BS Servo T Series Engineering Handbook T AMP E Manual PDF

BS Servo T Series
Engineering Handbook
Amp Edition
FOREWORD
Thanks for purchasing the BS Servo T Series. This manual describes the method of handling &
functions of the product, as well as the points of cautions to be observed, in order to enable the
user make safe and proper use of it.
Improper use may lead to unforeseen troubles or vital results. Before use, please read this
"Engineering Handbook - Amp Edition" without fail.
SUGGESTION
Retain this manual at a handy place where it can be easily reached.

For Safety
Cautions on Safety
Use this device only after thoroughly understanding it, and after fully understanding the points of
cautions to be observed in order to ensure safety.
After reading this manual, the user is urged to keep this manual in a convenient place where it can be
easily reached.
Meaning of “WARNING” & “CAUTION” Signs
In this manual, safety cautions are classified into “WARNING” and “CAUTION” to
indicate the extent of danger.
This mark indicates that if the handling of this device is

incorrect, or the caution notes are not strictly observed, it may
lead to hazardous condition , involving a high risk of serious
personal injury or even death.
This mark indicates that if the handling of this device is

incorrect, or the caution notes are not strictly observed, it may
CAUTION lead to dangerous conditions, causing light/medium personal
injury or damage only to the equipment.
Meaning of“PROHIBITED”&“MANDATORY”marks
● This mark indicates “Prohibited”. For example, in case of “Fire
Prohibited”, it is indicated by the mark .
● This mark indicates "mandatory" or what all user must observe. For
example, where grounding is necessary, it is indicated by the mark .
● IF TROUBLE DEVELOPS
If a trouble such as abnormal noise, odor or smoke occurred
during operation, immediately turn off the power, and ask for
repairs to TOEI SERVICE CENTER or your TOEI Agent.
TOEI SERVICE CENTER

Matsumoto 131, Mishima City. Shizuoka Prefecture 411-8510
Tel: 81-55-977-0129, Fax: 81-55-977-3744
For Safety
Generals
1. Entrust the works of transportation, installation, wiring, operating, operation, and

maintenance to their respective specialists. Otherwise, there is a risk of causing
electric shocks, injury, fire, etc.
2. Never touch the inside of amp. Otherwise, there is a risk of suffering electric shocks.
3. Ground the earth terminals of amp and motor without fail. Otherwise, there is a risk of
suffering electric shocks.
4. Do the wiring and inspection, 1 minute after cutting off the power supply. Otherwise,
there is a risk of suffering electric shocks.
5. Do not injure the cable, stretch it excessively, place heavy objects on it, or trap it
anywhere. Otherwise, there is a risk of suffering electric shocks.
6. Never use it where water may be spilled on it, or in a corrosive environment, in an
environment of flammable gases or metallic dust, or near combustible objects.
Neglecting this could cause a fire or machine failure.
1. While the device is running, never get too close to the rotating parts of the motor shaft or
driven load. There is a risk of suffering injury by getting trapped around.
CAUTION
1. Use a combination of specified motor and amp. Neglecting this could cause a fire or
machine failure
2. Remember that the area around the amp, motor, and peripheral equipment may become
hot. There is a risk of fire.
1. While power is ON or shortly after cutting off the power, do not touch the heatsink of
amp, reverse-current absorption resistance, motor, etc. because they may have heated up
and. there is a risk of getting burnt.
Transportation
CAUTION
1. Do not use the motor cable or motor shaft to pick up the motor. There is a risk of
damage or personal injury.
1. Excess loading of products may cause their collapse during transportation; so follow the
mentioned instructions. There is a risk of machine failure or personal injury.
2. Check the mass of products by referring to the dimension diagram, catalog, etc., and
transport properly conforming to the mass of motor. There is a risk of machine failure
or personal injury.
3. Use the eyebolts of motor for transporting the motor only and not for transporting the
machine. There is a risk of machine failure or personal injury.
For Safety
Installation
CAUTION
1. Make sure that the product you received in the one you ordered. If a different product is
installed, there is a risk of personal injury or damage.
2. Do not cover the intake and exhaust ports of servo motor having a cooling fan.
Neglecting this could cause a fire or machine failure.
3. Make sure the motor is properly sized for the load. Neglecting this could cause
personal injury or machine failure.
4. Do not touch the key way at the end of the motor shaft with bare hands. There is a risk
of personal injury.
5. Do not allow the motor to fall down, and similarly do not inflict powerful shocks on it.
It could cause personal injury or machine failure..
6. Prior to connecting the motor to a load, carefully center it and check the alignment of the
belt tension pulley. Direct coupling with load cannot be made. There is a risk of
personal injury.
7. Do not apply more than the permissible load to the motor shaft. The shaft may be
broken, causing personal injury.
8. Do not ride on the device or place heavy objects on it. There is a risk of personal
injury.
1. Do not cover the intake & exhaust ports, and do not allow foreign objects to enter inside.
There is a risk of fire.
Wiring
CAUTION
1. Do the wiring properly and securely. Otherwise, the motor may run uncontrollably
causing personal injury.
2. Do not directly connect commercial power supply to the servo motor. It may cause
failure.
3. Install an emergency stop switch on the outside so that the operation can be stopped
instantly and power cut off. There is a risk of personal injury.
1. Be certain to ground the earth terminal (E) using an electrical wire. There is a risk of
suffering electric shocks.
For Safety
Operating & Run
CAUTION
1. Never make excessive change of adjustments, because it may result in unstable
operation. There is a risk of personal injury.
2. Fix the motor, conductorial run having it detached from the machine system, confirm the
operation, and then mount it on the machine. Otherwise, there is a risk of personal
injury.
3. The holding brake is not a stop device to confirm the safety of machine. Install a stop
device on the machine side in order to confirm safety. Otherwise, there is a risk of
personal injury.
4. If an alarm is generated, remove its cause, confirm safety, then reset the alarm and restart
operation. If any step is omitted, there is a risk of personal injury.
5. When the power supply resumes after momentary failure, do not get too close to the
machine, because it may restart suddenly. There is a risk of personal injury.
1. Install an emergency stop circuit externally, so that the operation can be stopped
instantly and the power can be cut out in emergency , Otherwise, there is a risk of
personal injury.
2. When running the motor without coupling to the load, remove the shaft key that is
provisionally attached on the output shaft. Otherwise it may fling out causing
personal injury.
3. Use the specified combination of motor and amp. And, properly set motor code in the
parameter of servo amp. Neglecting this could cause a fire or machine failure.
Maintenance & Inspection
CAUTION
1. Those other than technical experts should never try to disassemble and repair the device.
Maintenance or services performed by unqualified person could cause personal injury
or machine failure.
Discarding
CAUTION
1. Discard the motor as a general industrial waste.

CONTENT
INTRODUCTION
1. ITEMS TO BE CHECKED AT THE TIME OF UNPACKING -------------------- 2
2. OUTER APPEARANCE & NAMES OF COMPONENTS ------------------------- 4
3. COMBINATIONS OF MOTOR AND AMP ------------------------------------------ 6
CHAPTER 1 INSTALLATION
1-1 Cautions on Installation -------------------------------------------------------------- 10
1-1-1 Wall Mounting ----------------------------------------------------------------- 10
1-1-2 Imbedded Mounting ----------------------------------------------------------- 11
1-2 Environment Conditions -------------------------------------------------------------- 12
CHAPTER 2 POWER CIRCUIT

2-1 Connection of Power Circuit--------------------------------------------------------- 14
2-1-1 VLAST-006P1V.012P1V.006P2V.012P2V.025P2V --------------------- 14
2-1-2 VLAST-050P3V.070P3V.100P3V.160P3V -------------------------------- 18
2-2 Selection of Peripheral Equipment -------------------------------------------------- 22
2-3 Wire Diameters & Screw Nominal Diameters ------------------------------------ 24
2-4 Countercurrent Absorption Resistance --------------------------------------------- 26
2-4-1 Selection of External Resistance -------------------------------------------- 26
2-4-2 Countercurrent Absorption Resistance ------------------------------------- 30
2-4-3 Mounting of Countercurrent Absorption Resistance --------------------- 31
2-5 Earth ------------------------------------------------------------------------------------- 32
2-6 Noise Countermeasures--------------------------------------------------------------- 33
CHAPTER 3 SIGNAL CIRCUIT

3-1 Table of Input/Output Signals ------------------------------------------------------- 36
3-2 Connections of Signal Circuit ------------------------------------------------------- 38
3-2-1 Analog Input ------------------------------------------------------------------- 38
3-2-2 5V Input ------------------------------------------------------------------------ 39
3-2-3 24V Input ----------------------------------------------------------------------- 40
3-2-4 24V Output --------------------------------------------------------------------- 41
3-2-5 Differential Output ------------------------------------------------------------ 42
3-2-6 Analog Monitor Output ------------------------------------------------------- 46
3-2-7 Motor Sensor CN5 ------------------------------------------------------------ 47
CONTENT
CHAPTER 4 DISPLAY OPERATING UNIT & DISPLAY

4-1 Display Operating Unit --------------------------------------------------------------- 50
4-2 Operating Keys ------------------------------------------------------------------------ 50
4-3 Operating Shift Diagram ------------------------------------------------------------- 50
4-4 Operating Procedure of State Display Area ---------------------------------------- 52
4-5 Operating Procedure of Check Area ------------------------------------------------ 53
4-6 Clearing Alarm History --------------------------------------------------------------- 53
4-7 Operating Procedure of Adjustment Area ------------------------------------------ 54
4-8 Operating Procedure of User Parameter Area ------------------------------------- 55
4-9 Operating Procedure of H-Parameter Area ---------------------------------------- 57
CHAPTER 5 GUIDE TO OPERATING

5-1 Operation of speed Control Mode --------------------------------------------------- 60
5-1-1 Example of Connection ------------------------------------------------------- 60
5-1-2 Input/Output Signals ---------------------------------------------------------- 61
5-1-3 User Parameters --------------------------------------------------------------- 62
5-1-4 H-Parameters ------------------------------------------------------------------- 64
5-1-5 Operating ----------------------------------------------------------------------- 65
5-1-6 Adjustments -------------------------------------------------------------------- 66
5-2 Operation of Current Control Mode ------------------------------------------------ 68
5-2-3 User Parameters --------------------------------------------------------------- 70
5-2-4 H-Parameters ------------------------------------------------------------------- 72
5-2-5 Operating ----------------------------------------------------------------------- 73
5-2-6 Adjustments -------------------------------------------------------------------- 74
5-3 Operation of Position Control Mode ------------------------------------------------ 76
5-3-3 User Parameters --------------------------------------------------------------- 78
5-3-4 H-Parameters ------------------------------------------------------------------- 80
5-3-5 Operating ----------------------------------------------------------------------- 81
5-3-6 Adjustments -------------------------------------------------------------------- 82
5-4 Operation of Speed/Current/Position Control Mode ----------------------------- 84
5-4-3 User Parameters --------------------------------------------------------------- 86
5-4-4 H-Parameters ------------------------------------------------------------------- 88
5-4-5 Operating ----------------------------------------------------------------------- 89
5-4-6 Adjustments -------------------------------------------------------------------- 90
CONTENT
5-5 Operation of Direct Feed Mode ----------------------------------------------------- 92

5-5-3 User Parameters --------------------------------------------------------------- 94
5-5-4 H-Parameters ------------------------------------------------------------------- 96
5-5-5 Operating ----------------------------------------------------------------------- 97
5-5-6 Adjustments -------------------------------------------------------------------- 98
5-6 Operation of Draw Control Mode ------------------------------------------------- 100
5-6-1 Example of Connection ----------------------------------------------------- 100
5-6-2 Input/Output Signals -------------------------------------------------------- 101
5-6-3 User Parameters ------------------------------------------------------------- 102
5-6-4 H-Parameters ----------------------------------------------------------------- 104
5-6-5 Operating --------------------------------------------------------------------- 105
5-6-6 Adjustments ------------------------------------------------------------------ 106
5-7 General Adjustments ---------------------------------------------------------------- 108
5-7-1 Zero Adjustment (AJ0) & Span Adjustment (AJ1) of Speed Command - 108
5-7-2 Load Inertia Magnification (AJ2) & Speed Response (AJ3) ---------- 108
5-7-3 Position Gain (AJ4) --------------------------------------------------------- 109
5-7-4 Zero Adjustment (AJ5) & Span Adjustment (AJ7) of Speed Command - 109
5-7-5 Gain Reduction While Stopped (AJ7) ------------------------------------ 109
5-7-6 Feed Forward Gain (AJ8) -------------------------------------------------- 110
5-7-7 Current Command Filter (AJ9) -------------------------------------------- 110
CHAPTER 6 SPECIAL OPERATIONS & HANDLING

6-1 Shift Over to Special operations --------------------------------------------------- 112
6-2 Motor Test Running ----------------------------------------------------------------- 112
6-3 24V Output Test --------------------------------------------------------------------- 112
6-4 Auto Tuningv ------------------------------------------------------------------------ 113
CHAPTER 7 ABSOLUTE POSITION DETECTION SYSTEM (ABS)

7-1 Configuration ------------------------------------------------------------------------ 116
7-2 Specifications ------------------------------------------------------------------------ 117
7-3 Wiring --------------------------------------------------------------------------------- 117
7-4 Output Timing ----------------------------------------------------------------------- 118
7-5 Parameter Setting -------------------------------------------------------------------- 118
7-6 ABS Clearing (Clearing of Current Value) Method ---------------------------- 120
7-7 Alarm Codes ------------------------------------------------------------------------- 121
7-8 Procedure of Replacing the Battery for Holding Absolute Position (ABS) - 121
7-9 Application Examples -------------------------------------------------------------- 122
CONTENT
CHAPTER 8 PERIPHERAL EQUIPMENT

8-1 External Display (DPA-80) -------------------------------------------------------- 124
8-2 Brake Power Supply ---------------------------------------------------------------- 124
8-3 Terminal Converter (TBT 39) ----------------------------------------------------- 125
8-4 Analog Output Module ------------------------------------------------------------- 125
8-5 Battery (LRT03) for Holding Absolute Position (ABS) ----------------------- 126
8-6 External Countercurrent Absorption Resistance (RGH) ----------------------- 126
8-7 Noise Filter --------------------------------------------------------------------------- 126
8-8 Speedometer (PXK-60) ------------------------------------------------------------- 127
8-9 Ammeter (PXK-60) ----------------------------------------------------------------- 127
8-10 Resolver Cable ----------------------------------------------------------------------- 128
8-11 ABS Cable---------------------------------------------------------------------------- 128
8-12 Input/Output Signal Cables (CONT) --------------------------------------------- 129
8-13 RS232C Cable ----------------------------------------------------------------------- 131
8-14 ABS Battery Cable ------------------------------------------------------------------ 132
8-15 Speed/Current Monitor Cable ----------------------------------------------------- 132
8-16 Plug for Resolver -------------------------------------------------------------------- 132
8-17 Plug for Input/Output signals (CONT) ------------------------------------------- 132
8-18 Plug for RS232C -------------------------------------------------------------------- 133
8-19 Plug for External Display ---------------------------------------------------------- 133
8-20 Optional Plate for Amp Imbedded Type ------------------------------------------ 134
CHAPTER 9 PERSONAL COMPUTER TOOLS (SHAN)

9-1 General Outline ---------------------------------------------------------------------- 138
9-2 Applicable Personal Computer ---------------------------------------------------- 138
9-3 File Configuration ------------------------------------------------------------------- 139
9-4 RS232C Cable ----------------------------------------------------------------------- 140
9-5 Installation ---------------------------------------------------------------------------- 141
9-6 Start of SHAN ----------------------------------------------------------------------- 142
9-7 End of SHAN ------------------------------------------------------------------------ 142
9-8 Selection of Menu ------------------------------------------------------------------- 142
9-9 Menu Configuration----------------------------------------------------------------- 143
9-10 Monitor ------------------------------------------------------------------------------- 144
9-11 Parameter editing -------------------------------------------------------------------- 146
9-12 Write Protect Setting ---------------------------------------------------------------- 148
9-13 Parameter Communication --------------------------------------------------------- 149
9-14 Sampling ------------------------------------------------------------------------------ 150
9-14-1 Outline ----------------------------------------------------------------------- 150
9-14-2 Setting Sampling Conditions --------------------------------------------- 152
CONTENT
9-15 Frequency Analysis ----------------------------------------------------------------- 153
9-15-1 Outline ----------------------------------------------------------------------- 153
9-15-2 Setting the Conditions of Frequency Analysis ------------------------- 155
9-16 Remote Run -------------------------------------------------------------------------- 156
9-17 Others --------------------------------------------------------------------------------- 159
9-18 Alarm Messages, Their Causes, & Remedy ------------------------------------- 160
CHAPTER 10 Features
10-1 Short Time Load --------------------------------------------------------------------- 166
10-2 Electronic Thermal ------------------------------------------------------------------ 167
CHAPTER 11 ALARM CODES

11-1 Display of Alarms ------------------------------------------------------------------- 170
11-2 List of Alarm Codes & Their Recovery Measures ------------------------------ 170
CHAPTER 12 SPECIFICATIONS
12-1 Control Block Diagram ------------------------------------------------------------- 174
12-2 Specifications ------------------------------------------------------------------------ 175
12-3 Diagram of Outer Shape ------------------------------------------------------------ 176
APPENDIX
Configuration of Engineering Handbook ---------------------------------------------- 180
Index ---------------------------------------------------------------------------------------- 182
Supplementary information -------------------------------------------------------------- 188
Trouble Reporting Card ------------------------------------------------------------------ 190
Introduction 0
Installation 1
Power Circuit 2
Signal Circuit 3
Display Operating Unit & Display 4
Guide To Operating 5
Special Operations & Handling 6
Absolute Position Detection System (ABS) 7
Peripheral Equipment 8
Personal Computer Tools (SHAN) 9
Features 10
Alarm Codes 11
Specifications 12
Introduction
1. ITEMS TO BE CHECKED AT THE TIME OF UNPACKING
As soon as the T-Series Servo Amp reaches you, check the following points.
0 ■ Check of damage
● Is there no damage suffered during transportation?

And, check the outer appearance to find out if any damage or injuries have been inflicted.
■ Check of Model No.
● Is the servo amp your ordered product?

Confirm Model No. from the name plate of servo amp.
On one lateral side of the servo amp, there is a label showing its Model No. Aside from Model
No, it also shows manufactured year and Serial No.
Use this information when making enquiries to TOEI.
Incorporation No. Model No. of servo amp

Power spec. Serial No.
VLAST-□□□P□□-□□
ASSY :
SOURCE :
SER NO
TOEI ELECTRIC CO.,LTD. MADE IN JAPAN
V L A S T-□□□ P □□- □□
Option 2, D:DAC Module, X:No
Option 1, A:ABS Module, X:No
Model, V:Standard, L:Link
Power spec.: 1: Single phase AC100v, 2:Single phase AC200v, 3:3 phase AC200v
Max. current [A (peak)], Ex) 050 : 50 [A (peak)]
Series name : T-Series
Device name : Velconic BS servo amp
2
Introduction
■ Check of Accessories
● This device comes with no Accessories.

Connectors, mounting screws, etc. do not come with the device; so procure them separately.
Now, TOEI manufactures resolver cable and various input/output cables; so consult TOEI
0
Sales Office or your TOEI Agent.
If any discrepancies are noticed in the above points, contact TOEI Sales Office or your TOEI Agent.
● Tokyo Sales Office

Takanawa 2-15-19 (Takanawa Meikou Bldg 2F) Minato-Ku, Tokyo 108-0074
TEL 03-3442-8300 FAX 03-3442-8309
● Export Sales Office
Matsumoto 131, Mishima shi, Shizuoka ken 411-8510
TEL 055-977-0122 FAX 055-977-4110
● Mishima Sales Office
TEL 055-977-0108 FAX 055-977-4110
● Osaka Sales Office
Nishinakajima 4-7-18 (Marumiya Bldg 7F), Yodogawa-Ku, Osaka 532-0011
TEL 06-6303-7721 FAX 06-6303-7724
● Nagoya Sales Office
Ikeshita 1-11-21 (First Ikeshita Bldg 6F), Chikusa-ku, Nagoya 464-0067
TEL 052-763-7015 FAX 052-762-6126
● Service Center
TEL 055-977-0129 FAX 055-977-3744
3
Introduction
2. OUTER APPEARANCE & NAMES OF COMPONENTS
VLAST-006P □ V,012P □ V VLAST-025P □ V

0 Monitor output
CN1
RS232C connector
Display operating
unit Name plate
CN2 (CONT)
Power unit I/O Signal connector
terminal cover
CN5 (M･SEN)
Alarm labels Resolver connector
Forcible label
VLAST-050P □ V,070P □ V
Monitor output
Display
operating unit
CN1
RS232C connector
Name plate CN2 (CONT)

I/O Signal connector
CN5 (M･SEN)
Resolver connector
Invariably ground the

Alarm labels earth terminal (E) with an
electric wire. It may cause
electric shocks.
Forcible label Do not allow other than

technical experts to disas-
Charge lamp
semble & repair the device.
Power unit terminal cover
It may cause device
troubles.
Do not inflict powerful While power ON or immediately after power OFF, do not touch the
shocks. It may cause radiator of amp or countercurrent absorption resistance, because they
troubles. may be hot. It may cause burns.
4
Introduction
VLAST-100P □ V
Monitor output
0
Display operating unit
CN1
RS232C connector
Name plate
CN2 (CONT)
CN5 (M･SEN)
Resolver connector
Alarm labels
Forcible label
Charge lamp
VLAST-160P □ V
Display operating unit

Monitor output
CN1
Name plate RS232C connector
CN2 (CONT)
CN5 (M･SEN)
Resolver connector
Alarm labels
Forcible label

Charge lamp
Always observe the following points, because it may cause electric shocks or injury.
1) Never touch the inside of amp.
2) Ground the earth terminal of amp without fail.
3) Do the wiring and inspection, 1 minute after cutting off the power supply. Otherwise, may cause electric shocks.
4) Do not injure the cable, stretch it excessively, place heavy objects on it, or trap it anywhere. Otherwise, may cause
electric shocks.
5
Introduction
3. COMBINATIONS OF MOTOR AND AMP
Use the T-Series servo amp in combination with the following servo motors. As soon as the power is turned
0 ON, parameter setting error is generated. Correctly set the control mode in
applicable motor code in , cut off the power supply once, confirm that the display has
,
disappeared, and then turn back the power supply ON again. Carefully confirm the setting, otherwise
normal operation would not take place.
Standard type
Speed Type of servo motor Output Motor code Applicable type of servo amp
VLBST- W VL□□T-
04015 400 1105 012P2
08015 800 1106
10015 1000 1107 025P2
1000 1108
15015
1500 1500 1109 050P3
r/min 26015 2600 1110
2600 1111 070P3
37015 3300 1112
3700 1113 100P3
50015 5000 1114
5000 1115
2000 75020 7500 131A 160P3
r/min 10K20 10000 131B
01230 120 1305 012P1 or 012P2
02030 200 1306
04030 400 1307 012P2
05030 500 1308
08030 800 1309 025P2
14030 1000 1310
3000 1400 1311
r/min 18030 1800 1312 050P3
24030 2400 1313
2400 1314
070P3
37030 3400 1315
3700 1316 100P3
55030 5000 1317
5500 1318 160P3
65030 6500 1319
X type
Speed Type of servo motor Output Motor code Applicable type of amp
VLBST- W VL□□T-
X04015 400 1116 012P2
X08015 800 1117
X10015 1000 1118 025P2
1000 1119
X15015
1500 1500 111A 050P3
r/min X26015 2600 111B
2600 111C 070P3
X37015 3300 111D
3700 111E 100P3
X50015 5000 111F
5000 1120
2000 X75020 7500 1121 160P3
r/min X10K20 10000 1122
6
Introduction
Z type
VLBST-
Z00330
W
30 1201
VL□□T- 0
Z00530 50 1202 006P1 or 006P2
Z01030 100 1203
Z02030 200 1204 012P1 or 012P2
Z04030 400 1205 012P2
Z06030 600 1206 025P2
Z08030 800 1207
Z00330E 30 1211
Z00530E 50 1212 006P1 or 006P2
3000 Z01030E 100 1213
r/min Z02030E 200 1214 012P1 or 012P2
Z04030E 400 1215 012P2
Z06030E 600 1216 025P2
Z08030E 800 1217
Z00330S 30 1209
Z00530S 50 120A 006P1 or 006P2
Z01030S 100 120B
Z02030S 200 120C 012P1 or 012P2
Z04030S 400 120D 012P2
Z06030S 600 120E 025P2
Z08030S 800 120F
■ Codes of small capacity motor with deceleration attachment

The decelerator of small capacity motor may be different from that of the standard motor without
decelerator attachment.
Set motor code in the parameters of servo amp, referring to the following table.
r/min VLBST- W VL□□T-
1500 04015-G 400 1002 012P2
01230-G 120 1305 012P1 or 012P2
02030-G 200 1306
3000 04030-G 400 1307 012P2
05030-G 500 1003
08030-G 800 1004 025P2
1500 X04015-G 400 100A 012P2
Always use the specified combinations of motor and amp. Otherwise, may cause a fire
CAUTION or troubles.
7
8
Installation 1
1-1 Cautions on Installation --------------------------------------10

1-1-1 Wall Mounting ---------------------------------------------10
1-1-2 Imbedded Mounting -------------------------------------11
1-2 Environment Conditions -------------------------------------12
1-1 Cautions on Installation
● Since the device comes in wall mounted and imbedded type models, mount it in vertical direction so that the operating display
unit can be observed from the front in proper up/down ways.
● When mounting the servo amp, keep the spacing between the up, down, & lateral directions; and the spacing servo amps when
mounting multiple ones, as shown in the diagram.
● When incorporating into the control panel, ensure that the temperature inside panel does not rise above +55 C. Other-wise, it
may cause troubles.
1 ● Avoid installing at a place subject to direct sunlight, or in environment of high humidity, excessive hazardous gases, dust,
metallic dust, oil mist, water, etc, and make sure that they cannot get inside the servo amp.
● Install the radiators, like, countercurrent absorption resistance, etc. away from the servo amp.
● Install noise filter near the servo amp.
1-1-1 Wall Mounting

(1) 006P, 012P, 025P
Without analog output module (DAT-26) With analog output module (DAT-26)
More than 100mm More than 100mm

More than 5mm 22mm More than 5mm
More than 50mm More than 50mm
Connector for ABS battery connection
More than 50mm Less than 80mm More than 50mm
(2) 050P, 070P, 100P, & 160P

Analog output module (DAT-26) is housed inside the unit, and the interval with surrounding is the same regardless of
whether or not there is a module. The analog output module (DAT-26) does not come with a cover.
To enable mount/dismount the cover of 050P and 070P, allow more than 15mm space on the right side as seen from the
front.
More than 100mm AIR FLOW

More than 15mm (more than 5mm)
More than 50mm
More than 50mm (more than 100mm) Less than 120mm (less than 140mm)
Values in ( ) apply to 100P, 160P.
Caution : When using ABS battery (for holding absolute position), its connector is under the unit; so at the time of mounting,
allow enough space so that interference is made with the wiring duct, etc.
10
1-1-2 Imbedded Mounting

(1) 006P, 012P, 025P
Imbedded mounting cannot be done. Instead, use wall mounting.
(2) 050P, 070P
AIR FLOW
Up
More than 100mm

More than 15mm
M4 Screws x 4
1
M5 Screws x 2
4-φ5
More than 50mm
2-φ6
Connector for ABS battery connection 4-φ5 Down

M5 Screws x 2
M4 Screws x 4
2-φ6
More than 50mm 80mm
Mounting jig model PRB57
More than 60mm
(3) 100P
AIR FLOW
M4 Screws x 3 Up
More than 100mm
More than 5mm
2-φ6
M5 Screws x 2
More than 50mm 3-φ5 3-φ5
Connector for ABS battery connection M5 Screws x 2

Down
M4 Screws x 3
More than 100mm

90mm Mounting jig model PRB10
More than 75mm
(4) 160P
AIR FLOW
M4 Screws x 4
Up
More than 100mm
More than 5mm 2-φ6
M5 Screws x 2
More than 50mm 4-φ5

3-φ5
M5 Screws x 2 Down
M4 Screws x 3
More than 100mm

Mounting jig model PRB16
90mm More than 75mm
Heat emission fin gets hot. Pay attention to the environment of its installed site,
CAUTION so as not to allow its cooling effect to be lost. Do not touch the fin. It may cause
burns.
11
1-2 Environment Conditions
Environment Condition
Ambient temp. 0 to +55 ℃ (free of freezing)
1 Ambient humidity
Storage temp.
35 to 90%RH (free of condensation)
-10 to +70 ℃ (free of freezing)
Storage humidity 35 to 90%RH (free of condensation)
Must be free of dust, metal powder,

Environment
oil mist, corrosive gases, & explosive gases.
Vibrations 2G
CAUTION
Never use it where water may be spilled on it, or in corrosive
environment, in environment of inflammable gases or metallic
dust, or near combustible objects. Otherwise, may cause a fire or
troubles.
Do not store at a place subject to rain or water drops, or at a place
containing harmful gases or fluids.
Store at a place not subject to direct sunlight, and which is within
the prescribed temperature & humidity limits (-10 to +70 ℃, 35 to
90%RH).
12
Power Circuit 2
2-1 Connection of Power Circuit -------------------------------------------14

2-1-1 VLAST-006P1V.012P1V.006P2V.012P2V.025P2V ---------14
2-1-2 VLAST-050P3V.070P3V.100P3V.160P3V --------------------18
2-2 Selection of Peripheral Equipment ----------------------------------22
2-3 Wire Diameters & Screw Nominal Diameters ---------------------24
2-4 Countercurrent Absorption Resistance -----------------------------26
2-4-1 Selection of External Resistance --------------------------------26
2-4-2 Countercurrent Absorption Resistance ------------------------30
2-4-3 Mounting of Countercurrent Absorption Resistance--------31
2-5 Earth ------------------------------------------------------------------------32
2-6 Noise Countermeasures -----------------------------------------------33
2-1 Connection of Power Circuit
Power circuit is composed of a power supply circuit, motor main circuit, holding brake/dynamic brake circuit, and countercurrent
absorption circuit.
■ Power supply circuit
In addition to breaker, the power supply circuit needs a noise filter to prevent inflicting the effect of switching noise on
external equipment, as well as a contactor for emergency stop, and so on.
■ Motor main circuit

Connect the motor main circuit directly to the motor and amp, without inserting a breaker or contactor in it.
2 ■ Holding brake (DC24V non-excited starting type)

This is a brake to prevent drop of vertical axis at the time of power off, and for mechanically holding the horizontal axis.
Since it is a brake for holding purpose, do not use it for braking.
The brake is in started state without being excited. And, the amp needs an auxiliary contact to confirm ON/OFF of the
brake's contactor.
■ Dynamic brake
Dynamic brake is a function to immediately stop the motor in case of power failure or when an alarm is generated. It cannot
do mechanical holding. The brake is actuated by shorting the armature of motor with a contactor.
And, the amp needs an auxiliary contact to confirm ON/OFF of the brake's contactor.
■ Countercurrent absorption resistance

Countercurrent absorption resistance functions to prevent the rise of DC power supply voltage due to the energy that
returns to the amp at the time of braking the motor or when the motor is used as a load during absorption run. VLAST-
050P, 070P, 100P, & 160P have a standard countercurrent absorption resistance built inside the amp; but 006P,012P &
025P have none. Depending on the size of countercurrent energy, an absorption resistance may have to be added on the
outside.
2-1-1 VLAST-006P1V.012P1V.006P2V.012P2V.025P2V
(1) When there is no holding brake & dynamic brake
Terminal
Signal name Function & application
symbol
R Commercial power supply single phase AC100
VLAST-012P1V
to 115V 50/60Hz
S
Main circuit
R·S VLAST-012P2V
P power supply Connected to commercial power supply single
R
phase AC200 to 240V 50/60Hz.
J VLAST-025P2V
N
Terminal to connect countercurrent absorption resistance
A Countercurrent Becomes necessary, when the countercurrent energy is large.
P·J·N
absorption Connect the option of countercurrent absorption resistance be-
B M
tween P-J. (DC Voltage is output to between P-N).
C
Motor power Connect this terminal to servo motor armature. It will not oper-
A·B·C
terminal ate normally, unless each phase is matching.
Earth Earth 1 point with the earth of servo motor. Earth of kind 3.
CAUTION Never connect the power supply to other than R/S terminals. It may cause a fire.
14
*Note 1 : In control mode 01-05, invariably short the brake check signal CN2 11P (IN0) 10P (24G).
*Note 2 : The run signal of control mode 06 (draw control) changes over to IN7.
*Note 3 : In control mode 06 (draw control), re-set by input signal cannot be made. Press key. Or, turn ON the
power supply once again.
*Note 4 : The motor becomes free, if servo amp develops trouble.
Setting of user parameters

Brake mode
0
UP-16
Emergency stop OFF ON 2
MC
MC
SK Countercurrent absorption re-
sistance is needed, when the
Power supply load inertia is large (connect it
between P-J).
Single phase AC100 to Noise filter
MC
115V 50/60Hz (P1 type), MCCB Countercurrent absorption
3 1 R resistance
Main circuit P
or single phase AC200 to
240V 50/60Hz (P2 type) J
4 2 S N
Use of TOEI noise filter is Built-in power supply,
recommended. max 100mA
CN2
*Note 2 Servo motor
29 P24V A
At the time of
Running MC RY1 13 INCOM draw control B
Check
14 IN2 run 35 IN7 C M
*Note 1 brake.
11 IN0
10 24G
Servo normal
RY1 Invariably connect the earth of

34 OUT7
motor to terminal of amp
main unit.
Watch out polarity.
The user shall arrange for 24V

power supply for output.
Main circuit power Servo alarm generated.

Output within 2.5s.
supply (R,S) *Note 4
Servo normal Input after confirming servo

(OUT7) output normal.
Servo locked within

RUN (IN2) 0.8ms.
*Note 2 Servo unlocked
within 0.8ms. Tur n OFF
without fail.
Servo lock ON For more than 30ms
Reset (IN6)
*Note 3
If servo normal turns OFF, use a sequence to turn OFF the run signal. It is
CAUTION hazardous, because the servo gets immediately locked with reset.
15
(2) When using holding brake
*Note 1 : Invariably connect contact 'b' of brake output relay (RY2) to the brake check signal CN2 11P (IN0) 10P (24G).
If brake check (IN0) is not input even after lapse of more than 0.1s after resuming operation, an alarm (AL14;
brake abnormal) occurs. If brake check signal is not connected or mistakenly connected to contact 'a' and the
operation is resumed, no brake output (OUT0) is issued, the motor keeps running freely, and no alarm is
generated.
*Note 2 : Usually, holding brake is applied within 0.8ms after run signal has turned OFF, but the brake starting rpm can
be changed with the setting of UP-28 (brake ON rpm).
*Note 3 : If the servo amp develops trouble, the motor becomes free and holding brake is applied. At this time, the setting
of UP-28 (brake ON rpm) becomes valid.
*Note 4 : In control mode 06 (draw control), holding brake is not supported. (Usable beyond 50P). If necessary, construct
2 the sequence of holding brake on the outside, if necessary. In that case, set UP-16 to 0.
Emergency stop OFF ON
MC
Setting of user parameters MC
SK
Brake mode
UP-16 1 Or 2 Use of TOEI noise filter is recommended. Countercurrent absorption resistance
is needed, when the load inertia is
MCCB Noise filter large (connect it between P-J).
Power supply MC
3 1 R Countercurrent absorption
Single phase AC100 to 115V 50/ P
resistance
60Hz (P1 type), or single phase
J
AC200 to 240V 50/60Hz (P2 type)
4 2 S N Invariably connect the earth of
main unit.
AC AC
Brake power supply A Servo motor
Built-in power
+ B
RY2 supply, M
Noise killer CN2 max 100mA C
Contact 'a' 29 P24V
Running MC RY1 13 INCOM

Check
14 IN2 run brake
RY2
*Note 1 11 IN0 brake. B1 B2
Contact 'b' 10 24G
Orange Blue
or or
Servo normal RY1 34 OUT7 Black Black
Brake output RY2 7 OUT0
Watch out
polarity. The user shall arrange for 24V power
supply for output.
Main circuit power supply Output within 2.5s. Servo alarm generated *Note 3
(R,S)
Servo normal (OUT7) Input after confirming servo output normal.
RUNNING (IN2) ON Within 0.8ms

OFF Within 0.8ms
Turn OFF without fail.
(* Note 2)
Brake output (OUT0) Note 1 : Should
turn OFF within
Brake check (IN0) 0.1s.
Servo unlocked after
Servo locked within waiting for 0.1s.
0.8ms.
Servo lock
ON For more than 30ms
Re-set (IN6)
Holding brake Release Release

Hold Hold Hold
If the connections of motor armature wires A, B, C are mistaken, the motor will run
CAUTION wild. Check the connections and make a trial run.
16
(3) When using of dynamic brake
*Note 1 : Invariably connect auxiliary contact (contact 'a') of DB to the brake check signal CN2 11P (IN0) 10P (24G). If
unconnected and the operation is resumed, the motor keeps running freely, and no alarm is generated. If
contact 'b' is mistakenly connected, alarm (AL14 : brake fault) is generated.
*Note 2 : If the servo amp develops trouble, the motor becomes free and dynamic brake is applied.
*Note 3 : In control mode 06 (draw control), dynamic brake is not supported. (Usable beyond 50P). If necessary,
construct the sequence of holding brake on the outside. In that case, set UP-16 to 0.
MC
Brake mode
UP-16 0
MC
Use of TOEI noise filter is recommended.

SK
Countercurrent absorption resistance is

2
needed, when the load inertia is large
MCCB Noise filter (connect it between P-J).
Power supply MC
3 1 R Countercurrent absorption resistance
Single phase AC100 to
115V 50/60Hz (P1 type), P
Main circuit
or single phase AC200 to J
240V 50/60Hz (P2 type)
4 2 S N
Invariably connect the earth of

RY2 main unit.
Built-in power
DB supply,
Contact 'a' CN2
SK max 100mA
29 P24V A Servo motor
Running MC RY1 13 INCOM Check B
M
14 IN2 run C
DB
brake.
*Note 1 11 IN0
Contact 'a'
10 24G
DB
Servo normal RY1 34 OUT7
Brake output RY2 7 OUT0
Watch out polarity.

The user shall arrange for 24V power
supply for output.
Main circuit power supply

Output within 2.5s. Servo alarm generated. *Note 2
(R,S)
Servo normal (OUT7) Input after confirming servo output normal.
Run (IN2) ON Within 0.8ms

OFF Within 0.8ms Turn OFF without fail.
Brake output (OUT0) Note 1 : Should turn
ON within 0.1s.
Brake check (IN0)

Servo locked within 0.8ms. Servo unlocked after waiting
for 0.8ms.
Servo lock
Re-set (IN6)
Dynamic brake Release Release
Brake Brake Brake
If servo normal turns OFF, prepare a sequence to turn OFF the run signal. It is
CAUTION dangerous, because the servo is immediately locked with re-set.
17
2-1-2 VLAST-050P3V.070P3V.100P3V.160P3V
(1) When there is no holding brake & dynamic brake
*Note 1 : Short the brake check signal BI1-BI2 (terminal board,) without fail.
*Note 2 : In control mode 06 (draw control), run signal becomes IN7 and Pin No. becomes 35.
*Note 3 : In control mode 06 (draw control), re-set with input signal cannot be done. Press or turn ON the power
supply once again.
*Note 4 : Run signal does not become valid until the PN power supply gets charged.
*Note 5 : If the servo amp develop troubles, main circuit MC gets cut off and the motor becomes free.
2 Setting of user parameters

Brake mode Countercurrent absorption resistance
UP-16 0 is needed, when the load inertia is
large (Disconnect the janper between
JP1 - JP2, and connect it between
PA-JP1).
MCCB Noise filter MC
Power supply
R Countercurrent absorption
4 1
3-Phase AC200 to resistance
240V 50/60Hz PA
5 2 S Main circuit
JP1
6 3 T JP2
NA
R0
Use of TOEI noise filter is Operating circuit
recommended.
S0
MC
Main circuit MC A Servo motor
MC COM B
MC M
C
SK Brake output
E
B0 Built-in power
supply,
CN2
max 100mA
29 P24V Invariably connect the earth of
Running MC RY1 13 INCOM main unit.
14 IN2 Run 35 IN7
*Note 2 :
At the time of
10 24G draw control
Servo normal
RY1 34 OUT7
24V Power source *Note 1

BI1
Brake check
BI2
CAUTION Never connect the power supply to other than R/S/T terminals. It may cause a fire.
18
Operating circuit Output within 2.5s Servo alarm generated (*Note 5)

(R0,S0)
Servo normal
(OUT7)
Main circuit MC
output (MC-COM)
Main circuit power

supply (R,S,T)
*Note 4
Run (IN2) *Note 2

Servo lock within 0.8ms
Servo unlocked within 0.8ms
Turn OFF without fail. 2
Servo lock
Re-et (IN6) *Note 3
Terminal
050P,070P symbol
Signal name Function & application
R0 S0 MC COM BO BI1 BI2 A B C Main circuit

Connected to commercial power supply 3-phase AC200 to 240V
R·S·T
power supply50/60Hz. If there is a connection phase, connect to terminal S.
Connected to commercial power supply single phase AC200 to
CHARGE
Operating power
R0 · S0 240V 50/60Hz. Or, connect from the primary side of electro-
R S T PA JP1 JP2 NA supply
magnetic contactor.
When the servo amp is normal, main circuit MC outputs contactor
Main circuit MC
MC · COM excitation voltage of AC200V. Connect to the coil of designated
output
contactor.
When using holding brake or dynamic brake, it outputs excita-
COM · BO Brake output
tion voltage of AC200V for the contactor of brake.
This is an input terminal for checking the operating state of brake.
100P
Bl1 · Bl2 Brake check But, when not using either of the brakes keep this input terminal
shorted.
Terminal to connect countercurrent absorption resistance
Becomes necessary, when the countercurrent energy is large.
EARTH
PA· JP1 Countercurrent Disconnect the janper between JP1 - JP2, and connect the op-
CHARGE
R0 S0 MC COM BO BI1 BI2 PA JP1 JP2 NA JP2 · NA absorption tional countercurrent absorption resistance to between PA-JP1.
R S T A B C E
DC Voltage is output to between PA-NA.
Motor power Connect this terminal to servo motor armature. It will not oper-
A·B·C
terminal ate normally, unless each phase is matching.
Earth 1 point with the earth of servo motor. Always connect the
E Earth
ground to a ground earth of larger than kind 3.
160P
EARTH
CHARGE
R0 S0 MC COM BO BI1 BI2 PA JP1 JP2 NA
R S T PA JP1 JP2 NA A B C E
turn OFF the run signal. It is dangerous, because the servo is immediately locked
CAUTION with re-set.
19
(2) When using of holding brake
*Note 1 : Invariably disconnect the jumper wire of brake check signals BI1-BI2 (terminal board), and connect contact 'b' of brake
output relay (BC). If brake check (IN0) is not input even after lapse of more than 0.1s after resuming operation, an alarm
(AL14; brake abnormal) occurs. If brake check signal is not connected or mistakenly connected to contact 'a' and the
operation is resumed, no brake output (BO) is issued, the motor keeps running freely, and no alarm is generated.
*Note 2 : Usually, holding brake is applied within 0.8ms after run signal has turned OFF, but the brake starting rpm can
be changed with the setting of UP-28 (brake ON rpm).
*Note 3 : If the servo amp develops trouble, the motor becomes free and holding brake is applied. At this time, the setting
of UP-28 (brake ON rpm) becomes valid.
*Note 4 : Run signal (IN2) does not become valid until PN power supply gets charged. Countercurrent absorption
resistance is needed, when
*Note 5 : In control mode 06 (draw control), run signal becomes IN7 and Pin No. becomes 35. the load inertia is large (dis-
connect the jumper of JP1-
2 Power supply
MCCB
Use of TOEI noise filter is recommended.
Noise filter
4 1
MC
R
JP2, and connect it between
PA-JP1).
Countercurrent absorption
resistance
Main circuit PA
5 2 S
3-Phase AC200 to JP1
240V 50/60Hz 6 3 T Invariably connect the earth
JP2
of motor to terminal of amp
NA main unit.
R0
Operating circuit
S0 A Servo motor
B
MC M
Setting of user parameters Emergency stop
OFF ON Main circuit
C
MC E
MC COM
Brake mode
1 Or 2 MC
UP-16 Brake power AC AC
NK
Brake output
Brake
supply B1 B2
P30E-24-N +
BC BO Black Black
BC NK Built-in power
Contact 'a' supply
CN2 Max. 100mA
29 P24V
SK Running 13 INCOM *Note 5
MC RY1
Run- At the time of
14 IN2
ning draw control
35 IN7
10 24G
Servo normal
RY1 34 OUT7
24V Power supply
*Note 1
BC
Watch out polarity. BI1
Contact 'b' Brake check
BI2
Operating circuit power supply Output within 2.5s. Servo alarm generated *Note 3
(R0, S0)
Servo normal (OUT7)
Main circuit MC output

(MC-COM)
Main circuit power supply
(R, S, T)
*Note 4
RUNNING (IN2) *Note 5 ON Within 0.8ms

(*Note 2)
Brake output (BO-COM) *Note 1 : Should turn
OFF within 0.1s.
Brake check (BI1-BI2)
Servo locked within
0.8ms. Servo unlocked after waiting
for 0.1s.
Servo lock
Re-set (IN6)
Holding brake Release Release

Hold Hold Hold
20
(3) When using of dynamic brake
*Note 1 : Invariably disconnect the jumper wire of brake check signals BI1-BI2 (terminal board), and connect contact 'a'
of brake output relay (DB). If brake check (IN0) is not input even after lapse of more than 0.1s after resuming
operation, an alarm (AL14; brake abnormal) occurs. If brake check signal is not connected or mistakenly
connected to contact 'b' and the operation is resumed, no brake output (BO) is issued, the motor keeps running
freely, and no alarm is generated.
*Note 2 : If the servo amp develops trouble, the motor becomes free and dynamic brake is applied.
*Note 3 : Run signal (IN2) does not become valid until PN power supply gets charged.
*Note 4 : In control mode 06 (draw control), run signal becomes IN7 and Pin No. becomes 35.
Use of TOEI noise filter is recommended. Countercurrent absorption resistance is

needed, when the load inertia is large
MCCB Noise filter MC (Disconnect the janper between JP1 -
Power supply
3-Phase AC200 to
240V 50/60Hz
4
5
1
2
R
S Main circuit PA
JP1
JP2, and connect it between PA-JP1).
Countercurrent
absorption resistance
2
6 3 T JP2
NA
R0
Operating circuit
Invariably connect the earth of
S0 motor to terminal of amp
main unit.
MC
Emergency stop ON Main circuit MC
OFF
MC COM A Servo motor

MC B
NK Brake output C
M
E
DB B0 Built-in power
Brake mode supply,
UP-16 0 CN2 max 100mA DB
29 P24V
Running 13 INCOM
*Note 4 : At the
MC RY1
Run- time of draw
14 IN2
ning control
35 IN7
10 24G
Servo normal
RY1 34 OUT7
24V Power supply

DB *Note 1
BI1
Confirm the polarity. 'a' Contact Confirm the
BI2
brake.
Operation circuit power Output within 2.5s. Servo alarm generated. *Note 2
supply (RO,SO)
Servo normal (OUT7)
Main circuit MC output

(MC-COM)
Main circuit power
supply (R,S,T)
*Note 3
Running (IN2) *Note 4 ON Within 0.8ms
Brake output
(BO-COM) *Note 1 : Should turn ON within 0.1s.
Brake check (BI1-BI2)

Servo unlocked after waiting
Servo locked within 0.8ms. for 0.8ms.
Servo lock ON For more than 30ms
Re-set (IN6)
Dynamic brake Release Release
Brake Brake Brake
If servo normal turns OFF, prepare a sequence to turn OFF the run signal. It is
CAUTION dangerous, because the servo is immediately locked with re-set.
21
2-2 Selection of Peripheral Equipment
Main circuit
Rated
Circuit breaker Noise filter Contactor Noise killer Relay or contactor
output
Fuji Denki NEMIC LAMBDA Fuji Denki Nisshin Seigyo Kiko Omron/Fuji Denki
Servo motor Servo amp kW MCCB NF MC SK RY/BC
VLBST-01230 0.12 SA32B-3A

VL□□T-012P1 SC-05 2a2b AC100V
VLBST-02030 0.2 SA32B-5A
VLBST-01230 0.12
SA32B-3A MAS-1206-33
VLBST-02030 0.2
2 VLBST-04030
VLBST-05030
VL□□T-012P2
0.4
0.5
SA32B-5A
SA32B-10A
MY4N DC24V
VLBST-08030 0.8
VL□□T-025P2 MAS-1215-33 SC-05 2a2b AC200V
VLBST-14030 1.0 SA32B-15A
VLBST-14030 1.4
SA33B-10A
VLBST-18030 VL□□T-050P3 1.8
VLBST-24030 2.4
SA33B-15A MBS-1320-33
VLBST-24030 2.4
VL□□T-070P3
VLBST-37030 3.4 SC-03 1b AC200V
SA33B-20A SC-5-1 2a2b AC200V
VLBST-37030 3.7
VL□□T-100P3
VLBST-55030 5.0
SA33B-30A MBS-1330-33 SC-1N 2a2b AC200V
VLBST-55030 5.5
VL□□T-160P3
VLBST-65030 6.5 SA53B-40A MBS-1340-33 SC-2N 2a2b AC200V
VLBST-(X)04015 VL□□T-012P2 0.4 SA32B-5A MAS-1206-33
VLBST-(X)08015 0.8 SA32B-10A

SQ25200NFZ MY4N DC24V
VLBST-(X)10015 VL□□T-025P2 1.0 MAS-1215-33 SC-05 2a2b AC200V
SA32B-15A
VLBST-(X)15015 1.0
VLBST-(X)15015 1.5 SA33B-10A

VL□□T-050P3
VLBST-(X)26015 2.6
SA33B-15A
VLBST-(X)26015 2.6 MBS-1320-33
VL□□T-070P3 SC-5-1 2a2b AC200V
VLBST-(X)37015 3.3
SA33B-20A
VLBST-(X)37015 3.7 SC-03 1b AC200V
VL□□T-100P3
VLBST-(X)50015 5.0
SA33B-30A MBS-1330-33
VLBST-(X)50015 5.0
SC-1N 2a2b AC200V
VLBST-(X)75020 VL□□T-160P3 7.5 SA53B-40A MBS-1340-33
VLBST-(X)10K20 10 SA53B-50A MBS-1350-33

VLBST-Z00330 VL□□T-006P1 0.03 SC-05 2a2b AC100V

SA32B-3A

MAS-1206-33
VLBST-Z01030 VL□□T-006P2 0.1 SC-05 2a2b AC200V MY4N DC24V
VLBST-Z02030 0.2 SA32B-5A

VL□□T-012P2
VLBST-Z04030 0.4
SC-05 2a2b AC200V
VLBST-Z06030 0.6
VL□□T-025P2 SA32B-10A
VLBST-Z08030 0.8 MAS-1215-33
■ Standards for Selection of Multiple Axes

When attaching multiple amps to a single Circuit breaker, calculate the AC current of primary side using the following
expression, and then select the capacity.
● In case of single phasee : (VLAST-006P1V • 012P1V • VLAST-006P2V • 012P2V • VLAST-025P2V)
I = (1.7 × P + 60 × N) ÷ V [A]
22
■ The types SH and B of dynamic brake contactors are made by Fuji Denki and Mitsubishi Denki, respectlvely.
Holding brake Dynamic brake

Diode/noise killer Brake power supply Noise killer Relay Diode Contactor Noise killer
Toshiba/Nisshin Corsel/Toei Nisshin Seigyo Omron Toshiba Fuji Denki/Mitsubishi Denki Nisshin Seigyo
D/NK DBP SK RY D DB NK Servo motor
VLBST-01230
SH-4 2a2b AC100V
VLBST-02030
VLBST-01230
P15E-24-N
VLBST-02030
1S1830 MY4N DC24V 1S1830
SH-4 2a2b AC200V
VLBST-04030
VLBST-05030
2
VLBST-08030
VLBST-14030
VLBST-14030
VLBST-18030
VLBST-24030
P30E-24-N VLBST-24030
B-N20 AC200V 3b
SQ25200NFZ - - VLBST-37030
VLBST-37030
VLBST-55030
VLBST-55030
VLBST-65030
P15E-24-N VLBST-(X)04015
VLBST-(X)08015
1S1830 SQ25200NFZ MY4N DC24V 1S1830 SH-4 2a2b AC200V SQ25200NFZ
VLBST-(X)10015
VLBST-(X)15015
VLBST-(X)15015
VLBST-(X)26015
VLBST-(X)26015
P30E-24-N
VLBST-(X)37015
B-N20 AC200V 3b
SQ25200NFZ - - VLBST-(X)37015
VLBST-(X)50015
VLBST-(X)50015
VLBST-(X)75020
VLBST-(X)10K20
SH-4 2a2b AC100V VLBST-Z00330
1S1830 P15E-24-N MY4N DC24V 1S1830 SH-4 2a2b AC200V VLBST-Z01030
VLBST-Z02030
VLBST-Z04030
SH-4 2a2b AC200V
VLBST-Z06030
VLBST-Z08030
● In case of 3-phase: (VLAST-050P3V · VLAST-070P3V · VLAST-100P3V · VLAST-160P3V)
I = (1.7 × P / √ 3 ＋ PS) ÷ V [A]
1.7 : Coefficient of efficiency & power factor 60 : Control power supply capacity [VA]
P : Aggregate output of motor N: Number of amps
PS : Total capacity of control power supply V : Power supply voltage
23
2-3 Wire Diameter & Nominal Screw Diameter
Servo amp
Power circuit
Rated
Main circuit Operating circuit Main circuit MC Motor output circuit Brake check
output
RS/RST R0-S0 MC-COM A-B-C-E BI1-BI2
Wire Wire Wire Wire Wire
Servo motor Servo amp diameter Screw diameter Screw diameter Screw diameter Screw diameter Screw
VLBST-01230 0.12
VL□□T-012P1
VLBST-02030 0.2
VLBST-01230 0.12
2 VLBST-02030
VLBST-04030
VL□□T-012P2
0.2
0.4
1.25
- - - -
0.75
M4 0.2 -
VLBST-05030 0.5
VLBST-08030 0.8
VL□□T-025P2 1.25
VLBST-14030 1.0 M4
VLBST-14030 1.4
2.0
VLBST-18030 VL□□T-050P3 1.8
VLBST-24030 2.4
2.0 3.5 M4
VLBST-24030 2.4
VL□□T-070P3
VLBST-37030 3.4 0.75 M4 0.75 M4 0.5 M4
3.5 5.5
VLBST-37030 3.7
VL□□T-100P3
VLBST-55030 5.0 5.5 M4
8
VLBST-55030 5.5
VL□□T-160P3 8.0 M5 M5
VLBST-65030 6.5 14.0
VLBST-(X)04015 VL□□T-012P2 0.4 0.75
VLBST-(X)08015 0.8
- - - - 0.2 -
VLBST-(X)10015 VL□□T-025P2 1.0 1.25 1.25
VLBST-(X)15015 1.0
VLBST-(X)15015 1.5 2.0

VL□□T-050P3 M4 M4
VLBST-(X)26015 2.6
2.0 3.5
VLBST-(X)26015 2.6
VL□□T-070P3
VLBST-(X)37015 3.3
3.5 5.5
VLBST-(X)37015 3.7 0.75 M4 0.75 M4 0.5 M4
VL□□T-100P3
VLBST-(X)50015 5.0
5.5 8
VLBST-(X)50015 5.0
VLBST-(X)75020 VL□□T-160P3 7.5 M5 M5

14 14
VLBST-(X)10K20 10
VLBST-Z00330 VL□□T-006P1 0.03
VLBST-Z00330 VL□□T-006P2 0.03
VLBST-Z00530 VL□□T-006P1 0.05
VLBST-Z00530 VL□□T-006P2 0.05
VLBST-Z01030 VL□□T-006P1 0.1
VLBST-Z01030 VL□□T-006P2 0.1 1.25 M4 - - - - AWG18 M4 0.2 -
VLBST-Z02030 VL□□T-012P1 0.2
VLBST-Z02030 0.2
VL□□T-012P2
VLBST-Z04030 0.4
VLBST-Z06030 0.6
VL□□T-025P2
VLBST-Z08030 0.8
■ Countercurrent absorption circuit employs a heat resistant vinyl wire.

■ Wire diameter is selected according to the following standards.
• 600V KIV or IV wires, ambient temperature 40 ℃
• Motor output wires, when shorter than 30m
24
Servo motor
Holding brake circuit Dynamic brake circuit Countercurrent Power division
absorption circuit
Brake output Brake circuit Brake check Brake output Brake circuit Armature Earth Brake
COM-BO BI1-BI2 COM-BO P-J/PA-JP1 A-B-C E B1-B2

Wire Wire Wire Wire Lead wire diameter/Nominal Servo motor
diameter Screw Wire diameter diameter Screw diameter Screw Wire diameter diameter Screw diameter of crimp terminal
VLBST-01230
VLBST-02030
0.5 0.5 0.3 VLBST-01230
0.2 - 0.2 - 0.2 -

0.75
0.75
VLBST-02030
VLBST-04030
2
0.75 0.75 0.5 VLBST-05030
1.25 1.25 VLBST-08030
M4 VLBST-14030
M4 M4 M4 VLBST-14030
1.25 VLBST-18030
1.25 VLBST-24030
VLBST-24030
2.0 M5 M4
0.5 M4 0.5 M4 0.5 M4 VLBST-37030
2.0
M4 VLBST-37030
5.5
VLBST-55030
3.5
M6 M5 VLBST-55030
8.0 M5
5.5 VLBST-65030
0.5 0.75 M4 0.75 0.75 0.5 VLBST-(X)04015
VLBST-(X)08015
0.2 - 0.75 0.2 - 0.2 -
0.75 VLBST-(X)10015
0.75 M4
VLBST-(X)15015
VLBST-(X)15015
1.25 M4
M4 VLBST-(X)26015
1.25
VLBST-(X)26015
2.0 M5 M4
VLBST-(X)37015
2.0
0.5 M4 0.5 M4 0.5 M4 VLBST-(X)37015
5.5
VLBST-(X)50015
3.5
VLBST-(X)50015
M6 M5
8.0 M5 VLBST-(X)75020
5.5
VLBST-(X)10K20
VLBST-Z00330
VLBST-Z00330
VLBST-Z00530
VLBST-Z00530
VLBST-Z01030
0.2 - 0.2 - 0.2 - 0.75 0.75 M4 AWG18 AWG18 AWG24 VLBST-Z01030

VLBST-Z02030
VLBST-Z02030
VLBST-Z04030
VLBST-Z06030
VLBST-Z08030
25
2-4 Countercurrent Absorption Resistance
While decelerating the motor or conducting absorption run (lowering down while supporting the load of employing a pulley or so),
the DC power voltage inside the amp is made to rise by the countercurrent energy. There is a countercurrent absorption circuit for
preventing this type of phenomena. The countercurrent absorption circuit employs a resistance inside the amp and makes it consume
that energy. If the countercurrent energy becomes too large, the heat emission of internal resistance exceeds its allowable range, but
the protective circuits of overvoltage (AL02), absorption resistance overheating (AL09), countercurrent absorption fault (AL10) keep
on functioning; however, the countercurrent absorption efficiency can be enlarged by adding another resistance on the outside.
(Protective circuits AL09 & AL10 are not available in 006P, 012P & 025P).
2-4-1 Selection of External Resistance

The value of countercurrent energy is determined by the load and operation pattern. Various losses, like, machine loss from
2 countercurrent energy, motor's internal loss power consumption of amp, etc., as well as the charging capacity of amp power
supply and energy to be consumed by external resistance can be found out by subtracting the energy which can be absorbed
by internal countercurrent absorption resistance. The value obtained by converting the unit time of energy becomes the
power (W) of external countercurrent absorption resistance.
● In case of horizontal axis
ta tb
Deceleration time Deceleration cycle
Countercurrent energy Ej = 1 / 2 x (Jm + JL) x (2πN / 60)2 (J)
Sum of various losses & charging capacity Es = (πN / 60 x TL + Pm + Pa) x ta + EC (J)
Countercurrent electric power Pra = Ej - Es / tb (W)
Jm : Motor inertia (kg·m2) ----------------------- Refer to TOEI Specification

JL : Load inertia (kg·m2)
π : Circumference/diameter
N : RPM At the time of deceleration (r/min)
TL : Load torque (N·m)
Pm : Motor loss (W) ------------------- 10% Of the capacity of used motor
Pa : Power consumption of amp (W) ----------------------------------------- See table below.
EC : Charging capacity of amp power supply (J) ------------------------------------------- See table below.
ta : Deceleration time (s)
tb : Deceleration cycle (s)
Countercurrent absorption capacity of amps

Power consumption Internal countercurrent Charging
Amp type
Pa (W) absorption resistance Er(W) capacity Ec(J)
VLAST-006P1V,2V 13 0 17
VLAST-012P1V 17 0 17
VLAST-012P2V 24 0 17
VLAST-025P2V 37 0 22
VLAST-050P3V 80 80 38
VLAST-070P3V 100 80 54
VLAST-100P3V 200 100 94
VLAST-160P3V 300 180 188
26
Find out the values of Ej & Es Example 1 Motor VLBST-04030 & amp VLAST-012P2
Ej = 1 / 2 x (0.26 + 1.45) x 10-4 x (2π x 4000 / 60)2 = 15 (J)
Es = (π x 4000 / 60 x 0.13 + 40 + 24) x 0.035 + 17 = 20 (J)

YES
Ej ≦Es ? Not needed Since Ej (15J) < Es (20J), no resistance is needed.
Jm : Motor inertia 0.26 x 10-4 (kg·m2)

NO
JL : Load inertia 1.45 x 10-4 (kg·m2)
N : RPM At the time of deceleration 4000 (r/min)
resistance needed
TL
Pm
: Load torque
: Motor loss
0.13
40
(N·m)
(W)
2
Compute Pra Pa : Power consumption of amp 24 (W)
EC : Charging capacity of amp power supply 17 (J)
ta : Deceleration time 0.035 (s)
tb : Deceleration cycle 0.1 (s)
Amp of less YES Countercurrent absorption re-

Setting of user UP-30 Invalid
than 025P? sistance needed on the outside
parameters UP-31 Invalid
NO
YES OK, with internal countercur-

Pra ≦Er ?
rent absorption resistance
NO Internal countercurrent
Countercurrent absorption re-

sistance needed on the outside
Example 2 Motor VLBST-18030 Amp VLAST-050P3
Ej = 1 / 2 x (2.57 + 13.0) x 10-4 x (2π x 4000 / 60)2 = 137 (J)
Es = (π x 4000 / 60 x 0.6 + 180 + 80) x 0.05 + 38 = 57 (J)
Since Ej (137J) > Es (57J), countercurrent absorption resistance becomes necessary.

Next, calculate Pra.
Pra = 137 - 57 / 0.3 = 267 (W)
Since the built-in resistance (Er) of 050P3 is 80 (W),

it is necessary to mount a countercurrent absorption Jm : Motor inertia 2.57 x 10-4 (kg·m2)
JL : Load inertia 13.0 x 10-4 (kg·m2)
resistance of 267 (W) on the outside. To use the op-
tional countercurrent absorption resistance, select one
N : RPM At the time of deceleration 4000 (r/min)
of absorption capacity 400 (W). And, to use 15Ω TL : Load torque 0.6 (N·m)
400 (W), set the user parameters (UP-30, UP-31) as Pm : Motor loss 180 (W)
follows. Pa : Power consumption of amp 80 (W)
Setting of user UP-30 15.0(Ω) ta : Deceleration time 0.05 (s)
parameters UP-31 0.40(kW) tb : Deceleration cycle 0.3 (s)
27
● In case of vertical axis

This is an example of suspending & lowering down a work using a pulley, and of using the motor as brake during
tension control. TL in the following expression gives the load that is determined by load torque due to friction, and
Tg gives the torque that is determined the mass of work & pulley diameter.
TL
Tg
2 tc td
M
Lowering time Lowering cycle
Countercurrent energy Ej = 2πN / 60 x Tg x tc (J)
Sum of various losses & charging capacity Es = (2πN / 60 x TL + Pm + Pa) x tC + EC (J)
Countercurrent electric power Pra = Ej - Es / td (W)
N : RPM At the time of lowering (r/min)

Tg : Self weight torque (N·m)
TL : Load torque (N·m)
Pm : Motor loss (W) ------------------- 10% Of the capacity of used motor
Pa : Power consumption of amp (W) ----------------------------------------- See table below.
EC : Charging capacity of amp power supply (J) --------------------------------------------------------- Zero
tC : Lowering time (s)
td : Lowering cycle (s) *Note 1
*Note 1 : When absorption running is expected to continue long, Ec = 0 is made presuming that the charging
capacity of amp power supply would not be used efficiently.

Power consumption Internal countercurrent Charging
Amp type
Pa (W) absorption resistance Er(W) capacity Ec(J)
VLAST-006P1V,2V 17 0 17
VLAST-012P1V 17 0 17
VLAST-012P2V 24 0 17
VLAST-025P2V 37 0 22
VLAST-050P3V 80 80 38
VLAST-070P3V 100 80 54
VLAST-100P3V 200 100 94
VLAST-160P3V 300 180 188
28
Find out the values of Ej & Es Example 3 Motor VLBST-04030 & amp VLAST-012P2
Ej = 2π x 4000 / 60 x 0.5 x 0.2 = 42 (J)
Es = (2π x 4000 / 60 x 0.13 + 40 + 24) x 0.2 + 0 = 24 (J)

YES
Ej ≦Es ? Not needed Since Ej (42J) > Es (24J), no resistance is needed.
Next, calculate Pra. Pra = 42 – 24 = 18 (W)
1
NO It is necessary to mount a countercurrent absorption resistance of 18(W)
or more on the outside. In case of using the optional countercurrent
resistance needed absorption resistance, select one with 30W of absorption capacity. Note
that user parameters (UP30 and UP31) shall cease to be valid and be 2
sure to select the proper resistance capacity securely
Compute Pra
Setting of user UP-30 Invalid
parameters UP-31 Invalid
YES N : RPM At the time of lowering 4000 (r/min)

Amp of less Countercurrent absorption re-
than 025P? sistance needed on the outside Tg : Self weight torque 0.5 (N·m)
TL : Load torque 0.13 (N·m)
NO Pm : Motor loss 40 (W)
Pa : Power consumption of amp 24 (W)
YES tC : Lowering time 0.2 (s)
OK, with internal countercur-
Pra ≦Er ?
rent absorption resistance td : Lowering cycle 1 (s)
NO Internal countercurrent
Countercurrent absorption re-

sistance needed on the outside
Example 4 Motor VLBST-18030 Amp VLAST-050P3
Ej = 2π x 4000 / 60 x 3.0 x 0.2 = 251 (J)
Es = (2π x 4000 / 60 x 0.6 + 180 + 80) x 0.2 + 0 = 102 (J)
Since Ej (251J) > Es (102J), countercurrent absorption resistance becomes necessary.

Next, calculate Pra.
Pra = 251 - 102 / 1 = 149 (W)
Since the built-in resistance (Er) of 050P3 is 80 (W),

N : RPM At the time of lowering 4000 (r/min)
it is necessary to mount a countercurrent absorption
Tg : Self weight torque 3.0 (N·m)
resistance of 149 (W) on the outside. To use the op-
TL : Load torque 0.6 (N·m)
tional countercurrent absorption resistance, select one
Pm : Motor loss 180 (W)
of absorption capacity 200 (W). And, to use 15Ω
Pa : Power consumption of amp 80 (W)
200 (W), set the user parameters (UP-30, UP-31) as
follows.
tC : Lowering time 0.2 (s)
Setting of user UP-30 15.0(Ω) td : Lowering cycle 1 (s)
parameters UP-31 0.20(kW) π : Circumference/diameter
29
2-4-2 Countercurrent Absorption Resistance
● Outer shape & absorption capacity
Absorption
Type L1 L2 L3 W H D
capacity(W)
A RGH60 100Ω 30 115 100 110 40 20 4.3
B RGH200 30Ω 100 215 200 300 50 25 5.3
C RGH400 30Ω 200 265 250 300 60 30 5.3
2 ● Combination with amp & setting of parameters
Absorption
Amp type & capacity 30W 100W 200W 400W 600W 800W
absorption capacity
P J P J P J
VLAST-006,012P A B C
P J P J P B B J
VLAST-025P B C
B B
PA B JP1 PA C JP1
B C
VLAST-050P
VLAST-070P UP-30 15.0 UP-30 15.0
UP-31 0.20 UP-31 0.40
C
PA JP1
C
VLAST-100P C
UP-30 10.0
UP-31 0.60
C
PA C JP1
C
VLAST-160P C
UP-30 7.5
UP-31 0.80
● Connectable outer resistance

If absorption capacity is found to be insufficient by using the optional resistance, select from the following table.
Recommended Connectable max.

Amp type
resistance value capacity
VLAST-006, 012P 30 Ω 300 W
VLAST-025P 30 Ω 400 W
VLAST-050P 15 Ω 2.4 kW
VLAST-160P 7.5 Ω 11 kW
30
2-4-3 Mounting of Countercurrent Absorption Resistance

050P, 070P, 100P, & 160P have a built-in countercurrent absorption resistance inside the servo amp. Since external
absorption resistance cannot be used in parallel with the internal absorption resistance, remove the jumper that is mounted
between terminals JP1-JP2 and connect it between terminals PA-JP1. However, 006P, 012P & 025P do not have a built-in
countercurrent absorption resistance inside the servo amp. Connect it between terminals P-J.
In case of 006P/012P/025P In case of 050P/070P
S
COM BO BI1 BI2 A B COM BO BI1 BI2 A B
2
Insert between P-J P
J T PA JP1 JP2 NA T PA JP1 JP2 NA
B Remove jumper
Insert between PA-JP1

In case of 100P
CHARGE CHARGE
BI1 BI2 PA JP1 JP2 NA BI1 BI2 PA JP1 JP2 NA
A B C E A B C E
Remove jumper
In case of 160P
EARTH EARTH
R0 S0 MC COM BO BI1 BI2 R0 S0 MC COM BO BI1 BI2
T PA JP1 JP2 NA A T PA JP1 JP2 NA A
Remove jumper
Countercurrent absorption resistance emits about 100 ℃ of heat. So, carefully select
CAUTION the mounting position, heat emission method, etc; and use heat resistant vinyl wires
for doing the wiring, so that they cannot touch the resistance.
Use the designated combinations of servo amp and countercurrent absorption
CAUTION resistance. Otherwise, it may cause fire. Never touch the resistance because it
becomes hot. It may cause burns.
Note that the resistor is heated.

CAUTION Never touch the resistor lest you should be burnt.
31
2-5 Earth
Invariably install an earth of kind 3 or larger, as a countermeasure against hazards & noise for the servo amp and servo motor.
The switching noise of transistor may adversely affect the signals or power system.
Do the wiring accurately, and install an earth.
● Install noise filter near the servo amp.

● If the control panel earth washer and servo amp become separated by more than 1m, install the earth by setting up an earth washer
in the servo amp mounting panel.
● Always install the earth of servo motor (green wire or retaining screw E of terminal box) after connecting it to terminal or E of
servo amp.
2
MCB
Servo
Servo Servo
Servo
amp
amp amp
amp If the distance up to earth washer is more
NF than 1m, newly install an earth washer.
MC
Connect panel-to-panel with an
electric wire.
Connect to or E terminal.
Use separate ducts for wiring

the motor power line & re- R S T A B C When wiring inside a metallic conduit
E
solver cable. or metallic duct, ground the metallic
portion by 1-point earth.
Ar
ma
tur
Power cable ec
ab
le
Resolver cable
More than kind 3 earth
● Do not provide a common earth for high power equipment, motor, etc.
● Do not earth to the steel frame of buildings to which earths of various equipment have been connected.
E E E
Other Other Other
Servo Servo Servo
equip- equip- equip-
amp amp amp
Motor ment Motor ment Motor ment
E E E E E E
Dedicated earth : OK Common earth : OK Common earth : NG
Servo Amp Servo amp. Be sure to ground the earth terminal with a wire.
CAUTION It may cause electric shocks.
32
2-6 Noise Countermeasures
● Insert a noise filter on the primary side of AC power supply. Pay attention at the time of wiring, because the noise filter has
designated input and output.
In case of single phase In case of 3-Phase
Noise filter Noise filter

3 1 4 1
Power supply side Amp side Power supply side 5 2 Amp side
4 2 6 3
2
Note the Termi-
nal No.
Mount an earth washer & con-
nect it with a wire.
● When employing a relay, electromagnetic solenoid, electromagnetic brake, etc. which produce electric noise, in the vicinity of
servo amp
(1) Install devices & components which produce noise as much away from the servo amp as possible.
(2) Install a noise killer or diode on devices or components which produce noise.
AC Relay/contactor DC Relay, etc.
RY
MC R
DC Power D
NK
AC Power supply supply
Noise killer Diode
Select, taking into account voltage resistance,

current, etc. (vital caution).
● When housing the inverter in the same panel, take adequate countermeasures, such as by isolating the power supply system,
separating the wiring route, and so on.
33
34
Signal Circuit 3
3-1 Table of Input/Output Signals ------------------------------36

3-2 Connection of Signal Circuit -------------------------------38
3-2-1 Analog Inpu ----------------------------------------------38
3-2-2 5V Input ---------------------------------------------------39
3-2-3 24V Input -------------------------------------------------40
3-2-4 24V Output ---------------------------------------------- 41
3-2-5 Differential Output --------------------------------------42
3-2-6 Analog Monitor Output --------------------------------46
3-2-7 Motor Sensor CN5 -------------------------------------47
3-1 Table of Input/Output Signals
There are 4 different signals: 24V I/O signals, analog input signals, 5V input signals, and differential output signals. Depending on
the control mode, the same signal name provides different functions. For example, IN2 is a "run signal"; but in draw control, it
becomes "draw setting 3". Be careful especially at the time of wiring.
● Signals of amp types earlier than 025P are as given in the following table. But in amp types later than 050P, there are no brake
output signals and brake check signals are provided on the terminal board; so use them. But, the signals listed in following table
cannot be used. Other signals are the same as in earlier than 25P.
● The re-set signal of draw control is not in the input signals. Reset can be done by pressing of the display operating unit.
Mode 01 Mode 02 Mode 03 Mode 04 Mode 05 Mode 06
24V I/O Speed control Current control Position control Speed/current/position control Direct feed Draw control
IN0 (Brake check) (Brake check) (Brake check) (Brake check) (Brake check) Draw setting 1
3 IN1
IN2
Zero point stop
Running
-
Running
Zero point stop
Running
Zero point stop
Running
Speed selection 1
Running
Draw setting 2
Draw setting 3
IN3 Zero command - Forward run possible Current control switch over Speed selection 2 Draw setting 4
IN4 Monitor switch over Monitor switch over Reverse run possible Position control switch over Forward run command Draw setting 5
IN5 Current value clear - Current value clear Current value clear Reverse run command Draw setting 6
IN6 Re-set Re-set Re-set Re-set Re-set Draw setting 7
IN7 Current limit switch over Speed limit switch over Current limit switch over Limit switch over Current limit switch over Running
OUT0 (Brake output) (Brake output) (Brake output) (Brake output) (Brake output) -
OUT1 Speed reached Running reverse Zero point stopped Speed reached/INP Speed reached Speed reached
OUT2 Current limit in progress Running forward Zero point memorize - - -
OUT3 Zero point stopped Absorbing Forward run inhibited Zero point stopped Running reverse Running reverse
OUT4 Zero point memorize Driving Reverse run inhibited Speed command/speed limit Running forward Running forward
OUT5 Stop detection Stop detection In position Stop detection Stop detection Stop detection
OUT6 Battery alarm Speed limited Battery alarm Limit applied Current limited Current limited
OUT7 Servo normal Servo normal Servo normal Servo normal Servo normal Servo normal
Analog input Speed control Current control Position control Speed/current/position control Direct feed Draw control
REF Speed command Speed control - - No.1 feed speed -
CL1 Current limit Current command Current limit Current limit/current command No.2 feed speed/current limit -
5V Input Speed control Current control Position control Speed/current/position control Direct feed Draw control
Forward pulse - - OK OK - OK
Reverse pulse - - OK OK - OK
Differential Speed control Current control Position control Speed/current/position control Direct feed Draw control
output OK OK OK OK OK OK
Pulse output A OK OK OK OK OK OK
Pulse output B OK OK OK OK OK OK
*Signals in ( ) cannot be used in 050P, 070P, 100P, & 160P.
If wiring of the control connector is mistaken, unpredicted operation may take place.
CAUTION Carefully check the wiring, and invariably conduct a trial run.
Do not disconnect the control connector of CN1, 2, 5 while the power is ON.
CAUTION Otherwise, it may cause malfunction or troubles.
36
MON Cable Servo amp

MON 050P, 070P, 100P, & 160P Use
Max. length 5m
2 MON signals of this terminal board. For
Monitor output Analog output ±3V their connection method, see
1 AGND "Chapter 2 Power Circuit".
Terminal board
RS232C Cable CN1 RS-232C
Max. length 5m MC
Personal
Computer COM
CONT Cable
BO Brake output
Max. length 5m CN2 CONT
±10V 3 REF BI1
Brake check
Speed command BI1
or speed limit 4 AGND
Analog input ±10V Versions earlier than 25P do
1 CLI
Current limit or cur- not have this terminal board.
rent command 2 AGND
Motor sensor input
Forward run pulse 5 FMA M-SEN CN5
command 6 /FMA R1 8 1 R1
5V Input R2 9 2 R2
26 FMB Built-in power
3
Reverse run pulse
command 27 /FMB supply S1 2 5 S1
Max. 100mA RES
36 FG S3 3 7 S3
29 P24V S2 6 6 S2 Resolver
13 INCOM S4 7 3 S4
14 IN2 GND 11
Resolver cable
18 IN6
Max. length 120m
17 IN5
24V Input 16 IN4
15 IN3
35 IN7 CONT Cable
CONT CN2 Max. length 5m
12 IN1
*Brake check APD 20
11 IN0
/APD 21
10 24G
BPD 22
In versions later than VLAST-050P, this brake
/BPD 23 Differential
check & brake output cannot be used. output
ZPD 24
RY 34 OUT7
/ZPD 25
RY 8 OUT1
GND 19
RY 32 OUT5
FG 36
RY 9 OUT2
24V Output
RY 30 OUT3
RY 31 OUT4
RY 33 OUT6
*Brake output RY 7 OUT0
Power supply for output shall

be procured by user.
Select a CONT cable that suits this con- Cable name Type Control mode
trol mode.
Speed control, current control, speed/current/po-
CONT Cable CB110-□□□B
And, maximum up to 3 CONT cables can sition control, position control, & direct feed
be connected to CN2. They are respec- CONT Cable CB096-□□□B Position control (no analog input) & draw control
CONT Cable CB110-□□□A All modes (for terminal converter TBT39)
tively for analog input, 5V input/differen- Resolver cable CB082-□□□A
tial output, and 24V I/O. MON Cable CB102-□□□B
All modes
RS232C Cable (NEC version) CB095-□□□A
RS232C Cable (IBM version) CB094-□□□A
CAUTION Always use DC24V±10% as I/O power supply voltage. It may cause troubles.
If the connection of CN5 is mistaken, the motor may start running wild. Check the
CAUTION wiring thoroughly, and conduct a trail running without fail.
37
3-2 Connections of Signal Circuit
3-2-1 Analog Input

CN2
Red
● Input specifications Speed command or ±10V 3 REF
speed limit Red/white
4 AGND
Max. input voltage DC±12V Black
Current limit or cur- ±10V 1 CLI
rent command Black/white
Input impedance 18kΩ 2 AGND
● Wiring method
Do the wiring by using a 2-core twisted CONT cable. As shield processing, drop to CN2-2 AGND on the amp side, and
cut off the opposite side.
● Rotating direction
In speed control mode, it runs forward with speed command input positive voltage
(set when shipped from factory).
3 In current control mode, it runs forward with current command input positive voltage
(set when shipped from factory).
It can be changed with user parameter UP-17.
Forward
● Outline of functions
In speed control mode, speed command functions as command of speed; and in current control mode, it functions as
limit of speed.
In current control mode, current command functions as command of current (torque); and in current control mode, it
functions as limit of current (torque). To make limit function effective, the conditions are to set HP-34 and whether or
not there is the limit switch over signal. In response to speed command, it is possible to set the times of linear
acceleration/deceleration and S-shaped acceleration/deceleration. In direct feed mode, it can be used for No.1 & No.2
feed speeds, by setting "0" in UP-21, 22.
● Example of connection
The diagram shows an example of setting speed command and current limit, by using a relay. At this time, select a relay
whose contact can handle minuscular current. And, so far as possible, use a twisted pair shielded wire. Further, contrive
to pair the GND and signal, using resistance & volume.
Drop the shield in amp side AGND. Cut off the opposite side.
Forward rotation
PS12V
+
AC85
∼132V Reverse rotation
-
Power supply
R R CN2
Speed setting 1
VR1
3 REF
4 AGND
Speed setting 2
VR2
R R
Current limit 1
VR3
1 CL1
2 AGND
Current limit 2
VR4
Jumper wire
Shielded wire Name Symbol Type Maker

DC Power supply PS PMC15-1 (AC85-132V 12V 1.3A) Cosel
Volume VR RV30YN20SB 1KOHM 2W Cosmos
Resistance R R25X T-29J201 (1/4W 200 OHM) Rohm
Relay RY MY4-NZ Omron
38
3-2-2 5V Input
CN2
Yellow
● Input specifications 5 FMA
Yellow/white
Max. input frequency : 200kpps DC 5V 17mA 6 /FMA
Brown
When the type of pulse command is forward/reverse pulse :200kpps 26 FMB
Brown/white
When the type of pulse command is AB-phase pulse :50kpps 27 /FMB
When the type of pulse command is pulse & forward/reverse signal 36 FG
:200kpps
Forward/reverse pulse (max. 200kpps) AB-Phase pulse (max. 50kpps)

More than AB-Phase input sets in, when UP18 is switched over.
2.5 çs Input pulse is internally 4 times frequency multiplied.
More than More than
More than 5 µs 〃〃〃 5 µs 〃〃〃
Forward rotation ON 2.5 µs
ON
pulse OFF
3
A-Phase pulse OFF
Time to switch over between ON
forward & reverse rotation
pulses: More than 2.5us ON OFF
B-Phase pulse
Reverse pulse OFF Forward run Reverse run
Pulse & forward/reverse signals

More than Pulse & forward/reverse signals is set, when
2.5 µs UP18 is switched over (max. 200kpps). Motor rotating direction
More than
5 µs ON
Pulse OFF
Switch over of forward & reverse

rotation & pulse interval ON
Forward/reverse OFF
signals
Forward
● Wiring method
Do the wiring using a 6-core twisted pair shielded wire inside CONT cable. This cable also contains a wire for
differential output. As shield processing, drop the amp side in FG, and cut off on the opposite side.
● Rotating direction
TOEI Factory settings are as follows.
When the type of pulse command is forward/reverse pulse : Runs forward, when a pulse is input into FMA.
When the type of pulse command is AB-phase pulse : Runs forward, when a pulse is input into FMA, after
advancing 90 degrees.
When the type of pulse command is pulse & forward/reverse signal : Runs forward, when a pulse is input into FMA,
and when FMB is set at "H".
Can be changed with user parameter.
● Outline of function
Electronic gear is a function to realize high precision speed control without any positioning and drift, with arbitrary
number of pulses (frequency), by setting into user parameters the amount of travel (weight) per command pulse. The
amount of machine travel in response to command pulse is based on motor detection split count of 24000 pulses/
rotation, and it is set in UP-04 (numerator) & UP-05 (denominator).
To travel the machine 0.01mm per input pulse, using forward/reverse pulses :
Pitch of ball screw 10mm Deceleration ratio 1/2
Amount of travel per pulse × Detection split count 0.01 x 24000

= 10 x 1/2 = 48
Ball pitch x Deceleration ratio)
Set UP-04=48, & UP-05=1

Next, set the type of pulse command.
When the type of pulse command is forward/reverse pulse, UP-18=00
In case of AB-phase pulse (UP-18=01), 0.04mm travel takes place per pulse, in the setting of this electronic gear.
39
3-2-3 24V Input
● Input specifications
Input voltage DC24V, input current 8mA
Built-in power supply usable, max. capacity 100mA
Photocoupler is employed in the interface.
● Wiring method
Use a collective shielded wire. Drop the shield in the earth of servo amp. And, cut off the opposite side.
● Example of connections
The diagram shows an example of using a relay and photocoupler, respectively. In this example, a built-in power supply
is used. It can be used within the range, where maximum capacity does not exceed 100mA.
3 Using internal power supply
Built-in power supply

CN2 Max. 100mA Built-in power supply
CN2
29 P24V Max. 100mA
29 P24V
13 INCOM
13 INCOM
14 IN2
14 IN2
18 IN6
18 IN6
17 IN5
17 IN5
16 IN4
16 IN4
15 IN3
15 IN3
35 IN7
35 IN7
12 IN1
12 IN1
11 IN0
11 IN0
10 24G
10 24G
or E terminal or E terminal
When using an external power supply, remove the jumper between P24V-INCOM, and connect the plus side of external
power supply to INCOM, & GND side to 24G.
Using external power supply

CN2
Max. 100mA
29 P24V
13 INCOM
14 IN2
18 IN6
17 IN5
External power supply 16 IN4
DC24V 15 IN3
35 IN7
12 IN1
11 IN0
10 24G
or E terminal
When both the 24V input signal & 24V output signal employ external power
CAUTION supply, detach the jumper between P24V-INCOM. Otherwise, it may cause
troubles.
40
3-2-4 24V Output
● Output specifications
Output voltage DC24V, max. current 40mA
Drives LED, photocoupler, & miniature relay.
● Wiring method
Use a collective shielded wire. Drop the shield in the earth of servo amp. Cut off the opposite side. Do not mistake the
polarities of noise prevention diode of relay. Otherwise, the output transistor may be destroyed.
● Example of connections
The diagram shows an example of using a built-in power supply. It can be used within the range, where maximum
capacity does not exceed 100mA.

CN2
3
Max. 100mA
Using internal power supply
29 P24V
13 INCOM
10 24G
34 OUT7
8 OUT1
32 OUT5
9 OUT2
30 OUT3
D 31 OUT4
33 OUT6
RY 7 OUT0
or E terminal
When using an external power supply while the number of output points are large, connect the GND of external power
supply to 24G.
CN2 Max. 100mA
Using external power supply 29 P24V
13 INCOM
10 24G
34 OUT7
8 OUT1
External power supply PS
32 OUT5
DC24V 9 OUT2
30 OUT3
D 31 OUT4
33 OUT6
RY 7 OUT0
or E terminal
Name Symbol Type Maker

Relay RY MY2N DC24V Omron
Diode D 1S1830 Toshiba
DC Power supply PS P15E-24-N AC85~264V 0.7A Cosel
CAUTION Do not connect the external power supply to P24V. It may cause troubles.
41
3-2-5 Differential Output
● Output specifications
When the type of pulse command is AB-phase pulse : 100kpps
When the type of pulse command is pulse & forward/reverse pulse : 400kpps
Max. output current 5V 15mA, line driver output (equivalent to AM26LS31)
Fractional magnification setting of up to 32767/32767 is possible in response to split count of 24000 pulses/rotation
(but, within the range of 0.05 to 500 times).
● Wiring method
Do the wiring by using a 6-core twisted pair shielded wire inside CONT cable. This cable also contains a wire for 5V
input. As shield processing, drop the amp side in FG, and cut off on the opposite side.
● Output against rotating direction

TOEI Factory settings are as follows.
3 Type of pulse output is AB-phase pulse, and the pulse that is output to APD at the time of forward rotation remains
advanced by 90 degrees from BPD. If changed with user parameter UP-19, the type of pulse output becomes forward/
reverse pulse.
At the time of forward run, pulse is output to APD.
At the time of reverse run, pulse is output to BPD.
Forward/reverse pulse (max. 400kpps) AB-phase pulse (max. 100kpps)
T T
T/4±T/8
T/2±T/4
ON ON
A-Phase pulse
OFF OFF
Forward run pulse
ON ON
B-Phase pulse
OFF OFF
Reverse run pulse
Forward run Reverse run Forward run Reverse run
Output pulse frequency (pps) = Travel rate (mm/s) / Amount of Output pulse frequency (pps) = 1/4 x Travel rate (mm/s) Amount of motor
motor travel per motor rotation (mm) x 24000 x UP05 / UP04 travel per motor rotation (mm) x 2400 x UP05 / UP04
There are 2 zero point pulses (Z-phase pulses) per motor revolution (every 180
Z-Phase pulse
degrees). The output position can be shifted with UP-06.
For instance, to shift by 36 degrees in motor axis, set 2400. Use it at the time of
ZPD making machine zero point adjustment.
Multiple of UP-06 = 36 / 180 x 12000 = 2400
400 µs 1/2 Rotation 1/2 Rotation The angle expressed with monitor phase amount of amp status display function
1 Rotation becomes 360 with half rotation of motor axis, as a feature of motor sensor
(resolver). When using this value in the calculation of zero point shift, convert
it into machine angle (motor axis angle) by dividing by 2, and then calculate it.
● Outline of function
Differential output has the following 3 functions. They are selected with UP-20.
1. Pulse output
Motor position is output with forward/reverse pulse or AB-phase pulse, by line driver method.
2. Monitor output
Motor rpm, current value, motor current, electro-thermal value, amount of motor phase, and machine speed are
output onto an option display device. There are 2 types of display devices: DPA-70 & DPA-80.
3. Current value serial data output
Current value is serially output as binary 32 bits, 23 bits + parity, 24 bits + parity, or 31 bits + parity. In case of
absolute position (ABS) sensor, current value becomes the absolute position.
The 3 functions cannot be used in parallel.
42
Function 1 : Pulse Output
Output pulse outputs the motor position pulse by line driver method.
■ Example of determining the output pulse count as against the amount of travel
To output 1 pulse for 0.01mm of travel (forward/reverse pulse)
Pitch of ball screw 10mm Deceleration ratio 1/2
Amount of travel per pulse x Detection split count 0.01 x 24000

= = 48
Pitch of ball screw x Deceleration ratio 10 x 1/2
Set UP-40=48,UP-05=1,&UP-19=00
In case of AB-pulse phase (UP-19=01), a pulse is output per 0.04mm with this setting. And, the split count of output pulse
becomes as follows.
Pitch of ball screw 10

= = 2000 (pulse/rev)
Amount of travel per pulse x Deceleration ratio 0.01 x 1/2
■ Example of acquiring arbitrary split count

When 2000 (pulse/rev) is to be output with AB-phase :
3
4 x Desired split count 4 x 2000 1 UP-05
= = =
Detection split count 24000 3 UP-04
This makes, UP-04=3, UP-05=1, UP-19=01
+5V
Equivalent to 26LS31 CN2
max15mA 1kΩ 2200pF
Black
APD 20
Black/white 330Ω
/APD 21
Red 1kΩ Equivalent to 26LS32
BPD 22
Red/white
/BPD 23
Green
ZPD 24
Green/white
/ZPD 25
Blue
GND 19
FG 36 5G
Function 2 : Monitor Output

Connect the option display device DPA-80 (8-digit) or DPA-70 (7-digit). For information about connection to DPA-70, refer to "E-
Series Description Manual". Display contents are set with UP-20. And, switch over the display with the monitor switch over of input
signal.
Cable max. length

Equivalent to 26LS31 DPA-80
max15mA CN2 50m CN1
Black
APD 20 5 CLK
Black/white
/APD 21 15 /CLK
Red
BPD 22 4 DATA
Red/white
/BPD 23 14 /DATA
Green
ZPD 24 3 TRG
Green/white
/ZPD 25 13 /TRG
Blue
GND 19 11 GND
FG 36 CASE FG
Number of pins 20
+ 1 +5V
- 2 GND Plug PCR-E20FS
Cable length
5V Power supply Case PCS-E20LB
within 1m
43
Function 3 : Current Value Serial Data Output
The position where the current value of input signal has been cleared becomes the current value "0". Taking this position as starting
point, current value (incremental) is output as serial data. Maximum amount of rotation is ±(215 -1). When an absolute detector (ABS
sensor) is attached, current value becomes the absolute position.
● Example of connection
Data is serially output from CN2. At this time, the display device (DPA-80) cannot be used. Similarly, ABS cable and battery
cable are not used, when not using the ABS sensor. Keep the connection cable or differential output and higher order controller
to within 5m.
BS Servo amp BS Servo motor
A A
R
B B
AC Power supply S Main circuit
M
3 Higher order controller
26LS32
+5V
T
26LS31
Output current
C
E
C
E
2200pF CN2 15mA MAX

CLK 1kΩ Black ABS Sensor connector
APD 20
Shift clock Black/
CN5
/APD 21 Red/white
white R1 8 R1 1
1kΩ
330Ω R2 9 Yellow/white R2 2
GND
+5V Red
2200pF S1 2 S1 5
1kΩ Red
BPD 22 Black RES
TRG S3 3 S3 9
Red/ Yellow Resolver
Latch clock white /BPD 23 S2 6 S2 12
1kΩ Data Blue
330Ω
GND S4 7 S4 14
+5V
2200pF GND 11
1kΩ Green Gray
DATA ZPD 24 VCC 4 VCC 7
Green/ Gray/white
Data white /ZPD 25 CHB 5 CHB 8
1kΩ Trigger Green
330Ω
GND +10 16 +10 3
Blue Green/white
GND 19 CTD 17 CTD 6 ENC
GND Brown
FG 36 GND 18 AG 10
Brown/white ABS Sensor
Cable length within 5m CHA 19 CHA 13
FG 20 FG 11
ABS Cable
Type CB083-□□□
1
2
3
CN6
GND
VCC
FG
Black/
white
Red
Accessory cable
Type CB101-□□□A
Since the ABS battery is replaced while the

ABS Battery power is ON, selection an installation site
LRT03 where there is no risk of suffering electric
shocks.
44
･ Setting of parameters
Set the lower 2 digits of UP-20 so that the current value is output in binary notation, as serial data.
UP-20 · · · · · 11□□
Output selection → 3 : Setting of current value output
Order of Output
Set value Type of current value output FIRST 2 ··· 7 8 9 10 ··· LAST
MSB LSB
0 32 Bits
D31 D30 ··· D25 D24 D23 D22 ··· D0
1 23 Bits + Parity
X X ··· X X Parity MSB
D22
··· LSB
D0 3
X X ··· X Parity MSB ··· LSB
2 24 Bits + Parity
D23 D22 D0
Parity MSB LSB
3 31 Bits + Parity
D30 ··· D25 D24 D23 D22 ··· D0
Output from MSB, as shown in above table. Since 32 bits are output regardless of the setting of type of current value, the fields "X" are
discarded in shift or other registers.
● Output timing
● Confirmation of serial data
Power supply R, S, T 1.6s(MAX)

(input)
Serial data Confirmation
● Serial data
Field A
400μs
4μs
TRG
CLK
DATA
Details of field A
4μs 2μs 2μs
2μs 2μs
TRG
CLK
DATA
MSB D30 D29 D2 D1 LSB
(D31) (D0)
45
3-2-6 Analog Monitor Output

Speed or current is output as analog voltage. It can be used for DC receiving indicators (speed-meter, ammeter, etc).
When used for control purpose or in digital panel, etc, use the optional analog output module "DAT-26" having good
resolution.
● Parameter setting
Set the type of monitor output.
User parameter UP-25 □□□ Voltage polarity [0:Non-inverse, 1:Inverse]
Function select [0:Current, 1:Speed]
(When monitor switch over OFF)
Function select [0:Current, 1:Speed]
(When monitor switch over ON)
Display data changes as a result of turning ON the monitor switch over
signal (valid in control mode 01 or 02).
3 ● Connection of speed-meter & ammeter
3-2-7 Motor Sensor CN5
Output spec. Precision Linearity

Speed monitor Motor rated rpm ±3V 1mA ±8% ±5%
MON
Current monitor Motor max. current ±3V 1mA ±8% ±5%
MON
AGND
Monitor cable
Type CB102-□□□B
Max. length 5m
VR
330Ω MON
Moving coil type DC reception indicator
5kΩ
Type PXK-60 (Dai Ichi Keiki)
AGND Amount of electrical input Single deflection DC0 to 1mA
Dual deflection DC0 to ±1mA
46
The speed and position of motor is detected by a resolver. The resolver needs an excitation signal, which is supplied to it by
the amp. For making connection, use a special cable (resolver cable).
In case of absolute position detector, use ABS cable which permits connection of both the resolver and absolute detector
with a single cable.
The special cable comes in 4 different versions: cable connected to both amp & motor, cable connected to only the motor,
cable connected to only the amp, and just the cable only.
● Resolver cable
Resolver cable (standard motor)

CB082-□□□A
CN5 CN5 Resolver connector φ7.8
Red/white
1 11 R1 8 1 R1
2 12 Yellow/white 10320-52A0-008 JRC16WPQ-7S
R2 9 2 R2
3 13
Red
Standard length (3, 5, 10m)
3
4 14 S1 2 5 S1
5 15 Black RES Resolver
6 16
S3 3 7 S3 (up to 120m can be specially ordered)
Yellow
7 17 S2 6 6 S2 CB082-□□□B
8 18 Blue φ7.8
9 19
S4 7 3 S4
10 20 GND 11
Resolver cable 10320-52A0-008
Pin layout
(as seen from solder side)
CB082-□□□C
Type Shape φ7.8
CB082-□□□A With connector on both sides
JRC16WPQ-7S
CB082-□□□B With connector on amp side only
CB082-□□□C With connector on motor side only

CB082-□□□Z
CB082-□□□Z Both end processing φ7.8
● ABS Cable
CN5 ABS Sensor connector
Red/white
R1 8 R1 1
Yellow/white
R2 9 R2 2
ABS Cable (ABS motor)
Red
CN5 S1 2 S1 5
Black RES Resolver CB083-□□□A
S3 3 S3 9
1 11 φ10
2 12 Yellow
S2 6 S2 12
3 13
Blue
4 14 S4 7 S4 14 10320-52A0-008 JRC16WPQ-7S
5 15
GND 11
6 16 Gray Standard length (3, 5, 10m)
7 17 VCC 4 VCC 7
8 18
Gray/white (up to 120m can be specially ordered)
CHB 5 CHB 8
9 19 Green CB083-□□□B
+10 16 +10 3
φ10
10 20
Green/white
CTD 17 CTD 6 ENC ABS Sensor
Pin layout Brown
GND 18 AG 10
(as seen from solder side) Brown/white 10320-52A0-008
CHA 19 CHA 13
FG 20 FG 11
ABS Cable CB083-□□□C
φ10
Type Shape
JRC16WPQ-14S
CB083-□□□A With connector on both sides
CB083-□□□B With connector on amp side only
CB083-□□□Z
CB083-□□□C With connector on motor side only φ10
CB083-□□□Z Both end processing
Do not connect/disconnect the control connector of CN5, while the power is ON.
CAUTION May cause malfunction or troubles.
47
● Relay of resolver cable & ABS cable

As a rule, do not relay the resolver and ABS cables. If un-avoidable, pay attention to the following points.
(1) Keep the length of wire of relay portion (covering peeled portion) as short as possible.
(2) Do not bring power line close to the relay portion.
(3) Relay the shield wire also.
Do not bring the power line close to this range.
Signal line
Signal line
3 Signal line
Signal line
Signal line
Signal line
Shielded wire
Make this portion as short as possible.
● Parameter setting
Set the lengths of resolver cable and ABS cable with user parameter UP-03 (resolver cable length). If set different from the
actual length, the torque of motor may weaken. Round off the fractional part of less than 1m.
If the connection is mistaken at the time of relaying, the motor may run wild.
CAUTION Check the wiring carefully, and always conduct a trial run.
48
Display Operating Unit & Display 4
4-1 Display Operating Unit--------------------------------------- 50

4-2 Operating Keys -------------------------------------------------50
4-3 Operating Shift Diagram -------------------------------------50
4-4 Operating Procedure of State Display Area-------------52
4-5 Operating Procedure of Check Area ----------------------53
4-6 Clearing Alarm History----------------------------------------53
4-7 Operating Procedure of Adjustment Area ---------------54
4-8 Operating Procedure of User Parameter Area ---------55
4-9 Operating Procedure of H-Parameter Area -------------57
4-1 Display Operating Unit
The display operating unit permits setting of user parameters, H-parameter, & servo adjustment values with operating keys; and its 5-
digit display shows the operating state and alarms. It also has a connector output for monitor output of the speed and current of motor
converted into analog voltage.
Displays parameters, status, adjustment values, alarm numbers, etc.
Sets parameters with operating keys, monitors, makes servo adjustment, and
alarm reset.
Outputs the analog voltage of speed and current.
4 4-2 Operating Keys

The functions of single operating keys are as given in the following table; and other functions are obtained by concurrently pressing
multiple keys or by double- clicking (Note 1).
Symbol Name Function
Mode key Switches over the area.
SEL Key Data set digit feed. Shifts digits to the left.
Pressed for shifting the menu inside area, and for increasing the
UP Key
numerical value at the time of data setting.
Pressed for shifting the menu inside area, and for decreasing the
DOWN Key
numerical value at the time of data setting.
ENTER Key Confirmation of data set value and alarm re-set
4-3 Operating Shift Diagram

Pressing key successively changes the area from status display, to check, adjustment, and user parameters. In each of these areas,
menu can be selected with & keys. The operating procedure to shift over to H-parameter is somewhat complicated. When
the area is of user parameters, concurrently press & keys while holding key pressed. Display of appears,
and display of each menu becomes possible. To exit from H-parameter, double-click the key (Note 1). Return site becomes the
status display area, instead of user parameter area.
Note 1 : Double-click implies consecutively pressing a key twice.
50
Upper digits of machine speed
Lower digits of pulse command Lower digits of machine speed
Soft version
Upper digits of pulse command Speed command voltage
Alarm history Option status
Lower digits of deviation value Current command voltage

MODE
Alarm H-Parameter change list

Upper digits of deviation value Motor current
Status display Check
area area
Lower digits of command value Effective load ratio

General-purpose output S-Parameter change list
Upper digits of command value Electronic thermal value
General-purpose input Link Axis No.
Lower digits of current value Amount of motor phase
General-purpose I/O
Upper digits of current value Absorption ratio

4
Motor rpm MODE
MODE
Operating Shift Diagram
Double-click (Note 1)
Control mode Zero adjustment of speed command
Setting value Setting value Setting value Setting value
Suitable motor Current command filter Span adjustment of

Capacity of external
countercurrent resistance speed command
Speed reach rpm Setting value Feed forward gain Setting value
User parameter Adjustment

area area
Stop detection rpm Resolver cable length Gain drop while Load inertia magnification
stopped
MODE
In-position width Setting value Span adjustment of Setting value
current command
Zero-point shift Electronic gear (numerator) Zero adjustment of Speed response

current command
Electronic gear Position gain Setting value

Setting value
(denominator)
SEL
Press concurrently, while
holding SEL pressed.
Load ratio time constant Setting value Limit switching Setting value Speed limit value Setting value Forward drive current Setting value
over method
H-Parameter
area Forward run absorption current
Setting value In-position timer Display magnifica- Display magnifica- Drive absorption Reverse run Reverse run
tion (denominator) tion (numerator) detection width absorption current drive current
51
4-4 Operating Procedure of State Display Area
Displays the numerical values of operating status, such as, that of speed, current value, effective load ratio, and so on.
Shift to the top of status display with . Select a menu from the status display with or .
Display menu Symbol Range & unit Description
Motor rpm ±4000 r/min Displays the speed of motor. When running reverse, appears flickering.
Upper digits of Counts & displays the pulses of "feedback pulse x UP-05/UP-04". When minus,
±9999999 Pulses
current value flickers. In case of resolver, count begins from the ABS value of motor half
Lower digits of rotation, at the time of power ON. When the count value exceeds the display
current value range, it returns to ±9999999.
Upper digits of
±9999999 Pulses Counts & displays the pulse commands in to the diviation counter. When minus,
command value
starts flickering. If the count value exceeds display range, the display keeps
Lower digits of
showing ±9999999.
command value
Upper digits of
±9999999 Pulses
deviation value Shows the deviation between command value & current value. When minus,
Lower digits of starts flickering.
deviation value
4 Upper digits of
pulse command
Lower digits of
pulse command
+32767 to -32768
Pulses
Counts & displays the pulse commands of position control. The count & display
continues even while the motor is not running. When minus,
ing. If the count exceeds display range, ring counter appears.
starts flicker-
Upper digits of
±9999999 Pulses
machine speed Displays the speed of "motor rpm x HP-41/HP-42". At minus speed, starts
Lower digits of flickering. If the speed exceeds display range, the display keeps showing ±9999999.
machine speed
Speed command
±10.0 V Displays the input voltage of REF (speed command/speed limit).
voltage
Current command
±10.0 V Displays the input voltage of CLI (current limit/current command).
voltage
Displays the output current sent to motor. A (Peak) implies the crest value of AC
Motor current ±160.0 A(Peak)
current wave.
Displays the load ratio as against motor's rated current (output current/rated cur-
Effective load ratio 0 ~ 255 %
rent).
Electronic thermal Displays the % rise of motor temp. as predicted from the output current. Electronic
0 ~ 100 %
value thermal (AL-17) operates at 110%.
Amount of motor Displays the angle from motor zero-point. In case of resolver, it is 360 deg with half
0 ~ 359.9 deg
phase rotation of motor.
Amount of motor If SEL & are concurrently pressed from the above given menu, the amount of
0 ~ 9999 Pulses
phase
motor phase (deg) changes into pulse unit display. Deg. display is restored with
MODE key. Note : Do not use this value for setting UP-06.
Displays the Displays amp absorption power/motor rated power in % values (012P & 025P).
0 ~ 100 %
absorption ratio of Displays in % the countercurrent power/countercurrent resistance capacity (UP-
a absorption ratio/ 31) %. (050P to 160P)
motor rated current
When the value to be displayed is minus, the symbol starts flickering. And, when the number of digits exceeds
4, the remainder is shown in the upper digits.Similarly, when the lower digit display does not reach 4 digits and
provided the upper digit display is shown, read the numerical value presuming the display to be 0.
When the current value is 1234567 pulse When the current value is 1230067 pulses
Upper 3 digits of display Display of upper 3 digits

Lower 4 digits of display Display of lower 4 digits
Flickers, when the value is minus. Zero 0 not displayed.
Convenient function Use the amount of motor phase display for confirming resolver connection.
52
4-5 Operating Procedure of Check Area
Displays the ON/OFF state of I/O signals, alarms, and alarm history.
Shift to the top of check cannot be made with . Select menu from within the check with or
keys.
Display menu Symbol Description
IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0

Shows the ON/OFF state of I/O signal. It is a
signal that is input or output by the segment which
General-purpose I/O is lighted up. For the functions of IN-OUT, see the
connection diagram of each respective control
mode.
OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
General-purpose input Not used
General-purpose output Not used
Alarm Shows alarm code. The alarm can be reset with .
When & are concurrently pressed while is being displayed, alarm history is displayed. Display
Alarm history
Soft version
the previously generated alarm with
Shows the version of CPU soft.

, and fetch history of up to 15. ‐ . Return to with .
4
Option status Shows the mounted state of option module.
When & are concurrently pressed while is being displayed, update list of H-parameter is
H-Parameter displayed. Successively shows the numbers of H-parameter in the update list that is successively updated with
. Return to with .
When & are concurrently pressed while is being displayed, update list of S-parameter is
S-Parameter displayed. Successively shows the numbers of S-parameter in the update list that is successively updated with
. Return to with .
Link Axis No. Not used
The functions of I/O may differ according to the con-trol mode. For Latest alarm history is stored in "0".
instance, in speed control mode, "run" is IN2; but in draw control
Latest one stored in "0".
mode, it is IN7. Since the general-purpose I/O correspond to the I/O
Nos. as against each segment of display device, perform I/O check
paying attention to the control mode to be used.
Operation in draw control mode Operation in speed control mode
OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
4-6 Clearing Alarm History

1. When & are concurrently pressed while is being displayed, ＊＊ appears.
2. Next, when & are concurrently pressed while holding pressed, appears.
3. When & are concurrently pressed, starts flickering, and clearing is completed with .
4. Double-clicking restores ＊＊ , and further returns to .
Convenient function To confirm I/O connection, use display.
53
4-7 Operating Procedure of Adjustment Area
Offset and span of input voltage and the adjustment of servo gain is done in this area. For details about adjustment menu, see Chapter
5 Guide to Operation, Control Modes.
With , shift over to the top AJ0 of adjustment. Then select the adjustment menu with or .
Symbol & adjustment value Symbol & adjustment value Symbol & adjustment value
• Zero adjustment of speed command & current command (AJ0. or AJ5.). There are 2 ways of auto adjustment and
manual adjustment
• Auto adjustment
Step 1 : Display the adjustment value of AJ0. or AJ5., and then concurrently press & . All digits of
adjustment value start flickering, and change mode sets in.
Step 2 : Press .
4 Zero adjustment becomes complete as soon as flickering stops.
• Trouble Reporting Card

Step 1 : Concurrently press & after displaying the adjustment value. All digits of adjustment value starts
flickering and change mode sets in.
Step 2 : Concurrently press & . One digit below the adjustment value starts flickering and change mode sets
in. Every time is pressed, the flickering digit shifts to left.
Step 3 : Change the adjustment value with or keys.
• Other adjustments (other than AJ0 & AJ5)

Step 1 : Concurrently press & after displaying the adjustment value. One digit below the adjustment value
starts flickering and change mode sets in. Every time is pressed, the flickering digit shifts to left.
Step 2 : Change the adjustment value with & keys.
• Change mode is cancelled with key. Next, move over to adjustment menu with & keys, and then shift over
to user parameters by pressing key.
• List of adjustment menu

Once cut off the power supply after setting the adjustment menu whose Power
OFF is lighted up, confirm that the display has
turned OFF, and once again turn ON the power supply. This confirms the setting.
Adjustment menu Symbol Effective control Setting range Factory Unit User's set value Remarks
mode setting
Speed command Comes
zero adjustment 01.02. 04.05 ±10.00 adjusted V
Speed command
span adjustment 01.02. 04.05 3 ~ 40.00 10.00 V
Load inertial Times
magnification 01. 03.04.05.06 0 ~ 100.0 1.0
Speed response
01. 03.04.05.06 0.1 ~ 20.0 1.0
Position gain
01. 03.04.05.06 1 ~ 200 30 rad/s
Current command Comes
zero adjustment 01.02. 03.04.05 ±10.00 adjusted V
Current command
span adjustment 01.02. 03.04.05 3 ~ 40.00 10.00 V
Gain loss while
stopped 01. 03.04.05.06 0 ~ 10000 0
Feed forward gain Times
03.04. 06 0 ~ 2.0 0
Current command Power
filter 01.02.03.04.05.06 400 ~ 20000 6000 rad/s OFF
Adjustment menu remains valid while in the above control mode. Menu is not displayed in other control modes.
54
4-8 Operating & Contents of User Parameter Area

Shift over to the top UP-01 of user parameters with . Select parameter menu (symbol) with or . Confirm the set value by
pressing key. Parameters come set to factory values. Initialize them as needed, at the time of resuming operation.
• Method of re-writing parameters

Return to Step 1,
Step 1 : Concurrently press & after displaying the set value.
if setting other parameters.
Step 2 : Concurrently press & . One digit below the set value
starts flickering and change mode sets in. Every time is
pressed, the lickering digit shifts to left.
Step 3 : Change the set value with or keys.
Step 4 : Press to re-write the a set value, and change mode terminates at the same time.
Step 5 : Change the parameter menu with or keys, and shift over to status display area by pressing .
• List of parameters
Once cut off the power supply after setting the adjustment menu whose Power
OFF is lighted up, confirm that the display has
4
turned OFF, and once again turn ON the power supply. This confirms the setting.
Factory
Parameter menu Symbol Valid control mode Setting range setting Unit User set value Remarks
Power
Control mode 01.02.03.04.05.06. 00~FF 00 OFF
Power
Suitable motor 01.02.03.04.05.06. 0000~FFFF 0000 OFF
Power
Resolver cable length 01.02.03.04.05.06. 1~120 5 m OFF
Power
Electronic gear (numerator) 01.02.03.04.05.06. 1~32767 1 OFF
Power
Electronic gear (denominator) 01.02.03.04.05.06. 1~32767 1 OFF
Amount of zero point shift 01.02.03.04.05.06. 0~11999 0 Pulse
In-position width 01.02.03.04.05.06. 0~32767 50 Pulse
Stop detection rpm 01.02.03.04.05.06. 1~4000 50 r/min
Speed reached rpm 01.02.03.04.05.06. 0~4000 0 r/min
Speed reached detection width 01.02.03.04.05.06. 1~4000 20 r/min
Current limit value 01.02.03.04.05.06. 0~100.0 100.0 %
Soft start acceleration time 01.02.03.04.05.06. 0~32.76 0.00 Sec.
Soft start deceleration time 01.02.03.04.05.06. 0~32.76 0.00 Sec.
S-Shaped acceleration time 01.02.03.04.05.06. 0~32.76 0.00 Sec.
ABS Clear mode 01.02.03.04.05.06. 0~2 0
Brake mode 01.02.03.04.05.06. 0~2 0

Power
Analog command polarity 01.02.03.04.05.06. 00~11 00 OFF
Pulse command type 01.02.03.04.05.06. 00~12 00
Pulse output type 01.02.03.04.05.06. 00~11 01
Differential output type 01.02.03.04.05.06. 0000~5533 0000
Parameter menu remains valid while in the above control mode. Menu is not displayed in other control modes.
55
1st Feed rate 01.02.03.04.05.06. 0~100.00 100.00 %
2nd Feed rate 01.02.03.04.05.06. 0~100.00 50.00 %
3rd Feed rate 01.02.03.04.05.06. 0~100.00 25.00 %
4th Feed rate 01.02.03.04.05.06. 0~100.00 12.50 %
Monitor output type 01.02.03.04.05.06. 000~111 010
Position control polarity 01.02.03.04.05.06. 0~1 0
Draw magnification 01.02.03.04.05.06. 0~2 0
Brake ON rpm 01.02.03.04.05.06. 0~100.0 100.0 %
Motor test rpm 01.02.03.04.05.06. 1~4000 50 r/min

External countercurrent Power
resistance value 01.02.03.04.05.06. 0~100.0 0.0 Ω OFF
External countercurrent Power

resistance capacity 01.02.03.04.05.06. 0~327.67 0.00 KW OFF
Parameter menu remains valid while in the above control mode. Menu is not displayed in other control modes.
4
Set UP-01 (control mode) at a mode matching to the system. If incorrect, the mode
may run wild.
Set UP-02 (applicable motor) at a code to that of the combined motor. Other-wise,
the motor may cause hunting or wild run. It may also cause trouble.
Correctly set UP-04 & UP-05 (electronic gear) matching to the machine. Other-
wise, the motor may run at an unpredictable speed with small command value.
Set UP-16 (brake mode) matching to the system. Otherwise, the amp may be
trouble.
CAUTION Correctly set UP-17 Analog command polarity matching to the machine and control
system. Otherwise, the motor may run wild.
Set UP-21 to 24 (1st to 4th feed rate) matching to the control system. Otherwise,
unexpected rpm may be caused.
Set UP-26 (position control polarity) matching to the machine and control sys-tem.
Otherwise, the machine may run in unexpected opposite direction.
Set UP-29 (motor test rpm), paying attention not to cause high speed.
Correctly set UP-30 & 31 (external countercurrent resistance value & capacity)
matching to the external resistance. Otherwise, the external resistance may be
damaged.
56
4-9 Operating Procedure of H-Parameter Area

Shift to the top UP-01 of user parameters with key.
Concurrently press , & to change over to HP-33. Select parameter menu (symbol) with & . Next,
confirm the set value by pressing .
Parameters come set at factory values. Initialize them as needed, at the time of commencing operation.
• Method of re-writing parameters
Return to Step 1,
Step 1 : Concurrently press & after displaying the set value. Return
if setting other parameters.
to Step 1, if setting other parameters.
Step 2 : One digit below the set value starts flickering and change mode sets
in. Every time is pressed, the flickering digit shifts to left.
Step 3 : Change the set value with & keys.
Step 4 : Press to re-write the set value, and change mode terminates at the same time.
Step 5 : Change the parameter menu with & keys, and shift over to status display area by double clicking .
4
• List of parameters
Factory
Parameter menu Symbol Control mode Setting range setting Unit Remarks
Load magnification constant 01.02.03.04.05.06. 1~60 30 Sec.
Limit switch over method 01.02.03.04.05.06. 00~21 11
Speed limit value 01.02.03.04.05.06. 0~4000 4000 r/min
Forward drive current 01.02.03.04.05.06. 0~100.0 100.0 %
Forward absorption current 01.02.03.04.05.06. 0~100.0 100.0 %
Reverse drive current 01.02.03.04.05.06. 0~100.0 100.0 %
Reverse absorption current 01.02.03.04.05.06. 0~100.0 100.0 %
Drive absorption detection width 01.02.03.04.05.06. 0~100.0 5.0 %
Display magnification 01.02.03.04.05.06. 1~32767 1

Display magnification
(denominator) 01.02.03.04.05.06. 1~32767 1
Display decimal point position 01.02.03.04.05.06. 0~7 0
General-purpose input inversion 01.02.03.04.05.06. 000~1FF 000
General-purpose output 01.02.03.04.05.06. 00~FF 00
In-position timer 01.02.03.04.05.06. 0~200 20 ms
H-Parameter menu remains valid while in the above control mode. Menu is not displayed in other control
modes. For details of H-parameters, see Chapter 5 Guide To Operating, Parameters of Each Control Mode.
Correctly set HP-34 (limit switch over method), matching to the control system.
Otherwise, the motor may run wild.
CAUTION Correctly set HP-44 & 45 (general-purpose I/O inversion), matching to the contorol
system. Otherwise, the motor may run unexpected operation.
57
58
Guide To Operating
5
5-1 Operation of speed Control Mode-------------------------------------------------------------60
5-1-1 Example of Connection 5-1-2 Input/Output Signals
5-1-3 User Parameters 5-1-4 H-Parameters 5-1-5 Operation
5-1-6 Adjustments
5-2 Operation of Current Control Mode -----------------------------------------------------------68
5-2-1 Example of Connections 5-2-2 Input/Output Signals
5-2-3 User Parameters 5-2-4 H-Parameters 5-2-5 Run
5-2-6 Adjustments
5-3 Operation of Position Control Mode ----------------------------------------------------------76
5-3-1 Example of Connections 5-3-2 Input/Output Signals
5-3-3 User Parameters 5-3-4 H-Parameters 5-3-5 Operating
5-3-6 Adjustments
5-4 Operation of Speed/Current/Position Control Mode ------------------------------------- 84
5-4-6 Adjustments
5-5 Operation of Direct Feed Mode ---------------------------------------------------------------92
5-5-6 Adjustments
5-6 Operation of Draw Control Mode ------------------------------------------------------------100
5-6-6 Adjustments
5-7 General Adjustments ---------------------------------------------------------------------------108
5-7-1 Zero Adjustment (AJ0) & Span Adjustment (AJ1) of Speed Command----108
5-7-2 Load Inertia Magnification (AJ2) & Speed Response (AJ3)-------------------108
5-7-3 Position Gain (AJ4) ----------------------------------------------------------------------109
5-7-4 Zero Adjustment (AJ5) & Span Adjustment (AJ6) of Current Command --109
5-7-5 Gain Reduction While Stopped (AJ7)-----------------------------------------------109
5-7-6 Feed Forward Gain (AJ8) --------------------------------------------------------------110
5-7-7 Current Command Filter (AJ9) --------------------------------------------------------110
CHAPTER 5 GUIDE TO OPERATING Operation of Speed Control Mode
5-1 Operation of Speed Control Mode
5-1-1 Example of Connection
MON Cable
Servo amp
Max. length 5m MON
Red
2 MON
Blue
Monitor output ±3V 1 AGND
To personal computer A A Servo motor

RS232C Cable CN1
B B
Type CB094-□□□A(IBM)
CB095-□□□A(NEC) C C M
Max. length 5m
E E
CN2
Red
3 REF
Speed command ±10V Red/white
4 AGND CN5
Black Red/white
1 CLI R1 8 1 R1
Current limit ±10V Black/white Yellow/white
2 AGND Built-in power R2 9 2 R2
supply Red
Max. 100mA S1 2 5 S1
White・ Black RES
29 P24V
S3 3 7 S3
5 Run
Re-set
Yellow・
White・
・
Yellow・
・
13 INCOM
14 IN2
18 IN6
S2
S4
6
7
Yellow
Blue
6
3
S2
S4
Resolver
GND 11
White・・・ 17
Current value clear IN5
Yellow・
・・ 16 Resolver cable
Monitor switch over IN4 Type CB082-□□□
White・
・・・ 15 Max. length 120m
Zero command IN3
Yellow・
・・・ 35
Current limit switch over IN7
White -
Zero point stop 12 IN1
Yellow- CN2
Brake check (Note 1) 11 IN0 Black
White -・ APD 20
10 24G Black/white Pulse output A-phase
/APD 21
Red
BPD 22
Red/white Pulse output B-phase
White -・
・ /BPD 23
Normal seruo RY 34 OUT7 Green
Yellow -・
・ ZPD 24
Speed reached RY 8 OUT1 Green/white Pulse output Z-phase
White -・
・・ /ZPD 25
Stop detection RY 32 OUT5 Blue
Yellow -・
・・ GND 19 Ground
Current limited RY 9 OUT2
White -・
・・・ FG 36
Zero point stopped RY 30 OUT3
Yellow -・
・・・ CONT Cable
Zero point memorize RY 31 OUT4
White -- Type CB110-□□□
Battery alarm RY 33 OUT6 Max. length 5m
Yellow -- Including speed command, current limit,
Brake output (Note 1) RY 7 OUT0 general-purpose input 8 points, & gen-
eral-purpose output 8 points
Power supply for output
(to be procured by user)
Note 1 : Connect to terminal board the brake output
& brake check on VLAST-050P.
Special cable
Cable name Type Connected to
CONT Cable CB110-□□□B CN2 → External equipment

CONT Cable CB110-□□□A CN2 → Terminal converter TBT39
Resolver cable CB082-□□□A CN5 → Servo motor
MON Cable CB102-□□□B MON → External equipment
RS232C Cable (NEC version) CB095-□□□A CN1 → Personal computer
RS232C Cable (IBM version) CB094-□□□A CN1 → Personal computer
60
Operation of Speed Control Mode CHAPTER 5 GUIDE TO OPERATING
5-1-2 Input/Output Signals
Mode Name CN2 Terminal No. Function
Analog input Speed 3P 4P Inputs speed command voltage (±10V/rated rpm)

command Input voltage can be monitored from status display "cF---".
(REF) Switch over of rotating direction UP-17
Set acceleration/deceleration time in UP-12 to 14.
Current limit 1P 2P Set current limit method HP-34 at 01, and turn ON the current limit switch over
(CLI) (IN7). This input voltage becomes the current limit value (±10V/moter max. cur-
rent).
Input voltage can be monitored from status display "cc---".
24V Input Run (IN2) 14P Run possible state sets in.
When turned OFF, motor free state sets in.
Brake output also turns ON/OFF with this signal.
Re-set (IN6) 18P Resets the alarm (ON for more than 30ms).
AL1 (IPM overheated) & AL17 (motor overload) cannot be reset until the tempera-
ture lowers down.
Current value 17P Clears the current value (ON for more than 30ms).
clear (IN5) ABS is cleared (zero point setting), when using ABS motor.
Monitor switch 16P Switches over between the display of monitor output (MON) and external display
over (IN4) device. For information about switch over, see UP-20 & 25.
Zero command 15P Turn ON while stopped or when fine rotation occurs due to temp. drift. Stopped
(IN3) position is retained.
Current limit 35P When turned ON, the current limit value selected with limit switch over method
switch over (IN7)
Zero point stop
(IN1)
12P
HP-34 becomes valid. Use it for guarding the device.
When turned ON, the device stops at the immediately next motor zero point. Zero
point stop more accurate than that by stop processing with pulse output (ZPD) can
5
be accomplished.
Brake check 11P Connect to 24G, when not using the brake. Unless connected, runnable state
(IN0) (Un-uroblemore than 050P) becomes impossible. Input check signal, when using dynamic brake or holding
brake. For connection method, refer to the item on power circuit.
24V Output Normale servo 34P Turn ON AC power, & then turn it ON after 2.5 sec. Use it as an interlock of run
(OUT7) (IN2).
Turns OFF, when an alarm is generated, and turns back ON with reset (IN6) input.
Speed reached 8P Turns ON, when the rpm of speed command (REF) is reached, and while it is
(OUT1) within the set value of speed reached detection width UP-10. Reached rpm can be
set in UP-09.
Stop detection 32P Turns ON, when the motor rpm drops below the set value of stop detection rpm
(OUT5) UP-08.
Urhile Current 9P Turns ON, when the current reaches its limit value.
limited (OUT2)
Urhile zero point 30P Remains ON, while the motor is at its zero point.
stopped (OUT3)
Urhile zero point 31P Turns ON, when current value clear (IN5) is input. And, turns OFF when resolver
memorize (OUT4) or ABS alarm is generated, causing zero point unrecorded.
Battery alarm 33P Turns ON, when ABS battery drops below 3.2V. Operation can be resumed after
(OUT6) reset input, but promptly replace the battery.
Brake output 7P Connect to the relay coil of dynamic brake or holding brake. When connected to
(OUT0) (Un-uroblemore than 050P) holding brake, set the brake ON rpm in UP-28.
Differential output Pulse output Converts resolver pulse and outputs ABZ phase pulse. Set the pulses per rotation
(APD) (/APD) 20P 21P of motor in UP-05/UP-04.
(BPD) (/BPD) 22P 23P Switch over between external display device & ABS output becomes possible with
(ZPD) (/ZPD) 24P 25P UP-20.
24000 Pulses/rotation → 1/4 → UP-05/UP-04 → APD (BPD)
Outputs per rotation of motor with APD (BPD) = [24000] x [1/4] x [UP-05/UP-04].
61
5-1-3 User Parameters
Parameter menu Symbol Setting range Factory setting Description
Control mode 00~FF 00 01 : Speed control

Power
OFF
Suitable motor 0000~ 0000 Before starting run, set the motor code referring to the combination of Introduction
Power FFFF Motor Code No. & amp. Switches over by turning ON the power supply again.
OFF Alarm cannot be reset without doing this setting.
Resolver cable length 1~120 m 5m Sets the total length of resolver cable between am & motor. Increase the motor
Power efficiency by correcting the phase lag. Switches over by turning ON the power
OFF supply again.
Electronic gear 1~32767 1 Detects pulse of arbitrary weight from the motor (24000 Puises / rotation) , by
(numerator) combining with the denominator UP-05. Detection pulse can be set in the weight
of "mm" system, etc.
Motor
Power 
OFF Output pulse ← Divider ← Detector ← Resolver
(APD,BPD) (UP05/UP04) Detection pulse (24000 pulses/rotation)
Electronic gear 1~32767 1
(denominator) Example of setting : Converted into forward/reverse pulses, in case of 2000 pulses/
rotation with A/B-phase pulse output.
Power 2000 x 4 = 8000 Pulses/rotation
OFF UP-05 / UP-04 = 8000 / 24000 = 1/3
UP-04:3, UP-05:1, UP-19:01, & UP-20:0000 set in each parameters.
5
Amount of zero 0 to 11999 0 Pulses Shift the motor zero point, and adjust to machine zero point. Follow the below
point shift pulses given procedure.
Manually adjust to machine zero point

↓
Read out the motor phase (pulse display) from status display|.
↓
(Read out angle/2x180) x 12000 = UP-06
Stop detection rpm 1~4000 50 r/min Stop detection turns ON, when the motor rpm drops below set value.
r/min
Speed reached 0~4000 0 r/min Speed reached turns ON when the motor rpm is near about the set value and
rpm r/min within the range set by UP-10. When "0" is set, speed reached is output in re-
sponse to speed command (REF).
Speed reached 1~4000 20 r/min Sets the output detection width of speed reached signal.
detection width r/min
Current limit value 0~100.0 % 100 % Set the current limit value, referring to limit switch over method HP-34. HP-36 to
39 Become valid, when set at (100% motor max. current) "0".
Soft start accelera- 0 to 32.76 0 Sec. Acceleration time setting (linear acceleration) Set the time from stopped state to
tion time Sec. motor rated rpm. This parameter is ignored, when UP-14 is set.
Soft start decelera- 0 to 32.76 0 Sec. Deceleration time setting (linear deceleration) Set the time from motor rated rpm
tion time Sec. to stopped state. This parameter is ignored, when UP-14 is set.
S-Shaped 0 to 32.76 0 Sec. S-Shaped acceleration/deceleration time setting
deceleration time Sec. Becomes smooth S-shaped acceleration/deceleration curve until reaching target rpm.
ABS Clear mode 0~2 0 Set in case of ABS motor. Zero point of ABS motor is confirmed with current value
clear. It can be used in the following ways.
0 : All clear (clears amount of rotation & motor zero point, used at the time of start
up)
1 : Rotation amount clear (preserves the setting of motor zero point, used at the
time of shifting).
2 : Clear inhibited (current value clear invalidated, & prevents mis-operation while
running).
Brake mode 0~2 0 Set the connected brake. If neither one is used, set dynamic brake. Switches over
when power is turned ON again.
Power 0 : Dynamic brake, 1 : Holding brake (with soft deceleration), 2 : Holding brake
OFF
(without soft deceleration)
Analog command 00~11 00 Switches over the motor rotating direction with speed command (REF).
polarity □□ Speed command [0 : Motor forward run with + voltage,
1 : Motor reverse run with + voltage]
Current command [not used in this mode].
62
Pulse output type 00~11 01 Switches over between the type & polarity of pulse output (APD, BPD).
□□ Type [0 : Forward/reverse pulse, 1 : ABZ-phase pulse]
Polarity [0 : Non-rotation, 1 : Rotation]
Forward/reverse pulse AB-phase pulse
Since the single phase is out-
put with 1/4, there would be
APD APD 6000 pulses per rotation, in
case of 24000P/rev. One Z-
phase pulse is output after each
BPD BPD 180 degrees of motor.
Motor forward run Motor reverse run Motor forward run Motor reverse run
The inversion of polarity is reverse to that of rotating direction.

Differential output 0000~5533 0000 Function of pulse output (APD. 8PD)can be selected.
type □□□□ Output selection
[0 : Pulse output of UP-19, 1 : Output for DPA-70,
2 : Output for DPA-80, 3 : Output of current value]
Current value output type
[0:32 Bits, 1:23 Bits+Parity, 2:24Bits+Parity, 3:31Bits+Parity]
Display (when monitor switch over ON)
[0:Motor rpm, 1:Current value, 2:Motor current,
3:Electronic thermal value, 4:Amount of motor phase (deg),
5:Machine speed]
Display (when monitor switch over OFF)
5
[0:Motor rpm, 1:Current value, 2:Motor current,
3:Electronic thermal value, 4:Amount of motor phase (deg),
5:Machine speed
Setting of display becomes valid, when output selection is "1" or "2". And, current
value output type becomes valid, when output selection is "3".
Monitor output type 000~111 010 Selects the function & polarity of monitor output (MON).
□□□ Voltage polarity [0:Non-inverse, 1:Inverse]
Function switch over [0:Current, 1:Speed] ... (when monitor switch over OFF)
Function switch over [0:Current, 1:Speed] ... (when monitor switch over ON)
Brake ON rpm 0~100.0 % 100 % Brake output turns OFF and holding brake is applied, when run signal (IN2) turns
OFF causing the motor rpm to drop below set value. When UP-16 is "1", brake is
applied after linear or S-shaped acceleration/deceleration. Set taking the motor
rated rpm as 100%.
Motor test rpm 1~4000 50 r/min Sets the rpm of motor test run which can be set with the keys of display/operating
r/min panel.
External counter- 0~100.0 Ω 0.0 Ω Sets the synthetic resistance value, when an external countercurrent resistance is
current resistance mounted in VLAST-050P to 160P.
value The setting is "0.0" in case of internal standard resistance.
Always set it, when a countercurrent absorption resistance is mounted on the out-
side.
External counter- 0~327.67 0.00kW Sets the absorption capacity, when an external countercurrent resistance is mounted
current resistance kW in VLAST-050P to 160P.
capacity The setting is "0.0" in case of internal standard resistance.
side.
Motor rated rpm

Brake ON rpm
In case of linear deceleration
When using holding brake, if UP-16 (brake mode) is Running speed

set at "1" and soft deceleration is applied, linear or
In case of S-shaped deceleration
S-shaped deceleration occurs until reaching the

UP-13
brake ON rpm (UP-28) with run OFF, and then

UP-14
holding brake applies and servo turns OFF after

200ms
200ms.
Brake ON rpm
UP-28
Run OFF Brake ON

(IN2)
Servo OFF
63
5-1-4 H-Parameters
Load ratio time 1 to 60 Sec. 30 Sec. Sets the time constant for calculating the load ratio (bL) as against motor rating.
constant Error becomes larger, if it is set at a value smaller than the operation cycle time.
Limit switch over 00~21 11 Selects the switch over method of current limit.
method □□ Speed limit [not used in this mode]
Current limit [0: Analog input Limited with CLI voltage + current limit switch over (IN7) ON]
[1: Parameter setting Limited with UP-11 + Current limit switch over (IN7) ON]
[2: Parameter setting Constantly limited with UP-11, regardless of current limit switch over (IN7)]
Forward run drive 0~100.0 % 100 % The current limit value can be set separately with this parameter for forward drive,
current forward run absorption, reverse drive, and reverse run absorption.
Forward run 0~100.0 % 100 % Remains valid, when HP-34 is "1□" or "2□" and UP-11 is "0"%. Set it taking the
absorption current motor max. current as 100%.
Reverse run drive 0~100.0 % 100 %
current
Reverse run 0~100.0 % 100 %
absorption current
Display magnifica- 1~32767 1 Sets the weight of machine speed that is displayed on display/operating panel or
tion (numerator) external display.
Display magnifica- 1~32767 1 Machine speed = Motor rpm x HP-41/HP-42
tion (denominator) Sets the position of decimal point (however, the decimal point does not appear on
Position of display 0~7 0 the display/operating panel).
decimal point 0:No decimal point, 1:Min. digit, 2:2nd Digit ..... 7:7th digit
5 General-purpose
input inversion
000~1FF 000 Logical inversion of general-purpose input 8 points can be done after each bit. Set
with hexadecimal notation.
Input address IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0
Logical inversion 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0
[0:Non-inversion]
Hex. 0 0 [1:Inversion]
Set as "099", when inverting IN7, IN4, IN3, & IN0.
↑ Set at 0.
General-purpose 00~FF 00 Can be logically inverted, same as general-purpose input.
output inversion Output address OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
[0:Non-inversion]
Forward absorption Reverse absorption
Forward drive Reverse drive

Forward run, reverse run, drive & absorption run
Speed
This is the so called driving state when load is applied Forward run
onto the motor, while it is running. And, when the
motor is running as a power generator, it is called
absorption state. In either state, the motor is running
Reverse run
forward or reverse, which gives it 4 different states.
HP-36 to HP-39 H-parameters are intended to limit the Acceleration Acceleration
current that flows through the motor in these 4 states. Current Deceleration Deceleration
(torque)
Since the torque of motor is proportional to its current,
HP-36
use this parameter when the torque is to be controlled at Drive HP-39
the time of acceleration/deceleration.
HP-38
Absorption HP-37
64
5-1-5 Operation
Operating Description
Power ON Alarm AL26 generated
Concurrently
Press MODE to display SEL
Input '01' in UP-01. (Display 00) (Right end 0 starts flickering)
Input motor code in UP-02.
(Display UP-02) (Stops flickering) (Set 01)

Concurrently
SEL
(Display 0000) (Right end 0 starts flickering) (Set motor code) (Stops flickering)
Once cut off the power supply, & turn

it ON again after the display has dis- Data is set in UP-01 & 02.
appeared.
Set the necessary user parameters &

H-parameters.
Ex:Resolver cable length, electronic gear, current limit,
acceleration/deceleration time constant, and so on
5
Operation becomes possible, & the motor is servo-
Turn ON run signal. locked. When using the brake, make sure that it is
released.
Adjust the offset of command voltage 0V, with adjust-

Zero adjustment of speed command
ment parameter AJ0.
Start the motor.

Trial run by applying speed command
At first, check the operating state by applying low volt-
voltage
age.
• Rotating direction of motor
• Hunching during operation
• Vibrations when stopped
• Shocks at the time of acceleration/deceleration
• RPM as against command voltage
If necessary, change the adjustment parameters AJ0

to AJ9, user parameters UP-12 to UP-14 & UP-17, etc.
Turn OFF the speed command volt- Motor stops running. To stop it completely, turn ON
age the zero command signal.
Motor becomes servo-free. When using the brake,

Turn OFF run signal.
make sure that it applies properly.
65
5-1-6 Adjustments
Adjustment menu Symbol Setting range Factory setting Description
Zero adjustment of ±10.00 V Comes All digits flicker during change mode, auto zero adjustment is done with key, &
speed command adjusted zero adjustment become complete when the flickering stops. Manual zero adjust-
(REF) ment is also possible with & keys, after concurrently pressing SEL & keys.
Span adjustment of 3~40.00 V 10.00V Adjusts the command voltage which brings the motor to rated rpm.
speed command Ex: Set "6", when the rated rpm is 6V.
(REF)
Load inertia 0 to 100.0 1.0 Times By setting "load inertia/motor inertia", the speed response (50 to 100Hz) can be
magnification Times raised to that at the time of single motor. But if raised too high, it may cause
hunching & vibrations.
Unless the motor coupling, etc. are not adequately hard, hunching may result in,
and speed response cannot be raised. Auto tuning can be also done, including
AJ3 also.
Speed response 0.1~20.0 1.0 Increases excessive response. Like AJ2, if raised too high, it may cause hunting &
vibrations.
If vibrations, etc. are generated by raising AJ2, lower down AJ3.
Position gain 1~200 30 rad/s Raising adjustment value decreases position deviation. Switch over to position
rad/s control is made after stopping at zero point and while inputting zero command.
Zero adjustment of ±10.00 V Comes All digits flicker during change mode, auto zero adjustment is done with key, &
current limit adjusted zero adjustment become complete when the flickering stops. Manual zero adjust-
ment is also possible with & keys, after concurrently pressing SEL & keys.
Span adjustment of 3~40.00 V 10.00V Adjusts the limit voltage which makes the motor current maximum.
5 current limit
Gain loss while
stopped
0~10000 0
Ex: Set "8", when the maximum motor current is 8V.
Adjust this, when the load current becomes excessive while stopped. Increasing
adjustment value decreases the load current. Stop detection rpm operates below
the set value of UP-08.
Current command 400~20000 6000 rad/s If AJ2 & AJ3 are raised during adjustment of speed response, vibrations tend to
filter rad/s occur; but by increasing this adjustment value, vibrations can be suppressed.
Power If made too small, it may cause hunching.
OFF
● Zero adjustment (AJ0.) & span adjustment (AJ1.) of speed command

AJ0. Zero adjustment comes done, when shipped from factory; but if there isan
Span adjustment
offset in the command itself, the motor may rotate slightly.
AJ1. Span adjustment comes set at "motor rated rpm/10V"; but if the desired rpm + Rated rpm
cannot be acquired, make the following adjustment.
To increase rpm → Lower the adjustment value. 11 10 9

-V +V
9 10 11
To decrease rpm → Raise the adjustment value. AJ1.
In 1500r/min series, set as follows in order to set the motor max. rpm at
(2000r/min) / 10V. - Rated rpm
1500/2000x10 = 7.5V AJ1:7.5
● Span adjustment & position gain of speed command

When speed command is assigned with a positioning device as shown in the following diagram, adjust the position gain
with V/P on the side of positioning device. And, if V/P cannot be adjusted, vary the position gain with span adjustment.
User's positioning device

Speed rev/s/V
V/P
command Motor
Command Deviation
DAC Servo amp
pulse counter
Resolver
P/rev Pulse output

Position gain = P/rev x V/P x rev/sV P/rev : Pulse count per motor rotation
Span adjustment V/P : Output voltage of 1 pulse
rev/s/V : rpm per sec. of 1V
66
● Stop at zero point & while stopped at zero point

Accurate zero point detection can be done using zero point stop input and zero point pulse (ZPD). Since the position-ing is
controlled by zero point pulse, accurate setting of zero point is done, even if the amount of flow changes at the time of zero
point setting due to the inertia and load state of machine system. Further, unless the zero point stop is turned OFF, return to
speed control is not made and no rotation occurs even if speed command is input.
Speed command (REF)
Zero point stop (IN1)
Zero point pulse ZPD

Multiple of 400µs
1/2 Rotation 1/2 Rotation
1 Rotation
While stopped at zero point

Shift to position control & stop is made at the resolver zero
(OUT3) point immediately after turning ON zero point stop. Clear
the deviation counter of higher order positioning device with
the ON edge while stopped at zero point.
● Acceleration/deceleration
Soft start Speed
Radical speed command causes abrupt acceleration/deceleration of motor; but a
constant acceleration can be obtained by setting the soft start time. Set it with
command
Rated rpm 5
UP-12 & 13. However, this parameter is ignored, if S-shaped acceleration /
rpm
deceleration (UP-14) has been set.
Acceleration time Deceleration time
UP-12 UP-13
S-Shaped acceleration / deceleration
Acceleration/deceleration smoother than that by soft start can be ac-quired.
Acceleration & deceleration is set with the same time constant, and the time to
reach target rpm is 1.1 times that of the set value. Set it with UP-14. Speed
command
Target rpm
rpm
constant constant
UP-14 UP-14
● Speed reached Speed

Speed reached is output as soon as the speed of command
motor reaches the target rpm of speed command
(REF). Set it with UP-09 & 10.
rpm
Speed ON
reached
OFF
● Current limit
Current limit value
When current limit switch over is turned ON by
setting HP-34, the function to limit current in pro- Max. current
of motor
portion to the voltage of current limit (CLI) can be
used. Current limit value corresponds to the
maximum current 100% of motor, as against CLI 50%
10V.
Current
Further, the current limit can be set to a fixed
5 ±10V limit voltage
value using the parameters.
67
5-2 Operation of Current Control Mode
5-2-1 Example of Connections
MON Cable
Servo amp
Model CB102-□□□
Max. length 5m MON
Red
2 MON
Blue

RS232C Cable CN1
B B
Max. length 5m
E E
CN2
Red
3 REF
Speed command ±10V Red/white
4 AGND CN5
Black Red/white
1 CLI R1 8 1 R1
Current limit ±10V Black/white Yellow/white
supply Red
Max. 100mA S1 2 5 S1
White ・ Black RES
29 P24V
S3 3 7 S3
5
Yellow・ Yellow
13 INCOM Resolver
S2 6 6 S2
White ・
・ Blue
Run 14 IN2
S4 7 3 S4
Yellow・
・
Reset 18 IN6
GND 11
White ・
・・ 17 IN5
Yellow・
Monitor switch over IN4 Type CB082-□□□
White ・
IN3
Yellow・
・・・ 35
Switch over of speed limit IN7
White -
12 IN1
Check of brake
Yellow -
11 IN0 CN2
Black
White -・ APD 20
10 24G Black/white Pulse output A-phase
Connect the brake check & brake /APD 21
output of more than VLAST-050P Red
to the terminal board. BPD 22
White -・
・ /BPD 23
Normal servo RY 34 OUT7 Green
Yellow -・
・ ZPD 24
Running reverse RY 8 OUT1 Green/white Pulse output Z-phase
White -・
・・ /ZPD 25
Stop detection RY 32 OUT5 Blue
Yellow -・
Running forward RY 9 OUT2
White -・・・
・ 30 OUT3 FG 36
Absorption RY
Yellow -・・・
・ CONT Cable
Driving RY 31 OUT4
Speed limited RY 33 OUT6 Max. length 5m
Yellow -- Including speed limit, current command,
Brake output RY 7 OUT0 8-points of general-purpose input, & 8-
points of general-purpose output
to be procured by user
Special cables
CONT Cable CB110-□□□B CN2 → External device

MON Cable CB102-□□□B MON → External device
68
Analog input Speed limit 3P 4P Invariably limit the speed. Set the limit switch over method HP-34 at 10, and turn
(REF) ON the speed limit switch over (IN7). This input voltage becomes the speed limit
value (±10V/rated rpm).
Input voltage can be monitored from status display "cF---".
Limit value can be also set in parameter HP-35.
Current 1P 2P Inputs the current command voltage (±10V/rated rpm).
command Input voltage can be monitored from status display "cc---".
(CLI) Switch over of rotating direction UP-17
24V Input Run (IN2) 14P Operation becomes possible.
If turned OFF, the motor becomes free.
Brake output is also turned ON/OFF with this signal.
Reset (IN6) 18P Resets the alarm (ON for more than 30ms).
AL1 (IPM Overheated) & AL17 (motor overload) cannot be reset unless the tem-
perature lowers down.
Monitor switch 16P Switches over the display of monitor output (MON) & external display device (DPA-
over (IN4) 80). For information about the switch over, see UP-20 & 25.
Switch over of 35P Invariably turn ON. Becomes the speed limit value of internal limit HP-35 or exter-
speed limit nal limit REF that has been selected by limit switch over method HP-34. Always
(IN7) use it for protecting the machine.
When turned OFF, the speed is limited by motor rated rpm.
Check of brake 11P Connect to 24G, when not using the brake. Otherwise, operation becomes impos-
24V Output
(IN0)
Normal servo
(Unusable in more than 050P)
34P
sible. Input check signal when using dynamic brake or holding brake. For connec-
tion method, refer to power circuit.
Turn ON AC power supply, and ON after 2.5 Sec. Use it as an interlock of opera-
5
(OUT7) tion (IN2).
Turns OFF when an alarm is generated, and back ON by reset (IN6) input.
Running reverse 8P Turns ON during reverse run, when the motor speed rises above the set value of
(OUT1) stop detection rpm UP-08.
Stop detection 32P Turns ON when the motor speed drops below the set value of stop detection rpm
(OUT5) UP-08.
Running forward 9P Turns ON during forward run, when the motor speed rises above the set value of
Absorption 30P Turns ON during absorption, when the output current rises above the set value of
(OUT3) drive absorption detection width HP-40.
Driving (OUT4) 31P Turns ON during drive, when the output current rises above the set value of drive
absorption detection width HP-40.
Speed restricted 33P Turns ON when the speed reaches limit value of speed limit switch over (IN7).
(OUT6)
Brake output 7P Connect to the relay coil of dynamic brake or holding brake. In case of holding
(OUT0) (Unusable in more than 050P) brake, brake ON rpm can be set in UP-28.
Differential output Pulse output Converts resolver pulse, and outputs ABZ-phase pulse. Set the pulses per rota-
(APD) (/APD) 20P 21P tion of motor with UP-05/UP-04.
(BPD) (/BPD) 22P 23P Switch over between external display device and ABS output can be done with UP-
(ZPD) (/ZPD) 24P 25P 20.
Per motor rotation is output with APD (BPD) = [24000] x [1/4] x [UP-05/UP-04].
69
Control mode 00~FF 00 02 : Current control

Power
OFF
Suitable motor 0000~ 0000 Before starting operation, set the motor code referring to the combinations of intro-
Power FFFF duction motor code numbers & amps. Switches over by turning ON the power
OFF
again. Alarm cannot be reset, unless this setting is done.
Resolver cable length 1~120 m 5m Sets the total length of resolver cable between the amp & motor. Corrects phase
Power delay and increases motor efficiency. Switches over by turning ON the power
OFF
again.
Electronic gear 1~32767 1 Detects pulse of arbitrary weight from the motor (24000 pulses/rotation), in combi-
(numerator) nation with numerator/denominator UP-05. Detection pulse can be set at the weight
of "mm" system, etc.
Power
OFF Motor

Output pulse ← Divider ← Detector ← Resolver
Electronic gear 1~32767 1 (APD,BPD) (UP05/UP04) Detection pulse (24000 pulses/rotation)
(denominator)
Example of setting : In case of 2000 pulses/rotation with AB-phase pulse output, it
Power comes to 2000 x 4 = 8000 pulses/rotation, when converted into forward/reverse
OFF run pulses.
2000 x 4 = 8000 Pulses/rotation
5 Amount of zero 0 to 11999 0 pulse

UP-05 / UP-04 = 8000 / 24000 = 1/3
Set UP-04:3, UP-05:1, UP-19:01, & UP-20:0000 in parameters.
Shift the motor zero point, and adjust to the machine zero point. Do it according to
point shift pulses the following procedure.
Manually adjust to machine zero point.

↓
Read out the motor phase (pulse display) of, status display.
↓
Stop detection rpm 1~4000 50 r/min Turns ON stop detection, when the motor speed is below set value.
r/min
ABS Clear mode 0~2 0 Set in case of ABS motor. Zero point of the ABS motor is confirmed by clearing
current value. It can be divided in the following ways.
0 : All clear (clears amount of rotation & motor zero point, used at the time of start
up)
1 : Clears amount of rotation (preserves "0" as the motor zero point, used at the
time of reinstallation)
2 : Clear inhibited (invalidates clearing of current value, & prevents misoperation)
Brake mode 0~2 0 Set the connected brake. If not using neither one, set dynamic brake. Switches
over by turning ON power again.
Power 0 : Dynamic brake, 1 : Holding brake (with soft deceleration, 2 : Holding brake
OFF
(without soft deceleration
Analog command 00~11 00 Switches over the running direction of motor with current command (CLI)
polarity □□ Speed command [not used in this mode]
Current command [0 : Motor forward rotation with voltage,
1 : Motor reverse rotation with voltage]
Type of pulse 00~11 01 Switches over the type & polarity of pulse output (APD, BPD).
output □□ Type [0 : Forward/reverse pulses, 1 : ABZ-phase pulse]
Polarity [0 : Non-inverse, 1 : Inverse]
Forward/reverse pulses AB-Phase pulse
Since the single phase is out-
put with 1/4, there would be
APD APD 6000 pulses per rotation in case
of say 24000P/rev. One Z-
phase pulse is output per 180
BPD BPD degrees of motor.
Forward run of motor Reverse run of motor Forward run of motor Reverse run of motor
Inversion of polarity is reverse to the relation with rotating direction.
70
Type of differential 0000~5533 0000 Selects the function of pulse output (APD, BPD)
output □□□□ Output selection
[0: Pulse output of UP-19, 1: Output for DPA-70
2: Output for DPA-80, 3: current output value]
[0: 32 Bits, 1: 23 Bits + Parity,
2: 24 Bits + Parity, 3: 31 Bits + Parity]
Display (when monitor switch over ON)
[0: Motor rpm, 1: Current value,
2: Motor current, 3: Electronic thermal value,
4: Amount of motor phase (deg), 5: Machine speed]
Display (when monitor switch over OFF)
[0: Motor rpm, 1: Current value,
2: Motor current, 3: Electronic thermal value,
4: Amount of motor phase (deg), 5: Machine speed]
Setting of display becomes valid when the output selection is "1" or "2".
And, the setting of current value output type becomes valid when the output selec-
tion is "3".
Type of monitor 000~111 010 Selects the function & polarity of monitor output (MON).
output □□□ Voltage polarity [0: Non-inverse, 1: Inverse]
Function switch over [0: Current, 1: Speed] .... (when monitor switch over OFF)
Brake ON rpm 0~100.0 % 100 %

Function switch over [0: Current, 1: Speed] .... (when monitor switch over ON)
Brake output turns OFF and holding brake is applied as soon as the run signal
(IN2) turns OFF and motor speed drops below the set value. When UP-16 is "1",
5
brake is applied after linear of S-shaped acceleration/deceleration. Set it taking
the motor rated speed as 100%.
Motor test rpm 1~4000 50 r/min Sets the speed of motor test run which can be executed with the keys of display/
r/min operating panel.
Value of external 0~100.0 Ω 0.0 Ω Sets the synthetic resistance value of countercurrent absorption resistance, when
countercurrent it is mounted on the outside of VLAST-050P to 160P.
resistance In standard internal resistance, it is set at "0.0".
side.
Capacity of 0~327.67 0.00kW Sets the absorption capacity of countercurrent absorption resistance, when it is
external counter- kW mounted on the outside of VLAST-050P to 160P.
current resistance In standard internal resistance, it is set at "0.00".
side.
Brake ON rpm in current control mode
When using the sequence for holding brake that is

prepared inside the amp, soft deceleration function does
not work even if UP-16 (brake mode) is set at "1". If set
at "1" or "2", holding brake applies after deceleration up Operating speed
to the set brake ON rpm (UP-28) with inertia by run

(IN2) OFF, then holding brake applies, and 200ms later
servo turns OFF.
200ms
In current control mode, the speed of motor is depen-
dent on the load; so the part of speed control inside Brake ON rpm
control system needs to be managed. Keep on the UP-28
outside the control of holding brake, etc. TOEI Rec-
Operation OFF Brake ON
ommends that current command (CLD) and ON/OFF of (IN2) Servo OFF
holding brake be included in the operation stop sequence
of entire system.
71
CHAPTER 5 GUIDE TO OPERATING Operation of Current Control Mode
5-2-4 H-Parameters
Time constant of 1 to 60 Sec. 30 Sec. Sets the time constant to calculate the load ratio (bL) as against motor rating. If it
load ratio is below the operation cycle time, error becomes larger.
Limit switch over 00~21 11 Selects the method of limit while operating during the input of speed limit switch
method over (IN7).
□□ Speed limit [0: Limited by REF voltage, : Limited by HP-35]
Current limit [not used in this mode]
Speed limit value 0~4000 4000 r/min Speed (rpm) is limited with this set value during the input of speed limit switch over.
r/min Becomes valid, when HP-34 is "□1".
Drive absorption 0~100.0 % 5 % Sets the detection width of output signal during drive/absorption. Set it, taking
detection width 100% as the motor maximum current.
Display magnifica- 1~32767 1 Sets the weight of machine speed that is displayed on the display/operating panel
tion (numerator) or external display device.
tion (denominator) Sets the position of decimal point (however, it does not appear on the display/
Position of decimal 0~7 0 operating panel).
point in display 0: No decimal point, 1: Smallest digit, 2: 2nd Digit, ... 7: 7th Digit
Inversion of 000~1FF 000 Each bits of the 8 points of general-purpose input can be logically inverted. Set in
general-purpose hexadecimal notation.
input Input address IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0
[0:Non-inversion]
5 Hex. 0
Set at "099", when inverting IN7, IN4, IN3, & IN0.

↑ Set at 0.
0 [1:Inversion]
Inversion of 00~FF 00 Logical inversion can be made, same as in general-purpose input.

general-purpose Output address OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
output
[0:Non-inversion]
Drive/absorption detection width

Forward drive Reverse drive
When a motor is running carrying a load, it is called its
Forward absorption Reverse absorption
driven state. And, when it is driven as a power generator Speed
by a load, it is called absorption state. In either state it Forward run
UP-08
runs either forward or reverse; so there are total 4 Stop detection
rpm
different states. UP-08
Reverse run
The operating state of motor can be identified from the
forward run (OUT2), reverse run (OUT1), driv-ing Current
(OUT4), & absorbing (OUT3) of output signal. (torque)
The designation of detection range and prevention of Drive HP-40

chattering of output signal, while driving or absorb-ing, Drive/absorb
detection width
can be set with UP-08 (stop detection rpm) & HP-40 HP-40
Absorptimg
(drive/absorption detection width).
But this signal is not output while the motor speed is
below stop detection rpm and while the current flow-ing Driving (OUT4)
into the motor is less than the detection width of
drive/absorption.
Absorbing (OUT3)
72
Operation of Current Control Mode CHAPTER 5 GUIDE TO OPERATING
5-2-5 Run
Concurrently
User parameter setting (Display 00) (Right end 0 starts flickering)

Input '02' in UP-01.

Concurrently
SEL
Once cut off the power, & when the

Data is set in UP-01 & 02.
display disappears turn it back ON.

H-parameters.
Ex:Resolver cable length, electronic gear, speed limit
value, drive/absorption detection width, and so on
5
Running becomes possible & the motor rotates with
the miniscular torque of current command value. Mo-
Tur n ON run signal. tor speed is not controlled. Always set the speed limit
value. When using brake, confirm that it has been
released.
Make offset adjustment with adjustment parameter

Zero adjustment of current command
AJ5, while the current command voltage is 0V.
Motor rotates with the torque of current command

Trial run by applying current command
value. At first, check the operating state with low volt-
voltage
age.
• RPM as against speed limit value
If necessary, change the set values of adjustment pa-

rameters AJ5, 6, 9, & user parameter UP-17.
Tur n OFF the current command volt- Motor stops.

age

Tur n OFF the run signal.
make sure that it is applied.
73
CHAPTER 5 GUIDE TO OPERATING Operation of Current Control Mode
5-2-6 Adjustments
Adjustment menu Factory

Symbol Setting range setting Description
Zero adjustment of ±10.00 V Comes All digits flicker during change mode, auto zero adjustment is done with key, & zero
speed limit (REF) adjusted
adjustment become complete when the flickering stops. Manual zero adjust-ment is also
possible with & keys, after concurrently pressing & keys.
Span adjustment 3~40.00 V 10.00V Adjust limit voltage so as to acquire rated rpm of motor.
of speed limit
(REF) Ex: Set "6", when the rated rpm is 6V.
current command adjusted
(CLI) adjustment become complete when the flickering stops. Manual zero adjust-ment is also
Span adjustment 3~40.00 V 10.00V Adjusts the limit voltage which makes the motor current maximum.
of current
command (CLI) Ex: Set "8", when the maximum motor current is 8V.
Current command 400~20000 6000 If the motor resonates, decrease the adjustment value.
filter rad/s rad/s
● Zero adjustment (AJ5.) & span adjustment (AJ6.) of current command

AJ5. Zero adjustment comes done, when shipped from factory; but if
Span adjustment
there is an offset in the command itself, the motor may rotate
slightly. Make zero adjustment, including the offset of command. + Max. current
5 AJ6. Span adjustment comes set at "motor rated rpm/10V"; but if the
desired rpm cannot be acquired, make the following adjustments.
To increase output current ｨ Lower the adjustment value.
-V
11 10 9
9 10 11
+V
AJ6.
To decrease output current ｨ Raise the adjustment value.
Max. current
● Machine protection by speed limit

In case of current control, the motor speed varies according to the load torque. When the load torque becomes smaller than
the value of current command, the motor would run at maximum speed. Use it in the system that controls the speed. There
is the speed limit function as safety device. External input (REF) can be controlled by setting HP-34, and it can be limited
with HP-35.
TM V = (TM–TL) / (JM + JL) x t

Motor Load V : Motor rotations (per sec.) after 't' sec.
Current command TM : Motor torque by current command
Servo amp JM JL
Speed limit JM : Motor inertia
FL t : Time (sec.) for TM
Resolver
TL : Load torque
JL : Load inertia
● External speed limit

When the speed limit switch over input is turned ON, speed limit proportional to the input voltage of speed limit (REF)
becomes applied. Use it by setting HP-34 at "limit with REF
Value of speed limit
Rated rpm
of motor
50%
Speed limit voltage

5 ±10V
74
Operation of Current Control Mode CHAPTER 5 GUIDE TO OPERATING
● While running forward/reverse, stop detection output

Stop detection (OUT5) turns ON within the
range of UP-08 (stop detection rpm). At other Forward run
speeds, forward run & reverse run is detected, UP-08
rpm. 0
and (OUT2) & (OUT1) are output during UP-08
Reverse run
forward & reverse run, re-spectively.
Stop ON
detection
OFF
Running
forward
Running
reverse
● Current command filter (AJ9.)

Current command filter applies to current command. Set value is 400 to 20000rad/s. When converted into frequency, it
becomes 64 to 3185Hz. The control may become unstable, when there is an amp for positioning control that used torque
control & potentiometer which employ load cell in the previous stage of current command.
In that case, stability can be restored by adjusting AJ9. Set the value at about 10 times that of desired frequency
characteristics.
For example, when about 20Hz response is desired:
2π x 10 x f = 2π x 10 x 20 = 1256 [rad/s]
5
Set AJ9.=1256 or more. Becomes unstable, if the value is too small.
75
CHAPTER 5 GUIDE TO OPERATING Operation of Position Control Mode
5-3 Operation of Position Control Mode
MON Cable
Type CB102-□□□ Servo amp
Max. length 5m MON
Red
2 MON
Monitor output ±3V Blue
1 AGND
To personal computer
RS232C Cable CN1
CB095-□□□A(NEC) A A Servo motor
Max. length 5m B B
CN2 M
Red C C
3
Not used Red/white E E
4
Black
1 CLI
Current limit ±10V Black/white
2 AGND CN5
Yellow Red/white
Forward run pulse 5 FMA R1 8 1 R1
command Yellow/white Yellow/white
6 /FMA R2 9 2 R2
Brown Red
Reverse run pulse 26 FMB S1 2 5 S1
command Brown/white Black RES
27 /FMB Built-in power S3 3 7 S3
supply Yellow
36 FG
5
Max. 100mA S2 6 6 S2 Resolver
White Blue
29 P24V
S4 7 3 S4
Yellow
13 INCOM
GND 11
White
Run 14 IN2
Yellow Resolver cable
Reset 18 IN6 Type CB082-□□□
White Max. length 120m
Clear current value 17 IN5
Yellow
Reverse run permitted 16 IN4
White
Forward run permitted 15 IN3
Yellow CN2
Switch over of current limit 35 IN7
White Black
Stop at zero point 12 IN1 APD 20
Yellow Black/white Pulse output A-phase
Check of brake 11 IN0 /APD 21
White Red
10 24G BPD 22
Connect the brake check & brake /BPD 23
output of more than VLAST-050P Green
to the terminal board. ZPD 24
Green/white Pulse output Z-phase
White /ZPD 25
Normal servo RY 34 OUT7
Blue
Yellow GND 19 Ground
Stopped at zero point RY 8 OUT1
White FG 36
In-position RY 32 OUT5
Yellow
Memorize zero point RY 9 OUT2
CONT Cable
White
Forward run inhibited RY 30 OUT3 Type CB096-□□□
Yellow Max. length 5m
Reverse run inhibited RY 31 OUT4 Including forward/reverse run pulse
White command, 8-points of general-purpose
Battery alarm RY 33 OUT6
Yellow input, & 8-points of general-purpose
Brake output RY 7 OUT0 output. But, when current limit (analog
input) is necessary, the CONT cable to
be used is of Type CB110-□□.
Special cables
CONT Cable CB096-□□□B CN2 → External device (no analog input)

CONT Cable CB110-□□□B CN2 → External device (with analog input)
76
Operation of Position Control Mode CHAPTER 5 GUIDE TO OPERATING
Analog input Current limit 1P 2P Set to "01" the limit switch over method HP-34, & turn ON the current limit switch
(CLI) over (IN7). This input voltage becomes the current limit value (±10V/max. current
of motor).
Input voltage can be monitored from status display "cc---".
5V Input Forward run 5P 6P Inputs pulse command.
pulse AB-Phase or pulse & forward/reverse signals can be interswitched with pulse com-
mand type UP-18. Set the weight of 1 pulse in UP-04/UP-05.
(FMA)(/FMA) Command pulse can be monitored from status display "P' ---" & "P ---".
Reverse run 26P 27P Same as above, reverse run pulse
pulse
(FMB) (/FMB)
AL1 (IPM overheated) & AL17 (motor overload) cannot be reset unless the tem-
Clear current 17P Clears the current value (ON for more than 30ms).
value (IN5) When using ABS motor, ABS gets cleared (zero point setting).
Reverse run 16P Turn ON this signal. The command for reverse direction run is accepted. If turned
permitted (IN4) OFF, reverse run becomes inhibited, and it is kept output while the reverse run is
Forward run
permitted (IN3)
15P
inhibited. Logical inversion can be done with HP-44.
Turn ON this signal. The command for forward direction run is accepted. If turned
OFF, forward run becomes inhibited, and it is kept output while the forward run is
5
inhibited. Logical inversion can be done with HP-44.
Switch over of 35P It turned ON, the current limit value selected with limit switch over method HP-34
current limit becomes valid. Use it for protecting the machine.
(IN7)
Stop at zero 12P It turned ON, the machine stops at the next motor zero point.
point (IN1) Zero point stop more precise than that by stop processing with pulse output (ZPD)
can be realized.
Check of brake 11P Connect to 24G, when not using the brake. Unless connected, operation becomes
(IN0) (Unusable in more than 050P) impossible. Input check signal, when using dynamic brake or holding brake. For
connection method, refer to the item on power circuit.
24V Output Normal servo 34P Turn ON AC power supply, & it turns ON 2.5 sec. later. Use it as an interlock of run
(OUT7) (IN2).
Turns OFF when an alarm is generated, & turns back ON with reset (IN6) input.
Stopped at zero 8P Turns ON, when the motor is at zero point.
point (OUT1)
In-position 32P Turns ON, when the position deviation is less than the set value of UP-07. Or, it
(OUT5) may remain ON, when the command pulse is of low frequency.
Memorize zero 9P Turns ON, when clear of current value (IN5) is input. And, turns OFF, when an
point (OUT2) alarm is generated in resolver or ABS and when zero point becomes non-memo-
rized.
Forward run 30P Forward run inhibited turns ON, when the forward run permission signal turns OFF.
inhibited (OUT3)
Reverse run 31P Reverse run inhibited turns ON, when the reverse run permission signal turns OFF.
inhibited (OUT4)
Battery alarm 33P Turns ON, when the ABS battery drops below 3.2V. Operation can be resumed
(OUT6) after inputting reset, but promptly replace the battery.
(OUT0) (Unusable in more than 050P) brake, the brake ON rpm can be set in UP-28.
(ZPD) (/ZPD) 24P 25P 20.
77
Control mode 00~FF 00 03 : Position control

Power
OFF
Suitable motor 0000~ 0000 Before starting operation, set the motor code referring to the combinations of intro-
Power FFFF duction motor code numbers & amps. Switches over by turning ON the power
OFF
again. Alarm cannot be reset, unless this setting is done.
Resolver cable length 1~120 m 5m Sets the total length of resolver cable between the amp and motor. Corrects phase
Power delay and increases motor efficiency. Switches over by turning ON the power again.
OFF
Electronic gear 1~32767 1 Detects pulse of arbitrary weight from the motor (24000 pulses/rotation), in combination with /
(numerator) denominator UP-05. Detection pulse can be set at the weight of "mm" system, etc.
Power Command pulse Fregvency Multiplier ＋ Deviation
OFF (FMA, FMB) Motor
(UP04/UP05) counter
−
Output pulse Divider Detector Resolver
(APD, BPD) (UP05/UP04) (24000 pulses/rotation)
Detection pulse
Since the computation of output pulse is reverse to that of "UP-05/UP-04", it be-
Electronic gear 1~32767 1 comes identical to the weight of command pulse.
(denominator) Example 1 of setting : 1 Pulse : 0.01mm, lead 10mm
Power 0.01 x 24000 / 10 = 24
OFF UP-04 : 24, UP-05 : 1
5 Example of setting :
0.01 x 24000 / (10 x 17 / 66)
= 0.01 x 24000 x 66 / 170
1 Pulse : 0.01mm, lead 10mm
= 1584 / 17
UP-04 : 1584, UP-05 : 17 Gear ratio : 17/66
Amount of zero 0 to 11999 0 Pulses Shift the motor zero point, and adjust to the machine zero point. Do it according to the following procedure.
point shift pulses
↓
Read out the motor phase (pulse display) from status display.
↓
(Read out angle./(2x180)) x 12000 = UP-06
In-position width 0 to 32767 50 Pulses In-position signal turns ON, when the amount of position deviation is less than the
pulses set value. Set with the weight of 24000 pulses/rotation.
Stop detection rpm 1~4000 50 r/min Stop detection turns ON, when the motor speed is below set value.
r/min
Current limit value 0~100.0 % 100 % Set the value of current limit, referring to limit switch over method HP-34. HP-36 to
39 become valid, when the (max. current of motor 100%) is set at "0".
current value. It can be used in the following ways.
0 : All clear (clears amount of rotation & motor zero point, used at the time of start up)
1 : Clears amount of rotation (preserves "0" as the motor zero point, used at the
time of reinstallation)
over by turning ON power again.
Power
0 : Dynamic brake, 1 : Holding brake (with soft deceleration), 2 : Holding brake
OFF
(without soft deceleration)
Analog command polarity 00~11 00 Not used in this mode.
Type of pulse 00~12 00 Switches over the type & polarity of pulse command (FMA, FMB).
command □□ Type [0: Forward/reverse pulse, 1: ABZ-Phase pulse, 2: Forward/reverse signal]
Polarity [0: Non-inversion, 1: Inversion]
Forward/reverse pulses AB-Phase pulse Pulse & forward/reverse signals
FMA FMA FMA
FMB FMB FMB

Add Subtract Add Subtract Add Subtract
Inversion of polarity is reverse to that of addition/subtraction. The rotating direction
of motor can be selected with UP-26.
78
Pulse output type 00~11 01 Switches over the type & polarity of pulse output (APD, BPD)
□□ Type [0: Forward/reverse pulse, 1: ABZ-Phase pulse]
Forward/reverse pulse AB-Phase pulse
Since a single phase is output
with 1/4, if there are say 24000
APD APD P/rev, there would be 6000
pulses per rotation. One Z-
pulse is output after every 180
Inversion of polarity is reverse to the relation as against the rotating direction.

Differential output 0000~5533 0000 Selects the function of pulse output (APD, BPD).
[0: Pulse output of UP-19, 1: Output for DPA-70,
2: Output for DPA-80, 3: Current value output]
[0: 32 Bits, 1: 23 Bits + Parity, 2: 24 Bits + Parity, 3: 31 Bits + Parity]
Display contents
[unusable in this mode]
Display contents
[0: Motor rpm, 1: Current value, 2: Motor current
3: Electronic thermal value, 4: Amount of motor phase (deg),
5: Machine speed]
Current value output type remains valid when the output selection is "3", & display
contents remains valid when it is "1" or "2".
5
□□□ Voltage polarity [0: Non-inversion, 1: Inversion]
Function switch over [0: Current, 1: Speed]
Function switch over [unusable in this mode]
Position control 0~1 0 Switches over the running direction of motor as against the addition pulse of pulse
polarity command type UP-18.
0: Forward run with addition pulse, 1: Reverse run with addition pulse
Brake ON rpm 0~100.0 % 100 % When run signal (IN2) turns OFF & motor rpm drops below the set value, brake
output turns OFF & holding brake applies.
Set, taking the motor rated rpm as 100%.
Motor test rpm 1~4000 50 r/min Sets the speed of motor test run which can be done with the keys of display/oper-
r/min ating panel.
Value of external 0~100.0 Ω 0.0 Ω Sets the synthetic resistance value, in case a countercurrent absorption resistance
countercurrent has been mounted on the outside in VLAST-050P to 160P.
resistance Set at "0.0", in case of internal standard resistance.
Always set it, when a countercurrent absorption resistance has been mounted on
the outside.
Capacity of 0~327.67 0.00kW Sets its absorption capacity, when a countercurrent absorption resistance has been
external counter- kW mounted on the outside in VLAST-050P to 160P.
current resistance Set at "0.00", in case of internal standard resistance.
the outside.
79
5-3-4 H-Parameters
Load ratio time 1 to 60 sec. 30 Sec. Sets the time constant for calculating the load ratio (bL) as against motor rating.
Limit switch over 00~21 11 Selects the switch over method of current limit.
Current limit
[0:Analog input Limited with CLI voltage + current limit switch over (IN7) ON]
[1:Parameter setting Limited with UP-11 + Current limit switch over (IN7) ON]
[2:Parameter setting Constantly limited with UP-11, regardless of current limit switch over (IN7)]
Forward run drive 0~100.0 % 100 % The current limit value can be set separately with this parameter for forward/re-
current verse run.
current
Reverse run 0~100.0 % 100 %
absorption current
5 decimal point
General-purpose
input inversion
000~1FF 000
0:No decimal point, 1:Min. digit, 2:2nd Digit ..... 7:7th digit
Logical inversion of general-purpose input 8 points can be done after each bit. Set
[0:Non-inversion]
↑ Set at 0.
[0:Non-inversion]
In-position timer 0~200 ms 20 ms Retains ON, for set length of time, the in-position output signal which has been
turned ON once.
80
5-3-5 Run

Concurrently
(Display 00) (Right end 0 starts flickering)

User parameter setting

Concurrently
SEL

Data is set in UP-01 & 02.

H-parameters.
Ex:Resolver cable length, electronic gear, current limit,
pulse command/output type, and so on 5
Running becomes possible & the motor gets servo-
locked.
Turn ON run signal. When using brake, confirm that it has been released.
Motor starts running. At first, check the operating state

Input command pulse string, & turn with pulse string of slow speed.
ON forward run/reverse run permitted. If the machine vibrates or causes hunching, change
the set values of adjustment parameters AJ2., 4, 8, &
9.
Stop the command pulse string. Motor stops.

Turn OFF the run signal.
81
5-3-6 Adjustments
magnification times raised to that at the time of single motor. But if raised too high, it may cause
hunting & vibrations.
and speed response cannot be raised. Auto hunching can be also done, including
AJ3 also.
Speed response 0.1~20.0 1.0 Increases excessive response. Like AJ2, if raised too high, it may cause hunting &
vibrations.
Position gain 1~200 30 rad/s Raising adjustment value decreases position deviation, and speeds up position-
rad/s ing.
Current limit zero ±10.00 V Comes All digits flicker during change mode, auto zero adjustment is done with key, &
adjustment adjusted zero adjustment become complete when the flickering stops. Manual zero adjust-
(CLI) ment is also possible with & keys, after concurrently pressing SEL & keys.
Current limit span 3~40.00 V 10.00V Adjusts the limit voltage which makes the motor current maximum.
adjustment(CLI) Ex: Set "8", when the maximum motor current is 8V.
Gain loss while 0~10000 0 Adjust this, when the load current becomes excessive while stopped. Increasing
stopped adjustment value decreases the load current. Stop detection rpm operates below
Feed forward gain 0 to 2.0 0 Times If adjustment value is made large, positioning time becomes shorter. Also, the
times position deviation (pursuit delay) during rotation becomes smaller.
If made too large, it may cause hunching.
5 Current command
filter
Power
400~20000
rad/s
6000 rad/s If AJ2 & AJ3 are raised during adjustment of speed response, vibrations tend to
occur; but by increasing this adjustment value, vibrations can be suppressed.
If made too small, it may cause hunching.
OFF
● Mode of pulse command

Photocoupler input 5V 17mA Switch over time of for-
More than More than
2.5µs 2.5µs ward/reverse run pulses
Input of forward/reverse run pulses more than 2.5µs
ON
Forward/reverse run pulses of UP-18 come ad-
justed when shipped from TOEI factory. Set both Forward run pulse OFF
More than More than
the pulse width and pulse intervals at more than 2.5µs 2.5µs
2.5ms (max. 200kpps). ON
Reverse run pulse
OFF
More than More than

5µs 〃〃〃 5µs 〃〃〃
Input of AB-phase pulse command ON
If UP-18 (type of pulse command) is switched over, A-Phase pulse OFF

AB-phase input sets in, and input pulse is internally
ON
used 4 times. Reserve lag/advance phase of more
than 5ms (max. 50kpps). B-Phase pulse OFF
Forward run Reverse run
Switch over time of for-

More than More than ward/reverse run & pulse
2.5µs 2.5µs
Input of pulse command & forward/reverse interval more than 5µs
ON
signals
If UP-18 (type of pulse command) is switched over, Pulse OFF
the switch over method of pulse command input

ON
and forward/reverse signal input sets in. Set both Forward/reverse signal
OFF
the pulse width and pulse intervals at more than Forward run Reverse run
2.5ms (max. 200kpps).
82
● Forward/reverse run permission

Forward/reverse run permission signals are used to set the ultimate limits of forward/reverse run. In HP-44, logical
inversion is possible, but usually use it with normal/close input.
IN3 Forward run permission
Forward run limit
IN4 Reverse run permission
Reverse run limit
24G
Processing time 0.8ms
If permit signal is turned OFF, command pulse is Pulse frequency
L = Fx0.8ms + Setting of F/AJ4. [pulse]
immediately cut off and the machine decelerates & stops.
The deceleration distance shown in the shaded portion of
right side diagram can be calculated from the following
expression. Forward/reverse ON Stopping time (3~4) x 1/AJ.4 [s]
run permission
L = F x 0.8ms + Setting of F/AJ4. [pulse] OFF
ON
L : Stopping distance [pulse], F : Pulse frequency [pps],
Forward run in- OFF
AJ4 : Position gain [1/s] hibited or reverse
run inhibited
● Setting of zero point
Accurate detection of zero point becomes possible with zero point stop input and zero point pulse (ZPD). Since the
positioning is controlled with zero point pulse, accurate setting of zero point is done even if the amount of flow
changes at the time of setting it due to inertia & load state of the machine system.
Unless the zero point stop input is turned OFF, return to regular position control is not made and the motor would not
run even if a pulse is input.
5
Forward/reverse run pulse
Zero point stop (IN1)
Zero point pulse ZPD

Multiple of 400µs
1/2 Rotation 1/2 Rotation
1 Rotation
Zero point stop (OUT1)

Stops at resolver zero point, immediately after turning ON zero point stop.
Stop the pulse command.
● Current limit
Internal current limit External current limit
When current limit switch over is turned ON, the cur-rent When current limit switch over is turned ON, the cur-
limit that is set with UP-11 applies. Factory set-ting is rent becomes limited in proportion to the voltage of
100%. CLI (setting switch over of HP-34 is necessary).
Current limit value Current limit value

Max. current Max. current
of motor of motor
50% 50%
UP-11 Current limit voltage

50 100% 50 100%
● In-position time
The time from stopping pulse input up to turning ON the inposition signal is about 5 times that of the in-verse number of
position gain.
In-position time = Stopping time + Processing time

Position of deviation
Stopping time (5)x1/AJ.4

Processing time 0.8ms
OFF ON
In-position (OUT5)
83
CHAPTER 5 GUIDE TO OPERATING Operation in Speed/Current/Position Control Mode
5-4 Operation in Speed/Current/Position Control Mode
MON Cable
Model CB102-□□□
Max. length 5m MON Servo amp
Red
2 MON
Monitor output ±3V Blue
1 AGND
To personal computer
RS232C Cable CN1
CB095-□□□A(NEC) A A Servo motor
Max. length 5m
CN2 B B
Red
3 REF C C M
Speed command or Red/white
speed limit ±10V 4 AGND E E
Black
1 CLI
Current limit or cur- Black/white
rent command ±10V 2 AGND
Yellow
Forward run pulse 5 FMA CN5
Yellow/white Red/white
command 6 /FMA R1 8 1 R1
Brown Yellow/white
Reverse run pulse 26 FMB R2 9 2 R2
command Brown/white Red
27 /FMB Built-in power S1 2 5 S1
supply Black RES
5 White・
Yellow・
36 FG
29 P24V
13 INCOM
Max. 100mA
S3
S2
S4
3
6
7
Yello w
Blue
7
6
3
S3
S2
S4
Resolver
White・
・
Run 14 IN2 GND 11
Yellow・
・
Reset 18 IN6 Resolver cable
White・・・ 17 Type CB082-□□□
Clear current value IN5
Yellow・ Max. length 120m
Switch over of position control
・・ 16 IN4
White・
・・・ 15
Switch over of current limit IN3
Yellow・
・・・ 35
Switch over of limit IN7
White - CN2
Stop at zero point 12 IN1 Black
Yellow- APD 20
Check of brake 11 IN0 Black/white Pulse output A-phase
White -・ /APD 21
10 24G Red
Connect the brake check & brake BPD 22
output of more than VLAST-050P Red/white Pulse output B-phase
/BPD 23
to the terminal board. Green
White -・
・ ZPD 24
Normal servo RY 34 OUT7 Green/white Pulse output Z-phase
Yellow -・
・ /ZPD 25
Speed reached/INP RY 8 OUT1 Blue
White -・
Stop detection RY 32 OUT5
Yellow -・
・・ FG 36
9 OUT2
White -・
・・・
Stopped at zero point RY 30 OUT3 CONT Cable
Yellow -・
・・・ Type CB110-□□□
31 OUT4 Max. length 5m
White --
Limit applied RY 33 OUT6 Including speed current command,
Yellow -- pulse command, 8-points of general-
Brake output RY 7 OUT0 purpose input, & 8-points of general-
purpose output.
Special cables

84
Operation in Speed/Current/Position Control Mode CHAPTER 5 GUIDE TO OPERATING
Analog input Speed 3P 4P Speed control : Inputs speed command voltage (±10V/rated rpm)
command or Rotating direction switch over UP-17, acceleration/deceleration time setting UP-12
speed limit to 14
(REF) Current control : Invariably limit the speed (±10V/rated rpm)
When limit switch over (IN7) is turned ON, this input voltage becomes the speed
limit value. However, HP-34 needs to be switched over. Input voltage can be
monitored from status display "cF----".
Current limit or 1P 2P Speed/position control : When limit switch over (IN7) is turned ON, this input volt-
current age becomes the current limit value (±10V/max. current of motor). However, HP-
command 34 needs to be switched over.
(CLI) Current control : Inputs the current command voltage (±10V/max. current of motor).
Input voltage can be monitored from status display "cF----".
5V Input Forward run 5P 6P Position control : Inputs pulse command.
pulse AB-Phase or pulse & forward/reverse signals can be switched over with pulse
(FMA) command type UP-18. Set the weight of a pulse in UP-04/UP-05. Command
(/FMA) pulse can be monitored from status display "P' ---" & "P----".
Reverse run pulse 26P 27P Same as above, reverse run pulse
(FMB)(/FMB)
24V Input Run (IN2) 14P Run possible state sets in.
When turned OFF, motor free state sets in.
Brake output also turns ON/OFF with this signal.
Clear current 17P

AL1 (IPM overheated) & AL17 (motor overload) cannot be reset until the tempera-
ture lowers down.
Clears the current value (ON for more than 30ms).
5
value (IN5) ABS is cleared (zero point setting), when using ABS motor.
Switch over position 16P Control mode changes according to the combination of following signals.
control (IN4) Mode Speed control Current control Position control Current control
Switch over current 15P IN4 OFF OFF ON ON
control (IN3) IN3 OFF ON OFF ON
Switch over 35P Speed/position control : When turned ON, the current limit value selected with limit
limit (IN7) switch over method HP-34 becomes effective.
Current control : Invariably turn ON. The speed limit value selected with limit switch
over method HP-34 becomes effective
When turned OFF, the speed is limited by motor rated rpm.
Stop at zero 12P When turned ON, the device stops at the immediately next motor zero point. Zero
point (IN1) point stop more accurate than that by stop processing with pulse output (ZPD) can
be accomplished.
Brake check 11P Connect to 24G, when not using the brake. Unless connected, runnable state
(IN0) (above 050P unusable) becomes impossible. Input check signal, when using dynamic brake or holding
brake. For connection method, refer to the item on power circuit.
24V Output Normal servo 34P Turn ON AC power, & then turn it ON after 2.5 sec. Use it as an interlock of run (IN2).
(OUT7) Turns OFF, when an alarm is generated, and turns back ON with reset (IN6) input.
Speed 8P Speed control : Turns ON when the rpm of speed command (REF) is reached and
reached/INP when the detection width is within the set value of UP-10. Reaching rpm can be also
(OUT1) set with UP-09.
Current control : Turns ON when the position deviation drops below the set value of.
UP-07. May remain continuously ON, when the command pulse is of low frequency.
Stop detection 32P Turns ON, when the motor rpm drops below the set value of stop detection rpm
(OUT5) UP-08.
Stopped at zero 30P Remains ON, while the motor is at its zero point.
point (OUT3)
Limited 33P Speed/position control : Turns ON, when the current reaches current limit value.
(OUT6) Current control : Turns ON, when the rpm reaches speed limit value.
Brake output 7P Connect to the relay coil of dynamic brake or holding brake. When connected to
(OUT0) (above 050P unusable) holding brake, set the brake ON rpm in UP-28.
Differential output Pulse output Converts resolver pulse and outputs ABZ phase pulse. Set the pulses per rotation
(APD) (/APD) 20P 21P of motor in UP-05/UP-04.
(BPD) (/BPD) 22P 23P Switch over between external display device & ABS output becomes possible with
(ZPD) (/ZPD) 24P 25P UP-20.
Outputs per rotation of motor with APD (BPD) = [24000] x [1/4] x [UP-05/UP-04].
85
Control mode 00~FF 00 04 : Speed/current/position control

Power
OFF
OFF
Alarm cannot be reset without doing this setting.
Resolver cable length 1~120 m 5m Sets the total length of resolver cable between amp & motor. Increase the motor
OFF
supply again.
Electronic gear 1~32767 1 Assigns command pulse of arbitrary weight to the motor (24000 pulses/rotation), by combining with
(numerator) the denominator UP-05. Command pulse can be converted into the weight of "mm" system, etc.
Command pulse Frequency multiplier ＋ Deviation
Power Motor
(FMA, FMB) (UP-04/UP-05) counter
OFF −
Output pulse Divider Detector
(UP05/UP04) Resolver
(APD, BPD) (24,000 pulses/rotation)
Detection pulse
Electronic gear 1~32767 1 Since the output pulse is calculated in the opposite way to that of "UP05/UP04", it
(denominator) becomes equal to the weight of command pulse. 1 Pulse:0.01mm, Lead:10mm
<Example 1 of setting>
Power
OFF 0.01 x 24000 / 10 = 24 UP-04 : 24, UP-05 : 1
1 Pulse:0.01mm, Lead:10mm
<Example 2 of setting>
5 Amount of zero 0 to 11999 0 Pulses

0.01 x 24000 / (10 x 17 / 66) = 0.01 x 24000 x 66 / 170
= 1584 / 17 UP-04 : 1584, UP-05 : 17 Gear ratio: 17/66
Shift the motor zero point & adjust it to the machine zero point. Do it according to the following procedure.
point shift pulses
↓
Read out the motor phase from status display
↓
In-position width 1 to 32767 50 Pulses Porition control ; in-position signal turns ON, when the amount of position deviation
(position) pulses is less than the set value. Set with the weight of 24000 pulses/rotation.
Stop detection turns ON, when the motor speed is below set value.
r/min
Speed reached 0~4000 0 r/min Speed control : Turns ON speed reached, when the motor rpm is in the vicinity of set value and within the
rpm (speed) r/min set range of UP-10. If the setting is "0", it outputs speed reached in response to speed command (REF).
Speed reached 1~4000 20 r/min Speed control : Sets the output detection width of speed reached signal.
detection width (speed) r/min
Current limit value 0~100.0 % 100 % Speed/position control : Set the current limit value, referring to limit switch over
(speed/position) mode HP-34 (100%/motor max. current). If set at "0", HP-36 to 39 become valid.
Soft start accelera- 0 to 32.76 0 sec. Speed control : Acceleration time setting (linear acceleration) Set the time from motor
tion time (speed) sec. rated stopping up to rpm. This parameter is ignored, when UP-14 has been set.
Soft start decelera- 0 to 32.76 0 sec. Speed control : Deceleration time setting (linear deceleration) Set the time from
tion time (speed) sec. motor rated rpm up to stopping. This parameter is ignored, when UP-14 has been set.
S-Shaped acceleration/ 0 to 32.76 0 sec. Speed control : S-Shaped acceleration/deceleration time
deceleration time (speed) sec. Smooth acceleration/deceleration curve is constantly plotted until reaching the target speed.
ABS Clear mode 0~2 0 Set in case of ABS motor. the storling point of the ABS motor is confirmed by
clearing current value. It can be used in the following ways.
0 : All clear (clears amount of rotation & motor the storling point, used at the time of start up)
1 : Clears amount of rotation (preserves "0" as the motor the storling point, used at the time of reinstallation)
2 : Clear inhibited (invalidates clearing of current value, & prevents misoperation in operation)
Power over by turning ON power again.
OFF 0 : Dynamic brake, 1 : Holding brake (with soft deceleration), 2 : Holding brake (without soft deceleration)
Analog command 00~11 00 Speed/current control : Switches over the rotating direction of motor with input
polarity (speed/ command (REF, CLI).
current) □□ Speed command [0: Forward rotation of motor with +voltage,
1: Reverse rotation of motor with +voltage]
Current command [0: Forward rotation of motor with +voltage,
1: Reverse rotation of motor with +voltage]
86
Pulse command 00~12 00 Position control : Switches over the type & polarity of pulse command (FMA , FMB)
type (position) □□ Type [0: Forward/reverse pulse, 1: AB-Phase pulse, 2: Pulse & forward/reverse signal]
Forward/reverse pulse AB-Phase pulse Pulse & forward/reverse signal
FMA FMA FMA
FMB FMB FMB

Addition Subtraction Addition Subtraction Addition Subtraction
Polarity inversion reverses addition & subtraction. Rotating direction of the motor
can be selected with UP-26.
APD APD P / rev, there would be 6000

Differential output
type
0000~5533 0000 Selects the function of pulse output (APD, BPD).
□□□□ Output selection
5
Display contents
Display contents
[0: Motor rpm, 1: Current value, 2: Motor current,
5: Machine speed]
Display contents remains valid, when the output selection is "1" or "2".
Current value output type remains valid when the output selection is "3".
Position control 0~1 0 Position control : Switches over the running direction of motor as against the addi-
polarity (position) tion pulse of pulse command type UP-18.
output turns OFF & holding brake applies. When UP-16 is "1", the brake applies
after linear or S-shaped acceleration/deceleration. Set it, taking the rated speed of
motor as 100%.
r/min ating panel.
the outside.
external counter- kW mounted on the outside.
the outside.
87
5-4-4 H-Parameters
Limit switch over 00~21 11 Selects the switch over method of speed limit.
method □□ Speed limit [Limited with REF voltage, 1: Limited with HP-35]
Current limit
[0: Analog input CLI Voltage + Limit with limit switch over (IN7) ON]
[1: Parameter setting Limited with UP-11 + Limit switch over (IN7) ON]
[2:Parameter setting Constantly limited with UP-11, regardless of current limit switch over (IN7)]
Speed limit value 0 to 4000 4000 r/min Current control : Speed limit (rpm) is applied with this set value, during limit switch
(current) r/min over (IN7) input. Becomes valid, when HP-34 is "□1".
Forward run drive 0~100.0 % 100 % Speed/position control :
current The current limit value can be set separately with this parameter for
(speed/position) forward/reverse run.
Forward run 0~100.0 % 100 % Remains valid, when HP-34 is "1□" or "2□" and UP-11 is "0"%. Set it
absorption current taking the motor max. current as 100%.
(speed/position)
current
(speed/position)
Reverse run 0~100.0 % 100 %
absorption current
5 (speed/position)
Display magnifica-
tion (numerator)
1~32767 1 Sets the weight of machine speed that is displayed on display/operating panel or
external display.
General-purpose 000~1FF 000 Logical inversion of general-purpose input 8 points can be done after each bit. Set
input inversion with hexadecimal notation.
[0:Non-inversion]
↑ Set at 0.
[0:Non-inversion]
In-position timer 0~200 ms 20 ms Position control

(Position) Retains ON, for set length of time, the in-position output signal which has been
turned ON once.
88
5-4-5 Run

Concurrently


Concurrently
SEL
Once cut off the power, & when the Data is set in UP-01 & 02.
Set the necessary user param- Ex: Resolver cable length, electronic gear, speed limit value,
eters & H-parameters. drive absorption detection width, and so on
Input signal Position control Current control

Control selection switch over (IN4) switch over (IN3)
Control Speed control OFF OFF
Speed control Position control
5
switching Current control OFF ON
conditions Position control ON OFF
Control control ON ON
Current control
Turn ON run signal (IN2) Turn ON run signal (IN2) Turn ON run signal (IN2)
Zero adjustment of speed command Zero adjustment of speed command
Make offset adjustment, when the Make offset adjustment, when the
speed command voltage is set at 0V current command voltage is set at 0V
with adjustment parameter AJ0. with adjustment parameter AJ5.
Make trial run by applying speed command voltage. Make trial run by applying current command voltage. Input command pulse string.
Motor starts running. At first, check Operation becomes possible & the Motor starts running. At first, check
the operating state with low voltage. motor runs with the fine torque of cur- the operating state with slow speed
• Running direction of motor rent command value. At first, check pulse string.
• Hunting during operation the operating state with low voltage.
• Running direction of motor
• Vibrations when stopped • Speed against speed limit value
• Shocks at the time of acceleration/ Motor speed is not controlled. Always If the machine develops vibrations or
deceleration set the speed limit value. hunching, change the set values of ad-
• Speed against command voltage When using the brake, make sure that justment parameters AJ2, 4, 8, & 9.
it is released.
Make offset adjustment, when the
If necessary, change the adjustment current command voltage is set at 0V
with adjustment parameter AJ5.
parameters AJ0 to AJ9, user param- Motor runs with the torque of current
eters UP-12 to UP-14 & UP-17, etc. command value.
If necessary, change the adjustment
parameters AJ5, 6, 9 & user param-
eters UP-17.
Turn OFF the speed command voltage. Turn OFF the current command voltage. Stop the command pulse string.
Motor stops running. Motor stops running. Motor stops running.

To stop it completely,
turn ON the zero com-
mand signal.
Turn OFF run signal. Turn OFF run signal. Turn OFF run signal.
Motor becomes servo-free. When Motor becomes servo-free. When Motor becomes servo-free. When
using the brake, make sure that it using the brake, make sure that it using the brake, make sure that it
applies properly. applies properly. applies properly.
89
5-4-6 Adjustments
Adjustment menu Symbol Setting range Factory Description

setting
speed command & adjusted adjustment become complete when the flickering stops. Manual zero adjustment is also
speed limit
(speed/current)
Span adjustment of 3~40.00 V 10.00 V Adjusts the command or limit voltage which brings the motor to rated speed.
speed command &
speed limit Ex 6V: Set "6", in case of rated speed.
(speed/current)
Load inertia 0 to 100.0 1.0 Times By setting "load inertia/motor inertia", the speed response (50 to 100Hz) can be raised to that
magnification times at the time of single motor. But if raised too high, it may cause hunting & vibrations.
(speed/position)
Unless the motor coupling, etc. are not adequately hard, hunting may result in, and speed
response cannot be raised. Auto hunchting can be also done, including AJ3 also.
Speed response 0.1~20.0 1.0 Increases excessive response. Like AJ2, if raised too high, it may cause hunching & vibrations.
(speed/position) If vibrations, etc. are generated by raising AJ2, lower down AJ3.
Position gain 1~200 30 rad/s Raising adjustment value decreases position deviation, and speeds up positioning.
(speed/position) rad/s In case of speed control, switch over is made to position control, while stopped at zero point.
current command &
adjusted adjustment become complete when the flickering stops. Manual zero adjustment is also
current limit
possible with & keys, after concurrently pressing SEL & keys.
5 Span adjustment of
current command &
current limit
Gain loss while
3~40.00 V
0~10000
10.00V
0
Adjusts the command or limit voltage which makes the motor current maximum.
Ex 8V: Set "8", in case of maximum motor current.
Adjust this, when the load current becomes excessive while stopped. Increasing adjustment
stopped value decreases the load current. Stop detection rpm operates below the set value of UP-08.
Feed forward gain 0 to 2.0 0 Times If adjustment value is made large, positioning time becomes shorter. Also, the position
(position) times deviation (pursuit delay) during rotation becomes smaller.
Current command 400~20000 6000 Speed/position control : If AJ2 & AJ3 are raised during adjustment of speed response,
filter rad/s rad/s vibrations tend to occur; but by increasing this adjustment value, vibra-tions can be
Power
OFF suppressed.
If made too small, it may cause hunching.
Current control : If the motor develops resonance, make the adjustment value smaller.
● Features of speed/current/position control mode (mode 04)

In this mode, speed control mode (mode 01), current control mode (mode 02), and position control mode (mode 03) can be
selected with 24V input signals IN3 & IN4. However, the method of use of input & output signals is different from that in
modes 01/02/03; so use it carefully referring to the table of input/output signals.
The relation between control and input signals is given in the following table. Current control has 2 different states. Switch
over between these 2 controls can be made by turning ON/OFF either IN3 or IN4. Use it when the remaining 1 mode is not
to be skipped.
Input signal Position control Current control
Control selection switch over (IN3) switch over (IN4)
Speed control OFF OFF
Current control OFF ON
Position control ON OFF
Current control ON ON
When switching over from speed control to current control, since the value of current
limit input changes into the value of current command input, either cut off or minimize
the command voltage so that too large current command is not input.
CAUTION When switching over from current control to speed control, since the value of speed
limit input changes into the value of speed command input, either cut off or minimize
the command voltage so that too large speed command is not input.
90
● Handling of input/output signals

There are input/output signals whose functions change as a result of changing the control mode. When a setting is valid in
certain speed control, difficulties would be encountered if it is kept unchanged after switching over to another control
mode. For example, the speed command (REF) in speed control becomes speed limit in current control. At such times,
change the setting of input/output signals using an external sequence (pay attention to speed command, current command,
limit switch over, speed reached, limit applied, and so on).
In case of mode 03 (position control mode), if the input signal of forward or reverse run permission is cut off, the motor
stops; but this function is not available in the position control of this mode. When inhibiting forward or reverse run with
limit switch or so, consider a method by which command pulse is not issued by higher order controller, while in this control
mode.
● Adjustments of this mode

For information about adjustments of this mode, refer to them including each control mode (01, 02, 03) also.
91
CHAPTER 5 GUIDE TO OPERATING Operation in Direct Feed Mode
5-5 Operation in Direct Feed Mode
MON Cable
Servo amp
Max. length 5m MON
Red
2 MON
Blue

RS232C Cable
CN1
B B
Max. length 5m
E E
CN2
Red 3 REF
1st Feed speed ±10V Red/white
4 AGND CN5
Black Red/white
1 CLI R1 8 1 R1
2nd Feed speed ±10V Black/white Yellow/white
supply Red
Max. 100mA S1 2 5 S1
White・ 29 P24V Black RES
S3 3 7 S3
Yellow・ 13 INCOM Yellow
S2 6 6 S2 Resolver
White・
・ Blue
5 Run
Reset
Reverse run command
Yellow・
White・
・
・・ 17
14 IN2
18 IN6
IN5
S4
GND 11
7 3 S4
Yellow・
Forward run command IN4 Type CB082-□□□
White・
・・・ 15 IN3 Max. length 120m
Speed selection 2
Yellow・
・・・ 35
Switch over of current limit IN7
White -
Speed selection 1 12 IN1
Check of brake
Yellow-
11 IN0 CN2
Black
White -・ APD 20
10 24G
Black/white Pulse output A-phase
Connect the brake check & brake /APD 21
output of more than VLAST-050P Red
to the terminal board. BPD 22
White -・
・ /BPD 23
Green
Yellow -・
・ ZPD 24
Speed reached RY 8 OUT1
White -・
・・ /ZPD 25
Blue
Yellow -・
9 OUT2
White -・
・・・ FG 36
Running reverse RY 30 OUT3
Yellow -・
・・・ CONT Cable
Current limited RY 33 OUT6 Max. length 5m
Yellow -- Including 1st feed speed & 2nd feed
Brake output RY 7 OUT0
speeds, 8-points of general-purpose in-
put, & 8-points of general-purpose out-
Power supply for output put.
Special cable
CONT Cable CB110-□□□B CN2 → External equipment

MON Cable CB102-□□□B MON → External equipment
92
Operation in Direct Feed Mode CHAPTER 5 GUIDE TO OPERATING
Analog input 1st Feed 3P 4P This is the input of speed command voltage of 1st feed, by combining speed selec-
speed (REF) tions 1 & 2 (+/-10V/rated rpm).
Set the 1st feed speed UP-21 at "0". Set running direction switch over in
UP-17, and acceleration/deceleration time in UP-12 to 14. Input voltage can be
monitored from status display "cF---".
2nd Feed 1P 2P This is the input of speed command voltage of 2nd feed, by combining speed
speed or selections 1 & 2 (±10V/rated rpm).
current limit In this case, set the 2nd feed speed UP-22 at "0", & set the limit switch over method
(CLI) HP-34 at "11". If the current limit switch over (IN7) is turned ON, this input voltage
becomes the current limit value (±10V/motor max. current). But HP-34 needs to
be switched over to "01". Input voltage can be monitored from status display "cc-
--".
AL1 (IPM overheated) & AL17 (motor overload) cannot be reset unless the tem-
Reverse run 17P Runs reverse, if this signal is turned ON.
command Turn OFF both forward/reverse commands, if slight rotation occurs due to tem-
(IN5) perature drift, while stopped. Retains stop position.
Forward run
command
(IN4)
Speed
16P
15P
Runs forward, if this signal is turned ON.
Select 1st to 4th feed speeds, with combinations of speed selections 1 & 2.
5
selection 2 1st Feed 2nd Feed 3rd Feed 4th Feed
(IN3) Speed
OFF ON OFF ON
Speed 12P selection 1
selection 1 Speed
OFF OFF ON ON
(IN1) selection 2
Switch over of 35P When turned ON, the value of current limit that is selected with limit switch over
current limit method HP-34 becomes effective. Use it for protecting the machine.
(IN7)
Brake check 11P Connect to 24G, when not using the brake. Unless connected, operation becomes
(IN0) (Unusable in more than 050P) impossible. Input check signal, when using dynamic brake or holding brake. For
connection method, refer to the item on power circuit.
24V Output Normal servo 34P Turn ON AC power supply, & it turns ON 2.5 sec. later. Use it as an interlock of run
(OUT7) (IN2).
Turns OFF when an alarm is generated, & turns back ON with reset (IN6) input.
Speed reached 8P Turns ON upon reaching the speed of 1st to 4th feed, and when it is within the set
(OUT1) value of speed reached detection width UP-10. Reached speed can be also set in
UP-09.
Stop detection 32P Turns ON, when the motor speed is less than the set value of stop detection rpm
(OUT5) UP-08.
Running reverse 30P Turns ON, when the motor's reverse running speed is more than the set value of
Running forward 31P Turns ON, when the motor's forward running speed is more than the set value of
Current limited 33P Turns ON, when the current reaches limit current value.
(OUT6)
(OUT0) (Unusable in more than 050P) brake, the brake ON rpm can be set in UP-28.
(ZPD) (/ZPD) 24P 25P 20.
93
Control mode 00~FF 00 05 : Direct feed

Power
OFF
OFF
Alarm cannot be reset without doing this setting.
OFF supply again.
Electronic gear 1~32767 1 Assigns command pulse of arbitrary weight to the motor (24000 pulses/rotation), by combining with
(numerator) the denominator UP-05. Command pulse can be converted into the weight of "mm" system, etc.
Power Motor
OFF 
Output pulse ← Divider ← Detector ← Resolver
(APD,BPD) (UP-05/UP-04) Detection pulse (24,000 pulses/rotation)
Electronic gear 1~32767 1 Example of setting : In case of 2000 pulses/rotation with A/B-phase pulse output,
(denominator) when it is converted into forward/reverse run pulses:
Power 2000 x 4 = 8000 P/rev is used for computation.
OFF UP-05 / UP-04 = 8000 / 24000 = 1/3
UP-04:3, UP-05:1, UP-19:01, & UP-20:0000 Set in each parameters.
Amount of zero 0 to 11999 0 Pulses Shift the motor zero point & adjust it to the machine zero point. Do it according to the following procedure.
point shift pulses
5 ↓
Read out the motor phase from status display
↓
r/min
Speed reached 0~4000 0 r/min Turns ON speed reached, when the motor rpm is in the vicinity of set value and
rpm (speed) r/min within the set range of UP-10. If the setting is "0", it outputs speed reached in
response to speed command (REF).
Current limit value 0~100.0 % 100 % Set the current limit value, referring to limit switch over mode UP-34 (100%/motor
max. current). If set at "0", HP-36 to 39 become valid.
Soft start accelera- 0 to 32.76 0 Sec. Acceleration time setting (linear acceleration) Set the time from stopping to
tion time Sec. motor rated rpm up. This parameter is ignored, when UP-14 has been set.
Soft start decelera- 0 to 32.76 0 Sec. Deceleration time setting (linear deceleration) Set the time from stopping to
tion time Sec. motor rated rpm up. This parameter is ignored, when UP-14 has been set.
S-Shaped accelera- 0 to 32.76 0 Sec. S-Shaped acceleration/deceleration time
tion/deceleration time Sec. Smooth acceleration/deceleration curve is constantly plotted until reaching the target speed.
current value. It can be used in the following ways.
0 : All clear (clears amount of rotation & motor zero point, used at the time of start up)
1 : Clears amount of rotation (preserves "0" as the motor zero point, used at the time of reinstallation)
Brake mode 0~2 0 Set the connected brake. If using neither of then, set dynamic brake. Switches
Power over by turning ON power again.
Speed reached/stop detection

Turns ON when the rpm of No. 1-4 feed speed is reached.
ON
Forward run command OFF
ON
Reverse run command OFF
Forward run
Motor rpm
Reverse run
ON
Speed reached OFF
ON
Stop detection
OFF
94
Analog command 00~11 00 Switches over the rotating direction of motor with No.1 speed command (REF) &
polarity No.2 speed command (CLI)
□□ No.1 speed command [0: +Forward run of motor with voltage,
1: Reverse run of motor with voltage]
No.2 speed command [0: +Forward run of motor with voltage,
1: Reverse run of motor with voltage]
APD APD P/ rev, there would be 6000

Display contents
5
Display contents
5: Machine speed]
1st Feed speed 0~100.00 % 100 % Set 1st feed speed.
If set at "0"%, No.1 speed of external input (REF) becomes valid.
2nd Feed speed 0~100.00 % 50 % Set 2nd feed speed.
If set at "0"%, No.1 speed of external input (CLI) becomes valid.
3rd Feed speed 0~100.00 % 25 % Set 3rd feed speed.
4th Feed speed 0~100.00 % 12.5 % Set 4th feed speed.
motor as 100%.
r/min ating panel.
Value of external 0~100.0 Ω 0.0 Ω Sets the synthetic resistance value, in case countercurrent absorption resistance
the outside.
Capacity of 0~327.67 0.00kW On the VLAST-050P to 160P. Sets its absorption capacity, when a countercurrent
external counter- kW absorption resistance has been mounted on the outside.
the outside.
95
5-5-4 H-Parameters
Limit switch over 00~21 11 Selects the switch over method of speed limit.
Current limit [0: Analog input CLI Voltage + Limit with limit switch over (IN7) ON]
[1: Parameter setting Limited with UP-11 + Limit switch over (IN7) ON]
[2: Parameter setting
Constantly limited with UP-11, regardless of current limit switch over (IN7)]
Forward run drive 0~100.0 % 100 % Current limit value can be set separately for forward/reverse run, with this param-
current eter.
current
Reverse run 0~100.0 % 100 %
absorption current
5 General-purpose
input inversion
000~1FF 000 Logical inversion of general-purpose input 8 points can be done after each bit. Set
[0:Non-inversion]
↑ Set at 0.
[0:Non-inversion]
96
5-5-5 Run
Power ON Alarm AL26 is generated
Concurrently


Concurrently
SEL

display disappears turn it back ON. Data is set in UP-01 & 02.
5
Set the necessary user parameters & Ex:Resolver cable length, electronic gear, current limit,
H-parameters. No.1-4 feed speeds, and so on
Running becomes possible & the motor gets servo

Turn ON run signal. locked. When using brake, confirm that it has been
released.
Zero adjustment of the voltage of No.1 Make offset adjustment with adjustment parameter AJ0
& 2 feed speed command & AJ5, while the current command voltage is 0V.
Motor rotates with the torque of current command

Turn ON speed selections 1 & 2..
value. At first, check the operating state with low volt-
Turn ON forward or reverse run com-
age.
mand.
• Hunching while running
• Vibrations, while stopped
• Shocks at the time of acceleration/deceleration
• RPM as against command voltage

rameters AJ0-AJ7, & user parameters UP-12 to UP-
14 & UP-17.
Motor stops.
Turn OFF the forward or reverse run Note : Motor stops, even if both the forward & reverse
command. commands are turned ON concurrently.

Turn OFF the run signal.
97
5-5-6 Adjustments
No.1 feed speed adjusted adjustment become complete when the flickering stops. Manual zero adjustment is
command (REF) also possible with & keys, after concurrently pressing SEL & keys.
Span adjustment of 3~40.00 V 10.00 V Adjusts the command voltage which brings the motor to rated speed.
No.1 feed speed Ex 6V: Set "6", in case of rated speed.
command (REF)
hunehing & vibrations.
Unless the motor coupling, etc. are not adequately hard, hunehing may result in,
and speed response cannot be raised. Auto tuning can be also done, including
AJ3 also.
Speed response 0.1~20.0 1.0 Increases excessive response. Like AJ2, if raised too high, it may cause hunching
& vibrations.
Position gain 1~200 30 rad/s Raising adjustment value decreases position deviation, and speeds up positioning.
rad/s Switch over to position control is made, when the forward/reverse commands are OFF.
Zero adjustment of No.2 ±10.00 V Comes All digits flicker during change mode, auto zero adjustment is done with key, & zero
feed speed & current adjusted adjustment become complete when the flickering stops. Manual zero adjustment is
limit command (CLI) also possible with & keys, after concurrently pressing SEL & keys.
Span adjustment of No.2 3~40.00 V 10.00V Adjusts the command or limit voltage which makes the motor current maximum.
5 feed speed & current

limit command (CLI)
Gain loss while 0~10000 0
Ex 8V: Set "8", in case of maximum motor current.
Adjust this, when the load current becomes excessive while stopped. Increasing
stopped adjustment value decreases the load current. Operates below the set value of
stop detection rpm UP-08.
Current command 400~20000 6000 rad/s If AJ2 & AJ3 are made large with the adjustment of speed response, vibrations
filter rad/s tend to be generated, but they can be suppressed by increasing this adjustment
Power value.
OFF
But if made too small, it may cause hunching.
● Switch over of direct feed mode No.1-4 speeds Confirmation time Concurrent ON inhibited Holding time
More than 0.8ms More than 0.8ms More than 0.8ms
Following 4 speeds can be interswitched with the
Speed selection 1
combinations of following input signals.
Speed selection 2
ON
Input signal Speed selection 1 Speed selection 2 Forward run OFF
(IN1) (IN3) command
Speed selection ON
1st Feed OFF OFF Reverse run OFF
command
2nd Feed ON OFF
3rd Feed OFF ON Motor rpm Forward run
4th Feed ON ON Reverse run
Speed selections 1 & 2 can be changed even while running.
● External command of No.1 & 2 feed speeds

Zero adjustment (AJ0.) & span adjustment (AJ1.) of No.1
Span adjustment
feed speed
When UP-21 is "0", No.1 feed is regulated by external +Rated rpm
To raise rpm
command. Make the following adjustment.
↓
Zero adjustment is done; but if there is an offset in the
Decrease the set value
command, the motor makes fine rotations. Make auto 11 10 9
-V +V
To lower down rpm 9 10 11
zero adjustment, including the offset of command. AJ01
↓
Span adjustment comes adjusted to "motor rated Increase the set value
rpm/10V"; but if the desired rpm cannot be achieved, -Rated rpm
make the adjustment shown in the right side diagram.
Zero adjustment (AJ5.) & span adjustment (AJ6.) of No.2 feed speed
When UP-22 is "0", No.2 feed is regulated by external command. Like for No.1 feed, adjust AJ5. & AJ6.
98
● Direct feed operation

In direct feed operation, the speed is regulated by an external signal. It is frequently used in transfer machines, etc.
Fast feed of boring, cutting feed, dwell, etc. and limiting maximum thrust by current limit becomes possible. There are 4
different feed speeds; and out of them No.1 & 2 feed speeds are set with analog input (REF, CLI) or parameters (UP-21,
22). And, No.3 & 4 feed speeds are set
Speed selection 1 (IN1)
with parameters (UP-23, 24). Current
limit is set with analog input (CLI) or Speed selection 2 (IN3)
UP-11, and it is controlled by turning
Switch over of current
ON/OFF the current limit switch over limit (IN7)
(IN7) of input signal. The speed setting F o r w a r d r u n
by parameter, as compared to the setting command (IN4)
by analog input, has the feature of not R e v e r s e r u n
command (IN5)
generating speed fluctuations due to the
effect of ambient temperature.
The diagram shows the state of boring by
transfer machine. After fast feeding by
No.1 feed, deceleration is made by No.2
Motor speed 1st Feed 2nd Feed 3rd Feed 4th Feed
& 3 feeds, and cutting is done by No.4
feed. While cutting, the shock of contact
is reduced by turning ON the current Dwell
limit switch over; and precise positioning

of boring and elimination of distortion is
accomplished by dwell (waiting 5 time).
Thereafter, speed selection is relied on
Current limit
5
No.1 feed, and rapid return is made by Motor torque
turning ON reverse run command.
● Acceleration/deceleration function
Soft start
Sudden speed command causes sudden acceleration/deceleration of the motor,
Speed command
but a constant acceleration can be accomplished by setting the soft start time.
Set it with UP-12 & 13. However, the parameters which set S-shaped Rated rpm
acceleration/deceleration (UP-14) are ignored.
rpm

UP-12 UP-13
S-Shaped acceleration/deceleration
Smoother acceleration/deceleration can be accomplished than that by soft start.
Both acceleration & deceleration are set with the same time constant, and the Speed command
time for reaching the target speed becomes 1.1 times that of its set value. Set it Target rpm
with UP-14.
rpm
UP-14 UP-14
● Current limit
Internal current limit CLI : No.2 feed speed External current limit CLI : Current limit
When current limit switch over is turned ON, the cur- When current limit switch over is turned ON, the current
rent is limited by the value that is set in UP-11. Fac-tory is limited in proportion to the voltage of CLI (No.2 feed
setting is 100%. speed) (but the setting switch over of UP-22 & HP-34 is
necessary).
Value of current limit Value of current limit
Max. current Max. current

of motor of motor
50% 50%
UP-11 Current limit voltage

50 100% 5 ±10V
99
CHAPTER 5 GUIDE TO OPERATING Operation in Draw Control Mode
5-6 Operation in Draw Control Mode
MON Cable
Servo amp
Max. length 5m MON
Red
2 MON
Blue

RS232C Cable
CN1
B B
Max. length 5m
E E
CN2
Yellow 5 FMA
Forward run pulse command Yellow/white
6 /FMA CN5
Brown Red/white
26 FMB R1 8 1 R1
Reverse run pulse command Brown/white Yellow/white
27 /FMB Built-in power R2 9 2 R2
supply Red
36 FG
Max. 100mA S1 2 5 S1
White・ 29 P24V Black RES
S3 3 7 S3
5
Yellow・ 13 INCOM Yellow
S2 6 6 S2 Resolver
Yellow・
・・・ 35 IN7 Blue
Run S4 7 3 S4
Yellow・
・ 18 IN6
Draw setting 7 GND 11
White・・・ 17 IN5
Draw setting 6
Yellow・
Draw setting 5 IN4 Type CB082-□□□
White・
Draw setting 4 IN3
White・
・
Draw setting 3 14 IN2
White -
Draw setting 2 12 IN1
Draw setting 1
Yellow-
11 IN0 CN2
Black
White -・ APD 20
10 24G
Black/white Pulse output A-phase
/APD 21
Red
BPD 22
White -・
・ /BPD 23
Green
Yellow -・
・ ZPD 24
Speed reached/INP RY 8 OUT1
White -・
・・ /ZPD 25
Blue
Yellow -・
9 OUT2
White -・・・
・ 30 OUT3 FG 36
Running reverse RY
Yellow -・・・
・ CONT Cable
Current limited RY 33 OUT6 Max. length 5m
Yellow -- Including forward/reverse pulse com-
7 OUT0
mand, 8-points of general-purpose in-
put, & 8-points of general-purpose out-
Power supply for output put.
Special cables

100
Operation in Draw Control Mode CHAPTER 5 GUIDE TO OPERATING
5V Input Forward run 5P 6P Compares draw settings 1-7 with pulse command, and runs the motor forward.
pulse AB-Phase or pulse & forward/reverse signals can be interswitched with UP-18.
(FMA)(/FMA) Set the weight of a pulse in UP-04/UP-05. Pulse command can be monitored from
status display "P' ---" & "P----".
Reverse run 26P 27P Same as above, reverse run pulse
pulse
(FMB)(/FMB)
When this signal starts up, alarm is reset; but basically reset the alarm with of
display/operating panel.
Draw setting 7 18P Runs the motor by multiplying the following ratios to command pulse. Can be
(IN6) made 10 or 100 times with UP-27.
Draw setting 6 17P
(IN5) Draw setting
Draw setting 5 16P Ratio % 7 6 5 4 3 2 1
(IN4) +63 0 1 1 1 1 1 1
Draw setting 4 15P |
(IN3) + 1 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0
Draw setting 3 14P
- 1 1 1 1 1 1 1 1
(IN2)
|
Draw setting 2
(IN1)
Draw setting 1
12P
11P
-64 1 0 0 0 0 0 0
[1: ON 2: OFF] 5
(IN0)
24V Output Normal servo 34P Turn ON the AC power supply, & it turns ON 2.5 sec. later. Use it as an interlock of
(OUT7) run (IN7). Turns OFF when an alarm is generated.
Alarm is cancelled & returns to ON, when of display/operating panel is pressed.
Speed reached 8P Turns ON upon reaching the rpm. of pulse command (including draw ratio) and
(OUT1) while within the set value of speed reached detection width UP-10. Reached rpm
can be also set in UP-09.
Stop detection 32P Turns ON, when the motor rotation is less than the set value of stop detection rpm
(OUT5) UP-08.
Running reverse 30P Turns ON, when the motor's reverse running speed is more than the set value of
Running forward 31P Turns ON, when the motor's forward running speed is more than the set value of
Current under 33P Turns ON, when the current reaches limit current value.
limit (OUT6)
(APD)(/APD) 20P 21P tion of motor with UP-05/UP-04.
(BPD)(/BPD) 22P 23P Switch over between external display device and ABS output can be done with UP-20.
(ZPD)(/ZPD) 24P 25P 24000 Pulses/rotation → 1/4 → UP-05/UP-04 → APD (BPD)
101
Control mode 00~FF 00 06 : Draw control

Power
OFF
OFF Alarm cannot be reset without doing this setting.
Power efficiency by correcting the phase lag. Switches over by turning ON the power sup-
OFF ply again.
Electronic gear 1~32767 1 Assigns command pulse of arbitrary weight to the motor (24000 pulses/rotation),
(numerator) by combining with the denominator UP-05. Command pulse can be converted into
Power the weight of "mm" system, etc.
OFF Frequency ＋
Command pulse multiplier Deviation Motor
(FMA, FMB) (UP04/UP05) counter
−
Output pulse Divider Detector
Resolver
(APD, BPD) (UP-05/UP-04) (24,000 pulses/rotation)
Detection pulse
Since the ou tput pulse is computed in the opposite way to that of "UP-05/UP-04",
it becomes equal to the weight of command pulse.
Electronic gear 1~32767 1 Example of setting : In case of 2000 pulses/rotation with A/B-phase pulse output,
(denominator) when it is converted into forward/reverse run pulses:
5 Power
OFF
Example 1 of setting :
0.01 x 24000 / 10 = 24
UP-04 : 24, UP-05 : 1
1 Pulse : 0.01mm, Lead : 10mm
Example 2 of setting :
0.01 x 24000 / (10 x 17 / 66) 1 Pulse : 0.01mm, Lead : 10mm
= 0.01 x 24000 x 66 / 170
= 1584 / 17
UP-04 : 1584, UP-05 : 17 Gear ratio : 17/66
Amount of the 0 to 11999 0 Pulses Shift the motor zero point & adjust it to the machine zero point. Do it according to the following procedure.
starting point shift pulses
Manually adjust to the starting point of the machine.
↓
Read out the motor phase (pulse display) from status display.
↓
Stop detection rpm 1~4000 50 r/min Stop detection turns ON, when the motor rpm. is below set value.
r/min
Speed reached 0~4000 0 r/min Turns ON speed reached, when the motor rpm is in the vicinity of set value and
rpm r/min within the set range of UP-10. If the setting is "0", it outputs speed reached in
response to speed command (REF).
Current limit value 0~100.0 % 100 % Set the current limit value, referring to limit switch over mode UP-34 (100%/motor
max. current). If set at "0", HP-36 to 39 become valid.
ABS Clear mode 0~2 0 This parameter is not used.
Brake mode 0~2 0 Set the connected brake. If using neither one, set dynamic brake. Switches over
Power by turning ON power again.
Type of pulse 00~12 00 Switches over the type & polarity of pulse command (FMA, FMB).
command □□ Type [0: Forward/reverse pulse, 1: AB-Phase pulse, 2: Pulse & forward/reverse signals]
Forward/reverse pulses AB-Phase pulse Pulse & forward/reverse signals
FMA FMA FMA
FMB FMB FMB

Addition Subtraction Addition Subtraction Addition Subtraction
Polarity inversion reverses addition & subtraction. Running direction of motor can
be selected with UP-26.
102
Pulse output type 00~11 01 Switches over the type & polarity of pulse output (APD, BPD).
with 1/4, if there are say
APD APD 24000P/rev, there would be
6000 pulses per rotation. One
Z-pulse is output after every 180
Inversion of polarity is reverse to that of rotating direction.

Display contents
Display contents
5: Machine speed]
5
Position control 0~1 0 Switches over the running direction of motor as against the addition pulse of pulse
polarity command type UP-18.
Draw magnification 0~2 0 Set the weight of draw settings 1-7.
0: ±0.01~±0.63%, 1: ±0.1~±6.3%, 2: ±1~±63%
Brake ON rpm 0~100.0 % 100 % Whe n run signal (IN2) turns OFF & motor rpm drops below the set value, brake
motor as 100%.
r/min ating panel.
countercurrent has been mounted on the outside in VLAST- 050P to 160P.
the outside.
external counter- kW mounted on the outside in VLAST-050P to 160P.
the outside.
103
5-6-4 H-Parameters
Limit switch over 00~21 11 Selects the method of limit.
method □□ Speed limit [Not used in this mode]
Current limit [1: Max. current]
[2: Constantly controlled by UP-11]
Forward run drive 0~100.0 % 100 % Current limit value can be set with this parameter, separately for forward & reverse
current runs.
Forward run 0~100.0 % 100 % Remains valid, when HP-34 is "2□" and UP-11 is "0"%.
absorption current Set it taking the motor max. current as 100%.
current
Reverse run 0~100.0 % 100 %
absorption current
Position of display 0~7 0 display/operating panel).
General-purpose 000~1FF 000 Logical inversion of general-purpose input 8 points can be done after each bit. Set
input inversion with hexadecimal notation.
5 Input address
Logical inversion
Hex.
1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0
0 0
[0:Non-inversion]
[1:Inversion]
↑ Set at 0.
[0:Non-inversion]
104
5-6-5 Run
Concurrently


Concurrently
SEL

display disappears turn it back ON. Data is set in UP-01 & 02.

H-parameters.
Ex:Resolver cable length, electronic gear, current limit
value, pulse command, output type, and so on
5
Operation becomes possible & the motor becomes
Turn ON run signal servo-locked. When using the brake, make sure that
it is released.
Input command pulse string, & turn Motor starts running. At first, check the operation with
ON draw settings 1-7. slow speed.
• Hunching during operation
• Vibrations while stopped

rameters AJ2. to AJ4., AJ8., & user parameters UP-
18, 19, 26, & 27.
Stop the command pulse string. Motor stops running.

Turn OFF run signal.
make sure that it applies properly.
105
5-6-6 Adjustments
hunching & vibrations.
and speed response cannot be raised. Auto hunching can be also done, including
AJ3 also.
Speed response 0.1~20.0 1.0 Increases excessive response. Like AJ2, if raised too high, it may cause hunching
& vibrations.
Position gain 1~200 30 rad/s Raising adjustment value decreases position deviation, and speeds up position-
rad/s ing.
Gain loss while 0~10000 0 Adjust this, when the load current becomes excessive while stopped. Increasing
stopped adjustment value decreases the load current. Stop detection rpm operates below
Feed forward gain 0 to 2.0 0 Times If a djustment value is made large, positioning time becomes shorter. Also, the
times position deviation (pursuit delay) during rotation becomes smaller.
Current command 400~20000 6000 rad/s If AJ2 & AJ3 are raised during adjustment of speed response, vibrations tend to
filter rad/s occur; but by decreasing this adjustment value, vibrations can be suppressed.
Power If made too small, it may cause hunching.
OFF
5
● Mode of pulse command More than More than Switch over time of for-
2.5µs 2.5µs ward/reverse run pulses
Photocoupler input 5V 17mA more than 2.5µs
ON
Input of forward/reverse run pulses
Forward run pulse
OFF
When shipped from factory, UP-18 comes set at More than More than
2.5µs 2.5µs
forward/reverse run pulses. Keep the pulse width
& pulse intervals at more than 2.5ms (max. ON
Reverse run pulse
200kpps). OFF
More than 〃〃〃 More than 〃〃〃

5µs 5µs
Input of AB-phase pulse command
ON
When UP-18 (type of pulse command) is switched A-Phase pulse
OFF
over, AB-phase input sets in, and input pulse is used
internally 4 times. R eserve lag/advance phase of more ON
than 5ms (max. 50kpps). B-Phase pulse
OFF
Switch over time of for-

Input of pulse command & forward/reverse signals More than More than ward/reverse run pulses
2.5µs 2.5µs
intervals more than 50µs
When UP-18 (type of pulse command) is switched ON
over, pulse command input and forward/reverse Pulse OFF

signal input switch over method sets in. Keep the
pulse width & pulse intervals at more than 2.5ms ON
Forward/reverse signal
(max. 200kpps). OFF
106
● Draw ratio
Draw ratio is calculated from the draw setting of input signals and the draw ratio (UP-27) of user parameters.
Internal pulse = [Command pulse] x [ UP-04

UP-05 ]
x [1±Draw setting x Draw magnification]
Electronic Draw settings 1~7 Ratio Internal pulse+

Command pulse gear ratio; calculator Deviation
UP-04/UP-05 (IN0~IN6) (UP-27) - counter
[0] : ±0.01~±0.63% Feedback pulse

UP-27 [1] : ±0.1~±6.3%
[2] : ±1~±63%
M1 is operated in speed control mode, by the main motor which executes speed control & tension cut. M2 & M3 is the
system to draw control the previous stage. Electronic gear (UP-04, 05) is set so that the peripheral speed of roller becomes
equal to the line speed. Draw ratio is set with the draw settings 1~7 of input signal and UP-27. For example, M2 is larger
than M1 by 2%, and M3 is larger than M2 by 6%.
Peripheral speed: Peripheral speed:

Line speed: 30m/min. 30.6m/min. 32.4m/min.
Roller diameter Roller diameter : 300mm
: 300mm
VLBST-02030
VLBST-10015-G
M3
VLBST-37015-G
Decelerator M2
Decelerator
30
Deceleration ratio : 1/29
x 29 = 924 r/min
30/3.14 x 0.3 x 29 = 95.5 r/min
50000 x 60 x UP-04 = 95.5 x 24000

UP-05
5
3.14 x 0.3 UP-04 = 95.5 x 24000 = 2292
UP-04 = 924 x 24000
50000 x 60 x UP-05 50000 x 60 3000
UP-05
M1 Main motor
UP-04 924 x 24000 22176
= =
UP-05 50000 x 60 3000
VLAST-100P2 Speed control VLAST-025P2 Draw control VLAST-012P2 Draw control
Pulse input Pulse input

AMP1 AMP2 AMP2
To next stage amp
Pulse output Pulse output
Pulse output
50kHz x 1.02 = 51kHz 50kHz x 1.02 x 1.06= 54.06kHz
50kHz/30m/min
Only draw setting 2 ON Draw settings 2 & 3 ON
UP-27 Set at 2 UP-27 Set at 2
● Speed reached, stop detection

Forward run pulse
When the motor reaches the target speed of
pulse command, speed reached turns ON. Reverse run pulse
Forward run
And, when the pulse command is cut off
Motor or rpm.
and the motor stops, stop detection turns
ON. ON Reverse run
Speed reached
OFF
Stop detection ON
OFF
● Current limit
Value of current limit
When HP-34 (limit switch over method) is set at "2 □", the current is
Max. current
limited according to the set value of UP-11 (value of current limit). of motor
Factory set value of UP-11 is 100%.
50%
UP-11
50 100%
107
CHAPTER 5 GUIDE TO OPERATING General Adjustments
5-7 General Adjustments
5-7-1 Zero Adjustment (AJ0.) & Span Adjustment (AJ1.) of Speed Command
● AJ0.
Zero adjustment comes done when shipped from factory, but the motor runs finely if there is an offset in the command
itself. Make auto zero adjustment, including the offset of command.
● AJ1. Span adju stment

Span comes adjusted at "motor rated speed/10V"; but make the following
+Rated rpm
adjustments if desired rpm cannot be acquired.
To increase rpm → Decrease the adjustment value

11 10 9
-V +V
To decrease rpm → Increase the adjustment value 9 10 11
AJ1.
In 1500r/min series, set as follows when the motor max. speed is to be set at
(2000r/min)/10V.
-Rated rpm
1500/2000 x 10 = 7.5V AJ1.: Set 7.5
5-7-2 Load Inertia Magnification (AJ2.) & Speed Response (AJ3.)
5 ● AJ2.
The value of AJ2. sets how many times is the load inertia that is converted into motor axis to that of the motor. Factory
setting is 1.0.
When the value of AJ2. is set matching to the magnification, the speed loop frequency characteristics can be retained within
the range of about 50Hz ~ 100Hz. Especially, it becomes conspicuous during high speed run. In case vibrations are
decreased, lower the value of AJ2.
In case the rigidity of coupling between machine & motor or the machine itself is weak, hunching may be generated if the
value of AJ2. is raised. In that case, lower the values of AJ2 & AJ3. Hunching may be generated when the values of AJ2. &
AJ3. are lowered. At such times, lower the value of position loop gain AJ4.
● AJ3.
Raise the value of AJ3. in order to speed up the response to speed command and to suppress the speed fluctuations against
excessive load variations.
But, if the value of AJ3. is specified large, overshoot at the time of step response becomes large, or hunching may be
generated.
When the load inertia is large, and provided hunching cannot be suppressed with the adjustment of AJ2., lower down the
value of AJ3.
● Example of adjustment
Set AJ2. & AJ3. roughly as shown in the following diagram.
If the load inertia is more than about 3 times than the motor, speed loop frequency characteristics can be retained at about
50Hz.
But if the load inertia is more than 3 times, lower the value of AJ3.
AJ2. AJ3.
4.0
3.0
1.0
2.0
0.5
1.0
1 2 3 4 5 6 1 2 3 4 5 6
Motor axis conversion load inertia/motor inertia (magnification) Motor axis conversion load inertia/motor inertia (magnification
108
General Adjustments CHAPTER 5 GUIDE TO OPERATING
5-7-3 Position Gain (AJ4.)

Sets the value of position loop gain.
When the value of AJ4. is made large, the response of servo system becomes better and positioning time is shortened.
If the value of AJ4. is made large, hunching may b e generated. At such times, it is necessary to raise the value of AJ2.
and to increase the frequency characteristics of speed loop (see AJ2.).
When a constant pulse string is input, the amount of motor deviation is determined by the following expression.
E (Amount of deviation) = [ ]
fin x UP-04 x 24000
UP-05
AJ4
E : Amount of deviation in 24000 parts of motor revolution
(E inside the status display area)
fin : Position command input frequency (Hz)
(in case of forward/reverse run pulses)
UP-04, UP-05: Electronic gear
5-7-4 Zero Adjustment (AJ5.) & Span Adjustment (AJ6.) of Current Command
● AJ5.
Zero adjustment comes done from the factory; but if there is an offset in the command itself, minor current is output.
Make auto zero adjustment, including the offset of command.
Span adjustment
● AJ6.
Span comes adjusted at "motor max. current/10V", but make the
following adjustments if desired current cannot be acquired.
+Max. current
5
To increase output current → Decrease the adjustment value 11 10 9
-V +V
To decrease output current → Increase the adjustment valu Je 9 10 11
AJ6.
-Max. current
5-7-5 Gain Loss While Stopped (AJ7.)

While stopped, the gain can be reduced.
Usually, it is used in "0" state. When this function is valid, it is either used in position control mode, or a position loop is
formed from another unit while in speed control mode.
In VLAST series, since the servo rigidity is improved, the position deviation during stop has become smaller. But
depending on the machine configuration to be controlled, load torque may be generated while stopped. Therefore, adjust
"AJ6." if the "LA" display appears large while stopped.
Gain loss while stopped may be necessary in the following cases.
a. When the rigidity of transmission mechanism is low

(deceleration ratio large, long shaft being used, and so on)
b. When transmission mechanism employs the
featur es of elastic body (timing belt, coupling, etc.)
c. When the static friction is large
(before conditioning run, etc.)
d. When the viscous drag is large
(grease, etc.)
109
CHAPTER 5 GUIDE TO OPERATING General Adjustments
5-7-6 Feed Forward Gain (AJ8.)

Feed forward gain is used when it is necessary to reduce the position deviation or shorten the positioning time during
synchronous operation or cam operation (set value: 0 ~ 2.0).
Position
Speed
Command pulse rate Master axis
Actual speed Positioning completed

No feed Slave axis
forward Deviation becomes smaller
(no feed forward)
Slave axis Lag large

Positioning time shortened
(with feed forward)
With feed
forward
Positioning completed Lag reduced by increasing the setting of AJ8.
Time Time
In feed forward control, if the amount of travel per command pulse is large, vibrations may be generated; so keep the
command pulse count per revolution of motor to more than 1000 pulses (make UP-04/UP-05 less than 24).
If AJ8. is made 1.0, the position deviation during shift becomes 0; but at more than 0.7, overshoot may be generated at
5 excessive response speed.

In feed forward mode, keep a command of smooth lamp state so that current limit is not exceeded.
5-7-7 Current Command Filter (AJ9.)

Current command filter applies to the current command. Set value is 400 ~ 20000rad/s. Converted into frequency, it
becomes 64 ~ 3185Hz. Control becomes unstable, if there is a positioning control amp that employs a potentiometer &
torque control that uses a previous stage load cell of current command input.
At such times, adjust AJ9. to recover stability. The value to be set is about 10 times that of the desired frequency
characteristics.
For example, when the desired response is of about 20Hz:
2π x 10 x f = 2 π x 10 x 20 = 1256 [rad/s]
Set a value more than AJ9.=1256. If made too small, it would become unstable.
110
Special Operations & Handling
6
6-1 Shift Over to Special operations ----------------------112
6-2 Motor Test Run -----------------------------------------112
6-3 24V Output Test ----------------------------------------112
6-4 Auto Tuning ---------------------------------------------113
In special operations, the following checks & adjustments can be made.
1. Test run of the motor from display/operating panel
2. Forcible output of servo amp output signal
3. Gain setting (AJ2., 3.) by auto tuning
6-1 Shift Over to Special operations

Step 1 : For 5 seconds, hold the 3 keys pressed, from status display mode
.
Step 2 : Display changes to , and special operation mode sets in.
Step 3 : Shift the menu with .
Step 4 : Return to status display by double-clicking .
Note : Link setting not used.Monitor data is for the use of TOEI ser-
viceman. Do not change it.
Motor test Sequence Auto tuning Setting of Link No. Monitor data
output test
6-2 Motor Test Operation

(Before starting the test run, properly connect the wiring of the brake, and turn OFF the run command to make the servo free).
6 Step 1 : Shift over to special operations (see 6-1).

Step 2 : Confirm the display of .
Step 3 : Press . Servo ON state sets in and the display shows .
Ru ns forward, while the motor forward run is held pressed.
Runs reverse, while the motor reverse run is held pressed.
Concurrently press continues forward run & . To stop, concurrently press & .
Concurrently press continues reverse run & . To stop, concurrently press & .
Step 4 : Press . Servo-free occurs, & returns to .
Step 5 : Return to status display by double-clicking .
* Test rpm is set with UP-29. Factory setting is 50r/min.
6-3 24V Output Test

Step 1 : Shift over to special operations.
Step 2 : Check the display of .
Step 3 : Press .
Step 4 : Press , while holding pressed .
Step 5 : Press . The display changes over to & OUT1 is forcibly output.
Step 6 : Press once again. OUT0 Turns OFF.
Step 7 : Press .
Step 8 : Press . The display changes over to & OUT1 is forcibly output.
Output address Output state

Select OUT0~7 with & ON/OFF Repeaters every time is pressed. 0:OFF, 1:ON
Step 9 : Return the status display to with , and once again return by double-clicking .
112
6-4 Auto Tuning
(Before tuning, properly connect the wiring of the brake, and turn OFF the run command to make the servo free).
Repeat twice the cycle of forward run 100ms, stop 900ms, & reverse run 100ms; and automatically set the gain (AJ2., AJ3.)
of speed loop matching to the target response frequency (target machine rigidity) and the position gain (AJ4.).
● Setting of tuning constant

Step 1 : Shift over to special operations.
Step 2 : Check the display of .
Step 3 : Press twice. The display changes over to .
Step 4 : Press . The display changes over to .
Reciprocal rotation width (rev) Target response frequency (Hz) Max. rpm (r/min)
Step 5 : At set value, press while holding pressed.

Lower 1 digit of set value starts flickering, and change mode sets in. Next, every time key is pressed, the
flickering shifts to left.
Step 6 : Change the set value with or .
Step 7 : Press . The set value is re-written.
Step 8 : Press . Like the amount of rec iprocal rotations, the target response frequency & maximum rpm are set.
Menu Symbol Setting range Factory setting Unit

Amount of reciprocal rotations
Target response frequency
0~300
1~1000
2
40
rev
Hz
6
Max. rpm 1~4000 1000 r/min
* At times, the amount of reciprocal rotations & max. rpm may not reach the set values.
● Start of auto tuning

Step 1 : Change the display to with or .
Step 2 : Start of auto tuning
Press , while holding pressed.
The display of starts flickering, the motor makes reciprocal run, and tuning begins.
Step 3 : Tuning ends, when turns ON, and the values of AJ2.~ AJ4. are automatically set.
Step 4 : Return to status display by double clicking .
1. Do not use in a machine which can move only in one direction.

2. Execute after confirming the travel range of machine, because it Repeaters
CAUTION forward/reverse runs.

3. If auto tuning is executed by setting large, hunching may be
generated depending on the rigidity of machine.
113
114
Absolute Position Detection System (ABS) 7
7-1 Configuration-------------------------------------------116
7-2 Specifications ------------------------------------------117
7-3 Wiring ---------------------------------------------------117
7-4 Output Timing ------------------------------------------118
7-5 Parameter Setting -------------------------------------118
7-6 ABS Clearing (Clearing of Current Value) Method --120
7-7 Alarm Codes -------------------------------------------121
7-8 Procedure of Replacing the Battery for Holding
Absolute Position (ABS) ------------------------------121
7-9 Application Examples --------------------------------121
Absolute position detection of multi-revolutions becomes possible with the magnetic encoder & resolver signals of BS servo motor
having ABS sensor attachment.
In VLAST-□□□ P □-A, ABS module (ABT65) is built into the unit; so it is a BS servo amp which can detect absolute position.
There are the following features in addition to that of standard servo amp.
(1) Absolute position detection of multi-revolutions type

Max. amount of rotations ±(215-1),
(2) Convenient current value setting method
15
Selection of all clear of current values & clear of amount of rotations
(3) Full guard functions
ABS Sensor check, battery voltage check, & battery cable check while power off
(4) Serial output requiring minimum wiring
32-Bits current value output with 3 signals.
7-1 Configuration
BS Servo amp BS Servo motor with ABS sensor
Servo motor
A A
R B B
AC Power supply S Main circuit C C M
T E E
ABS
Module
ABT65
CN2 CN5 ABS Sensor
connector
RES
Control input
Resolver
ABS Cable
7 Control output
ENC
Serial output
ABS Sensor
CN6
Accessory cable
CN1
ABS Battery
List of configuration
Name Type Remarks
BS Servo motor VLBST-□□□□□-A
BS Servo amp VLBST-□□□P□-A

ABS Battery LRT03 Use with voltage 4.5V, external attached
50cm long cable is provided
ABS Cable CB083-□□□ Max. cable length 120m
116
7-2 Specifications
Functions/specifications
Electrical, performance, & environmental specifications are the same as save that of servo amp. Showing about only absolute position
detection.
NO. Item Specs.
1 Method Electromagnetic encoder rotation rpm by battery back up + resolver method
2 Max. amount Counter 16 bits ±(215 -1)
3 Electronic gear 1-24000 Fraction setting possible (by parameters UP-04 & 05)
4 Suitable motor BS Servo motor with ABS sensor VLBST-□□□□□-A
Resolver wire broken AL06 Resolver error AL19 ABS Phase error AL22
5 Protect function Absolute cable wire broken AL23 Battery alarm AL24 Absolute encoder error AL27
Starting point unrecorded error AL32 ABS starting point invalid AL33 Battery cable broken AL36
6 Data output 4 Types of serial output selection with parameter UP-20
7 Starting point setting method Current value clear (IN5) input & manual setting by key operation
8 ABS Battery Type: LRT03 AA alkaline battery 4.5V Life: 3 years
7-3 Wiring
Absolute data output serially from CN2. Display device (DPA-80) cannot be used at this time.
BS Servo amp BS Servo motor

A A
R
B B
AC Power supply S Main circuit
Higher order controller side C C M
T
E E
26LS32, Etc. 26LS31
Output current
+5V ABS Sensor
2200pF CN2 15mA MAX
1kΩ connector
CLK
7
APD 20
Shift clock CN5
/APD 21 Clock Red/white
R1 8 R1 1
1kΩ
330Ω Yellow/white
GND R2 9 R2 2
+5V Red
2200pF S1 2 S1 5
1kΩ
TRG BPD 22 Black RES
S3 3 S3 9
Latch clock
/BPD 23 Data S2 6
Yellow
S2 12 Resolver
1kΩ
330Ω Blue
GND S4 7 S4 14
+5V
2200pF GND 11
1kΩ
DATA Gray
ZPD 24 VCC 4 VCC 7
Data
Trigger Gray/white
/ZPD 25 CHB 5 CHB 8
1kΩ
330Ω Green
GND +10 16 +10 3
Green/white
GND 19 CTD 17 CTD 6 ENC
GND Brown
FG 36 GND 18 AG 10 ABS
Brown/white
Cable length within 5m CHA 19 CHA 13 Sensor
FG 20 FG 11
ABS Cable
1
2
3
CN6
GND
VCC
FG
Black
Red
Accessory cable
(50cm)
Since the ABS battery is replaced

ABS battery while the power is ON, pay attention
LRT03
not to receive electric shocks.
117
7-4 Output Timing
●Confirmation of serial data
Power supply R, S, T
1.6s (MAX)
(input)
Serial data Confirm
●Serial data Unit A

400 µs
4 µs
TRG
CLK
DATA
Details of unit A
4µs 2µs 2µs
2µs 2µs
TRG
CLK
DATA
7 MSB
(D31)
D30 D29 D2 D1 LSB
(D0)
7-5 Parameter Setting

Parameters related to absolute are as follows.
●Resolver cable length UP-03 □□□

Set the total length of resolver cable between motor & amp.
●Electronic gear (numerator) UP-04 □□□□□
●Electronic gear (denominator) UP-05 □□□□□

Set the dividing ratio in UP-04 (numerator) & UP-05 (denominator), taking motor 24000 pulses/rev as standard.
●ABS Clear mode UP-15 □

By setting starting point, there are the following 2 clear functions and misoperation preventing functions. Set as required.
Set value Function Description

0 All clear Amount of rotation & starting point clear of motor, used at the time of start up
1 Clear of amount of revolution Sets absolute position during 1 motor revolution, used at the time of reinstallation
2 Clear inhibit Invalidates starting point setting & prevents misoperation.
118
● Differential output type UP-20 □□□□

Set the lower 2 digits of UP-20, so that the current value can be output in binary, as serial data.
UP-20 · · · · · ·11 □□
Output selection - 3:Sets current value output.
Output order
Set value Current value output type FIRST 2 ··· 7 8 9 10 ··· LAST
MSB LSB
0 32 Bits
D31 D30 ··· D25 D24 D23 D22 ··· D0
X X ··· X X Parity MSB ··· LSB
1 23 Bits + Parity
D22 D0
X X ··· X Parity MSB ··· LSB
2 24 Bits + Parity
D23 D22 D0
Parity MSB LSB
3 31 Bits + Parity
D30 ··· D25 D24 D23 D22 ··· D0
Output from MSB as given in the above table. Since 32 bits are output regardless of the setting of current value output type,
the portion "X" is discarded in shift register, etc.
119
7-6 Method of ABS Clear (Current Value Clear)
Always execute ABS clear at the time of machine start up, after changing the setting of electronic gear and loosing the starting point
recording.
Power ON
AL23: ABS Cable broken

AL23/AL32 Generated
AL32: Starting point unrecorded error
Reset input Press or input reset IN6 of CN2.
※ Power off
Confirm that the display has disappeared,
& turn back the power ON.
※ Power ON
※ Confirm that only AL32 is generated.
※ Reset input Press or input reset IN6 of CN2.
Parameter setting Resolver cable length UP-03

Electronic gear (numerator) UP-04
Electronic gear (denominator) UP-05
7 Differential output type UP-20
Setting of parameter UP-15 ABS Clear mode 0: Set all clear
Move the machine to starting point.

Either turn ON CN2 current value clear signal for more than 30ms,
or clear the current value by key operation.
Execute current value clear operation. Clearing of current value by key operation
① Press MODE .
② Adjust to the motor revolutions of status display.
③ Concurrently press & , while holding SEL pressed.
The display changes over to .

④ Concurrently press SEL & .
of the display starts flickering.

⑤ Press . Starting point setting completed.
⑥ Double-click MODE . Status display returns to .
Set ABS clear mode UP-15 at 2: Set at clear inhibited.

Setting of parameter UP-15 Always set in order to prevent misoperation.
Starting point setting completed If the operations of ※ are omitted, AL33 (ABS starting point invalid) occurs.
120
7-7 Alarm Codes

List of alarms related to absolute. For details, refer to the table of alarms.
Alarm No. Name Countermeasure
Resolver wire broken
Resolver error
ABS Phase error
ABS Cable broken
ABS Encoder error Re-execute Starting point setting after recovery.

Starting point uhrecorded error
Battery cable broken
ABS starting point invalid
Battery alarm
7-8 Procedure of Replacing the Batteries for Holding Absolute Position (ABS)
LRT03
① Arrange for three AA type alkaline dry batteries (1.5V).
② Remove the cover of the ABS battery LRT03 without cutting off the power supply.
③ Remove the old batteries.
＋
−
④ Install the new batteries, observing their terminals.
⑤ Replace the cover of the LRT03.
AA type alkaline
⑥ Discard the used batteries in prescribed way. dry battery
−
7
−
＋
Caution :
Since the power is ON, pay careful attention to receiving electric shocks.
If the batteries are replaced while the power is cut off, ABS starting point is lost and starting
point unrecorded error AL3 occurs. At such times, once again set the starting point according to the method of setting absolute
starting point.
Remain careful to avoid shocks, because the control power is ON at the time of
CAUTION replacing the battery.
121
7-9 Example of Application
● Reinstallation of machine
Before reinstallation, mark ±1/4 rotation of motor at the starting point.
Marking Starting point Marking

– + Machine position
-1/4 Rotations +1/4 Rotations
After reinstallation, the starting point can be regenerated by the following procedure.
①Set UP-15 at 1: Clear amount of rotation.
②Bring the machine to mark position.
③Execute ABS clear operation.
● Check of wiring & functions

By executing the following operations in status display mode, the wiring of AB phase and operation of ABS counter can be
checked.
①Shift to status display with .

②Shift the amount of motor phase to □□□□-□ with or .
③Concurrently press & , and then press . The display shows and ABS phase. The wiring of AB phase
would be normal if the display repeats 3 1 0 2 while in forward run of the motor.
④Press to display ABS counter in hexadecimal notation. One count is taken per rotation of the motor, and the operation of
counter can be confirmed by making sure that -1 count is taken during forward run. Count range is 0 to FFFFF.
Convenient function Use amount of motor phase for checking the connection of ABS sensor.
122
8-1 External Display (DPA-80) ------------------------------------124
8-2 Brake Power Supply--------------------------------------------124
8-3 Terminal Converter (TBT39)----------------------------------125
8-4 Analog Output Module (DAT-26) ---------------------------125
8-5 Battery (LRT03) for Holding Absolute Position (ABS) --------126
8-6 External Countercurrent Absorption Resistance (RGH)-------126
8-7 Noise Filter -------------------------------------------------------126
8-8 Speedometer (PXK-60) ---------------------------------------127
8-9 Ammeter (PXK-60)----------------------------------------------127
8-10 Resolver Cable ------------------------------------------------128
8-11 ABS Cable ------------------------------------------------------128
8-12 Input/Output Signal (cont.) Cables -----------------------129
8-13 RS232C Cable -------------------------------------------------131
8-14 ABS Battery Cable --------------------------------------------132
8-15 Speed/Current Monitor Cable -----------------------------132
8-16 Plug for Resolver ----------------------------------------------132
8-17 Plug for Input/Output signals (CONT) -------------------132
8-18 Plug for RS232C-----------------------------------------------133
8-19 Plug for External Display ------------------------------------133
8-20 Option Plate for Amp Imbedded Type --------------------134
Peripheral Equipment 8
8-1 External Display (DPA-80)
Note : For information about the connector CN1, refer to the plug
for 8-19 external display device.
8-2 Brake Power Supply (Maker : COSEL )

This is the brake power supply that is employed on all the devices of VLBST.
Servo amp Type of brake power supply

Specifications
VLAST-006P
P15E-24-N P15E-24-N P30E-24-N
VLAST-012P2
Input voltage Single phase AC85-264V
VLAST-025P2
Output voltage DC24V DC24V
VLAST-050P3
Output current 0.7A 1.3A
VLAST-070P3 P30E-24-N
VLAST-100P3
VLAST-160P3
124
8-3 Terminal Converter (TBT39)

Terminal converter is connected to CN2 of servo amp and converted into terminal board specifications.
Pin No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
Signal name APD /APD BPD /BPD ZPD /ZPD GND P24V OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Signal name CLI AGND REF AGND FMA /FMA FMB /FMB FG 24G INCOM IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0
8-4 Analog Output Module (DAT-26)

Standard monitor output is output voltage ±3V linearity ±5%. But if further high precision monitor output is necessary, use the
analog module of following specifications. Servo amp is externally fitted on 012P & 025P. Comes built in into the amp more than
050P.
Monitor output can be seen from the terminal board (TB2) or connector (CN9).
106(012P) 145(025P)
26
8
CHA
AGND
CHB
AGND
CHA Gain adjustment

CHA Zero adjustment
CHB Gain adjustment
CHB Zero adjustment
Specifications
Output voltage Output impedance Linearity
CHA Speed monitor 5V/4000 Rotations 820 Ω ±0.5 %
CHB Current monitor 4.61V/Amp max. current 820 Ω ±0.5 %
125
8-5 Battery (LRT03) for Holding Absolute Position (ABS)
Mount separately from the amp, and

connect with accessory cable.
Type LRT03
Type of battery AA type alkaline
Life 3 years
8-6 External Countercurrent Absorption Resistance (RGH)
Absorption
Model L1 L2 L3 W H D
capacity (W)
A RGH60 100Ω 30 115 100 110 40 20 4.3
B RGH200 30Ω 100 215 200 300 50 25 5.3
C RGH400 30Ω 200 265 250 300 60 30 5.3
8-7 Noise Filter (Maker : NEMIC LAMBDA)

Table of combinations of rated outputs
Rated output Type Connection terminal

0.2kW~0.5kW MAS-1206-33 Connect to servo amp main circuit power supply
R, S, making Terminal No. 3 & 4 as power supply
0.8kW~1.1kW MAS-1215-33 side.
8 1.4kW~3.7kW
5.0kW~5.5kW
6kW
MBS-1320-33
MBS-1330-33
MBS-1340-33
Connect 1, 2, & 3 to the primary side of connector
of main circuit MC, making Terminal No. 4, 5, & 6
as power supply side.
11kW MXB-13080-22
126
8-8 Speedometer PXK-60 (Maker: Daiichi Keiki)

Connect the adjustment volume (5k ohms), and connect to MON terminal on the front side of servo amp using a special cable.
8-9 Ammeter PXK-60 (Maker: Daiichi Keiki)

Connect the adjustment volume (5k ohms), and connect to MON terminal on the front side of servo amp using a special cable.
MON 8
MON
AGND
Output spec. Precision Linearity

Speed monitor Motor rated rpm: ±3V 1mA ±8% ±5%
Monitor cable Current monitor Motor max. current: ±3V 1mA ±8% ±5%
Type CB102-□□□B
Max. length 5m
VR
330Ω MON
Movable coil type DC receive indicator
5kΩ Type PXK-60 (Daiichi Keiki)
AGND Amount of electrical input: Single fluctuations DC0~1mA
Dual fluctuations DC0~±1mA
127
8-10 Resolver Cables
Type Shape
CB082-□□□A With both side connectors
CB082-□□□B With only amp side connector
CB082-□□□C With only motor side connector
CB082-□□□Z Both ends unprocessed
Resolver cable (standard motor)
CB082-□□□A CB082-□□□C
φ7.8 φ7.8
10320-52A0-008 JRC16WPQ-7S JRC16WPQ-7S
Standard length 3, 5, 10 m
(special options of upto 120m possible) CB082-□□□Z
φ7.8
CB082-□□□B
φ7.8
10320-52A0-008
8-11 ABS Cable
8
Type Shape
CB082-□□□A With both side connectors
CB082-□□□B With only amp side connector
CB082-□□□C With only motor side connector
CB082-□□□Z Both ends unprocessed
ABS Cable (ABS motor)
CB083-□□□A CB083-□□□C
φ10 φ10
10320-52A0-008 JRC16WPQ-14S JRC16WPQ-14S
Standard length 3, 5, 10 m
(special options of upto 120m possible) CB083-□□□Z
φ10
CB083-□□□B
φ10
10320-52A0-008
128
8-12 Input/Output Signal (CONT) Cables
Type Control mode

CB110-□□□B Speed/current/position (with analog input)/speed/current/position/direct feed
CB096-□□□B Position (without analog input)/draw
CB110-□□□A For terminal converter TBT39 (all modes)
● CB110-□□□ B
Amp side CN2
Line
Pin Signal name color Dot
Black
R
R/W
B
B/W
W
Amp side CN2 Print symbols 1-4 pins
Y
White mat print stick W
White mat print stick
Y
W
Print symbols 5, 6, 19 pins to 27 pin Y
10336-52A0-008
W
Y
W
Y
Standard length 3m W
W
Y
W
Y
W
Y
W
Y
R : Red Bl
R/W : Red/white Y
B : Black Y/W
B/W : Black/white Br
W : White Br/W
Bl : Blue B
Y : Yellow B/W
Y/W : Yellow/white R
Br : Brown R/W
Br/W : Brown/white
G
G : Green
CN2 Pins arrays G/W
G/W : Green/white
(as seen from solder side) *
* : Drain wire
● CB096-□□□ B
Amp side CN2
Line Dot
8
Pin Signal name color Black
B
B/W
R
R/W
G
Amp side CN2 G/W
Y
Y/W
Br
Br/W
10336-52A0-008 Bl
*
Standard length 3m
W
Y
W
Y
W
Y
W
Y
W
Y
R : Red W
R/W : Red/white Y
B : Black W
B/W : Black/white Y
W : White W
Bl : Blue Y
Y : Yellow W
Y/W : Yellow/white Y
Br : Brown W
Br/W : Brown/white CN2 Pins arrays Y
G : Green (as seen from solder side)
G/W : Green/white
* : Drain wire
129
●CB110-□□□A Amp side CN2
Line Dot Line Dot
Pin Signal name color Black Pin Signal name color Black
R R
R/W R/W
B B
B/W B/W
*
Amp side CN2 10336-52A0-008 W W
Y Y
W W
Y Y
W W
Y Y
10336-52A0-008
W W
Y Y
W W
Y Y
Standard length 3m W W
W W
Y Y
W W
Y Y
W W
Y Y
W W
Y Y
R : Red Bl Bl
R/W : Red/white Y Y
B : Black Y/W Y/W
B/W : Black/white Br Br
W : White Br/W Br/W
Bl : Blue B B
Y : Yellow B/W B/W
Y/W : Yellow/white R R
Br : Brown R/W R/W
Br/W : Brown/white G G
G : Green CN2 Pins arrays G/W G/W
G/W : Green/white (as seen from solder side)
* : Drain wire * *
Application : Used when wiring the control I/O signals of servo amp by cutting off the terminal converter (TBT39).
130
8-13 RS232C Cable
Model Applicable PC
CB094-□□□A DOS/V
CB095-□□□A PC98(NEC)
● CB094-□□□ A (DOS/V)
Amp side CN1
Pin Signal name Line color Pin Signal name Line color
Black Black
Black/white Black/white
Red Red
Red/white Red/white
10314-52F0-008 17JE-13090-02(D8A)
Green Green
Drain wire
Green/white Green/white
Standard length 3m
CN1 Pin array

As seen from solder side
● CB095-□□□ A (PC98)
Amp side CN1

8
Pin Signal name Line color Pin Signal name Line color
Black Black
Black/white Black/white
Red Red
10314-52F0-008 10314-52F0-008 Red/white Red/white
Green Green
Drain wire Drain wire
Green/white Green/white
Yellow Yellow
Standard length 3m
CN1 Pin array

As seen from solder side
131
8-14 ABS Battery Cable (CB101-□□□ A)
This cable is for the old ABS battery (BTT06), and is not compatible with the Z-type motor.
8-15 Speed/Current Monitor Cable (CB102-□□□ B)
8-16 Plug for Resolver (CN5) <3M Product>
8
Pin count 20
Plug 10120-3000VE
Case 10320-52A0-008
8-17 Plug for Input/Output signals (CONT) (CN2) <3M Product>
Pin count 36
Plug 10136-3000VE
Case 10336-52A0-008
132
8-18 Plug for RS232C

● Amp side (CN1) <3M product>
Note : Concerning PC98, it is the same

product as that on personal
computer side.
Pin count 14
Plug 10114-3000VE
Case 10314-52A0-008
● Personal computer side <DDK product>
Note : Only for DOS/V
Pin count 9
Socket connector 17JE-13090-02(D8A)
8-19 Plug for External Display <Product of Honda Tsushin> 8
Pin count 20
Plug PCR-E20FS
Case PCS-E20LB
133
8-20 Option Plate for Amp Imbedded Type
Special option plate is necessary for mounting in imbedded type. And imbedded types are restricted to beyond 050P.
For information about mounting dimensions & mounting method, refer to the outer dimensions of servo amp (12-4).
● PRB57 (Dedicated for VLAST-050P/070P)
134
● PRB10 (Dedicated to VLAST-100P) * Separate top/bottom plates.
Top :
Bottom :
135
● PRB16 (Dedicated to VLAST-160P) * Separate top/bottom plates.
Top :
Bottom :
136
9-1 General Outline ...................................................................138
9-2 Applicable Personal Computers..........................................138
9-3 File Configuration ................................................................139
9-4 RS232C Cable ....................................................................140
9-5 Installation ...........................................................................141
9-6 Start of SHAN......................................................................142
9-7 End of SHAN.......................................................................142
9-8 Selection of Menu ...............................................................142
9-9 Menu Configuration.............................................................143
9-10 Monitor ..............................................................................144
9-11 Edit Parameter ..................................................................146
9-12 Set Write Protect ...............................................................148
9-13 Load & Save......................................................................149
9-14 Sampling ...........................................................................150
9-14-1 Outline ......................................................................150
9-14-2 Setting Sampling Conditions ....................................152
9-15 Frequency Analysis...........................................................153
9-15-1 Outline ......................................................................153
9-15-2 Setting the Conditions of Frequency Analysis ..........155
9-16 Remote Operation.............................................................156
9-17 Others ...............................................................................159
9-18 Alarm Messages, Their Causes, & Remedies ..................160
Personal Computer Tools (SHAN)

9
CHAPTER 9 Personal Computer Tools (SHAN)
9-1 GENERAL OUTLINE

This section describes the personal computer tools for T-series servo amp (hereafter called SHAN).
SHAN is prepared mainly for the purpose of preserving and monitoring the parameters of servo amp, but it is
also equipped with the functions of remote operation and parameter editing. Further SHAN provides the 2
versions of (NEC compatible device) version and DOS/V (IBM compatible device) version.
* The specifications of SHAN may be changed without prior notice. When the version that is displayed when
SHAN is started and the version given in this section are different, the functions are same what different.
And the DOS given in the following table are those whose operation have been confirmed by TOEI.
Software name Model C torresponding DOS Hardware maker
SFT-00 Later than PC98 V6.2 NEC, etc.

SHAN.EXE
SFT-01 Later than DOS/V V6.2 IBM, etc.
9
9-2 USABLE PERSONAL COMPUTERS
● Recommended version is OS of DOS later than PC98 V6.2 or DOS/V version, and either of later than
CPU486DX2.
● Memory of 640 kbyte, & resident program operates if not tool large.
● RS232C Interface used with 960 baud, no parity, 2-stop bits.
138
9-3 FILE CONFIGURATION

SHAN is provided on floppy disk, in the following configuration.
A:￥ Floppy disk drive

SHAN:￥ SHAN Main directory
FFT:￥
SMP:￥
PAR:￥
SEQ:￥ Standard parameter directory for shipment
SEQ.LOG
SEQ01.LOG
SEQ02.LOG
SEQ03.LOG
SEQ04.LOG
SEQ05.LOG
SEQ06.LOG
SEQ11.LOG
SEQ12.LOG
SEQ21.LOG
SEQ22.LOG
ADJ.DEF
ADJ.PAR
PTP.DEF
PTP.PAR
PTPP.DEF
PTPP.PAR
USE.DEF
USE.PAR
USE.SEQ
SYS.SEQ
SHAN.ENV
SHAN.EXE
HELP2SN.TXT
HELPSHAN.TXT
TEXT2SN.TXT
TEXTSHAN.TXT
DOSVGA.BGI
Graphic driver for screen display.
CGA.BGI Do not change it.
CGAVGA.BGI
Fig. 1 SHAN Directory Configuration

SHAN Operates for the following files.
File Name Description
SHAN. EXE Execution file of SHAN. Note that SFT00 & SFT01 have the same names.
SHAN. ENV Environment setting file of SHAN. Sets the sub-directory, etc. of parameter file, etc.
USE. PAR
which are to be operated. This file is necessary at the time of executing SHAN.
User parameters file (UP □□). It can be edited with market editor also.
9
ADJ. PAR Adjustment parameter (AJ □□) file. It can be edited with market editor also.
PTP. PAR Basic parameter (PP □□) file for tiny positioner. It can be edited with market
editor also.
PTPP. PAR Point data (Pd □□) file for tiny positioner. It can be edited with market editor also.
□□□□. DEF Definition data file of various parameters. Do not change it.
□□□. SEQ File for system. Do not change it.
SEQ □□. LOG File for system. Do not change it.
□□□□. TXT File to be used at the time of editing parameters. Do not change it.
Fig. 2 File Configuration
* When editing the parameter file with market editor, edit only the parameter set values. If any other portions are
edited, the file may be rendered unable to read in.
The parameter file is for TOEI factory settings (standard). Pay attention when using special products.
139
9-4 RS232C CABLE

Use either TOEI standard RS232C cable or general market product. Operation may be rendered impossible, if
RS232C cable of NEC is used connecting 11 pins (DTR) to pins (+5V) of T-series.
T-Series servo amp
Personal computer side (D-SUB9 pins) Cable (half pitch 14 pins)
Signal Direction (CB094-□□□A)
Pin No. name Description of signal Pin No. Signal name
1 CD Receive Carrier Detection Input
2 RXD Receive Data Input 1 TXD
3 TXD Send Data Output 9 RXD
4 DTR Data Terminal Ready Output
5 GND Signal ground 14 GND
6 DSR Data Set Ready Input 2 DTR
7 RTS Transmit Request Output 10 CTS
8 CTS Transmission Possible Input 4 RTS
9 C1 Called party display Input 12 FG
Fig. 3 In case of IBM compatible device DOS/V personal computer
T-Series servo amp

Personal computer side (D-SUB9 pins) Cable (half pitch 14 pins)
Signal Direction (CB095-□□□A)
Pin No. name Description of signal Pin No. Signal name
1 RXD Receive Data Input 1 TXD
2 DSR Data Set Ready Input 2 DTR
3 DCD Data Carrier Detect Input
4 CTS Transmission Possible Input 4 RTS
9 5 RXC
6 TXC1
7 R1
8 TXC2
9 TXD Transmission Data Output 9 RXD
10 RTS Transmission Request Output 10 CTS
11 DTR Data Terminal Ready Output 11 +5V
12 FG 12 FG
13 FG 13 FG
14 GND Signal ground 14 GND
Fig. 4 In case of NEC PC98 personal computer
140
9-5 INSTALLATION
SHAN Can be used as it is on the floppy disk, when shipped from factory. However, TOEI recommends that it
be installed on hard disk. Install on hard disk according to the following procedure. This installation example
presumes that the floppy disk is drive A and hard disk is drive C.
Procedure Example of Operating

a. Prepare a sub-directory.
1. C: Enter
2. CD ¥ Enter
C:¥SHAN 3. MKDIR SHAN Enter
4. CD SHAN Enter
C:¥SHAN¥PAR 5. MKDIR PAR Enter
C:¥SHAN¥FFT 6. MKDIR FFT Enter
C:¥SHAN¥SMP 7. MKDIR SMP Enter
8. CD PAR Enter
C:SHAN¥PAR¥SEQ 9. MKDIR SEQ Enter
b. Copy all the files from floppy disk 10. COPY A:¥SHAN¥ ＊.＊ C:¥SHAN Enter
into the sub-directory of hard disk.
11. COPY A:SHAN¥PAR¥ ＊.＊ C:¥SHAN¥PAR Enter
12. COPY A:SHAN¥FFT¥ ＊.＊ C:¥SHAN¥FFT Enter
13. COPY A:SHAN¥SMP¥ ＊.＊ C:¥SHAN¥SMP Enter
14. COPY A:¥SHAN¥PAR¥SEQ¥ ＊.＊ C:¥SHAN¥PAR¥SEQ Enter

c. Change the settings of
“SHAN.ENV” file using editor. See below.
Fig. 5 Method of installing SHAN on hard disk
Points of changes in “SHAN.ENV” file

1: VERSION = 01.15
2: PARA_PATH = A:¥SHAN¥PAR¥
3: SEQ_PATH = A:¥SHAN¥SEQ¥
4: FFT_PATH = A:¥SHAN¥FFT¥
Figure 6 on the left side shows SHAN.ENV
opened using the editor (MIFES).
9
5: SAMP_PATH = A:¥SHAN¥SMP¥
When SHAN is installed on hard disk, change
6: HELP_PATH = A:¥SHAN¥
"A:¥…" (rounded in the left diagram) on lines
7: USE_NAME = USE.PAR
2-6, 17, & 20 into "C:¥…".
8: ADJ_NAME = ADJ.PARA
9: PTP_NAME = PTP.PAR
10: PTPP_NAME = PTPP.PAR
11: AMP_NAME = AMP.PAR
12: MOT_NAME = MOT.PAR
13: FFT_MODE = 0
14: COLOR_MODE = 1
15: PRINTR = 0
16: VFLAG = 0
17: TEXT_NAME = A:¥SHAN¥TEXTSHAN.TXT
18: HELP_NAME = A:¥SHAN¥HELPSHAN.TXT
19: TEXT2_NAME = A:¥SHAN¥TEXT2SN.TXT
20: HELP2_NAME = A:¥SHAN¥HELP2SN.TXT
Fig. 6 SHAN.ENV File
141
9-6 START OF SHAN

Start with “SHAN”. When started, the main menu screen (Figure 8) appears.
* When started from floppy, operate as follows after changing the DOS prompt into floppy drive (in the
following example, floppy drive is presumed to be drive A).
A:¥>CD SHAN Enter : Switch over to sub-directory.

A:¥¥SHAN¥>SHAN Enter : SHAN Start
9-7 END OF SHAN

To terminate SHAN, press ESC key from the main menu screen.
End confirmation screen as shown in Figure 7 appears; so confirm with Y/N.
Fig. 7 End confirmation screen
9-8 SELECTION OF MENU
9 The menu of SHAN is selected by inputting the character (short cut) on the left side of menu.Move the cursor
with ↑ & ↓ keys, and press Enter key. Press ESC key for returning to previous menu or to terminate
the program.
Version
Cursor
Short cut
Fig. 8 Main menu screen
142
9-9 MENU CONFIGURATION

SHAN is of the following menu configuration.
Monitor
Parameter edit User & H-parameters edit
Adjust parameters edit
PTP basic parameters edit (for TINY positioner)
PTP point parameters edit (for TINY positioner)
Write protect setting
Parameter edit for TINY2 User & H-parameters edit
Adjust parameters edit
PTP basic parameters edit (for TINY positioner 2)
PTP point parameters edit (for TINY positioner 2)
Parameter communication Parameter transmit (PC→amp)
Parameter receive (PC←amp)
Sampling
Frequency analysis
Remote operation Analog pulse I/F mode MODE01 Speed control mode
MODE02 Current control mode
MODE03 Position control mode
MODE04 Speed/current/position control mode
MODE05 Direct feed mode
MODE06 Draw control mode
Parallel I/F mode MODE11 PTP direct designation mode (for TINY positioner)
MODE12 PTP indirect designation mode (for TINY positioner)
RS4385 I/F mode MODE21 PTP direct designation mode (for TINY positioner)
MODE22 PTP indirect designation mode (for TINY positioner)
TINY2 I/F Mode MODE31 Numerical command (BCD) mode (for TINY positioner 2)
MODE31 Numerical command (BIN) mode (for TINY positioner 2)
MODE32 Point command (BCD) mode (for TINY positioner 2)
MODE32 Point command (BIN) mode (for TINY positioner 2)
Others Filter Speed command Primary delay

Secondary delay
Phase lag/advance
Notch filter
For resonance prevention
Speed feedback Primary delay

Secondary delay
9
Phase lag/advance
Notch filter
Current command Primary delay

Secondary delay
Phase lag/advance
Notch filter
Sequence program assembler Input file selection

Output file selection
Assemble
Reverse assemble
Environment setting (unusable)
Auto tuning
Fig. 9 SHAN Menu configuration
143
9-10 MONITOR
By connecting RS232C cable to T-series servo amp, the motor rpm at that time, position, sequence I/O, alarm,
etc. can be displayed.
On SHAN menu, bring the cursor to M (short cut)/ M Monitor , and press Enter .
The monitor screen shown in following Figure 10 appears.
Fig. 10 Monitor screen
Pressing F1 key displays real alarm (Figure 11).
All alarms displayed, when

Alarm display an alarm generated.
Fig. 11 Real alarm screen
144
To display alarm history, press F2 key (Figure 12).
Fig. 12 Alarm history screen
Beginning from left side, the alarm history screen shows Alarm No., message, current command value, current
detection value, machine phase angle, resolver position, resolver input value, old resolver input value, speed, spare
(3), power ON count, & power ON time.
To shift the display, press ← & → keys. Latest alarm appears on the top. File selection screen as shown in
following Figure 13 appears; so select or input file name.
Fig. 13 Alarm history file retention screen
145
9-11 EDIT PARAMETER

USE.PAR (User parameters), ADJ.PAR (adjustment parameters), etc. can be changed.
On the SHAN main menu, bring the cursor to Ｅ (short cut)/ E Edit Parameter , and press Enter .
The parameter selection screen shown in following Figure 14 appears.
Fig. 14 Parameter selection screen
Select the parameters to be changed with ↑ ↓ keys or with short cut (above diagram).
The parameter file selection screen shown in following Figure 15 appears.
Fig. 15 Parameter file selection screen
Select the parameter file to be changed with ← → ↑ ↓ keys, and press Enter .
Parameter editing screen as shown in the following Figure 16 appears.
146
Cursor
Fig. 16 Edit parameter screen (editing of user parameters)
Bring cursor to the parameter to be changed with ↑ ↓ keys, input numerical value directly from the keyboard,
and press Enter key. Page can be scrolled up/down by pressing Page Up & Page Down keys. To terminate
parameter editing, press F1 or ESC key. The revised parameter file can be saved by pressing F2 key. The
parameter file selection screen of Figure 15 reappears; so select the directory or file name with ← → ↑ ↓ keys.
File name (drive, directory) can be also directly input from keyboard.
Transmission
impossible parameter
The “*” mark in

adjustment parameter
edit screen shows
parameters which cannot
be transmitted (AJ0, 1, 5,
6, 16, & 17).
Fig. 17 Adjustment parameter edit screen

9
Details about parameters can be displayed by pressing F3 key.
Fig. 18 Parameter HELP screen
147
9-12 SET WRITE PROTECT

In T-series servo amp, write protect can be set to change of parameters.
On the parameter selection screen of parameter editing (Figure 14), bring the cursor to
W (short cut)/ W Set Write Protect , and press Enter key.
Set write protect screen as shown in the following Figure 19 appears.
Fig. 19 Set write protect screen
Bring cursor to the item to be changed, and press Enter key.

After completing the setting, press F1 key to confirm it (transmitted to amp).
148
9-13 LOAD & SAVE

Parameters can be exchanged between amp and personal computer.
* Parameter transmission Personal computer → Amp
Parameter reception Personal computer → Amp
On the SHAN main menu, bring the cursor to T (short cut)/ T Load & Save , and press Enter .
The Load & Save screen shown in following Figure 20 appears.
Fig. 20 Load & Save
Select the transmission/reception of parameters with ↑ ↓ keys or with short cut.

The file selection screen shown in following Figure 21 appears.
Fig. 21 Load & Save file selection screen
Parameter communication transmits/receives all the 4 files: USE.PAR, ADJ.PAR, PTP.PAR, & PTPD.PAR.
Select 1 file with the storage directory of parameters to be transmitted/received (all the above mentioned 4 files
are transmitted/received, ever if any file is selected). To received into an empty directory, directly input any 1
arbitrary file name in it (above mentioned 4 files are received, even if any file name is input).
149
9-14 SAMPLING
9-14-1 Outline
Speed wave form, current wave form, etc. can be sampled during operation of the servo motor.
On the SHAN main menu, bring the cursor to S (short cut)/ S Sampling , and press Enter .
The sampling screen shown in following Figure 22 appears.

Functions of sampling are assigned to function keys F1 - F9 (Figure 22), S:HIFT key + F1 - F9
(Figure 23).
F7 KEY F8,9 KEY
Fig. 22 Sampling screen 1
KEY ／ Name ／ Function ・ Operation
F1 F2 F3 F4 F5
Setting Start of Measurement Data Read-In Continuous Save
Sets the sampling Samples only once Reads out a certain Repeats sampling & Saves into file the
conditions. under the set sampling data screen display until sampling conditions
conditions, & displays contained in amp. ESC key is pressed. set with F 1 key &
9 ・ Sampling data
（CH1 - 4）
・ Sampling interval
on screen. measured data.
Make the file
extension “SMP”.
・ Trigger conditions
・ Trigger data
・ Trigger level
F6 F7 F8 F9 F10
Load D-chg. Time/D Up Dn.
Reads out the data Switches over the Increases the setting of Decreases < the setting
that has been saved in display of screen. 1 graduation of time of 1 graduation of time
file with F 5 key. (CH1, 2) axis X of top/bottom axis X of top/bottom
↓↑ screen. screen.
(CH3, 4) ↓ ↑
･･･1000, 900,･･････1000, 900,･･･
･･･200, 100, 90,････200, 100, 90,･
･･･20, 10,･･････20, 10,･･･
･･･2, 1, ････2, 1,
↓ ↑
150
Cursor bar (MKR-X,MKR-Y)
F1,2 KEY
F3,4 KEY
F5,6 KEY
F7,8 KEY
Fig. 23 Sampling screen 2

(state when SHIFT KEY is pressed)
KEY ／ Name ／ Function ・ Operation
SHIFT + F1 SHIFT + F2 SHIFT + F3 SHIFT + F4 SHIFT + F5

Uscl-Up Uscl-Dn Uctr-Up Uctr-Dn Uscl-Up
Increases the scale Decreases the scale Increases the position Decreases the position Increases the scale
(Y) of data that is (Y) of data that is center (POS-V) of center (POS-V) of (Y) of data that is
displayed on the top displayed on the top data that is displayed data that is displayed displayed on the
9
screen. screen. on the top screen. on the top screen. bottom screen.

Dscl-Dn Dctr-Up Dctr-Dn Copy
Decreases the scale Increases the position Decreases the position Copies the screen on
(Y) of data that is center (POS-V) of center (POS-V) of printer (printer
displayed on the data that is displayed data that is displayed compatible to PR201
bottom screen. on the bottom screen. on the bottom screen. mode can be used).
Pressing → key displays the cursor bar (MKR-X, MKR-Y) from the left end. To shift the graph display to
left/right, press SHIFT + ← → keys.
151
9-14-2 Setting Sampling Conditions

When F1 key is pressed from the state of Figure 22, the sampling condition setting screen as shown in
Figure 24 appears. Set all the conditions using ← & → keys.
Fig. 24 Sampling condition setting screen
Setting Function ／ description
Sampling data Sets sampling conditions. Select from Table 1 Sampling Conditions.
(CH1-4)
Sampling
interval Setting range 0.4-1000ms, unit 0.4ms
Trigger Sets trigger condition. Select from Table 2 Trigger Conditions.

condition
Becomes valid, only when +Slope (above set level) or -Slope (below the set level) is selected
Trigger data
as trigger condition. Select from Table 3 Sampling Trigger Data.
9 Trigger level
Remains valid only when above or below the set level is selected as trigger condition. Setting
range -100 to +100%, unit 0.1%.
152
9-15 FREQUENCY ANALYSIS

9-15-1 Outline
Frequency response, like, speed wave form, current wave form, etc. during operation, as well as power
spectrum can be measured; and also frequency response can be measured by applying forcible oscillations.
From the SHAN main menu, bring the cursor to F (short cut)/ F Frequency Ana. , and press Enter .
The frequency analysis selection screen shown in following Figure 25 appears. The functions of frequency
analysis are assigned to F1 - F7 keys (Figure 25) and SHIFT key + F1 - F9 keys.
When executing Test and

Board dia., turn OFF the
servo amp, and lock the
F7 KEY servo.
(display switch over)
Fig. 25 Frequency analysis screen 1
KEY ／ Name ／ Function ／ Operation
F1 F2 F3 F4 F5
Setting Test Boad dia. Power spectrum Save
Sets the conditions of Executes test Measures frequency Measures power spec- Saves into file the
frequency analysis. oscillations only once under the set trum under the set con- measured data and set
• Sampling data under the set conditions, & displays ditions, & displays the conditions of
(CH1, 2) conditions, & displays the result: result. frequency analysis.
• Frequency band
• Oscillation wave
form
• Oscillation amplitude
measurement result. Execution
↓
Measurement
Execution
↓
Measurement
Make “FFT” as the
extension of file.
9
↓ 32 times ↓
• Test oscillation Fourier conversion Fourier conversion
frequency ↓ ↓
• Test oscillation time Display
Display
F6 F7 F8 F9 F10
Load Disp. chg.
Read out the data Switches over the

saved into file, with display of screen.
F 5 key. Timing display
↓
Power spectrum
↓
Frequency response
↓
Frequency response
display (simple)
Caution : Frequency oscillations (F2/F3) cannot be done unless the brake input (Bi) is ON.
153
Cursor bar (MKR-X, MKR-Y)
F1,2 KEY
F3,4 KEY
F5,6 KEY
F7,8 KEY
Fig. 26 Screen to set frequency analysis conditions

(state when SHIFT KEY is pressed)
KEY ／ Name ／ Function ／ Operation

Uscl-Up Uscl-Dn Uctr-Up Uctr-Dn Uscl-Up
Increases the scale Decreases the scale Increases the position Decreases the position Increases the scale
(Y) of data that is (Y) of data that is center (POS-V) of center (POS-V) of (Y) of data that is
displayed on the top displayed on the top data that is displayed data that is displayed displayed on the
screen. screen. on the top screen. on the top screen. bottom screen.
9 SHIFT + F6 SHIFT + F7 SHIFT + F8 SHIFT + F9 SHIFT + F10

Dscl-Dn Dctr-Up Dctr-Dn Copy
Decreases the scale Increases the position Decreases the position Copies the screen on
(Y) of data that is center (POS-V) of center (POS-V) of printer (printer
displayed on the data that is displayed data that is displayed compatible to PR201
bottom screen. on the bottom screen. on the bottom screen. mode can be used).
Pressing → key displays the cursor bar (MKR-X, MKR-Y) from the left end.
154
9-15-2 Setting the Conditions of Frequency Analysis

When F1 key is pressed from the state of Figure 25, the screen to set the conditions of frequency analysis
as shown in Figure 27 appears. Set all the conditions using ← & → keys.
Fig. 27 Screen to set the conditions of frequency analysis
Setting Function ／ description
Sampling data Sets sampling conditions. Select from Table 3 Conditions of Frequency
(CH1.2) Analysis Sampling.
Select any one of the following 3.

Frequency band
(2Hz ∼ 20Hz)、 (5Hz ∼ 50Hz)、 (20Hz ∼ 200Hz)
Oscillation Select any one of the following 3.

wave form Rectangular wave, triangular wave, Sin wave
Oscillation width
9
Setting range 1-50%, unit 1%
Test oscillation
frequency Setting range 1.000-625.000Hz
Oscillation width Setting range 1.0-60.0s, unit 0.1s
155
9-16 REMOTE OPERATION

The main unit of servo motor can be remotely operated, matching to the control mode.
From the SHAN main menu, bring the cursor to R (short cut)/ R Remote Opera. , and press Enter .
The mode selection screen shown in following Figure 28 appears.
Fig. 28 Screen to select remote operation mode
For example, to select MODE05 direct feed mode:
Bring the cursor to A (short cut)/ A Analog pulse I/F , and press Enter .
Bring the cursor to 5 (short cut)/ 5 Direct feed mode , and press Enter .
Remote operation screen of direct feed mode (MODE05) as shown in Figure 29 appears.
Cursor
Fig. 29 Remote operation screen (direct feed mode)
Move the arrow (left-top) up/down with ↑ & ↓ , keys, and press ENTER . Sequence input can be successively
turned ON/OFF. When sequence input is ON, the rectangular display gets filled up. Execute remote operation
referring to the sequence input functions given in “Engineering Handbook - Servo Amp Edition”.
156
Pressing F1 key displays the screen to change monitor format as shown in following Figure 30. Right side
numerals indicate the order of display items of monitor screen. Can be freely set Display Item Nos. 0-12.
Fig. 30 Screen to change remote operation monitor format
To select MODE11 PTP direct designation mode:
Bring the cursor to P (short cut)/ P Parallel I/F , and press Enter .
Bring the cursor to 1 (short cut)/ 1 MODE11 PTP Numerical , and press Enter .
The remote operation screen of PTP direct designation mode (MODE11), as shown in following Figure 31,
appears.
Fig. 31 Remote operation screen (PTP direct designation mode)
The operating procedure of remote operation and the setting of F1 format is the same as in the direct feed mode
of above example. Move the arrow (left-top) up/down with ↑ & ↓ keys, and press ENTER . Sequence input
can be successively turned ON/OFF. When sequence input is ON, the rectangular display gets filled up. Execute
remote operation referring to the sequence input functions given in “Engineering Handbook - Servo Amp
Edition”.
Pressing F2 key displays the position data input window as shown in following Figure 32.
157
In case of numerical input like that of the setting of position data of MODE11 PTP direct designation mode,
directly enter the numerical value from keyboard and press ENTER key.
Fig. 32 Remote operation (MODE11) position data input screen
Execute the same operation for speed override ( F2 key) of MODE12 (PTP Indirect desingnate mode), point
selection ( F3 key), feed overried ( F2 key) of MODE21 (PTP Direct designate mode), point selection ( F2 key)
of MODE22 (PTP Indirect desingnate mode), speed overried ( F2 key) & position data ( F3 key) of MODE31
(NuNumerical (BCD/BIN) control), speed overried ( F2 key) & position data ( F3 key) of MODE32 (Point
(BCD/BIN) control).
158
9-17 OTHERS
For information about the usage method of this item, please contact TOEI.
Fig. 33 Other menu screen
159
9-18 ALARM MESSAGES, THEIR CAUSES & REMEDIES

If an alarm message is generated in SHAN, take the following countermeasure.
Error message Cause/remedy

RS232C Time over Cause : No response from amp even after 5 sec.
Remedy : Check the power supply of amp, and for the short of RS232C cable.
RS232C open error Cause : Initialization failure of communication port

(PC98 only) Remedy : Reset the personal computer. And, check if the communication port is not
contending with another device.
RS232C Not-Connection Cause : RS232C Not initialized.

(PC98 only) Receive buffer is overflowing.
Send/receive possible status could not be fetched from 8251, during
send/receive processing.
Remedy : Check the RS232C cable.
Reset the personal computer.
Check if the communication port is not contending with another device.
Checksam error Cause : RS232C Check sum error
FF code reception Cause : Error of communication to amp.
FE code reception Cause : Check sum error of the communication data sent to amp.
Enough memory Cause : Needed memory cannot be reserved.

Remedy : Use in an environment where there is at least 520 bytes of main memory
available.
9 File open error Cause : Selected file cannot be opened.

Invalid drive selected. Floppy disk drive selected without inserting a disk.
Remedy : Re-select the file.
File read error Cause : Environment setting file (SHAN.ENV) cannot be read in. Or, the file is empty.
Remedy : Check the contents of environment setting file.
File write error Cause : Data could not be written in parameter file at the time of receiving
parameters.
* File open error or file open error corresponding also to write inhibit file check, etc.
Illegal character Cause : Characters other than 0-9 & A-F are included at the time of conversion from
lowercase characters to uppercase characters, when preparing monitor data.
Syntax error Cause : Write format of environment file (SHAN.ENV) is incorrect.

Ex: When there is no PARA_PATH = A:¥ ; '='
Remedy : Check the environment setting file.
160

Receive byte number error Cause : Receive byte unexpected at the time of reading out monitor data (write
protect, version), etc.
Framing error Cause : Framing error of RS232C interface.
Parity error Cause : Parity error of RS232C interface.
Over run error Cause : Overrun error of RS232C interface.
Alarm history size error Cause : The size of receive data of alarm history data is different.
EEPROM Data error Cause : Detector fraction, display magnification (numerator/denominator), max. current of
amp, or resolver fraction that is needed at the time of preparing monitor data is '0'.
EEPROM Error
When all EEPROM are cleared
Remedy : Once again turn ON the power supply of amp, and reselect the monitor.
No-Writing file Cause : Data is tried to be saved in write inhibit file. Another application is using that
file with Windows95, etc.
Remedy : Cancel the write inhibit of file.
Stop the use of file by another application.
Mismatch define file Cause : Number of data records of parameter definition file (*.DEF) exceed 256.
Header size (8 bits) of parameter definition file is incorrect.
Write format of parameter definition file is incorrect.
Mismatch parameter number Cause : The line up of parameter numbers of parameter file is different/missing.
Remedy : Correct the parameter file.
9
Mismatch file Cause : Selected parameter file is not identical. (Something other than user
parameter file is selected at the time of editing user parameters).
Parameter file is mistakenly overwritten.
Remedy : Reselect the file.

Once again receive the parameter file from amp.
Mismatch file name Cause : Parameter No. of parameter file (UP01:0H) is different.
Mismatch parameter data Cause : Data field of parameter file (ex: UP01:01H) is incorrect/missing.
Remedy : Correct the parameter file.
161

Parameter verify error Cause : Contents of EEPROM & value of parameters are different when executing
verify at the time of parameter transmission.
Remedy : Error of EEPROM, noise during transmission, or other causes.
Unable to frequency analysis Cause : Amp motor test mode is set at the time of frequency analysis or forcible
oscillations (F2: Test oscillations, F3: Measurement of frequency response).
Remedy : Cancel the motor test mode of amp.
Mismatch sampling file Cause : There is an error in the header of sampling file.
1 Sampling time over Cause : Sampling was not completed within prescribed time.
Remedy : Re-execute.
Printer time over Remedy : Re-execute.
Printer I/O error Remedy : Re-execute, after checking the power supply, cable, etc. of printer.
None paper Cause : No paper in the printer

Remedy : Fill in paper.
Unable to print out Remedy : Re-execute, after checking the power supply, etc. of printer.
Printer error Cause : Terminated, without outputting up to the last data.

(PC98 only) Aborted in the middle for some kind of error.
Remedy : Re-execute, after cancelling the error.
9 Unable to remote drive Cause : The control mode of amp and the control mode selected in remote operation
are different. Amp is in motor test mode.
Remedy : Select the control mode of amp or motor test mode.
Cancel the motor test mode of amp.
Unable to auto tuning Cause : Amp is in motor test mode.
Remedy : Cancel the amp motor test mode.
LOG file error (line %d) Cause : The I/O Bit No. defined by signal name cannot be found. There is no I/O Bit
No. of input file (SEQXX.LOG).
Remedy : Once again set the I/O Bit No. after checking the selected input file.
Input file name error Cause : The extension of selected input file is not ".LOG".
A file other than logical file has been selected.
Remedy : Reselect the file, after checking the selected input file.
Output file name error Cause : The extension of selected input file is not ".SEQ".
A file other than sequence file has been selected.
Remedy : Reselect the file, after checking the selected input file.
162

LOG file error SEQNO none Cause : "SEQNO" is missing at the top of logical file (＊.LOG).
･ One line is mistakenly erased.
･ Error of file selection
Remedy : At the top, add:

"SEQNO=USER" In case of user sequence
"SEQNO:01" (01-06) Control mode 1 of system sequence
Reselect the input file.
LOG file error SEQNO mistake Cause : Error in the "SEQNO=XX" at the top of logical file (＊.LOG)
Remedy : At the top, add:
"SEQNO=USER" In case of user sequence
"SEQNO:01" (01-06) Control mode of system sequence
Unable to open dummy file Cause : Necessary dummy file "DMY.SEQ" cannot be prepared at the time of
preparing sequence parameter file (＊.SEQ) of sequence assemble.
･ Same file name exists, & usage inhibited.
･ Selected directory does not exist.
Remedy : Check the selected directory.
LOG file error PROG none Cause : No program in the logical file (＊.LOG).
Remedy : Check the logical file.
Output file error Cause : Generated, if the output to file fails after the end of assemble.
Remedy : Check the output file (write inhibit, being used by other applications, and so
on).
Mistake file Type Cause : The types of input & output files designated in their selection are different.
Remedy : Once again set the I/O files.
Output file error END none Cause : No "END" in logical file (＊.LOG).
Remedy : Check the logical file, and add "END".
9
ENV file none Cause : Environment setting file (SHAN.ENV) cannot be referred to.
Remedy : Check whether the environment setting file is in the same directory as that of
execution file (SHAN.EXE).
ENV file Version mismatch Cause : The version of environment setting file (SHAN.ENV) is later than that of
SHAN.
Remedy : Correct the version of environment setting file.
ENV file path error Cause : The pass of environment setting file is incorrect.
Remedy : Once again correctly set the environment setting file.
NO save changed data Cause : Not saved in file, although parameters have been revised by parameter
editing.
Remedy : Save the parameters in file.
163
Table 1 Sampling Conditions
※ → Speed → Current → Position command → Position deviation → Speed command → Current command →
Motor angle → Current value → Monitor current → Speed deviation → Monitor speed → Q axis current →
Q axis voltage command → D axis voltage command → REF input voltage → CLI input voltage → Pulse input
→ IN 0 ∼ IN 7 → IN 10 ∼ IN 3F → OUT 0 ∼ OUT 7 → OUT 10 ∼ OUT 3F →
→ Ia → Ib → Iq → Id → Va → Vb → Vc → Iqe → Ide → Qin → Qinq → Q1 → Qde1ta → Qff → Qf → Aif1t → Qfedq →
→ Vff → Iqa → Vra → None → Return to ※.
Table 2 Sampling Trigger Conditions
※ →＋ Slope (higher than speed level) →− Slope (lower than set level) →
→ IN0 ON → IN0 OFF → IN1 ON → IN1 OFF → IN2 ON → IN2 OFF → IN3 ON → IN3 OFF →
→ IN18 ON → IN18 OFF → IN19 ON → IN19 OFF → IN1A ON → IN1A OFF → IN1B ON → IN1B OFF →
→ IN1C ON → IN1C OFF → IN1D ON → IN1D OFF → IN1E ON → IN1E OFF → IN1F ON → IN1F OFF →
→ IN28 ON → IN28 OFF → IN29 ON → IN29 OFF → IN2A ON → IN2A OFF → IN2B ON → IN2B OFF →
→ IN2C ON → IN2C OFF → IN2D ON → IN2D OFF → IN2E ON → IN2E OFF → IN2F ON → IN2F OFF →
→ OUT0 ON → OUT0 OFF → OUT1 ON → OUT1 OFF → OUT2 ON → OUT2 OFF → OUT3 ON → OUT3 OFF →
→ OUT4 ON → OUT4 OFF → OUT5 ON → OUT5 OFF → OUT6 ON → OUT6 OFF → OUT7 ON → OUT7 OFF →
→ None → Return to ※
9 Table 3 Sampling Trigger Data & Frequency Analysis Sampling Data
※ → Speed → Current → Position command → Position deviation → Speed command → Current command →
→ Motor angle → Current value → Monitor current → Speed deviation → Monitor speed → Q axis current →
→ Q axis voltage command → D axis voltage command → REF input voltage → CLI input voltage → Pulse input →
→ Return to ※
164
10-1 Short Time Over Load --------------------------------------166
10-2 Electronic Thermal-------------------------------------------167
Features 10
CHAPTER 10 Features
10-1 Short Time Over Load
If more than 120% current than that of its rating continues to flow, alarm 18 (instant thermal) is generated (computation restarts, even
if it momentarily drops below 120%).
The time of generated alarm becomes shorter as the ratio of over load becomes larger. Generated time is given by the following
expression.
k
t = ————————— (sec) k : Constant
la Ir : Rated current
———— -1
lr x 1.2 la : Existing current
For example, in VLBST-04015, an alarm is generated if more than 200% of the rated current keeps flowing for 9 seconds.
Alarm generation 6
t = ————————— =9 (sec)
time 2
———— -1
1.2
9 sec.
Excess load
200%
100%
10 * Constant "k" changes according to the motor as follows.
Model of motor Value of k

VLBST-01230 2.0
VLBST-02030 2.5
VLBST-04030 3.5
Other motors 6.0
166
CHAPTER 10 Features
10-2 Electronic Thermal
Electronic thermal predicts the heat emission of motor. When the electronic thermal value reaches its 110%, alarm 17 (motor
overload) is generated. The alarm is generated when operation continues with effective current more than 105% of rated current. The
time of generated alarm is given by the following expression.
1.052
t = -Te x In (1- —————) (Min.) Ir : Rated current
Irms Irms : Existing effective current
2
(———)
lr Te : Motor thermal time constant
Irms
(———) x 100 = bl : Effective load ratio
lr
For instance, if the effective current is 120%, alarm is generated in 22 minutes (VLBST-04030 : Motor thermal time constant 15
minutes).
22 Min.
1.052
t = -15 x In (1- ————) = 22 (Min.)
1.22
Alarm generation
time
Effective current / Rated current

120%
100%
10
* For information about motor thermal time constant, refer to Engineering Handbook- Motor Version, 4-2 Performance
Specifications.
167
168
11-1 Display of Alarms ----------------------------------------------170
11-2 List of Alarm Codes & Their Recovery Measures -----170
Alarm Codes 11
11-1 Display of Alarms
When alarm state occurs, an alarm code appears in the display
Indicates alarm, and the lower 2 digits show alarm code. The right-bottom
dot mark starts flickering.。
When power is turned ON for the first time, AL26 (parameter setting
error) is generated. At first, set UP-01 (control mode) & UP-02 (motor
code), cut off the power supply, confirm that the display has disappeared,
and then turn back the power ON.
11-2 List of Alarm Codes & Their Recovery Measures

Properly comprehend the detection method/cause/ remedy of alarm codes, and then eliminate their causes and make recovery.
Alarm Alarm name Detection method Cause/remedy
IPM Alarm Dected IPM of the power unit de- 1 Short or ground of armature wire (A/B/C)
tects any of the following errors. 2 Ambient temp. more than 55 C.
1 Overcurrent If not, contact TOEI.
2 Overheat
3 Drop of gate voltage
Overvoltage Dected the main circuit DC power

1 Check the voltage of input power supply. Easily generated, if the
(PN voltage) rises above input power supply exceeds AC240V.
DC420V. 2 Recheck the inertia.
Generated at the time of motor deceleration, if the load inertia is too
large.
Calculate the countercurrent energy, referring to 2-4 Countercurrent
Absorption Resistance.
Drop of PN voltage Dected the DC power supply of 1 Voltage drop of input power supply
main circuit (PN voltage) drops 2 T-Phase of input power supply missing (50P~160P)
below DC200V. 3 If generated at the time of accelerating the motor, capacity of input
power supply may be insufficient.
Breaking of Dected the voltage of resolver Check if the resolver cable is broken. Measure the voltage between R1-
resolver cable signal (between R1-R2) drops R2 (more than 0.17V in AC range is normal).
below 0.17V(AC).
Power status error Dected CPU cannot identify the 1 Soft version & unit configuration of CPU are not identical.
amp. 2 Amp damaged.
Contact us.
Overheat of coun- Detects by soft computation of Acceleration/deceleration is frequent, or continuous absorption opera-
tercurrent absorp- the overheat of countercurrent tion (minus load) is in progress.
11 tion resistance absorption resistance built inside

the amp (amp of more than
050P).
Calculate the countercurrent energy and install an external countercur-
rent absorption resistance, referring to 2-4 Countercurrent Absorption
Resistance.
170
Countercurrent ab- Detects the transistor for coun- 1 If an external resistance is not being used, check whether JP1-JP2 is
sorption error tercurrent absorption turns ON shorted.
for more than 50ms (more than 2 If an external resistance is being used, cut off the power and check
050P). the resistance between PA-JP2 terminals. Normal, if it is between 6-
30 ohms. If more than that, replace the resistance because it may be
due to the internal short of resistance.
Clock stop Detects the clock of CPU is Amp is damaged. Contact TOEI.
stopped.
Brake error 1 Detects brake check signal is Check the wiring & parts used, referring to the connections of dynamic
not input even if the dynamic & holding brakes.
brake output has turned ON.
2 Detects brake check signal re-
mains being input, even if the
holding brake output has
turned ON.
Overcurrent Detects the motor current exceed 1 Locked by machine system while the motor is running.
120% of its limit value. 2 Short or ground of A/B/C phases of motor
3 Incorrect setting of parameter UP-02 (suitable motor)
Speed amp satura- Detects the speed amp becomes 1 Motor locked by machine system.
tion saturated, & the max. current of 2 Load inertia is too large & acceleration/deceleration difficult.
motor flows for more than 3 sec. 3 Incorrect setting of parameter UP-02 (suitable motor)
Motor overload Detects the rise of motor temp. 1 Load is too heavy as compared to motor output POWER.
exceeds 110% than that as cal- 2 Operation cycle is too short as compared to motor capacity.
culated from actual load. 3 Incorrect setting of parameter UP-02 (suitable motor)
Instant thermal Operates against the output cur- 1 Motor locked by machine system.
rent of more than 120% of motor 2 Load is too heavy as compared to motor output.
rated current. 3 Incorrect setting of parameter UP-02 (suitable motor)
Operation time : t
6
t = ——————— [s]
la
————- -1
1.2 x Ir
la : Output current
lr : Motor rated current
Resolver error Detects the resolver feedback 1 Miscontact of resolver cable

counter makes a count mistake. 2 Resolver cable receiving the effect of noise, because of being near to
power line.
Check the resolver cable. 11
171
Overspeed Generated, if the maximum 1 Miscontact of resolver cable

speed is exceeded beyond 2 Resolver cable receiving the effect of noise, because of being near to
120%. power line.
3 Adjustment AJ2-AJ4 incorrect, causing overshoot.
When the machine is overshooting, readjust AJ2-AJ4.
Deviation counter pulses of deviation counter ex- 1 Load is too heavy as compared to motor output.
over ceed ±2 21. 2 Acceleration/deceleration is difficult due to large load inertia.
3 AJ4 (Position gain) too large
4 Current limit to too small.
ABS Phase error Generated, if phase deviation Phase adjustment or replacement of ABS sensor is necessary. Contact
occurs in ABS sensor. TOEI.
Short of ABS cable Generated, if ABS cable is dis- Alarm occurs if ABS cable is disconnected, even when the power is
connected or if +10, CTD signal OFF.
is cut off. Once again make absolute setting, when the cable has been discon-
nected for reinstallation or so.
Battery alarm Generated, if the voltage of ABS Promptly replace the ABS battery, referring to Chapter 8, 8 Battery Re-
battery drops below 3.2V. placing Procedure.
Parameter setting Parameters UP-01 (control Generated, when power is turned ON for the first time. Set UP-01 &
error mode) & UP-02 (suitable motor) UP-02, cut off the power supply once, confirm that the display has dis-
are not set. Or, the setting is mis- appeared, and then turn back the power ON.
taken.
ABS Encoder error CHA & CHB Signals are being 1 Short of ABS cable
forcibly turned ON while power 2 Miscontact of connector
ON, but may be cut OFF due to Check the continuity of CTD, CHA, & CHB signals.
short or so.
Zero point unre- Generated, if ABS setting is not In case of ABS motor, AL32 occurs when as in the shipped state. Set
corded error done with ABS motor. ABS according to the following procedure.
Concurrently generated with
AL06, 19, 22, 23, & 27.
Power ON → AL23 AL32 Generated → Alarm reset →
ABS Zero point in- Generated when AL06, 19, 22,

Power OFF → Power ON → Check generation of AL32 only →
valid 23, or 27 is generated, unless
ABS setting is done according to
Alarm reset → ABS Set
the procedure of right side dia-
gram.
Battery cable Check whether the connector of battery cable is detached or whether
snapped Generated if ABS battery is dis- the cable is snapped.
connected, while power OFF.
11
Method of resetting alarm code :

Press of the display/operating panel, while in alarm code display state, or turn ON the reset input signal. The flickering
of alarm code & dot mark stops.
If multiple alarms are generated, one at a time is reset every time is pressed. With reset input signal, all the alarms are
reset.
172
12-1 Control Block Diagram--------------------------------------174
12-2 Specifications -------------------------------------------------175
12-3 Diagram of Outer Shape ---------------------------------- 176
Specifications 12
12-1 Control Block Diagram
VLAST-006P1V • 006P2V • 012P1V • 012P2V • 025P2V
VLAST-050P3V • 070P3V • 100P3V • 160P3V
12
174
12-2 Specifications
Type of amp VLAST- VLAST- VLAST- VLAST- VLAST- VLAST- VLAST- VLAST- VLAST-
006P1 012P1 006P2 012P2 025P2 050P3 070P3 100P3 160P3
Control method PWM 3-Pnase Sine wave
Power Single phase Single phase 3 -Phase
Main circuit
voltage AC100~115V AC200~240V AC200~240V

(Note 1) -15~+10% -15~+10% -15~+10%
50/60Hz 50/60Hz 50/60Hz
Capacity of
power supply 350VA 570VA 350VA 1.2kVA 2.5kVA 5.3kVA 6.7kVA 13kVA 25kVA
Voltage of power
Control
supply Single phase AC200~240V -15~+10% 50/60Hz

Shared with main circuit power supply
Capacity of
power supply 70VA 70VA 80VA 110VA
Continuous output
current 2A(peak) 3A(peak) 2A(peak) 4.8A(peak) 8A(peak) 20A(peak) 26A(peak) 40A(peak) 80A(peak)
Momentary max.
current 6A(peak) 12A(peak) 6A(peak) 12A(peak) 25A(peak) 50A(peak) 70A(peak) 100A(peak) 160A(peak)
Speed position
detector Resolver or encoder (ABS also possible)
Range of speed
control 1:5000 (Ratio of low limit speed & rated speed which can output motor rated current)
Ratio of speed Load fluctuations Less than 0~100%:±0.02%, Power fluctuations Less than -15~+10%:±0.02%,
fluctuations Temp. fluctuations Less than 0~55°C:±0.2% (all spec. values are for rated speed).
Heat loss
Main circuit 17W 20W 17W 27W 47W 110W 130W 250W 400W
Control circuit 23W 23W 23W 23W 23W 26W 26W 30W 50W
Countercurrent
absorption capacity 13W+17J 17W+17J 13W+17J 24W+17J 37W+22J 160W+38J 180W+54J 300W+94J 480W+188J
Mass 1.5kg 1.5kg 1.5kg 1.5kg 2.5kg 4.5kg 4.5kg 11kg 16kg
Outer dimensions 80x170x150(WxHxD)mm 119x170x150 135x250x200 160x370x220 220x410x220
Speed current control Position control
Speed DC0 to ±10V Rated speed at DC0 to ±10V (speed/command voltage ratio setting possible)
command /
speed limit Input impedance 18k ohms (AD converter resolution when 1:1024 ±10V)
Current limit DC0 to ±10V Current limit at DC0 to ±10V (current value/command voltage ratio setting possible)
/ current
command Input impedance 18k ohms (AD converter resolution when 1:1024 ±10V)
Number of 24000 Pulses/rotation (With magnification function of 0.05-500. But, setting of fractions 32767/32767 possible).
fractions Z-type encoder specification; 2000 pulses/rotation (INC encoder), 8192 pulses/rotation (13-bit serial ABS encoder)
Command Forward/reverse run pulses (A/B-phase pulses: Max. 50kHz).

mode DC5V 17mA Photo coupler input Max. pulse frequency 200kHz
Pulse output
Number of 24000 Pulses/rotation (With magnification function of 0.05-500. But, setting of fractions 32767/32767 possible).
fractions Z-type encoder specification; 2000 pulses/rotation (INC encoder), 8192 pulses/rotation (13-bit serial ABS encoder)
Output A/B - phase pulses (changeable to forward / reverse run pulses)

mode Line driver output (equivalent to AM26LS31), max. pulse frequency 400kHz.
Acceleration/
deceleration Monitor function
Soft start Acceleration/deceleration time can be set independently in steps of 0-32.76a 0.01s (invalid in current & position control).
S-Shaped Sets the time for reaching 90% of target speed in steps of 0-32.76a 0.01s.
acceleration/
deceleration (Speed control, operation in tiny positioner, non-operational in position control, current control)
Analog output Speed or current monitor DC0 to ±3V (at the time of rated speed/current limit) ±5%
Display device LED 5 Digits (monitors, check, adjustment, parameter setting, etc. possible)
External display Connect DPA-80 (option). (Monitoring of speed, current, existing value, electronic thermal value, etc. possible).
device
Overcurrent, overvoltage, drop of main power supply, drop of resolver power supply, overheat of countercurrent
Protect function
resistance, electronic thermal, overspeed, etc.
Ambient temp. 0~55°C (no freezing)
General spec.
Ambient humidity 35~90%RH (no condensation)

Surrounding Should be free of dust, metallic powder, & corrosive gases.
environment
Vibrations Less than 10~55HZ 1G
Storage temp. -10 to 70 °C (but, satisfying the above conditions)
12
Note 1 : Voltage fluctuations differ with the rated voltage of motor (VP). Check the rated voltage given in Engineering Handbook -
Motor Version. Motors of rated voltage less than 170V -15 to +10% Motors of rated voltage more than 170V -10 to +10%
175
12-3. Diagram of Outer Dimensions
VLAST-006P1V • 006P2V • 012P1V • 012P2V
VLAST-025P2V
12
176
VLAST-050P3V ･ 070P3V
VLAST-100P3V
12
177
VLAST-160P3V
12
178
APPENDIX
APPENDIX
Configuration of Engineering Handbook

As shown in the block diagram in Chapter 12, the hardware configurations of T-series servo amps below 05P and
above 050P are different. Therefore, Chapter 2 describes them separately for the models and with/without brake
models. Since there are multiple control modes, Chapter 5 describes each of them. Chapters 7, 8, & 9 describe
each device and soft independently;
and other chapters describe the common items of the entire amps.
To secure safety
Use properly and Terms, significance of displays, general
invariably readsafety items, transportation,installation, wiring,
preservation. operating method, maintenance & inspection,
and discarding
At first check the contents, & then set Chapter ------------ P22
the motor code & control mode. Unpacking, part names, &
combinations of motor & amp
Chapter 1 Design ---- P10

Installation & environment
conditions
Chapter 2 Power Circuit

Before design of control panel & -------------------------- P14
wiring Main circuit wiring/brake circuit/
countercurrent bsorption resistance
Chapter 3 Signal Circuit

-------------------------- P36
Analog I/O, pulse I/O, monitor
output/motor sensor input
Chapter 4 Display & Operating

panel & Display Contents -------- P50
Key operations, operations in each area, & contents
Get accustomed to key operation
Chapter 6 Special Operations &
Handling ---------------------------- P112
Motor test run, output signal test, & auto tuning
180
APPENDIX
Chapter 5 Guide to
Operating ---------------- P60
Speed control mode
I/O Signals, parameters, & adjust- Current control mode
ments Position control mode
Speed/current/position control mode
Direct feed mode
Draw control mode
Mode common general adjustments
Chapter 7 Absolute Position

Detection (ABS) ------------------- P116
Configuration, specifications, wiring, & output
timing
Chapter 8 Peripheral Equipment

Usage method of ABS, ------------------------------------------ P124
Display device, brake power supply, analog
peripheral equipment, & PC
output module, ABS battery, external
tools (SHAN)
countercurrent absorption resistance, noise
filter, cable, amp, amp mounting fixtures, etc.
Chapter 9 PC Tools (SHAN) -- P138

Installation & functions
Chapter 10 Features-------------------- P166

Short term overload, electronic thermal, & features of
Comprehend the features dynamic brake
of amp & motor Chapter 12 Specifications ------------ P174

Control block diagram, specifications, & diagram of
outer shape
When in trouble Chapter 11 Alarm Codes --------------- P170

Display of alarm codes, list & countermeasures
181
APPENDIX INDEX
[2]
24V Input --------------------------------------------------------------------------------------------------------------- 40
24V Output ------------------------------------------------------------------------------------------------------------- 41
24V Output Test -------------------------------------------------------------------------------------------------------- 112
[5]
5V Input ----------------------------------------------------------------------------------------------------------------- 39
[A]
ABS Battery ------------------------------------------------------------------------------------------------------------ 126,132
ABS Battery Cable ---------------------------------------------------------------------------------------------------- 132
ABS Cable -------------------------------------------------------------------------------------------------------------- 47~48,128
ABS Clear -------------------------------------------------------------------------------------------------------------- 120
ABS Sensor ------------------------------------------------------------------------------------------------------------- 116~122
AJ0. ---------------------------------------------------------------------------------------------------------------------- 108
AJ1. ---------------------------------------------------------------------------------------------------------------------- 108
AJ2. ---------------------------------------------------------------------------------------------------------------------- 108
AJ3. ---------------------------------------------------------------------------------------------------------------------- 108
AJ4. ---------------------------------------------------------------------------------------------------------------------- 108
AJ5. ---------------------------------------------------------------------------------------------------------------------- 108
AJ6. ---------------------------------------------------------------------------------------------------------------------- 108
AJ7. ---------------------------------------------------------------------------------------------------------------------- 108
AJ8. ---------------------------------------------------------------------------------------------------------------------- 110
AJ9. ---------------------------------------------------------------------------------------------------------------------- 110
Absolute Position Detection ------------------------------------------------------------------------------------------ 116~122
Acceleration / Deceleration ------------------------------------------------------------------------------------------- 67,99
Adjustment Area ------------------------------------------------------------------------------------------------------- 54
Adjustments (AJ.1~9) ------------------------------------------------------------------------------------------------- 108
Adjustments (Common to all Mode) -------------------------------------------------------------------------------- 108
Adjustments (Current Control Mode) ------------------------------------------------------------------------------- 74,108~110
Adjustments (Direct feed Mode) ------------------------------------------------------------------------------------ 98,108~110
Adjustments (Drew Contorol Mode) -------------------------------------------------------------------------------- 106,108~110
Adjustments (Position Control Mode) ------------------------------------------------------------------------------ 82,108~110
Adjustments (Speed / Current / Position Control Mode) --------------------------------------------------------- 90,108~110
Adjustments (Speed Control Mode) --------------------------------------------------------------------------------- 66,108~110
Alarm Codes ------------------------------------------------------------------------------------------------------------ 170~172
Alarm Messages, Their Causes, & Remedy ------------------------------------------------------------------------ 160~163
Ammeter ---------------------------------------------------------------------------------------------------------------- 127
Analog Monitor Output ----------------------------------------------------------------------------------------------- 46
Analog Output Module (DA T-26) ---------------------------------------------------------------------------------- 125
Auto Tuning ------------------------------------------------------------------------------------------------------------ 113
[B]
Battery (LRT03) for Holding Absolute Position ------------------------------------------------------------------ 126
Brake ON rpm ---------------------------------------------------------------------------------------------------------- 63,71
Brake Power Supply --------------------------------------------------------------------------------------------------- 124
182
INDEX APPENDIX
[C]
CB082 ------------------------------------------------------------------------------------------------------------------- 128
CB094 ------------------------------------------------------------------------------------------------------------------- 131
CB095 ------------------------------------------------------------------------------------------------------------------- 131
CB096 ------------------------------------------------------------------------------------------------------------------- 129
CB101 ------------------------------------------------------------------------------------------------------------------- 132
CB102 ------------------------------------------------------------------------------------------------------------------- 132
CB1 10 ------------------------------------------------------------------------------------------------------------------ 129,130
CN1 ---------------------------------------------------------------------------------------------------------------------- 37,133
CN2 ---------------------------------------------------------------------------------------------------------------------- 37~43,132
CN5 ---------------------------------------------------------------------------------------------------------------------- 37,47~48,132
Check Area ------------------------------------------------------------------------------------------------------------- 53
Combinations of Motor and AMP ----------------------------------------------------------------------------------- 6
Configuration of Engineering Handbook --------------------------------------------------------------------------- 180
Connection of Signal Circuit ----------------------------------------------------------------------------------------- 14~33
Connection of Power Circuit ----------------------------------------------------------------------------------------- 36~48
Control Block Diagram ----------------------------------------------------------------------------------------------- 174
Control Mode ----------------------------------------------------------------------------------------------------------- 36
Count Cables ----------------------------------------------------------------------------------------------------------- 129~130
Countercurrent Absorption Resistance ------------------------------------------------------------------------------ 26~31
Current Command Filter ---------------------------------------------------------------------------------------------- 75,110
Current Control Mode ------------------------------------------------------------------------------------------------- 36,68~75
Current Limit ----------------------------------------------------------------------------------------------------------- 67,83,99,107
Current Value Serial Data Output ----------------------------------------------------------------------------------- 44
[D]
DA T-26 ----------------------------------------------------------------------------------------------------------------- 125
DP A-80 ----------------------------------------------------------------------------------------------------------------- 124
Diagram of Outer Shape ---------------------------------------------------------------------------------------------- 176~178
Dif ferential Output ---------------------------------------------------------------------------------------------------- 42
Direct Feed Mode ------------------------------------------------------------------------------------------------------ 36,92~99
Direct Feed Mode No.1~4 Speeds ----------------------------------------------------------------------------------- 95,98
Direct Feed Operation ------------------------------------------------------------------------------------------------- 99
Display Operating Unit ----------------------------------------------------------------------------------------------- 50~58
Display of Alarms ----------------------------------------------------------------------------------------------------- 170
Draw Control Mode --------------------------------------------------------------------------------------------------- 36,100~107
Draw Retio -------------------------------------------------------------------------------------------------------------- 107
Drive /Absorption detection width ---------------------------------------------------------------------------------- 72
Dynamic Brake --------------------------------------------------------------------------------------------------------- 17,21
[E]
Earth --------------------------------------------------------------------------------------------------------------------- 32
Electronic Thermal ---------------------------------------------------------------------------------------------------- 167
Environment Conditions ---------------------------------------------------------------------------------------------- 12
Example of Connection (Current Control Mode) ----------------------------------------------------------------- 68
Example of Connection (Direct feed Mode) ----------------------------------------------------------------------- 92
Example of Connection (Drew Contorol Mode) ------------------------------------------------------------------ 100
Example of Connection (Position Control Mode) ----------------------------------------------------------------- 76
183
APPENDIX INDEX
Example of Connection (Speed / Current / Position Control Mode) -------------------------------------------- 84

Example of Connection (Speed Control Mode) ------------------------------------------------------------------- 60
External Display (DP A-80) ------------------------------------------------------------------------------------------ 124
External Speed Dimensions ------------------------------------------------------------------------------------------ 74
[F]
Features ----------------------------------------------------------------------------------------------------------------- 166~168
Features of speed/current/position Control Mode ----------------------------------------------------------------- 90
Forward / reverse run permission ------------------------------------------------------------------------------------ 83
Forward run, reverse run, drive & absorption run ----------------------------------------------------------------- 64
Frequency Analysis ---------------------------------------------------------------------------------------------------- 153
[G]
Guide to Operating ---------------------------------------------------------------------------------------------------- 60~110
[H]
H-Parameter Area ------------------------------------------------------------------------------------------------------ 57
H-Parameters (Current Control Mode) ----------------------------------------------------------------------------- 72
H-Parameters (Direct feed Mode) ----------------------------------------------------------------------------------- 96
H-Parameters (Drew Contorol Mode) ------------------------------------------------------------------------------ 104
H-Parameters (Position Control Mode) ----------------------------------------------------------------------------- 80
H-Parameters (Speed / Current / Position Control Mode) -------------------------------------------------------- 88
H-Parameters (Speed Control Mode) ------------------------------------------------------------------------------- 64
Holding Brake ---------------------------------------------------------------------------------------------------------- 16,20
[I]
In-position time -------------------------------------------------------------------------------------------------------- 83
Input/Output Cables --------------------------------------------------------------------------------------------------- 129
Input/Output Signals (Current Control Mode) --------------------------------------------------------------------- 69
Input/Output Signals (Direct feed Mode) --------------------------------------------------------------------------- 93
Input/Output Signals (Drew Contorol Mode) ---------------------------------------------------------------------- 101
Input/Output Signals (Position Control Mode) -------------------------------------------------------------------- 77
Input/Output Signals (Speed / Current / Position Control Mode) ----------------------------------------------- 85
Input/Output Signals (Speed Control Mode) ----------------------------------------------------------------------- 61
Installation -------------------------------------------------------------------------------------------------------------- 10
Installation of SHAN -------------------------------------------------------------------------------------------------- 141
[L]
List of Alarm Codes & Their Recovery Measures ---------------------------------------------------------------- 170~172
LRT03--------------------------------------------------------------------------------------------------------------------126
[M]
Mode of Pulse Command --------------------------------------------------------------------------------------------- 39,82,106
From of Pulse Output ------------------------------------------------------------------------------------------------- 42
Moniter Output --------------------------------------------------------------------------------------------------------- 43
Moter with Deceleration ---------------------------------------------------------------------------------------------- 7
Motor Code ------------------------------------------------------------------------------------------------------------- 6,7
Motor Sensor ----------------------------------------------------------------------------------------------------------- 47~48
Motor Test Operation ------------------------------------------------------------------------------------------------- 112
184
INDEX APPENDIX
[N]
Noise --------------------------------------------------------------------------------------------------------------------- 33
Noise Filter ------------------------------------------------------------------------------------------------------------- 33,126
[O]
Option Plate for Amp Imbedded Type ------------------------------------------------------------------------------ 134~136
Operating Keys --------------------------------------------------------------------------------------------------------- 50
Operating Procedure of State Display Area ------------------------------------------------------------------------ 52
Operating Shift Diagram ---------------------------------------------------------------------------------------------- 51
[P]
PMK-60 ----------------------------------------------------------------------------------------------------------------- 127
PRB10 ------------------------------------------------------------------------------------------------------------------- 11,135
PRB16 ------------------------------------------------------------------------------------------------------------------- 11,136
PRB57 ------------------------------------------------------------------------------------------------------------------- 11,134
PXK-60 ------------------------------------------------------------------------------------------------------------------ 127
Peripheral Equipment ------------------------------------------------------------------------------------------------- 124~136
Peripheral Equipment (Power Circuit) ------------------------------------------------------------------------------ 22
Plug for External Display --------------------------------------------------------------------------------------------- 133
Plug for Input/Output Signals ---------------------------------------------------------------------------------------- 132
Plug for RS232C ------------------------------------------------------------------------------------------------------- 133
Plug for Resolver ------------------------------------------------------------------------------------------------------ 132
Position Control Mode ------------------------------------------------------------------------------------------------ 36,76~83
Procedure of Replacing the Battery (ABS) ------------------------------------------------------------------------- 121
Pulse Output ------------------------------------------------------------------------------------------------------------ 43
[R]
RS232C Cable ---------------------------------------------------------------------------------------------------------- 131,140
Reinstallation of machine --------------------------------------------------------------------------------------------- 121
Remote Operation ----------------------------------------------------------------------------------------------------- 156
Resolver Cable --------------------------------------------------------------------------------------------------------- 47~48,128
Run (Current Control Mode) ----------------------------------------------------------------------------------------- 73
Run (Direct feed Mode) ----------------------------------------------------------------------------------------------- 97
Run (Drew Contorol Mode) ------------------------------------------------------------------------------------------ 105
Run (Position Control Mode) ---------------------------------------------------------------------------------------- 81
Run (Speed / Current / Position Control Mode) ------------------------------------------------------------------- 89
Run (Speed Control Mode) ------------------------------------------------------------------------------------------- 65
[S]
SHAN ------------------------------------------------------------------------------------------------------------------- 138~164
Sampling ---------------------------------------------------------------------------------------------------------------- 150
Setting of Zero Point -------------------------------------------------------------------------------------------------- 83
Short Time Load ------------------------------------------------------------------------------------------------------- 166
Span adjustment -------------------------------------------------------------------------------------------------------- 66,74
Special operations ----------------------------------------------------------------------------------------------------- 112
Specifications ----------------------------------------------------------------------------------------------------------- 174~178
Specifications ----------------------------------------------------------------------------------------------------------- 175
Speed Limit ------------------------------------------------------------------------------------------------------------- 74
Speed Reached --------------------------------------------------------------------------------------------------------- 94,107
185
APPENDIX INDEX
Speed/Current Monitor Cable ---------------------------------------------------------------------------------------- 132

Speed/Current/Position Control Mode ------------------------------------------------------------------------------ 36,84~91
Speed Control Mode --------------------------------------------------------------------------------------------------- 36,60~67
Speed Meter ------------------------------------------------------------------------------------------------------------ 127
Stop Detection ---------------------------------------------------------------------------------------------------------- 94,107
Stop at Zero Point & while Stopped at Zero Point ---------------------------------------------------------------- 67
[T]
TBT39 ------------------------------------------------------------------------------------------------------------------- 125
T erminal Converter (TBT39) ---------------------------------------------------------------------------------------- 125
[U]
User Parameter Area -------------------------------------------------------------------------------------------------- 55~56
User Parameters (Current Control Mode) -------------------------------------------------------------------------- 70
User Parameters (Direct feed Mode) -------------------------------------------------------------------------------- 94
User Parameters (Drew Contorol Mode) --------------------------------------------------------------------------- 102
User Parameters (Position Control Mode) -------------------------------------------------------------------------- 78
User Parameters (Speed / Current / Position Control Mode) ---------------------------------------------------- 86
User Parameters (Speed Control Mode) ---------------------------------------------------------------------------- 62
[W]
While running forward/reverse, stop detection output ------------------------------------------------------------ 75
W ire Diameters -------------------------------------------------------------------------------------------------------- 24
[Z]
Zero Adjustment ------------------------------------------------------------------------------------------------------- 66,74
186
INDEX APPENDIX
187
APPENDIX Supplementary information
Motor sensors for Z-type motors

The resolver cables of the Z-type motors are not standard but dedicated. Besides the resolvers, incremental
encoders and serial ABS encoders can be used as the motor sensors.
● Z resolver cables
The resolver cables of the Z-type servo motors have a motor-side connector dedicated to the Z type.
Type Shape Type Shape
CB106-□□□A With both side connectors CB106-□□□C With only motor side connector
CB106-□□□B With only amp side connector CB106-□□□Z Both ends unprocessed
Z resolver
CN5 CN5 connector
Red/white
1 11 R1 8 1 R1
2 12
R2 9 Yellow/white R2
2
3 13
Red
4 14 S1 2 4 S1
5 15 Black RES
S3 3 5 S3
6 16
Yellow Resolver
7 17 S2 6 7 S2
8 18 Blue
9 19
S4 7 8 S4
10 20 GND 11 9 GND
Pin arrays
Resolver cable
● ZINC encoder cables

The motor sensor for a Z-type motor becomes an encoder when the optional module ENT13 is used as the amp.
Z encoder
CN5 connector
E5V 4 Red E5V 13
ELG 1 Black ELG 14
Blue
CN5 A 16 A 1
/A 17 Blue/white /A 2
1 11
2 12 Green
B 18 B 3
3 13
/B 19 Green/white /B 4
4 14
5 15 Yellow
Z 14 Z 5
6 16
Yellow/white
7 17 /Z 15 /Z 6 ENC
8 18 Brown
U 6 U 7
9 19
Brown/white Encoder
10 20 /U 7 /U 8
Gray
Pin arrays V 2 V 9
(as seen from solder side) Gray/white
/V 3 /V 10
Orange
W 8 W 11
Orange/white
/W 9 /W 12
Shield
FG 20 FG 15
Encoder cable
188
Supplementary information APPENDIX
● ZABS encoder cables

The motor sensor for a Z-type motor becomes a serial ABS encoder (13/29bits) when the optional module SAT25 is used as the
amp.
Z-type ABS
CN5 CN5 connector
Red
1 11 E5V 4 2 E5V
2 12
E0V 1 Black E0V
3
3 13
Blue
4 14 BT+ 12 5 BT+
5 15 Green ENC
BT- 13 6 BT-
6 16
Orange
7 17 SD+ 14 7 SD+ Encoder
8 18 Orange/white
9 19
SD- 15 8 SD-
10 20 FG 20 9 FG
Pin arrays Serial ABS cable
□ Setting electronic gear

Calculate the set value by replacing 24000 with 8000 in the description of the parameters UP-04 and UP-50 for the
electronic gear in each control mode. (The number of divisions in the standard resolver is 24000. The encoder of the
Z-type motor has 2000 AB-phase pulses/rotation and 8000 forward/reserve pulses/rotation.) The number of divisions is
213 for the serial ABS encoder. Calculate the set value by replacing 24000 with 8192.
□ Setting parameters
Do not change the set value at the resolver cable length UP-03 or set 1 (clear amount of rotation) at the ABS clear mode UP-15. The
weight of the in-position width UP-07 is 8000 pulses/rotation in the INC encoder and 8192 pulses/rotation in the ABS encoder.
□ ABS battery
Use the LRT03 as the ABS battery. The old ABS battery BTT06 cannot be used.
189
APPENDIX Trouble Reporting Card
Trouble Reporting Card
■Contact with :
● Tokyo Sales Office
Takanawa 2-15-19 (Takanawa Meikou Bldg 2F) Minato-Ku, Tokyo 108-0074 TEL 03-3442-8300 FAX 03-3442-8309
● Export Sales Office
Matsumoto 131, Mishima shi, Shizuoka ken 411-8510 TEL 055-977-0122 FAX 055-977-4110
● Mishima Sales Office
● Osaka Sales Office
Nishinakajima 4-7-18 (Marumiya Bldg 7F), Yodogawa-Ku, Osaka 532-0011 TEL 06-6303-7721 FAX06-6303-7724
● Nagoya Sales Office
Ikeshita 1-11-21 (First Ikeshita Bldg 6F), Chikusa - ku, Nagoya 464-0067 TEL 052-763-7015 FAX052-762-6126
● Service Center
Information from Firm Name :

Section :
Person in Charge :
TEL
FAX
Motor Type VLBST-□□□□□□□ｰ□□□

Sherial No.
Combined Servo AMP Type VL□□□-□□□P□□

Operation Status During Installation / years
aften start-up ( hours operation per day)
Fault Malfunction Won't / Unsteable rotation / Out of Control /

Phenomenon Overheat / Abnormal noise or nasty smell
etc.
Alarm Output
Description of Fault What operation leads this phenomenon ?

or Malfunction
190

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BS Servo T Series

Retain this manual at a handy place where it can be easily reached.

Meaning of “WARNING” & “CAUTION” Signs

This mark indicates that if the handling of this device is

This mark indicates that if the handling of this device is

● This mark indicates “Prohibited”. For example, in case of “Fire

Prohibited”, it is indicated by the mark .

example, where grounding is necessary, it is indicated by the mark .

TOEI SERVICE CENTER

1. Entrust the works of transportation, installation, wiring, operating, operation, and

Operating & Run

Maintenance & Inspection

1. Discard the motor as a general industrial waste.

CHAPTER 2 POWER CIRCUIT

CHAPTER 3 SIGNAL CIRCUIT

CHAPTER 4 DISPLAY OPERATING UNIT & DISPLAY

CHAPTER 5 GUIDE TO OPERATING

5-5 Operation of Direct Feed Mode ----------------------------------------------------- 92

CHAPTER 6 SPECIAL OPERATIONS & HANDLING

CHAPTER 7 ABSOLUTE POSITION DETECTION SYSTEM (ABS)

CHAPTER 8 PERIPHERAL EQUIPMENT

CHAPTER 9 PERSONAL COMPUTER TOOLS (SHAN)

CHAPTER 11 ALARM CODES

● Is there no damage suffered during transportation?

■ Check of Model No.

● Is the servo amp your ordered product?

Incorporation No. Model No. of servo amp

TOEI ELECTRIC CO.,LTD. MADE IN JAPAN

Option 1, A:ABS Module, X:No

Model, V:Standard, L:Link

Max. current [A (peak)], Ex) 050 : 50 [A (peak)]

Series name : T-Series

Device name : Velconic BS servo amp

● This device comes with no Accessories.

● Tokyo Sales Office

VLAST-006P □ V,012P □ V VLAST-025P □ V

Name plate CN2 (CONT)

Invariably ground the

Forcible label Do not allow other than

Power unit terminal cover

Display operating unit

Power unit terminal cover

■ Codes of small capacity motor with deceleration attachment

1-1 Cautions on Installation --------------------------------------10

1-1-1 Wall Mounting

More than 100mm More than 100mm

More than 50mm More than 50mm

Connector for ABS battery connection

More than 50mm Less than 80mm More than 50mm

(2) 050P, 070P, 100P, & 160P

More than 100mm AIR FLOW

More than 50mm

Connector for ABS battery connection

Values in ( ) apply to 100P, 160P.

1-1-2 Imbedded Mounting

(2) 050P, 070P

More than 100mm

Connector for ABS battery connection 4-φ5 Down

More than 50mm 3-φ5 3-φ5

Connector for ABS battery connection M5 Screws x 2

More than 100mm

More than 50mm 4-φ5

More than 100mm