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Instruction Manual

AC Servo Motor and Driver MINAS A4 Series

•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4 Series. •Read through this Instruction Manual for proper use, especially read "Precautions for Safety" ( P.8 to 11) without fail for safety purpose. •Keep this Manual at an easily accessible place so as to be referred anytime as necessary.

Content
[Before Using the Products]
page

Safety Precautions .................................................................... 8 Maintenance and Inspection ................................................... 12 Introduction.............................................................................. 14
Outline .......................................................................................................................................................... 14 On Opening the Package ............................................................................................................................. 14 Check of the Driver Model ............................................................................................................................ 14 Check of the Motor Model ............................................................................................................................ 15 Check of the Combination of the Driver and the Motor ................................................................................ 16

Parts Description ..................................................................... 18
Driver ............................................................................................................................................................ 18 Motor ............................................................................................................................................................. 20 Console ......................................................................................................................................................... 21

Installation................................................................................ 22
Driver ............................................................................................................................................................ 22 Motor ............................................................................................................................................................. 24 Console ......................................................................................................................................................... 26

[Preparation]

page

System Configuration and Wiring .......................................... 28
Overall Wiring (Connecting Example of C-frame, 3-phase) ......................................................................... 28 Overall Wiring (Connecting Example of E-frame) ........................................................................................ 30 Driver and List of Peripheral Equipments ..................................................................................................... 32 Wiring of the Main Circuit (A to D-frame) ..................................................................................................... 34 Wiring of the Main Circuit (E and F-frame)................................................................................................... 35 Wiring to the Connector, CN X6 (Connection to Encoder) ........................................................................... 38 Wiring to the Connector, CN X3 and 4 (Connection to PC, Host Controller or Console) ............................ 40 Wiring to the Connector, CN X5 (Connection to Host Controller) ................................................................ 41

Timing Chart ............................................................................ 42 Built-in Holding Brake ............................................................. 46 Dynamic Brake......................................................................... 48 Caution on Homing.................................................................. 50 Setup of Parameter and Mode ................................................ 51
Outline of Parameter .................................................................................................................................... 51 How to Set .................................................................................................................................................... 51 How to Connect ............................................................................................................................................ 51 Composition and List of Parameters ............................................................................................................ 52 Setup of Torque Limit .................................................................................................................................... 57

How to Use the Front Panel and Console .............................. 58
Setup with the Front Panel ........................................................................................................................... 58 Setup with the Console ................................................................................................................................ 58 Initial Status of the Front Panel Display (7 Segment LED) .......................................................................... 59 Initial Status of the Console Display (7 Segment LED)................................................................................ 59 Structure of Each Mode ................................................................................................................................ 60 Monitor Mode ................................................................................................................................................ 63 Parameter Setup Mode ................................................................................................................................ 69
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Before Using the Products

EEPROM Writing Mode ................................................................................................................................ 70 Auto-Gain Tuning Mode ............................................................................................................................... 71 Auxiliary Function Mode ............................................................................................................................... 73 Copying Function (Console Only) ................................................................................................................ 79

[Connection and Setup of Position Control Mode]

page

Preparation
Connection and Setup of Position Control Mode Connection and Setup of Velocity Control Mode Connection and Setup of Torque Control Mode Full-Closed Control Mode

Control Block Diagram of Position Control Mode ................. 82 Wiring to the Connector, CN X5 .............................................. 83
Wiring Example to the Connector, CN X5 .................................................................................................... 83 Interface Circuit ............................................................................................................................................ 84 Input Signal and Pin No. of the Connector, CN X5 ...................................................................................... 86 Output Signal and Pin No. of the Connector, CN X5 ................................................................................... 92 Connecting Example to Host Controller ....................................................................................................... 96

Trial Run (JOG Run) at Position Control Mode.................... 104
Inspection Before Trial Run ........................................................................................................................ 104 Trial Run by Connecting the Connector, CN X5 ......................................................................................... 104

Real-Time Auto-Gain Tuning ................................................. 106
Outline ........................................................................................................................................................ 106 Applicable Range ....................................................................................................................................... 106 How to Operate .......................................................................................................................................... 106 Adaptive Filter ............................................................................................................................................. 107 Parameters Which are Automatically Set ................................................................................................... 107

Parameter Setup .................................................................... 108
Parameters for Functional Selection .......................................................................................................... 108 Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 111 Parameters for Auto-Gain Tuning ............................................................................................................... 112 Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 115 Parameters for Position Control ................................................................................................................. 116 Parameters for Velocity/Torque Control ..................................................................................................... 120 Parameters for Sequence .......................................................................................................................... 120

[Connection and Setup of Velocity Control Mode]

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Control Block Diagram of Velocity Control Mode ............... 126 Wiring to the Connector, CN X5 ............................................ 127
Wiring Example to the Connector, CN X5 .................................................................................................. 127 Interface Circuit .......................................................................................................................................... 128 Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 130 Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 135

Adjustment When in Trouble Supplement

Trial Run (JOG Run) at Velocity Control Mode .................... 138
Inspection Before Trial Run ........................................................................................................................ 138 Trial Run by Connecting the Connector, CN X5 ......................................................................................... 139

Real-Time Auto-Gain Tuning ................................................. 140
Outline ........................................................................................................................................................ 140 Applicable Range ....................................................................................................................................... 140 How to Operate .......................................................................................................................................... 140 Adaptive Filter ............................................................................................................................................. 141 Parameters Which are Automatically Set up .............................................................................................. 141

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Parameter Setup .................................................................... 142
Parameters for Functional Selection .......................................................................................................... 142 Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 146 Parameters for Auto-Gain Tuning ............................................................................................................... 147 Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 149 Parameters for Position Control ................................................................................................................. 151 Parameters for Velocity/Torque Control ..................................................................................................... 152 Parameters for Sequence .......................................................................................................................... 155

[Connection and Setup of Torque Control Mode]

page

Control Block Diagram of Torque Control Mode ................. 160 Wiring to the Connector, CN X5 ............................................ 161
Wiring Example to the Connector, CN X5 .................................................................................................. 161 Interface Circuit .......................................................................................................................................... 162 Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 164 Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 168

Trial Run (JOG Run) at Torque Control Mode ...................... 171
Inspection Before Trial Run ........................................................................................................................ 171 Trial Run by Connecting the Connector, CN X5 ......................................................................................... 171

Real-Time Auto-Gain Tuning ................................................. 172
Outline ........................................................................................................................................................ 172 Applicable Range ....................................................................................................................................... 172 How to Operate .......................................................................................................................................... 172 Parameters Which are Automatically Set up .............................................................................................. 173

Parameter Setup .................................................................... 174
Parameters for Functional Selection .......................................................................................................... 174 Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 177 Parameters for Auto-Gain Tuning ............................................................................................................... 178 Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 179 Parameters for Position Control ................................................................................................................. 181 Parameters for Velocity/Torque Control ..................................................................................................... 183 Parameters for Sequence .......................................................................................................................... 185

[Full-Closed Control Mode]

page

Outline of Full-Closed Control .............................................. 190
What is Full-Closed Control ? ..................................................................................................................... 190

Control Block Diagram of Full-Closed Control Mode.......... 191 Wiring to the Connector, CN X5 ............................................ 192
Wiring Example to the Connector, CN X5 .................................................................................................. 192 Interface Circuit .......................................................................................................................................... 193 Input Signal and Pin No. of the Connector, CN X5 ................................................................................... 195 Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 201

Connection to the Connector, CN X7 .................................. 204
Connector, CN X7 ....................................................................................................................................... 204 Wiring to the External Scale, Connector, CN X7 ........................................................................................ 205

Real-Time Auto-Gain Tuning ................................................. 206
Outline ........................................................................................................................................................ 206 Applicable Range ....................................................................................................................................... 206
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Before Using the Products

How to Operate .......................................................................................................................................... 206 Adaptive Filter ............................................................................................................................................. 207 Parameters Which are Automatically Set up .............................................................................................. 207

Parameter Setup .................................................................... 208
Parameters for Functional Selection .......................................................................................................... 208 Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 211 Parameters for Auto-Gain Tuning ............................................................................................................... 212 Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 214 Parameters for Position Control ................................................................................................................. 216 Parameters for Velocity/Torque Control ..................................................................................................... 220 Parameters for Sequence .......................................................................................................................... 220 Parameters for Full-Closed ........................................................................................................................ 224

Preparation
Connection and Setup of Position Control Mode

[Adjustment]

page

Gain Adjustment .................................................................... 226 Real-Time Auto-Gain Tuning ................................................. 228
Fit-Gain Function ........................................................................................................................................ 231

Connection and Setup of Velocity Control Mode Connection and Setup of Torque Control Mode Full-Closed Control Mode

Adaptive Filter ........................................................................ 234 Normal Auto-Gain Tuning...................................................... 236 Release of Automatic Gain Adjusting Function .................. 239 Manual Auto-Gain Tuning (Basic) ......................................... 240
Adjustment in Position Control Mode ......................................................................................................... 241 Adjustment in Velocity Control Mode ......................................................................................................... 241 Adjustment in Torque Control Mode ........................................................................................................... 242 Adjustment in Full-Closed Control Mode .................................................................................................... 242 Gain Switching Function ............................................................................................................................. 243 Suppression of Machine Resonance ......................................................................................................... 246 Automatic Gain Setup Function .................................................................................................................. 248

Manual Auto-Gain Tuning (Application) ............................... 249
Instantaneous Speed Observer .................................................................................................................. 249 Damping Control ......................................................................................................................................... 250

[When in Trouble]

Adjustment When in Trouble Supplement

page

When in Trouble ..................................................................... 252
What to Check ? ......................................................................................................................................... 252 Protective Function (What is Error Code ?) ............................................................................................... 252 Protective Function (Details of Error Code) ............................................................................................... 253

Troubleshooting .................................................................... 260
Motor Does Not Run ................................................................................................................................... 260 Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with Speed Zero at Velocity Control Mode .... 261 Positioning Accuracy Is Poor ...................................................................................................................... 262 Origin Point Slips ........................................................................................................................................ 263 Abnormal Noise or Vibration ...................................................................................................................... 263 Overshoot/Undershoot, Overheating of the Motor (Motor Burn-Out) ......................................................... 264 Motor Speed Does Not Reach to the Setup/Motor Revolution (Travel) Is Too Large or Small ................. 264 Parameter Returns to Previous Setup ....................................................................................................... 264 Display of "Communication port or driver cannot be detected" Appears on the Screen While using the PANATERM® . ............................................................................................................................................. 264

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[Supplement]

page

Absolute System ................................................................... 266 Outline of the Setup Support Software, PANATERM® ......... 276 Communication ..................................................................... 278 Division Ratio for Parameters ............................................... 306 Conformity to EC Directives and UL Standards .................. 308 Options ................................................................................... 312 Recommended components ................................................. 323 Dimensions (Driver)............................................................... 324 Dimensions (Motor) ............................................................... 327 Permissible Load at Output Shaft ........................................ 342 Motor Characteristics (S-T Characteristics) ........................ 343 Motor with Gear Reducer ...................................................... 349 Dimensions (Motor with Gear Reducer) ............................... 350 Permissible Load at Output Shaft (Motor with Gear Reducer) ...... 352 Motor Characteristics (S-T Characteristics)/Motor with Gear Reducer .... 353 Block Diagram of Driver ........................................................ 354 Block Diagram of Driver by Control Mode ........................... 356 Specifications (Driver) ........................................................... 358 Homing with "Hit & Stop" and "Press & Hold" Control ...... 360

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[Before Using the Products]
page

Safety Precautions .................................................... 8 Maintenance and Inspection .................................. 12 Introduction ............................................................. 14
Outline ......................................................................................... On Opening the Package ............................................................ Check of the Driver Model ........................................................... Check of the Motor Model ........................................................... Check of the Combination of the Driver and the Motor ............... 14 14 14 15 16

Parts Description .................................................... 18
Driver ........................................................................................... 18 Motor ........................................................................................... 20 Console ....................................................................................... 21

Installation ............................................................... 22
Driver ........................................................................................... 22 Motor ........................................................................................... 24 Console ....................................................................................... 26

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the following symbols are used to indicate the level of damages or injuries which might be incurred by the misoperation ignoring the precautions. . Do not touch the motor. will result in death or serious injury. DANGER CAUTION Indicates a potentially hazardous situation which. • The following symbols represent "MUST NOT" or "MUST" operations which you have to observe. or pinching force. servo driver and external regenerative resistor of the driver. DANGER Do not subject the Product to water.Safety Precautions Observe the Following Instructions Without Fail Observe the following precautions in order to avoid damages on the machinery and injuries to the operators and other personnel during the operation. will result in minor injury or property damage. corrosive or flammable gases. Do not put your hands in the servo driver.) Represents "MUST NOT" operation which is inhibited. Failure to observe this instruction could result in electrical shocks. damages and breakdowns. (Note that there are other symbols as well. heavy object. if not avoided. Represents "MUST" operation which has to be executed. Failure to observe this instruction could result in burns. Failure to observe this instruction could result in burn and electrical shocks. if not avoided. Indicates a potentially hazardous situation which. Failure to observe this instruction could result in fire. nor damage the cables. Do not touch the rotating portion of the motor while it is running. Do not drive the motor with external power. and combustibles. Rotating portion Failure to observe this instruction could result in injuries. 8 Do not subject the cables to excessive force. • In this document. since they become very hot. Failure to observe this instruction could result in fire.

Failure to observe this instruction could result in electrical shocks. Failure to observe this instruction could result in fire. Install an emergency stop circuit externally so that you can stop the operation and shut off the power immediately. electrical shocks. Wiring has to be carried out by the qualified and authorized specialist. Install and mount the Product and machinery securely to prevent any possible fire or accidents incurred by earthquake. Turn off the power and wait for a longer time than the specified time. Failure to observe this instruction could result in injuries. wiring and inspecting the motor. driver and regenerative resistor. Failure to observe this instruction could result in electrical shocks. Failure to observe this instruction could result in electrical shocks. Failure to observe this instruction could result in injuries breakdowns and damages. Turn off the power and make it sure that there is no risk of electrical shocks before transporting. Failure to observe this instruction could result in electrical shocks. injuries and fire. over-temperature protection and emergency stop apparatus without fail. Make the correct phase sequence of the motor and correct wiring of the encoder. before transporting. Install an over-current protection. wiring and inspecting the driver. Ground the earth terminal of the motor and driver without fail. Failure to observe this instruction could result in electrical shocks. earth leakage breaker. Mount the motor. Do not place the console close to a heating unit such as a heater or a large wire wound resistor. fire. Check and confirm the safety of the operation after the earthquake. injuries and fire.[Before Using the Products] DANGER Do not place combustibles near by the motor. Failure to observe this instruction could result in electrical shocks. Failure to observe this instruction could result in fire. 9 . Failure to observe this instruction could result in electrical shocks. driver and regenerative resistor on incombustible material such as metal. breakdowns and damages. injuries and fire. Failure to observe this instruction could result in fire and breakdowns.

Failure to observe this instruction could result in injuries. Failure to observe this instruction could result in breakdowns. Do not keep the machine running/operating unstably. Do not make an extreme gain adjustment or change of the drive. Do not step on the Product nor place the heavy object on them. Failure to observe this instruction could result in injuries. Failure to observe this instruction could result in injuries. Failure to observe this instruction could result in breakdowns. Failure to observe this instruction could result in electrical shocks and fire. Do not use the built-in brake as a "Braking" to stop the moving load. Failure to observe this instruction could result in breakdowns. Failure to observe this instruction could result in fire. Do not give strong impact shock to the Product.Safety Precautions Observe the Following Instructions Without Fail CAUTION Do not hold the motor cable or motor shaft during the transportation. Do not pull the cables with excessive force. Do not approach to the machine since it may suddenly restart after the power resumption. electrical shocks and injuries. 10 Do not block the heat dissipating holes or put the foreign particles into them. Design the machine to secure the safety for the operator even at a sudden restart. Failure to observe this instruction could result in electrical shocks. Do not turn on and off the main power of the driver repeatedly. Failure to observe this instruction could result in breakdowns. Do not give strong impact shock to the motor shaft. Never run or stop the motor with the electro-magnetic contactor installed in the main power side. Do not modify. injuries. Failure to observe this instruction could result in breakdowns. . Failure to observe this instruction could result in injuries and breakdowns. breakdowns and damages. disassemble nor repair the Product.

Use the eye bolt of the motor for transportation of the motor only. Failure to observe this instruction could result in breakdowns.[Before Using the Products] CAUTION Use the motor and the driver in the specified combination. Failure to observe this instruction could result in electrical shocks. 11 . and never use this for transportation of the machine. Connect the brake control relay to the relay which is to shut off at emergency stop in series. Observe the specified mounting method and direction. Make an appropriate mounting of the Product matching to its weight and output rating. After checking the operation. When you dispose the batteries. then restart. Failure to observe this instruction could result in injuries. Failure to observe this instruction could result in injuries and breakdowns. Observe the specified voltage. Failure to observe this instruction could result in breakdowns. Keep the ambient temperature below the permissible temperature for the motor and driver. Failure to observe this instruction could result in fire. Failure to observe this instruction could result in injuries. injuries and fire. Failure to observe this instruction could result in fire and electrical shocks. observe any applicable regulations or laws after insulating them with tape. Execute the trial run without connecting the motor to the machine system and fix the motor. When any error occurs. connect to the machine system again. remove the cause and release the error after securing the safety. Make a wiring correctly and securely. This Product shall be treated as Industrial Waste when you dispose. Failure to observe this instruction could result in injuries and breakdowns. Failure to observe this instruction could result in injuries and breakdowns.

3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance measurement) to the driver. speck. 12 . dust or foreign object • Abnormal vibration and noise • Main circuit voltage • Odor • Lint or other particles at air holes • Cleanness at front portion of the driver and connecter • Damage of the cables • Loose connection or misalignment between the motor and machine or equipment • Pinching of foreign object at the load • Loose tightening • Trace of overheat • Damage of the terminals Daily inspection Daily Periodical inspection Annual <Note> Inspection cycle may change when the running conditions of the above change. Notes on Maintenance and Inspection 1) Turn on and turn off should be done by operators or inspectors themselves. before performing maintenance and inspection.Maintenance and Inspection • Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation. Inspection Items and Cycles General and normal running condition Ambient conditions : 30˚C (annual average). operating hours of 20 hours or less per day. load factor of 80% or lower. humidity. 2) Internal circuit of the driver is kept charged with high voltage for a while even after power-off. otherwise it could result in breakdown of the driver. Type Cycles Items to be inspected • Ambient temperature. Perform the daily and periodical inspection as per the items below. Turn off the power and allow 15 minutes or longer after LED display of the front panel has gone off.

10. replacement is required even before this standard replacement cycle. 5 years 2 to 3 years (10. 20. Refer to the instruction manual attached to the battery for absolute encoder. When you experience any error.000 hours) Approx. Defective parts should be replaced or repaired when any error have occurred.000 hours) 5000 hours 3 to 5 years (20.[Before Using the Products] Before Using the Products Guideline for Parts Replacement Use the table below for a reference. Prohibited Product Disassembling for inspection and repair should be carried out only by authorized dealers or service company.000 hours) Life time varies depending on working conditions.000 to 30.000 times (depending on working condition) 3 to 5 years (20.000 to 30. 5 years Approx.000 hours Component Smoothing capacitor Cooling fan Aluminum electrolytic capacitor (on PCB) Note Driver Rush current preventive relay Rush current preventive resistor Bearing Oil seal Encoder Motor Battery for absolute encoder These hours or cycles are reference. Standard replacement cycles (hour) Approx.000 to 30. Motor with Gear reducer gear reducer 13 . 100.000 times (depending on working condition) Approx. Parts replacement cycle varies depending on the actual operating conditions.

and contribute to the development of a high-speed machine and drastic shortening of tact-time. 200V 3 3-phase. • Check if the product is damaged or not during transportation. Cautions 1) Any part or whole of this document shall not be reproduced without written permission from us.2A 0~333. high functionality AC servo drivers and motors. C-frame MDDD A4-series.C Freq. This document is designed for the customer to exploit the versatile functions of A4 Series to full extent.L. set up parameters. Contact to a dealer if you find any failures.Introduction Outline MINAS-A4 Series with wide output range from 50W to 5kW. F-frame Max.P04110001Z Voltage Phase F. B-frame MCDD A4-series. 200V Single/3-phase. current rating of power device Symbol Current rating T1 10A T2 15A T3 30A T5 50A T7 70A TA 100A TB 150A Power supply Symbol Specifications 1 Single phase. Check of the Driver Model Contents of Name Plate Model number Rated input/output voltage Rated input/output current Rated output of applicable motor AC SERVO Model No. • Check if the instruction manual is attached or not.g. are the high speed. 5 200V Special specifications (letters and numbers) Current detector rating Symbol Current rating 05 5A 07 7. Power 200-240V 1ø 1.3Hz 100W Serial Number e.) : P0411 0001Z Lot number Month of production Year of production (Lower 2 digits of AD year) Model Designation M A D D T 1 2 0 5 1 to 4 5 to 6 7 8 to 9 10 to 12 Frame-size symbol Frame Symbol MADD A4-series. E-frame MFDD A4-series. • Check if the power connector and motor connecters (CN X1 and CN X2 connectors) are attached or not (A to D-frame). 2) Contents of this document are subject to change without notice.3A 50/60Hz 69V 3ø 1. MADDT1205 INPUT OUTPUT Serial No. A-frame MBDD A4-series. A4 Series can support various applications and their requirement by featuring automated gain tuning function. A4 Series have also improved the user-friendliness by offering a console (option) which enables you to monitor the rotational speed display. damping control which achieves a stable "Stop Performance" even in low-stiffness machine and high speed motor. 100V 2 Single phase. On Opening the Product Package • Make sure that the model is what you have ordered. D-frame MEDD A4-series. Thanks to the adoption of a new powerful CPU.5A 10 10A 15 15A 20 20A 30 30A 40 40A 64 64A 90 90A A2 120A 14 . Standard line-up includes full-closed control and auto-gain tuning function and the motors with 2500P/r incremental encoder and 17-bit absolute/incremental encoder. trial run (JOG running) and copy parameters. A4 Series now realize velocity response frequency of 1kHz.

3000 r/min CONT. MGMA. inquire of the dealer.5kW 3.0kW) Middle inertia (1. *2 Key way with center tap. Products are standard stock items or build to order items.5kW) Voltage specifications Motor rated output Symbol Output 5A 50W 01 100W 02 200W 04 400W 05 500W 08 750W 09 900W 10 1. MSMD5AZS1S INPUT 3ØAC 92 V 1.5kW 5.072 7-wire MAMA Symbol Shaft Holding brake Oil seal Round Key way Without With Without With Motor structure MSMD. TORQUE 0. MFMA.g.0kW 4. 04110001 Serial Number e.5kW) Middle inertia (900W to 4.0kW to 5.0kW to 5.0kW 4.0kW Symbol 15 20 25 30 40 45 50 Output Symbol 1 2 Z 1. 200 RATED REV.000 5-wire 17bit Absolute/Incremental common 131. MQMA Shaft Holding brake Oil seal Symbol Round Key way Without With Without With*1 A B *2 S *2 T *1 The product with oil seal is a special order product. MHMA Shaft Holding brake Oil seal Symbol Round Key way Without With Without With C D G H 15 .) : 04 11 0001 Lot number Month of production Year of production (Lower 2 digits of AD year) Model Designation M S M D 5 A Z S 1 S 1 to 4 5 to 6 7 8 9 10 11 to 12 Special specifications (letters and numbers) Motor structure Design order 1: Standard Symbol MAMA MQMA MSMD MSMA MDMA MHMA MFMA MGMA Type Ultra low inertia (100W to 750W) Low inertia (100W to 400W) Low inertia (50W to 750W) Low inertia (1.[Before Using the Products] Before Using the Products Check of the Motor Model Contents of Name Plate Model Rated input voltage/current Rated output Rated rotational speed AC SERVO MOTOR MODEL No.2 kW Hz RATED FREQ.0kW) Middle inertia (400W to 4. For details. MDMA.5kW 2.6 A RATED OUTPUT 0.0kW 2. A B E F MSMA. CLASS B (TÜV) A (UL) IP65 CONNECTION SER No.0kW) High inertia (500W to 5.0kW Specifications 100 V 200 V 100/200 common (50W only) Rotary encoder specifications Symbol P S Specifications Format Pulse count Resolution Wire count 2500P/r Incremental 10.64 Nm RATING S1 INS.

0kW 500W 1.5kW 900W 2. 200V Single/3-phase.0kW 1. 2500P/r <Remarks> Do not use in other combinations than those listed below.0kW 3. 200V Single phase.0kW 3. 200V 3-phase. 200V Single/3-phase.0kW 1.5kW 2.5kW Applicable driver Model MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MADDT1105 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTB3A2 MDDDT5540 MFDDTA390 MFDDTB3A2 Frame A-frame B-frame C-frame D-frame A-frame B-frame C-frame A-frame A-frame B-frame A-frame B-frame C-frame A-frame B-frame C-frame D-frame E-frame F-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame D-frame F-frame MAMA Low inertia 3000r/min Single phase.5kW 2.5kW 2. 200V Single/3-phase. Check the series name of the motor. voltage specifications and encoder specifications. 16 .0kW 3. 200V Single/3-phase.0kW 5. 200V 3-phase. Incremental Specifications.0kW 5. 100V Single phase.0kW 4.5kW 2. 200V 3-phase.0kW 4. 200V 3-phase.0kW 1. rated output torque.0kW 3.0kW 1.5kW 4.0kW 4. 200V Single/3-phase.0kW 400W 1. 200V MSMA Low inertia 3000r/min MDMA Middle inertia 2000r/min MHMA High inertia 2000r/min MFMA Middle inertia MGMA Middle inertia 2000r/min 1000r/min <Note> Suffix of " * " in the applicable motor model represents the motor structure. 200V 3-phase. 200V 3-phase.0kW 4. 100V MSMD Low inertia 3000r/min Applicable motor Motor series MAMA Ultra low inertia Rated rotational speed 5000r/min Model MAMA012P1* MAMA022P1* MAMA042P1* MAMA082P1* MQMA011P1* MQMA021P1* MQMA041P1* MQMA012P1* MQMA022P1* MQMA042P1* MSMD5AZP1* MSMD011P1* MSMD021P1* MSMD041P1* MSMD5AZP1* MSMD012P1* MSMD022P1* MSMD042P1* MSMD082P1* MSMA102P1* MSMA152P1* MSMA202P1* MSMA302P1* MSMA402P1* MSMA502P1* MDMA102P1* MDMA152P1* MDMA202P1* MDMA302P1* MDMA402P1* MDMA502P1* MHMA052P1* MHMA102P1* MHMA152P1* MHMA202P1* MHMA302P1* MHMA402P1* MHMA502P1* MFMA042P1* MFMA152P1* MFMA252P1* MFMA452P1* MGMA092P1* MGMA202P1* MGMA302P1* MGMA452P1* Rated output 100W 200W 400W 750W 100W 200W 400W 100W 200W 400W 50W 100W 200W 400W 50W 100W 200W 400W 750W 1. 200V Single phase.0kW 5.Introduction Check of the Combination of the Driver and the Motor This drive is designed to be used in a combination with the motor which are specified by us. Power supply Single phase.

0kW 500W 1.0kW 1.0kW 4. 200V Single phase. 200V 3-phase.5kW 2.5kW 2.5kW 4.) b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0". 100V Single phase.0kW 4. 200V 3-phase. 200V Single phase.0kW 1. 200V Single/3-phase.0kW 3.0kW 3. (refer to P. 200V 3-phase. 200V 3-phase.5kW 900W 2. 200V 3-phase.5kW 2. 200V MSMA Low inertia 3000r/min MDMA Middle inertia 2000r/min MHMA High inertia 2000r/min MFMA Middle inertia MGMA Middle inertia 2000r/min 1000r/min <Notes> 1) Suffix of " * " in the applicable motor model represents the motor structure.314.0kW 400W 1.[Before Using the Products] Before Using the Products Absolute/Incremental Specifications. 200V Single/3-phase.0kW 5.0kW 3.0kW 1.5kW Applicable driver Model MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MADDT1105 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTB3A2 MDDDT5540 MFDDTA390 MFDDTB3A2 Frame A-frame B-frame C-frame D-frame A-frame B-frame C-frame A-frame A-frame B-frame A-frame B-frame C-frame A-frame B-frame C-frame D-frame E-frame F-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame D-frame F-frame MAMA Low inertia 3000r/min Single phase. a) Install a battery for absolute encoder.0kW 5.0kW 4. 200V Single/3-phase. 17 . 2) Default of the driver is set for the incremental encoder specifications.5kW 2. 200V Single/3-phase. make the following operations. "Options" of Supplement. Power supply Single phase. 200V 3-phase. When you use in absolute. 100V MSMD Low inertia 3000r/min Applicable motor Motor series MAMA Ultra low inertia Rated rotational speed 5000r/min Model MAMA012S1* MAMA022S1* MAMA042S1* MAMA082S1* MQMA011S1* MQMA021S1* MQMA041S1* MQMA012S1* MQMA022S1* MQMA042S1* MSMD5AZS1* MSMD011S1* MSMD021S1* MSMD041S1* MSMD5AZS1* MSMD012S1* MSMD022S1* MSMD042S1* MSMD082S1* MSMA102S1* MSMA152S1* MSMA202S1* MSMA302S1* MSMA402S1* MSMA502S1* MDMA102S1* MDMA152S1* MDMA202S1* MDMA302S1* MDMA402S1* MDMA502S1* MHMA052S1* MHMA102S1* MHMA152S1* MHMA202S1* MHMA302S1* MHMA402S1* MHMA502S1* MFMA042S1* MFMA152S1* MFMA252S1* MFMA452S1* MGMA092S1* MGMA202S1* MGMA302S1* MGMA452S1* Rated output 100W 200W 400W 750W 100W 200W 400W 100W 200W 400W 50W 100W 200W 400W 50W 100W 200W 400W 750W 1. 3) No wiring for back up battery is required when you use the absolute 17-bit encoder in incremental.0kW 5. 200V Single/3-phase.0kW 3. 17-bit <Remarks> Do not use in other combinations than those listed below.0kW 1.0kW 4.

CN X5 for host connection Connector.V. CN X2 for motor connection 06JFAT-SAXGF (JST) Terminals for external regenerative resistor (RB1.RB3) Terminals for motor connection (U.V. CN X2 for motor connection 06JFAT-SAXGF (JST) Terminals for external regenerative resistor (RB1.Parts Description Driver • A and B-frame Mode switching button Set button MODE SET Rotary switch (ID) Display LED (6-digit) Data setup button : SHIFT : UP : DOWN Check pin (G : GND) Communication connector 1. CN X5 for host connection Torque monitor check pin (IM) Velocity monitor check pin (SP) Connector Main power input terminals (L1.g. CN X4 Connector.) : MCDDT1207 (Single/3-phase.RB3) Terminals for motor connection (U. L2C) Connector.L2.g. CN X3 Communication connector 2. CN X1 for power input connection 04JFAT-SAXGF (JST) X4 Connector. L2C) X3 Connector. CN X4 Torque monitor check pin (IM) Velocity monitor check pin (SP) Connector Main power input terminals (L1.RB2. 200W : A-frame) • C and D-frame Mode switching button MODE Set button SET Rotary switch (ID) Display LED (6-digit) Data setup button : SHIFT : UP : DOWN Check pin (G : GND) Communication connector 1.L3) Control power input terminals (L1C. 18 .CN X6 for encoder connection X6 X7 Connector.) : MADDT1207 (Single phase. 200V.CN X6 for encoder connection X6 X7 Connector. CN X7 for external scale connection e. 200V. CN X7 for external scale connection e.L2) Control power input terminals (L1C.W) Screws for earth (x2) Connector.W) Screws for earth (x2) X5 Connector. CN X1 for main power connection 05JFAT-SAXGF (JST) X3 X4 Connector. CN X3 Communication connector 2.RB2. 750W : C-frame) <Note> X1 and X2 are attached in A to D-frame driver.

[Before Using the Products] Before Using the Products • E and F-frame Torque monitor check pin (IM) Velocity monitor check pin (SP) Main power input terminals (L1.L3) Control power input terminals (r. refer to "Dimensions " (P. CN X5 for host connection Connector. B1.324 to 326) of Supplement.g.W) X6 X7 Connector. CN X7 for external scale connection Terminal cover Screw for cover M3 Terminals for motor connection (U. 200V.0kW : E-frame) Torque monitor check pin (IM) Velocity monitor check pin (SP) Rotary switch (ID) MODE Set button SET Mode switching button Display LED (6-digit) Data setup button : SHIFT : UP : DOWN Check pin (G : GND) Screw for cover M3 X3 Main power input terminals (L1.L2. t) Terminals for external regenerative resistor (P. CN X4 X5 Connector.V. CN X3 Communication connector 2.L2.CN X6 for encoder connection Terminals for motor connection (U. 2.) : MEDDT7364 (3-phase. B2) Rotary switch (ID) MODE Set button SET Mode switching button Display LED (6-digit) Data setup button : SHIFT : UP : DOWN Check pin (G : GND) Screw for cover M3 X3 X4 Communication connector 1.W) X6 X7 Screws for earth (x2) e. CN X3 Communication connector 2. 5.g. 200V. CN X5 for host connection Connector.V. 19 .) : MFDDTB3A2 (3-phase.L3) Control power input terminals (r. B2) X4 Communication connector 1.CN X6 for encoder connection Connector. CN X4 X5 Connector. t) Terminals for external regenerative resistor (P.0kW : F-frame) <Note> For details of each model. B1. CN X7 for external scale connection Terminal cover Screw for cover M3 Screws for earth (x2) e.

50W) • MSMA 1.g.0kW • MHMA 500W to 5. 20 .) : Middle inertia type (MDMA series.0kW to 5. refer to "Dimensions " (P.Parts Description Motor • MSMD 50W to 750W • MAMA 100W to 750W • MQMA 100W to 400W Motor cable Encoder cable Rotary encoder Connector for brake cable (Only applicable to the motor with electromagnetic brake) Flange Motor frame Mounting holes (X4) e.0kW • MDMA 1.0kW to 5. 1.327 to P.0kW) <Note> For details of each model.5kW Connector for motor and brake Connector for encoder Oil seal Flange Flange Mounting holes (X4) e.g.) : Low inertia type (MSMD series.341) of Supplement.5kW • MGMA 900W to 4.0kW • MFMA 400W to 4.

: DV0P4420). SET Button : Shifts to "EXECUTE" display of each mode selected by mode switching button. Press this to change the data and to execute the operation of the selected parameter. and decreases by pressing .[Before Using the Products] Before Using the Products Console Main Body Connector Console body Display (7-segment LED) Cable Touch panel <Note> Console is an option (Part No. Numerical value increases by pressing . Mode switching button : Switches the mode among the following 6 modes. Displays the parameter No. Press this to shift the digit for data change. (1) Monitor mode (2) Parameter setup mode (3) EEPROM write mode (4) Normal auto-gain tuning mode (5) AUX function mode • Trial run (JOG mode) • Alarm clear (6) Copy mode • Parameter copy from the servo driver to the console • Parameter copy from the console to the servo driver 21 . at parameter setup mode. The value set in Pr00 (Address) is ID No. Display/Touch panel Display LED (6 digits) Displays ID number of selected driver (in 2 digits).

chlorine.6G).) In case of C-frame Mounting bracket (optional parts) Fastening torque of earth screws (M4) to be 0. grinding oil. alkaline and salt and so on. 3) Well-ventilated and low humidity and dust-free place.How to Install Install the driver and the motor properly to avoid a breakdown or an accident. sulfuric gas.g. A to D-frame MADD MBDD MCDD MDDD e. chloric gas. oil mist. 10 to 60Hz Lower than 1000m How to Install 1) Rack-mount type. Base mount type (rear mount) is standard (A to D-frame) 2) Use the optional mounting bracket when you want to change the mounting face. E and F-frame Mounting bracket 22 .39 to 0. where the products are not subjected to rain or direct sun beams.59N • m. The products are not waterproof. ammonia. Install in vertical position. and are free from splash of inflammable gas. and reserve enough space around the servo driver for ventilation. 4) Vibration-free place Environmental Conditions Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude Condition 0˚C to 55˚C (free from freezing) Less than 90% RH (free from condensation) –20˚C to 80˚C (free from freezing) Less than 90% RH (free from condensation) Lower than 5. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide.9m/S2 (0. iron powder or chips and etc. Driver Installation Place 1) Indoors. acid. sulfurous acid.

[Before Using the Products] Before Using the Products Mounting Direction and Spacing • Reserve enough surrounding space for effective cooling. • Install fans to provide uniform distribution of temperature in the control panel. Fan Fan 100mm or more 40mm or more 10mm or more 10mm or more 10mm or more 40mm or more 100mm or more <Note> It is recommended to use the conductive paint when you make your own mounting bracket. application of exceptionally large external noise disturbance and static electricity. • Observe the environmental conditions of the control panel described in the next page. however. or repaint after peeling off the paint on the machine for installing the products. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. 23 . There might be a chance of smoke generation due to the failure of these products. wiring and components may result in unexpected action. or failure in input power. Pay an extra attention when you apply these products in a clean room environment. in order to make noise countermeasure. Caution on Installation We have been making the best effort to ensure the highest quality.

5G) at stall Lower than 98m/s2 (10G) IP65 (except rotating portion of output shaft and lead wire end) • These motors conform to the test conditions specified in EN standards (EN60529. alkaline and salt and so on. grinding oil. How to Install You can mount the motor either horizontally or vertically as long as you observe the followings. 5) Easy-to-access place for inspection and cleaning. refer to P. 3) Avoid a place where the motor is subjected to oil or water. Oil/Water Protection 1) Don't submerge the motor cable to water or oil. water 24 .5m/s2 (2. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide. 24. chloric gas. oil mist. 4) Use the motor with an oil seal when used with the gear reducer. Do not use these motors in application where water proof performance is required such as continuous wash-down operation. 2) Vertical mounting • Use the motor with oil seal (non-standard) when mounting the motor with gear reducer to prevent the reducer oil/grease from entering to the motor. sulfurous acid. 4) Well-ventilated and humid and dust-free place. 1) Horizontal mounting • Mount the motor with cable outlet facing downward for water/oil countermeasure. 2) Install the motor with the cable outlet facing downward. EN60034-5). Cable Motor Oil. and are free from splash of inflammable gas. 3) Where the motor is free from grinding oil. iron powder or chips. *2 Permissible temperature for short duration such as transportation. ammonia. Motor may gets hot in those enclosure and shorten the motor life. 7) Avoid enclosed place. 1) Indoors. oil mist. *1 Ambient temperature to be measured at 5cm away from the motor. so that the oil may not enter to the motor through shaft. where the products are not subjected to rain or direct sun beam. 3) For mounting dimensions. Environmental Conditions Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Motor only Impact Motor only Enclosure rating Motor only Condition 0˚C to 40˚C (free from freezing) *1 Less than 85% RH (free from condensation) –20˚C to 80˚C (free from freezing) *2 Less than 85% RH (free from condensation) Lower than 49m/s2 (5G) at running. acid.How to Install Motor Installation Place Since the conditions of location affect a lot to the motor life. The products are not waterproof.326 to 340 "Dimensions". 6) Vibration-free place. select a place which meets the conditions below. chlorine. sulfuric gas. iron powder or chips and etc. far apart from the heat source such as a furnace.

25 . 3) Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permissible value.) 2) Make a full alignment. Check and verification by customer is required. (Minimum R20mm) Permissible Load to Output Shaft 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 Motor value specified to each model. (Or it may damage the encoder mounted on the other side of the shaft.[Before Using the Products] Before Using the Products Stress to Cables 1) Avoid a stress application to the cable outlet and connecting portion by bending or self-weight. 3) Take the cable bending radius as large as possible. 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. fix the attached cable and contain the extension junction cable into the bearer so that the stress by bending can be minimized. it may cause electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment.342. 2) Especially in an application where the motor itself travels. (Excess bending load may damage the shaft or deteriorate the bearing life. and may result in the bearing noise. refer to P. 4) For permissible load of each model. "List of Permissible Load to Output Shaft" of Supplement. 2) Pay an extra attention when you use a rigid coupling. (incomplete alignment may cause vibration and damage the bearing.) 3) If the motor shaft is not electrically grounded.

The products are not waterproof. ammonia. • Do not pull the cables with excess force. sulfurous acid.How to Install Console Installation Place 1) Indoors.9m/s2 (0. where the products are not subjected to rain or direct sun beam. 2 cycles) Lower than 1000m <Cautions> • Do not give strong impact to the products. 4) Easy-to-access place for inspection and cleaning Environmental Conditions Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Impact Altitude Condition 0˚C to 55˚C (free from freezing) Less than 90% RH (free from condensation) –20˚C to 80˚C (free from freezing) Less than 90% RH (free from condensation) Lower than 5. acid. 3) Well-ventilated and low humidity and dust-free place. grinding oil. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide. alkaline and salt and so on. SET MOD M E SHIF T S <Remarks> • Connect the console connector securely to CN X4 connector of the driver • Never pull the cable to plug in or plug out. 10 to 60Hz Conform to JISC0044 (Free fall test. chloric gas. • Avoid the place near to the heat source such as a heater or a large winding resistor. oil mist. How to Connect Connect to CN X4. 1m for 2 directions. 26 . sulfuric gas. chlorine.6G). iron powder or chips and etc. • Do not drop the products. and are free from splash of inflammable gas.

.. 42 Built-in Holding Brake .... 48 Caution on Homing ............... Parameter Setup Mode ..................................................... CN X5 (Connection to Host Controller) 28 30 32 34 35 38 40 41 Timing Chart . Setup with the Console ....................................................................................... Auxiliary Function Mode ... Host Controller or Console) ... Wiring to the Connector.............. 51 Outline of Parameter ............................ Initial Status of the Front Panel Display(7 Segment LED) ........................ Monitor Mode ........................................................ Composition and List of Parameters ..................... 3-phase) .............................................................. 46 Dynamic Brake ..................... CN X3 and 4 (Connection to PC.................................................................... Wiring to the Connector.............................................. Initial Status of the Console Display(7 Segment LED) .................. 50 Setup of Parameter and Mode ....................................................... Driver and List of Peripheral Equipments.................................................................................... How to Set .............................................................................. EEPROM Writing Mode ................................................................ Structure of Each Model ............................................ Setup with the Front Panel .................................................. How to Connect ................................................................... Wiring of the Main Circuit (E and F-frame).......................................... Auto-Gain Tuning Mode . CN X6 (Connection to Encoder) ....................................................................... Wiring of the Main Circuit (A to D-frame) .................................... 51 51 51 52 57 58 58 59 59 60 63 69 70 71 73 79 27 How to Use the Front Panel and Console ............................ Setup of Torque Limit ................... 28 Overall Wiring (Connecting Example of C-frame....... Copying Function (Console Only) ................................................................ Overall Wiring (Connecting Example of E-frame) ........ 58 ...................[Preparation] page System Configuration and Wiring ....................................................................................................... Wiring to the Connector........

such as thermal fuse without fail. 6C to 1 or 2. Noise Filter (NF) Prevents external noise from the power lines. RB2 (4-pin). such as metal. • Never start nor stop the servo motor with this Magnetic Contactor.) • When you connect an external regenerative resister. If the thermal fuse is activated. then connect the external regenerative resister between RB1 and RB2. Use a surge absorber together with this. it will not resume.) • Connection to the Connector.321) (see P. Thermal fuse and thermostat are built in to the regenerative resistor (Option). 33 and 309. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Reactor (L) Reduces harmonic current of the main power.) Regenerative resistor (optional) <Remarks> When you use an external regenerative resister. install an external protective apparatus. Follow the same wiring connection as the above.) (see P. Install an external regenerative resister on incombustible material. CN X1 (connection to input power) L1 (Pin-5) L2 (Pin-4) L3 (Pin-3) L1C (Pin-2) L2C (Pin-1) Pin RB1 (6-pin). 28 • Connection to the Connector. And reduces an effect of the noise generated by the servo driver. (see page for connection. CN X2 (connection to external components) RB1 (Pin-6) RB2 (Pin-4) Ground (earth) Handle lever Use this for connector connection. and RB3 (5-pin) • RB2 and RB3 to be kept shorted for normal operation.32 and 33. 3-phase) • Wiring of the Main Circuit Circuit Breaker (NFB) Use the circuit breaker matching capacity of the power source to protect the power lines. disconnect a shorting bar between RB2 and RB3.32. . (Note that no regenerative resister is equipped in Frame A and B type.System Configuration and Wiring Overall Wiring (Connecting Example of C-frame. (see P. set up Parameter No. • When the capacity shortage of the regenerative resister is found. Store this after connection for other occasions.309) (see P.

Japanese version/option) Console (option) DV0P4420 X3 X1 X4 • Wiring to Connector. CN X3/X4 (option) (Connection to PC or host controller) X5 X2 • Wiring to Connector. CN X5 (Connection to host controller) Junction cable for encoder X6 • Wiring to Connector. CN X7 (Connection to external scale) DC Power supply for brake DC24V (to be supplied by customer) : High voltage 29 . CN X6 (Connection to encoder) X7 Short bar U-phase (red) V-phase (white) W-phase (black) Junction cable for motor • Wiring to Connector.[Preparation] PC (to be supplied by customer) Preparation Setup support software "PANATERM® " DV0P4460 (English. CN X2 (Connection to motor driving phase and ground) Junction cable for brake • Wiring to Connector.

) (see P.321) (see P. such as metal . 6C to 1 or 2. 33 and 309. Thermal fuse and thermostat are built in to the regenerative resistor (Option). And reduces an effect of the noise generated by the servo driver. Noise Filter (NF) Prevents external noise from the power lines. Install an external regenerative resister on incombustible material. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. install an external protective apparatus.309) (see P. Follow the same wiring connection as the above. • Connection to external components P B2 Ground (earth) Regenerative resistor (optional) <Remarks> When you use an external regenerative resister. • Never start nor stop the servo motor with this Magnetic Contactor. such as thermal fuse without fail.System Configuration and Wiring Overall Wiring (Connecting Example of E-frame) • Wiring of the Main Circuit Circuit Breaker (NFB) Use the circuit breaker matching capacity of the power source to protect the power lines. 30 . • B1 and B2 to be kept shorted for normal operation.32. disconnect a short bar between B1 and B2. Use a surge absorber together with this. then connect the external regenerative resister between P and B2.32 and 33. Reactor (L) Reduces harmonic current of the main power.. (see P. set up Parameter No. • When you connect an external regenerative resister. If the thermal fuse is activated.. B1 and B2. • When the capacity shortage of the regenerative resister is found.) • Connection with input power supply L1 L2 L3 r t Pin P. it will not resume.

CN X3/X4 (option) (Connection to PC or host controller) X5 • Wiring to Connector. CN X7 (Connection to external scale) Short bar From a top U-phase V-phase W-phase Junction cable for brake DC Power supply for brake DC24V (to be supplied by customer) • Connection to motor driving phase and ground Junction cable for motor : High voltage 31 . CN X6 (Connection to encoder) X7 Junction cable for encoder • Wiring to Connector.[Preparation] PC (to be supplied by customer) Preparation Setup support software "PANATERM® " DV0P4460 (English. CN X5 (Connection to host controller) X6 • Wiring to Connector. Japanese version/option) Console (option) DV0P4420 X3 X4 • Wiring to Connector.

1. 0.5kVA approx.5kW 2.9kVA approx.0mm2 AWG14 2. MDDD MSMA 3.3kVA MAMA MSMD Single phase. 100W 0.1kVA approx. 0. MSMD –200W 0. approx. 1. 0.System Configuration and Wiring Driver and List of Applicable Peripheral Equipments Driver Applicable Rated Voltage output motor 50W MSMD Single –100W phase.6kVA approx.phase.0mm2 BMF6352N AWG14 (3P+2a2b) 3.5kVA approx. MHMA 200V MFMA 2. 0. 1. 0. 1.phase.5kW 2. 0.0kW MHMA MGMA 900W 500W 750W 400W 200W 400W 750W 200W approx.4kVA approx.5mm2 AWG12 Terminal block M5 11.0kW 1.9kVA approx. 400W MFMA 200V MHMA MAMA MDMA 1.4kVA 50W approx. 1. 200V 200W 0. 100V MSMD MCDD MAMA Single/ 3.0mm2 AWG 14 to 18 Connection to exclusive connector BMFT61542N (3P+1a) BMFT61541N (3P+1a) DV0P4180 DV0P1460 BMFT61542N (3P+1a) 0.3kVA approx.8kVA Single/ approx. 0.8kVA 200V MHMA 20A MDMA MSMA MFMA MDMA MSMA MEDD 3.5kVA approx.8kVA BMFT61542N (3P+1a) DV0P4170 DV0P4190 10A BMFT61041N (3P+1a) 0.0 or smaller ø5.0kW approx.9kVA approx. MQMA 100V MBDD MSMD Single MQMA phase. Single 100W 0.3kVA approx.75 to 2.8kVA 30A approx. 3.phase. 1. 1.3 32 .3kVA MQMA phase.75mm2 AWG18 15A approx. MQMA 100V 100W Required Circuit Power breaker (at the rated (rated load) current) Noise filter Cable Cable Surge Noise filter Magnetic diameter diameter Connection contactor (main circuit) (control circuit) absorber for signal BMFT61041N (3P+1a) approx.3kVA DV0P4220 DV0P1450 BMFT61842N (3P+1a) 2.5kVA MADD approx. 3. 200V MAMA MQMA Single phase.

5kVA approx. 3. and 5. 7. • Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3mm2 (AWG10) or larger for 4. Larger tightening torque than these may damage the connector at the driver side.5mm2 AWG12 Preparation Terminal block M5 0.[Preparation] Driver Applicable Rated Voltage output motor MGMA MDMA MHMA MSMA MGMA MDMA MFDD MHMA MSMA MFMA MGMA MDMA MHMA MSMA approx. and maintain the peeled off length of 8 to 9mm.0kW.0kW 7.5kW to 4.0kW model. 6.phase. Protective earth terminal is M4 for A to D-frame. • For details of noise filters.5kVA BMF6352N (3P+2a2b) 3.5kW approx. M5 : 2. • Use the attached exclusive connectors for A to D-frame.2 N • m.5kVA ø5.3mm2 AWG10 • Select a single and 3-phase common specifications according to the power source. 2. To comply to EC Directives. value (M4 : 1.75mm2 AWG18 11. and 3. "Driver and List of Applicable Peripheral Equipments (EC Directives)" of Supplement. 240V is the maximum capacity to be delivered to the circuit of 750W or larger model when the maximum current value of the circuit breaker is limited to 20A.0kW 4. "Noise Filter" and P. install a circuit breaker between the power and the noise filter without fail. refer to P. • Earth cable diameter should be 2. • Terminal block and protective earth terminal Use a copper conductor cable with temperature rating of 60˚C or higher.0 N • m) may damage the terminal block. 5000Arms.5kW to 5kW model. and M5 for E and F-frame. approx.0 or smaller 3.3 to 0.5mm2 (AWG12) or larger for 2.0kW 6kVA 50A DV0P3410 DV0P1450 DV0P1460 BMF6652N (3P+2a2b) 5. 33 .311. and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).0mm2 (AWG14) or larger for 50W to 2. 200V 4.309. 5.0kW 3.3 Required Circuit Power breaker (at the rated (rated load) current) Noise filter Cable Cable Surge Noise filter Magnetic diameter diameter Connection absorber for signal contactor (main circuit) (control circuit) approx.8kVA 4. • Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.8kVA approx. <Remarks> • Select and use the circuit breaker and noise filter with matching capacity to those of the power source. Larger tightening torque of the screw than the max.35 N • m. considering the load conditions as well.

refer to P. *Connect pin 3 of the connector on the amplifier side with pin 1 of the connector on the motor side. For the capacity of the electromagnetic brake and how to use it. Check the name plate of the driver for power specifications. For applicable wire. shows. DC 24V DC power supply for brake Surge absorber Fuse (5A) 34 . Power supply NFB NF MC L 5 4 3 2 1 6 5 4 3 2 1 L1 L2 L3 L1C L2C CN X1 RB1 RB3 RB2 U V Yellow (X2) Red White Black U V W 1 2 3 4 W CN X2 Green/ E Yellow Motor Earth-ground this. Provide a surge absorber. Connect a 5A fuse in series with the surge absorber. and don't use L2. Provide a noise filter without fail. The Electromagnetic Brake has no polarity. nor make them touch. Compose a duplex Brake Control Circuit so that the brake can also be activated by an external emergency stop signal. Two terminals are provided. Never start/stop the motor with this Magnetic Contactor. Avoid shorting and ground fault. (See P. refer to P32 and 33. Don't co-clamp the earth wires to the protective earth terminal ( ) . or a leakage breaker. • Do not turn on the power until the wiring is completed.37 for details. Disconnect this only when the external regenerative register is used. Don't disconnect the shorting cable between RB2 and RB3 (C and D frame type). and L3 and L2C at single phase use (100V and 200V).V. Provide a surge absorber to a coil of the Magnetic Contactor. Match the colors of the motor lead wires to those of the corresponding motor output terminals (U. Connect a fuse in series with the surge absorber. Provide a circuit breaker. Tips on Wiring 1) Peel off the insulation cover of the cable. Don't connect the main power. slot.) 8 to 9mm 2) Insert the cable to the connector detached from the driver. Don't connect the earth cable to other inserting Ground resistance : 100Ω max.) 3) Connect the wired connector to the driver. "Specifications of Built-in Holding Brake".47. Provide an AC Reactor.W). Connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel without fail to prevent electrical shock. Connect L1 and L1C. (Observe the dimension as the right fig. The leakage breaker to be the one designed for "Inverter" and is equipped with countermeasures for harmonics. Ask the manufacturer of the Magnetic Contactor for the fuse rating.System Configuration and Wiring Wiring of the Main Circuit (A to D-frame) • Wiring should be performed by a specialist or an authorized personnel.

Provide an AC Reactor. refer to P32 and 33. 3) Attach the terminal cover. Don't connect the main power.47. Match the colors of the motor lead wires to those of the corresponding motor output terminals (U. Provide a circuit breaker. nor make them touch. L1 Power supply NFB NF MC L L2 L3 r t P B1 Yellow (X2) Red White Black B2 U V W U V W Green/ E Yellow Motor Ground resistance : 100Ω max. For the capacity of the electromagnetic brake and how to use it. Provide a surge absorber to a coil of the Magnetic Contactor. Check the name plate of the driver for power specifications.[Preparation] Wiring of the Main Circuit (E and F-frame) • Wiring should be performed by a specialist or an authorized personnel. For applicable wire. Earth-ground this. Compose a duplex Brake Control Circuit so that the brake can also be activated by an external emergency stop signal. Don't connect the earth cable to other inserting slot. The Electromagnetic Brake has no polarity. Avoid shorting and ground fault. • Do not turn on the power until the wiring is completed. DC 24V DC power supply for brake Surge absorber Fuse (5A) 35 . Disconnect this only when an external regenerative register is used. Provide a surge absorber. and fix with screws. Two terminals are provided. "Specifications of Built-in Holding Brake".32 and 33). Ask the manufacturer of the Magnetic Contactor for the fuse rating. For cable diameter and size.2 N • m. and detach the terminal cover. Fastening torque of cover fixed screw in less than 0. Connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel without fail to prevent electrical shock. Tips on Wiring Preparation 1) Take off the cover fixing screws. Provide a noise filter without fail. or a leakage breaker.V. Don't disconnect the short bar between B1 and B2. rater to "Driver and List of Applicable Peripheral Equipments" (P. Connect a fuse in series with the surge absorber. refer to P. The leakage breaker to be the one designed for "Inverter" and is equipped with countermeasures for harmonics. 2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. Never start/stop the motor with this Magnetic Contactor. Connect a 5A fuse in series with the surge absorber.W). Don't co-clamp the earth wires to the protective earth terminal ( ) .

200V –15% to 240V –15% <Remarks> When you use single phase. 200V –15% to 240V –15% Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC Surge absorber MC L L1 L3 L1C L2C RB1 RB3 RB2 U V W MC +10% +10% +10% +10% Noise filter Control power supply CN X2 Noise filter NFB CN X1 Main power supply NFB CN X1 Main power supply Control power supply CN X2 Use a reactor for 3-phase External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 1 2 3 4 Motor connection 1 2 3 4 Motor connection Motor 172159-1 Tyco Electronics AMP DC12 to 24V (±5%) ALM 37 CN X5 ALM+ Motor 172159-1 Tyco Electronics AMP DC12 to 24V (±5%) ALM 37 CN X5 ALM+ 36 ALM– 36 ALM– In Case of Single Phase.) External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 *1 2 3 4 Motor connection External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 *1 2 3 4 Motor Motor ALM 37 CN X5 ALM+ 172159-1 Tyco Electronics AMP DC12 to 24V (±5%) 172159-1 Tyco Electronics AMP DC12 to 24V (±5%) ALM 37 CN X5 ALM+ 36 ALM– 36 ALM– D A * When you use motor model of MSMA. use the connections as the JL04V-2E20-4PE-B-R right table shows. NFB Noise filter In Case of 3-Phase. MDMA. 200V (A and B-frame) Power supply Single phase. 200V (C and D-frame) Power supply 3-phase. 200V –15% to 240V –15% <Remarks> When you use single phase. MHMA and C B MGMA. 100V –15% to 115V –15% Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC Surge absorber MC L L1 L3 L1C L2C RB1 RB3 RB2 U V W MC In Case of Single Phase.System Configuration and Wiring Wiring Diagram Compose the circuit so that the main circuit power will be shut off when an error occurs.. PIN No. 200V (C and D-frame) Power supply Single phase. NFB Noise filter +10% +10% +10% +10% Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC MC Surge absorber MC L L1 L2 L3 L1C L2C RB1 RB3 RB2 U V W CN X1 Main power supply Control power supply CN X2 Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC MC Surge absorber MC L L1 L2 L3 L1C L2C RB1 RB3 RB2 U V W Motor connection CN X1 Main power supply Control power supply CN X2 Use a reactor for 3-phase (Remove the short wire when you connect the external regenerative resistor. Application V-phase I E A U-phase W-phase B F E D C G H I V-phase B Ground E G W-phase JL04V-2E20-18PE-B-R C Ground JL04V-2E24-11PE-B-R D H Ground NC D C I Application Brake Brake NC U-phase V-phase W-phase Ground Ground NC 36 . 100V (A and B-frame) Power supply Single phase.) (Remove the short wire when you connect the external regenerative resistor. Application PIN No. <Remark> Do not connect anything to NC. MFMA. G A Brake Brake H B G H A A B C NC A C U-phase F D F I B D E F PIN No. connect the main power between L1 and L3 terminals. connect the main power between L1 and L3 terminals. JL04HV-2E22-22PE-B-R [Motor portion] Connector : by Japan Aviation Electronics Ind. In Case of Single Phase.

Insert the cable to the connecter in the following 2 methods. (b) Using screw driver 1 2 3 Press the screw driver to the handling slot on the upper portion to push down the spring. Release the lever. Insert the peeled cable while pressing down the lever. How to connect 1.) Red White Black Green P B1 B2 U V W Motor connection JL04V-2E20-18PE-B-R PIN No. (see the right fig for exact length for peeling.0 to 3. 200V (E and F-frame) Power supply 3-phase. • Take off the connector from the Servo Driver before making connection. • Pay attention to injury by screw driver. 37 . Application A U-phase V-phase B W-phase C Ground D G F E D H I C A B D G H A B E I C F External regenerative resistor (Remove the short wire when you connect the external regenerative resistor. Insert the peeled cable while pressing down the screw driver. until it hits the insertion slot (round hole). Press down the lever to push down the spring. * You can pull out the cable by pushing down the spring as the above.[Preparation] In Case of 3-Phase. * You can pull out the cable by pushing down the spring as the above. Peel off the insulation cover of the cable. 200V –15% to 230V –15% Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC Surge absorber NFB MC L MC +10% +10% [Motor portion] Connector : by Japan Aviation Electronics Ind. Application G Brake H Brake A NC F U-phase V-phase I B W-phase E Ground D Ground C NC JL04V-2E24-11PE-B-R PIN No. • Insert one cable into each one of cable insertion slot. D C A Preparation B Noise filter L1 L2 L3 r t Control power supply Main power supply JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R PIN No. Wiring method to connector (A to D-frame) • Follow the procedures below for the wiring connection to the Connector CN X1 and X2 . Application A Brake Brake B NC C U-phase D V-phase E W-phase F Ground G Ground H NC I Motor ALM 37 ALM+ DC12 to 24V (±5%) 36 ALM– <Remark> Do not connect anything to NC. (a) Using the attached Handle Lever (b) Using a screw driver (blade width of 3. <CAUTION> • Peel off the cable with exact length (8 to 9 mm).5 mm) 8 to 9mm (a) Using handle lever 1 2 3 Attach the handle lever to the handling slot on the upper portion.) 2. until it hits the insertion slot (round hole). Release the screw driver.

AMP) Motor side Driver side 38 . 5) Connect nothing to the empty terminals of each connector and Cannon Plug. Encoder junction cable E5V E0V 1 2 E5V E0V 5 6 PS PS PS PS Encoder side connector (Cannon plug) Driver side CN X6 Wiring Diagram In case of 2500P/r incremental encoder • MSMD 50W to 750W • MAMA 100W to 750W • MQMA 100W to 400W White Black E5V E0V 4 5 CN X6 1 E5V +5V 0V 2 E0V 3 4 5 6 Regulator Light Blue Purple PS PS FG 2 3 6 Twisted pair PS PS Case 172168-1 motor 172160-1 Junction cable (by Tyco Electronics. connect to Pin-J. refer to P. 1) Refer to the Wiring Diagram below. Connector Junction cable 20m max. flyer leads + connecter and cannon plug type. Consult with a dealer or distributor if you want to use the longer cable than 20m. Cannon plug Junction cable 20m max. AMP) (by Tyco Electronics.) Keep this wiring away from the main circuit by 30 cm or more. CN X6 (Connection to Encoder) Tips on Wiring Power supply Motor Encoder 30cm or more 20m max. and with higher bending resistance. In case of 6-pin (2500P/r incremental encoder) : Connect to pin-6. 2) Cable to be : Shielded twisted pair cable with core diameter of 0. • Shield wall of the motor side : Tyco Electronics AMP In case of 9-pin (17-bit absolute/incremental encoder) : Connect to pin-3. In case of cannon plug. Maximum cable length between the driver and the motor to be 20m. Encoder outlets are different by the motors.18mm2 or larger (AWG24). nor bind them together. When you make your own encoder junction cable (for connectors.319. Don't guide this wiring through the same duct with the main. 3) Use twisted pair cable for corresponding signal/power wiring.System Configuration and Wiring Wiring to the Connector. "Options (Connector Kit for Motor and Encoder connection)" of Supplement. 4) Shielding treatment • Shield wall of the driver side : Connect to Pin-20 (FG) of CN X6. (Refer to the back cover.

5kW 900W to 4. AMP) E5V E0V Regulator battery 5 6 PS PS Case 172161-1 (by Tyco Electronics.) motor Motor side Junction cable Driver side 39 . Ltd. of connector CN X6 1 E5V +5V 0V Regulator 2 E0V 3 4 Preparation PS PS FG K L J 5 6 PS PS Straight plug N/MS3106B20-29S Cable clamp N/MS3057-12A (by Japan Aviation Electronics Ind.5kW E5V E0V H G Pin No.5kW E5V H E0V G Pin No.) Case Twisted pair motor Motor side Junction cable Driver side Wiring Diagram In case of 17-bit absolute/incremental encoder • MSMD 50W to 750W • MAMA 100W to 750W • MQMA 100W to 400W White Black 7 8 CN X6 1 E5V +5V 0V 2 E0V 3 4 Red Pink Light Blue Purple Yellow/Green BAT+ BAT– PS PS FG 1 2 4 5 3 Twisted pair 172169-1 (by Tyco Electronics.[Preparation] • MSMA 1kW to 5kW • MDMA 1kW to 5kW • MHMA 500W to 5kW • MFMA 400W to 4.5kW • MGMA 900W to 4. of connector CN X6 +5V 1 E5V 0V 2 E0V 3 4 battery 5 6 Regulator BAT+ BAT– PS T S K PS PS Straight plug Cable clamp L PS J FG N/MS3106B20-29S N/MS3057-12A Case Twisted pair (Japan Aviation Electronics Industry. AMP) motor Motor side Junction cable Driver side • MSMA • MDMA • MHMA • MFMA • MGMA 1kW to 5kW 1kW to 5kW 500W to 5kW 400W to 4.

out the connector. Connection with the Console Connect to CN X4 MOD M E SHIF T SET S 40 . [How to connect] Shut off both powers of Exclusive connecting the PC and the driver cable before inserting/pulling Refer to "Options". "PANATERM®" (option). • For details. Host or Console) • This servo driver features 2 kinds of communication function. "PANATERM "offers useful functions such as monitoring of various status. • Set up the rotary switch (ID) to 1 to F. you can connect multiple drivers.. "Communication"of Supplement. CN X3 and X4 (Connection to PC. RS485 RS485 Host controller (PC controller) RS232 CN X3 Set up the rotary switch (ID) to 1 to F.278. <Notes> • You can connect up to 15 drivers with the host. setup/change of parameters and waveform graphic display and so on. RS232 and RS485. Tighten the stop screw securely. In Case of Communication with Multiple Drivers Using RS485 Only By connecting the host with all drivers via RS485 you can realize connection with multiple drivers. CN X4 In Case of Communication with Multiple Drivers Using RS232 and RS485 By connecting the host (PC and host controller) and one driver via RS232 and connecting other drivers via RS485 each other. Connector for RS232 (back side) You can set the rotary switch (ID) to any of 0 to F. and you can use in 3 connecting methods. CN X4 Set up the rotary switch (ID) to 0. you can utilize the setup support software. In Case of Communication with One Driver Using RS232 By connecting the PC and the driver via RS232. refer to P.System Configuration and Wiring Wiring to the Connectors.

• Specifications of the Connector. "Options" of Supplement.83 (Position control mode). Don't pass them in the same duct. Frame ground (FG) is connected to the earth terminal inside of the driver. P. and in the direction as the Fig. P. When the relay is directly driven by the control output signals. Don't apply more than 24V to the control signal output terminals.161 (Torque control mode) and P. Larger tightening torque than these may damage the connector at the driver side. nor run 50mA or more to them. refer to Wiring Diagram at each control mode. or by reverse direction. Power supply for control signals (VCC) between COM+ and COM– (VDC) should be prepared by customer. 52986-5071 Sumitomo 3M <Note> For details. The driver might be damaged without a diode installment. VDC COM– FG CN X5 • For detailed information. P. CN X5 Connector at driver side Connecter to be prepared by customer Part name Part No. refer to P. <Remarks> • Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0. shows.312. CN X5 (Connection to Host Controller) • Tips on wiring 3m or shorter Peripheral apparatus such as host controller should be located within 3m . install a diode in parallel with a relay. 41 . nor bind them together. 54306-5011 or Connecter (soldering type) 54306-5019 (lead-free) Connector cover 54331-0501 or 10150-3000VE Connecter (soldering type) 10350-52A0-008 Connector cover Manufacturer Molex Inc.127 (Velocity control mode).3 to 0.[Preparation] Wiring to the Connector.192 (Full-closed control mode).35N • m. Preparation Controller 30cm or longer Power supply Motor Separate the main circuit at least 30cm away. COM+ 1 2 GND Use shield twisted pair for the wiring of command pulse input and encoder signal output.

2ms Servo-ON input (X5. Pin-29) OFF Dynamic brake engaged released approx.CCWL) or external scale input.L2C) Internal control power supply OFF ON approx. protective functions are active from approx. 42 . *1. In this term Servo-ON input (SRV-ON) turns ON as a hard ware. *3. 1.5s established Action of driver CPU reset (initialization) *3 0s or longer usually operation Main power supply (L1. S-RDY output will turn on when both conditions are met. initialization of micro computer has been completed and the main power has been turned on. especially for protective function.L3) S-RDY output (X5. After Internal control power supply .2ms BRK-OFF output (X5. Pin-10 and 11) Position/Speed/ Torque command OFF (brake engaged) ON (brake released) 100ms or longer Command *1 entry No command entry <Cautions> • The above chart shows the timing from AC power-ON to command input. • Activate the external command input according to the above timing chart.1. Please set the signals.5 sec after the start of initializing microcomputer.Timing Chart Timing Chart Control power supply (L1C. but operation command can not be received.100 to 300 ms OFF approx. for example overtravel inhibit input (CWL.L2. Pin-34 and 35) OFF *2 10ms or longer 10ms or longer *2 ON OFF ON 0ms or longer ON approx. *2.40ms Motor energization not-energized energized approx.2s approx. so as to decide their logic until this term.

For the action of dynamic brake at alarm occurrence. *2. "Sequence at alarm ("Parameter setup" at each control mode) as well.2ms approx. t1 will be 0 when the motor is in stall regardless of the setup pf Pr6A.40ms released energized released (ON) approx. when time to fall below 30r/min is shorter.[Preparation] When an Error (Alarm) Has Occurred (at Servo-ON Command) Alarm Dynamic brake Motor energization Servo-Ready output (S-RDY) energized 0.5 to 5 ms normal alarm engaged *2 Preparation non-energized not ready alarm ready Servo-Alarm output not alarm (ALM) Setup value of Break release output Pr6B released (ON) engaged (OFF) (BRK-OFF) t1 *1 motor speed approx. refer to an explanation of Pr68.30r/min when setup value of Pr6B is shorter. <Cautions> *1.2ms ready not ready alarm 100ms or longer not alarm Position/Speed/ Torque command no input entry input enabled 43 . When an Alarm Has Been Cleared (at Servo-ON Command) 120ms or longer Alarm-clear input (A-CLR) Dynamic brake Motor energization Brake release output (BRK-OFF) Servo-Ready output (S-RDY) Servo-Alarm output (ALM) engaged not-energized engaged (OFF) clear approx.30r/min Setup value of Pr6B released (ON) engaged t1 *1 motor speed (OFF) approx. t1 will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to fall below 30r/min.

*3.40ms energized approx. t1 will be determined by Pr6A setup value. "Sequence at Servo-OFF ("Parameter setup" at each control mode) as well. Servo-ON will not be activated until the motor speed falls below approx. For the dynamic brake action at Servo-OFF.Timing Chart Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) Servo-ON input (SEV-ON) OFF approx. 44 . *2.2ms Brake release output (BRK-OFF) engaged (OFF) released (ON) engaged (OFF) not-energized <Cautions> *1. 30r/min. refer to an explanation of Pr69.2ms ON OFF Dynamic brake engaged *3 released 1 to 5ms engaged *2 t1 *1 Motor energization not-energized approx.

) Preparation at Servo-ON Servo-ON input (SEV-ON) OFF *4 Dynamic brake engaged *3 released at Servo-OFF OFF 1 to 5ms engaged *3 ON Motor energization not-energized approx.40ms energized not-energized *5 Brake release output (BRK-OFF) engaged (OFF) approx.[Preparation] Servo-ON/OFF Action While the Motor Is in Motion (Timing at emergency stop or trip. "Sequence at Servo-OFF ("Parameter setup" at each control mode) as well. t1 will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to fall below 30r/min. t1 *1 Motor rotational speed approx.30r/min Setup value of Pr6B when setup value of Pr6B is shorter. 30r/min. refer to an explanation of Pt69. Servo-ON will not be activated until the motor speed falls below approx. *4. servo validated released (ON) No servo-ON until the motor speed falls below approx. Even though the SRV-ON signal is turned on again during the motor deceleration. Servo-ON will not be activated until the motor stops. For the motor energization during deceleration at Servo-OFF. *3. For the action of dynamic brake at alarm occurrence. stop the motor. *2. *5. 45 .30r/min engaged (OFF) when time to fall below 30r/min is shorter. refer to an explanation of Pr69. "Sequence at Serve-OFF ("Parameter setup" at each control mode) as well.30r/min Motor rotational speed Motor rotational speed approx. During the normal operation. <Cautions> *1. then make Servo-ON/OFF action. Do not repeat this sequence.2ms released (ON) Setup value of Pr6B engaged (OFF) t1 *1 Motor rotational speed approx. 30r/min.

Do not co-use the power supply for the brake and for the control signals (VDC). 2. Power supply for the brake to be provided by customer. <Caution> Use this built-in brake for "Holding" purpose only. Pr6B (Setup of mechanical brake action while the motor is in motion). however this does not affect any functionality. "Timing Chart". Install a surge absorber as the above Fig. refer to P. note that the time from the brake release to brake engagement is slower than that of the case of using a surge absorber. 50mA) and terminal voltage may not exceed the rating.42 . shows to suppress surge voltage generated by ON/OFF action of the relay (RY). and it might generate surge voltage. 5. Connecting Example The following shows the example when the brake is controlled by using the brake release output signal (BRK-OFF) of the driver.Built-in Holding Brake In the applications where the motor drives the vertical axis. 3. "Recommended Components"of Supplement. When you use a diode. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is open). that is to hold the stalling status. you can set up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged). The lining sound of the brake (chattering and etc. 46 . 2. or braking timing at Servo-OFF/Servo-Alarm while the motor is in motion. Select a surge absorber so that relay coil voltage (max. rating : 30V. Pay an extra attention when magnetic sensors are used nearby the motor. The brake coil has no polarity. 4. refer to P. when the Servo-OFF or alarm occurs while the motor is in motion. Relays to be shut off at emergency stop Driver RY 11 BRK-OFF+ 12 to 24V BRK-OFF– 10 41 COM– CN X5 RY VDC Power supply for brake DC24V Fuse (5A) Surge absorber Motor Brake coil <Notes. Never use this for "Brake" purpose to stop the load in motion.323. Output Timing of BRK-OFF Signal • For the brake release timing at power-on.) might be generated while running the motor with builtin brake. <Notes> 1. 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. • With the parameter. Cautions> 1. Recommended components are specified to measure the brake releasing time. Reactance of the cable varies depending on the cable length. For a surge absorber.

4 or more 13.29 or more 1.7 80 or less 1.7 or more 16.90 1.33 1.9 or more 7.7 58. 400W 750W 100W 200W.59 0. MFMA and MGMA series • Service life of the number of acceleration/deceleration with the above permissible angular acceleration is more than 10 million times.7 or more 24.0kW.002 0.0kW 4.0kW 1. 2.) • Above values (except static friction torque.8 or more 11.25 0.7 8.5kW.35 13.5kW 4.5kW 2.5kW 2.9 or more 13.018 0.1 or more 4.30 0.0kW 400W MFMA 1.6 or more 31.0kW 1.9 or more 1. 1.30 0.5 or more 24.41 0.1 147 44.79 1.45 or more 0.8 or more 16.25 4. 5.9 or more 7.) 47 .5 or more 4.5kW Static friction Rotor inertia torque X10–4 •m N kg • m2 0.75 0.59 0. • Backlash of the built-in holding brake is kept ±1˚ or smaller at ex-factory point. 4.4 2940 392 DC2V or more DC1V or more 39.5kW 900W MGMA 2. MHMA.1 147 196 490 2156 780 1470 2156 2450 2940 784 1470 2940 784 2940 1470 2156 1470 Preparation 1470 588 1176 1470 1078 1372 588 1176 1372 588 1372 1470 1176 DC2V or more • Excitation voltage is DC24±10%.35 0.35 Engaging time ms 35 or less 50 or less 70 or less 50 or less 60 or less 50 or less 80 or less 110 or less 80 or less 100 or less 110 or less 90 or less Releasing Exciting Permissible Permissible time current DC A Releasing work (J) per total work ms* (at cool-off) voltage one braking x 103J 10 or less 20 or less 15 or less 15 or less (100) 50 or less (130) 70 or less (200) 50 or less (130) 35 or less (150) 25 or less (200) 70 or less (200) 50 or less (130) 25 or less (200) 70 or less (200) 35 or less (150) 100 or less (450) 50 or less (130) 25 or less (200) 50 or less (130) 0.[Preparation] Specifications of Built-in Holding Brake Motor series MSMD MAMA MQMA Motor output 50W.25 0.2 137 196 137 196 4.0kW 4.7 1.5kW.3 1372 1.5 or more 4.29 or more 1.29 0. (Life end is defined as when the brake backlash drastically changes.0kW 1.27 or more 2.83 0.79 0. Values in ( ) represent those measured by using a diode (V03C by Renesas Technology Corp.90 0. 2.35 4. MSMA.9 44.35 0.0kW 3.0kW 500W. • Permissible angular acceleration : 30000rad/s2 for MAMA series 10000rad/s2 for MSMD.0kW.8 or more 21.81 0.0kW MHMA 1.30 0.8 or more 150 or less 4.7 or more 24.35 150 or less 100 or less 80 or less 80 or less 100 or less 4.0kW 5.79 1.27 or more 4.5 or more 4.0kW MSMA 3.10 1.74 0.1 or more 21. • * Values represent the ones with DC-cutoff using a surge absorber for holding brake.075 0.09 0.59 0. 100W 200W.03 0. 400W 1. MDMA.0kW MDMA 3. MQMA. releasing voltage and excitation current) represent typical values.75 1.0kW to 5.

Or it may damage the dynamic brake circuit of the driver. Note that when the control power is off. 14) may be activated when the dynamic brake circuit inside the F-frame amplifier has overheated. and shorting current runs while this dynamic brake is activated and might cause smoking or fire.Dynamic Brake This driver is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings. CCWL) of CN X5 is activated In the above cases from 1) to 4). 4) When over-travel inhibit input (CWL. 3 minutes pause when the dynamic brake is activated during high-speed running.) • You can activate the dynamic brake in the following cases. The motor becomes a dynamo when driven externally. Dynamic brake is a short-duration rating. you can select either activation of the dynamic brake or making the motor free-run during deceleration or after the stop. Dynamic brake is only for emergency stop. 1) When the main power is turned off 2) At Servo-OFF 3) When one of the protective function is activated. <Caution> 1. Allow approx. the dynamic brake will be kept activated. and designed for only emergency stop. Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON). 2. 48 . with parameter. (Over-current protection (error code No. 1) Setup of driving condition from deceleration to after stop by main power-off (Pr67) Sequence at main power-off (Pr67) Setup value of Pr67 0 1 2 3 4 5 6 7 8 9 D B Free-run D B Free-run D B Free-run D B Free-run Emergency stop Emergency stop D B D B Free-run Free-run D B D B Free-run Free-run D B Free-run Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear Driving condition during deceleration after stalling Contents of deviation counter Torque limit value at emergency stop will be that of Pr6E (Setup of torque at emergency stop) when the setup value is 8 or 9.

49 . 4) Setup of driving condition from deceleration to after stop by validation of over-travel inhibit input (Pr66) Sequence at over-travel inhibit input (Pr66) Setup value of Pr66 0 1 2 DB 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 Driving condition During deceleration After stalling Contents of deviation counter Hold Hold clear Emergency stop Torque limit value during deceleration will be that of Pr6E (Setup of torque at emergency stop) when the setup value is 2. 3) Setup of driving condition from deceleration to after stop by activation of protective function (Pr68) Sequence at main Servo-OFF (Pr68) Setup value of Pr68 0 1 2 3 D B Free-run D B Free-run D B D B Free-run Free-run Hold Hold Hold Hold Driving condition During deceleration after stalling Contents of deviation counter Deviation counter at activation of protective function will be cleared at alarm-clear. Changes will be validated after the control power is turned on.[Preparation] 2) Setup of driving condition from deceleration to after stop by Servo-OFF (Pr69) Sequence at main Servo-OFF (Pr69) Setup value of Pr69 0 1 2 3 4 5 6 7 8 9 D B Free-run D B Free-run D B Free-run D B Free-run Emergency stop Emergency stop D B D B Free-run Free-run D B D B Free-run Free-run D B Free-run Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear Driving condition During deceleration after stalling Contents of deviation counter Preparation Torque limit value at emergency stop will be that of Pr6E (Setup of torque at emergency stop) when the setup value is 8 or 9.

.Decelerates at an entry of the proximity input.Decelerates at an entry of the proximity input.. Take the positioning action and homing action into account when you set put acceleration/deceleration time with parameter. Set up the ON-positions of proximity input and the position of origin point.. since this affect these action as well. considering the necessary pulse counts for deceleration. observe the instruction manual of the host controller. ..Caution on Homing Operation • In homing action by using the host controller. For the details of homing. stop position might not be stabilized if the origin input (Zphase of the encoder) is entered while the motor is not decelerated enough after the proximity input is turned on. and stops at an entry of the first origin input (Z-phase) proximity dog proximity input speed origin input encoder Z-phase Proximity dog off. and stops at an entry of the first origin input (Z-phase) after the input is tuned off proximity dog proximity input speed origin input encoder Z-phase 50 . Example of Homing Action Proximity dog on. .

Read and comprehend very well so that you can adjust this driver in optimum condition for your running requirements. 3) Console (DV0P4420. option) <Note> For setup of the parameters on PC screen. "PANATERM®" (Option. CN X4 of the driver securely.Setup of Parameter and Mode Outline of Parameter [Preparation] This driver is equipped with various parameters to set up its characteristics and functions. • Do not pull the cable to insert/unplug. refer to the instruction manual of the "PANATERM®". How to Connect RS232 connection cable (option) • DV0P1960 (for DOS/V machines) Connect to CN X4 Console • DV0P4420 MODE M SHIFT SET S Setup disc of setup support software. ® “PANATERM ” • DV0P4460 : English/Japanese version (option) Connect to CN X4 <Remarks> • Connect the console connector to the connector. This section describes the function and purpose of each parameter. DV0P4460: English/Japanese version) and PC. 51 . Preparation How to Set • You can refer and set up the parameter with either one of the following. 1) Front panel of the driver 2) Combination of the setup support software.

2F 30 to 3F 40 to 4F You can set up servo gains (1st and 2nd) of position. refer to "Parameter Setup" of each control mode. When C-MODE is open : 1st mode selection When C-Mode is closed : 2nd mode selection Do not enter the command 10ms before/after the switching. acceleration/deceleration time. Sequence 60 to 6F Full-Closed Control 70 to 73 78 to 7F You can set up actions of protective functions. at alarm output and at servo-off. Adjustment 10 to 1F. such as positioning-complete and zero-speed. dividing of encoder output pulse and set up a division multiplier ratio of command pulse. following symbols represent each mode. You can set up parameters related to gain switching(1st 2nd) Position (Step) Control Velocity Control. you can select either 1st or 2nd with control mode switching input (C-MODE). Parameters related to Real Time Auto-Gain Tuning. • In this document. 74 to 77 5B to 5F You can set up an input gain of command pulse. integration. You can set up a mode and select a mechanical stiffness. and clear condition of the deviation counter. etc. 52 . 27 to 2E 20 to 26. You can also set up internal speeds (1 to 8th speed). velocity.Setup of Parameter and Mode Composition and List of Parameters Parameter No. For details. Outline (Pr ) You can select a control mode. designate I/O signals and set up a baud Functional selection 00 to 0F Group rate. and time constants of various filters. Symbol P S T F Control mode Position control Velocity control Torque control Full-Closed control Setup value of Pr02 0 1 2 6 Symbol P/S P/T S/T Control mode Position (1st)/Velocity (2nd) control Position (1st)/Torque (2nd) control Velocity (1st)/Torque (2nd) control Setup value of Pr02 3* 4* 5* * When you select the combination mode of 3. 4 or 5. reverse polarity and set up a torque limit of torque command. directional selection of command pulses. You can set up dividing of external scale. You can set an input gain. 50 to 5A. Torque Control You can set up an input form. You can set up detecting conditions of output signals. reverse polarity and adjust offset. You can also set up a deceleration/stop action at main power-off.

F P.1% <50> 0 to 6400 0.[Preparation] Parameters for Functional Selection Parameter No. S. F all all all all all all – P. 53 . Parameters for Adjustment of Time Constant for Gains and Filters Parameter No. (Pr ) Set up of parameter Range Default Unit Related Control Mode 00 *1 01 *1 02 *1 03 04 *1 05 06 07 08 09 0A 0B *1 0C *1 0D *1 0E *1 0F Address of axis Initial display of LED Setup of control mode Selection of torque limit Setup of over-travel inhibit input Switching of Internal/External speed setup Selection of ZEROSPD input Selection of speed monitor (SP) Selection of torque monitor (IM) Selection of TLO output Selection of ZSP output Setup of absolute encoder Baud rate setup of RS232 Baud rate setup of RS485 Setup of front panel lock (For manufacturer's use) 0 to 15 0 to 17 0 to 6 0 to 3 0 to 2 0 to 3 0 to 2 0 to 9 0 to 12 0 to 8 0 to 8 0 to 2 0 to 5 0 to 5 0 to 1 – 1 1 1 1 1 0 0 3 0 0 1 1 2 2 0 – – – – – – – – – – – – – – – – – all all all P. F P. change will be validated after the reset of the control power.1Hz –200 to 2000 0 – P. F – P. F P. F all all all all P. S all all all P.1Hz –200 to 2000 0 – 0 to 2000 0 0.01ms – – – 0 to 3000 <73> <38> 1/s 1 to 3500 <35> <18> Hz 1 to 1000 <1000> ms 0 to 5 <0> – 0 to 2500 <65> <126> 0. F P. (Pr ) Set up of parameter Range Default A to C-frame D to F-frame Unit Related Control Mode 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 27 28 29 2A 2B 2C 2D 2E 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 Velocity feed forward Time constant of feed forward filter (For manufacturer's use) 2nd gain of position loop 2nd gain of velocity loop 2nd Time constant of velocity loop integration 2nd filter of velocity detection 2nd torque filter time constant 1st notch frequency Selection of 1st notch width (For manufacturer's use) Setup of instantaneous velocity observer 2nd notch frequency Selection of 2nd notch width Selection of 2nd notch depth 1st damping frequency Setup of 1st damping filter 2nd damping frequency Setup of 2nd damping filter 0 to 3000 <63> <32> 1/s 1 to 3500 <35> <18> Hz 1 to 1000 <16> <31> ms 0 to 5 <0> – 0 to 2500 <65> <126> 0. default value varies automatically by the real-time auto-gain tuning function.01ms 100 to 1500 1500 Hz 0 to 4 2 – – – – 0 to 1 <0> – 100 to 1500 1500 Hz 0 to 4 2 – 0 to 99 0 – 0 to 2000 0 0. F • For parameters which default values are parenthesized by "< >". T all all all all all all all all – Preparation • For parameters with suffix of "*1".01ms –2000 to 2000 <300> 0. Set up Pr21 (Setup of Real-time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually. F all S S.

F P. T – – – All – – • For parameters which default values are parenthesized by "< >". S/T : Velocity (1st)/Torque (2nd) control 54 . S. F S. T : Torque control. * In this documentation. Set up Pr23./ Velocity (2nd) control. F : Full-closed control. Parameters for Adjustment (2nd Gain Switching Function) Parameter No. F *3 this parameter will be automatically set up when the adaptive filter is validated (Pr23. P/T : Position (1st)/Torque (2nd) control. F P. default value varies automatically by the real-time auto-gain tuning function. (Pr ) Set up of parameter Range Default Unit Related Control Mode 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F 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 Time for position gain switching 2nd mode of control switching 2nd delay time of control switching 2nd level of control switching 2nd hysteresis of control switching (For manufacturer's use) (For manufacturer's use) (For manufacturer's use) Setup of JOG speed (For manufacturer's use) (For manufacturer's use) 0 to 1 0 to 10 0 to 10000 0 to 20000 0 to 20000 0 to 10000 0 to 5 0 to 10000 0 to 20000 0 to 20000 – – – 0 to 500 – – <1> <0> <30> <50> <33> <20> <0> 0 0 0 – – – 300 – – – – 166µS – – (1+setup value) x 166µs – 166µS – – – – – r/min – – All All All All All P. T S. P/S : Position (1st). and you cannot set this up at your discretion. “Setup of adaptive filter mode” to “0” (invalid) to clear this parameter. S : Velocity control. T S. Set up Pr21 (Setup of Real-time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually. “Setup of adaptive filter mode” is “1”. F All P.1rev – All All All P. each mode is represented by the following symbols P : Position control. (Pr ) Set up of parameter Range Default A to C-frame D to F-frame Unit Related Control Mode 20 21 22 23 24 25 26 2F *3 Inertia ratio Setup of real-time auto-gain tuning mode Mechanical stiffness at real-time auto-gain tuning Setup of adaptive filter mode Selection of damping filter switching Setup of action at normal mode auto-gain tuning Setup of software limit Adaptive filter frequency 0 to 10000 0 to 7 0 to 15 0 to 2 0 to 2 0 to 7 0 to 1000 0 to 64 <250> 1 4 1 1 0 0 10 0 % – – – – – 0. S. T S.Setup of Parameter and Mode Parameters for Auto-Gain Tuning Parameter No.

F P. Refer to P. F P.1V/rated torque 10 to 100 30 – 0 to 1 0 % 0 to 500 <500>*2 % 0 to 500 <500>*2 S. F *2 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor. T S S S S. change will be validated after the reset of the control power. F P. T S S S S S.57. (Pr ) Set up of parameter Range Default Unit Related Control Mode 40*1 41*1 42*1 43 44*1 45*1 46*1 47*1 48 49 4A 4B 4C 4D*1 4E 4F Selection of command pulse input setup of rotational direction of command pulse setup of command pulse input mode Canceling of command pulse prohibition input Numerator of pulse output division Denominator of pulse output division Logic reversal of pulse output Setup of Z-phase of external scale 1st numerator of electronic gear 2nd numerator of electronic gear Multiplier for numerator of electronic gear Denominator of electronic gear Setup of smoothing filter for primary delay Setup of FIR smoothing Counter clear input mode (For manufacturer's use) 0 to 1 0 to 1 0 to 3 0 to 1 1 to 32767 0 to 32767 0 to 3 0 to 32767 0 to 10000 0 to 10000 0 to 17 1 to 10000 0 to 7 0 to 31 0 to 2 – 0 0 1 1 2500 0 0 0 0 0 0 10000 1 0 1 – – – – – – – – – – – – – – – – – P.3mV –2047 to 2047 –20000 to 20000 0 r/min –20000 to 20000 0 r/min –20000 to 20000 0 r/min –20000 to 20000 0 r/min –20000 to 20000 0 r/min –20000 to 20000 0 r/min –20000 to 20000 0 r/min –20000 to 20000 0 r/min 0 to 6400 0 0.01ms 0 to 5000 0 2ms/(1000r/min) 0 to 5000 0 2ms/(1000r/min) 2ms 0 to 500 0 – 0 to 1 0 0. Parameters for Velocity/Torque control Parameter No. T S S. F – Preparation • For parameters with suffix of "*1". F P. F P. "Setup of Torque Limit". F all all all F P.[Preparation] Parameters for Position Control Parameter No. F P. T S S S T T T all P. 55 . F P. S. F P. (Pr ) Set up of parameter Range Default Unit Related Control Mode 50 51 52 53 54 55 56 74 75 76 77 57 58 59 5A 5B 5C 5D 5E 5F Input gain of speed command Input reversal of speed command Offset of speed command 1st speed of speed setup 2nd speed of speed setup 3rd speed of speed setup 4th speed of speed setup 5th speed of speed setup 6th speed of speed setup 7th speed of speed setup 8th speed of speed setup Setup of speed command filter Setup of acceleration time Setup of deceleration time Setup of sigmoid acceleration/deceleration time Selection of torque command Input gain of torque command Input reversal of torque command Setup of 1st torque limit Setup of 2nd torque limit 10 to 2000 500 (r/min)/V 0 to 1 1 – 0 0. F P.

T P. B-frame : 3.Setup of Parameter and Mode Parameters for Sequence Parameter No.D. T all all Parameters for Full-Closed Control Parameter No. C. each mode is represented by the following symbols P : Position control. S/T : Velocity (1st)/Torque (2nd) control 56 . P/T : Position (1st)/Torque (2nd) control. (Pr ) Set up of parameter Range Default Unit Related Control Mode 78*1 79*1 7A*1 7B*1 7C*1 7D 7E 7F Numerator of external scale division Numerator multiplier of external scale division Denominator of external scale division Excess setup of hybrid deviation Reversal of direction of external scale (For manufacturer's use) (For manufacturer's use) (For manufacturer's use) 0 to 32767 0 to 17 1 to 32767 1 to 10000 0 to 1 – – – 0 0 10000 100 0 – – – – – – 16X external scale pulses – – – – F F F F F – – – • For parameters with suffix of "*1". F all S. T : Torque control. S : Velocity control. F : Full-closed control. * In this documentation. P/S : Position (1st). (Pr ) Set up of parameter Range Default Unit Related Control Mode 60 61 62 63 64 65 66*1 67 68 69 6A 6B 6C*1 6D*1 6E 6F 70 71 72 73 In-position (positioning complete) range 0 to 32767 Zero speed 10 to 20000 At-speed (arrived speed) 10 to 20000 Setup of in-position output 0 to 3 (For manufacturer's use) – Selection of LV-trip at main power off 0 to 1 Sequence at run-prohibition 0 to 2 Sequence at main power off 0 to 9 Sequence at alarm 0 to 3 Sequence at servo-off 0 to 9 0 to 100 Setup of mechanical brake action at stall 0 to 100 Setup of mechanical brake action in motion 0 to 3 Selection of external regenerative resister 35 to 1000 Detection time of main power shut-off 0 to 500 Setup to torque at emergency stop – (For manufacturer's use) 0 to 32767 Excess setup of positional deviation 0 to 100 Excess setup of analog input 0 to 500 Setup of over-load level 0 to 20000 Setup of over-speed level 131 50 1000 0 – 1 0 0 0 0 0 0 A. F S. change will be validated after the reset of the control power.1V % r/min P./ Velocity (2nd) control.E-frame : 0 35 0 – 25000 0 0 0 Pulse r/min r/min – – – – – – – 2ms 2ms – 2ms % – 256Pulse 0. F – all all all all all all all all all all – P.

motor torque.[Preparation] Setup of Torque Limit 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.19N • m Set up Pr5E to 337 to make torque limit value to 0. Pay attention to the followings. Applicable motor MGMA092P1* MGMA092S1* MAMA082P1* MAMA082S1* MGMA202P1* MGMA202S1* MGMA302P1* MGMA302S1* MGMA452P1* MGMA452S1* Max. Frame Aframe Bframe Cframe Model No.64N • m x 100% = 0. torque limit setup range might change when you replace the combination of the motor and the driver.1) MADDT1207 MSMD022P1A Rated torque 0.g.64N • m (0. Torque setup at emergency stop. output torque. Torque limit value 0. 1st torque limit setup.2) e.64N• m) 2.When the motor torque is limited. 1.64N • m before replacing the motor MADDT1207 after replacing the motor MAMA012P1A Rated torque 0.g. <Caution> When you change the motor model.19N • m x 100% = 0. Set up Pr5E to 500 to obtain the max.64N • m Pr5E Setup range : 0 to 300% Setup value : 100%. Setup value : Keep 100%. 2nd torque limit setup and Pr6E.19N • m Pr5E Setup range : Change to 0 to 500%. above max. value may change as well. Pr5E Setup range : change to 0 to 500% Setup value : Keep 300%. (see e.1) e. You need to reset the torque limiting setup to the upper limit. 57 .19N • m Pr5E Setup range : 0 to 300% Setup value : 300%.2) MADDT1207 MSMD022P1A before replacing the motor MADDT1207 after replacing the motor MAMA012P1A Rated torque 0. Pr5F and Pr6E.When you want to obtain the max. because the upper limit value might be different from the previous motor. MADDT1207 MBDDT2210 Applicable motor MAMA012P1* MAMA012S1* MAMA022P1* MAMA022S1* MAMA042P1* MAMA042S1* MHMA052P1* MHMA052S1* Max.g.19N • m x 337% = 0. value of Frame torque limit 500 500 D500 frame 500 500 500 255 F255 frame Model No.g. When you replace the motor series or to the different wattage motor. Pr5F. value of torque limit 225 225 500 500 230 230 235 235 255 255 Preparation MDDDT5540 MFDDTA390 MCDDT3520 MFDDTB3A2 • The above limit applies to Pr5E. Cautions on Replacing the Motor As stated above. Torque limit value 0. Check and reset the setup values of Pr5E. (see e. you need to reset the torque limit setup because the rated toque of the motor is different from the previous motor.

Mode Switching Button Press this to switch 6 kinds of mode. Mode switching button (valid at SELECTION display) Press this to switch 5 kinds of mode.) Numerical value increases by pressing . The value set in Pr00(address) is ID No. Numerical value increases by pressing . . select parameters and execute actions. Press this to shift the digit for data change. and switch to error display screen. . and switch to error display screen. All of LED will flash slowly when warning occurs. Press these to change data or execute selected action of parameter. SET Button Press this to shift each mode which is selected by mode switching button to EXECUTION display. Parameter No. is displayed (2 digits) at parameter setup mode. decreases by pressing .How to Use the Front Panel and Console Setup with the Front Panel Composition of Touch Panel and Display Display LED (6-digit) All of LED will flash when error occurs. (Change/Selection/Execution is valid to the digit which decimal point flashes. SET Button (valid at any time) Press this to switch SELECTION and EXECUTTION display. (address) of selected driver (in 2 digits). (Valid to the digit whose decimal point flashes.) Press these to change display and data. Displays ID No. Shifting of the digit for data changing to higher digit. decreases by pressing . 4) Auto-Gain Tuning Mode 1) Monitor Mode 5) Auxiliary Function Mode 2) Parameter Set up Mode 3) EEPROM Write Mode Setup with the Console Composition of Touch Panel and Display Display LED (6-digit) All of LED will flash when error occurs. 1) Monitor mode 4) Normal auto-gain tuning mode 2) Parameter setup mode 5) Auxiliary function mode 3) EEPROM write mode 6) Copy mode 58 .

of the driver is other than "0" When ID No. approx. 0.6sec) Initial Status of LED • In case of communication with RS232 only Displays version No.6 sec approx. (Displayed figures vary depending on the version) Displays ID No.6 sec approx. of this product.6 sec [flashes for approx. 2 sec Preparation approx. of the Driver. 0. (data of Parameter.6 sec each for initialization of the console] When ID No. 0. or inserting the console connector to CN X4 connector.) Initial Status of the Console Display (7 Segment LED) Turn on the power of the driver while inserting the console connector to the driver main body. of the driver is "0" • In case of communication with other drivers which are connected via RS485 (Displays the version No. Set up ID of the connecting Driver with and . 0. below shows.) Dot flashes when RS485 is connected.) • Release of RS232 communication error When RS232 communication error occurs as the Fig.6 sec approx.) (ID of the selected driver) Press (approx. (Displays the version No.. 1 sec (ID of the selected driver) • Release of RS485 communication error When RS485 communication error occurs as the Fig. "Initial Status of LED".0.6 sec . Initial display of LED (Determined by the setup of Parameter. 0. release it by pressing and at the same time. 0. Pr00) Initial display of LED (Determined by the setup of Parameter Pr01. below shows. Pr01 "Initial status of LED". release it by pressing and at the same time. approx.[Preparation] Initial Status of the Front Panel Display (7 Segment LED) Front panel display shows the following after turning on the power of the driver. of this product.. 59 . of micro computer of the console.

SELECTION display Monitor mode (SET button) Initial status of the Console LED (Mode switching button) <Note> You can change the flashing decimal point with .How to Use the Front Panel and Console Structure of Each Mode Use each button on the touch panel to select the structure and switch the mode. then shift the digit for data change “ ” Parameter set up mode (Mode switching button) EEPROM writing mode (Mode switching button) Auto-gain tuning mode (Mode switching button) Auxiliary function mode (Front panel) [Console only] Copy function (Mode switching button) (Mode switching button) 60 .

..70 (SET button) ........P...P..75 • Trial run (JOG) .P.....P.71 (SET button) (SET button) .....69 • For details of parameters....63 (SET button) (SET button) .P.74 • Auto-offset adjustment (front panel only) ...P.....80 • Copying of parameters from the console to the driver (SET button) 61 ..[Preparation] EXECUTION display Preparation ....P.P...P....78 • Clear of external scale error (front panel only) ...P.79 • Copying of parameters from the driver to the console ........ refer to "Parameter setup" of each mode.77 • Clear of absolute encoder ...... .73 • Alarm clear ....P.

Writing starts. In such case. EEPROM writing 8) Press 9) Press . Parameter setup 2) Press 3) Press . • When writing error occurs. 62 . Turn off the power of the driver. • Do not shut down the power during EEPROM writing. If the writing error persists. return to SELECTION display by referring to "Structure of each mode" (P. After the writing completes. . then reset it. . 4) Select the required parameters with and .5 sec). 5) Press . the console might be a failure. repeat the writing.How to Use the Front Panel and Console How to Set 1) Insert the console connector to CN X6 of the driver. and turn on the power of the driver. . then the bars increases as the right Fig. If the connector • Do not disconnect the console connector from the driver between is disconnected. 10) Keep pressing (for approx. <Remarks> will be displayed when you change the parameter setup which change will be validated only • after the reset. and . insert the connector and repeat the procedure from the beginning. 7) Press . 6) Change the value with and . otherwise wrong data might be written.60 and 61). set up all parameters again to write them again after full confirmation. shows. (displays for only a moment) Writing finishes Writing completes Writing error occurs.

) (Command pulse sum is 10 pulses.66 P.) SELECTION display Display example Positional deviation Motor rotational speed Torque output Control mode I/O signal status Error factor.66 P.23) (No alarm) (30% of permissible regenerative power) (28% of overload factor) (Inertia ratio 100%) (Feedback pulse sum is 50 pulses.66 P. Pages to refer P.66 P.0 : Active) (No error currently) (Software version of 0.66 P. change the setup of Pr01 (Initial status of LED).67 P.64 P.67 function is validated.[Preparation] Monitor Mode When you turn on the Product for the first time.64 P.) (External scale deviation is 5 pulses. refer to Parameter Setup of each control mode.66 P.64 P. (For details.67 P.68 [Front panel] Analog input value Factor for No-Motor Running (SPR input +10.65 P.66 P. display shows .64 P. history Software version Alarm Regenerative load factor Overload factor Inertia ratio Feedback pulse sum Command pulse sum External scale deviation External scale feedback pulse sum Automatic motor recognizing function Selection of communication [Console] EXECUTION display Preparation Description (5 deviation pulses) (1000r/min) (Torque output 100%) (Position control mode) (Input signal No.) (RS232 communication) P. (Mode switch button) To Parameter Setup Mode P. (at motor stall) To change this display.67 (SET button) (Automatic motor recognizing P.64 P.66 P.69 63 .) External scale feedback pulse sum is 500 pulses.00V) (No Servo-ON input) Display shifts toward the arrowed direction by pressing and reversed direction by pressing .

........Active (This signal is valid) ..... 0-1F) ...Torque control mode . of output signal) (Highest place No..... Select the signal No.Position control mode .. Use this function to check if the wiring is correct or not.Full-closed control mode Display of I/O Signal Status Displays the control input and output signal to be connected to CN X5 connector.... of input signal) (Lowest place No.Input signal ......Positional deviation (cumulative pulse counts of deviation counter) • – display : generates rotational torque of CW direction (viewed from shaft end) no display : generates rotational torque of CCW direction (viewed from shaft end) ..Rotational speed of the motor unit [r/min] • – display : CW rotation..... . (Right side of decimal point : Signal selection mode) (Left side of decimal point : Input/Output selection mode) 64 • The other way to change signal No. (Hexadecimal number. no display : CCW rotation <Note> “ + ” is not displayed on LED.. but only “ . at I/O selection mode Signal selection mode........ Transition when pressing .Torque command unit [%] (100 for rated torque) • – display : CW rotation.......” appears.. Motor Rotational Speed and Torque Output Data . of output signal) . of input signal) (Highest place No. to be monitored by pressing (Lowest place No...Velocity control mode ...... no display : CCW rotation . Display of Control Mode .Output signal <Note> • Shift the flashing decimal point with .How to Use the Front Panel and Console Display of Position Deviation... ..Inactive (This signal is invalid) Signal No...

.....History 0 (latest error) ..[Preparation] • Signal No. • When error occurs.History 13 (oldest error) <Note> • Following errors are not included in the history. 11 12 13 14 15 16 18 21 23 24 25 26 27 28 29 34 35 36 37 38 Error content Error code No. Error code No..... the display flashes. this error and history o shows the same error No.. 29 SRV-ON 31 A-CLR 8 CWL 9 CCWL 32 C-MODE 26 ZEROSPD 28 DIV 33 INH 27 GAIN 30 CL 33 INTSPD1 30 INTSPD2 26 VS-SEL 28 INTSPD3 27 TL-SEL Signal No.. 11:Under-voltage protection for control power 13:Under-voltage protection for main power 36:EEPROM parameter error protection 37:EEPROM check code error protection 38:Ocer-travel inhibition input protection 95:Automatic motor recognition error protection • When one of the errors which are listed in error history occurs. Input signal Symbol Pin No.... Under-voltage protection for control power 39 Over-voltage protection 40 Under-voltage protection for main power 41 Over-current protection 42 Overheat protection 44 Overload protection 45 Over-regenerative load protection 47 Encoder communication error protection 48 Encoder communication data error protection 49 Excess positional deviation protection 50 Excess hybrid deviation error protection 51 Over-speed protection 52 Command pulse multiplication error protection 53 External scale communication data error protection 54 Deviation counter overflow protection 55 Software limit protection 65 External scale communication data error protection 66 EEPROM parameter error protection 95 EEPROM parameter error protection others Run-inhibition input protection 65 .. Error content Excess analog input error protection Absolute system-down error protection Absolute counter-over error protection Absolute over-speed error protection Absolute single-turn error protection Absolute multi-turn error protection Absolute status error protection Encoder Z-phase error protection Encoder CS signal error protection External scale status 0 error protection External scale status 1 error protection External scale status 2 error protection External scale status 3 error protection External scale status 4 error protection External scale status 5 error protection Excess CCWTL input protection Excess CWTL input protection Automatic motor recognition error protection Other error • Error code No. ( appears if no error occurs) .. and its title Input signal Signal No. and its content Error code No. S-RDY 35/34 ALM 37/36 COIN 39/38 BRK-OFF 11/10 ZSP 12 TLC 40 V-COIN 12/40 COIN 39/38 EX-COIN 39/38 Preparation Reference of Error Factor and History • You can refer the last 14 error factors (including present one) Press to select the factor to be referred. 0 1 2 3 4 5 6 8 9 A C D 13 14 15 Title Servo-ON Alarm clear CW over-travel inhibit CCW over-travel inhibit Control mode switching Speed-Zero clamp Switching of electronic gear Command pulse input inhibition Gain switching Deviation counter clear Selection 1 of Internal command speed Selection 2 of Internal command speed Damping control switching input Selection 3 of internal command speed Torque limit switching input 0 1 2 3 4 5 6 9 A Title Servo-Ready Servo-Alarm Positioning complete (In-position) Release of external brake Zero-speed detection Torque in-limit In-speed(Speed coincidence) At-speed(Speed arrival) Full-closed positioning complete Symbol Pin No...Present error ...

Alarm occurrence • Over-regeneration alarm : Turns on when regenerative load reaches more than 85% of alarm trigger level of regenerative load protection. shows. 99999 99999 99999 [0-clear EXECUTION display] 0 CW 0 (at control power-ON) 0 CCW By pressing for approx.258. Command Pulse Sum and External Scale Feedback Pulse Sum Total sum of pulses after control power-ON. Refer to P. • Since accumulation process of command pulse cannot be executed when the command pulse input prohibition is validated. Value of Pr20 (Inertia ratio) will be displayed as it is..How to Use the Front Panel and Console Software Version Displays the software version of the driver. • Overload alarm : Turns on when the load reaches 85% or more of alarm trigger level of over-load protection.3.. Display of Feedback Pulse Sum. when Pr6C "Selection of external regenerative resister " is 1. Display of Regenerative Load Factor Display the ratio (%) against the alarm trigger level of regenerative protection.. Alarm Display .. actual pulse input counts may differ from the displayed value of command pulse total sum. Display of Inertia Ratio Displays the inertia ratio (%) .. 3 sec. 66 .... "Overload Protection Time Characteristics" of When in Trouble. This is valid when Pr6C (Selection of external regenerative resistor) is 0 or 1.no alarm . • Battery alarm : Turns on when battery voltage for absolute encoder falls to alarm level (approx. Display of Over-load Factor Displays the ratio (%) against the rated load. <Cautions> ® • You can not clear the each date of [PANATERM ] and console to "0" with this operation. command pulse total sum or external scale feedback pulse total sum to “0 ”.. during normal auto-gain tuning and while measuring function to frequency ® characteristics of [PANATERM ] is used. • External scale alarm : Turns on when external scale temperature rises to more than 85˚C or scale rigidity is not enough (adjustment is needed on mounting).. Keep pressing to shift the “ ” as the right fig. or longer on either one of screens of total sum of pulses display. • Cooling fan rotational speed error alarm : Shows cooling fan rotational speed error. Alarm trigger level is defined as 10% of regenerative resister working ratio.2V) or lower.. you can clear feedback total sum.. Display overflows as the figures show.

RS485 communication .Displays the ID of the connected driver. Note) You can 0-clear the external scale deviation during normal auto-gain tuning and motor trial run... unit [V]) Displays the value after offset correction. (-) : CW Limited by ± 999999.. Switching of the Driver to be Communicated RS232 communication ..Select the ID of the driver to be operated by pressing . Initial display of LED of the selected driver will appear by pressing will appear when you select the ID of not-selected driver . ... (CCWTL analog input value. unit [V]) Note) Voltage exceeding ± 10V can not be displayed correctly.[Preparation] External Scale Deviation • Polarity (+) : CCW. ID cannot be switched. unit [V]) (CWTL analog input value.... 67 . (SPR analog input value..... Display of Analog Input Value (Front Panel Only) Input voltage value [V] Input signal •Select the signal No... to be monitored by pressings . Preparation Automatic Motor Recognizing Function Automatic recognition is valid..

While Pr03 is 0 (analog torque limit input accepted). Torque command is small. The main power of the driver is not turned on.. The position command per each control cycle is 1 pulse or smaller due to..06 [V].. • CCW over-travel inhibition input (CCWL) is open and speed command is CCW direction. • CW over-travel inhibition input (CWL) is open and speed command is CW direction. • CCW analog torque limit input (CCWTL) is negative voltage and speed command is CCW P. .. • CW analog torque limit input (CWTL) is positive voltage and speed command is CW direction.) . 14 Other factor all The motor runs at 20 [r/min] or lower even though the factors from 1 to 13 are cleared. While the analog speed command is selected.. External speed command is small. 06 INH input is valid. and an alarm is triggered. • No correct entry of command pulse • No correct connection to the input selected with Pr40.F direction. While Pr06 is 1 (Speed zero clamp is valid. the motor lock or hitting. (the command is small. driver/motor fault etc. the speed zero clamp input (ZEROSPD) is open. Velocity control Factor No. Speed limit is small.T S S T P.. ZEROSPD input is valid. • While Pr5B is 1 (speed is limited by SPR input). Full-closed control <Note> * Motor might run even though the other number than 0 is displayed. Either one of the valid torque limit setup value of Pr5E (1st) or Pr5F (2nd) is set to 5% or lower than the rating.. The Servo-ON input (SRV-ON) is not connected to COM–. While the internal speed command is selected. P. • No matching to input status selected with Pr41 pr Pr42. the internal speed command is set to lower than 30 [r/min] The analog torque command input (SPR or CCWTL) is smaller than 5 [%] of the rating.. Control mode • Explanation of factor No..Torque control ... Factor Factor No. the analog speed command is smaller than 0. No factor is detected for No-motor run.F P.S..). the analog speed limit input (SPR) is smaller than 0. Command pulse 07 input frequency is low.F Pr43 is 0 (Command pulse inhibition input is valid.. The motor runs in normal case. (4th speed of 13 T speed setup) is set to lower than 30 [r/min]..Position control . 05 Analog torque limit input is valid.. • While Pr5B is 0 (speed is limited by 4th speed of internal speed). and INH is open. Internal speed command is 0. While Pr04 is 0 (Run-inhibition input is valid).... Pr56... While Pr4E is 0 (Deviation counter clear at level).). the load is heavy. 68 . the deviation counter clear input (CL) is connected to COM–. 08 09 10 11 12 CL input is valid..F S.How to Use the Front Panel and Console Display of the Factor of No-Motor Running Displays the factor of no-motor running in number..06[V]... flashing Occurrence of error/alarm 00 01 02 No particular factor Main power shutoff No entry of SRV-ON input Over-travel 03 04 inhibition input is valid Torque limit setup is small all all Control mode all all all all Content An error is occurring.

or to set up the value of parameter. Press Press to shift to arrowed direction. the content will be reflected in the control. (2) Press . decreases with .) <Note> For parameters which place is displayed with “ ”.60 and 61). Do not extremely change the parameter value which change might affect the motor movement very much (especially velocity loop or position loop gains). to shift to reversed direction. referring to structure of each mode (P. Value increases with After setting up parameters. Parameter No. Parameter value (1) You can change the decimal point with then shift the digit for data change. <Remarks> After changing the parameter value and pressing . to be referred/set.[Preparation] Parameter Setup Mode Operation at SELECTION display Press once after pressing from Preparation initial status of LED to change the display to Parameter setup mode. Press or to select parameter No. Operation at EXECUTION display Press to change to EXECUTION display of You can change the value which digit has a flashing decimal point. the content changed and written to EEPROM becomes valid after turning off the power once. (Hexadecimal No. 69 . <Note> Each parameter has a limit in number of places for upper-shifting. return to SELECT mode.

Note 2) Don't turn off the power during EEPROM writing. this might be a failure. Starts writing. set up all of parameters again. Operation at EXECUTION display Press to make EXECUTION DISPLAY to Keep pressing until the display changes to “ ” increases while keep pressing (for approx. Note 1) When writing error occurs. Incorrect data might be written. shows. If this happens. . Writing error will be 70 . Turn off the control power once to reset. make writing again. displayed after finishing wiring. and re-write after checking the data. 5sec) as the right fig. when you execute writing. press two time after pressing then brings the display of EEPROM Writing Mode.How to Use the Front Panel and Console EEPROM Writing Mode EEPROM Writing Operation at SELECTION display Starting from the initial LED status. If the writing error repeats many times. Finishes writing Writing completes • When you change the parameters which contents become valid after resetting.

(not showing )Extra attention should be paid to secure the safety..236. Pr70 (Setup of excess position deviation) or Pr73 (Setup of over-speed level). shift the load to where the operation in this pattern may not cause any trouble. (1 to 9.60 and 61). refer to P. <Note> For machine stiffness No. write into EEPROM. In order to secure the safety. then execute this tuning. (1) During the tuning action. (2) When the output torque is saturated because the inertia or load is too large. 2) when turned to Servo-OFF. Starting of the motor Tuning finishes.[Preparation] Auto-Gain Tuning Mode Normal Mode Auto-Gain Tuning Screen <Remarks> • For details of normal auto-gain tuning. press three time after pressing then brings the display of normal auto-gain tuning. however. Depending on the load. 71 . . The driver does not trip except error occurrence. refer to P. <Remarks> Don't disconnect the console from the driver between and Should the connector is pulled out. A (10) to F (15)) After inhibiting command input. shows. • Depending on the load. 1) when an error occurs. the tuning error occurs. referring to structure of each mode (P. After setting up tuning. Pay a special attention to applicable range and cautions. insert it again and repeat the procedures from the beginning. If the tuning error occurs.238. 5sec) “ ” increases by pressing as the left fig. • The motor will be driven in a preset pattern by the driver in normal auto-gain tuning mode. Tuning completes Tuning error <Note> To prevent the loss of gain value due to the power shutdown. Operation at EXECUTION display Press to make EXECUTION DISPLAY to machine stiffness No. and during Servo-On status. the driver might oscillate without becoming tuning error. 4) when the tuning is actuated close to the limit switch and 5) when the main power is shut off. use the protective functions of Pr26 (Setup of software limit). return to SELECT DISPLAY.keep pressing Console (LED) display changes to . oscillation may occur after the tuning. "Normal Auto-Gain Tuning" of Adjustment. 3) even the deviation counter is cleared. You can change this pattern with Pr25 (Setup of action at normal auto-gain tuning). (3) When the tuning can not be executed well causing oscillation. until (approx. Preparation Operation at SELECTION display Starting from the initial LED status. <Note> If the following status occurs during the tuning action. then press to select the machine stiffness No. value of each gain returns to the previous value before the tuning.

Normal mode : Load inertia does not change. Normal mode : Load inertia changes rapidly. Vertical axis mode : Load inertia changes rapidly. Vertical axis mode : Load inertia does not change. .3sec. after matching the (6) (5) (4) (3) (2) (1) decimal point to (1). (6) by pressing . stiffness changes in Stiffness 1 Stiffness 0 Fit gain function starts by pressing at stiffness 0. Normal mode : Load inertia changes slowly.How to Use the Front Panel and Console Fit-Gain Screen Operation at SELECTION display Operation at EXECUTION display Press to call for EXECUTION DISPLAY. 3 sec. 3 sec. Executes automatic gain setup by pressing for approx. (2) Action setup of real time auto-gain tuning/Start of fit-gain Display Contents/Expansion function Valid Valid You can change with Valid Valid Valid Valid Valid Invalid (3) Status of real time auto-gain tuning action (display only) : Invalid : Valid or : Estimating load inertia (4) Switch of adaptive filter action and copy to 1st notch filter pf adaptive filter setup Display You can change with Contents/Expansion function Hold Valid Invalid (5) Status of real time auto-gain tuning action (display only) : Invalid : Valid or : Adaptive action working (6) EEPROM writing Display Contents/Expansion function • • • numerical/alphabetical order (0 to 9. (1) Stiffness setup of real time auto-gain tuning / Start of fit-gain Display Contents/Expansion function Stiffness 15 You can change with • • • with each press of . You can change/store the setup of real time auto-gain tuning/adaptive filter or start the fit-gain function by using key. (4). Save the present adaptive filter setup to Pr1D. Write the present setup into EEPROM by pressing 72 approx. in this status. (2). No gain switching : Load inertia does not change.A(10) to F(15).Pr1E by pressing for approx. in this status. Pr1E) by pressing for approx. in this status. Clears 1st notch filter (Pr1D. 3 sec. Vertical axis mode : Load inertia changes slowly.

Press then press four time after pressing . Alarm clear completes Clear is not finished. insert it again and repeat the procedures from the beginning.[Preparation] Auxiliary Function Mode Alarm Clear Screen Protective function will be activated and release the motor stall status (error status). Operation at SELECTION display Starting from the initial LED status.60 and 61). 5sec) as the right fig. <Remarks> Don't disconnect the console from the driver between and . Alarm clear starts. referring to structure of each mode (P. After alarm cleaning. Release the error by resetting the power. to make a display to Preparation Operation at EXECUTION display Press to call for EXECUTION display of until the console (LED) “ ”increases by pressing Keep pressing changes to (approx. return to SELECTION display. 73 . Should the connector is pulled out. shows. Clearing finishes.

or offset value exceeds the setup range of Pr52. “ ” increases by pressing (approx. then keep pressing until the display changes to .How to Use the Front Panel and Console Automatic Offset Adjustment (Front Panel Only) Automatically adjust the offset value of Pr52 (Velocity command offset) of analog velocity command input (SPR/TRQR). Adjustment finishes. Automatic offset adjustment finishes. 5sec) as the right fig. Invalid mode is selected. Automatic offset adjustment starts. You cannot write the data only by executing automatic offset adjustment. Operation at SELECTION display Operation at EXECUTION display • Press to call for EXECUTION display of When you execute automatic offset adjustment. ( ) <Notes> This function is invalid at position control mode. 74 . shows. Execute a writing to EEPROM when you need to reflect the result afterward. Error occurs. make command input to 0V.

CN X5 to the host controller such as PLC. <Remarks> • Separate the motor from the load. 75 . detach the Connector. CN X5 before the trial run.[Preparation] Trial Run (JOG Run) You can make a trial run (JOG run) without connecting the Connector. Preparation Inspection Before Trial Run (1) Inspection on wiring • Miswiring ? (Especially power input and motor output) • Short or grounded ? • Loose connection ? (2) Confirmation of power supply and voltage • Rated voltage ? Display LED Console Power supply (3) Fixing of the servo motor • Unstable mounting ? (4) Separation from the mechanical system (5) Release of the brake CN X6 Machine Motor ground (6) Turn to Servo-OFF after finishing the trial run by pressing . • Bring the user parameter setups (especially Pr11-14 and 20) to defaults. to avoid oscillation or other failure.

After finished trial running. 5sec) . Preparation step 2 for trial run Servo-ON status Turns to Servo-OFF by pressing . (Shuts off the main when error occurs. make a display to . The motor stops by pressing . • If SRV-ON becomes valid during trial run. Or SRV-ON signal is not entered. Not a servo-ready status. Not a Servo-Ready. referring to structure of each mode (P. shows.) Keep pressing (approx.60 and 61). the display changes to which is normal run through external command. 5 sec) to shift the decimal point toward left as the left fig. run-inhibit input invalidation (Pr04) to 1 and ZEROSPD input (Pr06) to 0. then with . <Notes> • Set up torque limit input invalidation (Pr03) to 1. pressing the display of Console (LED) as the left fig. Operation at EXECUTION display Press to call for EXECUTION DISPLAY of Then keep pressing changes to until “ increases by ” (approx. After the Servo-ON of preparation step 2 for trial run. return to SELECTION display. Pay an extra attention for securing safety. the motor runs at the preset speed with Pr3D (JPG speed) to CCW direction by pressing CW by pressing .How to Use the Front Panel and Console Procedure for Trial Run When you use the console. 76 . <Caution> If such trouble as disconnection of cable or connector occurs during trial run. the motor makes over-run for maximum 1 sec. Preparation step 1 for trial run Then keep pressing until the display of LED changes to . Operation at SELECTION display Press four time after pressing to setup auxiliary function mode. insert the console connector to CN X4 of the driver securely and turn on the driver power. shows.

60 and 61). Clearing of absolute encoder starts Clearing finishes Clearing of absolute encoder Error occurs When non-applicable encoder is completes connected ( ) After clearing of absolute encoder finishes. Should the connector is pulled out. Preparation Operation at EXECUTION display Press to call for EXECUTION DISPLAY of until the display of Console (LED) “ ” increases by (approx. referring to structure of each mode (P. shows. 77 . insert it again and repeat the procedures from the beginning. <Remarks> Don't disconnect the console from the driver between to . to setup auxiliary function mode. make a display to .[Preparation] Clearing of Absolute Encoder Only applicable to the system which uses absolute encoder. return to SELECTION display. 5sec) Then keep pressing changes to pressing as the left fig. You can clear the alarm and multi-turn data of the absolute encoder. Operation at SELECTION display Press then with four time after pressing .

Operation at EXECUTION display Press to call for EXECUTION DISPLAY of Then keep pressing changes to until the display of Console (LED) “ ” increases by (approx.How to Use the Front Panel and Console Clearing of External Scale Error (Front panel only) You can clear an error of the external scale. return to SELECTION display. Operation at SELECTION display Press then with four time after pressing . Clearing of absolute encoder Error occurs completes (At other control mode than full-closed control. 78 . and when no external scale error has occurred) After cleaning of External scale Error. 5sec) pressing as the left fig. referring to the structure of each mode (P.60 and 61). shows. make a display to . to setup auxiliary function mode. Clearing of absolute encoder starts Clearing finishes.

After copying finishes. Initialization of EEPROM of the console starts.[Preparation] Copying Function (Console Only) Copying of Parameters from the Driver to the Console Operation at SELECTION display Preparation Starting from initial LED status. Writing of parameters into the console EEPROM starts. shows. • • • • • Numeral decreases as time passes. to make a display to . referring to structure of each mode (P. return to SELECTION display. 79 . Copying of parameters from the driver to the console starts. check the broken cable. Press five time after pressing then press . Press for releasing error. insert it again and repeat the procedures from the beginning. 3sec) Keep pressing changes to until the console display (LED) pressing as the left fig. <Note> If the error display repeats frequently. repeat the procedures from the beginning.60 and 61) <Remarks> Don't disconnect the console from the driver between to Should the connector is pulled out. Copying completes normally. disconnection of the connector. Operation at EXECUTION display Press to call for EXECUTION DISPLAY of “ ” increases by (approx. Error display <Remarks> If error is displayed. misoperation due to noise or failure of console.

Press five time after pressing to make a display to .. referring to structure of each mode (P.How to Use the Front Panel and Console Copying of Parameters from the Console to the Driver Operation at SELECTION display Starting from initial LED status. Press for releasing error.60 and 61). 80 . then press Operation at EXECUTION display Press to call for EXECUTION DISPLAY of Keep pressing changes to until “ ” increases by pressing (approx. Copying of parameters from the console to the driver starts. After copying finishes. insert it again and repeat the procedures from the beginning. misoperation due to noise or failure of console. .... <Remarks> Don't disconnect the console from the driver between to Should the connector is pulled out.. return to SELECTION display. disconnection of the connector. Copying completes normally. <Note> If the error display repeats frequently. Writing of parameters into the driver EEPROM starts. 3sec) as the left fig. the console display (LED) Reading of EEPROM of the console starts. repeat the procedures from the beginning. shows. check the broken cable.Numeral decreases as time passes. Error display <Remarks> If error is displayed.

.......... 112 Parameters for Adjustment (2nd Gain Switching Function) .......................... CN X5 ............... CN X5 ........................................................... CN X5 ................................. Parameters Which are Automatically Set ........... 111 Parameters for Auto-Gain Tuning .... 104 Trial Run by Connecting the Connector......................................... Connecting Example to Host Controller .... Interface Circuit ............................................................................................................................................ 83 84 86 92 96 Trial Run (JOG Run) at Position Control Mode .............. 116 Parameters for Velocity/Torque Control . 83 Wiring Example to the Connector................ 104 Real-Time Auto-Gain Tuning .......... 108 Parameters for Functional Selection ....................................... CN X5 .................................................................................................................... 106 106 106 107 107 Parameter Setup ............ of the Connector.......................... 108 Parameters for Adjustment of Time Constant of Gains and Filters ........................ Applicable Range ........ How to Operate .............................................................. 106 Outline ......................[Connection and Setup of Position Control Mode] page Control Block Diagram of Position Control Mode 82 Wiring to the Connector...... 104 Inspection Before Trial Run .................... of the Connector........................................ Adaptive Filter ........ 120 81 ............. CN X5 .... Output Signal and Pin No............. 115 Parameters for Position Control ........ 120 Parameters for Sequence ............................................................................................................................ Input Signal and Pin No...........................................

82 Velocity feed forward Damping control 1st frequency Pr2B Gain Pr15 Pr16 Torque command monitor Filter 1st filter Pr2C 2nd Pr2D frequency 2nd filter Pr2E Position control Pulse train PULS SIGN Input setup Input Pr40 selection FIR smoothing Reversal Pr41 Average travel times Pr4D Mode Pr42 + + + – 2nd frequency Pr28 2nd width Pr29 2nd depth Pr2A Adaptation Pr2F 1st width Pr1E Notch filter 1st frequency Pr1D Primary delay smoothing + 1st Pr10 Pr18 Motor 1st limit 2nd limit Pr5E Pr5F Division/ Multiplication 1st numerator Pr48 2nd numerator Pr49 Selection Pr4C – 2nd Torque filter 1st time Pr14 constant 2nd time Pr1C constant Multiplier Pr4A Positional deviation monitor Inertia ratio Pr20 Speed detection filter 1st Pr13 2nd Pr1B Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Denominator Pr4B Command speed monitor Encoder Actual speed monitor Speed detection Division Feedback pulses Numerator Pr44 OA/OB/OZ Denominator Pr45 Serial communication data Encoder reception processing Control Block Diagram of Position Control Mode Selection Pr46 .

of R 12V 1kΩ1/2W 24V 2kΩ1/2W Servo-Ready output Servo-Alarm output 25 19 Z-phase output (open collector) 35 S-RD Y+ 34 S-RDY- (2) When you do not use the external resistor with 24V power supply 2.83kΩ 10kΩ PULSH2 3.Command pulse inhibition input Deviation counter clear input 7 COM+ 33 INH 4. CN X5 36 PULS2 4 220Ω 2. CN X5 Wiring Example of Position Control Mode Wiring Example to the Connector.2kΩ OPC1 OPC2 3 PULS1 3 1 2 4 PULS2 4 R 220Ω SIGN1 5 In case of open collector I/F (1) When you use the external resistor with 12V and 24V power supply 30 PULS1 220Ω Servo-ON input PULS2 SIGN1 220Ω CL 29 SRV-ON Gain switching input 27 GAIN 5 6 13 (Use with 500kpps or less.83kΩ 1kΩ 1kΩ CCW torque limit input (0 to +10V) CW torque limit input (-10 to +10V) 42 IM 46 SIGNH1 47 SIGNH2 13 GND Command pulse input B (Use with 2Mpps or less.7kΩ 2. =10mA R+220 .5 .2kΩ OPC1 1 37 ALM+ GND CZ Wiring to the Connector.2kΩ 2.) 50 FG Velocity monitor output Torque monitor output ( represents twisted pair.) SIGN2 6 220Ω 13 GND VDC R Command pulse input A 28 SIGN2 GND OA+ OAOB+ OBOZ+ OZ24 330Ω Electronic gear switching input Damping control switching input Control mode switching input DIV 21 22 330Ω 26 VS-SEL 32 C-MODE Alarm clear input 31 A-CLR A-phase output VDC CCW over-travel inhibition input CW over-travel inhibition input 48 49 330Ω 9 CCWL 8 CWL Divider B-phase output Z-phase output 23 Specifications VDC -1.2kΩ OPC2 2 VDC 12 to 24V 24VDC SIGN2 6 220Ω 13 GND ALMPositioning complete output 39 COIN+ 38 COINBrake release output 11 BRKOFF+ 10 BRKOFFTorque in-limit output 40 TLC (Select with Pr09) Zero speed detection output 12 ZSP (Select with Pr0A) 41 COM20kΩ SPR/TRQR GND 15 16 18 CWTL SP 43 CCWTL/TRQR GND 14 44 2kΩ 43kΩ 220Ω 2kΩ 43kΩ 2kΩ 43kΩ PULS 45 10kΩ SIGN 220Ω 2kΩ 43kΩ PULSH1 3.) Connection and Setup of Position Control Mode [Connection and Setup of Position Control Mode] CN X5 83 .

• When you compose a simple command circuit using variable resistor(VR) and register R. When the variable range of each input is made as –10V to +10V. R+220 (1) AM26LS31 or equivalent H/L 3 PULS1 4 PULS2 220Ω 5 SIGN1 6 SIGN2 220Ω 13 GND H/L PULS H/L SIGN H/L (2) R ON/OFF R ON/OFF VDC 3 PULS1 4 PULS2 220Ω 5 SIGN1 6 SIGN2 13 220Ω GND 1 OPC1 2. • Connect the specified resister as below. connect as the right Fig.7kΩ SRV-ON etc. We recommend this to secure the signal transmission.2kΩ 4 PULS2 ON/OFF 220Ω 2 OPC2 2. (2)Open collector I/F (Input pulse frequency : max.83kΩ +3. represents twisted pair. Rated current : 10mA ON/OFF L/H SIGN VDC PI2 Connection to sequence input signals (Pulse train interface exclusive to line driver) Line driver I/F (Input pulse frequency : max. CN X5 Interface Circuit Input Circuit SI Connection to sequence input signals • Connect to contacts of switches and relays. refer to the right Fig.input voltage : DC24V. • A/D converter resolution of each command input is as follows.83kΩ 1kΩ 1kΩ 1kΩ 1kΩ ADC 2 20kΩ – + ADC 1 • The analog command input goes through 3 routes. H/L 44 45 220Ω 43kΩ 2kΩ 2kΩ 43kΩ AM26C32 or equivalent H/L PULS SIGN AM26C32 or equivalent H/L PULS SIGN H/L 46 47 13 220Ω GND 43kΩ 2kΩ 2kΩ 43kΩ AI Analog command input SPR/TRQR 14 20kΩ +12V R VR 15 GND +3. R with 200Ω. SPR/TRQR(Pin-14). (including 1bit for sign). Relay 12 to 24V 7 COM+4. • When you use contact inputs. represents twisted pair.3V 84 . Max. ±10V (2)ADC2 : 10 bit (CCWTL.5 .3V CCWTL 16 10kΩ R –12V CWTL 18 10kΩ 17 GND – + 3. VDC 12V 24V Specifications 1kΩ1/2W 2kΩ1/2W VDC –1. 200kpps) • The method which uses an external control signal power supply (VDC) • Current regulating resistor R corresponding to VDC is required in this case. For input impedance of each input. permissible input voltage to each input is ±10V. CWTL). 12 to 24V 7 COM+4. 2Mpps) • This signal transmission method has better noise immunity. PI1 Connection to sequence input signals (Pulse train interface) (1) Line driver I/F (Input pulse frequency : max. shows. • Make the lower limit voltage of the power supply (12 to 24V) as 11. use VR with 2kΩ. 1/2W or larger. (1)ADC1 : 16 bit (SPR/TRQR). 1/2W or larger. use the switches and relays for micro current to avoid contact failure. or open collector output transistors. • Max. 500kpps) • This signal transmission method has better noise immunity. = 10mA .4V or more in order to secure the primary current for photo-couplers. B-characteristics.3V – + 3. 0 to 3.Wiring to the Connector. We recommend this to secure the signal transmission when line driver I/F is used.2kΩ 6 SIGN2 13 220Ω GND L/H PULS L/H PULS L/H SIGN (3) (3)Open collector I/F (Input pulse frequency : max.7kΩ SRV-ON etc. CCWTL (Pin-16) and CWTL (Pin-18). 200kpps) • Connecting diagram when a current regulating resistor is not used with 24V power supply.

one which emitter side of the output transistor is independent and is connectable individually. SO1 ALM+ etc. This output is not insulated. and connect to relays or photo-couplers. Max. decide the resistor value using the formula of the right Fig. 50mA For the recommended primary current value. rating 30V. Install toward the direction as the fig. • At the host side. shows without fail. • These outputs are not insulated. (2) Torque monitor output (IM) With a relation of 3V/rated torque (100%). Install a terminal resistor (approx. 25 represents twisted pair. TLC Connection and Setup of Position Control Mode 41 COM– R [k ] = Ω – VDC[V] 2. • If a recommended primary current value of the photo-coupler is 10mA. 21 AM26LS31 or equivalent A OA+ OA– OB+ OB– OZ+ OZ– 22 48 49 23 24 B Z GND Connect signal ground of the host and the driver without fail. and the one which is common to – side of the control power supply (COM–). Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND to be connected. <Resolution> (1) Speed monitor output (SP) With a setup of 6V/3000r/min (Pr07=3). ALM– etc. 50mA 19 CZ High speed photo-coupler (TLP554 by Toshiba or equivalent) 25 GND AO Analog monitor output • There are two outputs. refer to the data sheet of apparatus or photo-coupler to be used. the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or • Output signal width is ±10V. VCE (SAT) of approx. 1V at transistor-ON. receive these in line receiver. • Receive this output with high-speed photo couplers at the host side. PO2 Open collector output • Feeds out the Z-phase signal among the encoder signals in open collector. Note that normal TTL IC cannot be directly connected since it does not meet VIL. 330Ω) between line receiver inputs without fail. • There are two types of output. due to the Darlington connection of the output or. since the pulse width of the Z-phase signal is narrow. the resolution converted to speed is 8r/min/16mV. represents twisted pair. • There exists collector to emitter voltage. B and Z-phase) in differential through each line driver. external 42 IM 1kΩ • The output impedance is 1kΩ. rating 30V.4%/12mV.5[V] 10 Max. PO1 Line driver (Differential output) output AM26LS32 or equivalent • Feeds out the divided encoder outputs (A. 85 43 SP 1kΩ . 12 to 24V VDC SO2 ZSP. the resolution converted to torque is 0.[Connection and Setup of Position Control Mode] Output Circuit SO1 SO2 Sequence output circuit • The output circuit is composed of open collector transistor outputs in the Darlington connection.

243 "Gain Switching Function" of Adjustment.84 CCW over-travel inhibit input 9 CCWL SI P. • Use this input to inhibit a CW over-travel (CWL).13 and 14) 0–2 close 2nd gain selection (Pr18. • Connect this so as to make the connection to COM– open when the moving portion of the machine over-travels the movable range toward CW. • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1. I/F circuit – – 8 CWL SI P.11.12.1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid • Input of torque limit switching (TL-SEL) • Pr5E (Setup of 1st torque limit) will be validated when you 3 – open this input. Default is "Emergency stop with dynamic brake". Position/ Gain switching input or Torque limit switching input TL-SEL 27 GAIN • Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit). • You can select the action when the CCWL input is validated with the setup of Pr66 (Sequence at over-travel inhibit).84 damping control switching input 26 VS-SEL SI P. Content Pr03 Pr30 Connection to COM– open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 open 1st gain selection (Pr10.84 Velocity/ Torque control • Becomes to an input of damping control switching (VS-SEL). • Connect this so as to make the connection to COM– open when the moving portion of the machine over-travels the movable range toward CCW. SI P. Pr2C) will be validated when you open this input.(Pr66=0) • Use this input to inhibit a CCW over-travel (CCWL). Content Pr06 Connection to COM– ZEROSPD input is invalid. • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1.84 86 . CN X5 Input Signals (common) and Their Functions Title of signal Power supply for control signal (+) Power supply for control signal (-) CW over-travel inhibit input Pin No.5A or more is recommended.Default is "Invalid (1)". ZERPSPD is invalid.(Pr66=0) • Function varies depending on the control mode.Default is "Invalid (1)". and the 2nd damping filter (Pr2D. of the Connector. Default is "Emergency stop with dynamic brake". CN X5 Input Signal and Pin No. • Use the power supply voltage of 12V ± 5% – 24V ± 5% • Connect – of the external DC power supply (12 to 24V).1A. • The power capacity varies depending on a composition of I/O circuit. • For details of 2nd gain switching function. 0 – Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW. the Full-closed 1st damping filter (Pr2B.19.Wiring to the Connector. refer to P. Pr2E) control will be validated when you connect this input to COM–. close • In case Pr06 is 2 at torque control. • While Pr24 (Damping filter switching selection) is 1. 7 41 Symbol COM+ COM– Function • Connect + of the external DC power supply (12 to 24V). 0. • Becomes to a speed-zero clamp input (ZEROSPD). • You can select the action when the CWL input is validated with the setup of up Pr66 (Sequence at over-travel inhibit). and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM–.

• By connecting to COM–.) 2. allow 100ms or longer pause before entering the pulse command.[Connection and Setup of Position Control Mode] Title of signal Pin No. • You can select the dynamic brake action and the deviation counter clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF). • Turns to Servo-OFF status by opening connection to COM–. <Caution> Do not enter the command pulse 10ms before/after switching.After shifting to Servo-ON.Servo-ON input becomes valid approx.Never run/stop the motor with Servo-ON/OFF. For details of setup. refer control to the table of next page. • You can make up to 8-speed setups combining INH/ INTSPD1 and CL/INTSPD2 inputs. you can switch the numerator of electronic gear from Pr48 (1st numerator of electronic Position/ Full-closed gear) to Pr49 (2nd numerator of electronic gear) • For the selection of command division/multiplication. 3. <Caution> 1.84 Connection and Setup of Position Control Mode Torque control • This input is invalid. "Timing Chart" of Preparation. • Numerator selection of electronic gear CN X5 Pin-28 DIV Setup of electronic gear 1st numerator of electronic gear (Pr48) x 2 Open or Encoder resolution* Command pulse counts per single turn (Pr4B) 2nd numerator of electronic gear (Pr49) x 2 Short or Encoder resolution* Command pulse counts per single turn (Pr4B) Servo-ON input 29 * Automatic setup by setting up Pr49 to 0 * Automatic setup by setting up Pr48 to 0 Multiplier of command scaling (Pr4A) Denominator of electronic gear (Pr4B) Multiplier of command scaling (Pr4A) Denominator of electronic gear (Pr4B) SRV-ON • Turns to Servo-ON status by connecting this input to COM–. 2 sec after power-on. I/F circuit SI P. "Numerator selection of command scaling" Velocity control • Input of internal speed selection 3 (INTSPD3).131. (see P. • You can switch the numerator of electronic gear.42. refer to the table of P. and current to the motor will be shut off. Electronic gear (division/ multiplication) switching input 28 Symbol DIV Function • Function varies depending on the control mode.84 87 . "Selection of Internal Speed". SI P.

Clears the counter of positional deviation and full-closed deviation only once by connecting CL to COM– from open status. refer to P.84 Velocity control • Selection 1 input of internal command speed (INTSPD1) •You can make up to 8-speed setups combining INH/INTSPD2 and CL/INTSPD3 inputs. INH is valid. • There are some alarms which cannot be released with this input.84 1 [Default] 2 Velocity control • Input of selection 2 of internal command speed (INTSPD2) • You can make up to 8-speed setups combining INH/ INTSPD1 and CL/INTSPD3 inputs. 30 Symbol CL Function • Function varies depending on the control mode. • Inhibition input of command pulse input (INH) • Ignores the position command pulse by opening the connection to COM– Position/ • You can invalidate this input with Pr43 (Invalidation of Full closed command pulse inhibition input) control Content Pr43 0 1(Default) INH is valid. "Selection of Internal Speed" of Velocity Control Mode. Torque control • This input is invalid. "Selection of Internal Speed" of Velocity Control Mode. Pr02 setup 3 4 5 Open (1st) Position control Position control Velocity control Connection to COM– (2nd) Velocity control Torque control Torque control SI P. • You can select the clearing mode with Pr4E (Counter clear input mode). refer to the table of P.252. SI P.84 <Caution> Depending on how the command is given at each control mode. Position/ Full-closed control Pr4E 0 Content Clears the counter of positional deviation and full-closed deviation while CL is connected to COM–. For details. Alarm clear input 31 A-CLR • You can release the alarm status by connecting this to COM– for more than 120ms. refer to the table in P. CL is invalid I/F circuit SI P. • You can clear the counter of positional deviation and full-closed deviation by connecting this to COM–.84 Control mode switching input 32 C-MODE SI P. "Protective Function " of When in Trouble. the action might change rapidly when switching the control mode with C-MODE. For details of the setup. For details of setup. • You can switch the control mode as below by setting up Pr02 (Control mode setup) to 3-5. • Input (CL) which clears the positional deviation counter and full-closed deviation counter. Torque control • This input is invalid. 88 . • The deviation counter will be cleared at alarm clear.131. CN X5 Title of signal Deviation counter clear input Pin No.Wiring to the Connector.131. Pay an extra attention. Inhibition input of command pulse 33 INH • Function varies depending on the control mode.

I/F circuit PI2 P. refer to the table below. • Permissible max. You can select by setting up Pr40 (Selection of command pulse input) to 0. input frequency is 2Mpps. "Command pulse input format". I/F circuit PI1 P.5µs 2. input frequency is 500kpps at line driver input and 200kpps at open collector input. • In case of 2-phase pulse. 0 1 CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign 2-phase pulse with 90° difference (A+B-phase) PULS SIGN t6 3 t4 t5 t4 t5 “H” t6 t6 t1 t1 “L” t6 t1 t1 A-phase 0 or 2 PULS SIGN B-phase t1 t1 t3 t2 t2 t2 t2 t1 t1 B-phase delays from A by 90°.84 Connection and Setup of Position Control Mode • Pulse train interface Title of signal Pin No.84 • Command pulse input format Pr41 Setup value Pr42 Setup value (Setup of (Setup of command pulse command pulse rotational direction) input mode) Command pulse format 2-phase pulse with 90° difference (A+B-phase) Signal title CCW command t1 t1 CW command t1 t1 A-phase 0 or 2 PULS SIGN B-phase t1 t1 t3 t2 t2 t2 t2 t1 t1 B-phase advances to A by 90°.[Connection and Setup of Position Control Mode] Input Signals (Pulse Train) and Their Functions You can select appropriate interface out of two kinds. necessary time width Input I/F of PULS/SIGN signal Pulse train interface exclusive for line driver Pulse train interface Line driver interface Open collector interface Permissible max. For details. input frequency of command pulse input signal and min. pulse train will be cap tured at the rising edge. • You can select up to 6 command pulse input formats with Pr41 (Setup of command pulse rotational direction) and Pr42 (Setup of command pulse input mode). • Permissible max. B-phase delays from A by 90°. • This input becomes invalid at such control mode as the velocity control or torque control. depending on the command pulse specifications.1µs or shorter. B-phase advances to A by 90°. Refer to the fig.5µs 2. • In case of CW pulse train + CCW pulse train and pulse train + sign. • Permissible max. For details.84.5µs Set up the rising/falling time of command pulse input signal to 0. where no position command is required. 89 . of P. refer to the table below. input frequency 2Mpps 500kpps 200kpps Minimum necessary time width t5 t1 t2 t3 t4 t6 500ns 250ns 250ns 250ns 250ns 250ns 1µs 2µs 1µs 1µs 1µs 1µs 5µs 2. where no position command is required. • This input becomes invalid at such control mode as velocity control or torque control. • You can select up to 6 command pulse input formats with Pr41 (Setup of command pulse rotational direction) and Pr42 (Setup of command pulse input mode). Command pulse input 1 45 Command pulse sign input 1 47 SIGNH2 46 PULSH2 SIGNH1 44 Symbol PULSH1 Function • Input terminal for position command pulse. You can select by setting up Pr40 (Selection of command pulse input) to 1. "Command pulse input format". • Pulse train interface exclusive for line driver Title of signal Pin No.5µs 2. 1 1 CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign PULS SIGN t6 3 t4 t5 t4 t5 “L” t6 t6 “H” t6 • PULS and SIGN represents the outputs of pulse train in put circuit. pulse train will be captured at each edge. "Input Circuit". Command pulse input 2 1 3 4 Command pulse sign input 2 2 5 6 Symbol OPC1 PULS1 PULS2 OPC2 SIGN1 SIGN2 Function • Input terminal for the position command.5µs 2.

. Function • Input of external speed command (SPR) when the velocity control is selected. ± 32767 (LSB) = ± 10[V]. mode •The resolution of the A/D converter used in this input is 16 bit (including 1 bit for sign). offset and filter of the Speed command with. Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) I/F circuit AI P. offset and filter with.3[mV] *Function becomes valid when the control mode with underline ( / ) <Remark> Do not apply voltage exceeding ±10V to analog command input of SPR/TRQR.84 0 4 Position/ Torque 1 Others Other control • This input is invalid. • Set up the gain. • Set up the speed limit (SPL) gain. CN X5 Input Signals (Analog Command) and Their Functions Title of signal Pin No. polarity. • Set up the torque (TRQR) gain. Pr50 (Speed command input gain) Pr51 (Speed command input reversal) Pr52 (Speed command offset) Pr57 (Speed command filter setup) • Function varies depending on Pr5B (Selection of torque command) Pr5B Content • Torque command (TRQR) will be selected. Speed command input or Torque command input 3 TRQR Position/ Velocity 14 Symbol SPR Pr02 Control mode Function • Function varies depending on control mode. 90 . Pr5C (Torque command input gain) Pr5D (Torque command input reversal) Pr52 (Speed command offset) Pr57 (Speed command filter setup) • Speed limit (SPL) will be selected. polarity.Wiring to the Connector. offset and filter with. 1[LSB] = . 0.

. • Set up the gain and polarity of the command with. Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up. I/F circuit AI P.[Connection and Setup of Position Control Mode] Title of signal Pin No. • Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). Pr02 2 4 5 Control mode Function Torque control • This input becomes invalid when the torque control Position/Torque is selected. 1 [LSB] = = .84 2 4 Torque Control Position/Torque Connection and Setup of Position Control Mode 5 Velocity/ Torque • Becomes to the analog torque limit input to CCW Position/Torque (CCWTL). Function • Function varies depending on Pr5B (Selection of torque command) Pr5B Content This input becomes invalid.84 • Becomes to the analog torque limit input to CW Position/Torque (CWTL). Velocity/Torque • Limit the CCW-torque by applying positive voltage (0 to +10V) (Approx. 1 [LSB] = = *Function becomes valid when the control mode with underline ( / ) is selected while the switching mode is used in the control mode in table. • Becomes to the torque command input (TRQR). . ± 511 [LSB] ± 11. 23[mV] CW-Torque limit input 18 CWTL • Function varies depending on Pr02 (Control mode setup).9[V].+3V/rated toque) Other Other control mode • Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. . 0 • Torque command input (TRQR) will be selected. Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up. CCW-Torque limit input 16 Symbol CCWTL Pr02 Control mode Function • Function varies depending on Pr02 (Control mode setup). Velocity/Torque AI P. 23[mV] ± 511 [LSB] ± 11.+3V/rated toque). Other Other control mode Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. 4 Velocity/Torque • Limit the CW-torque by applying negative voltage 5 (0 to –10V) (Approx. <Remark> Do not apply voltage exceeding ±10V to analog command input of CWTL and CCWTL 91 . • Set up the gain and polarity of the com1 mand with.9[V]. 4 5 • Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign).

refer to P42. • Output of positioning complete (COIN) • The output transistor will turn ON when the absolute value of the position deviation pulse becomes smaller than the setup value of Pr60 (Positioning complete range). SO2 P. fan-lock alarm or external scale alarm. • This signal shows that the driver is in alarm status. • Content of the output signal varies depending on Pr09 (Selection of TLC output). CN X5 Output signal and Pin No. "Selection of TLC.85 AT-SPEED+ • Function varies depending on the control mode. "Selection of TLC.85 SO1 P. AT-SPEED– Position control • Output of full-closed positioning complete (EX-COIN) • The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). • Zero-speed detection output (Default of X5 ZSP Pr0A) The output transistor turns ON when the motor speed falls under the preset value with Pr61. • Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 8 • Torque in-limit output (Default of X5 TLC Pr09) The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON. • Fan-lock alarm The output transistor turns ON when the fan stalls for longer than 1s. • In-speed (Speed coincidence) output The output transistor turns ON when the difference between the actual motor speed and the speed command before acceleration/deceleration reaches within the preset range with Pr61.) • This signal shows that the driver is ready to be activated. • You can select the feeding out method with Pr63 (Setup of positioning complete output). • Turns the output transistor ON at the release timing of the electromagnetic brake. Valid only at the velocity and torque control. • Battery alarm The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx.Wiring to the Connector. • For details. • Over-regeneration alarm The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection.ZSP output". • For details. For details.85 ZSP (COM–) TLC (COM–) • Content of the output signal varies depending on Pr0A (Selection of ZSP output). • You can select the feeding out method with Pr63 (Setup of positioning complete output). "Timing Chart" of Preparation. battery alarm.. • Default is 1. • Alarm signal output The output transistor turns ON when either one of the alarms is triggered. I/F circuit SO1 P. • Output transistor turns ON when the driver is at normal status. • Over-load alarm The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm. Velocity/ Torque control Zero-speed detection output signal Torque in-limit signal output 12 (41) 40 (41) • Output at-speed (speed arrival) (AT-SPEED) • The output transistor will turn ON when the actual motor speed exceeds the setup value of Pr62 (In-speed).85 SO2 P. and feeds out the torque in-limit signal. of the Connector. • Default is 1. and turns OFF at alarm status.85 SO1 P. Valid only at the full-closed control. over-regeneration alarm. see the table below. • External scale alarm The output transistor turns ON when the external scale temperature exceeds 65°. see the table below. or signal intensity is not enough (adjustment on mounting is required). and feeds out the zero speed detection signal. 92 .2V. • You can set up the output timing of this signal with Pr6A (Setup of mechanical brake action at stall) and Pr6B (Setup of mechanical brake action at motion). • Output transistor turns ON when both control and main power are ON but not at alarm status. CN X5 Output Signals (Common) and Their Functions Title of signal External brake release signal Pin No 11 10 Symbol BRKOFF+ BRKOFF– Function • Feeds out the timing signal which activates the electromagnetic brake of the motor. overload alarm. 3.ZSP output".85 Servo-Ready output Servo-Alarm output Positioning complete (In-position) 35 34 37 36 39 38 S-RDY+ S-RDY– ALM+ ALM– SO1 P.

Z-phase will be fed out synchronizing with A-phase. B. PO2 P. • Max. 2500P/r incremental encoder. the signal sequence might not follow the above fig.[Connection and Setup of Position Control Mode] Output Signals (Pulse Train) and Their Functions Title of signal A-phase output Pin No 21 22 Symbol OA + OA – OB + OB – OZ + OZ – CZ Function • Feeds out the divided encoder signal or external scale signal (A.85 B-phase output 48 49 Connection and Setup of Position Control Mode Z-phase output 23 24 Z-phase output 19 • Open collector output of Z-phase signal • The emitter side of the transistor of the output circuit is connected to the signal ground (GND) and is not insulated. Pr45 not-synchronized • In case of the 5-wire. 93 . Zphase) in differential. • Ground for line driver of output circuit is connected to signal ground (GND) and is not insulated. the Z-phase width will be equal to the encoder resolution. when the encoder resolution A B Z synchronized Pr44 is multiple of 4. output frequency is 4Mpps (after quadrupled) I/F circuit PO1 P. rotate the motor one revolution or more to make sure that the Z-phase is fed out at least once before using. (equivalent to RS422) • You can set up the division ratio with Pr44 (Numerator of pulse output division) and Pr45 (Denominator of pulse output division) • You can select the logic relation between A-phase and B-phase. Pr45 In other case. and will not synchronize with A-phase because of narrower width than that of A-phase. and the output source with Pr46 (Reversal of pulse output logic). until the first Z-phase is fed out.85 <Note> • When the output source is the encoder • If the encoder resolution X Pr44 is multiple of 4. When you use the pulse output as the control signal. Pr45 when the encoder resolution A B Z Pr44 is not multiple of 4. • When the external scale is made as an output source. you can set up the interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase).

+ : generates CCW torque 11. • You can set up the scaling with Pr07 value. Torque 0. Pr07 Control mode 0–4 Motor speed Command speed Function • Feeds out the voltage in proportion to the motor speed with polarity. CN X5 Output Signals (Analog) and Their Functions Title of signal Torque monitor signal output Pin No 42 Symbol IM Function • The content of output signal varies depending on Pr08 (Torque monitor (IM) selection). + : positional command to CCW of motor position – : positional command to CW of motor position I/F circuit AO P.85 5–9 94 .12 command – : generates CW torque Pr08 Content of signal Positional deviation • Feeds out the voltage in proportion to the positional deviation pulse counts with polarity.85 1–5 • Feeds out the voltage in proportion to the fullclosed deviation pulse counts with polarity. Function • Feeds out the voltage in proportion to the motor torque command with polarity. • You can set up the scaling with Pr08 value.Wiring to the Connector. + : positional command to CCW of Full-closed 6 –10 external scale position deviation – : positional command to CW of external scale position Speed monitor signal output 43 SP • The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection). + : rotates to CCW – : rotates to CW • Feeds out the voltage in proportion to the command speed with polarity. + : rotates to CCW – : rotates to CW AO P.

15. 17. • This output is connected to the earth terminal inside of the driver.[Connection and Setup of Position Control Mode] Output Signals (Others) and Their Functions Title of signal Signal ground Pin No 13. I/F circuit – Frame ground 50 FG – Connection and Setup of Position Control Mode 95 .25 Symbol GND Function • Signal ground • This output is insulated from the control signal power (COM–) inside of the driver.

96 .7kΩ CW over-travel inhibit input Servo-Ready output Deviation counter reset output Y2 – 30 29 SRV-ON 27 GAIN from PLC I/O output 31 A-CLR 9 8 CCWL CWL COM Origin proximity input 3kΩ X3 CCW limit excess input 35 S-RDY+ 5.6kΩ Origin input Driver A4-series Y0 2kΩ 3 PULS1 4 PULS2 220Ω CW pulse command input CCW pulse command input Y1 2kΩ 5 SIGN1 6 SIGN2 220Ω X2 COM + 19 CZ Z-phase output 13 7 GND COM+ CL 4.6kΩ X6 Origin proximity sensor CCW limit sensor CW limit sensor GND + 24V DC24V Power supply 38 COIN– 41 COM– <Remark> represents twisted pair wire.7kΩ Alarm clear input 4.6kΩ X5 to PLC I/O input 34 S-RDY– 37 ALM+ 36 ALM– 39 COIN+ Positioning complete output Servo-Alarm output CW limit excess input 5.7kΩ Gain switching input 4.7kΩ Counter clear input 4. CN X5 Connecting Example to Host Controller Matsushita Electric Works.Wiring to the Connector. FPG-C32T PLC FPG-C32T(FP∑) CW pulse command output CCW pulse command output 5.7kΩ Servo-ON input 4.7kΩ CCW over-travel inhibit input 4.

FP2-PP2 AFP2430 PLC FP2-PP2 AFP2430 CW pulse command output CCW pulse command output 220Ω Origin input Driver A4-series A1 B1 A2 Connection and Setup of Position Control Mode 3 PULS1 4 PULS2 5 SIGN1 6 SIGN2 23 24 13 7 OZ+ OZ– GND COM+ CL 220Ω 220Ω CW pulse command input CCW pulse command input B2 A4 Z-phase output B3 Deviation counter reset output 1.7kΩ CW over-travel inhibit input Servo-Ready output 29 SRV-ON 27 GAIN/TC 31 A-CLR 9 8 CCWL CWL FG FG 24V+ 24V– A19 B19 A20 B20 to PLC I/O input 35 S-RDY+ 34 S-RDY– 37 ALM+ 36 ALM– 39 COIN+ External power supply input Servo-Alarm output Origin proximity sensor CW limit sensor CCW limit sensor to PLC I/O input 38 COIN– 41 COM– Positioning complete output GND + 24V DC24V Power supply <Remark> represents twisted pair wire.7kΩ Alarm clear input 4.7kΩ Torque limit switching input 4.7kΩ CCW over-travel inhibit input 4.6Ω Origin proximity input A6 B6 A7 B7 from PLC I/O output 30 4.7kΩ Counter clear input 4.[Connection and Setup of Position Control Mode] Matsushita Electric Works.7kΩ Servo-ON input Gain switching/ 4. 97 .

98 .5kΩ 3 38 COIN– 41 COM– Positioning complete output Origin proximity sensor CCW limit sensor CW limit sensor GND + 5V DC5V Power supply GND + 24V DC24V Power supply <Remark> represents twisted pair wire.5kΩ Emergency stop input 9a 9b 7 30 29 SRV-ON 27 GAIN/TC 5V power supply V+ for pulse output GND 11 12 from PLC I/O output 31 A-CLR 9 8 CCWL CWL 1 CCW limit input 3.7kΩ Gain switching/ Torque limit switching input 4.Wiring to the Connector.7kΩ Alarm clear input 4. CN X5 Yokogawa Electric .5kΩ 35 S-RDY+ 34 S-RDY– to PLC I/O input 4 37 ALM+ 36 ALM– 39 COIN+ CW limit input 3.7kΩ CCW over-travel inhibit input 4.7kΩ CW over-travel inhibit input Servo-Ready output Z-phase output 220Ω 220Ω CW pulse command input CCW pulse command input 3.5kΩ Servo-Alarm output 5 Origin proximity input 3.7kΩ Servo-ON input 4.7kΩ Counter clear input 4. F3NC11-ON PLC F3NC11-0N CW pulse command output CCW pulse command output 1kΩ Origin line driver input Driver A4-series 19 20 17 18 7 8 3 PULS1 4 PULS2 5 SIGN1 6 SIGN2 23 24 13 OZ+ OZ– GND COM+ CL 4.

7kΩ CW over-travel inhibit input Servo-Ready output 29 SRV-ON 27 GAIN/TC 5V power supply V+ for pulse output GND 8b 8a from PLC I/O output 31 A-CLR 9 8 CCWL CWL 1a CCW limit input 7.4kΩ 4a 38 COIN– 41 COM– Positioning complete output Origin proximity sensor CCW limit sensor CW limit sensor GND + 5V DC5V Power supply GND + 24V DC24V Power supply <Remark> represents twisted pair wire.7kΩ CCW over-travel inhibit input 4.4kΩ Servo-Alarm output 2b Origin proximity input 7. F3YP14-0N/F3YP18-0N PLC F3YP14-0N/F3YP18-0N CW pulse command output CCW pulse command output 240Ω Origin line driver input Driver A4-series Connection and Setup of Position Control Mode 14a 13a 12a 11a 15a 16a 3 PULS1 4 PULS2 5 SIGN1 6 SIGN2 23 24 13 7 OZ+ OZ– GND COM+ CL 220Ω 220Ω CW pulse command input CCW pulse command input Z-phase output Deviation pulse clear signal output 10a 9a 30 4.7kΩ Gain switching/ Torque limit switching input 4.7kΩ Counter clear input 4.7kΩ Alarm clear input 4.4kΩ 35 S-RDY+ 34 S-RDY– to PLC I/O input 3a 37 ALM+ 36 ALM– 39 COIN+ CW limit input 7. 99 .[Connection and Setup of Position Control Mode] Yokogawa Electric .7kΩ Servo-ON input 4.

7kΩ 27 GAIN from PLC I/O output A20 31 A-CLR 9 CCWL CWL Origin proximity input 4.6kΩ CW pulse command output CCW pulse command output 1.7kΩ CW over-travel inhibit input Servo-Ready output 29 SRV-ON Emergency stop input A24 4. CS1W-NC113 PLC CS1W-NC113 1.7kΩ A21 8 CCW limit excess input 35 S-RDY+ 4. CN X5 Omron.7kΩ A22 Origin proximity sensor CCW limit sensor CW limit sensor GND + 24V DC24V Power supply 38 COIN– 41 COM– <Remark> represents twisted pair wire.Wiring to the Connector. 100 .7kΩ Gain switching input 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ CCW over-travel inhibit input 4.6kΩ Driver A4-series A6 3 PULS1 4 PULS2 A8 5 SIGN1 6 SIGN2 150Ω 220Ω 220Ω CW pulse command input CCW pulse command input Origin line driver input A16 A14 23 24 13 7 30 OZ+ OZ– GND COM+ CL Z-phase output Power supply for output V+ GND A1 A2 A10 Deviation counter reset output 4.7kΩ A23 to PLC I/O input 34 S-RDY– 37 ALM+ 36 ALM– 39 COIN+ Positioning complete output Servo-Alarm output CW limit excess input 4.7kΩ Alarm clear input 4.

7kΩ CCW over-travel inhibit input 4.7kΩ 27 GAIN from PLC I/O output A20 31 A-CLR 9 CCWL CWL Origin proximity input 4.7kΩ Gain switching input 4. 101 .7kΩ CW over-travel inhibit input Servo-Ready output 29 SRV-ON A24 Emergency stop input 4.7kΩ A21 8 CCW limit over input 35 S-RDY+ 4.7kΩ Alarm clear input 4. CS1W-NC133 PLC CS1W-NC133 CW pulse command output CCW pulse command output 150Ω Origin line driver input Driver A4-series Connection and Setup of Position Control Mode A5 A6 A7 A8 A16 A14 V+ GND 3 PULS1 4 PULS2 5 SIGN1 6 SIGN2 23 24 13 7 30 OZ+ OZ– GND COM+ CL 220Ω 220Ω CW pulse command input CCW pulse command input Z-phase output 24V power supply for output A1 A2 A10 Deviation counter reset output 4.7kΩ A22 A3 A4 5V power supply GND for pulse output +V Origin proximity sensor CCW limit sensor CW limit sensor GND + 5V DC5V Power supply GND + 24V DC24V Power supply <Remark> represents twisted pair wire.[Connection and Setup of Position Control Mode] Omron.7kΩ Servo-ON input 4.7kΩ Counter clear input 4.7kΩ A23 to PLC I/O input 34 S-RDY– 37 ALM+ 36 ALM– 39 COIN+ 38 COIN– 41 COM– Positioning complete output Servo-Alarm output CW limit over input 4.

7kΩ CW over-travel inhibit input Servo-Ready output 29 SRV-ON 22 27 GAIN from PLC I/O output Emergency stop input 2kΩ 19 31 A-CLR 9 CCWL CWL Origin proximity input 2kΩ 7 8 CCW limit over input 35 S-RDY+ 2kΩ 17 to PLC I/O input 34 S-RDY– 37 ALM+ 36 ALM– 39 COIN+ Positioning complete output Servo-Alarm output CW limit over input 2kΩ 18 Origin proximity sensor CCW limit sensor CW limit sensor GND + 24V DC24V Power supply 38 COIN– 41 COM– <Remark> represents twisted pair wire.Wiring to the Connector.7kΩ Servo-ON input 4. 102 . C200H-NC211 PLC C200H-NC211 1.6kΩ Directional output Driver A4-series 2 3 PULS1 4 PULS2 13 5 SIGN1 6 SIGN2 220Ω 220Ω CW pulse command input CCW pulse command input 150Ω Origin line driver input 9 11 23 24 13 7 30 OZ+ OZ– GND COM+ CL Z-phase output Power supply for output V+ GND 1 23 4 Deviation counter reset output 4. CN X5 Omron.6kΩ Pulse (CW+CCW) output 1.7kΩ Alarm clear input 4.7kΩ Gain switching input 4.7kΩ CCW over-travel inhibit input 4.7kΩ Counter clear input 4.

7kΩ 4.7kΩ Alarm clear input 4.7kΩ 4.7kΩ 29 SRV-ON 27 GAIN from PLC I/O output from PLC I/O output Drive unit ready In position 7 8 35 36 31 A-CLR 9 8 CCWL CWL Common 35 S-RDY+ 34 S-RDY– to PLC I/O input Proximity signal Upper limit Lower limit 4. 103 .7kΩ Gain switching input 4.7kΩ Servo-ON input 4. A1SD75/AD75P1 PLC A1SD75/AD75P1 3 CW pulse command output CCW pulse command output 500Ω Zero point signal Driver A4-series 3 PULS1 4 PULS2 5 SIGN1 6 SIGN2 23 24 13 7 5 30 OZ+ OZ– GND COM+ CL 4.[Connection and Setup of Position Control Mode] Mitsubishi.7kΩ CCW over-travel inhibit input 4.7kΩ CW over-travel inhibit input Servo-Ready output 220Ω 220Ω CW pulse command input CCW pulse command input Connection and Setup of Position Control Mode 21 4 22 24 25 Z-phase output Deviation counter clear 23 26 4.7kΩ 4.7kΩ Counter clear input 4.7kΩ 11 12 13 37 ALM+ 36 ALM– 39 COIN+ Servo-Alarm output Origin proximity sensor CCW limit sensor CW limit sensor GND + 24V DC24V Power supply 38 COIN– 41 COM– Positioning complete output <Remark> represents twisted pair wire.

Match to the output format of the host controller with Pr42 (Command pulse input mode setup). Write to EEPROM and turn off/on the power (of the driver). CN X5. Title COM+ SRV-ON 41 3 1kΩ 4 5 1kΩ 6 44 45 46 47 13 COMPULS1 PULS2 SIGN1 SIGN2 DC 12V CW/CCW pulse input in case of open collector input H/L PULS PULSH1 PULSH2 SIGNH1 SIGNH2 GND 2kΩ 43kΩ 220Ω 2kΩ 43kΩ 2kΩ 43kΩ 220Ω 2kΩ 43kΩ Input signal status in case of line receiver input No. Pin-29) and COM– (CN X5. Confirm the default values of parameters. 0 Title of signal Servo-ON Monitor display +A SIGN 104 . Wiring Diagram DC 12V – 24V CN X5 7 29 Parameter Setup value 02 Setup of control mode 0 04 Invalidation of over-travel inhibit input 1 40 Selection of command pulse input 0/1 42 Mode setup of command pulse input 1 43 Inhibition setup of command pulse input 1 4E Counter clear mode 2 • Enter command pulses from the host controller. "Display of Factor for No-Motor Running" of Preparation. Pin-41) to bring the driver to Servo-ON status and energize the motor.68. and the motor stops by stopping the command (pulse) or not. CN X5 (1) (2) (3) (4) (5) (6) (7) Connect the CN X5. PrNo. Connect the Servo-ON input (SRV-ON. rotational speed is as per the setup or not. Enter the power (DC12 to 24V) to control signal (COM+. (9) Check the motor rotational speed at monitor mode whether. COM–) Enter the power to the driver. refer to P .Trial Run (JOG run) at Position Control Mode Inspection Before Trial Run (1) Wiring inspection • Miswiring (Especially power input/motor output) • Short/Earth • Loose connection Power supply Display LED X3 (2) Check of power/voltage • Rated voltage X4 X5 (3) Fixing of the motor • Unstable fixing (4) Separation from Machine mechanical system (5) Release of the brake CN X6 X6 X7 Motor ground Trial Run by Connecting the Connector. (10) If the motor does not run correctly. (8) Enter low frequency from the host controller to run the motor at low speed.

306 "Division Ratio for Parameters" of Supplement. • You can set up any values to numerator and denominator. however. setup of an extreme division ratio or multiplication ratio may result in dangerous action. 1 x 210 60° 365 x x 6 18 2 360° 10 365 x 2 = 6912 *Refer to P. Recommended ratio is 1/50-20. 105 . and encoder resolution is automatically set up as numerators. 365 x 18 = 10000 10000 0 How to determine parameter x 60° 360° 365 x 2 17 884736 365 x 2 108 Hence the obtained numerator becomes 47841280>2621440 and denominator exceeds the max value of 10000. you have to reduce to the common denominator to obtain. Encoder 17-bit Pr48 x 2 Pr4A Pr4B Command pulse 365 x 2 10 6912 To rotate the output shaft by 60°. and encoder resolution is automatically set up as numerators. <Remarks> • Max. Relation between the motor rotational speed and input pulse counts 60° Pulley ratio : Gear ratio : Total reduction ratio : Gear 18 60 12 73 18 365 e.g. enter the command of 10000 pulses from the host controller.[Connection and Setup of Position Control Mode] Setup of Motor Rotational Speed and Input Pulse Frequency Input pulse Motor frequency rotational (pps) speed (r/min) 2M 500K 250K 100K 500K 3000 3000 3000 3000 1500 Pr48 x 2 Pr4A Pr4B 17-bit 1 x2 10000 15 2500P/r 2500 x 2 10000 10000 x 2 10000 10000 x 2 5000 10000 x 2 2000 50000 x 2 10000 0 1 x 2 17 10000 1 x 2 17 5000 1 x 2 17 2000 1 x 2 16 10000 0 0 0 Connection and Setup of Position Control Mode 0 <Note> Defaults of Pr48 and Pr49 are both 0. enter the command of 8192 (213) pulses from the host controller. 365 18 = x 1 x 217 x 213 60° 360° 2500P/r 365 x 2 108 0 2n 20 21 22 23 24 25 26 27 28 29 210 211 212 213 214 215 216 217 Decimal figures 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 To rotate the output shaft by 60°.) When you want to rotate the motor by 60° with the load of total reduction ratio of 18/365. input pulse frequency varies depending on input terminals.Defaults of Pr48 and Pr49 are both 0.

Setup value Insert the console connector to CN X6 of the driver. How to Operate (1) Bring the motor to stall (Servo-OFF). Load • Chattering such as backlash exists. to be set up with . set up 4-6. and automatically sets up the optimum gain responding to the result. Bars increase as the right fig. set up 3 or 6. Lower the value (0 to 3) when you experience abnormal noise or oscillation. of Adjustment) Conditions which obstruct real-time auto-gain tuning • Load is too small or large compared to rotor inertia. (5) Gradually increase Pr22 (Machine stiffness at real-time auto-gain tuning) when you want to obtain better response. Pr21 Press Press . • When speed condition of 100[r/min] or more and acceleration/deceleration condition of 2000[r/min] per 1[s] are not maintained for 50[ms]. In these cases. set up 7. Also the driver automatically suppress the vibration caused by the resonance with an adaptive filter. Load (less than 3 times or more than 20 times) inertia • Load inertia change too quickly. Action • Acceleration/deceleration torque is smaller than pattern unbalanced weighted/viscous friction torque. (default values) .60 and 61 of Preparation). 5sec). Caution Real-time auto-gain tuning may not be executed properly under the conditions described in the right table. then turn on the driver power. Writing to EEPROM Press Press . Finish Writing error occurs Return to SELECTION display after writing finishes. Setup of parameter. • Motor is running continuously at low speed of 100 [r/min] or lower. (Here match to Pr21. Pr22 Match to Pr22 with Press . . Numeral increases with and decreases with Press .240. • When the motor is used for vertical axis. (refer to P. (3) Set up Pr22 (Machine stiffness at real-time auto-gain tuning) to 0 or smaller value. referring to "Structure of each mode"(P. (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. • Acceleration/deceleration is slow (2000[r/min] per 1[s] or low). Position/Velocity command Action command under actual condition Auto-gain setup Position/Velocity control Auto-filter adjustment Adaptive Filter Torque command Current control Motor current Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver Applicable Range • Real-time auto-gain tuning is applicable to all control modes. or execute a manual gain tuning.) Press . . Setup of parameter. • When vibration occurs during gain switching. . Writing starts (temporary display). (6) Write to EEPROM when you want to save the result. Default is 1. (10 [s] or less) • Machine stiffness is extremely low. Writing completes 106 . use the normal mode auto-gain tuning (refer to P. 0 <1> 2 3 4 5 6 7 Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) – no change normal mode slow change rapid change no change vertical axis mode slow change rapid change no-gain switching mode no change Match to the parameter No. validate the setup of Pr23 (Setup of adaptive filter mode). (4) Turn to Servo-ON to run the machine normally. • When resonance might give some effect.236 of Adjustment). • When the varying degree of load inertia is large. Change the setup with Press . shows by keep pressing (approx. . .Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine in real time.

refer to P. (Reset of inertia estimation and adaptive action) 4) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode setup) to 0.246. For details of notch filters. • When the motor speed variation with high frequency factor is generated due to non-linear factor such as backlash. 1) Write the parameters which have given the normal operation into EEPROM. The adaptive filter automatically estimates a resonance frequency out of vibration component presented in the motor speed in motion. Conditions which obstruct adaptive filter action • When resonance frequency is lower than 300[Hz]. In these cases. Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to extreme values. Following parameters are automatically adjusted. 2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). "Invalidation of adaptive filter" of Adjustment. The adaptive filter may not operate property under the following conditions. Resonance point Load Command pattern Connection and Setup of Position Control Mode <Note> Even though Pr23 is set up to other than 0. and set up notch filter manually. until load inertia is identified (estimated) or adaptive filter is stabilized. the load inertia estimation will be invalidated. when you select torque control while you set up Pr02 (Control mode setup) to 4 and 5. however. 107 . auto-gain tuning will be executed using the latest data as initial values. however. (2) When abnormal noise and oscillation occur. or when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). you cannot change parameters which are automatically adjusted. Refer to P. the adaptive filter frequency before mode switching will be held. there are other cases when adaptive filter is automatically invalidated. you may experience abnormal noise and oscillation right after the first Servo-ON.[Connection and Setup of Position Control Mode] Adaptive Filters The adaptive filter is validated by setting up Pr23 (Setup of adaptive filter mode) to other than 0. and becomes 0 in other cases. "Suppression of Machine Resonance" of Adjustment. these are not failures as long as they disappear immediately. Parameters Which Are Automatically Set Up. Pr27 (Setup of instantaneous speed observer) will be invalidated automatically. take the following measures in possible order. When you turn on the power again. then set up other value than 0.235. 10 11 12 13 14 18 19 1A 1B 1C 20 2F Title 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 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 Inertia ratio Adaptive filter frequency Also following parameters are automatically set up. (6) During the trial run and frequency characteristics measurement of "PANATERM®". (3) Among the results of real-time auto-gain tuning. PrNo. hence reduces the resonance vibration. • While resonance peak is low or control gain is small and when no affect from these condition is given to the motor speed. If they persist over 3 reciprocating operations. Take the same measures as the above in these cases. (4) When you validate the real-time auto-gain tuning. 3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0. Cautions (1) After the start-up. then removes the resonance components from the torque command by setting up the notch filter coefficient automatically. • When multiple resonance points exist. Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. 15 16 27 30 31 32 33 34 35 36 Title Velocity feed forward Time constant of feed forward filter Setup of instantaneous speed observer 2nd gain setup 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching Position gain switching time 2nd mode of control switching Setup value 300 50 0 1 10 30 50 33 20 0 <Notes> • When the real-time auto-gain tuning is valid. use 1st notch filter (Pr1D and 1E) and 2nd notch filter (Pr28-2A) to make measures against resonance according to the manual adjusting procedures. • When acceleration/deceleration is very extreme such as more than 30000 [r/min] per 1 [s]. PrNo. (5) The adaptive filter is normally invalidated at torque control. • Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain Tuning Mode) is 1 to 6.

Setup value 0 Content Positional deviation Motor rotational speed Torque output Control mode I/O signal status Error factor/history Software version Alarm Regenerative load factor Over-load factor Inertia ratio Sum of feedback pulses Sum of command pulses External scale deviation Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" Power -ON <1> 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Flashes (for approx. Use this parameter to confirm the address of the axis in numbers. • You cannot change the setup of Pr00 with other means than rotary switch. you can select either the 1st or the 2nd with control mode switching input (C-MODE). * Control mode 1st mode 2nd mode Position – Velocity – Torque – Position Velocity Position Torque Velocity Torque Full-closed – **1) When you set up the combination mode of 3. • The setup value of this parameter has no effect to the servo action.51 "Setup of Parameter and Mode" of Preparation. 4 or 5.Parameter Setup Parameters for Functional Selection Standard default : < > PrNo. have a suffix of "*". 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. * • The address is determined by the setup value of rotary switch (0 to F) of the front panel at power-on. 108 . 00 Title Address Setup range 0 to 15 <1> Function/Content In the communication with the host via RS232/485 for multi-axes application. C-MODE open 1st close 2nd open 1st 10ms or longer 10ms or longer <Notes> • For parameters which No. 2 sec) during initialization Setup value of Pr01 For details of display. refer to P. • This value becomes the axis number at serial communication. changed contents will be validated when you turn on the control power. When C-MODE is shorted. the 1st mode will be selected. Don't enter commands 10ms before/after switching. the 2nd mode will be selected. When C-MODE is open. 02 Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> You can set up the control mode to be used. it is necessary to identify which axis the host is communicating.

03 Title Selection of torque limit Setup range 0 to 3 <1> Setup value 0 <1> 2 3 Function/Content You can set up the torque limiting method for CCW/CW direction. (CN X5. For details. the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel inhibition). In this case. Setup value 0 1 2 <3> 4 5 6 7 8 9 Signal of SP Relation between the output voltage level and the speed 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1.5V / 3000 r/min Motor actual speed Command speed 109 . you can use this over-travel inhibiting function to inhibit the motor to run to the direction specified by limit switches which are installed at both ends of the axis. CW direction Work CCW direction Driver Servo motor Limit switch Limit switch Connection and Setup of Position Control Mode CCWL CWL Setup value CCWL/CWL input 0 Valid <1> 2 Invalid Valid Action Input Connection to COM– CCWL Close Normal status while CCW-side limit switch is not activated. and over-travel inhibit function will be invalidated. When you turn off the limit switch on upper side of the work at vertical axis application. so that you can prevent the work load from damaging the machine due to the over-travel. CCWTL and CWTL will be limited by Pr5E (1st torque limit setup).[Connection and Setup of Position Control Mode] Standard default : < > PrNo. the driver trips with Err38 (Overtravel inhibit input error) judging that this is an error. refer to the explanation of Pr66. At the torque control. 3. the work may repeat up/down movement because of the loosing of upward torque. When Pr04 is set to 0 and over-travel inhibit input is entered. With this input. set up Pr66 to 2. <Cautions> 1. 07 Selection of speed monitor (SP) 0 to 9 <3> You can set up the content of analog speed monitor signal output (SP : CN X5. CCW direction permitted.5V / 3000 r/min 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1. Both CCWL and CWL inputs will be ignored.Pin-9) Open Inhibits CW direction. or limit with the host controller instead of using this function. Pr5E becomes the limiting value for CCW/CW direction regardless of the setup of this parameter. permits CW direction. set with Pr5E When GAIN/TL-SEL input is shorted. you can set up the action of over-travel inhibit input. Pin43) and the relation between the output voltage level and the speed. Err38 (Over-travel inhibit input protection) is triggered when either one of the connection of CW or CCW inhibit input to COM– become open. CW CCW X5 CWTL : Pin-18 X5 CCWTL : Pin-16 Pr5E is a limit value for both CCW and CW direction Set with Pr5F Set with Pr5E When GAIN/TL-SEL input is open. In linear drive application. set with Pr5F 04 * Setup of over-travel inhibit input 0 to 2 <1> When the setup value is 0. CWL Close Normal status while CW-side limit switch is not activated. (CN X5. When both of CCWL and CWL inputs are opened while Pr04 is set to 0. 2.Pin-9) Open Inhibits CCW direction.

2500P/r incremental encoder is used. Content Setup value Use as an absolute encoder.92. Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque 09 Selection of TLC output 0 to 8 <0> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40).5%. "Selection of TCL and ZSP outputs". "Selection of TCL and ZSP outputs". Pin42). but ignore the multi-turn counter over.Parameter Setup Standard default : < > PrNo. 08 Title Selection of torque monitor (IM) Setup range 0 to 12 <0> Function/Content You can set up the content of the analog torque monitor of the signal output (IM : CN X5. 0A Selection of ZSP output 0 to 8 <1> You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12). refer to the table of P. 2 <Caution> This parameter will be invalidated when 5-wire. and the relation between the output voltage level and torque or deviation pulse counts. refer to the table of P. Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 You can set up the using method of 17-bit absolute encoder.92. Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 Note For details of function of each output of the left. You can set up the communication speed of RS232. • Error of baud rate is ±0. 0 Use as an incremental encoder. <1> Use as an absolute encoder. Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 Note For details of function of each output of the left. 0B * Setup of absolute encoder 0 to 2 <1> 0C * Baud rate setup of RS232 communication 0 to 5 <2> 110 .

10 Title 1st gain of position loop 1st gain of velocity loop Setup range 0 to 3000 A to C-frame:<63>* D to F-frame:<32>* 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* Unit 1/s Function/Content You can determine the response of the positional control system. You might expect to improve the overshoot or noise caused by larger setup of above velocity feed forward. faster you can dog-in deviation at stall to 0. smaller positional deviation and better response you can obtain. When you change manually. You can set up the integration time constant of velocity loop. • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. You can set up the time constant of the 1st delay filter inserted in the torque command portion. faster the positioning time you can obtain. Smaller the setup. Higher the setup. larger the time constant you can obtain so that you can decrease the motor noise.5%. You can determine the response of the velocity loop. invalidate the real-time auto-gain tuning first then set. Higher the setup.01ms feed forward filter <50>* <Notes> • For parameters which No. however. 0D Title Baud rate setup of RS485 communication Setup range 0 to 5 <2> Setup value 0 1 <2> Function/Content You can set up the communication speed of RS485. Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. however this might cause an overshoot. too high setup may cause oscillation. The integration will be maintained by setting to "999". Baud rate 2400bps 4800bps 9600bps • Error of baud rate is ±0. In order to increase the response of overall servo system by setting high position loop gain. in 6 steps. you need higher setup of this velocity loop gain as well. have a suffix of "*".1% forward to 2000 <300>* Time constant of 0 to 6400 0. referring to P. use the console or the "PANATERM®". Connection and Setup of Position Control Mode <Note> You can still change parameters via communication even though this setup is 1. You can set up the velocity feed forward volume at position control. the setup unit of Pr11 becomes (Hz).[Connection and Setup of Position Control Mode] Standard default : < > PrNo. Use with a default value of 0 in normal operation. To return this parameter to 0. Note that too high setup may cause oscillation. 11 Hz 12 1st time constant of velocity loop integration 1st filter of speed detection 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* 0 to 5 <0>* ms 13 – 14 15 16 1st time constant of 0 – 2500 0.01ms torque filter A to C-frame:<65>* D to F-frame:<126>* Velocity feed –2000 0. <Caution> When the inertia ratio of Pr20 is set correctly. Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. The integration effect will be lost by setting to "1000". Higher the gain of position loop you set.239. You can set up the time constant of the low pass filter (LPF) after the speed detection. "Release of Automatic Gain Adjusting Function" of Adjustment. response becomes slow. Baud rate Setup value 19200bps 3 38400bps 4 57600bps 5 * 0E * Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. You might expect suppression of oscillation caused by distortion resonance. You can set up the time constant of 1st delay filter inserted in velocity feed forward portion. 111 . However. changed contents will be validated when you turn on the control power.

the load inertial will be automatically estimated after the preset action. however it might cause an unstable operation. refer to P. <Caution> If the inertia ratio is correctly set. For details of switching the 1st and the 2nd gain or the time constant. You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.226. Pr20=(load inertia/rotor inertia) X 100 [%] When you execute the normal auto-gain tuning. larger the notch width you can obtain. When vibration occurs at gain switching. velocity loop. set up this to "7". The function and the content of each parameter is as same as that of the 1st gain and time constant.Parameter Setup Standard default : < > PrNo. When the inertia ratio of Pr20 is larger than the actual. the setup unit of Pr11 and Pr19 becomes (Hz). The inertia ratio will be estimated at all time while the real-time auto-gain tuning is valid. the setup unit of the velocity loop gain becomes smaller. You can set up the action mode of the real-time auto-gain tuning. and this result will be reflected in this parameter. Use with default setup in normal operation. The notch filter function will be invalidated by setting up this parameter to "1500". With higher setup such as 3 or 6. use with the setup of 4 to 6. the setup unit of the velocity loop gain becomes larger. Use 1 or 4 for normal operation. and when the inertia ratio of Pr20 is smaller than the actual. "Adjustment". Setup value 0 <1> 2 3 4 5 6 7 Real-time auto-gain tuning Invalid Normal mode Varying degree of load inertia in motion – Little change Gradual change Rapid change Little change Gradual change Rapid change Little change 21 Setup of real-time auto-gain tuning 0 to 7 <1> – Vertical axis mode No gain switching 112 . and its result will be saved to EEPROM every 30 min. Higher the setup. 18 Title 2nd gain of position loop Setup range Unit Function/Content Position loop.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> 1st notch width selection 0 to 4 <2> – 1E You can set up the frequency of the 1st resonance suppressing notch filter. 19 1A 1B 1C 1D 0 to 3000 1/s A to C-frame:<73>* D to F-frame:<38>* 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* – 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0.For the vertical axis application. Parameters for Auto-Gain Tuning Standard default : < > PrNo. the driver respond quickly to the change of the inertia during operation. 20 Title Inertia ratio Setup range 0 to 10000 <250>* Unit % Function/Content You can set up the ratio of the load inertia against the rotor (of the motor) inertia. speed detection filter and torque command filter have their 2 pairs of gain or time constant (1st and 2nd).

referring to P. Setup value <0>* 1 Instantaneous speed observer setup Invalid Valid 0 to 7 <0> – You need to set up the inertia ratio of Pr20 correctly to use this function.. 15 low response high <Caution> When you change the setup value rapidly. When the motor movement exceeds the setup value. software limit protection of Pr34 will be triggered. the gain changes rapidly as well. to other than 0 (valid)..1 <10> revolution command input range. 113 . Connection and Setup of Position Control Mode 23 Setup of adaptive filter mode 0 to 2 <1> – 24 Selection of damping filter switching 0 to 2 <0> – 25 Setup of an action at normal mode auto-gain tuning 26 Setup of software limit Setup of instantaneous speed observer 27 Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e.239. when VS-SEL is opened. You can set up the action of the adaptive filter.. CCW : 1st damping filter selection (Pr2B. 2C) when VS-SEL is close. Increase the setup gradually watching the movement of the machine. 2C).) 1 : You can select either 1st or 2nd with damping control switching input (VS-SEL). 2E).14. 1st damping filter selection (Pr2B. 0 to 1 – With a high stiffness machine. the adaptive filter frequency of Pr2F will be reset to 0. You can set up the movable range of the motor against the position 0 to 1000 0.. If you set up Pr21. you can achieve both high response and <0>* reduction of vibration at stall.. This parameter is invalid with setup value of 0. "Release of Automatic Gain Adjusting Function" of Adjustment.) When the setup is 0.) <Caution> When you set up the adaptive filter to invalid.[Connection and Setup of Position Control Mode] Standard default : < > PrNo. CW : 2nd damping filter selection (Pr2D. and this may give impact to the machine. The adaptive filter is always invalid at the torque control mode. Pr27 becomes 0 (invalid) <Notes> • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. invalidate the real-time auto-gain tuning first then set. 22 Title Selection of machine stiffness at real-time auto-gain tuning Setup range 0 to 15 A to C-frame: <4> D to F-frame: <1> Unit – Function/Content You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid. by using this instantaneous speed observer.. the motor turns 2 revolutions to CCW and 2 revolutions to CW. 1. low machine stiffness high low servo gain high Pr22 0. 2E) 2 : You can switch with the position command direction.. You can set up the action pattern at the normal mode auto-gain tuning.. 0 : No switching (both of 1st and 2nd are valid. real-time auto-gain tuning mode setup..g. You can select the switching method when you use the damping filter.. 0 : Invalid 1 : Valid 2 : Hold (holds the adaptive filter frequency when this setup is changed to 2.. 2nd damping filter selection (Pr2D. When you change manually.

) This parameter will be automatically set and cannot be changed while the adaptive filter is valid. "Setup of adaptive filter mode" to 0) once. (Refer to P. and to larger value when you need faster action. Use with the setup of 0 in normal operation. The driver measures vibration at the load edge. The driver measures vibration at load edge. Refer to P. Refer to P.0 to 200. 114 . Setup frequency is 10.0 to 200.1Hz 2E Setup of 2nd damping filter –200 to 2000 <0> 0. larger the notch width you can obtain.0[Hz]–Pr2B =Pr2C=Pr2B You can set up the 2nd damping frequency of the damping control which suppress vibration at the load edge.1 [Hz]. While you set up Pr2D (2nd damping frequency). You can set up the 1st damping frequency of the damping control which suppress vibration at the load edge. Setup of 0-99 becomes invalid.0 [Hz]. You can set up the notch width of 2nd resonance suppressing filter in 5 steps. set this up to smaller value when torque saturation occurs. corresponding to the adaptive filter frequency. <Caution> < < Setup is also limited by 10.1[Hz]. Higher the setup. "Damping control" of Adjustment. the adaptive action starts taking the saved data in EEPROM as an initial value.1Hz 2F Adaptive filter frequency 0 to 64 <0> – <Notes> • For parameters which No.250. 5 to 48 Filter is valid. <Caution> When you need to clear this parameter to reset the adaptive action while the action is not normal. set this up to smaller value when torque saturation occurs. "Damping control" of Adjustment as well before using this parameter. (when Pr23 (Setup of adaptive filter mode) is other than 0.1Hz 2C Setup of 1st damping filter –200 to 2000 <0> 0.Use with the setup of 0 in normal operation.239. Setup unit is 0.234 of Adjustment. 29 – 2A 2B – 0. While you set up Pr2B (1st damping frequency). Setup unit is 0. "Damping control" as well before using this parameter.1Hz 2D 2nd damping frequency 0 to 2000 <0> 0. invalidate the adaptive filter (Pr23. The notch filter function is invalidated by setting up this parameter to "1500". "Damping control" of Adjustment. and to larger value when you need faster action. When you change manually. shallower the notch depth and smaller the phase delay you can obtain. "Release of Automatic Gain Adjusting Function" of Adjustment. and when the adaptive filter is valid at the next power-on. then validate again. <Caution> < < Setup is also limited by 10. Refer to P. have a suffix of "*".250. 28 Title 2nd notch frequency Selection of 2nd notch width Selection of 2nd notch depth 1st damping frequency Setup range 100 to 1500 <1500> 0 to 4 <2> 0 to 99 <0> 0 to 2000 <0> Unit Hz Function/Content You can set up the 2nd notch width of the resonance suppressing filter in 5 steps.Parameter Setup Standard default : < > PrNo. Setup of 0 to 99 becomes invalid. Refer to P. changed contents will be validated when you turn on the control power.250. The setup frequency is 10. You can set up the 2nd notch depth of the resonance suppressing filter.250. 49 to 64 Filter validity changes according to Pr22. referring to P. Refer to P. invalidate the real-time auto-gain tuning first then set.0[Hz]–Pr2D =Pr2E=Pr2D Displays the table No. Higher the setup.239. • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. This parameter will be saved to EEPROM every 30 minutes while the adaptive filter is valid. Use with default setup in normal operation.) 0 to 4 Filter is invalid. "Release of Automatic Gain Adjusting Function" of Adjustment as well.0[Hz].

Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig.243. PI is fixed when Pr03 (Torque limit selection) is 3. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative).243. 2nd gain selection when the motor actual speed exceeds the setup of Pr33 (1st level of control switching) and Pr34 (1at hysteresis of control switching) . 9 and 10. when Pr31 is set to 2 and Pr03 (Torque limit selection) is set to 3. Fixed to the 2nd gain. Gain switching condition 6 7 8 9 10 Fixed to the 1st gain. "Gain Switching Function" of Adjustment. while Pr31 is set to 3. below. 2nd gain selection when more than one command pulse exist between 166µs. Unit varies depending on the setup of Pr31 (1st mode of control switching) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. Definitions of Pr32 (Delay).) 2nd gain selection when the toque command variation is larger than the setups of Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching). Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5. 31 1st mode of control switching Setup value <0>* 1 2 *1 3 4 5 *2 *2 *2 *2 *2 *2 *2 *2 0 to 10 <0>* – You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. 2nd gain selection when the positional deviation counter value exceeds the setup of Pr60 (Positioning completer range). refer to P. Unit varies depending on the 0 setup of Pr31 (1st control switching 1st gain 2nd gain 1st gain mode).[Connection and Setup of Position Control Mode] Parameters for Adjustment (2nd Gain Switching Function) Standard default : < > PrNo. Switches to the 1st gain when no-position command status lasts for the setup of Pr32 [x 166 µs] and the speed falls slower than the setups of Pr33–34[r/min]. Fixed to the 1st gain. 2nd gain selection when the positional deviation is larger than the setups of Pr33 (1st control switching level) and Pr34 (1st hysteresis of control switching). 6. (Pr30 setup must be 1. "Gain Switching Function" of Adjustment. refer to P. 5. 32 1st delay time of control switching 1st level of control switching 0 to 10000 x 166µs <30>* 0 to 20000 <50>* – You can set up the delay time when returning from the 2nd to the 1st gain. You can set up the switching (judging) level of the 1st and the 2nd gains. 2nd gain selection when the gain switching input is turned on. 115 33 34 0 to 20000 1st hysteresis of control switching <33>* – . while Pr31 is set to 3 or 5 to 10. Pin27). 2nd gain selection when the command speed is larger than the setups of Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching). 30 Title Setup of 2nd gain Setup range 0 to 1 <1>* Unit – Setup value 0 <1>* Function/Content You can select the PI/P action switching of the velocity control or 1st/2nd gain switching. GAIN input Open with COM– Connect to COM– Action of velocity loop PI action P action Connection and Setup of Position Control Mode *2 For switching condition of the 1st and the 2nd. *1 Fixed to the 1st gain regardless of GAIN input. *2 For the switching level and the timing. Switches to the 2nd gain while the position command exists.

Parameter Setup
Standard default : < >

PrNo.
35

Title
Switching time of position gain

Setup range

Unit

Function/Content

0 – 10000 (setup You can setup the 166 166µs e.g.) Kp1(Pr10)>Kp2(Pr18) <20>* value +1) step-by-step switching 166 166 Kp1(Pr10) x 166µs time to the position 0 bold line 3 Pr35= 0 1 loop gain only at gain 2 2 switching while the 1st 1 3 thin line and the 2nd gain Kp2(Pr18) switching is valid. 1st gain 2nd gain 1st gain <Caution> The switching time is only valid when switching from small position gain to large position gain. 0 – 500 <300> r/min You can setup the JOG speed. Refer to P.75, "Trial Run"of Preparation.

3D

JOG speed setup

Parameters for Position Control
Standard default : < >

PrNo.
40

Title
Selection of command pulse input

Setup range
0 to 1 <0>

Function/Content
You can select either the photo-coupler input or the exclusive input for line driver as the command pulse input.

*

Content Setup value Photo-coupler input (X5 PULS1:Pin-3, PULS2:Pin-4, SIGN1:Pin-5, SIGN2:Pin-6) <0> Exclusive input for line driver (X5 PULSH1:Pin-44, PULSH2:Pin-45, SIGNH1:Pin-46, SIGNH2:Pin-47) 1 41

*
42

*

Command pulse rotational direction setup Setup of command pulse input mode

0 to 1 <0> 0 to 3 <1>

You can set up the rotational direction against the command pulse input, and the command pulse input format.
Pr41 setup value Pr42 setup value Command Signal (Command pulse (Command pulse pulse rotational input mode title direction setup) setup) format

CCW command
t1 t1

CW command
t1 t1

0 or 2

90˚ phase difference PULS 2-phase pulse SIGN (A + B-phase) CW pulse train PULS + CCW pulse train SIGN

A-phase B-phase
t1 t1 t3 t2 t2 t2 t2 t1 t1

B-phase advances to A by 90˚. B-phase delays from A by 90˚.

<0>

<1>

3

pulse train + Signal

PULS SIGN
t6

t4 t5

t4 t5

“H”
t1 t1

“L”
t6 t6 t1 t1 t6

0 or 2

90˚ phase difference PULS 2-phase pulse SIGN (A + B-phase) CW pulse train PULS + CCW pulse train SIGN

A-phase B-phase
t1 t1 t3 t2 t2 t2 t2 t1 t1

B-phase delays from A by 90˚. B-phase advances to A by 90˚.

1

1

3

pulse train + Signal

PULS SIGN
t6

t4 t5

t4 t5

“L”
t6 t6

“H”
t6

• Permissible max. input frequency, and min. necessary time width of command pulse input signal. Input I/F of PULS/SIGN signal Pulse train interface exclusive to line driver Line driver interface Pulse train interface Open collector interface Min. necessary time width Permissible max. t5 t6 t2 t3 t4 t1 input frequency 500ns 250ns 250ns 250ns 250ns 250ns 2Mpps 1µs 1µs 1µs 2µs 1µs 1µs 500kpps 5µs 2.5µs 2.5µs 2.5µs 2.5µs 2.5µs 200kpps

Make the rising/falling time of the command pulse input signal to 0.1µs or smaller.
116

[Connection and Setup of Position Control Mode]
Standard default : < >

PrNo.
43

Title
Invalidation of command pulse inhibit input

Setup range
0 to 1 <1>

Function/Content
You can select either the validation or the invalidation of the command pulse inhibit input (INH : CN X5 Pin-33). Setup value 0 <1> INH input Valid Invalid

Command pulse input will be inhibited by opening the connection of INH input to COM–. When you do not use INH input, set up Pr43 to 1 so that you may not need to connect INH (CN I/F Pin-33) and COM– (Pin-41) outside of the driver.
Connection and Setup of Position Control Mode

44

*

Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin<2500> 21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49). output division • Pr45=<0> (Default) You can set up the output pulse counts per one motor revolution for each OA and OB with the Pr44 setup. Therefore the pulse output resolution after quadruple can be obtained from the formula below. The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 • Pr45≠0 : The pulse output resolution per one revolution can be divided by any ration according to the formula below.
Pulse output resolution per one revolution Pr44 (Numerator of pulse output division) Pr45 (Denominator of pulse output division) x Encoder resolution

45

*

Denominator of pulse output division

0 to 32767 <0>

<Cautions> • The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and 10000 [P/r] for the 5-wire 2500P/r incremental encoder. • The pulse output resolution per one revolution cannot be greater than the encoder resolution. (In the above setup, the pulse output resolution equals to the encoder resolution.) • Z-phase is fed out once per one revolution of the motor. When the pulse output resolution obtained from the above formula is multiple of 4, Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to output with the encoder resolution, and becomes narrower than A-phase, hence does not synchronize with A-phase. when encoder resolution x A B Z Synchronized Pr44 is multiple of 4 Pr45 when encoder resolution x A B Z Not-synchronized Pr44 is not multiple of 4 Pr45

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.

117

Parameter Setup
Standard default : < >

PrNo.
46

Title
Reversal of pulse output logic

Setup range
0 to 3 <0>

Function/Content
You can set up the B-phase logic and the output source of the pulse output (X5 OB+ : Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation between the A-phase pulse and the B-phase pulse by reversing the B-phase logic. Setup value <0>, 2 1, 3 Pr46 <0> 1 2 *1 3 *1 A-phase (OA) B-phase(OB) non-reversal B-phase(OB) reversal B-phase logic Non-reversal Reversal Non-reversal Reversal Output source Encoder position Encoder position External scale position External scale position at motor CCW rotation at motor CW rotation

*

*1 The output source of Pr46=2, 3 is valid only at full-closed control. 48 1st numerator of electronic gear 49 2nd numerator of electronic gear Multiplier of electronic gear numerator Denominator of electronic gear Electronic gear function-related (Pr48 to 4B) 0 to 10000 Electronic gear (Command pulse division/multiplication) function • Purpose of this function <0> (1) You can set up any motor revolution and travel per input command unit. (2) You can increase the nominal command pulse frequency when you cannot 0 to 10000 obtain the required speed due to the limit of pulse generator of the host controller. <0> • Block diagram of electronic gear 0 to 17 <0> 0 to 10000 <10000>
Command pulse f *1 *1 1st numerator (Pr48) x2 2nd numerator (Pr49) Multiplier (Pr4A) Internal command + F Denominator (Pr4B) Feed back pulse (Resolution) 10000P/rev or 217P/rev – Deviation counter

4A

4B

• "Numerator" selection of electronic gear *1 : Select the 1st or the 2nd with the command electronic gear input switching (DIV : CN X5, Pin-28) DIV input open Selection of 1st numerator (Pr48) DIV input connect to COM– Selection of 2nd numerator (Pr49) The electronic gear ratio is set with the formula below. • when the numerator is <0> (Default) :Numerator (Pr48,49)X2Pr4A) is automatically set equal to encoder resolution, and you can set command pulse per revolution with Pr4B. Electronic gear ratio = • when numerator ≠ 0 : Electronic gear ratio = Encoder resolution Command pulse counts per one revolution (Pr48)
Multiplier of command Numerator of command div/multiple numerator (Pr4A) electronic gear (Pr48,49) x 2 Denominator of command electronic gear (Pr4B)

<Caution> In actual calculation of numerator (Pr48, Pr49) X2Pr4A, 4194304 (Pr4D setup value +1) becomes the max. value. (to be continued to next page)

118

[Connection and Setup of Position Control Mode]
Standard default : < >

PrNo.
48

Title
1st numerator of electronic gear 2nd numerator of electronic gear Multiplier of electronic gear numerator Denominator of electronic gear

Setup range

Function/Content

49

4A

Electronic gear function-related (Pr48-4B) (continued from the previous page) <Setup example when numerator ≠0> • When division/multiplication ratio=1, it is essential to keep the relationship in which the motor turns one revolution with the command input (f) of the encoder resolution. Therefore, when the encoder resolution is 10000P/r, it is required to enter the input of f=5000Pulses in case of duplicate, f=40000Pulse in case of division of 1/4, in order to turn the motor by one revolution. • Set up Pr48, 4A and 4B so that the internal command (F) after division / multiplication may equal to the encoder resolution (10000 or 217). F= f x Pr48 x 2Pr4A = 10000 or 217 Pr4B F : Internal command pulse counts per motor one revolution f : Command pulse counts per one motor revolution. 217 (131072) Pr4A Pr48 1 x 2 17 Pr4B 5000 Pr48 1 x 2 Pr4A 15 10000 (2500P/r x 4) Pr4A 0 Pr48 10000 x 2 Pr4B 5000 Pr4A Pr48 2500 x 2 0 Pr4B 10000
Connection and Setup of Position Control Mode

4B

Encoder resolution Example 1 when making the command input (f) as 5000 per one motor revolution Example 2 when making the command input (f) as 40000 per one motor revolution 4C Setup of primary delay smoothing 0 to 7 <1>

Pr4B 10000

Smoothing filter is the filter for primary delay which is inserted after the electronic gear. Purpose of smoothing filter • Reduce the step motion of the motor while the command pulse is rough. • Actual examples which cause rough command pulse are; (1) when you set up a high multiplier ratio (10 times or more). (2) when the command pulse frequency is low. You can set the time constant of the smoothing filter in 8 steps with Pr4C. Setup value 0 <1> 7 Time constant No filter function Time constant small Time constant large

4D

*
4E

Setup of FIR smoothing Counter clear input mode

0 to 31 <0> 0 to 2 <1>

You can set up the moving average times of the FIR filter covering the command pulse. (Setup value + 1) become average travel times. You can set up the clearing conditions of the counter clear input signal which clears the deviation counter. Clearing condition Setup value Clears the deviation counter at level (shorting for longer than 100µs)*1 0 <1> Clears the deviation counter at falling edge (open-shorting for longer than 100µs)*1 2 Invalid *1 : Min. time width of CL signal CL(Pin-30)

100µs or longer

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.

119

Parameter Setup
Parameters for Velocity and Torque Control
Standard default : < >

PrNo.
5E

Title
1st torque limit setup

Setup range
0 to 500 <500> *2 0 to 500 <500> *2

Unit
%

Function/Content
You can set up the limit value of the motor output torque (Pr5E : 1st torque, Pr5F : 2nd torque). For the torque limit selection, refer to Pr03 (Torque limit selection). This torque limit function limits the max. motor torque inside of the driver with parameter setup. In normal operation, this driver permits approx. 3 times larger torque than the rated torque instantaneously. If this 3 times bigger torque causes any trouble to the load (machine) strength, you can use this function to limit the max. torque. • Setup value is to be given in % against the rated torque. • Right fig. shows example of 150% setup with Pr03=1. • Pr5E limits the max. torque for both CCW and CW directions.
torque [%] CCW 300(Max.) when Pr5E=150 200 100 (Rated)
100 200 300

5F

2nd torque limit setup

%

speed (Rating) (Max.)

CW

<Caution> You cannot set up a larger value to this parameter than the default setup value of "Max. output torque setup" of System parameter (which you cannot change through operation with PANATERM® or panel). Default value varies depending on the combination of the motor and the driver. For details, refer to P.57, "Setup of Torque Limit " of Preparation.

<Note> • For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver and the motor.

Parameters for Sequence
Standard default : < >

PrNo.
60

Title
Positioning complete(In-position) range

Setup range
0 to 32767 <131>

Unit
Pulse

Function/Content
You can set up the timing to feed out the positioning complete signal (COIN : CN X5, Pin-39). The positioning complete signal (COIN) will be fed out when the deviation counter pulse counts fall within ± (the setup value), after the command pulse entry is completed. The setup unit should be the encoder pulse counts at the position control and the external scale pulse counts at the full-closed control. • Basic unit of deviation pulse is encoder "resolution", and varies per the encoder as below. (1) 17-bit encoder : 217 = 131072 (2) 2500P/r encoder : 4 X 2500 = 10000 <Cautions> 1. If you set up too small value to Pr60, the time until the COIN signal is fed might become longer, or cause chattering at output. 2. The setup of "Positioning complete range" does not give any effect to the final positioning accuracy.

deviation pulses

Pr60

COIN

ON

Pr60

120

[Connection and Setup of Position Control Mode]
Standard default : < >

PrNo.
61

Title
Zero-speed

Setup range
10 to 20000 <50>

Unit
r/min

Function/Content
You can set up the timing to feed out the zero-speed detection output signal (ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min]. The zero-speed detection signal (ZSP) will be fed out when the motor speed falls below the setup of this parameter, Pr61. • The setup of P61 is valid for both CCW and CW direction regardless of the motor rotating direction. • There is hysteresis of 10 [r/min].
speed (Pr61+10)r/min CCW

(Pr61–10)r/min CW ZSP ON

Connection and Setup of Position Control Mode

63

Setup of positioning complete (In-position) output

0 to 3 <0>

You can set up the action of the positioning complete signal (COIN : Pin39 of CN X5) in combination with Pr60 (Positioning complete range). Setup value <0> 1 2 3 Action of positioning complete signal
The signal will turn on when the positional deviation is smaller than Pr60 (Positioning complete range) The signal will turn on when there is no position command and the positional deviation is smaller than Pr60 (Positioning complete range). The signal will turn on when there is no position command, the zero-speed detection signal is ON and the positional deviation is smaller than Pr60 (Positioning complete range). The signal will turn on when there is no position command and the positional deviation is smaller than Pr60 (Positioning complete range). Then holds "ON" status until the next position command is entered.

65

LV trip selection at main power OFF

0 to 1 <1>

You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). Setup value 0 Action of main power low voltage protection
When the main power is shut off during Servo-ON, Err13 will not be triggered and the driver turns to Servo-OFF. The driver returns to Servo-ON again after the main power resumption. When the main power is shut off during Servo-ON, the driver will trip due to Err13 (Main power low voltage protection).

<1>

66

*

Sequence at over-travel inhibit

0 to 2 <0>

<Caution> This parameter is invalid when Pr6D (Detection time of main power OFF)=1000. Err13 (Main power under-voltage protection) is triggered when setup of P66D is long and P-N voltage of the main converter falls below the specified value before detecting the main power shutoff, regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON" of Preparation as well. You can set up the running condition during deceleration or after stalling, while over-travel inhibit input (CCWL : Connector CN X5, Pin-9 or CWL : Connector CN X5, Pin-8) is valid Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop Deviation counter content After stalling Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration

<Caution> In case of the setup value of 2, torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop ).

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.
121

Parameter Setup
Standard default : < >

PrNo.
67

Title
Sequence at main power OFF

Setup range
0 to 9 <0>

Unit

Function/Content
When Pr65 (LV trip selection at main power OFF) is 0, you can set up, 1) the action during deceleration and after stalling 2) the clearing of deviation counter content after the main power is shut off. Setup value <0> 1 2 3 4 5 6 7 8 9 Action After stalling During deceleration DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear

68

Sequence at alarm

0 to 3 <0>

(DB: Dynamic Brake action) <Caution> In case of the setup value of 8 or 9, torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop). You can set up the action during deceleration or after stalling when some error occurs while either one of the protective functions of the driver is triggered. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold

(DB: Dynamic Brake action) <Caution> The content of the deviation counter will be cleared when clearing the alarm. Refer to P.43, "Timing Chart (When an error (alarm) occurs (at Servo-ON command status)" of Preparation. 69 Sequence at Servo-Off 0 to 9 <0> – You can set up, 1) the action during deceleration and after stalling 2) the clear treatment of deviation counter is set up. The relation between the setup value of Pr69 and the action/deviation counter clearance is same as that of Pr67 (Sequence at Main Power Off) Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at stall" of Preparation as well.

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.

122

and No resistor built-in capacitor handles all regenerative (A. = then compose the sequence so as the driver turns to Servo-OFF after the brake is actually activated. or time lapse till the motor speed falls below 30r/min. Both regenerative processing circuit and <3> regenerative protection are not activated. • Set up to prevent a micro-travel/ drop of the motor (work) due to the action delay time (tb) of the brake • After setting up Pr6a > tb . 1% duty). 123 . "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well. Otherwise. • Set up to prevent the brake deterioration due to the motor running. and might cause burning. Pin-29) is to when external brake release signal (BRK-OFF : CN X5. <Remarks> Install an external protection such as thermal fuse when you use the external regenerative resistor. Regenerative processing circuit is activated. when regenerative 1 External resistor processing circuit is activated and its active ratio exceeds 10%. or to separate this built-in regenerative resistor and externally install the regenerative resistor (between RB1 and RB2 of Connector CN X2 in case of A to D-frame. 6B Setup of mechanical brake action at running 0 to 100 <0> 2ms You can set up time from when detecting the off of Servo-ON input signal (SRV-ON : CN X5. tb of the right fig. between P and B2 of terminal block in case of E.44. Pin-10 and 11) turns off. while the motor turns to servo off during the motor in motion. B-frame) power. B-frame <3> for C to F-frame <0> – Refer to P. "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. will be a shorter one of either Pr6B setup time. 2 External resistor but no regenerative over-load protection is triggered. the regenerative resistor might be heated up abnormally and result in burnout. • At Servo-OFF during the motor is running. D.[Connection and Setup of Position Control Mode] Standard default : < > PrNo. SRV-ON BRK-OFF actual brake ON release tb energized nonenergized 30 r/min OFF hold motor energization 6C * Selection of external regenerative resistor 0 to 3 for A. Pin-10 and 11) turns off to when the motor is de-energized (Servo-free). SRV-ON BRK-OFF actual brake ON release release tb OFF hold hold nonenergized Pr6A motor energization energized Connection and Setup of Position Control Mode Refer to P. 6A Title Setup of mechanical brake action at stalling Setup range 0 to 100 <0> Unit 2ms Function/Content You can set up the time from when the brake release signal (BRK-OFF : CN X5. Don't touch the external regenerative resistor. External regenerative resistor gets very hot. never to set up other value than 0. Setup value Regenerative resistor to be used <0> (C. With this parameter. F-frame). when the motor turns to Servo-OFF while the motor is at stall. The driver trips due to regenerative overload protection (Err18).45. E and Built-in resistor F-frame) Regenerative processing and regenerative resistor overload Regenerative processing circuit will be activated and regenerative resistor overload protection will be triggered according to the built-in resistor (approx. you can select either to use the built-in regenerative resistor of the driver. regardless of validation or invalidation of regenerative over-load protection. <Caution> When you use the built-in regenerative resistor.

124 . • The setup value of this parameter is limited by 115[%] of the motor rating. • You can set up the over-speed level. The main power off detection is invalid when you set up this to 1000. speed. 0 to 500 % You can set up the torque limit in case of emergency stop as below.2 times of the motor max. <25000> resolution • Set up with the encoder pulse counts at the position control and with the external scale pulse counts at the full-closed control. changed contents will be validated when you turn on the control power. • Use this with 0 setup in normal operation. Set up other value only when you need to lower the over-load level. • Use this with 0 setup in normal operation. have a suffix of "*". <Caution> The detection error against the setup value is ±3 [r/min] in case of the 7-wire absolute encoder.2 times of the motor max. 72 Setup of over-load level 73 Setup of over-speed level 0 to 20000 <0> r/min <Notes> • For parameters which No. Set up other value only when you need to lower the over-speed level. 0 to 32767 256 x • You can set up the excess range of position deviation.Parameter Setup Standard default : < > PrNo. 6D Title Detection time of main power off Torque setup at emergency stop Setup range 35 to 1000 <35> Unit 2ms Function/Content * 6E 70 Setup of position deviation excess You can set up the time to detect the shutoff while the main power is kept shut off continuously. • The setup value of this parameter is limited by 1. 0 to 500 <0> % • You can set up the over-load level. and ±36 [r/min] in case of the 5-wire incremental encoder. speed by setting up this to 0. The overload level becomes 115 [%] by setting up this to 0. The over-speed level becomes 1. • During deceleration of over-travel inhibit with the setup 2 of Pr66 <0> (Sequence at over-travel inhibit input) • During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main power off) • During deceleration with the setup of 8 or 9 of Pr69 (Sequence at ServoOFF) Normal torque limit is used by setting this to 0. • Err24 (Error detection of position deviation excess) becomes invalid when you set up this to 0.

................................. 138 Trial Run by Connecting the Connector................................ 147 Parameters for Adjustment (2nd Gain Switching Function) ......... CN X5 ................... Interface Circuit ...................................................................................................... CN X5 ..........[Connection and Setup of Velocity Control Mode] page Control Block Diagram of Velocity Control Mode ................. of the Connector............ 127 Wiring Example to the Connector.......................................... 142 Parameters for Adjustment of Time Constant of Gains and Filters .................. 140 Outline ................. 152 Parameters for Sequence ............................... Output Signal and Pin No........................................... 149 Parameters for Position Control ......................... 140 140 140 141 141 Parameter Setup ....... CN X5 ...... 127 128 130 135 Trial Run (JOG Run) at Velocity Control Mode ........................................................ Adaptive Filter ......... 139 Real-Time Auto-Gain Tuning ......... 138 Inspection Before Trial Run .................................. 155 125 ....................................... 146 Parameters for Auto-Gain Tuning ..... Applicable Range ................................................................ 151 Parameters for Velocity/Torque Control .......... How to Operate .. Parameters Which are Automatically Set .............. CN X5 ............................. CN X5 ... Input Signal and Pin No.......................................................... of the Connector.......................................... 126 Wiring to the Connector.... 142 Parameters for Functional Selection ...............................................................................................................................

Pr1C 1st limit 2nd limit Pr5E Pr5F Motor Analog velocity command Input setup + Pr11 Pr12 Pr19 Pr1A SPR Selection Pr05 Deceleration Pr59 Sigmoid Pr5A Inertia ratio Pr20 Velocity detection filter 1st Pr13 2nd Pr1B Acceleration Pr58 16bit A/D Gain Pr50 Reversal Pr51 – Offset Pr52 Filter Pr57 1st proportion 1st integration 2nd proportion 2nd integration Internal velocity setup 1st speed Pr53 5th speed Pr74 Encoder 2nd speed Pr54 6th speed Pr75 3rd speed Pr55 7th speed Pr76 Actual speed monitor 4th speed Pr56 8th speed Pr77 Velocity detection Serial communication data Encoder reception process Division Feedback pulses Numerator Pr44 OA/OB/OZ Denominator Pr45 Control block diagram of velocity control mode Selection Pr46 . Pr14 2nd time const.126 Command speed monitor Torque command Velocity control Notch filter 1st frequency Pr1D 1st width Pr1E 2nd frequency Pr28 2nd width Pr29 Pr2A Pr2F 2nd depth Adaptation Command selection Acceleration/ Deceleration limit Torque filter 1st time const.

83kΩ GND 15 10kΩ 16 CCWTL/TRQR 3.7kΩ Selection 3 input of internal command speed Servo-ON input 29 SRV-ON Gain switching input 27 GAIN 28 INTSPD3 OA+ OAOB+ OBOZ+ OZ24 330Ω Speed zero clamp input 26 21 22 48 49 330Ω 330Ω Control mode switching input ZEROSPD 32 C-MODE Alarm clear input 31 A-CLR A-phase output B-phase output Z-phase output CCW over-travel inhibition input CW over-travel inhibition input Divider 9 CCWL 8 CWL 23 Servo-Ready output 35 S-RDY+ 34 S-RDY37 ALM+ GND CZ 25 36 Wiring Example of Velocity Control Mode Wiring Example to the Connector CN X5 Servo alarm output Wiring to the connector. CN X5 Positioning complete output VDC 12 to 24V 11 BRKOFF+ 10 BRKOFF40 TLC 20kΩ Brake release output ALM39 AT-SPEED+ 38 AT-SPEED- 19 Z-phase output (open collector) Torque in-limit output (Select with Pr09) 12 ZSP 41 COM- Zero speed detection output SPR/TRQR 14 (Select with Pr0A) Velocity command input (0 to ± 10V) CCW torque limit input(0 to ± 10V) CW torque limit input(-10 to 0V) 3.) [Connection and setup of velocity control mode] Connection and Setup of Velocity Control Mode 127 .83kΩ 17 GND 10kΩ CWTL 18 1kΩ SP 1kΩ 43 IM 42 Velocity monitor output Torque monitor output 50 FG CN X5 ( represents twisted pair.Selection 1 input of internal command speed Selection 2 input of internal command speed 7 COM+ 33 INTSPD1 30 INTSPD2 4.

4V or more in order to secure the primary current for photo-couplers.83kΩ 1kΩ 1kΩ 1kΩ 1kΩ ADC 2 20kΩ – + ADC 1 128 . SPR/TRQR(Pin-14). When the variable range of each input is made as –10V to +10V. or open collector output transistors. CN X5 Interface Circuit Input Circuit SI Connection to sequence input signals • Connect to contacts of switches and relays.83kΩ +3. 12 to 24V 7 COM+4. refer to the right Fig. • When you compose a simple command circuit using variable resistor(VR) and register R. CCWTL (Pin-16) and CWTL (Pin-18). For input impedance of each input. use the switches and relays for micro current to avoid contact failure. (1)ADC1 : 16 bit (SPR/TRQR).Wiring to the connector.7kΩ SRV-ON etc. connect as the right Fig. • A/D converter resolution of each command input is as follows. R with 200Ω. (including 1bit for sign).3V – + 3. 1/2W or larger.3V CCWTL 16 10kΩ R –12V CWTL 18 10kΩ 17 GND – + 3. CWTL). 1/2W or larger.7kΩ SRV-ON etc. • Max. Relay 12 to 24V 7 COM+4. B-characteristics. permissible input voltage to each input is ±10V. • When you use contact inputs. use VR with 2kΩ. • Make the lower limit voltage of the power supply (12 to 24V) as 11. ±10V (2)ADC2 : 10 bit (CCWTL. AI Analog command input • The analog command input goes through 3 routes. shows. 0 to 3.3V SPR/TRQR 14 20kΩ +12V R VR 15 GND +3.

25 represents twisted pair. rating 30V. • These outputs are not insulated. • At the host side. and the one which is common to – side of the control power supply (COM–). • If a recommended primary current value of the photo-coupler is 10mA. This output is not insulated. since the pulse width of the Z-phase signal is narrow. decide the resistor value using the formula of the right Fig. B and Z-phase) in differential through each line driver. (2) Torque monitor output (IM) With a relation of 3V/rated torque (100%). and connect to relays or photo-couplers. due to the Darlington connection of the output or. 50mA For the recommended primary current value. 1V at transistor-ON.5[V] 10 Max. Max. the resolution converted to speed is 8r/min/16mV. represents twisted pair. • There are two types of output. 12 to 24V VDC SO2 ZSP. rating 30V. the resolution converted to torque is 0. refer to the data sheet of apparatus or photo-coupler to be used. the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or • Output signal width is ±10V. 50mA 19 CZ High speed photo-coupler (TLP554 by Toshiba or equivalent) 25 GND AO Analog monitor output • There are two outputs. external 42 IM 1kΩ • The output impedance is 1kΩ. Install toward the direction as the fig. 330Ω) between line receiver inputs without fail. • There exists collector to emitter voltage.4%/12mV. <Resolution> (1) Speed monitor output (SP) With a setup of 6V/3000r/min (Pr07=3). TLC 41 COM– R [k ] = Ω VDC[V] – 2. SO1 ALM+ etc. Note that normal TTL IC cannot be directly connected since it does not meet VIL. receive these in line receiver. Install a terminal resistor (approx. PO2 Open collector output • Feeds out the Z-phase signal among the encoder signals in open collector. • Receive this output with high-speed photo couplers at the host side. ALM– etc. VCE (SAT) of approx. Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND to be connected. one which emitter side of the output transistor is independent and is connectable individually.[Connection and setup of velocity control mode] Output Circuit SO1 SO2 Sequence output circuit • The output circuit is composed of open collector transistor outputs in the Darlington connection. 21 AM26LS31 or equivalent A OA+ OA– OB+ OB– OZ+ OZ– 22 48 49 23 24 B Z GND Connect signal ground of the host and the driver without fail. 129 43 SP 1kΩ . Connection and Setup of Velocity Control Mode PO1 Line driver (Differential output) output AM26LS32 or equivalent • Feeds out the divided encoder outputs (A. shows without fail.

of the Connector.13 and 14) 0–2 close 2nd gain selection (Pr18. SI P. 0. • The power capacity varies depending on a composition of I/O circuit. ZERPSPD is invalid. the Full-closed 1st damping filter (Pr2B.128 Velocity/ Torque control • Becomes to an input of damping control switching (VS-SEL). • While Pr24 (Damping filter switching selection) is 1. • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1. Default is "Emergency stop with dynamic brake". CN X5 Input Signal and Pin No.5A or more is recommended. • For details of 2nd gain switching function. Pr2E) control will be validated when you connect this input to COM–. Default is "Emergency stop with dynamic brake". Pr2C) will be validated when you open this input.1A. • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1. • Connect this so as to make the connection to COM– open when the moving portion of the machine over-travels the movable range toward CW.(Pr66=0) • Use this input to inhibit a CCW over-travel (CCWL). • Becomes to a speed-zero clamp input (ZEROSPD).243 "Gain Switching Function" of Adjustment.11.128 Speed zero clamp input 26 ZEROSPD SI P.128 130 .Default is "Invalid (1)". and the 2nd damping filter (Pr2D. • You can select the action when the CWL input is validated with the setup of up Pr66 (Sequence at over-travel inhibit). • Use this input to inhibit a CW over-travel (CWL).Default is "Invalid (1)".open when the moving portion of the machine over-travels the movable range toward CCW. Content Pr06 Connection to COM– ZEROSPD input is invalid. close • In case Pr06 is 2 at torque control. and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM–.19. CN X5 Input Signals (common) and Their Functions Title of signal Power supply for control signal (+) Power supply for control signal (-) CW over-travel inhibit input Pin No. 7 41 Symbol COM+ COM– Function • Connect + of the external DC power supply (12 to 24V).1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid • Input of torque limit switching (TL-SEL) • Pr5E (Setup of 1st torque limit) will be validated when you 3 – open this input.(Pr66=0) • Function varies depending on the control mode. • Connect this so as to make the connection to COM. • You can select the action when the CCWL input is validated with the setup of Pr66 (Sequence at over-travel inhibit). Content Pr03 Pr30 Connection to COM– open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 open 1st gain selection (Pr10. Position/ Gain switching input or Torque limit switching input TL-SEL 27 GAIN • Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit). I/F circuit – – 8 CWL SI P.Wiring to the connector. refer to P. • Use the power supply voltage of 12V ± 5% – 24V ± 5% • Connect – of the external DC power supply (12 to 24V). 0 – Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW.12.128 CCW over-travel inhibit input 9 CCWL SI P.

"Numerator selection of command scaling" Velocity control • Input of internal speed selection 3 (INTSPD3). Pin-14) Analog speed command (CN X5. Pin-14) Analog speed command (CN X5. • You can switch the numerator of electronic gear. <Caution> 1. you can switch the numerator of electronic gear from Pr48 (1st numerator of electronic Position/ Full-closed gear) to Pr49 (2nd numerator of electronic gear) • For the selection of command division/multiplication. • You can make up to 8-speed setups combining INH/ INTSPD1 and CL/INTSPD2 inputs. Internal command speed selection 3 input 28 Symbol INTSPD3 Function • Function varies depending on the control mode.[Connection and setup of velocity control mode] Title of signal Pin No. Internal/external switching of speed setup 0 Analog speed command (CN X5.131. Pin-14) Analog speed command (CN X5. Pin-14) 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) Analog speed command (CN X5. Pin-14) 3 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) 4th speed of speed setup (Pr56) 5th speed of speed setup (Pr74) 6th speed of speed setup (P75) 7th speed of speed setup (Pr76) 8th speed of speed setup (Pr77) open short open short open short open short open open short short open open short short open open open open short short short short 131 . SI P.128 Torque control • This input is invalid. allow 100ms or longer pause before entering the pulse command. "Selection of Internal Speed". 2 sec after power-on. and current to the motor will be shut off. (see P.) 2. I/F circuit SI P.After shifting to Servo-ON.Servo-ON input becomes valid approx. • Turns to Servo-OFF status by opening connection to COM–. "Timing Chart" of Preparation. Pin-14) 1 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) 4th speed of speed setup (Pr56) 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) 4th speed of speed setup (Pr56) 2 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) Analog speed command (CN X5. Pin-14) Analog speed command (CN X5.Never run/stop the motor with Servo-ON/OFF. • You can select the dynamic brake action and the deviation counter clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF).128 Connection and Setup of Velocity Control Mode • Selection of Internal Speed Connector Pin No. of X5 Pin-33 Pin-30 Pin-28 INTSPD1(INH) INTSPD2(CL) INTSPD3(DIV) Pr05. For details of setup.42. Pin-14) Analog speed command (CN X5. • By connecting to COM–. Servo-ON input 29 SRV-ON • Turns to Servo-ON status by connecting this input to COM–. 3. Pin-14) Analog speed command (CN X5. Pin-14) Analog speed command (CN X5. refer to the table of P. refer control to the table of next page.

For details. • You can switch the control mode as below by setting up Pr02 (Control mode setup) to 3-5. Alarm clear input 31 A-CLR • You can release the alarm status by connecting this to COM– for more than 120ms.131. "Protective Function " of When in Trouble. • You can select the clearing mode with Pr4E (Counter clear input mode). refer to the table in P. • The deviation counter will be cleared at alarm clear.252. Torque control • This input is invalid. "Selection of Internal Speed" of Velocity Control Mode.128 Velocity control • Selection 1 input of internal command speed (INTSPD1) •You can make up to 8-speed setups combining INH/INTSPD2 and CL/INTSPD3 inputs. Selection 1 input of internal command speed 33 INTSPD1 • Function varies depending on the control mode.Wiring to the connector. • Inhibition input of command pulse input (INH) • Ignores the position command pulse by opening the connection to COM– Position/ • You can invalidate this input with Pr43 (Invalidation of Full closed command pulse inhibition input) control Content Pr43 0 1(Default) INH is valid.128 Control mode switching input 32 C-MODE SI P. refer to the table of P. For details of the setup. • There are some alarms which cannot be released with this input. Torque control • This input is invalid. For details of setup. Pay an extra attention. Clears the counter of positional deviation and full-closed deviation only once by connecting CL to COM– from open status. INH is valid. 132 . Position/ Full-closed control Pr4E 0 Content Clears the counter of positional deviation and full-closed deviation while CL is connected to COM–. CN X5 Title of signal Pin No. refer to P. SI P. • You can clear the counter of positional deviation and full-closed deviation by connecting this to COM–.128 <Caution> Depending on how the command is given at each control mode. CL is invalid I/F circuit SI P. • Input (CL) which clears the positional deviation counter and full-closed deviation counter. "Selection of Internal Speed" of Velocity Control Mode.128 1 [Default] 2 Velocity control • Input of selection 2 of internal command speed (INTSPD2) • You can make up to 8-speed setups combining INH/ INTSPD1 and CL/INTSPD3 inputs. Pr02 setup 3 4 5 Open (1st) Position control Position control Velocity control Connection to COM– (2nd) Velocity control Torque control Torque control SI P.131. Selection 2 input of internal command speed 30 Symbol INTSPD2 Function • Function varies depending on the control mode. the action might change rapidly when switching the control mode with C-MODE.

0. Speed command input 14 Symbol SPR Pr02 Control mode 1 3 5 Velocity control Position/ Velocity Velocity/ Torque Function • Function varies depending on control mode. • Set up the speed limit (SPL) gain. . 1[LSB] = . offset and filter with. offset and filter of the Speed command with. 1 Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) I/F circuit AI P.3[mV] *Function becomes valid when the control mode with underline ( / is selected while the switching mode is used in the control mode in table. <Remark> Do not apply voltage exceeding ±10V to analog command input of SPR ) 133 . Function • Input of external speed command (SPR) when the velocity control is selected. ± 32767 (LSB) = ± 10[V]. • Set up the gain. 0 • Speed limit (SPL) will be selected.128 5 Velocity/ Torque Connection and Setup of Velocity Control Mode Others Other control • This input is invalid.[Connection and setup of velocity control mode] Input Signals (Analog Command) and Their Functions Title of signal Pin No. polarity. mode •The resolution of the A/D converter used in this input is 16 bit (including 1 bit for sign). Pr50 (Speed command input gain) Pr51 (Speed command input reversal) Pr52 (Speed command offset) Pr57 (Speed command filter setup) • Function varies depending on Pr5B (Selection of torque command) Pr5B Content • This input becomes invalid.

• Set up the gain and polarity of the com1 mand with. Pr02 2 4 5 Control mode Function Torque control • This input becomes invalid when the torque control Position/Torque is selected.9[V]. CCW-Torque limit input 16 Symbol CCWTL Pr02 Control mode Function • Function varies depending on Pr02 (Control mode setup). 23[mV] CW-Torque limit input 18 CWTL • Function varies depending on Pr02 (Control mode setup). Velocity/Torque • Limit the CCW-torque by applying positive voltage (0 to +10V) (Approx.9[V]. 0 • Torque command input (TRQR) will be selected.+3V/rated toque). I/F circuit AI P.128 • Becomes to the analog torque limit input to CW Position/Torque (CWTL). Velocity/Torque AI P. Function • Function varies depending on Pr5B (Selection of torque command) Pr5B Content This input becomes invalid. 1 [LSB] = = . 4 Velocity/Torque • Limit the CW-torque by applying negative voltage 5 (0 to –10V) (Approx.+3V/rated toque) Other Other control mode • Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up.128 2 4 Torque Control Position/Torque 5 Velocity/ Torque • Becomes to the analog torque limit input to CCW Position/Torque (CCWTL). Other Other control mode Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up. <Remark> Do not apply voltage exceeding ±10V to analog command input of CWTL and CCWTL 134 . 1 [LSB] = = *Function becomes valid when the control mode with underline ( / ) is selected while the switching mode is used in the control mode in table.. • Set up the gain and polarity of the command with. . • Becomes to the torque command input (TRQR). . 4 5 • Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). • Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). CN X5 Title of signal Pin No.Wiring to the connector. 23[mV] ± 511 [LSB] ± 11. ± 511 [LSB] ± 11.

overload alarm. • Output transistor turns ON when the driver is at normal status. • Output transistor turns ON when both control and main power are ON but not at alarm status. • You can set up the output timing of this signal with Pr6A (Setup of mechanical brake action at stall) and Pr6B (Setup of mechanical brake action at motion). and feeds out the zero speed detection signal. • Content of the output signal varies depending on Pr09 (Selection of TLC output).129 SO2 P. or signal intensity is not enough (adjustment on mounting is required). 135 . • Output of positioning complete (COIN) • The output transistor will turn ON when the absolute value of the position deviation pulse becomes smaller than the setup value of Pr60 (Positioning complete range). and turns OFF at alarm status.[Connection and setup of velocity control mode] Output signal and Pin No.2V.129 SO1 P.) • This signal shows that the driver is ready to be activated. • Default is 1. "Timing Chart" of Preparation. Valid only at the velocity and torque control. see the table below. refer to P42. • Alarm signal output The output transistor turns ON when either one of the alarms is triggered. see the table below. SO2 P. CN X5 Output Signals (Common) and Their Functions Title of signal External brake release signal Pin No 11 10 Symbol BRKOFF+ BRKOFF– Function • Feeds out the timing signal which activates the electromagnetic brake of the motor. • Turns the output transistor ON at the release timing of the electromagnetic brake. • Fan-lock alarm The output transistor turns ON when the fan stalls for longer than 1s. • Over-load alarm The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm.129 ZSP (COM–) TLC (COM–) • Content of the output signal varies depending on Pr0A (Selection of ZSP output). • Default is 1. and feeds out the torque in-limit signal. • You can select the feeding out method with Pr63 (Setup of positioning complete output). • In-speed (Speed coincidence) output The output transistor turns ON when the difference between the actual motor speed and the speed command before acceleration/deceleration reaches within the preset range with Pr61. over-regeneration alarm. • Battery alarm The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx. • Over-regeneration alarm The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection. • External scale alarm The output transistor turns ON when the external scale temperature exceeds 65°.ZSP output".129 SO1 P. I/F circuit SO1 P. 3.. AT-SPEED– Position control • Output of full-closed positioning complete (EX-COIN) • The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). "Selection of TLC. • For details. Valid only at the full-closed control. Velocity/ Torque control Zero-speed detection output signal Torque in-limit signal output 12 (41) 40 (41) • Output at-speed (speed arrival) (AT-SPEED) • The output transistor will turn ON when the actual motor speed exceeds the setup value of Pr62 (In-speed).129 Connection and Setup of Velocity Control Mode AT-SPEED+ • Function varies depending on the control mode. of the Connector. • For details. • This signal shows that the driver is in alarm status. • You can select the feeding out method with Pr63 (Setup of positioning complete output). For details. battery alarm.ZSP output". fan-lock alarm or external scale alarm. "Selection of TLC. • Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 8 • Torque in-limit output (Default of X5 TLC Pr09) The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON. • Zero-speed detection output (Default of X5 ZSP Pr0A) The output transistor turns ON when the motor speed falls under the preset value with Pr61.129 Servo-Ready output Servo-Alarm output Positioning complete (In-position) 35 34 37 36 39 38 S-RDY+ S-RDY– ALM+ ALM– SO1 P.

Wiring to the connector. • When the external scale is made as an output source. the signal sequence might not follow the above fig. B. (equivalent to RS422) • You can set up the division ratio with Pr44 (Numerator of pulse output division) and Pr45 (Denominator of pulse output division) • You can select the logic relation between A-phase and B-phase.129 <Note> • When the output source is the encoder • If the encoder resolution X Pr44 is multiple of 4. Z-phase will be fed out synchronizing with A-phase. and will not synchronize with A-phase because of narrower width than that of A-phase. Zphase) in differential. until the first Z-phase is fed out. Pr45 when the encoder resolution A B Z Pr44 is not multiple of 4. PO2 P. Pr45 In other case. when the encoder resolution A B Z synchronized Pr44 is multiple of 4. output frequency is 4Mpps (after quadrupled) I/F circuit PO1 P. When you use the pulse output as the control signal. rotate the motor one revolution or more to make sure that the Z-phase is fed out at least once before using. and the output source with Pr46 (Reversal of pulse output logic). CN X5 Output Signals (Pulse Train) and Their Functions Title of signal A-phase output Pin No 21 22 Symbol OA + OA – OB + OB – OZ + OZ – CZ Function • Feeds out the divided encoder signal or external scale signal (A. you can set up the interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase). • Max. Pr45 not-synchronized • In case of the 5-wire. the Z-phase width will be equal to the encoder resolution. • Ground for line driver of output circuit is connected to signal ground (GND) and is not insulated. 136 .129 B-phase output 48 49 Z-phase output 23 24 Z-phase output 19 • Open collector output of Z-phase signal • The emitter side of the transistor of the output circuit is connected to the signal ground (GND) and is not insulated. 2500P/r incremental encoder.

+ : positional command to CCW of motor position – : positional command to CW of motor position I/F circuit AO P. Torque 0. + : rotates to CCW – : rotates to CW AO P. • You can set up the scaling with Pr07 value. + : rotates to CCW – : rotates to CW • Feeds out the voltage in proportion to the command speed with polarity. Pr07 Control mode 0–4 Motor speed Command speed Function • Feeds out the voltage in proportion to the motor speed with polarity.25 Symbol GND Function • Signal ground • This output is insulated from the control signal power (COM–) inside of the driver.12 command – : generates CW torque Pr08 Content of signal Positional deviation • Feeds out the voltage in proportion to the positional deviation pulse counts with polarity.[Connection and setup of velocity control mode] Output Signals (Analog) and Their Functions Title of signal Torque monitor signal output Pin No 42 Symbol IM Function • The content of output signal varies depending on Pr08 (Torque monitor (IM) selection). • This output is connected to the earth terminal inside of the driver. + : generates CCW torque 11. I/F circuit – Frame ground 50 FG – 137 .129 Connection and Setup of Velocity Control Mode 5–9 Output Signals (Others) and Their Functions Title of signal Signal ground Pin No 13. + : positional command to CCW of Full-closed 6 –10 external scale position deviation – : positional command to CW of external scale position Speed monitor signal output 43 SP • The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection).15. • You can set up the scaling with Pr08 value. Function • Feeds out the voltage in proportion to the motor torque command with polarity. 17.129 1–5 • Feeds out the voltage in proportion to the fullclosed deviation pulse counts with polarity.

Trial Run (JOG run) at Velocity Control Mode Inspection Before Trial Run (1) Wiring inspection • Miswiring (Especially power input/motor output) • Short/Earth • Loose connection Power supply Display LED X3 (2) Check of power/voltage • Rated voltage X4 X5 (3) Fixing of the motor • Unstable fixing (4) Separation from Machine mechanical system (5) Release of the brake CN X6 X6 X7 Motor ground 138 .

"Parameter Setup" (Parameters for Velocity/Torque Control) 10)If the motor does not run correctly. and Stop with open 14 DC 10V 15 SPR/TRQR GND In case of one-directional operation In case of bi-directional operation (CW/CCW). and gradually increase from 0V to confirm the motor runs. 9) When you want to change the rotational speed and direction. COM–) 3) Enter the power to the driver. provide a bipolar power supply. 02 04 06 50 51 52 57 Title Setup value Setup of control mode 1 Invalidation of over-travel inhibit input 1 Selection of ZEROSPD input 1 Velocity command gain Set up Velocity command reversal as Velocity command offset required Setup of velocity command filter Run with ZEROSPD switch close. CN X5. Wiring Diagram 7 29 DC 12V – 24V 26 41 Parameter COM+ SRV-ON ZEROSPD COM– PrNo.68.152.[Connection and setup of velocity control mode] Trial Run by Connecting the Connector. Pin-14) to turn to Servo-ON and energize the motor. Connection and Setup of Velocity Control Mode Pr50 : Speed command input gain Pr51 : Speed command input reversal Refer to P. 0 5 Title of signal Servo-ON Speed zero clamp Monitor display +A – 139 . • Whether the rotational speed is per the setup or not. set up the following parameters again. refer to P. 4) Confirm the default values of parameters. Pin-15). correct the command voltage referring to P. Input signal status No. SPR (CN X5.74. "Display of Factor for No-Motor Running" of Preparation. 2) Enter the power (DC12-24V) to control signal (COM+. Pin-29) and COM– (CN X5. 8) If the motor does rotate at a micro speed with command voltage of 0. • Whether the motor stops with zero command or not. 7) Confirm the motor rotational speed in monitor mode. 6) Close the speed zero clamp input (ZEROSPD) and apply DC voltage between velocity command input . CN X5 1) Connect the CN X5. Pin-14) and GND (CN X5. "Automatic offset adjustment" of Preparation. or use with Pr06 = 3. 5) Connect the Servo-ON input (SRV-ON.

7 normal mode slow change 2. Default is 1. Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) – 0 no change <1>. Also the driver automatically suppress the vibration caused by the resonance with an adaptive filter. of Adjustment) Conditions which obstruct real-time auto-gain tuning • Load is too small or large compared to rotor inertia.60 and 61 of Preparation).5 rapid change 3. Setup of parameter. 5sec). . Lower the value (0 to 3) when you experience abnormal noise or oscillation. Setup value Insert the console connector to CN X6 of the driver.Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine in real time. . use the normal mode auto-gain tuning (refer to P.236 of Adjustment). (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. referring to "Structure of each mode"(P. (refer to P. Pr22 Match to Pr22 with Press . or execute a manual gain tuning. Writing to EEPROM Press Press . . set up 3 or 6. (5) Gradually increase Pr22 (Machine stiffness at real-time auto-gain tuning) when you want to obtain better response.6 • When the varying degree of load inertia is large. Numeral increases with and decreases with Press .240. (default values) . then turn on the driver power. Writing starts (temporary display). (3) Set up Pr22 (Machine stiffness at real-time auto-gain tuning) to 0 or smaller value. • Acceleration/deceleration is slow (2000[r/min] per 1[s] or low). • When speed condition of 100[r/min] or more and acceleration/deceleration condition of 2000[r/min] per 1[s] are not maintained for 50[ms]. (Here match to Pr21. Load • Chattering such as backlash exists. to be set up with . Change the setup with Press . Bars increase as the right fig. In these cases. .) Press .4. Pr21 Press Press . Match to the parameter No. Setup of parameter. (6) Write to EEPROM when you want to save the result. (4) Turn to Servo-ON to run the machine normally. How to Operate (1) Bring the motor to stall (Servo-OFF). Position/Velocity command Action command under actual condition Auto-gain setup Position/Velocity control Auto-filter adjustment Adaptive Filter Torque command Current control Motor current Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver Applicable Range • Real-time auto-gain tuning is applicable to all control modes. validate the setup of Pr23 (Setup of adaptive filter mode). Writing completes 140 . • When resonance might give some effect. (10 [s] or less) • Machine stiffness is extremely low. Action • Acceleration/deceleration torque is smaller than pattern unbalanced weighted/viscous friction torque. and automatically sets up the optimum gain responding to the result. . Finish Writing error occurs Return to SELECTION display after writing finishes. • Motor is running continuously at low speed of 100 [r/min] or lower. Load (less than 3 times or more than 20 times) inertia • Load inertia change too quickly. Caution Real-time auto-gain tuning may not be executed properly under the conditions described in the right table. shows by keep pressing (approx.

refer to P. Pr27 (Setup of instantaneous speed observer) will be invalidated automatically. there are other cases when adaptive filter is automatically invalidated. Refer to P. (Reset of inertia estimation and adaptive action) 4) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode setup) to 0. "Invalidation of adaptive filter" of Adjustment. If they persist over 3 reciprocating operations. until load inertia is identified (estimated) or adaptive filter is stabilized. PrNo. The adaptive filter automatically estimates a resonance frequency out of vibration component presented in the motor speed in motion. however. • When multiple resonance points exist. take the following measures in possible order. 27 30 31 32 33 34 36 Title Setup of instantaneous speed observer 2nd gain setup 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching 2nd mode of control switching Setup value 0 1 0 30 50 33 0 <Notes> • When the real-time auto-gain tuning is valid. 2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). the load inertia estimation will be invalidated. • Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain Tuning Mode) is 1 to 6. Conditions which obstruct adaptive filter action • When resonance frequency is lower than 300[Hz]. Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to extreme values. when you select torque control while you set up Pr02 (Control mode setup) to 4 and 5. 1) Write the parameters which have given the normal operation into EEPROM. • When acceleration/deceleration is very extreme such as more than 30000 [r/min] per 1 [s]. 141 . however.235. you may experience abnormal noise and oscillation right after the first Servo-ON. (6) During the trial run and frequency characteristics measurement of "PANATERM®". Resonance point Load Command pattern <Note> Even though Pr23 is set up to other than 0. Connection and Setup of Velocity Control Mode Parameters Which Are Automatically Set Up. then set up other value than 0. When you turn on the power again. (3) Among the results of real-time auto-gain tuning. • When the motor speed variation with high frequency factor is generated due to non-linear factor such as backlash. then removes the resonance components from the torque command by setting up the notch filter coefficient automatically. PrNo.246.[Connection and setup of velocity control mode] Adaptive Filters The adaptive filter is validated by setting up Pr23 (Setup of adaptive filter mode) to other than 0. auto-gain tuning will be executed using the latest data as initial values. and becomes 0 in other cases. 11 12 13 14 19 1A 1B 1C 20 2F Title 1st gain of velocity loop 1st time constant of velocity loop integration 1st filter of velocity detection 1st time constant of torque filter 2nd gain of velocity loop 2nd time constant of velocity loop integration 2nd filter of speed detection 2nd time constant of torque filter Inertia ratio Adaptive filter frequency Also following parameters are automatically set up. and set up notch filter manually. • While resonance peak is low or control gain is small and when no affect from these condition is given to the motor speed. 3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0. (2) When abnormal noise and oscillation occur. "Suppression of Machine Resonance" of Adjustment. the adaptive filter frequency before mode switching will be held. In these cases. (5) The adaptive filter is normally invalidated at torque control. Following parameters are automatically adjusted. these are not failures as long as they disappear immediately. or when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. use 1st notch filter (Pr1D and 1E) and 2nd notch filter (Pr28-2A) to make measures against resonance according to the manual adjusting procedures. (4) When you validate the real-time auto-gain tuning. The adaptive filter may not operate property under the following conditions. you cannot change parameters which are automatically adjusted. For details of notch filters. hence reduces the resonance vibration. Cautions (1) After the start-up. Take the same measures as the above in these cases.

Use this parameter to confirm the address of the axis in numbers. C-MODE open 1st close 2nd open 1st 10ms or longer 10ms or longer 142 . Setup value 0 Content Positional deviation Motor rotational speed Torque output Control mode I/O signal status Error factor/history Software version Alarm Regenerative load factor Over-load factor Inertia ratio Sum of feedback pulses Sum of command pulses External scale deviation Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" Power -ON <1> 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Flashes (for approx. 2 sec) during initialization Setup value of Pr01 For details of display. it is necessary to identify which axis the host is communicating. 4 or 5. When C-MODE is open. • The setup value of this parameter has no effect to the servo action. 02 Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> You can set up the control mode to be used. * • The address is determined by the setup value of rotary switch (0 to F) of the front panel at power-on. refer to P. When C-MODE is shorted. • This value becomes the axis number at serial communication. Don't enter commands 10ms before/after switching. * Control mode 1st mode 2nd mode Position – Velocity – Torque – Position Velocity Position Torque Velocity Torque Full-closed – **1) When you set up the combination mode of 3.Parameter Setup Parameters for Functional Selection Standard default : < > PrNo. • You cannot change the setup of Pr00 with other means than rotary switch. you can select either the 1st or the 2nd with control mode switching input (C-MODE).51 "Setup of Parameter and Mode" of Preparation. the 2nd mode will be selected. 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. 00 Title Address Setup range 0 to 15 <1> Function/Content In the communication with the host via RS232/485 for multi-axes application. the 1st mode will be selected.

you can set up the action of over-travel inhibit input. 3. Pr5E becomes the limiting value for CCW/CW direction regardless of the setup of this parameter. permits CW direction. When you turn off the limit switch on upper side of the work at vertical axis application. With this input.Pin-9) Open Inhibits CW direction. At the torque control.[Connection and setup of velocity control mode] Standard default : < > PrNo. changed contents will be validated when you turn on the control power. When both of CCWL and CWL inputs are opened while Pr04 is set to 0. (CN X5. have a suffix of "*". set up Pr66 to 2. the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel inhibition). For details. 143 . so that you can prevent the work load from damaging the machine due to the over-travel. Both CCWL and CWL inputs will be ignored. In linear drive application. the work may repeat up/down movement because of the loosing of upward torque. CCWTL and CWTL will be limited by Pr5E (1st torque limit setup). you can use this over-travel inhibiting function to inhibit the motor to run to the direction specified by limit switches which are installed at both ends of the axis. When Pr04 is set to 0 and over-travel inhibit input is entered. CW direction Work CCW direction Driver Servo motor Limit switch Limit switch Connection and Setup of Velocity Control Mode CCWL CWL Setup value CCWL/CWL input 0 Valid <1> 2 Invalid Valid Action Input Connection to COM– CCWL Close Normal status while CCW-side limit switch is not activated. refer to the explanation of Pr66.Pin-9) Open Inhibits CCW direction. the driver trips with Err38 (Overtravel inhibit input error) judging that this is an error. or limit with the host controller instead of using this function. CWL Close Normal status while CW-side limit switch is not activated. In this case. Err38 (Over-travel inhibit input protection) is triggered when either one of the connection of CW or CCW inhibit input to COM– become open. set with Pr5E When GAIN/TL-SEL input is shorted. CW CCW X5 CWTL : Pin-18 X5 CCWTL : Pin-16 Pr5E is a limit value for both CCW and CW direction Set with Pr5F Set with Pr5E When GAIN/TL-SEL input is open. and over-travel inhibit function will be invalidated. (CN X5. CCW direction permitted. 2. set with Pr5F 04 * Setup of over-travel inhibit input 0 to 2 <1> When the setup value is 0. <Cautions> 1. 03 Title Selection of torque limit Setup range 0 to 3 <1> Setup value 0 <1> 2 3 Function/Content You can set up the torque limiting method for CCW/CW direction. <Notes> • For parameters which No.

Pin-14) Analog speed command (CN X5. Pin-14) 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) Analog speed command (CN X5. In addition to CL/INH inputs. You can set command direction to CCW by opening the connection to COM–. use the speed zero clamp input (ZEROSPD) and Servo-ON input (SRV-ON) to control the motor stop and start. deceleration time. (1) INH (CN X5. Refer to Pr58 : Acceleration time setup Pr59 : Deceleration time setup Pr5A : Sigmoid acceleration/ deceleration time setup in this Chapter. Pin-33) : Selection 1 input of internal command speed (2) INH (CN X5. Pin-14) Analog speed command (CN X5. Pin-14) Analog speed command (CN X5. Setup value <0> 1 2 3 Speed setup method External speed command (SPR:CN X5. Internal/external switching of speed setup 1 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) 4th speed of speed setup (Pr56) 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) 4th speed of speed setup (Pr56) 2 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) Analog speed command (CN X5. Pin-14) Analog speed command (CN X5. 05 Title Speed setup. and CW by closing. Internal/External switching Setup range 0 to 3 <0> Function/Content This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only. and sigmoid acceleration/ deceleration time with parameter. Pin-28) : Selection 3 input of internal command speed Pr05. Pin-14) 3 1st speed of speed setup (Pr53) 2nd speed of speed setup (Pr54) 3rd speed of speed setup (Pr55) 4th speed of speed setup (Pr56) 5th speed of speed setup (Pr74) 6th speed of speed setup (P75) 7th speed of speed setup (Pr76) 8th speed of speed setup (Pr77) • Example of 4-speed run with internal speed command. Pin-14) • When the setup value is 3. switch 8 kinds of internal speed command with 3 kinds of contact input. Pr74 to Pr77) • You can select a speed command at velocity control. of X5 Pin-28 Pin-30 Pin-33 INTSPD3(DIV) INTSPD2(CL) INTSPD1(INH) open short open short open short open short open open short short open open short short open open open open short short short short 0 Analog speed command (CN X5. SRV-ON input ZROSPD input INH input CL input Stop Servo-ON Run Open Open Close Open 2nd speed Open Close 3rd speed 4th speed time Close Close <Caution> You can individually set up acceleration time. Pin-14) Internal speed command 1st to 4th speed (Pr53 to Pr56) Internal speed command 1st to 3rd speed (Pr53-Pr55). Becomes speed command sign. Pin-30) : Selection 2 input of internal command speed DIV input is ignored. (1) INH (CN X5. External speed command (SPR) Internal speed command 1st to 8th speed (Pr53 to Pr56. • When the setup value is 1 or 2. Pin-14) Analog speed command (CN X5. 06 Selection of ZEROSPD input 0 to 2 <0> speed 1st speed You can set up the function of the speed zero clamp input (ZEROSPD : CN X5. Speed command is taken as 0 by opening the connection to COM–. 144 . Pin-14) Analog speed command (CN X5. Pin-26) Setup value <0> 1 2 Function of ZEROSPD (Pin-26) ZEROSPD input is ignored and the driver judge that it Is not in speed zero clamp status. Pin-30) : Selection 2 input of internal command speed (3) INH (CN X5. Pin-33) : Selection 1 input of internal command speed (2) INH (CN X5.Parameter Setup Standard default : < > PrNo. switch 4 kinds of internal speed command with 2 kinds of contact input. • Selection of internal speed Connector Pin No. Pin-14) Analog speed command (CN X5. ZEROSPD input becomes valid.

refer to the table of P. "Selection of TCL and ZSP outputs". Setup value 0 1 2 <3> 4 5 6 7 8 9 Signal of SP Relation between the output voltage level and the speed 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1.[Connection and setup of velocity control mode] Standard default : < > PrNo. Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque Connection and Setup of Velocity Control Mode 09 Selection of TLC output 0 to 8 <0> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40). Pin42). 07 Title Selection of speed monitor (SP) Setup range 0 to 9 <3> Function/Content You can set up the content of analog speed monitor signal output (SP : CN X5. 145 . refer to the table of P135.135. "Selection of TCL and ZSP outputs". Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 Note For details of function of each output of the left. 0A Selection of ZSP output 0 to 8 <1> You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12). Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 Note For details of function of each output of the left.5V / 3000 r/min Motor actual speed Command speed 08 Selection of torque monitor (IM) 0 to 12 <0> You can set up the content of the analog torque monitor of the signal output (IM : CN X5. Pin43) and the relation between the output voltage level and the speed.5V / 3000 r/min 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1. and the relation between the output voltage level and torque or deviation pulse counts.

0B Title Setup of absolute encoder Setup range 0 to 2 <1> Function/Content You can set up the using method of 17-bit absolute encoder. <Note> You can still change parameters via communication even though this setup is 1. 2 <Caution> This parameter will be invalidated when 5-wire. You can set up the time constant of the 1st delay filter inserted in the torque command portion. You might expect suppression of oscillation caused by distortion resonance. Setup value 0 1 <2> Baud rate 2400bps 4800bps 9600bps Setup value 3 4 5 • Error of baud rate is ±0.Parameter Setup Standard default : < > PrNo. use the console or the "PANATERM®". In order to increase the response of overall servo system by setting high position loop gain. 0 Use as an incremental encoder. faster you can dog-in deviation at stall to 0. but ignore the multi-turn counter over. Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. <Caution> When the inertia ratio of Pr20 is set correctly. 12 1st time constant of velocity loop integration 1st filter of speed detection 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* 0 to 5 <0>* ms 13 – 14 1st time constant of 0 to 2500 0. You can set up the communication speed of RS232. Use with a default value of 0 in normal operation.5%.5%. 2500P/r incremental encoder is used. Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 You can set up the communication speed of RS485. The integration effect will be lost by setting to "1000". 11 Title 1st gain of velocity loop Setup range 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* Unit Hz Function/Content You can determine the response of the velocity loop. in 6 steps. response becomes slow. You can set up the time constant of the low pass filter (LPF) after the speed detection. you need higher setup of this velocity loop gain as well. Smaller the setup. the setup unit of Pr11 becomes (Hz).01ms torque filter A to C-frame:<65>* D to F-frame:<126>* 146 . To return this parameter to 0. too high setup may cause oscillation. Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. You can set up the integration time constant of velocity loop. The integration will be maintained by setting to "999". larger the time constant you can obtain so that you can decrease the motor noise. Higher the setup. Content Setup value Use as an absolute encoder. <1> Use as an absolute encoder. However. Baud rate 19200bps 38400bps 57600bps * 0C * Baud rate setup of RS232 communication 0 to 5 <2> 0D * Baud rate setup of RS485 communication 0 to 5 <2> 0E * Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. however. • Error of baud rate is ±0.

5 3. 19 Title Setup range Unit Function/Content Position loop. The function and the content of each parameter is as same as that of the 1st gain and time constant.[Connection and setup of velocity control mode] Standard default : < > PrNo. the setup unit of the velocity loop gain becomes smaller. speed detection filter and torque command filter have their 2 pairs of gain or time constant (1st and 2nd). Higher the setup. and this result will be reflected in this parameter. • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. Use with default setup in normal operation. Use 1for normal operation. When you change manually. You can set up the action mode of the real-time auto-gain tuning. 1A 1B 1C 1D 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* – 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0. refer to P. and when the inertia ratio of Pr20 is smaller than the actual. 20 Title Inertia ratio Setup range 0 to 10000 <250>* Unit % Function/Content You can set up the ratio of the load inertia against the rotor (of the motor) inertia. have a suffix of "*". "Release of Automatic Gain Adjusting Function" of Adjustment. invalidate the real-time auto-gain tuning first then set. the driver respond quickly to the change of the inertia during operation. however it might cause an unstable operation. and its result will be saved to EEPROM every 30 min. You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps. velocity loop. 4. When the inertia ratio of Pr20 is larger than the actual. The inertia ratio will be estimated at all time while the real-time auto-gain tuning is valid. the setup unit of the velocity loop gain becomes larger. 7 2.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> 1st notch width selection 0 to 4 <2> – 1E You can set up the frequency of the 1st resonance suppressing notch filter. larger the notch width you can obtain. Setup value 0 <1>. referring to P. For details of switching the 1st and the 2nd gain or the time constant.239. the load inertial will be automatically estimated after the preset action. Connection and Setup of Velocity Control Mode Parameters for Auto-Gain Tuning Standard default : < > PrNo. <Caution> If the inertia ratio is correctly set. 6 Real-time auto-gain tuning Invalid Normal mode Varying degree of load inertia in motion – Little change Gradual change Rapid change 21 Setup of real-time auto-gain tuning 0 to 7 <1> – <Notes> • For parameters which No. changed contents will be validated when you turn on the control power. The notch filter function will be invalidated by setting up this parameter to "1500". the setup unit of Pr11 and Pr19 becomes (Hz). 147 . With higher setup such as 3. "Adjustment".226. Pr20=(load inertia/rotor inertia) X 100 [%] When you execute the normal auto-gain tuning.

Increase the setup gradually watching the movement of the machine. by using this instantaneous speed observer. Setup value <0>* 1 Instantaneous speed observer setup Invalid Valid 23 Setup of adaptive filter mode 0 to 2 <1> – 25 Setup of an action at normal mode auto-gain tuning 0 to 7 <0> – 27 Setup of instantaneous speed observer 0 to 1 <0>* – You need to set up the inertia ratio of Pr20 correctly to use this function.. The adaptive filter is always invalid at the torque control mode. the adaptive filter frequency of Pr2F will be reset to 0. Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e..14. When you change manually. 29 – 2A – <Notes> • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning.. Higher the setup. the gain changes rapidly as well. You can set up the notch width of 2nd resonance suppressing filter in 5 steps.) When the setup is 0.g. You can set up the action of the adaptive filter. the motor turns 2 revolutions to CCW and 2 revolutions to CW. You can set up the action pattern at the normal mode auto-gain tuning. 148 . larger the notch width you can obtain. you can achieve both high response and reduction of vibration at stall. 22 Title Selection of machine stiffness at real-time auto-gain tuning Setup range 0 to 15 A to C-frame: <4> D to F-frame: <1> Unit – Function/Content You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid.. to other than 0 (valid).. 0 : Invalid 1 : Valid 2 : Hold (holds the adaptive filter frequency when this setup is changed to 2...239. referring to P. "Release of Automatic Gain Adjusting Function" of Adjustment. low machine stiffness high low servo gain high Pr22 0.) <Caution> When you set up the adaptive filter to invalid. real-time auto-gain tuning mode setup. 1. With a high stiffness machine. If you set up Pr21.. You can set up the 2nd notch depth of the resonance suppressing filter.. and this may give impact to the machine.. Use with default setup in normal operation. The notch filter function is invalidated by setting up this parameter to "1500".Parameter Setup Standard default : < > PrNo. invalidate the real-time auto-gain tuning first then set. Pr27 becomes 0 (invalid) 28 2nd notch frequency Selection of 2nd notch width Selection of 2nd notch depth 100 to 1500 <1500> 0 to 4 <2> 0 to 99 <0> Hz You can set up the 2nd notch width of the resonance suppressing filter in 5 steps.. Higher the setup. shallower the notch depth and smaller the phase delay you can obtain. 15 low response high <Caution> When you change the setup value rapidly.

"Gain Switching Function" of Adjustment. <Caution> When you need to clear this parameter to reset the adaptive action while the action is not normal. "Setup of adaptive filter mode" to 0) once. 31 1st mode of control switching Setup value <0>*. when Pr31 is set to 2 and Pr03 (Torque limit selection) is set to 3. refer to P. and when the adaptive filter is valid at the next power-on. "Gain Switching Function" of Adjustment. 5 to 48 Filter is valid. (Pr30 setup must be 1. 2nd gain selection when the gain switching input is turned on. the adaptive action starts taking the saved data in EEPROM as an initial value. 49 to 64 Filter validity changes according to Pr22.) 0 to 4 Filter is invalid. Parameters for Adjustment (2nd Gain Switching Function) Standard default : < > Connection and Setup of Velocity Control Mode PrNo. This parameter will be saved to EEPROM every 30 minutes while the adaptive filter is valid. *1 Fixed to the 1st gain regardless of GAIN input. 2F Title Adaptive filter frequency Setup range 0 to 64 <0> Unit – Function/Content Displays the table No. (Refer to P. then validate again.[Connection and setup of velocity control mode] Standard default : < > PrNo.) 2nd gain selection when the toque command variation is larger than the setups of Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching). *2 For the switching level and the timing. PI is fixed when Pr03 (Torque limit selection) is 3. GAIN input Open with COM– Connect to COM– Action of velocity loop PI action P action *2 For switching condition of the 1st and the 2nd. corresponding to the adaptive filter frequency. Refer to P.243. 30 Title Setup of 2nd gain Setup range 0 to 1 <1>* Unit – Setup value 0 <1>* Function/Content You can select the PI/P action switching of the velocity control or 1st/2nd gain switching. Pin27).239.234 of Adjustment. 6to 10 1 *1 2 3 4 5 *2 *2 *2 0 to 10 <0>* – You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. Fixed to the 2nd gain. (when Pr23 (Setup of adaptive filter mode) is other than 0. invalidate the adaptive filter (Pr23. 149 . Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5. 2nd gain selection when the command speed is larger than the setups of Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching). Fixed to the 1st gain.) This parameter will be automatically set and cannot be changed while the adaptive filter is valid. refer to P.243. "Release of Automatic Gain Adjusting Function" of Adjustment as well. Gain switching condition Fixed to the 1st gain.

) 3 *2 2nd gain selection when the torque command variation is larger. Refer to P. Unit varies depending on the setup of Pr31 (1st mode of control switching) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative). Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig. 6. 39 2nd hysteresis of control switching 0 to 20000 <0> – 3D JOG speed setup 0 to 500 <300> r/min <Notes> • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. You can select the switching condition of the 1st and 2nd gain while Pr30 is set to 1 and when the 2nd control mode is velocity control. invalidate the real-time auto-gain tuning first then set. Pr39 Unit varies depending on the setup 0 of Pr36 (2nd mode of control 1st gain 2nd gain 1st gain switching). 5. 32 Title 1st delay time of control switching 1st level of control switching Setup range Unit Function/Content You can set up the delay time when returning from the 2nd to the 1st gain.239. "Release of Automatic Gain Adjusting Function" of Adjustment.Parameter Setup Standard default : < > PrNo. while Pr31 is set to 3. You can set up the hysteresis width to be implemented above/below the judging level which is set up with Pr38 Pr38. Definitions of Pr32 (Delay). while Pr36 is set to 3 to 5 Unit varies depending on the setup of Pr36 (2nd mode of control switching). Pr38 (Level) and Pr39 (Hysteresis) Pr37 are explained in the fig. Gain switching condition Setup value <0>* Fixed to the 1st gain 1 Fixed to the 2nd gain *1 2nd gain selection when gain switching input is turned on 2 (GAIN : CN X5. You can setup the JOG speed. when Pr31 is set to 2 and Pr03 (Torque limit selection) is set to 3. 9 and 10. Unit varies depending on the 0 setup of Pr31 (1st control switching 1st gain 2nd gain 1st gain mode). "Setup of Gain Switching Condition" of Adjustment. <Caution> Setup of Pr38 (Level) and Pr39 (Hysteresis) are valid as absolute value (positive/negative). below. referring to P. "Trial Run"of Preparation. 150 . while Pr31 is set to 3 or 5 to 10. You can set up the switching (judging) level of the 1st and the 2nd gains. *1 Fixed to the 1st gain regardless of the GAIN input. 5 *2 2nd gain selection when the command speed is larger. You can set up the switching (judging) level of the 1st and the 2nd gains. refer to P. 33 0 to x 166µs 10000 <30>* 0 to 20000 – <50>* – 34 0 to 20000 1st hysteresis of control switching <33>* 36 2nd mode of control switching 0 to 5 <0>* – 37 38 0 to 10000 x 166µs 2nd delay time of control switching <0> 2nd level of control 0 to 20000 – switching <0> You can set up the delay time when returning from 2nd to 1st gain. When you change manually.Definition of Pr37 (Delay). below.75.244. while Pr36 is set to 3 to 5. *2 2nd gain selection when the speed command variation 4 (acceleration) is larger. Pin-27) (Pr30 setup must be 1. *2 For the switching level and timing.

Z-phase synchronizes with A-phase.[Connection and setup of velocity control mode] Parameters for Position Control Standard default : < > PrNo. 151 .: Pin-22. 0B+ : Pin-48. the pulse output resolution equals to the encoder resolution. Pulse output resolution per one revolution Pr44 (Numerator of pulse output division) Pr45 (Denominator of pulse output division) x Encoder resolution 45 * Denominator of pulse output division 0 to 32767 <0> <Cautions> • The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder.) • Z-phase is fed out once per one revolution of the motor. In other case. and becomes narrower than A-phase. The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 • Pr45≠0 : The pulse output resolution per one revolution can be divided by any ration according to the formula below. 44 Title Setup range Function/Content * Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin<2500> 21. • The pulse output resolution per one revolution cannot be greater than the encoder resolution. 0A. changed contents will be validated when you turn on the control power. and 10000 [P/r] for the 5-wire 2500P/r incremental encoder.: Pin-49). Therefore the pulse output resolution after quadruple can be obtained from the formula below. (In the above setup. 0B. hence does not synchronize with A-phase. output division • Pr45=<0> (Default) You can set up the output pulse counts per one motor revolution for each OA and OB with the Pr44 setup. when encoder resolution x A B Z Synchronized Pr44 is multiple of 4 Pr45 when encoder resolution x A B Z Not-synchronized Pr44 is not multiple of 4 Pr45 Connection and Setup of Velocity Control Mode <Notes> • For parameters which No. the Z-phase width equals to output with the encoder resolution. have a suffix of "*". When the pulse output resolution obtained from the above formula is multiple of 4.

152 . Slope at ex-factory <Cautions> 1.Parameter Setup Standard default : < > PrNo. 10 to 2000 (r/min)/V <500> <Notes> • For parameters which No. you can reverse the phase relation between the A-phase pulse and the B-phase pulse by reversing the B-phase logic. Do not apply more than ±10V to the –10 –6 2 4 6 8 10 speed command input (SPR). have a suffix of "*". Parameters for Velocity and Torque Control Standard default : < > PrNo. 3 Pr46 <0> 1 2 *1 3 *1 A-phase (OA) B-phase(OB) non-reversal B-phase(OB) reversal B-phase logic Non-reversal Reversal Non-reversal Reversal Output source Encoder position Encoder position External scale position External scale position at motor CCW rotation at motor CW rotation * *1 The output source of Pr46=2. 46 Title Reversal of pulse output logic Setup range 0 to 3 <0> Function/Content You can set up the B-phase logic and the output source of the pulse output (X5 OB+ : Pin-48. 2 1. 3000 hence input of 6V becomes 3000r/min. Pay an extra attention to oscillation caused by larger setup of Pr50. 3 is valid only at full-closed control. OB– : Pin-49). Pin-14) and the motor speed. with Pr50. Command input voltage (V) 2. 50 Title Input gain of speed command Setup range Unit Function/Content You can set up the relation between the voltage applied to the speed command input (SPR : CN X5. With this parameter. the CW setup of Pr50 gives larger variance to the overall servo system. Setup value <0>. • You can set up a "slope" of the relation between the command input voltage CCW and the motor speed. changed contents will be validated when you turn on the control power. When you compose a position loop –3000 outside of the driver while you use the driver in velocity control mode. Speed (r/min) • Default is set to Pr50=500 [r/min].

Pin-14) with this parameter. • when you compose a position loop with the host.01ms You can set up the time constant of the primary delay filter to the analog speed command/analog torque command/analog velocity control (SPR : CN X5.73. 1) Manual adjustment • When you make an offset adjustment with the driver alone. refer to P. Pin-14) 153 . (1) Manual adjustment and (2) Automatic adjustment. then set this parameter up so that the motor may not turn. • The offset volume is 0. • Result after the execution of the automatic offset function will be reflected in this parameter. you can set up 1st to 4th speed into Pr53 to 56. and the motor turns to CW with (+) signal. • When Pr06 (ZEROSPD) is set to 2. • There are 2 offset methods. <Caution> • The polarity of the setup value represents that of the internal command speed.3mV • You can make an offset adjustment of analog speed command (SPR : CN X5. "Switching of internal or external speed setup". "Auxiliary Function Mode" of Preparation. 52 Speed command offset –2047 to 2047 <0> 0. the motor might perform an abnormal action if the polarity of the speed command signal from the unit and the polarity of this parameter setup does not match. 5th to 8th speed into Pr74 to 77 in direct unit of [r/min]. (or connect to the signal ground). this has compatibility to existing MINAS series driver. <Caution> When you compose the servo drive system with this driver set to velocity control mode and external positioning unit.[Connection and setup of velocity control mode] Standard default : < > PrNo.3mV per setup value of "1". 2) Automatic adjustment • For the details of operation method at automatic offset adjustment mode. + – Command to CCW (viewed from the motor shaft end) Command to CW (viewed from the motor shaft end) –20000 to 20000 <0> r/min • The absolute value of the parameter setup is limited with Pr73 (Setup of over-speed level) 0 to 6400 <0> 0. this parameter becomes invalid. Enter 0 V exactly to the speed command input (SPR/TRQR). Motor rotating direction Setup value CCW direction with (+) command (viewed from the motor shaft end 0 CW direction with (+) command (viewed from the motor shaft end <1> <Notes> • Default of this parameter is 1. Use this function when you want to change the motor rotational direction without changing the polarity of the command signal from the host. Pr52. 51 Title Reversal of speed command input Setup range 0 to 1 <1> Unit – Function/Content You can reverse the polarity of the speed command input signal (SPR:CN X5. • Set this parameter up so that the deviation pulse may be reduced to 0 at the Servo-Lock status. Connection and Setup of Velocity Control Mode 53 54 55 56 74 75 76 77 57 1st speed of speed setup 2nd speed of speed setup 3rd speed of speed setup 4th speed of speed setup 5th speed of speed setup 6th speed of speed setup 7th speed of speed setup 8th speed of speed setup Setup of speed command filter –20000 to 20000 <0> r/min When the internal speed setup is validated with parameter Pr05. Pin-14).

has a suffix of "*2". changed contents will be validated when you turn on the control power. you can make a soft-start when you enter the step-speed command and when you use with the internal speed setup. With this function. (unit : 2ms) ta : Pr58 td : Pr59 ts : Pr5A Use with the setup of ta td > ts. refer to P. For details.) CW <Caution> You cannot set up a larger value to this parameter than the default setup value of "Max.57. Default value varies depending on the combination of the motor and the driver. • For parameters which default.) 5A Sigmoid acceleration/ deceleration time setup 0 to 500 <0> 2ms In order to obtain a smooth operation. 1. shows example of 150% setup with Pr03=1. "Setup of Torque Limit " of Preparation.) when Pr5E=150 200 100 (Rated) 100 200 300 speed ts ta ts ts td ts 5F 2nd torque limit setup % speed (Rating) (Max. refer to Pr03 (Torque limit selection). If this 3 times bigger torque causes any trouble to the load (machine) strength. <Notes> • For parameters which No. This torque limit function limits the max. Pr5F : 2nd torque). motor torque inside of the driver with parameter setup. 3 times larger torque than the rated torque instantaneously. value varies depending on the combination of the driver and the motor. • Setup value is to be given in % against the rated torque.Set up sigmoid time with time width centering the inflection point of linear acceleration/deceleration with Pr5A. have a suffix of "*". torque for both CCW and CW directions. For the torque limit selection. torque. (Set up both Pr58 and Pr59 to 0. this driver permits approx. Set up acceleration/deceleration for basic linear portion with Pr58 and Pr59 2. • Pr5E limits the max. and > ts 2 2 5E 1st torque limit setup 0 to 500 <500> *2 0 to 500 <500> *2 % You can set up the limit value of the motor output torque (Pr5E : 1st torque. 0 to 5000 2ms/ Speed <0> (1000r/min) command ta Pr58 x 2ms/(1000r/min) Speed ta td td Pr59 x 2ms/(1000r/min) <Caution> Do not use these acceleration/deceleration time setup when you use the external position loop. you can use this function to limit the max. 58 Title Acceleration time setup Deceleration time setup Setup range Unit Function/Content 59 2ms/ 0 to 5000 You can make the velocity control while adding acceleration and <0> (1000r/min) deceleration command to the speed command inside of the driver. you can set up the quasi sigmoid acceleration/deceleration in such application as linear acceleration/ deceleration where acceleration variation is large at starting/stopping to cause a strong shock. • Right fig. torque [%] CCW 300(Max. 154 .Parameter Setup Standard default : < > PrNo. output torque setup" of System parameter (which you cannot change through operation with PANATERM® or panel). ts. In normal operation.

Err13 (Main power under-voltage protection) is triggered when setup of P66D is long and P-N voltage of the main converter falls below the specified value before detecting the main power shutoff. When the main power is shut off during Servo-ON. • There is hysteresis of 10 [r/min]. regardless of the Pr65 setup. Pr61. • There is hysteresis of 10 [r/min]. Pin-39. Setup value 0 Action of main power low voltage protection When the main power is shut off during Servo-ON. • The setup of P61 is valid for both CCW and CW direction regardless of the motor rotating direction. In-speed (Speed coincidence) signal (V-COIN) will be fed out when the difference between the speed CCW speed command and the motor speed falls below the setup of this parameter.[Connection and setup of velocity control mode] Parameters for Sequence Standard default : < > PrNo. Err13 will not be triggered and the driver turns to Servo-OFF.: CN X5. 61 Title Zero-speed Setup range 10 to 20000 <50> Unit r/min Function/Content You can set up the timing to feed out the zero-speed detection output signal (ZSP : CN X5. Pin-38) At-speed (Speed arrival) (COIN) will be fed out when the motor speed exceeds the setup speed of this parameter. Pin-12 or TCL : CN X5.42. 155 . ZSP (Pr61–10)r/min CW ON 62 At-speed (Speed arrival) 10 to 20000 <50> r/min You can set up the timing to feed out the At-speed signal (COIN+ : CN X5. The zero-speed detection signal (ZSP) will be fed out when the motor speed falls below the setup of this parameter. Refer to P. <1> <Caution> This parameter is invalid when Pr6D (Detection time of main power OFF)=1000. speed (Pr62+10)r/min CCW Connection and Setup of Velocity Control Mode CW (Pr62–10)r/min AT-SPEED OFF ON 65 LV trip selection at main power OFF 0 to 1 <1> – You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). (Pr61+10)r/min Pr61. Pr62 • The setup of P62 is valid for both CCW and CW direction regardless of the motor rotational direction. COIN. The driver returns to Servo-ON again after the main power resumption. Pin-40) in rotational speed [r/min]. the driver will trip due to Err13 (Main power low voltage protection). "Timing Chart-At Power-ON" of Preparation as well.

torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop). 1) the action during deceleration and after stalling 2) the clearing of deviation counter content after the main power is shut off. Pin-8) is valid Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop After stalling Deviation counter content Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration * <Caution> In case of the setup value of 2. torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop ). 156 . changed contents will be validated when you turn on the control power. have a suffix of "*". "Timing Chart (When an error (alarm) occurs (at Servo-ON command status)" of Preparation. You can set up the action during deceleration or after stalling when some error occurs while either one of the protective functions of the driver is triggered. Setup value <0> 1 2 3 4 5 6 7 8 9 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear 68 Sequence at alarm 0 to 3 <0> – (DB: Dynamic Brake action) <Caution> In case of the setup value of 8 or 9. 66 Title Sequence at over-travel inhibit Setup range 0 to 2 <0> Unit – Function/Content You can set up the running condition during deceleration or after stalling. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold (DB: Dynamic Brake action) <Caution> The content of the deviation counter will be cleared when clearing the alarm.43. Refer to P. you can set up. while over-travel inhibit input (CCWL : Connector CN X5. Pin-9 or CWL : Connector CN X5. <Notes> • For parameters which No.Parameter Setup Standard default : < > PrNo. 67 Sequence at main power OFF 0 to 9 <0> – When Pr65 (LV trip selection at main power OFF) is 0.

[Connection and setup of velocity control mode]
Standard default : < >

PrNo.
69

Title
Sequence at Servo-Off

Setup range
0 to 9 <0>

Unit

Function/Content
You can set up, 1) the action during deceleration and after stalling 2) the clear treatment of deviation counter is set up. The relation between the setup value of Pr69 and the action/deviation counter clearance is same as that of Pr67 (Sequence at Main Power Off) Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at stall" of Preparation as well. You can set up the time from when the brake release signal (BRK-OFF : CN X5, Pin-10 and 11) turns off to when the motor is de-energized (Servo-free), when the motor turns to Servo-OFF while the motor is at stall. • Set up to prevent a micro-travel/ drop of the motor (work) due to the action delay time (tb) of the brake • After setting up Pr6a > tb , = then compose the sequence so as the driver turns to Servo-OFF after the brake is actually activated.
SRV-ON BRK-OFF actual brake ON release release tb OFF hold hold nonenergized Pr6A

6A

Setup of mechanical brake action at stalling

0 to 100 <0>

2ms

motor energization energized

Connection and Setup of Velocity Control Mode

Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. 6B Setup of mechanical brake action at running 0 to 100 <0> 2ms You can set up time from when detecting the off of Servo-ON input signal (SRV-ON : CN X5, Pin-29) is to when external brake release signal (BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to servo off during the motor in motion. • Set up to prevent the brake deterioration due to the motor running. • At Servo-OFF during the motor is running, tb of the right fig. will be a shorter one of either Pr6B setup time, or time lapse till the motor speed falls below 30r/min.
SRV-ON BRK-OFF actual brake ON release tb energized nonenergized 30 r/min OFF hold

motor energization

Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well.

157

Parameter Setup
Standard default : < >

PrNo.
6C

Title
Selection of external regenerative resistor

Setup range
0 to 3 for A, B-frame <3> for C to F-frame <0>

Unit

Function/Content
With this parameter, you can select either to use the built-in regenerative resistor of the driver, or to separate this built-in regenerative resistor and externally install the regenerative resistor (between RB1 and RB2 of Connector CN X2 in case of A to D-frame, between P and B2 of terminal block in case of E, F-frame). Setup value Regenerative resistor to be used <0> (C, D, E and Built-in resistor F-frame)
Regenerative processing and regenerative resistor overload

*

Regenerative processing circuit will be activated and regenerative resistor overload protection will be triggered according to the built-in resistor (approx. 1% duty). The driver trips due to regenerative overload protection (Err18), when regenerative 1 External resistor processing circuit is activated and its active ratio exceeds 10%, Regenerative processing circuit is activated, 2 External resistor but no regenerative over-load protection is triggered. Both regenerative processing circuit and <3> regenerative protection are not activated, and No resistor built-in capacitor handles all regenerative (A, B-frame) power.

<Remarks> Install an external protection such as thermal fuse when you use the external regenerative resistor. Otherwise, the regenerative resistor might be heated up abnormally and result in burnout, regardless of validation or invalidation of regenerative over-load protection. <Caution> When you use the built-in regenerative resistor, never to set up other value than 0. Don't touch the external regenerative resistor. External regenerative resistor gets very hot, and might cause burning. 6D

*
6E

Detection time of main power off Torque setup at emergency stop

35 to 1000 <35> 0 to 500 <0>

2ms

You can set up the time to detect the shutoff while the main power is kept shut off continuously. The main power off detection is invalid when you set up this to 1000. You can set up the torque limit in case of emergency stop as below. • During deceleration of over-travel inhibit with the setup 2 of Pr66 (Sequence at over-travel inhibit input) • During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main power off) • During deceleration with the setup of 8 or 9 of Pr69 (Sequence at Servo-OFF) Normal torque limit is used by setting this to 0.

%

70

Setup of position deviation excess

0 to 32767 256 x • You can set up the excess range of position deviation. <25000> resolution • Set up with the encoder pulse counts at the position control and with the external scale pulse counts at the full-closed control. • Err24 (Error detection of position deviation excess) becomes invalid when you set up this to 0. 0 to 500 <0> % • You can set up the over-load level. The overload level becomes 115 [%] by setting up this to 0. • Use this with 0 setup in normal operation. Set up other value only when you need to lower the over-load level. • The setup value of this parameter is limited by 115[%] of the motor rating. • You can set up the over-speed level. The over-speed level becomes 1.2 times of the motor max. speed by setting up this to 0. • Use this with 0 setup in normal operation. Set up other value only when you need to lower the over-speed level. • The setup value of this parameter is limited by 1.2 times of the motor max. speed. <Caution> The detection error against the setup value is ±3 [r/min] in case of the 7-wire absolute encoder, and ±36 [r/min] in case of the 5-wire incremental encoder.

72

Setup of over-load level

73

Setup of over-speed level

0 to 20000 <0>

r/min

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.
158

[Connection and Setup of Torque Control Mode]
page

Control Block Diagram of Torque Control Mode .... 160 Wiring to the Connector, CN X5 ........................... 161
Wiring Example to the Connector, CN X5 ................................. Interface Circuit ......................................................................... Input Signal and Pin No. of the Connector, CN X5 ................... Output Signal and Pin No. of the Connector, CN X5 ................ 161 162 164 168

Trial Run (JOG Run) at Torque Control Mode..... 171
Inspection Before Trial Run ....................................................... 171 Trial Run by Connecting the Connector, CN X5 ........................ 171

Real-Time Auto-Gain Tuning ................................ 172
Outline ....................................................................................... Applicable Range ...................................................................... How to Operate ......................................................................... Parameters Which are Automatically Set up ............................. 172 172 172 173

Parameter Setup .................................................... 174
Parameters for Functional Selection ......................................... 174 Parameters for Adjustment of Time Constant of Gains and Filters ...... 177 Parameters for Auto-Gain Tuning .............................................. 178 Parameters for Adjustment (2nd Gain Switching Function) ...... 179 Parameters for Position Control ................................................ 181 Parameters for Velocity/Torque Control .................................... 183 Parameters for Sequence ......................................................... 185

159

Control Block Diagram of Torque Control Mode
• when Pr5B (Torque command selection) is 0

Absolute value(magnitude)

Command speed monitor

Torque command monitor

Analog torque command SPR/ TRQR

Input setup 16bitA/D Gain Reversal Offset Filter Pr5C Pr5D Pr52 Pr57 4th speed Sign(±)

Multiplication

Velocity control

Notch filter Torque limit 1st frequency Pr1D 1st width Pr1E

Torque filter 1st time const. Pr14 2nd time const. Pr1C 1st limit 2nd limit Pr5E Pr5F Motor

+


Internal velocity limit Pr56 Velocity detection filter 1st 2nd Pr13

1st proportion 1st integration 2nd proportion 2nd integration

+

Pr11 Pr12 Pr19 Pr1A

2nd frequency Pr28 2nd width 2nd depth Pr29 Pr2A

Inertia ratio Pr20

Encoder Pr1B Monitor of actual speed

Speed detection Division Feedback pulses OA/OB/OZ Numerator Pr44 Encoder reception processing Serial communication data

Denominator Pr45 Selection Pr46

• when Pr5B (Torque command selection) is 1

Absolute value (magnitude)

Command speed monitor

Torque command monitor

Analog torque command CCWTL/ TRQR Analog velocity command SPR/SPL

Input setup 16bitA/D Gain Reversal Pr5C Pr5D Sign(±)

Multiplication

Velocity control

Notch filter Torque limit 1st frequency Pr1D 1st width Pr1E

Torque filter 1st time const. Pr14 2nd time const. Pr1C 1st limit 2nd limit Pr5E Pr5F Motor

+

Input setup 16bitA/D Gain Offset Filter Pr50 Pr52 Pr57

1st proportion 1st integration 2nd proportion 2nd integration

+

Pr11 Pr12 Pr19 Pr1A

2nd frequency Pr28 2nd width 2nd depth Pr29 Pr2A

Absolute value (magnitude) Velocity detection filter 1st 2nd Pr13

Inertia ratio Pr20

Encoder Pr1B

Monitor of actual speed

Speed detection Division Feedback pulses OA/OB/OZ Numerator Pr44 Encoder reception processing Serial communication data

Denominator Pr45 Selection Pr46

160

7 COM+ 33 INH
4.7kΩ

30

CL 29 SRV-ON Gain switching input 27 GAIN

Servo-ON input

Control mode switching input

DIV Speed zero clamp input 26 ZEROSPD OA+ OAOB+ OBOZ+ OZ24
330Ω

28 21 22
330Ω

32 C-MODE 31 A-CLR Alarm clear input

A-phase output B-phase output Z-phase output

48 49
330Ω

CCW over-travel inhibition input CW over-travel inhibition input

Divider

9 CCWL 8 CWL 23

Servo-Ready output

35 S-RDY+ 34 S-RDYALM+ GND CZ 25 19 Z-phase output (open collector)

Wiring Example of Torque Control Mode

Servo-Alarm output

37

Wiring Example to the Connector CN X5

36

Wiring to the connector, CN X5

At-speed signal output

VDC 12 to 24V

Brake release output

ALM39 AT-SPEED+ 38 AT-SPEED-

Torque in-limit output
TLC SPR/TRQR GND ZSP
10kΩ 3.83kΩ 10kΩ 3.83kΩ 1kΩ 1kΩ 20kΩ

11 BRKOFF+ 10 BRKOFF14 15

Torque command input or velocity limit input (0 to ±10V) Wiring example when control mode Pr02=0 or Pr5B=1,
CCWTL/TRQR 16

40 (Select with Pr09) Zero speed detection output 12 (Select with Pr0A) 41 COM-

CCWTL/TRQR 16 17 GND CWTL 18 SP IM 43 42

GND

17

CW torque limit input (0 to ±10V) Select with Pr5B. Velocity monitor output Torque monitor output

50 FG

<Remarks> In case Pr5B=0, enter a speed limit value to 4th speed of speed setup (Pr56).

CN X5

(
Connection and Setup of Torque Control Mode

represents twisted pair.)

[Connection and Setup of Torque Control Mode]

161

Wiring to the connector, CN X5
Interface Circuit
Input Circuit
SI Connection to sequence input signals
• Connect to contacts of switches and relays, or open collector output transistors. • When you use contact inputs, use the switches and relays for micro current to avoid contact failure. • Make the lower limit voltage of the power supply (12 to 24V) as 11.4V or more in order to secure the primary current for photo-couplers.
12 to 24V 7 COM+4.7kΩ SRV-ON etc. Relay

12 to 24V

7 COM+4.7kΩ SRV-ON etc.

AI Analog command input
• The analog command input goes through 3 routes, SPR/TRQR(Pin-14), CCWTL (Pin-16) and CWTL (Pin-18). • Max. permissible input voltage to each input is ±10V. For input impedance of each input, refer to the right Fig. • When you compose a simple command circuit using variable resistor(VR) and register R, connect as the right Fig. shows. When the variable range of each input is made as –10V to +10V, use VR with 2kΩ, B-characteristics, 1/2W or larger, R with 200Ω, 1/2W or larger. • A/D converter resolution of each command input is as follows. (1)ADC1 : 16 bit (SPR/TRQR), (including 1bit for sign), ±10V (2)ADC2 : 10 bit (CCWTL, CWTL), 0 to 3.3V
SPR/TRQR 14 20kΩ +12V R VR 15 GND +3.3V CCWTL 16 10kΩ R –12V CWTL 18 10kΩ 17 GND – + 3.83kΩ +3.3V – + 3.83kΩ 1kΩ 1kΩ 1kΩ 1kΩ ADC 2 20kΩ – + ADC 1

162

[Connection and Setup of Torque Control Mode]
Output Circuit
SO1 SO2 Sequence output circuit
• The output circuit is composed of open collector transistor outputs in the Darlington connection, and connect to relays or photo-couplers. • There exists collector to emitter voltage, VCE (SAT) of approx. 1V at transistor-ON, due to the Darlington connection of the output or. Note that normal TTL IC cannot be directly connected since it does not meet VIL. • There are two types of output, one which emitter side of the output transistor is independent and is connectable individually, and the one which is common to – side of the control power supply (COM–). • If a recommended primary current value of the photo-coupler is 10mA, decide the resistor value using the formula of the right Fig.
Install toward the direction as the fig. shows without fail. SO1 ALM+ etc. ALM– etc. 12 to 24V VDC SO2 ZSP, TLC 41 COM–

R [k ] = Ω

VDC[V] – 2.5[V] 10

Max. rating 30V, 50mA

For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.

PO1 Line driver (Differential output) output
AM26LS32 or equivalent

• Feeds out the divided encoder outputs (A, B and Z-phase) in differential through each line driver. • At the host side, receive these in line receiver. Install a terminal resistor (approx. 330Ω) between line receiver inputs without fail. • These outputs are not insulated.

21

AM26LS31 or equivalent A

OA+ OA– OB+ OB– OZ+ OZ–

22 48 49 23 24

B

Connection and Setup of Torque Control Mode

Z

GND Connect signal ground of the host and the driver without fail.

25

represents twisted pair.

PO2 Open collector output
• Feeds out the Z-phase signal among the encoder signals in open collector. This output is not insulated. • Receive this output with high-speed photo couplers at the host side, since the pulse width of the Z-phase signal is narrow. represents twisted pair.
Max. rating 30V, 50mA
19 CZ
High speed photo-coupler (TLP554 by Toshiba or equivalent)

25 GND

AO Analog monitor output
• There are two outputs, the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or • Output signal width is ±10V. external 42 IM 1kΩ • The output impedance is 1kΩ. Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND to be connected. <Resolution> (1) Speed monitor output (SP) With a setup of 6V/3000r/min (Pr07=3), the resolution converted to speed is 8r/min/16mV. (2) Torque monitor output (IM) With a relation of 3V/rated torque (100%), the resolution converted to torque is 0.4%/12mV.
163
43 SP 1kΩ

0 – Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW. and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM–. • Use the power supply voltage of 12V ± 5% – 24V ± 5% • Connect – of the external DC power supply (12 to 24V). I/F circuit – – 8 CWL SI P. • The power capacity varies depending on a composition of I/O circuit. CN X5 Input Signals (common) and Their Functions Title of signal Power supply for control signal (+) Power supply for control signal (-) CW over-travel inhibit input Pin No. 0. • You can select the action when the CCWL input is validated with the setup of Pr66 (Sequence at over-travel inhibit). 7 41 Symbol COM+ COM– Function • Connect + of the external DC power supply (12 to 24V). the Full-closed 1st damping filter (Pr2B.162 Speed zero clamp input 26 ZEROSPD SI P.162 CCW over-travel inhibit input 9 CCWL SI P.Default is "Invalid (1)".13 and 14) close 2nd gain selection (Pr18.12. SI P. CN X5 Input Signal and Pin No. • While Pr24 (Damping filter switching selection) is 1. Pr2C) will be validated when you open this input.Wiring to the connector.(Pr66=0) • Use this input to inhibit a CCW over-travel (CCWL).1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid • Input of torque limit switching (TL-SEL) • Pr5E (Setup of 1st torque limit) will be validated when you 3 – open this input. Default is "Emergency stop with dynamic brake". • Use this input to inhibit a CW over-travel (CWL). ZERPSPD is invalid. Content Pr03 Pr30 Connection to COM– open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 0–2 open 1st gain selection (Pr10. of the Connector. Position/ Gain switching input or Torque limit switching input TL-SEL 27 GAIN • Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit).162 Velocity/ Torque control • Becomes to an input of damping control switching (VS-SEL). Pr2E) control will be validated when you connect this input to COM–. • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1.243 "Gain Switching Function" of Adjustment.(Pr66=0) • Function varies depending on the control mode. • Connect this so as to make the connection to COM– open when the moving portion of the machine over-travels the movable range toward CW. • Connect this so as to make the connection to COM. close • In case Pr06 is 2 at torque control. Content Pr06 Connection to COM– ZEROSPD input is invalid.19.1A. • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1. Default is "Emergency stop with dynamic brake".162 164 . • For details of 2nd gain switching function.11. and the 2nd damping filter (Pr2D. • Becomes to a speed-zero clamp input (ZEROSPD). • You can select the action when the CWL input is validated with the setup of up Pr66 (Sequence at over-travel inhibit). refer to P.open when the moving portion of the machine over-travels the movable range toward CCW.Default is "Invalid (1)".5A or more is recommended.

Servo-ON input 29 Symbol SRV-ON Function • Turns to Servo-ON status by connecting this input to COM–. • You can switch the control mode as below by setting up Pr02 (Control mode setup) to 3-5. • There are some alarms which cannot be released with this input. the action might change rapidly when switching the control mode with C-MODE.252.42. (see P.162 Alarm clear input 31 A-CLR SI P. 3.162 Control mode switching input 32 C-MODE SI P. • The deviation counter will be cleared at alarm clear. Connection and Setup of Torque Control Mode 165 .) 2. and current to the motor will be shut off. <Caution> 1. Pay an extra attention.[Connection and Setup of Torque Control Mode] Title of signal Pin No. refer to P.162 <Caution> Depending on how the command is given at each control mode.Servo-ON input becomes valid approx. "Timing Chart" of Preparation. • Turns to Servo-OFF status by opening connection to COM–. allow 100ms or longer pause before entering the pulse command. "Protective Function " of When in Trouble. For details. • You can select the dynamic brake action and the deviation counter clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF).Never run/stop the motor with Servo-ON/OFF. 2 sec after power-on. Pr02 setup 3 4 5 Open (1st) Position control Position control Velocity control Connection to COM– (2nd) Velocity control Torque control Torque control I/F circuit SI P.After shifting to Servo-ON. • You can release the alarm status by connecting this to COM– for more than 120ms.

Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) I/F circuit AI P. polarity offset and filter with. CN X5 Input Signals (Analog Command) and Their Functions Title of signal Pin No. . • Set up the speed limit (SPL) gain.Wiring to the connector. Pr5C (Torque command input gain) Pr5D (Torque command input reversal) Pr52 (Speed command offset) Pr57 (Speed command filter setup) • Speed limit (SPL) will be selected. ± 32767 (LSB) = ± 10[V]. or Speed limit input SPL 14 Symbol TRQR Pr02 Control mode Function • Function varies depending on control mode. 1[LSB] = . offset and filter with.162 Torque control 0 2 4 Position/ Torque 1 • Function varies depending on Pr5B (Selection of torque command) Pr5B Content • This input becomes invalid. 1 Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) 5 Velocity/ Torque Others Other control • This input is invalid. 0. ) 166 . mode •The resolution of the A/D converter used in this input is 16 bit (including 1 bit for sign). • Set up the torque (TRQR) gain. Function • Function varies depending on Pr5B (Selection of torque command) Pr5B Content • Torque command (TRQR) will be selected. 0 • Speed limit (SPL) will be selected.3[mV] *Function becomes valid when the control mode with underline ( / is selected while the switching mode is used in the control mode in table. offset and filter with. • Set up the speed limit (SPL) gain. Torque command input.

Velocity/Torque • Limit the CCW-torque by applying positive voltage (0 to +10V) (Approx.9[V]. • Set up the gain and polarity of the command with. • Becomes to the torque command input (TRQR). ) 167 . ± 511 [LSB] ± 11. 4 5 Connection and Setup of Torque Control Mode • Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up. Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up. 0 • Torque command input (TRQR) will be selected. . 23[mV] *Function becomes valid when the control mode with underline ( / is selected while the switching mode is used in the control mode in table. <Remark> Do not apply more than ±10V to analog command inputs of SPR/TRQR/SPL Do not apply more than ±10V to analog command input of TRQR. • Set up the gain and polarity of the com1 mand with.+3V/rated torque) Other Other control mode • Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0.162 2 4 Torque Control Position/Torque 5 Velocity/ Torque • Becomes to the analog torque limit input to CCW Position/Torque (CCWTL). 1 [LSB] = = . Function • Function varies depending on Pr5B (Selection of torque command) Pr5B Content This input becomes invalid. I/F circuit AI P.[Connection and Setup of Torque Control Mode] Title of signal Pin No. Torque command input 16 Symbol TRQR Pr02 Control mode Function • Function varies depending on Pr02 (Control mode setup).

• Output of positioning complete (COIN) • The output transistor will turn ON when the absolute value of the position deviation pulse becomes smaller than the setup value of Pr60 (Positioning complete range). 168 . • You can select the feeding out method with Pr63 (Setup of positioning complete output). overload alarm. • External scale alarm The output transistor turns ON when the external scale temperature exceeds 65°. • Default is 1. refer to P42. and turns OFF at alarm status. For details. AT-SPEED– Position control • Output of full-closed positioning complete (EX-COIN) • The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). • Default is 1. • Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 8 • Torque in-limit output (Default of X5 TLC Pr09) The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON. see the table below.163 Servo-Ready output Servo-Alarm output Speed arrival output 35 34 37 36 39 38 S-RDY+ S-RDY– ALM+ ALM– SO1 P. • Alarm signal output The output transistor turns ON when either one of the alarms is triggered. • Fan-lock alarm The output transistor turns ON when the fan stalls for longer than 1s. • Output transistor turns ON when both control and main power are ON but not at alarm status. CN X5 Output signal and Pin No.) • This signal shows that the driver is ready to be activated. • Output transistor turns ON when the driver is at normal status. "Selection of TLC. • Battery alarm The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx. • In-speed (Speed coincidence) output The output transistor turns ON when the difference between the actual motor speed and the speed command before acceleration/deceleration reaches within the preset range with Pr61. of the Connector. "Timing Chart" of Preparation. Velocity/ Torque control Zero-speed detection output signal Torque in-limit signal output 12 (41) 40 (41) • Output at-speed (speed arrival) (AT-SPEED) • The output transistor will turn ON when the actual motor speed exceeds the setup value of Pr62 (In-speed).ZSP output". • For details. • Content of the output signal varies depending on Pr09 (Selection of TLC output). or signal intensity is not enough (adjustment on mounting is required).163 ZSP (COM–) TLC (COM–) • Content of the output signal varies depending on Pr0A (Selection of ZSP output). • Turns the output transistor ON at the release timing of the electromagnetic brake.ZSP output". over-regeneration alarm. • This signal shows that the driver is in alarm status. I/F circuit SO1 P. and feeds out the torque in-limit signal. CN X5 Output Signals (Common) and Their Functions Title of signal External brake release signal Pin No 11 10 Symbol BRKOFF+ BRKOFF– Function • Feeds out the timing signal which activates the electromagnetic brake of the motor. and feeds out the zero speed detection signal. • Over-load alarm The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm. • You can select the feeding out method with Pr63 (Setup of positioning complete output). 3.Wiring to the connector. • Over-regeneration alarm The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection.163 AT-SPEED+ • Function varies depending on the control mode.163 SO2 P. Valid only at the full-closed control. Valid only at the velocity and torque control. • For details. see the table below.2V.163 SO1 P..163 SO1 P. SO2 P. "Selection of TLC. battery alarm. fan-lock alarm or external scale alarm. • Zero-speed detection output (Default of X5 ZSP Pr0A) The output transistor turns ON when the motor speed falls under the preset value with Pr61. • You can set up the output timing of this signal with Pr6A (Setup of mechanical brake action at stall) and Pr6B (Setup of mechanical brake action at motion).

• Max. Pr45 In other case.163 B-phase output 48 49 Z-phase output 23 24 Z-phase output 19 • Open collector output of Z-phase signal • The emitter side of the transistor of the output circuit is connected to the signal ground (GND) and is not insulated.163 <Note> • When the output source is the encoder • If the encoder resolution X Pr44 is multiple of 4. rotate the motor one revolution or more to make sure that the Z-phase is fed out at least once before using.[Connection and Setup of Torque Control Mode] Output Signals (Pulse Train) and Their Functions Title of signal A-phase output Pin No 21 22 Symbol OA + OA – OB + OB – OZ + OZ – CZ Function • Feeds out the divided encoder signal or external scale signal (A. the Z-phase width will be equal to the encoder resolution. when the encoder resolution A B Z synchronized Connection and Setup of Torque Control Mode Pr44 is multiple of 4. When you use the pulse output as the control signal. Zphase) in differential. you can set up the interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase). the signal sequence might not follow the above fig. Z-phase will be fed out synchronizing with A-phase. 169 . • Ground for line driver of output circuit is connected to signal ground (GND) and is not insulated. and will not synchronize with A-phase because of narrower width than that of A-phase. and the output source with Pr46 (Reversal of pulse output logic). Pr45 not-synchronized • In case of the 5-wire. until the first Z-phase is fed out. (equivalent to RS422) • You can set up the division ratio with Pr44 (Numerator of pulse output division) and Pr45 (Denominator of pulse output division) • You can select the logic relation between A-phase and B-phase. Pr45 when the encoder resolution A B Z Pr44 is not multiple of 4. B. output frequency is 4Mpps (after quadrupled) I/F circuit PO1 P. • When the external scale is made as an output source. PO2 P. 2500P/r incremental encoder.

• You can set up the scaling with Pr07 value. CN X5 Output Signals (Analog) and Their Functions Title of signal Torque monitor signal output Pin No 42 Symbol IM Function • The content of output signal varies depending on Pr08 (Torque monitor (IM) selection). Pr07 Control mode 0–4 Motor speed Command speed Function • Feeds out the voltage in proportion to the motor speed with polarity. 17.163 1–5 • Feeds out the voltage in proportion to the fullclosed deviation pulse counts with polarity. + : positional command to CCW of Full-closed 6 –10 external scale position deviation – : positional command to CW of external scale position Speed monitor signal output 43 SP • The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection).12 command – : generates CW torque Pr08 Content of signal Positional deviation • Feeds out the voltage in proportion to the positional deviation pulse counts with polarity.25 Symbol GND Function • Signal ground • This output is insulated from the control signal power (COM–) inside of the driver. • This output is connected to the earth terminal inside of the driver.163 5–9 Output Signals (Others) and Their Functions Title of signal Signal ground Pin No 13.Wiring to the connector. • You can set up the scaling with Pr08 value. Function • Feeds out the voltage in proportion to the motor torque command with polarity. + : rotates to CCW – : rotates to CW • Feeds out the voltage in proportion to the command speed with polarity. + : rotates to CCW – : rotates to CW AO P. I/F circuit – Frame ground 50 FG – 170 . + : generates CCW torque 11. + : positional command to CCW of motor position – : positional command to CW of motor position I/F circuit AO P. Torque 0.15.

Pin-29) and COM– (Pin-41 of CN X5) to turn to Servo-ON status. 8) If you want to change the torque magnitude. 4) Confirm the default values of parameters. COM–) 3) Enter the power to the driver. "Display of factor for No-motor running" of Preparation. Wiring Diagram 7 DC 12V – 24V 29 41 Parameter COM+ SRV-ON COM– PrNo. provide a bipolar power supply. direction and velocity limit value against the command voltage. set up the following parameters. 7) Confirm that the motor runs as per the setup of Pr56 by applying DC voltage (positive/negative) between the torque command input (Pin-14 of CN X5) and GND (Pin-41 of CN X5).183. refer to P. "Parameter Setup-Parameters for Velocity and Torque Control". 2) Enter the power (DC12-24V) to control signal (COM+. 0 5 Title of signal Servo-ON Speed zero clamp Monitor display +A – 171 . Pr56 : 4th speed of speed setup Pr5C : Torque command input gain Pr5D : Torque command input reversal Refer to P. CN X5. 5) Set a lower value to Pr56 (4th speed of speed setup).Trial Run (JOG run) at Velocity Control Mode Inspection Before Trial Run (1) Wiring inspection • Miswiring (Especially power input/motor output) • Short/Earth • Loose connection Power supply [Connection and Setup of Torque Control Mode] Display LED X3 (2) Check of power/voltage • Rated voltage X4 X5 (3) Fixing of the motor • Unstable fixing (4) Separation from Machine mechanical system (5) Release of the brake CN X6 X6 X7 Motor ground Trial Run by Connecting the Connector. Connection and Setup of Torque Control Mode 9) If the motor does not run correctly.68. 02 04 06 56 5B 5C 5D Title Setup value Setup of control mode 2 Invalidation of over-travel inhibit input 1 Selection of ZEROSPD 0 4th speed of speed setup lower value Selection of torque command 0 Set up Torque command input gain as Torque command input reversal required 14 DC 10V 15 SPR/TRQR GND In case of one way running For bi-directional running (CW/CCW). CN X5 1) Connect the CN X5. Input signal status No. 6) Energize the motor by connecting the Servo-ON input (SRV-ON.

of Adjustment) Conditions which obstruct real-time auto-gain tuning • Load is too small or large compared to rotor inertia. .60 and 61 of Preparation). shows by keep pressing (approx. Setup value Insert the console connector to CN X6 of the driver. Finish Writing error occurs Return to SELECTION display after writing finishes. (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. (Here match to Pr21.240. to be set up with . and automatically sets up the optimum gain responding to the result. . Match to the parameter No. • Motor is running continuously at low speed of 100 [r/min] or lower.7 normal mode slow change 2. Default is 1. set up 3. Caution Real-time auto-gain tuning may not be executed properly under the conditions described in the right table. Change the setup with (3) Set up Pr22 (Machine stiffness at real-time auto-gain tuning) to 0 or smaller value. Position/Velocity command Action command under actual condition Auto-gain setup Position/Velocity control Auto-filter adjustment Adaptive Filter Torque command Current control Motor current Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver Applicable Range • Real-time auto-gain tuning is applicable to all control modes. . How to Operate (1) Bring the motor to stall (Servo-OFF). then turn on the driver power. • When speed condition of 100[r/min] or more and acceleration/deceleration condition of 2000[r/min] per 1[s] are not maintained for 50[ms]. Writing starts (temporary display). (6) Write to EEPROM when you want to save the result. In these cases. . (5) Gradually increase Pr22 (Machine stiffness at real-time auto-gain tuning) when you want to obtain better response. Writing completes 172 .4. Also the driver automatically suppress the vibration caused by the resonance with an adaptive filter. (default values) . 6 • When the varying degree of load inertia is large. Bars increase as the right fig.236 of Adjustment). 5sec). Numeral increases with and decreases with Press . • Acceleration/deceleration is slow (2000[r/min] per 1[s] or low). Lower the value (0 to 3) when you experience abnormal noise or oscillation. Writing to EEPROM Press Press . referring to "Structure of each mode"(P. Setup of parameter. 5 rapid change 3. Setup of parameter. . Action • Acceleration/deceleration torque is smaller than pattern unbalanced weighted/viscous friction torque. (10 [s] or less) • Machine stiffness is extremely low. (refer to P.Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine in real time. Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) – 0 no change <1>. Load (less than 3 times or more than 20 times) inertia • Load inertia change too quickly. or execute a manual gain tuning.) Press . Press . (4) Turn to Servo-ON to run the machine normally. Pr21 Press Press . use the normal mode auto-gain tuning (refer to P. Load • Chattering such as backlash exists. Pr22 Match to Pr22 with Press .

you may experience abnormal noise and oscillation right after the first Servo-ON. take the following measures in possible order. these are not failures as long as they disappear immediately. then set up other value than 0. 1) Write the parameters which have given the normal operation into EEPROM. the load inertia estimation will be invalidated. however. 3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0. when you select torque control while you set up Pr02 (Control mode setup) to 4 and 5. until load inertia is identified (estimated) or adaptive filter is stabilized. Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. the adaptive filter frequency before mode switching will be held. If they persist over 3 reciprocating operations. (6) During the trial run and frequency characteristics measurement of "PANATERM®". however. Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to extreme values. 30 31 32 33 34 36 Title 2nd gain setup 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching 2nd mode of control switching Setup value 1 0 30 50 33 0 <Notes> • When the real-time auto-gain tuning is valid. PrNo. When you turn on the power again. Following parameters are automatically adjusted. Cautions (1) After the start-up. Connection and Setup of Torque Control Mode 173 . or when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). 11 12 13 14 19 1A 1B 1C 20 Title 1st gain of velocity loop 1st time constant of velocity loop integration 1st filter of velocity detection 1st time constant of torque filter 2nd gain of velocity loop 2nd time constant of velocity loop integration 2nd filter of speed detection 2nd time constant of torque filter Inertia ratio Also following parameters are automatically set up. 2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). • Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain Tuning Mode) is 1 to 6. auto-gain tuning will be executed using the latest data as initial values. Take the same measures as the above in these cases. you cannot change parameters which are automatically adjusted. (Reset of inertia estimation and adaptive action) 4) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode setup) to 0. (4) When you validate the real-time auto-gain tuning. (5) The adaptive filter is normally invalidated at torque control. (3) Among the results of real-time auto-gain tuning. Pr27 (Setup of instantaneous speed observer) will be invalidated automatically. and set up notch filter manually. and becomes 0 in other cases. (2) When abnormal noise and oscillation occur. PrNo.[Connection and Setup of Torque Control Mode] Parameters Which Are Automatically Set Up.

2 sec) during initialization Setup value of Pr01 For details of display. the 2nd mode will be selected. C-MODE open 1st close 2nd open 1st 10ms or longer 10ms or longer <Notes> • For parameters which No. • The setup value of this parameter has no effect to the servo action. Use this parameter to confirm the address of the axis in numbers. Setup value 0 Content Positional deviation Motor rotational speed Torque output Control mode I/O signal status Error factor/history Software version Alarm Regenerative load factor Over-load factor Inertia ratio Sum of feedback pulses Sum of command pulses External scale deviation Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" Power -ON <1> 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Flashes (for approx. * • The address is determined by the setup value of rotary switch (0 to F) of the front panel at power-on. 02 Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> You can set up the control mode to be used. When C-MODE is shorted.51 "Setup of Parameter and Mode" of Preparation. * Control mode 1st mode 2nd mode Position – Velocity – Torque – Position Velocity Position Torque Velocity Torque Full-closed – **1) When you set up the combination mode of 3. • This value becomes the axis number at serial communication. 174 . changed contents will be validated when you turn on the control power. the 1st mode will be selected. refer to P. 00 Title Address Setup range 0 to 15 <1> Function/Content In the communication with the host via RS232/485 for multi-axes application. 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. Don't enter commands 10ms before/after switching. 4 or 5. • You cannot change the setup of Pr00 with other means than rotary switch. you can select either the 1st or the 2nd with control mode switching input (C-MODE). it is necessary to identify which axis the host is communicating. have a suffix of "*". When C-MODE is open.Parameter Setup Parameters for Functional Selection Standard default : < > PrNo.

5V / 3000 r/min 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1. Setup value 0 1 2 <3> 4 5 6 7 8 9 Signal of SP Relation between the output voltage level and the speed 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1. or limit with the host controller instead of using this function. CCW direction permitted.Pin-9) Open Inhibits CCW direction. 2 1 Function of ZEROSPD (Pin-26) ZEROSPD input is ignored and the driver judge that it Is not in speed zero clamp status. Pin43) and the relation between the output voltage level and the speed. 2.Pin-9) Open Inhibits CW direction. the work may repeat up/down movement because of the loosing of upward torque. the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel inhibition). 04 Title Setup of over-travel inhibit input Setup range 0 to 2 <1> Function/Content In linear drive application. you can set up the action of over-travel inhibit input. Err38 (Over-travel inhibit input protection) is triggered when either one of the connection of CW or CCW inhibit input to COM– become open. the driver trips with Err38 (Overtravel inhibit input error) judging that this is an error. 07 Selection of speed monitor (SP) 0 to 9 <3> You can set up the content of analog speed monitor signal output (SP : CN X5. When Pr04 is set to 0 and over-travel inhibit input is entered. set up Pr66 to 2. Speed command is taken as 0 by opening the connection to COM–. Pin-26) Setup value <0>. refer to the explanation of Pr66. Both CCWL and CWL inputs will be ignored. so that you can prevent the work load from damaging the machine due to the over-travel. For details.5V / 3000 r/min Motor actual speed Command speed 175 . When both of CCWL and CWL inputs are opened while Pr04 is set to 0.[Connection and Setup of Torque Control Mode] Standard default : < > PrNo. <Cautions> 1. CWL Close Normal status while CW-side limit switch is not activated. CW direction Work CCW direction Driver Servo motor Limit switch Limit switch * CCWL CWL Setup value CCWL/CWL input 0 Valid <1> 2 Invalid Valid Action Input Connection to COM– CCWL Close Normal status while CCW-side limit switch is not activated. In this case. When you turn off the limit switch on upper side of the work at vertical axis application. (CN X5. and over-travel inhibit function will be invalidated. 3. (CN X5. you can use this over-travel inhibiting function to inhibit the motor to run to the direction specified by limit switches which are installed at both ends of the axis. ZEROSPD input becomes valid. permits CW direction. With this input. Connection and Setup of Torque Control Mode 06 Selection of ZEROSPD input 0 to 2 <0> You can set up the function of the speed zero clamp input (ZEROSPD : CN X5.

Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 Note For details of function of each output of the left. but ignore the multi-turn counter over. 0A Selection of ZSP output 0 to 8 <1> You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12).Parameter Setup Standard default : < > PrNo. • Error of baud rate is ±0. 0 Use as an incremental encoder. Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque 09 Selection of TLC output 0 to 8 <0> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40). You can set up the communication speed of RS232. and the relation between the output voltage level and torque or deviation pulse counts. <1> Use as an absolute encoder. Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 You can set up the using method of 17-bit absolute encoder. Content Setup value Use as an absolute encoder.168. 2500P/r incremental encoder is used. refer to the table of P168. 08 Title Selection of torque monitor (IM) Setup range 0 to 12 <0> Function/Content You can set up the content of the analog torque monitor of the signal output (IM : CN X5. refer to the table of P. 2 <Caution> This parameter will be invalidated when 5-wire.5%. "Selection of TCL and ZSP outputs". "Selection of TCL and ZSP outputs". Pin42). Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 Note For details of function of each output of the left. 0B * Setup of absolute encoder 0 to 2 <1> 0C * Baud rate setup of RS232 communication 0 to 5 <2> 176 .

Connection and Setup of Torque Control Mode 12 1st time constant of velocity loop integration 1st filter of speed detection 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* 0 to 5 <0>* ms 13 – 14 19 1A 1B 1C 1D 1st time constant of 0 to 2500 0. in 6 steps. Baud rate 2400bps 4800bps 9600bps • Error of baud rate is ±0. Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. <Caution> When the inertia ratio of Pr20 is set correctly. You can set up the integration time constant of velocity loop. however. The integration will be maintained by setting to "999". You can set up the time constant of the 1st delay filter inserted in the torque command portion. the setup unit of Pr11 becomes (Hz). have a suffix of "*". changed contents will be validated when you turn on the control power. response becomes slow. Smaller the setup. The notch filter function will be invalidated by setting up this parameter to "1500".01ms torque filter A to C-frame:<65>* D to F-frame:<126>* 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* – 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0. "Adjustment". Higher the setup. referring to P. invalidate the real-time auto-gain tuning first then set.226. Position loop. 0D Title Baud rate setup of RS485 communication Setup range 0 to 5 <2> Setup value 0 1 <2> Function/Content You can set up the communication speed of RS485. "Release of Automatic Gain Adjusting Function" of Adjustment. You might expect suppression of oscillation caused by distortion resonance. The function and the content of each parameter is as same as that of the 1st gain and time constant. <Notes> • For parameters which No. velocity loop. too high setup may cause oscillation. speed detection filter and torque command filter have their 2 pairs of gain or time constant (1st and 2nd). In order to increase the response of overall servo system by setting high position loop gain. However.5%. use the console or the "PANATERM®". refer to P. you need higher setup of this velocity loop gain as well.[Connection and Setup of Torque Control Mode] Standard default : < > PrNo.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> You can set up the frequency of the 1st resonance suppressing notch filter. You can set up the time constant of the low pass filter (LPF) after the speed detection. Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. 177 . When you change manually.239. Baud rate Setup value 19200bps 3 38400bps 4 57600bps 5 * 0E * Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. <Note> You can still change parameters via communication even though this setup is 1. Use with a default value of 0 in normal operation. For details of switching the 1st and the 2nd gain or the time constant. To return this parameter to 0. faster you can dog-in deviation at stall to 0. • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. 11 Title 1st gain of velocity loop Setup range 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* Unit Hz Function/Content You can determine the response of the velocity loop. larger the time constant you can obtain so that you can decrease the motor noise. The integration effect will be lost by setting to "1000".

5 3.. the setup unit of the velocity loop gain becomes larger... 21 Setup of real-time auto-gain tuning 0 to 7 <1> – You can set up the action mode of the real-time auto-gain tuning... 1E Title 1st notch width selection Setup range 0 to 4 <2> Unit – Function/Content You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.. 7 2. Parameters for Auto-Gain Tuning Standard default : < > PrNo. the driver respond quickly to the change of the inertia during operation. and its result will be saved to EEPROM every 30 min. 4.. <Caution> If the inertia ratio is correctly set. Higher the setup. and this result will be reflected in this parameter. the load inertial will be automatically estimated after the preset action. larger the notch width you can obtain. With higher setup such as 3. 1. When the inertia ratio of Pr20 is larger than the actual. and this may give impact to the machine.14. Pr20=(load inertia/rotor inertia) X 100 [%] When you execute the normal auto-gain tuning. 178 . however it might cause an unstable operation.. 20 Title Inertia ratio Setup range 0 to 10000 <250>* Unit % Function/Content You can set up the ratio of the load inertia against the rotor (of the motor) inertia. Increase the setup gradually watching the movement of the machine. The inertia ratio will be estimated at all time while the real-time auto-gain tuning is valid. and when the inertia ratio of Pr20 is smaller than the actual. Use with default setup in normal operation. the gain changes rapidly as well.. the setup unit of Pr11 and Pr19 becomes (Hz). 6 Real-time auto-gain tuning Invalid Normal mode Varying degree of load inertia in motion – Little change Gradual change Rapid change 22 Selection of machine stiffness at real-time auto-gain tuning 0 to 15 A to C-frame: <4> D to F-frame: <1> – You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid.. Use 1for normal operation. 15 low response high <Caution> When you change the setup value rapidly.. low machine stiffness high low servo gain high Pr22 0.Parameter Setup Standard default : < > PrNo. Setup value 0 <1>. the setup unit of the velocity loop gain becomes smaller.

You can set up the 2nd notch width of the resonance suppressing filter in 5 steps. Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5. You can set up the notch width of 2nd resonance suppressing filter in 5 steps. 179 . "Gain Switching Function" of Adjustment. larger the notch width you can obtain. Fixed to the 2nd gain. shallower the notch depth and smaller the phase delay you can obtain. GAIN input Open with COM– Connect to COM– Action of velocity loop PI action P action *2 For switching condition of the 1st and the 2nd. referring to P. <Notes> • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. Higher the setup. *1 Fixed to the 1st gain regardless of GAIN input. invalidate the real-time auto-gain tuning first then set. when Pr31 is set to 2 and Pr03 (Torque limit selection) is set to 3. 31 1st mode of control switching Setup value <0>*.243.) When the setup is 0. Higher the setup.) 2nd gain selection when the toque command variation is larger than the setups of Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).239. PI is fixed when Pr03 (Torque limit selection) is 3. Gain switching condition Fixed to the 1st gain. 25 Title Setup of an action at normal mode auto-gain tuning Setup range 0 to 7 <0> Unit – Function/Content You can set up the action pattern at the normal mode auto-gain tuning. *2 For the switching level and the timing. the motor turns 2 revolutions to CCW and 2 revolutions to CW. The notch filter function is invalidated by setting up this parameter to "1500". 2nd gain selection when the gain switching input is turned on. "Release of Automatic Gain Adjusting Function" of Adjustment. When you change manually. 30 Title Setup of 2nd gain Setup range 0 to 1 <1>* Unit – Setup value 0 <1>* Function/Content You can select the PI/P action switching of the velocity control or 1st/2nd gain switching. Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e. 4to 10 1 *1 2 3 *2 0 to 10 <0>* – You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. "Gain Switching Function" of Adjustment. Pin27).g. (Pr30 setup must be 1.243.[Connection and Setup of Torque Control Mode] Standard default : < > PrNo. 28 2nd notch frequency Selection of 2nd notch width Selection of 2nd notch depth 100 to 1500 <1500> 0 to 4 <2> 0 to 99 <0> Hz 29 – 2A – Parameters for Adjustment (2nd Gain Switching Function) Connection and Setup of Torque Control Mode Standard default : < > PrNo. refer to P. refer to P. You can set up the 2nd notch depth of the resonance suppressing filter. Use with default setup in normal operation.

while Pr36 is set to 3 to 5. 3 2 0 bold line 1 2 3 thin line 37 38 0 to 10000 x 166µs 2nd delay time of control switching <0> 2nd level of control 0 to 20000 – switching <0> <Caution> The switching time is only valid when switching from small position gain to large position gain.75. Definitions of Pr32 (Delay). Pr38 (Level) and Pr39 (Hysteresis) Pr37 are explained in the fig. below. 32 Title 1st delay time of control switching 1st level of control switching Setup range Unit Function/Content You can set up the delay time when returning from the 2nd to the 1st gain. You can set up the switching (judging) level of the 1st and the 2nd gains.Parameter Setup Standard default : < > PrNo. while Pr31 is set to 3. Unit varies depending on the setup of Pr31 (1st mode of control switching) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. You can set up the switching (judging) level of the 1st and the 2nd gains. Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative). while Pr31 is set to 3. "Trial Run"of Preparation. e. You can set up the hysteresis width to be implemented above/below the judging level which is set up with Pr38 Pr38. Unit varies depending on the 0 setup of Pr31 (1st control switching 1st gain 2nd gain 1st gain mode). while Pr36 is set to 3 to 5 Unit varies depending on the setup of Pr36 (2nd mode of control switching). Refer to P. Pr39 Unit varies depending on the setup 0 of Pr36 (2nd mode of control 1st gain 2nd gain 1st gain switching). You can set up the delay time when returning from 2nd to 1st gain. below. You can setup the JOG speed.g. <Caution> Setup of Pr38 (Level) and Pr39 (Hysteresis) are valid as absolute value (positive/negative).Definition of Pr37 (Delay).) Kp1(Pr10) Pr35= 0 1 Kp2(Pr18) 1st gain 2nd gain 1st gain 166 166 166µs 166 Kp1(Pr10)>Kp2(Pr18) 0 to 10000 x 166µs <30>* 0 to 20000 <50>* – 33 34 0 to 20000 1st hysteresis of control switching <33>* – 35 Switching time of position gain 0 to 10000 (setup You can setup the <20>* value +1) step-by-step switching x 166µs time to the position loop gain only at gain switching while the 1st and the 2nd gain switching is valid. 39 2nd hysteresis of control switching 0 to 20000 <0> – 3D JOG speed setup 0 to 500 <300> r/min 180 .

The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 • Pr45≠0 : The pulse output resolution per one revolution can be divided by any ration according to the formula below. the pulse output resolution equals to the encoder resolution. Pulse output resolution per one revolution Pr44 (Numerator of pulse output division) Pr45 (Denominator of pulse output division) x Encoder resolution 45 * Denominator of pulse output division 0 to 32767 <0> <Cautions> • The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder. • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. and 10000 [P/r] for the 5-wire 2500P/r incremental encoder. 0B. the Z-phase width equals to output with the encoder resolution. 181 . changed contents will be validated when you turn on the control power. In other case.[Connection and Setup of Torque Control Mode] Parameters for Position Control Standard default : < > PrNo. When you change manually. have a suffix of "*". When the pulse output resolution obtained from the above formula is multiple of 4.: Pin-22. referring to P. Therefore the pulse output resolution after quadruple can be obtained from the formula below. 44 Title Setup range Function/Content * Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin<2500> 21. hence does not synchronize with A-phase. Z-phase synchronizes with A-phase. 0B+ : Pin-48. • The pulse output resolution per one revolution cannot be greater than the encoder resolution.) • Z-phase is fed out once per one revolution of the motor.239. when encoder resolution x A B Z Synchronized Pr44 is multiple of 4 Pr45 when encoder resolution x A B Z Not-synchronized Pr44 is not multiple of 4 Pr45 Connection and Setup of Torque Control Mode <Notes> • For parameters which No. 0A. output division • Pr45=<0> (Default) You can set up the output pulse counts per one motor revolution for each OA and OB with the Pr44 setup. invalidate the real-time auto-gain tuning first then set. (In the above setup. and becomes narrower than A-phase. "Release of Automatic Gain Adjusting Function" of Adjustment.: Pin-49).

Parameter Setup
Standard default : < >

PrNo.
46

Title
Reversal of pulse output logic

Setup range
0 to 3 <0>

Function/Content
You can set up the B-phase logic and the output source of the pulse output (X5 OB+ : Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation between the A-phase pulse and the B-phase pulse by reversing the B-phase logic. Setup value <0>, 2 1, 3 Pr46 <0> 1 2 *1 3 *1 A-phase (OA) B-phase(OB) non-reversal B-phase(OB) reversal B-phase logic Non-reversal Reversal Non-reversal Reversal Output source Encoder position Encoder position External scale position External scale position at motor CCW rotation at motor CW rotation

*

*1 The output source of Pr46=2, 3 is valid only at full-closed control.

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.

182

[Connection and Setup of Torque Control Mode] Parameters for Velocity and Torque Control
Standard default : < >

PrNo.
50

Title
Input gain of speed command

Setup range

Unit

Function/Content
You can set up the relation between the voltage applied to the speed command input (SPR : CN X5, Pin-14) and the motor speed. • You can set up a "slope" of the relation between the command input voltage CCW and the motor speed, with Pr50. Speed (r/min) • Default is set to Pr50=500 [r/min], 3000 hence input of 6V becomes 3000r/min. Slope at ex-factory <Cautions> 1. Do not apply more than ±10V to the –10 –6 2 4 6 8 10 speed command input (SPR). Command input voltage (V) 2. When you compose a position loop –3000 outside of the driver while you use the driver in velocity control mode, the CW setup of Pr50 gives larger variance to the overall servo system. Pay an extra attention to oscillation caused by larger setup of Pr50.

10 to 2000 (r/min)/V <500>

52

Speed command offset

–2047 to 2047 <0>

0.3mV

• You can make an offset adjustment of analog speed command (SPR : CN X5, Pin-14) with this parameter. • The offset volume is 0.3mV per setup value of "1". • There are 2 offset methods, (1) Manual adjustment and (2) Automatic adjustment. 1) Manual adjustment • When you make an offset adjustment with the driver alone, Enter 0 V exactly to the speed command input (SPR/TRQR), (or connect to the signal ground), then set this parameter up so that the motor may not turn. • when you compose a position loop with the host, • Set this parameter up so that the deviation pulse may be reduced to 0 at the Servo-Lock status. 2) Automatic adjustment • For the details of operation method at automatic offset adjustment mode, refer to P.73, "Auxiliary Function Mode" of Preparation. • Result after the execution of the automatic offset function will be reflected in this parameter, Pr52.
Connection and Setup of Torque Control Mode

56

4th speed of speed setup

–20000 to 20000 <0> 0 to 6400 <0> 0 to 1 <0>

r/min

You can set up the speed limit value in unit of [r/min]. <Caution> The absolute value of the parameter setup is limited by Pr73 (Set up of over-speed level). You can set up the time constant of the primary delay filter to the analog speed command/analog torque command/analog velocity control (SPR : CN X5, Pin-14) You can select the input of the torque command and the speed limit. Pr5B <0> 1 Torque command SPR/TRQR/SPL CCWTL/TRQR Velocity limit Pr56 SPR/TRQR/SPL

57

Setup of speed command filter Selection of torque command

10µs

5B

183

Parameter Setup
Standard default : < >

PrNo.
5C

Title
Input gain of torque command

Setup range
10 to 100 <30>

Unit
0.1V/ 100%

Function/Content
You can set the relation between the voltage applied to the torque command input (SPR/TRQR : CN X5, Pin-14 or CCWTL/TRQR : CN X5, Pin-16) and the motor output torque.
torque • Unit of the setup value is [0.1V/100%] 300[%] and set up input voltage necessary to Default Rated 200 torque produce the rated torque. 100 • Default setup of 30 represents -10V-8 -6 -4 -2 3V/100%. CCW

2 4 6 8 10V 100 command 200

input voltage (V)

300[%]

CW

5D

Input reversal of torque command

0 to 1 <0>

You can reverse the polarity of the torque command input (SPR/TRQR : CN X5, Pin-14 or CCWTL/TRQR : CN X5, Pin-16) Direction of motor output torque Setup value CCW direction (viewed from motor shaft) with (+) command <0> CW direction (viewed from motor shaft) with (+) command 1

5E

1st torque limit setup

0 to 500 <500> *2

%

You can limit the max torque for both CCW and CW direction with Pr5E. Pr03 setup and Pr5F are ignored. This torque limit function limits the max. motor torque with the parameter setup. In normal operation, this driver permits approx. 3 times larger torque than the rated torque instantaneously. If this 3 times bigger torque causes any trouble to the load (machine) strength, you can use this function to limit the max. torque. • Setup value is to be given in % against the rated torque. • Right fig. shows example of 150% setup with Pr03=1. • Pr5E limits the max. torque for both CCW and CW directions.
torque [%] CCW 300(Max.) when Pr5E=150 200 100 (Rated)
100 200 300

speed (Rating) (Max.)

CW

<Caution> You cannot set up a larger value to this parameter than the default setup value of "Max. output torque setup" of System parameter (which you cannot change through operation with PANATERM® or panel). Default value varies depending on the combination of the motor and the driver. For details, refer to P.57, "Setup of Torque Limit " of Preparation.

<Notes> • For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver and the motor.

184

[Connection and Setup of Torque Control Mode] Parameters for Sequence
Standard default : < >

PrNo.
61

Title
Zero-speed

Setup range
10 to 20000 <50>

Unit
r/min

Function/Content
You can set up the timing to feed out the zero-speed detection output signal (ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min]. The zero-speed detection signal (ZSP) will be fed out when the motor speed falls below the setup of this parameter, Pr61. In-speed (Speed coincidence) signal (V-COIN) will be fed out when the difference between the speed CCW speed command and the motor speed falls below the setup of this parameter, (Pr61+10)r/min Pr61. • The setup of P61 is valid for both CCW and CW direction regardless of the motor rotating direction. • There is hysteresis of 10 [r/min]. ZSP
(Pr61–10)r/min CW ON

62

At-speed (Speed arrival)

10 to 20000 <50>

r/min

You can set up the timing to feed out the At-speed signal (COIN+ : CN X5, Pin-39, COIN- : CN X5, Pin-38) At-speed (Speed arrival) (COIN) will be fed out when the motor speed exceeds the setup speed of this parameter, Pr62 • The setup of P62 is valid for both CCW and CW direction regardless of the motor rotational direction. • There is hysteresis of 10 [r/min].
speed (Pr62+10)r/min CCW

Connection and Setup of Torque Control Mode

CW

(Pr62–10)r/min

AT-SPEED

OFF

ON

65

LV trip selection at main power OFF

0 to 1 <1>

You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). Setup value 0 Action of main power low voltage protection
When the main power is shut off during Servo-ON, Err13 will not be triggered and the driver turns to Servo-OFF. The driver returns to Servo-ON again after the main power resumption. When the main power is shut off during Servo-ON, the driver will trip due to Err13 (Main power low voltage protection).

<1>

<Caution> This parameter is invalid when Pr6D (Detection time of main power OFF)=1000. Err13 (Main power under-voltage protection) is triggered when setup of P66D is long and P-N voltage of the main converter falls below the specified value before detecting the main power shutoff, regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON" of Preparation as well.

185

Parameter Setup
Standard default : < >

PrNo.
66

Title
Sequence at over-travel inhibit

Setup range
0 to 2 <0>

Unit

Function/Content
You can set up the running condition during deceleration or after stalling, while over-travel inhibit input (CCWL : Connector CN X5, Pin-9 or CWL : Connector CN X5, Pin-8) is valid Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop After stalling Deviation counter content Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration

*

<Caution> In case of the setup value of 2, torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop ). 67 Sequence at main power OFF 0 to 9 <0> – When Pr65 (LV trip selection at main power OFF) is 0, you can set up, 1) the action during deceleration and after stalling 2) the clearing of deviation counter content after the main power is shut off. Setup value <0> 1 2 3 4 5 6 7 8 9 Action After stalling During deceleration DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear

68

Sequence at alarm

0 to 3 <0>

(DB: Dynamic Brake action) <Caution> In case of the setup value of 8 or 9, torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop). You can set up the action during deceleration or after stalling when some error occurs while either one of the protective functions of the driver is triggered. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold

(DB: Dynamic Brake action) <Caution> The content of the deviation counter will be cleared when clearing the alarm. Refer to P.43, "Timing Chart (When an error (alarm) occurs (at Servo-ON command status)" of Preparation.

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.

186

[Connection and Setup of Torque Control Mode]
Standard default : < >

PrNo.
69

Title
Sequence at Servo-Off

Setup range
0 to 9 <0>

Unit

Function/Content
You can set up, 1) the action during deceleration and after stalling 2) the clearing of deviation counter content, after turning to Servo-OFF (SRV-ON signal : CN X5, Pin-29 is turned from ON to OFF) The relation between the setup value of Pr69 and the action/deviation counter clearance is same as that of Pr67 (Sequence at Main Power Off) Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at stall" of Preparation as well. You can set up the time from when the brake release signal (BRK-OFF : CN X5, Pin-10 and 11) turns off to when the motor is de-energized (Servo-free), when the motor turns to Servo-OFF while the motor is at stall. • Set up to prevent a micro-travel/ drop of the motor (work) due to the action delay time (tb) of the brake • After setting up Pr6a > tb , = then compose the sequence so as the driver turns to Servo-OFF after the brake is actually activated.
SRV-ON BRK-OFF actual brake ON release release tb OFF hold hold nonenergized Pr6A

6A

Setup of mechanical brake action at stalling

0 to 100 <0>

2ms

motor energization energized

Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. 6B Setup of mechanical brake action at running 0 to 100 <0> 2ms You can set up time from when detecting the off of Servo-ON input signal (SRV-ON : CN X5, Pin-29) is to when external brake release signal (BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to servo off during the motor in motion. • Set up to prevent the brake deterioration due to the motor running. • At Servo-OFF during the motor is running, tb of the right fig. will be a shorter one of either Pr6B setup time, or time lapse till the motor speed falls below 30r/min.
SRV-ON BRK-OFF actual brake ON release tb energized nonenergized 30 r/min OFF hold

Connection and Setup of Torque Control Mode

motor energization

Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well.

187

Parameter Setup
Standard default : < >

PrNo.
6C

Title
Selection of external regenerative resistor

Setup range
0 to 3 for A, B-frame <3> for C to F-frame <0>

Unit

Function/Content
With this parameter, you can select either to use the built-in regenerative resistor of the driver, or to separate this built-in regenerative resistor and externally install the regenerative resistor (between RB1 and RB2 of Connector CN X2 in case of A to D-frame, between P and B2 of terminal block in case of E, F-frame). Setup value Regenerative resistor to be used <0> (C, D, E and Built-in resistor F-frame)
Regenerative processing and regenerative resistor overload

*

Regenerative processing circuit will be activated and regenerative resistor overload protection will be triggered according to the built-in resistor (approx. 1% duty). The driver trips due to regenerative overload protection (Err18), when regenerative 1 External resistor processing circuit is activated and its active ratio exceeds 10%, Regenerative processing circuit is activated, 2 External resistor but no regenerative over-load protection is triggered. Both regenerative processing circuit and <3> regenerative protection are not activated, and No resistor built-in capacitor handles all regenerative (A, B-frame) power.

<Remarks> Install an external protection such as thermal fuse when you use the external regenerative resistor. Otherwise, the regenerative resistor might be heated up abnormally and result in burnout, regardless of validation or invalidation of regenerative over-load protection. <Caution> When you use the built-in regenerative resistor, never to set up other value than 0. Don't touch the external regenerative resistor. External regenerative resistor gets very hot, and might cause burning. 6D

*
6E

Detection time of main power off Torque setup at emergency stop

35 to 1000 <35> 0 to 500 <0>

2ms

You can set up the time to detect the shutoff while the main power is kept shut off continuously. The main power off detection is invalid when you set up this to 1000. You can set up the torque limit in case of emergency stop as below. • During deceleration of over-travel inhibit with the setup 2 of Pr66 (Sequence at over-travel inhibit input) • During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main power off) • During deceleration with the setup of 8 or 9 of Pr69 (Sequence at ServoOFF) Normal torque limit is used by setting this to 0. • You can set up the excess detection judgment level of analog velocity command (SPR : CN X5, Pin-14) with voltage after offset correction. • Err39 (Analog input excess protective function ) becomes invalid when you set up this to 0. • You can set up the over-load level. The overload level becomes 115 [%] by setting up this to 0. • Use this with 0 setup in normal operation. Set up other value only when you need to lower the over-load level. • The setup value of this parameter is limited by 115[%] of the motor rating. • You can set up the over-speed level. The over-speed level becomes 1.2 times of the motor max. speed by setting up this to 0. • Use this with 0 setup in normal operation. Set up other value only when you need to lower the over-speed level. • The setup value of this parameter is limited by 1.2 times of the motor max. speed. <Caution> The detection error against the setup value is ±3 [r/min] in case of the 7-wire absolute encoder, and ±36 [r/min] in case of the 5-wire incremental encoder.

%

71

Setup of analog input excess

0 to 100 <0>

0.1V

72

Setup of over-load level

0 to 500 <0>

%

73

Setup of over-speed level

0 to 20000 <0>

r/min

<Notes> • For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power.
188

..................... Input Signal and Pin No..... Output Signal and Pin No................ Parameters Which are Automatically Set up ....... 204 Wiring to the External Scale................... Adaptive Filter .................. How to Operate . 190 What is Full-Closed Control ? ...... CN X5 ..................................... 214 Parameters for Position Control .. 206 Outline .................... CN X5 ............................................................. 190 Control Block Diagram of Full-Closed Control Mode ............................................................................... CN X7 .............................................................[Full-Closed Control Mode] page Outline of Full-Closed Control .................................................................. Interface Circuit ...................................................... Applicable Range .............................................................................. CN X5 ............................... Connector. 212 Parameters for Adjustment (2nd Gain Switching Function) ........... 192 Wiring Example to the Connector.. 204 Connector............................................................................... CN X7 ............................................................................................................. 208 Parameters for Functional Selection .................................. of the Connector........................ of the Connector...................................... 220 Parameters for Sequence ............................. CN X5 ... 206 206 206 207 207 Parameter Setup .................................................................. CN X7 ........................................... 220 Parameters for Full-Closed ..................... 211 Parameters for Auto-Gain Tuning ...................... 208 Parameters for Adjustment of Time Constant of Gains and Filters .. 224 189 .. 191 Wiring to the Connector.. 205 Real-Time Auto-Gain Tuning ... 192 193 195 201 Connection to the Connector........ 216 Parameters for Velocity/Torque Control ....

5) Set up the external scale division ratio (Pr78-7A) using the formula below. If the hybrid deviation excess range is too wide. (Speed detection) Controller Position command Position detection Linear scale We recommend the linear scale division ratio of 1 20 V V = Linear scale division ratio = 20 Cautions on Full-Closed Control (1) Enter the command pulses making the external scale as a reference. and is used to prevent the machine runaway or damage in case of the linear scale breakdown or when the motor and the load is disconnected. 2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the front panel or with the setup support software.Outline of Full-Closed Control What Is Full-Closed Control ? In this full-closed control. detection of the breakdown or the disconnection will be delayed and error detection effect will be lost. * A4-series driver calculates the difference between the encoder position and the linear scale position as hybrid deviation. If this is too narrow. you can control without being affected by the positional variation due to the ball screw error or temperature and you can expect to achieve a very high precision positioning in sub-micron order. Execute the initial setup of parameters per the following procedures. hybrid deviation excess error (Err25) may occur especially when the work travels long distance. 3) Move the work and check the travel from the initial values of the above 2). you can make a position control by using a linear scale mounted externally which detects the machine position directly and feeds it back. widen the hybrid deviation excess range by matching the external scale division ratio to the closest value. set up the reversal of external scale direction (Pr7C) to 1. <How to make an initial setup of parameters related to linear scale > 1) Turn on the power after checking the wiring. set up this value. it may detect the normal distortion between the motor and the machine under normal operation as an error. If the command pulses do not match to the external scale pulses. In this case. * When the external scale division ration is not correct. 190 . then write into EEPROM and turn on the power again before using this function. PANATERM . Total variation of external scale feedback pulse sum External scale division ratio = Total variation of feedback pulse sum = Pr78 x 2 Pr79 Pr7A * If the design value of the external scale division ratio is obtained. With this control. use the command division/multiplication function (Pr48-4B) and setup so that the command pulses after division/multiplication is based on the external scale reference. 6) Set up appropriate value of hybrid deviation excess (Pr7B) in 16 pulse unit of the external scale resolution.. (2) A4-series supports the linear scale of a communication type. even though the linear scale and the motor position matches. in order to avoid the damage to the machine. 4) If the travel of the feedback sum and the external scale feedback pulse sum are reversed in positive and negative.

Pulse train Damping control 1st frequency Pr2B 1st filter Pr2C 2nd frequency Pr2D 2nd filter Pr2E 1st Pr10 Pr18 2nd frequency Pr28 2nd width Pr29 2nd depth Pr2A Adaptation Pr2F Position control Filter Pr16 Gain Pr15 Velocity feed forward Input setup FIR smoothing PULS SIGN Input selection Pr40 Reversal Pr41 Average Pr4D travel times Control Block Diagram at Full-Closed Control Mode Mode Pr42 Torque command monitor Division/Multiplication + + – 1st width Pr1E 1st delay smoothing + + – 2nd Notch filter 1st frequency Pr1D 1st numerator Pr48 2nd numerator Pr49 Selection Pr4C Torque filter 1st time Pr14 constant 2nd time Pr1C constant 1st limit 2nd limit Pr5E Pr5F Motor Multiplier Full closed position deviation monitor Inertia ratio Pr20 Speed detection filter 1st Pr13 2nd Pr1B Pr4A Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Denominator Pr78 Pr4B External scale correction Numerator Numerator multiplier Pr79 Pr7A Denominator Encoder Command speed monitor Speed detection Actual speed monitor + Position deviation monitor – Division Encoder reception processing Serial communication data Numerator Pr44 Feedback pulses Denominator Pr45 External scale reception processing OA/OB/OZ Selection Pr46 Serial communication data External scale Z-phase Pr47 [Connection and Setup of Full-closed Control] Full-Closed Control Mode 191 .

) 50 FG SP IM 42 Velocity monitor output Torque monitor output ( represents twisted pair.) CN X5 .2kΩ OPC1 OPC2 3 PULS1 3 1 2 4 PULS2 4 R 220Ω SIGN1 5 In case of open collector I/F Command pulse inhibition input Deviation counter clear input 7 COM+ 33 INH PULS1 220Ω (1) When you use the external resistor with 12V and 24V power supply 30 PULS2 SIGN1 220Ω CL 5 6 13 SIGN2 6 220Ω 13 GND VDC R Servo-ON input SIGN2 GND OA+ OAOB+ OB23 49 330Ω Command pulse input A (Use with 500kpps or less.2kΩ 2.83kΩ 44 CCWTL/TRQR GND 10kΩ SIGN 3.) 29 SRV-ON Gain switching input 27 GAIN Electronic gear switching input 28 DIV Damping control switching input 26 VS-SEL 32 C-MODE 21 22 330Ω Alarm clear input 31 A-CLR CCW over-travel 48 inhibition input CW over-travel inhibition input 9 CCWL 8 CWL A-phase output VDC B-phase output (2) When you do not use the Z-phase output Specifications VDC -1.83kΩ 45 2kΩ 43kΩ 2kΩ 43kΩ 220Ω 2kΩ 43kΩ PULSH1 CWTL PULSH2 CCW torque limit input (0 to +10V) CW torque limit input (-10 to +10V) 46 SIGNH1 47 SIGNH2 13 GND Command pulse input B (Use with 2Mpps or less.2kΩ OPC2 2 VDC 12 to 24V 24VDC SIGN2 6 220Ω 13 Brake release output ALM39 EX-COIN+ 38 EX-COIN- Wiring to the Connector. CN X5 Torque in-limit output 11 BRKOFF+ 10 BRKOFF- GND 40 (Select with Pr09) Zero speed detection output 20kΩ TLC 12 SPR/TRQR GND 2kΩ 43kΩ 220Ω PULS (Select with Pr0A) 15 16 17 18 43 1kΩ 1kΩ 10kΩ ZSP 41 COM14 3.Servo-Ready output OZ+ OZ24 330Ω Divider 192 4. of R 12V 1kΩ1/2W 24V 2kΩ1/2W Servo-Alarm output 25 19 Z-phase output (open collector) 35 S-RDY+ 34 S-RDY- external resistor with 24V power supply 2.7kΩ 2.5 . CN X5 Full-closed positioning complete output PULS2 4 220Ω 2.2kΩ OPC1 1 37 ALM+ GND CZ 36 Wiring example of full-closed control mode Wiring Example to the Connector. =10mA R+220 .

(1)ADC1 : 16 bit (SPR/TRQR). R with 200Ω. • Max. We recommend this to secure the signal transmission when line driver I/F is used.[Connection and Setup of Full-closed Control] Interface Circuit Input Circuit SI Connection to sequence input signals • Connect to contacts of switches and relays. • When you compose a simple command circuit using variable resistor(VR) and register R.3V – + 3. Rated current : 10mA ON/OFF L/H SIGN VDC Full-Closed Control Mode PI2 Connection to sequence input signals (Pulse train interface exclusive to line driver) Line driver I/F (Input pulse frequency : max. represents twisted pair. 500kpps) • This signal transmission method has better noise immunity. When the variable range of each input is made as –10V to +10V. Max. represents twisted pair.83kΩ 1kΩ 1kΩ 1kΩ 1kΩ ADC 2 20kΩ – + ADC 1 • The analog command input goes through 3 routes. refer to the right Fig. For input impedance of each input.input voltage : DC24V. 200kpps) • Connecting diagram when a current regulating resistor is not used with 24V power supply. = 10mA . 12 to 24V 7 COM+4. 2Mpps) • This signal transmission method has better noise immunity. SPR/TRQR(Pin-14). R+220 (1) AM26LS31 or equivalent H/L 3 PULS1 4 PULS2 220Ω 5 SIGN1 6 SIGN2 220Ω GND H/L PULS H/L SIGN H/L 13 (2) R ON/OFF R ON/OFF VDC 3 PULS1 4 PULS2 220Ω 5 SIGN1 6 SIGN2 13 220Ω GND 1 OPC1 2. CWTL). 0 – 3.7kΩ SRV-ON etc. PI1 Connection to sequence input signals (Pulse train interface) (1) Line driver I/F (Input pulse frequency : max. ±10V (2)ADC2 : 10 bit (CCWTL. 1/2W or larger. • Connect the specified resister as below. B-characteristics. connect as the right Fig. or open collector output transistors.7kΩ SRV-ON etc.3V 193 .83kΩ +3. use VR with 2kΩ. 1/2W or larger. (2)Open collector I/F (Input pulse frequency : max. (including 1bit for sign). • Make the lower limit voltage of the power supply (12 to 24V) as 11. • When you use contact inputs.2kΩ 4 PULS2 ON/OFF 220Ω 2 OPC2 2. H/L 44 45 220Ω 43kΩ 2kΩ 2kΩ 43kΩ AM26C32 or equivalent H/L PULS SIGN AM26C32 or equivalent H/L PULS SIGN H/L 46 47 13 220Ω GND 43kΩ 2kΩ 2kΩ 43kΩ AI Analog command input SPR/TRQR 14 20kΩ +12V R VR 15 GND +3. 200kpps) • The method which uses an external control signal power supply (VDC) • Current regulating resistor R corresponding to VDC is required in this case.2kΩ 6 SIGN2 13 220Ω GND L/H PULS L/H PULS L/H SIGN (3) (3)Open collector I/F (Input pulse frequency : max.3V CCWTL 16 10kΩ R –12V CWTL 18 10kΩ 17 GND – + 3. • A/D converter resolution of each command input is as follows. We recommend this to secure the signal transmission. use the switches and relays for micro current to avoid contact failure. Relay 12 to 24V 7 COM+4. permissible input voltage to each input is ±10V.5 . CCWTL (Pin-16) and CWTL (Pin-18). VDC 12V 24V Specifications 1kΩ1/2W 2kΩ1/2W VDC –1. shows.4V or more in order to secure the primary current for photo-couplers.

Wiring to the Connector. 330Ω) between line receiver inputs without fail. This output is not insulated. ALM– etc. Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND to be connected. since the pulse width of the Z-phase signal is narrow. • There exists collector to emitter voltage. rating 30V. SO1 ALM+ etc. • At the host side. 25 represents twisted pair. • If a recommended primary current value of the photo-coupler is 10mA. represents twisted pair. due to the Darlington connection of the output or. rating 30V. Note that normal TTL IC cannot be directly connected since it does not meet VIL. (2) Torque monitor output (IM) With a relation of 3V/rated torque (100%). <Resolution> (1) Speed monitor output (SP) With a setup of 6V/3000r/min (Pr07=3). the resolution converted to speed is 8r/min/16mV. PO2 Open collector output • Feeds out the Z-phase signal among the encoder signals in open collector. TLC 41 COM– R [k ] = Ω VDC[V] – 2.5[V] 10 Max. and connect to relays or photo-couplers. VCE (SAT) of approx. • Receive this output with high-speed photo couplers at the host side. shows without fail. CN X5 Output Circuit SO1 SO2 Sequence output circuit • The output circuit is composed of open collector transistor outputs in the Darlington connection. external 42 IM 1kΩ • The output impedance is 1kΩ. • There are two types of output. and the one which is common to – side of the control power supply (COM–). decide the resistor value using the formula of the right Fig. 50mA 19 CZ High speed photo-coupler (TLP554 by Toshiba or equivalent) 25 GND AO Analog monitor output • There are two outputs. 50mA For the recommended primary current value. 21 AM26LS31 or equivalent A OA+ OA– OB+ OB– OZ+ OZ– 22 48 49 23 24 B Z GND Connect signal ground of the host and the driver without fail. B and Z-phase) in differential through each line driver. Install toward the direction as the fig. the resolution converted to torque is 0. 194 43 SP 1kΩ .4%/12mV. one which emitter side of the output transistor is independent and is connectable individually. the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or • Output signal width is ±10V. refer to the data sheet of apparatus or photo-coupler to be used. Install a terminal resistor (approx. 12 – 24V VDC SO2 ZSP. receive these in line receiver. PO1 Line driver (Differential output) output AM26LS32 or equivalent • Feeds out the divided encoder outputs (A. Max. 1V at transistor-ON. • These outputs are not insulated.

Default is "Emergency stop with dynamic brake". • You can select the action when the CCWL input is validated with the setup of Pr66 (Sequence at over-travel inhibit).193 195 . 0.(Pr66=0) • Function varies depending on the control mode.5A or more is recommended.193 Velocity/ Torque control Full-Closed Control Mode • Becomes to an input of damping control switching (VS-SEL). Content Pr06 Connection to COM– ZEROSPD input is invalid.193 damping control switching input 26 VS-SEL SI P.Default is "Invalid (1)".193 CCW over-travel inhibit input 9 CCWL SI P. Pr2E) control will be validated when you connect this input to COM–. and the 2nd damping filter (Pr2D. Content Pr03 Pr30 Connection to COM– open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 open 1st gain selection (Pr10. I/F circuit – – 8 CWL SI P. • While Pr24 (Damping filter switching selection) is 1. • Becomes to a speed-zero clamp input (ZEROSPD).13 and 14) 0–2 close 2nd gain selection (Pr18. Position/ Gain switching input or Torque limit switching input TL-SEL 27 GAIN • Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit). • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1.[Connection and Setup of Full-closed Control] Input Signal and Pin No.(Pr66=0) • Use this input to inhibit a CCW over-travel (CCWL).Default is "Invalid (1)". • Connect this so as to make the connection to COM– open when the moving portion of the machine over-travels the movable range toward CCW.12. refer to P. • Use this input to inhibit a CW over-travel (CWL). Pr2C) will be validated when you open this input.1A. 0 – Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW. • For details of 2nd gain switching function. ZERPSPD is invalid. SI P.1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid • Input of torque limit switching (TL-SEL) • Pr5E (Setup of 1st torque limit) will be validated when you 3 – open this input. and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM–. close • In case Pr06 is 2 at torque control. • The power capacity varies depending on a composition of I/O circuit. • Use the power supply voltage of 12V ± 5% – 24V ± 5% • Connect – of the external DC power supply (12 to 24V). CN X5 Input Signals (common) and Their Functions Title of signal Power supply for control signal (+) Power supply for control signal (-) CW over-travel inhibit input Pin No.243 "Gain Switching Function" of Adjustment.19. of the Connector.11. the Full-closed 1st damping filter (Pr2B. • CWL input will be invalidated when you set up Pr04 (Setup of over-travel inhibit input) to 1. • You can select the action when the CWL input is validated with the setup of up Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop with dynamic brake". 7 41 Symbol COM+ COM– Function • Connect + of the external DC power supply (12 to 24V). • Connect this so as to make the connection to COM– open when the moving portion of the machine over-travels the movable range toward CW.

131.Servo-ON input becomes valid approx. "Numerator selection of command scaling" Velocity control • Input of internal speed selection 3 (INTSPD3). <Caution> Do not enter the command pulse 10ms before/after switching. "Protective Function " of When in Trouble. • The deviation counter will be cleared at alarm clear. SI P. • By connecting to COM–. refer control to the table of next page. • You can switch the numerator of electronic gear. (see P. "Timing Chart" of Preparation. • There are some alarms which cannot be released with this input. • Input (CL) which clears the positional deviation counter and full-closed deviation counter. • You can clear the counter of positional deviation and full-closed deviation by connecting this to COM–.193 1 [Default] 2 Velocity control • Input of selection 2 of internal command speed (INTSPD2) • You can make up to 8-speed setups combining INH/ INTSPD1 and CL/INTSPD3 inputs. CN X5 Title of signal Pin No. I/F circuit SI P. 3.193 Torque control • This input is invalid. Position/ Full-closed control Pr4E 0 Content Clears the counter of positional deviation and full-closed deviation while CL is connected to COM–. <Caution> 1. For details of setup. refer to P. • You can select the clearing mode with Pr4E (Counter clear input mode).) 2. Electronic gear (division/ multiplication) switching input 28 Symbol DIV Function • Function varies depending on the control mode. Clears the counter of positional deviation and full-closed deviation only once by connecting CL to COM– from open status. • Function varies depending on the control mode. allow 100ms or longer pause before entering the pulse command. • You can select the dynamic brake action and the deviation counter clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF). For details. • You can make up to 8-speed setups combining INH/ INTSPD1 and CL/INTSPD2 inputs.After shifting to Servo-ON. "Selection of Internal Speed" of Velocity Control Mode. For details of setup. Alarm clear input 31 A-CLR • You can release the alarm status by connecting this to COM– for more than 120ms. and current to the motor will be shut off.Never run/stop the motor with Servo-ON/OFF. you can switch the numerator of electronic gear from Pr48 (1st numerator of electronic Position/ Full-closed gear) to Pr49 (2nd numerator of electronic gear) • For the selection of command division/multiplication. CL is invalid SI P.193 196 .42.Wiring to the Connector. refer to the table in P.131.193 Deviation counter clear input 30 CL SI P. • Turns to Servo-OFF status by opening connection to COM–. "Selection of Internal Speed". Torque control • This input is invalid.252. refer to the table of P. 2 sec after power-on. Servo-ON input 29 SRV-ON • Turns to Servo-ON status by connecting this input to COM–.

131.[Connection and Setup of Full-closed Control] Title of signal Pin No.193 Velocity control • Selection 1 input of internal command speed (INTSPD1) •You can make up to 8-speed setups combining INH/INTSPD2 and CL/INTSPD3 inputs. INH is valid. Torque control • This input is invalid. Inhibition input of command pulse input 33 Symbol INH Function • Function varies depending on the control mode. For details of the setup. "Selection of Internal Speed" of Velocity Control Mode. • Inhibition input of command pulse input (INH) • Ignores the position command pulse by opening the connection to COM– Position/ • You can invalidate this input with Pr43 (Invalidation of Full closed command pulse inhibition input) control Pr43 Content 0 1(Default) INH is valid. refer to the table of P. • Numerator selection of electronic gear CN X5 Pin-28 DIV Setup of electronic gear 1st numerator of electronic gear (Pr48) x 2 Open or Multiplier of command scaling (Pr4A) Denominator of electronic gear (Pr4B) Encoder resolution* Command pulse counts per single turn (Pr4B) 2nd numerator of electronic gear (Pr49) x 2 * Automatic setup by setting up Pr48 to 0 Multiplier of command scaling (Pr4A) Short or Denominator of electronic gear (Pr4B) Encoder resolution* Command pulse counts per single turn (Pr4B) * Automatic setup by setting up Pr49 to 0 Full-Closed Control Mode 197 . I/F circuit SI P.

B-phase advances to A by 90°.5µs 2.1µs or shorter. refer to the table below.193 • Pulse train interface Title of signal Pin No. CN X5 Input Signals (Pulse Train) and Their Functions You can select appropriate interface out of two kinds. of P. I/F circuit PI1 P. I/F circuit PI2 P. • You can select up to 6 command pulse input formats with Pr41 (Setup of command pulse rotational direction) and Pr42 (Setup of command pulse input mode). • Pulse train interface exclusive for line driver Title of signal Pin No. • Permissible max. You can select by setting up Pr40 (Selection of command pulse input) to 0. "Input Circuit". input frequency is 500kpps at line driver input and 200kpps at open collector input. • This input becomes invalid at such control mode as velocity control or torque control. where no position command is required. B-phase delays from A by 90°. "Command pulse input format". • You can select up to 6 command pulse input formats with Pr41 (Setup of command pulse rotational direction) and Pr42 (Setup of command pulse input mode). • This input becomes invalid at such control mode as the velocity control or torque control.5µs Set up the rising/falling time of command pulse input signal to 0. depending on the command pulse specifications.193. where no position command is required.5µs 2. • In case of CW pulse train + CCW pulse train and pulse train + sign.193 • Command pulse input format Pr41 Setup value Pr42 Setup value (Setup of (Setup of command pulse command pulse rotational direction) input mode) Command pulse format 2-phase pulse with 90° difference (A+B-phase) Signal title CCW command t1 t1 CW command t1 t1 A-phase 0 or 2 PULS SIGN B-phase t1 t1 t3 t2 t2 t2 t2 t1 t1 B-phase advances to A by 90°. Refer to the fig. • In case of 2-phase pulse. • Permissible max. input frequency 2Mpps 500kpps 200kpps Minimum necessary time width t1 t2 t5 t3 t4 t6 500ns 250ns 250ns 250ns 250ns 250ns 1µs 2µs 1µs 1µs 1µs 1µs 5µs 2. input frequency is 2Mpps. "Command pulse input format". Command pulse input 1 45 Command pulse sign input 1 47 SIGNH2 46 PULSH2 SIGNH1 44 Symbol PULSH1 Function • Input terminal for position command pulse. You can select by setting up Pr40 (Selection of command pulse input) to 1.5µs 2. Command pulse input 2 1 3 4 Command pulse sign input 2 2 5 6 Symbol OPC1 PULS1 PULS2 OPC2 SIGN1 SIGN2 Function • Input terminal for the position command. pulse train will be captured at the rising edge. necessary time width Input I/F of PULS/SIGN signal Pulse train interface exclusive for line driver Line driver interface Pulse train interface Open collector interface Permissible max. pulse train will be captured at each edge. 198 . • Permissible max. 0 1 CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign 2-phase pulse with 90° difference (A+B-phase) PULS SIGN t6 3 t4 t5 t4 t5 “H” t6 t6 t1 t1 “L” t6 t1 t1 A-phase 0 or 2 PULS SIGN B-phase t1 t1 t3 t2 t2 t2 t2 t1 t1 B-phase delays from A by 90°. refer to the table below.Wiring to the Connector. For details.5µs 2. For details. input frequency of command pulse input signal and min. 1 1 CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign PULS SIGN t6 3 t4 t5 t4 t5 “L” t6 t6 “H” t6 • PULS and SIGN represents the outputs of pulse train in put circuit.

± 32767 (LSB) = ± 10[V]. polarity. mode •The resolution of the A/D converter used in this input is 16 bit (including 1 bit for sign).193 14 2 4 Torque control 0 Position/ Torque 1 • Function varies depending on Pr5B (Selection of torque command) Pr5B Content • This input becomes invalid. • Set up the gain. . polarity. Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) I/F circuit AI P. 0.[Connection and Setup of Full-closed Control] Input Signals (Analog Command) and Their Functions Title of signal Pin No. offset and filter with. offset and filter with. • Set up the speed limit (SPL) gain. Pr5C (Torque command input gain) Pr5D (Torque command input reversal) Pr52 (Speed command offset) Pr57 (Speed command filter setup) • Speed limit (SPL) will be selected. Function • External velocity command input (SPR) when the velocity control is selected. 0 • Speed limit (SPL) will be selected. 1[LSB] = . offset and filter with. Speed command input or Torque command input.3[mV] *Function becomes valid when the control mode with underline ( / ) is selected while the switching mode is used in the control mode in table. • Set up the torque (TRQR) gain. • Set up the speed limit (SPL) gain. 199 . 1 Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) Full-Closed Control Mode 5 Velocity/ Torque Others Other control • This input is invalid. <Remark> Do not apply voltage exceeding ±10V to analog command inputs of SPR/TRQR/SPL. or Speed limit input SPL TRQR 1 3 5 Symbol SPR Pr02 Control mode Velocity control Position/ Velocity Velocity/ Torque Function • Function varies depending on control mode. offset and filter of the speed command with. Pr50 (Speed command input gain) Pr51 (Speed command input reversal) Pr52 (Speed command offset) Pr57 (Speed command filter setup) • Function varies depending on Pr5B (Selection of torque command) Pr5B Content • Torque command (TRQR) will be selected.

• Becomes to the torque command input (TRQR). . 23[mV] ± 511 [LSB] ± 11. Velocity/Torque AI P. 1 [LSB] = = *Function becomes valid when the control mode with underline ( / ) is selected while the switching mode is used in the control mode in table.9[V]. • Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). 1 [LSB] = = . ± 511 [LSB] ± 11.Wiring to the Connector.. . 200 .193 2 4 Torque Control Position/Torque 5 Velocity/ Torque • Becomes to the analog torque limit input to CCW Position/Torque (CCWTL). Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up.193 • Becomes to the analog torque limit input to CW Position/Torque (CWTL). Pr5C (Torque command input gain) Pr5D (Torque command input reversal) • Offset and filter cannot be set up.+3V/rated toque).9[V]. • Set up the gain and polarity of the command with.+3V/rated toque) Other Other • Invalidate this input by setting up Pr03 (Torque limit control mode selection) to other than 0. 4 Velocity/Torque • Limit the CW-torque by applying negative voltage 5 (0 – -10V) (Approx. CCW-Torque limit input 16 Symbol CCWTL Pr02 Control mode Function • Function varies depending on Pr02 (Control mode setup). <Remark> Do not apply voltage exceeding ±10V to analog command input of CWTL and CCWTL. • Set up the gain and polarity of the com1 mand with. Function • Function varies depending on Pr5B (Selection of torque command) Pr5B Content This input becomes invalid. 0 • Torque command input (TRQR) will be selected. 23[mV] CW-Torque limit input 18 CWTL • Function varies depending on Pr02 (Control mode setup). 4 Velocity/Torque • Limit the CCW-torque by applying positive voltage 5 (0 to +10V) (Approx. I/F circuit AI P. • Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). CN X5 Title of signal Pin No. Other Other control mode Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. Pr02 2 4 5 Control mode Function Torque control • This input becomes invalid when the torque control Position/Torque is selected.

over-regeneration alarm. • Alarm signal output The output transistor turns ON when either one of the alarms is triggered. • You can select the feeding out method with Pr63 (Setup of positioning complete output).194 SO2 P. or signal intensity is not enough (adjustment on mounting is required). Velocity/ Torque control Zero-speed detection output signal Torque in-limit signal output 12 (41) 40 (41) • Output at-speed (speed arrival) (AT-SPEED) • The output transistor will turn ON when the actual motor speed exceeds the setup value of Pr62 (In-speed).2V. • Fan-lock alarm The output transistor turns ON when the fan stalls for longer than 1s. • Default is 1. • For details.ZSP output".[Connection and Setup of Full-closed Control] Output signal and Pin No. • Zero-speed detection output (Default of X5 ZSP Pr0A) The output transistor turns ON when the motor speed falls under the preset value with Pr61. • External scale alarm The output transistor turns ON when the external scale temperature exceeds 65°.194 Position control • Output of full-closed positioning complete (EX-COIN) • The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). 201 . • Output transistor turns ON when both control and main power are ON but not at alarm status. CN X5 Output Signals (Common) and Their Functions Title of signal External brake release signal Pin No 11 10 Symbol BRKOFF+ BRKOFF– Function • Feeds out the timing signal which activates the electromagnetic brake of the motor. • Output of positioning complete (COIN) • The output transistor will turn ON when the absolute value of the position deviation pulse becomes smaller than the setup value of Pr60 (Positioning complete range).194 • Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 8 • Torque in-limit output (Default of X5 TLC Pr09) The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON. Valid only at the full-closed control. of the Connector. • In-speed (Speed coincidence) output The output transistor turns ON when the difference between the actual motor speed and the speed command before acceleration/deceleration reaches within the preset range with Pr61. • Function varies depending on the control mode. refer to P42. "Selection of TLC. SO2 Full-Closed Control Mode ZSP (COM–) TLC (COM–) • Content of the output signal varies depending on Pr0A (Selection of ZSP output). • Over-regeneration alarm The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection. see the table below. • Over-load alarm The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm.) • This signal shows that the driver is ready to be activated. • You can set up the output timing of this signal with Pr6A (Setup of mechanical brake action at stall) and Pr6B (Setup of mechanical brake action at motion). 3. • You can select the feeding out method with Pr63 (Setup of positioning complete output). For details. see the table below.194 SO1 P. • This signal shows that the driver is in alarm status. fan-lock alarm or external scale alarm. • Default is 1. • Battery alarm The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx. and turns OFF at alarm status.194 Servo-Ready output Servo-Alarm output Positioning complete (In-position) 35 34 37 36 39 38 S-RDY+ S-RDY– ALM+ ALM– EX-COIN+ EX-COIN– SO1 P. Valid only at the velocity and torque control. • Turns the output transistor ON at the release timing of the electromagnetic brake. • Output transistor turns ON when the driver is at normal status. and feeds out the zero speed detection signal. I/F circuit SO1 P. overload alarm. P. and feeds out the torque in-limit signal. • For details.ZSP output".194 SO1 P. • Content of the output signal varies depending on Pr09 (Selection of TLC output). battery alarm. "Selection of TLC. "Timing Chart" of Preparation.

Wiring to the Connector. rotate the motor one revolution or more to make sure that the Z-phase is fed out at least once before using. • When the external scale is the output source. output frequency is 4Mpps (after quadrupled) I/F circuit PO1 P. and the output source with Pr46 (Reversal of pulse output logic). B. • Ground for line driver of output circuit is connected to signal ground (GND) and is not insulated.194 B-phase output 48 49 Z-phase output 23 24 Z-phase output 19 • Open collector output of Z-phase signal • The emitter side of the transistor of the output circuit is connected to the signal ground (GND) and is not insulated. when the encoder resolution A B Z synchronized Pr44 is multiple of 4. Z-phase will be fed out synchronizing with A-phase. (equivalent to RS422) • You can set up the division ratio with Pr44 (Numerator of pulse output division) and Pr45 (Denominator of pulse output division) • You can select the logic relation between A-phase and B-phase. Z-phase pulse will not be fed out until the absolute position crosses 0 (000000000000h).194 <Note> • When the output source is the encoder • If the encoder resolution X Pr44 is multiple of 4. • Z-phase pulse after its crossing of the absolute position 0. • Max. PO2 P. CN X5 Output Signals (Pulse Train) and Their Functions Title of signal A-phase output Pin No 21 22 Symbol OA + OA – OB + OB – OZ + OZ – CZ Function • Feeds out the divided encoder signal or external scale signal (A. and will not synchronize with A-phase because of narrower width than that of A-phase. • When the external scale is made as an output source. 2500P/r incremental encoder. until the first Z-phase is fed out. • When output source is the external scale. you can set up the interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase). Pr45 not-synchronized • In case of the 5-wire. Pr45 In other case. Pr45 when the encoder resolution A B Z Pr44 is not multiple of 4. When you use the pulse output as the control signal. will be fed out synchronizing with A-phase in every A-phase pulses which are set with Pr47 (External scale Z-phase setup) 202 . the signal sequence might not follow the above fig. Zphase) in differential. the Z-phase width will be equal to the encoder resolution.

Pr07 Control mode 0–4 Motor speed Command speed Function • Feeds out the voltage in proportion to the motor speed with polarity. • This output is connected to the earth terminal inside of the driver. Torque 0. Function • Feeds out the voltage in proportion to the motor torque command with polarity.12 command – : generates CW torque Pr08 Content of signal Positional deviation • Feeds out the voltage in proportion to the positional deviation pulse counts with polarity. • You can set up the scaling with Pr08 value. + : positional command to CCW of Full-closed 6 –10 external scale position deviation – : positional command to CW of external scale position Speed monitor signal output 43 SP • The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection).194 5–9 Output Signals (Others) and Their Functions Title of signal Signal ground Pin No 13.194 1–5 • Feeds out the voltage in proportion to the fullclosed deviation pulse counts with polarity.25 Symbol GND Function • Signal ground • This output is insulated from the control signal power (COM–) inside of the driver.[Connection and Setup of Full-closed Control] Output Signals (Analog) and Their Functions Title of signal Torque monitor signal output Pin No 42 Symbol IM Function • The content of output signal varies depending on Pr08 (Torque monitor (IM) selection).15. I/F circuit – Frame ground 50 FG – 203 . + : positional command to CCW of motor position – : positional command to CW of motor position I/F circuit AO P. + : generates CCW torque 11. 17. • You can set up the scaling with Pr07 value. + : rotates to CCW – : rotates to CW Full-Closed Control Mode AO P. + : rotates to CCW – : rotates to CW • Feeds out the voltage in proportion to the command speed with polarity.

speed 2[m/s]) (2) Recommended external scale ratio is 1/20<External scale ratio<20 If you set up the external scale ratio to smaller value than 50/position loop gain (Pr10 and 18). CN X7 Power supply for the external scale shall be prepared by customer. you may not be able to control per 1 pulse unit. Setup of larger scale ratio may result in larger noise.Wiring to the Connector. • AT500 series by Mitutoyo (Resolution 0.05[ µm]. 204 . max. speed 2[m/s]) • ST771 by Mitutoyo (Resolution 0. <Remark> Do not connect anything to other Pin numbers descried in the above table (Pin-3 and 4). or use the following power supply output for the external scale (250mA or less). CN X7 Connector.5[ µm]. Cautions (1) Following external scale can be used for full-closed control. 1 Power supply output for external scale 2 I/F of external scale signals 5 (serial signal) 6 Frame ground Case Application Content EX5V EX0V EXPS EXPS FG <Note> EXOV of the external scale power supply output is connected to the control circuit ground which is connected to the Connecter. max. CN X5. Connector PinNo.

V. 1) Cable for the external scale to be the twisted pair with bundle shielding and to having the twisted core wire with diameter of 0. CN X7. L2. CN X7 Wire the signals from the external scale to the external scale connector.) (by Hirose Electric Co. nor bundle together. Do not pass these wires in the same duct. 2) Cable length to be max.18mm2. L2C (t).) Junction cable Linear scale unit Linear scale side Servo driver 205 . 5) Do not connect anything to the vacant pins of CN X7. Double wiring for 5V power supply is recommended when the wiring length is long to reduce the voltage drop effect.[Connection and Setup of Full-closed Control] Wiring to the External Scale. EX5V EX0V EX5V EX0V EX5V EX0V 3 1 4 2 11 13 1 2 3 4 5 6 CN X7 EX5V EX0V Regulator +5V 0V EXPS EXPS Full-Closed Control Mode 55100-0600 (by Molex Inc. 20m. 6) Cut away the amplifier's CN X7 cover. W. L3. U. Connector. L1C _. 4) Separate the wiring to CN X7 from the power line (L1. 3) Connect the outer film of the shield wire of the external scale to the shield of the junction cable. ) as much as possible (30cm or more).) EXPS EXPS FG 7 8 15 Twisted pair Detection head HDAB-15P HDAB-15S (by Hirose Electric Co. Also connect the outer film of the shield wire to the shell (FG) of CN X7 of the driver without fail. X6 X7 Please cut it out with nippers etc.

Setup value Insert the console connector to CN X6 of the driver. or execute a manual gain tuning. • Motor is running continuously at low speed of 100 [r/min] or lower. . Finish Writing error occurs Return to SELECTION display after writing finishes. Numeral increases with and decreases with Press . Lower the value (0 to 3) when you experience abnormal noise or oscillation. . In these cases. (default values) . Writing to EEPROM Press Press . Writing starts (temporary display). Writing completes 206 . Pr21 Press Press . to be set up with . shows by keep pressing (approx. • When speed condition of 100[r/min] or more and acceleration/deceleration condition of 2000[r/min] per 1[s] are not maintained for 50[ms]. (Here match to Pr21. 0 <1> 2 3 4 5 6 7 Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) – no change normal mode slow change rapid change no change vertical axis mode slow change rapid change no-gain switching mode no change Match to the parameter No. . referring to "Structure of each mode"(P. and automatically sets up the optimum gain responding to the result.) Press . of Adjustment) Conditions which obstruct real-time auto-gain tuning • Load is too small or large compared to rotor inertia. • When vibration occurs during gain switching. (10 [s] or less) • Machine stiffness is extremely low.240.60 and 61 of Preparation). (5) Gradually increase Pr22 (Machine stiffness at real-time auto-gain tuning) when you want to obtain better response. Setup of parameter. Bars increase as the right fig. Action • Acceleration/deceleration torque is smaller than pattern unbalanced weighted/viscous friction torque. set up 7. • When the varying degree of load inertia is large. Position/Velocity command Action command under actual condition Auto-gain setup Position/Velocity control Auto-filter adjustment Adaptive Filter Torque command Current control Motor current Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver Applicable Range • Real-time auto-gain tuning is applicable to all control modes. validate the setup of Pr23 (Setup of adaptive filter mode). (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. (refer to P. . Load • Chattering such as backlash exists. (6) Write to EEPROM when you want to save the result. Also the driver automatically suppress the vibration caused by the resonance with an adaptive filter. • Acceleration/deceleration is slow (2000[r/min] per 1[s] or low). • When the motor is used for vertical axis. Caution Real-time auto-gain tuning may not be executed properly under the conditions described in the right table. . Setup of parameter. Default is 1. then turn on the driver power.Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine in real time. Load (less than 3 times or more than 20 times) inertia • Load inertia change too quickly. set up 3 or 6. (3) Set up Pr22 (Machine stiffness at real-time auto-gain tuning) to 0 or smaller value. Pr22 Match to Pr22 with Press . • When resonance might give some effect. set up 4-6. How to Operate (1) Bring the motor to stall (Servo-OFF). (4) Turn to Servo-ON to run the machine normally.236 of Adjustment). Change the setup with Press . 5sec). use the normal mode auto-gain tuning (refer to P.

In these cases. • When multiple resonance points exist. Resonance point Load Command pattern <Note> Even though Pr23 is set up to other than 0. and becomes 0 in other cases. you cannot change parameters which are automatically adjusted. however. Conditions which obstruct adaptive filter action • When resonance frequency is lower than 300[Hz]. 3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0. (5) The adaptive filter is normally invalidated at torque control.235. (4) When you validate the real-time auto-gain tuning. The adaptive filter automatically estimates a resonance frequency out of vibration component presented in the motor speed in motion. "Suppression of Machine Resonance" of Adjustment. Take the same measures as the above in these cases. use 1st notch filter (Pr1D and 1E) and 2nd notch filter (Pr28-2A) to make measures against resonance according to the manual adjusting procedures. these are not failures as long as they disappear immediately. until load inertia is identified (estimated) or adaptive filter is stabilized. Parameters Which Are Automatically Set Up. or when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). when you select torque control while you set up Pr02 (Control mode setup) to 4 and 5. refer to P. Following parameters are automatically adjusted.[Connection and Setup of Full-closed Control] Adaptive Filters The adaptive filter is validated by setting up Pr23 (Setup of adaptive filter mode) to other than 0. hence reduces the resonance vibration.246. the load inertia estimation will be invalidated. "Invalidation of adaptive filter" of Adjustment. 1) Write the parameters which have given the normal operation into EEPROM. (2) When abnormal noise and oscillation occur. Refer to P. • Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain Tuning Mode) is 1 to 6. however. The adaptive filter may not operate property under the following conditions. • When the motor speed variation with high frequency factor is generated due to non-linear factor such as backlash. If they persist over 3 reciprocating operations. you may experience abnormal noise and oscillation right after the first Servo-ON. • When acceleration/deceleration is very extreme such as more than 30000 [r/min] per 1 [s]. take the following measures in possible order. When you turn on the power again. • While resonance peak is low or control gain is small and when no affect from these condition is given to the motor speed. PrNo. there are other cases when adaptive filter is automatically invalidated. PrNo. Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to extreme values. (6) During the trial run and frequency characteristics measurement of "PANATERM®". (3) Among the results of real-time auto-gain tuning. and set up notch filter manually. 10 11 12 13 14 18 19 1A 1B 1C 20 2F Title 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 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 Inertia ratio Adaptive filter frequency Also following parameters are automatically set up. 207 . Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. Pr27 (Setup of instantaneous speed observer) will be invalidated automatically. then removes the resonance components from the torque command by setting up the notch filter coefficient automatically. the adaptive filter frequency before mode switching will be held. then set up other value than 0. Cautions (1) After the start-up. 2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). (Reset of inertia estimation and adaptive action) 4) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode setup) to 0. auto-gain tuning will be executed using the latest data as initial values. 15 16 27 30 31 32 33 34 35 36 Title Velocity feed forward Time constant of feed forward filter Setup of instantaneous speed observer 2nd gain setup 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching Position gain switching time 2nd mode of control switching Setup value 300 50 0 1 10 30 50 33 20 0 Full-Closed Control Mode <Notes> • When the real-time auto-gain tuning is valid. For details of notch filters.

the 1st mode will be selected. 2 sec) during initialization Setup value of Pr01 For details of display. 4 or 5. C-MODE open 1st close 2nd open 1st 10ms or longer 10ms or longer <Notes> • For parameters which No. you can select either the 1st or the 2nd with control mode switching input (C-MODE). • The setup value of this parameter has no effect to the servo action. 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. Don't enter commands 10ms before/after switching. refer to P. it is necessary to identify which axis the host is communicating. the 2nd mode will be selected. Use this parameter to confirm the address of the axis in numbers. 02 Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> You can set up the control mode to be used. 00 Title Address Setup range 0 to 15 <1> Function/Content In the communication with the host via RS232/485 for multi-axes application.51 "Setup of Parameter and Mode" of Preparation. * • The address is determined by the setup value of rotary switch (0 to F) of the front panel at power-on. have a suffix of "*". 208 . changed contents will be validated when you turn on the control power. • You cannot change the setup of Pr00 with other means than rotary switch. Setup value 0 Content Positional deviation Motor rotational speed Torque output Control mode I/O signal status Error factor/history Software version Alarm Regenerative load factor Over-load factor Inertia ratio Sum of feedback pulses Sum of command pulses External scale deviation Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" Power -ON <1> 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Flashes (for approx. When C-MODE is open. • This value becomes the axis number at serial communication. When C-MODE is shorted.Parameter Setup Parameters for Functional Selection Standard default : < > PrNo. * Control mode 1st mode 2nd mode Position – Velocity – Torque – Position Velocity Position Torque Velocity Torque Full-closed – **1) When you set up the combination mode of 3.

Pr5E becomes the limiting value for CCW/CW direction regardless of the setup of this parameter. At the torque control. Setup value 0 1 2 <3> 4 5 6 7 8 9 Signal of SP Relation between the output voltage level and the speed 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1. refer to the explanation of Pr66.Pin-9) Open Inhibits CW direction. CW direction Work CCW direction Driver Servo motor Limit switch Limit switch CCWL CWL Setup value CCWL/CWL input 0 Valid <1> 2 Invalid Valid Action Input Connection to COM– CCWL Close Normal status while CCW-side limit switch is not activated. In linear drive application. For details. the driver trips with Err38 (Overtravel inhibit input error) judging that this is an error. 3. Both CCWL and CWL inputs will be ignored. set up Pr66 to 2. set with Pr5F 04 * Setup of over-travel inhibit input 0 to 2 <1> When the setup value is 0.5V / 3000 r/min 6V / 47 r/min 6V / 188 r/min 6V / 750 r/min 6V / 3000 r/min 1. Full-Closed Control Mode <Cautions> 1. CWL Close Normal status while CW-side limit switch is not activated. CCW direction permitted. 03 Title Selection of torque limit Setup range 0 to 3 <1> Setup value 0 <1> 2 3 Function/Content You can set up the torque limiting method for CCW/CW direction.Pin-9) Open Inhibits CCW direction. you can set up the action of over-travel inhibit input. When Pr04 is set to 0 and over-travel inhibit input is entered. 07 Selection of speed monitor (SP) 0 to 9 <3> You can set up the content of analog speed monitor signal output (SP : CN X5. the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel inhibition). and over-travel inhibit function will be invalidated. Err38 (Over-travel inhibit input protection) is triggered when either one of the connection of CW or CCW inhibit input to COM– become open. or limit with the host controller instead of using this function. you can use this over-travel inhibiting function to inhibit the motor to run to the direction specified by limit switches which are installed at both ends of the axis. the work may repeat up/down movement because of the loosing of upward torque.5V / 3000 r/min Motor actual speed Command speed 209 . so that you can prevent the work load from damaging the machine due to the over-travel. (CN X5. In this case. (CN X5.[Connection and Setup of Full-closed Control] Standard default : < > PrNo. 2. Pin43) and the relation between the output voltage level and the speed. CW CCW X5 CWTL : Pin-18 X5 CCWTL : Pin-16 Pr5E is a limit value for both CCW and CW direction Set with Pr5F Set with Pr5E When GAIN/TL-SEL input is open. When both of CCWL and CWL inputs are opened while Pr04 is set to 0. permits CW direction. When you turn off the limit switch on upper side of the work at vertical axis application. CCWTL and CWTL will be limited by Pr5E (1st torque limit setup). With this input. set with Pr5E When GAIN/TL-SEL input is shorted.

Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 You can set up the using method of 17-bit absolute encoder. refer to the table of P. 2 <Caution> This parameter will be invalidated when 5-wire. 0A Selection of ZSP output 0 to 8 <1> You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12). <1> Use as an absolute encoder. 2500P/r incremental encoder is used. but ignore the multi-turn counter over. 08 Title Selection of torque monitor (IM) Setup range 0 to 12 <0> Function/Content You can set up the content of the analog torque monitor of the signal output (IM : CN X5. Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 Note For details of function of each output of the left. Content Setup value Use as an absolute encoder. Pin42).201. Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque 09 Selection of TLC output 0 to 8 <0> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40). 0 Use as an incremental encoder. refer to the table of P.Parameter Setup Standard default : < > PrNo. Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 Note For details of function of each output of the left. "Selection of TCL and ZSP outputs". • Error of baud rate is ±0. You can set up the communication speed of RS232.5%. and the relation between the output voltage level and torque or deviation pulse counts.201. 0B * Setup of absolute encoder 0 to 2 <1> 0C * Baud rate setup of RS232 communication 0 to 5 <2> 210 . "Selection of TCL and ZSP outputs".

however this might cause an overshoot. However. Use with a default value of 0 in normal operation. faster the positioning time you can obtain.1% forward to 2000 <300>* Time constant of 0 to 6400 0. To return this parameter to 0. Baud rate Setup value 19200bps 3 38400bps 4 57600bps 5 * 0E * Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. Baud rate 2400bps 4800bps 9600bps • Error of baud rate is ±0. You can determine the response of the velocity loop. invalidate the real-time auto-gain tuning first then set. The integration will be maintained by setting to "999". use the console or the "PANATERM®". You can set up the velocity feed forward volume at position control. changed contents will be validated when you turn on the control power.[Connection and Setup of Full-closed Control] Standard default : < > PrNo.01ms feed forward filter <50>* <Notes> • For parameters which No. <Caution> When the inertia ratio of Pr20 is set correctly. you need higher setup of this velocity loop gain as well. referring to P. 11 Hz 12 1st time constant of velocity loop integration 1st filter of speed detection 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* 0 to 5 <0>* ms Full-Closed Control Mode 13 – 14 15 16 1st time constant of 0 to 2500 0. You can set up the integration time constant of velocity loop. response becomes slow. too high setup may cause oscillation. larger the time constant you can obtain so that you can decrease the motor noise. faster you can dog-in deviation at stall to 0. Smaller the setup. • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. Higher the setup. Note that too high setup may cause oscillation. have a suffix of "*". You might expect to improve the overshoot or noise caused by larger setup of above velocity feed forward. the setup unit of Pr11 becomes (Hz). Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. You might expect suppression of oscillation caused by distortion resonance. Higher the gain of position loop you set. in 6 steps. Higher the setup. When you change manually. You can set up the time constant of 1st delay filter inserted in velocity feed forward portion.01ms torque filter A to C-frame:<65>* D to F-frame:<126>* Velocity feed –2000 0. The integration effect will be lost by setting to "1000". 211 . <Note> You can still change parameters via communication even though this setup is 1. You can set up the time constant of the 1st delay filter inserted in the torque command portion. however. In order to increase the response of overall servo system by setting high position loop gain. "Release of Automatic Gain Adjusting Function" of Adjustment.5%. You can set up the time constant of the low pass filter (LPF) after the speed detection. Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. 0D Title Baud rate setup of RS485 communication Setup range 0 to 5 <2> Setup value 0 1 <2> Function/Content You can set up the communication speed of RS485.239. 10 Title 1st gain of position loop 1st gain of velocity loop Setup range 0 to 3000 A to C-frame:<63>* D to F-frame:<32>* 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* Unit 1/s Function/Content You can determine the response of the positional control system. smaller positional deviation and better response you can obtain.

use with the setup of 4 to 6. Use 1 or 4 for normal operation.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> 1st notch width selection 0 to 4 <2> – 1E You can set up the frequency of the 1st resonance suppressing notch filter. larger the notch width you can obtain. You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps. and its result will be saved to EEPROM every 30 min. and this result will be reflected in this parameter. the setup unit of Pr11 and Pr19 becomes (Hz). the driver respond quickly to the change of the inertia during operation. The inertia ratio will be estimated at all time while the real-time auto-gain tuning is valid. Higher the setup. velocity loop. and when the inertia ratio of Pr20 is smaller than the actual. Setup value 0 <1> 2 3 4 5 6 7 Real-time auto-gain tuning Invalid Normal mode Varying degree of load inertia in motion – Little change Gradual change Rapid change Little change Gradual change Rapid change Little change 21 Setup of real-time auto-gain tuning 0 to 7 <1> – Vertical axis mode No gain switching 212 .226. 19 1A 1B 1C 1D 0 to 3000 1/s A to C-frame:<73>* D to F-frame:<38>* 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* – 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0. however it might cause an unstable operation. set up this to "7". Use with default setup in normal operation. When the inertia ratio of Pr20 is larger than the actual. <Caution> If the inertia ratio is correctly set. the setup unit of the velocity loop gain becomes larger. the load inertial will be automatically estimated after the preset action. For details of switching the 1st and the 2nd gain or the time constant. speed detection filter and torque command filter have their 2 pairs of gain or time constant (1st and 2nd). 18 Title 2nd gain of position loop Setup range Unit Function/Content Position loop. 20 Title Inertia ratio Setup range 0 to 10000 <250>* Unit % Function/Content You can set up the ratio of the load inertia against the rotor (of the motor) inertia. The function and the content of each parameter is as same as that of the 1st gain and time constant. "Adjustment". You can set up the action mode of the real-time auto-gain tuning. Parameters for Auto-Gain Tuning Standard default : < > PrNo. Pr20=(load inertia/rotor inertia) X 100 [%] When you execute the normal auto-gain tuning. refer to P. the setup unit of the velocity loop gain becomes smaller.Parameter Setup Standard default : < > PrNo.For the vertical axis application. When vibration occurs at gain switching. With higher setup such as 3 or 6. The notch filter function will be invalidated by setting up this parameter to "1500".

) When the setup is 0.14. 15 low response high <Caution> When you change the setup value rapidly.. software limit protection of Pr34 will be triggered. 213 . You can set up the action of the adaptive filter.1 <10> revolution command input range. When you change manually. When the motor movement exceeds the setup value.. 0 to 7 <0> – Full-Closed Control Mode <Notes> • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning.. 22 Title Selection of machine stiffness at real-time auto-gain tuning Setup range 0 to 15 A to C-frame: <4> D to F-frame: <1> Unit – Function/Content You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid. 23 Setup of adaptive filter mode 0 to 2 <1> – 24 Selection of damping filter switching 0 to 2 <0> – 25 Setup of an action at normal mode auto-gain tuning 26 Setup of software limit 2nd notch frequency Selection of 2nd notch width Selection of 2nd notch depth 28 29 2A Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e. 1.. Use with default setup in normal operation. You can select the switching method when you use the damping filter.. the motor turns 2 revolutions to CCW and 2 revolutions to CW. This parameter is invalid with setup value of 0. larger the notch width you can obtain. Increase the setup gradually watching the movement of the machine. 1st damping filter selection (Pr2B. shallower the notch depth and smaller the phase delay you can obtain. You can set up the movable range of the motor against the position 0 to 1000 0. the gain changes rapidly as well.. invalidate the real-time auto-gain tuning first then set.) <Caution> When you set up the adaptive filter to invalid. referring to P.. Higher <0> the setup. the adaptive filter frequency of Pr2F will be reset to 0. 0 : No switching (both of 1st and 2nd are valid. You can set up the action pattern at the normal mode auto-gain tuning.[Connection and Setup of Full-closed Control] Standard default : < > PrNo. CW : 2nd damping filter selection (Pr2D. 0 to 4 – You can set up the notch width of 2nd resonance suppressing filter in 5 <2> steps. 2nd damping filter selection (Pr2D.g. 2E) 2 : You can switch with the position command direction. CCW : 1st damping filter selection (Pr2B. when VS-SEL is opened. 100 to 1500 Hz You can set up the 2nd notch width of the resonance suppressing filter in <1500> 5 steps. 2E).. low machine stiffness high low servo gain high Pr22 0..239. Higher the setup. The adaptive filter is always invalid at the torque control mode. 0 to 99 – You can set up the 2nd notch depth of the resonance suppressing filter. 2C) when VS-SEL is close. 0 : Invalid 1 : Valid 2 : Hold (holds the adaptive filter frequency when this setup is changed to 2. "Release of Automatic Gain Adjusting Function" of Adjustment.) 1 : You can select either 1st or 2nd with damping control switching input (VS-SEL). The notch filter function is invalidated by setting up this parameter to "1500".. 2C). and this may give impact to the machine..

2C Setup of 1st damping filter –200 to 2000 <0> 0. 214 . Setup frequency is 10. "Damping control" as well before using this parameter. The driver measures vibration at load edge.0 to 200.1 [Hz]. corresponding to the adaptive filter frequency.250. <Caution> < < Setup is also limited by 10. Refer to P. Setup of 0 to 99 becomes invalid. 2B Title 1st damping frequency Setup range 0 to 2000 <0> Unit 0. While you set up Pr2D (2nd damping frequency). The setup frequency is 10. the adaptive action starts taking the saved data in EEPROM as an initial value. (when Pr23 (Setup of adaptive filter mode) is other than 0. "Release of Automatic Gain Adjusting Function" of Adjustment as well. then validate again. 30 Title Setup of 2nd gain Setup range 0 to 1 <1>* Unit – Setup value 0 <1>* Function/Content You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.0[Hz]–Pr2D =Pr2E=Pr2D Displays the table No.1[Hz]. Setup of 0 to 99 becomes invalid. (Refer to P. Use with the setup of 0 in normal operation. <Caution> When you need to clear this parameter to reset the adaptive action while the action is not normal.239. Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5.Use with the setup of 0 in normal operation. Refer to P. and to larger value when you need faster action. This parameter will be saved to EEPROM every 30 minutes while the adaptive filter is valid.0 to 200.) 0 to 4 Filter is invalid. "Gain Switching Function" of Adjustment.250.) This parameter will be automatically set and cannot be changed while the adaptive filter is valid. 5 to 48 Filter is valid. set this up to smaller value when torque saturation occurs.234 of Adjustment. 49 to 64 Filter validity changes according to Pr22.1Hz 2E Setup of 2nd damping filter –200 to 2000 <0> 0.1Hz Function/Content You can set up the 1st damping frequency of the damping control which suppress vibration at the load edge. and to larger value when you need faster action. refer to P. Setup unit is 0. "Damping control" of Adjustment as well before using this parameter. Setup unit is 0. Refer to P. PI is fixed when Pr03 (Torque limit selection) is 3. Refer to P. While you set up Pr2B (1st damping frequency). <Caution> < Setup is also limited by 10.Parameter Setup Standard default : < > PrNo. invalidate the adaptive filter (Pr23.243.1Hz 2F Adaptive filter frequency 0 to 64 <0> – Parameters for Adjustment (2nd Gain Switching Function) Standard default : < > PrNo. "Damping control" of Adjustment. set this up to smaller value when torque saturation occurs. "Damping control" of Adjustment. Refer to P. The driver measures vibration at the load edge. GAIN input Open with COM– Connect to COM– Action of velocity loop PI action P action *2 For switching condition of the 1st and the 2nd. "Setup of adaptive filter mode" to 0) once. and when the adaptive filter is valid at the next power-on.0 [Hz].0[Hz]–Pr2B =Pr2C=Pr2B You can set up the 2nd damping frequency of the damping control which suppress vibration at the load edge. Pin27).250.0[Hz].250.1Hz 2D 2nd damping frequency 0 to 2000 <0> 0.

31 Title 1st mode of control switching Setup value <0>* 1 2 *1 3 4 5 *2 *2 *2 *2 *2 *2 *2 *2 Setup range 0 to 10 <0>* Unit – Function/Content You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. 6.75. Switches to the 1st gain when no-position command status lasts for the setup of Pr32 [x 166 µs] and the speed falls slower than the setups of Pr33-34[r/min]. below. 2nd gain selection when the positional deviation counter value exceeds the setup of Pr60 (Positioning completer range). while Pr31 is set to 3. <Notes> • Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning.) 2nd gain selection when the toque command variation is larger than the setups of Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching). Kp2(Pr18) <Caution> 1st gain 2nd gain 1st gain The switching time is only valid when switching from small position gain to large position gain. 2nd gain selection when more than one command pulse exist between 166µs. 215 .239. (Pr30 setup must be 1. Fixed to the 1st gain. "Release of Automatic Gain Adjusting Function" of Adjustment. 6 7 8 9 10 Gain switching condition Fixed to the 1st gain. 32 1st delay time of control switching 1st level of control switching 0 to 10000 x 166µs <30>* 0 to 20000 <50>* – You can set up the delay time when returning from the 2nd to the 1st gain. When you change manually. "Trial Run"of Preparation. while Pr31 is set to 3 or 5 to 10. 33 Full-Closed Control Mode 34 0 to 20000 1st hysteresis of control switching <33>* – 35 Switching time of position gain 166 166µs 0 to 10000 (setup You can setup the stepe. 3D JOG speed setup 0 to 500 <300> r/min You can setup the JOG speed. 2nd gain selection when the motor actual speed exceeds the setup of Pr33 (1st level of control switching) and Pr34 (1at hysteresis of control switching) . Definitions of Pr32 (Delay). *2 For the switching level and the timing. 5. 2nd gain selection when the command speed is larger than the setups of Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching). Fixed to the 2nd gain. Unit varies depending on the setup of Pr31 (1st mode of control switching) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. Refer to P. Unit varies depending on the setup of Pr31 (1st control switching 0 1st gain 2nd gain 1st gain mode).) Kp1(Pr10)>Kp2(Pr18) 166 166 <20>* value +1) by-step switching time to Kp1(Pr10) 0 bold line 3 x 166µs the position loop gain Pr35= 0 1 only at gain switching 2 2 while the 1st and the 2nd 1 3 thin line gain switching is valid.[Connection and Setup of Full-closed Control] Standard default : < > PrNo. invalidate the real-time auto-gain tuning first then set. Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig. "Gain Switching Function" of Adjustment. 2nd gain selection when the positional deviation is larger than the setups of Pr33 (1st control switching level) and Pr34 (1st hysteresis of control switching). *1 Fixed to the 1st gain regardless of GAIN input. You can set up the switching (judging) level of the 1st and the 2nd gains. when Pr31 is set to 2 and Pr03 (Torque limit selection) is set to 3. refer to P. referring to P.243. 2nd gain selection when the gain switching input is turned on. 9 and 10. Switches to the 2nd gain while the position command exists. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative).g.

43 Invalidation of command pulse inhibit input 0 to 1 <1> You can select either the validation or the invalidation of the command pulse inhibit input (INH : CN X5 Pin-33). 1 1 3 pulse train + Signal PULS SIGN t6 t4 t5 t4 t5 “L” t6 t6 “H” t6 • Permissible max. <0> <1> 3 pulse train + Signal PULS SIGN t6 t4 t5 t4 t5 “H” t1 t1 “L” t6 t6 t1 t1 t6 0 or 2 90˚ phase difference PULS 2-phase pulse SIGN (A + B-phase) CW pulse train PULS + CCW pulse train SIGN A-phase B-phase t1 t1 t3 t2 t2 t2 t2 t1 t1 B-phase delays from A by 90˚. Pr41 setup value Pr42 setup value (Command pulse (Command pulse rotational input mode direction setup) setup) Command Signal pulse title format 90˚ phase difference PULS 2-phase pulse SIGN (A + B-phase) CW pulse train PULS + CCW pulse train SIGN CCW command t1 t1 CW command t1 t1 A-phase B-phase t1 t1 t3 t2 t2 t2 t2 t1 t1 0 or 2 B-phase advances to A by 90˚. and the command pulse input format. 40 Title Selection of command pulse input Setup range 0 to 1 <0> Function/Content You can select either the photo-coupler input or the exclusive input for line driver as the command pulse input. When you do not use INH input. Input I/F of PULS/SIGN signal Pulse train interface exclusive to line driver Line driver interface Pulse train interface Open collector interface Min.1µs or smaller.5µs 2. SIGNH1:Pin-46. changed contents will be validated when you turn on the control power.5µs 2. PULS2:Pin-4.Parameter Setup Parameters for Position Control Standard default : < > PrNo. t5 t6 t2 t3 t4 t1 input frequency 500ns 250ns 250ns 250ns 250ns 250ns 2Mpps 1µs 1µs 1µs 2µs 1µs 1µs 500kpps 5µs 2. SIGN2:Pin-6) <0> Exclusive input for line driver (X5 PULSH1:Pin-44. input frequency. set up Pr43 to 1 so that you may not need to connect INH (CN I/F Pin-33) and COM– (Pin-41) outside of the driver.5µs 2. have a suffix of "*". <Notes> • For parameters which No. and min. SIGN1:Pin-5. * Content Setup value Photo-coupler input (X5 PULS1:Pin-3.5µs 200kpps Make the rising/falling time of the command pulse input signal to 0. necessary time width Permissible max. Setup value 0 <1> INH input Valid Invalid Command pulse input will be inhibited by opening the connection of INH input to COM–. 216 . necessary time width of command pulse input signal. B-phase advances to A by 90˚.5µs 2. B-phase delays from A by 90˚. PULSH2:Pin-45. SIGNH2:Pin-47) 1 41 * 42 * Command pulse rotational direction setup Setup of command pulse input mode 0 to 1 <0> 0 to 3 <1> You can set up the rotational direction against the command pulse input.

[Connection and Setup of Full-closed Control] Standard default : < > PrNo. • Setup of Pr44 > Pr45 becomes invalid. and 10000 [P/r] for the 5-wire 2500P/r incremental encoder.) • Z-phase is fed out once per one revolution of the motor.5 [É m] for ST771 series. OA–: Pin-22. 0B. • The pulse output resolution per one revolution cannot be greater than the encoder resolution. 0B+ : Pin-48. The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 • Pr45≠0 : The pulse output resolution per one revolution can be divided by any ration according to the formula below. When Pr45 is other than 0. (In this case. and P446 <0> (Reversal of pulse output logic) is 0 or 1.: Pin-49). hence does not synchronize with A-phase.) You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin21. • In case the external scale pulse is fed out (When the control mode is full-closed control and Pr46 (Reversal of pulse output logic) is 2 or 3. when encoder resolution x A B Z Synchronized Pr44 is multiple of 4 Pr45 when encoder resolution x A B Z Not-synchronized Pr44 is not multiple of 4 Pr45 217 . OB-: Pin-49). Z-phase synchronizes with A-phase.: Pin-22. Z-phase will be fed out at the intervals set with Pr47 (Z-phase setup of external scale). the pulse output resolution equals to the encoder resolution. Therefore the pulse output resolution after quadruple can be obtained from the formula below. the Z-phase width equals to output with the encoder resolution. When the pulse output resolution obtained from the above formula is multiple of 4. Pulse output resolution per one revolution Pr44 (Numerator of pulse output division) Pr45 (Denominator of pulse output division) x Encoder resolution Full-Closed Control Mode 45 * <Cautions> • The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder. velocity and torque control. In other case. 0A. OB+: Pin-48. After this. Denominator of pulse output division 0 to 32767 • In case the encoder pulse is fed out (When the control mode is position. Travel per one Pr45 (Denominator of pulse output division) travel per one pulse x output pulse = Pr44 (Numerator of pulse output division) of external scale <Cautions> • Travel per one pulse of the external scale is 0. 44 Title Setup range Function/Content * Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse outputs (X5 OA+: Pinoutput division <2500> 21. (In the above setup. travel per one pulse will be divided with discrete ratio according to the formula below. • Pr45=<0> (Default) You can set up the output pulse counts per one motor revolution for each OA and OB with the Pr44 setup. and 0. no division will be executed) • Z-phase will be fed out synchronizing with A-phase when the work crosses the zero absolute position at first time after the control power is turned on.) Pr45 = 0 : No division will be executed. and becomes narrower than A-phase.05 [É m] for AT500 series.

Pr49) X2Pr4A. 218 . Electronic gear ratio = • when numerator ≠ 0 : Electronic gear ratio = Encoder resolution Command pulse counts per one revolution (Pr48) Multiplier of command Numerator of command div/multiple numerator (Pr4A) electronic gear (Pr48. when you use the external scale as an output <0> source for the pulse output.Parameter Setup Standard default : < > PrNo. 4194304 (Pr4D setup value +1) becomes the max. • when the numerator is <0> (Default) :Numerator (Pr48. (Pr02. no Z-phase is fed out of the external scale. (2) You can increase the nominal command pulse frequency when you cannot 0 to 10000 obtain the required speed due to the limit of pulse generator of the host controller. (Control mode setup) is 6 and Pr46 (Reversal of pulse output logic) is 2 or 3. After this. Pin-28) DIV input open Selection of 1st numerator (Pr48) DIV input connect to COM– Selection of 2nd numerator (Pr49) The electronic gear ratio is set with the formula below. 3 is valid only at full-closed control. • when Pr47 = 1 to 32767. Electronic gear function-related (Pr48 to 4B) 0 to 10000 Electronic gear (Command pulse division/multiplication) function • Purpose of this function <0> (1) You can set up any motor revolution and travel per input command unit. Z-phase will be fed out synchronizing with A-phase when the work crosses the absolute position of 0 at first time after the control power on. 46 Title Reversal of pulse output logic Setup range 0 to 3 <0> Function/Content You can set up the B-phase logic and the output source of the pulse output (X5 OB+ : Pin-48. 2 1.) • when Pr47 = <0> (default). OB– : Pin-49).49) x 2 Denominator of command electronic gear (Pr4B) <Caution> In actual calculation of numerator (Pr48. value. <0> • Block diagram of electronic gear 0 to 17 <0> 0 to 10000 <10000> Command pulse f *1 *1 1st numerator (Pr48) x2 2nd numerator (Pr49) Multiplier (Pr4A) Internal command + F – External scale Feed back pulse (Resolution) Deviation counter 48 1st numerator of electronic gear 49 2nd numerator of electronic gear Multiplier of electronic gear numerator Denominator of electronic gear 4A Denominator (Pr4B) 4B • "Numerator" selection of electronic gear *1 : Select the 1st or the 2nd with the command electronic gear input switching (DIV : CN X5. Setup value <0>. 3 Pr46 <0> 1 2 *1 3 *1 A-phase (OA) B-phase(OB) non-reversal B-phase(OB) reversal B-phase logic Non-reversal Reversal Non-reversal Reversal Output source Encoder position Encoder position External scale position External scale position at motor CCW rotation at motor CW rotation * *1 The output source of Pr46=2. With this parameter. 47 * Z-phase setup of external scale 0 to 32767 You can setup the interval of Z-phase output in the A-phase output pulses of the external scale (before quadruple). Z-phase will be fed out at the intervals set with this parameter. you can reverse the phase relation between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.49)X2Pr4A) is automatically set equal to encoder resolution.

You can set up the clearing conditions of the counter clear input signal which clears the deviation counter. have a suffix of "*". time width of CL signal CL(Pin-30) 100µs or longer <Notes> • For parameters which No. (Setup value + 1) become average travel times. Full-Closed Control Mode 219 . Purpose of smoothing filter • Reduce the step motion of the motor while the command pulse is rough. Setup value 0 <1> 7 Time constant No filter function Time constant small Time constant large 4D * 4E Setup of FIR smoothing Counter clear input mode 0 to 31 <0> 0 to 2 <1> You can set up the moving average times of the FIR filter covering the command pulse. (2) when the command pulse frequency is low. • Actual examples which cause rough command pulse are. Clearing condition Setup value Clears the deviation counter at level (shorting for longer than 100µs)*1 0 <1> Clears the deviation counter at falling edge (open-shorting for longer than 100µs)*1 2 Invalid *1 : Min. (1) when you set up a high multiplier ratio (10 times or more). 4C Title Setup of primary delay smoothing Setup range 0 to 7 <1> Function/Content Smoothing filter is the filter for primary delay which is inserted after the electronic gear.[Connection and Setup of Full-closed Control] Standard default : < > PrNo. changed contents will be validated when you turn on the control power. You can set the time constant of the smoothing filter in 8 steps with Pr4C.

Parameters for Sequence Standard default : < > PrNo. torque [%] CCW 300(Max.) when Pr5E=150 200 100 (Rated) 100 200 300 5F 2nd torque limit setup % speed (Rating) (Max. • Pr5E limits the max. motor torque inside of the driver with parameter setup. 3 times larger torque than the rated torque instantaneously. deviation pulses Pr60 COIN ON Pr60 220 . shows example of 150% setup with Pr03=1. In normal operation. you can use this function to limit the max. Pr5F : 2nd torque). 5E Title 1st torque limit setup Setup range 0 to 500 <500> *2 0 to 500 <500> *2 Unit % Function/Content You can set up the limit value of the motor output torque (Pr5E : 1st torque. 2. The setup unit should be the encoder pulse counts at the position control and the external scale pulse counts at the full-closed control. • Setup value is to be given in % against the rated torque. For details. (1) 17-bit encoder : 217 = 131072 (2) 2500P/r encoder : 4 X 2500 = 10000 <Cautions> 1. output torque setup" of System parameter (which you cannot change through operation with PANATERM® or panel). • Right fig. If this 3 times bigger torque causes any trouble to the load (machine) strength. value varies depending on the combination of the driver and the motor. For the torque limit selection. torque for both CCW and CW directions. The positioning complete signal (COIN) will be fed out when the deviation counter pulse counts fall within ± (the setup value). refer to Pr03 (Torque limit selection). Pin-39). after the command pulse entry is completed.57. This torque limit function limits the max. The setup of "Positioning complete range" does not give any effect to the final positioning accuracy. "Setup of Torque Limit " of Preparation. or cause chattering at output. torque. has a suffix of "*2". and varies per the encoder as below. Default value varies depending on the combination of the motor and the driver.) CW <Caution> You cannot set up a larger value to this parameter than the default setup value of "Max. 60 Title Positioning complete(In-position) range Setup range 0 to 32767 <131> Unit Pulse Function/Content You can set up the timing to feed out the positioning complete signal (COIN : CN X5.Parameter Setup Parameters for Velocity and Torque Control Standard default : < > PrNo. If you set up too small value to Pr60. this driver permits approx. refer to P. the time until the COIN signal is fed might become longer. <Note> • For parameters which default. • Basic unit of deviation pulse is encoder "resolution".

[Connection and Setup of Full-closed Control] Standard default : < > PrNo. The driver returns to Servo-ON again after the main power resumption. 65 LV trip selection at main power OFF 0 to 1 <1> – You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). Full-Closed Control Mode <1> When the main power is shut off during Servo-ON. • The setup of P61 is valid for both CCW and CW direction regardless of the motor rotating direction. 61 Title Zero-speed Setup range 10 to 20000 <50> Unit r/min Function/Content You can set up the timing to feed out the zero-speed detection output signal (ZSP : CN X5. "Timing Chart-At Power-ON" of Preparation as well. regardless of the Pr65 setup. 66 * Sequence at over-travel inhibit 0 to 2 <0> – <Caution> This parameter is invalid when Pr6D (Detection time of main power OFF)=1000. Then holds "ON" status until the next position command is entered. the zero-speed detection signal is ON and the positional deviation is smaller than Pr60 (Positioning complete range). Pin-12 or TCL : CN X5. Setup value 0 Action of main power low voltage protection When the main power is shut off during Servo-ON. Pin-9 or CWL : Connector CN X5. Pr61. Err13 (Main power under-voltage protection) is triggered when setup of P66D is long and P-N voltage of the main converter falls below the specified value before detecting the main power shutoff. torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop ). You can set up the running condition during deceleration or after stalling. The zero-speed detection signal (ZSP) will be fed out when the motor speed falls below the setup of this parameter. speed (Pr61+10)r/min CCW (Pr61–10)r/min CW ZSP ON 63 Setup of positioning complete (In-position) output 0 to 3 <0> – You can set up the action of the positioning complete signal (COIN : Pin39 of CN X5) in combination with Pr60 (Positioning complete range). Setup value <0> 1 2 3 Action of positioning complete signal The signal will turn on when the positional deviation is smaller than Pr60 (Positioning complete range) The signal will turn on when there is no position command and the positional deviation is smaller than Pr60 (Positioning complete range). The signal will turn on when there is no position command and the positional deviation is smaller than Pr60 (Positioning complete range). Pin-8) is valid Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop Deviation counter content After stalling Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration <Caution> In case of the setup value of 2. The signal will turn on when there is no position command. have a suffix of "*".42. changed contents will be validated when you turn on the control power. 221 . Refer to P. Err13 will not be triggered and the driver turns to Servo-OFF. the driver will trip due to Err13 (Main power low voltage protection). <Notes> • For parameters which No. Pin-40) in rotational speed [r/min]. while over-travel inhibit input (CCWL : Connector CN X5. • There is hysteresis of 10 [r/min].

You can set up the time from when the brake release signal (BRK-OFF : CN X5.44. after turning to Servo-OFF (SRV-ON signal : CN X5. = then compose the sequence so as the driver turns to Servo-OFF after the brake is actually activated. Setup value <0> 1 2 3 4 5 6 7 8 9 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear 68 Sequence at alarm 0 to 3 <0> – (DB: Dynamic Brake action) <Caution> In case of the setup value of 8 or 9. 222 . torque limit during deceleration will be limited by the setup value of Pr6E (Torque setup at emergency stop). 69 Sequence at Servo-Off 0 to 9 <0> – You can set up.Parameter Setup Standard default : < > PrNo.44. 67 Title Sequence at main power OFF Setup range 0 to 9 <0> Unit – Function/Content When Pr65 (LV trip selection at main power OFF) is 0. Refer to P. you can set up.43. SRV-ON BRK-OFF actual brake ON release release tb OFF hold hold nonenergized Pr6A 6A Setup of mechanical brake action at stalling 0 to 100 <0> 2ms motor energization energized Refer to P. "Timing Chart"-Servo-ON/OFF action while the motor is at stall" of Preparation as well. when the motor turns to Servo-OFF while the motor is at stall. Pin-10 and 11) turns off to when the motor is de-energized (Servo-free). You can set up the action during deceleration or after stalling when some error occurs while either one of the protective functions of the driver is triggered. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold (DB: Dynamic Brake action) <Caution> The content of the deviation counter will be cleared when clearing the alarm. "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. 1) the action during deceleration and after stalling 2) the clearing of deviation counter content. • Set up to prevent a micro-travel/ drop of the motor (work) due to the action delay time (tb) of the brake • After setting up Pr6a > tb . Pin-29 is turned from ON to OFF) The relation between the setup value of Pr69 and the action/deviation counter clearance is same as that of Pr67 (Sequence at Main Power Off) Refer to P. "Timing Chart (When an error (alarm) occurs (at Servo-ON command status)" of Preparation. 1) the action during deceleration and after stalling 2) the clearing of deviation counter content after the main power is shut off.

B-frame <3> for C to F-frame <0> – Refer to P. D. will be a shorter one of either Pr6B setup time. E and Built-in resistor F-frame) Regenerative processing and regenerative resistor overload Regenerative processing circuit will be activated and regenerative resistor overload protection will be triggered according to the built-in resistor (approx.[Connection and Setup of Full-closed Control] Standard default : < > PrNo. Regenerative processing circuit is activated. between P and B2 of terminal block in case of E. SRV-ON BRK-OFF actual brake ON release tb energized OFF hold nonenergized 30 r/min motor energization 6C * Selection of external regenerative resistor 0 to 3 for A. changed contents will be validated when you turn on the control power. regardless of validation or invalidation of regenerative over-load protection. while the motor turns to servo off during the motor in motion. and might cause burning. You can set up the torque limit in case of emergency stop as below. Pin-10 and 11) turns off. External regenerative resistor gets very hot. or to separate this built-in regenerative resistor and externally install the regenerative resistor (between RB1 and RB2 of Connector CN X2 in case of A to D-frame. B-frame) power. <Notes> • For parameters which No. the regenerative resistor might be heated up abnormally and result in burnout. • At Servo-OFF during the motor is running. 6D * 6E Detection time of main power off Torque setup at emergency stop 35 to 1000 <35> 0 to 500 <0> 2ms % You can set up the time to detect the shutoff while the main power is kept shut off continuously. and No resistor built-in capacitor handles all regenerative (A. • Err24 (Error detection of position deviation excess) becomes invalid when you set up this to 0. The driver trips due to regenerative overload protection (Err18). Setup value Regenerative resistor to be used <0> (C. 2 External resistor but no regenerative over-load protection is triggered. The main power off detection is invalid when you set up this to 1000. 70 Setup of position deviation excess 0 to 32767 256 x • You can set up the excess range of position deviation. Both regenerative processing circuit and <3> regenerative protection are not activated. 6B Title Setup of mechanical brake action at running Setup range 0 to 100 <0> Unit 2ms Function/Content You can set up time from when detecting the off of Servo-ON input signal (SRV-ON : CN X5. With this parameter. <Caution> When you use the built-in regenerative resistor. when regenerative 1 External resistor processing circuit is activated and its active ratio exceeds 10%. Pin-29) is to when external brake release signal (BRK-OFF : CN X5. F-frame). 223 . <25000> resolution • Set up with the encoder pulse counts at the position control and with the external scale pulse counts at the full-closed control. "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well. Don't touch the external regenerative resistor. you can select either to use the built-in regenerative resistor of the driver. never to set up other value than 0.45. Otherwise. 1% duty). • During deceleration of over-travel inhibit with the setup 2 of Pr66 (Sequence at over-travel inhibit input) • During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main power off) • During deceleration with the setup of 8 or 9 of Pr69 (Sequence at Servo-OFF) Normal torque limit is used by setting this to 0. • Set up to prevent the brake deterioration due to the motor running. tb of the right fig. or time lapse till the motor speed falls below 30r/min. have a suffix of "*". Full-Closed Control Mode <Remarks> Install an external protection such as thermal fuse when you use the external regenerative resistor.

and ±36 [r/min] in case of the 5-wire incremental encoder. changed contents will be validated when you turn on the control power. • Use this with 0 setup in normal operation. Set up other value only when you need to lower the over-speed level. • The driver will trip with Err25 (Hybrid deviation excess protection) when the deviation is generated which exceeds the permissible gap. 73 Setup of over-speed level 0 to 20000 <0> r/min Parameters for Full-Closed Control Standard default : < > PrNo. The overload level becomes 115 [%] by setting up this to 0. • Use this with 0 setup in normal operation. • The setup value of this parameter is limited by 115[%] of the motor rating. have a suffix of "*". • You can set up the over-speed level. 78 Title Numerator of external scale division Setup range 0 to 32767 <0> Unit – Function/Content You can setup the ratio between the encoder resolution and the external scale resolution at full-closed control. <Caution> The detection error against the setup value is ±3 [r/min] in case of the 7-wire absolute encoder. (– count) * 79 * Multiplier of numerator of external scale division Denominator of external scale division 0 to 17 <0> – 7A * 1 to 32767 <10000> – 7B * 7C Setup of hybrid deviation excess 1 to 10000 16 x <100> external scale pulse 0 to 1 <0> – * Reversal of direction of external scale <Caution> When you use the linear scale by other manufacture than Mitutoyo. 224 . • You can setup the permissible gap (hybrid deviation) between the present motor position and the present external scale position. The over-speed level becomes 1. position data will be kept as it is with the setup of 0. speed. and you can setup the external scale resolution per one motor revolution with Pr7A. and 131702 will be the actual numerator. Encoder resolution per one motor revolution Pr78 X 2 Pr79 = External scale resolution per one motor revolution Pr7A • Pr78= <0> (default) Numerator equals to encoder resolution.Parameter Setup Standard default : < > PrNo.2 times of the motor max.2 times of the motor max. (+ count) Serial data will decrease when the detection head travels to the right viewed from the mounting side. • Pr78 ≠ 0. Setup value 0 1 Content Serial data will increase when the detection head travels to the right viewed from the mounting side. • The setup value of this parameter is limited by 1. Set up other value only when you need to lower the over-load level. Setup the ratio between the external scale resolution and the encoder resolution per one motor revolution according to the above formula. 72 Title Setup of over-load level Setup range 0 to 500 <0> Unit % Function/Content • You can set up the over-load level. <Caution> • Upper limit of numerator value after calculation is 131072. and it will become as a reversed signed position data with the setup of 1. speed by setting up this to 0. Setup exceeding this value will be invalidated. You can set up the logic of the absolute data of the external scale. <Notes> • For parameters which No.

... 234 Normal Auto-Gain Tuning ................................................ 250 225 ......................................................... Adjustment in Velocity Control Mode ........................................ 228 Fit-Gain Function .......................................................... Automatic Gain Setup Function ... Suppression of Machine Resonance .............................................. 239 Manual Auto-Gain Tuning (Basic) ............................................................................................................... 226 Real-Time Auto-Gain Tuning ..... 249 Damping Control ............. 240 Adjustment in Position Control Mode . Adjustment in Torque Control Mode ...... 249 Instantaneous Speed Observer .......[Adjustment] page Gain Adjustment.......... 236 Release of Automatic Gain Adjusting Function ....... 241 241 242 242 243 246 248 Manual Auto-Gain Tuning (Application) ...................................................................................................................................................................................... 231 Adaptive Filter ............. Adjustment in Full-Closed Control Mode ............................................................ Gain Switching Function.........................................

K.K.? Yes No Writing to EEPROM Finish adjustment 226 Consult to authorized dealer .0 125 250 375 0.240) Manual gain tuning Release of auto-adjusting function Action O.0 125 250 375 0.239) Yes Ready for command input ? No (see P.239) No No (see P.? Yes (see P. : Ball screw> [r/min] +2000 Gain setup : Low Gain setup : High Gain setup : High + feed forward setup 0 Motor actual speed Command Speed -2000 0. <e.Gain Adjustment Purpose It is required for the servo driver to run the motor in least time delay and as faithful as possible against the commands from the host controller.g.0 125 250 375 Position loop gain Velocity loop gain Time constant of V-loop integration : 20 : 100 : 50 Position loop gain Velocity loop gain Time constant of V-loop integration : 100 : 50 : 50 Position loop gain Velocity loop gain Time constant of V-loop integration : 100 : 50 : 50 Velocity loop feed forward : 0 Inertia ratio : 100 Velocity loop feed forward : 0 Inertia ratio : 100 Velocity loop feed forward : 500 Inertia ratio : 100 Procedures Start adjustment Automatic adjustment ? No (see P. You can make a gain adjustment so that you can run the motor as closely as possible to the commands and obtain the optimum performance of the machine.248) Auto-adjustment of stiffness ? No Yes (see P.236) Yes (Default) Real time auto-gain tuning Normal mode auto-gain tuning Release of auto-adjusting function Use the gain setup of autoadjustment ? Yes (see P.K.? Yes Action O.228) (see P.231) No Gain automatic setup function Fit-gain function Action O.

to set up the stiff.231 ness of real-time auto-gain tuning at position control.246 gain. when oscillation (abnormal noise and vibration) occurs. vibration or noise may be generated due to the distorted axis. hence you cannot set the higher P. before executing the manual auto-gain tuning. Reduces the resonance vibration point by automatically setting up the notch filter coefficient which removes the resonance Adaptive filter component from the torque command while estimating the res.236 command pattern automatically created in the driver.239 Pages to refer P. When the machine stiffness is low. You can obtain the higher performance while you are not satisManual gain tuning (application) fied with the performance obtained with the basic adjustment.243 gains by internal data or external signals. and hence improves the accuracy of speed detection.242 P.P. shut off the main power. or when you want to obtain an optimum response depending on each load. Searches automatically the appropriate stiffness setup by enFit-Gain function Automatic adjustment tering the certain action pattern repeatedly. Describes the cautions when you invalidate the real-time autogain tuning or adaptive filter which are defaults.240 P. and automatically sets up the optimum gain corresponding to this result. P. Function which obtains both high response and reduction of viInstantaneous speed observer bration at stopping by estimating the motor speed with the load P.248 parameters. or turn to Servo-OFF.[Adjustment] Type Function Real-time auto-gain tuning Explanation Estimates the load inertia of the machine in real time. P.241 P. Adjustment of position control mode Basic procedure Adjustment of velocity control mode Adjustment of torque control mode Adjustment of full-closed control mode Manual adjustment You can expect to reduce vibration at stopping and settling Gain switching function time and to improve command compliance by switching the P. Function which reduces vibration by removing the vibration frequency component while the front end of the machine vibrates. Initializes the control parameters and gain switching parameters Automatic gain setup function to the values corresponding to the automatic tuning stiffness P.249 model.249 using the following application functions. 227 . Sets up the appropriate gain automatically by calculating the Normal mode auto-gain tuning Release of automatic gain adjusting function load inertia from the torque required to run the motor in the P.228 Suppression of machine resonance Adjustment Damping control <Remarks> • Pay extra attention to safety.P.241 P.242 P.250 P.234 onance frequency from the vibrating component which appears in the motor speed in actual operating condition. You can suppress the resonance with two kinds of filter. Execute the manual adjustment when real-time auto-gain tunManual gain tuning (basic) ing cannot be executed due to the limitation of control mode and load condition.

• The motor is running continuously at low speed of (100 [r/min] or lower. • Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque. Lower the value (0-3) when you experience abnormal noise or oscillation. machine) when you want to obtain a better response. Action pattern How to Operate 1) Bring the motor to stall (Servo-OFF). 6) Write the result to EEPROM when you want to save it. 2) Set up Pr21 (Setup of real-time auto-gain tuning mode) to 1-7. • A chattering such as backlash exists.236 of Adjustment). Setup value 0 [ 1] 2 3 4 5 6 7 no gain switching mode vertical axis mode normal mode Real time auto-gain tuning (not in use) Varying degree of load inertia in motion – no change slow change rapid change no change slow change rapid change no change When the changing degree of load inertia is large. Conditions which obstruct real-time auto-gain tuning action Load inertia Load • The load is too small or large compared to the rotor inertia. or execute the manual auto-gain tuning (refer to P. 228 . In these cases. (less than 3 times or more than 20 times) • The load inertia changes too quickly (10 [s] or less) • The machine stiffness is extremely low. 5) Gradually increase Pr22 (Machine stiffness at real-time auto-gain tuning.Real-Time Auto-Gain Tuning Mode Outline Estimates the load inertia of the machine in real time and sets up the optimum gain automatically responding to the result. Caution Real-time auto-gain tuning may not be executed properly under the conditions described in the table below. When the motor is used for vertical axis. 3) Set up Pr22 (Machine stiffness at real-time auto-gain tuning) to 0 or smaller value. set up 7. 4) Turn to Servo-ON to run the machine normally. When vibration occurs during gain switching. use the normal mode auto-gain tuning (refer to P. Position/Velocity command Action command under actual condition Resonance frequency estimation Load inertia estimation Real time auto-gain tuning Servo driver Motor speed Gain auto-setup Filter auto-adjustment Position/Velocity control Torque command current Adaptive control Filter Motor current Motor Encoder Applicable Range Real time auto-gain tuning is applicable to all control modes. set up 3 or 6. • When the speed condition of 100 [r/min] or more and acceleration/deceleration condition of 2000 [r/min] per 1 [s] are not maintained for 80 [ms]. set up 4-6.240). • Acceleration/deceleration is slow (2000 [r/min] per 1[s] or low).

Pr22 Match to Pr22 with Press .[Adjustment] Insert the console connector to CN X6 of the driver. Pr21 Press Press . then turn on the driver power. Writing starts (temporary display). shows by keep pressing (approx. . . (default values) .60 and 61 of Preparation). Change the setup with Press . . . Writing error occurs 229 .) Press . Setup of parameter. 5sec). Setup of parameter. to be set up with . Adjustment Finish Writing completes Return to SELECTION display after writing finishes. Match to the parameter No. Bars increase as the right fig. Numeral increases with and decreases with Press . (Here match to Pr21. Writing to EEPROM Press Press . . referring to "Structure of each mode"(P.

PrNo. 1) Write the parameters which have given the normal operation into EEPROM. 2) Lower the setup of Pr22 (Selection of machine stiffness at real time auto-gain tuning). however. you may experience abnormal noise and oscillation right after the first Servo-ON. 15 16 27 30 31 32 33 34 35 36 Title Velocity feed forward Time constant of feed forward filter Setup of instantaneous speed observer 2nd gain setup 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching Position gain switching time 2nd mode of control switching Setup value 300 50 0 1 10 30 50 33 20 0 <Notes> • When the real-time auto-gain tuning is valid. these are not failures as long as they disappear immediately. Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to extreme values. (4) When you validate the real-time auto-gain tuning. you cannot change the parameters which are automatically adjusted. When you turn on the power again. Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. Take the same measures as the above in these cases. Pr27 (Setup of instantaneous speed observer) will be invalidated (0) automatically. the load inertia estimation will be invalidated. Caution (1) After the start-up. or increase of Pr22 (Selection of machine stiffness at real-time auto-gain tuning) until the load inertia is identified (estimated) or the adaptive filter is stabilized. (2) When abnormal noise and oscillation occur. (5) During the trial run and frequency characteristics measurement of "PANATERM®". (3) Among the results of real-time auto-gain tuning.Real-Time Auto-Gain Tuning Parameters Which Are Automatically Set Following parameters are automatically adjusted. PrNo. and becomes 0 in other cases. • Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of real-time auto-gain tuning) is 1 to 6. take the following measures in possible order. 230 . 3) Set up the notch filter manually. 10 11 12 13 14 18 19 1A 1B 1C 20 Title 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 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 Inertia ratio Also following parameters are automatically set up. If they persist over 3 reciprocating operations. the auto-gain tuning will be executed using the latest data as initial values.

Action pattern • When the positioning cannot be completed before the start of the next position command even though the positioning command has been completed. (To be used for judgment of start and finish of command) Positioning complete Command waveform Accel/deceleration <(3000r/min/0.1s) 1 [s] or longer 50 [ms] or longer ON OFF 1[s] or longer Caution This function may not work properly under the following conditions in addition to the conditions for real time auto-gain tuning. Position command (Reciprocating command with trapezoidal waveform) Position + deviation Position/ Velocity control Motor current Torque Adaptive command Current Motor control Filter Resonance frequency estimation Load inertia estimation Real time auto-gain tuning Automatic setup of (Settling stiffness and gain time) table Fit-gain function Detection of vibration Servo driver Motor speed Encoder Applicable Range This function can be applicable when the following conditions are satisfied in addition to the applicable conditions for real time auto-gain tuning. Adjustment 231 . use the normal real-time auto-gain tuning. • Acceleration/deceleration is rapid such as 30000 [r/min] per 1[s].[Adjustment] Fit-Gain function Outline MINAS-A4 series features the Fit-gain function which executes the automatic setup of stiffness corresponding to the machine while the real time auto-gain tuning is used at position control. frequency of position command to be 1 [kpps] or more. Conditions which obstruct Fit-Gain action • The position command is small such as less than 2 revolutions. • Pr23=1 : Validated • At position control mode Control mode Pr02=0 : Position control Pr02=3 : 1st control mode of position/velocity control Pr02=4 : 1st control mode of position/torque control • The position command to be for reciprocating movement • One position command time to be 50 [ms] or longer. • At Servo-ON status • Pr21=1-6 (Not usable when Pr21=0 or 7) • The adaptive filter is validated. Conditions under which the Fit-gain function is activated Real time auto-gain tuning action Adaptive filter • The real-time auto-gain tuning has to work properly. This function automatically searches the optimum stiffness setup by repeating reciprocating movement at position control. Action pattern • Min. In these cases.

(For operation of the front panel. is found in normal case.3sec while the dot on the right corner flashes. set up the followings with the Fit-Gain screen and parameter setup mode of the front panel.228. • No chattering of COIN signal and real-time stiffness NO.) Example of front panel display SELECTION display EXECUTION display (when Pr23=1) Fit-Gain screen ( set button ) EXECUTION display of Fit-Gain screen After setting up of stiffness to 0.) (2) Start up the Fit-Gain function by pressing for approx. <Caution 2> will be displayed in the following cases. 232 Normal Error . or the Console or the Setup Support Software. In case of 2500P/r encoder. (3) Enter the position command which satisfies the action pattern condition of P. (Refer to P.72 of Preparation.000 Fit-Gain starts Front panel display changes together with the machine movement. "Applicable Range". 0 1 : Valid In case of 17bit encoder. How to Operate Procedures (1) Bring the front panel display to EXECUTION display of the Fit-Gain screen. (4) will be displayed when the Fit-Gain function finishes normally. <Caution 1> The Fit-Gain movement requires max.72 of Preparation. Front panel display changes to 000. Parameter Either of 1-6.Real-Time Auto-Gain Tuning Before Operation Before the start-up of the Fit-Gain function. or applicable condition have not been satisfied. The Fit-gain function finishes when the optimum real-time stiffness No. 50 reciprocating movements. keep pressing for approx. 1 2 3 4 5 6 Normal mode Normal mode Normal mode Vertical axis mode Vertical axis mode Vertical axis mode no change slow change rapid change no change slow change rapid change You can setup parameters in the left through the EXECUTION display of the Fit-Gain screen on the front panel. without micro vibration. (You can clear display by operating any key. 3sec after lowering the stiffness to 0 while the dot “ ” on the right lower corner flashes. • One of the keys of the front panel has been operated during the Fit-Gain action. refer to P. "PANATERM®". have been found. and will be displayed when this finishes with error. 10 pulses or more. 20 pulses or more.) Setup value Notes Pr21 (Setup of real-time auto-gain tuning mode) Pr22 (Selection machine stiffness at real time auto-gain tuning) Pr23 (Setup of adaptive filter) Pr60 (Positioning complete range) 0 : Real time stiffness No.

PrNo. and will be displayed when it finishes with some error. interrupt the Fit-Gain by pressing one of the switches of the front panel.3sec to save the present setup to EEPROM. 15 16 27 30 31 32 33 34 35 36 Title Velocity feed forward Time constant of feed forward filter Setup of instantaneous speed observer 2nd gain setup 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 2nd mode of control switching Setup value 300 50 0 1 10 30 50 33 20 0 Caution During the Fit-Gain movement. however. Adjustment 233 . [EXECUTION display] Writing of the result from the Fit-Gain screen Press for approx. If noise and vibration persist. PrNo.[Adjustment] Result of Fit-Gain will be displayed when the Fit-Gain finishes normally. Parameters Which Are Automatically Set Following parameters are automatically adjusted. these do not give any trouble since the gain is automatically lowered. you may experience some noise and vibration. 10 11 12 13 14 18 19 1A 1B 1C 20 22 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 2nd gain of position loop 2nd gain of velocity loop 2nd time constant of velocity loop integration 2nd filter of velocity detection 2nd time constant of torque filter Inertia ratio Selection of machine stiffness at real time auto-gain tuning Title Also following parameters are automatically set up. Write the result to EEPROM when you want to apply the result after the power reset.

• Multiple resonance points exist. hence reduces the resonance vibration. using the 1st notch filter (Pr1D and 1E) and the 2nd notch filter (Pr28 to 2A). How to Operate 1) Validate the adaptive filter by setting up Pr23 (Setup of adaptive filter) to 1. • Acceleration/deceleration is rapid such as 30000[r/min] per 1[s]. 2) Write the result to EEPROM when you want to save it. hence reduces the resonance vibration. then removes the resonance components from the torque command by setting up the notch filter coefficient automatically. 234 . or control gain is low where the motor speed is not affected by this. Adaptive filter automatically estimates the resonance frequency out of vibration component presented in the motor speed in motion. Caution The adaptive filter may not work properly under the following conditions. Conditions under which the Adaptive filter is activated Control Mode • Applies to other control modes than torque control. then removes the resonance component from the torque command by setting up the notch filter coefficient automatically. set up the value to 2. In these cases. Conditions which obstruct adaptive filter action • Resonance frequency is lower than 300[Hz]. and resonance point seems not change. Setup value 0 [ 1] 2 Adaptive filter Invalid Valid Adaptive action - Yes No (Hold) When adaptation finishes (Pr2F does not change).Adaptive Filter Outline Estimates the resonance frequency out of vibration component presented in the motor speed in motion. Position/Velocity command Action command under actual condition Resonance frequency estimation Load inertia estimation Real time auto-gain tuning Servo driver Motor speed Gain auto-setup Filter auto-adjustment Position/Velocity control Torque command current Adaptive control Filter Motor current Motor Encoder Applicable Range This function works under the following condition. Load Command pattern • Motor speed variation with high harmonic component is generated due to non-linear factors such as backlash. take measures to resonance according to the manual adjustment procedures. Resonance point • Resonance peak is low.

If you invalidate the adaptive filter which have been working correctly. however. If they persist over 3 reciprocating operations. (4) The adaptive filter is normally invalidated at torque control. noise and vibration may occur due to the effect of resonance which have been suppressed. (3) Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. these are not failures as long as they disappear immediately. until the load inertia is identified (estimated) or the adaptive filter is stabilized. (2) When abnormal noise and oscillation occur. When you turn on the power again. 235 . "Fit-Gain Screen" of Preparation). Take the same measures as the above in these cases. Invalidation of Adaptive Filter When you set up Pr23 (Setup of adaptive filter) to 0. or when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning). 1) Write the parameters which have given the normal operation into EEPROM. 3) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode) to 0.72. (Reset of inertia calculation and adaptive action) 4) Set up the notch filter manually. when you select torque control while you set up Pr02 (Control mode setup) to 4 and 5. adaptive action will be executed using the latest data as initial values. take the following measures in possible order. execute the copying function of the setup of adaptive filter (Pr2F) to the 1st notch frequency (Pr1D) from the Fit-Gain screen of the front panel (refer to P. the adaptive filter frequency before mode switching will be held. Pr2F (Adaptive filter frequency) might have changed to extreme values. Pr2F 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 1st notch frequency [Hz] (invalid) (invalid) (invalid) (invalid) (invalid) 1482 1426 1372 1319 1269 1221 1174 1130 1087 1045 1005 967 930 895 861 828 796 Pr2F 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 1st notch frequency [Hz] 766 737 709 682 656 631 607 584 562 540 520 500 481 462 445 428 412 396 381 366 352 339 Pr2F 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 1st notch frequency [Hz] 326 314 302 290 279 269 (invalid when Pr22 >15) = Adjustment 258 (invalid when Pr22 >15) = 248 (invalid when Pr22 >15) = 239 (invalid when Pr22 >15) = 230 (invalid when Pr22 >15) = 221 (invalid when Pr22 >14) = 213 (invalid when Pr22 >14) = 205 (invalid when Pr22 >14) = 197 (invalid when Pr22 >14) = 189 (invalid when Pr22 >14) = 182 (invalid when Pr22 >13) = (invalid) (invalid) (invalid) (invalid) (invalid) *Set up 1500 to Pr1D (1st notch frequency) in case of “ invalid ” of the above table. the adaptive filter function which automatically follows the load resonance will be invalidated. 2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).[Adjustment] Caution (1) After the start-up. Therefore. then invalidate this filter. or set up Pr1D (1st notch frequency) manually by using the table below. however. you may experience abnormal noise and oscillation right after the first Servo-ON.

Bring back the gain to default with parameter setup. "Auto-Gain Tuning Mode" of Preparation as well. • Chattering such as backlash exists. Position command Normal mode auto-gain tuning Load inertia calculation Torque command Position/Velocity Control Motor torque Motor speed Gain autoadjust Position command Motor current Current control Motor Generation of internal positional command Applicable Range This function works under the following condition. Encoder Servo driver Conditions under which the normal mode auto-gain tuning is activated Control mode Others Applies to all control modes.71. set up in manual gain tuning Conditions which obstruct normal auto-gain tuning • Too small or too big compared to the rotor inertia Load inertia (smaller than 3 times or larger than 20 times) • Load inertia varies. Caution Normal mode auto-gain tuning may not be work properly under the following conditions. driver may not act correctly. When oscillation occurs. 236 . In these cases. • Tuning error will be triggered when an error. or deviation counter clear occurs during the normal mode auto-gain tuning. • Servo-ON status • No entry of deviation counter clear signal <Remarks> Set up the torque limit selection (Pr03) to 1. Load • Machine stiffness is extremely low. Pay an extra attention to the safety. The driver estimates the load inertia from the necessary torque. validation of overtravel inhibition. • If the load inertia cannot be calculated even though the normal mode auto-gain tuning is executed. Refer to cautions of P. torque set with Pr5E (Setup of torque limit). When you set up other than 1. the main power shutdown. gain value will not change and be kept as same as that of before the execution. Servo-OFF. • The motor output torque during the normal auto-gain tuning is permitted to the max. and sets up an appropriate gain automatically.Normal Mode Auto-Gain Tuning Outline The motor will be driven per the command with a pattern generated by the driver automatically. shut off the main power or turn to ServoOFF immediately.

[Adjustment] Auto-Gain Tuning Action (1) In the normal mode auto-gain tuning. (2) This tuning repeats max. however. "Auto-Gain Tuning Mode" of Preparation. this is nor an error. *2 Lower limit for stiffness value is 10 for 17-bit encoder. You can set a higher No. refer to P. Parameters Which Are Automatically Set Table of auto-gain tuning Pr Title No. (6) Adjust the machine stiffness to the level at which no vibration occurs and obtain the required response. nor vibration occurs. if it is satisfactory. and 0 for velocity control and torque control. and 1 for D to F-frame. (2) Shift the load to the position where no hazard is expected even though the action pattern which is set with Pr25 is executed..71. Action acceleration will be doubled every one cycle after third cycle. no abnormal noise. or action acceleration does not vary before 5th cycle depending on the load. Default for A to C-frame is 4. For the operation of the front panel. (3) Prohibit the command entry. you can set up the response with machine stiffness No. to the high stiffness machine and set up a higher gain. and 25 for 2500P/r encoder. (4) Turn to Servo-ON. *1 Stiffness value is 10 for position control and full-closed control. Use the front panel or the "PANATERM®". (5) Start up the auto-gain tuning. • Usually start setting up with a lower value and increase gradually to repeat auto-gain tuning in the range where no oscillation. 5 cycles of the action pattern set with Pr25 (Normal mode auto-gain tuning action). How to Operate (1) Set up the action pattern with Pr25. Machine stiffness No. Tuning may finish. • Represents the degree of machine stiffness of the customer's machine and have values from o to 15. 237 . (7) Write the result to EEPROM. 10 1st gain of position loop 11 1st gain of velocity loop 12 1st time constant of velocity loop integration 13 1st filter of velocity detection 14 1st time constant of torque filter time *2 15 Velocity feed forward 16 Velocity FF filter 18 2nd gain of position loop 19 2nd gain of velocity loop 1A 2nd time constant of velocity loop integration 1B 2nd filter of speed detection 1C 2nd time constant of torque filter *2 20 Inertia ratio 27 Setup of instantaneous velocity observer 30 2nd gain setup 31 1st mode of control switching *1 32 1st delay time of control switching 33 1st level of control switching 34 1st Hysteresis of control switching 35 Switching time of position gain 36 2nd mode of control switching Stiffness value 0 [ 1] 2 3 [ 4] 5 6 7 8 9 12 32 39 48 63 72 90 108 135 162 9 18 22 27 35 40 50 60 75 90 8 9 62 31 25 21 16 14 12 11 0 0 0 0 0 0 0 0 0 0 253 126 103 84 65 57 45 38 30 25 300 300 300 300 300 300 300 300 300 300 50 50 50 50 50 50 50 50 50 50 19 38 46 57 73 84 105 126 157 188 9 18 22 27 35 40 50 60 75 90 999 999 999 999 999 999 999 999 999 999 0 0 0 0 0 0 0 0 0 0 57 45 38 30 25 253 126 103 84 65 Estimated load inertia ratio 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 10 10 10 10 10 10 10 10 10 10 30 30 30 30 30 30 30 30 30 30 50 50 50 50 50 50 50 50 50 50 33 33 33 33 33 33 33 33 33 33 20 20 20 20 20 20 20 20 20 20 0 0 0 0 0 0 0 0 0 0 10 206 115 7 0 20 300 50 241 115 999 0 20 0 1 10 30 50 33 20 0 11 251 140 6 0 16 300 50 293 140 999 0 16 0 1 10 30 50 33 20 0 12 305 170 5 0 13 300 50 356 170 999 0 13 0 1 10 30 50 33 20 0 13 377 210 4 0 11 300 50 440 210 999 0 11 0 1 10 30 50 33 20 0 14 449 250 4 0 10 300 50 524 250 999 0 10 0 1 10 30 50 33 20 0 15 557 310 3 0 10 300 50 649 310 999 0 10 0 1 10 30 50 33 20 0 Adjustment represents parameters with fixed value.

then bar increase as the right fig. low stiffness machine 0–8 (3) Shift to MONITOR/EXECUTION mode by pressing . by pressing . shows. by pressing the SET button. Drive method Ball screw direct connection 8 –14 Ball screw + timing belt 6 –12 Timing belt 4 –10 Gear.3sec. (High) Value changes toward the direction as an arrow shows by pressing and changes toward the reversed direction by pressing . • Release the deviation counter clear • Lower Pr10 to 10 and Pr11 to 50. then execute the tuning. Tuning finishes normally Tuning error . • Adjust the gain manually. related to gain (such as Pr10) is kept as same as before the execution. • Turn to Servo-ON. and then enter. Value of parameter Load inertia cannot be identified. (4) Operation at MONITOR/EXECUTION mode Keep pressing until the display changes to . Servo-OFF or deviation counter clear has occurred. <Caution> Do not use the normal mode auto-gain tuning with the motor and driver alone. For details. For approx. (Calculate the load inertia. <Notes> Cause One of alarm. however. Rack & Pinion 2–8 Others. 5 cycles of CCW/CW rotation. (5) Write the gain value to EEPROM to prevent them from being lost due to the power shut off. Motor does not run. 2 revolutions each direction per one cycle. Pr20 (Inertia ratio) becomes to 0. Machine stiffness No. refer to P. CN X5 to be Servo-ON status. the motor repeats max. then press the mode switching button three times. "Structure of Each Mode" of Preparation. The motor starts rotating. (Low) Machine stiffness No. 238 Measure • Avoid an operation near the limit switch or origin proximity switch.60 and 61. Machine stiffness No. Display of rotational speed of the motor (initial display) Machine stiffness No. CL (Pin-30) of CN X5 is entered. Keep pressing for approx. this is not an error. 15 sec.Normal Mode Auto-Gain Tuning How to Operate from the Front Panel (1) Turn to the normal auto-gain tuning mode from the monitor mode. Tuning may finish before 5th cycles. (2) Enter the machine stiffness No.) Turn off the CL (Pin-30) of CN X5. Content Display of error. • Pin-29 of the connector.

If you invalidate the adaptive filter which have been working correctly. noise and vibration may occur due to the effect of resonance which have been suppressed. or set up Pr1D (1st notch frequency) manually by using the table below. "Fit-Gain Screen" of Preparation). Caution Execute the release of the automatic adjusting functions while all action stop (Servo-OFF) Invalidation of Real-Time Auto-Gain Tuning You can stop the automatic calculation of Pr20 (Inertial ratio) and invalidate the real-time auto-gain tuning by setting up Pr21 (Real-time auto-gain tuning setup) to 0. use the normal mode auto-gain tuning or set up proper value manually obtained from formula or calculation. Pr2F 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 1st notch frequency [Hz] (invalid) (invalid) (invalid) (invalid) (invalid) 1482 1426 1372 1319 1269 1221 1174 1130 1087 1045 1005 967 930 895 861 828 796 Pr2F 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 1st notch frequency [Hz] 766 737 709 682 656 631 607 584 562 540 520 500 481 462 445 428 412 396 381 366 352 339 Pr2F 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 1st notch frequency [Hz] 326 314 302 290 279 269 (invalid when Pr22 >15) = 258 (invalid when Pr22 >15) = 248 (invalid when Pr22 >15) = 239 (invalid when Pr22 >15) = 230 (invalid when Pr22 >15) = Adjustment 221 (invalid when Pr22 >14) = 213 (invalid when Pr22 >14) = 205 (invalid when Pr22 >14) = 197 (invalid when Pr22 >14) = 189 (invalid when Pr22 >14) = 182 (invalid when Pr22 >13) = (invalid) (invalid) (invalid) (invalid) (invalid) *Set up 1500 to Pr1D (1st notch frequency) in case of “invalid ”of the above table. Note that the calculation result of Pr20 (Inertia ratio) will be held. and if this parameter becomes abnormal value. adaptive filter function which automatically follows the load resonance will be invalidated. 239 .72.Release of Automatic Gain Adjusting Function Outline [Adjustment] Cautions are described when you want to invalidate the real time auto-gain tuning of default or the adaptive filter. Invalidation of Adaptive Filter When you set up Pr23 (Setup of adaptive filter) to 0. Therefore. then invalidate this filter. execute the copying function of the setup of adaptive filter (Pr2F) to the 1st notch frequency (Pr1D) from the Fit-gain screen of the front panel (refer to P.

PANATERM®" of Supplement. torque and deviation pulses by analog voltage level by using an oscilloscope. however.41. refer to P. motor movement (speed. Here we explain this manual gain tuning method by each control mode and function. Refer to P. and "Parameter Setup" of each control mode. Analog monitor output You can measure the actual motor speed.276. MINAS-A4 series features the automatic gain tuning function. however. Waveform graphic function of the PANATERM® You can display the command to the motor. PANATERM®. Set up the types of the signals or the output voltage level with Pr07 (Selection of speed monitor) and Pr08 (Selection of torque monitor). 1kΩ 42 1kΩ SP IM 43 17 CN X5 2. you can adjust more securely by using wave graphic function of the setup support software. 1. Before Making a Manual Adjustment You can adjust with the sound or motor (machine) movement by using the front panel or the console. commanded speed. there might be some cases where this automatic gain tuning cannot be adjusted properly depending on the limitation on load conditions. Or you might need to readjust the tuning to obtain the optimum response or stability corresponding to each load. torque command and deviation pulses) as a waveform graphic on PC display. RS232 connection cable * Caution Connect to CN X4 (Do not connect to CN X3) 240 . or by measuring the analog voltage waveform using a monitoring function. "Outline of the Setup Support Software. For details.Manual Gain Tuning (Basic) As explained previously. "Wiring to the Connector. CN X5" of Preparation.

(1) Set up the following parameters to the values of the table below. Make adjustment in position control per the following procedures. 2 Pr14 1st time constant of torque filter Setup so as to make Pr11 x Pr14 becomes smaller than 10000. Parameter No. Title of parameter value (Pr ) Pr11 1st gain of velocity loop 30 How to adjust Increase the value within the range where no abnormal noise and no vibration occur. but too small value may cause oscillation. If the command pulse is not even. Increase the value within the range where no abnormal noise occurs. hence does not shorten the settling time. Measure the ratio or setup the calculated value. If you want to 50 suppress vibration at stopping.[Adjustment] Adjustment in Position Control Mode Position control of MINAS-A4 series is described in Block diagram of P. (3) Make adjustment using the standard values below. If you experience too large vibration right before stopping. change this value. Title of parameter (Pr ) Inertia ratio 20 21 23 2B 2C 2D 2E 30 31 32 33 34 35 4C 4D 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 Setup of smoothing filter Setup of FIR filter Standard value 100 0 0 0 0 0 0 0 0 0 0 0 0 1 0 (2) Enter the inertia ratio of Pr20. but too large setup may cause oscillation. deviation pulses do not converge and will be remained. you can obtain a shorter positioning time. Order 1 Parameter Standard No. 3 Pr10 1st gain of position loop 1st time constant of 4 Pr12 velocity loop integration 25 50 Adjust this observing the positioning time. lower than value of Pr14. Setup this value within the range where no problem occurs. faster the Adjustment positioning time you can obtain.you can improve by setting up Pr16 (Feed forward filter) to larger value. 241 . If you setup smaller value. When vibration occurs by changing Pr11. If they occur. and make adjustments of parameters per the procedures except the gain setup of position loop and the setup of velocity feed forward.126 of Velocity Control Mode. Too large setup may result in overshoot or chattering of position complete signal.82. Larger the setup. lower the value. If you setup too large value. 5 Pr15 Velocity feed forward 300 Adjustment in Velocity Control Mode Velocity control of MINAS-A4 series is described in Block Diagram of P. setup larger value to Pr14 and smaller value to Pr11. Adjustment in velocity control is almost same as that in position control described in "Adjustment in Position Control Mode". Title of parameter (Pr ) 1st gain of position loop 10 11 12 13 14 15 16 18 19 1A 1B 1C 1D 1E 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 Selection of 1st notch frequency Selection of 1st notch width Standard value 27 15 37 0 152 0 0 27 15 37 0 152 1500 2 Parameter No.

Here we explain the setup of speed limiting value. • Setup of speed limiting value Setup the speed limiting value to the 4th speed of speed setup (Pr56) (when torque command selection (Pr5B) is 0. necessity of position loop unit conversion and difference of electronic gear).25) may be generated under other conditions than the above 1). torque control following the analog torque command shifts to velocity control based on the speed limiting value which will be determined by the 4th speed of speed setup (Pr56) or the analog speed command input (SPR/TRQR/SPL). Adjustment in Full-Closed Control Mode Full-closed control of MINAS-A4 series is described in Block diagram of P. hybrid deviation excess and hybrid control at initial setup of full-closed control. • In order to stabilize the movement under the speed limiting. 2) Setup of hybrid deviation excess Set up the minimum value of hybrid deviation excess (Pt78) within the range where the gap between the motor (encoder) position and the load (external scale) position will be considered to be an excess.Manual Gain Tuning (Basic) Adjustment in Torque Control Mode Torque control of MINAS-A4 series is described in P. • Check the encoder pulse counts per one motor revolution and the external scale pulse counts per one motor revolution.190. the multiplier for numerator of external scale division (Pr79) and denominator of external scale division (Pr7A). becomes small and the output torque may not be generated as the analog torque command. • When the speed limiting value = 4th speed of speed setup (Pr56) . • Note that the hybrid deviation excess (Error code No. “Outline of Full-Closed Control” (difference of command unit. • When the motor speed approaches to the speed limiting value.25) will be triggered when the work or load travels a long distance. such as reversed connection of the external scale or loose connection of the motor and the load.) or to the analog speed command input (SPR/TRQR/SPL ) (when torque command selection (Pr5B) is 1). "Block Diagram" of Torque Control Mode. or when the time constant of the velocity loop integration is 1000 (invalid).160. Adjustment in full-closed control is almost same as that in position control described in P. • When you set up Pr78 to 0. the multiplier for numerator of external scale division (Pr79) and denominator of external scale division so that the following formula can be established. Here we explain the setup of external scale ratio. This torque control is based on velocity control while making the 4th speed of speed setup of Pr56 or SPR/ SPL input as a speed limit. the analog speed command input is too low or the velocity loop gain is too low. the encoder pulse counts will be automatically set up. Pr78 1 x 2 Pr7A 5000 Pr79 17 = Number of encoder pulses per motor rotation Number of external scale pulses per motor rotation • If this ratio is incorrect. 242 . a gap between the position calculated from the encoder pulse counts and that of calculated from the external scale pulse counts will be enlarged and hybrid deviation excess (Err. then set up the numerator of external scale division (Pr78).191 of Full-Closed Control. and make adjustments of parameters per the procedures except cautions of P. you are required to set up the parameters according to the above-mentioned "Adjustment in Velocity Control Mode". 1) Setup of external scale ratio Setup the external scale ratio using the numerator of external scale division (Pr78). the input to the torque limiting portion of the above fig.241 “Adjustment in Position Control Mode”.

= = If you setup the external scale ratio to smaller value than 50/position loop gain (Pr10 and 18). • Make adjustment referring to the auto-gain tuning table (P. speed 2[m/s]) • ST771 by Mitutoyo (Resolution 0. If you set up too large external scale ratio. you can set 2nd gain manually in addition to 1st gain and you can switch the Action gain depending on the various requirements of the Status action such cases as. in the unit of external scale resolution. you may expect larger noise in movement. Command speed Stop (Servo-Lock) Low gain (1st gain) Run High gain (2nd gain) Stop (Servo-Lock) Low gain (1st gain) Time 1ms 2ms Suppress the vibration by lowering the gain. speed 2[m/s]) (3) To prevent the runaway and damage of the machine due to the setup of the external scale. • AT500 series by Mitutoyo (Resolution 0. (2) The external scales to used for full-closed control are as follows. you may not be able to control by one pulse unit.5[ µm]. Parameter No. Gain Switching Function At manual gain tuning. (4) We recommend the external scale as 1/20 < external scale ratio < 20.237) as well. max.05[ µm]. • you want to increase the response by increasing Gain the gain in motion • you want to increase the servo-lock stiffness by increasing the gain at stopping • switch to the optimum gain according to the action mode • lower the gain to suppress the vibration at stopping. <Example> Following is the example when you want to reduce the noise at motor in stall (Servo-Lock). setup the hybrid deviation excess (Pr7B) to the appropriate value. (Pr ) 10 11 12 13 14 15 16 18 19 1A 1B 1C 30 31 32 33 34 35 Execute manual gain-tuning without gain switching 63 35 16 0 65 300 50 63 35 16 0 65 0 1 7 30 0 0 0 Set up the same value as Pr10-14 (1st gain) to Pr18-1C (2nd gain) Set up Pr30-35 (Gain switching condition) Adjust P411 and 14 at stopping (1st gain) Title of parameter 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 27 Adjustment 84 20 Inertia ration • Enter the known value from load calculation • Measure the inertia ratio by executing nor mal auto-gain tuning • Default is 250 243 . by setting up to lower gain after the motor stops. max.[Adjustment] Caution (1) Enter the command pulses based on the external scale reference.

38) 0 244 H L . Fig.05%/166 µs] *3[0.05%/166 µs] [0. 10%/166µs = Setup value 200 x [0. 38 Pr34.05%/166 µs] *5 *5 [10(r/min)/s] [10(r/min)/s] [r/min] [r/min] A B C • Torque control mode Setup of gain switching condition Pr31. set up the value to 200. 39) Level (Pr33. *5 When you make it a condition that there is speed variation of 10r/min in 1s. 38 Pr32. *2 Hysteresis is defined as the fig. the meanings of delay time. set up the value to 1.Manual Gain Tuning (Basic) Setup of Gain Switching Condition • Positing control mode. GAIN ON Variation of torque command is large. – : invalid) A C D E F C G Setup parameters at position control. Fixed to 1st gain Speed command is large. 0 1 2 3 Fixed to 1st gain Fixed to 2nd gain Gain switching input. full-closed control Hysteresis *2 Level Delay time *1 Pr34 Pr33 Pr32 *3[0. GAIN ON Variation of torque command is large. *3 When you make it a condition that there is 10% torque variation during 166µs. 39 *3 *3 [0.05%/166 µs] A *1 Delay time (Pr32 and 37) will be valid only when returning from 2nd to 1st gain. 37 Pr34. Speed command is large. below shows. (refer to Fig. G) Hysteresis (Pr34. Setup parameters at velocity control mode Level Delay time *1 Hysteresis *2 Pr33. level and hysteresis are different from the normal. Full-closed control mode ( Setup of gain switching condition Pr31 0 1 2 3 4 5 6 7 8 9 10 Switching condition to 2nd gain Fixed to 1st gain Fixed to 2nd gain Gain switching input.36 Switching condition to 2nd gain 0 1 2 3 4 5 Fixed to 1st gain Fixed to 2nd gain Gain switching input. Position deviation/Full-closed position deviation is large Position command exists. : Corresponding parameter is valid. 39 *3 *3 [0. 37 Pr33.05%/166 µs] [r/min] [r/min] *4[pulse] [r/min] [r/min] *6 *4[pulse] [r/min] [r/min]*6 • Velocity control mode Setup of gain switching condition Pr31. Not in positioning complete nor in full-closed positioning complete Speed Command exists + velocity Fig.36 Setup of gain switching condition Fig. GAIN ON Variation of torque command is large. Setup parameters at torque control mode Delay time *1 Level Hysteresis *2 Pr32. Variation of speed command is large.05%/166 µs] [0.05%/166s] µ *4 Designate with either the encoder resolution or the external scale resolution depending on the control mode. *6 When Pr31=10.

F delay 1 2 1 2 deviation pulse 1st gain 2 1 2 1 level delay COIN delay 1st 1st 2nd gain 1st Fig. E torque T 1st 2nd gain 1st 1st 2nd gain 1st ∆T level speed N Fig.A motor speed or commanded speed level delay Fig. at stall 1st gain no command pulse x Pr32.[Adjustment] speed N Fig. Adjustment 245 .Pr34 hysteresis) <Caution> Above Fig. C command speed S delay Fig.Pr34 hysteresis) 2nd 1st 1st gain |actual speed |< (Pr33 level . D speed N Fig. does not reflect a timing lag of gain switching due to hysteresis (Pr34 and 39). B command speed S 1st 2nd gain command pulse exists.delay time |actual speed |< Pr33 level Fig. G ∆S level in action 2nd gain at settling 2nd gain proximity of stall 2nd gain for velocity integrating only and 1st gain for others delay 1st 2nd |actual speed |< (Pr33 level .

Displays the table No. 1. width and depth with the 2nd filter. You can suppress the resonance using two types of filter in these cases. ) ( Gain Copying of the setup from the adaptive filter to 1st notch filter is enabled. Pr2F) MINASA-4 series feature the adaptive filter. ) Example of application machine frequency frequency velocity response Machine which resonance point varies by each machine or by aging 246 frequency Machine which has multiple resonance points Machine which has small peak nearby velocity response .253) ) ( Gain Adjustment of frequency. Notch filter • Adaptive filter (Pr23. 28. Machine characteristics at resonance Resonance gain Anti-resonance Pr1E 1st notch width selection Set up according to the resonance characteristics.Manual Gain Tuning (Basic) Suppression of Machine Resonance In case of a low machine stiffness. Torque command filter (Pr14 and Pr1C) Sets up the filter time constant so as to damp the frequency at vicinity of resonance frequency You can obtain the cut off frequency of the torque command filter in the following formula. 29 and 2A) MINASA-4 series feature 2 normal notch filters. corresponding to adaptive filter frequency (not changeable) • 1st and 2nd notch filter (Pr1D. 2E. you cannot set up a higher gain because vibration and noise occur due to oscillation caused by axis distortion or other causes. Cut off frequency (Hz) fc = 1 / (2π x parameter setup value x 0. Pr23 Setup of adaptive filter mode Pr2F Adaptive filter frequency 1 : Adaptive filter is valid. Set up lower a frequency by 10% from the Pr28 2nd notch frequency measured one through frequency characteristics analysis of the PANATERM®. You can adjust frequency and width with the 1st filter.00001) 2. Pr1D 1st notch frequency Set up lower a frequency by 10% from the measured one through frequency characteristics analysis of the PANATERM®. (refer to P. The adaptive filter is validated by setting up Pr23 (Adaptive filter mode setup) to 1. width and depth is enabled. Notch filter characteristics gain Notch frequency frequency width torque command Depth width torque command after filtering frequency automatic following frequency frequency Adaptive filter 1st notch filter 2nd notch filter ( Gain Suppress resonance point instantaneously. and frequency. Pr29 Selection of 2nd notch width Pr2A Selection of 2nd notch depth Set up according to the resonance characteristics. With this filter you can control vibration of the load which resonance points vary by machine by machine and normal notch filter or torque filter cannot respond.

Standard revolutions are. • Set up Pr23 (Setup of adaptive filter mode) to 0 while you make measurement. • When you set a larger amplitude. Adjustment 247 . you can obtain a better measurement result. you can obtain a better measurement result. You cannot setup a higher response of the servo system to the machine with a low resonance frequency (machine stiffness is low). but noise will be larger. • Setup the sampling rate to 0. (4) Use a gear reducer with small backlash. and a larger sampling rate when you measure a low frequency band in order to obtain a better measurement result. <Remarks> • Make sure that the revolution does not exceed the travel limit before the measurement. and assemble them without looseness. (2) Set up the parameters and measurement conditions. Relation of Gain Adjustment and Machine Stiffness In order to enhance the machine stiffness.017 x (sampling rate +1) Larger the offset. (1) Install the base of the machine firmly. (3) Use a wider timing belt.) • Set up Pr11 (1st gain of velocity loop) to 25 or so. (Following values are standard. Start a measurement from 50 [r/min] and gradually increase it. revolutions may be increased. however.) (3) Execute the frequency characteristic analysis. (not to saturate the torque) • Make the offset to 100 (r/min) or so. • Inherent vibration (resonance frequency) of the machine system has a large effect to the gain adjustment of the servo. <Notes> • When you set a larger value of offset than the amplitude setup and make the motor run to the one direction at all time.[Adjustment] How to Check the Resonance Frequency of the Machine (1) Start up the Setup Support Software. (2) Use a coupling designed exclusively for servo application with high stiffness. Belt tension to be within the permissible load to the motor shaft. (setup range to be 0-7. (to increase the speed detecting data and to avoid the measurement error in the vicinity of speed-zero) • Polarity is made CCW with "+" and CW with "-". Offset (r/min) x 0. (to lower the gain and make it easy to identify the resonance frequency) • Set up the amplitude to 50 (r/min) or so. "PANATERM® " and bring the frequency characteristics measurement screen. better measurement result you can obtain. • Set up a smaller sampling rate when you measure a high frequency band.

before executing a manual tuning. (2) Start up the automatic gain setup function from the fit-gain screen of the front panel. (1) Stop the action first.72. (This display can be cleared by pressing any key.Manual Gain Tuning (Basic) Automatic Gain Setup Function Outline This function initializes control parameters and gain switching parameters to the gain setups corresponding to the stiffness during auto-gain tuning. this becomes 10. 15 16 27 30 31 32 33 34 35 36 Title of parameter Velocity feed forward Time constant of feed forward filter Instantaneous speed observer 2nd gain setup 1st control switching mode 1st delay time of control switching 1st level of control switching 1st Hysteresis of control switching Switching time of position gain 2nd mode of control switching Setup value 300 50 0 1 10*1 30 50 33 20 0 *1 In case of position and full-closed control. stop the action first then make a change. How to Use Refer to P. 248 . Caution When you execute the automatic gain setup function. "Fit-Gain Screen" of Preparation. and (3) will be displayed when it completes with error.) (4) If you want to store the measurement. 10 11 12 13 14 18 19 1A 1B 1C Title of parameter 1st gain of position loop 1st gain of velocity loop 1st time constant of velocity loop integration 1st filter of speed detection 1st time constant of torque filter time 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 Parameters Which Setup Values Are Automatically Fixed Parameter No. and 0 in case of velocity and torque control. Parameters Which Are Automatically Set Parameters Which Are Automatically Set Parameter No. write it to EEPROM. will be displayed when the automatic gain setup completes normally.

by estimating the motor speed using a load model.241. enter this calculated value. execute the normal mode auto-gain tuning and measure the inertia ratio. hence improving the accuracy of the speed detection. Conditions which obstruct the instantaneous speed observer effect • Gap between the estimated total load inertia (motor + load) and actual machine is large. "Adjustment at Position Control Mode". • When the inertia ration is not known. How to Use (1) Setup of inertia ratio (Pr20) Set up as exact inertia ratio as possible. Pr02 = 0 : Position control Control mode Pr02 = 1 : Velocity control Pr02 = 3 : Position and Velocity control Pr02 = 4 : Position control only Pr02 = 5 : Position control only Encoder • 7-wire absolute encoder Caution This function does not work properly or no effect is obtained under the following conditions. Others • Settling range is very small. (3) Setup of instantaneous velocity observer (Pr27) • You can switch the velocity detecting method to instantaneous velocity observer by setting up Pr27 (Setup of instantaneous speed observer) to 1. Load Non-linear factor such as large backlash exists.g. • When the inertia ratio (Pr20) is already obtained through real-time auto-gain tuning and is applicable at normal position control. use this value as Pr20 setup value. the optimum value of the inertia ratio (Pr20) might have been changed. search an optimum setup by making a fine adjustment of Pr20 (Inertia ratio) while observing the position deviation waveform and actual speed waveform to obtained the least variation. • When you obtain the effect such as a reduction of the variation of the torque waveform and noise. (2) Adjustment at normal position control Refer to P.Manual Gain Tuning (Application) Instantaneous Speed Observer Outline This function enables both realization of high response and reduction of vibration at stopping. and reconfirm the above cautions and (1). • When the inertia ratio is already known through calculation. return this to 0. • Load inertia varies. If you change the position loop gain and velocity loop gain.) Large resonance point exists in frequency band of 300[Hz] or below. and you need to make a fine adjustment again. Conditions under which the instantaneous speed observer is activated • Control mode to be either or both position control or/and velocity control. 249 Adjustment . e. • Disturbance torque with harmonic component is applied. • When you experience a large variation of the torque waveform or noise. Velocity command Velocity control Estimated velocity Instantaneous value speed observer Load model [Adjustment] Torque command Motor Current current control Motor Load Position control (Total inertia) Motor position Encoder Applicable Range Servo driver This function can be applicable only when the following conditions are satisfied.

2nd : Pr2D)) Measure the vibration frequency of the front edge of the machine. Damping filter setup is too large. however. set up 0. CCW : 1st damping filter CW : 2nd damping filter 2 . When you use such instrument as laser displacement meter. • Vibration frequency is out of the range of 10. (2) Setup of damping filter (1st : Pr2C. stop the action first then execute. This function does not work properly or no effect is obtained under the following conditions.) Switch with VS-SEL input. the torque ripple increases at the command changing point as the right fig. <Remark> Limit the damping filter setup with the following formula.Manual Gain Tuning (Application) Damping Control Outline This function reduces the vibration by removing the vibration frequency component from the command when the load end of the machine vibrates. 2nd : Pr2E)) First.0 [Hz]. Driver Motor Vibration measurement with displacement sensor travel Position command Damping filter Torque command Position/Velocity Current control control Coupling Work Ball screw Machine PLC Motor current base Motor Load Motor position Applicable Range Servo driver Encoder This function can only be applicable when the following conditions are satisfied. and can directly measure the load end vibration. You can reduce the settling time by setting up larger value.0-200. How to Use (1) Setup of damping frequency (1st : Pr2B. Setup of front edge vibration frequency Front edge vibrates. Setup within the range where no torque saturation occurs under the actual condition. If torque saturation occurs. Conditions under which the damping control is activated • Control mode to be either or both position control or/and full-closed control. < 10. shows. Open : 1st damping filter Close : 2nd damping filter Switch with command direction. read out the vibration frequency from the measured waveform and enter it to Pr2B or Pr2D (Damping frequency).0 [Hz] – Damping frequency Damping filter setup = < Damping frequency = (3) Setup of damping filter switching selection (Pr24) You can switch the 1st or the 2nd damping filter depending on the vibration condition of the machine. 250 Command speed Position deviation Calculation of vibration frequency Damping filter setup is appropriate. Torque saturation Torque command Pr24 0 1 Switching mode No switching ( Both of 2 are valid. damping control effect will be lost. Conditions which obstruct the damping control effect • Vibration is triggered by other factors than command (such as disturbance). Pr02 = 0 : Position control Control mode Pr02 = 3 : 1st control mode of position and velocity control Pr02 = 4 : 1st control mode of position control and torque control Pr02 = 6 : Full-closed control Caution When you change the parameter setup or switch with VS-SEL. Load • Ratio of resonance frequency and anti-resonance frequency is large.

................. 260 261 262 263 263 264 264 264 264 251 ................... .................. 260 Motor Does Not Run .................. 252 Protective Function (What is Error Code ?) ........................[When in Trouble] page When in Trouble ..................................................................................... Motor Speed Does Not Reach to the Setup/Motor Revolution (Travel) Is Too Large or Small ... Display of "Communication port or driver cannot be detected" Appears on the Screen While using the PANATERM® ......................... Abnormal Noise or Vibration ............. 252 Protective Function (Details of Error Code) ...................... Origin Point Slips .................................... Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with Speed Zero at Velocity Control Mode .................................................... Overheating of the Motor (Motor Burn-Out) .......................... Positioning Accuracy Is Poor .............................................. Parameter Returns to Previous Setup ..................................................................................... 253 Troubleshooting ................................................................................................................ Overshoot/Undershoot................................................. 252 What to Check ? ...........................................

(Refer to P. When these are triggered. 37) Over-travel prohibition input protection (Error code No. shut off the power to remove the cause of the error and re-enter the power. “Display of Factor of No Motor Running” of Preparation. • Error status ands their measures • During the error status. and you cannot turn Servo-ON. according to P. For resumption. <Remarks> • When the protective function with a prefix of "*" in the protective function table is triggered.73. you cannot clear with alarm clear input (A-CLR). "Alarm Clear Mode" of Preparation. 38) Motor self-recognition error protection (Error code No. • Following errors will not be stored in the error history. and the driver will turn the Servo-Alarm output (ALM) to off (open). 36) EEPROM check code error protection (Error code No. • When overload protection is triggered. Host controller Is the wiring to CN X5 correct ? Or aren't any wires pulled off ? Is the wiring to CN X6 correct ? Or aren't any wires pulled off ? Machine Motor Ground Is the wiring to CN X7 in case of full-closed control correct ? Or aren't any wires pulled off ? Isn't the connection loose ? External scale Protective Function (What is Error Code ?) • Various protective functions are equipped in the driver. 11) Main power supply under-voltage protection (Error code No. "Timing Chart (When error occurs)"of Preparation.When in Trouble What to Check ? Isn't error code No. the motor will stall due to error. Check the cause by referring to P.) • You can also clear the above error by operating the "PANATERM®". is displayed ? Doesn't the power voltage vary ? Is the power turned on ? Any loose connection ? Is the connecting portion disconnected ? (Broke wire.68. the error code No. Control power supply under-voltage protection (Error code No. you can clear it by turning on the alarm clear signal (A-CLR) 10 sec or longer after the error occurs. contact) Is the wiring correct ? Isn't the connector pulled off ? Isn't the short wire pulled off ? Is abnormal noise generated from the motor ? Isn't the electromagnetic brake engaged ? Aren't the parameter setups wrong ? Motor does not run. will be displayed on the front panel LED. 95) 252 . • You can clear the error status by turning on the alarm clear input (A-CLR) for 120ms or longer. • You can clear the above error by operating the front panel keys. and then take necessary measure. 13) EEPROM parameter error protection (Error code No.43. You can clear the time characteristics by turning off the connection between L1C and L2C or r and t of the control power supply of the driver.

Allow approx. Instantaneous power 1)Increase the power capacity.. 2)Increase the power capacity. 3)Replace the driver with a new one. Replace the external resistor if the value is ∞. refer to P. 3 minutes pause when the dynamic only) brake is activated during high-speed running. replace the motor. 4)Phase lack. 7)Check the name plate and capacity of the motor and driver. U.32. 3)Earth fault of the motor wire 3)Measure the insulation resistance between motor wires. V and W) 2)Check that the motor wire (U. Instantaneous power failure has occurred 2)Lack of power capacity. L2 and L3).. then re-enter the power. "Driver and List of Applicable Peripheral fallen down due to inrush current at the main powerEquipments" of Preparation. L3 for longer period than the preset time with Pr6D (Main L2 and L3). 2)Set up the longer time to Pr6D (Main power off detecting 2)Instantaneous power failure has occurred. V and W) is not shorted.3)Change to the one with specified resistance and priate and could not absorb the regeneration energy. fix them securely. 5)Poor contact of the motor wire. 4)Failure of servo driver (failure of the circuit) 4)Replace the driver with a new one. V and W and earth wire. replace with a new driver. Control 11 power supply undervoltage protection Overvoltage protection 12 Causes Voltage between P and N of the converter portion of the control power supply has fallen below the specified value. If they are. 6)Melting of the relays for dynamic brake due to 6)Replace the driver. 5)Check the loose connectors. power off detecting time) while Pr65 (LV trip selection at the main power-off) is set to 1. 2)Measure the resistance of the external resistor connected between terminal P and B of the driver. Change the power supply. or pulled out. For single phase. Measure the voltage between lines of connector (L1. while disconnecting the motor. Servo-ON. 3)Lack of power capacity. Temperature of the heat sink or power device has been risen over the specified temperature.[When in Trouble] Protective Function (Detail of Error Code) Protective Error function code No. For the capacity. 1)Power supply voltage is low. 7)The motor is not applicable to the driver.. replace the motor. 3)Failure of servo driver (failure of the circuit) Voltage between P and N of the converter portion of the control power supply has exceeded the specified value 1)Power supply voltage has exceeded the permissible input voltage. 3)External regeneration discharge resistor is not appro. 1)Failure of servo driver (failure of the circuit. 8)Timing of pulse input is same as or earlier than 8)Enter the pulses 100ms or longer after Servo-ON. In case of poor insulation. driver. 5)Replace the driver with a new one. and if unbalance is found. If other components) error occurs immediately. use L1 and L3. *Overcurrent protection 14 When in Trouble *Over-heat protection 15 253 . and check the branched out wire out of the connector. Make a correct wiring connection. and replace with motor applicable to the driver. 100V and 200V with single phase input. 1)Enter correct voltage... Change the power supply. Prohibit the run/stop operation frequent Servo-ON/OFF operation with Servo-ON/OFF. Main power supply undervoltage protection 13 Instantaneous power failure has occurred between L1 and Measure the voltage between lines of connector (L1. Lower the load. 2)Over-load 2)Increase the capacity of the driver and motor. time). IGBT or 1)Turn to Servo-ON. 5)Failure of servo driver (failure of the circuit) Current through the converter portion has exceeded the specified value. wattage. failure has occurred Remove the causes of the shutdown of the magnetic contactor or the main power supply. Set up each phase of the power correctly. 2)Short of the motor wire (U. Voltage surge due to the phaseadvancing capacitor or UPS (Uninterruptible Power Supply) have occurred. Set up longer acceleration/deceleration time. 4)Burnout of the motor 4)Check the balance of resister between each motor line.. Remove a phase-advancing capacitor. 1)Increase the power capacity. on. Or the voltage between P and N of the converter portion of the main power supply has fallen below the specified value during Servo-ON.3-phase input driver has been operated 4)Connect each phase of the power supply (L1. condition. 2)Disconnection of the regeneration discharge resistor Measures Measure the voltage between lines of connector (L1C and L2C) and terminal block (r and t). L2 and L3) correctly. 1)Power supply voltage is low. 1)Ambient temperature has risen over the specified 1)Improve the ambient temperature and cooling temperature.Power supply voltage has 3)Increase the power capacity.Power supply voltage has fallen down due to inrush current at the main power-on. 9)Overheating of the dynamic brake circuit (F-frame 9)Discontinue the run/stop operation with Servo ON-OFF.

CN X6" of Preparation. 1)Increase the capacity of the driver and motor. Note that the encoder cable to be connected to CN X6. 5)Measure the voltage between brake terminals. Correct the miswiring of the disconnection detecting function has been triggered. Connect the black (W phase). regenerative resistor loses the protection and it may be heated up extremely and may burn out. Mainly data error due to noise. Check that the output toque has not saturated in torque monitor. 2)Setup value of Pr70 (Setup of position deviation 2)Set up a larger value to Pr70. Increase specified time due to a high motor rotational speed.. *Encoder communication error protection *Encoder communication data error protection Position deviation excess protection 21 23 Communication between the encoder and the driver • Make a wiring connection of the encoder as per the has been interrupted in certain times. 2)Oscillation and hunching action due to poor adjustment. the monitor screen of the PANATERM®. • Secure the power supply for the encoder of Communication error has occurred in data from the DC5V±5% (4. Torque command value has exceeded the over-load Check that the torque (current) does not oscillates nor Over-load 16 level set with Pr72 (Setup of over-load level) and fluctuate up an down very much on the graphic screen protection 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. but communication data has • Separate the encoder cable and the motor cable if they are bound together. 2)Regenerative energy has not been absorbed in the 2)Check the running pattern (speed monitor). Lower the load. the driver) *Overregeneration load protection 18 Regenerative energy has exceeded the capacity of Check the load factor of the regenerative resistor on regenerative resistor. Check the load factor of the regenerative resistor. Set up longer acceleration/deceleration time. Release the brake 6)While wiring multiple axes. Encoder when the encoder cables are long. 5)Electromagnetic brake has been kept engaged. 3)Active limit of the external regenerative resistor has 3)Set up Pr6C to 2. value of 115% of 7)Pr72 setup has been low. and loosen the deceleration time. Otherwise. excess) is small. 1)Due to the regenerative energy during deceleration 1)Check the running pattern (velocity monitor).Refer to P. Lower the load and speed. resistor. 2)Make a re-adjustment. 1)Check that the motor follows to the position command pulses. Increase the capacity risen.. or set up 0 (invalid). (Set up to max. cables are connected. 3)Make a wiring as per the wiring diagram. been limited to 10% duty. some errors. and wiring diagram. Motor vibration. Check the over-load alarm display and load factor with the PANATERM®. "Wiring to the Connector. <Remarks> Install an external protection such as thermal fuse without fail when you set up Pr6C to 2.25V). abnormal noise. Set up the longer acceleration/deceleration time. disconnection of the motor.When in Trouble Protective Error Causes Measures function code No. Lower the motor rotational speed. Replace the cables. 3)Miswiring. Machine has been distorted. Use an external regenerative resistor. Make a encoder wiring as per the wiring diagram. Inertia ratio (Pr20) setup error. Lower the load. • Connect the shield to FG. and the voltage is risen further due to the lack of the driver and the motor. Check the load factor of the regenerative resistor and overcaused by a large load inertia. Make a gain adjustment.. converter voltage has regeneration warning display. 1)The motor movement has not followed the command.75-5. Use the external regenerative regeneration discharge resistor. 4)Remove the cause of distortion. and loosen the of capacity of absorbing this energy of the deceleration time.38. 7)Set up Pr72 to 0. 4)Machine has collided or the load has gotten heavy. Set up maximum value to Pr5E (Setup of 1st torque limit) and Pr5F (2nd torque limit setup).pay an attention especially encoder. 24 254 . connecting the motor cable to other axis. the capacity of the driver and the motor. white (V phase) and red (U phase) cables in sequence from the bottom at the CN X2 connector. Do not use in the continuous regenerative brake application.. Deviation pulses have exceeded the setup of Pr70 (Setup of position deviation excess). connector pins. miswiring has occurred by 6)Make a correct wiring by matching the correct motor and encoder wires. of the PANATERM®.

Deviation counter value has exceeded 227 (134217728). when reading the data from EEPROM at power-on. *Hybrid 25 deviation excess error protection Causes Measures Position of load by the external scale and position of • Check the connection between the motor and the load. • Make a gain adjustment. disconnection detecting function has been triggered.. • Correct the miswiring of the connector pins.75-5. • Check that the output toque has not saturated in torque monitor.the control power supply (DC12-24V) is not slow. power-on. *External scale communication error protection *EEPROM parameter error protection *EEPROM check code error protection Over-travel inhibit input protection 35 36 Data in parameter storage area has been damaged • Set up all parameters again. while Pr04 is set to 2. Mainly data error due to noise. value of Pr73 (Over-speed level setup) • Check the command pulse input frequency and division/multiplication ratio.[When in Trouble] Protective Error function code No. Return the damaged when reading the data from EEPROM at product to a dealer or manufacturer. 2)Setup a larger value to Pr26. • Make a wiring connection of the encoder as per the wiring diagram."Software Limit Function" before using software limit. the 1st and the 2nd numerator/denominator of the • Set up the division/multiplication ratio so that the electronic gear (Pr48 to 4B) are not appropriate.refer to wiring diagram. Communication error has occurred in data from the • Secure the power supply for the encoder of DC5±5% encoder. Pin-8/CCW. (encoder feedback value) and the load position (external scale feedback value) is the same sign when you move the load. • Set up maximum value to Pr5E (1st torque limit setup) and Pr5F (2nd torque limit setup). • Connect the shield to FG. 2)Setup value of Pr26 (Software limit setup) is small. 255 . and 3Mpps at command input portion. • Make a gain adjustment when an overshoot has occurred due to a poor gain adjustment.has been opened. • Separate the encoder cable and the motor cable if they are bound together. but communication date has encoder cables are long. The motor rotational speed has exceeded the setup • Do not give an excessive speed command. • Check that the variation of the motor position full-closed control. travel inhibit input to COM.. command pulse frequency after division. When in Trouble 37 38 Connection of both CW and CCW over-travel inhibit • Check that there are not any errors in switches. 1)Check the gain (balance of position loop gain and velocity loop gain) and the inertia ratio. Pin-9) to COM. Communication between the external scale and the • Make a wiring connection of the external scale as per driver has been interrupted in certain times. Check that the rising time of Or either one of the connection of CW or CCW over.) Return the product to the dealer or manufacturer. wires input (CWL.2.) Division and multiplication ratio which are set up with • Check the setup values of Pr48 to 4B.25V). the motor by the encoder slips larger than the setup • Check the connection between the external scale and pulses with Pr7B (Setup of hybrid deviation excess) at the driver. (it may be a failure). Check that the numerator and denominator of the external scale division (Pr78.. Data for writing confirmation to EEPROM has been Replace the driver.. while Pr04 (Over-travel inhibit input setup) is 0. replace the driver (it may be a failure. 1)Gain has not matched up. • Set up Pr73 to 0 (Set up to motor max. speed x 1. multiplication may become less than 80Mpps at deviation counter input portion. some error. Encoder (4. and the wiring diagram. Over-speed protection 26 Electronic gear error protection 27 *External scale communication data error protection Deviation counter overflow protection 28 29 Software limit protection 34 The motor position has exceeded the range set with Refer to P.pay attention especially when the cables are connected. • If the error persists. over-travel inhibit input.258. 79 and 7A) and reversal of external scale direction (Pr7C) are correctly set. this. • Make a wiring connection of the encoder as per the wiring diagram.have been or power supply which are connected to CW/CCW opened. • Check that the motor runs as per the position command pulses.

and when analog velocity command is selected and speed zero clamp is invalidated. has been detected 256 . (velocity command is not zero). Replace the motor. • You cannot clear the alarm unless you clear the absolute encoder. (Initialization) of Absolute Encoder" of Supplement. 3 or 5 and function. 5-wire serial encoder has been detected. encoder setup) . Multi turn counter error of 2500[P/r]. encoder has been detected 49 CS signal logic error of 2500[P/r]. Analog 39 input excess protection Causes Measures Higher voltage has been applied to the analog • Set up Pr71 (Setup of analog input excess) correctly.271. Pr05 (Velocity setup internal/external switching) is set to 0 or 2. 3)Torque control when Pr02 (Control mode setup) is set to 2. Replace the motor. 2)Torque control when Pr02 (Control mode setup) is set to 2 or 4 and Pr5B (Torque command selection) is set to 0. 5-wire serial The encoder might be a failure. and speed zero clamp is invalidated (Velocity command is not zero. Pin-14) than the value Check the connecting condition of the connector. The motor speed has exceeded the specified value • Check the supply voltage at the encoder side when only the supply from the battery has been (5V±5%) supplied to 17-bit encoder during the power failure. 48 Missing pulse of Z-phase of 2500[P/r]. command input (SPR : CN X5. (Refer to P. that has been set by Pr71 (Analog input excess setup) This protective function is validated when SPR/TRQR/ • Set up a larger value to Pr57 (Filter setup of Velocity command). Single turn counter error of 2500[P/r].) You cannot clear the alarm unless you clear the absolute encoder. • Check the connecting condition of the connector. 4 or 5 and Pr5B (Torque command selection) is set to 1. "Setup for the 17-bit absolute encoder has been down.) Voltage of the built-in capacitor has fallen below the After connecting the power supply for the battery. CN X5. • Set up Pr71 to 0 and invalidate the protective 1)Velocity control when Pr02 (Control mode setup) is set to 1. 47 17-bit absolute encoder has been running at faster Arrange so as the motor does not run at power-on. has been detected. 5-wire serial encoder has been detected.When in Trouble Protective Error function code No. Single turn counter error of 17-bit absolute encoder Replace the motor. Absolute system down error protection *Absolute counter over error protection Absolute over-speed error protection 40 41 42 *Absolute single turn counter error protection *Absolute multi-turn counter error protection Absolute status error protection *Encoder Z-phase error protection *Encoder CS signal error protection 44 45 Multi turn counter error of 17-bit absolute encoder has Replace the motor. • Limit the travel from the machine origin within 32767 revolutions. clear specified value because the power supply or battery the absolute encoder. Multi-turn counter of the 17-bit absolute encoder has • Set up an appropriate value to Pr0B (Absolute exceeded the specified value. speed than the specified value at power-on. been detected. CN X6. 5-wire serial encoder The encoder might be a failure. SPL is valid such cases as.

or Pr02 is2 or 4 and when Pr5B (Torque command selection) is 1. Higher voltage than ±10V has been applied to the • Check the connecting condition of connector. And then. CN X5. 1) Position control. scale error from the front panel. Check the specifications of the external scale. or other causes. 53 Bit 3 of the external scale error code (ALMC) has been turned to 1. CN X5. This protective function is validated when CCWTL is valid such cases as. 55 Bit 5 of the external scale error code (ALMC) has been turned to 1. Bit 0 of the external scale error code (ALMC) has been Remove the causes of the error. and replace the motor and the driver. Velocity control and Full-closed control when Pr03 (Torque limit selection) is 0.[When in Trouble] Protective Error Causes Measures function code No. This protective function is validated when CCWTL is valid such case as. • If error repeats. status 0 error protection *External scale status 1 error protection *External scale status 2 error protection *External scale status 3 error protection *External scale status 4 error protection *External scale status 5 error protection CCWTL input excess protection 51 Bit 1 of the external scale error code (ALMC) has been turned to 1. Some error has occurred inside of the driver while triggering self-diagnosis function of the driver. 257 . then clear the external *External 50 turned to 1. 52 Bit 2 of the external scale error code (ALMC) has been turned to 1. Check the specifications of the external scale. Velocity control and Full-closed control when Pr03 (Torque limit selection) is 0. Check the specifications of the external scale. No. The motor and the driver has not been matched. Pin-16) • Set the CCWTL voltage within ±10V. this might be a failure. Pin-18) • Set the CWTL voltage within ±10V. analog command input (CCWTL : CN X5. CWTL input excess protection 66 *Motor automatic recognition error protection 95 When in Trouble *Other error Other Control circuit has malfunctioned due to excess noise • Turn off the power once. 54 Bit 4 of the external scale error code (ALMC) has been turned to 1. scale Check the specifications of the external scale. 2) Position control. Check the specifications of the external scale. 1) Torque control when Pr02 (Control mode setup) is 5. Stop using the products. 65 Higher voltage than ±10V has been applied to the • Check the connecting condition of connector. then re-enter. Return the products to the dealer or manufacturer. shut off the power to reset. Check the specifications of the external scale. analog command input (CCWTL : CN X5. Replace the motor which matches to the driver.

The position command input range will be 0-cleared when the motor gets out of the conditions of (1) and (2).5kW 900W – 4. Conditions under which the software limit works • Either at position control mode or full-closed control mode Pr02 = 0 : Position control Pr02 = 3 : 1st control mode of Position control/Velocity control Pr02 = 4 : 1st control mode of Position control/torque control Pr02 = 6 : Full-closed control (1) at Servo-ON (2) when Pr26 (Software limit setup) is other than 0. 2) Applicable range This function works under the following conditions. Control mode 258 . the software limit protection will be invalidated until the later mentioned "5) Condition under which the position command input range is cleared" is satisfied.5kW 10 1 0. You can prevent the work from colliding to the machine end caused by motor oscillation.When in Trouble • Time characteristics of Err16 (Overload protection) time [sec] 100 Overload protection time characteristics (Motor type M*MA) MAMA MQMA MAMA MSMA MDMA MHMA MFMA MGMA 100W 100W – 400W 200W – 750W 1kW – 5kW 1kW – 5kW 1kW – 5kW 400W – 4.34) when the motor travels exceeding the movable range which is set up with Pr26 (Set up of software limit) against the position command input range. Others Once the motor gets out of the (3) condition.1 115 100 150 200 250 300 350 400 450 500 torque [100%] • Software Limit Function 1)Outline You can make an alarm stop of the motor with software limit protection (Error code No. the movable range of the motor is within 2147483647 for both CCW and CW direction. (3) After the last clearance of the position command input range (0 clearance).1 115 100 time [sec] 100 150 200 250 300 350 400 450 500 torque [100%] Overload protection time characteristics (Motor type M*MD) MSMD MSMD MSMD MSMD MSMD MSMD 50W 100W (100V) 100W (200V) 200W 400W 750W 10 1 0.

the motor decelerates and stops according to Pr68 (Sequence at alarm).) • At the starting and the finishing of the normal auto-gain tuning. • while the position deviation is being cleared (Deviation counter clear is valid. • When this software limit protection is activated. 4) Example of movement (1) When no position command is entered (Servo-ON status). the motor movable range will be expanded by entered position command. Motor Position command input range Load Pr26 Err34 occurrence range Pr26 Err34 occurrence range Motor movable range (3) When the load moves to the left (at Servo-ON). • This software limit protection will be invalidated during the trial run and frequency characteristics functioning of the PANATERM®. • when the power is turned on. hence set up the range of Pr26 including the deceleration movement. When the position command to the left direction. The work (load) may collide to the machine end and be damaged depending on the load during this deceleration.[When in Trouble] 3) Cautions • This function is not a protection against the abnormal position command. 259 . Pr66 (Sequence at overtravel inhibition) is 2 and over-travel inhibition input is valid. The motor movable range will be the travel range which is set at both sides of the motor with Pr26 since no position command is entered. software limit protection will be activated. Motor Load Position command input range Motor movable range When in Trouble Pr26 Err34 occurrence range Pr26 Err34 occurrence range 5) Condition under which the position command input range is cleared The position command input range will be 0-cleared under the following conditions. the motor movable range will be expanded further. When the position command to the right direction is entered. and the movable range will be the position command input range + Pr26 setups in both sides. Motor Load Pr26 Pr26 Err34 occurrence range Motor movable range Err34 occurrence range (2) When the load moves to the right (at Servo-ON). When the load enters to the Err34 occurrence range (oblique line range).

refer to P.1)Check the setups of Pr50-52 again by setting up Pr05 mand input method (external (Internal or external switching of speed setup) to 0. 2)Check that the command pulses are entered correctly in the format selected with Pr42 (Setup of command pulse input mode). Check that the motor moves by expected revolution against the command pulses. Check that the external analog input (CWTL/CCWTL) is not used for the torque limit. you use the internal speed. "Display of Factor of No-Motor Running" of Preparation as well. when you use CCWTL/TRQR input) is correct.68. when Pr03 is set to 3-5. Pr5B (Selection of torque command) to 0. 1)Check that you can turn the motor If you cannot turn the motor shaft. Command pulse input setup is incorrect.0 or No. when you use the SPR/TRQR/SPL input. Classification Parameter Setup of the control Measures 1)Set up Pr02 (Setup of control mode) again. (Velocity/Torque) Torque command is invalid (Torque) 260 . 2)Set up Pr53-56 and Pr74-77 by setting up Pr05 (Internal or external switching of speed setup) to either one of 1. Check that the torque command 1)Check that the input voltage is applied correctly by setting up input method (SPR/TRQR input. or invalidate the division/multiplication switching by setting up the same value to Pr48 and Pr49.03 does not show "-". Check that the velocity com.Troubleshooting Motor Does Not Run When the motor does not run. monitor mode of the front panel.05 does not show "A" . when you analog command/internal velociuse the external analog command. Setup of electronic gear is not correct. CW/CCW over-travel inhibit input of CN X5 (CWTL/CCWTL) is open. when you use the internal speed command. The motor shaft drags. monitor mode of the front panel. 1)Check the setups of Pr48-4B again. when TRQR/SPL input) is correct. with monitor mode of the front panel. Check and make a wiring so as to connect the SRV-ON input to COM–. (Position/Full-closed) Speed command is invalid (Velocity) 1)Check and make a wiring so as to connect both CWL and CCWL inputs to COM–. 1)Check that the command pulses are entered correctly to the direction selected with Pr40 (Selection of command pulse input). 2)Check that you can turn the motor shaft while applying DC24V to the brake in case of the motor with electromagnetic brake. with monitor mode of the front panel. Check that the input signal No. run. (Position/Full-closed) Wiring Servo-ON input of CN X5 (SRV-ON) is open. with L3). 1)Check and make a wiring so as to connect the INH input to COM-. consult with the dealer for the motor does not shaft.08 does not show "A". 2)Set up Pr03 (Selection of torque limit) to 1 and set up the max. with input to COM–. Check that the input signal No. Speed zero clamp input (ZEROSPD) of CN X5 is open. ty command) is correct. with Pr4E (Counter clear input mode) to 2 (invalid). Check that the input signal 1)Check and make wiring so as to open the CL input 2)Set up No. SPR/ setting up Pr5B (Selection of torque command) to 0. 2)Set up Pr04 (Setup of over-travel inhibit input) to 1 (invalid) and reset the power. 2)Set up Pr06 (Selection of ZEROSPD input) to 0 (invalid). SPR/TRQR input. 2)Check that the input to control mode switching (C-MODE) of the CN X5 is correct. Check that the input signal 1)Check and make wiring so as to connect speed zero clamp No. Velocity control is Check that the velocity limit input 1)Set up the desired value to Pr56 (Speed setup/4th speed) by invalid (Torque) method (internal velocity.03 does not show "A". Check that the output signal Check the wiring/voltage of main power of the driver (L1. and separate it from the machine. 2 or 3.0A does not show "A" . 2)Check that the input voltage is applied correctly by setting up Pr5B Selection of torque command) to 1. 2)Connect the electronic gear switching input (DIV) of CN X5 to COM–.02 or No. (Position/Full-closed) Command pulse input inhibition (INH) of CN X5 is open. L2 and No. after turning off the power repair. Check that the input pulse counts and variation of command pulse sum does not slips. 2)Set up Pr43 (Invalidation of command pulse inhibition input) to 1 (invalid). Causes mode is not correct Selection of torque limit is not correct Check that the present control mode is correct with monitor mode of the front panel. 1)Set up Pr03 (Selection of torque limit) to 0 and apply -9 [V] to CWTL and +9 [V ] to CCWTL when you use the external input.0 does not show "-". (Position/Full-closed) Counter clear input (CL) of CN X5 is connected to COM–. with monitor mode of the front panel. Installation Main power is shut off. 2)Check that the input voltage is applied correctly by setting up Pr5B (Selection of torque command) to 1. Check that the input signal No. when you use the CCWTL/CWTL input. monitor mode of the front panel. value to Pr5E (Setup of 1st torque limit) when you use the parameter value. with monitor mode of the front panel.

Noise is on the velocity command.[When in Trouble] Unstable Rotation (Not Smooth) Motor Runs Slowly Even with Speed Zero at Velocity Control Mode Classification Parameter Causes Measures Setup of the control mode is not correct. Change the setup of Pr02 to 0. CN X5 using display function of I/O signal status. Pr14 and increase the setup of Pr11 again. CN X5 using display function of I/O signal status. connector contact failure and controller. Review the controller. 16 and 17 of the connector. Correct the wiring and connection so that the command pulse inhibition input can be entered normally. Adjustment Wiring When in Trouble 261 . the motor runs slowly at servo-ON due to speed command offset. CN X5. 1st velocity loop gain. Review the controller. stable. Correct the wiring and connection so that CW/CCW torque limit input can be entered normally. Adjust the Pr52 value so that the motor stops. Velocity and position command are not Check the motor movement with check pin of the front panel or the waveform graphic function of the PANATERM®. Separate the power line and signal line (30cm or longer) in the separate duct. 2) CW/CCW torque limit input signal 2)Check the wiring and connection between Pin-18 and 17. Correct the wiring and connection so that the Servo-ON signal can be turned on normally. 16 and 17 of the connector. 4) Speed zero clamp signal 4)Check the wiring and connection between Pin-26 and 41of the connector. Review the controller. 1)Check the wiring and connection between Pin29 and 41 of the 1) Servo-ON signal connector. CN X5 using the display function of I/O signal status. Use a shield cable for connecting cable to the connector. Correct the wiring and connection so that the speed zero clamp input can be entered normally. If you set up Pr02 to 1(Velocity control mode) by mistake at position control mode. CN X5 using Display function of I/O signal status. Review the controller. CN X5 using tester or oscilloscope. Each input signal of CN X5 is chattering. Review the wiring. Enter torque filter of Gain adjustment is not proper. 5) Command pulse inhibition input 5)Check the wiring and connection between Pin-33 and 41of the connector. Slip of offset Check the voltage between Pin-14 and 15 (speed command input) using a tester or an oscilloscope. Increase the setup of Pr11. 3) Deviation counter input signal 3)Check the wiring and connection between Pin-30 and 41. Correct the wiring and connection so that the deviation counter input can be turned on normally.

16 and 17 of the connector. Use a pulse line interface exclusive to line driver when pulse line interface is used. Pr48 and Pr4B. Correct the wiring and connection so that CW/CCW torque limit input can be entered normally. Captures the positioning complete signal at the edge. Correct the wiring and connection so that the servo-On signal can be turned on normally. If the value does not return to the same value. Check the overshoot at stopping with graphic function of the PANATERM®. • Review the wiring and connection so that the connection between Pin27 and 41 of the gain switching input connector. Load inertia is large. If it does not change. Check if the repetition accuracy is same or not. 1) Servo-ON signal 1)Check the wiring and connection between Pin29 and 41 of the connector. Review the controller. Make a noise measure to external DC power supply and make no wiring of the unused signal lines. Adjustment Shape or width of the command pulse is not per the specifications. CN X5 using display function of I/O signal status. Setup of the division/multiplication is not correct. Review the controller. Lower the setup of Pr60 within the range where no chattering of complete signal occurs. CN X5 using the display function of I/O signal status. CN X5 becomes off while you set up Pr30 of 2nd gain setup. Make a noise measure to command pulse. CN X5 using display function of I/O signal status. Increase the setup of Pr10 within the range where no oscillation occurs. Change the division/multiplication ratio of 1st and 2nd numerator of command division/multiplication. Position loop gain is small. 16 and 17 of the connector. Review the controller. 2) Deviation counter clear input signal 2)Check the wiring and connection between Pin-30 and 41. Parameter Setup of the positioning complete range is large.Troubleshooting Positioning Accuracy Is Poor Classification System Causes Position command is not correct. to 1. 4) Command pulse inhibition input 4)Check the wiring and connection between Pin-33 and 41of the connector. Velocity loop gain is proportion action at motor in stall. Command pulse frequency have exceeded 500kpps or 2Mpps. Monitor the deviation at positioning complete signal reception with a check pin (IM) or the waveform graphic function of the PANATERM®. Check the position deviation with the monitor function of the PANATERM® or at the monitor mode of the console. use a larger capacity motor and driver. 262 . Noise is superposed on deviation counter clear input CL (CN X5. Make the controller capture the signal not at the edge but with some time allowance. Correct the wiring and connection so that the deviation counter clear input can be turned on normally. Correct the wiring and connection so that the command pulse inhibition input can be entered normally. increase the driver and motor capacity. Make a noise measure. If no improvement is obtained. CN X5 using tester or oscilloscope. 3) CW/CCW torque limit input signal 3 Check the wiring and connection between Pin-18 and 17. Measures 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. Lower the command pulse frequency. review the pulse generating circuit. If the shape of the command pulse is broken or narrowed. Wiring Installation Each input signal of CN X5 is chattering. • Set up Pr12 and Pr1A of time constant of velocity loop integration to 999 or smaller. review the controller. Pin-5).

Check the Z-phase signal with oscilloscope. range where noise level is acceptable. Reduce noise (installation of noise filter or ferrite core). separation of power and signal lines. of velocity Gain setup is large. Reduce noise (installation of noise filter or ferrite core). of I/F cables. Execute the homing matching to the controller correctly. shield treatment Noise is on the encoder line. PANATERM®. or return to default value. Review the wiring near to proximity dog and make a noise measure or dog sensor) output reduce noise. Lower the gain by setting up lower values to Pr11 and 19. loop gain and Pr10 and 18 of position loop gain. Motor bearing Check the noise and vibration near the bearing of the motor while running the motor with no load. noise or rubbing noise of encoder When in Trouble 263 . rubbing noise at brake engagement. Set up the notch frequency to Pr1D or Pr28 if resonance exists. Check if the machine resonance Resonance of the machine and exists or not with frequency characteristics analyzing function of the the motor. Connect the earth of the controller because the open collector interface is not insulated. hub Replace the motor to check. CN X5 with an oscilloscope. Re-adjust Pr14 and 1C (Torque filter). Request for repair. Or widen the origin sensor. Check that the Pin-13 of the No Z-phase signal output connector. Enlarge the setup of Pr13 and 1B. shield treatment of I/F cables. Wiring Chattering of proximity sensor (proximity Check the dog sensor input signal of the controller with oscilloscope. CN X5 is connected to the earth of the controller. gear noise. Homing creep speed is fast Measures Check that the Z-phase matches to the center of proximity dog. Replace the motor to check. use of a twisted pair.[When in Trouble] Origin Point Slips Classification System Causes Z-phase is not detected. Request for repair. Abnormal Motor Noise or Vibration Classification Wiring Causes Noise is on the speed command. Lower the homing speed at origin proximity. Check the noise of the motor while running the motor with no load. use of a twisted pair or separation of power and signal lines. Use a CZ output (open collector if the controller is not differential input. Electro-magnetic sound. Measures Adjustment Installation Measure the speed command inputs of Pin-14 and 15 of the connector. Check the wiring to see only one side of the line driver is connected or Miswiring of Z-phase output not. velocity detection filter within the Velocity detection filter is changed. Request for repair. Replace the motor and driver.

70. 100. Make a correct gain adjustment. Check that the motor does not generate rumbling noise while turning it by hand after shutting off the power. 264 .Troubleshooting Overshoot/Undershoot Classification Adjustment Overheating of the Motor (Motor Burn-Out) Measures Check with graphic function of PANATERM® or velocity monitor (SP) or torque monitor (IM).Check that the setup of Pr50. Replace the motor and request for repair if the noise is heard. Replace the driver fan or request for repair. Review the mounting to the machine. oil. Use a gear reducer. 1st numerator of electronic gear. Division/Multiplication is not proper. position loop gain to approx. 4A. water or others) Motor has been turned by external force while dynamic brake has been engaged. Causes Gain adjustment is not proper. numerator multiplier of electronic gear and 4B. Check with graphic function of PANATERM® or velocity monitor (SP) or torque monitor (IM). rect. Make an appropriate adjustment. dust or iron particles. humidity. denominator of electronic gear. Check the voltage at brake terminals. Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the PANATERM®. Lower the temperature with cooling fan if the ambient temperature exceeds the predications. Motor Speed Does Not Reach to the Setup Motor Revolutions (Travel) Is Too Large or Small Classification Parameter Adjustment Causes Measures Velocity command input gain is not cor. Installation Load inertia is large. Set up correct values to Pr48. dirt of fan ventilation duct Mismatching of the driver and the motor Failure of motor bearing Electromagnetic brake is kept engaged (left un-released). Position loop gain is low. Check the name plates of the driver and the motor. is made so as to make the setup of 500 makes 3000 r/min. CN X4. "How to Operate-EEPROM Writing" of Preparation. Looseness or slip of the machine Ambient temperature. Apply the power (DC24V) to release the brake. out before turning off the power. Parameter Returns to Previous Setup Classification Parameter Causes Measures No writing to EEPROM has been carried Refer to P. Check the running pattern. Classification Wiring Causes Measures Communication cable (for RS232C) is Connect the communication cable (for RS232C) to connector. speed command input gain. Select a correct combination of them referring to the instruction manual or catalogue. Set up Pr10. connected to the connector. Avoid the installation place where the motor is subject to high temperature. and inhibit the operation under the condition of the left. Refer to P. Refer to parameter setup at each mode. Motor failure (oil. environment Stall of cooling fan. CN X3. Check the cooling fans of the driver and the machine. working condition and operating status.226 of Adjustment. Increase the motor and driver capacity and lower the inertia ratio.

................................................................................................... 308 Options ... 266 Outline of the Setup Support Software...... 327 Permissible Load at Output Shaft ..... 306 Conformity to EC Directives and UL Standards ............... 343 Motor with Gear Reducer ......... 350 Permissible Load at Output Shaft (Motor with Gear Reducer) .................................................... 349 Dimensions (Motor with Gear Reducer) .......................... 360 265 ................................................................... 342 Motor Characteristics (S-T Characteristics) ............. 354 Block Diagram of Driver by Control Mode ........ 352 Motor Characteristics (S-T Characteristics)/Motor with Gear Reducer . 324 Dimensions (Motor) ............. 356 Specifications (Driver) ............................. 358 Homing with "Hit & Stop" and "Press & Hold" Control ........................... 276 Communication .................................... 353 Block Diagram of Driver ..........[Supplement] page Absolute System .................... 278 Division Ratio for Parameters ..................................................................... 323 Dimensions (Driver) ......... PANATERM® .. 312 Recommended components ....

Use the motor which 8th place (designated for rotary encoder specifications) is “S” (7-wire type). Connect the host controller with the Minas A4 with absolute specifications.) • When you connect one MINAS-A4 to the host with RS232 and connect each MINAS-A4 with RS485. each data. Designate a module ID to RSW of each MINAS-A4 driver when you connect multiple MINAS-A4 in communication to one host controller as shown below. Pr0B to 0. and designate 1 to F to MINAS-A4. • When you connect MINAS-A4 to the host with RS485. (Max. designate 0 to F to each MINAS-A4. Applicable Mode You can use all of MINAS A4 series driver in absolute specifications by setting up parameter. then you can detect the absolute position without carrying out homing operation. and designate 1 to F to other MINAS-A4. (Max 15 axis are connectable. the host controller can connect up to 16 MINAS-A4 and capture the present position information as serial data to obtain the absolute position of each axis by processing.) B CD EF 01 23 45 M * DD driver RSW 266 67 8 9A . M M S 8th place Rotary encoder specifications Absolute Specifications There are 3 connecting methods of the host controller and MINAS-A4 driver as described below. and select a method depending on the interface of the host controller specs or number of axis to be connected. Module ID (RSW) • When you connect each MINAS-A4 to the host separately with RS232 and switch the communication individually. designate 0 to the MINAS-A4 connected with the host. 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. and this function suits very well to such an application as a robot. the host is given module ID of 0. Via RS232 or RS485 communication. 16 axis are connectable.Absolute System 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. (motor with absolute encoder and driver with absolute spec) and set up the parameter.

* 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. Connect the battery between BAT+ and BAT– of the motor. CN X5 Battery for absolute encoder CN X6 Motor Positioning controller Absolute System Configuration with RS485 Communication RS485 Module ID=0 Host Max. Next driver CN X5 Battery for absolute encoder Positioning controller CN X6 Motor Supplement 267 .[Supplement] Absolute System Configuration with RS232 Communication RS232 Selector Host Host RS485 RS485 RS485 Max. 16 axis RSW(ID)=0 Host controller RS232 Interface TXD RXD GND 5 3 4 CN X4 RXD TXD GND Servo driver SN751701 or equivalent RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 * Battery for absolute encoder is required to store the multi-turn data into the encoder. 15 axis RSW(ID)=1 Host controller RS485 Interface RS485+ RS485– GND CN X3 7 RS485+ 8 RS485– 4 GND CN X4 7 RS485+ 8 RS485– 4 GND RSW(ID)=2 RSW(ID)=3 RSW(ID)=4 Servo driver ADM485 or equivalent Set up RSW (ID) of the front panel to 1 to F.

Connector with lead wire of the battery to CN601 and leave of 5 min.Absolute System Battery (for Backup) Installation First Installation of the Battery After installing and connecting the back-up battery to the motor.271). all of error and multi-turn data will be cleared together with alarm. .275. How to Replace the Battery 1) Refresh the new battery. CN601 Pull out after 5 min. After replacing the battery. 3) Install the battery to the battery box. connection Raise the latch and take off the cover. Data stored in the encoder might be lost when you replace the battery while the control power of the driver is off. It is recommended to perform ON/OFF action once a day after installing the battery for refreshing the battery. clear the battery alarm. "Setup (initialization) of Absolute Encoder ". Refer to P. Refer to P. execute an absolute encoder setup. 2) Take off the cover of the battery box. "How to Clear the Battery Alarm".271. Pull out the connector from CN601 5 min after. A battery error might occur due to voltage delay of the battery if you fail to carry out the battery refreshment. Place the battery with + facing downward. 268 Connect the connector. or via communication (refer to P. <Caution> When you execute the absolute encoder with the front panel (refer to P. and you are required to execute “Setup (Initialization) of absolute encoder” (refer to P.302). Replace while turning on the control power. Replacement of the Battery It is necessary to replace the battery for absolute encoder when battery alarm occurs.77 of Preparation).

possibly leading to the rupture of the battery. <Caution> Use the following battery for absolute encoder. • It is dangerous for metal items to make contact with the “+” and “–” electrodes of the battery since such objects may cause a high current to flow all at once. ER6V. ensure that such a battery is replaced at an early date. Under no circumstances must the battery tube be peeled off. • The disposal of used batteries after they have been replaced may be subject to restrictions imposed by local governing authorities. 4) Do not cause the battery to be short-circuited. Close the cover not to pinch the connector cable. : DV0P2990 (Lithium battery by Toshiba Battery Co. It is also dangerous to throw a battery into a fire or apply heat to it as doing to may cause it to rupture. giving rise to trouble where the product may become corroded. Part No. it will not only corrode the surrounding parts but also give rise to the danger of short-circuiting since it is electrically conductive. • Do not disassemble the battery since fragments of the interior parts may fly into your eyes. In such cases. (As a general guideline. 3. and if it should leak out.6V 2000mAh) <Cautions> • Be absolutely sure to follow the precautions below since improper use of the battery can cause electrolyte to leak from the battery. For this reason. 269 Supplement . Under no circumstances must any attempt be made to recharge it. ensure that their disposal is in accordance with these restrictions. 5) This battery is not rechargeable. 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.. Ltd.[Supplement] 4) Close the cover of the battery box.) • The electrolyte inside the battery is highly corrosive. and/or the battery itself may rupture. which will not only reduce the battery performance but also generate considerable heat. 3) Do not disassemble the battery or throw it into a fire. 1) Insert the battery with its “+” and “–” electrodes oriented correctly. which is extremely dangerous. ensure that the battery is replaced periodically. For this reason. it is recommended that the battery be replaced every two years.

T. Refer to the instruction manual of the battery for handling the battery.S. If the installation and fixing of the battery is not appropriate. ammonia. Connector for absolute encoder connection Clamping Jig YRS-800 J. alkaline and salt and so on. oil mist. The values below were calculated with only the current consumption factored in. chlorine.6[mAh] ) Battery life = 2000[mAh]/630. connect the optional battery for absolute encoder.Action mode in time period when the motor can respond to max. grinding oil. Annual consumption capacity = (10h x a + 0. to Sat. (To be provided by customer) 270 . CN X6 (Optional connector kit) 1 E5V 2 E0V BAT+ BAT– PS PS FG 1 2 4 5 3 (T) (S) (K) (L) (J) 1 2 BAT+ BAT– 1 Battery BAT+ 2 BAT– Connector. Connector ZMR-2 Connector pin SMM-003T-P0. c : Current consumption at power failure mode 110[ µA] Annual consumption capacity = (10h x a + 0. DV0P2060 Lithium battery by Toshiba Battery Co.Absolute System <Reference> Following example shows the life calculation of the back-up battery used in assumed robot operation.1 (3.S. 1) 2 cycles/day Mon. sulfurous acid. but only represents a calculated value. iron powder or chips and etc.T.T. 4) Vibration-free place Wiring Diagram Junction connector for encoder cable (Optional connector kit) 7 (H) E5V 8 (G) E0V Pin number when a connector is used Pin number when a cannon plug is used Twisted pair Connector. acid. Note that the following value is not a guaranteed value.. it may cause the wire breakdown or damage of the battery.0014h x b + 2h x c) x 2 x 313 days + 24h x c x 52 days = 297.6[mAh] = 3.S. • Installation Place 1) Indoors. ZHR-2 (by J.7 (6.6[ µA] b : Current consumption at power failure timer mode 280[ µA] * Power failure timer mode.6V 2000mAh 50 Lead wire Battery for absolute encoder (Option) DV0P2060 or DV0P2990 Title Manufacturer Part No. DV0P2060 or DV0P2990 as per the wiring diagram below.. Life time may be shortened depending on ambient condition. where the products are not subjected to rain or direct sun beam. 2000[mAh] of battery capacity is used for calculation.7159) [year] 2) 1 cycle/day (2nd cycle of the above 1) is for rest. sulfuric gas.8[mAh] = 6.) 5 6 PS PS FG (Case) Part No. The calculations do not factor in electrolyte leakage and other forms of battery deterioration. J.5 J. 3) Well-ventilated and humid and dust-free place. speed even the power is off (5sec).T. Ltd. 313 days/365 day 24h ON Power supply OFF a bc a bc c 10h 2h 10h 2h Sun.0014h x b + 14h x c) x 313 days + 24h x c x 52 days = 640. <Cautions> Install and fix the battery securely. chloric gas.1715) [year] When you make your own cable for 17-bit absolute encoder When you make your own cable for 17-bit absolute encoder. and are free from splash of inflammable gas.8[mAh] ) Battery life = 2000[mAh]/297. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide.S. Connector of the battery for absolute encoder shall be provided by customer as well. ER6V 3.. 52 days/365 days 24h a : Current consumption in normal mode 3.

• Initial setup of the machine • When absolute system down error protection (alarm No.51. Supplement 271 . Automatic offset adjustment mode Motor trial run mode Alarm clear mode Absolute encoder clear mode Execution (3) Execute the following key operation at EXECUTION DISPLAY Bars increase while keep pressing (approx. Setup Operation of Absolute Encoder (Auxiliary function mode) Mode Selection (1) Turn on the power to bring he machine to origin position by homing operation. absolute encoder clear starts. then re-enter the power. (2) Make the front panel to auxiliary function mode and bring EXECUTION display of "Absolute encoder clear mode". 3sec). "Setup of Parameter and Mode" of Preparation. Absolute encoder clearing starts. After the clearing. turn off the power and turn on the power again. Refer to P. Note) In case of incremental encoder. Clear the absolute encoder with the front panel operation or with the PANATERM operation. it is required to make multi-turn data to 0 after clearing the encoder error by clearing absolute encoder while the machine stops at the origin position with homing operation. 40) occurs • When the encoder cable is pulled out In the above setup. display appears when (4)Turn off the control power once. Absolute encoder clearing finishes in a second.[Supplement] Setup (Initialization) of Absolute Encoder Execute the setup of absolute encoder in the following cases.

in order to avoid mis-operation due to unexpected noise. refer to P. and transmit the command according to the RS232 communication protocol. after the control power is turned on. N Check sum OK'ed reception Y 06h transmission 15h transmission transmission finishes Enter the RSW value of the driver to which you want to communicate from the host to axis (*1 data) of the command block.Absolute System Transmission and Reception Sequence of Absolute Data Servo-Ready output will be turned on 2sec. • It is recommended for you to repeat the above communication more than 2 times to confirm the absolute data coincide. • Allow 500ms or longer interval for axis switching when you want to capture multiple axes data. RS232 Communication Protocol Refer to the instruction manual of the host for the transmission/reception method of command. Transmission starts 05h transmission N Data of *1 and *2 are determined by the setup of RSW (ID) of the front panel. 272 . RSW(ID) 0 1 2 3 4 5 6 7 8 9 A B C D E F Data of *1 Data of *2 2Eh 00h 2Dh 01h 2Ch 02h 2Bh 03h 2Ah 04h 29h 05h 28h 06h 27h 07h 26h 08h 25h 09h 24h 0Ah 23h 0Bh 22h 0Ch 21h 0Dh 20h 0Eh 1Fh 0Fh 04h reception Host requests for absolute data to driver Y 00h transmission 01h transmission *1 D2h transmission 2Dh transmission *2 06h reception Y N 05h reception Y N 04h transmission Host receives absolute data from driver Reception of absolute data (15 characters) Check sum becomes OK'ed when the lower 8-bit of the sum of the received absolute data (15 characters) is 0. For details of communication.278. Capture the absolute data in the following communication protocol while the Servo-Ready output is on and the fix the motor with brake by Servo-Off (when the motor is at complete stall.). "Communication".

• Allow 500ms or longer interval for axis switching when you want to capture multiple axes data.278. refer to P. Transmission starts 81h transmission 05h transmission *1 Host requests for absolute data to driver 81h reception *1 04h reception Y 00h transmission 01h transmission *2 D2h transmission 2Dh transmission *3 N N Data of *1 and *2 are determined by the setup of RSW (ID) of the front panel. Supplement 273 . Following shows the communication example of the driver to RSW (ID). in order to avoid mis-operation due to unexpected noise. For details of communication.[Supplement] RS485 Communication Protocol Refer to the instruction manual of the host for the transmission/reception method of command. RSW(ID) Data of *1 Data of *2 Data of *3 0 not usable with RS485 communication 2Dh 01h 1 81h 2Ch 02h 2 82h 2Bh 03h 3 83h 2Ah 04h 84h 4 29h 05h 85h 5 28h 06h 86h 6 27h 07h 87h 7 26h 08h 88h 8 25h 09h 89h 9 24h 0Ah 8Ah A 23h 0Bh 8Bh B 22h 0Ch 8Ch C 21h 0Dh 8Dh D 20h 0Eh 8Eh E 1Fh 0Fh 8Fh F 06h reception Y 80h reception 05h reception N Y 80h transmission 04h transmission Host receives absolute data from driver Reception of absolute data (15 characters) Check sum becomes OK'ed when the lower 8-bit of the sum of the received absolute data (15 characters) is 0. N Check sum OK'ed reception Y 06h transmission transmission finishes 15h transmission Command from the host will be transmitted to the desired driver based on RS485 transmission protocol. "Communication". • It is recommended for you to repeat the above communication more than 2 times to confirm the absolute data coincide.

2 … 131071 0.1. Setup value of RSW (ID) of the front panel • Details of multi-turn data 65535 Multi-turn data CW Absolute counter over error protection Error 0 Normal CCW Error <Remark> If the multi-turn data of the above fig.1.1. bit7 bit6 Encoder status (L) bit5 bit4 bit3 bit2 0 bit1 bit0 Over-speed Full absolute status Counter error Counter overflow Multi-turn error Battery error Battery alarm 274 Err42 (Absolute over-speed error protection) Err47 (Absolute status error protection) Err44 (Absolute single-turn counter error protection) Err41 (Absolute counter over error protection) Err45 (Absolute multi-turn counter error protection) Err40 (Absolute system down error protection) Battery alarm . • Encoder status (L)-----1 represents error occurrence. capture the absolute data from the driver again Refer to next page. "Encoder status".Absolute System Composition of Absolute Data Absolute data consists of singe-turn data which shows the absolute position per one revolution and multiturn data which counts the number of revolution of the motor after clearing the encoder. 0Bh RSW (ID) D2h 03h 11h Encoder status (L) Received absolute data (15 characters) 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 Single-turn data =Single-turn data (H) x 10000h + Single-turn data (M) x 100h + Single-turn data (L) Multi-turn data =Multi-turn data (H) x 100h + Multi-turn data (L) Date : 0 to 65535.2 –1 0 origin CW … 13107 1 0. Range : -32767 to 32767 Becomes to 0 when the communication is carried out normally. If not 0. 01 12 CCW Single-turn data and multi-turn data are composed by using 15-character data (hexadecimal binary code) which are received via RS232 or RS485. Single-turn data Multi-turn data Motor rotational direction 131071 0. convert it to signed date after deducting 65536. is between 32768 and 65535.

(a) "CN X5" Connecting Alarm clear input (A-CLR) to COM– for more than 120ms. <Note> For details of the above error protection. Fan lock alarm : Fan has stalled for more than 1[s]. (Mounting adjustment is required.) How to Clear the Battery Alarm Replace the battery for absolute encoder when battery alarm occurs according to P. . bit7 0 bit6 0 Encoder status (L) bit5 bit4 bit3 bit2 0 0 bit1 0 bit0 0 Battery error One of the following has occurred. No alarm. Battery alarm : Voltage of battery for absolute encoder has fallen below the alarm level (approx.2V). refer to the following "Display of Battery Alarm". After replacement. counter error. counter overflow. Display of Battery Alarm Following alarm will be displayed when making the front panel to alarm execution mode of monitor mode. multi-turn error. refer to P. "How to Replace the Battery". clear the battery alarm in the following 3 methods. Counter overflow multi-turn error. Supplement 275 .. (c) Click the "Battery warning" Clear button. Battery alarm. and for contents of alarms.. Alarm occurrence Over regeneration alarm : Regeneration has exceeded 85% of the alarm trigger level of over regeneration load protection.. External scale alarm : Temperature of external scale has exceeded 65˚C or signal intensity have not been enough.252. (b) Executing the alarm clear function in auxiliary function mode by using the console (option). full absolute status. 3. battery error or battery alarm • Transmit the absolute data while fixing the motor with brake by turning to Servo-Off. after select the "Absolute encoder" tab in the monitor display window by using the PANATERM (option). "Protective Function" of When in Trouble.[Supplement] • Encoder status (L)-----1 represents error occurrence.. .268.. Overload alarm : Load has exceeded 85% of the alarm trigger level of overload protection.

2. Windows® Me. Display of "Communication port or driver cannot be detected. Refer to the catalog for the latest part No. (4) Data measurement of the wave-form graphic and bringing of the stored data. How to Connect • Connecting cable DV0P1960 RS232 (DOS/V) * Caution Connect to CN X4. (3) Display of the present alarm and reference of the error history. Windows® Me or Windows® XP. Part No. Windows® 2000. and writing to the memory (EEPROM)." appears even though you log on "PANATERM®". OS to be Window® 98. you can execute the followings. (1) Setup and storage of parameters. 276 . 15MB capacity of hard disc is required. using the setup disc according to the procedures below to log on. Windows® XP <Caution> * Don't connect to CN X3. (2) Monitoring of I/O and pulse input and load factor. Windows® 2000. Install the "PANATERM®" to a hard disc.Outline of Setup Support Software. Setup support software Setup disc of "PANATERM®" DV0P4460 (English/Japanese version) Supporting OS : Windows® 98. "PANATERM®" Outline of PANATERM® With the PANATERM®. (5) Normal auto-gain tuning (6) Frequency characteristic measurement of the machine system. Install the "PANATERM®" to Hard Disc <Cautions/Notes> 1. of the "PANATERM®" may be changed based on the version up. 3.

4) Select the "PANATERM®" with program 5) The screen turns to "PANATERM®" after showing opening splash for approx. Windows® 98. 4) Operate according to the guidance of the setup program. 3) Click the start bottom of the supporting OS. start up Explorer. Windows® Me and Windows® XP are trade marks of Microsoft Corp. and run the targeted setup file. (Refer to the instruction manual of supporting OS for start. Windows® 2000. the motor and encoder before you log on. Connect the driver to a power supply. 5) Click OK on the installation verification window to start the setup. For more detailed information for operation and functions of the "PANATERM®". refer to the instruction manual of the Setup Support Software. 2) Turn on the power of the driver.) and click. <Cautions/Notes> 1. 6) Exit all applications and log on Windows® again. Procedure of log on 1) Turn on the power of the computer and log on the supporting OS. Refer to the instruction manual of supporting OS for start.) 2) Insert the setup disc of the "PANATERM®" to CD-ROM drive. 277 . 2sec. (Exit the existing logged on software. Supplement * Windows®. 3) The window opens automatically so click the name of the file required. Once the "PANATERM®" is installed in the hard disc. * If the window fails to appear automatically. you do not need to install every time you log on. "PANATERM®" will be added on program menu when you log on again. Log on of the "PANATERM®" . 2. "PANATERM®".[Supplement] Procedure of install 1) Turn on the power of the computer to log on the supporting OS.

and can execute the following functions. For the operation of the "PANATERM®. "PANATERM®" English/Japanese version (Windows 98/Me/2000/XP) Connecting cable for PC (DOS/V) Connecting cable between drivers DV0P4460 DV0P1960 DV0P1970 (200[ ] mm ) DV0P1971 (500[ ] mm ) DV0P1972 (1000[ ] mm ) DV0P1960 DV0P1970 DV0P1970 DV0P1970 Host 278 . refer to the instruction manual of the PANATERM®. • You can compose multi-axis absolute system with simple wiring.Communication Outline of Communication You can connect up to 16 MINAS-A4 series with your computer or NC via serial communication based on RS232 and RS484. • You can display the running condition of machine to improve serviceability. (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 Merits • You can write parameters from the host to the driver in batch when you start up the machine. Following application software and cables are prepared as options.

RS232 RS485 X3 X4 RS485 X3 X4 RS485 X3 X4 X4 Host Max. You can set the same module ID as long as the host has no difficulty in control. RS232 Host X4 X4 X4 X4 RSW(ID)=1 RSW(ID)=1 RSW(ID)=1 RSW(ID)=1 • Set up the module ID of MINAS-A4 to RSW of the front panel. • RS232 and RS485 communication When you connect one host to multiple MINAS-A4s. In the above case. and connect each MINAS-A4 with RS485 communication. RS485 RS485 X3 X4 RS485 X3 X4 RS485 X3 X4 X4 Module ID=0 Host Max. 279 . Selector etc. and communicate according to RS232 transmission protocol. and support the following 3 types of connection with the host. connect the host to connector X4 of one driver with RS232 communication. and set up 1 to F to other drivers each.[Supplement] Communication Specifications Connection of Communication Line MINAS-A4 series provide 2 types of communications ports of RS232 and RS485. 16 axis RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 • RS485 communication Connect the host to multiple MINAS-A4s with RS485 communication. • RS232 communication Connect the host and the driver in one to one with RS232. 15 axis Supplement RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RSW(ID)=4 Allow 500ms or longer interval for switching the axes while capturing data of multiple axes. you can set any value of 0 to F. set up the RSW of each front panel of MINAS-A4 to 1 to F. Set up the RSW of the driver to 0 which is connected to the host.

Communication Interface of Communication Connector • Connection to the host with RS232 Host RTS 2 1 MINAS-A4 SN751701 or equivalent TXD CTS 3 RXD 4 G 5 G RXD 6 7 TXD FG DTR 8 RS485+ RS485– FG (Case) DSR ADM485 or equivalent 1 2 3 4 CN X3 G 5 6 7 Connectors. Pin-2. CN X4 and Pin-1. Do not connect anything to Pin-1. CN X3. RS485+ 8 RS485– FG (Case) 1 2 3 CN X4 TXD 4 G 5 RXD 6 7 RS485+ 8 RS485– FG (Case) 280 . Pin-2 and Pin-6 of connector. Pin-5 and Pin-6 of connector. CN X3 and CN X4 are MD-S8000 • 10 (by JST) or equivalent. CN X3. 2. Pin-3. You cannot connect RS232 to connector. Note) 1.

Note) Do not connect anything to Pin-1. Pin-2. Pin-3. Pin-2 and Pin-6 of connector. CN X3. RS485+ 8 RS485– FG (Case) 1 2 3 CN X4 TXD 4 G 5 RXD 6 7 RS485+ 8 RS485– FG (Case) Supplement 281 . Pin-5 and Pin-6 of connector.[Supplement] • Connection to the host with RS485 1 2 MINAS-A4 SN751701 or equivalent TXD Host RS485+ RS485– 3 4 G 5 G 6 RXD 7 FG RS485+ 8 RS485– FG (Case) ADM485 or equivalent 1 2 3 4 CN X3 G 5 6 7 Connectors. CN X4 and Pin-1. CN X3 and CN X4 are MD-S8000 • 10 (by JST) or equivalent.

2 : 9600[bps]. For details. 1 : 4800[bps]. refer to the following list of parameters related to communication.. The module (host or driver) sends out EOT when it is ready to receive a block. The change of these parameters will be validated after the control power entry.. Module recognition byte. Make the RSW value of the front panel as a module ID.38400.. The module (host or driver) sends out ENQ when it has a block to send.. NAK will be sent. When the received block is judged normal..... 4 : 38400[bps].9600... 5 : 57600[bps] Change will be validated after the control power-on • Required time for data transmission per 1 byte is calculated in the following formula in case of 9600[bps]. Set up the communication speed of RS232C communication. becomes a module recognition byte.57600bps 8 bit none 1 bit 1 bit RS485 Half duplex. • Handshake code Following codes are used for line control. and RS485 communication baud rate with Pr0D.Communication Communication Method RS232 Full duplex.57600bps 8 bit none 1 bit 1 bit Communication baud rate Data Parity Start bit Stop bit • Set up the RS232 communication baud rate with Pr0C. 5 : 57600[bps] Change will be validated after the control power-on Set up the communication speed of RS485 communication.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. ACK . 0 : 2400[bpps]. 1000 / 9600 x (1 + 8 + 1 ) = 1.4800. EOT . This value becomes the axis number at serial communication. 2 : 9600[bps]. therefore set up RSW of MINAS-A4 to 1.F. bit7 1 bit6 0 bit5 0 bit4 0 bit3 bit2 Module ID bit1 bit0 Module ID : The module ID of the host side will be 0 in case of RS485 communication. asynchronous 2400. <Caution> 1 byte of module recognition is added to ENQ and EOT at RS485 communication. A judgment is based on checksum and timeout. the module (host or driver) will send out ACK. The line enters to a transmission mode when ENQ is transmitted and EOT is received. NAK . and data which makes its bit7 as 1.19200.38400. 4 : 38400[bps]. Title of parameter Setup range 00 0C 0D Axis address Baud rate setup of RS232 communication Baud rate setup of RS485 communication 0 – 15 0–5 0–5 Functions/contents Check the RSW (ID) value of the front panel at control power-on. Title ENQ EOT ACK NAK Code 05h (Module recognition byte of the transmitted) 04h (Module recognition byte of the transmitted) 06h 15h Function Enquire for transmission Ready for receiving Acknowledgement Negative acknowledgement ENQ ..4800. When the received block is judged abnormal. 3 : 19200[bps]. 1 : 4800[bps]. 3 : 19200[bps]. Setup value of this parameter has no effect to servo action..9600. 0 : 2400[bpps]. List of User Parameters for Communication PrNo.. asynchronous 2400. 282 .19200.

• Transmission control On entering to transmission mode.. Slave side will enter to reception mode when it receives ENQ while waiting for EOT after transmitting ENQ. and continuously receive extra 3 bytes. 283 . by giving priority to ENQ (of master side). ENQ (05h) 6) 80h. If no ACK is received within T2 period.. From when the module (host or driver) returns EOT after receiving ENQ. It will return ACK when the received data sum becomes 0. Supplement • Reception control On entering to reception mode. ACK may not be returned at transmission failure of command byte counts.[Supplement] Transmission Sequence • Transmission protocol • In case of RS232 Host 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)) Transmitting data Receiving data MINAS-A4 • In case of RS485 Host Module ID : 0 MINAS-A4 1) 81h.. EOT (04h) 7) Data block 8) ACK (06h) (or NAK (15h)) Module ID : 1 Receiving data Transmitting data • Line control Decides the direction of transmission and solves the contention... the module transmits the command block continuously and then waits for ACK reception. It will receive the command byte counts from the first byte. the module receives the transmitted block continuously. In case of a check sum error or a timeout between characters. EOT (04h) 3) Data block 4) ACK (06h) (or NAK (15h)) 5) 80h. At contention of transmission and reception. Transmission completes at reception of ACK. it will return NAK. or other code than NAK or ACK is received. From when the module (host or driver) receives EOT after transmitting ENQ.. Reception mode. sequence will be retried. by taking this status as normal.. ENQ (05h) 2) 81h. Transmission mode. Retry will start from ENQ.

. if the actual reception time exceeds this setup time.... or in the transmission/reception data block. When contention of ENQ has occurred.. M/S . Title T1 T2 RTY M/S Function Time out between characters Protocol time out Retry limit Master/Slave RS232 RS485 RS232 RS485 Initial value 5 (0. • Permissible time interval for the module to transmit the check sum bytes and to receive ACK. Time out error occurs and the driver returns NAK to the transmitter when the actual reception time has exceeded this setup time T2 . axis : Sets up the value of RSW of the front panel (Module ID. RTY . 1 (Master) Once Unit 0.. this represents that the receiver is not ready to receive. Priority is given to the transmitter which is set up as a master. or it has failed to receive ENQ code in some reason. The module will re-transmit ENQ code to the receiver in the same way as the NAK reception. Maximum value of retry times. (0: Slave mode.. You can set any value with the INIT command (described later).5 sec) 1 (0..1 sec) 1 (once) 0 (Slave) Setup range 1–255 1–255 1–8 0.Communication • Data Block Composition Below shows the composition of data block which is transmitted in physical phase. the module decides which is to be given priority. Switching of master and slave. If the actual reception time exceeds this setup.. check sum : 2's complement of the total number of bytes.1 sec) 5 (0. The driver will return NAK and finishes the reception mode if the actual reception has exceeded this setup time.. ranging from the top to the end of the block • Protocol Parameter Following parameters are used to control the block transmission. (retry times) • Permissible time interval for the driver to transmit EOT and to receive the reception of the 1st character code....5 sec) 1 (0... (1 byte) N axis mode Parameter (N byte) check sum command N : Command byte counts (0 to 240) Shows the number of parameters which are required by command.... • Permissible time interval for this driver to receive the consecutive character cods which exists between the module recognition bytes and ENQ/EOT. • Permissible time interval for the driver to transmit ENQ and to receive EOT. Transmission error occurs if the actual retry has exceeds this setup value.1 sec 1 sec T1 . command : Control command (0 to 15) mode : Command execution mode (0 to 15) Contents vary depending on the mode.. 1 : Master mode) 284 . and the driver will re-transmit ENQ code to the receiver.

for the data composition.g.[Supplement] Example of Data Communication • e. of system composition RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RS232 RS485 X3 X4 RS485 X3 X4 RS485 X3 X4 X4 Host e. Reference of Absolute Data When you connect the host to one driver with RS232 communication. RS232 communication Host MINAS-A4 (0) 05 (ENQ) 04 (EOT) 00 01 D2 2D 06 (ACK) 04 (EOT) 05 (ENQ) 0B 01 D2 Obtain data with RS485 (see the below) Host MINAS-A4 (0) 03 11 00 00 D8 FF 01 00 00 00 00 36 06 (ACK) * RS485 communication MINAS-A4 (0) MINAS-A4 (1) MINAS-A4 (0) MINAS-A4 (1) MINAS-A4 (0) 0B 01 D2 03 11 06 (ACK) 00 00 D8 FF 01 00 00 81 05 (ENQ) 81 04 (EOT) 00 01 D2 2D 06 (ACK) 80 05 (ENQ) 80 04 (EOT) 00 00 36 MINAS-A4 (1) <Caution> See the below for the captured data. Data is presented in hexadecimals. Refer to P. and connect multiple MINAS-A4s with RS485 communication.g. Following flow chart describes the actual flow of the communication data when you want to capture the absolute data of the module ID=1. of capturing the absolute data Following shows the communication data in time series when you want to capture the absolute data. e. 285 .299. Multi-turn data : 0000h = 0 Single turn data : 01FFD8h = 131032 Supplement Allow 500ms or longer interval for switching the axis while capturing data of multiple axes. "Read out of Absolute Encoder " of details of communication command.g.

and (4) Release of execution right. Date is presented in hexadecimals. refer to P. 286 . (2) Writing of individual parameter. 1) Capture of execution right Host 05 (ENQ) MINAS-A4 (1) 04 (EOT) 06 05 01 01 71 01 8C 04 (EOT) 01 01 71 (ACK) (ENQ) 2) Writing of individual parameter 06 05 03 01 18 0B 00 00 D9 Host (ACK) (ENQ) MINAS-A4 (1) 00 8D 04 (EOT) 3) Writing of parameter to EEPROM 06 05 00 01 06 (ACK) Host 04 (EOT) 48 (ACK) (ENQ) 01 01 18 00 E6 04 (EOT) MINAS-A4 (1) 05 (ENQ) Host B7 04 (EOT) 06 (ACK) 01 01 48 00 B6 MINAS-A4 (1) 06 05 (ACK) (ENQ) 4) Release of execution right Host 05 (ENQ) MINAS-A4 (1) 04 (EOT) 06 05 01 01 71 00 8D 04 (EOT) 01 01 71 (ACK) (ENQ) Host 06 (ACK) MINAS-A4 (1) 00 8D <Caution> For details of command. "Details of Communication Command".290. Here the hardware connection shows the case that the driver (user ID=1) is directly connected to the host with RS232C. and (3) Writing to EEPROM when saving of data is required.Communication • Example of Parameter Change 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 capturing of execution right.

T1 stop T1 time out Transmission of NAK. but retry times are over. T1 stop Ready for finish of receiving data Ready for command byte counts Reception of command byte counts Size command byte counts + 3 Sum command byte counts T1 start. T1 stop Success of reception (Check sum OK'ed when size becomes o. and or it is dealing with reception.[Supplement] Status Transition Chart • RS232 Communication Transmitter Ready for EOT Reception of EOT Size Command bytes+3 T2 stop Transmission of one character Size Command bytes–1 Enquiry for transmission. T2 stop Reception of remained block Reception of one character T1 start Receiver Reception of one character Size Size –1 Sum Sum + received character T1 start Supplement 287 .) Transmission of ACK. Reset of retry times Clear of transmission enquiry Reception of other than 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 Clear of transmission enquiry Idling = It waits for the reception of ENQ. T1 stop ENQ Transmission of EOT T2 start T2 time out Transmission of NAK.) Transmission of ACK. (Check sum OK'ed when size becomes o. T1 time out Transmission of NAK. and retry times are within setup Transmission of ENQ T2 start Reception of ENQ and at slave Return ENQ to reception buffer(reception processing) Block transmission T2 time out One count of retry times T2 stop Clear of transmission buffer Size becomes 0 T2 START Ready for ACK/NAK Enquiry for transmission. T2 stop Failure of reception.

T1 stop T1 time out Transmission of NAK. when size becomes o. and retry times are within setup Module recognition byte. Transmission of ENQ T2 start Ready for ACK/NAK Reception of ACK Reset of retry times T2 stop Clearance of transmission enquiry Enquiry for transmission. (Check sum error when size becomes o. Reset of retry times Clear of transmission enquiry Reception of ACK or T2 time out Count once of retry times T2 stop Clearance of transmission buffer Idling = It waits for the reception of Module ID. Transmission to other axis (module recognition byte is not module ID when size becomes 0) T1 stop Failure of reception. Transmitter Module ID of opponent T1 start Reception of EOT Size Command bytes +3 T2 stop Transmission of one character Size Size . T1 time out Transmission of NAK and T1 stop when module recognition byte is module ID.) T1 start Reception of module recognition bytes T1 start T1 time out T1 stop Ready for ENQ or EOT Module identification byte is not module ID and ENQ reception or T1 timeout T1 stop in Reception of of EOT T2 start Success of reception (Check sum OK'ed and module recognition byte is module ID. and T2 stop in other case Ready for finish of receiving data Reception of remained block Reception of one character T1 start Ready for command byte counts Module recognition byte is module ID and reception of ENQ Module recognition byte. Transmission of ENQ. and or it is dealing with reception.Communication • RS485 Communication Module identification byte of transmitter is the module ID | 80h of the counterpart.1 Sum Sum + received character T1 start .1 Ready for ID ID reception of other than opponent and at slave Return ENQ to reception buffer (receipt processing) Ready for EOT 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 Block transmission Size becomes 0 T2 START Enquiry for transmission. T2 stop Receiver 288 Reception of one character Size Size . T1 stop in other case than the above.) Transmission of ACK. T2 start Reception of command byte counts Size command byte counts + 3 Sum command byte counts T1 start. but retry times are over. T1 stop T2 time out Transmission of NAK when module identification byte is module ID.

Supplement 289 .[Supplement] Timing of Data Communication • In case of RS485 (RS232 to follow) T3 T4 T3 T5 T4 Host to driver Enquiry for transmission Data block Driver to host 0 – 2ms Permission for transmission 0 – 2ms 0 – 2ms ACK/ NAK 0 – 2ms RS485 bus occupation T3 T5 T3 T4 T5 Host to driver Permission for transmission ACK/NAK Driver to host 0 – 2ms Enquiry for transmission 0 – 2ms 0 – 2ms Data block 0 – 2ms RS485 bus occupation Symbol T3 T4 T5 Title Continuous inter-character time Response time of driver Response time of host Minimum Stop bit length 4ms 2ms Maximum Protocol parameter T1 Protocol parameter T2 Protocol parameter T2 <Caution> Above time represents a period from the rising edge of the stop bit.

) • Version will be displayed in figures from 0 to 9. transmission byte1 (Error code only) will be returned regardless of communication command. (e. 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 ALARM Read out of present alarm data Individual read out of user alarm history Batch read out of alarm history Clear of user alarm history (in EEPROM as well) Alarm clear Absolute clear PARAMETER® Individual read out of user parameter Page read out of user parameter Page writing of parameter 1 2 8 9 B • Use the above commands only. lower data 13h. • When the reception data counts are not correct in the above command.Communication List of Communication Command command 0 mode 1 5 6 1 2 7 0 1 2 4 5 6 7 8 9 A C D E 0 1 4 0 1 2 3 4 B 0 1 2 Content NOP Read out of CPU version Read out of driver model Read out of motor model INIT Setup of RS232 protocol parameter Setup of RS485 protocol parameter Capture and release of execution right POS.1 will be upper data 30h.motor (upper) Version (upper) Version motor Model of (lower)(lower) Error code Error code checksum checksum 1 0 6 5 4 Command error RS485 error 3 2 • Version information will be returned in upper data and lower data. (Decimal point will be returned by making the lower 4 bit of the upper data as 0. Details of Communication Command command 0 mode 1 • Read out of CPU Version Information Reception data 0 axis 1 checksum 0 1 Transmission data 0Dh 3 axis axis Error code bit7 0 : Normal 1 : Error 0 Model of . If you use other commands. 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.) 290 . Version 3. action of the driver cannot be guaranteed.g.

[Supplement]
command 0 mode 5

• Read out of Driver Model
Reception data 0 axis 5 checksum 0 Transmission data 0Dh axis 5 0 Model of ,driver (upper) Model of driver (lower) Error code checksum

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3

2

1

0

• Driver model consist of 12-characters, and will be transmitted in ASCII code. (e.g.) "MADDT1503***"

command 0

mode 6

• Read out of Motor Model
Reception data 0 axis 6 checksum 0 Transmission data 0Dh axis 6 0 Model of ,motor (upper) Model of motor (lower) Error code checksum

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3

2

1

0

• Motor model consist of 12-characters, and will be transmitted in ASCII code. (e.g.) "MSMD012S1***"

command 1

mode 1

• Setup of RS232 Protocol Parameter
Reception data 3 axis 1 T1 T2 M/S checksum RTY 1 1 Error code checksum Transmission data 1 axis 1

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3 RTYerror

2 T2error

1 T1error

0 M/Serror

• Until this command completes, previous set up protocol parameter will be processed. After this command has been executed, this parameter setup will be valid from the next command. For M/S, 0 represents SLAVE and 1 represents MASTER. • RTY is 4-bit, and M/S is 1-bit. • Unit... T1 : 0.1s, T2 : 1s

Supplement
291

Communication
command 1 mode 2

• Setup of RS485 Protocol Parameter
Reception data 3 axis 2 T1 T2 M/S checksum RTY 1 2 Error code checksum Transmission data 1 axis 1

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3 RTYerror

2 T2error

1 T1error

0 M/Serror

• Until this command completes, previously set up protocol parameter will be processed. After this command has been executed, this parameter setup will be valid from the next command. For M/S, 0 represents SLAVE and 1 represents MASTER. • RTY is 4-bit, and M/S is 1-bit.

command 1

mode 7

• Capture and Release of Execution Right
Reception data 1 axis 7 mode checksum 1 7 Error code checksum Transmission data 1 axis 1

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3
mode error

2

1 in use

0

• Capture the execution right to prevent the conflict of the operation via communication and that with the front panel. • Enquires for the capture of the execution right at parameter writing and EEPROM writing, and release the execution right after the action finishes. • mode = 1 : Enquires for the capture of the execution right mode = 0 : Enquires for the release of the execution right • You cannot operate with the front panel at other than monitor mode while the execution right is captured via communication. • When the module fails to capture the execution right, it will transmit the error code of in use.

292

[Supplement]
command 2 mode 0

• Readout of Status
Reception data 0 axis 0 checksum 2 0 control mode status error code checksum Transmission data 3 axis 2

status bit7 6 5 CCW torque generating 4 CW torque generating 3 CCW running 2 CW running 1 0 Slower than DB Torque in-limit permission 1 0

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3

2

• Control modes are defined as follows. 0 1 2 3 Position control mode Velocity control mode Torque control mode Full-closed control mode

• CCW/CW torque generating : This becomes 1 when torque command is positive (CCW) or negative (CW). • CCW/CW running : This becomes 1 when motor speed (after converted to r/min) is positive (CCW or negative (CW). • Slower than DB permission : This becomes 1 when motor speed (after converted to r/min) is below 30r/min. • Torque in-limit : This becomes 1 when torque command is limited by analog input or parameter.

command 2

mode 1

• Read out of Command Pulse Counter
Reception data 0 axis 1 checksum 2 1 counter value L Transmission data 5 axis 2

H error code checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0

• Module returns the present position in absolute coordinates from the starting point. (Total sum of accumulated command pulses) • Counter value in 32 bit. • Counter value will be "-" for CW and "+" for CCW.

Supplement
293

Communication
command 2 mode 2

• Read out of Feedback Pulse Counter
Reception data 0 axis 2 checksum 2 2 counter value L Transmission data 5 axis 2

H error code checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0

• Module returns the present position of feedback pulse counter in absolute coordinates from the staring point. • Counter value will be "–" for CW and "+" for CCW. • Feedback pulse counter is the total pulse counts of the encoder and represents the actual motor position traveled

command 2

mode 4

• Read out of Present Speed
Reception data 0 axis 4 checksum 2 Transmission data 3 axis 4 2 Data (present speed) L H error code checksum

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3

2

1

0

• Reads out the present speed. (Unit : [r/min]) • Output value in 16 bit • Speed will be "–" for CW and "+" for CCW.

command 2

mode 5

• Read out of Present Torque Output
Reception data 0 axis 5 checksum 2 Transmission data 3 axis 5 2 Data (present torque) L H error code checksum

Error code bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3

2

1

0

• Reads out the present torque output. (Unit : Converted with "Rated motor torque = 2000) • Output value in 16 bit • Torque command will be "–" value for CW and "+" value for CCW.

294

[Supplement]
command 2 mode 6

• Read out of Deviation Counter
Reception data 0 axis 6 checksum 2 6 data (deviation) L Transmission data 5 axis 2

H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0

• Reads out the present deviation counter value. (Unit : [pulse] • Output value in 32 bit • Becomes "+" when the encoder is located at CW direction against position command, and "–" when it is located at CCW direction.

command 2

mode 7

• Read out of Input Signal
Reception data 0 axis 7 checksum 2 7 data L Transmission data 5 axis 2

data H Error code checksum Error code bit7 0 : Normal 1 : Error Data bit7 Reserved 6 Switching of electronic gear 14 Reserved 5 Speed zero clamp 13
Internal speed command selection 2

6

5 4 Command error RS485 error

3

2

1

0

4 Control mode switching 12
Internal speed command selection 1

3 CCW over-travel inhibit 11 Reserved

2 1 CW over-travel Alarm clear inhibit 10 Counter clear 9 Gain switching

0 Servo-ON

bit15 Reserved

8 Command pulse input inhibition 16 Reserved

bit23 Reserved

22 Reserved

21 Torque limit switching 29 Reserved

20
Internal speed command selection 3

19 Damping control switching 27 Reserved

18 Reserved

17 Reserved

bit31 Reserved

31 Reserved

28 Reserved

26 Reserved

25 Reserved

24 Reserved

• CW over-travel inhibit, CCW over-travel inhibit, speed zero clam and command pulse input inhibit become 1 when opened. Other input signals are 0 when opened.

Supplement
295

Communication
command 2 mode 8

• Read out of Deviation Counter
Reception data 0 axis 8 checksum 2 8 data L Transmission data 7 axis 2

alarm data bit8 External scale bit7 Over-load bit6 Fan lock bit5 Over-regeneration bit0 Battery error code bit7 0 : Normal 1 : Error Data bit7 Reserved 6 In-speed 5 Torque in-limit 4 Zero speed selection 3 2 Positioning Release of complete mechanical brake (In-position) 11 Reserved 10
Full-closed positioning complete

data H alarm data L H error code checksum 5 4 Command error RS485 error 3 2 1 0

6

1
Servo-Alarm

0
Servo-Ready

bit15 Reserved

14 Reserved

13 12 Dynamic brake Reserved engagement 21 Reserved 20 Reserved

9 At-speed

8 Reserved

bit23

Reserved

22 Reserved

19 Reserved

18 Reserved

17 Reserved

16 Reserved

bit31 Reserved

31 Reserved

29 Reserved

28 Reserved

27 Reserved

26 Reserved

25 Reserved

24 Reserved

• The table below shows the relation of the signals and actions. Signal title Servo-Ready Servo-Alarm Positioning completed Release of mechanical brake Zero speed detection Torque in-limit At-speed (Speed arrival) In-speed (Speed coincidence) Full-closed positioning complete Dynamic brake engagement 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 Dynamic brake released 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 Dynamic brake engaged

296

[Supplement]
command 2 mode 9

• Read out of Present Speed, Torque and Deviation Counter
Reception data 0 axis 9 checksum 2 9 data L (speed) H data L (torque) H data L Transmission data 9 axis 2

Error cod bit7 0 : Normal 1 : Error

(deviation) H error code checksum 6 5 4 Command error RS485 error 3 2 1 0

• Output value of speed and torque are in 16 bit and deviation in 32 bit. • Unit and sign of the output data is as same as that of command No. 24 (command = 2, mode = 4), 25 (mode = 5) and 26 (mode = 6).

command 2

mode A

• Read out of Status, Input Signal and Output Signal
Reception data 0 axis A checksum 2 A control mode status input signal L Transmission data 0Dh axis 2

input signal H output signal L

output signal H alarm data L alarm data H error code checksum Error cod bit7 0 : Normal 1 : Error

6

5 4 Command error RS485 error

3

2

1

0

• Meaning of each bit of control mode, status, input signal, output signal and alarm data is as same as that of command No. 20 (command = 2, mode = 0), 27 (mode = 7) and 28 (mode =8).

Supplement
297

• ST771 Status (L) bit7 Thermal alarm Status (H) bit7 0 6 5 4 Signal intensity Signal intensity Transducer alarm error error 6 3 ABS detection error 2 Hardware error 1 Initialization error 0 Over speed 5 Encoder error *1 *1 bit5 : Logical sum of bit0 to bit 5 of status (L) • AT500 series Status (L) bit7 6 5 Thermal alarm 0 Communication error Status (H) bit7 6 5 0 0 Encoder error *3 *3 bit5 : Logical sum of bit0 to bit 5 of status (L) 0 Error code bit7 0 : Normal 1 : Error 6 4 3 2 1 Encoder 0 0 0 error *2 *2 bit4 : logical sum of bit6 and bit 7 of status (L) 0 0 4 CPU. memory error 3 Capacity and photoelectric error 2 Encoder non-matching error 1 Initialization error 0 Over speed 4 3 2 1 Encoder 0 0 0 alarm *4 *4 bit4 : logical sum of bit6 and bit 7 of status (L) 3 2 1 0 0 5 4 Command error RS485 error 0 • Absolute position data = 48bit (0 x 800000000000 to 0 x 7FFFFFFFFFFFh) 298 .Communication command 2 mode C • Read out of External Scale Reception data 0 axis C checksum 2 C encoder ID (L) (H) status (L) (H) (L) absolute position data (48bit) Transmission data 0Bh axis 2 (H) error code checksum Encoder ID ST771 AT500series Encoder ID (L) Address "0" data of EEPROM Address "0" data of EEPROM Encoder ID (H) 32h 31h • Command error occurs at other control modes than full-closed control.

and "–" when it is positioned at CCW direction. count error. full absolute status and logical sum of over speed Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 • Command error will occur when you use the above encoder or absolute encoder as an incremental encoder. counter overflow. Supplement 299 . • External scale deviation becomes "+" when the external scale is positioned at CW direction against position command. multi-turn error.[Supplement] command 2 mode D • Read out of Absolute Encoder Reception data 0 axis D checksum 2 D encoder ID (L) (H) status (L) (H) (L) single-turn data (H) multi-turn data (L) (H) 0 Error code checksum Encoder ID (H) 11h Transmission data 0Bh axis 2 17bit absolute Status (L) bit7 Battery alarm Status (H) Encoder ID (L) 3 6 System down 5 Multi-turn error 4 0 3 Counter overflow 2 Count error 1 Full absolute status 0 Over speed • bit4 : System down • bit5 : Battery alarm. • Single turn data = 17bit (000000h to 01FFFFh) • Multi-turn data = 16bit (0000h to FFFFh) command 2 mode E • Read out of External Scale Accumulation and Deviation Reception data 0 axis E checksum external scale FB pulse sum (H) (L) external scale deviation (H) error code checksum 2 E Transmission data 9 axis 2 (L) Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 • External scale FB pulse sum will return the present position of the external scale counter in absolute coordinates from the starting point. • External scale FB pulse sum will be "-" for CW and "+" for CCW.

) • Data error will occur when writing fails. • Set up parameters not in use to 0 without fail.Communication command 8 mode 0 • Individual Read out of Parameter Reception data 1 axis 0 parameter No. error will be returned. • When under-voltage occurs. No.Error 2 1 0 • If the parameter No. error code of control LV will be returned instead of executing writing.Error 2 1 0 • If the parameter No. is not within the range of 0 x 00 to 0 x 7F. command 8 mode 1 • Individual Writing of Parameter Reception data 3 axis 1 parameter No. checksum 8 0 parameter value L H error code checksum Transmission data 3 axis 8 Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 No. No. 300 . command 8 mode 4 • Writing of Parameters to EEPROM Reception data 0 axis 4 checksum 8 4 error code checksum Transmission data 1 axis 8 Error code bit7 0 : Normal 1 : Error 6 Data Error 5 4 Command error RS485 error 3 2 1 Control LV 0 • Writes the preset parameters to EEPROM. Data error also occurs when the parameter value exceeds the setup range. execute the parameter writing to EEPROM (mode = 4). 5sec for EEPROM writing (when all parameters have been changed. • Transmission data will be returned after EEPROM writing completes. or it leads to data error. error will be returned. is not within the range of 0 x 00 to 0 x 7F. It may take max. If you want to write into EEPROM. • This command change parameters only temporarily. parameter value L H checksum 8 1 error code checksum Transmission data 1 axis 8 Error code bit7 0 : Normal 1 : Error 6 Data Error 5 4 Command error RS485 error 3 No.

latest 2nd. alarm No. checksum 9 1 history No. command 9 mode 1 • Individual Read out of Alarm History Reception data 1 axis 1 history No. latest 14th. refer to P. error code checksum Transmission data 2 axis 9 Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 • If no alarm occurs. • No. error code checksum Transmission data 3 axis 9 Error code bit7 0 : Normal 1 : Error 6 5 4 3 Command error Command error No.[Supplement] command 9 mode 0 • Read out of Present Alarm Data Reception data 0 axis 0 checksum 9 0 alarm No.252. 1 to 14 represents latest to 14th latest error event. – alarm No.Error 2 1 0 • History No. Error code checksum 2 1 0 Transmission data 0Fh axis 9 Error code bit7 0 : Normal 1 : Error 6 5 4 Command error Command error 3 • You can read out last 14 error events. "Protective function (What is alarm code ?)" of When in Trouble. (For alarm No. command 9 mode 2 • Batch Read out of Alarm History Reception data 0 axis 2 checksum 9 1st. becomes 0. alarm No. alarm No. Supplement 301 .. error will occur when you enter other value than 1 to 14. latest 2 alarm No.

• Data error will occur when you fail to clear. error code of control LV will be returned instead of executing writing.Communication command 9 mode 3 • Alarm History Clear Reception data 0 axis 3 checksum 9 3 Error code checksum Transmission data 1 axis 9 Error code bit7 0 : Normal 1 : Error 6 Data Error 5 4 Command error RS485 error 3 2 1 Control LV 0 • Clears the alarm data history. 302 . • When under-voltage of control power supply occurs. command 9 mode 3 • Alarm Clear Reception data 0 axis 4 checksum 9 4 Error code checksum Transmission data 1 axis 9 Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 • Clears the present alarm. (only those you can clear) command 9 mode B • Absolute Clear Reception data 0 axis B checksum 9 B Error code checksum Transmission data 1 axis 9 Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 • Clears absolute encoder error and multi-turn data • Command error will be returned when you use other encoder than 17bit absolute encoder.

0fh) H MIN.Error 2 1 0 • If the parameter No. 0 ) H Property L (No. No.0fh) H Property L (No. value L (No. and read out 16 parameters from each specified page. is not within the range of 0 x 00 to 0 x 7F. 0 ) H MIN. error will be returned. value L (No. 0 ) H MAX. value L (No. value L H Property L H Error code checksum 3 System related 11 2 1 0 Transmission data 9 axis B Property bit7 Parameter not in use bit15 6 5 Display inhibited (for special customer) 14 13 4 Change at initialization 12 10 9 8 Read only Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 No. 303 . checksum B 0 parameter value L H MIN. value L H MAX. parameter value L (No. • No.Error 2 1 0 • Designate 0 to 7 to page No. than 0 to 7 is entered to page No.0fh) H error code checksum Transmission data 82h axis B Property bit7 Parameter not in use bit15 6 Display inhibited 14 5 (for special customer) 13 4 Change at initialization 12 3 System related 11 2 1 0 10 9 8 Read only Supplement Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 No. 0 ) H parameter value L (No.[Supplement] command B mode 0 • Individual Read out of User Parameter Reception data 1 axis 0 parameter No. checksum B 1 page No. command B mode 1 • Page Read out of User Parameter Reception data 1 axis 1 page No.0fh) H MAX. value L (No. error will be returned when other No.

parameter L (value of No. or data error will occur.Error 2 2 page No.Communication command B mode 2 • Page Writing of User Parameter Reception data 21h axis 2 B page No. 0 ) H parameter value L (value of No. 1 ) H – parameter value L (value of No. error will be returned when other No. 304 . than 0 to 7 is entered to page No. • Set up o to parameters not in use without fail. and write 16 parameters from each specified page. • No. 0th ) H checksum 3 No. Data error will also occurs when data exceeding the setup range is transmitted. Error code checksum Transmission data 2 axis B Error code bit7 0 : Normal 1 : Error 6 Data Error 5 4 Command error RS485 error 1 0 • Designate 0 to 7 to page No.

[Supplement] MEMO Supplement 305 .

.(5) modifying the above formula (5).... V = F x (D/E) x (1/R) x L ..... (6) <Notes> 1) Make a position resolution.. V[mm/s] can be described by the formula (4) and the motor rotational speed......................... (2) modifying the above formula (2).. N at that time can be described by the formula (5).... ∆ ....(3) Actual traveling velocity of ball screw........ however........ action by an extreme division ratio or multiplication ratio cannot be guaranteed........ position resolution (travel distance ∆M per one command pulse) will be described by the formula (2) ∆M = (D/E) x (1/R) x L .. 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 ... electronic gear ratio can be found in the formula (6)....... Recommended range is 1/50 to 20 times........................Division Ratio for Parameters Relation between Electronic Gear and Position Resolution or Traveling Speed Driver Electronic gear ratio Pulse train position command D= Pr48 x 2 Pr4B Pr4A Rotational speed : N[r/min] + – Encoder Encoder pulse counts : E [P/r] * 10000 (=A/B-phase 2500 [P/r] x 4) * 131072 (=17-bit) Motor Gear Machine [ Travel distance : P1 [P] Traveling speed : F [PPS] ] Reduction ratio : R Example of ball screw drive by servo motor Here we take a ball screw drive as an example of machine.... 4) 2n Decimal 20 21 22 23 24 25 26 27 28 29 210 211 212 213 214 215 216 217 306 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 . electronic gear ratio can be found in the formula (3).... (4) N = F x (D/E) x 60 ........... considering a mechanical error... 1/5 to 1/10 of the machine positioning accuracy.... D = (∆M x E x R) x L .. 2) Set up Pr48 and Pr4B to any values between 1 to 10000... (1) therefore. D = (N x E)/ (F x 60) ...... 3) You can set up any values to a numerator and denominator..... ∆M as approx....... A travel distance of a ball screw M [mm] corresponding to travel command P1 [P]...........

0005 x 10000 x 1 20 = 0. L =20mm Gear reduction ratio.0005mm Line driver pulse input. R = 1 Position resolution.25 D < 1.0005 x 2 x 1 20 = 1x2 40000 17 17 = 1x2 x2 22 x 10000 D x 60 E 2 15 Pr48 = 1 Pr4A = 15 Pr4B = 10000 Motor rotational speed (r/min). ∆M =0. 2500P/r (E= 10000P/r) Lead of ball screw. 500kpps Encoder. L =10mm Gear reduction ratio. L =10mm Gear reduction ratio. 2500P/r (E= 10000P/r) Pr48 x 2 D= Pr4B Pr48 = 10000 Pr4A = 0 Pr4B = 2000 Pr4A 0. Encoder : 17-bit (E = 2 P/r) 17 0. N = F x Lead of ball screw. R = 1 Position resolution. R = 1 Position resolution. ∆M = 0.0005mm Encoder.005mm Encoder.005 x 10000 x 1 10 =5 10000 x 2° 2000 0. hence use 17-bit.00133mm 3750 2 1 3750 2 3750 x 4 15 Supplement 307 . = 2 x 1000 x 2 30000000 15 1 x 23 x 2 = 3 2 x 3750 1x2 = 3750 Pr48=1 Pr4A=15 Pr4B=3750 Travel distance per command pulse (mm) (Position resolution) D 1 ∆M = x xL E R 2 1 1 1 20 20 x 17 x x 20 = x 2 = = 0. "D = 1" is the condition for minimum resolution. ∆M =0. 17-bit 500000 x 1x2 10000 15 x 1 2 17 x 60 = 50 x 60 x 1 = 750 22 NxE F x 60 17 Electronic gear ratio D = 2000 x 2 500000 x 60 15 17 1 Pr48 x 2P D= Pr4B Pr4A D= Ditto To make it to 2000r/min.[Supplement] ∆M x E x R Electronic gear ratio D = L Lead of ball screw.

it is necessary to examine the machine incorporating our servos.) Control box Controller Insulated power supply for interface CN X5 Driver Noise filters for CN X1 signal lines L1 L2 CN X2 L3 U V W L1C L2C CN X6 Power supply Circuit breaker Ground-fault breaker (RCD) Noise filters for signal lines Noise filter Motor M RE Surge absorber Protective earth (PE) 308 . in order for the machine to conform to the EMC Directives.2 No. Peripheral Equipments Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e. Therefore. Scientific EN55011 and Medical (ISM) Radio-Frequency Equipment EN61000-6-2 Immunity for Industrial Environments IEC61000-4-2 Electrostatic Discharge Immunity Test IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test IEC61000-4-4 Electric High-Speed Transition Phenomenon/Burst Immunity Test IEC61000-4-5 Lightening Surge Immunity Test IEC61000-4-6 High Frequency Conduction Immunity Test IEC61000-4-11 Instantaneous Outage Immunity Test Conforms to LowVoltage Directives Motor/ Motor and driver Standards referenced by EMC Directives IEC EN EMC UL CSA : International Electrotechnical Commission : Europaischen Normen : Electromagnetic Compatibility : Underwriters Laboratories : Canadian Standards Association <Precautions in using options> Use options correctly after reading operation manuals of the options to better understand the precautions. 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. However. And actual working condition often differs from this model condition especially in wiring and grounding. Install the driver in control panel with IP54 protection structure. especially for noise emission and noise terminal voltage. Take care not to apply excessive stress to each optional part. Those products are required to conform to the EU unified standards and to furnish the CE marking on the products. 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. Conformed Standards Subject Motor Conformed Standard IEC60034-1 IEC60034-5 UL1004 CSA22.g.100 EN50178 UL508C Radio Disturbance Characteristics of Industrial.Conformity to EC Directives and UL Standards EC Directives The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly sold to general consumers.

[Supplement] Power Supply 100V type : Single phase. Option part No.5 M4 M4 DV0P4220 145 135 125 70 50 10 52 5.0 Terminal cover (transparent) 53. DV0P4180 DV0P4220 Voltage specifications for driver 3-phase 200V A B C Manufacturer's part No. 100. contact to a manufacture of the noise filter.6) (13.5 6 – M4 (11.75 2 – ø4.0) 4 Option part No.Applicable driver (frame) Manufacturer 3SUP-HQ10-ER-6 C-frame Okaya Electric Ind.0 Circuit diagram L R Cx Cy Cy L Cx OUT 2.0 2 2 – ø4. F-frame) 100V 200V 200V 200V +10% –15% +10% –15% +10% –15% +10% –15% to to to to 115V 240V 240V 230V +10% –15% +10% –15% +10% –15% +10% –15% 50/60Hz 50/60Hz 50/60Hz 50/60Hz (1) This product is designed to be used at over-voltage category (Installation category) II of EN 50178:1997. (C. B and C-frame) 200V type : Single phase.0 50. install a surge absorber which complies with EN61634-11:2002 or other relevant standards at the power input portion. (B.5 x 6.0 60. C-frame) 200V type : Single/3-phase.0 7.0 1 3 10. D-frame) 200V type : 3-phase.0 IN Label 12.0 5.1±1.0 ± 2.0 88.0 75.5 M4 M4 309 . If you want to use this product un over-voltage category (Installation category) III. D and E-frame 3SUP-HU30-ER-6 Circuit diagram H Earth terminal M4 IN 1 2 3 OUT L1 4 5 6 D E Label 10 Screw for cover M3 F R M4 Cx1 Cx1 Cy1 Supplement Cover G Body A B C D E F G H K L DV0P4180 115 105 95 70 43 10 52 5. (2) Use an insulated power supply of DC12 to 24V which has CE marking or complies with EN60950 Circuit Breaker Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed and between power supply and noise filter. marked) Noise Filter When you install one noise filter at the power supply for multi-axes application. (E. Voltage specifications Manufacturer's part No. (A.Applicable driver (frame) Manufacturer for driver SUP-EK5-ER-6 A and B-frame DV0P4170 Single phase 100V/200V Okaya Electric Ind.

5 x 7 150 6-6M 286±3.5 . DV0P3410 Voltage specifications for driver 3-phase 200V Manufacturer's part No.V-781BXZ-4 Okaya Electric Ind.V-781BWZ-4 Okaya Electric Ind. or it may damage the surge absorber. Manufacturer for driver DV0P4190 Single phase 100/200V R . ø4.2 5.2 Circuit diagram (1) (2) (3) 28.5±1 11±1 4.5±0.5 2-ø5.Conformity to EC Directives and UL Standards Option part No.Applicable driver (frame) Manufacturer 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. Voltage specifications Manufacturer's part No.5±0. DV0P1450 Voltage specifications for driver 3-phase 200V 5. Manufacturer R . ø4.0 240 IN 1 OUT 4 5 6 Label (13) (18) 90±1.0 120 2 3 Surge Absorber Provide a surge absorber for the primary side of noise filter.0 270 255±1. Option part No.2±0.5±1 200 +30 -0 UL-1015 AWG16 1 2 3 41±1 Option part No. A . 310 281 4.5±1 11±1 Manufacturer's part No.5±1 200 +30 -0 UL-1015 AWG16 1 2 41±1 <Remarks> Take off the surge absorber when you execute a dielectric test to the machine or equipment. A . Circuit diagram 2-ø5.5 281 Circuit diagram (1) (2) 28.2±0.

values (M4:1. M5: 2.32 "Driver and List of Applicable Peripheral Equipments" of Preparation.0N•m) may break the terminal block. For the rated current of the circuit breaker or fuse. motor cable. <Note> For driver and applicable peripheral equipments. Confirm that the effective current of the driver does not exceed the rated current. E164620). Set up the peak permissible current with Pr5E (Setup of 1st torque limit) and Pr5F (Setup 2nd torque limit). Supplement 311 . (2) Do not make a joint connection to the protective earth terminals ( ). Option part No.32.28 to 41.2N•m. "System Configuration and Wiring" Conformity to UL Standards Observe the following conditions of (1) and (2) to make the system conform to UL508C (File No. encoder cable and interface cable) * In case of D-frame. Ground-Fault Breaker Install a type B ground fault breaker (RCD) at primary side of the power supply.[Supplement] Noise Filter for Signal Lines * Install noise filters for signal lines to all cables (power cable. (e. Install in the control box with IP54 enclosure. (1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1. <Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables. DV0P1460 ZCAT3035-1330 39±1 34±1 Mass: 62. (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. "Driver and List of Applicable Peripheral Equipments" of Preparation. install 3 noise filters at power line.8g Manufacturer TDK Corp. 2 terminals are provided for protective earth. Manufacturer's part No.) (2) Install a circuit breaker or fuse which are UL recognized (LISTED marked) between the power supply and the noise filter without fail. Tightening torque of more than the max. refer to P. Driver and List of Applicable Peripheral Equipments (EC Directives) Refer to P. 13±1 30±1 Grounding (1) Connect the protective earth terminal ( ) of the driver and the protective earth terminal (PE) of the control box without fail to prevent electrical shocks. refer to P.g. Use a copper cable with temperature rating of 60˚C or higher.

5kW.Options Specifications of for Motor Connector • Pin disposition for encoder connector MSMA MDMA MFMA MHMA MGMA MSMA MDMA MFMA MHMA MGMA • Pin disposition for motor/brake connector (with brake) MSMA 1kW. 2kW MFMA 400W. Content PS K A NC NC L B PS NC M C NC NC NC D N NC P E NC R F NC NC S G EOV NC T H E5V NC Frame J GND N/MS3102A20-29P • Specifications of 17bit absolute/incremental encoder Pin No.5kW. JL04V-2E20-18PE-B-R (by Japan Aviation Electronics or equivalent) Pin No.5kW MFMA 400W. A B C D E F G H I Content NC NC NC U-phase V -phase W-phase Earth Earth NC Do not connect anything to NC pins. 1. 4kW. 5kW MHMA 2kW. 2kW MDMA 1kW. 3kW.5kW. A B C D E F G H I Content Brake Brake NC U-phase V-phase W-phase Earth Earth NC • Pin disposition for motor/brake connector (without brake) MSMA 1kW.3kW. 4kW.4kW. 5kW MFMA 2. 3kW.5kW MHMA 2kW.5kW MFMA 2. 5kW MDMA 3kW. A B C D Content U-phase V-phase W-phase Earth JL04V-2E20-18PE-B-R (by Japan Aviation Electronics or equivalent) PIN No.5kW A B E H I C F M L K J T S H A N B C P R D E F L K J M T S H A N B P R D E G G F N/MS3102A20-29P • Specifications of 2500P/r incremental encoder Pin No. Content Pin No.4kW.5kW. 312 . 1. 4.5kW MGMA 900W MSMA 3kW. 2kW MDMA 1kW. G H A F I B E D C Content NC NC NC U-phase V -phase W-phase Earth Earth NC JL04V-2E24-11PE-B-R (by Japan Aviation Electronics or equivalent) PIN No.5kW G D A D A F E H I D A B C D A B E C F I C B C B G H JL04V-2E20-4PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D Content U-phase V-phase W-phase Earth JL04V-2E22-22PE-B-R (by Japan Aviation Electronics or equivalent) PIN No.3kW. 4kW. 2kW MHMA 500W. 5kW MDMA 3kW.5kW. G H A F I B E D C Content Brake Brake NC U-phase V-phase W-phase Earth Earth NC JL04V-2E24-11PE-B-R (by Japan Aviation Electronics or equivalent) Pin No. 1. 4. 1kW. Content PS K A NC NC L B PS NC M C NC NC NC D N NC P E NC R F NC NC S G EOV BAT–* T H E5V BAT+* Frame J GND *Connection to Pin-S and T are not required when used in incremental. 1.5kW MHMA 500W. Content Pin No.5kW MGMA 900W G C F E H I D C A B D G MSMA 3kW. 4. 1. 4. 1.5kW. 4kW.5kW MGMA 2kW. 1.5kW MGMA 2kW. 1. 1kW.

5kW MDMA 1.[Supplement] Table for junction cable by model of MINAS A4 series Motor type MAMA 100W to 750W MSMD 50W to 750W 2500P/r.4kW. 5-wire Motor MSMA 3.5kW MGMA 900W MSMA 2.4-3 Fig. MFECA0**0EAE MFECA0**0EAD MFECA0**0EAM MFMCA0**0EED MFMCB0**0GET MFECA0**0ESE MFECA0**0ESD MFECA0**0ESD MFMCD0**2ECD MFMCA0**2FCD MFECA0**0ESE MFECA0**0ESD MFECA0**0ESD MFMCD0**2ECT MFMCA0**2FCT MFECA0**0ESE MFECA0**0ESD MFECA0**0ESD MFMCA0**3ECT MFMCA0**3FCT MFECA0**0ESE MFECA0**0ESD MFECA0**0ESD MFMCA0**2ECD MFMCA0**2FCD MFECA0**0ESE MFECA0**0ESD MFECA0**0ESD MFMCD0**3ECT MFMCA0**3FCT Fig. 5-wire without Brake Brake 17bit. 7-wire 2500P/r.5-1 Fig. 1.5kW Encoder 2500P/r.0kW MGMA 2. 7-wire 2500P/r.5kW to 1.5kW Motor MFMA 0.2-5 Fig.0kW to 5.3-6 Fig. 1.2-4 Fig.2-1 Fig.2-4 Fig.2-5 Fig.0kW to 4.2-5 Fig. 5-wire Motor MFMA 2. 4.3-5 Fig.3-2 Fig.5kW.0kW to 5.5kW MHMA 0.4-3 Supplement 313 . 5-wire Motor without Brake Brake With battery holder for absolute encoder Without battery holder for absolute encoder With battery holder for absolute encoder Without battery holder for absolute encoder without Brake Brake 17bit.0kW.2-4 Fig.4-1 Fig.2-5 Fig.2-4 Fig.2-5 Fig.2-2 Fig.No. 7-wire With battery holder for absolute encoder Without battery holder for absolute encoder Encoder 17bit.2-5 Fig. 7-wire With battery holder for absolute encoder Without battery holder for absolute encoder Motor Encoder 2500P/r.4-1 Fig.0kW Encoder MDMA 3. 7-wire Type of junction cable With battery holder for absolute encoder Without battery holder for absolute encoder Part No of junction cable Fig.2-4 Fig.0kW MHMA 2.0kW.2-3 Fig.3-1 Fig.0kW MDMA 2.3-3 Fig. 1.2-5 Fig. 5-wire without Brake Brake 17bit.0kW to 5.2-5 Fig.0kW 2500P/r. 7-wire With battery holder for absolute encoder Without battery holder for absolute encoder MQMA 100W to 400W Encoder 17bit.2-5 Fig.2-5 Fig.3-4 Fig.4-2 Fig. 5-wire Motor Brake MSMA 1.5kW Encoder without Brake Brake 17bit.

55100-0600 or 3 MFECA0030EAM Connector Molex Inc. MHMA.5) (4) (14) (4) Part No.8) MFECA0**0ESE Fig. MFMA 17-bit incremental encoder without battery holder.20mm x 3P Electric Cable Co. 2-1 L 110 300 (ø8) MSMD 50W to 750W. 55100-0600 or Connector 55100-0670 (lead-free) Straight plug N/MS3106B20-29S Cable clamp N/MS3057-12A 2 Cable 0. MQMA100W to 400W. Title 110 300 (ø8) Note) Battery for absolute encoder is an option.5) Part No. Manufacturer L(m) Part No. 551055100-0600 or 3 MFECA0030EAE Connector Molex Inc. Title (16) MFECA0**0EAM Fig. MFECA0**0ESD Fig. Japan Aviation Electronics Ind.20mm2 x 3P Electric Cable Co. 55100-0670 (lead-free) 5 MFECA0050EAM Connector 172160-1 10 MFECA0100EAM Tyco Connector pin Electronics AMP 20 MFECA0200EAM 170365-1 Oki Cable 0.20mm x 4P Electric Cable Co. Manufacturer L(m) Part No. MFMA 17-bit absolute encoder with battery holder Part No. 55100-0670 (lead-free) 5 MFECA0050EAE Connector 172161-1 10 MFECA0100EAE Tyco Connector pin Electronics AMP 20 MFECA0200EAE 170365-1 Oki 2 Cable 0. 2-2 MSMD 50W to 750W. Manufacturer L(m) Part No. 55100-0600 or 3 MFECA0030EAD Connector Molex Inc. Title (11. MHMA.Options Junction Cable for Encoder MFECA0**0EAE Fig. 55100-0670 (lead-free) 5 MFECA0050EAD Connector 172161-1 10 MFECA0100EAD Tyco Connector pin Electronics AMP 20 MFECA0200EAD 170365-1 Oki 2 Cable 0. MAMA 100W to 750W 17-bit incremental encoder without battery holder L (ø6. MDMA. MFECA0**0EAD Fig. MAMA 100W to 750W 17-bit absolute encoder with battery holder Part No. 55100-0600 or 3 MFECA0030ESE Connector Molex Inc.20mm x 4P Electric Cable Co. MGMA. 2-3 MSMD 50W to 750W. MQMA 100W to 400W. Title (16) (4) (14) (4) Note) Battery for absolute encoder is an option. Cable clamp N/MS3057-12A 20 MFECA0200ESE Oki 2 Cable 0. Manufacturer L(m) Part No. MDMA. MAMA 100W to 750W 2500P/r encoder L (ø6. Oki Electric Cable Co.20mm x 3P Title Manufacturer Molex Inc. 2-4 L MSMA. MQMA 100W to 400W. 2-5 MSMA. MGMA. 55100-0670 (lead-free) 5 MFECA0050ESE Straight plug N/MS3106B20-29S Japan Aviation 10 MFECA0100ESE Electronics Ind. L(m) 3 5 10 20 Part No. MFECA0030ESD MFECA0050ESD MFECA0100ESD MFECA0200ESD 314 . 2500P/r encoder L (ø6.5) (4) (14) (4) Part No.

0kW to 1.5kW L (ø12.0kW. L(m) 3 5 10 20 Part No.0kW.75-8GY 5 MFMCA0050EED 10 MFMCA0100EED J.0kW MHMA 2.0mm2 Daiden Co. 3-6 (ø14) ø37. Phoenix Rod terminal AI2. MFMCA0**0EED Fig.[Supplement] Junction Cable for Motor (ROBO-TOP® 105˚C 600V • DP) ROBO-TOP® is a trade mark of Daiden Co.3 MFECA0**3ECT Fig.5-8BU J. 3-2 MSMA 1.T Mfg.. Manufacturer 172159-1 Connector Tyco L(m) Part No.. MFMCA0033ECT MFMCA0053ECT MFMCA0103ECT MFMCA0203ECT MFMCA0**2ECD Fig.0mm2 Daiden Co. MDMA 3. round terminal 2 Daiden Co. Cable ROBO-TOP 600V 2.0) MFMCD0**2ECD Fig.Ltd.S.0kW.25-M4 round terminal Ltd.. Ltd..T Mfg.75mm2 Daiden Co.T Mfg. Phoenix Rod terminal AI2.S. Cable L(m) 3 5 10 20 Part No. 20 MFMCA0200EED ROBO-TOP 600V 0.Ltd.S.5kW MHMA 500W to 1. L(m) 3 5 10 20 Part No. Manufacturer Straight plug JL04V-6A22-22SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind.7 315 .Ltd.Ltd. round terminal ROBO-TOP 600V 3.Ltd. Cable ROBO-TOP 600V 2.0kW to 5. Manufacturer Straight plug JL04V-6A20-4SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. Ltd.0kW L (50) Title Part No.5-5 J.Ltd. Cable (12. MAMA 100W to 750W L (ø11) (50) (4) (10.0kW to 4.5-5 J. Manufacturer Straight plug JL04V-6A20-4SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind.5) (50) Title Part No. ROBO-TOP 600V 3. round terminal ROBO-TOP 600V 2.0) (4) Title Part No. 3-4 (ø14) MSMA 3. Nylon insulated N5......0kW to 5.3 MFMA 2. MFMCD0032ECT MFMCD0052ECT MFMCD0102ECT MFMCD0202ECT ø37. MFMCA0032ECD MFMCA0052ECD MFMCA0102ECD MFMCA0202ECD MFMCD0**3ECT Fig. Nylon insulated N1. Ltd. Cable L(m) 3 5 10 20 Part No. Nylon insulated N5.5 MFMA 400W to 1.5-8BU J. Nylon insulated N2-M4 round terminal Ltd. MFMCD0032ECD MFMCD0052ECD MFMCD0102ECD MFMCD0202ECD MFMCD0**2ECT Fig. 3-1 (50) MSMD 50W to 750W. MGMA 2. Electronics AMP 170366-1 Connector pin 3 MFMCA0030EED Phoenix Rod terminal AI0.S.5kW to 4. MDMA 2. Manufacturer Straight plug JL04V-6A20-18SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. Co.S. MQMA 100W to 400W.5kW L (50) Title Part No.0mm2 Daiden Co. MFMCD0033ECT MFMCD0053ECT MFMCD0103ECT MFMCD0203ECT Supplement ø43.. MDMA 1.5) (50) Title Part No.5) ø37.5kW L (50) Title Part No. MGMA 900W L (ø12.0kW to 5.5mm Cable L(m) 3 5 10 20 Part No. 3-3 (ø12..5kW.0kW to 1. Nylon insulated N2-5 J.S.3 MSMA 2.T Mfg. Co..5kW. Co. Co.T Mfg. Co. Co. 3-5 ø40.5mm2 Daiden Co..Ltd. Manufacturer Straight plug JL04V-6A24-11SE-EB-R Japan Aviation Cable clamp JL04-2428CK(17)-R Electronics Ind.T Mfg. Nylon insulated N2-M4 round terminal Ltd.

.0kW.Ltd. 10 MFMCA0103FCT and 20 MFMCA0203FCT ROBO-TOP 600V 3. N2-5 Nylon insulated Earth Part No.T Mfg.. Manufacturer Straight plug JL04V-6A20-18SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind.Ltd. 10 MFMCA0102FCT and 20 MFMCA0202FCT ROBO-TOP 600V 2.5mm2 ø43.Ltd.0) .5kW MGMA 2..5kW to 4.0kW to 1..8) MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W L (50) (ø 9 .S. J. MFMA 400W to 1. L(m) round terminal Brake N1. Co.S. (50) L (50 ) Manufacturer Title Part No.. Ltd.25-M4 3 MFMCA0032FCT ROBO-TOP 600V 0. round terminal Brake N1.6) Title Part No. N5.75mm2 Daiden Co. Phoenix Rod terminal AI2.. Connector 3 MFMCB0030GET 172157-1 Tyco Connector pin 170366-1. Co.Ltd. Ltd.S.0kW to 5.0kW MHMA 2.0mm2 MFMCA0**2FCT Fig.5kW.Options Junction Cable for Motor with Brake (ROBO-TOP® 105˚C 600V • DP) MFMCA0**2FCD Fig. MDMA 1.T Mfg.25-M4 3 MFMCA0033FCT ROBO-TOP 600V 0.5kW MGMA 900W L (ø12. L(m) N2-M4 Nylon insulated Earth Part No.0kW to 1.0) (10.S. MFMCB0**0GET Fig.. Straight plug JL04V-6A20-18SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind.5) ROBO-TOP® is a trade mark of Daiden Co. MDMA 2.3 MFMCA0**3FCT Fig. Ltd. J.0kW (ø 9 . 4-2 MSMA 2. 316 (12.T Mfg.0kW to 4.0kW to 5. N1. MDMA 3.25-M4 3 MFMCA0032FCD ROBO-TOP 600V 0.0mm2 ø37. Manufacturer L(m) Part No. Manufacturer Straight plug JL04V-6A24-11SE-EB-R Japan Aviation Cable clamp JL04-2428CK(17)-R Electronics Ind.75mm2 5 MFMCA0052FCT Cable Daiden Co.25-M4 round terminal 20 MFMCB0200GET Cable ROBO-TOP 600V 0.5kW MHMA 500W to 1.T Mfg.5kW. Ltd.75mm2 5 MFMCA0053FCT Cable Daiden Co.7 Junction Cable for Brake (ROBO-TOP® 105˚C 600V • DP) ROBO-TOP® is a trade mark of Daiden Co.0kW to 5.8) (50) L (50 ) Title Part No..8) (5. L(m) round terminal Brake N1.Ltd.5) (50) L (50 ) Title Part No. Co..5kW L (ø14) (ø 9 .170362-1 Electronics AMP 5 MFMCB0050GET 10 MFMCB0100GET Nylon insulated J.5-5 Nylon insulated Earth Part No.. 5-1 (40) (ø9.75mm2 5 MFMCA0052FCD Daiden Co. 4-1 MSMA 1.0kW.Ltd.0kW. 4-3 MSMA 3. Co. MFMA 2.8) L (ø12. 10 MFMCA0102FCD Cable and 20 MFMCA0202FCD ROBO-TOP 600V 2.5-8BU J.

refer to the wiring example of the connector CN I/F. Manufacturer Molex Inc. DV0P4360 2) Dimensions 2000+200 0 50 +10 0 (39) 12. color Pin No.g.7 3) Table for wiring Cable of 2m is connected. <Remarks> Color designation of the cable e. DV0P1960 (DOS/V machine) 2000 33 18 D-sub connector 9P Mini-DIN 8P MD connector Communication Cable (for RS485) L Mini-DIN 8P MD connector Setup Support Software “PANATERM®” 1) Part No.ZSP CCWTL CWTL NC OA SPR/ OFF TRQR/SPL /TRQR 50 FG 49 OB 25 GND 24 OZ Interface Cable 1) Par No. Note For CN X5 (50-pins) 54306-5011 or 54306-5019 (lead-free) 54331-0501 3) Pin disposition (50 pins) (viewed from the soldering side) 26 28 30 32 34 36 38 40 42 44 46 48 COIN-/ CL CSALM IM ZEROSPD/ DIV/ PULSH1 SIGNH1 OB EX-COIN-/ TLC VS-SEL INTSPD3 INTSPD2 MODE RDY AT-SPEED27 29 31 33 35 37 39 41 43 45 47 COIN+/ GAIN/ SRV ASALM SP INH/ PULSH2 SIGNH2 EX-COIN+/ COM TL-SEL -ON CLR INTSPD1 RDY AT-SPEED+ 1 3 5 7 9 11 13 15 17 19 21 23 OPC1 PULS1 SIGN1 COM CCWL BRK. color Pin No. Quantity 1 1 <Cautions> 1) Check the stamped pin-No. 2) For the function of each signal title or its symbol. on the connector body while making a wiring. color Pin No. DVOP1970 DVOP1971 DVOP1972 L[mm] 200 500 1000 Supplement .35) Communication Cable (for connection to PC) Par No.GND GND GND CZ OA OZ OFF 2 4 6 8 10 12 14 16 18 20 22 OPC2 PULS2 SIGN2 CWL BRK. DV0P4350 2) Components Title Connector Connector cover Part No. DV0P4460 (English/Japanese version) 2) Supply media : CD-ROM <Caution> For setup circumstance. 317 25 1 50 26 Part No.[Supplement] Connector Kit for External Peripheral Equipments 1) Par No.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable Pin No. refer to the Instruction Manual of [PANATERM ®]. 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)/ 27 Yellow (Red3) 37 Yellow (Black4) 47 Yellow (Black5) Pink (Blk2) 18 Pink (Red2) 8 Pink (Red1) 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) (52. color Pin No. on the connector body while making a wiring. 3) Check the stamped pin-No.

DV0P4380 2) Components Title Part No. Tyco Electronics AMP Tyco Electronics AMP For CN X6 (6-pins) For junction cable to encoder (6-pins) For junction cable to encoder (4-pins) 3) Pin disposition of connector.1 Manufacturer Tyco Electronics AMP . CN X6 1 E5V 3 E5V 5 PS 2 E0V 4 E0V 6 PS 4) Pin disposition of junction cable for encoder 1 2 3 5) Pin disposition of junction cable for motor power 1 2 NC 4 PS 5 PS 6 U 3 V 4 E5V E0V FG W E ( Case ) FG For DVOP2490.1 755331 . Tyco Electronics AMP Tyco Electronics AMP Note For CN X6 (6-pins) For junction cable to encoder (9-pins) For junction cable to motor (4-pins) 17-bit absolute For brake.270. 55100-0600 or 55100-0670 (lead-free) 172161-1 170365-1 172159-1 170366-1 Number 1 1 9 1 4 Manufacturer Molex Inc. purchase our optional brake cable. • Applicable motor models : MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W 1) Part No. purchase our optional brake cable. "When you make your own cable for 17-bit absolute encoder" • Applicable motor models : MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W 1) Part No. 2500P/r incremental encoder For brake. 755330 . refer to P.Options Connector Kit for Motor/Encoder Connection These are required when you make your own encoder and motor cables. 3) Pin disposition of connector. DV0P4290 2) Components Title Connector Connector Connector pin Connector Connector pin Part No. DV0P3480. Number Manufacturer Note Connector Connector Connector pin Connector Connector pin 55100-0600 or 55100-0670 (lead-free) 172160-1 170365-1 172159-1 170366-1 1 1 6 1 4 Molex Inc. • recommended manual crimp tool (to be prepared by customer) 318 Title For junction cable to encoder For junction cable to motor Part No. CN X6 1 E5V 3 E5V 5 PS 2 E0V 4 E0V 6 PS 4) Pin disposition of junction cable for encoder 1 4 2 5 3 5) Pin disposition of junction cable for motor power BAT+ BAT– PS 7 FG 6 1 2 U 3 V 4 PS 8 NC 9 W E ( Case ) FG E5V E0V NC *When you connect the battery for absolute encoder.

0kW to 5. With brake 2.0kW 3.0kW to 4. motor power • Applicable motor models : MSMA MDMA MHMA MGMA 3.0kW 2500P/r incremental encoder 2.[Supplement] • Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No.5kW Part No.5kW 2500P/r incremental encoder Part No.5kW 2500P/r incremental encoder 900W Part No.0kW 17-bit absolute incremental encoder.0kW 17-bit absolute incremental encoder. motor power 319 . encoder Japan Aviation Electronics For junction cable to Industry Ltd.0kW to 2.0kW to 2. Without brake With brake 1) Part No.5kW 2500P/r incremental encoder 900W 17-bit absolute incremental encoder. motor power • Applicable motor models : MSMA MDMA MHMA MGMA 1. DV0P4320 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp 3.5kW to 4.0kW to 2.0kW to 2. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B20-18S N/MS3057-12A Number 1 1 1 1 1 Manufacturer Molex Inc. Note For CN X6 (6-pins) Japan Aviation Electronics For junction cable to Industry Ltd. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B20-4S N/MS3057-12A Number 1 1 1 1 1 Manufacturer Molex Inc.0kW to 4. encoder Japan Aviation Electronics For junction cable to Industry Ltd.0kW 17-bit absolute incremental encoder. DV0P4340 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp MFMA 2.0kW to 5. Without brake 500W to 1.5kW to 1.0kW 2500P/r incremental encoder 2.0kW 17-bit absolute incremental encoder. Note For CN X6 (6-pins) Japan Aviation Electronics For junction cable to Industry Ltd.0kW 1.0kW to 5. Without brake With brake 1) Part No. With brake 0.0kW to 5. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B24-11S N/MS3057-16A Number 1 1 1 1 1 Manufacturer Molex Inc.5kW 2500P/r incremental encoder Part No.0kW 1. DV0P4330 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp MFMA 0.4kW to 1. Without brake 2. Note For CN X6 (6-pins) Japan Aviation Electronics For junction cable to Industry Ltd. DV0P4310 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp 1. encoder Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd.0kW to 5. Note Supplement For CN X6 (6-pins) Japan Aviation Electronics For junction cable to Industry Ltd.0kW to 5. 55100-0600 or 55100-0670 (lead-free) N/MS3106B-20-29S N/MS3057-12A N/MS3106B22-22S N/MS3057-12A Number 1 1 1 1 1 Manufacturer Molex Inc.5kW 17-bit absolute incremental encoder. motor power • Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No.0kW 3.

5 2-M4.6 7 28 28 7 2-M4.2 ø5 10 . Pan head 9.2 2.5 C-frame DV0P 4273 2.6 M4 x L6 Pan head 4pcs 15 10 18 ±0.2 2.6 10 40 60 10 40 ±0.5 17 Bottom side 2-M4.6 11 ±0.2 60 <Caution> For E and F-frame.5 A-frame DV0P 4271 15 M4 x L6 Pan head 4pcs 11 ±0.2 5.6 10 R2 . DV0P4420 (62) (24) (15) (114) Name plate M3 L5 Tightening torque for the insert screw shall be 0.5 17 2-M4.2 2ø5 .2 . screw driver Dimensions Upper side 2-M4.6 2. (15) (1500) MD connector Mini DIN-8P 320 . Pan head 19 36 ±0.2 5. Pan head 17 9.6 2. Pan head B-frame DV0P 4272 2.5 17 9. Pan head 9.2 5.2 15 . you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).Options Mounting Bracket Frame symbol Mounting of applicable part No.6 2.5 9.2 2.2 ø5 30 ±0. Pan head 17 9.6 5. Pan head 17 9.2 ø5 10 2.6 15 10 36 ±0.6 18 ±0.2 2.6 2.6 7 21 21 7 2-M4.2 2.6 R2 .2 5.6 2.5 2-M4.6 M4 x L6 Pan head 4pcs 15 10 30 ±0.6 20 40 10 20 40 2-M4. Console Part No. Pan head 17 17 9.5N • m or less.2 15 2.6 15 2.2 D-frame DV0P 4274 M4 x L6 Pan head 4pcs 15 10 5 2.

0 ø7.2 D Fig. C Fig. 200V DV0P220 400W 500W 400W to 750W 400W DV0P221 400W to 750W 400W DV0P220 DV0P221 3-phase.) 2. 1. 2004. After that. (Refer to JEM-TR 210 and JEM-TR 225. “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system” and “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles” established by the Agency for Natural Resources and Energy of the Ministry of Economy. 321 Supplement .0 ø7. JEMA applies the technical documents JEM-TR 226 and JEM-TR 227 to any users who do not fit into the “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system” from a perspective on enlightenment on general harmonic restraint. 200V 500W 750W Motor Power series supply MGMA MSMA MDMA MHMA MFMA MSMA MDMA 3-phase.81 3 4. We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose inverter and servo driver was modified as follows. 100V Rated Inductance current (mH) (A) 6. the “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles” was abolished on September 6.5kW 2.0kW DV0P222 C D DV0P223 DV0P224 4. JEM-TR 199 and JEM-TR 201) and have been requesting the users to understand the restraint and to cooperate with us. However.0kW DV0P225 Harmonic restraint On September.5kW 3. 1994. X Y Z A 65 60 60 60 60 60 55 55 55 55 B 125 150 150 150 150 150 80 80 80 80 C 83 113 113 113 113 113 68 68 68 68 D 118 137 137 137 137 137 90 90 90 90 E 145 120 130 140 145 160 90 90 95 105 F 70 60 70 79 84 100 41 41 46 56 G 85 75 95 95 100 115 55 55 60 70 H 7(w) x 12(L) 7(w) x 12(L) 7(w) x 12(L) 7(w) x 12(L) 7(w) x 12(L) 7(w) x 12(L) ø7. the Japan Electrical Manufacturers’ Association (JEMA) have prepared technical documents (procedure to execute harmonic restraint: JEM-TR 198.81 3 4.1 (Mounting pitch) A 4-H (Mounting pitch) F B G Fig.[Supplement] Reactor Fig.0 ø7.All types of the general-purpose inverters and servo drivers used by specific users are under the control of the “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system”.39 11 Part No.5kW 1. it has been decided to exclude the general-purpose inverter and servo driver from the “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”. The purpose of these guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent.0kW 2.02 5 2 8 1. 2004.1 Part No. On January. based on conventional guidelines.02 5 2 8 1.39 11 0. Trade and Industry (the ex-Ministry of International Trade and Industry).848 16 0. According to those guidelines.557 25 6. MHMA 200V MGMA MFMA MSMA MDMA MHMA MGMA MSMA MDMA MHMA Rated output 900W 1.0kW 1. 2004.0 I M4 M4 M4 M4 M4 M5 M4 M4 M4 M4 NP R S T 6-1 E DV0P220 DV0P221 DV0P222 DV0P223 DV0P224 DV0P225 DV0P226 DV0P227 DV0P228 DV0P229 Power supply Single phase.The “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles” was abolished on September 6.2 2-1 E (Mounting pitch) A 4-H (Mounting pitch) F B G Motor series MSMD MQMA MSMD MQMA MSMD MQMA MAMA MFMA MHMA MSMD MQMA MAMA MAMA MFMA MHMA MSMD MAMA Rated output 50W to 100W 100W Part No. The users who are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must take appropriate countermeasures if the harmonic current exceeds a limit value specified in a contract demand. DV0P227 200W to 400W DV0P228 50W to 200W 100W to 200W Single phase.

5A 250VAC 10000 times 3m/s 45 45 75 75 150 200 Manufacturer : Iwaki Musen Kenkyusho * Power with which the driver can be used without activating the built-in thermostat.5 5 thermostat (light yellow x2) Frame 13 52 60 23 21 8 56±0. DV0P4280.8 thermostat (light yellow x2) 30 1. Ltd. 322 20 10 71 10 . The thermal fuse may blow due to heat dissipating condition.6V 2000mAh 18 84 Lead wire length 50mm ZHR-2 (J.5 65 57 DV0P4282. ER6V. load inertia is large or deceleration time is short) Install a fan for a forced cooling if necessary. 3. 200V Single phase.Options External Regenerative Resistor Part No. which brings large regeneration (such case as high supply voltage. working temperature. 200V DV0P4281 DV0P4280 A DV0P4283 DV0P4282 – DV0P4283 DV0P4284 DV0P4285 Arrange 2 DV0P4285 in a parallel 4-Ø4. Make it sure that the surface temperature of the resistor may not exceed 100˚C at the worst running conditions with the machine. and you may be required to present an application of hazardous substance when you transport by air (both passenger and cargo airlines). supply voltage or load fluctuation. <Caution> Regenerative resistor gets very hot.) BAT+ BAT– 1 2 DV0P2990 00090001 14. Co.5 450 300±30 85±1 5 160±0.5 24 28±0. Avoid the installation near inflammable objects.5 Power supply Single phase. Take preventive measures for fire and burns. 100V 3-phase. DV0P2990 (2) Lithium battery by Toshiba Battery Co.5 10 B C D E F 7 DV0P4284 2.DV0P4283 170±1 6-Ø4.5 17 Drawing process (2mm MAX) 25. Ω 50 RF70M RF70M 100 RF18B 25 RF18B 50 RF240 30 RH450F 20 Specifications Rated power (reference) * Free air with fan [W] [W] 1m/s 2m/s 35 10 25 10 35 25 17 60 50 60 17 50 40 120 100 160 52 130 Activation temperature of built-in thermostat 140±5˚C B-contact Open/Close capacity (resistance load) 4A 125VAC 10000 times 2.5 14.5 Ø4 7 300 278 thermostat (light yellow x2) thermostat (light yellow x2) 100 25 4. Compose the circuit so that the power will be turned off when the thermostat is activated. DV0P4280 DV0P4281 DV0P4282 DV0P4283 DV0P4284 DV0P4285 Manufacturer's Resistance part No.5 450 140 130 15 100 50 288 18 11 70 15 53 14 450 300 10MAX <Remarks> 9MAX Thermal fuse is installed for safety.5 450 13 13 450 10MAX 10MAX 6.T Mfg.S.5 Paper insulator <Caution> This battery is categorized as hazardous substance.5 300 290 280 DV0P4285 (5) 300 . Battery For Absolute Encoder Battery (1) Part No. DV0P4281 300 2-Ø4.. and easily accessible place by hand.

jp/ 81-3-3621-2703 http://www.jp 81-3-3492-2161 http://www. Hirose Electric Co.renesas.com/japan/amp 81-462-65-2313 http://www. Mitutoyo Corp.jp 81-44-833-4311 http://www.jp 81-3-5716-7290 http://www. Tel No. Co.5kW • TNR9V820K Nippon Chemi_Con Co.co.0kW 1.co. Ishizuka Electronics Corp.com/jpn/ 81-3-5201-7229 http://www.jp/ 81-45-543-1271 http://www.jae.T Mfg.jp (reference only) As of Nov.k. Japan Molex Inc.co. Ltd.co.co. Daiden Co.mitutoyo.S.co. Renesas Technology Corp.co.tdk.com/ 81-3-5805-5880 http://www.co.0kW 400W 2.molex..chemi_con.okayatec. Iwaki Musen Kenkyusho Co.jp 81-44-844-8111 http://www.co.Recommended components Surge Absorber for Motor Brake Motor MSMD MAMA MHMA MGMA MSMA MDMA MFMA MDMA MFMA MFMA MHMA 50W to 1.0kW 900W to 2.hirose. • C-5A3 or Z15D151 Ishizuka Electronics Co.dyden.mew.jp/ 81-44-813-5410 http://www. Ltd.iwakimusen. Japan Aviation Electronics Industry.jp/ 81-3-3780-2717 http://www.jp/ 81-6-6233-9511 http://www. Ltd. Supplement 323 ..5kW List of Peripheral Equipments Manufacturer Automation Controls Company Matsushita Electric Works.jst-mfg.0kW to 4.5kW 1. TDK Corp...co.jp/ 81-3-3424-8120 http://www. Sumitomo 3M Tyco Electronics AMP k. Surge absorber for motor brake [Supplement] MGMA 3. Nippon Chemi_Con Corp. Okaya Electric Industries Co.0kW 1.jp/ 81-3-5436-7608 http://www. We may change the manufacturer without notice. Ltd. Ltd.5kW to 5.0kW to 5. • C-5A2 or Z15D151 Ishizuka Electronics Co.tycoelectronics./URL 81-6-6908-1131 http://www. Ltd.mmmco. Ltd.5kW to 4.5kW 500W to 1.co.0kW to 5.semitec.0kW 4.0kW 100W to 750W 2.2004 Peripheral components Non-fuse breaker Magnetic contactor Surge absorber Regenerative resistor Surge absorber for holding brake Noise filter for signal lines Surge absorber Noise filter Connector Cable Linear scale * The above list is for reference only. J.0kW to 3.

Co.2 Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3.2 7 (75) 5.S.2 Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3. CN X5 Encoder terminals.2 (75) 150 170 180 Name plate .S.T. Molex Inc.6 Name plate 150 170 180 R2 5. J. Ltd.S. Mfg.Co. Mfg.) Motor connecting terminals CN X2 RS485 communication terminal.. CN X5 Encoder terminals.T. Molex Inc.Co. Mass 0. Ltd. CN X7 R 2. when you use the optional mounting bracket.6 140 5 6 140 6 6 . J. * Refer to P. Molex Inc..1kg 324 5 .Co. "Mounting bracket for driver"of Options. Molex Inc.S. Ltd..322.Co.. Mfg.S.Co. Mfg.322.. J. CN X4 Control signal terminals. Ltd.T. Ltd.2 22 130 Mounting bracket (Option) Ø5 . CN X3 RS232/RS485 communication terminal.. CN X3 RS232/RS485 communication terminal. when you use the optional mounting bracket. Mfg.8kg B-frame 55 Mounting bracket (Option) 28 7 Ø 5.Co. CN X4 Control signal terminals.2 Mounting bracket (Option) Rack mount type (Option : Front-end mounting) Mounting bracket (Option) 43 Connector at driver side Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN X2 CN X1 Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S04B-F32SK-GGXR (or equivalent) Manufacturer Molex Inc.T.T. CN X6 External scale terminals. J. Mfg. CN X6 External scale R2.T.T. R2 Mounting bracket (Option) 7 5.. Base mount type (Standard : Back-end mounting) * Refer to P. Mass 1. "Mounting bracket for driver"of Options.2 22 130 Mounting bracket (Option) Ø5 41 .S. J. J. CN X7 5. J.S.) Motor connecting terminals CN X2 RS485 communication terminal.6 terminals.T. Mfg.S.2 Rack mount type (Option : Front-end mounting) Mounting bracket (Option) 28 Base mount type (Standard : Back-end mounting) Connector at driver side Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN X2 CN X1 Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S04B-F32SK-GGXR (or equivalent) Manufacturer Molex Inc.Co.Dimensions (Driver) A-frame 40 Mounting bracket (Option) 21 7 Ø 5.. Mfg. Ltd. Ltd. Ltd. J.

2 (75) Air movement (inside out) Rack mount type (Option : Front-end mounting) Mounting bracket (Option) . J. Ltd.2 Ø5 Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3. CN X4 Control signal terminals. CN X3 150 170 180 Name plate 140 .) Motor connecting terminals CN X2 RS485 communication terminal. Mfg.2 Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3..T.S. CN X6 External scale terminals. Mfg. Mfg. CN X6 External scale terminals.S. Mfg.S.5 Supplement * Refer to P.S. Molex Inc.T. J. Ltd. CN X5 Encoder terminals. CN X3 RS232/RS485 communication terminal.5 Connector at driver side Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN X2 CN X1 Rack mount type (Option : Front-end mounting) Base mount type (Standard : Back-end mounting) Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S05B-F32SK-GGXR (or equivalent) Manufacturer Molex Inc. Mass 1.. J. Molex Inc..Co.) Motor connecting terminals CN X2 Mounting bracket (Option) RS485 communication terminal.T.. J.T.T. Mfg.6 5..T.S.Co. "Mounting bracket for driver"of Options. J. "Mounting bracket for driver"of Options.. Ltd.Co. J.Co. * Refer to P.2 20 40 (75) Mounting bracket (Option) Mounting bracket (Option) R2 5. Ltd.T.Co.5kg D-frame 85 Air movement (inside out) Mounting bracket 10 (Option) Ø5 . J.6 RS232/RS485 communication terminal.Co.6 R2 5.2 50 7.T.Co. when you use the optional mounting bracket.322. CN X4 Control signal terminals. 5.[Supplement] C-frame Mounting bracket (Option) 65 40 Ø5 . 22 Mounting bracket (Option) Ø5 . Ltd.S..S. J. Ltd. Ltd.. CN X7 6 R2. Molex Inc. Molex Inc.6 R2 10 Name plate 150 170 180 140 R2. 5 5 7.322. Mass 1.2 170 22 20 Mounting bracket (Option) . when you use the optional mounting bracket.S. Mfg. Ltd. CN X7 .2 60 40 170 2 Ø 5.2 70 Base mount type (Standard : Back-end mounting) Connector at driver side Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN X2 CN X1 Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S05B-F32SK-GGXR (or equivalent) Manufacturer Molex Inc. Mfg.7kg 325 . Mfg. CN X5 Encoder terminals.Co.2 40 5.

Mfg. CN X6 External scale terminals. Ltd.2 65 15 (75) Connector at driver side Connector type Manufacturer Connector sign CN X7 53460-0629 (or equivalent) Molex Inc. CN X4 MD-S8000-10 (or equivalent) J.T.6 3.Dimensions (Driver) E-frame 5. CN X4 MD-S8000-10 (or equivalent) J.S. CN X4 Control signal terminals. CN X4 Control signal terminals.5 5.Co.3 2. CN X5 529865079 (or equivalent) Molex Inc. CN X3 RS232/RS485 communication terminal.2 42.2 15 5.T.2kg F-frame 5.1 2.Co. Mfg. Mfg. CN X3 MD-S8000-10 (or equivalent) J.2 Air movement (inside out) (88) 85 50 42. .2 5. Mfg.0kg 326 .2 200 32. Ltd.2 Ø5 130 100 65 . CN X3 RS232/RS485 communication terminal..Co.. CN X6 External scale terminals.6 3. CN X7 Name plate 220 240 250 Air movement (from front to back) Ø5 5..2 200 32. CN X5 Encoder terminals.S. Ltd.S..5 17.T.Co. CN X3 MD-S8000-10 (or equivalent) J.S.T.2 5. Mass 3.2 (75) 50 Air movement (inside out) Connector at driver side Connector type Manufacturer Connector sign CN X7 53460-0629 (or equivalent) Molex Inc. Ltd.5 Mounting bracket (Standard) Mounting bracket (install the standard to back end) Main power input terminals Control power input terminals Regenerative resistor connecting terminals (Short between B1 and B2 in normal operation) Motor connecting terminals Earth terminals RS485 communication terminal.5 Mounting bracket (Standard) Mounting bracket (install the standard to back end) Main power input terminals Control power input terminals Regenerative resistor connecting terminals (Short between B1 and B2 in normal operation) Motor connecting terminals Earth terminals RS485 communication terminal. CN X5 529865079 (or equivalent) Molex Inc.5 Ø5 . CN X7 168 188 198 Name plate 5.5 17.2 100 85 Mass 6. CN X6 53460-0629 (or equivalent) Molex Inc. CN X6 53460-0629 (or equivalent) Molex Inc.2 Ø5 . CN X5 Encoder terminals.

6 2.5 1. MAMA series (Ultra low inertia) Motor output Motor model MAMA 100W 012P1 * 012S1 * 200W 022P1 * 022S1 * 400W 042P1 * 042S1 * 750W 082P1 * 082S1 * Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions 17-bit 17-bit 17-bit 17-bit 2500P/r 2500P/r 2500P/r 2500P/r Absolute/ Absolute/ Absolute/ Absolute/ Incremental Incremental Incremental Incremental Incremental Incremental Incremental Incremental 110.2 1.6 1.5 5h9 5 11 1. "Options".71 0.5 35 19 90 70 80 3 8 53 6 25 22 6h9 6 15.2 127 154.65 0.5 138 24 8 48 22 42 2 7 34 3. 327 .0 154 182 160 192.5 LL LK KW KH RH Without brake With brake 0.91 1.85 RH KH LW LK LH KW Supplement Mass (kg) Connector/Plug specifications Refer to P.9 126 154 139 167 30 14 70 50 60 3 7 43 4.5 1.5 3.5 3h9 3 6. Contact us or a dealer for the latest information.1 175 207.0 3.4 14 12.318.3 4.5 0.4 4.Dimensions (Motor) • MAMA 100W to 750W Encoder connector Motor connector Brake connector [Supplement] LL LR LF LE Motor cable 230 LC 200 (Key way dimensions) 4-ØLZ ØSh6 ØLA ØLBh7 * Dimensions are subject to change without notice. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.1 1.5 111 139 30 11 70 50 60 3 7 43 4.5 20 18 4h9 4 8.5 25 22.

"Options". MSMD series (low inertia) Motor output Motor model MSMD 5A * P1 * 2500P/r Incremental 72 102 25 8 45 30 38 3 6 32 26. Contact us or a dealer for the latest information.5 3.Dimensions (Motor) • MSMD 50W to 100W Encoder connector Brake connector Motor connector LL LF LR LE 230 (Key way dimensions) 200 4-ØLZ LC LW LK ØSh6 LH ØLA ØLBh7 RH KH KW LN TP * Dimensions are subject to change without notice.53 Refer to P.4 14 12.2 M3 x 6 (depth) Without brake With brake 0.47 0.5 3.5 3h9 3 6.2 M3 x 6 (depth) 0.68 100W 01 * S1 * 17-bit Absolute/ Incremental Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LN LZ LW Key way dimensions LK KW KH RH TP Mass (kg) LL Connector/Plug specifications <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 50W 5A * S1 * 17-bit Absolute/ Incremental 01 * P1 * 2500P/r Incremental 92 122 25 8 45 30 38 3 6 32 46.5 3h9 3 6.318.32 0.4 14 12. 328 .

Contact us or a dealer for the latest information.2 1.5 5h9 5 11 M5 x 10 (depth) 1.318. "Options".82 1.[Supplement] • MSMD 200W to 750W (Key way dimensions) Brake connector Motor connector LW LK KH Encoder connector KW LL LF LR LE RH TP 220 200 4-ØLZ LC ØSh6 ØLA * Dimensions are subject to change without notice.5 43 4.5 20 18 4h9 4 8.5 25 22. 329 .5 30 11 70 50 60 3 6.5 M5 x 10 (depth) 2.3 02 * S1 * 17-bit Absolute/ Incremental 04 * P1 * 2500P/r Incremental 400W 04 * S1 * 17-bit Absolute/ Incremental 08 * P1 * 2500P/r Incremental 750W 08 * S1 * 17-bit Absolute/ Incremental Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LN LZ LW Key way dimensions ØLBh7 LL 98.5 135 30 14 70 50 60 3 6.5 M4 x8 (depth) Without brake With brake 0.7 Refer to P.1 LK KW KH RH TP Supplement Mass (kg) Connector/Plug specifications <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.5 43 4. LH 112 149 35 19 90 70 80 3 8 53 6 25 22 6h9 6 15.3 3. MSMD series (low inertia) Motor output Motor model MSMD 200W 02 * P1 * 2500P/r Incremental 79 115.

5 20 18 4h9 4 8.5 200W 02 * S1 * 17-bit Absolute/ Incremental 94 126.5 30 11 90 70 80 5 8 53 5.1 1.5 Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions LK KW KH RH TP Mass (kg) LL Connector/Plug specifications Refer to P.65 0. "Options".75 1.00 1.4 2.3 2.2 M3 x 6(depth) Without brake With brake 0. Contact us or a dealer for the latest information.318.90 0.Dimensions (Motor) • MQMA 100W to 400W Encoder connector Motor connector LL LR Brake connector LF 220 (7) (7) 200 LE 4-ØLZ LC (Key way dimensions) LW LK ØSh6 ØLBh7 øLA RH KH LH KW TP * Dimensions are subject to change without notice.6 400W 04 * S1 * 17-bit Absolute/ Incremental 109 141. MQMA series (low inertia) Motor output Motor model MQMA 100W 01 * P1 * 2500P/r Incremental 60 84 25 8 70 50 60 3 7 43 4.8 2.5 14 12.5 M4 x 8(depth) 1. 330 .5 30 14 90 70 80 5 8 53 5.5 25 22. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.0 01 * S1 * 17-bit Absolute/ Incremental 87 111 02 * P1 * 2500P/r Incremental 67 99.5 3h9 3 6.5 04 * P1 * 2500P/r Incremental 82 114.9 2.5 5h9 5 11 M5 x 10(depth) 1.

MSMA series (low inertia) Motor output Motor model MSMA 1.312. 331 .5 5.5 6. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.1 5.[Supplement] • MSMA 1.5 6.0kW 20 * P1 * 2500P/r Incremental 205 230 55 19 115 95 100 135 3 10 84 103 9 45 42 6h9 6 15.0kW 10 * P1 * 2500P/r Incremental 175 200 55 19 100 80 90 120 3 7 84 98 6.5 7.5 7.5 Without brake With brake 4. "Options".5 5.6 45 42 6h9 6 15.5 10 * S1 * 17-bit Absolute/ Incremental 175 200 1.1 6.1 4.5 5. Contact us or a dealer for the latest information.0kW Motor/Brake connector Encoder connector LL LF LR ØSh6 LC (Key way dimensions) LE 4-ØLZ LW LH KH LG LK KW ØLBh7 * Dimensions are subject to change without notice.9 20 * S1 * 17-bit Absolute/ Incremental 205 230 Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions LL LK KW KH RH RH D ØL ØL A Supplement Mass (kg) Connector/Plug specifications Refer to P.5kW 15 * P1 * 2500P/r Incremental 180 205 55 19 115 95 100 135 3 10 84 103 9 45 42 6h9 6 15.9 15 * S1 * 17-bit Absolute/ Incremental 180 205 2.1 6.0kW to 2.

0 9.9 30 * S1 * 17-bit Absolute/ Incremental 217 242 4.8 Refer to P.0kW 40 * P1 * 2500P/r Incremental 240 265 65 24 145 110 130 165 6 12 84 118 9 55 51 8h9 7 20 12.312.3 11.0kW 30 * P1 * 2500P/r Incremental 217 242 55 22 130/145 (slot) 110 120 162 3 12 84 111 9 45 41 8h9 7 18 Without brake With brake 09.0 12. 332 RH D ØL ØL A .3 11.8 14.0kW 50 * P1 * 2500P/r Incremental 280 305 65 24 145 110 130 165 6 12 84 118 9 55 51 8h9 7 20 17.0kW to 5.Dimensions (Motor) • MSMA 3.9 17.3 19.0kW Motor/Brake connector Encoder connector LL LF LR ØSh6 LC (Key way dimensions) LE 4-ØLZ LW LH KH LK KW LG ØLBh7 LC Ø135 D ØL Ø145 LZ * Dimensions are subject to change without notice.2 50 * S1 * 17-bit Absolute/ Incremental 280 305 Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ Key way dimensions LW LK KW KH RH Mass (kg) LL Connector/Plug specifications <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.2 14. "Options". 40 * S1 * 17-bit Absolute/ Incremental 240 265 5. MSMA series (low inertia) Motor output Motor model MSMA 3. Contact us or a dealer for the latest information.3 19.

"Options".5kW 15 * S1 * Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 150 175 175 200 55 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 8. 333 .7 8.0kW 10 * S1 * 15 * P1 * 1.8 8.0kW to 1.5 10. Contact us or a dealer for the latest information.[Supplement] • MDMA 1.312.7 6. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.1 1.5 10.5kW Motor/Brake connector Encoder connector LL LR LC LF LG LE ØSh6 ØLBh7 LH 4-ØLZ (Key way dimensions) LW LK * Dimensions are subject to change without notice.1 175 200 LL LK KW KH RH RH ØL D ØL A KH KW Supplement Mass (kg) Connector/Plug specifications Refer to P.8 8. MDMA series (Middle inertia) Motor output Motor model MDMA 10 * P1 * 2500P/r Incremental 150 175 55 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 Without brake With brake 6.

6 16.6 12.5 2.6 12. "Options".6 16.0kW Motor/Brake connector Encoder connector LL LR LC LF LG LE ØSh6 ØLBh7 LH 4-ØLZ (Key way dimensions) LW LK * Dimensions are subject to change without notice.312. MDMA series (Middle inertia) Motor output Motor model MDMA 20 * P1 * 2500P/r Incremental 200 225 55 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 Without brake With brake 10. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. Contact us or a dealer for the latest information.0kW 20 * S1 * 30 * P1 * 3.5 14.5 10.5 250 275 LL LW LK KW KH RH Mass (kg) Connector/Plug specifications Refer to P. 334 RH ØL D ØL A KH KW .0kW to 3.0kW 30 * S1 * Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ Key way dimensions 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 200 225 250 275 65 24 145 110 130 165 6 12 84 118 9 55 51 8h9 7 20 14.Dimensions (Motor) • MDMA 2.

0kW Motor/Brake connector Encoder connector LL LR LC LF LG LE LH ØSh6 ØLBh7 4-ØLZ (Key way dimensions) LW LK * Dimensions are subject to change without notice.2 18 84 128 11 55 51 8h9 7 24 Without brake With brake 18. "Options".3 176 233 3. Contact us or a dealer for the latest information.0 28.0kW 50 * S1 * Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 242 267 225 250 70 35 200 114.312.5 225 250 LL LK KW KH RH RH ØL D ØL A KH KW Supplement Mass (kg) Connector/Plug specifications Refer to P.5 55 50 10h9 8 30 25.3 18.5 4.2 18 84 143 13.0kW 40 * S1 * 50 * P1 * 5.[Supplement] • MDMA 4.0kW to 5.0 28.8 21. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.3 25. MDMA series (Middle inertia) Motor output Motor model MDMA 40 * P1 * 2500P/r Incremental 242 267 65 28 165 130 150 190 3.8 21. 335 .

0kW 20 * S1 * Rotary encoder specifications 2500P/r Incremental Without brake With brake LR S LA LB LC LD LE LF LG LH LZ Key way dimensions LW LK KW KH RH Mass (kg) Without brake With brake 8.0 175 200 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 175 200 182 207 80 35 200 114.0 182 207 LL 70 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 Connector/Plug specifications Refer to P.5 10.5 21.0 17.5 10.312. 336 RH D ØL ØL A . "Options".2 18 84 143 13.5 21. MGMA series (Middle inertia) Motor output Motor model MGMA 09 * P1 * 900W 09 * S1 * 20 * P1 * 2.3 176 233 3. Contact us or a dealer for the latest information. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.Dimensions (Motor) • MGMA 900W to 2.0 17.0kW Encoder connector Motor/Brake connector LL LR LC (Key way dimensions) LF LE LG ØSh6 LH 4-ØLZ LW LK KH KW * Dimensions are subject to change without notice.5 55 50 10h9 8 30 8.0kW MGMA 900W to 2.

5kW 45 * S1 * Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ Key way dimensions LW LK KW KH RH Mass (kg) 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 222 271 300.0 39.0 28.5 337. "Options".[Supplement] • MGMA 3.0 39.5 3.5kW MGMA 3.312.5 96 90 12h9 8 37 34.5 34.3 176 233 3.0kW Motor/Brake connector LL LR LC LF LE 4-ØLZ Encoder connector LG ØSh6 ØL Bh7 LH ØL D ØL A MGMA 4.5 LL RH KH KW Supplement Connector/Plug specifications Refer to P. 337 .3 176 233 3.0 28.5 25.2 24 84 143 13.5 300.5kW Motor/Brake connector LL LR LF LE (Key way dimensions) LW LK LC Eye bole (Thread 10) Encoder connector LG ØSh6 ØL Bh7 LH 4-ØLZ D ØL ØL A * Dimensions are subject to change without notice.0kW to 4. Contact us or a dealer for the latest information.2 18 84 143 13. MGMA series (Middle inertia) Motor output Motor model MGMA 30 * P1 * 2500P/r Incremental 222 271 80 35 200 114.0kW 30 * S1 * 45 * P1 * 4. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.5 55 50 10h9 8 30 Without brake With brake 25.5 337.5 113 42 200 114.

338 RH D ØL ØL A .5 55 50 10h9 8 30 4.0 11. Contact us or a dealer for the latest information. MFMA series (Middle inertia) Motor output Motor model MFMA 04 * P1 * 400W 04 * S1 * 15 * P1 * 1.7 11.7 6.5kW 15 * S1 * Rotary encoder specifications 2500P/r Incremental Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 120 145 145 170 65 35 200 114.Dimensions (Motor) • MFMA 400W to 1.5kW Encoder connector Motor/Brake connector LL LF LR LE LC 4-ØLZ (Key way dimensions) LW LH ØSh6 LK KH LG KW ØLBh7 * Dimensions are subject to change without notice. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.312.7 Mass (kg) Connector/Plug specifications Refer to P.0 145 170 LL 120 145 55 19 145 110 130 165 6 12 84 118 9 45 42 6h9 6 15.3 176 233 3.0 14.0 14. "Options".2 18 84 143 13.5 LK KW KH RH Without brake With brake 4.7 6.

[Supplement] • MFMA 2. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. Contact us or a dealer for the latest information.9 24.312.3 2.5kW to 4.5 19.5kW Encoder connector Motor/Brake connector LL LF LR LE LC 4-ØLZ (Key way dimensions) LW LH ØSh6 LK KH LG KW ØLBh7 * Dimensions are subject to change without notice.5kW 25 * S1 * 45 * P1 * 4.5 14.3 163 194 LL LK KW KH RH RH D ØL ØL A Supplement Mass (kg) Connector/Plug specifications Refer to P.5kW 45 * S1 * Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 139 166 163 194 70 35 235 200 220 268 4 16 84 164 13.5 55 50 10h9 8 30 Without brake With brake 14. "Options".5 55 50 10h9 8 30 19.8 17. MFMA series (Middle inertia) Motor output Motor model MFMA 25 * P1 * 2500P/r Incremental 139 166 65 35 235 200 220 268 4 16 84 164 13. 339 .9 24.8 17.

Contact us or a dealer for the latest information. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.9 5.0 11.312.5kW 15 * P1 * 2500P/r Incremental 200 225 70 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 10.5kW Encoder connector Motor/Brake connector LL LR LC LF LG LE LH 4-ØLZ ØSh6 ØLBh7 (Key way dimensions) LW KH LK KW * Dimensions are subject to change without notice.9 9. "Options".5 10.Dimensions (Motor) • MHMA 500W to 1. 340 RH ØL D ØL A .3 6.5 05 * S1 * 17-bit Absolute/ Incremental 150 175 1.0 11.3 6.6 10 * S1 * 17-bit Absolute/ Incremental 175 200 1.9 9.0kW 10 * P1 * 2500P/r Incremental 175 200 70 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 8.6 15 * S1 * 17-bit Absolute/ Incremental 200 225 Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ Key way dimensions LL LW LK KW KH RH Mass (kg) Connector/Plug specifications Refer to P.9 8. MHMA series (High inertia) Motor output Motor model MHMA 500W 05 * P1 * 2500P/r Incremental 150 175 70 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 Without brake With brake 5.

5 RH ØL D Ø LA Supplement Mass (kg) Connector/Plug specifications Refer to P.2 18 84 143 13.7 18. Contact us or a dealer for the latest information.2 21.3 176 233 3.2 18 84 143 13. 341 .0kW 20 * P1 * 20 * S1 * 3.3 176 233 3.2 230 255 255 280 80 35 200 114.7 30. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.7 22.0kW 40 * P1 * 40 * S1 * 5.0kW 30 * P1 * 30 * S1 * 4.5 205 230 230 255 80 35 200 114.5 18.5 55 50 10h9 8 30 22.0kW Encoder connector Motor/Brake connector LL LR LC LF LG (Key way dimensions) LE LH 4-ØLZ LW ØSh6 ØLBh7 KH LK KW * Dimensions are subject to change without notice.0kW to 5.3 176 233 3.3 176 233 3.2 18 84 143 13.0 25.[Supplement] • MHMA 2.0 25. MHMA series (High inertia) Motor output Motor model MHMA 2.0 19.5 55 50 10h9 8 30 26.7 30.2 21.5 55 50 10h9 8 30 190 215 205 230 80 35 200 114.2 255 280 LL LK KW KH RH Without brake With brake 16.5 55 50 10h9 8 30 16.0kW 50 * P1 * 50 * S1 * Rotary encoder specifications Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW Key way dimensions 17-bit 17-bit 17-bit 17-bit 2500P/r 2500P/r 2500P/r 2500P/r Absolute/ Absolute/ Absolute/ Absolute/ Incremental Incremental Incremental Incremental Incremental Incremental Incremental Incremental 190 215 80 35 200 114.0 19.2 18 84 143 13. "Options".5 26.312.

8 98 196 343 196 343 147 196 294 196 490 MSMD MSMA MQMA MDMA MHMA MFMA MGMA 980 1176 <Note> When the load point varies. calculate the permissible radial load. 4.0kW 3.8 392 147 196 245 98 686 686 980 147 392 980 1666 980 1666 980 1862 980 1666 2058 294 392 588 88 147 588 784 588 784 588 686 588 784 980 686 392 490 686 117.5kW to 3.6 245 490 784 490 784 392 490 784 686 1176 1470 147 147 196 343 58.6 68. 400W 750W 1kW 1.0kW 400W 1.6 196 686 980 686 980 392 392 490 784 68.0kW to 2.5kW 900W 2.0kW 100W 200W.5kW 2. 100W 200W.5kW 2.0kW to 5.0kW 500W to 1.Permissible Load at Output Shaft Radial load (P) direction Thrust load (A and B) direction L A M B L/2 P Unit : N (1kgf=9.0kW 4. 400W 1. L (mm) from the mounting flange based on the formula of the right table. Motor series Motor output 50W 100W Formula of Load and load point relation P= P= P= P= P= 3533 L+39 4905 L+59 14945 L+46 19723 L+65.0kW 3.0kW 5.5kW.8N) Motor series Motor output 50W. and make it smaller than the calculated result.5 37044 L+77 MSMD 200W 400W L P 750W 342 .0kW to 5.0kW. P (N) from the distance of the load point.0kW 4.6 58.5kW At assembly During running Thrust load Thrust load A Radial thrust Radial thrust and B-direction A-direction B-direction 147 88 117. 4.

82) * Continuous torque vs.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (1. ambient temp. ambient temperature characteristics have been measured with an aluminum flange attached to the motor (approx. ambient temp.16) * Continuous torque vs. MQMA series (100W to 400W) With and without oil seal • MQMA011 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage. 100 50 torque • [Nm] 4. 100 50 (3.3) 0 10 40 20 30 ambient temp.0 * Continuous torque vs. [ ˚C] 0 2000 4000 6000 speed [r/min] 0 10 20 30 40 ambient temp. 100 0.0 • [Nm] (3.19) 0 Continuous running range (5000) 50 1.0 Peak running range Continuous running range (1.0 * Continuous torque vs. 100 50 (1.95) 0.0 Peak running range (0.0 * Continuous torque vs.0 • [Nm] (7.) torque • [Nm] 2. Contact us when you use these values for your machine design. rated torque [%] torque • [Nm] 2. 100 2. torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) Supplement Continuous running range speed 343 . [ ˚C] • MQMA021 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage. ambient temp. 100 50 * Continuous torque vs.5 Peak running range (0. rated torque [%] torque • [Nm] 1. ambient temp.91) 1.0 • [Nm] (0.5 Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] (0. rated torque [%] • MQMA012 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.0 Peak running range Continuous running range 0 1000 2000 3000 4000 4500 speed [r/min] (3. [ ˚C] 0 2000 4000 6000 speed [r/min] 0 10 20 30 40 ambient temp.91) 1.0 ratio vs.) ratio vs. without brake. [ ˚C] • MQMA041 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.5 Peak running range Continuous running range (0. [ ˚C] * These are subject to change.82) 2.91) * Continuous torque vs.95) 0. • When you lower the torque limit setup (Pr5E and 5F).0 Peak running range (1.0 Peak running range (0. rated torque [%] Input voltage to driver: AC200V torque 1.64) 0 (0.Motor Characteristics (S-T Characteristics) [Supplement] • Note that the motor characteristics may vary due to the existence of oil seal or brake. rated torque [%] Input voltage to driver: AC200V torque 4.3) (1.0 * Continuous torque vs.) ratio vs. * Ratio to the rated torque at ambient temperature of 40˚C is 100% in case of without oil seal. 100 Input voltage to driver: AC200V torque 8. rated torque [%] • MQMA042 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. rated torque [%] • MAMA022 * 1 * * Continuous torque vs. rated torque [%] torque • [Nm] 4.) ratio vs. • Continuous torque vs.) ratio vs. ambient temp. [ ˚C] 0 1000 2000 3000 4000 5000 speed [r/min] 0 10 40 20 30 ambient temp. twice as large as the motor flange).95) Input voltage to driver: AC200V torque 2. rated torque [%] • MQMA022 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.32) (0. [ ˚C] 0 0 10 40 20 30 ambient temp. ambient temp. [ ˚C] • MAMA042 * 1 * ratio vs.0 * Continuous torque vs. [ ˚C] MAMA series (100W to 750W) without oil seal • MAMA012 * 1 * ratio vs. [ ˚C] 0 1000 2000 3000 4000 5000 speed [r/min] 0 10 40 20 30 ambient temp. 100 ratio vs. ambient temp. ambient temp. running range at high speed might be lowered as well. 100 50 torque • [Nm] 1.38) Continuous running range (5000) 50 2000 4000 6000 speed [r/min] 0 10 20 30 40 ambient temp.32) 0 10 40 20 30 ambient temp.82) 2. ambient temp.76) 0 Continuous running range (5000) 50 4.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (0.0 • [Nm] (1. 100 50 (0. rated torque [%] • MAMA082 * 1 * ratio vs.43) Continuous running range (5000) 50 2000 4000 6000 speed [r/min] 0 10 20 30 40 ambient temp. ambient temp.64) 0 10 40 20 30 ambient temp.) ratio vs.

ambient temp. ambient temp.5 ratio vs.16) (0.) * Continuous torque vs. ratio vs. [ ˚C] • MSMD012 * 1 * Input voltage to driver: AC200V • MSMD012 * 1 * Input voltage to driver: AC200V ratio vs. running range at high speed might be lowered as well.Motor Characteristics (S-T Characteristics) MSMD series (50W to 100W) without oil seal • MSMD5AZ * 1 * Input voltage to driver: AC100V/200V (Dotted line represents torque at 10% less voltage.0 with brake (0.32) Continuous running range 0 10 20 30 40 ambient temp. rated torque [%] torque • [Nm] 0.5 (0. [ ˚C] 0 0 10 20 30 40 ambient temp.25 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (0. * Ratio to the rated torque at ambient temperature of 40˚C is 100% in case of without oil seal.0 with brake 100 95 50 torque • [Nm] 1. Contact us when you use these values for your machine design.32) (0.0 ratio vs. ambient temp. [ ˚C] 0 1000 2000 3000 4000 5000 speed [r/min] 0 10 20 30 40 ambient temp.5 * Continuous torque vs.48) 0. ambient temp. ambient temp.5 Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] 1.) with oil seal • MSMD5AZ * 1 * Input voltage to driver: AC100V/200V (Dotted line represents torque at 10% less voltage. without brake. torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) Continuous running range speed 344 .32) Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] (0. • MSMD011 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.5 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (0.) * Continuous torque vs.95) Peak running range 0. [ ˚C] 0 0 10 20 30 40 ambient temp. without brake 100 75 70 50 with brake (0.0 ratio vs. ambient temp.95) 0. rated torque [%] * Continuous torque vs. without brake 100 70 60 50 with brake (0.25 Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] (0. rated torque [%] torque • [Nm] 1. rated torque [%] torque • [Nm] with brake 100 95 50 torque • [Nm] 1. rated torque [%] with brake 100 95 50 torque • [Nm] 0.48) 0.95) 0.16) 0 10 20 30 40 ambient temp.95) Peak running range 0. • When you lower the torque limit setup (Pr5E and 5F). [ ˚C] • MSMD011 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.5 (0.) * Continuous torque vs. [ ˚C] * These are subject to change. * Continuous torque vs.32) 0 10 20 30 40 ambient temp. rated torque [%] without brake 100 75 70 50 (0. ratio vs.

) • MSMD042 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.8) 2.0 Peak running range Continuous running range 4.0 Peak running range (0.[Supplement] MSMD series (200W to 750W) without oil seal • MSMD021 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage. rated torque [%] torque • [Nm] 4.91) 1. 100 50 without brake with brake (1. rated torque [%] • MSMD082 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. rated torque [%] torque • [Nm] 8.8) 2. Contact us when you use these values for your machine design.) torque • [Nm] 2. 100 50 * Continuous torque vs. 100 75 50 (3. 100 50 torque • [Nm] 8.) ratio vs.8) 2.3) 0 (1.1) 4. 100 50 (7. 100 90 50 ratio vs. ambient temp.0 (1.0 torque • [Nm] 4. [ ˚C] 0 1000 2000 3000 4000 5000 speed [r/min] 1. [ ˚C] 0 0 10 20 30 40 ambient temp. rated torque [%] * Continuous torque vs. 345 .0 * Continuous torque vs. [ ˚C] 0 0 10 20 30 40 ambient temp.0 With oil seal • MSMD021 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.91) (0.91) 1.0 • MSMD022 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs.3) 0 (1.1) 4.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (1. ambient temp. rated torque [%] ratio vs. 100 90 50 • MSMD041 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage. [ ˚C] • MSMD041 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.0 * Continuous torque vs. ambient temp.4) 0 (2. ambient temp. ambient temp.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (7. ambient temp. rated torque [%] * Continuous torque vs.0 ratio vs. rated torque [%] torque • [Nm] * Continuous torque vs. [ ˚C] • MSMD042 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. 100 80 70 50 ratio vs.64) 0 10 20 30 40 ambient temp.64) 0 (0.4) 0 10 40 20 30 ambient temp.) torque • [Nm] 2.64) Continuous running range 0 10 20 30 40 ambient temp.) * Continuous torque vs. [ ˚C] 0 1000 2000 3000 4000 5000 speed [r/min] 0 10 20 30 40 ambient temp.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (0.0 * Continuous torque vs. rated torque [%] ratio vs.8) 2. 100 75 50 (3.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (2. rated torque [%] * Continuous torque vs.0 * Continuous torque vs. [ ˚C] * These are subject to change.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (3. [ ˚C] • MSMD082 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. [ ˚C] • MSMD022 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. [ ˚C] 0 Supplement 0 10 40 20 30 ambient temp. without brake 100 80 70 with brake (1.3) 0 10 20 30 40 ambient temp.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (3. rated torque [%] torque • [Nm] 4.91) 1. ambient temp.0 Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] (1.) ratio vs.) ratio vs. ambient temp.0 ratio vs.) torque • [Nm] 2.3) 0 10 20 30 40 ambient temp.) torque • [Nm] 2.0 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (1. ambient temp. ambient temp.64) 0 10 20 30 40 ambient temp.

ambient temp.) without brake with brake • MSMA302 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.5) 15 (9.5) 20 Peak running range 10 (7.36) (9.) ratio vs.6) 0 (15.0kW to 5. [ ˚C] ambient temp. ambient temp.4) 10 Peak running range 5 (4.6) Peak running range 15 (6. [ ˚C] • MSMA202 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.8) Continuous running range 0 1000 2000 (2200) 100 50 (21. ambient temp. 100 90 85 50 ratio vs. 100 85 70 50 torque • [Nm] 30 * Continuous torque vs. 100 90 85 50 without brake with brake (19.Motor Characteristics (S-T Characteristics) MSMA series (1.18) Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] 5 Peak running range (14. rated torque [%] torque • [Nm] 10 * Continuous torque vs.6) 25 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (12. [ ˚C] • MSMA402 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. rated torque [%] ratio vs.) * Continuous torque vs.) ratio vs. 100 50 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40 speed [r/min] ambient temp. 100 50 torque • [Nm] 15 * Continuous torque vs.) ratio vs. ambient temp. ambient temp. [ ˚C] MDMA series (1. rated torque [%] * Continuous torque vs. rated torque [%] torque • [Nm] 20 * Continuous torque vs.3) 7. rated torque [%] • MDMA152 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. [ ˚C] * These are subject to change.54) 0 Peak running range Continuous running range (2200) 100 50 1000 2000 3000 speed [r/min] 0 10 20 30 40 ambient temp. 346 . [ ˚C] speed [r/min] ambient temp. rated torque [%] • MSMA502 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.5) (3. [ ˚C] ambient temp. Contact us when you use these values for your machine design. [ ˚C] • MDMA202 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. torque • [Nm] 15 (14. ambient temp. torque • [Nm] 30 (28.1) 10 Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] (28. [ ˚C] ambient temp.0kW) With oil seal • MSMA102 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs.) ratio vs.0kW) With oil seal • MDMA102 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.54) 0 10 20 30 40 0 Continuous running range 1000 2000 3000 4000 5000 speed [r/min] 0 10 20 30 40 ambient temp. ambient temp. 100 85 50 without brake with brake (9.77) 0 10 20 30 40 0 1000 2000 3000 4000 5000 speed [r/min] 0 10 20 30 40 ambient temp.8) 0 10 20 30 40 0 0 10 20 30 40 ambient temp. rated torque [%] • MSMA152 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs.) * Continuous torque vs.15) Continuous running range ratio vs. rated torque [%] torque • [Nm] 40 without brake with brake torque • [Nm] 50 * Continuous torque vs. 100 70 50 (37.5 Peak running range Continuous running range (3500) (4.0kW to 2.9) 20 Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] (47. rated torque [%] torque • [Nm] * Continuous torque vs. ambient temp. ambient temp.

15) 10 20 30 40 0 Continuous running range ratio vs. 100 50 torque • [Nm] * Continuous torque vs. rated torque [%] * Continuous torque vs.5 (1.4) 70 Peak running range 35 (23.) torque • [Nm] • MFMA452 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. [ ˚C] speed [r/min] ambient temp. 100 50 (30.5) 20 Peak running range 10 (7. torque • [Nm] * Continuous torque vs. running range at high speed might be lowered as well. ambient temp.3) Continuous running range • MDMA402 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. 100 85 70 50 (56.4) 50 Peak running range 25 (18.8) 0 Continuous running range 1000 2000 3000 speed [r/min] 0 10 20 30 40 ambient temp. [ ˚C] speed [r/min] ambient temp. • When you lower the torque limit setup (Pr5E and 5F).) torque • [Nm] 50 (42. ambient temp.8) Continuous running range 10 20 30 40 0 1000 2000 3000 without brake with brake 0 1000 2000 3000 0 0 10 20 30 40 speed [r/min] ambient temp. rated torque [%] torque • [Nm] * Continuous torque vs. rated torque [%] * Continuous torque vs.9) 0 100 50 (21. ambient temp. [ ˚C] • MFMA252 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. 100 50 ratio vs.) ratio vs. Contact us when you use these values for your machine design.9) 50 Peak running range 25 (21. 100 90 85 50 without brake with brake (71.0kW to 5.3) 5 Peak running range 2. [ ˚C] MFMA series (400W to 4. torque Running range (Torque limit setup : 300%) Supplement Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) Continuous running range speed 347 . [ ˚C] speed [r/min] ambient temp. ambient temp.5) 10 20 30 40 0 Continuous running range 0 1000 2000 3000 0 1000 2000 3000 0 10 20 30 40 speed [r/min] ambient temp. rated torque [%] ratio vs. 100 50 Continuous running range 1000 2000 3000 0 1000 2000 3000 0 10 20 30 40 speed [r/min] ambient temp.) * Continuous torque vs.5kW) With oil seal • MFMA042 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.4) 30 Peak running range 15 (11.9) Peak running range 25 (14. ambient temp. ambient temp. ambient temp.) ratio vs.) torque • [Nm] • MFMA152 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.0kW) With oil seal • MDMA302 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. [ ˚C] • MDMA502 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. rated torque [%] (5. rated torque [%] torque • [Nm] * Continuous torque vs.[Supplement] MDMA series (3.) ratio vs. rated torque [%] ratio vs. [ ˚C] * These are subject to change.8) Continuous running range (54.

[ ˚C] Continuous running range speed MGMA series (900W to 4.4) 70 ratio vs. [ ˚C] • MHMA152 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.9) Continuous running range 35 (28. 100 50 100 50 Peak running range 10 (7. ambient temp.) torque • [Nm](21. Contact us when you use these values for your machine design.) torque (107) • [Nm] 100 * Continuous torque vs.4) 10 Peak running range ratio vs. 348 . running range at high speed might be lowered as well. ambient temp. ambient temp. torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) Peak running range 35 (23.5kW) With oil seal • MGMA092 * 1 * Input voltage to driver: AC200V ratio vs.9) • MHMA402 * 1 * Input voltage to driver: AC200V ratio vs.3) 0 Peak running range Continuous running range 25 (18. rated torque [%] * Continuous torque vs.8) 0 Continuous running range 1000 2000 3000 speed [r/min] 0 10 20 30 40 ambient temp. rated torque [%] * Continuous torque vs. (Dotted line represents torque at 10% less voltage. 100 50 Continuous running range 5 (4.) torque • [Nm](71.62) 0 Peak running range Continuous running range 25 (19.4) 0 Peak running range Continuous running range 1000 2000 0 10 20 30 40 0 1000 2000 0 10 20 30 40 speed [r/min] ambient temp. rated torque [%] torque (6. rated torque [%] (Dotted line represents torque at 10% less voltage. rated torque [%] * Continuous torque vs. [ ˚C] * These are subject to change.) (Dotted line represents torque at 10% less voltage. ambient temp.15) Continuous running range 15 (9. rated torque [%] (Dotted line represents torque at 10% less voltage. rated torque [%] (Dotted line represents torque at 10% less voltage. 100 50 Peak running range 50 (42.) torque • [Nm] 70 (63.8) Continuous running range 0 10 40 20 30 ambient temp.4) • [Nm] 100 50 85 Peak running range 50 Continuous running range 1000 2000 3000 0 1000 2000 3000 0 10 20 30 40 speed [r/min] ambient temp. [ ˚C] speed [r/min] ambient temp. 100 50 10 (8. [ ˚C] • MHMA302 * 1 * Input voltage to driver: AC200V torque • [Nm] 50 (42. 100 50 ratio vs.5) ratio vs. ambient temp. rated torque [%] (Dotted line represents torque at 10% less voltage.8) 10 20 30 40 0 ratio vs.) torque • [Nm] 20 (19. ambient temp.54) 10 40 20 30 ambient temp.) * Continuous torque vs.) ratio vs. [ ˚C] 0 1000 2000 3000 speed [r/min] (2200) 1000 2000 3000 speed [r/min] 0 10 40 20 30 ambient temp. [ ˚C] • MGMA302 * 1 * Input voltage to driver: AC200V ratio vs.0kW) With oil seal • MHMA052 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.0) • [Nm] 5.7) • MGMA452 * 1 * Input voltage to driver: AC200V * Continuous torque vs.5) 20 • MHMA202 * 1 * Input voltage to driver: AC200V ratio vs. rated torque [%] torque • [Nm] 30 (28.) * Continuous torque vs. rated torque [%] (Dotted line represents torque at 10% less voltage. ambient temp.0 * Continuous torque vs. [ ˚C] speed [r/min] ambient temp. rated torque [%] * Continuous torque vs.38) 0 torque • [Nm] 15 (14. 100 50 Peak running range 2.Motor Characteristics (S-T Characteristics) MHMA series (500W to 5. torque ambient temp.1) 10 20 30 40 ambient temp.) • MHMA102 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.5 (2. ambient temp. [ ˚C] 0 Peak running range Continuous running range 1000 2000 speed [r/min] 0 1000 2000 0 10 20 30 40 speed [r/min] ambient temp. (56. 100 50 ratio vs.3) • MGMA202 * 1 * Input voltage to driver: AC200V * Continuous torque vs. 100 85 50 • When you lower the torque limit setup (Pr5E and 5F). ambient temp. [ ˚C] • MHMA502 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage. 100 50 25 (14.) torque • [Nm] 50 (44) * Continuous torque vs. [ ˚C] 0 Peak running range Continuous running range 0 1000 2000 3000 speed [r/min] 0 (2200) 1000 2000 3000 speed [r/min] 0 10 40 20 30 ambient temp. ambient temp.

represents the structure of the motor. 200V 3-phase. Check the series name. Incremental Specifications. of Motor with Gear Reduce Model Designation Symbol MSMD [Supplement] M S M D 0 1 1 P 3 1 N 1~4 5~6 7 8 9 10 Type Low inertia Motor rated output Voltage Symbol Output specifications 01 100W 02 04 08 200W 400W 750W Symbol Specifications 1 100V 2 200V Reduction ratio Symbol Reduction ratio 1N 1/5 2N 1/9 3N 1/15 4N 1/25 Rotary encoder specifications Specifications Symbol Pulse count Resolution Wire count Format 2500P/r P Incremental 10. 2500P/r <Remark> Do not use the driver and the motor with gear reducer in other combinations than the one in the following table. • Incremental specifications. 200V • Absolute/Incremental specifications. rated output and voltage specifications and the encoder specifications of the applicable motor. of driver MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MCDDT3520 MCDDT3520 Frame of driver A-frame B-frame C-frame A-frame Reduction ratio of 1/5 MSMD011S * 1N MSMD021S * 1N MSMD041S * 1N MSMD012S * 1N MSMD022S * 1N MSMD042S * 1N MSMD082S * 1N MSMD082S * 1N Reduction ratio of 1/9 MSMD011S * 2N MSMD021S * 2N MSMD041S * 2N MSMD012S * 2N MSMD022S * 2N MSMD042S * 2N MSMD082S * 2N MSMD082S * 2N Reduction ratio of 1/15 MSMD011S * 3N MSMD021S * 3N MSMD041S * 3N MSMD012S * 3N MSMD022S * 3N MSMD042S * 3N MSMD082S * 3N MSMD082S * 3N 100W 200W 400W 100W 200W 400W 750W 750W Single phase. 2500P/r Applicable motor with gear reducer Power supply Single phase. of driver MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MCDDT3520 MCDDT3520 Frame of driver A-frame B-frame C-frame A-frame B-frame C-frame C-frame Reduction ratio of 1/5 MSMD011P * 1N MSMD021P * 1N MSMD041P * 1N MSMD012P * 1N MSMD022P * 1N MSMD042P * 1N MSMD082P * 1N MSMD082P * 1N Reduction ratio of 1/9 MSMD011P * 2N MSMD021P * 2N MSMD041P * 2N MSMD012P * 2N MSMD022P * 2N MSMD042P * 2N MSMD082P * 2N MSMD082P * 2N Reduction ratio of 1/15 MSMD011P * 3N MSMD021P * 3N MSMD041P * 3N MSMD012P * 3N MSMD022P * 3N MSMD042P * 3N MSMD082P * 3N MSMD082P * 3N 100W 200W 400W 100W 200W 400W 750W 750W Single phase. 100V Rated output of motor Applicable driver Reduction ratio of 1/25 MSMD011S * 4N MSMD021S * 3N MSMD041S * 4N MSMD012S * 4N MSMD022S * 3N MSMD042S * 4N MSMD082S * 4N MSMD082S * 4N Model No. 349 . 200V Supplement B-frame C-frame C-frame <Note> • "*" of the model No. 100V Rated output of motor Applicable driver Reduction ratio of 1/25 MSMD011P * 4N MSMD021P * 3N MSMD041P * 4N MSMD012P * 4N MSMD022P * 3N MSMD042P * 4N MSMD082P * 4N MSMD082P * 4N Model No.072 7-wire Motor structure Holding brake Shaft Symbol Without With Key way 3 4 Combination of Driver and Motor with Gear Reducer This driver is designed to be used in the combination with the specified motor model.000 5-wire 17bit S Absolute/Incremental common 131.Motor with Gear Reducer Model No. 17bit Applicable motor with gear reducer Power supply Single phase. 200V 3-phase.

2 98.Dimensions/Motor with Gear Reducer Motor with Gear Reducer L LT LL LM (LG) KB1 LF LH LR LQ 230 *(220) 200 Rotary encoder lead wire Motor lead wire LE LN LK (G) øSh6 øJ øLP øLBh7 (unit : mm) Model MSMD01 * P31N MSMD01 * P32N MSMD01 * P33N MSMD01 * P34N MSMD02 * P31N MSMD02 * P32N Without brake Motor Reduction output rati0 L 191.5 320 149 123.5 50 42 61 50 8 61 30 70 19 62 17 22 89.5 25.5 76 100 40 30 40 90 70 90 24 19 24 75 62 75 18 17 18 28 104 97.5 255.5 78 50 32 30 20 70 50 19 12 62 45 17 10 22 92 89.5 307.5 42 61 50 40 30 90 70 24 19 75 62 18 17 28 50 30 70 19 62 17 22 115.5 93 22.5 28 110 67.5 122 98 24 40.5 22.5 100 104 97.5 3 14 72.5 25.8 30 20 70 50 19 12 62 45 17 10 22 92 89.5 229 LL LM LT KB1 LF LR LQ LB 6 32 50 32 6.5 MSMD MSMD082P34N MSMD01 * P41N MSMD01 * P42N MSMD01 * P43N MSMD01 * P44N MSMD02 * P41N MSMD02 * P42N With brake 6 32 20 50 12 45 10 14 25 MSMD02 * P43N MSMD02 * P44N MSMD04 * P41N MSMD04 * P42N MSMD04 * P43N MSMD04 * P44N MSMD082P41N MSMD082P42N MSMD082P43N MSMD082P44N 34 350 .5 6.5 285 300 292.5 20 50 S 12 LP LH 45 10 J (LG) LE (G) 1/5 100W 1/9 1/15 1/25 1/5 200W 1/9 1/15 1/25 1/5 400W 1/9 1/15 1/25 1/5 750W 1/9 1/15 1/25 1/5 100W 1/9 1/15 1/25 1/5 200W 1/9 1/15 1/25 1/5 400W 1/9 1/15 1/25 1/5 750W 1/9 1/15 1/25 14 67.5 MSMD02 * P33N MSMD02 * P34N MSMD04 * P31N MSMD04 * P32N MSMD04 * P33N MSMD04 * P34N MSMD082P31N MSMD082P32N MSMD082P33N 79 56.5 52.5 22 93.5 263.5 100 89.5 22.5 202 234 183.5 34 5 3 5 238 248.5 52.8 112 86.5 232 264 220 255 265.5 270.5 22.5 100 3 14 72.5 110 5 5 3 22 93.5 274.5 218.5 78 25 92 68 24 40.5 283 221.2 8 61 40 90 24 75 18 28 135 112.

670 1.683 1.548 0.560 1.5 2. and converted to that of the motor shaft .00 98 78 98 MSMD 115 90 115 M8 M6 M8 52 78 52 60 90 60 M5 M6 M5 12 20 12 4 x 4 x 16 6 x 6 x 22 4 x 4 x 16 2.528 0.02 3.5 LN Mass (kg) Moment of inertia (x 10–4kg • m2) 1.5 3.448 3.428 2.0915 0.54 78 90 M6 20 6 x 6 x 22 3.460 0.5 43 3.5 4 53 4.620 4 x 4 x 16 6 x 6 x 22 4 x 4 x 16 32 1.9 5.2 6.580 0.560 0.7 6.0910 0.520 1.0940 0.5 6.623 0.428 0.5 3.0890 0.620 1.4 0.643 0.580 1.52 0.440 0.17 2.583 1.8 8 x 7 x 30 6 x 6 x 22 8 x 7 x 30 4 3.23 32 1.4 5.0860 0. 351 .0853 0.9 98 78 98 115 90 115 M8 M6 M8 Supplement Moment of inertia is combined value of the motor and the gear reducer.570 1.17 1.02 0.38 2.278 0.0883 0.408 2.520 0.5 With brake 78 90 M6 20 6 x 6 x 22 3.5 43 3.5 2.0885 0.9 0.1 1.3 8 x 7 x 30 6 x 6 x 22 8 x 7 x 30 4 3.[Supplement] T B H LC 4-LZ Depth L øL A (unit : mm) LC 52 78 52 Without brake LA 60 90 60 LZ M5 M6 M5 LD 12 20 12 Kew way dimensions (B x H x LK) T 2.38 2.5 4 53 4.258 0.

Or it may cause an abnormal noise.Permissible Load at Output Shaft Radial load (P) direction LR Thrust load (A and B) direction A GH B LR/2 P GH M Unit : N (1kgf=9. (2) Apply the load of the pulley or the sprocket to as close to the base of the output shaft as possible. 352 . (3) Check the mounting accuracy and strength of the stiff joint. the encoder might be damaged. If an excessive impact is applied to the motor while assembling it to the machine. (4) The encoder is built in to the motor. Pay an extra attention at assembly. when you use it.8N) Permissible load at shaft Motor output Motor output 1/5 1/9 1/15 1/25 1/5 1/9 1/15 1/25 1/5 1/9 1/15 1/25 1/5 1/9 1/15 1/25 Radial thrust 490 588 784 1670 490 1180 1470 1670 980 1180 1470 2060 980 1470 1760 2650 Thrust load A and B-direction 245 294 392 833 245 588 735 833 490 588 735 1030 490 735 882 1320 100W 200W 400W 750W Remarks on installation (1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to it.

39) Peak running range Continuous running range 20.86) (11.0 [N • m] (16.0 [N • m] (15.86) MSMD012 * * 3N torque 16.25) Peak running range Continuous running range 8.0 (11.8) MSMD022 * * 4N torque40.0 [N • m] (11.0 (30.0 MSMD021 * * 3N torque 20.0 [N • m] (18.25) Peak running range Peak running range Continuous running range 0 200 333 10.0 (5.8) MSMD042 * * 4N torque 80.8) MSMD021 * * 4N torque 40.27) Peak running range Continuous running range 0 500 600 1000 0 Continuous running range 333 400 555 Continuous running range 0 100 120 200 speed [r/min] speed [r/min] speed [r/min] speed [r/min] MSMD022 * * 1N torque(8.0 [N • m] (11.0 [N • m] (79.65) Peak running range Continuous running range 333 400 555 10.0 [N • m] (91.3) 8.72) 0 0 200 333 0 100 120 200 speed [r/min] speed [r/min] speed [r/min] speed [r/min] MSMD041 * * 1N torque 20.1) Peak running range Continuous running range Continuous running range 0 500 600 1000 (3.5) MSMD041 * * 4N torque 80.2) MSMD041 * * 2N torque 40.0 (3.0 MSMD022 * * 2N torque 16.3) 8.8) Peak running range Continuous running range 40.0 Peak running range Continuous running range 30.04) [N • m] 8.0 (50.0 [N • m] (19.0 [N • m] (28.4) 1/15 MSMD011 * * 3N torque16.0 [N • m] MSMD021 * * 2N torque [N • m] 16.39) Peak running range Continuous running range 20.0) 1/5 MSMD011 * * 1N 1/9 MSMD011 * * 2N torque [N • m] 8.0 (5.0 [N • m] (152.51) Continuous running range 333 0 100 120 200 0 500 600 1000 0 333 400 555 0 200 speed [r/min] speed [r/min] speed [r/min] speed [r/min] MSMD012 * * 1N torque 4.0 [N • m] (6.18) Peak running range 4.0 [N • m] (28.0 (26.0 (1.0 (15.27) Peak running range Continuous running range 20.2) MSMD082 * * 4N torque 160.7) Peak running range Supplement (18.0 [N • m](3.2) speed [r/min] speed [r/min] speed [r/min] speed [r/min] MSMD042 * * 1N MSMD042 * * 2N torque40.2) 400W 10.0 (6.72) MSMD012 * * 4N torque 20.0 [N • m] (47.0 (6.0 [N • m] (16.4) 8.2) 400W 10.0 (2.0) 100W 2.72) Peak running range Continuous running range 0 200 333 Peak running range 10.0 [N • m] 100W 2.0 (11.2) Continuous running range 300 0 100 120 180 0 500 600 900 0 333 400 500 0 200 speed [r/min] speed [r/min] speed [r/min] speed [r/min] Dotted line represents the torque at 10% less supply voltage.5) MSMD041 * * 3N torque 60.Characteristics of Motor with Gear Reducer Reduction Supply ratio voltage Motor to driver output torque 4.4) Peak running range (9.1) MSMD082 * * 2N torque 80.5) MSMD042 * * 3N torque 60.0 [N • m] (54.3) 200W Peak running range 4.0 [N • m] (18.1) Peak running range Continuous running range Continuous running range 0 500 600 1000 (3.0 [N • m] (79. 353 .0 [N • m] (3.0 [N • m] (32.0 (2.51) Continuous running range 333 0 100 120 200 0 500 600 1000 0 333 400 555 0 200 speed [r/min] speed [r/min] speed [r/min] speed [r/min] MSMD082 * * 1N torque 40.72) MSMD012 * * 2N torque 8.04) 8.27) Peak running range 20.0 Peak running range Continuous running range 60.7) MSMD082 * * 3N torque 120.0 [N • m] (33.65) Peak running range Continuous running range 10.0 [N • m] (33.72) [Supplement] 1/25 MSMD011 * * 4N torque 20.0 (47.7) Peak running range Continuous running range 40.0 (6.0 (11.18) Peak running range 4.0 (26.3) 100V 200W Peak running range 4.0 (6.72) Continuous running range 0 200 333 0 0 333 400 555 100 120 200 200V torque 20.0 (6.4) Peak running range Continuous running range 80.0 (3.72) Continuous running range 0 500 600 1000 0 Continuous running range 0 100 120 200 333 400 555 speed [r/min] speed [r/min] speed [r/min] speed [r/min] MSMD021 * * 1N torque(8.0 (10.0 [N • m] (19.0 (2.0 (2.0 Peak running range Continuous running range 30.0 MSMD022 * * 3N torque 20.4) Peak running range (9.5) Peak running range Continuous running range 40.0 (1.0) 750W 20.

C and D-frame) DL1 DL2 P + V L1 L2 L3 W Fan (D-frame only) Gate drive M Voltage detection N L1C Fuse ±12V +5V PS for gate drive PS for RE RE + DC/DC L2C RB1 RB3 RB2 Block Diagram of Driver Front panel Sequence control Display operation control Parameter control EEPROM Protective curcuit Error detection X3 RS485 X4 RS232 X5 Position deviation amp.354 U Internal Block Diagram of MINAS-A4 Driver (A. Position Division/ + mulitiplication – Deviation counter + – Speed Alarm signal Pulse train command Analog velocity command External A/D Speed detection Speed Velocity deviation amp. Torque Torque limit Current control PWM circuit A/D 16-bit Control input Internal speed command Internal Control output X6 Encoder signal processing limit Division processing Pusle output . B.

Position Division/ + mulitiplication – Deviation counter + – Speed Alarm signal Pulse train command Analog velocity command External A/D Speed detection Speed Velocity deviation amp. Torque Torque limit Current control PWM circuit A/D Encoder signal processing limit 16-bit Control input Internal speed command Internal Control output X6 Pusle output Division processing [Supplement] Supplement 355 .Internal Block Diagram of MINAS-A4 Driver (E and F-frame) U P + V Fuse (F-frame only) L1 L2 L3 W Fan Gate drive M Fuse (F-frame only) Voltage detection N r Fuse RE + DC/DC t ±12V +5V PS for gate drive PS for RE P B1 B2 Front panel Sequence control Display operation control Parameter control EEPROM Protective curcuit Error detection X3 RS485 X4 RS232 X5 Position deviation amp.

when Pr02 (Setup of control mode) is 3 and 2nd control mode when Pr02 (Setup of control mode) is 5 and 1st control mode Command speed monitor Torque command Analog velocity command SPR Velocity control Input setup 16bit A/D Gain Reversal Offset Filter Internal velocity setup 1st speed Pr53 5th speed Pr74 1st 2nd speed Pr54 6th speed Pr75 2nd 3rd speed Pr55 7th speed Pr76 4th speed Pr56 8th speed Pr77 Actual speed monitor Pr1B Pr13 Pr50 Pr51 Pr52 Pr57 Command selection Selection Pr05 Acceleration/ Deceleration limit Acceleration Pr58 Deceleration Pr59 Sigmoid Pr5A Notch filter 1st frequency Pr1D 1st width Pr1E Torque filter 1st time const. Pr1C 1st limit 2nd limit Pr5E Pr5F Motor + – 1st proportion 1st integration 2nd proportion 2nd integration Pr11 Pr12 Pr19 Pr1A 2nd frequency Pr28 2nd width 2nd depth Adaptation Pr29 Pr2A Pr2F Inertia ratio Pr20 Velocity detection filter Encoder Velocity detection Division Feedback pulses OA/OB/OZ Numerator Pr44 Encoder reception process Serial communication data Denominator Pr45 Selection Pr46 356 .Block Diagram by Control Mode Position Control Mode • when Pr02 (Setup of control mode) is 0 . Pr14 2nd time const. when Pr02 (Setup of control mode) is 3 and 1st control mode when Pr02 (Setup of control mode) is 4 and 1st control mode Pulse train PULS SIGN Input setup Input Pr40 selection Reversal Mode Pr41 Pr42 FIR smoothing Average Pr4D travel times Damping control 1st frequency Pr2B 1st filter Pr2C 2nd Pr2D frequency Velocity feed forward Gain Filter Pr15 Pr16 Torque command monitor Division/ Multiplication 1st numerator Pr48 2nd numerator Pr49 Multiplier Pr4A Denominator Pr4B Primary delay smoothing Selection Pr4C 2nd filter Pr2E Position control + + + – + 1st Pr10 Pr18 – 2nd Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Inertia ratio Pr20 Notch filter 1st frequency Pr1D 1st width Pr1E Torque filter 1st time Pr14 constant 2nd time Pr1C constant 1st limit 2nd limit Pr5E Pr5F Motor 2nd frequency Pr28 2nd width Pr29 2nd depth Pr2A Adaptation Pr2F Positional deviation monitor Command speed monitor Speed detection filter 1st 2nd Pr13 Encoder Pr1B Actual speed monitor Speed detection Division Feedback pulses OA/OB/OZ Numerator Pr44 Denominator Pr45 Selection Pr46 Serial communication data Encoder reception processing Velocity Control Mode • when Pr02 (Setup of control mode) is 1 .

[Supplement] Torque Control Mode • when Pr02 (Setup of control mode) is 2 . Pulse train PULS SIGN Input setup Input selection Reversal Mode Pr40 Pr41 Pr42 FIR smoothing Damping control Average Pr4D travel times 1st frequency Pr2B 1st filter Pr2C Velocity feed forward Gain Pr15 Filter Pr16 Torque command monitor 2nd frequency Pr2D Division/Multiplication 1st numerator Pr48 2nd numerator Pr49 Multiplier Denominator Pr4A Pr4B External scale correction Numerator Pr78 Full closed position deviation monitor Speed detection filter 1st 2nd Pr13 Encoder Pr1B Selection Pr4C 1st delay smoothing 2nd filter Pr2E Position control 1st Pr10 Pr18 + + + – + – 2nd Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Inertia ratio Pr20 Notch filter 1st frequency Pr1D 1st width Pr1E Torque filter 1st time Pr14 constant 2nd time Pr1C constant 1st limit 2nd limit Pr5E Pr5F Motor 2nd frequency Pr28 2nd width Pr29 2nd depth Pr2A Adaptation Pr2F Numerator multiplier Pr79 Denominator Pr7A Command speed monitor Position deviation monitor Division Numerator Feedback pulses OA/OB/OZ Selection Z-phase Pr46 Pr47 Pr44 Actual speed monitor + – Speed detection Serial communication data Serial communication data Supplement Encoder reception processing Denominator Pr45 Reversal Pr7C External scale reception processing External scale 357 . Pr14 2nd time const. Pr1C 1st limit 2nd limit Pr5E Pr5F Motor + – Internal velocity limit Pr56 Velocity detection filter 1st 2nd Pr13 1st proportion 1st integration 2nd proportion 2nd integration + Pr11 Pr12 Pr19 Pr1A 2nd frequency Pr28 2nd width 2nd depth Pr29 Pr2A Inertia ratio Pr20 Encoder Pr1B Monitor of actual speed Speed detection Division Feedback pulses OA/OB/OZ Numerator Pr44 Encoder reception processing Serial communication data Denominator Pr45 Selection Pr46 Full-closed Control Mode • when Pr02 (Setup of control mode) is 6 . when Pr02 (Setup of control mode) is 4 and 2nd control mode when Pr02 (Setup of control mode) is 5 and 2nd control mode Absolute value(magnitude) Command speed monitor Torque command monitor Analog torque command SPR/ TRQR Input setup 16bitA/D Gain Reversal Offset Filter Pr5C Pr5D Pr52 Pr57 4th speed Sign(±) Multiplication Velocity control Notch filter Torque limit 1st frequency Pr1D 1st width Pr1E Torque filter 1st time const.

speed 2[m/s]) ST771 by Mitutoyo (Resolution 0. DOWN.05[ µm]. Other outputs vary depending on the control mode. (1) Position control. SHIFT). max. Select the Output content and scale with parameter..) Input Pulse signal Output RS232 RS485 4 inputs Select the exclusive input for line driver or photo-coupler input with parameter. Switching among the following 7 mode is enabled. 2500P/r (10000 resolution) incremental encoder AT500 series by Mitutoyo (Resolution 0. 200 – 230V Operating : 0 to 55˚C. (3) Release signal of external brake (4) Zero speed detection. 3 inputs (16Bit A/D : 1 input.88m/s2 or less. (3) Gain switching/Torque limit switching. Servo-OFF. (6) Velocity/Torque control and (7) Full-closed control. Select the content or scale with parameter. B and Z-phase) or external scale pulse (EXA. Control mode (3) Toque control.5[ µm]. 200 – 230V Single phase.). SET. 100 – 115V +10% 50/60Hz –15% Input power 200V Control circuit Main circuit Temperature Environment Humidity Altitude Vibration Control method Encoder feedback Basic specifications Storage : –20 to +80˚C Both operating and storage : 90%RH or less (free from condensation) External scale feedback 358 . Z-phase and EXZ-phase pulse is also fed out in open collector. speed 2[m/s]) 10 inputs Input Control signal Output Input (1) Servo-ON. (1) 5 keys (MODE. 1000m or lower 5. UP. max. (2) Control mode switching. (5) Torque in-limit. 10 to 60Hz (No continuous use at resonance frequency) IGBT PWM Sinusoidal wave drive 17-bit (131072 resolution) absolute/incremental encoder. 1 : n communication up to 15 axes to a host with RS485 interface is enabled. 200 – 240V Single/3-phase. (2) Torque monitor (Monitoring of torque command. 6 outputs (1) Servo alarm. 100 – 115V Single phase.Specifications Main circuit 100V Control circuit A and B-frame C and D-frame E and F-frame A to D-frame E and F-frame Single phase. at protective function activation and over-travel inhibit input is enabled. (2) LED (6-digit) A and B-frame : no built-in regenerative resistor (external resistor only) C to F-frame : Built-in regenerative resistor (external resistor is also enabled. (4) Position/Velocity control. (5) Position/Torque control. deviation counter or full-closed deviation is enabled. (2) Servo ready.) Setup of action sequence at Power-OFF. 10Bit A/D : 2 inputs) 2 outputs (for monitoring) Analog signal (1) Velocity monitor (Monitoring of actual motor speed or command speed is enabled. EXB and EXZ-phase) in line driver. 200 – 240V 3-phase. 3V/rated torque)). +10% 50/60Hz –15% +10% 50/60Hz –15% +10% 50/60Hz –15% +10% 50/60Hz –15% +10% 50/60Hz –15% +10% 50/60Hz –15% Single phase. 200 – 240V Single phase. 4 outputs Feed out the encoder pulse (A. Communication function Front panel Regeneration Dynamic brake 1 : 1 communication to a host with RS23 interface is enabled. (2) Velocity control. (4) Alarm clear Other inputs vary depending on the control mode. (approx.

3) Gain switching. with the permissible max. (1) Over-travel inhibition. Control input 5) CW over-travel inhibition and 7) CCW over-travel inhibition are common. Line driver : 500kpps. and other inputs vary depending on the control mode. Windows98. Corresponds to load inertia fluctuation. Speed limit input by analog voltage is enabled. (4) Gain switching or Torque limit switching Positioning complete (In-position) Exclusive interface for line driver : 2Mpps. (3) Command and direction Process the command x pulse frequency (1 to 10000) x 2 (0 to 17) as a position command input 1 to 10000 Primary delay filter is adaptable to the command input. (1) CW over-travel inhibition. (4) Speed-zero clamp Set up of any value is enabled (encoder pulses count is the max. over-speed over-load. Estimates load inertia and sets up an appropriate servo gain. Windows ME. (4) Command pulse input inhibition. Speed limit value with parameter or analog input is enabled. (2) Pulse signal/rotational direction signal. with 0 to 10s/1000r/min.). with the permissible max. Individual torque limit for both CW and CCW direction is enabled. 2Mpps (Exclusive input for line driver) Differential input. 4) Control mode switching. (5) Electronic gear switching. Traceable up to past 14 alarms including the present one. Masking of the following input signal is enabled. voltage input = Å} 10V and 3V/rated speed (default setup). (2) CCW over-travel inhibition. Selectable with parameter ((1) CCW/CW. voltage input = Å} 10V and 6V/rated speed (default setup). Individual torque limit for both CW and CCW direction is enabled. (3) Gain switching or Torque limit switching input (1) Speed arrival (at-speed) Setup of scale and rotational direction of the motor against the command voltage is enabled with parameter.NET and Windows XP) Torque limit command input Setup range of division/multiplication of external scale Real-time Auto-gain Normal mode tuning Fit-gain function Masking of unnecessary input Division of encoder feedback pulse Protective Soft error function Hard error Traceability of alarm data Damping control function Manual Setup Setup support software Supplement 359 . (3) Speed zero clamp (1) Speed arrival (at-speed) Setup of scale and CW/CCW torque generating direction of the motor against the command Analog Velocity command input input Speed limit input Speed limit function Control input Control output Max. Control input Control output Max. (3V/rated torque) Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is enabled within a range of (1 to 10000) x 2 (0 – 17) / (1 to 10000). (1) CW over-travel inhibition. under-voltage. over-heat. (2) Torque limit. Scale setup with parameter. Sigmoid acceleration/deceleration is also enabled. Over-voltage. Torque limit command input Individual torque limit for both CW and CCW direction is enabled. Open collector : 200kpps Support (1) RS422 line drive signal and (2) Open collector signal from controller. 2) Alarm clear. (1) CW/CCW pulse. (2) A and B-phase. (3) 90˚C phase difference signal Process the command x pulse frequency (1 to 10000) x 2 (0 to 17) as a position command input 1 to 10000 Velocity control Torque control Position control Function Full-closed control Common Primary delay filter is adaptable to the command input Selectable of (1) Position control for high stiffness machine and (2) FIR type filter for position control for low stiffness machine. Excess position deviation. 0-clamp of internal velocity command with speed zero clamp input is enabled. (3V/rated torque) 1 : 5000 8-speed with parameter setup Individual setup of acceleration and deceleration is enabled. Automatically searches and sets up the value which makes the fastest settling time with external command input. Windows. command pulse division error. (2) CCW over-travel inhibition (3) Deviation counter clear. Manual setup with parameter 5push switches on front panel MODE SET PANATERM® (Supporting OS : Windows95. (6) Damping control switching (1) Full-closed positioning complete (in-position) 500kpps (photo-coupler input). (3) Damping control switching. over-current and encoder error etc. (3V/rated torque) (1) Speed zero clamp. command pulse frequency Input pulse signal format Type of input pulse Pulse input Electronic gear (Division/ Multiplication of command pulse) Smoothing filter Analog input (1) Deviation counter clear. EEPROM error etc.[Supplement] Inputs of 1) Servo-ON. (2) Selection of internal velocity setup. Windows2000. (2) Command pulse inhibition. possible to automatically set up parameters related to notch filter. (3) Command pulse inhibition. command pulse frequency Input pulse signal format Pulse input Electronic gear (Division/ Multiplication of command pulse) Smoothing filter Analog input Control input Control output Analog Velocity command input input Torque limit command input Speed control range Internal velocity command Soft-start/down function Zero-speed clam Control input Control output voltage is enabled with parameter.

360 . 5F 70 73 03 09 Title Setup of 2nd torque limit Excess setup of position deviation Setup of over-speed level Selection of torque limit Selection of alarm output Setup example 50 (Set up to less than 100%) 25000 0 (6000r/min) 3 0 (Torque in-limit) <Remarks> Make the Pin-27 H (Off=Open) after the Hit & Stop Homing is completed.“Hit & Stop” Homing and “Press & Hold” Control Homing with Hit & Stop You can set up the homing position with "Hit & Stop" where it is not easy to install a sensor due to environment. 1st Pin-27 (GAIN/TL-SEL) 2nd torque limit ON ON Pin-40 TLC (Torque in-limit) ON 50% Pin-40 TLC (Torque in-limit) ON Torque Counter clear command Motor speed (1) (2) hits ON Torque Counter clear command Motor speed (1) Z-phase (2) (3) hits ON (1) (2) origin (1) (2) origin (3) Parameter No. (1) when you make a point where the work (load) hits as an origin 1st Pin-27 (GAIN/TL-SEL) 2nd torque limit (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.

SEL) : Torque limit switching input ON ON Pin-40 (TLC) : Torque in-limit output Setup value of 2nd torque limit (+) Torque (–) B (+) Command (–) C=A+B A Search speed (low speed) Holds the non-traveled portion with deviation counter (+) Motor speed (–) (1) (2) (3) (4) (5) Supplement 361 .[Supplement] Press & Hold Control Application example Press fit machine Parameter No. 03 09 5E 5F 70 73 Setup example Setup of 2nd torque limit 3 Selection of alarm output 0 Setup of 1st torque limit 200 Setup of 2nd torque limit 50 Excess setup of position deviation 25000 Setup of over-speed level 0 Title (1) (2) (3) (4) (5) Pin-27 (GAIN/TL.

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Ltd. Osaka 574-0044 TEL (072)870-3065 FAX (072)870-3151 363 .Marketeing Group Tokyo: Kyobashi MID Bldg.Motor Company. Chuo-ku. Tokyo 104-0031 TEL (03)3538-2961 FAX (03)3538-2964 Osaka: 1-1. 2-13-10 Kyobashi.. Matsushita Electric Industrial Co. Daito. Morofuku 7-chome.

7-1-1 Morofuku. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. Take this into consideration when the application of the machine is clean room related. causing smoking and/or a fire and other trouble. Osaka. http://industrial. Failure to heed this caution may result in damage to the internal parts. 574-0044. but not designed or manufactured to be used in a machine or system that may cause personal death when it is failed. Ltd.) Date of purchase Model No. Ltd. M M M DD MD MA Dealer Tel : ( ) - Motor Company Matsushita Electric Industrial Co. IMC83 S1104-4046 . various safety equipments or equipments which require a lesser air contamination..After-Sale Service (Repair) Repair Consult to a dealer from whom you have purchased the product for details of repair. and may result in the bearing noise. • Consult us if the application of this product is under such special conditions and environments as nuclear energy control. wiring and components may result in unexpected action. transportation.. • Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases. depending on the condition of the machine and its mounting environment. Daito. or failure in input power. consult to the manufacture or the dealer of the machine or equipment. medical equipment. • Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product. however. Technical information Electric data of this product (Instruction Manual. CAD data) can be downloaded from the following web site. it may cause an electrolytic corrosion to the bearing. application of exceptionally larger external noise disturbance and static electricity. may generate smoke of about one cigarette.panasonic. when a serious accident or loss of property is expected due to the failure of this product. • If the motor shaft is not electrically grounded. All Rights Reserved. Checking and verification by customer is required. aerospace.com/ww/i_e/25000/motor_fa_e/motor_fa_e. Cautions for Proper Use • This product is intended to be used with a general industrial product.html MEMO (Fill in the blanks for reference in case of inquiry or repair. as sulphuration can lead to disconnection from the chip resistor or a poor contact connection. Japan Tel : (81)-72-871-1212 © 2004 Matsushita Electric Industrial Co. • Failure of this product depending on its content. • Install a safety equipments or apparatus in your application. When the product is incorporated to the machine or equipment you have purchased. • We have been making the best effort to ensure the highest quality of the products.