2.0
0
1000 2000 3000 4000 5000
4.0
(1.3)
(1.7)
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
Peak running range
Continuous running range
speed [r/min]
(3800)(3400)
50
100
75
100 203040
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
2.0
0
1000 2000 3000 4000 5000
4.0
(1.3)
(1.7)
Peak running range
Continuous running range
(3800)(3400)
50
100
100 203040
4.0
0
1000 2000 3000 4000 5000
8.0
(3.0)
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
Peak running range
Continuous running range
speed [r/min]
(3600)(3200)
50
100
100203040
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
4.0
0
1000 2000 3000 4000 5000
8.0
(3.0)
Peak running range
Continuous running range
(3600)(3200)
MSMD042 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
MSMD042 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
MSMD082 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
MSMD082 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
MSMD041 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
7-58
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSME series :WR:
* These are subject to change. Contact us when you use these values for your machine design.
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRIÝ&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH
MSME series (50W to 100W)
Without oil seal With oil seal
MSME5AZ * 1 *
,QSXWYROWDJHWRGULYHU$&9
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSME5AZ * 1 *
,QSXWYROWDJHWRGULYHU$&9
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSME011 * 1 *
,QSXWYROWDJHWRGULYHU$&9
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSME011 * 1 *
,QSXWYROWDJHWRGULYHU$&9
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSME012 * 1 *
Input voltage to driver: AC2009
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
MSME012 * 1 *
Input voltage to driver: AC2009
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
ZLWKEUDNH
without
EUDNH
ZLWKEUDNH
ZLWKEUDNH
without
EUDNH
without
EUDNH
3HDNUXQQLQJUDQJH3HDNUXQQLQJUDQJH
3HDNUXQQLQJUDQJH
3HDNUXQQLQJUDQJH3HDNUXQQLQJUDQJH
ratio vs. rated torque
>@
ambient temp. >&@
50

0203040
ratio vs. rated torque
>@
ambient temp. >&@
50
60

70
0203040
torque
>1ÃP@
torque
>1ÃP@
ratio vs. rated torque
>@
VSHHG>UPLQ@ ambient temp. >&@
50

0203040
VSHHG>UPLQ@
ratio vs. rated torque
>@
ambient temp. >&@
50
70

75
0203040
torque
>1ÃP@
ratio vs. rated torque
>@
VSHHG>UPLQ@ ambient temp. >&@
50

0203040
torque
>1ÃP@
VSHHG>UPLQ@
ratio vs. rated torque
>@
ambient temp. >&@
50
70

75
0203040
torque
>1ÃP@
VSHHG>UPLQ@
torque
>1ÃP@
VSHHG>UPLQ@
Continuous running range





0.5
0
 2000 3000 4000 5000 6000
Continuous running range





0.5
0
 2000 3000 4000 5000 6000
3HDNUXQQLQJUDQJH
Continuous running range



0.5
0
 2000 3000 4000 5000 6000
Continuous running range



0.5
0
 2000 3000 4000 5000 6000
Continuous running range
0.5


0.25
0
 2000 3000 4000 5000 6000
Continuous running range
0.5


0.25
0
 2000 3000 4000 5000 6000
MSME5AZ * 1 *
Input voltage to driver: AC2009
MSME5AZ * 1 *
Input voltage to driver: AC2009
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
ZLWKEUDNH
without
EUDNH
3HDNUXQQLQJUDQJH3HDNUXQQLQJUDQJH
ratio vs. rated torque
>@
ambient temp. >&@
50

0203040
ratio vs. rated torque
>@
ambient temp. >&@
50
60

70
0203040
torque
>1ÃP@
VSHHG>UPLQ@
torque
>1ÃP@
VSHHG>UPLQ@
Continuous running range
0.5


0.25
0
 2000 3000 4000 5000 6000
Continuous running range
0.5


0.25
0
 2000 3000 4000 5000 6000
7-59
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSME series :
without
brake
without
brake
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
MSME series (200W)
* These are subject to change. Contact us when you use these values for your machine design.
MSME021 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
MSME022 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MSME022 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MSME021 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
Without oil seal With oil seal
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C]
50
100
torque
[N·m]
speed [r/min]
100 203040
ratio vs. rated torque
[%]
with brake
ambient temp. [°C]
50
70
100
80
100 203040
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C]
50
100
torque
[N·m]
speed [r/min]
100 203040
ratio vs. rated torque
[%]
with brake
ambient temp. [°C]
50
70
100
80
100 203040
Peak running range
Continuous running range
2.0
(0.8)
(0.32)
(2600) (3100)
1.0
0
1000 2000 3000 4000 5000 6000
Peak running range
Continuous running range
2.0
(0.8)
(0.32)
(2600) (3100)
1.0
0
1000 2000 3000 4000 5000 6000
(0.32)
Peak running range
Continuous running range
2.0
(1.3)
(1.1)
(4600)
1.0
0
1000 2000 3000 4000 5000 6000
(0.32)
Peak running range
Continuous running range
2.0
(1.3)
(1.1)
(4600)
1.0
0
1000 2000 3000 4000 5000 6000
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
7-60
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSME series :WR:
50
100
100203040
Peak running range
Continuous running range
8.0
(2.6)
(1.6)
(3500)(3800)
4.0
0
1000 2000 3000 4000 5000 6000
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
MSME series (400W to 750W)
* These are subject to change. Contact us when you use these values for your machine design.
MSME041 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
MSME041 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
MSME042 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MSME042 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MSME082 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MSME082 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
Without oil seal With oil seal
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C]
50
100
90
torque
[N·m]
speed [r/min]
100203040
ratio vs. rated torque
[%]
ambient temp. [°C]
50
75
100
100 203040
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
75
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C]
50
100
torque
[N·m]
speed [r/min]
100203040
ratio vs. rated torque
[%]
ambient temp. [°C]
* Continuous torque vs. ambient temp.
MSME084 * 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
Peak running range
Continuous running range
4.0
(1.7)
(0.32)
(2600) (3100)
2.0
0
1000 2000 3000 4000 5000 6000
Peak running range
Continuous running range
4.0
(1.7)
(0.32)
(2600) (3100)
2.0
0
1000 2000 3000 4000 5000 6000
Peak running range
Continuous running range
4.0
(1.7)
(0.64)
(3100)(3600)
2.0
0
1000 2000 3000 4000 5000 6000
Peak running range
Continuous running range
4.0
(1.7)
(0.64)
(3100)(3600)
2.0
0
1000 2000 3000 4000 5000 6000
Peak running range
Continuous running range
8.0
(3.4)
(3.0)
(0.6)
(3200)(3600)
4.0
0
1000 2000 3000 4000 5000 6000
Peak running range
Continuous running range
8.0
(3.4)
(3.0)
(0.6)
(3200)(3600)
4.0
0
1000 2000 3000 4000 5000 6000
7-61
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSME series N:WRN:
With oil seal
* These are subject to change. Contact us when you use these values for your machine design.
MSME series (1.0kW to 2.0kW)
060(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
060(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
with brake
without
brake
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C]
50
100
100203040
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
85
Peak running range
Continuous running range
10
5
0
1000 2000 3000 4000 5000
(4.0)
(1.9)
(6.0)
(4200)(3800)
Peak running range
Continuous running range
(3600)(3200)
0
1000 2000 3000 4000 5000
15
7.5
(4.0)
060(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
without
brake
with brake
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
85
70
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
20
10
(7.0)
(2.0)
(3700)(3300)
060(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
060(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
with brake
without
brake
torque
[N·m]
ratio vs. rated torque
[%]
speed [r/min] ambient temp. [°C]
50
100
100203040
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
85
Peak running range
Continuous running range
10
5
0
1000 2000 3000 4000 5000
(4.0)
(1.9)
(6.0)
(4200)(3800)
Peak running range
Continuous running range
(3600)(3200)
0
1000 2000 3000 4000 5000
15
7.5
(4.0)
060(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
without
brake
with brake
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
85
70
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
20
10
(7.0)
(2.0)
(3700)(3300)
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
7-62
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MSME series N:WRN:
With oil seal
* These are subject to change. Contact us when you use these values for your machine design.
MSME series (3.0kW to 5.0kW)
060(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
060(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
060( * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
without
brake
without
brake
with brake
with brake
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
90
85
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
90
85
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
70
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
30
15
(12)
(8.0)
(5.7)
(3400)(3100)
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
40
20
(10)
(3100)(2800)
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
50
25
(15)
(3200)(2800)
060(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
060(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
060( * 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
without
brake
without
brake
with brake
with brake
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
90
85
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
90
85
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
70
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
30
15
(12)
(8.0)
(5.7)
(3400)(3100)
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
40
20
(10)
(3100)(2800)
Peak running range
Continuous running range
0
1000 2000 3000 4000 5000
50
25
(15)
(3200)(2800)
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
7-63
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MDME series :WRN:
* These are subject to change. Contact us when you use these values for your machine design.
MDME series (400W to 2.0kW)
With oil seal
Peak running range
0'0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0'0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0'0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
Peak running range
Peak running range
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
Continuous running range
01000 2000 3000
15
10
5
(2200)
(6.0)
(4.0)
(3.2)
(2300)
Continuous running range
01000 2000 3000
20
10
(6.0)
(4.8)
Continuous running range
01000 2000 3000
30
15
(2200)
(11)
(6.4)
Peak running range
0'0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0'0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0'0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
Peak running range
Peak running range
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
0'0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
0'0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
speed [r/min]
Continuous running range
01000 2000 3000
15
10
5
(2200)
(6.0)
(4.0)
(3.2)
(2300)
Continuous running range
01000 2000 3000
20
10
(6.0)
(4.8)
Continuous running range
01000 2000 3000
30
15
(2200)
(11)
(6.4)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
6
4
2
(2400) (2700)
(3.5)
(1.3)
50
100
100203040
トルク
[N·m]
Peak running range
Continuous running range
01000 2000 3000
10
5
(2100)(2400)
(4.5)
(1.9)
7-64
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MDME series N:WRN:
* These are subject to change. Contact us when you use these values for your machine design.
MDME series (3.0kW to 5.0kW)
With oil seal
without
brake
Peak running range
Peak running range
Continuous running range
Peak running range
Continuous running range
0'0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0'0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0'0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
with
brake
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
90
85
100203040
torque
[N·m]
speed [r/min]
Continuous running range
01000 2000 3000
50
25
(28)
(20)
(9.5)
(2200)(2400)
01000 2000 3000
50
25
(13)
(1900)(2100)
01000 2000 3000
70
35
(20)
(3)
(1900)(2100)
without
brake
Peak running range
Peak running range
Continuous running range
Peak running range
Continuous running range
0'0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0'0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0'0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
with
brake
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
50
100
90
85
100203040
torque
[N·m]
speed [r/min]
Continuous running range
01000 2000 3000
50
25
(28)
(20)
(9.5)
(2200)(2400)
01000 2000 3000
50
25
(13)
(1900)(2100)
01000 2000 3000
70
35
(20)
(3)
(1900)(2100)
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
7-65
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MDME series N:WRN:
* These are subject to change. Contact us when you use these values for your machine design.
0'0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0'0(&* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0'0(&* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0'0(series(N:WRN:)
:LWKRLOVHDO
0'0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0'0(&* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0'0(&* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
ratio vs. rated torque
[%]
* Continuous torque vs. ambient temp.
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
Peak running range
Continuous running range
speed [r/min]
01000 2000 3000
150
75
(1500)(1700)
* Continuous torque vs. ambient temp.
ambient temp. [°C]speed [r/min]
90
(47.8)
(175)
(70)
(52.5)
(130)
ratio vs. rated torque
[%]
ratio vs. rated torque
[%]
ratio vs. rated torque
[%]
* Continuous torque vs. ambient temp.
ambient temp. [°C]
50
100
100 203040
torque
[N·m]
Peak running range
Continuous running range
speed [r/min]
01000 2000 3000
150
75
(1500)(1700)
(175)
(70)
(52.5)
(130)
torque
[N·m]
Peak running range
Continuous running range
01000 2000 3000
200
100
(1500)(1700)
(224)
(95.5)
(57)
(60)
(12)
ratio vs. rated torque
[%]
* Continuous torque vs. ambient temp.
ambient temp. [°C]
50
100
100203040
90
50
100
100 203040
* Continuous torque vs. ambient temp.
ambient temp. [°C]speed [r/min]
torque
[N·m]
Peak running range
Continuous running range
01000 2000 3000
200
100
(1500)(1700)
(224)
(95.5)
(57)
90
50
100
100203040
torque
[N·m]
speed [r/min]
01000 2000 3000
(2500)(2200)
50
100
Peak running range
Continuous running range
（119）
(1500)
90
(47.8)
(60)
(12)
ratio vs. rated torque
[%]
* Continuous torque vs. ambient temp.
ambient temp. [°C]
50
100
100203040
torque
[N·m]
speed [r/min]
01000 2000 3000
(2500)(2200)
50
100
Peak running range
Continuous running range
（119）
(1500)
7-66
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MFME series (1.5kW to 4.5kW)
50
100
100203040
01000 2000 3000
10
20
Peak running range
Continuous running range
（21.5）
（7.16）
（4.8）
（14）
50
100
100 203040
01000 2000 3000
15
30
Peak running range
Continuous running range
（30.4）
（11.9）
（5）
50
100
100203040
01000 2000 3000
25
50
Peak running range
Continuous running range
（54.9）
（21.5）
（10）
(2200)
(1800)
50
100
100 203040
01000 2000 3000
15
30
Peak running range
Continuous running range
（30.4）
（11.9）
（5）
(1800)
(1800)
50
100
100203040
01000 2000 3000
25
50
Peak running range
Continuous running range
（54.9）
（21.5）
（10）
(1800)
(2600)
50
100
100203040
01000 2000 3000
10
20
Peak running range
Continuous running range
（21.5）
（7.16）
（4.8）
（14）
(2200) (2600)
* These are subject to change. Contact us when you use these values for your machine design.
MFME series (1.5kW to 4.5kW)
With oil seal
0)0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0)0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0)0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
0)0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0)0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0)0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
7-67
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MGME series N:WRN:
* These are subject to change. Contact us when you use these values for your machine design.
0*0$* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
:LWKRLOVHDO
0*0(VHULHV(N:WRN:)
0*0$* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
50
100
100203040
01000 2000 3000
50
25
(18)
(9.6)
(28)
(1400)(1600)
0*0$* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0*0$* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0*0$* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0*0$* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
50
100
100 203040
01000 2000 3000
70
35
(20)
(14)
(40)
(1400)(1600)
50
100
100 203040
01000 2000 3000
20
10
(8)
(4.3)
(14)
(1600)(1800)
50
100
100203040
01000 2000 3000
20
10
(8)
(4.3)
(14)
(1600)(1800)
50
100
100203040
01000 2000 3000
50
25
(18)
(9.6)
(28)
(1400)(1600)
50
100
100203040
01000 2000 3000
70
35
(20)
(14)
(40)
(1400)(1600)
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
Peak running range
Continuous running range
Peak running range
Continuous running range
Peak running range
Continuous running range
Peak running range
Continuous running range
Peak running range
Continuous running range
Peak running range
Continuous running range
7-68
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MGME series N:WRN:
* These are subject to change. Contact us when you use these values for your machine design.
With oil seal
0*0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0*0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0*0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0*0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(70)
(107)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
100
50
(43)
(22)
(1500)(1700)
(143)
(57.3)
(28)
(100)
50
100
100 203040
Peak running range
01000 2000 3000
150
75
(1500)(1700)
(143)
(57.3)
(28)
(100)
50
100
100 203040
Peak running range
01000 2000 3000
150
75
(1500)(1700)
0'0(series (N:WRN:)
(70)
(107)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
100
50
(43)
(22)
(1500)(1700)
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
Continuous running rangeContinuous running range
7-69
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MHMD series :
MHMD series (200W)
0+0'* *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
Without oil seal With oil seal
* These are subject to change. Contact us when you use these values for your machine design.
50
100
100203040
2.0
(0.9)
(0.5)
(3600)
1.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
50
70
100
80
100203040
2.0
(0.9)
(0.5)
(3600)
1.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
with brake
without
brake
50
100
100203040
2.0
(1.5)
(1.2)
(4500)
1.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
50
70
100
80
100203040
2.0
(1.5)
(1.2)
(4500)
1.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
with brake
without
brake
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
7-70
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MHMD series :WR:
MHME series (400W to 750W)
Without oil seal With oil seal
* These are subject to change. Contact us when you use these values for your machine design.
0+0'* *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0+0'* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
50
100
90
100 203040
4.0
(0.6)
(1.3)
(2800) (3200)
2.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
50
75
100
100203040
4.0
(0.6)
(1.3)
(2800) (3200)
2.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
50
100
90
100 203040
4.0
(1.7)
(1.3)
(3400) (3800)
2.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
50
75
100
100203040
4.0
(1.7)
(1.3)
(3400) (3800)
2.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
50
100
100 203040
8.0
(3.0)
(3200) (3600)
4.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
50
100
100 203040
8.0
(3.0)
(3200) (3600)
4.0
0
1000 2000 3000 4000 5000
Peak running range
Continuous running range
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
7-71
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MHME series N:WRN:
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
15
10
5
(2200)
(3.2)
(4.0)
(6.0)
With oil seal
0+0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
15
10
5
(2200)
(3.2)
(4.0)
(6.0)
0+0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
50
100
100203040
Peak running range
Continuous running range
01000 2000 3000
20
10
(6.0)
(4.8)
(2300)
0+0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
30
15
(2200)
(6.4)
0+0(* *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0+0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0+0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0+0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0+0(* *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
50
25
(9.5)
(20)
(2400)
* These are subject to change. Contact us when you use these values for your machine design.
0+0(series (N:WRN:)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
20
10
(6.0)
(4.8)
(2300)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
30
15
(2200)
(6.4)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
50
25
(9.5)
(20)
(2400)
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
7-72
75.
Motor Characteristics
(
S-T
Characteristics
)
Supplement MHME series N:WRN:
With oil seal
0+0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0+0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
0+0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
50
25
(13)
(2100)(1900)
(47.8)
(12)
(60)
0+0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
50
100
90
85
100 203040
Peak running range
Continuous running range
01000 2000 3000
70
35
(20)
(3)
without
brake
(2100)(1900)
* These are subject to change. Contact us when you use these values for your machine design.
0+0(* 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
0+0(* 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
50
100
100 203040
01000 2000 3000
(2500)(2200)
50
100
Peak running range
Continuous running range
（119）
(1500)
0+0(series (N:WRN:)
50
100
100 203040
Peak running range
Continuous running range
01000 2000 3000
50
25
(13)
(2100)(1900)
50
100
90
85
100 203040
with brakewith brake
without
brake
Peak running range
Continuous running range
01000 2000 3000
70
35
(20)
(3)
(2100)(1900)
(47.8)
(12)
(60)
50
100
100203040
01000 2000 3000
(2500)(2200)
50
100
Peak running range
Continuous running range
（119）
(1500)
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
* Continuous torque vs. ambient temp.
ratio vs. rated torque
[%]
ambient temp. [°C]
torque
[N·m]
speed [r/min]
7-73
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
A-frame
76. Dimensions
Supplement Driver
40
5.2
28 6
5
7
7
5.2
5
180
170
150
ø5.2
ø5.2
40
150
140
Rack mount type
Option :
(
Front-end mounting
)
Base mount type
Standard:
(
Back-end mounting
)
(18)
(22.4)
24
20.4(20)
(27)
125
2.5
3.5
2.5
4.5 130
(70)
Mounting bracket
(Option)
Mounting bracket
(Option)
Name plate
B-frame
55
47
5.2
43 6
5
7
7
5.2
180
170
150
ø5.2
ø5.2
55
150
140
Name plate
(18)
(22.4)
24
20.4(20)
(27)
125
2.5
3.5
2.5
4.5 130
(70)
Mounting bracket
(Option)
Mounting bracket
(Option)
Rack mount type
Option :
(
Front-end mounting
)
Base mount type
Standard:
(
Back-end mounting
)
Related page
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Mass: 0.8kg
Mass: 1.0kg
7-74
85
(86)
60
5.2
70 8.5
5
4010
40
60
10
5.25.2
180
170
150
ø5.2
R2.6
(86)
150
140
Rack mount type
Option :
(
Front-end mounting
)
Direction of air flowing
from the internal
cooling fan
Base mount type
Standard:
(
Back-end mounting
)
2-ø5.2
Name plate
(15)
(22.4)
24
20.4(22)
(27)
120
2.5
4
2.5
4.5 170
(70)
(18)
Mounting bracket
(Option)
Mounting bracket
(Option)
65
40
5.2
50 7.5
5
20
20
40
5.2
5
180
170
150
ø5.2
ø5.2
140
65
150
Name plate
(15)
(22.4)
24
20.4(22)
(27)
120
2.5
4
2.5
4.5 170
(70)
(18)
Mounting bracket
(Option)
Mounting bracket
(Option)
Rack mount type
Option :
(
Front-end mounting
)
Base mount type
Standard:
(
Back-end mounting
)
6. Dimensions
Driver
C-frame
'IUDPH9
Mass: 1.6kg
Mass: 1.8kg
Related page
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7-75
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
85
(92)
60
5.2
707.5
5
4010
4010
5.25.2
180
170
150
ø5.2
(92)
150
140
2-ø5.2
Direction of air flowing
from the internal
cooling fan Rack mount type
Option :
(
Front-end mounting
)
Base mount type
Standard:
(
Back-end mounting
)
4
Name plate
(15)
(22.4)
24
20.4(22)
(27)
120
2.5
4
2.5
4.5 170
(70)
(18)
Mounting bracket(Option)
Mounting bracket
(Option)
85
5017.5
42.5
5.2
(86)
198
188
168
(86)
168
ø5.2
ø5.2
5.25.2
42.5
50
85
17.5
Direction of air flowing
from the internal
cooling fan
2.5
(3.5)
Mounting bracket (to shipping specification)
Mounting bracket
(deviation from shipping specification)
Mounting bracket
(to shipping specification)
Mounting bracket
(deviation from shipping specification)
Name plate
(29)
(33.1)
31.7(22)
(32)
24
130
2.5
193
(18)
Mass: 2.7kg
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(IUDPH9
6. Dimensions
Driver
Mass: 1.9kg
7-76
85
50
17.5
42.5
5.2 5.2
94
198
188
168
94
168
ø5.2
ø5.2
5.25.2
42.5
5017.5
Direction of air flowing
from the internal
cooling fan
2.5
(3.5)
Mounting bracket (to shipping specification)
Mounting bracket
(deviation from shipping specification)
Mounting bracket
(to shipping specification)
Mounting bracket
(deviation from shipping specification)
Name plate
(29)
(33.1)
31.7(22)
(32)
24
130
2.5
193
(18)
Mass: 2.7kg
10015
65
5.2 5.2
130
250
240
220
130
220
ø5.2
ø5.2
5.25.2
65
100
130
15
Name plate
Direction of air flowing
from the internal
cooling fan
42.7
214
2.5 (3.5)
Mounting bracket
(to shipping specification)
Mounting bracket
(deviation from shipping specification)
Mounting bracket
(to shipping specification)
Mounting bracket
(deviation from shipping specification)
2.5
24
(23)
(22)
(32)
125
Mass: 4.8kg [200V]
4.7kg [400V]
6. Dimensions
Driver
(IUDPH9
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7-77
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
ワヤ
ワヤ
ワヤ
ロビヤ
ロヒヤ
ワヤ
ワヤ
ワヤ
ュャピ
ュャビ
ュャヒ
ュャフ
L1
L2
L3
B1
B2
NC
U
V
W
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
ワヤ
ワヤ
ワヤ
ロビヤ
ロヒヤ
ワヤ
ワヤ
ワヤ
ュャピ
ュャビ
ュャヒ
ュャフ
ヹヒ
ヹビ
ヹピ
ヹフ
ヹブ
ヹプ
ヤラモンヨユ
L1
L2
L3
B1
B2
NC
U
V
W
Name plate
Direction of air flowing
from the internal
cooling fan
Mounting bracket
(to shipping specification) Mounting bracket
(deviation from shipping specification)
Mounting bracket
(to shipping specification)
Mounting bracket
(deviation from shipping specification)
Handle
233
334
52
2.5
2.5
3.5
210
210
90
90
90
90
9090
27
27
12
12
72
72
5.2 5.2 5.2
5.25.25.2
ø5.2
ø5.2
220
235
250
24
(23)
(22)
(32)
125
ø5.2
ø5.2
Mass: 13.5kg
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6. Dimensions
Driver
Related page
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7-78
6. Dimensions
Driver
+IUDPH9
Mount
Mount
(32)
125
450
261
4
435
200 30.5
30.5
200
7
7.5
7
270
Base mount type
(Back-end mounting)
Direction of air flowing
from the internal
cooling fan
21
ø7
ø7
266 4
Name
plate
Name
plate
Mass: 21.0kg
Related page
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7-79
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
060'VHULHV/RZLQHUWLD
Motor output 50W 100W
Motor model
MSMD 5A * * 1□ * 01 * * 1 *
LL Without brake 72 92
With brake 102 122
LR 25
S8
LA 45
LB 30
LC 38
LE 3
LF 6
LH 32
LN 26.3 46.5
LZ 3.4
DLW 25
LK 20
RH 7.5
Key way
dimensions
LW 14
LK 12.5
KW 3h9
KH 3
RH 6.2
TP M3 depth 6
Mass (kg) Without brake 0.32 0.47
With brake 0.53 0.68
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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4-ѮLZ
230
200
(7)(7)
Motor connector
Encoder connector
Brake connector
ѮSh6
ѮLBh7
ѮLA
LW KW
TP
KH
RH
LK
(Key way with center tap shaft)
Shaft end spec.
(D-cut shaft)
LK
LW RH
90°±1°
RH
LELF
LL LR
LN
LH
□LC
060':WR:
76. Dimensions
Supplement Motor
7-80
Shaft end spec.
(D-cut shaft)
Motor connector
Encoder connector
Brake connector
220
200
LELF
LL LR
ѮSh6
ѮLBh7
(7) (7)
LH
□LC
ѮLA
4-ѮLZ
(Key way with center tap shaft)
LW
LK
LW RH
90°±1°
RH
KW
TP
KH
RH
LK
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
060'VHULHV/RZLQHUWLD
Motor output 200W 400W 750W
Motor model
MSMD 02 * * 1□ * 04 * * 1□ * 08 * * 1□ *
LL Without brake 79.5 99 112.2
With brake 116 135.5 149.2
LR 30 35
S11 14 19
LA 70 90
LB 50 70
LC 60 80
LE 3
LF 6.5 8
LH 43 53
LZ 4.5 6
DLW 30 35
LK 22 25
RH 10 12.5 17.5
Key way
dimensions
LW 20 25 25
LK 18 22.5 22
KW 4h9 5h9 6h9
KH 456
RH 8.5 11 15.5
TP M4 depth 8 M5 depth 10
Mass (kg) Without brake 0.82 1.2 2.3
With brake 1.3 1.7 3.1
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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6. Dimensions
Motor
060':WR:
7-81
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
060(:WR:
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
060(VHULHV/RZLQHUWLD
Motor output 50W 100W 200W 400W 750W
Motor model
MSME 5A * * 1 * 01 * * 1 * 02 * * 1 * 04 * * 1 * 082 * 1 *
LL Without brake 72 92 79.5 99 112.2
With brake 102 122 116 135.5 148.2
LR 25 30 35
S8111419
LA 45 70 90
LB 30 50 70
LC 38 60 80
LE 3
LF — 6.5 8
LH 46.6 52.5 61.6
LM Without brake 44.8 64.8 53 72.5 85.7
With brake 74.8 94.8 89.5 109 121.7
LN 23 43 — — —
LT 27.2 26.5
LZ 3.4 4.5 6
Key way
dimensions
LW 14 20 25 25
LK 12.5 18 22.5 22
KW 3h9 4h9 5h9 6h9
KH 3 4 5 6
RH 6.2 8.5 11 15.5
TP M3 depth 6 M4 depth 8 M5 depth 10
Mass (kg) Without brake 0.31 0.46 0.78 1.2 2.3
With brake 0.51 0.66 1.2 1.6 3.1
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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LR
LELF
ѮSh6
ѮLBh7
LH
LH
ѮLA
LW KW
TP
KH
RH
LK
Shaft end spec.
(Key way with center tap shaft)
Shaft end spec.
(Key way with center tap shaft)
[With brake]
4-ѮLZ
ѮLA
4-ѮLZ LW KW
TP
KH
RH
LK
Encoder connector
Encoder connector Brake connector
Motor connector
Motor connector
LN
LL
LMLT
LR
LELF
ѮSh6
ѮLBh7
LN
LL
LMLT
LC
LC
6. Dimensions
Motor
7-82
6. Dimensions
Motor
060(:9N:WRN:'HVLJQ2UGHU
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
060(VHULHV/RZLQHUWLD
Motor output 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model
MSME 084 * 1 * 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 *
LL Without brake 131.5 141 159.5 178.5 190 208 243
With brake 158.5 168 186.5 205.5 215 233 268
LR 55 65
S192224
LA 115 145
LB 95 110
LC 100 120 130
LD 135 162 165
LE 3 6
LF 10 12
LG 60
LH 101 113 118
LM 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 9
Key way
dimensions
LW 45 55
LK 42 41 51
KW 6h9 8h9
KH 6 7
RH 15.5 18 20
Mass (kg) 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
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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ѮLA
ѮLD
Shaft end spec.
(Key way shaft)
<MSME 750W(400V), 1.0kW to 2.0kW>
<MSME 3.0kW to 5.0kW> * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF.
LW
LK
KW
KHRH
LH
LC
LL
LM44
LR
LF LE
LG
ѮSh6
ѮLBh7
Motor/Brake
connector
Encoder
connector
4-ѮLZ M3 through
LF
7-83
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6. Dimensions
Motor
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* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
060(VHULHV/RZLQHUWLD
Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model
MSME 10 * * C * 15 * * C * 20 * * C * 30 * * C * 40 * * C * 50 * * C *
LL Without brake 143 161.5 180.5 192 210 245
With brake 170 188.5 207.5 217 235 270
LR 55 65
S192224
LA 115 145
LB 95 110
LC 100 120 130
LD 135 162 165
LE 3 6
LF 10 12
LG 84
LH 101 113 118
LM Without brake 97 115.5 134.5 146 164 199
With brake 124 142.5 161.5 171 189 224
LZ 9
Key way
dimensions
LW 45 55
LK 42 41 51
KW 6h9 8h9
KH 6 7
RH 15.5 18 20
Mass (kg) Without brake 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
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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Shaft end spec.
(Key way shaft)
M3 through
ѮLA
ѮLD
<MSME 1.0kW to 2.0kW>
<MSME 3.0kW to 5.0kW> * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF.
LW
LK
KW
KHRH
LH
□LC
LL
LM46
LR
LF LE
LG
ѮSh6
ѮLBh7
Motor/Brake
connector
Encoder
connector
4-ѮLZ
LF
7-84
0'0(:WRN:'HVLJQ2UGHU
6. Dimensions
Motor
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MDME series (Middle inertia)
Motor output 400W 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model
MDME 044 * 1 * 064 * 1 * 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 *
LL Without brake 131.5 141 138 155.5 173 208 177 196
With brake 158.5 168 163 180.5 198 233 202 221
LR 55 65 70
S19 222435
LA 115 145 200
LB 95 110 114.3
LC 100 130 176
LD 135 165 233
LE 3 6 3.2
LF 10 12 18
LG 60
LH 101 116 118 140
LM 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 13.5
Key way
dimensions
LW 45 55
LK 42 41 51 50
KW 6h9 8h9 10h9
KH 6 7 8
RH 15.5 18 20 30
Mass (kg) Without brake 3.1 3.5 5.2 6.7 8.0 11.0 15.5 18.6
With brake 4.1 4.5 6.7 8.2 9.5 12.6 18.7 21.8
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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LL LR
LF LE
LG
ѮSh6
Encoder connector
Motor/Brake connector
ѮLBh7
ѮLD
ѮLA
LW
LK
KW
KHRH
LH
4-ѮLZ
LM44
M3 through
LC
Shaft end spec.
(Key way shaft)
7-85
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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6. Dimensions
Motor
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MDME series (Middle inertia)
Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model
MDME 10 * * C * 15 * * C * 20 * * C * 30 * * C * 40 * * C * 50 * * C *
LL Without brake 140 157.5 175 210 179 198
With brake 165 182.5 200 235 204 223
LR 55 65 70
S22 35
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18
LG 84
LH 116 118 140
LM Without brake 94 111.5 129 164 133 152
With brake 119 136.5 155 189 158 177
LZ 9 13.5
Key way
dimensions
LW 45 55
LK 41 51 50
KW 8h9 10h9
KH 7 8
RH 18 20 30
Mass (kg) Without brake 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
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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□LC
4-ѮLZ M3 through
LL LR
LF LE
LG
ѮSh6
ѮLBh7
ѮLD
ѮLA
Shaft end spec.
(Key way shaft)
LW
LK
KW
KHRH
LH
LM46
Encoder connector
Motor/Brake connector
7-86
0'0(N:WRN:
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MDME series (Middle inertia)
Motor output 7.5kW 11.0kW 15.0kW
Motor model
MDME 75 * * 1 * C1 * * 1 * C5 * * 1 *
LL Without brake 312 316 348
With brake 337 364 432
LR 113 116
S42 55
LA 200 235
LB 114.3 200
LC 176 220
LD 233 268
LE 3.2 4
LF 24 32
LG 60
LH 184 205
LM Without brake 268 272 340
With brake 293 320 388
LZ 13.5
Key way
dimensions
LW 96 98
LK 90 90
KW 12h9 16h9
KH 8 10
RH 37  0
ï 49  0
ï
Mass (kg) Without brake 36.4 52.7 70.2
With brake 40.4 58.9 76.3
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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Motor connector
Encoder
connector
Brake connector
M4 through
4-ѮLZ
□LC
43.543.5
Eye bolt
(Thread 10)
M5 through
4-ѮLZ
□LC
5757
LH
LW
LK
KW
KH
RH
ѮLA
ѮLD
LG
44
LL LR
LF LE
LM
48
ѮLBh7
ѮSh6
<MDME 7.5kW>
<MDME 11.0kW, 15.0kW>
LG
44
LL LR
LE
LM
48
ѮLBh7
ѮSm6
LH
LW
LK
KW
KH
RH
ѮLA
ѮLD
LF
Eye bolt
(Thread 10) Shaft end spec.
(Key way shaft)
Shaft end spec.
(Key way shaft)
6. Dimensions
Motor
7-87
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
MFME 1.5kW to 4.5kW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MFME series (Middle inertia)
Motor output 1.5kW 2.5kW 4.5kW
Motor model
MFME 15 * * 1 *25 * * 1 *45 * * 1 *
LL Without brake 142 136 156
With brake 167 169 189
LR 70
S35
LA 200 235
LB 114.3 200
LC 176 220
LD 233 266
LE 3.2 4
LF 18 16
LG 60
LH 140 162
LM Without brake 98 91 111
With brake 123 124 144
LZ 176
Key way
dimensions
LW 55
LK 50
KW 10h9
KH 8
RH 30
Mass (kg) Without brake 9.5 13.1 18.2
With brake 12.5 17.2 23.1
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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3´67&KDUDFWHULVWLFVµ
M3 through
4-ѮLZ
□LC
LG
LH
LW
LK
KW
KHRH
ѮLA
ѮLD
44
LL LR
LF LE
LM
ѮLBh7
ѮSh6
Encoder connector
Motor/Brake connector
Shaft end spec.
(Key way shaft)
6. Dimensions
Motor
7-88
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* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MGME series (Middle inertia)
Motor output 900W 2.0kW 3.0kW
Motor model
MGME 09 * * 1 * 20 * * 1 * 30 * * 1 *
LL Without brake 155.5 163.5 209.5
With brake 180.5 188.5 234.5
LR 70 80
S22 35
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18
LG 60
LH 116 140
LM Without brake 111.5 119.5 165.5
With brake 136.5 144.5 190.5
LZ 9 13.5
Key way
dimensions
LW 45 55
LK 41 50
KW 8h9 10h9
KH 7 8
RH 18 30
Mass (kg) Without brake 6.7 14.0 20.0
With brake 8.2 17.5 23.5
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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LL LR
LF LE
LG
ѮSh6
Encoder connector
Motor/Brake connector
ѮLBh7
ѮLA
ѮLD
LW
LK
KW
KHRH
LH
4-ѮLZ
LM44
M3 through
LC
Shaft end spec.
(Key way shaft)
6. Dimensions
Motor
7-89
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MGME series (Middle inertia)
Motor output 900W 2.0kW 3.0kW
Motor model
MGME 09 * * C * 20 * * C * 30 * * C *
LL Without brake 157.5 165.5 211.5
With brake 182.5 190.5 236.5
LR 70 80
S22 35
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18
LG 84
LH 116 140
LM Without brake 111.5 119.5 165.5
With brake 136.5 144.5 190.5
LZ 9 13.5
Key way
dimensions
LW 45 55
LK 41 50
KW 8h9 10h9
KH 7 8
RH 18 30
Mass (kg) Without brake 6.7 14.0 20.0
With brake 8.2 17.5 23.5
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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Encoder connector
Motor/Brake connector
M3 throu
g
LW
LK
KHRH
Shaft end spec.
(Key way shaft)
46
LL LR
LF LE
ѮLBh7
LM
ѮSh6
LG
ѮLD
ѮLA
LH
□LC
4-ѮLZ
6. Dimensions
Motor
7-90
6. Dimensions
Motor
0*0(N:N:
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MGME series (Middle inertia)
Motor output 4.5kW 6.0kW
Motor model
MGME 45 * * 1 * 60 * * 1 *
LL Without brake 266 312
With brake 291 337
LR 113
S42
LA 200
LB 114.3
LC 176
LD 233
LE 3.2
LF 24
LG 60
LH 140 184
LM Without brake 222 268
With brake 247 293
LZ 13.5
Key way
dimensions
LW 96
LK 90
KW 12h9
KH 8
RH 37 0
ï
Mass (kg) Without brake 29.4 36.4
With brake 33.0 40.4
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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Motor connector
Encoder
connector
Encoder
connector
Brake connector
M4 through
Eye bolt
(Thread 10)
LW
LK
KW
KH
RH
LG
44
LL LR
LF LE
LM
48
ѮLBh7
ѮSh6
M4 through
4-ѮLZ
□LC
43.543.5
LH
LW
LK
KW
KH
RH
ѮLA
ѮLD
4-ѮLZ
□LC
43.543.5
LH
ѮLA
ѮLD
<MGME 4.5kW>
<MGME 6.0kW>
LG
44
LR
LF LE
ѮLBh7
ѮSh6
LL
LM
Eye bolt
(Thread 10)
Motor/Brake connector
Shaft end spec.
(Key way shaft)
Shaft end spec.
(Key way shaft)
7-91
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6. Dimensions
Motor
0+0':WR:
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MHMD series (High inertia)
Motor output 200W 400W 750W
Motor model
MHMD 02 * * 1 * 04 * * 1 * 08 * * 1 *
LL Without brake 99 118.5 164.2
With brake 135.5 155 127.2
LR 30 35
S11 14 19
LA 70 90±0.2
LB 50 70
LC 60 80
LE 3
LF 6.5 8
LH 43 53
LZ 4.5 6
DLW 30 35
LK 22 25
RH 10 12.5 17.5
Key way
dimensions
LW 20 25 25
LK 18 22.5 22
KW 4h9 5h9 6h9
KH456
RH 8.5 11 15.5
TP M4 depth 8 M5 depth 10
Mass (kg) Without brake 0.96 1.4 2.5
With brake 1.4 1.8 3.3
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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220
200
LL
LF LE
LR
ѮSh6
LH
ѮLBh7
4-ѮLZ
ѮLA
□LC
LW
LK
LW RH
90°±1°
RH
KW
TP
KH
RH
LK
(7) (7)
Motor connector
Encoder connector
Brake connector Shaft end spec.
(D-cut shaft)
(Key way with center tap shaft)
7-92
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6. Dimensions
Motor
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MHME series (High inertia)
Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW
Motor model
MHME 10 * * 1 *15 * * 1 *20 * * 1 *30 * * 1 *40 * * 1 *50 * * 1 *75 * * 1 *
LL Without brake 173 190.5 177 196 209.5 238.5 357
With brake 198 215.5 202 221 234.5 263.5 382
LR 70 80 113
S22 35 42
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18 24
LG 60
LH 116 140 184
LM Without brake 129 146.5 133 152 165.5 194.5 313
With brake 154 171.5 158 177 190.5 219.5 338
LZ 9 13.5
Key way
dimensions
LW 45 55 96
LK 41 50 90
KW 8h9 10h9 12h9
KH 7 8
RH 18 30 37 0
ï
Mass (kg) Without brake 6.7 8.6 12.2 16.0 18.6 23.0 42.3
With brake 8.1 10.1 15.5 19.2 21.8 26.2 46.2
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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LL LR
LF LE
LG
ѮSh6
Motor/Brake connector
ѮLBh7
ѮLD
ѮLA
LW
LK
KW
KHRH
LH
□LC
4-ѮLZ M3 through
LM44
Encoder
connector
Encoder
connector
Shaft end spec.
(Key way shaft)
<MHME 1.0kW∼5.0kW>
<MHME 7.5kW> Motor connector
Brake connector
Eye bolt
(Thread 10)
M4 through
4-ѮLZ
□LC
43.543.5
LG
44
LR
LF LE
48
ѮLBh7
ѮSh6
LL
LM
Shaft end spec.
(Key way shaft)
LH
LW
LK
KW
KH
RH
ѮLA
ѮLD
7-93
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6. Dimensions
Motor
0+0(N:WRN:'HVLJQ2UGHU&
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MHME series (High inertia)
Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model
MHME 10 * * C *15 * * C *20 * * C *30 * * C *40 * * C *50 * * C *
LL Without brake 175 192.5 179 198 211.5 240.5
With brake 200 217.5 204 223 236.5 265.5
LR 70 80
S22 35
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18
LG 84
LH 116 140
LM Without brake 129 146.5 133 152 165.5 194.5
With brake 154 171.5 158 177 190.5 219.5
LZ 9 13.5
Key way
dimensions
LW 45 55
LK 41 50
KW 8h9 10h9
KH 7 8
RH 18 30
Mass (kg) Without brake 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
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Caution
Related page
Reduce the moment of inertia ratio if high speed response operation is required.
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Motor/Brake connector
M3 through
LH
4-ѮLZ
□LC
LW
LK
KW
KHRH
Shaft end spec.
(Key way shaft)
46
LL LR
LF LE
ѮLBh7
LM
ѮSh6
LG
ѮLA
ѮLD
Encoder connector
7-94
77. Options
Supplement Noise Filter
:KHQ\RXLQVWDOORQHQRLVHÀOWHUDWWKHSRZHUVXSSO\IRUPXOWLD[HVDSSOLFDWLRQFRQWDFWWR
DPDQXIDFWXUHRIWKHQRLVHÀOWHU,IQRLVHPDUJLQLVUHTXLUHGFRQQHFWÀOWHUVLQVHULHVWR
emphasize effectiveness.
2SWLRQV
Option
part No.
9ROWDJH
specifications
for driver
Manufacturer's
part No.
Applicable
driver (frame) Manufacturer
DV0P4170 Single phase
100V, 200V 683(.(5 A and B-frame Okaya Electric Ind.
Option
part No.
9ROWDJH
specifications
for driver
Manufacturer's
part No.
Applicable
driver (frame) Manufacturer
DV0PM20042
3-phase 200V
683+8(5
A and B-frame
Okaya Electric Ind.
Single phase
100V, 200V
3-phase 200V
C-frame
DV0P4220 Single/3-phase
200V 683+8(5 D-frame
DV0PM20043 3-phase 200V 683+8(5 E-frame
[Unit: mm]
Label
Terminal cover
(transparent)
2 – ø4.5
RCx Cx
Cy
LL
Cy
2 – ø4.5 x 6.75
53.1±1.0
100.0 ± 2.0
88.0
75.0 5.0
12.0
10.0
50.0
60.0
7.0
2.0
(11.6)
(13.0
)
6 – M4
2
13
4
Circuit diagram
IN OUT
ABCDEFGH
115DV0PM20042
[DV0PM20042, DV0P4220] [DV0PM20043]
105 95 70 43 10 52 5.5
145DV0P4220 135 125 70 50 10 52 5.5
165DV0PM20043 136 165 90 80 40 54 5.5
Label
A
B
CH
10
F
E
D
G
Earth terminal
M4
M4
Screw for cover
M3
Cover
Body
4
5
1
2
63
Circuit diagram
L1
Cx1
IN OUT
RCx1
Cy1
[Size]
For single phase application, use 2 terminals among 3 terminals,
leaving the remaining terminal unconnected.
[Unit: mm]
Label
A
C
B
H
M5
E
F
D
Earth terminal
M4
Screw for cover
M3
G
Cover
Body
Related page
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3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ
7-95
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Caution
Use options correctly after reading operation manuals of the options to better un-
derstand the precautions.
Take care not to apply excessive stress to each optional part.
[Unit: mm]
Circuit diagram
IN OUT
286±3.0
150
2-ø5.5 x 7 2-ø5.5
6-6M
270
255±1.0
240
120
90±1.0
(18)(13)
Label
1
2
3
4
5
6
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.
7. Options
Noise Filter
5HFRPPHQGHGFRPSRQHQWV
Part No.
9ROWDJH
specifications
for driver
Current rating
(A)
Applicable driver
(frame) Manufacturer
RTHN-5010 Single phase
100V, 200V
3-phase 200V
10 A, B, C-frame
TDK-Lambda Corp.RTHN-5030 30 D-frame
RTHN-5050 50 E, F-frame
[RTHN-5010]
195±1
210±2
50±2
6-M4
M4
4.5
10±1
18.5±1
78±1
4.5±1
95±2
18.5±1
[RTHN-5030]
225±1
240±2
55±2
6-M4
M4
4.5
10±1
18.5±1
85±1
4.5±1
105±2
18.5±1
[RTHN-5050]
280±1
300±2
68±2
6-M5
M4
5.5
12.5±1
21±1
102±1
5.5±1
128±2
21±1
Remarks
 6HOHFWDQRLVHÀOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFHDOVR
check for load condition).
 )RUGHWDLOHGVSHFLÀFDWLRQRIWKHÀOWHUFRQWDFWWKHPDQXIDFWXUHU
7-96
[Unit: mm]
[Unit: mm] [Unit: mm]
[Size]
PE
LINE
L1
L3
L2
L1'
L3'
L2'
LOAD
C
5050
140
6.5
D
A
95
25
1.5
M8
25
B
Circuit diagram
Circuit diagram Circuit diagram
ABCD
410FS5559-60-34 170 370 388
460FS5559-80-34 180 420 438
[FS5559-60-34, FS5559-80-34]
[FN258L-16-07] [FN258L-30-07]
Litze AWG14
M5
275
55
290
305
142
150
30
6.5
6.5
300`10 305
320
335
344.5
400`10
9
9
47nF(Y2)
3x1,5MOhm
3x2,2μF(X2)
3x1,5μF(X2)
3x1mH
3x2mH
3x2,2μF(X2)
E
L3'
L2'
L1'
E
L3
L2
L1
LOAD
LINE
Litze AWG10
M5
35
60
47nF(Y2)SH
3x1,5MOhm
3x2,2μF(X2)SH
3x2,2μF(X2)SH
3x0,65mH
3x1,35mH
3x2,2μF(X2)SH
E
L1'
L2'
L3'
E
L1
L2
L3
LOAD
LINE
part No.
9ROWDJH
specifications
for driver
Current rating
(A)
Applicable driver
(frame) Manufacturer
FS5559-60-34
3-phase 200V
60 G-frame
Schaffner
FS5559-80-34 80 H-frame
FN258L-16-07
3-phase 400V
16 D, E-frame
FN258L-30-07 30 F-frame
FN258-42-07 42
G, H-frame
FN258-42-33 42
7. Options
Noise Filter
7-97
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
LINE LOAD
Circuit diagram
[FN258-42-07] [FN258-42-33]
E E
L3
L2
L1
L3'
L2'
L1'
314
300
329
1.5
70
500±10
45
6.5
12
185
350
70
314
329
45
6.5
300
185
1.5
[Unit: mm][Unit: mm]
7. Options
Noise Filter
Caution
Use options correctly after reading operation manuals of the options to better un-
derstand the precautions.
Take care not to apply excessive stress to each optional part.
Remarks
 6HOHFWDQRLVHÀOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFHDOVR
check for load condition).
 )RUGHWDLOHGVSHFLÀFDWLRQRIWKHÀOWHUFRQWDFWWKHPDQXIDFWXUHU
7-98
Circuit diagram
Circuit diagram
1
Ѯ4.2±0.2
41±1
UL-1015 AWG16
28±1
5.5±1
11±128.5±1
4.5±0.5
200 +30
-
0
2 3
Ѯ4.2±0.2
41±1
UL-1015 AWG16
28±1
5.5±1
11±128.5±1
4.5±0.5
200 +30
-0
1 2
(1) (1) (3)
(1) (2)
[Unit: mm]
[Unit: mm]
77. Options
Supplement Surge Absorber
3URYLGHDVXUJHDEVRUEHUIRUWKHSULPDU\VLGHRIQRLVHÀOWHU
Option
part No.
9ROWDJH
specifications
for driver
Manufacturer's
part No. Manufacturer
DV0P1450 3-phase 200V R･A･9%;=
Okaya Electric Ind.
DV0PM20050 3-phase 400V R･A･9%;=
Option
part No.
9ROWDJH
specifications
for driver
Manufacturer's
part No. Manufacturer
DV0P4190 Single phase
100V, 200V R･A･V-781BWZ-4 Okaya Electric Ind.
Remarks
Take off the surge absorber when you execute a dielectric test to the machine or equip-
ment, or it may damage the surge absorber.
Related page
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7-99
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
77. Options
Supplement 1RLVH)LOWHUIRU6LJQDO/LQHV
IQVWDOOQRLVHÀOWHUVIRUVLJQDOOLQHVWRDOOFDEOHVSRZHUFDEOHPRWRUFDEOHHQFRGHUFDEOH
and interface cable)
2SWLRQV
<24 V 3RZHUFDEOH0RWRUFDEOH(QFRGHUFDEOH,QWHUIDFHFDEOH86%FDEOH>
Option part No. Manufacturer's part No. Manufacturer
DV0P1460 ZCAT3035-1330 TDK Corp.
   
[Unit: mm]
39±1
34±1
30±1
13
±
1
Mass: 62.8g
To connect the noise filter to
the connector XB connection
cable, adjust the sheath length
at the tip of the cable, as
required.
Remarks
5HFRPPHQGHGFRPSRQHQWV
<Power cable>
Part No. Applicable driver (frame) Manufacturer
RJ8035 E-frame 200 V, F-frame 200 V
KK-CORP.CO.JP
RJ8095 G-frame, H-frame
B
A
C
D1
F
E
D2
Manufacturer's
part No.
Current
value
100kHz
ѥ+
'LPHQVLRQ>8QLWPP@
A B C D1 D2 Core thikness E F
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
<Motor cable>
Part No. Applicable driver (frame) Manufacturer
T400-61D G-frame, H-frame MICROMETALS
 
ø57.2
33 ø102
[Unit: mm]
Remarks
)L[WKHVLJQDOOLQHQRLVHÀOWHULQSODFHWRHOLPLQDWHH[FHVVLYHVWUHVVWRWKHFDEOHV
7-100
77. Options
Supplement Junction Cable for Encoder
Part No. 0)(&$**($0 Compatible
motor output MSMD 50W to 750W, MHMD 200W to 750W
Specifications
For 20-bit incremental encoder (Without battery box)
     
L
(ø6.5)
(14)
(11.8)
(4) (4)
 
Title Part No. Manufacturer /P Part No.
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030EAM
Shell kit 3E306-3200-008 5 MFECA0050EAM
Connector (Motor side) 172160-1 Tyco Electronics 10 MFECA0100EAM
Connector pin 170365-1 20 MFECA0200EAM
Cable 0.20mm2×3P (6-wire type) Oki Electric Cable Co., Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No.
0)(&$ **0-'
(Highly bendable type, Direction of motor shaft)
Compatible
motor output
50W to
750W (200V)
0)(&$ **0.'
(Highly bendable type, Opposite direction of motor shaft)
0)(&$ **7-'
(Standard bendable type, Direction of motor shaft)
0)(&$ **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. Manufacturer /P Part No.
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030MJD
Shell kit 3E306-3200-008 5 MFECA0050MJD
Connector JN6FR07SM1 Japan Aviation
Electronics Ind.
10 MFECA0100MJD
Connector pin LY10-C1-A1-10000 20 MFECA0200MJD
Cable AWG24×4P, AWG22×2P Hitachi Cable, Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Caution
Related page
Option cable does not conform to IP65 and IP67.
3´-XQFWLRQFDEOHIRUPRWRUµ3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
7-101
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Caution
Related page
Option cable does not conform to IP65 and IP67.
3´-XQFWLRQFDEOHIRUPRWRUµ3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
7. Options
Junction Cable for Encoder
Part No.
0)(&$ **0-(
(Highly bendable type, Direction of motor shaft)
Compatible
motor output
50W to
750W (200V)
0)(&$ **0.(
(Highly bendable type, Opposite direction of motor shaft)
0)(&$ **7-(
(Standard bendable type, Direction of motor shaft)
0)(&$ **7.(
(Standard bendable type, Opposite direction of motor shaft)
Specifications
For 17-bit absolute encoder (With battery box)
L
110 300
(ø5.5)
Direction of
motor shaft
Opposite direction of
motor shaft
Identification label
Title Part No. Manufacturer /P Part No.
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030MJE
Shell kit 3E306-3200-008 5 MFECA0050MJE
Connector ZMR-02 J.S.T Mfg. Co., Ltd. 10 MFECA0100MJE
Connector pin SMM-003T-P0.5 20 MFECA0200MJE
Connector JN6FR07SM1 Japan Aviation
Electronics Ind.
Connector pin LY10-C1-A1-10000
Cable AWG24 ×4P, AWG22×2P Hitachi Cable, Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. 0)(&$ **(7' Compatible
motor output
400W (400V), 600W (400V), 750W (400V),
0.9kW to 15.0kW
Specifications
For 20-bit incremental encoder (Without battery box), Design order: 1
L
(ø6)
ø20
Title Part No. Manufacturer /P Part No.
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030ETD
Shell kit 3E306-3200-008 5 MFECA0050ETD
Connector JN2DS10SL1-R Japan Aviation
Electronics Ind.
10 MFECA0100ETD
Connector pin JN1-22-22S-PKG100 20 MFECA0200ETD
Cable 0.2mm2×3P Oki Electric Cable Co., Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
7-102
Part No. 0)(&$**(6' Compatible
motor output 0.9kW to 5.0kW (IP65 Motor)
Specifications
For 20-bit incremental encoder (Without battery box), Design order: C
   
L
(ø6.5)
ø37.3
Title Part No. Manufacturer /P Part No.
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030ESD
Shell kit 3E306-3200-008 5 MFECA0050ESD
Connector (Motor side) N/MS3106B20-29S Japan Aviation
Electronics Ind.
10 MFECA0100ESD
Cable clamp N/MS3057-12A 20 MFECA0200ESD
Cable 0.2mm2 ×3P (6-wire type) Oki Electric Cable Co., Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. 0)(&$ **(7( Compatible
motor output
400W (400V), 600W (400V), 750W (400V),
0.9kW to 15.0kW
Specifications
For 17-bit absolute encoder (With battery box), Design order: 1
L
110 300
(ø6)
ø20
Title Part No. Manufacturer /P Part No.
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030ETE
Shell kit 3E306-3200-008 5 MFECA0050ETE
Connector ZMR-02 J.S.T Mfg. Co., Ltd. 10 MFECA0100ETE
Connector pin SMM-003T-P0.5 20 MFECA0200ETE
Connector JN2DS10SL1-R Japan Aviation
Electronics Ind.
Connector pin JN1-22-22S-PKG100
Cable 0.2mm2 ×3P Oki Electric Cable Co., Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. 0)(&$**(6( Compatible
motor output 0.9kW to 5.0kW (IP65 Motor)
Specifications
For 17-bit absolute encoder (With battery box), Design order: C
  
(ø8)
ø37.3
L
110 300
Title Part No. Manufacturer /P Part No.
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030ESE
Shell kit 3E306-3200-008 5 MFECA0050ESE
Connector (Motor side) N/MS3106B20-29S Japan Aviation
Electronics Ind.
10 MFECA0100ESE
Cable clamp N/MS3057-12A 20 MFECA0200ESE
Cable 0.2mm2 ×4P (8-wire type) Oki Electric Cable Co., Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
7. Options
Junction Cable for Encoder
Caution
Option cable does not conform to IP65 and IP67.
7-103
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Caution
Related page
Option cable does not conform to IP65 and IP67.
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77. Options
Supplement Junction Cable for Motor (Without brake)
Part No. 0)0&$**(('
Applicable
model
MSMD 50W to 750W, MHMD 200W to 750W
    
(50) (50)
L
Ѯ


(4) (4)
 
Title Part No. Manufacturer /P Part No.
Connector 172159-1 Tyco Electronics 3 MFMCA0030EED
Connector pin 170366-1 5 MFMCA0050EED
Rod terminal AI0.75-8GY Phoenix Contact 10 MFMCA0100EED
Nylon insulated
round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200EED
Cable
ROBO-TOP 600V 0.75mm2 4-wire type
Daiden Co.,Ltd.
Part No.
0)0&$ **1-'
(Highly bendable type, Direction of motor shaft)
Applicable
model
MSME 50W to 750W
0)0&$ **1.'
(Highly bendable type, Opposite direction of motor shaft)
0)0&$ **5-'
(Standard bendable type, Direction of motor shaft)
0)0&$ **5.'
(Standard bendable type, Opposite direction of motor shaft)
L(50)(28.8)
(ø6)
Direction of
motor shaft
Opposite direction of
motor shaft
Motor cable for opposite direction of
motor shaft cannot be used with a
motor 50W and 100W.
Caution
Identification label
Title Part No. Manufacturer /P Part No.
Connector JN8FT04SJ1 Japan Aviation
Electronics Ind.
3 MFMCA0030NJD
Connector pin ST-TMH-S-C1B-3500 5 MFMCA0050NJD
Rod terminal AI0.75-8GY Phoenix Contact 10 MFMCA0100NJD
Nylon insulated
round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200NJD
Cable AWG18×4P Hitachi Cable, Ltd.
7-104
Part No. 0)0&' **2ECD
Applicable
model
MSME 750W (400V), 1.0kW to 2.0kW,
MDME 1.0kW to 2.0kW, MHME 1.0kW to 1.5kW,
MGME 0.9kW
(50)L
ø37.3
(Ѯ12.5)
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A20-4SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCD0032ECD
Cable clamp JL04-2022CK(14)-R 5 MFMCD0052ECD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCD0102ECD
Nylon insulated
round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCD0202ECD
Cable ROBO-TOP 600V 2.0mm2Daiden Co.,Ltd.
Part No. 0)0&( **2ECD
Applicable
model
MHME 2.0kW
(50)L
ø40.5
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A22-22SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCE0032ECD
Cable clamp JL04-2022CK(14)-R 5 MFMCE0052ECD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCE0102ECD
Nylon insulated
round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCE0202ECD
Cable ROBO-TOP 600V 2.0mm2Daiden Co.,Ltd.
Part No. 0)0&$ **3ECT
Applicable
model
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
MHME 3.0kW to 5.0kW, MGME 2.0kW to 3.0kW
(50)L
ø40.5
(Ѯ14)
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A22-22SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCA0033ECT
Cable clamp JL04-2022CK(14)-R 5 MFMCA0053ECT
Nylon insulated
round terminal N5.5-5 J.S.T Mfg. Co., Ltd. 10 MFMCA0103ECT
20 MFMCA0203ECT
Cable ROBO-TOP 600V 3.5mm2Daiden Co.,Ltd.
7. Options
Junction Cable for Motor (Without brake)
Caution
Related page
Option cable does not conform to IP65 and IP67.
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7-105
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Part No. 0)0&$ **2ECD
Applicable
model
MFME 1.5kW (200V)
(50)L
ø37.3
(Ѯ12.5)
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A20-18SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCA0032ECD
Cable clamp JL04-2022CK(14)-R 5 MFMCA0052ECD
Rod terminal $,%8 Phoenix Contact 10 MFMCA0102ECD
Nylon insulated
round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0202ECD
Cable ROBO-TOP 600V 2.0mm2Daiden Co.,Ltd.
Part No. 0)0&) **2ECD
Applicable
model
MFME 1.5kW (400V), 2.5kW
(50)L
ø43.7
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A24-11SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCF0032ECD
Cable clamp JL04-2428CK(14)-R 5 MFMCF0052ECD
Rod terminal 178% Phoenix Contact 10 MFMCF0102ECD
Nylon insulated
round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCF0202ECD
Cable ROBO-TOP 600V 2.0mm2Daiden Co.,Ltd.
Part No. 0)0&' **3ECT
Applicable
model
MFME 4.5kW
(50)L
ø43.7
(Ѯ14)
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A24-11SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCA0033ECT
Cable clamp JL04-2428CK(17)-R 5 MFMCA0053ECT
Nylon insulated
round terminal N5.5-5 J.S.T Mfg. Co., Ltd. 10 MFMCA0103ECT
20 MFMCA0203ECT
Cable ROBO-TOP 600V 3.5mm2Daiden Co.,Ltd.
7. Options
Junction Cable for Motor (Without brake)
Caution
Related page
Option cable does not conform to IP65 and IP67.
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7-106
77. Options
Supplement Junction Cable for Motor (With brake)
Part No. 0)0&$ **2FCD
Applicable
model
MSME 1.0kW to 2.0kW (200V)
MDME 1.0kW to 2.0kW (200V)
MFME 1.5kW (200V)
MHME 1.0kW to 1.5kW (200V)
MGME 0.9kW (200V)
L(50)
L(50)
(ø12.5)
(ø
9.8
)
ø37.3
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A20-18SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCA0032FCD
Cable clamp JL04-2022CK(14)-R 5 MFMCA0052FCD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCA0102FCD
Nylon insulated
round terminal
Earth N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0202FCD
Brake N1.25-M4
Cable ROBO-TOP 600V 0.75mm2 and
ROBO-TOP 600V 2.0mm2Daiden Co.,Ltd.
Part No. 0)0&( **2FCD
Applicable
model
MSME 750W to 2.0kW (400V)
MDME 400W to 2.0kW (400V)
MFME 1.5kW (400V), 2.5kW
MGME 0.9kW (400V)
MHME 1.0kW (400V), 1.5kW (400V), 2.0kW
(50)
L
(50)
L
ø43.7
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A24-11SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCE0032FCD
Cable clamp JL04-2428CK(17)-R 5 MFMCE0052FCD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCE0102FCD
Nylon insulated
round terminal
Earth N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCE0202FCD
Brake N1.25-M4
Cable ROBO-TOP 600V 0.75mm2 and
ROBO-TOP 600V 2.0mm2Daiden Co.,Ltd.
Caution
Related page
Option cable does not conform to IP65 and IP67.
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7-107
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
7. Options
Junction Cable for Motor (With brake)
Part No. 0)0&$ **3FCT
Applicable
model
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
MFME 4.5kW, MHME 3.0kW to 5.0kW
MGME 2.0kW to 4.5kW
L(50)
L(50)
ø43.7
(ø14)
(ø
9.8
)
Title Part No. Manufacturer /P Part No.
Connector JL04V-6A24-11SE-EB-R Japan Aviation
Electronics Ind.
3 MFMCA0033FCT
Cable clamp JL04-2428CK(17)-R 5 MFMCA0053FCT
Nylon insulated
round terminal
Earth N5.5-5 J.S.T Mfg. Co., Ltd. 10 MFMCA0103FCT
Brake N1.25-M4 20 MFMCA0203FCT
Cable ROBO-TOP 600V 0.75mm2 and
ROBO-TOP 600V 3.5mm2Daiden Co.,Ltd.
Caution
Related page
Option cable does not conform to IP65 and IP67.
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7-108
77. Options
Supplement Junction Cable for Brake
Part No. 0)0&%***(7
Applicable
model
MSMD 50W to 750W, MHMD 200W to 750W
     
Ѯ
 
L



Title Part No. Manufacturer /P Part No.
Connector 172157-1 Tyco Electronics 3 MFMCB0030GET
Connector pin 170366-1, 170362-1 5 MFMCB0050GET
Nylon insulated
round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 10 MFMCB0100GET
20 MFMCB0200GET
Cable
ROBO-TOP 600V 0.75mm
2
×2-wire type
Daiden Co.,Ltd.
Part No.
0)0&% **3-7
(Highly bendable type, Direction of motor shaft)
Applicable
model
MSME 50W to 750W
0)0&% **3.7
(Highly bendable type, Opposite direction of motor shaft)
0)0&% **6-7
(Standard bendable type, Direction of motor shaft)
0)0&% **6.7
(Standard bendable type, Opposite direction of motor shaft)
L(50)(26.6)
Direction of
motor shaft
Opposite direction of
motor shaft
(ø4.3)
Identification label
Title Part No. Manufacturer /P Part No.
Connector JN4FT02SJMR Japan Aviation
Electronics Ind.
3 MFMCB0030PJT
Connector pin ST-TMH-S-C1B-3500 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
Related page
Option cable does not conform to IP65 and IP67.
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7-109
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
77. Options
Supplement &RQQHFWRU.LW
&RQQHFWRU.LWIRU,QWHUIDFH
Part No. '93
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector 10150-3000PE equivalent 1 Sumitomo 3M *1 )RU&RQQHFWRU;
(50-pins)
Connector cover 10350-52A0-008 equivalent 1
*1 Old model number: Connector 54306-5019, Connector cover 54331-0501 (Japan Molex Inc.)
Pin disposition (50 pins) (viewed from the soldering side)
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.
26
SI3
28
SI5
30
SI7
32
SI9
34
SO2–
36
SO3–
38
SO4–
40
SO6
42
IM
44
PULSH1
46
SIGNH1
48
OB
27
SI4
29
SI6
31
SI8
33
SI10
35
SO2+
37
SO3+
39
SO4+
41
COM
43
SP
45
PULSH2
47
SIGNH2
49
OB
1
OPC1
3
PULS1
5
SIGN1
7
COM
9
SI2
11
SO1+
13
GND
15
GND
17
GND
19
CZ
21
OA
23
OZ
2
OPC2
4
PULS2
6
SIGN2
8
SI1
10
SO1–
12
SO5
14
SPR/
SPL /TRQR
16
P-ATL
18
N-ATL
20
NC
22
OA
24
OZ
50
FG
25
GND
Interface Cable
Part No. '93
This 2 m connector cable contains AWG28 conductors.
25
50
52.4
2000+200
0
50+10
0
39
Connector cover: 10350-52A0-008
Sumitomo 3M or equivalent
Connector: 10150-3000PE
Sumitomo 3M or equivalent
12.7
18
1
26
7DEOHIRUZLULQJ
Pin No.
color
Pin No.
color
Pin No.
color
Pin No.
color
Pin No.
color
1 Orange (Red1) 11 Orange (Black2) 21 Orange (Red3) 31 Orange (Red4) 41 Orange (Red5)
2 Orange (Black1) 12 Yellow (Black1) 22 Orange (Black3) 32 Orange (Black4) 42 Orange (Black5)
3 Gray (Red1) 13 Gray (Red2) 23 Gray (Red3) 33 Gray (Red4) 43 Gray (Red5)
4 Gray (Black1) 14 Gray (Black2) 24 Gray (Black3) 34 White (Red4) 44 White (Red5)
5 White (Red1) 15 White (Red2) 25 White (Red3) 35 White (Black4) 45 White (Black5)
6 White (Black1) 16 Yellow (Red2) 26 White (Black3) 36 Yellow (Red4) 46 Yellow (Red5)
7 Yellow (Red1) 17
Yel (Blk2)/Pink (Blk2)
27 Yellow (Red3) 37 Yellow (Black4) 47 Yellow (Black5)
8 Pink (Red1) 18 Pink (Red2) 28 Yellow (Black3) 38 Pink (Red4) 48 Pink (Red5)
9 Pink (Black1) 19 White (Black2) 29 Pink (Red3) 39 Pink (Black4) 49 Pink (Black5)
10 Orange (Red2) 20 – 30 Pink (Black3) 40 Gray (Black4) 50 Gray (Black5)
<Remarks>
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.
7-110
&RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOHIRU5656
Part No. '930
&RPSRQHQWV
Title Part No. Manufacturer Note
Connector 2040008-1 Tyco Electronics )RU&RQQHFWRU;SLQV
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV
(Viewed from cable)
Shell: FG
GND
TXD
NC
RXD
ï
485+
ï
485+
8642
7531
(33) (11)
5.2 7.3
(ø6.7)
11
10.78(1.5)
&RQQHFWRU.LWIRU6DIHW\
Part No. '930
&RPSRQHQWV
Title Part No. Manufacturer Note
Connector 2013595-1 Tyco Electronics )RU&RQQHFWRU;SLQV
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV
8642
7531
NC
6)ï
NC
SF1+
6)ï
SF2+
('0ï
EDM+
(Viewed from cable)
Shell: FG
(33) (11)
5.2 7.3
(ø6.7)
11
10.78 (1.5)
&RQQHFWRU.LWIRU([WHUQDO6FDOH
Part No. '930
&RPSRQHQWV
Title Part No. Manufacturer Note
Connector 08)3..; J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV
(10.5) (32)
18.5
13.6
10.4
11.9
7.1
1357
2468
9
10
PS EXA
EXA
E0V
EXZ
EXZ
EXB
EXB
PS
E5V
(Viewed from cable)
7. Options
&RQQHFWRU.LW
Remarks
&RQQHFWRU;XVHZLWKFRPPHUFLDOO\DYDLODEOHFDEOH
&RQÀJXUDWLRQRIFRQQHFWRU;86%PLQL%
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-111
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
7. Options
&RQQHFWRU.LW
&RQQHFWRU.LWIRU(QFRGHU
Part No. '930
&RPSRQHQWV
Title Part No. Manufacturer Note
Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 )RU&RQQHFWRU;
Shell kit 3E306-3200-008
*1 Old model number: 55100-0670 (Japan Molex Inc.)
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV
(Viewed from cable)
<Shell kit> <Connector>
Shell: FG
33.0
37.40.8
7.8
18.8
18.8
12.0
6 PS5 PS
2 E0V1 E5V
4 NC3 NC
5.8
5.4
1.7
7.1
2.0
2.0
11.0
10.1
4.5
18.2
13.7
2.4
&RQQHFWRU.LWIRU$QDORJ0RQLWRU6LJQDO
Part No. '930
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector 510040600 1Molex Inc )RU&RQQHFWRU;SLQV
Connector pin 500118100 6
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV
1
MX
1 AM1
2 AM2
3 GND
6 NC
5 NC
4 DM 14±0.3
12.9±0.3 3.35±0.3
0.8
5.3±0.3
&RQQHFWRU.LWIRUPower Supply Input
Part No. '930 (For A to D-frame: Single row type)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*) 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;$
Handle lever J-FAT-OT 2
Remarks
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-112
7. Options
&RQQHFWRU.LW
Part No. '930 (For A to D-frame: double row type)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*6$& 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;$
Handle lever J-FAT-OT 2
'LPHQVLRQV
39.3
27.6 26
12354
A
B
5421
5421
3
3
Part No. '930 (For E-frame 200 V)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*6$/ 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;$
Handle lever J-FAT-OT-L 2
Part No. '930 (For D-frame 400 V, E-frame 400 V and 24 V Input power)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector 02MJFAT-SAGF 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;'
Handle lever MJFAT-OT 2
Part No. '930 (For D-frame 400 V)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector 03JFAT-SAYGSA-M 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;$
Handle lever J-FAT-OT-L 2
Part No. '930 (For E-frame 400 V)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector 03JFAT-SAYGSA-L 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;$
Handle lever J-FAT-OT-L 2
7-113
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
7. Options
&RQQHFWRU.LW
&RQQHFWRU.LWIRU5HJHQHUDWLYH5HVLVWRU&RQQHFWLRQ (E-frame)
Part No. '930 (For E-frame)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*6$/ 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;&
Handle lever J-FAT-OT-L 2
Part No. '930 (For D-frame 400 V)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*6$0 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;&
Handle lever J-FAT-OT-L 2
&RQQHFWRU.LWIRU0RWRU&RQQHFWLRQ
Part No. '930 (For A to D-frame)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*) 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;%
Handle lever J-FAT-OT 2
Part No. '930 (For E-frame)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*6$/ 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;%
Handle lever J-FAT-OT-L 2
Part No. '930 (For D-frame 400 V)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector -)$76$;*6$0 1J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;%
Handle lever J-FAT-OT-L 2
7-114
7. Options
&RQQHFWRU.LW
&RQQHFWRU.LWIRU0RWRU(QFRGHU&RQQHFWLRQ
Part No. '93
Applicable
model
MSMD 50W to 750W, MHMD 200W to 750W
(incremental encoder type)
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Connector 172160-1 1 Tyco Electronics For Encoder cable
(6-pins)
Connector pin 170365-1 6
Connector 172159-1 1 Tyco Electronics For Motor cable
(4-pins)
Connector pin 170366-1 4
*1 Old model number: 55100-0670 (Japan Molex Inc.)
3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU
FRQQHFWRU; for encoder cable for motor cable
1
NC
2
PS
3
PS
4
E5V
5
E0V
6
FG
1
U
2
V
3
W
4
E
6 PS5 PS
2 E0V1 E5V
4 NC*3 NC*
*NC: None Connect
(
Case
)
FG
Part No. '930
Applicable
model
MSME 50W to 750W
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder plug connector JN6FR07SM1 1 Japan Aviation
Electronics Ind.
For Encoder cable
(7-pins)
Socket contact LY10-C1-A1-10000 7
Motor plug connector JN8FT04SJ1 1 Japan Aviation
Electronics Ind.
For Motor cable
(4-pins)
Socket contact ST-TMH-S-C1B-3500 4
*1 Old model number: 55100-0670 (Japan Molex Inc.)
3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU
FRQQHFWRU; for encoder cable for motor cable
6 PS5 PS
2 E0V1 E5V
4 NC*1
*1 NC: None Connect
3 NC*1
(
Case
)
FG
4 PS
1 FG
2 BAT–
3 E0V
5 BAT+
6 E5V
7 PS
1 FG
4 PS
2 BAT–
3 E0V
7 PS
6 E5V
5 BAT+ PE E
3 W
2 V
1 U
1 U
2 V
3 W
PE E
[Direction of motor shaft]
[Opposite direction of motor shaft]
* Pins 2 and 5 are left unused (NC)
with an incremental encoder.
Gasket
Gasket
Gasket
Gasket
Secure the gasket in place
without removing it from the
connector. Otherwise, the degree
of protection of IP67 will not be
guaranteed.
Remarks
Caution
Remarks
:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-115
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Part No. '930
Applicable
model
MSME 750W (400V), 1.0kW to 2.0kW,
MDME 400W (400V), 600W (400V), 1.0kW to 2.0kW
MHME 1.0kW to 1.5kW, MGME 0.9kW
Without
brake
Specifications
Design order: 1
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector JN2DS10SL1-R 1 Japan Aviation
Electronics Ind. For Encoder cable
Connector pin JN1-22-22S-PKG100 5
Motor connector JL04V-6A-20-4SE-EB-R 1 Japan Aviation
Electronics Ind. For Motor cable
Cable clamp JL04-2022CK(14)-R 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. '93
Applicable
model
MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW
MHME 1.0kW to 1.5kW, MGME 0.9kW
Without
brake
Specifications
Design order: C
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector N/MS3106B20-29S 1 Japan Aviation
Electronics Ind. For Encoder cable
Cable clamp N/MS3057-12A 1
Motor connector N/MS3106B20-4S 1 Japan Aviation
Electronics Ind. For Motor cable
Cable clamp N/MS3057-12A 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. '930
Applicable
model
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW
Without
brake
Specifications
Design order: 1
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector JN2DS10SL1-R 1 Japan Aviation
Electronics Ind. For Encoder cable
Connector pin JN1-22-22S-PKG100 5
Motor connector
JL04V-6A22-22SE-EB-R
1Japan Aviation
Electronics Ind. For Motor cable
Cable clamp JL04-2022CK(14)-R 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. '93
Applicable
model
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW
Without
brake
Specifications
Design order: C
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector N/MS3106B20-29S 1 Japan Aviation
Electronics Ind. For Encoder cable
Cable clamp N/MS3057-12A 1
Motor connector N/MS3106B22-22S 1 Japan Aviation
Electronics Ind. For Motor cable
Cable clamp N/MS3057-12A 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
7. Options
&RQQHFWRU.LW
Caution
Remarks
:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-116
7. Options
&RQQHFWRU.LW
Part No. '930
Applicable
model
MSME 1.0kW to 2.0kW (200V),
MDME 1.0kW to 2.0kW (200V),
MFME 1.5kW (Common to with/without brake) (200V),
MHME 1.0kW to 1.5kW (200V), MGME 0.9kW (200V)
With
brake
Specifications
Design order: 1
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector JN2DS10SL1-R 1 Japan Aviation
Electronics Ind. For Encoder cable
Connector pin JN1-22-22S-PKG100 5
Motor connector
JL04V-6A20-18SE-EB-R
1Japan Aviation
Electronics Ind. For Motor cable
Cable clamp JL04-2022CK(14)-R 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. '93
Applicable
model
MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW
MHME 1.0kW to 1.5kW, MGME 0.9kW
With
brake
Specifications
Design order: C
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector N/MS3106B20-29S 1 Japan Aviation
Electronics Ind. For Encoder cable
Cable clamp N/MS3057-12A 1
Motor connector N/MS3106B20-18S 1 Japan Aviation
Electronics Ind. For Motor cable
Cable clamp N/MS3057-12A 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. '930
Applicable
model
MSME 750W to 2.0kW (400V), 3.0kW to 5.0kW
MDME 400W to 2.0kW (400V), 3.0kW to 5.0kW
MFME
1.5kW (400V), 2.5kW to 4.5kW
(Common to with/without brake)
MHME 1.0kW to 1.5kW (400V), 2.0kW to 5.0kW
MGME 0.9kW (400V), 2.0kW to 4.5kW
With
brake
Specifications
Design order: 1
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector JN2DS10SL1-R 1 Japan Aviation
Electronics Ind. For Encoder cable
Connector pin JN1-22-22S-PKG100 5
Motor connector
JL04V-6A24-11SE-EB-R
1Japan Aviation
Electronics Ind. For Motor cable
Cable clamp JL04-2428CK(17)-R 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Part No. '93
Applicable
model
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW
With
brake
Specifications
Design order: C
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector N/MS3106B20-29S 1 Japan Aviation
Electronics Ind. For Encoder cable
Cable clamp N/MS3057-12A 1
Motor connector N/MS3106B24-11S 1 Japan Aviation
Electronics Ind. For Motor cable
Cable clamp N/MS3057-16A 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
Caution
Remarks
:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-117
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
7. Options
&RQQHFWRU.LW
Part No. '930
Applicable
model
MDME 7.5kW to 15.0kW
MGME 6.0kW, MHME 7.5kW
Without
brake
Specifications
Design order: 1
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector JN2DS10SL1-R 1 Japan Aviation
Electronics Ind. For Encoder cable
Connector pin JN1-22-22S-PKG100 5
Motor connector
JL04V-6A32-17SE-EB-R
1Japan Aviation
Electronics Ind. For Motor cable
Cable clamp
JL04-32CK(24)-R
*2 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
*2
&DEOHFRYHUVL]HєWRє&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG
Part No. '930
Applicable
model
MDME 7.5kW to 15.0kW
MGME 6.0kW, MHME 7.5kW
With
brake
Specifications
Design order: 1
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWRU;SLQV
Shell kit 3E306-3200-008 1
Encoder connector JN2DS10SL1-R 1 Japan Aviation
Electronics Ind. For Encoder cable
Connector pin JN1-22-22S-PKG100 5
Motor connector
JL04V-6A32-17SE-EB-R
1Japan Aviation
Electronics Ind. For Motor cable
Cable clamp
JL04-32CK(24)-R
*2 1
Brake connector N/MS3106B14S-2S 1 Japan Aviation
Electronics Ind. For Brake cable
Cable clamp N/MS3057-6A 1
*1 Old model number: 55100-0670 (Japan Molex Inc.)
*2
&DEOHFRYHUVL]HєWRє&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG
&RQQHFWRU.LWIRU0RWRU%UDNH&RQQHFWLRQ
Part No. '930
&RPSRQHQWV
Title Part No.
Number
Manufacturer Note
Connector JN4FT02SJM-R 1Japan Aviation
Electronics Ind.
Socket contact ST-TMH-S-C1B-3500 2
3LQGLVSRVLWLRQRIFRQQHFWRUIRUEUDNHFDEOH
%UDNH
%UDNH
%UDNH
%UDNH
*DVNHW *DVNHW
6HFXUHWKHJDVNHWLQSODFHZLWKRXWUHPRYLQJLWIURPWKHFRQQHFWRU2WKHUZLVHWKHGHJUHHRI
SURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
>'LUHFWLRQRIPRWRUVKDIW@ >2SSRVLWHGLUHFWLRQRIPRWRUVKDIW@
Remarks
Caution
Remarks
:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-118
77. Options
Supplement Battery For Absolute Encoder
Battery For Absolute Encoder
Part No. '93
/LWKLXPEDWWHU\9P$K
DV0P2990
00090001
84
18
Paper insulator
Lead wire length 50mm
ZHR-2
(J.S.T Mfg. Co., Ltd.)
1
BAT+
14.5
2
BAT–
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. '93
&RPSRQHQWV
DV0P4430
P04090001*
R5
(112)
(110)
(31)(27)
Related page
3´$EVROXWHV\VWHPµ
7-119
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
77. Options
Supplement Mounting Bracket
Caution
Related page
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).
3´'LPHQVLRQVRIGULYHUµ
Part No. '930 Frame symbol of
applicable driver A-frame Mounting screw M4 × L6 Pan head 4pcs
Dimensions
Upper side
2-M4, Pan head
17
9.5
15
10
24
40
7
2-C5
R2
R2
11
±0.2
2.5
2.5
ø5.2
R1 or less
Bottom side
2-M4, Pan head
11
±0.2
5.2
5
40
33
17
9.5
R2
2-R1
15
10
R2
2.5
2.5
2-C5
R1 or less
Part No. '930 Frame symbol of
applicable driver B-frame Mounting screw M4 × L6 Pan head 4pcs
Dimensions
Upper side
47
7
15
10
R2
2.5
2.5
2-M4, Pan head
24 18
±0.2
ø5.2
2-C5
17
9.5
R2
R1 or less
Bottom side
47
40
17
9.5
2.5
2.5
15
10
R2
518
±0.2
2-M4, Pan head
2-C5
5.2
R2
2-R1
R1 or less
Part No. '930 Frame symbol of
applicable driver C-frame Mounting screw M4 × L6 Pan head 4pcs
Dimensions
Upper side
30
±0.2
15
10
R2
2.5
2.5
2-M4, Pan head
2-C5
17
9.5
40
20
ø5.2
R2
R1 or less
Bottom side
17
9.5
2.5
2.5
15
10
R2
30
±0.2
2-M4, Pan head
2-C5
40
20
5.2
R2
2-R1
R1 or less
Part No. '930 Frame symbol of
applicable driver D-frame Mounting screw M4 × L6 Pan head 4pcs
Dimensions
Upper side
36
±0.25
15
10
R2
2.5
10 40
±0.2
60
2.5
2-M4, Pan head
2-C5
17
9.5
2-ø5.2
R2
R1 or less
Bottom side
17
9.5
2.5
R1 or less
2.5
10 40
±0.2
60
36
±0.219
15
10
R2
2-M4, Pan head
2-C5
4-R1
5.2
R2
5.2
7-120
77. Options
Supplement Reactor
C
B
A
(Mounting pitch)
A
A
D
6-I
RST
NP
XYZ
B
C
D
2-I
G
4-H
H
E
H
G
4-H
E
Fig.1
Fig.2
F
(Mounting pitch)
F
F: Center-to-center distanc
e
on outer circular arc
F: Center-to-center distance
on slotted hole
F
(Mounting pitch)
F
A
(Mounting pitch)
Part No. A B C D E(Max) FGHI
Inductance
(mH)
Rated
current
(A)
Fig.1
'93 65±1 125±1 (93) 136Max 155 ï 85±2 Ѯð M4 6.81 3
'93 60±1 150±1 (113) 155Max 130 ï 75±2 Ѯð M4 4.02 5
'93 60±1 150±1 (113) 155Max 140 ï 85±2 Ѯð M4 2 8
'93 60±1 150±1 (113) 155Max 150 ï 95±2 Ѯð M4 1.39 11
'93 60±1 150±1 (113) 160Max 155 ï 100±2 Ѯð M5 0.848 16
'93 60±1 150±1 (113) 160Max 170 ï 115±2 Ѯð M5 0.557 25
Fig.2
'93 55±0.7 80±1 66.5±1 110Max 90 41±2 55±2 Ѯð M4 4.02 5
'93 55±0.7 80±1 66.5±1 110Max 95 46±2 60±2 Ѯð M4 2 8
'930 55±0.7 80±1 66.5±1 110Max 105 56±2 70±2 Ѯð M4 1.39 11
Motor
series Power supply Rated output Part No. Motor
series Power supply Rated output Part No.
MSME Single phase,
100V
50W to 100W DV0P227 MSME
3-phase, 200V
2.0kW DV0P223
200W to 400W DV0P228 MDME
MSME Single phase,
200V
50W to 200W DV0P227 MHME
400W to 750W DV0P228 MGME
MSME
MDME
MHME
Single phase,
200V
1.0kW DV0P228 MSME
3.0kW DV0P224
1.5kW DV0PM20047 MDME
MGME Single phase,
200V 0.9kW DV0P228 MHME
MSME
3-phase, 200V
50W to 750W DV0P220 MGME
MGME 0.9kW DV0P221 MSME
4.0kW DV0P225
MSME
1.0kW
1.5kW DV0P222
MDME
MDME MHME
MHME
MFME
Single phase,
200V 1.5kW DV0PM20047
3-phase, 200V 1.5kW DV0P222
2.5kW DV0P224
7-121
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Harmonic restraint
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
JHQHUDOSXUSRVH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 un-
derstand the restraint and to cooperate with us. On January, 2004, it has been decided to
H[FOXGHWKHJHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUIURPWKH´*XLGHOLQHVIRUKDUPRQLF
UHVWUDLQWRQ KRXVHKROGHOHFWULFDO DSSOLDQFHVDQGJHQHUDOSXUSRVHDUWLFOHVµ$IWHUWKDW
WKH ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDO
SXUSRVHDUWLFOHVµZDVDEROLVKHGRQ6HSWHPEHU
We are pleased to inform you that the procedure to execute the harmonic restraint on
JHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUZDVPRGLÀHGDVIROORZV
$OOW\SHVRIWKHJHQHUDOSXUSRVHLQYHUWHUVDQGVHUYRGULYHUVXVHGE\VSHFLÀFXVHUVDUH
XQGHUWKHFRQWURORIWKH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKHDY\FRQVXPHUVZKRUH-
FHLYHSRZHUWKURXJKKLJKYROWDJHV\VWHPRUH[WUDKLJKYROWDJHV\VWHPµ7KHXVHUVZKR
are required to apply the guidelines must calculate the equivalent capacity and har-
monic current according to the guidelines and must take appropriate countermeasures
LIWKHKDUPRQLFFXUUHQWH[FHHGVDOLPLWYDOXHVSHFLÀHGLQDFRQWUDFWGHPDQG5HIHUWR
JEM-TR 210 and JEM-TR 225.)
7KH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKRXVHKROGHOHFWULFDODSSOLDQFHVDQGJHQHUDO
SXUSRVHDUWLFOHVµZDV DEROLVKHG RQ 6HSWHPEHU   +RZHYHUEDVHGRQ FRQYHQ-
tional 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 sys-
WHPµIURPDSHUVSHFWLYHRQHQOLJKWHQPHQWRQJHQHUDOKDUPRQLFUHVWUDLQW7KHSXUSRVH
of these guidelines is the execution of harmonic restraint at every device by a user as
usual to the utmost extent.
7. Options
Reactor
7-122
77. Options
Supplement External Regenerative Resistor
DV0P4280, DV0P4281
DV0P4282, DV0P4283
Ѯ

60
30
17
21
8
13
1313
7

10MAX 

300

Drawing process
thermostat
(light yellow ×2)
(2mm MAX)
 
10MAX

7
10
23
170±1
160
28

24
±1
300±30

Ѯ
thermostat
(light yellow ×2)
Part No. Manufacturer's
part No.
Specifications
Activation
temperature of
built-in thermostat
Resistance
cable core
outside
diameter
Mass
Rated power
(reference) *1
Free air with fan
їmm kg W W
DV0P4280 RF70M 50
Ѯ
AWG18
stranded
(
wire
)
0.1 10 25
Ý&
B-contact
Open/Close capacity
(resistance load)
1A 125VAC 6000 times
0.5A 250VAC 10000 times
DV0P4281 RF70M 100 0.1 10 25
DV0P4282 RF180B 25 0.4 17 50
DV0P4283 RF180B 50 0.2 17 50
DV0P4284 RF240 30 0.5 40 100
DV0P4285 RH450F 20 1.2 52 130
DV0PM20048 RF240 120 0.5 35 80
DV0PM20049 RH450F 80 1.2 65 190
DV0PM20058 RH450F × 6 3.3 — *2 16 — *3 780
DV0PM20059 RH450F × 6 13.3 — *2 16 — * 3 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.
$WWDFKWKHUHJHQHUDWLYHUHVLVWRUWRDQRQÁDPPDEOHPDWHULDOVXFKDVPHWDO
&RYHUWKHUHJHQHUDWLYHUHVLVWRUZLWKDQRQÁDPPDEOHPDWHULDOVRWKDWLWFDQQRWEHGLUHFWO\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
 8VHWKHFDEOHZLWKWKHVDPHGLDPHWHUDVWKHPDLQFLUFXLWFDEOH5HIHUWR3
*3 With built-in fan which should always be operated with the power supply connected across 24 V and 0 V.
Frame
Power supply
Single phase,
9
Single phase,
9
SKDVH9
SKDVH9
A DV0P4280
DV0P4281
(50W, 100W)
DV0P4283
(200W) —
B DV0P4283 DV0P4283
C DV0P4282
D
—
DV0P4284 DV0PM20048
E
DV0P4284
× 2 in parallel or
DV0P4285
DV0PM20049
FDV0P4285
× 2 in parallel
DV0PM20049
× 2 in parallel
GDV0P4285
× 3 in parallel
DV0PM20049
× 3 in parallel
H
DV0P4285
× 6 in parallel or
DV0PM20058
DV0PM20049
× 6 in parallel or
DV0PM20059
7-123
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Remarks
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.
0DNHLWVXUHWKDWWKHVXUIDFHWHPSHUDWXUHRIWKHUHVLVWRUPD\QRWH[FHHGÝ&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.
Caution
Regenerative resistor gets very hot.
Take preventive measures for fire and burns.
Avoid the installation near inflammable
objects, and easily accessible place by hand.
7. Options
External Regenerative Resistor
DV0P4284, DV0PM20048 DV0P4285, DV0PM20049
300
10MAX
9MAX
15 15
300
100
25
10 71 10
14
53
70
（5）
4.5
290
280
450
300
Ѯ
Ѯ
450
450
300
50
20 100
11
18 140
278
130
288
thermostat
(light yellow ×2)
thermostat
(light yellow ×2)
DV0PM20058, DV0PM20059
5 ї（DV0PM20058）
5 ї（DV0PM20059）
Cover (Punching metal)
270 MAX
470
215
20 215 20
470
240
228
380
193
(38)
Circuit diagram
124
6-
Ѯ
7
R
R
R
R
R
R
FA N
FG
R1 R2 T1 T2 24V 0V E
T.F
T.F
T.F
T.F
T.F
T.F
ѡ
The third from the top
7-124
77. Options
Supplement Recommended components
Surge absorber for motor brake
Motor Part No. Manufacturer
MSME
50W to 750W (200V) Z15D271
Ishizuka Electronics Co.
750W (400V)
1.0kW to 5.0kW
Z15D151
MDME
400W (400V)
600W (400V)
1.0kW to 3.0kW NVD07SCD082 KOA CORPORATION
4.0kW to 7.5kW Z15D151 Ishizuka Electronics Co.
11kW, 15kW
NVD07SCD082 KOA CORPORATION
MFME
1.5kW
2.5kW, 4.5kW
MGME 0.9kW to 6.0kW Z15D151 Ishizuka Electronics Co.
MHME
1.0kW, 1.5kW NVD07SCD082 KOA CORPORATION
2.0kW to 7.5kW Z15D151 Ishizuka Electronics Co.
7-125
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
77. Options
Supplement /LVWRI3HULSKHUDO(TXLSPHQWV
Note Contact information shown above is as of Februaly 2011.
This list is for reference only and subject to change without notice.
Manufacturer Tel No. / Home Page Peripheral components
Automation Controls Company
Panasonic Electric Works, Co.,Ltd
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/ Surge absorber
for holding brake
KOA CORPORATION 81-42-336-5300
http://www.koanet.co.jp/
TDK Corp. 81-3-5201-7229
http://www.tdk.co.jp/
1RLVHÀOWHUIRUVLJQDOOLQHV
MICROMETALS
(Nisshin Electric Co., Ltd.)
81-4-2934-4151
http://www.nisshin-electric.com/
KK-CORP.CO.JP 81-184-53-2307
http://www.kk-corp.co.jp/
Okaya Electric Industries Co. Ltd. 81-3-4544-7040
http://www.okayatec.co.jp/
Surge absorber
1RLVHÀOWHU
Japan Aviation Electronics Industry, Ltd. 81-3-3780-2717
http://www.jae.co.jp
Connector
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/ Cable
Mitutoyo Corp. 81-44-813-8236
http://www.mitutoyo.co.jp
External scale
Magnescale Co., Ltd. 81-463-92-7973
http://www.mgscale.com
Schaffner EMC, Inc. 81-3-5712-3650
http://www.schaffner.jp/ 1RLVHÀOWHU
7-126
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
VSHFLÀHGOLPLWLVQRWFRYHUHGE\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 contain-
ing:
[1] Failure or damage due to misuse, improper repair or alteration.
[2] Failure or damage due to falling, or damage during transportation, after the origi-
nal delivery
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>@ )DLOXUHRUGDPDJHGXHWRXQUHJXODWHGYROWDJHDQGÀUHDQGDFWRIQDWXUDOGLVDV-
WHUVVXFKDVHDUWKTXDNHOLJKWQLQJZLQGÁRRGDQGVDOWSROOXWLRQ
[5] Defects resulting from invasion of foreign materials such as water, oil and metal
pieces.
3DUWVH[FHHGLQJWKHLUVWDQGDUGOLIHWLPHVSHFLÀHGLQWKLVGRFXPHQWDUHH[FOXGHG
 7KHFRPSDQ\VKDOOQRWEHOLDEOHIRUDQ\LQGLUHFWLQFLGHQWDORUFRQVHTXHQWLDOGDPDJHRU
loss of any nature that may arise in connection with the product.
Warranty
7-127
3UDFWLFDOFRQVLGHUDWLRQVIRUH[SRUWLQJWKHSURGXFWRUDVVHPEO\FRQWDLQLQJWKHSURGXFW
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.
7KLVSURGXFWLVLQWHQGHGWREHXVHGZLWKDJHQHUDOLQGXVWULDOSURGXFWEXWQRWGHVLJQHG
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\
TXDOLÀHGDQGH[SHULHQFHGSHUVRQQHO
$SSO\DGHTXDWHWLJKWHQLQJWRUTXHWRWKHSURGXFWPRXQWLQJVFUHZE\WDNLQJLQWRFRQVLG-
eration strength of the screw and the characteristics of material to which the product is
LQVWDOOHG 2YHUWLJKWHQLQJ FDQ GDPDJH WKH VFUHZ DQGRU 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.
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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 environ-
ments as nuclear energy control, aerospace, transportation, medical equipment, various
safety equipments or equipments which require a lesser air contamination.
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ever, 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 op-
erative range.
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the bearing, depending on the condition of the machine and its mounting environment,
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cigarette. Take this into consideration when the application of the machine is clean room
related.
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sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a poor
contact connection.
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to the power supply of this product. Failure to heed this caution may result in damage to
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The user is responsible for matching between machine and components in terms of
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with applicable laws and regulations.
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Parts are subject to minor change to improve performance.
Cautions for Proper Use
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
  )$; 
Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044 TEL +81-72-870-3065
)$; 
IME10
A1009-3121
After-Sale Service (Repair)
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.
MDH
MME Serial No.
Date of
purchase
Dealer
Name
Address
Phone ( ) -
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
© Panasonic Corporation 2009

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