MN 63789 0700 en Minas A5 PDF

Operating Instructions (Overall)
AC Servo Motor & Driver
MINAS A5-series
* This product image is 200W type of A5-series.
Thank you for purchasing this Panasonic product.

Before operating this product, please read the instructions carefully, and save this manual for future use.
Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This
instruction manual contains information necessary to correctly and safely use the MINAS
A5-series motor and driver. By reading this instruction manual, you will learn how to
identify the model of the motor and driver that will be best suitable your application, how
to wire and set up them, how to set parameters, and how to locate possible cause of
symptom and to take corrective action.
This is the original instruction.
Caution
1) Any part or whole of this document shall not be reproduced without written permission from us.
2) Contents of this document are subject to change without notice.
Organization of this manual
1
Before Using the Products
1. Before Using the Products

Check of the Driver Model ... Installation
2. Preparation
2
Preparation
Describes how to identify and select the desired product and components, how to
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Operating requirements and procedure

Shows the timing chart and the list of parameters, and describes how to make
wiring and to use the front panel.
3
Connection
3. Connection
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.
Setup
4. Setup
Describes parameters ... JOG running

Shows describes parameters and procedure of test operation.
5
Adjustment
5. Adjustment
Gain adjustment ... Auto tuning
Describes various adjusting method including auto tuning and manual gain tuning.
6. When in Trouble
When in Trouble
Read this section when you encounter trouble or error.
7. Supplement
Contains S-T characteristic diagram, dimensional outline drawing, supplemental
description on communications and operation.
7
Supplement
Contents
page
Organization of this manual ............................................................................................ 3

Safety Precautions ............................................................................................................. 6
Conformance to international standards ................................................................... 10
Maintenance and Inspections ....................................................................................... 11
................................................................... 1-1
1. Introduction ............................................................................................................... 1-2

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

6\VWHP&RQJXUDWLRQDQG:LULQJ ........................................................................... 2-10

3. Wiring to the Connector, X1 .................................................................................... 2-51
10. Timing Chart .......................................................................................................... 2-61
11. Built-in Holding Brake ............................................................................................ 2-65
12. Dynamic Brake....................................................................................................... 2-67
13. Setup of Parameter and Mode .............................................................................. 2-72
14. Setup of command division and multiplication ratio (electronic gear ratio) ........... 2-84
15. How to Use the Front Panel .................................................................................. 2-86
3. Connection
......................................................................................................... 3-1
1. Outline of mode ......................................................................................................... 3-2

2. Control Block Diagram ............................................................................................ 3-14
4. Inputs and outputs on connector X4 ....................................................................... 3-30
5. IF Monitor Settings .................................................................................................. 3-50
4. Setup
........................................................................................................................ 4-1
1. Describes parameters ............................................................................................... 4-2

2. JOG running ............................................................................................................ 4-59
1. Gain Adjustment ........................................................................................................ 5-2
2
Preparation
5. Adjustment .......................................................................................................... 5-1
page
2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4

3. Adaptive Filter ......................................................................................................... 5-10
4. Manual Auto-Gain Tuning (Basic) ............................................................................ 5-13
5. Manual Auto-Gain Tuning (Application) ................................................................... 5-24
6. When in Trouble
Connection
6. About Homing Operation ......................................................................................... 5-39
............................................................................................. 6-1
1. When in Trouble ........................................................................................................ 6-2
2. Setup of gain pre-adjustment protection ................................................................. 6-18
7. Supplement
Setup
3. Troubleshooting ...................................................................................................... 6-21
........................................................................................................ 7-1
1. Safety function ..........................................................................................................7-2

2. Absolute System ..................................................................................................... 7-10
3. Setup Support Software, PANATERM ..................................................................... 7-26
5. Motor Characteristics (S-T Characteristics) ............................................................ 7-55
Adjustment
4. Communication ....................................................................................................... 7-27
6. Dimensions ............................................................................................................. 7-73

7. Options .................................................................................................................... 7-92
6
Cautions for Proper Use ................................................................................................... 7-127
After-Sale Service .................................................................................................... Back cover
When in Trouble
Warranty ........................................................................................................................... 7-126
7
Supplement
Safety Precautions
Please observe safety precautions fully.
The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
0LVXVHVWKDWFRXOGUHVXOWLQKDUPRUGDPDJHDUHVKRZQDVIROORZVFODVVLHGDFFRUGLQJWRWKH
degree of potential harm or damage.
Danger
Indicates great possibility of death or serious injury.
Caution
Indicates the possibility of injury or property damage.
7KHIROORZLQJLQGLFDWLRQVVKRZWKLQJVWKDWPXVWEHREVHUYHG
Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
DPPDEOHJDVHVDQGFRPEXVWLEOHV
Do not place combustibles near by the motor,
driverd regenerative resistor and dynamic brake
resister..
Don't use the motor in a place subject to excessive vibration or shock.
Failure to observe this instruction could result in electrical

VKRFNLQMXU\RUUH
Don't use cables soaked in water or oil.

shocks, damages and breakdowns.
The installation area should be away from heat

generating objects such as a heater and a large
wire wound resistor.
Never connect the motor directly to the commercial power supply.
Failure to observe this instrucWLRQFRXOGUHVXOWLQUHHOHFWULFDO

Failure to observe this instrucWLRQFRXOGUHVXOWLQUHDQG

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

VKRFNLQMXU\RUUH
Do not put your hands in the servo driver.
Failure to observe this instruction could result in burn and

electrical shocks.
Installation area should be free from excessive

dust, and from splashing water and oil.
Mount the motor, driver and peripheral equipments on incombustible material such as metal.
Correctly run and arrange wiring.
)DLOXUHWRKHHGWKLVUHTXLUHPHQW
will result in electric shock, perVRQDOLQMXU\UHPDOIXQFWLRQRU
damage.
)DLOXUHWRKHHGWKHVHUHTXLUHments will result in electric

VKRFNSHUVRQDOLQMXU\RUUH
6
When in Trouble
7
Supplement
Ground the earth terminal of the motor and driver

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

Failure to heed this precaution
will result in electric shock, perVRQDOLQMXU\UHPDOIXQFWLRQRU
damage.
,QVWDOODWLRQRQDDPPDEOHPDWHULDOPD\FDXVHUH
Allowing a person with no expertise to carry out wiring will
result in electrical shocks.
Incorrect wiring will result in
short circuit, electric shock, personal injury, etc.
Incorrect wiring will result short
FLUFXLWHOHFWULFVKRFNUHRU
malfunction.
Floating ground circuit will
cause electric shock.
Adjustment
After correctly connecting cables, insulate the live

parts with insulator.
Failure to observe this instruction could result in burns.
Setup
:LULQJKDVWREHFDUULHGRXWE\WKHTXDOLHGDQG
authorized specialist.
Connection
Do not subject the cables to excessive force,

heavy object, or pinching force, nor damage the
cables.
Failure to observe this instruction could result in personal

injury.
Preparation
Do not drive the motor with external power.
In the case of the motor with shaft end keyway, do

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

electric shock.
Safety Precautions
Please observe safety precautions fully.
Caution
Do not hold the motor cable or motor shaft during
the transportation.
Failure to observe this instruction could result in injuries.
Don't drop or cause topple over of something during transportation or installation.
Failure to observe this instruction could result in injuries and

breakdowns.
Do not step on the Product nor place the heavy

object on them.

shocks, injuries, breakdowns
and damages.
Don't use the equipment under direct sunshine.
Failure to heed these instructions will cause personal injury

RUUH
Do not block the heat dissipating holes or put the

foreign particles into them.

VKRFNVDQGUH
Do not give strong impact shock to the Product.
Failure to observe this instruction could result in breakdowns.
Do not give strong impact shock to the motor

shaft.
Failure to observe this instruction could result in a failure of

the detector etc.
Do not turn on and off the main power of the driver repeatedly.
Never run or stop the motor with the electro-magnetic contactor installed in the main power side.
Failure to observe this instruction could result in breakdowns.
Do not make an extreme gain adjustment or

change of the drive.
Do not keep the machine running/operating unstably.
Do not use the built-in brake as a "Braking" to

stop the moving load.
Failure to observe this instruction could result in injuries and

breakdowns.
Do not approach to the machine since it may suddenly restart after the power resumption.
Design the machine to secure the safety for the
operator even at a sudden restart.
1HYHUDWWHPSWWRSHUIRUPPRGLFDWLRQGLVPDQWOH
or repair.
Failure to heed this instruction

ZLOOUHVXOWLQUHHOHFWULFVKRFN
personal injury or malfunction.
2EVHUYHWKHVSHFLHGPRXQWLQJPHWKRGDQGGLrection.
)DLOXUHWRKHHGWKHVHUHTXLUHments will result in personal

injury or malfunction.
Using it for transportation of the
machine will cause personal
Don't place any obstacle object around the motor

and peripheral, which blocks air passage.
Temperature rise will cause

EXUQLQMXU\RUUH
)DLOXUHWRKHHGWKHVHUHTXLUHments will result in personal

Provide protection device against idling of electromagnetic brake or gear head, or grease leakage
from gear head.
No protection will cause personal injury, damage, pollution

RUUH
8VHWKHPRWRUDQGWKHGULYHULQWKHVSHFLHGFRPbination.
Not using the motor and the

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7HVWUXQWKHVHFXUHO\[HGPRWRUZLWKRXWORDGLQJ
to verify normal operation, and then connect it to
the mechanical system.
Operation using a wrong model

or wrong wiring connection will
result in personal injury.
When any error occurs, remove the cause and

release the error after securing the safety, then
restart.
Not removing the cause of the

error will result in personal injury.
If the driver fails, shut off the power on the power

supply side of the driver.
Allowing a large current to conWLQXHWRSDVVZLOOUHVXOWLQUH
Maintenance must be performed by an experienced personnel.
Wrong wiring will cause personal injury or electric shock.
Always keep power disconnected when the power

is not necessary for a long time.
Improper operation will cause

personal injury.
6
When in Trouble
Missing of one of these devices

will result in personal injury or
malfunction.
Adjustment
Connect the brake control relay to the relay which

is to shut off at emergency stop in series.
4
Setup
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Operation from a voltage outside the rated voltage will cause

electric shock, personal injury
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Connection
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and the control panel inner surface or other devices.
2
Preparation
Use the eye bolt of the motor for transportation of

the motor only, and never use this for transportation of the machine.
Adjust the motor and driver ambient environmental condition to match the motor operating temperature and humidity.
Make an appropriate mounting of the Product

matching to its wight and output rating.
7
Supplement
When you dispose the batteries, observe any applicable regulations or laws after
insulating them with tape.
This Product shall be treated as Industrial Waste when you dispose.
Conformance to international standards
Conformed Standards
Driver
EC Directives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3
Low-Voltage
Directives
EN61800-5-1
Machinery
Directives
Functional
safety
(*1)
Motor
EN60034-1
EN60034-5
EN954-1 (Cat. 3)
ISO13849-1 (PL c,d*2) (Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
UL1004-1
to 750W (200V)
( E327868: from
)
6.0kW
UL Standards
UL508C (E164620)
UL1004
(
CSA Standards
C22.2 No.14
E327868: 400W (400V)

600W (400V), 750W (400V)
0.9kW to 5.0kW
C22.2 No.100
IEC : International Electrotechnical Commission

EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
Products shall conform to the statutory regulations applied in the place of destination.
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWIXQFWLRQDOVDIHW\(*1) standards.
*2 PL d: Provided that EDM is used.
Note
10
For details on compatibility with international standard, refer to P.2-2 Conformance to

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

General and normal running condition
Setup
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lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type
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7
Supplement
Note
Annual
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$EQRUPDOYLEUDWLRQDQGQRLVH
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2GRU
/LQWRURWKHUSDUWLFOHVDWDLUKROHV
&OHDQQHVVDWIURQWSRUWLRQRIWKHGULYHUDQGFRQQHFWRU
'DPDJHRIWKHFDEOHV
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PDFKLQHRUHTXLSPHQW
3LQFKLQJRIIRUHLJQREMHFWDWWKHORDG
When in Trouble
Motor
with Gear
Reducer
Daily
Items to be inspected
Adjustment
Daily
inspection
Cycles
Inspection cycle may change when the running conditions of the above change.
11
Maintenance and Inspections
Guideline for Parts Replacement

Use the table below for a reference. Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.
Prohibited
Product
Disassembling for inspection and repair should be

carried out only by authorized dealers or service
company.
Component
Standard replacement
cycles (hour)
Smoothing condenser
Approx. 5 years
Cooling fan
2 to 3 years
(10,000 to 30,000 hours)
Aluminum electrolytic
capacitor (on PCB)
Approx. 5 years
Rush current
preventive relay
Approx. 100,000 times

(depending on working
condition)
Rush current
preventive resistor
Approx. 20,000 times

(depending on working
condition)
Bearing
3 to 5 years
(20,000 to 30,000 hours)
Oil seal
5000 hours
Encoder
3 to 5 years
(20,000 to 30,000 hours)
Battery
for absolute encoder
Life time varies depending

on working conditions.
Refer to the Operating
Instructions attached to the
battery for absolute
encoder.
Driver
Motor
Related page
12
3:DUUDQW\
Note
These hours or cycles are

reference.
When you experience any
HUURUUHSODFHPHQWLVUHTXLUHG
even before this standard
replacement cycle.
1. Introduction
Outline .........................................................................................................1-2
On Opening the Product Package ...............................................................1-2
Preparation
2. Driver
Check of the Model ......................................................................................1-3
Parts Description
A to E-frame..............................................................................................1-4
F-frame .....................................................................................................1-5
G-frame.....................................................................................................1-6
H-frame .....................................................................................................1-7
D to F-frame (400 V) .................................................................................1-8
Connection
G-frame (400 V) ........................................................................................1-9

H-frame (400 V) ......................................................................................1-10
Specifications.............................................................................................1-11
Block Diagram ...........................................................................................1-15
3. Motor
Check of the Model ....................................................................................1-21

Parts Description .......................................................................................1-22
Setup
4. Check of the Combination of the Driver and the Motor

Incremental Specifications, 20-bit ..............................................................1-23
Absolute Specifications, 17-bit...................................................................1-25
Junction cable for motor ...........................................................................1-27
5. Installation
Driver .........................................................................................................1-28
Adjustment
Motor..........................................................................................................1-32
6. Permissible Load at Output Shaft

Motor..........................................................................................................1-35
6
When in Trouble
7
Supplement
1-1
1Before Using
the Products
1. Introduction
Outline
The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all
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SHUIRUPDQFHRUZKLFKUHTXLUHVLPSOLHGVHWWLQJV
Compared with the preceding A4-series, product of A5-series offers superior performance
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Newly designed motors have wide range of outputs from 50 W to 15.0 kW, associated
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(Only for position control type have range of outputs from 50 W to 5.0 kW.)
They are compatible with 2 closed controls (serial communication type and A-/B-phase
output type) and provided with various automatic adjusting functions such as real time
auto tuning with many automatic setting parameters to make complex tuning easy.
(Only for position control type do not conform to full-closed control.)
These motors assure higher stability with low stiffness machine and high-speed, high
accurate operation with high stiffness machine. They can be used in combination with a
wide variety of machines.
This manual is written as a complete guide for you so that you can fully and correctly
make use of all functions available from MINAS A5.
1Before Using
the Products
1. Introduction
On Opening the Product Package
0DNHVXUHWKDWWKHPRGHOLVZKDW\RXKDYHRUGHUHG
&KHFNLIWKHSURGXFWLVGDPDJHGRUQRWGXULQJWUDQVSRUWDWLRQ
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&KHFN LI WKH SRZHU FRQQHFWRU PRWRU FRQQHFWRUV FRQQHFWRU IRU H[WHUQDO UHJHQHUDWLYH
resistor connection (D-frame (400 V) and E-frame) and safety by-pass plug are included or not.
(Neither the power connector nor motor connector are included to F-frame to H-frame.)
(Safety bypass plug is not supplied with only for position control type because it does not use
this plug.)
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1-2
1
2. Driver
1Before Using
Check of the Model
the Products
Contents of Name Plate

Model number
Serial Number
e.g.) : P09 04 0001N
Input/output voltage
Lot number
Number of phase
Preparation
Month of production
Rated input/output current
Year of production
(Lower 2 digits of AD year)
Input/output frequency
Rated output of
applicable motor
Manufacture date
e.g.) : 2009 04 01
Manufacture year
Manufacture date
Manufacture month
Connection
Model Designation
Velocity, position,
torque and full-closed
FRQWUROW\SH
M A D H T 1 5 0 5
1 to 4
5 to 6
8 to 9
10 to 12
Special specifications
(letters and numbers)
M A D H T 1 5 0 5 E
1 to 4
5 to 6
8 to 9
10
Setup
Only for position

control type
11 to 12
(letters and numbers)
Frame-size symbol
NOTE)
Only for position control type is
SURYLGHG$)UDPHWR)IUDPH
Symbol Current rating

10A
T1
15A
T2
30A
T3
35A
T4
50A
T5
70A
T7
100A
TA
150A
TB
300A
TC
Specifications
Single phase, 100V
3-phase, 200V
3-phase, 400V
Single/3-phase, 200V
7
Supplement
Related page
Power supply
Symbol
1
3
4
5
When in Trouble
Frame
A5-series, A-frame
A5-series, B-frame
A5-series, C-frame
A5-series, D-frame
A5-series, E-frame
A5-series, F-frame
A5-series, G-frame
A5-series, H-frame
Current detector rating

Symbol Current rating
5A
05
7.5A
07
10A
10
12A
12
20A
20
30A
30
40A
40
64A
64
90A
90
120A
A2
240A
B4
Adjustment
Symbol
MADH
MBDH
MCDH
MDDH
MEDH
MFDH
MGDH
MHDH
Only for position control type
Max. current rating

of power device
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1-3
1Before Using
the Products
2. Driver
Parts Description
A to D-frame
Front panel
Connector XA:
for main power connection
Connector X7: Monitor connector
05JFAT-SAXGF (JST)
Connector X1: USB connector

Main power
input terminals
Control power
input terminals
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
L1
L2
L3
L1C
L2C
Connector X2: for Serial bus

Connector X3: Safety function connector
Connector X4: Parallel I/O connector
B1
B3
B2
U
V
W
Connector X5:
for feedback scale
connection
Terminals for motor

connection
Connector XB:
for motor connection
Connector X6:
for encoder
connection
Screws for earth (x2)
06JFAT-SAXGF (JST)
Charge lamp
LED cover
Safety by-pass prug
E-frame
Front panel
Connector XA:
05JFAT-SAXGSA-L (JST)
Main power
input terminals
Control power
input terminals
B3 to B2)
Terminals for motor
connection
L1
L2
L3
L1C
L2C

B1
B3
B2
NC*

Connector X5:
for feedback scale
connection
U
V
W
Connector X6:
for encoder
connection
Connector XB:
Connector XC:
Connector for external
Note
1-4
Screws for earth

(x2)
Charge lamp
LED cover
* NC is no connect.
Safety by-pass prug
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7KHJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
Only for position control type is not provided with X2, X3 and X5.
2. Driver
1
Parts Description
F-frame
Details of terminal block
Front panel
Control power
input terminals
Terminals for motor

connection
* NC is no connect.

Connector X5:
for feedback scale
connection
Connection
B3 to B2)
Preparation
Main power
input terminals
L1
L2
L3
L1C
L2C
B1
B3
B2
NC*
U
V
W
Connector X6:
for encoder
connection
Charge lamp
LED cover
Safety by-pass prug
Setup
Terminal cover
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
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3'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV3WR'LPHQVLRQV
1-5
2. Driver
Parts Description
G-frame
Front panel
Terminal cover
screw
L1
L2

Terminal cover
L3
B1

B2
NC
Connector X5: for feedback scale

connection
Connector X6: for encoder connection
Terminal cover
screw
Charge lamp

NC*
L1C
L2C
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*
L1
Main power
input terminals
L2
L3
B1
B2
NC*
U
Terminals for motor

connection
V
W
Control power input terminals
Control terminal for dynamic brake resister

(Normally short-circuit DB3 to DB4.)
* NC is no connect.
LED cover
Safety by-pass prug
Terminal cover
Note
Related page
1-6
2. Driver
1
Parts Description
H-frame
2
Front panel
Preparation

Connector X5: for feedback scale connection
Connection
Charge lamp
4
L1C
L2C
DB1
DB2
Setup
L1
L2
L3
B1
B2
NC
5
Adjustment

DB1
DB2
Control power
input terminals
Control terminal for

dynamic brake resister
L1C
L2C
6
LED cover
When in Trouble
Safety by-pass prug
L1 L2 L3
Main power
input terminals
B1 B2
NC*
Terminals for motor

connection

Related page
* NC is no connect.
7
Terminal cover
Terminal
cover screw
Supplement
Note
1-7
2. Driver
Parts Description
D, E-frame (400 V)
Connector XA:
Front panel
03JFAT-SAYGSA-L (JST)
Connector XD:
02MJFAT-SAGF (JST)
Control power
input terminals
Main power
input terminals
24V
0V
L1
L2
L3

B3 to B2)
B1
B3
B2
NC*
Terminals for
motor connection

Connector X5:
for feedback scale
connection
Connector X6:
for encoder
connection
U
V
W
Connector XB:
Connector XC:
Connector for external
Screws for earth

(x2)
04JFAT-SAXGSA-L(JST)
Charge lamp
LED cover
* NC is no connect.
Safety by-pass prug
F-frame (400 V)

Control power
input terminals
Main power
input terminals
B3 to B2)
Terminals for motor

connection
24V
0V
L1
L2
L3
B1
B3
B2
NC*
U
V
W
* NC is no connect.
Front panel
Connector X5:
for feedback scale
connection
Connector X6:
for encoder
connection
Charge lamp

LED cover
Safety by-pass prug

Terminal cover
Note
1-8
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2. Driver
1
Parts Description
G-frame (400 V)
Front panel
Terminal cover
screw
Terminal cover
L3
B1

Preparation
L1
L2
B2
NC
Terminal cover
screw
Charge lamp
3
Connection
Connector X5: for feedback scale

connection

L2
L3

B1
B2
NC*
U
V
W
Adjustment
Terminals for motor

connection
Setup
NC*
24V
0V
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*
L1
Main power
input terminals

(Normally short-circuit DB3 to DB4.)
* NC is no connect.
6
When in Trouble
LED cover
Safety by-pass prug
Terminal cover
Related page
Supplement
Note
1-9
2. Driver
Parts Description
H-frame (400 V)
Front panel
Connector X5: for feedback scale connection
Charge lamp
24V
L1
L2
L3
0V
DB1
B1
DB2
B2
NC

DB1
DB2
Control power
input terminals
Control terminal for

dynamic brake resister
24V
0V
LED cover
Safety by-pass prug
L1 L2 L3
Main power
input terminals
B1 B2
NC*
Terminals for motor

connection

Note
Related page
1-10
* NC is no connect.
Terminal cover
Terminal
cover screw
the Products
Specifications (Velocity, position, torque, full-closed control type)
Main circuit
Single phase, 100 to 120V
Control circuit
100V
A to
Control D-frame
circuit
E to
H-frame
Main circuit
400V
*1
Control circuit
temperature
Environment
humidity
Altitude
Vibration
Encoder feedback
Feedback scale feedback
Input
Control signal
Analog signal
Input
Output
Input
Pulse signal
Output
Safety function
Front panel
Regeneration
Dynamic brake
50/60Hz
50/60Hz
50/60Hz
DC24V 15%
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
* 400V control circuit is excluded.
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6WRUDJHWHPSHUDWXUH&WR& (Max. temperature guarantee: 80C for 72 hours
free from condensation*2)
Both operating and storage : 20 to 85%RH or less (free from condensation*2)
Lower than 1000m
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IGBT PWM Sinusoidal wave drive
17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Magnescale Co., Ltd. (old Sony Manufacturing Systems Corp.)
General purpose 10 inputs
The function of general-purpose input is selected by parameters.
General purpose 6 outputs
3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
2 outputs (Analog monitor: 2 output)
2 inputs (Photo-coupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse (EXA,
EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open
collector.
Connection with PC etc.
1 : 1 communication to a host.
1 : n communication to a host.
Used for functional safety.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Monitor connector (Analog monitor output (2ch), Digital monitor output (1ch))
A, B, G and H-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
A to G-frame: Built-in (external resistor is also available to G-frame)
H-frame: External only
Switching among the following 7 mode is enabled,
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1-11
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Supplement
Control mode
3-phase, 380 to 480V
50/60Hz
When in Trouble
Communication
function
USB
RS232
RS485
50/60Hz
Adjustment
Parallel I/O connector
Output
50/60Hz
Setup
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Control method
50/60Hz
Connection
Withstand voltage
Single/3-phase, 200 to 240V
+10%
15%
+10%
15%
+10%
15%
+10%
15%
+10%
15%
+10%
15%
+10%
15%
Preparation
Input power
200V
A to
Main D-frame
circuit
E to
H-frame
2. Driver
1Before Using
2. Driver
Specifications (Velocity, position, torque, full-closed control type)
Control input
Control output
Control input
Position control
Control output
Max. command
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Input pulse signal
Pulse format
input
Electronic gear
(Division/Multiplication of
command pulse)
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Analog command input
input
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Instantaneous Speed Observer
Damping Control
Control input
Function
Velocity control
Control output
Velocity command
input
Analog
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input
command input
Internal velocity command
Soft-start/down function
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Zero-speed clamp
Control input
Control output
Analog 7RUTXHFRPPDQG
input
input
Speed limit function
Control input
Full-closed control
Control output
Max. command
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Input pulse signal
Pulse format
input
Electronic gear
(Division/Multiplication of
command pulse)
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input
Setup range of division/
multiplication of feedback
scale
Auto tuning
Common
Division of encoder feedback pulse

Protective
function
Hard error
Soft error
Traceability of alarm data
1-12
(1) Servo-ON input (2) Alarm clear input (3) Gain switching input
(4) Positive direction over-travel inhibition input (5) Negative direction over-travel inhibition input
(6) Forced alarm input (7) Inertia ratio switching input
(1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal
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(6) Zero-speed detection output signal (7) Alarm output (8) Alarm attribute output
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
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(1) Positioning complete (In-position) (2)Positional command ON/OFF output
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)
( 1 to 2 )
30
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input. Use electronic gear ratio in the range 1/1000 to 1000 times.
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Available
Available
(1) Selection of internal velocity setup (2) Speed zero clamp
(3) Speed command sign input (4)Control mode switching
(1) Speed coincidence output (2)Speed command ON/OFF output
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (6V/Rated rotational speed Default)
Switching the internal 8speed is enabled by command input.
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min.
Sigmoid acceleration/deceleration is also enabled.
0-clamp of internal velocity command with speed zero clamp input is enabled.
Available
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(1) Speed coincidence output (2) Speed in-limit output
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Speed limit value with parameter t is enabled.
(3) Command dividing gradual increase switching (4) Damping control switching
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(1) Full-closed positioning complete (2) Positional command ON/OFF output
Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and
B-phase, (3) Command and direction)
( 1 to 2 )
30
3URFHVVFRPPDQGSXOVHIUHTXHQF\HOHFWURQLFJHDUUDWLR 1 to 230 as positional command

input. Use electronic gear ratio in the range 1/1000 to 1000 times.
1/40 to 160 times
The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 220
(numerator) to 1 to 220 (denominator), but should be set to a ratio within the range shown above.
The load inertia is identified in real time by the driving state of the motor operating according
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The gain is set automatically in accordance with the rigidity setting.
Set up of any value is enabled (encoder feedback pulses count is the max.).
Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Excess position deviation, command pulse division error, EEPROM error etc.
The alarm data history can be referred to.
+10%
50/60Hz
15%
Control circuit
+10%
50/60Hz
15%
A to
D-frame
Single/3-phase, 200 to 240V
+10%
50/60Hz
15%
E to
F-frame
+10%
50/60Hz
15%
A to
D-frame
+10%
50/60Hz
15%
E to
F-frame
+10%
50/60Hz
15%
100V
Input power
200V
Control
circuit
D to
F-frame
Control
circuit
D to
F-frame
Withstand voltage
Environment
Both operating and storage : 20 to 85%RH or less (free from condensation)

Lower than 1000m
Vibration
5.88m/s2RUOHVVWR+]1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\
IGBT PWM Sinusoidal wave drive
20-bit (1048576 resolution) incremental encoder, 5-wire serial
Input
General purpose 10 inputs

Output
General purpose 6 outputs

Output
2 outputs (Analog monitor: 2 output)
Control signal
Pulse signal
Output
USB
2 inputs (Photo-coupler input, Line receiver input)

Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse
(EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed
out in open collector.
Connection with PC etc.
(1) 5 keys (2) LED (6-digit) (3) Analog monitor output (2ch)
Regeneration
A, B-frame: no built-in regenerative resistor (external resistor only)

C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake
A to F-frame: Built-in
Control mode
(1) Position control (2) Internal velocity control (3) Position/ Internal velocity control
6
When in Trouble
Front panel
Adjustment
Parallel I/O connector
Input
Communication
function
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
* 400V control circuit is excluded.
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Altitude
Encoder feedback
Analog signal
DC 24V 15%
humidity
Control method
+10%
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15%
Setup
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temperature
Connection
Main
circuit
2
Preparation
Main circuit
Main
circuit
Specifications (Only for position control type)
the Products
400V
2. Driver
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7
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Caution
Only for position control type is provided A-Frame to F-frame.

1-13
Supplement
Caution
2. Driver
Specifications (Only for position control type)
Control input

(3) Command dividing gradual increase switching
(4) Damping control switching etc.
Control output
Positioning complete (In-position) etc.
Position control
Pulse
input
Max. command
SXOVHIUHTXHQF\

Input pulse signal

format
Differential input
((1) Positive and Negative direction, (2) A and B-phase, (3) Command and
direction)
Electronic gear
(Division/
Multiplication of
command pulse)
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command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
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30
Internal velocity control
Function
Common
Instantaneous Speed
Observer
Available
Damping Control
Available
Control input
(1) Selection of internal velocity setup (2) Speed zero clamp
Control output
Speed arrival
Internal velocity command
Switching the internal 8speed is enabled by command input.
Soft-start/down function
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/

min. Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp
0-clamp of internal velocity command with speed zero clamp input is enabled.
Instantaneous Speed
Observer
Available
Auto tuning
The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controlling device and set up support
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The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback

pulse
Set up of any value is enabled (encoder pulses count is the max.).
Protective
function
Hard error
Over-voltage, under-voltage, over-speed, over-load,

over-heat, over-current and encoder error etc.
Soft error
Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data
1-14
( 1 to 2 )
The alarm data history can be referred to.
1
2. Driver
1Before Using
Block Diagram
the Products
A, B-frame (100/200 V)
U
P
L1
L2
L3
Fuse
+
Fuse
Voltage
detection
RE
Fuse
+
DC/DC
L2C
(12V
+5V
PS for gate drive
PS for RE
Preparation
L1C
Gate drive
B1
B3
B2
Front panel
Error
detection
Sequence control
Display
operation
control
X1
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
Connection
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Division/ +
mulitiplication
Position
deviation amp.
Deviation
counter
Position
16-bit
Speed
Internal speed
command
Internal
Control
input
Speed Velocity
deviation
amp.
External
A/D
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Control
output
X6
Encoder signal
processing
limit
Pusle
output
Division
processing
X5
Feedback scale signal
processing limit
Setup
Feedback scale unit
C, D-frame (100/200 V)
U
P
L1
L2
L3
Resistor
Fuse
Voltage
detection
+
DC/DC
L2C
Adjustment
Fuse
N
Fan (D-frame only)
L1C
Fuse
RE
(12V
+5V
PS for gate drive
PS for RE
Gate drive
B1
B3
B2
Front panel
X1
Error
detection
Sequence control
Display
operation
control
Parameter control
EEPROM
Protective
curcuit
When in Trouble
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input
Division/ +
mulitiplication
A/D
16-bit
Deviation
counter
Position
deviation amp.
Internal speed
command
Internal
Control
output
Pusle
output
Position
External
Speed Velocity
deviation
amp.
Speed
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Encoder signal
processing
limit
Division
processing
X6
X5
Supplement

processing limit
Feedback scale unit
Note
1-15
2. Driver
Block Diagram
E-frame (200 V)
U
P
L1
L2
L3
Fuse
Resistor
Fuse
Voltage
detection
N
Fan
L1C
Fuse
RE
Gate drive
(12V
+5V
PS for gate drive
PS for RE
DC/DC
L2C
B1
B3
B2
Front panel
Error
detection
Sequence control
Display
operation
control
X1
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Division/ +
mulitiplication
Position
deviation amp.
Deviation
counter
Position
A/D
16-bit
Speed
Internal speed
command
Internal
Control
input
Speed Velocity
deviation
amp.
External
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Control
output
X6
Encoder signal
processing
limit
Pusle
output
Division
processing
X5
processing limit
Feedback scale unit
F-frame (200 V)
U
P
L1
L2
L3
Fuse
Resistor
Fuse
Voltage
detection
L1C
Fan
Fuse
L2C
DC/DC
RE
Gate drive
(12V
+5V
PS for gate drive
PS for RE
B1
B3
B2
Front panel
Display
operation
control
X1
Sequence control
Error
detection
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input
Division/ +
mulitiplication
A/D
16-bit
Deviation
counter
Position
deviation amp.
Internal speed
command
Internal
Control
output
Pusle
output
Position
External
Speed Velocity
deviation
amp.
Speed
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Encoder signal
processing
limit
Division
processing
X6
X5
processing limit
Feedback scale unit
Note
1-16
2. Driver
1
Block Diagram
G-frame (200 V)
U
P
L1
L2
L3
Fuse
Voltage
detection
Fan
Fuse
Gate drive
DB1
(12V
+5V
PS for gate drive
PS for RE
DC/DC
L2C
RE
Preparation
L1C
+
Fuse
DB2
DB3
DB4
B1
B3
B2
Front panel
Error
detection
Sequence control
Display
operation
control
X1
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
Connection
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Division/ +
mulitiplication
Position
deviation amp.
Deviation
counter
Position
External
A/D
16-bit
Speed
Internal speed
command
Internal
Control
input
Speed Velocity
deviation
amp.
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Control
output
X6
Encoder signal
processing
limit
Pusle
output
Division
processing
X5
processing limit
Setup
Feedback scale unit
H-frame (200 V)
U
P
L1
L2
L3
Fuse
Fuse
N
Fan
Fuse
L2C
DC/DC
Gate drive
DB1
(12V
+5V
PS for gate drive
PS for RE
Adjustment
Voltage
detection
L1C
RE
DB2
B1
B3
B2
Front panel
X1
Error
detection
Sequence control
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
USB
When in Trouble
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input
Division/ +
mulitiplication
A/D
16-bit
Deviation
counter
Position
deviation amp.
Internal speed
command
Internal
Control
output
Pusle
output
Position
External
Speed Velocity
deviation
amp.
Speed
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Encoder signal
processing
limit
Division
processing
X6
X5
Supplement

processing limit
Feedback scale unit
Note
1-17
2. Driver
Block Diagram
D-frame (400 V)
U
P
L1
L2
L3
Fuse
Fuse
Voltage
detection
RE
Fan
24V
Resistor
Fuse
DC/DC
0V
12V
+5V
PS for gate drive
PS for RE
Gate drive
B1
B3
B2
Front panel
Error
detection
Sequence control
Display
operation
control
X1
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Division/ +
mulitiplication
Position
deviation amp.
Deviation
counter
Position
External
A/D
16-bit
Speed
Internal speed
command
Internal
Control
input
Speed Velocity
deviation
amp.
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Control
output
X6
Encoder signal
processing
limit
Pusle
output
Division
processing
X5
processing limit
Feedback scale unit
E-frame (400 V)
U
P
L1
L2
L3
Fuse
Voltage
detection
RE
Fan
24V
Resistor
Fuse
Fuse
DC/DC
0V
12V
+5V
PS for gate drive
PS for RE
Gate drive
B1
B3
B2
Front panel
X1
Error
detection
Sequence control
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input
Division/ +
mulitiplication
A/D
16-bit
Deviation
counter
Position
deviation amp.
Internal speed
command
Internal
Control
output
Pusle
output
Position
External
Speed Velocity
deviation
amp.
Speed
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Encoder signal
processing
limit
Division
processing
X6
X5
processing limit
Feedback scale unit
Note
1-18
2. Driver
1
Block Diagram
F-frame (400 V)
U
P
L1
L2
L3
Fuse
Resistor
Fuse
Voltage
detection
Fuse
12V
+5V
PS for gate drive
PS for RE
DC/DC
0V
Preparation
RE
Fan
24V
Gate drive
B1
B3
B2
Front panel
Error
detection
Sequence control
Display
operation
control
X1
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
Connection
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Division/ +
mulitiplication
Position
deviation amp.
Deviation
counter
Position
External
A/D
16-bit
Torque
limit
Speed
Internal speed
command
Internal
Control
input
Speed Velocity
deviation
amp.
Speed
detection
Current
control
PWM
circuit
Torque
A/D
Control
output
X6
Encoder signal
processing
limit
Pusle
output
Division
processing
X5
processing limit
Setup
Feedback scale unit
G-frame (400 V)
U
P
L1
L2
L3
Fuse
N
Fan
Fuse
0V
DC/DC
Gate drive
DB1
(12V
+5V
PS for gate drive
PS for RE
RE
Adjustment
Voltage
detection
24V
+
Fuse
DB2
DB3
DB4
B1
B3
B2
Front panel
X1
Error
detection
Sequence control
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
USB
When in Trouble
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input
Division/ +
mulitiplication
A/D
16-bit
Deviation
counter
Position
deviation amp.
Internal speed
command
Internal
Control
output
Pusle
output
Position
External
Speed Velocity
deviation
amp.
Speed
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Encoder signal
processing
limit
Division
processing
X6
X5
Supplement

processing limit
Feedback scale unit
Note
G-frame: Only for position control type is not provided.
1-19
2. Driver
Block Diagram
H-frame (400 V)
U
P
L1
L2
L3
Fuse
Voltage
detection
24V
+
Fuse
Fan
Fuse
0V
DC/DC
Gate drive
DB1
(12V
+5V
PS for gate drive
PS for RE
RE
DB2
B1
B3
B2
Front panel
X1
Error
detection
Sequence control
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Pulse train
command
Analog
velocity
command
Control
input
Division/ +
mulitiplication
A/D
16-bit
Deviation
counter
Position
deviation amp.
Internal speed
command
Internal
Control
output
Pusle
output
Position
External
Speed Velocity
deviation
amp.
Speed
Speed
detection
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Encoder signal
processing
limit
Division
processing
X6
X5
processing limit
Feedback scale unit
Note
1-20
Only for position control type is not provided.
1
3. Motor
1Before Using
Check of the Model
the Products
Contents of Name Plate

Serial Number
e.g.) : 09 04 0001N
Model
Rated input voltage/current
Rated output
Rated frequency
Rated
rotational speed
M S M E 5 A Z S 1 S
1 to 4
Type
5 to 6
Motor rated output
Symbol
MSMD
*1
*1
MSME
*2
MDME
*2
MFME
*2
MGME
*2
*2
*1 The position control type only.

*2 Only for position control type is
MSME, MDME and MHME:
1.0kW to 5.0kW,
MGME: 0.9kW to 3.0kW,
MFME is none.
10
11 to 12
Motor structure
Design order
Symbol
Specifications
1 Standard
Voltage specifications
Connector for encoder
: N/MS3102A20-29P
Symbol Specifications
C IP65 motor
1 100 V
0.9 kW to 5.0 kW
2 200 V
only selectable
4 400 V
100/200 V common
Z (50W only)
Rotary encoder specifications

Specifications
Symbol
Format
Pulse count Resolution Wire count
20bit
1,048,576
G Incremental
5-wire
17bit
131,072
S *3 Absolute
7-wire
Adjustment
MHME
Symbol Output
50W
5A
100W
01
200W
02
400W
04
600W
06
750W
08
900W
09
1.0kW
10
1.5kW
15
2.0kW
20
2.5kW
25
3.0kW
30
4.0kW
40
4.5kW
45
5.0kW
50
6.0kW
60
7.5kW
75
C1 11.0kW
C5 15.0kW
Setup
MHMD
Specifications
Low inertia
(50W to 750W)
High inertia
(200W to 750W)
Low inertia
(50W to 5.0kW)
Middle inertia
(400W to 15.0kW)
Middle inertia
(1.5kW to 4.5kW)
Middle inertia
(0.9kW to 6.0kW)
High inertia
(1.0kW to 7.5kW)
3
Connection
Model Designation
Preparation
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 2009 04 01
Manufacture year
Manufacture date
Manufacture month
*3 Only for position control type does not support the 17-bit absolute
specification. It supports only 20-bit incremental specification.
Motor structure
Symbol
Shaft
Holding brake Oil seal
Round Key way Without With Without With*4
MSME (750W(400V), 1.0kW to 5.0kW),

MDME, MFME, MGME, MHME
Symbol
When in Trouble
MSME (50W to 750W)
Holding brake Oil seal

Shaft
Round Key way Without With Without With
A
C
B
D
*5
S
G
*5
T
H
*4 The product with oil seal is a special order product. *5 Key way with center tap
[Products are standard stock items or manufactured by order. For details, inquire the dealer.]
Related page
Supplement
Note
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1-21
3. Motor
1Before Using
Parts Description
the Products
060(
:WR:
Connector for motor
Flange
Motor frame
Mounting holes (X4)
[with Brake]
Connector for brake
Connector for motor
Flange
Motor frame
Mounting holes (X4)
e.g.) : Low inertia type (MSME series, 50W)

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

400W to 15.0kW
1.5kW to 4.5kW
0.9kW to 6.0kW
1.0kW to 7.5kW
Connector for motor
Oil seal
Flange
Motor frame
Mounting holes (X4)
e.g.) : Middle inertia type (MDME series, 1.0kW)
Note
1-22
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the Products

Incremental Specifications, 20-bit
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Remarks
Type
Single
phase,
100V
MSMD
Single/
3-phase,
200V
Low inertia
3000r/min
Single/
3-phase,
200V
Low inertia
3000r/min
3-phase,
200V
3-phase,
400V
2000r/min
3-phase,
200V
MDME
Middle inertia
2000r/min
3-phase,
400V
Note
MADHT1505E
MADHT1507
MBDHT2510
MCDHT3520
MADHT1105
MADHT1107
MBDHT2110
MCDHT3120
MADHT1507E
MBDHT2510E
MCDHT3520E
MADHT1105E
MADHT1107E
MBDHT2110E
MCDHT3120E
MADHT1505
MADHT1505E
MADHT1507
MBDHT2510
MCDHT3520
MADHT1507E
MBDHT2510E
MCDHT3520E
B-frame
C-frame
MDDHT5540
MDDHT5540E
D-frame
MEDHT7364
MFDHTA390
MEDHT7364E
MFDHTA390E
E-frame
MFDHTB3A2
MFDHTB3A2E
MDDHT2412
MDDHT3420
MDDHT3420
MEDHT4430
MFDHT5440
MDDHT2412E
MDDHT3420E
MDDHT3420E
MEDHT4430E
MFDHT5440E
MFDHTA464
MFDHTA464E
MDDHT3530
MDDHT5540
MEDHT7364
MFDHTA390
MDDHT3530E
MDDHT5540E
MEDHT7364E
MFDHTA390E
MFDHTB3A2
MFDHTB3A2E
MGDHTC3B4
MHDHTC3B4
A-frame
B-frame
C-frame
A-frame
B-frame
C-frame
A-frame
F-frame
D-frame
E-frame
F-frame
D-frame
E-frame
F-frame
G-frame
MDDHT2407
MDDHT2407E
MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440
MDDHT2412E
MDDHT3420E
MEDHT4430E
MFDHT5440E
MFDHTA464
MFDHTA464E
MGDHTB4A2
MHDHTB4A2
B-frame
C-frame
H-frame
D-frame
E-frame
F-frame
G-frame
H-frame
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1-23
7
Supplement
1500r/min
MADHT1505
A-frame
When in Trouble
1500r/min
50W
100W
200W
400W
50W
100W
200W
400W
750W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW
400W
600W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW
Adjustment
Single/
3-phase, 200V
MSMD5AZG1 *
MSMD011G1 *
MSMD021G1 *
MSMD041G1 *
MSMD5AZG1 *
MSMD012G1 *
MSMD022G1 *
MSMD042G1 *
MSMD082G1 *
MSME5AZG1 *
MSME011G1 *
MSME021G1 *
MSME041G1 *
MSME5AZG1 *
MSME012G1 *
MSME022G1 *
MSME042G1 *
MSME082G1 *
MSME102G *
MSME152G *
MSME202G *
MSME302G *
MSME402G *
MSME502G *
MSME084G1 *
MSME104G *
MSME154G *
MSME204G *
MSME304G *
MSME404G *
MSME504G *
MDME102G *
MDME152G *
MDME202G *
MDME302G *
MDME402G *
MDME502G *
MDME752G1 *
MDMEC12G1 *
MDMEC52G1 *
MDME044G1 *
MDME064G1 *
MDME104G *
MDME154G *
MDME204G *
MDME304G *
MDME404G *
MDME504G *
MDME754G1 *
MDMEC14G1 *
MDMEC54G1 *
Frame
Setup
MSME
Rated
output
Driver
Model of Only for
position control
type
MADHT1105E
MADHT1107E
MBDHT2110E
MCDHT3120E
Connection
Single
phase,
100V
Model
Model of velocity,
position, torque and
full-closed control type
MADHT1105
MADHT1107
MBDHT2110
MCDHT3120
Preparation
Power
supply
Do not use in other combinations than those listed below.

Motor
Rated
rotational
speed
1
1Before Using

Incremental Specifications, 20-bit
Motor
Power
supply
Type
Rated
rotational
speed
Single/
3-phase,
200V
MFME
3-phase,
2000r/min
200V
Middle inertia
3-phase,
400V
Single/
3-phase,
200V
3-phase,
200V
MGME
Middle inertia
1000r/min
3-phase,
400V
Single
phase,
100V
Single/
3-phase,
200V
Single/
3-phase,
200V
MHMD
High inertia
3000r/min
2000r/min
3-phase,
200V
MHME
High inertia
3-phase,
400V
1500r/min
2000r/min
1500r/min
Note
1-24
Driver
Model
Rated
output
Model of velocity,
Model of Only for

position control
type
Frame
MFME152G1 *
1.5kW
MDDHT5540
MDDHT5540E
D-frame
MFME252G1 *
MFME452G1 *
MFME154G1 *
MFME254G1 *
MFME454G1 *
2.5kW
4.5kW
1.5kW
2.5kW
4.5kW
MEDHT7364
MFDHTB3A2
MDDHT3420
MEDHT4430
MFDHTA464
MEDHT7364E
MFDHTB3A2E
MDDHT3420E
MEDHT4430E
MFDHTA464E
E-frame
F-frame
D-frame
E-frame
F-frame
MGME092G *
0.9kW
MDDHT5540
MDDHT5540E
D-frame
MGME202G *
MGME302G *
MGME452G1 *
MGME602G1 *
MGME094G *
MGME204G *
MGME304G *
MGME454G1 *
MGME604G1 *
MHMD021G1 *
2.0kW
3.0kW
4.5kW
6.0kW
0.9kW
2.0kW
3.0kW
4.5kW
6.0kW
200W
MFDHTA390
MFDHTA390E
MFDHTB3A2
MFDHTB3A2E
MGDHTC3B4
MDDHT3420
MFDHT5440
MDDHT3420E
MFDHT5440E
MFDHTA464
MFDHTA464E
MGDHTB4A2
MBDHT2110
MBDHT2110E
G-frame
B-frame
MHMD041G1 *
400W
MCDHT3120
MCDHT3120E
C-frame
MHMD022G1 *
MHMD042G1 *
MHMD082G1 *
MHME102G *
200W
400W
750W
1.0kW
MADHT1507
MBDHT2510
MCDHT3520
MDDHT3530
MADHT1507E
MBDHT2510E
MCDHT3520E
MDDHT3530E
A-frame
B-frame
C-frame
MHME152G *
1.5kW
MDDHT5540
MDDHT5540E
MHME202G *
MHME302G *
MHME402G *
MHME502G *
MHME752G1 *
MHME104G *
MHME154G *
MHME204G *
MHME304G *
MHME404G *
MHME504G *
MHME754G1 *
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
MEDHT7364
MFDHTA390
MEDHT7364E
MFDHTA390E
MFDHTB3A2
MFDHTB3A2E
MGDHTC3B4
MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440
MDDHT2412E
MDDHT3420E
MEDHT4430E
MFDHT5440E
MFDHTA464
MFDHTA464E
MGDHTB4A2
F-frame
G-frame
D-frame
F-frame
D-frame
E-frame
F-frame
G-frame
D-frame
E-frame
F-frame
G-frame
the Products

Absolute Specifications, 17-bit
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XV&KHFNWKHVHULHVQDPHRIWKHPRWRUUDWHGRXWSXWWRUTXHYROWDJHVSHFLFDWLRQVDQG
HQFRGHUVSHFLFDWLRQV
Remarks
Type
Rated rotational
speed
Single phase,
100V
MSME
Low inertia
3000r/min
3-phase,
200V
Single/3-phase,
200V
2000r/min
1500r/min
MDME
Middle inertia
2000r/min
1500r/min
MADHT1505
A-frame
B-frame
C-frame
MADHT1507
MBDHT2510
MCDHT3520
B-frame
C-frame
MDDHT5540
D-frame
MEDHT7364
MFDHTA390
E-frame
MFDHTB3A2
MDDHT2412
MDDHT3420
MDDHT3420
MEDHT4430
MFDHT5440
MFDHTA464
MDDHT3530
MDDHT5540
MEDHT7364
MFDHTA390
MFDHTB3A2
A-frame
F-frame
D-frame
E-frame
F-frame
D-frame
E-frame
F-frame
MGDHTC3B4
G-frame
MHDHTC3B4
H-frame
MDDHT2407
MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440
MFDHTA464
D-frame
E-frame
F-frame
MGDHTB4A2
G-frame
MHDHTB4A2
H-frame
6
When in Trouble
3-phase,
400V
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW
400W
600W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
11.0kW
15.0kW
Adjustment
3-phase,
200V
MSME5AZS1 *
MSME011S1 *
MSME021S1 *
MSME041S1 *
MSME5AZS1 *
MSME012S1 *
MSME022S1 *
MSME042S1 *
MSME082S1 *
MSME102S *
MSME152S *
MSME202S *
MSME302S *
MSME402S *
MSME502S *
MSME084S1 *
MSME104S *
MSME154S *
MSME204S *
MSME304S *
MSME404S *
MSME504S *
MDME102S *
MDME152S *
MDME202S *
MDME302S *
MDME402S *
MDME502S *
MDME752S1 *
MDMEC12S1 *
MDMEC52S1 *
MDME044S1 *
MDME064S1 *
MDME104S *
MDME154S *
MDME204S *
MDME304S *
MDME404S *
MDME504S *
MDME754S1 *
MDMEC14S1 *
MDMEC54S1 *
Frame
Setup
3-phase,
400V
Rated
output
Connection
Single/
3-phase,
200V
Model
Driver
Model of velocity,
MADHT1105
MADHT1107
MBDHT2110
MCDHT3120
Preparation
Power
supply
Note
Do not use in other combinations than those listed below.

Motor
1
1Before Using
7
Supplement
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When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
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1-25

Absolute Specifications, 17-bit
Motor
Power
supply
Type
Single/3-phase,
200V
3-phase,
200V
MFME
Middle inertia
Rated rotational
speed
2000r/min
3-phase,
400V
Single/3-phase,
200V
3-phase,
200V
MGME
Middle inertia
1000r/min
3-phase,
400V
Single/
3-phase,
200V
2000r/min
3-phase,
200V
MHME
High inertia
3-phase,
400V
1500r/min
2000r/min
1500r/min
Note
1-26
Driver
Model of velocity,
Frame
Model
Rated
output
MFME152S1 *
1.5kW
MDDHT5540
D-frame
MFME252S1 *
MFME452S1 *
MFME154S1 *
MFME254S1 *
MFME454S1 *
2.5kW
4.5kW
1.5kW
2.5kW
4.5kW
MEDHT7364
MFDHTB3A2
MDDHT3420
MEDHT4430
MFDHTA464
E-frame
F-frame
D-frame
E-frame
F-frame
MGME092S *
0.9kW
MDDHT5540
D-frame
MGME202S *
MGME302S *
MGME452S1 *
MGME602S1 *
MGME094S *
MGME204S *
MGME304S *
MGME454S1 *
MGME604S1 *
MHME102S *
2.0kW
3.0kW
4.5kW
6.0kW
0.9kW
2.0kW
3.0kW
4.5kW
6.0kW
1.0kW
MFDHTA390
MHME152S *
1.5kW
MDDHT5540
MHME202S *
MHME302S *
MHME402S *
MHME502S *
MHME752S1 *
MHME104S *
MHME154S *
MHME204S *
MHME304S *
MHME404S *
MHME504S *
MHME754S1 *
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
7.5kW
MEDHT7364
MFDHTA390
MFDHTB3A2
MGDHTC3B4
MDDHT3420
MFDHT5440
MFDHTA464
MGDHTB4A2
MDDHT3530
MFDHTB3A2
MGDHTC3B4
MDDHT2412
MDDHT3420
MEDHT4430
MFDHT5440
MFDHTA464
MGDHTB4A2
'HIDXOWRIWKHGULYHULVVHWIRUWKHLQFUHPHQWDOHQFRGHUVSHFLFDWLRQV
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) 6ZLWFKWKHSDUDPHWHU3U$EVROXWHHQFRGHUVHWXSIURPGHIDXOWWR
F-frame
G-frame
D-frame
F-frame
G-frame
D-frame
E-frame
F-frame
G-frame
D-frame
E-frame
F-frame
G-frame
the Products

Junction cable for motor
Encoder cable
Motor series
,QFUHPHQWDO6SHFLFDWLRQVELW Note)1
MSMD 50W to 750W
MSME
50W
to 750W (200V)
7-98
MFECA0 ** 0EAM
MFECA0 ** 0MJD
MFECA0 ** 0MJE
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKD
MFECA0 ** 0MKE
(Highly bendable type, Opposite direction of motor shaft)
7-98
MFECA0 ** 0TJD
MFECA0 ** 0TJE
7-99
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKD
MFECA0 ** 0TKE
(Standard bendable type, Opposite direction of motor shaft)
note)2
750W (400V),
1.0kW to 5.0kW
MFECA0 ** 0ESE note)2

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

1.5kW to 4.5kW
MGME 0.9kW to 6.0kW

MHMD 200W to 750W
MHME 1.0kW to 7.5kW
3
7-99
to
7-100
Connection
MFECA0 ** 0ESD
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD
MFECA0 ** 0EAM
MDME 400W to 15.0kW

MFME
Detail
page
Preparation
MSME
Absolute Specifications, 17-bit Note)1
1
1Before Using
1RWH UHSUHVHQWVWKHFDEOHOHQJWK1RWH'HVLJQRUGHU&N:WRN:0*0(WRN:1RWH'HVLJQRUGHU
Motor cable/ Brake cable
MSMD 50W to 750W
MFMCA0 ** 0EED
MFMCA0 ** 0NJD
MFMCA0 ** 0RJD
Standard bendable type,

Direction of motor shaft
MFMCA0 ** 3FCT
MFMCA0 ** 2FCD
MFMCE0 ** 2FCD
MFMCA0 ** 3FCT
MFMCA0 ** 2FCD
MFMCD0 ** 2ECD
MFMCE0 ** 2FCD
6
7-102
to
7-106
MFMCB0 ** 0GET
MFMCA0 ** 3FCT
1RWH UHSUHVHQWVWKHFDEOHOHQJWK
Caution
0RWRUFDEOHIRU0+0(N:0*0(N:0'0(N:WRN:LVQRWSUHSDUHGLQ

option.
Related page
)RURWKHUFDEOHFRQQHFWRUDQGFRQQHFWRUNLWUHIHUWR32SWLRQV
1-27
Supplement
MFMCE0 ** 2ECD
MFMCA0 ** 3ECT
When in Trouble
MFMCD0 ** 3ECT
MFMCA0 ** 3ECT
MFMCA0 ** 0EED
Adjustment
MFMCE0 ** 2FCD
MFMCD0 ** 2ECD

(Opposite
direction of motor shaft)
MFMCF0 ** 2ECD
MFMCD0 ** 2ECD
7-106
MFMCA0 ** 3ECT
MFMCA0 ** 2ECD
MFMCA0 ** 3ECT
7-101
MFMCB0 ** 0SJT
MFMCB0 ** 0SKT
MFMCA0 ** 2FCD
MFMCE0 ** 2FCD
MFMCA0 ** 3FCT
MFMCA0 ** 2FCD
MFMCE0 ** 2FCD
MFMCA0 ** 3FCT
MFMCA0 ** 2FCD
MFMCD0 ** 2ECD
Highly bendable type,

(Opposite
Direction of motor shaft

(Opposite
1.0kW to 2.0kW200V
750W to 2.0kW400V
3.0kW to 5.0kW
1.0kW to 2.0kW200V
400W to 2.0kW400V
3.0kW to 5.0kW
1.5kW200V
1.5kW400V
2.5kW
4.5kW
0.9kW200V
0.9kW400V
2.0kW to 4.5kW
200W to 750W
1.0kW, 1.5kW200V
1.0kW, 1.5kW400V
2.0kW
3.0kW to 5.0kW
7-101
7-106
MFMCB0 ** 0PKT
MFMCA0 ** 0RKD
MSME
MSME
MSME
MDME
MDME
MDME
MFME
MFME
MFME
MFME
MGME
MGME
MGME
MHMD
MHME
MHME
MHME
MHME
MFMCB0 ** 0GET
(Direction
of motor shaft)
MFMCA0 ** 0NKD
MSME 50W to 750W
Detail
page
MFMCB0 ** 0PJT

(Direction
of motor shaft)

(Opposite
Brake cable Note)1
Setup
Motor cable Note)1

without Brake
with Brake
Motor series
1Before Using
the Products
5. Installation
Driver
Install the driver properly to avoid a breakdown or an accident.
Installation Place
1) Install the driver in a control panel enclosed in noncombustible material and placed indoor where the product is not subjected to rain or direct sunlight. The products are not
waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH
DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQDPPDEOHJDV
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and low humidity and dust-free place.
5) Vibration-free place.
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can
discolor or damage the exterior case.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature*1
Storage humidity
Vibration
Altitude
Conditions
&WR&IUHHIURPIUHH]LQJ
20% to 85% RH (free from condensation)
&WR&
(Max. temperature guarantee: 80C for 72 hours free from condensation*2)
20% to 85% RH (free from condensation*2)

Lower than 5.88m/s2 (0.6G), 10 to 60Hz
(Do not continuously use the driver for along time at the resonance point.)
Lower than 1000m
*1 Extreme temperatures are permissible only for short period such as during transportation.
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
2) Base mount (rear mount) is standard for A/B/C/D-frame driver.
3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting brackHW)RUFKRRVLQJWKHFRUUHFWRSWLRQDOPRXQWLQJEUDFNHWUHIHUWR30RXQWLQJ%UDFNHW
4) In consideration of strength of the screws and the material of the mounting base, seOHFWDSSURSULDWHIDVWHQLQJWRUTXHIRUWKHSURGXFWPRXQWLQJVFUHZVVRWKDWWKHVFUHZV
will not be loosened or damaged.
Example) To tighten a steel screw into a steel base
A to G-frame: M5 2.7 to 3.3 Nm, H-frame: M6 4.68 to 5.72 Nm
H-frame
A to D-frame
E to G-frame
Basemount (Standard)
[Rear mount]
Frontmount
[Use mounting bracket]
Front or rearmount
[Use mounting bracket]
Mounting bracket
(optional parts)
<E-frame>
Fastening torque of ground terminal (M4)

to be 0.7 to 0.8 N m.
1-28
Rearmount [Basemount]
Mounting bracket
(Attachment)
Fastening torque of ground terminal (M4)

to be 0.7 to 0.8 N m.
<F, G-frame> Fastening torque of ground terminal (M5)
to be 1.4 to 1.6 N m.
Fastening torque of
ground terminal (M6)
to be 2.4 to 2.6 N m.
5. Installation
Mounting Direction and Spacing
Fan
Control panel
Fan
100mm
or more
2
Preparation
5HVHUYHHQRXJKVXUURXQGLQJVSDFHIRUHIIHFWLYHFRROLQJ
,QVWDOOIDQVWRSURYLGHXQLIRUPGLVWULEXWLRQRIWHPSHUDWXUHLQWKHFRQWUROSDQHO
'WR+IUDPHLVSURYLGHGZLWKDFRROLQJIDQDWWKHERWWRP (On the H-frame, the cooling
fan is also installed on the upper side.)
Observe the environmental conditions of the control panel described in the previous page.
Driver
3
a
Direction of air flowing

from the internal
cooling fan (D to H-frame)
Note
40mm
or
more
100mm
or more
Connection
40mm
or
more
A to F-frame
10mm or more
G, H-frame
50mm or more
It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after peeling off the paint on the machine for installing the products, in order
to make noise countermeasure.
Setup
Caution on Installation
Caution
1-29
7
Supplement
36SHFLFDWLRQV3,QVWDOODWLRQRIPRWRU
3'LPHQVLRQV30RXQWLQJEUDFNHW
When in Trouble
:KHQHYHU OLIWLQJ WKH SURGXFW GXULQJ WUDQVSRUWDWLRQLQVWDOODWLRQ RI + IUDPH VHUYR GULYHU WZR RU
more persons should hold it by metallic member, not by plastic member.
:HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\KRZHYHUDSSOLFDWLRQRIH[FHStionally large external noise disturbance and static electricity, or failure in input power, wiring and
components may result in unexpected action. It is highly recommended that you make a fail-safe
design and secure the safety in the operative range.
If stranded wires are used as the cable, bunch the conductors of the cable using a rod terminals or
a round terminals. If stranded wires are used as they are, unexpected accidents such as an electric
shock and short circuit or injury may result.
7KHUHPLJKWEHDFKDQFHRIVPRNHJHQHUDWLRQGXHWRWKHIDLOXUHRIWKHVHSURGXFWV3D\DQH[WUD
attention when you apply these products in a clean room environment.
%H VXUH WR LQVWDOO D QRIXVH EUHDNHU LQ WKH SRZHU VXSSO\ ,Q DGGLWLRQ EH VXUH WR JURXQG WKH
grounding terminal or grounding wire provided. (In order to prevent electric shock and malfuncWLRQV&ODVV'JURXQGLQJJURXQGLQJUHVLVWDQFHRIRUOHVVLVUHFRPPHQGHG
,IWKHSURGXFWLVJURXQGHGLQVXIFLHQWO\QRWRQO\WKHGULYHUPD\QRWGHOLYHULWVSHUIRUPDQFHVXIFLHQWO\EXWDOVRVDIHW\KD]DUGVVXFKDVDPDOIXQFWLRQGXHWRDHOHFWULFDWLRQRUDGLVWXUEDQFH
may be caused.
,IHOHFWULFZLUHVDUHERXQGDQGUXQWKURXJKPHWDOGXFWWKH\FDQQRWFDUU\WKHUDWHGFXUUHQWGXHWR
temperature rise. If they are forced to carry the rated current, they may burn. When determining
size of the wire.
'RQRWXVHRUVWRUHWKHSURGXFWLQDSODFHVXEMHFWWRPV2 or more vibration or shock, forHLJQPDWHULDOVVXFKDVGXVWPHWDOOLFSRZGHUDQGRLOPLVWOLTXLGVVXFKDVZDWHURLODQGJULQGLQJ
XLG FORVH WR DPPDEOH PDWHULDOV RU LQ DQ DWPRVSKHUH RI FRUURVLYH JDV +2S, SO2, NO2, Cl2,
HWFRULQDPPDEOHJDVXQGHUDQ\FLUFXPVWDQFH
Adjustment
Related page
5. Installation
Driver
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor running out of control or being damaged from overheating. In addition, pay attention not to allow conductive materials, such as wire chips, entering the driver during the installation and wiring.
6HFXUHWKHVFUHZVDQGHDUWKVFUHZRQWKHWHUPLQDOEORFNZLWKWKHWRUTXHVSHFLHGLQWKHVSHFLcation.
:KHQHVWDEOLVKLQJDV\VWHPXVLQJVDIHW\IXQFWLRQVFRPSOHWHO\XQGHUVWDQGWKHDSSOLFDEOHVDIHW\
standards and the operating instruction manual or technical documents for the product.
1HYHU PDNH DQ DSSURDFK WRWKH PRWRUDQG WKH PDFKLQHVGULYHQ E\ WKHPRWRU ZKLOH SRZHU LV
applied because they may become failure or malfunction.
'RQRWXVHVHUYRRQVLJQDO65921DVWKHVWDUWVWRSVLJQDO'RLQJVRPD\GDPDJHWKHEXLOWLQ
dynamic brake circuit in the driver.
3D\DWWHQWLRQWRWKHKHDWGLVVLSDWLRQ7KHGULYHUZLOOJHQHUDWHKHDWZKLOHWKHPRWRULVLQRSHUDtion. Using the driver in a sealed control box may cause an abnormal heating of the control
box. A proper consideration should be given to cool the driver so that the ambient temperature
PDWFKHVWKHVSHFLHGRSHUDWLQJWHPSHUDWXUHUDQJH
7KHUHLVDSRVVLELOLW\WKDWWKHPRWRUZLOOEHGDPDJHGE\KHDWRUHPLWVPRNHRUGXVWGXHWRDIDXOW
in the motor itself or the driver coupled with it. A proper consideration should be given if the motor is used in a clean room or similar environment.
7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDO
,I WKH G\QDPLF EUDNH LV DSSOLHG GXULQJ RSHUDWLRQ DW D KLJK VSHHG SURYLGH DSSUR[ PLQXWH
dwell period.
Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake inoperable.
7KHFDSDFLWDQFHRIFDSDFLWRULQWKHSRZHUVXSSO\UHFWLHUFLUFXLWGHFUHDVHVLWVFDSDFLWDQFHZLWK
age.
To prevent a secondary accident due to malfunction, it should be replaced with new one after
5-year use.
Replacement should be performed by us or our authorized distributor.
%HIRUHXVLQJWKHSURGXFWEHVXUHWRUHDGWKHLQVWUXFWLRQPDQXDO6DIHW\SDUW
Recommended Electric Wires for Driver

)RUWKHPDLQFLUFXLWXVHHOHFWULFZLUHWKDWZLWKVWDQGVDWOHDVW9$&ZLWKWHPSHUDWXUHUDWLQJRUKLJKHU
:KHQ XVLQJ EXQGOHG ZLUHV UXQQLQJ WKURXJK PHWDOOLF FRQGXLW WKH DPRXQWV RI FXUUHQW
determined according to the reduction rate must be subtracted from the nominal allowable current.
(OHFWULFZLUHV
<In high ambient temperature>
Use heat resistant wire.
Common polyvinyl chloride wires will deteriorate by heat at a higher rate.
<In low ambient temperature>
The surface of vinyl chloride insulation becomes hardened and brittle at low temperaWXUHDQGQHHGVVSHFLFSURWHFWLYHPHDVXUHZKHQXVHGLQFROGUHJLRQ
%HQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVQLVKRXWVLGHGLDPHWHU
&DEOHVFDQQRWEHXVHGIRUFRQWLQXRXVUHJHQHUDWLRQEHFDXVHWKH\DUHQRWGHVLJQHGIRU
such application.
Related page
1-30
3-XQFWLRQFDEOHIRUPRWRU
5. Installation
Relationship between Wire Diameter and Permissible Current

:KHQVHOHFWLQJDFDEOHUHIHUWRWKHIROORZLQJVHOHFWLRQJXLGHVKRZLQJUHODWLRQVKLSEHWZHHQFDEOHVSHFLFDWLRQDQGFXUUHQWFDUU\LQJFDSDFLW\
Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30C
49
61
88
115
139
162
217
298
395
<Supplement>
7KHFXUUHQWFRUUHFWLRQFRHIFLHQWLVGHWHUPLQHGXVLQJWKHIROORZLQJIRUPXOD
(Max. permissible temp. ambient temp.) 30
Caution
7KHFXUUHQWFRUUHFWLRQFRHIFLHQWLVGHWHUPLQHGDFFRUGLQJWRWKHFDEOH&KHFNWKHVSHFLFDWLRQRIWKHFDEOH
used.
7KH FXUUHQW UHGXFWLRQ FRHIILFLHQW LV SURYLGHG IRU WKH FDVH
&XUUHQWUHGXFWLRQFRHIILFLHQW
where the cable (4-conductor cable in the case of example),
No. of wires in a tube Coefficient
is housed in plastic race/sheath, plastic tube, metal race/
Up to 3
0.70
VKHDWKPHWDOWXEHRUH[LEOHFRQGXLW
4
0.63
Because the neutral conductor is not counted as a wire, the cur5 or 6
0.56
UHQWUHGXFWLRQFRHIFLHQWIRURUOHVVLVDSSOLHGDVLQGLFDWHGE\
7 to 15
0.49
( ) in the table right.
16 to 40
0.43
41 to 60
61 or more
5HFRPPHQGHGHFRFDEOH
0.39
0.34
Conductor
14
22
38
60
100
150
Caution
Note
Max.
Sheath
(Reference) conductor
thickness Finish O.D. resistance
(mm)
(mm)
(20C)
(W/km)
1.5
12.0
9.42
1.5
13.5
5.30
1.5
16.0
3.40
1.5
17.0
2.36
Outside
diameter
(mm)
7/0.6
7/0.8
7/1.0
7/1.2
1.8
2.4
3.0
3.6
0.8
0.8
1.0
1.0
Circular
compression
Circular
compression
Circular
compression
Circular
compression
Circular
compression
Circular
compression
Circular
compression
4.4
1.0
1.5
19.0
5.5
1.2
1.6
7.3
1.2
9.3
Test
voltage
(V/1 min.)
Minimum (Reference)
insulation
Approx.
resistance
mass
0:NP
(kg/km)
1500
1500
1500
1500
2500
2500
2500
2000
170
250
360
475
1.34
2000
1500
730
23
0.849
2000
1500
1100
1.8
28
0.491
2500
1500
1800
1.5
2.0
35
0.311
2500
1500
2790
12.0
2.0
2.4
44
0.187
2500
1500
4630
14.7
2.0
2.6
51
0.124
3000
1000
6710
17.0
2.5
2.9
60
0.0933
3000
1500
8990
6KLHOGZLOOLQFUHDVHQLVKRXWVLGHGLDPHWHUE\DSSUR[PP
$SSURSULDWHFDEOHVKRXOGEHVHOHFWHGWRKDYHVXIFLHQWDOORZDQFHIRUSDUDPHWHUVVXFKDVRSHUDWLQJDPELent temperature and current.
&XUUHQW UHGXFWLRQ FRHIILFLHQW IXQGDPHQWDO SHUPLVVLEOH FXUUHQW HWF VWDWHG RQ WKLV SDJH DUH VXEMHFW WR
change due to e.g. standard revision. Consult cable manufacturers for the latest information.
1-31
Supplement
200
Insulation
thickness
(mm)
Structure
or shape
(wires/mm2)
When in Trouble
Nominal
cross
section
(mm2)
2
3.5
5.5
8
5
Adjustment
Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath
(Standard: EM JIS C 3605) Maximum permissible temperature: 90C
Setup
Caution
3
Connection
5.5 to 8 (excl.)
8 to 14 (excl.)
14 to 22 (excl.)
11 to 30 (excl.)
30 to 38 (excl.)
38 to 68 (excl.)
60 to 100 (excl.)
100 to 150 (excl.)
150 to 200 (excl.)
Applicable permissible current

= IXQGDPHQWDOSHUPLVVLEOHFXUUHQW[FXUUHQWUHGXFWLRQFRHIFLHQW[FXUUHQW
FRUUHFWLRQFRHIFLHQW
= 37 x 0.7 x 1.414
.
=. 36.6 (A)
This permissible value is larger than 35 A to be carried though the
cable. Therefore, according to the list of recommended eco-cables,
the cable to be selected for the cable with nominal cross section 3.5
mm2 is a polyethylene-insulated heat-resistant 4-conductor power
FDEOHKDYLQJPPQLVK2'DSSUR[PPZLWKVKLHOG
2
Preparation
Determine the fundamental permissible current according to the

)XQGDPHQWDOSHUPLVVLEOH
cable conductor material (example: stranded copper wire). (For the
current
Copper
purpose of this example, the ampere indicated by
is selected from
Stranded conductor
wire
the table right.)
(nominal cross section: mm2)
(unit: A)
Next, determine the number of conductors. (In this example, the
2 to 3.5 (excl.)
27
cable contains 4 conductors (3 + ground).) Determine the applicable
3.5
to
5.5
(excl.)
37
permissible current using the following formula.
Driver
1Before Using
the Products
5. Installation
Motor
Install the motor properly to avoid a breakdown or an accident.
Installation Place
Since the conditions of location affect a lot to the motor life, select a place which
meets the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The products
are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH
DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQDPPDEOHJDV
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
Item
Ambient temperature*1
Ambient humidity
Storage temperature*2
Storage humidity
Vibration Motor only
Impact
Motor only
Enclosure Motor only
rating (Connector type)
Altitude
Conditions
&WR&IUHHIURPIUHH]LQJ
20% to 85% RH (free from condensation)
&WR&
(Max. temperature guarantee: 80C for 72 hours free from condensation*5)
20% to 85% RH (free from condensation*5)

Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Lower than 98m/s2 (10G)
IP67 (except rotating portion of output shaft and connecting pin
part of the motor connector and the encoder connector)*3*4
Lower than 1000m
*1 Ambient temperature to be measured at 5cm away from the motor.

*2 Permissible temperature for short duration such as transportation.
*3 7KHVHPRWRUVFRQIRUPWRWKHWHVWFRQGLWLRQVVSHFLHGLQ(1VWDQGDUGV(1(1'R
QRWXVHWKHVHPRWRUVLQDSSOLFDWLRQZKHUHZDWHUSURRISHUIRUPDQFHLVUHTXLUHGVXFKDVFRQWLQXRXV
wash-down operation.
*4 This condition is applied when the connector mounting screw in case of motor 750W or less are
WLJKWHQHG WR WKH UHFRPPHQGHG WLJKWHQLQJ WRUTXH 5HIHU WR 3 %H VXUH WR XVH PRXQWLQJ
screw supplied with the connector. Correctly install and secure the gasket supplied with the cable
connector.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
0RXQWWKHPRWRUZLWKFDEOHRXWOHWIDFLQJGRZQZDUGIRUZDWHURLOFRXQWHUPHDVXUH
2) Vertical mounting
8VH WKH PRWRU ZLWK RLO VHDO PDNHWRRUGHU LQ FDVH RI PRWRU : RU OHVV ZKHQ
mounting the motor with gear reducer to prevent the reducer oil/grease from entering
to the motor.
1-32
5. Installation
1
Motor
Oil/Water Protection
2
Motor
Preparation
1) Don't submerge the motor cable to water or oil.

2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is always subjectCable
ed to oil or water.
4) Use the motor with an oil seal when used with the
gear reducer, so that the oil may not enter to the
Oil / Water
motor through shaft.
Stress to Cables
Permissible Load to Output Shaft
5
Adjustment
)RUSHUPLVVLEOHORDGRIHDFKPRGHOUHIHUWR33HUPLVVLEOH/RDGDW2XWSXW6KDIW.
Setup
1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
VSHFLHGWRHDFKPRGHO
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life.)
8VHDH[LEOHFRXSOLQJZLWKKLJKVWLIIQHVVGHVLJQHGH[FOXVLYHO\IRUVHUYRDSSOLFDWLRQLQ
order to make a radial thrust caused by micro misalignment smaller than the permissible value.
Note
3
Connection
1) Avoid a stress application to the cable outlet and connecting portion by bending or selfweight.
(VSHFLDOO\LQDQDSSOLFDWLRQZKHUHWKHPRWRULWVHOIWUDYHOV[WKHMXQFWLRQFDEOHLQWRWKH
bearer so that the stress by bending can be minimized.
3) Take the cable bending radius as large as possible. (When you use our optional cable,
Minimum R20mm)
Notes on Installation
3-XQFWLRQFDEOHIRUPRWRU3,QVWDOODWLRQRIGULYHU
33HUPLVVLEOH/RDGDW2XWSXW6KDIW3'LPHQVLRQV
1-33
7
Supplement
Related page
6
When in Trouble
1) Do not apply direct impact to the shaft by hammer

while attaching/detaching a coupling to and from
the motor shaft.
Motor
(Or it may damage the encoder mounted on the
other side of the shaft.)
2) Make a full alignment. (incomplete alignment may
cause vibration and damage the bearing.)
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the
bearing depending on the condition of the machine and its mounting environment, and
PD\UHVXOWLQWKHEHDULQJQRLVH&KHFNDQGYHULFDWLRQE\FXVWRPHULVUHTXLUHG
5. Installation
Motor
Wiring Precautions on Movable Section

When wiring cable bear, take the following precautions:
&DEOHEHDUZLULQJ
7KHEHQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVQLVKRXWVLGHGLDPHWHU
)RUQLVKRXWVLGHGLDPHWHUUHIHUWR3+RZWR,QVWDOO5HODWLRQVKLSEHWZHHQ:LUH
'LDPHWHUDQG3HUPLVVLEOH&XUUHQWDQGDVVRFLDWHGWDEOHV
'RQRW[RUEXQGOHZLUHVLQWKHFDEOHEHDU
:KHQVHFXULQJWKHFDEOH[LWRQO\DWQRQPRYDEOHHQGVRIWKHFDEOHEHDUZKHUHWKH
cable is free from any stress (e.g. tension). (Avoid tight lock.)
[Recommended cable bear wiring]
Cable bear
Cable
Caution
Cable end
Do not keep the cable loosened (too long) or under tension (too short).
Otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other
cable, etc., causing unpredictable troubles.
&DEOHGLVWRUWLRQ
Keep the cable free from twists or kinks.
Distorted cable will cause loose connection, lowering performance and reliability.
/DPLQDWLRQIDFWRURIFDEOHLQFDEOHEHDU
3ODFHFDEOHVRQDDWVXUIDFHLQSDUDOOHOZLWKRXWEULQJLQJWKHPLQWRFRQWDFWZLWKHDFK
other and measure the dimension necessary to cover these cables. Then select a cable bear which is wider than the measured dimension.
The lamination factor of cables should be lower than 60% (recommended factor is 30%
or below).
Do not run smaller and larger size cables in the same cable bear. Thin cables may
break under the pressure of thick cables. If it is necessary to mix cables of different
size, isolate them by using suitable separating material such as partition.
[Wiring arrangement in cable bear example]
Cable
Thick cable
1-34
Partition
Thin cable
Cable
Partition
the Products

Motor
Radial load (P) direction

L
Thrust load (A and B) direction
1
1Before Using
A
M
Unit : N (1kgf=9.8N)
At assembly
Motor
series
MSME
During running
Thrust load
Radial thrust
A-direction B-direction
88
117.6
68.6
58.8
200W, 400W
392
147
196
245
98
750W
686
294
392
392
147
50W, 100W
147
88
117.6
68.6
58.8
200W, 400W
392
147
196
245
98
750W (200V)
686
294
392
392
147
750W (400V),
1.0kW, 1.5kW,
2.0kW, 3.0kW
980
588
686
490
196
784
343
490
196
784
343
588
686
1666
784
980
7.5kW
2058
980
1176
1176
490
11.0kW, 15.0kW
4508
1470
1764
2254
686
0.9kW
980
588
686
686
196
2.0kW
1666
784
980
1176
3.0kW
4.0kW
5.0kW
3.0kW
4.5kW
2058
980
1176
6.0kW
MHMD
MHME
1764
588
490
196
784
294
980
588
2.5kW, 4.0kW
1862
686
200W, 400W
392
147
196
245
98
750W
686
294
392
392
147
1.0kW, 1.5kW
980
588
686
490
196
2.0kW to 5.0kW
1666
784
980
784
343
7.5kW
2058
980
1176
1176
490
When the load point varies, calculate the permissible radial load, P (N) from the distance
RIWKHORDGSRLQW/PPIURPWKHPRXQWLQJDQJHEDVHGRQWKHIRUPXODRIWKHULJKWWDble, and make it smaller than the calculated result.
1-35
Supplement
Note
490
1.5kW
686
When in Trouble
MFME
1470
Adjustment
980
Setup
147
400W to 2.0kW
MGME
Thrust load A
and
B-direction
50W, 100W
4.0kW, 5.0kW
MDME
Radial thrust
Connection
MSMD
Motor output
Preparation
B
L/2

Motor
L
P
Motor
series
MSMD
MSME
MDME
1-36
Motor
output
Formula of Load
and load point
relation
Motor
series
Motor
output
Formula of Load
and load point
relation
50W
3533
L+39
0.9kW
33957
L+14.5
100W
4905
L+59
2.0kW
69384
L+19
200W
14945
P
L+46
3.0kW
86730
L+19
400W
19723
L+65.5
4.5kW
6.0kW
89964
L+20
750W
37044
L+77
1.5kW
25235
L+19
50W
3533
L+39
2.5kW
40376
L+19
100W
4905
L+59
4.0kW
42336
L+19
200W
14945
L+46
200W
14945
L+46
400W
19723
L+65.5
400W
19723
L+65.5
750W (200V)
37044
L+77
750W
37044
L77
750W (400V)
1.0kW to 3.0kW
20090
L+13.5
1.0kW
1.5kW
24255
L14.5
4.0kW
5.0kW
36848
L+14.5
2.0kW to 5.0kW
46256
L+19
400W
600W
20090
L13.5
7.5kW
89964
L+20
1.0kW to 2.0kW
20580
L14.5
3.0kW
36848
L+14.5
4.0kW
5.0kW
42336
L+19
7.5kW
89946
L+20
11.0kW
15.0kW
200606
L+31
MGME
MFME
MHMD
MHME
2. Preparation
1
1. Conformance to international standards

EC Directives .............................................................................................2-2
Composition of Peripheral Equipments ......................................................2-6
2. System Configuration and Wiring

Driver and List of Applicable Peripheral Equipments ...............................2-10
A to G-frame, 100/200 V type:
Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..................................2-12
E-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-16
F-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-20
G-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..2-24
H-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram...2-28
D, E-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..2-32
F-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-36
G-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..2-40
H-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram...2-44
Specifications of Motor connector ............................................................2-48
Wiring method to connector .....................................................................2-50
2
Preparation
3
Connection
3. Wiring to the connector, X1

Connecting host computer.............................................................................. 2-51

Connecting communication connector ........................................................... 2-51

Safety function connector.........................................................................2-53
Connection to Host Controller ..................................................................2-54

Connect on to External Scale...................................................................2-55
Setup

Connection to Encoder.............................................................................2-57

Monitor output ..........................................................................................2-60
10. Timing Chart

Timing on power-up .................................................................................2-61
Alarm ........................................................................................................2-62
Servo-Lock ...............................................................................................2-63
Servo-ON/OFF .........................................................................................2-64
5
Adjustment
11. Built-in Holding Brake

Outline ......................................................................................................2-65
Specifications ...........................................................................................2-66
12. Dynamic Brake

Outline ......................................................................................................2-67
Connections of external dynamic brake resistor (Example) ........................... 2-68
Condition setting chart .................................................................................... 2-70
13. Setup of Parameter and Mode
When in Trouble
Outline / Setup / Connection ....................................................................2-72

Composition and List of Parameters ........................................................2-73
List of Parameters ....................................................................................2-74
Setup of Torque Limit ...............................................................................2-82
14. Setup of command division and multiplication ratio

(electronic gear ratio)
Relation between Electronic Gear and Position Resolution or Traveling Speed ...2-84
15. How to Use the Front Panel
7
Supplement
Setup ........................................................................................................2-86
Structure of Each Mode ...........................................................................2-88
Setup of front panel lock ..........................................................................2-90
Monitor Mode (SELECTION display) .......................................................2-91
Monitor Mode (EXECUTION display).......................................................2-92
Parameter Setup Mode ..........................................................................2-106
EEPROM Writing Mode .........................................................................2-107
Auxiliary Function Mode (SELECTION display) .....................................2-108
Auxiliary Function Mode (EXECUTION display) ....................................2-109
2-1
Preparation
EC Directives
EC Directives
7KH(&'LUHFWLYHVDSSO\WRDOOVXFKHOHFWURQLFSURGXFWVDVWKRVHKDYLQJVSHFLFIXQFWLRQV
and have been exported to EU and directly sold to general consumers. Those products
DUHUHTXLUHGWRFRQIRUPWRWKH(8XQLHGVWDQGDUGVDQGWRIXUQLVKWKH&(PDUNLQJRQWKH
products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so
that the machine or equipment comprising our AC servos can meet EC Directives.
EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor and
the driver. And actual working condition often differs from this model condition especially
in wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to examine the machine incorporating our servos.
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1.
(e.g. Install in the control box with IP54 enclosure.)
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed
PDUNHGEHWZHHQWKHSRZHUVXSSO\DQGWKHQRLVHOWHU
Remarks
Note
8VHDFRSSHUFDEOHZLWKWHPSHUDWXUHUDWLQJRI&RUKLJKHU
For rated current of circuit breaker and fuse, refer to P.2-10 Driver and List of Applicable Peripheral Equipments.
(3) Over-load protection level

Over-load protective function will be activated when the effective current exceeds
115% or more than the rated current based on the time characteristics (see the next
SDJH&RQUPWKDWWKHHIIHFWLYHFXUUHQWRIWKHGULYHUGRHVQRWH[FHHGWKHUDWHGFXUrent. Set up the peak permissible current with Pr0.13 (Setup of 1st torque limit) and
Pr5.22 (Setup 2nd torque limit).
(4) Motor over-temperature protection is not provided.
0RWRURYHUORDGWHPSHUDWXUHSURWHFWLRQVKDOOEHSURYLGHGDWWKHQDOLQVWDOODWLRQXSRQ
required by the NEC (National Electric Code).
Note
2-2
For Overload protection time characterstics, refer to P.6-14.
SEMI F47
,QFOXGHVDIXQFWLRQLQFRPSOLDQFHZLWKWKH6(0,)VWDQGDUGIRUYROWDJHVDJLPPXQLW\
under no load or light load.
,GHDOIRUWKHVHPLFRQGXFWRUDQG/&'LQGXVWULHV
(1) Excluding the single-phase 100-V type.
(2) Please verify the actual compliance of your machine with the F47 standard for voltage sag immunity.
2
Preparation
Caution
EC Directives
Conformed Standards
Driver
EN55011
EN61000-6-2
EN61800-3
Low-Voltage
Directives
EN61800-5-1
Machinery
Directives
Functional
safety
EN60034-1
EN60034-5
EN954-1 (Cat. 3)
ISO13849-1 (PL c,d*2) (Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
Setup
(*1)
Connection
EC Directives
EMC
Directives
Motor
UL1004-1
to 750W (200V)
( E327868: from
)
6.0kW
UL Standards
UL508C (E164620)
UL1004
(
C22.2 No.14
C22.2 No.100
Adjustment
CSA Standards
E327868: 400W (400V)

600W (400V), 750W (400V)
0.9kW to 5.0kW
IEC : International Electrotechnical Commission

EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
6
When in Trouble
Pursuant to the directive 2004/108/EC, article 9(2)

Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWIXQFWLRQDOVDIHW\(*1) standards.
*2 PL d: Provided that EDM is used.
Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.
2-3
Supplement
Caution

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

Noise filter for signal lines *1
Residual
current device
(RCD)
Circuit
breaker
Surge
absorber
Noise filter
Driver
XA
L1
L2
L3
XB
U
V
W
L1C
L2C
X6
Noise filter for

signal lines
Insulated power supply

for interface
Noise filter for

signal lines *2
X4
Controller
Motor
M
RE
Noise filter for A to F-frame:

signal lines
Motor cable
X3
without shield
cable
Noise filter for
G, H-frame:
signal lines
Safety *3 Motor cable

with shield
controller
cable
Ground (PE)
*1 A to D-frame: Noise filter for signal lines, E to H-frame: Noise filter for signal lines <Power supply cable>
*2 A to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines <Motor cable>
*3 Only for position control type is not provided with X3 terminal.
400V
Power
supply
Metallic control box

Noise filter for signal lines *1
Residual
current device
(RCD)
Circuit
breaker
Surge
absorber
Noise filter
Driver
XA
L1
L2
L3
Insulated
DC24V
24V
0V
X6
Noise filter for

signal lines
Insulated power supply

for interface
XB
U
V
W
Noise filter for

signal lines *2
X4
Controller
Motor
M
RE
Noise filter for D to F-frame:

signal lines
Motor cable
X3
without shield
cable
Noise filter for
G, H-frame:
signal lines
Safety *3 Motor cable

with shield
controller
cable
Ground (PE)
*1 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines <Power supply cable>
*2 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines <Motor cable>
*3 Only for position control type is not provided with X3 terminal.
0DQGDWRU\UHTXLUHPHQWVWRFRQIRUPWR(0&GLUHFWLYH
Install the servo driver on the metallic casing (control board).
,QVWDOOQRLVHOWHUDQGOLJKWQLQJVXUJHDEVRUEHULQWKHSRZHUVXSSO\OLQH
Use braided shield cable (tin plated annealed copper wire) for I/O signal cable and
encoder cable.
3URYLGH WKH QRLVH OWHU DV VKRZQ LQ WKH JXUH IRU HDFK FDEOH ,2 OLQH DQG SRZHU
source line to be connected to the servo driver.
6KLHOGRIFDEOHVQRWVKRZQRQWKHJXUHVKRXOGEHGLUHFWO\JURXQGHGWKURXJK3(
Because these conditions for EMC directive are affected by status of connected devices, wiring, connection and location, compliance should be checked after completing
installation.
2-4
1
EC Directives
'HWDLOVRIFDEOHOHIWKDQGILJXUH
From
To
Cable function
Length
Remarks
Shield
1RLVHOWHU
for signal
lines
Breaker
1RLVHOWHU
Power line
2m
Single phase
or 3-phase
none
none
1RLVHOWHU
Servo driver
Power line
2m
none
with
Servo driver
Servo motor
Junction cable
for motor
20m
*1
with
Servo driver
Servo motor
Junction cable
for encoder
20m
with
with
Switch box
Servo driver
I/O cable
3m
with
with
Frame ground
1RLVHOWHU
FG line
1m
none
none
Frame ground
1RLVHOWHU
FG line
1m
none
none
AC power supply
Switch box
Power line
1m
none
none
2
Preparation
Symbol
3
Connection
*1 Frame A to F: none, Frame G and H: with.
5HIHUWR3IRUDOHIWKDQGILJXUHDQGWKHOLVWRIWKH3HULSKHUDO(TXLSPHQWVDIWHU
4
Setup
5
Adjustment
6
When in Trouble
the precautions.
2-5
Supplement
Caution
Preparation
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Power Supply
+10%
100V type :
Single phase, 100V
15%
(A to C-frame)
+10%
200V type :
Single/3-phase, 200V
15%
(A to D-frame)
+10%
200V type :
3-phase, 200V
15%
(E to H-frame)
+10%
400V type : Main power supply 3-phase, 380V
15%
(D to H-frame)
: Control power supply
DC 24V 15%
to
120V
+10%
15%
50/60Hz
to
240V
+10%
15%
50/60Hz
to
230V
+10%
15%
50/60Hz
to
480V
+10%
15%
50/60Hz
(1) This product is designed to be used in over-voltage category (installation category) III
of EN 61800-5-1:2007.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950.
Remarks
Use sheathed (jacketed) cable, twisted cable or closely bundled cable for power cable.
3RZHUFDEOHDQGVLJQDOZLUHVPXVWEHVXIFLHQWO\LVRODWHGIURPHDFKRWKHU
Twisted
Servo driver
Closely bundled cable
Servo driver
L1
L1C
L2
L2C
L3
United
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and PDUNHGEHWZHHQSRZHUVXSSO\DQGQRLVHOWHU
The short-circuit protection circuit on the product is not for protection of branch circuit.
The branch circuit should be protected in accordance with NEC and the applicable local
regulations in your area.
Note
2-6
For driver and applicable peripheral equipments, refer to P.2-10 "Driver and List of Applicable
Peripheral Equipments".
1
Noise Filter
Option part No.
9ROWDJHVSHFLFDWLRQV
for driver
Manufacturers
part No.
Applicable
driver (frame)
DV0P4170
Single phase 100V/200V
SUP-EK5-ER-6
A, B-frame
3-phase 200V
Manufacturer
A, B-frame

3-phase 200V
3SUP-HU10-ER-6
DV0P4220
Single/ 3-phase 200V
3SUP-HU30-ER-6
D-frame
DV0PM20043
3-phase 200V
3SUP-HU50-ER-6
E-frame
DV0P3410
3-phase 200V
3SUP-HL50-ER-6B
F-frame
C-frame
Okaya Electric Ind.
5HFRPPHQGHGFRPSRQHQWV
Model No.
Remarks
3-phase 200V
3-phase 400V
Applicable driver
(frame)
A, B, C-frame
D-frame
E, F-frame
G-frame
H-frame
D, E-frame
F-frame
Manufacturer
TDK-Lambda Corp.
Schaffner
G, H-frame
Isolate the input and output

AC input
Noise Filter
The effect of the noise filter is a little.

AC output
AC input
Noise Filter
5
E
Ground
Ground
AC output
When in Trouble
Do not place the input and output lines

in the same duct or do not tie both in a bundle.
Surge Absorber
9ROWDJHVSHFLFDWLRQV
for driver
Manufacturers
part No.
DV0P1450
3-phase 200V
RAV-781BXZ-4
DV0P4190
RAV-781BWZ-4
DV0PM20050
3-phase 400V
RAV-801BXZ-4
Manufacturer
Okaya Electric Ind.
Remarks
When performing withstand voltage test of machine and equipment, be sure to remove the
surge absorber; otherwise, it will be damaged.
Related page
3'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV32SWLRQ
2-7
Supplement
Option part No.
5
Adjustment
6HOHFWDQRLVHOWHUZKRVHFDSDFLW\LVFRPPHQVXUDWHZLWKWKHSRZHUVRXUFHFDSDFLW\LQ
consideration of the load condition).
)RUWKHGHWDLOHGVSHFLFDWLRQVRIHDFKQRLVHOWHUFRQWDFWWKHPDQXIDFWXUHU
:KHQWZRRUPRUHVHUYRGULYHUVDUHXVHGZLWKDVLQJOHQRLVHOWHUDWWKHFRPPRQSRZHUVRXUFHFRQVXOWZLWKWKHQRLVHOWHUPDQXIDFWXUHU
Do not run the input and output wiring on the same passage: noise resistance will drop. (Figure
at lower right)
Isolate the input and output line from each other. (Figure at lower left)
Setup
RTHN-5010
RTHN-5030
RTHN-5050
FS5559-60-34
FS5559-80-34
FN258L-16-07
FN258L-30-07
FN258-42-07
FN258-42-33
Rated
current
10
30
50
60
80
16
30
42
42
Connection
9ROWDJHVSHFLFDWLRQV
for driver
Preparation
DV0PM20042

Noise Filter for Signal Lines

Signal line, Encoder line, Control power line, Power line (A to D-frame: 100V/ 200V and
D to F-frame: 400V) and Motor line (A to F-frame).
Option part No.
Manufacturers
part No.
Manufacturer
DV0P1460
ZCAT3035-1330
TDK Corp.
Option part No.
Manufacturers
part No.
Applicable driver
(frame)
RJ8035
E-frame 200 V, F-frame 200 V
RJ8095
G, H-frame
T400-61D
G, H-frame
Power cable
Motor cable
Manufacturer
KK-CORP.CO.JP
MICROMETALS
<Attaching signal noise filter>

6LJQDOZLUH
Power wire
0RWRUOLQH
(QFRGHUOLQH
:LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHOWHU
If sheathed (jacketed): remove the sheath (jacket) to the length so that wires (L1, L2,
/FDQEHZRXQGRQWKHVLJQDOQRLVHOWHULQFOXGLQJSRZHUOLQHGHGLFDWHGOWHU)RU
effective noise reduction capability, L1, L2 and L3 should be wound together.
If not effective, increase the number of signal noise filters (including power line
GHGLFDWHGOWHUV6HHJXUHEHORZ
:KHQ LQVWDOOLQJ WKH VLJQDO QRLVH OWHU LQFOXGLQJ PRWRU OLQH GHGLFDWHG OWHU WR RXU
optional cable, remove the sheath (jacket) to the length so that wires can be wound
RQ WKH VLJQDO QRLVH OWHU LQFOXGLQJ SRZHU OLQH GHGLFDWHG OWHU )RU HIIHFWLYH QRLVH
reduction capability, U, V and W should be wound together.
If not effective, increase the number of signal noise filters (including power line
GHGLFDWHGOWHUV6HHJXUHEHORZ
:LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHOWHU
DV0P1460
Sheath (jacket)
Cover
Electric wire
* If not effective, increase

the number of turns.
FG line
Sheath (jacket)
Cover
Electric wire

the number of turns.
FG line
DV0P1460
Sheath (jacket)
Cover
Electric wire

the number of filters.
FG line
2-8
1
Residual current device

Install a type B Residual current device (RCD) at primary side of the power supply.
Grounding
Preparation
(1) To prevent electric shock, be sure to connect the ground terminal (

) of the driver,
and the ground terminal (PE) of the control panel.
(2) The ground terminal (
) must not be shared with other equipment. Two ground terminals are provided.
Structure of control board
3
Connection
If there is a gap at cable inlet/outlet, mounting hole of operation panel or a door, radio
waves will penetrate into or radiate out through the gap. To prevent unfavorable conditions due to radio frequency activities, observe the following control board design and
selection instruction.
The control board should be made of metal which provides electrical continuity.
The control board should not have electrically-isolated conductor.
All units installed in the casing should be grounded to the case.
Increasing noise resistance of control I/O signal

Setup
5
Adjustment
When noise is applied to the control input/output, it causes displacement and malfunctioning of I/O signal.
X1 to X7 are secondary side circuit which should be isolated from the primary power
source (24 VDC control power source, 24 VDC braking power source and 24 VDC for
regenerative resistor). Do not connect the secondary side circuit to the primary power
source and ground wire. Otherwise, I/O signal will cause error operation.
Control power source (particularly 24 VDC) should be completely isolated from external
operating power source. Never connect the ground of the control power source to that
of external power source.
The signal line should have shield, the both end of which should be connected to the
ground.
6
When in Trouble
7
For driver and applicable peripheral equipments, refer to P.2-10 Driver and List of Applicable
Peripheral Equipments.
Caution
the precautions.
2-9
Supplement
Note
2. 6\VWHP&RQJXUDWLRQDQG:LULQJ
'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
Preparation
Driver
Applicable
Voltage
motor
*1
Rated
output
MSME 3-phase,
200V
MHME
MDME
MFME
MDDH MSME
MSME
MDME
MHME
MGME 3-phase,
400V
MSME
MDME
MFME
MHME
MDME
MSME
3-phase,
MHME
200V
MEDH
0.9kW
1.0kW
1.5kW
1.0kW
approx.
0.5kVA
approx.
1.3kVA
approx.
1.8kVA
approx.
1.8kVA
approx.
2.3kVA
DV0P1450
DV0P4170
DV0P4190
DV0P4170
DV0P4190
DV0PM20042
DV0P1450
20A
(3P+1a)
0.75mm2/
AWG18
600 VAC
or more
15A
DV0P1460
DV0P4190
DV0P1450
DV0P4220
30A
(3P+1a)
20A
2.0kW
approx.
3.3kVA
MFME
2.5kW
MGME
2.0k
FN258L-16-07
20A
(3P+1a)
Recommended DV0PM20050
component
DV0P1460
RJ8035
30A
DV0PM20043
DV0P1450
Recommended
component
approx.
3.8kVA
approx.
3.8kVA
FN258L-16-07
Recommended
component
DV0PM20050
DV0P1460
4.5k
approx.
6.8kVA
5.0k
approx.
7.5kVA
2.0kW
approx.
3.8kVA
3.0kW
approx.
4.5kVA
4.0kW
approx.
6.0kVA
4.5k
approx.
6.8kVA
5.0kW
approx.
7.5kVA
0.75mm2/
AWG18
600 VAC
or more
30A
(3P+1a)
0.52mm2/
AWG20
100 VAC
or more
0.75mm2/
AWG18
100 VAC
or more
11mm or
smaller
DV0P1460
RJ8035
50A
DV0P3410
DV0P1450
Recommended
component
5.3
Terminal
block
M5
*5
100A
(3P+1a)
11mm or
smaller
0.75mm2/
AWG18
600 VAC
or more
5.3
Terminal
block
M5
3.5mm2/
AWG12
600 VAC
or more
3.5mm2/
AWG12
600 VAC
or more
7mm or
smaller
10mm or
smaller
30A
FN258L-30-07
Recommended
component
DV0PM20050
DV0P1460
2.0mm2/
AWG14
600 VAC
or more
0.52mm2/
AWG20
100 VAC
or more
60A
(3P+1a)
60A
(3P+1a)
approx.
4.5kVA
approx.
6.0kVA
2.0mm2/
AWG14
600V VAC
or more
*5
15A
Diameter
and
withstand
voltage of
brake cable
0.28mm2/
AWG22 to
0.75mm2/
AWG18
100VAC
or more
0.75mm2/
AWG18
600 VAC
or more
DV0P4190
Diameter
Crimp
Diameter
and
terminal
and
withstand for control
withstand
voltage
power
voltage of
of control
supply
motor cable
power
terminal
*4
supply cable
block
DV0P4190
DV0PM20042
DV0PM20042
10A
1.5kW
Crimp
terminal
for main
circuit
terminal
block
DV0P4190
approx.
1.8kVA
approx.
3.3kVA
MFME
3-phase
Rated
Diameter
operating
and
current of
withstand
magnetic
voltage of
contactor Contact
FRQJXUDWLRQ main circuit
cable
*2
approx.
2.3kVA
2.0kW
MGME
MSME
MDME
MHME
10A
Single phase
Noise
OWHUIRU
signal
approx.
1.8kVA
MSME
MDME
3-phase,
MHME
400V
MSME
MDME
MGME
MHME
MSME
3-phase,
MDME
400V
MHME
)(
approx.
0.9kVA
approx.
3.8kVA
MGME
3-phase
DV0P4170
approx.
0.9kVA
2.5kW
MGME
MDME
MHME
MSME
Single phase
DV0P4170
approx.
0.5kVA
MFME
MFME
approx.
0.4kVA
0.9kW
MDME
MHME
3.0k
MSME
MGME
MDME
3-phase,
4.0k
MHME
200V
MSME
MFDH
at the
rated
(rated
load) (current)
Surge
absorber
Connection to exclusive connector
MGME
Noise
OWHU
Circuit
breaker
Connection to exclusive connector
Single
50W to
MSME phase,
100W
100V
MADH MSMD
Single/
MHMD 3-phase, 50W to
200W
200V
Single
200W
MSME
100V
MBDH MSMD Single/
MHMD 3-phase, 400W
200V
Single
400W
MSME
100V
MCDH MSMD Single/
MHMD 3-phase, 750W
200V
MDME
1.0kW
MHME
5HTXLUHG
Power
60A
(3P+1a)
4.3
Terminal
block
M4
0.75mm2/
AWG18
100 VAC
or more
3.2
Terminal
block
M3
*1 Select peripheral equipments for single/3phase common specification according to the power source.
*2 For the external dynamic brake resistor, use the magnetic contactor with the same rating as that for the main circuit.
*3 When use the external regenerative resistor of the option (DV0PM20058, DV0PM20059), use the cable with the same diameter as the
main circuit cable.
*4 The diameter of the ground cable and the external dynamic brake resistor cable must be equal to, or larger than that of the motor cable.
The motor cable is a shield cable, which conforms to the EC Directives and UL Standards. (G, H-frame only)
*5 Use thses products to suit an international standard.
Related page
2-10
1RLVHOWHU36XUJHDEVRUEHU3
1RLVHOWHUIRUVLJQDO30RWRUEUDNHFRQQHFWRU3
Driver
Applicable
Voltage
motor
*1
Rated
output
5HTXLUHG
Power
6.0kW
approx.
9.0kVA
MHME
7.5kW
approx.
11kVA
MDME
7.5kW
approx.
11kVA
6.0kW
approx.
9.0kVA
7.5kW
approx.
11kVA
11kW
approx.
17kVA
3-phase,
200V
MGDH
MGME
3-phase,
400V
MHME
3-phase,
200V
15kW
MHDH MDME
11kW
approx.
22kVA
60A
30A
FS5559-60-34
Recommended
component
FN258-42-07
or
FN258-42-33 DV0PM20050
50A
60A
5.3mm2/
AWG10
600 VAC
or more
DV0P1460
RJ8095
60A
3P+1a
Recommended
component
Diameter
Crimp
Diameter
and
terminal
and
withstand for control
withstand
voltage
power
voltage of
of control
supply
motor cable
power
terminal
*4
supply cable
block
0.75mm2/
AWG18
600 VAC
or more
5.3
Terminal
block
M5
0.75mm /
AWG18
100 VAC
or more
10mm or
smaller
5.3
2
DV0P1450
(Recommended
component )
*5
FN258-42-07
or
FN258-42-33 DV0PM20050
(Recommended
component )
150A
3P+1a
100A
3P+1a
16mm or
smaller
13.3mm2/
AWG6
600 VAC
or more
*3
0.75mm2/
AWG18
600 VAC
or more
6.4
Terminal
block
M6
Terminal
block
M5
10mm or
smaller
4.3
0.75mm2/
AWG18
100 VAC
or more
Diameter
and
withstand
voltage of
brake cable
13.3 mm2/
AWG6
600 VAC
or more
Terminal
block
M4
21.1 mm2/
AWG4
600 VAC
or more
0.75mm2/
AWG18
100 VAC
or more
13.3 mm2/
AWG6
600 VAC
or more
Connection
approx.
22kVA
11mm or
smaller
T400-61D
FS5559-80-34
approx.
17kVA
Crimp
terminal
for main
circuit
terminal
block
(Recommended
component )
100A
125A
Rated
Diameter
operating
and
current of
withstand
magnetic
voltage of
contactor Contact
FRQJXUDWLRQ main circuit
cable
*2
100A
3P+1a
DV0P1450
(Recommended
component )
3-phase,
400V
15kW
Surge
absorber
Noise
OWHUIRU
signal
Preparation
approx.
11kVA
MGME
Noise
OWHU
at the
rated
(rated
load) (current)
7.5kW
MDME
Circuit
breaker
'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
21.1 mm2/
AWG4
600 VAC
or more
$ERXWFLUFXLWEUHDNHUDQGPDJQHWLFFRQWDFWRU
7R FRPSO\ WR (& 'LUHFWLYHV LQVWDOO D FLUFXLW EUHDNHU EHWZHHQ WKH SRZHU DQG WKH QRLVH OWHU
without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed
and
marked).
Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, below the maximum input voltage of the product.
6HOHFWDFLUFXLWEUHDNHUDQGQRLVHOWHUZKLFKPDWFKWRWKHFDSDFLW\RISRZHU
supply (including a load condition).
Setup
Remarks
Terminal block and protective ground terminals

8VHDFRSSHUFRQGXFWRUFDEOHVZLWKWHPSHUDWXUHUDWLQJRI&RUKLJKHU
8VHWKHDWWDFKHGH[FOXVLYHFRQQHFWRUIRU$WR(IUDPHDQGPDLQWDLQWKHSHHOHGRIIOHQJWKRIWR
9mm. (Refer to P.2-50)
)DVWHQLQJWRUTXHOLVW7HUPLQDOEORFNVFUHZ7HUPLQDOFRYHUIDVWHQLQJVFUHZ
Terminal name
F200V
L1, L2, , L1C, L2C, B1, B2, B3, NC, U, V, W

24V0V
L1, L2, , B1, B2, B3, NC, U, V, W
L1C, L2C, 24V, 0V, DB1, DB2, DB3, DB4, NC
L1, L2, , B1, B2, NC, U, V, W
L1C, L2C, 24V, 0V, DB1, DB2
L1, L2, , B1, B2, NC, U, V, W
F400V
G
H
)DVWHQLQJWRUTXHOLVW*URXQGWHUPLQDOVFUHZ&RQQHFWRUWRKRVWFRQWUROOHU;
Connector to host
controller (X4)
Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH
size
1P *1
size
1P *1
M4
0.7 to 0.8
M5
1.4 to 1.6
M2.6
0.3 to 0.35
M6
2.4 to 2.6
Terminal block screw
Driver frame
A to E
F, G
H
*1 Applying fastening torque larger than the maximum value may result in damage to the product.
Remarks
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor
running out of control or being damaged from overheating. In addition, pay attention not to allow
conductive materials, such as wire chips, entering the driver during the installation and wiring.
2-11
7
Supplement
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'R QRW WXUQ RQ SRZHU ZLWKRXW WLJKWHQLQJ DOO WHUPLQDO EORFN VFUHZV SURSHUO\ RWKHUZLVH
ORRVHFRQWDFWVPD\JHQHUDWHKHDWVPRNLQJULQJ
7RFKHFNIRUORRVHQHVVFRQGXFWSHULRGLFLQVSHFWLRQRIIDVWHQLQJWRUTXHRQFHD\HDU
6
When in Trouble
Frame
Terminal cover fastening

screw
Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH
size
1P *1
size
1P *1
M5
1.0 to 1.7
M3
0.4 to 0.6
M3
0.19 to 0.21
M4
0.7 to 1.0
M5
1.0 to 1.7
M5
2.0 to 2.4
M3
0.3 to 0.5
M4
0.7 to 1.0
M5
2.0 to 2.5
M6
2.2 to 2.5
Terminal block screw
Adjustment
Driver
Preparation
Overall Wiring (A to D-frame, 100/200 V type)
Connecting Example of A to D-frame

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Wiring to Connector, XA
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WKHFDSDFLW\RIWKHSRZHUVXSSO\
P.2-14
/3LQ
/3LQ
Noise Filter (NF)

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OLQHV$QGUHGXFHVDQHIIHFWRIWKHQRLVH
JHQHUDWHGE\WKHVHUYRGULYHU
/3LQ
/&3LQ
/&3LQ
0DJQHWLF&RQWDFWRU0&
7XUQVRQRIIWKHPDLQSRZHURIWKHVHUYR
GULYHU
8VHFRLOVXUJHVXSSUHVVLRQXQLWVWRJHWKHU
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Never start nor stop the servo motor
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Reactor (L)WREHVXSSOLHGE\FXVWRPHU
5HGXFHVKDUPRQLFFXUUHQWRIWKHPDLQ
SRZHU
:LULQJWR&RQQHFWRU;%
:LULQJRI0RWRU&RQQHFWRU;%
3LQ%SLQ%SLQDQG
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DQG'IUDPH
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FRQQHFWWKHH[WHUQDOUHJHQHUDWLYH
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Note
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HTXLSSHGLQ)UDPH$DQG%W\SH
Note
Related page
2-12
P.2-14
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Regenerative resistor (optional)
Remarks
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
install an external protective apparatus, such
as thermal fuse without fail.
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
UHJHQHUDWLYHUHVLVWRU2SWLRQIf the thermal
fuse is activated, it will not resume.
0RXQWWKHUHJHQHUDWLYHUHVLVWRUon
incombustible material such as metal.
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application. The wiring indicated with the broken line shall be provided only when required.
32SWLRQV
: High voltage
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Wiring to Connector, X7
0RQLWRURXWSXW
3
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P.2-54
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P.2-57
Remarks
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WHUPLQDOVWRWKHSULPDU\SRZHU
VXSSO\SDUWLFXODUO\9'&SRZHU
VXSSO\IRUEUDNHLQVXODWLRQLV
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Supplement
Related page
6
When in Trouble
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Adjustment
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Setup
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Note
3
Connection
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Preparation
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Overall Wiring (A to D-frame, 100/200 V type)
3Wiring of the Main Circuit (A to G-frame, 100/200 V type)36SHFLFDWLRQVRI0RWRUFRQQHFWRU
URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2-13
Wiring of the Main Circuit (A to D-frame, 100/200 V type)
Preparation
A to D-frame, 100 V / 200 V type

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There is a risk of electric shock.
Tips on Wiring
1) Wire connector (XA and XB).
2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks.
Power
supply
5&'
MCCB
NF
MC
5
4
3
2
1
L1
L2
/
L1C
L2C
XA
([WHUQDOUHJHQHUDWLYH
resistor
6
5
4
3
2
1
DC
24V
DC power supply
IRUEUDNH
5HG
:KLWH
Varistor
Fuse (125 V 10 A)
Note
Related page
2-14
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U
V
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Avoid shorting and grounding. Don't connect the
main power.
Earth-ground this.
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*URXQGUHVLVWDQFHPD[
)RUDSSOLFDEOHZLUHUHIHUWR3 Don't connect the earth cable to other inserting slot,
nor make them touch.
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Motor
B1
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3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDO
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DQGLVHTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
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0DNHVXUHWRSURYLGHDQRLVHILOWHU
3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
Contactor.
3URYLGHDQ$&5HDFWRU
Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
XB
&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
7KHKROGLQJEUDNHKDVQRSRODULWLHV
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XVHWKHEUDNHUHIHUWR6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
%UDNHRQ3
3URYLGHDYDULVWRU
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The wiring indicated with the broken line shall be provided only when required.
36SHFLFDWLRQVRI0RWRUFRQQHFWRU3:LULQJPHWKRGWRFRQQHFWRU
3&RQQHFWRUNLWIRU;$3&RQQHFWRUNLWIRU;%
Preparation
Wiring Diagram (A to D-frame, 100/200 V type)
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, A to D-frame, 100 V / 200 V type

Power supply Single phase, 100V 15% to 120V +10%
Single phase, 200V 15% to 240V +10%
Remarks
ON
OFF
ALM
MC
Coil surge suppression units

L
Noise filter
MCCB
L1
L2
L3
L1C
L2C
MC
Remove the short wire when you connect

the external regenerative resistor.
(C, D-Frame)
Red
White
* These colors
Black
are used for
Green or Green/Yellow
optional cable.
Motor
Main power
supply
Control power
supply
XB
Connection
B1
B3
B2
U
V
W
External regenerative resistor
XA
Motor
connection
ALM
37
36
X4
ALM+
Setup
Insulated +
DC12 to 24V
(5%)
2
Preparation
When you use single phase,

connect the main power
between L1 and L3 terminals.
Built-in thermostat of
an external regenerative
resistor (light yellow)
1
$/0
In Case of 3-Phase, A to D-frame, 200 V type

Power supply 3-phase, 200V 15% to 240V +10%
ON
OFF
ALM
MC
Noise filter
MCCB
MC

Red
White
* These colors
Black
are used for
Green or Green/Yellow
optional cable.
Motor
Note
Related page
Control power
supply
XB
Motor
connection
ALM
37
36
X4
ALM+
Supplement
Insulated +
DC12 to 24V
(5%)
B1
B3
B2
U
V
W
XA
Main power
supply
When in Trouble

(C, D-Frame)
L1
L2
L3
L1C
L2C
Adjustment
$/0
2-15
Preparation
Overall Wiring (E-frame, 200 V type)
Connecting Example of E-frame

IURPWKHSRZHUVRXUFH
6\PPHWULFFXUUHQWVKRXOGEH$UPVRUEHORZ
,IWKHVKRUWFLUFXLWFXUUHQWRQWKHSRZHUVRXUFHH[FHHGV
WKLVYDOXHXVHDFXUUHQWOLPLWLQJGHYLFHHJFXUUHQWOLPLWLQJIXVHFXUUHQWOLPLWLQJFLUFXLWEUHDNHURU
WUDQVIRUPHU
0DLQV
Residual
FXUUHQWGHYLFH
&LUFXLW%UHDNHU0&&%
7RSURWHFWSRZHUVXSSO\OLQHIURPRYHUORDGLQJLQVWDOODZLULQJFLUFXLWEUHDNHUUDWHGWR
WKHFDSDFLW\RIWKHSRZHUVXSSO\
:LULQJWR&RQQHFWRU;$
3
/3LQ
Noise Filter (NF)

5HPRYHVH[WHUQDOQRLVHIURPWKHSRZHU
OLQHV$QGUHGXFHVDQHIIHFWRIWKHQRLVH
JHQHUDWHGE\WKHVHUYRGULYHU
L2 (Pin-4)
0DJQHWLF&RQWDFWRU0&
7XUQVRQRIIWKHPDLQSRZHURIWKHVHUYR
GULYHU
8VHFRLOVXUJHsuppression unitsWRJHWKHU
ZLWKWKLV
Never start nor stop the servo motor
L2C (Pin-1)
L3 (Pin-3)
L1C (Pin-2)
Reactor (L) (to be supplied by customer)

5HGXFHVKDUPRQLFFXUUHQWRIWKHPDLQ
SRZHU
:LULQJRI0RWRU&RQQHFWRU;&
3LQ%SLQ%SLQDQG
%SLQ
normal operation.
UHJHQHUDWLYHUHVLVWRUGLVFRQQHFWD
VKRUWFLUFXLWZLUHEHWZHHQ%DQG
%WKHQFRQQHFWWKHH[WHUQDO
UHJHQHUDWLYHUHVLVWRUEHWZHHQ%
DQG%VHWXS3UWRRU
Note
Related page
2-16
:LULQJWR&RQQHFWRU;&
3
B1 (Pin-6)
B2 (Pin-4)
Regenerative resistor (optional)
5HPDUNV
install an external protective apparatus, such
as thermal fuse without fail.
UHJHQHUDWLYHUHVLVWRU2SWLRQIf the thermal
fuse is activated, it will not resume.
0RXQWWKHUHJHQHUDWLYHUHVLVWRUon
incombustible material such as metal.
32SWLRQV
+LJKYROWDJH
Overall Wiring (E-frame, 200 V type)
PC (to be supplied
by customer)
:LULQJWR&RQQHFWRU;
0RQLWRURXWSXW
3
3OHDVHGRZQORDGIURPRXUZHEVLWH
6KRUWFLUFXLWZLUH%%
:LULQJWR&RQQHFWRU;
7KHVHFRORUVDUHXVHG
IRURSWLRQDOFDEOH
3
3
&RQQHFWLRQWRfeedback scale
&KDUJHODPS
5HG/('*1
Ground
terminal
Junction cable
for encoder
3
Brake cable
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VHFRQGDU\FLUFXLW7R
FRQQHFWWKHVHWHUPLQDOVWR
WKHSULPDU\SRZHUVXSSO\
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SRZHUVXSSO\IRUEUDNH
LQVXODWLRQLVUHTXLUHG
'RQRWFRQQHFWWKHVH
WHUPLQDOVWRWKHVDPH
SRZHUVXSSO\
DC Power supply
for brake DC24V
(to be supplied by customer)
Related page
Supplement
'RQRWPDNHGLVSODFHPHQWZLULQJRULQVSHFWLRQZKLOHWKH/('LVOLWFDXVHRIHOHFWULFVKRFN
Note
6
When in Trouble

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phase and ground
3
Adjustment
Ground
HDUWK
:LULQJWR&RQQHFWRU;
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:LULQJWR&RQQHFWRU;%
&RQQHFWLRQWRPRWRU
8SKDVHUHG
9SKDVHZKLWH
:SKDVHEODFN
3
Connection
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RUKRVWFRQWUROOHU
Preparation
+DQGOHOHYHU
8VHWKLVIRUFRQQHFWRU
FRQQHFWLRQ6WRUHWKLV
after connection for
RWKHURFFDVLRQV
5HIHUWR3for
FRQQHFWLRQ
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2-17
Wiring of the Main Circuit (E-frame, 200 V type)
Preparation
E-frame, 200 V type
1HYHUWRXFKWKHSRZHUFRQQHFWRU;$;%DQG;&WRZKLFKKLJKYROWDJHLVDSSOLHG
There is a risk of electric shock.
Tips on Wiring
1) Wire connector (XA, XB and XC).
3RZHU
VXSSO\
5&'
0&&%
1)
MC
5
4
3
2
1
L1
L2
/
L1C
L2C
XA
4
3
2
1
resistor
%
%
%
1&
XC
5HG
:KLWH
%ODFN
*UHHQ
Motor
3
2
1
U
V
W
;%
7KHVHFRORUV
DUHXVHGIRU
RSWLRQDOFDEOH
*URXQGUHVLVWDQFHPD[
)RUDSSOLFDEOHZLUHUHIHUWR3
DC
24V
Varistor
Fuse (125 V 10 A)
Note
Related page
2-18
'&SRZHUVXSSO\
IRUEUDNH
VSHFLILFDWLRQV
3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
Contactor.
3URYLGHDQ$&5HDFWRU
Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
'RQ
WGLVFRQQHFWWKHVKRUWLQJFDEOHEHWZHHQ%DQG%
'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDOUHJHQHUDWLYH
UHJLVWHULVXVHG
'RQRWFRQQHFWDQ\WKLQJWR1&
main power.
Earth-ground this.
HTXLSPHQW
Don't connect the earth cable to other inserting slot,
VWRSVLJQDO
%UDNHRQ3
3URYLGHDYDULVWRU
3&RQQHFWRUNLWIRU;$3&RQQHFWRUNLWIRU;%;&
Preparation
Wiring Diagram (E-frame, 200 V type)
In Case of 3-Phase, E-frame, 200 V type
OFF
ALM
MC
Built-in thermostat of an external

regenerative resistor (light yellow)
Preparation
ON
Noise filter

MCCB
MC
Red
White
* These colors
Black
are used for
Green
optional cable.
Control power
supply
XC
XB
Motor
connection
ALM
37
36
X4
ALM+
Setup
Insulated +
DC12 to 24V
(5%)
U
V
W
XA
Main power
supply
Connection

Motor
L1
L2
L3
L1C
L2C
B1
B3
B2
NC
1
$/0
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
2-19
Preparation
Overall Wiring (F-frame, 200 V type)
Connecting Example of F-frame

from the power source.
0DLQV
Residual
current device
Symmetric current should be 5000 Arms or below.

If the short-circuit current on the power source
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit
breaker or transformer).
&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU0&&%
To protect power supply line from overloading, install a wiring circuit breaker rated to
the capacity of the power supply.
P.2-22
L1
L2
L3
L1C
1RLVH)LOWHU1)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
L2C
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU
5HDFWRU/ (to be supplied by customer)
Reduces harmonic current of the main
power.
3LQ%%DQG%
%DQG%WREHNHSWVKRUWHG
IRUQRUPDORSHUDWLRQ
regenerative resistor, disconnect a
short bar between B2 and B3,
then connect the external regenerative resistor between B1 and
B2, set up Pr0.16 to 1 or 2.
3LQ1&
'RQRWFRQQHFWDQ\WKLQJ
Note
Related page
2-20
&RQQHFWLRQWRH[WHUQDO
FRPSRQHQWV
P.2-22
B1
B2
5HJHQHUDWLYHUHVLVWRURSWLRQDO
5HPDUNV
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
DVWKHUPDOIXVHZLWKRXWIDLO
regenerative resistor (Option). ,IWKHWKHUPDO
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO
32SWLRQV
: High voltage
:LULQJWR&RQQHFWRU;
0RQLWRURXWSXW
P.2-60
PC (to be supplied by customer)

Setup support software
3$1$7(50
Please download
from our web site.
:LULQJWR&RQQHFWRU;
P.2-51
&RQQHFWLRQWR5656
or host controller
:LULQJWR&RQQHFWRU;
3
P.2-53
:LULQJWR&RQQHFWRU;
P.2-54
:LULQJWR&RQQHFWRU;
&RQQHFWLRQWRencoder
* These colors are

used for optional
cable.
P.2-57
5HPDUNV
Ground
terminal
Charge lamp
(Red LED)*1
P.2-22
Junction cable
for encoder
DC Power supply for brake

DC24V
Supplement
Related page
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Note
When in Trouble

SKDVHDQGJURXQG
;WR;DUHXVHGIRUWKHVHFRQGDU\
circuit. To connect these terminals to
the primary power supply (particularly,
24 VDC power supply for brake),
insulation is required.
Do not connect these terminals to the
same power supply.
Adjustment
Junction cable
for brake
Ground
(earth)
4
Setup
U-phase(red)
V-phase(white)
W-phase(black)
Connection
Short circuit wire

(B2-B3)
Preparation
3Wiring of the Main Circuit)IUDPH9W\SH36SHFLFDWLRQVRI0RWRUFRQQHFWRU
2-21
Wiring of the Main Circuit (F-frame, 200 V type)
Preparation
F-frame, 200 V type
Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
7DNHRIIWKHFRYHU[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral Equipments" (P.2-10).
Tighten the terminal block screw with a torque between 1.0 and 1.7 N P
$WWDFKWKHWHUPLQDOFRYHUDQG[ZLWKVFUHZV
Tighten the screw securing the cover with a torque written on P.2-11.
L1
3RZHU
VXSSO\
5&'
MCCB
1)
MC
L2
L3
L1C
L2C
B1
UHVLVWRU
B3
B2
NC
5HG
:KLWH
%ODFN
*UHHQ
Motor
7KHVHFRORUV
DUHXVHGIRU
RSWLRQDOFDEOH
*URXQGUHVLVWDQFHPD[
DC
24V
'&SRZHU
VXSSO\
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2-22
&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHUVSHFLILFDWLRQV
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
start/stop the motor with this Magnetic Contactor.
3URYLGHDQ$&5HDFWRU
'RQ
WGLVFRQQHFWWKHVKRUWEDUEHWZHHQ%DQG%
'LVFRQQHFWWKLVRQO\ZKHQDQH[WHUQDOUHJHQHUDWLYHUHJLVWHU
LVXVHG
Avoid shorting and grounding.
Don't connect the main power.
Earth-ground this.
WHUPLQDORIWKHGULYHUDQGWKHJURXQGWHUPLQDOJURXQG
SODWHRIWKHFRQWUROSDQHO
HTXLSPHQW
&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKHEUDNH
FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
%UDNHRQ3
3URYLGHDYDULVWRU
36SHFLFDWLRQVRI0RWRUFRQQHFWRU
Preparation
Wiring Diagram (F-frame, 200 V type)
In Case of 3-Phase, F-frame, 200 V type
OFF
ALM
MC
Preparation
ON
Noise filter
MCCB
MC
(Remove the short wire when you connect

the external regenerative resistor.)
Red
White
* These colors
Black
are used for
optional cable.
Green
Motor
L1
L2
L3
L1C
L2C
B1
B3
B2
NC
U
V
W
Main power
supply
Control power
supply
Motor
connection
4
ALM
37
36
X4
ALM+
Setup
Insulated +
DC12 to 24V
(5%)
Terminal block
Connection
1
$/0
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
2-23
Preparation
Overall Wiring (G-frame, 200 V type)
Connecting Example of G-frame

0DLQV
Residual
current device

&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU0&&%
To protect power supply line from overloading,
install a wiring circuit breaker rated to the capacity
of the power supply.
L1C
1RLVH)LOWHU1)
Removes external noise from the power lines. And
reduces an effect of the noise generated by the
servo driver.
L2
P.2-26
L2C
L1
L3
0DJQHWLF&RQWDFWRU0&
Turns on/off the main power of the servo driver.
Use coil surge suppression units together with this.
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV
0DJQHWLF&RQWDFWRU
Reduces harmonic current of the main power.
&RQQHFWLRQWRH[WHUQDOFRPSRQHQWVP.2-26
B1
B2
5HJHQHUDWLYHUHVLVWRU(optional)
5HPDUNV
DVWKHUPDOIXVHZLWKRXWIDLO.
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO.
1RWH
The wiring indicated with the broken line shall be
provided only when required.
Note
Related page
2-24
3LQ%DQG%
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative resistor
between B1 and B2, set up Pr0.16 to 1 or 2.
3LQ'%'%'%DQG'%
1RUPDOO\OHDYH'%DQG'%VKRUWFLUFXLWHG
To connect the external dynamic brake resistor,
UHIHUWR'\QDPLF%UDNHRQ3'RQRWXVH
WKHH[WHUQDOG\QDPLFEUDNHUHVLVWRUWRJHWKHU
ZLWKWKHEXLOWLQUHVLVWRU
3LQ1&
32SWLRQV
: High voltage
PC (to be supplied
by customer)
2
P.2-60
Please download from our web site.
:LULQJWR&RQQHFWRU;
Preparation
:LULQJWR&RQQHFWRU;
0RQLWRURXWSXW
P.2-51
L1
L2

L3
3
Connection
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B1
B2
NC
U-phase
V-phase
:-phase
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&RQQHFWLRQWRencoder
P.
Junction cable for encoder
Short bar (DB3-DB4)

Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause
of electric shock.
Ground
(earth)
0RWRUFDEOH6KLHOGZLUH
SKDVHDQGJURXQG
5HPDUNV
24 VDC power supply for brake),
same power supply.
DC Power supply
for brake DC24V
(to be supplied
by customer)
7
Supplement
Related page
6
When in Trouble
Brake cable
P.2-26
Adjustment
Ground
terminal
Setup
Note
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHG
3Wiring of the Main Circuit*IUDPH9W\SH36SHFLFDWLRQVRI0RWRUFRQQHFWRU
2-25
Wiring of the Main Circuit (G-frame, 200 V type)
Preparation
G-frame, 200 V type
Tips on Wiring
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal
block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral
Equipments" (P.2-11).
Tighten the terminal block screw with a torque between 2.0 and 2.4 1 m (left side) and
1.0 and 1.7 1 m (right side).
Tighten the screw securing the cover with the torque written on P.2-11.
NC
L1C
L2C
3RZHU 5&' MCCB
VXSSO\
1)
MC
U
V
W
E
L1
NC
L2
NC
L3
DB1
B1
DB2
B2
NC
NC
NC
DB3
DB4
NC
/HIW
VLGH
5LJKW
VLGH
Motor
*URXQGUHVLVWDQFHPD[
DC
24V
'&SRZHU
VXSSO\
IRUEUDNH
Varistor
)XVH9$
Note
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2-26
VSHFLILFDWLRQV
3URYLGHDQ$&5HDFWRUWREHVXSSOLHGE\FXVWRPHU
7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH9$&
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IURP'%DQG'%UHPRYHWKHEDURQO\ZKHQWKHH[WHUQDO
G\QDPLFEUDNHUHVLVWRULVXVHG
Earth-ground this.
HTXLSPHQW
%UDNHRQ3
3URYLGHDYDULVWRU
* Do not connect anything to NC.
Wiring Diagram (G-frame, 200 V type)
Preparation
In Case of 3-Phase, G-frame, 200 V type
ALM
OFF
MC1

Preparation
ON

L
Noise filter
MCCB
Power supply
(3-phase)
1
MC1
External
Main power
supply
Control power
supply
Connection
Note 1)
L1
L2
L3
L1C
L2C
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
Motor
connection
4
Motor
37
36
ALM
Setup
Insulated +
DC12 to 24V
(5%)
ALM
ALM
Note 1)
Normally, do not disconnect the shorting bar.
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
2-27
Preparation
Overall Wiring (H-frame, 200 V type)
Connecting Example of H-frame

$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHplate from the power source.
Mains
Residual
current device

:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU0&&%
Charge lamp (LED)

Do not make displacement,
wiring or inspection while
the LED is lit - cause of
electric shock.
1RLVH)LOWHU1)
servo driver.
0DJQHWLF&RQWDFWRU0&
0DJQHWLF&RQWDFWRU
L2C

9'&
SRZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU
to be supplied by
customer
L1 L2 L3
FRPSRQHQWV
Related page
2-28
P.2-30
P.2-30
B2
5HJHQHUDWLYHUHVLVWRU
(optional)
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH
resistor, LQVWDOODQH[WHUQDOSURWHFWLYH
DSSDUDWXVVXFKDVWKHUPDOIXVHZLWKRXW
IDLO.
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO.
)RUZLULQJRIWKHFLUFXLWUHIHUWR:LULQJ
Diagram on P.2-31.
Note
&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\
B1
* Use a power
supply with
5 A or larger
capacity.
5HPDUNV
L1C
0DJQHWLF&RQWDFWRU0&
'\QDPLF%UDNH
UHVLVWRU
be supplied by
(tocustomer
)
Turns on/off the dynamic brake

resistor.
Use coil surge suppression units
together with this.
5HPDUNV
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRULQVWDOODQ
H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH
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Dynamic Brake on P.2-67.
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PC(to be supplied by customer)

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Preparation
:LULQJWR&RQQHFWRU;
P.2-51
&RQQHFWLRQWR5656
or host controller
L1C
L2
L3
B1
DB1
DB2
B2
NC
Junction cable
for encoder
Ground terminal
Motor cable (Shield wire)

SKDVHDQGJURXQG
3LQ%DQG%
P.2-30
resistor, connect the external regenerative
resistor between B1 and B2, set up Pr0.16
to 1 or 2.
3LQ'%DQG'%
:KHQLQVWDOOLQJDQH[WHUQDOG\QDPLFEUDNH
resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to
between LIC and DB1.
5HPDUNV
DC Power supply
for brake DC24V
(to be supplied
by customer)
Related page
3LQ1&
Supplement
Note
7KHYROWDJHDSSOLHGDFURVV'%DQG
'%PXVWEH9$&RUEHORZRU
9'&RUEHORZ
6
When in Trouble
Brake cable
5HPDUNV
;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW
To connect these terminals to the primary
power supply (particularly, the 24 VDC
power supply for brake and the 24 VDC
power supply for regenerative resistor),
Do not connect these terminals to the same
power supply.
Adjustment
Ground
(earth)
U-phase
V-phase
W-phase
P.2-57
Setup
L1
L2C
:LULQJWR&RQQHFWRU;
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Connection
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2-29
Wiring of the Main Circuit (H-frame, 200 V type)
Preparation
H-frame, 200 V type
Tips on Wiring
2) Make wiring
Tighten the terminal block screw with a torque between 0.7 and 0.8 1 m (upper side)
and 2.2 and 2.5 1 m (lower side).
Upper
VLGH
L1C
L2C
Power 5&' MCCB
supply
1)
MC
L1
DB1
L2
DB2
L3
DC
24V
3RZHUVXSSO\IRU
B1
B2
NC
U
V
W
E
U
V
W
Lower
VLGH
Motor
*URXQGUHVLVWDQFHPD[
DC
24V
DC power
supply
IRUEUDNH
Varistor
)XVH9$
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Related page
2-30
VSHFLILFDWLRQV
Contactor.
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Earth-ground this.
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Wiring Diagram (H-frame, 200 V type)
Preparation
In Case of 3-Phase, H-frame, 200 V type
OFF
ALM
MC1

L
Noise filter
MCCB
Power supply
(3-phase)
MC1
Insulated +
DC24V
Note 1)
MC2
External
R1
regenerative resistor R2
Note 4)

Note 2) Note 5) Note 5) Note 5)
Dynamic Brake resistor

Note 3)
MC2
Motor
Note 4)
Main power
supply
Control power
supply
Connection
L1
L2
L3
L1C
L2C
B1
B2
NC
DB1
DB2
U
V
W
an external regenerative resistor
(T1 and T2 terminals)
Preparation
ON
Motor
connection
ALM
37
36
ALM
ALM
Setup
Insulated +
DC12 to 24V
(5%)
Note 1)
Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.
5
Adjustment
Note 2)
Servo may be turned on in the external sequence if the contact deposits: to protect the system,
provide the auxiliary contact.
Note 3)
Use 1.2 , 400 W resistor (to be supplied by customer).
Note 4)
To use the external dynamic brake resistor:
Connect the R1 and R2 terminals to B1 and B2.
Connect the T1 and T2 terminals as shown in the left diagram.
Connect the 24 V and 0 V terminals to a 24 VDC power supply.
Connect the E terminal to the ground.
Refer to P.7-122 Options for the specifications of the external regenerative resistor.
Note 5)
Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external
dynamic brake resistor.
7
Supplement
Related page
6
When in Trouble
Note
1
2-31
Preparation
Overall Wiring (D, E-frame, 400 V type)
Connecting Example of D, E-frame

&LUFXLW%UHDNHU0&&%
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0DLQV
Residual
current device
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supply with
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capacity.
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L2 (Pin-2)
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driver.
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resistor, disconnect a short circuit wire
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2-32
:LULQJWR&RQQHFWRU;&
P.2-34
B1 (Pin-4)
B2 (Pin-2)
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PC (to be supplied by customer)

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Please download
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:LULQJWR&RQQHFWRU;
2
P.2-51
:LULQJWR&RQQHFWRU;
Preparation
Handle lever
Use this for connector
connection. Store this
after connection for
other occasions.
(Refer to P.2-50 for
connection.)
Overall Wiring (D, E-frame, 400 V type)
P.2-51
&RQQHFWLRQWR5656
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Short circuit wire (B2-B3)
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P.2-34
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V-phase(white)
:SKDVHEODFN
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Ground
terminal
Ground
(earth)
Charge lamp
(Red LED)*1
Brake cable
6
P.2-34
When in Trouble
SKDVHDQGJURXQG
DC Power supply for brake

DC24V
Related page
Supplement
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Note
5
Adjustment
Junction cable
for encoder
the 24 VDC power supply for control
and the 24 VDC power supply for
brake), insulation is required.
same power supply.
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2-33
Wiring of the Main Circuit (D, E-frame, 400 V type)
Preparation
D, E-frame, 400 V type

1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ ;% ;& DQG ;' WR ZKLFK KLJK YROWDJH LV DSplied. There is a risk of electric shock.
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1) Wire connector (XA, XB, XC and XD).
2
1
DC
24V
Power RCD MCCB

supply
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MC
3
2
1
4
3
2
1
Yellow
(X2)
Black
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or
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L2
/
XA
B1
%
B2
N
3
2
1
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Red
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U
V
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XB
7KHVHFRORUV
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DC
24V
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DC power supply
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Contactor.
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main power.
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Don't connect the earth cable to other inserting
slot, nor make them touch.
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WRXVHWKHEUDNHUHIHUWR6SHFLILFDWLRQVRI%XLOWLQ
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Preparation
Wiring Diagram (D, E-frame, 400 V type)
In Case of 3-Phase, D, E-frame, 400 V type
OFF
ALM
MC

Insulated +
XD
Note 1)
24V
0V
MCCB
Noise filter
DC24V
L1
L2
L3

U
V
W
XA
Main power
supply
XC
XB
Motor
connection
ALM
37
36
ALM+
X4
Setup
Insulated +
DC12 to 24V
(5%)
Control power
supply
Connection
B1
B3
B2
N
Motor
Preparation
ON
1
$/0
Note 1)
Shielding the circuit is recommended for the purpose of noise reduction.
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
2-35
Preparation
Connecting Example of F-frame

0DLQV
Residual
current device
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supply with
2 A or larger
capacity.
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IRUFRQWURO
24V
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&RQQHFWLRQZLWKLQSXW
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normal operation.
regenerative resistor, disconnect a
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then connect the external regenHUDWLYHUHVLVWRUEHWZHHQ%DQG
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P.2-60
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:LULQJWR&RQQHFWRU; P.
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:SKDVHEODFN
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P.2-57
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Charge lamp
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Junction cable
for encoder
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Note
6
When in Trouble
Junction cable
for brake
Ground
(earth)
5
Adjustment
Ground
terminal
;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW
To connect these terminals to the primary
SRZHUVXSSO\SDUWLFXODUO\WKH9'&SRZHU
VXSSO\IRUFRQWURODQGWKH9'&SRZHU
supply for brake), insulation is required.
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power supply.
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2-37
Wiring of the Main Circuit (F-frame, 400 V type)
Preparation
F-frame, 400 V type
Tips on Wiring
2) Make wiring
Tighten the terminal block screw with a torque written on P.2-11.
Tighten the screw securing the cover with a torque written on P.2-11.
24V
DC
24V
0V
L1
3RZHU 5&' MCCB
VXSSO\
1)
MC
L2
L3
B1
B3
B2
NC
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Motor
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DC
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Related page
2-38
'&SRZHU
VXSSO\
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FRXQWHUPHDVXUHVIRUKDUPRQLFV
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XVHG
Earth-ground this.
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3URYLGHDYDULVWRU
Wiring Diagram (F-frame, 400 V type)
Preparation
In Case of 3-Phase, F-frame, 400 V type
OFF
ALM
MC


Note 1)
Insulated +
24V
0V
MCCB
Noise filter
DC24V

Motor
connection
4
ALM
37
36
X4
ALM+
Setup
Insulated +
DC12 to 24V
(5%)
Main power
supply
Connection
MC
Motor
Control power
supply
L1
L2
L3
B1
B3
B2
NC
U
V
W
Preparation
ON
1
$/0
Note 1)
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
2-39
Preparation
Connecting Example of G-frame

0DLQV
Residual
current device
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU0&&%
* Use a power
supply with
5 A or larger
capacity.
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servo driver.
P.2-42
P.2-42
L2
L3
0DJQHWLF&RQWDFWRU0&
0DJQHWLF&RQWDFWRU
&RQQHFWLRQWRH[WHUQDOFRPSRQHQWVP.2-42
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B2
5HPDUNV
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1RWH
The wiring indicated with the broken line shall be
provided only when required.
Note
Related page
2-40
3LQ%DQG%
EHWZHHQ%DQG%VHWXS3UWRRU
3LQ'%'%'%DQG'%
1RUPDOO\OHDYH'%DQG'%VKRUWFLUFXLWHG
To connect the external dynamic brake resistor,
UHIHUWR'\QDPLF%UDNHRQ3
'RQRWXVHWKHH[WHUQDOG\QDPLFEUDNHUHVLVWRU
WRJHWKHUZLWKWKHEXLOWLQUHVLVWRU
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PC (to be supplied
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L1
&RQQHFWLRQWR5656
or host controller
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L3
:LULQJWR&RQQHFWRU;
P.2-53
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B2
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L2
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P.
4
Setup
:SKDVH
Junction cable for encoder
Short bar (DB3-DB4)

Charge lamp (LED)
Do not make displacement, wiring
or inspection while the LED is lit cause of electric shock.
Ground
(earth)
SKDVHDQGJURXQG
5HPDUNV
the 24 VDC power supply for control
and the 24 VDC power supply for
brake), insulation is required.
same power supply.
DC Power supply
for brake DC24V
(to be supplied
by customer)
Related page
7
Supplement
Note
6
When in Trouble
Brake cable
P.2-42
Adjustment
Ground
terminal
3Wiring of the Main Circuit*IUDPH9W\SH36SHFLFDWLRQVRI0RWRUFRQQHFWRU
2-41
Wiring of the Main Circuit (G-frame, 400 V type)
Preparation
G-frame, 400 V type
Tips on Wiring
2) Make wiring
Tighten the terminal block screw with a torque between 2.0 and 2.4 1 m (left side) and
1.0 and 1.7 1 m (right side).
NC
DC
24V
24V
0V
3RZHU 5&' MCCB

VXSSO\
1)
MC
U
V
W
E
L1
NC
L2
NC
L3
DB1
B1
DB2
B2
NC
NC
NC
DB3
DB4
NC
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5LJKW
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Motor
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DC
24V
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2-42
Contactor.
'LUHFWSRZHUVXSSO\9'&IRUFRQWUROFLUFXLW
)RUQRUPDORSHUDWLRQGRQRWGLVFRQQHFWWKHVKRUWLQJ
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Earth-ground this.
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RWKHUHTXLSPHQW
VWRSVLJQDO
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Wiring Diagram (G-frame, 400 V type)
Preparation
In Case of 3-Phase, G-frame, 400 V type
OFF
ALM
MC1
Preparation
ON
MCCB
Noise filter
Power supply
(3-phase)
Insulated + Note 1)
DC24V
1
MC1
External
Main power
supply
Control power
supply
Connection
Note 2)
L1
L2
L3
24V
0V
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
Motor
connection
4
Motor
37
36
ALM
Setup
Insulated +
DC12 to 24V
(5%)
ALM
ALM
Note 1)
Note 2)
Normally, do not disconnect the shorting bar.
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
2-43
Preparation
Connecting Example of H-frame

Mains
Residual
current device

Neutral point
* Use a power
supply with
5 A or larger
capacity.
9'&SRZHUVXSSO\
IRUFRQWURO
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU0&&%
Charge lamp (LED)
1RLVH)LOWHU1)
servo driver.
Do not make displacement,

wiring or inspection while
the LED is lit - cause of
electric shock.
L1C
0DJQHWLF&RQWDFWRU0&
0DJQHWLF&RQWDFWRU
0V
24V
&RQQHFWLRQZLWK
FRQWUROSRZHU
VXSSO\
P.2-46

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to be supplied by
customer
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2-44
P.2-46
B2
5HJHQHUDWLYHUHVLVWRU
(optional)
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH
resistor, LQVWDOODQH[WHUQDOSURWHFWLYH
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IDLO.
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)RUZLULQJRIWKHFLUFXLWUHIHUWR:LULQJ
Diagram on P.2-47.
Note
P.2-46
B1
* Use a power
supply with
5 A or larger
capacity.
5HPDUNV
&RQQHFWLRQZLWKLQSXW
SRZHUVXSSO\
0DJQHWLF&RQWDFWRU0&
'\QDPLF%UDNH
UHVLVWRU
be supplied by
(tocustomer
)
Turns on/off the dynamic brake

resistor.
Use coil surge suppression units
together with this.
5HPDUNV
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRULQVWDOODQ
H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH
ZLWKRXWIDLO
0RXQWWKHG\QDPLFEUDNHUHVLVWRURQLQFRPEXVWLEOHPDWHULDO
VXFKDVPHWDO
)RUZLULQJRIWKHFLUFXLWUHIHUWR:LULQJ'LDJUDPRQ3
)RUDQH[DPSOHRIWKHUHFRPPHQGHGSURWHFWLYHFLUFXLWUHIHUWR
Dynamic Brake on P.2-67.
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Preparation
&RQQHFWLRQWR5656
or host controller
:LULQJWR&RQQHFWRU;
P.2-53
:LULQJWR&RQQHFWRU;
P.2-54
:LULQJWR&RQQHFWRU;
P.2-55
24V
0V
DB1
:LULQJWR&RQQHFWRU;
DB2
Connection
P.2-57
&RQQHFWLRQWRencoder
L2
L3
B1
B2
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Junction cable
for encoder
U-phase
V-phase
:-phase
Ground terminal
Motor cable (Shield wire)

SKDVHDQGJURXQG
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DC Power supply
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filter.
/&LVQRWLQGLFDWHGRQWKHGULYHUERG\
3LQ1&
When in Trouble
Brake cable
P.2-46
;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW7R
connect these terminals to the primary power
supply (particularly, the 24 VDC power supply for
control, the 24 VDC power supply for brake, and
the 24 VDC power supply for regenerative
resistor), insulation is required.
Do not connect these terminals to the same power
supply.
3LQ%DQG%
between B1 and B2, set up Pr0.16 to 1 or 2.
3LQ'%DQG'%
:KHQLQVWDOOLQJDQH[WHUQDOG\QDPLFEUDNH
resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to between
LIC and DB1.
Adjustment
Ground
(earth)
Setup
5HPDUNV
L1
Wiring of the Main Circuit (H-frame, 400 V type)
Preparation
H-frame, 400 V type
Tips on Wiring
2) Make wiring
Tighten the terminal block screw with a torque between 0.7 and 1.0 1 m (upper side)
and 2.2 and 2.5 1 m (lower side).
Upper
VLGH
DC
24V
24V
0V
Power 5&' MCCB

supply
1)
MC
L1
DB1
L2
DB2
L3
B1
DC
24V
3RZHUVXSSO\IRU
B2
NC
U
W
Lower
VLGH
Motor
*URXQGUHVLVWDQFHPD[
DC
24V
DC power
supply
IRUEUDNH
Varistor
)XVH9$
Note
Related page
2-46
VSHFLILFDWLRQV
Contactor.
Earth-ground this.
7KHJURXQGWHUPLQDOPXVWQRWEHVKDUHGZLWK
RWKHUHTXLSPHQW
VWRSVLJQDO
+ROGLQJ%UDNHRQ3
3URYLGHDYDULVWRU
Wiring Diagram (H-frame, 400 V type)
Preparation
In Case of 3-Phase, H-frame, 400 V type
ALM
OFF
MC1
Power supply
(Neutral point)
Insulated + Note 1)
DC24V
Insulated +
DC24V
Note 2)
MC1
External
R1
regenerative resistor R2
Note 5)
MC2

Note 3) Note 6) Note 6) Note 6)
Dynamic Brake resistor

Note 4)
MC2
Motor
L1
L2
L3
24V
0V
B1
B2
NC
DB1
DB2
U
V
W
Note 5)
Main power
supply
Control power
supply
Connection
The AC voltage across

DB1 and DB2 must be
300 V or below.
Noise filter
MCCB
resistor
(T1 and T2 terminals)
Motor
connection
ALM
37
36
ALM
ALM
Setup
Insulated +
DC12 to 24V
(5%)
Note 1)
5
Adjustment
Note 2)
Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.
Note 3)
Servo may be turned on in the external sequence if the contact deposits: to protect the system,
provide the auxiliary contact.
Note 4)
Use 4.8 , 400 W resistor (to be supplied by customer).
6
When in Trouble
Note 5)
To use the external dynamic brake resistor:
Connect the R1 and R2 terminals to B1 and B2.
Connect the T1 and T2 terminals as shown in the left diagram.
Connect the 24 V and 0 V terminals to a 24 VDC power supply.
Connect the E terminal to the ground.
Refer to P.7-122 Options for the specifications of the external regenerative resistor.
Related page
Supplement
Note 6)
Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external
dynamic brake resistor.
Note
Preparation
ON
Power supply
(3-phase)
1
2-47
Specifications of Motor connector
Preparation
:KHQWKHPRWRUVRI060'0+0'!DUHXVHGWKH\DUHFRQQHFWHGDVVKRZQEHORZ
Connector: Made by Tyco Electronics k.k, (The figures below show connectors for the motor.)
&RQQHFWRUIRUHQFRGHU
3
6
2
5
PIN No. Application

NC
1
PS
2
PS
3
E5V
4
E0V
5
FG(SHIELD)
6
1
4
172168-1
20-bit Incremental
&RQQHFWRUIRUEUDNH
<Connector for motor>

2
4
&RQQHFWRU
IRUPRWRU
<Connector for brake>
1
3
1
2
172167-1
PIN No. Application
1
U-phase
V-phase
2
W-phase
3
Ground
4
172165-1
PIN No. Application
1
Brake
2
Brake
:KHQWKHPRWRUVRI060(:WR:!DUHXVHGWKH\DUHFRQQHFWHGDVVKRZQEHORZ

Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)
* Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise,
the degree of protection of IP67 will not be guaranteed.
1
2
3
4
&RQQHFWRUIRUHQFRGHU
5
6
7
JN6CR07PM2
20-bit Incremental
PIN No. Application
FG(SHIELD)
1
2
E0V
3
PS
4
5
E5V
6
PS
7
17-bit Absolute
PIN No. Application
FG(SHIELD)
1
%$7
2
E0V
3
PS
4
BAT
5
E5V
6
PS
7
Tightening torque of the screw (M2) 0.19 to 0.21 Nm

* Be sure to use only the screw supplied with the connector, to
avoid damage.
PE
&RQQHFWRUIRUPRWRU
PIN No. Application

1
U-phase
2
V-phase
3
W-phase
PE
Ground
3
2
1
JN8AT04NJ1

(screwed to plastic)
* Be sure to use only the screw supplied with the connector,
to avoid damage.
[Motor with brake]
&RQQHFWRUIRUEUDNH
Remarks
2-48
PIN No. Application

1
Brake
* Electromagnetic brake is
2
Brake
a nonpolar device.
JN4AT02PJM-R
* Be sure to use only the screw supplied with the connector,

to avoid damage.
Do not connect anything to NC.
:KHQWKHPRWRUVRI060(:9N:WRN:0'0(0)0(0*0(0+0(!DUHXVHG

WKH\DUHFRQQHFWHGDVVKRZQEHORZ
Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)
&RQQHFWRUIRUHQFRGHU <IP65 Encoder connector for motor>

M
K
J
C
P
1 2 3
4 5 6 7
8 9 10
S
H
E
F
JN2AS10ML3-R
N/MS3102A20-29P
20-bit Incremental
PIN No. Application
,3 motor
&RQQHFWRUIRUHQFRGHU
6PDOOW\SH
17-bit Absolute
PIN No. Application
NC
NC
NC
NC
NC
NC
E0V
E5V
FG(SHIELD)
PS
PS
NC
NC
NC
NC
BAT
BAT
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
E0V
NC
PS
E5V
NC
NC
PS
NC
FG(SHIELD)
NC
1
2
3
4
5
6
7
8
9
10
17-bit Absolute
PIN No. Application
E0V
1
NC
2
PS
3
E5V
4
BAT
5
BAT
6
PS
7
NC
8
FG(SHIELD)
9
10
NC
4
Remarks
Setup
NC
NC
NC
NC
NC
NC
E0V
E5V
FG(SHIELD)
PS
PS
NC
NC
NC
NC
NC
NC
20-bit Incremental
PIN No. Application
Connection
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
2
Preparation
,3 motor
&RQQHFWRUIRUHQFRGHU
/DUJHW\SH
<IP67 Encoder connector for motor>
Specifications of Motor connector
&RQQHFWRUIRUPRWRUEUDNH
Table of Connector for motor and Connector for brake
0RWRU
PRGHO
0RWRUFDSDFLW\
9
9
ZLWK%UDNH ZLWKRXW%UDNH ZLWK%UDNH ZLWKRXW%UDNH
C
C
'
'
1.5W
MFME
'
'
'
'
2.5kW, 4.5kW
C
A
'
A
0.9kW
'
%
'
%
MGME 2.0kW to 4.5kW
()
(
()
(
6.0kW
C
A
'
A
1.0kW to 1.5kW
'
%
'
%
MHME 2.0kW to 5.0kW
()
(
()
(
7.5kW
0RWRU
PRGHO
Connector for motor
Connector
for motor
A
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
PIN No. Application
A
U-phase
B
V-phase
C
W-phase
D
Ground
G H
JL04V-2E20-18PE-B-R
JL04V-2E24-11PE-B-R
PIN No. Application

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

with Brake: Brake
A
without Brake: NC
with Brake: Brake
B
without Brake: NC
NC
C
U-phase
D
V-phase
E
W-phase
F
Ground
G
Ground
H
NC
I
<Motor>
<Brake>
E
JL04V-2E32-17PE-B-R
F
N/MS3102A 14S-2P
PIN No. Application

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

Brake
A
Brake
B
NC
C
NC
D
Remarks

2-49
7
Supplement
A B C
B
E D C
Connector
for brake
When in Trouble
G H A
F
0RWRUFDSDFLW\
Adjustment
750W
1.0kW to 2.0kW
3.0kW to 5.0kW
400W, 600W
1.0kW to 2.0kW
MDME
3.0kW to 5.0kW
7.5kW to 15.0kW
MSME
9
9
ZLWK%UDNH ZLWKRXW%UDNH ZLWK%UDNH ZLWKRXW%UDNH
'
A
C
A
'
A
'
%
'
%
'
A
C
A
'
A
'
%
'
%
()
(
()
(
Wiring method to connector
Preparation
)ROORZWKHSURFHGXUHVEHORZIRUWKHZLULQJFRQQHFWLRQWRWKH&RQQHFWRU XA , XB and XC .
How to connect
1. Peel off the insulation cover of the cable.
)RUVLQJOHZLUH3OHDVHREH\WKHOHQJWKLQJXUH
)RUVWUDQGHGZLUHVIHUUXOHVPXVWEHXVHGDVLOOXVWUDWHGEHORZ
Example: Ferrules with plastic insulating sleeve
(AI series, Phoenix Contact, Ltd.)
1) Peel off the sheath so that the conductor portion of the
cable will protrude from the tip of the ferrule. (It should
protrude 1 mm or more from the ferrule.)
2) Insert the cable into the ferrule and crimp it with an appropriate crimping tool.
3) After crimping, cut off the cable conductor portion protruding from the ferrule. (The allowable protruding length
after cutting should be 0 to 0.5 mm.)
Part No. of the crimping tool:
CRIMPFOX U-D66 (1204436)
Available from Phoenix Contact, Ltd.
(1) AB
8 to 9 mm
Examples: Nylon-insulated ferrule

(NTUB series, J.S.T. Mfg. Co., Ltd.)
Vinyl-insulated ferrule
(VTUB series, J.S.T. Mfg. Co., Ltd.)
1) Peel off the sheath of the cable conductor
portion to the length equal to that of sheath
on the ferrule.
2) Insert the cable into the ferrule and crimp it
with an appropriate crimping tool.
3DUW1RRIWKHFULPSLQJWRRO<17
Available from J.S.T. Mfg. Co., Ltd
ABABC
A
(2)
1mm or more
(3)
:KHQSHHOLQJRIIWKHVKHDWKRIWKHFDEOHWDNHFDUHQRWWRGDPDJHRWKHUSRUWLRQV
:KHQFULPSLQJWKHIHUUXOHVXIFLHQWO\FKHFNWKHVWDWXVRIWKHIHUUXOHDQGFDEOH,IWKHFRQGXFWRUVRIWKHFDEOH
stick out from the insulation cover or protrude excessively from the tip of the ferrule, accidents such as an elecWULFVKRFNDQGUHIURPDVKRUWFLUFXLWPD\UHVXOW
100V/200V specifications
400V specifications
<Cables Compatible with Connector>

Conductor Size
AWG18 to 12
6KHDWK2XWOLQH
WRPP
<Recommended Connector Bar Terminal>
Conductor Size
AWG18
7HUPLQDO0RGHO1XPEHU $,*<3KRHQL[&RQWDFW/WG
Conductor Size
AWG16 to 14
Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
XA, XB, XC
Conductor Size
AWG18 to 12
6KHDWK2XWOLQH
WRPP
Conductor Size
AWG16 to 14
Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
XD
Conductor Size
AWG24 to 20
6KHDWK2XWOLQH
WRPP
Conductor Size
AWG24 to 22
Terminal Model Number VTUB-0.5 (J.S.T. Mfg. Co., Ltd)
2. Insert the cable to the connector in the following 2 methods.

(a) Insert the cable using the supplied handle lever.
E,QVHUWWKHFDEOHXVLQJDDWEODGHVFUHZGULYHU(GJHZLGWKWRPP
(a) Using handle lever
Attach the handle

lever to the handling
slot on the upper
portion. Press down
the lever to push
down the spring.
Insert the peeled

cable while pressing
down the lever, until
it hits the insertion
slot (round hole).
(b) Using screw driver
Release the lever.
Press the screw

driver to the
handling slot on the
upper portion to
push down the
spring.
* You can pull out the cable by pushing down the spring as the above.
7DNHRIIWKHFRQQHFWRUIURPWKH6HUYR'ULYHUEHIRUHPDNLQJFRQQHFWLRQ
,QVHUWRQO\RQHFDEOHLQWRHDFKRQHRIFDEOHLQVHUWLRQVORW
3D\DWWHQWLRQWRLQMXU\E\VFUHZGULYHU
2-50
Insert the peeled

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

driver.
Connecting host computer
Preparation
This is used for USB connection to a personal computer. It is possible to change the parameter setting and perform monitoring.
Application
Caution
Connector
Pin No.
VBUS
D+
Do not connect.
GND
Connected to ground of control circuit.
Contents
Use for communication with personal

computer.
Preparation
USB signal terminal
Symbol
Use commercially available USB mini-B connector for the driver.

Connection
Connecting communication connector
Preparation
This is used for connection to the host controller when two or more units are used.
RS232 and RS485 interfaces are supplied.
Symbol
Connector
Pin No.
Signal ground
GND
NC
Do not connect.
TXD
RXD
RS232
The transmission / reception method.

485+

485+
FG
Shell
RS485 signal
RS485
6
Connected with protective earth terminal in
the servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics)

[Connector pin assignment]
8 6 4 2
7 5 3 1
Note
Related page
(Viewed from cable)
; WR ; DUH XVHG IRU WKH VHFRQGDU\ FLUFXLW7R FRQQHFW WKHVH WHUPLQDOV WR WKH SULPDU\ SRZHU
supply (particularly, the 24 VDC power supply for control, the 24 VDC power supply for brake,
and the 24 VDC power supply for regenerative resistor [H-frame only]), insulation is required.
Do not connect these terminals to the same power supply.
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;
3&RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOHIRU5656
2-51
Supplement
Remarks
When in Trouble
Frame ground
Contents
Adjustment
RS232 signal
Setup
Application

Connecting host computer
7KLVVHUYRGULYHUIHDWXUHVNLQGVRIFRPPXQLFDWLRQIXQFWLRQ56DQG56DQG\RXFDQXVHLQ
3 connecting methods.
To communicate with a single driver through RS232

Connect the host (PC or controller) to an driver through RS232.
[How to connect]
Shut off both powers of
the PC andthe driver
before inserting/pulling
out the connector.
Cable prepared
by the user
Connector X2
Connector
To communicate with multiple drivers through RS232 and RS485

By connecting the host (PC and host controller) and one driver via RS232 and connecting other drivers via RS485 each other, you can connect multiple drivers.
RS485
RS485
RS232
Connector X2
Connector X2
Set the axis number (Pr5.31) of driver

to be connected through RS485 to a value
in the range 1 to 31.
Note
Connector X2
Host controller
(PC controller)
Set the axis number (Pr5.31) of driver to be

connected to the host through RS232 to 0.
<RXFDQFRQQHFWXSWRGULYHUVZLWKWKHKRVW
)RUGHWDLOVUHIHUWR3&RPPXQLFDWLRQRI6XSSOHPHQW
To communicate with multiple drivers only through RS485

Communications between the host (PC or controller) and multiple drivers can be made
through RS485.
RS485
RS485
RS232
Connector X2
Connector X2
Connector X2
Host controller
(PC controller)
Set the axis number (Pr5.31) of driver to be connected

through RS485 to a value in the range 1 to 31.
Note
Remarks
Note
2-52
<RXFDQFRQQHFWXSWRGULYHUVZLWKWKHKRVW
)RUGHWDLOVUHIHUWR3&RPPXQLFDWLRQRI6XSSOHPHQW
Safety function connector
Preparation
Application
Connector
Pin No.
SF1
SF1+
SF2
SF2+
EDM
EDM+
FG
Shell
NC
Contents
Do not connect.
Safety input 2
EDM output
Frame ground
Connection
Safety input 1
These are two independent circuits that

turn off the operation signal to the power
module to shut off the motor current.
This is an output for monitoring the failure

of the safety function.
the servo driver.
4
Setup
Symbol
2
Preparation
A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal

times.
When controlling the safety function from the connected host controller, accessory conQHFWRUFDQQRWEHXVHG3UHSDUHDQGZLUHWKHFRQQHFWRURSWLRQDVVSHFLHGEHORZ
Since the standard connector cannot be used when controlling the safety function from
the host controller, purchase the optional connector and make connection as shown below.
Connector (plug): 2013595-1 (optional, available from Tyco Electronics)

[Connector pin assignment]
8 6 4 2
7 5 3 1
(Viewed from cable)

Adjustment
6
When in Trouble
Caution
Note
'LVFRQQHFWLQJWKLVFRQQHFWRUGXULQJRSHUDWLRQUHVXOWVLQLPPHGLDWHVWRS
Related page
3&RQQHFWRU.LWIRU6DIHW\
2-53
7
Supplement
Remarks
Connection to Host Controller
Preparation
Tips on wiring
3m
or shorter
Peripheral apparatus such as host controller should be located

within3m.
Controller
30cm or longer
Separate the main circuit at least 30cm away.

Don't pass them in the same duct, nor bind them together.
Power
supply
Motor
Power supply for control signals (VCC) between COM+ and

COM (VDC) should be prepared by customer.
COM+
1
2
GND
Use shield twisted pair for the wiring of command pulse input
and encoder signal output.
Don't apply more than 24V to the control signal output
terminals, nor run 50mA or more to them.
VDC
COM
FG
Connector X4
When the relay is directly driven by the control output signals,

install a diode in parallel with a relay, and in the direction as
the Fig. shows. The driver might be damaged without a diode
installment, or by reverse direction.
Frame ground (FG) and the shell of connector is connected to
the earth terminal inside of the driver.
Related page
)RUGHWDLOVUHIHUWR3:LULQJ'LDJUDPWRWKHFRQQHFWRU;DQG3,QSXWV
and outputs on connector X4.
6SHFLFDWLRQVRIWKH&RQQHFWRU;
Connector at
driver side
52986-5079
equivalent
Connecter to be prepared by customer

Part name
Part No.
Connecter (soldering type)
54306-5019
Connector cover
54331-0501
equivalent
Manufacturer
Molex Inc.
equivalent
or
10250-52A2**
equivalent
Note
Connecter (soldering type)
10150-3000PE
Connector cover
10350-52A0-008
equivalent
Sumitomo 3M
equivalent
)RUGHWDLOVUHIHUWR32SWLRQVRI6XSSOHPHQW
Remarks
7LJKWHQLQJWRUTXHRIWKHVFUHZVIRUFRQQHFWRU;IRUWKHFRQQHFWLRQWRWKHKRVWWREH
0.3 to 0.35Nm. Larger tightening torque than these may damage the connector at the
driver side.
Remarks
2-54
Connect on to External Scale
Preparation
Provide a power supply for the external scale on your part or use the following power output (250mA or less).
Symbol
Connector
Pin No.
Contents
Power supply
output
EX5V
Supply the power of external scale or A, B,

Z phase encoder.
EX0V
I/F of external
scale signals
EXPS
/EXPS
Serial signal
EXA
/EXA
EXB
/EXB
EXZ
/EXZ
10
FG
Shell
Application
3
Parallel signal
reception
Correspondence speed :
4Mpps (after quadruple)
Connection
Frame ground
2
Preparation
A, B, Z phase
Endoder signal
input

the servo driver.
Connector (plug) sirial external signal: MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)
E0V
PS
EXB
EXZ
EXA
1
3
2
5
4
Setup
PS
E5V
7
6
9
8 10
EXA
EXZ
EXB
(Viewed from cable)
2)
Adjustment
Caution
1) The manufacturers applicable external scales for this product are as follows.
Mitutoyo Corp.
Magnescale Co., Ltd.
For the details of the external scale product, contact each company.
5HFRPPHQGHGH[WHUQDOVFDOHUDWLRLV([WHUQDOVFDOHUDWLR
6
When in Trouble
If you set up the external scale ratio to smaller value than 50/position loop gain (Pr1.00
and Pr.1.05), you may not be able to control per 1 pulse unit, even if within the range
as described above. Setup of larger scale ratio may result in larger noise.
Note
Related page
3'HWDLOVRI3DUDPHWHU3&RQQHFWRU.LWIRU([WHUQDO6FDOH
2-55
Supplement
Remarks

Connect on to Feedback Scale
Wiring Diagram of X5
2
EX0V
EXPS
EXPS
EXA
EXA
EXB
EXB
EXZ
10
EXZ
EX5V
+5V
EX0V
0V
EXPS
Regulator
Connector X5
1
EX5V
EXPS
EXA
EXA
EXB
EXB
EXZ
EXZ
Twisted pair
MUF-PK10-X
(J.S.T. Mfg. Co., Ltd.)
FG
Shell of X5 (FG)
Detection head
External scale side
Junction cable
Servo driver
External scale unit
How to Wiring
Wire the signals from the external scale to the external scale connector, X5.
1) Cable for the external scale to be the twisted pair with bundle shielding and to having the twisted core wire with diameter of 0.18mm2.
2) Cable length to be max. 20m. Double wiring for 5V power supply is recommended
when the wiring length is long to reduce the voltage drop effect.
&RQQHFW WKH RXWHU OP RI WKH VKLHOG ZLUH RI WKH H[WHUQDO VFDOH WR WKH VKLHOG RI WKH
MXQFWLRQFDEOH$OVRFRQQHFWWKHRXWHUOPRIWKHVKLHOGZLUHWRWKHVKHOO)*RIFRQnector X5 of the driver without fail.
4) Separate the wiring to X7 from the power line (L1, L2, L3, B1, B2, B3, U, V. W, )
as much as possible (30cm or more). Do not pass these wires in the same duct, nor
bundle together.
5) Do not connect anything to the vacant pins of X5.
6) The maximum power available from the connector X5 is 250 mA at 5 V 5%. If you
use an external scale requiring more power, you should provide the suitable power
source by yourself. Some external scales need longer initialization period after
SRZHUXS<RXUGHVLJQVKRXOGPHHWWKLVRSHUDWLRQWLPLQJDIWHUSRZHUXS
7) When driving the external scale from an external power supply, keep the EX5V
pin open circuit so that it does not receive any external voltage. Connect the
GND circuit (0 V) to EX0V (connector X5, pin 2) of the driver to eliminate potential
difference.
Input circuit
(;$(;%(;=LQSXWFLUFXLW
EXA, EXB, EXZ
2k
20k
PULS
120
EXA, EXB, EXZ
2k
Remarks
Note
2-56
20k
1
Connection to Encoder
Preparation
Tips on Wiring
Maximum cable length between the driver and the motor to be

20m. Consult with a dealer or distributor if you want to use the
longer cable than 20m. (Refer to the back cover.)
Power
supply
20m max.
Keep this wiring away from the main circuit by 30 cm or more.

Don't guide this wiring through the same duct with the main,
nor bind them together.
The voltage of input power to encoder side connector should
be in the range 4.905.25 VDC.
E5V
E0V
PS
PS
FG
PS
PS
Driver side
Connector X6
5
Adjustment
Encoder side
connector
manufactured by JAE
Small type motor (50W to 750W): connect to 6-pins
Large type motor (0.9W to 15.0kW): connect to 9-pins
5) Connect nothing to the empty terminals of each connector.
4
Setup
E5V
E0V
3
Connection
Encoder
junction cable
When you make your own encoder junction cable (for

connectors, refer to P.7-111, "Options (Connector Kit for Motor
and Encoder connection)" of Supplement.
1) Refer to the Wiring Diagram below.
2) Cable to be : Shielded twisted pair cable with core diameter
of 0.18mm2 or larger (AWG24), and with higher bending
resistance.
3) Use twisted pair cable for corresponding signal/power
wiring.
4) Shielding treatment
6KLHOG ZDOO RI WKH GULYHU VLGH ,W VROGHUV WKH VKHOO RI
Connector X6.
6KLHOGZDOORIWKHPRWRUVLGH
Preparation
Encoder 30cm or more
Motor
6
When in Trouble
7
Related page
3&RQQHFWRU.LWIRU(QFRGHU
2-57
Supplement
Remarks

Wiring Diagram
,QFDVHRIELWLQFUHPHQWDOHQFRGHU
MHMD 200W to 750W
White
%ODFN
4
E5V
5
E0V
Light blue
Purple
PS
X6
5V
1
E5V
0V
2
E0V
3
4
5
PS
6
PS
2
3
PS
FG
Shell (FG)
172160-1
(Tyco Electronics)
Motor
Caution
Motor
Regulator
MSMD 50W to 750W
Twisted pair
Driver
Encoder cable
2QO\WKHW\SHRIRQO\IRUSRVLWLRQFRQWURO
E5V 6
E0V 3
X6
E5V
2
E0V
3
+5V
0V
Regulator
MSME 50W to 750W
PS
PS
FG
1
5
2
6
3
7
4
PS
PS
Shell (FG)
Twisted pair
(Viewed from cable)
Caution
7
4
1
Cable connector: JN6FR07SM1

(by Japan Aviation Electronics Ind.)
Encoder cable
Motor
Driver
7LJKWHQWKHPRWRUFRQQHFWRUPRXQWLQJVFUHZ0ZLWKDWRUTXHEHWZHHQDQG
Nm. To avoid damage, be sure to use only the screw supplied with the connector.
'RQRWUHPRYHWKHJDVNHWVXSSOLHGZLWKWKHMXQFWLRQFDEOHFRQQHFWRU6HFXUHO\LQVWDOOWKH
JDVNHWLQSODFH2WKHUZLVHWKHGHJUHHRISURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
MSME 750W (400V), 1.0kW to 5.0kW

MFME 1.5kW to 4.5kW
MGME 0.9kW to 6.0kW
MDME 400W to 15.0kW

MHME 1.0kW to 7.5kW
1
E5V 4
E0V 1
X6
E5V
2
E0V
3
+5V
0V
Regulator
Connector pin
assignment
4
PS
PS
FG
3
7
9
PS
PS
Shell (FG)
Twisted pair
Cable connector: JN2DS10SL1-R
Motor
Remarks
2-58
Encoder cable
Driver
1
In case of 17-bit absolute encoder
1
5
2
6
3
7
4
X6
E5V
2
E0V
3
battery
+5V
0V
Preparation
Connector pin
assignment
E5V 6
E0V 3
5
BAT+
2
BAT
7
PS
4
PS
1
FG
Regulator
MSME 50W to 750W
4
5
6
PS
PS
Shell (FG)
Twisted pair
Encoder cable
Motor
Driver
7LJKWHQWKHPRWRUFRQQHFWRUPRXQWLQJVFUHZ0ZLWKDWRUTXHEHWZHHQDQG
Nm. To avoid damage, be sure to use only the screw supplied with the connector.
'RQRWUHPRYHWKHJDVNHWVXSSOLHGZLWKWKHMXQFWLRQFDEOHFRQQHFWRU6HFXUHO\LQVWDOOWKH
JDVNHWLQSODFH2WKHUZLVHWKHGHJUHHRISURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
Remarks
&RQQHFWWKHEDWWHU\IRUDEVROXWHHQFRGHUDFURVV3DQG3RIWKHMXQFWLRQFRQQHFWRUWKH
figure above).
$EDWWHU\KROGHUDQGDEDWWHU\FRQQHFWLRQFDEOHVKRXOGEHWKHRSWLRQFDEOHRUSUHSDUHGE\
the user.
battery
X6
E5V
2
E0V
3
+5V
0V
4
5
6
Adjustment
E5V 4
E0V 1
6
BAT+
5
BAT
3
PS
7
PS
9
FG
MDME 400W to 15.0kW

MHME 1.0kW to 7.5kW
Regulator
MSME 750W (400V), 1.0kW to 5.0kW

MFME 1.5kW to 4.5kW
MGME 0.9kW to 6.0kW
4
Setup
Caution
Connection
(Viewed from cable)
Cable connector: JN6FR07SM1

PS
PS
Shell (FG)
Twisted pair
Cable connector: JN2DS10SL1-R
Motor
Driver
&RQQHFWWKHEDWWHU\IRUDEVROXWHHQFRGHUDFURVV3DQG3RIWKHMXQFWLRQFRQQHFWRUWKH
figure above).
$EDWWHU\KROGHUDQGDEDWWHU\FRQQHFWLRQFDEOHVKRXOGEHWKHRSWLRQFDEOHRUSUHSDUHGE\
the user.
When in Trouble
Remarks
Encoder cable
7
2-59
Supplement
Remarks
Monitor output
Preparation
The connector X7 of the front panel is for monitor output.

Analogue output : 2 systems
Digital output
: 1 systems
In both cases, it is possible to switch the output signal by setting parameters.
Output circuit
Connector X7
Manufacturers part No.: 530140610
Manufacturer: Japan Molex Inc.
X7
N
AM1 1
N
AM2 2
N
DM 4
Measuring
instrument
GND 3
Symbol
Connector
Pin No.
Analogue monitor
output 1
AM1
Analogue monitor
output 2
AM2
Signal ground
GND
DM
2XWSXWWKHGLJLWDOVLJQDOIRUPRQLtor.
2XWSXWYROWDJHLV&026OHYHOFRPSDWLEOH
2XWSXWLPSHGDQFHLVN::KHQ
connecting a measuring instrument, check
its input circuit for impedance matching.
NC
Do not connect.
NC
Do not connect.
Application
Digital monitor
output *1
Contents
2XWSXWWKHDQDORJXHVLJQDOIRUPRQLWRU
7KHDPSOLWXGHRIWKHRXWSXWVLJQDOLV9
2XWSXWLPSHGDQFHLVN::KHQ
connecting a measuring instrument, check
its input circuit for impedance matching.
*1 Position, Velocity, torque, Full closed type.

NC on Only for position control type. Leave this pin unconnected.
3DUDPHWHUUHUDWHGWRPRQLWRURXWSXW
Parametr No.
Class
No.
Title
Function
16
Type of analog
monitor 1
Select the type of monitor for analog monitor 1.
17
Analog monitor 1
output gain
Set up the output gain of analog monitor 1.
18
Type of analog
monitor 2
Select the type of monitor for analog monitor 2.
19
Analog monitor 2
output gain
20
Type of digital
monitor
Select type of the digital monitor.
21
Analog monitor
output setup
Select output format of the analog monitor.
*1 Position, Velocity, torque, Full closed type.

Only for position control type is not provided with this function.
Remarks
Related page
3'HWDLOVRISDUDPHWHU3&RQQHFWRU.LWIRU$QDORJ0RQLWRU6LJQDO
2-60
Preparation
10. Timing Chart
Timing on power-up
Servo-on signal accept timing on power-up

Control
power supply
(L1C,L2C)
ON
approx.100 to 300 ms
OFF
approx.2s
Preparation
Internal control
power supply
OFF
established
approx.1.5s
Action of
driver CPU
reset
(initialization) *3
usually operation
0s or longer
OFF
*2
ON
Connection
Main
power supply
(L1,L2,L3)
10ms or longer
Servo-Ready output
(S-RDY)
output Tr OFF
10ms or longer
*2
output Tr ON
0ms or longer
Servo-ON input
(SRV-ON)
input coupler OFF
input coupler ON
approx.2ms
engaged
Setup
Dynamic
brake
released
approx.60ms
Motor
energization
Position/Speed/
Torque command
energized
approx.4ms
output Tr OFF (brake engaged)
No command entry
ON
(brake released)
100ms or longer
*1
Command
entry
7KHDERYHFKDUWVKRZVWKHWLPLQJIURP$&SRZHU21WRFRPPDQGLQSXW
$FWLYDWHWKHH[WHUQDOFRPPDQGLQSXWDFFRUGLQJWRWKHDERYHWLPLQJFKDUW
*1. In this term Servo-ON input (SRV-ON) turns ON as a hard ware, but operation command can not be received.
65'<RXWSXWZLOOWXUQRQZKHQERWKFRQGLWLRQVDUHPHWLQLWLDOL]DWLRQRIPLFURFRPputer has been completed and the main power has been turned on.
*3. After Internal control power supply , protective functions are active from approx. 1.5
sec after the start of initializing microcomputer. Please set the signals, especially for
protective function, for example over-travel inhibit input (POT, NOT) or external scale
input, so as to decide their logic until this term.
The lapse time can be changed with Pr6.18 Wait time after power-up.
3'HWDLOVRISDUDPHWHU
2-61
7
Supplement
Related page
6
When in Trouble
Caution
Adjustment
External brake
release output
(BRK-OFF)
not-energized
10. Timing Chart
Alarm
Preparation
When an Error (Alarm) Has Occurred (at Servo-ON Command)

Alarm
alarm
normal
0.5 to 5 ms
Dynamic brake
released
engaged *2
Motor energization
energized
non-energized
Servo-Ready output output Tr ON

(ready)
(S-RDY)
Servo-Alarm output output Tr ON
(not Alarm)
(ALM)
External brake
release output
(BRK-OFF)
output Tr OFF (not ready)

output Tr OFF (Alarm)
value of Pr4.38
output Tr ON
(Break release)
output Tr OFF (Break engage)
t1 *1
when setup
value of Pr4.38
is shorter,
motor speed
Setup value of Pr4.39

output Tr ON
(Break release)
motor speed
Caution
t1 *1
engaged (OFF)
when time to fall

below value of
Pr4.39 is shorter,
*1. t1 will be a shorter time of either the setup value of Pr4.38[Mechanical brake action at
running setup] or elapsing time for the motor speed to fall below Pr4.39[Brake release
speed setup].
t1 will be 0 when the motor is in stall regardless of the setup pf Pr4.37.
*2. When an alarm is generated, the dynamic brake operates according to Pr5.10 Sequence at alarm.
When an Alarm Has Been Cleared (at Servo-ON Command)

120ms or longer *1
Alarm-clear input
(A-CLR)
Dynamic brake
Motor energization
External brake
release output
(BRK-OFF)
Caution
2-62
input coupler
OFF
input coupler
OFF
input coupler ON
engaged
not-energized
approx.2ms
approx.60ms
released
energized
approx.4ms
output Tr OFF
(Break engage)
Servo-Ready output
(S-RDY)
output Tr OFF
(not ready)
Servo-Alarm output
(ALM)
output Tr OFF
(alarm)
Position/Speed/
Torque command
no input entry
output Tr ON
(Break release)
output Tr ON
(ready)
output Tr ON
(not alarm)
100ms or longer
input enabled
*1. The alarm clear input recognition time can be changed in Pr5.16 Alarm clear input setup.
Preparation
10. Timing Chart
Servo-Lock
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)

Remarks
To turn on/off the servo during normal operation, first stop the motor.
2
Servo-ON input
(SRV-ON)
input coupler
OFF
input coupler ON
input coupler
OFF
Dynamic brake
engaged *3
released
1 to 6ms
engaged *2
Preparation
approx.2ms
t1 *1
Motor energization
not-energized
approx.60ms
Caution
output Tr OFF
(Break engage)
not-energized
approx.4ms
output Tr ON
(Break release)
3
Connection
External brake
release output
(BRK-OFF)
energized
output Tr OFF
(Break engage)
4
Setup
*1 t1 depends on the setup value of Pr4.37 Setup of mechanical brake action at stalling.
*2 The operation of dynamic brake during servo off depends on the setup value of
Pr5.06 Sequence at servo off.
*3. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
5
Adjustment
6
When in Trouble
7
Supplement
Related page
3'HWDLOVRI3DUDPHWHU
2-63
10. Timing Chart
Servo-ON/OFF
Preparation
Servo-ON/OFF Action While the Motor Is in Motion

Remarks
7LPLQJDWHPHUJHQF\VWRSRUWULS'RQRWUHSHDWWKLVVHTXHQFH
at Servo-ON
Servo-ON input
(SRV-ON)
input coupler
OFF
at Servo-OFF
input coupler
OFF
input coupler ON
*4
Dynamic brake
Motor energization
1 to 5ms
engaged *3
released
not-energized
energized
engaged *3
not-energized *5
approx.60ms
Setup value of
Pr4.38
approx.4ms
External brake
release output
(BRK-OFF)
Output Tr OFF
Output Tr OFF
Output Tr.ON
t1 *1
Motor rotational speed

approx.30r/min
Motor rotational
speed
Motor rotational
speed
Setup value of
Pr4.39
servo validated
when setup
Setup value of
value of Pr4.38
Pr4.38
is shorter
released (ON)
No servo-ON until the motor speed
falls below approx. 30r/min.
engaged (OFF)
t1 *1
Motor rotational
speed
Setup value of
Pr4.39
when time to fall

below value of
Pr4.39 is shorter
Caution
*1. t1 will be a shorter time of either the setup value of Pr4.38 Mechanical brake action
at running setup or elapsing time for the motor speed to fall below Pr4.39 Brake release speed setup.
*2. Even though the SRV-ON signal is turned on again during the motor deceleration,
Servo-ON will not be activated until the motor stops.
*3. For the action of dynamic brake at alarm occurrence, refer to an explanation of
Pr5.06, Sequence at Servo-OFF as well.
*4. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
*5. For the motor energization during deceleration at Servo-OFF depends on the setup value
of Pr.5.08, Sequence at Servo-OFF.
Related page
3'\QDPLFEUDNH
2-64
Outline
Preparation
In the applications where the motor drives the vertical axis, this brake would be used to
hold and prevent the work (moving load) from falling by gravity while the power to the
servo is shut off.
Caution
Connecting Example
The following shows the example when the brake is controlled by using the brake release
output signal (BRK-OFF) of the driver.
RY
11 BRK-OFF+
12 to 24V
BRK-OFF
10
41
Motor
VDC
COM
Brake coil
RY
Surge
absorber
Power supply
for brake
DC24V
3
Connection
Relays to be shut off

at emergency stop
Driver
2
Preparation
Use this built-in brake for "Holding" purpose only, that is to hold
the stalling status. Never use this for "Brake" purpose to stop the
load in motion.
Fuse
(10A)
Connector X4
Caution
)RUWKHEUDNHUHOHDVHWLPLQJDWSRZHURQRUEUDNLQJWLPLQJDW6HUYR2))6HUYR$ODUP
while the motor is in motion, refer to P.2-61, "Timing Chart".
:LWK WKH SDUDPHWHU 3U 6HWXS RI PHFKDQLFDO EUDNH DFWLRQ ZKLOH WKH PRWRU LV LQ
motion), you can set up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged), when the
Servo-OFF or alarm occurs while the motor is in motion.
1. The lining sound of the brake (chattering and etc.) might be generated while running
the motor with built-in brake, however this does not affect any functionality.
0DJQHWLFX[PLJKWEHJHQHUDWHGWKURXJKWKHPRWRUVKDIWZKLOHWKHEUDNHFRLOLVHQHUgized (brake is open). Pay an extra attention when magnetic sensors are used nearby
the motor.
2-65
7
Supplement
Note
6
When in Trouble
Output Timing of BRK-OFF Signal
5
Adjustment
1. The brake coil has no polarity.

2. Power supply for the brake to be provided by customer. Do not co-use the power supply for the brake and for the control signals (VDC).
3. Install a surge absorber as the above Fig. shows to suppress surge voltage generDWHGE\212))DFWLRQ RIWKHUHOD\ 5<:KHQ\RXXVHDGLRGH QRWHWKDWWKHWLPH
from the brake release to brake engagement is slower than that of the case of using a
surge absorber.
4. For a surge absorber, refer to P.7-124, "Recommended Components" of Supplement.
5HFRPPHQGHGFRPSRQHQWVDUHVSHFLHGWRPHDVXUHWKHEUDNHUHOHDVLQJWLPH
Reactance of the cable varies depending on the cable length, and it might generate
surge voltage.
Select a surge absorber so that relay coil voltage (max. rating : 30V, 50mA) and terminal voltage may not exceed the rating.
Setup
Note
Preparation
Motor
series
MSMD
Specifications
Motor
output
Static
friction
WRUTXH
Nm
50W, 100W
0.29 or less
200W, 400W 1.27 or less
Exciting
Permissible
Rotor
Engaging Releasing
Permissible Permissible
current Releasing
angular
inertia
time
time
work (J) per total work
DC A
acceleration
voltage
4
2
3
ms
x 10 J
ms
one braking
x 10 kgm
rad/s2
(at cool-off)
0.002
0.018
50 or less 15 or less
0.36
2.45 or less
0.075
0.42
50W, 100W
0.29 or less
0.002
0.3
137
44.1
196
147
39.2
4.9
0.018
0.36
0.42
15 or less
0.7
15 or less
100
0.81
50 or less
130
0.9
1470
2200
2.5 or less
0.70
392
490
4.9 or less
70 or less
80 or less
200
0.59
588
780
0.79
1176
1500
1470
2200
1372
2900
1.0kW
0.33
11.8 or less
3.0kW
1.35
1.35
7.5kW
1.5kW
7.8 or less
2.5kW
21.6 or less
4.5kW
31.4 or less
0.9kW
13.7 or less
2.0kW
24.5 or less
3.0kW
1.3
1.4
7.1
1.08
4.7
0.83
4.7
8.75
0.75
1.35
50 or less
100 or less
130
0.79
25 or less
200
1.3
80 or less
50 or less
150 or less 130
50 or less
1.4
0.018
0.36
0.075
0.42
80 or less
70 or less
200
100 or less
80 or less
4.7
58.8 or less
4.5kW, 6.0kW
200W, 400W 1.27 or less
750W
2.45 or less
1.0kW
4.9 or less
13.7 or less
2.0kW to
5.0kW
24.5 or less
7.5kW
58.8 or less
4.7
DC2V
or more
DC2V
or more
137
44.1
196
147
392
490
30000
30000
10000
10000
5440
5000
DC2V
or more
DC2V
or more
2000
4000
1372
2900
1470
1500
3000
10000
2200
1176
1500
1372
2900
10000
5440
5000
137
44.1
196
147
0.59
588
780
50 or less
130
0.79
1176
1500
25 or less
200
1.3
1372
2900
1.4
1.35
1.5kW
0.9
25 or less
80 or less
200
58.8 or less
11kW, 15kW 100 or less
110 or less

110 or less 130
16.2 or less
4.0kW, 5.0kW 24.5 or less
50 or less
80 or less
MHME
4.9
0.075
400W, 600W
MHMD
DC1V
or more
39.2
750W(200V) 2.45 or less
MGME
DC1V
or more
200W, 400W 1.27 or less
3.0kW
MFME
0.3
750W
750W(400V) 2.5 or less

MSME 1.0kW, 1.5kW,
7.8 or less
2.0kW
MDME
DC1V
or more
30000
10000
DC2V
or more
5440
5000
([FLWDWLRQYROWDJHLV'&9
5HOHDVLQJWLPHYDOXHVUHSUHVHQWWKHRQHVZLWK'&FXWRIIXVLQJDYDULVWRU
Values in ( ) represent those measured by using a diode (V03C by Hitachi, Ltd.)
$ERYHYDOXHVH[FHSWVWDWLFIULFWLRQWRUTXHUHOHDVLQJYROWDJHDQGH[FLWDWLRQFXUUHQWUHSUHVHQWW\SLFDO
values.
%DFNODVKRIWKHEXLOWLQKROGLQJEUDNHLVNHSWRUVPDOOHUDWH[IDFWRU\SRLQW
6HUYLFHOLIHRIWKHQXPEHURIDFFHOHUDWLRQGHFHOHUDWLRQZLWKWKHDERYHSHUPLVVLEOHDQJXODUDFFHOHUDWLRQLVPRUHWKDQPLOOLRQWLPHV/LIHHQGLVGHQHGDVZKHQWKHEUDNHEDFNODVKGUDVWLFDOO\FKDQJes.)
2-66
1
12. Dynamic Brake
Outline
Preparation
This driver (A to G-frame) is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.
The H-frame driver does not incorporate the dynamic brake.
Caution
1. Dynamic brake is only for emergency stop.
The Motor becomes a dynamo when driven externally and short circuit curUHQWRFFXUUHGZKLOHG\QDPLFEUDNHLVDFWLYDWHGPD\FDXVHVPRNLQJRUUH
3
Connection
2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 10 minutes pause when the dynamic brake is activated during high-speed running.
(F-frame(200V), G-frame(200V/400V) built-in dynamic brake resistor is capable of
handling up to 3 continuous halts at the rated revolutions with max. permissible inertia.
When overheated under more critical operating conditions, the brake will blow out and
should be replaced with a new one.)
Preparation
Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Otherwise it may damage the dynamic brake circuit of the driver.
<RXFDQDFWLYDWHWKHG\QDPLFEUDNHLQWKHIROORZLQJFDVHV
1)
2)
3)
4)
Driver
Resistance specifications per piece
Quantity of use
Voltage
Resistance
Electric power
G, H
200V

400W
3 pcs.
G, H
400V

400W
3 pcs.
Dynamic Brake Characteristics (e.g. Motor MDME 15kW 200V)

Brake torque (Nm)
80
70
Resistor 1.2
Resistor 2.4
60
50
6
When in Trouble
Frame
5
Adjustment
,IWKHEXLOWLQG\QDPLFEUDNHUHVLVWRURIWKH*IUDPHGULYHULVLQVXIFLHQWH[WHUnal dynamic brake resistors can be connected.

)RUWKH+IUDPHGULYHUH[WHUQDOG\QDPLFEUDNHUHVLVWRUVFDQEHFRQQHFWHG
Connections of the external dynamic brake resistors are the same as those of
the G-frame driver. (The DB3 and DB4 terminals are not provided.)
8VHWKHIROORZLQJUHVLVWRUVDVWKHH[WHUQDOG\QDPLFEUDNHUHVLVWRUV7REHSUHpared by user)
4
Setup
When the main power is turned off

At Servo-OFF
When one of the protective function is activated.
When over-travel inhibit input (NOT, POT) of connector X4 is activated
In the above cases from 1) to 4), you can select either activation of the dynamic brake
or making the motor free-run during deceleration or after the stop, with parameter.
Note that when the control power is off, for A to F-frame driver, the dynamic brake will
be kept actived, and for G and H-frame driver, the dynamic brake will be kept released.
40
30
20
10
0
500
1000
1500
2000
Supplement
Motor speed (r/min)
Related page
3,QSXWVDQGRXWSXWVRQFRQQHFWRU;
3'HWDLOVRI3DUDPHWHU
33URWHFWLYH)XQFWLRQ
2-67
12. Dynamic Brake
Preparation
Connections of external dynamic brake resistor (Example)
G-frame, 200 V
0DLQV
Residual
FXUUHQWGHYLFH
/&
/&
L1
L1
L2
L2

L3
L3
B1
B2
NC
U-phase
V-phase
:SKDVH
$X[LOLDU\FRQWDFW
Thermal fuse
(one fuse for each resistor)
Disconnect the
shorting bar
(between DB3
9'&SRZHUVXSSO\
and DB4).
for brake
Magnetic Contactor (MC)
(to be supplied by
customer)
Turns on/off the dynamic brake resistor.

Use coil surge suppression units together with
this.
Remarks
6KRXOGEHWKHVDPHUDWLQJDVWKDWRIWKH
magnetic contactor for main circuit.
3URYLGHDQDX[LOLDU\FRQWDFW(*1) as protection
means so that servo ON will not occur in
the external sequence even if the contact
deposits.
Dynamic Brake Resistor (to be supplied by customer)
Remarks
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU
install an external protective apparatus, such as
thermal fuse without fail.
0RXQWWKHG\QDPLFEUDNHUHVLVWRUon incombustible
material such as metal.
Do not use an external dynamic brake resistor
together with the built-in resistor.
Provide one dynamic brake resistor for each phase.
:KHQXVLQJDQH[WHUQDOG\QDPLFEUDNHEHVXUHWRXVHWKH
resistor.
Do not make short circuit.
2-68
Terminals DB1, DB2, DB3 and DB4

7RFRQQHFWDQH[WHUQDOG\QDPLFEUDNH
UHVLVWRUGLVFRQQHFWWKHVKRUWLQJEDU
between DB3 and DB4.
&RQQHFWDPDJQHWLFFRQWDFWRUIRU
FRQWUROIRUWKHH[WHUQDOG\QDPLFEUDNH
EHWZHHQ/&DQG'%
3URYLGHDQH[WHUQDOSURWHFWLYHGHYLFH
(e.g. thermal fuse) between DB2 and
/&
Remarks
DB2 must be 300 VAC or below or
100 VDC or below.
Pin NC
12. Dynamic Brake
1
Connections of external dynamic brake resistor (Example)
G-frame, 400 V
* Use a power
supply with
5 A or larger
capacity.
24 VDC power supply

for control
24V
0V
L1
Preparation
Neutral point
0DLQV
5HVLGXDO
FXUUHQWGHYLFH
L1
L2
L2
L3
L3
B1
B2
L1C
NC
U-phase
V-phase
Connection
W-phase
$X[LOLDU\FRQWDFW
4
Disconnect the
shorting bar
(between DB3
24 VDC power supply
and DB4).
IRUEUDNH
0DJQHWLF&RQWDFWRU0&
Setup
7KHUPDOIXVH
RQHIXVHIRUHDFKUHVLVWRU
(to be supplied by
customer)
7XUQVRQRIIWKHG\QDPLFEUDNHUHVLVWRU
Use coil surge suppression units together with
this.
6KRXOGEHWKHVDPHUDWLQJDVWKDWRIWKH
PDJQHWLFFRQWDFWRUIRUPDLQFLUFXLW
3URYLGHDQDX[LOLDU\FRQWDFW(*1) as protection
PHDQVVRWKDWVHUYR21ZLOOQRWRFFXULQ
WKHH[WHUQDOVHTXHQFHHYHQLIWKHFRQWDFW
deposits.
Remarks
DB2 must be 300 VAC or below or
100 VDC or below.
Note
/&LVFRQQHFWHGDIWHUWKH5SKDVHRI
WKHQRLVHILOWHU
/&LVQRWLQGLFDWHGRQWKHGULYHUERG\
Pin NC
2-69
Supplement
Remarks
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDV
WKHUPDOIXVHZLWKRXWIDLO
0RXQWWKHG\QDPLFEUDNHUHVLVWRUon incombustible
PDWHULDOVXFKDVPHWDO
'RQRWXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU
WRJHWKHUZLWKWKHEXLOWLQUHVLVWRU
3URYLGHRQHG\QDPLFEUDNHUHVLVWRUIRUHDFKSKDVH
:KHQXVLQJDQH[WHUQDOG\QDPLFEUDNHEHVXUHWRXVHWKH
resistor.
'RQRWPDNHVKRUWFLUFXLW
7RFRQQHFWDQH[WHUQDOG\QDPLFEUDNH
resistor, disconnect the shorting bar
between DB3 and DB4.
&RQQHFWDPDJQHWLFFRQWDFWRUIRU
FRQWUROIRUWKHH[WHUQDOG\QDPLFEUDNH
between L1C and DB1.
3URYLGHDQH[WHUQDOSURWHFWLYHGHYLFH
HJWKHUPDOIXVHEHWZHHQ'%DQG
the neutral point.
When in Trouble
Dynamic Brake Resistor (to be supplied by customer)
Terminals DB1, DB2, DB3 and DB4

Adjustment
Remarks
12. Dynamic Brake
Condition setting chart
Preparation
1) Setup of driving condition from deceleration to after stop by main power-off (Pr5.07)
Sequence at main
power-off (Pr5.07)
Driving condition
During deceleration
After stalling
Contents of
deviation
counter

0
D B
D B
Clear
Free-run
D B
Clear
D B
Free-run
Clear
Free-run
Free-run
Clear
D B
D B
Hold
Free-run
D B
Hold
D B
Free-run
Hold
Free-run
Free-run
Hold
Emergency stop
D B
Clear
Emergency stop
Free-run
Clear
Torque limit value at emergency stop will be that of Pr5.11 (Setup of torque at emergency stop)
when the setup value is 8 or 9.
2) Setup of driving condition from deceleration to after stop by Servo-OFF (Pr5.06)

Sequence at main
Servo-OFF (Pr5.06)
Driving condition
During deceleration
After stalling
Contents of
deviation
counter

0
D B
D B
Clear
Free-run
D B
Clear
D B
Free-run
Clear
Free-run
Free-run
Clear
D B
D B
Hold
Free-run
D B
Hold
D B
Free-run
Hold
Free-run
Free-run
Hold
Emergency stop
D B
Clear
Emergency stop
Free-run
Clear
Torque limit value at emergency stop will be that of Pr5.11 (Setup of torque at emergency stop)
when the setup value is 8 or 9.
2-70
12. Dynamic Brake
3) Setup of driving condition from deceleration to after stop by activation of protective function (Pr5.10)
Sequence at over-travel
inhibit input (Pr5.10)
Driving condition
During deceleration
After stalling
Contents of
deviation
counter
Condition setting chart

D B
D B
Hold
Free-run
D B
Hold
D B
Free-run
Hold
Free-run
Free-run
Hold
Engaged A: Emergency stop

Engaged B: DB
D B
Hold

Engaged B: Free-run
D B
Hold

Engaged B: DB
Free-run
Hold

Engaged B: Free-run
Free-run
Hold
3
Connection
Preparation
4
Setup
When setup value is within the range 4 and 7, the protection function that supports
immediate stop acts according to operation A and the function that does not support
acts according to operation B.
During deceleration to stop, the main power supply must be maintained.
When the protection function acts, content of deviation counter is cleared as the alarm
is cleared.
4) Setup of driving condition from deceleration to after stop by validation of over-travel inhibit input (Pr5.05)
Driving condition
During deceleration
After stalling
Contents of
deviation
counter
Adjustment
Sequence at over-travel
inhibit input (Pr5.05)
DB
Torque command to
inhibited direction is 0
Hold
Torque command to
Torque command to
Hold
Emergency stop
Torque command to
clear
6
When in Trouble
Torque limit value during deceleration will be that of Pr5.11 (Setup of torque at emergency
stop) when the setup value is 2.
Changes will be validated after the control power is turned on.
7
Supplement
2-71
Preparation
Outline / Setup / Connection
Outline of Parameter
This driver is equipped with various parameters to set up its characteristics and functions.
This section describes the function and purpose of each parameter. Read and comprehend very well so that you can adjust this driver in optimum condition for your running
requirements.
Setup of Parameter
<RXFDQUHIHUDQGVHWXSWKHSDUDPHWHUZLWKHLWKHURQHRIWKHIROORZLQJ
1) front panel of the driver
2) combination of the setup support software, "PANATERM" and PC.
Note
How to control the front panel, refer to P.2-86.
Setup with the PC

It is possible to connect your personal computer to connector X1 of MINAS A5 using a
USB cable for personal computer connection. Downloading the setup support software
PANATERM from our web site and installing it on your personal computer will allow you
to perform the following easily.
:LWKWKH3$1$7(50\RXFDQH[HFXWHWKHIROORZLQJV
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O, pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.
Note
Because no production software such as CD-ROM is available, download the setup support software from our web site and install it on your personal computer.
+RZWR&RQQHFW
Connect to X1
(USB mini-B)
86%FDEOH
Setup support software PANATERM

Please download from our web site and
use after install to the PC.
On the driver, use commercially available USB mini-B connector.

7KHFRQQHFWRURQWKHSHUVRQDOFRPSXWHUVLGHVKRXOGEHLQDFFRUGDQFHZLWKWKHVSHFLcations of the PC.
:KHQWKHFDEOHGRHVQRWKDYHQRLVHOWHUDWWDFKDVLJQDOOLQHQRLVHOWHU'93
to both ends of the cable.
Related page
2-72
3'HWDLOVRI3DUDPHWHU
36HWXSVXSSRUWVRIWZDUH>3$1$7(50@
Composition and List of Parameters
Preparation
7KHSDUDPHWHU1RLVGLVSOD\HGLQWKHIRUPRI3U;<<;&ODVVLFDWLRQ<<1R
)RUWKHGHWDLOVRQWKHSDUDPHWHUVUHIHUWR3'HWDLOVRISDUDPHWHU
Parametr No.
Class No.*
Class name
Group
page
00 to 17 Basic setting
Parameter for Basic setting
P.2-74
00 to 27 Gain adjustment
Parameter for Gain adjustment
P.2-75
00 to 23 Damping control
Parameter for Damping control
P.2-76
00 to 29
00 to 44 I/F monitor setting
Parameter for I/F monitor setting
P.2-78
00 to 35 Enhancing setting
Parameter for Enhancing setting
P.2-79
00 to 39 Special setting
Parameter for Special setting
P.2-81
Verocity/ Torque/
Parameter for Verocity/ Torque/ Full-closed
Full-closed control control
2
Preparation
1
P.2-77
3
Connection
* The Parameter No. consists of 2 digits.
,QWKLVGRFXPHQWIROORZLQJV\PEROVUHSUHVHQWHDFKPRGH
Symbol
Control mode
Position control
Velocity control
Torque control
Full-Closed control
P/S
Position (1st)/Velocity (2nd) control
3*
P/T
Position (1st)/Torque (2nd) control
4*
S/T
Velocity (1st)/Torque (2nd) control
5*
5
Adjustment
Setup
Setup value
of Pr0.01
6
When in Trouble
* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd
with control mode switching input (C-MODE).
When C-MODE is ON : 1st mode selection
When C-MODE is OFF : 2nd mode selection
Do not enter the command 10ms before/after the switching.
7
Supplement
2-73
Preparation
List of Parameters
[Class 0] Basic setting

Parametr
No.
Default
Title
Range
Class No.
A,B
C
D,E,F G,H
-frame -frame -frame -frame
Unit
Turning
Related
on of Control Mode Detail
power
page
supply P S T F
00
Rotational direction setup
0 to 1
01
Control mode setup
0 to 6
02
Real-time auto-gain tuning setup
0 to 6
03
Selection of machine stiffness at realtime auto-gain tuning
0 to 31
04
Inertia ratio
05
4-4
4-5
13
11
0 to 10000
250
Selection of command pulse input
0 to 1
06
Command pulse rotational direction

setup
0 to 1
07
Command pulse input mode setup
0 to 3
08
Command pulse counts per one

motor revolution
0 to 220
10000
pulse
09
1st numerator of electronic gear
0 to 230
10
Denominator of electronic gear
0 to 230
10000
11
Output pulse counts per one motor

revolution
1 to 262144
2500
P/r
12
Reversal of pulse output logic
0 to 3
13
1st torque limit
0 to 500
500*1
100000
Command
unit
4-6
4-7
0 to 2
27
14
Position deviation excess setup
15
Absolute encoder setup
0 to 2
16
External regenerative resistor setup
0 to 3
17
Load factor of external regenerative

resistor selection
0 to 4
4-8
4-9

4-11
4-12
'HQLWLRQRIV\PEROVXQGHU3RZHU2II2QLIDFKDQJHLVPDGHLWZLOOEHUHHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HQLWLRQRIV\PEROVXQGHU5HODWHGPRGH3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 Torque limit setting.
Note
2-74
Parameter describes of this page is P.4-4 to P.4-12.
[Class 1] Gain adjustment

Parametr
No.
Default
Title
Range
Class No.
A,B
C
D,E,F G,H
Unit
Turning
Related
power
page
supply P S T F
00
1st gain of position loop
0 to 30000
480
320
0.1/s*
01
1st gain of velocity loop
1 to 32767
270
180
0.1Hz*
02
1st time constant of velocity loop

integration
1 to 10000
210
310
0.1ms*
4-13
03
VWOWHURIVSHHGGHWHFWLRQ
04
VWWLPHFRQVWDQWRIWRUTXHOWHU
0 to 2500
84
05
2nd gain of position loop
0 to 30000
06
2nd gain of velocity loop
1 to 32767
07
2nd time constant of velocity loop

integration
1 to 10000
08
QGOWHURIVSHHGGHWHFWLRQ
0 to 5
09
QGWLPHFRQVWDQWRIWRUTXHOWHU
0 to 2500
10
Velocity feed forward gain
0 to 1000
11
9HORFLW\IHHGIRUZDUGOWHU
12
126
0.01ms
570
380
0.1/s*
270
180
0.1Hz*
10000
0.1ms*
126
4-14
0.01ms*
300
0.10%*
0 to 6400
50
0.01ms*
Torque feed forward gain
0 to 1000
0.10%*
13
7RUTXHIHHGIRUZDUGOWHU
0 to 6400
0.01ms*
4-15
14
2nd gain setup
0 to 1
15
Mode of position control switching
0 to 10
16
Delay time of position control

switching
0 to 10000
50
0.1ms*
17
Level of position control switching
0 to 20000
50
18
Hysteresis at position control

switching
0 to 20000
33
4-17
19
Position gain switching time
0 to 10000
33
0.1ms*
20
Mode of velocity control switching
0 to 5
21
Delay time of velocity control

switching
0 to 10000
0.1ms*
22
Level of velocity control switching
0 to 20000
23
Hysteresis at velocity control

switching
0 to 20000
24
Mode of torque control switching
0 to 3
25
Delay time of torque control switching 0 to 10000
0.1ms*
26
Level of torque control switching
0 to 20000
27
Hysteresis at torque control switching 0 to 20000
2-75
7
Supplement
6
When in Trouble
The symbol * attached to Unit. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Adjustment
4-18
Note
Setup
4-16
4-19
Caution
Connection
84
2
Preparation
0 to 5
List of Parameters

List of Parameters
[Class 2] Damping control

Parametr
No.
Default
Title
Range
Class No.
00
$GDSWLYHOWHUPRGHVHWXS
01
1st notch frequency
02
A,B
C
D,E,F G,H
Unit
Turning
Related
power
page
supply P S T F
0 to 4
50 to 5000
5000
Hz
1st notch width selection
0 to 20
03
1st notch depth selection
0 to 99
04
2nd notch frequency
50 to 5000
5000
Hz
05
2nd notch width selection
0 to 20
06
2nd notch depth selection
0 to 99
07
3rd notch frequency
50 to 5000
5000
Hz
08
3rd notch width selection
0 to 20
09
3rd notch depth selection
0 to 99
4-21
10
4th notch frequency
50 to 5000
5000
Hz
11
4th notch width selection
0 to 20
12
4th notch depth selection
0 to 99
13
6HOHFWLRQRIGDPSLQJOWHUVZLWFKLQJ
0 to 3
14
1st damping frequency
0 to 2000
0.1Hz*
15
VWGDPSLQJOWHUVHWXS
0 to 1000
0.1Hz*
4-23
16
2nd damping frequency
0 to 2000
0.1Hz*
4-22
17
QGGDPSLQJOWHUVHWXS
0 to 1000
0.1Hz*
4-23
18
3rd damping frequency
0 to 2000
0.1Hz*
4-22
19
UGGDPSLQJOWHUVHWXS
0 to 1000
0.1Hz*
4-23
20
4th damping frequency
0 to 2000
0.1Hz*
4-22
21
WKGDPSLQJOWHUVHWXS
0 to 1000
0.1Hz*
22
3RVLWLRQDOFRPPDQGVPRRWKLQJOWHU
0 to 10000
0.1ms*
23
3RVLWLRQDOFRPPDQG),5OWHU
0 to 10000
0.1ms*
4-24
4-20
4-22
4-23
Caution
Note
2-76
>&ODVV@9HURFLW\7RUTXH)XOOFORVHGFRQWURO
Parametr
No.
Default
Title
Range
Class No.
Turning
Related
power
page
supply P S T F
0 to 1
10 to 2000
500
(r/min)/
V
0 to 1
1st speed of speed setup
WR
r/min
05
2nd speed of speed setup
WR
r/min
06
3rd speed of speed setup
WR
r/min
07
4th speed of speed setup
WR
r/min
08
WR
r/min
09
WR
r/min
10
WR
r/min
11
WR
r/min
00
01
02
Input gain of speed command
03
Reversal of speed command input
04
4-25
4-26
4-27
12
Acceleration time setup
0 to 10000
13
Deceleration time setup
0 to 10000
ms/
(1000r/min)
ms/
(1000r/min)
14
Sigmoid acceleration/ deceleration

time setup
0 to 1000
ms
15
Speed zero-clamp function selection
0 to 3
16
Speed zero clamp level
10 to 20000
30
r/min
17
Selection of torque command
0 to 2
18
Torque command direction selection
0 to 1
19
Input gain of torque command
10 to 100
30
0.1V/100%*
20
Input reversal of torque command
0 to 1
21
Speed limit value 1
0 to 20000
r/min
22
Speed limit value 2
0 to 20000
r/min
23
External scale selection
0 to 2
Setup
4-28
5
4-29
Adjustment
20
4-30
24
Numerator of external scale division
0 to 2
25
Denominator of external scale

division
1 to 220
10000
26
Reversal of direction of external scale
0 to 1
27
External scale Z phase disconnection

detection disable
0 to 1
28
Hybrid deviation excess setup
1 to 227
16000
Command
unit
29
Hybrid deviation clear setup
0 to 100
Revolution
6
4-31
4-32
2-77
7
Supplement
Note
When in Trouble
Caution
Connection
0 to 3
2
Preparation
Speed setup, Internal/External

switching
Speed command rotational direction
selection
A,B
C
D,E,F G,H
Unit
List of Parameters

List of Parameters
[Class 4] I/F monitor setting

Parametr
No.
Default
Title
Range
Class No.
A,B
C
D,E,F G,H
Unit
Turning
Related
power
page
supply P S T F
00
SI1 input selection (Pin No.8)
0 to 00FFFFFFh
8553090
4-33
01
0 to 00FFFFFFh
8487297
02
0 to 00FFFFFFh
9539850
03
0 to 00FFFFFFh
394758
04
0 to 00FFFFFFh
4108
05
0 to 00FFFFFFh
197379
4-34
06
0 to 00FFFFFFh
3847
07
0 to 00FFFFFFh
263172
08
0 to 00FFFFFFh
328965
09
0 to 00FFFFFFh
3720
10
0 to 00FFFFFFh
197379
11
0 to 00FFFFFFh
131586
12
0 to 00FFFFFFh
65793
13
0 to 00FFFFFFh
328964
14
15
) 0 to 00FFFFFFh
) 0 to 00FFFFFFh
460551
(
SO2 output selection (
394758
16
Type of analog monitor 1
0 to 21
17
Analog monitor 1 output gain
0 to 214748364
18
0 to 21
4-36
19
0 to 214748364
20
Type of digital monitor
0 to 3
21
Analog monitor output setup
0 to 2
22
Analog input 1 (AI1) offset setup
WR
0.366mV
23
$QDORJLQSXW$,OWHU
0 to 6400
0.01ms*
24
Analog input 1 (AI1) overvoltage

setup
0 to 100
0.1V*
25
WR
5.86mV
26
$QDORJLQSXW$,OWHU
0 to 6400
0.01ms*
27
Analog input 2(AI2) overvoltage

setup
0 to 100
0.1V*
28
WR
5.86mV
29
$QDORJLQSXW$,OWHU
0 to 6400
0.01ms*
4-39
SO1 output selection
)
)
)
)
Pin No.10, 11
Line driver output
Pin No.34, 35
Line driver output
Pin No.36, 37
Line driver output
Pin No.38, 39
Line driver output
Pin No.12
Open collector output
Pin No.40
4-35
4-38
Caution
Note
2-78
Parametr
No.
Range
Class No.
30
Unit
Related
Turning
power
page
supply P S T F
0.1V*
Default
Title
A,B
C
D,E,F G,H
0 to 262144
10
Command
unit
0 to 3
0 to 100
31
32
33
INP hold time
0 to 30000
1ms
34
Zero-speed
10 to 20000
50
r/min
35
Speed coincidence range
10 to 20000
50
r/min
36
At-speed (Speed arrival)
10 to 20000
1000
r/min
37
0 to 10000
1ms
4-41
38
0 to 10000
1ms
39
Brake release speed setup
30 to 3000
30
r/min
40
Selection of alarm output 1
0 to 10
41
0 to 10
42
2nd Positioning complete (In-position)

0 to 262144
range
10
Command
unit
4-39
Preparation
Analog input 3 (AI3) overvoltage

setup
Positioning complete (In-position)
range
output setup
List of Parameters
4-40
4-42
Title
Range
A,B
C
D,E,F G,H
Unit
00
2nd numerator of electronic gear
0 to 230
01
3rd numerator of electronic gear
0 to 230
02
4th numerator of electronic gear
0 to 230
03
Denominator of pulse output division 0 to 262144
04
Over-travel inhibit input setup
0 to 2
05
Sequence at over-travel inhibit
0 to 2
06
Sequence at Servo-Off
0 to 9
07
Sequence at main power OFF
0 to 9
08
LV trip selection at main power OFF
0 to 1
09
Detection time of main power off
70 to 2000
70
1ms
5
Adjustment
Class No.
Turning
Related
power
page
supply P S T F
Setup
[Class 5] Enhancing setting

Default
Parametr
No.
Connection
Mechanical brake action at stalling

setup
Mechanical brake action at running
setup
4-43
6
When in Trouble
4-44
4-45
Note
2-79
Supplement

List of Parameters
Parametr
No.
Default
Title
Range
Class No.
10
Sequence at alarm
11
A,B
C
D,E,F G,H
Unit
Related
Turning
power
page
supply P S T F
0 to 7
4-45
Torque setup for emergency stop
0 to 500
12
Over-load level setup
0 to 500
13
Over-speed level setup
0 to 20000
r/min
14
Motor working range setup
0 to 1000
10
0.1
revolution*
15
,)UHDGLQJOWHU
0 to 3
16
Alarm clear input setup
0 to 1
17
Counter clear input mode
0 to 4
18
0 to 1
19
0 to 4
20
Position setup unit select
0 to 1
21
Selection of torque limit
0 to 6
4-48
22
2nd torque limit
0 to 500
500*1
23
Torque limit switching setup 1
0 to 4000
ms/100%
24
Torque limit switching setup 2
0 to 4000
ms/100%
25
0 to 500
500*1
4-49
26
0 to 500
500*1
27
Input gain of analog torque limit
10 to 100
30
0.1V/100%*
28
LED initial status
0 to 35
29
RS232 baud rate setup
0 to 6
4-50
30
RS485 baud rate setup
0 to 6
31
Axis address
0 to 127
32
Command pulse input maximum

setup
250 to 4000
4000
kpulse/s
33
Pulse regenerative output limit setup
0 to 1
4-51
34
For manufactuer's use
35
Front panel lock setup
0 to 1
Invalidation of command pulse inhibit

input
Command pulse inhibit input reading
setup
External input positive direction

torque limit
External input negative direction
torque limit
4-46
4-47
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 Torque limit setting.
Caution
Note
2-80
[Class 6] Special setting

Parametr
No.
Default
Title
Range
Class No.
00
Analog torque feed forward

conversion gain
02
Turning
Related
power
page
supply P S T F
0 to 100
0.1V/100%*
Velocity deviation excess setup
0 to 20000
r/min
04
JOG trial run command speed
0 to 500
300
r/min
4-51
05
Position 3rd gain valid time
0 to 10000
0.1ms*
06
Position 3rd gain scale factor
50 to 1000
100
07
Torque command additional value
WR
08
WR
09
WR
4-52
10
Function expansion setup
0 to 63
11
Current response setup
50 to 100
100
13
0 to 10000
250
14
Emergency stop time at alarm
0 to 1000
200
1ms
15
2nd over-speed level setup
0 to 20000
r/min
16
For manufacturer's use
17
Front panel parameter writing

selection
0 to 1
18
Power-up wait time
0 to 100
0.1s*
19
Encoder Z phase setup
0 to 32767
pulse
20
Z-phase setup of external scale
0 to 400
21
0 to 228
pulse
4-54
22
0 to 1
23
Disturbance torque compensating gain WR
24
'LVWXUEDQFHREVHUYHUOWHU
0 to 2500
53
0.01ms*
27
Alarm latch time selection
0 to 10
31
Real time auto tuning estimation speed
0 to 3
32
Real time auto tuning custom setup
WR
4-56
33
1000
34
Hybrid vibration suppression gain
0 to 30000
0.1/s*
35
+\EULGYLEUDWLRQVXSSUHVVLRQOWHU
0 to 6400
10
0.01ms*
37
Oscillation detecting level
0 to 1000
0.1%*
38
Alarm mask setup
WR
39
For manufactuer's use
4
4-53
4-55
Note
2-81
Supplement
Caution
6
When in Trouble
4-57
5
Adjustment
Setup
Serial absolute external scale Z

phase setup
A, B phase external scale pulse
output method selection
Connection
Positive direction torque

compensation value
Negative direction torque
compensation value
2
Preparation
A,B
C
D,E,F G,H
Unit
List of Parameters
Preparation
6HWXSRI7RUTXH/LPLW
Torque limit setup range is 0 to 300 and default is 300 except the combinations of the
motor and the driver listed in the table below.
Frame
Model No.
MDDHT5540
D
MDDHT3420
MFDHTA390
MFDHTB3A2
F
MFDHT5440
MFDHTA464
Applicable motor
Max. value of
Frame
WRUTXHOLPLW
Model No.
Applicable motor
Max. value of
WRUTXHOLPLW
MGME092G**
225
MGME602G**
272
MGME092S**
225
MGME602S**
272
MGME094G**
225
MDME752G**
265
MGME094S**
225
MDME752S**
265
MGME202G**
250
MHME752G**
265
MGME202S**
250
MHME752S**
265
MGME302G**
250
MGME604G**
272
MGME302S**
250
MGME604S**
272
MGME452G**
262
MDME754G**
267
MGME452S**
262
MDME754S**
267
MGME204G**
250
MHME754G**
267
MGME204S**
250
MHME754S**
267
MGME304G**
250
MDMEC12G**
265
MGME304S**
250
MDMEC12S**
265
MGME454G**
263
MDMEC52G**
253
MGME454S**
263
MDMEC52S**
253
MDMEC14G**
265
MDMEC14S**
265
MDMEC54G**
253
MDMEC54S**
253
MGDHTC3B4
MGDHTB4A2
MHDHTC3B4
MHDHTB4A2
The above limit applies to Pr0.13 (1st torque limit), Pr5.22 (2nd torque limit), Pr5.11
(Torque setup for emergency stop), Pr5.25 (External input positive direction torque
limit) and Pr5.26(External input negative direction torque limit).
Caution
2-82
When you change the motor model, above max. value may change as well. Check and
reset the setup values of Pr0.13, Pr5.22, Pr5.11, Pr5.25 and Pr5.26.
Cautions on Replacing the Motor

As stated previously, torque limit setup range might change when you replace the combination of the motor and the driver. Pay attention to the followings.
6HWXSRI7RUTXH/LPLW
:KHQWKHPRWRUWRUTXHLVOLPLWHG
e.g.1)
before replacing the motor
after replacing the motor

MADHT1507
MADHT1507
MSME012S1A
MSME022S1A
Pr0.13 Setup range : 0 to 300%

Setup value : 100%.
Torque limit value
0.64N m x 100% =
0.64N m
Set up Pr0.13 to 200 to

make torque limit value
to 0.64N m
(0.32N m x 200% = 0.64N m)
Pr0.13 Setup range : Change to 0 to 300%.

Setup value : Keep 100%.
Torque limit value
0.32N m x 100% =
0.32N m
:KHQ\RXZDQWWRREWDLQWKHPD[PRWRUWRUTXH
<RXQHHGWRUHVHWWKHWRUTXHOLPLWLQJVHWXSWRWKHXSSHUOLPLWEHFDXVHWKHXSSHUOLPLW
value might be different from the previous motor. (see e.g.2)
after replacing the motor
MADHT1507
MSME022S1A
MSME012S1A
Rated torque
0.32N m
Pr0.13 Setup range : 0 to 300%

Setup value : 300%.
4
Setup
before replacing the motor
MADHT1507
Connection
Rated torque
0.32N m
Rated torque
0.64N m
e.g.2)
Preparation
When you replace the motor series or to the different wattage motor, you need to reset
the torque limit setup because the rated toque of the motor is different from the previous motor. (see e.g.1)
Pr0.13 Setup range : change to 0 to 300%

Setup value : Keep 300%.
Set up Pr0.13 to 300 to obtain

the max. output torque.
5
Adjustment
6
When in Trouble
7
Supplement
2-83
14.
Preparation
Setup of command division and

multiplication ratio (electronic gear ratio)
Relation between Electronic Gear and Position Resolution or Traveling Speed

Driver
Electronic gear ratio
Pulse train position

command
Travel distance : P1 [P]

Traveling speed : F [PPS]
D=
Rotational speed : N[r/min]
Pr0.09
Pr0.10
Motor
Encoder
Gear
Machine
Reduction ratio : R
Encoder pulse counts : E [P/r]

* 1,048,576 (=20bit)
* 131,072 (=17bit)
Example of ball screw drive by servo motor

Here we take a ball screw drive as an example of machine.
A travel distance of a ball screw M [mm] corresponding to travel command P1 [P], can be
described by the following formula (1) by making the lead of ball screw as L [mm]
M = P1 x (D/E) x (1/R) x L .................. (1)
WKHUHIRUH SRVLWLRQ UHVROXWLRQ WUDYHO GLVWDQFH 0 SHU RQH FRPPDQG SXOVH ZLOO EH GHscribed by the formula (2)
0 '([5[/
modifying the above formula (2), electronic gear ratio can be found in the formula (3).
' 0[([5[/
Actual traveling velocity of ball screw, V[mm/s] can be described by the formula (4) and
the motor rotational speed, N at that time can be described by the formula (5).
V = F x (D/E) x (1/R) x L ..................... (4)
N = F x (D/E) x 60 ............................... (5)
modifying the above formula (5), electronic gear ratio can be found in the formula (6).
D = (N x E)/ (F x 60) ........................... (6)
Note
0DNHDSRVLWLRQUHVROXWLRQ0DVDSSUR[WRRIWKHPDFKLQHSRVLWLRQLQJDFFXUDF\, considering a mechanical error.

2) Set up Pr0.09 and Pr0.10 to any values between 1 to 230.
3) The desired setting can be determined by selecting value of numerator and denominator of electronic gear. However, an excessively high division or multiplication ratio cannot guarantee the operation. The ratio should be in a range between 1/1000 and 1000.
Excessively high multiplication ratio will cause Err27.2 (command pulse multiplication
error protection) due to varying command pulse input or noises, even if the other setWLQJVDUHZLWKLQWKHVSHFLHGUDQJH
4)
2-84
2n
20
21
22
23
24
25
26
27
28
29
210
Decimal
1
2
4
8
16
32
64
128
256
512
1024
2n
211
212
213
214
215
216
217
218
219
220
Decimal
2048
4096
8192
16384
32768
65536
131072
262144
524288
1048576
14. Setup of command division and multiplication ratio (electronic gear ratio)
D=
0.00052171
=
10
Lead of ball screw, L =20mm

Gear reduction ratio, R = 1
Position resolution,
0 PP
Encoder, 17-bit
(E= 217P/r)
0.000052171
= 0.32768
20
0.000052201
=
20
5220
20105
655360
=
100000
D < 1, hence
use 120-bit.
5242880
2000000
Motor rotational speed (r/min), N = F
500000
= 50 60
1215
10000
1
22
= 750
Ditto
To make it to 2000r/min.
Pr0.10 = 100000
D = 1 is the
condition for
minimum resolution.
Pr0.09 = 5242880
Pr0.10 = 2000000
60
2000217
2000217
262144000
=
=
50000060
30000000
30000000
Pr0.09
D=
Pr0.10
Pr0.09 = 262144000
Pr0.10 = 30000000
1
20
1
20
1
20 =
= 0.00133mm
=
217
3750
22
3750 4
1
When in Trouble
Travel distance per command pulse (mm)

(Position resolution)
D
1
M =
L
E
R
215
3750
D
60
E
NE
D=
F 60
Adjustment
D=
1
217
Pr0.09 = 655360
Setup

0 PP
Line driver pulse input,
500kpps
Encoder, 17-bit
Pr0.09
Pr0.10
Connection
Encoder : 20-bit (E = 220 P/r)
5217
10104
D=
Preparation

0 PP
Encoder, 17-bit
(E= 217P/r)
MER
L
Relation between Electronic Gear and Position Resolution or Traveling Speed
7
Supplement
Related page
3'HWDLOVRI3DUDPHWHU
2-85
Setup
Preparation
Setup with the Front Panel

Display LED (6-digit)
Switch to error display screen when error
occurs, and LED will flash (about 2Hz).
LED will flash slowly (about 1Hz) when warning
occurs.
6
X7
Shifting of the digit for data

changing to higher digit.
X7
Output connector for monitor
Note
2-86
Mode switching button

(valid at SELECTION display)
Press this to switch 4 kinds of mode.
1) Monitor Mode
2) Parameter Set up Mode
3) EEPROM Writing Mode
4) Auxiliary Function Mode
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTION display.
Press these to change display and data, select
parameters and execute actions.
(Change/Selection/Execution is valid to the digit
which decimal point flashes.)
Numerical value increases by pressing, ,
decreases by pressing .
For connector X7, refer to P.2-60 Wiring to the connector, X7.
1
Setup
Initial Status of the Front Panel Display (7 Segment LED)

Status
Front panel display shows the following after turning on the power of the driver.
approx. 0.6 sec
approx. 0.6 sec
Initial display of LED

(Determined by the setup of Parameter, Pr5.28 "Initial status of LED".)
Upon Occurrence of an Alarm
Connection
If a driver alarm is generated, the front panel display shows the following repeatedly.
approx. 0.8 sec
0.3 sec
Repeatedly(during continuous alarm)
Below shows possible cause of an alarm.

Content
A0
Overload protection
Load factor is 85% or more the protection level.
A1
Over-regeneration
alarm
Regenerative load factor is 85% or more the protection

level.
A2
Battery alarm
Battery voltage is 3.2 V or lower.
A3
Fan alarm
Fan has stopped for 1 sec.
A4
Encoder
communication alarm
The number of successive encoder communication errors

H[FHHGVWKHVSHFLHGYDOXH
A5
Encoder overheat
alarm
The encoder detects overheat alarm.
A6
Oscillation detection
alarm
Oscillation or vibration is detected.
A7
Lifetime detection
alarm
The life expectancy of capacity or fan becomes shorter

WKDQWKHVSHFLHGWLPH
A8
External scale error

alarm
The external scale detects the alarm.
A9
External scale
communication alarm
The number of successive external scale communication

HUURUVH[FHHGVWKHVSHFLHGYDOXH
5
Adjustment
6
When in Trouble
7
Supplement
Related page
Alarm
Setup
alarm
No.
Preparation
approx. 2 sec
3'HWDLOVRI3DUDPHWHU
2-87
Preparation
Structure of Each Mode
Use each button on the touch panel to select the structure and switch the mode.
SELECTION display
0RQLWRU
PRGH
,QLWLDOVWDWXVRI
WKH&RQVROH/('
6(7EXWWRQ
P.2-91
0RGHVZLWFKLQJEXWWRQ
3DUDPHWHU
VHWXSPRGH
P.2-106
0RGHVZLWFKLQJEXWWRQ
((3520
ZULWLQJPRGH
P.2-107
0RGHVZLWFKLQJEXWWRQ
$X[LOLDU\
IXQFWLRQPRGH
P.2-108
0RGHVZLWFKLQJEXWWRQ
Note
Caution
2-88
<RXFDQFKDQJHWKHDVKLQJGHFLPDOSRLQWZLWK
, then shift the digit for data change
On power-up, the monitor mode executed is displayed according to the setup of Pr5.28 LED
initial status.
1
Structure of Each Mode
EXECUTION display
2
Preparation
3WR105
6(7EXWWRQ
3
Connection
......P.2-106
6(7EXWWRQ
)RUGHWDLOVRISDUDPHWHUVUHIHUWR
3'HWDLOVRISDUDPHWHU
4
......P.2-107
Setup
6(7EXWWRQ
......P.2-109
$ODUPFOHDU
......P.2-110
Adjustment
$XWRPDWLFRIIVHWDGMXVWPHQW$,WR
6(7EXWWRQ
......P.2-111
0RWRUWULDOUXQ-2*
3
When in Trouble
&OHDULQJRIDEVROXWHHQFRGHU
......P.2-114
,QLWLDOL]DWLRQRISDUDPHWHU
......P.2-115
5HOHDVHRIIURQWSDQHOORFN
7
Supplement
2-89
Setup of front panel lock
Preparation
Outline
To prevent operational error e.g. unintentional parameter modification, the front panel
may be locked.
Once locked, operations on the panel are limited as follows:
Mode
Locked panel conditions
Monitor Mode
No limitation: all monitored data can be checked.
Parameter Set up Mode
No parameter can be changed but setting can be checked.
EEPROM Writing Mode
Cannot be run. (No display)
Auxiliary Function Mode
Cannot be run except for Release of front panel lock. (No

display)
How to operate
5HODWHGSDUDPHWHUV
Parameter No.
Class
No.
5
35
Title
Function
Setup of front panel lock
Locks the operation attempted from the front

panel.
Lock and unlock can be made in one of two ways.

Procedure
Lock
Unlock
Note
Related page
2-90
Front panel

PANATERM
(1) Set Pr5.35 Front panel lock to 1, and writ the setting to EEPROM.
(2) Turn on power to the driver.
(3) The front panel is locked.
(1) Execute the auxiliary function
mode, front panel lock release
function.
(3) The front panel is unlocked.
For details of front panel lock release, refer to P.2-113.

3'HWDLOVRI3DUDPHWHU
(1) Set Pr5.35 Front panel lock to 0,

and writ the setting to EEPROM.
(3) The front panel is unlocked.
Monitor Mode (SELECTION display)
Preparation
To change the monitor display setting, select the display option to be changed
from SELECTION display, and press
to change to EXECUTION display.
to return to the selection display,
After completion of changing, press
1
2
Monitor Mode SELECTION display
Description
Pages to
refer
Display
example
Description
Preparation
Display
example
Pages to
refer
Positional command
deviation
P.2-92 (1)
No. of changes in
I/O signals
Motor speed
P.2-92 (2)
Absolute encoder data P.2-101 (12)
Positional command
speed
P.2-92 (2)
Absolute external
scale position
Velocity control
command
P.2-92 (2)
No. of encoder/ external scale

communication errors monitor P.2-102 (14)
Torque command
P.2-92 (2)
Communication
axis address
P.2-101 (11)
Command pulse sum P.2-93 (3)
External scale deviation

P.2-103 (17)
[External scale unit]
External scale
feedback pulse sum
P.2-93 (3)
Hybrid deviation
[Command unit]
Control mode
P.2-93 (4)
Voltage across PN [V] P.2-103 (19)
I/O signal status
P.2-94 (5)
Software version
P.2-103 (20)
Analog input value
P.2-95 (6)
Driver serial number
P.2-103 (21)
Error factor and

reference of history
P.2-96 (7)
Motor serial number
P.2-104 (22)
Alarm Display
P.2-98 (8)
Accumulated
operation time
P.2-104 (23)
Regenerative load
factor
P.2-99 (9)
Automatic motor
recognizing function
P.2-104 (24)
Over-load factor
P.2-99 (9)
Temperature
information
P.2-104 (25)
Inertia ratio
P.2-99 (9)
Safety condition
monitor
P.2-105 (26)
P.2-103 (18)
EXECUTION
display
(SET button)
5
Adjustment
6
When in Trouble
<Return to Positional command deviation.>
Display shifts toward the arrowed direction by pressing
and reversed direction by pressing
(Mode switch button)
:KHQ\RXWXUQRQWKH3URGXFWIRUWKHUVWWLPHGLVSOD\VKRZV
To change this display, change the setup of Pr5.28 (Initial status of LED).
. (at motor stall)
2-91
Supplement
Parameter Setup Mode SELECTION display
Note
Setup
Encoder positional
deviation [Encoder unit] P.2-102 (16)
P.2-100 (10)
Connection
P.2-102 (15)
Feedback pulse sum P.2-93 (3)
Factor of
no-motor running
P.2-102 (13)
Preparation
Monitor Mode (EXECUTION display)
(1) Display of positional command deviation [command unit]

Displays positional deviation of the command unit in High order or Low order.
Positional command deviation

......Low order
......High order
To switch between Low order (L) and High order (H), press
(2) Display of motor speed, positional command speed,

YHORFLW\FRQWUROFRPPDQGDQGWRUTXHFRPPDQG
0RWRUVSHHGUPLQ
Displays the motor speed (r/min).

3RVLWLRQDOFRPPDQGVSHHGUPLQ
Displays positional command speed (r/min).

9HORFLW\FRQWUROFRPPDQGUPLQ
Displays velocity control command (r/min).

7RUTXHFRPPDQG
Displays torque command (%).
2-92
(3) Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum
)HHGEDFN3XOVH6XP>(QFRGHUIHHGEDFNSXOVH]
2
Preparation
Feedback Pulse Sum

......Low order
......High order
3
&RPPDQG3XOVH6XP>&RPPDQG3XOVH@
Connection
Command Pulse Sum

......Low order
......High order
Setup
([WHUQDO6FDOH)HHGEDFN3XOVH6XP
External Scale Feedback Pulse Sum
......Low order
Adjustment
......High order
.
(4) Display of Control Mode
When in Trouble
.....Position control mode

.....Velocity control mode
.....Torque control mode
.....Full-closed control mode
7
Supplement
2-93

(5) Display of I/O Signal Status

Displays the control input and output signal to be connected to connector X4.
Use this function to check if the wiring is correct or not.
.....Active *1
.....Inactive *1
Pin No.
.....Input signal
.....Output signal
6KLIWWKHIODVKLQJGHFLPDOSRLQWZLWK
5LJKWVLGHRIGHFLPDOSRLQW3LQ1RVHOHFWLRQ
/HIWVLGHRIGHFLPDOSRLQW,QSXW2XWSXW3LQ1RVHOHFWLRQ
6HOHFW,QRU2XWE\SUHVVLQJRUEXWWRQ
6HOHFWWKH3LQ1RWREHPRQLWRUHGE\SUHVVLQJ
/RZHVWSODFH3LQ1R
RIRXWSXWVLJQDO
(Highest place Pin No.

RILQSXWVLJQDO
*1 When input signal

When output signal
Note
2-94
Active : Input signal photocoupler is ON.

Inactive : Input signal photocoupler is OFF.
Active : Output signal transistor is ON.
Inactive : Output signal transistor is OFF.
For detail of input/output signal, refer to P.3-30 Inputs and outputs on connector X4
For detail of Error Code, refer to P.6-2 Protective Function.
1
(6) Display of Analog Input Value
2
Input voltage value [V]
Preparation
Input signal
Select the signal No. to be monitored by pressings
(Analog input 1 value, unit [V])
.
Displays the value after
offset correction.

Connection
Caution
Voltage exceeding 10V can not be displayed correctly.
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2-95

(7) Display of Error Factor and Reference of History
Error code No. (
appears if no error occurs)
........Present error
........History 0 (latest error)
........History 13 (oldest error)
<RXFDQUHIHUWKHODVW
error factors (including
present one)
Press
to select
WKHIDFWRUWREHUHIHUUHG
<List of error code No.>

Error code
Main
Sub
11
Control power supply undervoltage protection
12
Over-voltage protection
Main power supply under-voltage protection (between P to N)
Main power supply under-voltage protection (AC interception detection)
Over-current protection
IPM error protection
15
Over-heat protection
16
Over-load protection
Over-regeneration load protection
Over-regeneration Tr error protection
Encoder communication disconnect error protection
Encoder communication error protection
Encoder communication data error protection
Position deviation excess protection
Velocity deviation excess protection
Hybrid deviation excess error protection
Over-speed protection
2nd over-speed protection
Command pulse input frequency error protection
Command pulse multiplier error protection
28
Limit of pulse replay error protection
29
'HYLDWLRQFRXQWHURYHURZSURWHFWLRQ
30
Safety detection
IF overlaps allocation error 1 protection
IF overlaps allocation error 2 protection
IF input function number error 1 protection
IF input function number error 2 protection
IF output function number error 1 protection
IF output function number error 2 protection
&/WWLQJHUURUSURWHFWLRQ
,1+WWLQJHUURUSURWHFWLRQ
13
14
18
21
23
24
25
26
27
33
2-96
Attribute
Protective function
History
Can be Immediate
cleared
stop
*1
Error code
Main
Sub
34
Attribute
Protective function
37
0 to 2 EEPROM check code error protection

Analog input1 excess protection
40
Absolute system down error protection
41
Absolute counter over error protection
42
Absolute over-speed error protection
43
Initialization failure
44
Absolute single turn counter error protection
45
Absolute multi-turn counter error protection
47
Absolute status error protection
48
Encoder Z-phase error protection
49
Encoder CS signal error protection
External scale connection error protection
External scale communication error protection
External scale status 0 error protection
A-phase connection error protection
B-phase connection error protection
Z-phase connection error protection
Compulsory alarm input protection
50
51
55
87
95
5
Adjustment
Setup
Over-travel inhibit input protection
Connection
2
Preparation
0 to 2 EEPROM parameter error protection
39
Can be Immediate
stop
cleared
Software limit protection
36
38
History
0 to 4 Motor automatic recognition error protection
1) Certain alarms are not included in the history. For detailed information on alarms e.g.
alarm numbers, refer to P.6-2.
2) When one of the errors which are listed in error history occurs, this error and history o
shows the same error No.
2-97
7
Supplement
Caution
History...The error will be stored in the error history.

Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the error
and then turn on power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
(Setting of Pr.5.10 Sequence at alarm is also required.)
When in Trouble
Other number Other error
Note

(8) Alarm Display

......No alarm occurred
......High priority alarm
Alarm number
7RGLVSOD\WKHDODUPRFFXUUHQFHFRQGLWLRQSUHVVRUEXWWRQ
alarm
No.
Alarm
Content
Latched
time *1
A0
Overload protection
A1
Over-regeneration
alarm
Regenerative load factor is 85% or more the

protection level.
A2
Battery alarm
A3
Fan alarm
WRVRU
A4
Encoder communication
alarm
The number of successive encoder communication

WRVRU
A5
Encoder overheat alarm
WRVRU
A6
alarm
WRVRU
A7
Lifetime detection alarm
Life expectancy of capacitor or fan is short.
A8

alarm
WRVRU
A9
External scale
communication alarm
The number of successive external scale

FRPPXQLFDWLRQHUURUVH[FHHGVWKHVSHFLHGYDOXH
WRVRU
WRVRU
VRU
)L[HGDW
)L[HGDW
*1 Alarms can be cleared by using the alarm clear. Because the all existing alarms are kept cleared while the alarm
FOHDULQSXW$&/5LVNHSW21EHVXUHWRWXUQLW2))GXULQJQRUPDORSHUDWLRQ(LWKHUVRUFDQEHVHOHFWHG
by using user parameter.
([FHSWLRQ%DWWHU\DODUPLV[HGDWEHFDXVHLWLVODWFKHGE\WKHHQFRGHU
%HFDXVHWKHHQGRIOLIHDODUPPHDQVWKDWWKHOLIHH[SHFWDQF\FDQQRWEHH[WHQGHGWKHDODUPLVVHWDW
2-98
1
(9) Display of Regenerative Load Factor, Over-load Factor and Inertia Ratio
5HJHQHUDWLYH/RDG)DFWRU
2
Preparation
Display the ratio (%) against the alarm trigger level of regenerative
protection.
This is valid when Pr0.16 (External regenerative resistor setup) is 0
or 1.
2YHUORDG)DFWRU
3
Connection
Displays the ratio (%) against the rated load.

Refer to P.6-14, "Overload Protection Time Characteristics" of
When in Trouble.
,QHUWLD5DWLR
4
Setup
Displays the inertia ratio (%) .

Value of Pr0.04 (Inertia Ratio) will be displayed as it is.
5
Adjustment
6
When in Trouble
7
Supplement
Note
For alarm function, refer to P.4-42 "Pr4.40, Pr4.41".
2-99

10) Display of the Factor of No-Motor Running

Displays the factor of no-motor running in number.
.......Position control
.......Torque control
....... Velocity control
....... Full-closed control
Factor No.
Control mode
([SODQDWLRQRIIDFWRU1R
Factor
No.
Factor
Content
P S
Occurrence of
error/alarm
An error is occurring, and an alarm is triggered.
00
No particular factor
No factor is detected for No-motor run.

The motor runs in normal case.
01
Main power shutoff
The main power of the driver is not turned on.
02
No entry of
SRV-ON input
The Servo-ON input (SRV-ON) is not connected to COM.
03
Over-travel
inhibition input
is valid
While Pr5.04 is 0 (Run-inhibition input is valid),

3RVLWLYH GLUHFWLRQ RYHUWUDYHO LQKLELWLRQ LQSXW 327 LV RSHQ DQG VSHHG
command is Positive direction.
1HJDWLYH GLUHFWLRQ RYHUWUDYHO LQKLELWLRQ LQSXW 127 LV RSHQ DQG VSHHG
command is Negative direction.
04
Torque limit setup

is small
Either one of the valid torque limit setup value of Pr0.13 (1st) or Pr5.22
(2nd) is set to 5% or lower than the rating.
While Pr5.21 is 0 (analog torque limit input accepted),

3RVLWLYHGLUHFWLRQDQDORJWRUTXHOLPLWLQSXW3$7/LVQHJDWLYHYROWDJH
and speed command is Positive direction.
1HJDWLYHGLUHFWLRQDQDORJWRUTXHOLPLWLQSXW1$7/LVSRVLWLYHYROWDJH
and speed command is Negative direction.
Pr5.18 is 0 (Command pulse inhibition input is valid.), and INH is open.
DVKLQJ
05
Analog torque
limit input is valid.
06
INH input is valid.
07
Command pulse
input frequency
is low.
The position command per each control cycle is 1 pulse or smaller due to,
1RFRUUHFWHQWU\RIFRPPDQGSXOVH
1RFRUUHFWFRQQHFWLRQWRWKHLQSXWVHOHFWHGZLWK3U
1RPDWFKLQJWRLQSXWVWDWXVVHOHFWHGZLWK3USU3U
08
CL input is valid.
While Pr5.17 is 0 (Deviation counter clear at level), the deviation counter

clear input (CL) is connected to COM.
09
ZEROSPD input
is valid.
10
External speed
command is small.
While the analog speed command is selected, the analog speed

command is smaller than 0.06[V].
11
Internal speed
command is 0.
While the internal speed command is selected, the internal speed

command is set to lower than 30 [r/min]
12
Torque command
is small.
The analog torque command input (SPR or P-ATL) is smaller than 5 [%]
of the rating.
13
Speed limit is
small.
:KLOH 3U LV VSHHG LV OLPLWHG E\ WK VSHHG RI LQWHUQDO VSHHG
Pr3.07, (4th speed of speed setup) is set to lower than 30 [r/min].
:KLOH3ULVVSHHGLVOLPLWHGE\635LQSXWWKHDQDORJVSHHGOLPLW
input (SPR) is smaller than 0.06 [V].
The motor runs at 20 [r/min] or lower even though the factors from 1 to 13
are cleared,
(the command is small, the load is heavy, the motor lock or hitting, driver/
motor fault etc.)
14
Other factor
Note
2-100
Related
Control Mode
While Pr3.15 is 1 (Speed zero clamp is valid.), the speed zero clamp input
(ZEROSPD) is open.
* Motor might run even though the other number than 0 is displayed.
Refer to "6.In trouble".
1
(11) Display of No. of changes in I/O signals
No. of changes in I/O signals (the signal is invalid)
Preparation
Pin No.
.....Input signal
.....Output signal
6KLIWWKHIODVKLQJGHFLPDOSRLQWZLWK
/HIWVLGHRIGHFLPDOSRLQW3LQ1RVHOHFWLRQ
3
Connection
5LJKWVLGHRIGHFLPDOSRLQW,QSXW2XWSXW3LQ1RVHOHFWLRQ
7KHVZLWFKRILQSXWRXWSXWE\SUHVVLQJRUEXWWRQ
4
Setup
6HOHFWWKH1RRISLQWKHQXPEHURIFKDQJHVRQWKDWSLQVKRXOGEHGLVSOD\HG
E\SUHVVLQJRUEXWWRQ
/RZHVWSODFH3LQ1R
of output signal)
5
Adjustment
(Highest place Pin No.

of input signal)
(12) Display of absolute encoder data
6
When in Trouble
Encoder data
......One revolution data, Low order (L)
2QHUHYROXWLRQGDWD+LJKRUGHU+
......Multi-revolution data
6HOHFWWKHGDWDWREHGLVSOD\HGE\SUHVVLQJRUEXWWRQ
7
Supplement
2-101

(13) Display of absolute external scale position

'LVSOD\VWKHDEVROXWHSRVLWLRQRIVHULDODEVROXWHVFDOH
,IDVHULDOLQFUHPHQWDOVFDOHGLVSOD\VWKHVFDOHSRVLWLRQUHODWLYHWRWKHSRZHURQSRVLWLRQ
ZKLFKLVGHQHGDV
External scale data

......Absolute external scale position -Low order
......Absolute external scale position -High order
Select encoder or external scale by pressing
or
button.
(14) Display of No. of encoder/ external scale communication errors monitor
No. of communication errors

......Encoder
......External scale
Select encoder or external scale by pressing
or
button.
(15) Display of communication axis address
Displays the value set to Pr5.31 Axis address.
(16) Display of encoder positional deviation [Encoder unit]
encoder positional deviation [Encoder unit]

......Low order
......High order
2-102
1
(17) Display of External Scale Deviation [External Scale Unit]
External Scale Deviation [External scale unit]
Preparation
......Low order
......High order
(18) Display of hybrid deviation [Command unit]
Connection
Hybrid deviation [Command unit]

......Low order
......High order
Setup
(19) Display of voltage across PN [V]
Displays the voltage across PN [V]

(only for reference not an instrument)
Adjustment
(20) Display of Software Version
Displays the software version of the driver.

(Example of display: Ver 1.00)
6
When in Trouble
(21) Display of driver serial number
Driver serial number

......Driver serial number- Low order
......Driver serial number- High order

or
.
Supplement
(Example of display: Serial number 09010001)
2-103

(22) Display of motor serial number
Motor serial number

......Motor serial number- Low order
......Motor serial number- High order
(Example of display: Serial number 09040001)
or
(23) Display of accumulated operation time
Displays accumulated operation time [h].

......Low order
......High order
(24) Automatic Motor Recognizing Function

......Automatic recognition is valid.
......Automatic recognition is invalid.
(25) Display of temperature
Displays the driver temperature [C].

(This is not meter readings but only for reference.)
Displays the encoder temperature [C].

(This is not meter readings but only for reference.)
2-104
1
(26) Display of safety condition monitor
: Servo-off condition
Preparation
: Servo-on condition Dot information

: Alarm condition
Flashing Normal change is possible
3
Connection
Servo ready condition

OFF: Dot unlit
ON: Dot lit
6HOHFWGHVLUHGPRQLWRURSWLRQE\SUHVVLQJRUEXWWRQ
4
,QSXWSKRWRFRXSOHU21
,QSXWSKRWRFRXSOHU2))
,QSXWSKRWRFRXSOHU21
2XWSXWSKRWRFRXSOHU2))
2XWSXWSKRWRFRXSOHU21
Setup
,QSXWSKRWRFRXSOHU2))
5
Adjustment
6
When in Trouble
7
Supplement
Related page
P.7-2 safety.
2-105
Parameter Setup Mode
Preparation

EXECUTION display
3DUDPHWHU1R
+H[DGHFLPDO1R
Parameter value
You can change the

value which digit has
a flashing decimal
point.
Class
Note
For parameters which place is displayed
with
, the content changed and
written to EEPROM becomes valid after
turning off the power once.
3UHVVRUWRVHOHFWSDUDPHWHU1R
to be set.
Pr0.00
Pr0.01
(SET button)
Pr6.32
Pr6.33
Pr0.00
3UHVVDQGWKHIODVKLQJGHFLPDO
separator shifts to the high order position,
allowing the figure at this digit to any other
figure.
Pr0.01
3UHVVRUWRVHWXSWKHYDOXHRI
parameter. (Value increases with
decreases with
.)
3UHVVDQGWKHIODVKLQJGHFLPDO
separator shifts to the high order position,
allowing the figure at this digit to any other
figure.
3URORQJHGGHSUHVVLRQRIXSGDWHVWKH
SDUDPHWHULQWKHGULYHU1RWHWKDWWKH
parameter value selected by
or
is
not reflected until
is pressed in this
way.
7RFDQFHOWKHYDOXHVHOHFWHGE\RU
press
instead of
, and the driver
internal parameter value is kept
unchanged and the display returns to the
parameter number display screen.
Remarks
After changing the parameter value and
pressing
, the content will be reflected in
the control. 'RQRWH[WUHPHO\FKDQJHWKH
parameter value which change might affect the
motor movement very much (especially
velocity loop or position loop gains).
Pr0.11
Pr1.11
'LVSOD\WKH1RRISDUDPHWHUWREH
changed and press
to change to
(;(&87,21GLVSOD\
EEPROM Writing Mode SELECTION display
Note
2-106
$IWHUVHWWLQJXSSDUDPHWHUVUHWXUQWR6(/(&7PRGHUHIHUULQJWRVWUXFWXUHRIHDFKPRGH
(P.2-88).
(DFKSDUDPHWHUKDVDOLPLWLQQXPEHURISODFHVIRUXSSHUVKLIWLQJ
Preparation
EEPROM Writing Mode

0RGHVZLWFKEXWWRQ
EXECUTION display
Preparation
7RZULWHWKHSDUDPHWHUWR((3520SUHVV
WRFKDQJHWR(;(&87,21GLVSOD\
1
.HHSSUHVVLQJXQWLOWKHGLVSOD\
changes to
when you
execute writing.
* Start flashes instantaneously and is
difficult to check visually.
3
Connection
increases while
keep pressing
(for
approx. 5sec) as the
right fig. shows.
Starts writing.
Setup
(SET button)
Writing completes
Writing error
When you change the parameters which

contents become valid after resetting,
will be displayed after finishing
wiring. Turn off the control power once to
reset.
Auxiliary Function Mode SELECTION display
Caution
is displayed indicating that no writing is made to EEPROM.
2-107
7
Supplement
1. When writing error occurs, make writing again. If the writing error repeats many times,
this might be a failure.
2. Don't turn off the power during EEPROM writing. Incorrect data might be written. If this
happens, set up all of parameters again, and re-write after checking the data.
:KHQWKHHUURUGHQHGE\(UU8QGHUYROWDJHSURWHFWLRQRIFRQWUROSRZHUVXSSO\
occurs,
6
When in Trouble
0RGHVZLWFKEXWWRQ
Adjustment
Note
Preparation

Auxiliary Function Mode (SELECTION display)

0RGHVZLWFKEXWWRQ
EXECUTION display
Auxiliary Function Mode SELECTION display

7RVHOHFWWKHGHVLUHGDX[LOLDU\IXQFWLRQ
SUHVVRU
Display
example
$ODUP&OHDU
Description
Pages to
refer
$ODUP&OHDU
3
3UHVVLQJ
$ODUPFOHDUVWDUWV
$ODUPFOHDUFRPSOHWHV
$$XWRPDWLF
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$$XWRPDWLF
2IIVHW$GMXVWPHQW
3
$$XWRPDWLF
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$$XWRPDWLF
2IIVHW$GMXVWPHQW
3
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3
7ULDO5XQ
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&OHDULQJRI
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3
,QLWLDOL]DWLRQRI
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SDUDPHWHU
3
5HOHDVHRI
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IURQWSDQHOORFN
3
$ODUP&OHDU
7'LVSOD\WKHDX[LOLDU\IXQFWLRQWREH
FKDQJHGDQGSUHVVWRFKDQJHWR
(;(&87,21GLVSOD\
0RGHVZLWFKEXWWRQ
2-108
6(7EXWWRQ
Preparation
Auxiliary Function Mode (EXECUTION display)
1) Alarm Clear Screen

This function releases the current alarm status.
Certain alarms will persist. If this is the case, refer to P.6-2 When in Trouble - Protective
Function.
3UHVVWRFDOOIRU
(;(&87,21GLVSOD\
(SET button)
2
Preparation
EXECUTION display
SELECTION display
1
.HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
ZKHQ\RXH[HFXWHDODUPFUHDU
3
Connection
LQFUHDVHVZKLOHNHHS
SUHVVLQJIRUDSSUR[VHF
DVWKHOHIWILJVKRZV
4
$ODUPFOHDUVWDUWV
Setup
&OHDULQJ
ILQLVKHV
$ODUPFOHDUFRPSOHWHV
&OHDULVQRWILQLVKHG
5HOHDVHWKHHUURUE\
UHVHWWLQJWKHSRZHU
5
Adjustment
6
When in Trouble
7
After alarm cleaning, return to SELECTION display, referring to structure of each mode (P.2-88).
2-109
Supplement
Note

(2) Analog inputs 1 to 3 automatic offset adjustment

This function automatically adjusts offset setting of analog input.
Analog input 1 (AI1)......Pr4.22 (Analog input 1 (AI1) offset setup)
EXECUTION display
SELECTION display
([DPSOHRI$QDORJLQSXW$,
6(7EXWWRQ
:KHQ\RXH[HFXWHDXWRPDWLFRIIVHWDGMXVWPHQWPDNH
FRPPDQGLQSXWWR9WKHQNHHSSUHVVLQJXQWLOWKHGLVSOD\
FKDQJHVWR
3UHVVWRFDOOIRU
(;(&87,21GLVSOD\
LQFUHDVHVZKLOHNHHS
SUHVVLQJIRUDSSUR[VHF
DVWKHOHIWILJVKRZV
$XWRPDWLFRIIVHWDGMXVWPHQWVWDUWV
$GMXVWPHQW
ILQLVKHV
$XWRPDWLFRIIVHW
DGMXVWPHQWILQLVKHV
Remarks
Note
2-110
(UURURFFXUV
,QYDOLGPRGHLVVHOHFWHG
RURIIVHWYDOXHH[FHHGV
WKHVHWXSUDQJHRI3U
<RXFDQQRWZULWHWKHGDWDRQO\E\H[HFXWLQJDXWRPDWLFRIIVHWDGMXVWPHQW
([HFXWHDZULWLQJWR((3520ZKHQ\RXQHHGWRUHHFWWKHUHVXOWDIWHUZDUG
After completion of the automatic offset adjustment, return to SELECTION display by
referring to P.2-88 Structure of Each Mode.
(3) Motor trial run

<RXFDQPDNHDWULDOUXQ-2*UXQZLWKRXWFRQQHFWLQJWKH&RQQHFWRU&RQQHFWRU;WR
the host controller such as PLC.
Remarks
2
Preparation
6HSDUDWHWKHPRWRUIURPWKHORDGGHWDFKWKH&RQQHFWRUConnector X4 before the trial

run.
%ULQJWKHXVHUSDUDPHWHUVHWXSVHVSHFLDOO\3UDQG3UWRWRGHIDXOWVWR
avoid oscillation or other failure.
,QVSHFWLRQ%HIRUH7ULDO5XQ
(1) Inspection on wiring
0LVZLULQJ"(VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
6KRUWRUJURXQGHG"
/RRVHFRQQHFWLRQ"
Connection

(2) Confirmation of power supply and voltage

5DWHGYROWDJH"
Display LED
Power
supply
4
Setup
5
Adjustment
(3) Fixing of the servo motor

8QVWDEOHPRXQWLQJ"
(4) Separation from the

PHFKDQLFDOV\VWHP
Connector X6
(5) Release of the brake
When in Trouble
ground
Machine
Motor
7
(6) Turn to Servo-OFF after finishing the trial run by pressing
Supplement
Related page
)RUZLULQJGHWDLOVUHIHUWR32YHUDOO:LULQJ
33U
33UWR
2-111

3URFHGXUHIRU7ULDO5XQ
(;(&87,21GLVSOD\
6(/(&7,21GLVSOD\
3UHVVWRFDOOIRU
(;(&87,21GLVSOD\
6(7EXWWRQ
ZKHQ\RXH[HFXWH0RWRUWULDOUXQ
LQFUHDVHVZKLOHNHHS
pressing
(for approx. 5sec)
as the left fig. shows.
3UHSDUDWLRQ
VWHS
1RWDVHUYRUHDG\VWDWXV
6KXWVRIIWKHPDLQZKHQ
HUURURFFXUV
7KHQNHHSSUHVVLQJXQWLOWKHGLVSOD\RI/('FKDQJHVWR
.
Keep pressing
(approx. 5 sec)
to shift the decimal point toward
left as the left fig. shows.
3UHSDUDWLRQ
VWHS
1RWD6HUYR5HDG\
Or SRV-ON signal is
not entered.
$IWHUWKH6HUYR21RISUHSDUDWLRQVWHSIRUWULDOUXQ
WKHPRWRUUXQVDWWKHSUHVHWVSHHGZLWK3U-3*VSHHG
WR3RVLWLYHGLUHFWLRQGLUHFWLRQE\SUHVVLQJ1HJDWLYH
GLUHFWLRQE\SUHVVLQJ
Caution
Before starting the trial run, set the gain-related parameters to appropriate values to avoid
problems such as oscillation. If the load is removed, be sure to set Pr0.04 Inertia Ratio to 0.
During the trial run, use the velocity control mode. Various settings including parameters
should assure safe and positive operation under appropriate velocity control.
If SRV-ON becomes valid during trial run, the display changes to
which is normal run through external command.
Note
$IWHUQLVKHGWULDOUXQQLQJUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUHRIHDFKPRGH
(P.2-88).
2-112
1
4) Clearing of Absolute Encoder

<RXFDQFOHDUWKHPXOWLWXUQGDWDRIWKHDEVROXWHHQFRGHU
(SET button)
Preparation
3UHVVWRFDOOIRU
EXECUTION display.
EXECUTION display
SELECTION display
when you execute Clearing of Absolute Encoder.
increases while keep
pressing
(for approx. 5sec)
3
Connection
Clearing of absolute encoder starts
4
Clearing
finishes
Error occurs
When non-applicable
encoder is connected
Setup
Clearing of
absolute encoder
completes
5
Adjustment
6
When in Trouble
7
$IWHUFOHDULQJRIDEVROXWHHQFRGHUQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFture of each mode (P.2-88).
2-113
Supplement
Note

(5) Initialization of parameter

Initialize the parameter.
EXECUTION display
SELECTION display
3UHVVWRFDOOIRU
EXECUTION display.
(SET button)
when you execute Initialization of parameter.
pressing
(for approx. 5sec)
Initialization of parameter
Initialization
finishes
Initialization of
parameter completes
Error occurs
(Minor error occurs)
Caution
Parameter cannot be initialized when one of the following error occurs: Err11.0 Under
voltage protection of control power supply, EEPROM related errors (Err36.0, Err36.1,
Err36.2, Err37.0, Err37.1 and Err37.2) - initialization will result in Error display.
Note
$IWHULQLWLDOL]DWLRQRISDUDPHWHUQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUH
of each mode (P.2-88).
2-114
1
(6) Release of front panel lock

Release the front panel lock setting.
(SET button)
Preparation
3UHVVWRFDOOIRU
EXECUTION display.
EXECUTION display
SELECTION display
when you execute Release of front panel lock.
pressing
(for approx. 5sec)
3
Connection
Release of front panel lock
4
Release
finishes
Error occurs
Setup
Release of
front panel lock
completes
5
Adjustment
6
When in Trouble
7
$IWHUUHOHDVHRIIURQWSDQHOORFNQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUH
of each mode (P.2-88).
2-115
Supplement
Note
MEMO
2-116
3. Connection
1
1. Outline of mode
Position Control Mode ................................................................................3-2

Velocity Control Mode .................................................................................3-6
Preparation
Torque Control Mode ..................................................................................3-9

Full-closed Control Mode ..........................................................................3-12
2. Control Block Diagram

Position Control Mode ..............................................................................3-14
Velocity Control Mode ...............................................................................3-15
Torque Control Mode ................................................................................3-16

Full-closed Control Mode ..........................................................................3-17
Connection
3. Wiring Diagram to the connector, X4

([DPSOHRIFRQWUROPRGHVSHFLFZLULQJ...................................................3-18
&RQQHFWLQJ([DPSOHWR+RVW&RQWUROOHU....................................................3-20
4. Inputs and outputs on connector X4

Interface Circuit (Input) .............................................................................3-30
Interface Circuit (Output) ..........................................................................3-32

,QSXW6LJQDODQG3LQ1R ...........................................................................3-34
2XWSXW6LJQDODQG3LQ1R ........................................................................3-45
Setup
5. IF Monitor Settings
+RZWR$VVLJQ9DULRXV,2)XQFWLRQVWRWKH,) ........................................3-50
5
Adjustment
6
When in Trouble
7
Supplement
3-1
1. Outline of mode
Connection
Position Control Mode
Outline
<RXFDQSHUIRUPSRVLWLRQFRQWUROEDVHGRQWKHSRVLWLRQDOFRPPDQGSXOVHWUDLQIURPWKH
KRVWFRQWUROOHU
7KLVVHFWLRQGHVFULEHVWKHIXQGDPHQWDOVHWXSWREHXVHGIRUWKHSRVLWLRQFRQWURO
Positional
command
(pulse train)
CL input
Host
controller
Servo driver
Electronic
Positional command
gear section
filtering function
Command pulse
input section
Counter clear function
INH input
Command pulse inhibition (INH) function
Pulse output
Position
control
section
Pulse regeneration
function
Positioning complete
output (INP) function
INP
output
Function
(1) Process of command pulse input
7KHSRVLWLRQDOFRPPDQGVRIWKHIROORZLQJW\SHVSXOVHWUDLQDUHDYDLODEOH
SKDVHSXOVH
3RVLWLYHGLUHFWLRQSXOVHQHJDWLYHGLUHFWLRQSXOVH
3XOVHWUDLQVLJQ
6HWWKHSXOVHFRQJXUDWLRQDQGSXOVHFRXQWLQJPHWKRGEDVHGRQWKHVSHFLFDWLRQDQG
FRQJXUDWLRQRILQVWDOODWLRQRIWKHKRVWFRQWUROOHU
7KHLQSXWWHUPLQDOVFDQDFFRPPRGDWHWKHIROORZLQJV\VWHPV
,QSXW38/6+38/6+6,*1+6,*1+OLQHUHFHLYHULQSXW0SSV
,QSXW38/638/66,*16,*1SKRWRFRXSOHULQSXWNSSV
Caution
)RUOLQHGULYHURXWSXW,QSXWFDQDOVREHXVHGZLWKRXWFKDQJLQJWKHDOORZDEOHLQSXW
frequency.
5HOHYDQWSDUDPHWHUV
Parameter
No.
Note
5HODWHGSDJH
3-2
Title
5DQJH
Function
Pr0.05
Selection of command
pulse input
0 to 1
<RXFDQVHOHFWHLWKHUWKHSKRWRFRXSOHULQSXWRUWKH
H[FOXVLYHLQSXWIRUOLQHGULYHUDVWKHFRPPDQGSXOVH
input.
Pr0.06
Command pulse rotational

direction setup
0 to 1
6HWVWKHFRXQWLQJGLUHFWLRQZKHQFRPPDQGSXOVHLV
input.
Pr0.07
Command pulse input

mode setup
0 to 3
6HWVWKHFRXQWLQJPHWKRGZKHQFRPPDQGSXOVHLV
input.
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG'HWDLOVRISDUDPHWHU
3&RQWURO%ORFN'LDJUDP
3:LULQJ'LDJUDPWRWKHFRQQHFWRU;
1. Outline of mode
(2) Electronic gear function
5HOHYDQWSDUDPHWHUV
Parameter
No.
5DQJH
Function
0 to
1048576
6HWWKHFRPPDQGSXOVHVWKDWFDXVHVVLQJOHWXUQRI
WKHPRWRUVKDIW
Pr0.08
Command pulse
counts per one motor
UHYROXWLRQ
Pr0.09
1st numerator of
HOHFWURQLFJHDU
6HWWKHQXPHUDWRURIGLYLVLRQPXOWLSOLFDWLRQ
0 to
RSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVH
1073741824
input.
Pr0.10
'HQRPLQDWRURI
HOHFWURQLFJHDU
6HWWKH'HQRPLQDWRURIGLYLVLRQPXOWLSOLFDWLRQ
1 to
RSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVH
1073741824
input.
3
Connection
Note
Title
2
Preparation
7KLV IXQFWLRQ PXOWLSOLHV WKH LQSXW SXOVH FRPPDQG IURP WKH KRVW FRQWUROOHU E\ WKH SUHGHWHUPLQHG GLYLGLQJ RU PXOWLSO\LQJ IDFWRU DQG DSSOLHV WKH UHVXOW WR WKH SRVLWLRQ FRQWURO
VHFWLRQDVWKHSRVLWLRQDOFRPPDQG%\XVLQJWKLVIXQFWLRQGHVLUHGPRWRUURWDWLRQVRU
PRYHPHQWGLVWDQFHSHUXQLWLQSXWFRPPDQGSXOVHFDQEHVHWRUWKHFRPPDQGSXOVH
IUHTXHQF\FDQEHLQFUHDVHGLIWKHGHVLUHGPRWRUVSHHGFDQQRWEHREWDLQHGGXHWROLPLWHGSXOVHRXWSXWFDSDFLW\RIWKHKRVWFRQWUROOHU
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3'HWDLOVRISDUDPHWHU
(3) Positional command filtering function

VHWWKHFRPPDQGOWHU
Setup
7RPDNHWKHSRVLWLRQDOFRPPDQGGLYLGHGRUPXOWLSOLHGE\WKHHOHFWURQLFJHDUVPRRWK
5HOHYDQWSDUDPHWHUV
Parameter
No.
5DQJH
Unit
Function
Pr2.22
Positional command
VPRRWKLQJOWHU
0 to 10000
0.1ms
6HWXSWKHWLPHFRQVWDQWRIWKHVW
GHOD\OWHULQUHVSRQVHWRWKHSRVLWLRQDO
command.
Pr2.23
Positional command
),5OWHU
0 to 10000
0.1ms
6HWXSWKHWLPHFRQVWDQWRIWKHVW
GHOD\OWHULQUHVSRQVHWRWKHSRVLWLRQDO
command.
5
Adjustment
Note
Title
6
When in Trouble
7
Supplement
3-3
1. Outline of mode
(4) Pulse regeneration function

7KHLQIRUPDWLRQRQWKHDPRXQWRIPRYHPHQWFDQEHVHQWWRWKHKRVWFRQWUROOHULQWKH
IRUP RI$ DQG %SKDVH SXOVHV IURP WKH VHUYR GULYHU :KHQ WKH RXWSXW VRXUFH LV WKH
HQFRGHU=SKDVHVLJQDOLVRXWSXWRQFHSHUPRWRUUHYROXWLRQRULIWKHIHHGEDFNVFDOH
WKHVLJQDOLVRXWSXWDWDEVROXWH]HURSRVLWLRQ7KHRXWSXWUHVROXWLRQ%SKDVHORJLFDQG
RXWSXWVRXUFHHQFRGHURUH[WHUQDOVFDOHFDQEHVHWZLWKSDUDPHWHUV
5HOHYDQWSDUDPHWHUV
Parameter
No.
Pr0.11
Pr0.12
Note
Title
Output pulse counts

per one motor
UHYROXWLRQ
5HYHUVDORISXOVH
RXWSXWORJLF
5DQJH
Unit
Function
1 to 262144
3U
<RXFDQVHWXSWKHRXWSXWSXOVHFRXQWVSHU
RQHPRWRUUHYROXWLRQIRUHDFK2$DQG2%
ZLWKWKH3UVHWXS
<RXFDQVHWXSWKH%SKDVHORJLFDQG
WKHRXWSXWVRXUFHRIWKHSXOVHRXWSXW
:LWKWKLVSDUDPHWHU\RXFDQUHYHUVHWKH
SKDVHUHODWLRQEHWZHHQWKH$SKDVHSXOVH
DQGWKH%SKDVHSXOVHE\UHYHUVLQJWKH
%SKDVHORJLF
0 to 3
Pr5.03
'HQRPLQDWRURISXOVH
0 to 262144
RXWSXWGLYLVLRQ
)RUDSSOLFDWLRQZKHUHWKHQXPEHURI
SXOVHVSHUUHYROXWLRQLVQRWDQLQWHJHU
WKLVSDUDPHWHUFDQEHVHWWRDYDOXHRWKHU
WKDQDQGWKHGLYLGLQJUDWLRFDQEHVHWE\
VHWWLQJQXPHUDWRURIGLYLVLRQWR3UDQG
GHQRPLQDWRURIGLYLVLRQWR3U
Pr5.33
3XOVHUHJHQHUDWLYH
output limit setup
0 to 1
(QDEOHGLVDEOHGHWHFWLRQRI(UU3XOVH
UHJHQHUDWLYHOLPLWSURWHFWLRQ
Pr6.20
=SKDVHVHWXSRI
external scale
0 to 400
6HWXSWKH=SKDVHUHJHQHUDWLYHZLGWKRI
IHHGEDFNVFDOHLQXQLWRIWLPH
Pr6.21
Serial absolute
0 to
H[WHUQDOVFDOH=SKDVH
268435456
setup
Pr6.22
$%SKDVHH[WHUQDO
scale pulse output
PHWKRGVHOHFWLRQ
0 to 1
pulse
)XOOFORVHGFRQWUROXVLQJVHULDODEVROXWH
IHHGEDFNVFDOH:KHQRXWSXWWLQJSXOVHVE\
XVLQJWKHIHHGEDFNVFDOHDVWKHVRXUFHRI
WKHRXWSXWVHWWKH=SKDVHRXWSXWLQWHUYDO
LQXQLWVRI$SKDVHRXWSXWSXOVHVRIWKH
IHHGEDFNVFDOHEHIRUHPXOWLSOLHGE\
6HOHFWWKHSXOVHUHJHQHUDWLRQPHWKRGRI$
%DQG=SDUDOOHOIHHGEDFNVFDOH
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SDUDPHWHU
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7KHGHYLDWLRQFRXQWHUFOHDULQSXW&/FOHDUVWKHFRXQWVRISRVLWLRQDOGHYLDWLRQFRXQWHU
DWWKHSRVLWLRQFRQWUROWR
5HOHYDQWSDUDPHWHUV
Parameter
No.
Pr5.17
Note
3-4
Title
Counter clear input

mode
5DQJH
0 to 4
Function
<RXFDQVHWXSWKHFOHDULQJFRQGLWLRQVRIWKH
FRXQWHUFOHDULQSXWVLJQDO
1. Outline of mode
(6) Positioning complete output (INP) function

7KHFRPSOHWLRQRISRVLWLRQLQJFDQEHYHULHGE\WKHSRVLWLRQLQJFRPSOHWHRXWSXW,13
:KHQ WKH DEVROXWH YDOXH RI WKH SRVLWLRQDO GHYLDWLRQ FRXQWHU DW WKH SRVLWLRQ FRQWURO LV
HTXDOWRRUEHORZWKHSRVLWLRQLQJFRPSOHWHUDQJHE\WKHSDUDPHWHUWKHRXWSXWLV21
3UHVHQFH DQG DEVHQFH RI SRVLWLRQDO FRPPDQG FDQ EH VSHFLHG DV RQH RI MXGJPHQW
Preparation
conditions.
5HOHYDQWSDUDPHWHUV
Parameter
No.
5DQJH
Unit
Pr4.31
3RVLWLRQLQJFRPSOHWH
,QSRVLWLRQUDQJH
0 to 262144
Command
unit
Pr4.32
3RVLWLRQLQJFRPSOHWH
(In-position) output
setup
0 to 3
Pr4.33
,13KROGWLPH
0 to 30000
1ms
Pr4.42
QG3RVLWLRQLQJ
complete (In-position)
UDQJH
0 to 262144
Command
unit
Function
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQ
DWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO
,13LVRXWSXW
6HOHFWWKHFRQGLWLRQWRRXWSXWWKH
SRVLWLRQLQJFRPSOHWHVLJQDO,13
3
Connection
Note
Title
6HWXSWKHKROGWLPHZKHQ3U
3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQ
DWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO
,13LVRXWSXW
7KH FRPPDQG SXOVH LQSXW FRXQWLQJ SURFHVV FDQ EH IRUFLEO\ WHUPLQDWHG E\ XVLQJ WKH
Setup
(7) Command pulse inhibition (INH) function
FRPPDQGSXOVHLQKLELWLQSXWVLJQDO,1+:KHQ,1+LQSXWLV21WKHVHUYRGULYHULJQRUHVWKHFRPPDQGSXOVHGLVDEOLQJSXOVHFRXQWLQJIXQFWLRQ

7KHGHIDXOWVHWWLQJRIWKLVLQKLELWLRQIXQFWLRQLVGLVDEOH7RXVH,1+IXQFWLRQFKDQJHWKH
VHWWLQJRI3U,QYDOLGDWLRQRIFRPPDQGSXOVHSURKLELWLRQLQSXW
5HOHYDQWSDUDPHWHUV
5DQJH
Function
Pr5.18
,QYDOLGDWLRQRI
FRPPDQGSXOVHLQKLELW
input
0 to 1
6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOH
Pr5.19
&RPPDQGSXOVHLQKLELW
LQSXWUHDGLQJVHWXS
0 to 4
6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOH
VLJQDOUHDGLQJSHULRG:KHQWKHVWDWXVRIVHYHUDO
VLJQDOVUHDGGXULQJWKHSUHGHWHUPLQHGUHDGLQJ
SHULRGDUHVDPHXSGDWHWKHVLJQDOVWDWXV
6
When in Trouble
Title
Adjustment
Note
Parameter
No.
7
Supplement
3-5
1. Outline of mode
Connection
Velocity Control Mode
Outline
<RXFDQFRQWUROWKHVSHHGDFFRUGLQJWRWKHDQDORJVSHHGFRPPDQGIURPWKHKRVWFRQWUROOHURUWKHVSHHGFRPPDQGVHWLQWKHVHUYRGULYHU
Analog
speed command
(10V)
Host
controller
Servo driver
Process of analog
speed command input
ZEROSPD input
Speed zero clamp (ZEROSPD) function
AT-SPEED output
Velocity
control
section
Attained speed output
V-COIN output
Note
Internal speed
command settings
Speed coincidence output
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
Function
(1) Velocity control by analog speed command
7KH DQDORJ VSHHG FRPPDQG LQSXW YROWDJH LV FRQYHUWHG WR HTXLYDOHQW GLJLWDO VSHHG
FRPPDQG<RXFDQVHWWKHOWHUWRHOLPLQDWHQRLVHRUDGMXVWWKHRIIVHW
5HOHYDQWSDUDPHWHUV
Note
5HODWHGSDJH
3-6
Parameter
No.
Title
5DQJH
Unit
Function
Pr3.00
6SHHGVHWXS,QWHUQDO
([WHUQDOVZLWFKLQJ
0 to 3
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHG
VHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKH
VSHHGZLWKFRQWDFWLQSXWVRQO\
Pr3.01
Speed command
rotational direction
selection
0 to 1
6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQ
VSHFLI\LQJPHWKRG
Pr3.02
,QSXWJDLQRIVSHHG
command
10 to 2000
Pr3.03
5HYHUVDORIVSHHG
command input
0 to 1
6SHFLI\WKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJVSHHGFRPPDQG635
Pr4.22
$QDORJLQSXW$,
offset setup
WR
5578
0.359mV
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
WRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.23
$QDORJLQSXW$,
OWHU
0 to 6400
0.01ms
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\OWHU
WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
YROWDJHDSSOLHGWRWKHDQDORJLQSXW
%DVHGRQWKHYROWDJHDSSOLHGWRWKH
UPLQ
DQDORJVSHHGFRPPDQG635VHWXSWKH
9
FRQYHUVLRQJDLQWRPRWRUFRPPDQGVSHHG
3&RQWURO%ORFN'LDJUDP
3:LULQJ'LDJUDPWRWKHFRQQHFWRU;
1. Outline of mode
(2) Velocity control by internal speed command

<RXFDQFRQWUROWKHVSHHGE\XVLQJWKHLQWHUQDOVSHHGFRPPDQGVHWWRWKHSDUDPHWHU
%\ XVLQJ WKH LQWHUQDO VSHHG FRPPDQG VHOHFWLRQV ,1763' \RX FDQ
VHOHFWEHVWDSSURSULDWHRQHDPRQJXSWRLQWHUQDOVSHHGFRPPDQGVHWWLQJV'HIDXOW
VHWWLQJXVHVWKHDQDORJVSHHGFRPPDQG7RXVHWKHLQWHUQDOVSHHGFRPPDQGVHOHFWLW
Preparation
WKURXJK3U,QWHUQDOH[WHUQDOVSHHGVHWXS
5HOHYDQWSDUDPHWHUV
Title
5DQJH
Unit
Function
Pr3.00
6SHHGVHWXS,QWHUQDO
([WHUQDOVZLWFKLQJ
0 to 3
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHG
VHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKH
VSHHGZLWKFRQWDFWLQSXWVRQO\
Pr3.01
Speed command
selection
0 to 1
6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQ
VSHFLI\LQJPHWKRG
Pr3.04
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRVW
Pr3.05
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRQG
Pr3.06
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRUG
Pr3.07
WKVSHHGRIVSHHGVHWXS
Pr3.08
WKVSHHGRIVSHHGVHWXS
Pr3.09
WKVSHHGRIVSHHGVHWXS
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
Pr3.10
WKVSHHGRIVSHHGVHWXS
Pr3.11
WKVSHHGRIVSHHGVHWXS
WR
20000
UPLQ
3
Connection
4
Setup
Note
Parameter
No.
6SHHG]HURFODPS=(5263'IXQFWLRQ
<RXFDQIRUFLEO\VHWWKHVSHHGFRPPDQGWRE\XVLQJWKHVSHHG]HURFODPSLQSXW
5HOHYDQWSDUDPHWHUV
Pr3.15
6SHHG]HURFODPS
function selection
Pr3.16
6SHHG]HURFODPS
OHYHO
5DQJH
Unit
0 to 3
0 to 1
UPLQ
Function
<RXFDQVHWXSWKHIXQFWLRQRIWKHVSHHG
]HURFODPSLQSXW
HOHFWWKHWLPLQJDWZKLFKWKHSRVLWLRQ
FRQWUROLVDFWLYDWHGDVWKH3U6SHHG
]HURFODPSIXQFWLRQVHOHFWLRQLVVHWWRRU
3.
(4) Attained speed output (AT-SPEED)

7KHVLJQDO$763(('LVRXWSXWDVWKHPRWRUUHDFKHVWKHVSHHGVHWWR3U$WWDLQHG
VSHHG
5HOHYDQWSDUDPHWHUV
Parameter
No.
Note
$WVSHHG
6SHHGDUULYDO
5DQJH
Unit
10 to 20000
UPLQ
Function
6HWWKHGHWHFWLRQWLPLQJRIWKHVSHHG
DUULYDORXWSXW$763(('
Supplement
Pr4.36
Title
6
When in Trouble
Note
Title
Adjustment
Parameter
No.
3-7
1. Outline of mode
(5) Speed coincidence output (V-COIN)

7KLV VLJQDO LV RXWSXW ZKHQ WKH PRWRU VSHHG LV HTXDO WR WKH VSHHG VSHFLILHG E\ WKH
VSHHGFRPPDQG7KHPRWRUVSHHGLVMXGJHGWREHFRLQFLGHQWZLWKWKHVSHFLHGVSHHG
ZKHQWKHGLIIHUHQFHIURPWKHVSHHGFRPPDQGEHIRUHDIWHUDFFHOHUDWLRQGHFHOHUDWLRQLV
ZLWKLQWKHUDQJHVSHFLHGE\3U6SHHGFRLQFLGHQWUDQJH
5HOHYDQWSDUDPHWHUV
Parameter
No.
Pr4.35
Note
Title
Speed coincidence
UDQJH
5DQJH
Unit
10 to 20000
UPLQ
Function
6HWWKHVSHHGFRLQFLGHQFH9&2,1
RXWSXWGHWHFWLRQWLPLQJ
(6) Speed command acceleration/deceleration setting function

7KLV IXQFWLRQ FRQWUROV WKH VSHHG E\ DGGLQJ DFFHOHUDWLRQ RU GHFHOHUDWLRQ LQVWUXFWLRQ LQ
WKHGULYHUWRWKHLQSXWVSHHGFRPPDQG
8VLQJWKLVIXQFWLRQ\RXFDQXVHWKHVRIWVWDUWZKHQLQSXWWLQJVWHSZLVHVSHHGFRPPDQG
RUZKHQXVLQJLQWHUQDOVSHHGVHWXS<RXFDQDOVRXVH6VKDSHGDFFHOHUDWLRQGHFHOHUDWLRQIXQFWLRQWRPLQLPL]HVKRFNGXHWRFKDQJHLQVSHHG
5HOHYDQWSDUDPHWHUV
Parameter
No.
Caution
Title
5DQJH
Unit
Function
Pr3.12
$FFHOHUDWLRQWLPH
setup
0 to 10000
6HWXSDFFHOHUDWLRQSURFHVVLQJWLPHLQ
PV
UPLQ UHVSRQVHWRWKHVSHHGFRPPDQGLQSXW
Pr3.13
'HFHOHUDWLRQWLPH
setup
0 to 10000
6HWXSGHFHOHUDWLRQSURFHVVLQJWLPHLQ
PV
UPLQ UHVSRQVHWRWKHVSHHGFRPPDQGLQSXW
Pr3.14
6LJPRLGDFFHOHUDWLRQ
deceleration time setup
0 to 1000
ms
6HW6FXUYHWLPHIRUDFFHOHUDWLRQ
GHFHOHUDWLRQSURFHVVZKHQWKHVSHHG
command is applied.
:KHQ WKH SRVLWLRQ ORRS LV H[WHUQDO WR WKH GULYHU GR QRW XVH WKH DFFHOHUDWLRQ
GHFHOHUDWLRQWLPHVHWWLQJ6HWWKHVHYDOXHVWR
Note
3-8
1. Outline of mode
Connection
Torque Control Mode
Outline
7KHWRUTXHFRQWUROLVSHUIRUPHGDFFRUGLQJWRWKHWRUTXHFRPPDQGVSHFLHGLQWKHIRUPRI
DQDORJYROWDJH)RUFRQWUROOLQJWKHWRUTXHWKHVSHHGOLPLWLQSXWLVUHTXLUHGLQDGGLWLRQWR
WKHWRUTXHFRPPDQGWRPDLQWDLQWKHPRWRUVSHHGZLWKLQWKHVSHHGOLPLW
FRPPDQGDQGVSHHGOLPLWDVVKRZQLQWKHWDEOHEHORZ
3U6HOHFWLRQRIWRUTXHFRPPDQG
Setup
YDOXH
Torque command input
Velocity limit input
Selection of torque
command 1
$QDORJLQSXW*1
$,ELWUHVROXWLRQ
3DUDPHWHUYDOXH
(Pr3.21)
Selection of torque
command 2
$QDORJLQSXW
$,ELWUHVROXWLRQ
$QDORJLQSXW
$,ELWUHVROXWLRQ
Selection of torque
command 3
$QDORJLQSXW*1
$,ELWUHVROXWLRQ
3DUDPHWHUYDOXH
3U3U
3
Connection
2
Preparation
:LWKWKH$VHULHVWRUTXHFRQWUROPRGHVDUHDYDLODEOHHDFKUHTXLUHVGLIIHUHQWWRUTXH
*1 )RU 3U &RQWURO PRGH VHWXS YHORFLW\WRUTXH FRQWURO WKH WRUTXH FRPPDQG
LQSXWLVWKHDQDORJLQSXW$,ELWUHVROXWLRQ
Note
<Selection of torque command 1, 3>
Host
controller
Servo driver
Process of analog
torque command input
ZEROSPD input
Speed limit value

(Parameter)
AT-SPEED output
Setup
Analog
torque command
(AI1, 10V)
Torque
control
section
V-COIN output

Adjustment
<Selection of torque command2>

Process of analog
torque command input
Speed limit input

(AI1, 10V)
Process of
speed limit input
ZEROSPD input
AT-SPEED output
V-COIN output
Servo driver
6
Torque
control
section
When in Trouble
Host
controller
Analog
torque command
(AI2, 10V)

5HODWHGSDJH
Supplement
Note
3&RQWURO%ORFN'LDJUDP3:LULQJ'LDJUDPWRWKHFRQQHFWRU;
3-9
1. Outline of mode
Torque Control Mode
Function
(1) Process of analog torque command input
7KLV SURFHVV FRQYHUWV WKH DQDORJ WRUTXH FRPPDQG LQSXW YROWDJH WR WKH HTXLYDOHQW
GLJLWDOWRUTXHFRPPDQGKDYLQJWKHVDPHHIIHFW<RXFDQVHWWKHOWHURUDGMXVWWKHRIIset to eliminate noise.
5HOHYDQWSDUDPHWHUV<Selection of torque command 1, 3>
Parameter
No.
Title
Pr3.18
Torque command
direction selection
Pr3.19
,QSXWJDLQRIWRUTXH
command
Pr3.20
,QSXWUHYHUVDORIWRUTXH
command
Pr4.22
Pr4.23
5DQJH
Unit
0 to 1
10 to 100
Function
6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
direction of torque command.
%DVHGRQWKHYROWDJH9DSSOLHGWRWKH
0.1V DQDORJWRUTXHFRPPDQG7545VHWXS
WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG

0 to 1
6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJWRUTXHFRPPDQG7545
$QDORJLQSXW$,
offset setup
WR
5578
0.359mV
$QDORJLQSXW$,
OWHU
0 to 6400
0.01ms
5HOHYDQWSDUDPHWHUV<Selection of torque command 2>

Parameter
No.
Note
3-10
Title
Pr3.18
Torque command
direction selection
Pr3.19
,QSXWJDLQRIWRUTXH
command
Pr3.20
,QSXWUHYHUVDORIWRUTXH
command
Pr4.25
Pr4.26
5DQJH
Unit
0 to 1
10 to 100
Function
6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
direction of torque command.
%DVHGRQWKHYROWDJH9DSSOLHGWRWKH
0.1V DQDORJWRUTXHFRPPDQG7545VHWXS
WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG

0 to 1
6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
WRWKHDQDORJWRUTXHFRPPDQG7545
$QDORJLQSXW$,
offset setup
WR
5.86mV
$QDORJLQSXW$,
OWHU
0 to 6400
0.01ms
1. Outline of mode
1
Torque Control Mode
(2) Speed limit function

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Parameter
No.
Title
5DQJH
Unit
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0 to 20000
UPLQ
Pr3.22
6SHHGOLPLWYDOXH
0 to 20000
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Pr3.15
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function selection
0 to 3
Function
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Parameter
No.
5DQJH
Unit
Function
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9
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Pr3.02
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command
10 to 2000
Pr4.22
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offset setup
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0 to 6400
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4
Setup
Note
Title
Connection
Pr3.21
Preparation
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Adjustment
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When in Trouble
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3-11
1. Outline of mode
Connection
Full-closed Control Mode
Outline
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sub-micron order.
Controller
(Speed detection)
Position
command
Position detection
External scale
We recommend the external scale division ratio of

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Cautions on Full-Closed Control

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CCW direction
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CW direction
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Pr3.24
Pr3.25
1. Outline of mode
2
Preparation
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3
Connection
Function
(1) Selection of external scale type
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Parameter
No.
Pr3.23
Note
External scale
selection
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external scale
5DQJH
Function
0 to 2
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0 to 1
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counter.
Setup
Pr3.26
Title
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Pr3.24
Pr3.25
Note
Title
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1 to 220
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setup.
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setup
0 to 100
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external scale position.
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3-13
7
Supplement
Note
Title
When in Trouble
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5HOHYDQWSDUDPHWHUV
Parameter
No.
Adjustment
Parameter
No.
Connection
Sum of command pulses

[Command unit]
Pulse train
Input setup
PULS
Input
SIGN
selection 0.05
Direction 0.06
setup
Mode
Positional command
speed [r/min]
Electric gear
One
1st
revolu- 0.08 numerator 0.09
tion
Denominator 0.10
0.07
Smoothing
filter
2nd
numerator 5.00
3rd
numerator 5.01
4th
numerator 5.02
Damping control
FIR
Gain switching
Switching 2.13
selection
Frequency Filter
1st
2.14 2.15
Primary 2.22
delay
2.23
2nd
2.16
2.17
3rd
2.18
2.19
2nd
setup
1.14 3rd
setup
6.05
Mode
1.15 Scale
6.06
Delay
time
1.16
Level
1.17
4th
2.20
2.21
Friction
compensation
additional 6.07
value
Positive 6.08
direction
Negative 6.09
direction
Torque
feed forward
Gain
1.10
Gain
1.12
Filter
1.11
Filter
1.13
Switching 1.19
time
Notch filter
Velocity control
1st
2nd
1.00
1.05
Speed detection
filter
Encoder
positional deviation
[Encoder pulse]
Sum of
feedback pulses
[Encoder pulse]
Frequency Depth Width
Propor- Integration
tion
Position control
velocity control
command [r/min]
1st
1.03
2nd
1.08
1st
1.01
1.02
2nd
1.06
1.07
Inertia ratio
0.04
Function
expansion
6.10
1st
2.01
2.02
2.03
2nd 2.04
2.05
2.06
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12
Adaptive
mode setup 2.00
2nd inertia ratio 6.13
Instantaneous 6.10
speed
Disturbance
observer
Motor speed
[r/min]
Pulse
regeneration
One
revolution 0.11
Gain
6.23
1st
1.04
Filter
6.24
2nd
1.09
Torque limit
Encoder
Motor
Selection 5.21
Current control
Response 6.11
setup
Torque command
Load
3-14
Torque filter
Speed detection
Reversal 0.12
Pulses
output
Numerator/
Denominator
OA
Denomi- 5.03
OB
nator
OZ
5HODWHGSDJH
factor
Hysteresis 1.18
Command positional deviation

[Command unit]
Velocity
feed forward
Inversion of
electric gear
Internal positional
command speed [r/min]
Main
power
supply
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[]
1st
0.13
2nd
5.22
Connection
1
Gain switching
Analog
input 1
16bit A/D
AI1
Analog input
Offset
Filter
Torque
feed forward
3.02
Gain
1.12
Reversal 3.03
Filter
1.13
Gain
4.23
Mode
1.20
Delay
time
1.21
Level
1.22
Hysteresis 1.23
Scaling
4.22
1.14
Preparation
Al1 input voltage

[]
2nd
setup
Friction
compensation
additional 6.07
value
3
Notch filter
Velocity control
Velocity command
selection
Internal/External 3.00
switching
Direction
3.01
selection
Frequency Depth Width
Propor- Integration
tion
Acceleration/
Deceleration limit
Accelera- 3.12
tion
Decelera- 3.13
tion
Sigmoid 3.14
1st
1.01
1.02
2nd
1.06
1.07
Inertia ratio
0.04
Function
expansion
6.10
1st
2.01
2.02
2.03
2nd 2.04
2.05
2.06
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12
Connection
Velocity control
command [r/min]
Adaptive
mode setup 2.00
Setup
Internal velocity setup
Velocity
detection filter
1st
3.04 5th
3.08
2nd
3.05 6th
3.09
1st
1.03
3rd
3.06 7th
3.10
2nd
1.08
4th
3.07 8th
3.11
Instantaneous 6.10
speed
Disturbance
observer
Motor speed
[r/min]
Pulse
regeneration
One
revolution 0.11
Torque filter
Gain
6.23
1st
1.04
Filter
6.24
2nd
1.09
Adjustment
Sum of
feedback pulses
[Encoder pulse]
Velocity detection
Reversal 0.12
Pulses
output
Numerator/
Denominator
OA
Denomi- 5.03
OB
nator
OZ
Torque limit
Motor
Selection 5.21
Current control
Response 6.11
setup
1st
0.13
2nd
5.22
When in Trouble
Encoder
Torque command
Load
Main
power
supply
[]
5HODWHGSDJH
Supplement
Note
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3-15
Connection
Torque Control Mode
Al2 input voltage

[]
Gain switching
Analog
input 2
12bit A/D
AI2
Analog input
Offset
Filter
4.25
4.26
Scaling
Gain
3.19
Torque command
selection
Reversal 3.20
Scaling
2nd
setup
1.14
Mode
1.24
Delay
time
1.25
Level
1.26
Hysteresis 1.27
Internal/External 3.17
switching
Direction
3.18
selection
Absolute value
Torque command
Analog
input 1
16bit A/D
AI1
Gain
Analog input
3.19
Reversal 3.20
Sign
Offset
4.22
Filter
4.23
Scaling
Speed limit
[r/min]
Speed limit
Gain
Reversal 3.03
Al1 input voltage

[]
Notch filter
Velocity control
3.02
Frequency Width Depth
Propor- Integration
tion
Speed limit
selection
Command 3.17
selection
Internal
speed limit
Limit
value 1 3.21
Limit
value 2 3.22
1st
1.01
1.02
2nd
1.06
1.07
Inertia ratio
0.04
Function
expansion
6.10
1st
2.01
2.02
2.03
2nd 2.04
2.05
2.06
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12

Velocity
detection filter
1st
1.03
2nd
1.08
Instantaneous 6.10
speed
Torque filter
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
Pulse
regeneration
One
revolution 0.11
Speed detection
Reversal 0.12
Pulses
output
Numerator/
Denominator
OA
Denomi- 5.03
OB
nator
OZ
Torque limit
Encoder
Motor
Selection 5.21
Current control
Response 6.11
setup
Torque command
Load
Note
5HODWHGSDJH
3-16
Main
power
supply
[]
3:LULQJH[DPSOHRIWRUTXHFRQWUROPRGH
1st
0.13
2nd
5.22
1st
1.04
2nd
1.09
Connection
1
Internal positional
Sum of command pulses

[Command unit]
Mode
Positional command
speed [r/min]
Electric gear
One
1st
revolu- 0.08 numerator 0.09
tion
Denominator 0.10
0.07
Smoothing
filter
2nd
numerator 5.00
3rd
numerator 5.01
4th
numerator 5.02
Damping control
2.23
2.16
2.17
3rd
2.18
2.19
4th
1.14 3rd
setup
6.05
Mode
1.15 Scale
6.06
Delay
time
1.16
Level
1.17
2.20
2.21
Friction
compensation
additional 6.07
value
Positive 6.08
direction
Negative 6.09
direction
Torque
feed forward
Gain
1.10
Gain
1.12
Filter
1.11
Filter
1.13
Notch filter
1st
1.00
1.05
Speed detection
filter
External scale
Pulse
regeneration
Full-closed
deviation
[External scale pulse]
Numera- 0.11
tor
Denomi- 5.03
nator
Sum of
feedback pulses
[External scale pulse]
Reversal 0.12
Hybrid
deviation
[Command unit]
Z-phase 6.20
Width
Z-phase 6.21
setup
output
method 6.22
Inversion of
electric gear
Encoder Reversal 0.12

feedback
Numerator/
pulses
Denominator
output Denomi5.03
OA
nator
OB
OZ
1.03
2nd
1.08
1.02
2nd
1.06
1.07
Inertia ratio
0.04
Function
expansion
6.10
1st
2.01
2.02
2.03
2nd 2.04
2.05
2.06
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12
Instantaneous 6.10
speed
Motor speed
[r/min]
External scale
Reverse dividing
Numera- 3.25
tor
Denomi- 3.24
nator
Adaptive
mode setup 2.00
Disturbance
observer
Gain
6.23
1st
1.04
Filter
6.24
2nd
1.09
Speed detection
Input setup
Type
Torque limit
3.23
Reversal 3.26
Torque filter
When in Trouble
Pulse
regeneration
One
revolution 0.11
velocity control
command [r/min]
1st
1.01
Adjustment
External
scale
pulse
output
EXA
EXB
EXZ
1st
Encoder
Motor
-phase 3.27
invalid
Selection 5.21
Current control
Response 6.11
setup
1st
0.13
2nd
5.22
Torque command
5HODWHGSDJH
Main
power
supply
[]
Supplement
External scale
Note
4
Setup
2nd
Frequency Width Depth
Propor- Integration
tion
Position control
Switching 1.19
time
Velocity control
factor
Connection
Velocity
feed forward
Inversion of
electric gear
2nd
2nd
setup
Hysteresis 1.18
Command positional deviation

[Command unit]
Gain switching
Switching 2.13
selection
Frequency Filter
1st
2.14 2.15
Primary 2.22
delay
FIR
2
Preparation
Pulse train
Input setup
PULS
Input
SIGN
selection 0.05
Direction 0.06
setup
External scale
dividing
Numera- 3.24
tor
Denomi- 3.25
nator
3:LULQJH[DPSOHRIIXOOFORVHFRQWUROPRGH
3-17
Connection
Example of control mode specific wiring
Wiring Example of Position Control Mode

Command pulse
inhibition input
Deviation counter
clear input
2.2k
7 COM+
33
INH
30
4.7k
2.2k
2.2k
Servo-ON input
29 SRV-ON
Gain switching input 27
GAIN
Electronic gear
switching input 1
Damping control
switching input 1
Control mode
switching input
Alarm clear input
Servo-Ready output
Servo-Alarm output
VDC
12 to 24V
2.2k
GND
NOT
37
ALM+
36
ALM-
48
OB+
23
45
power supply
PULS2 4
Z-phase output
19 (open collector)
220
2.2k
50
24VDC
SIGN2 6
220
20k
47k
47k
(
47k
SIGNH1
47 SIGNH2
13 GND
OPC1 2
2.2k
PULSH2
OPC1 1
2.2k
25
CZ
ZSP
46
Specifications VDC -1.5 .

=10mA
R+220 .
of R
12V 1k1/2W
24V 2k1/2W
2.2k
PULSH1
VDC
Z-phase (2) When you do not use the

output
external resistor with 24V
24
GND
INP+
VDC
B-phase
output
49
OBOZ-
41 COM44
SIGN2 6
A-phase
output
22
12
PULS2 4
220
2.2k SIGN1 5
(Use with
500 kpps or less.)
21
OA-
OZ+
38 INPExternal brake release output 11

BRKOFF+
10 BRKOFFTorque in-limit output
40 TLC
Command pulse input B

(Use with 4Mpps or less.)
6
13
220
OA+
35 S-RDY+
34 S-RDY-
Positioning complete output 39
Zero speed detection output
SIGN2
2.2k PULS1 3
Command
pulse
input A
SIGN1
220
DIV1
POT
OPC2
26 VS-SEL1
32 C-MODE
31 A-CLR
9
PULS2
Divider
Positive direction
over-travel inhibition input
Negative direction
28
PULS1
220
CL
In case of open collector I/F (1) When you use the external
resistor with 12V and 24V
power supply
OPC1
47k
SPR/TRQR/SPL
20k
2k 20k
P-ATL/TRQR
10k
120
2k 20k
2k 20k
N-ATL
10k
1k
SP
1k
IM
FG
16
Positive direction torque limit input

(0 to +10V)
17
GND
20k 20k 14k
120
2k 20k
15
GND
20k 20k 14k
: Twisted pair)
14
18
Negative direction torque limit input

(-10 to +10V)
43
Velocity monitor output

Torque monitor output
42
X4
Be sure to connect.
Wiring Example of Velocity Control Mode

Selection 1 input of
internal command speed
Servo-ON input
Gain switching input
7 COM+
33 INTSPD1
30 INTSPD2
29 SRV-ON
27 GAIN
28 INTSPD3
Speed zero clamp input 26

Alarm clear input
Positive direction
Negative direction
VDC
12 to 24V
32 C-MODE
31 A-CLR
9 POT
8
35 S-RDY+
34 S-RDY-
Servo alarm output
37
ALM+
36
ALM-
OBOZ-
GND
CZ
39 AT-SPEED+
38 AT-SPEED-
40
OB+
OZ+
21
A-phase output
22
48
B-phase output
49
23
Z-phase output
24
25
19 Z-phase output (open collector)
20k
External brake release output 11

BRKOFF+
10 BRKOFF-
Torque in-limit output
OA-
NOT
Servo-Ready output
At-speed output
OA+
ZEROSPD
Divider
Control mode switching

input
4.7k
47k
47k
47k
TLC
47k
20k
Zero speed detection output 12
ZSP
41 COM-
20k 20k 14k

10k
20k 20k 14k
SPR/TRQR/SPL
14
Velocity command
input (0 to 10V)
GND 15
16
P-ATL/TRQR
17
GND
N-ATL 18

limit input (0 to 10V)
limit input (-10 to 0V)
10k
1k
50
1k
FG
SP
IM
43
42
X4
Note
: Twisted pair)
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3-18
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1
Example of control mode specific wiring
Wiring Example of Torque Control Mode

7 COM+
Servo-ON input
Control mode
switching input
VDC
12 to 24V
CL
28 DIV1
26 ZEROSPD
32 C-MODE
37
ALM+
36
ALM-
OB+
TLC
Zero speed detection output 12
ZSP
Z-phase
output
24
25
GND
19 Z-phase output (open collector)
CZ
20k
47k
47k
47k
47k
SPR/TRQR/SPL
20k
GND
20k 20k 14k

10k
41 COM-
14
20k 20k 14k
Torque command input or

velocity limit input (0 to 10V)
15
P-ATL/TRQR 16
17
GND
Wiring example when control mode Pr0.01=5 or Pr3.17=1

CCWTL/TRQR
N-ATL 18
10k
1k
SP
1k
50
23
OZ+
11 BRKOFF+
10 BRKOFF40
B-phase
output
49
OB-
Connection
Torque in-limit output
48
OZ-
39 AT-SPEED+
38 AT-SPEED-
A-phase
output
22
OA-
NOT
Servo-Alarm output
21
OA+
31 A-CLR
9 POT
35 S-RDY+
34 S-RDY-
External brake release output
29 SRV-ON
27 GAIN
Servo-Ready output
At-speed output
4.7k
Divider
Alarm clear input

Positive direction
Negative direction
INH
30
Preparation
Speed zero clamp

input
33
IM
GND
16

limit input (0 to 10V)
Select with Pr3.17.
17
43
42
FG
X4
: Twisted pair)
Command pulse
inhibition input
Deviation counter
clear input
2.2k
7 COM+
33
INH
30
4.7k
2.2k
2.2k
Servo-ON input
29 SRV-ON
Gain switching input 27
GAIN
Electronic gear
switching input 1
Damping control
switching input 1
Control mode
switching input
Servo-Alarm output
VDC
12 to 24V
28
DIV1
26 VS-SEL1
32 C-MODE
31 A-CLR
9
8
NOT
ALM+
36
Positioning complete output 39
ALM-
OBOZ-
CZ
SIGNH1
47 SIGNH2
13 GND
50
Be sure to connect.
SIGN2 6
VDC
220
21
A-phase
output
22
48
Specifications VDC -1.5 .

=10mA
R+220 .
of R
12V 1k1/2W
24V 2k1/2W
VDC
B-phase
output
49
23
Z-phase (2) When you do not use the

output
external resistor with 24V
24
power supply
OPC1 1
2.2k
25
PULS2 4
Z-phase output
220
19 (open collector)
2.2k
OPC1 2
2.2k
24VDC
220
20k
47k
47k
(
47k
47k
20k
2k 20k
2k 20k
2k 20k
20k 20k 14k

10k
120
2k 20k
1k
1k
FG
SPR/TRQR/SPL
GND
20k 20k 14k

10k
120
When in Trouble
46
SIGN2 6
ZSP
41 COM-
PULSH2
PULS2 4
220
2.2k SIGN1 5
(Use with
500 kpps or less.)
PULSH1
2.2k PULS1 3
Command
pulse
input A
2.2k
GND
INP+
12
45
P-ATL/TRQR
GND
N-ATL
SP
IM
: Twisted pair)
14
15
16
17
18
43
42
Positive direction torque limit input

(0 to +10V)
Negative direction torque limit input
(-10 to +10V)
X4
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3-19
Supplement
Note
In case of open collector I/F (1) When you use the external
resistor with 12V and 24V
power supply
44
Command pulse input B

(Use with 4Mpps or less.)
OB+
OZ+
38 INPExternal brake release output 11

BRKOFF+
10 BRKOFFTorque in-limit output
40 TLC
Zero speed detection output
OA-
35 S-RDY+
34 S-RDY-
6
SIGN2
13
GND
OA+
POT
37
OPC2
SIGN1
220
Divider
Servo-Ready output
2.2k
PULS2
Adjustment
Alarm clear input

Positive direction
Negative direction
PULS1
220
CL
OPC1
Setup
Wiring Example of Full-closed Control Mode
Connection
Connecting Example to Host Controller
Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works)

PLC
Driver
FP2-PP22 AFP2434
(Panasonic Electric Works)
A5-series
50
FG
A1
PULS1
B1
PULS2
A2
SIGN1
B2
SIGN2
A4
23
OZ
B3
24
OZ
13,25
GND
COM
A7
30
CL
B7
29
SRV-ON
B4
27
GAIN
31
A-CLR
POT
NOT
35
S-RDY
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM
* Process of shield wire varies with equipment.
CW pulse command
output
CCW pulse command

output
390
220
Command pulse
input 2
220
Command sign
input 2
Z-phase output
Origin input
Deviation counter
reset output
3.6k
Origin proximity input
from
PLC I/O
output
A5
6.8k
Limit excess
A6
Limit excess
to
PLC I/O
input
External power supply 24VDC A20

input
GND B20
Origin proximity sensor

CW limit sensor
CCW limit sensor
+ 24V
GND
DC24V
Power supply
5HODWHGSDJH
3-20
4.7
4.7
4.7
Counter clear input

Servo-ON input
Alarm clear input
4.7
Inhibit positive direction

travel input
4.7
Inhibit negative direction

travel input
Servo-Ready output
B6
Note
4.7
UHSUHVHQWVWZLVWHGSDLUZLUH
Servo-Alarm output
output
Connection between MINAS A5 and FPG-PP12 AFPG432 (Panasonic Electric Works)

PLC
Driver
FPG-PP12 AFPG432
A5-series
FG
CW pulse command
output
A1
PULS1
B1
PULS2
CCW pulse command

output
A2
SIGN1
B2
SIGN2
560
A4
23
OZ
B3
24
OZ
13,25
GND
COM
A7
30
CL
B7
29
SRV-ON
B4
27
GAIN
31
A-CLR
POT
NOT
35
S-RDY
220
Command pulse
input 2
220
Command sign
input 2
Deviation counter
reset output
6.8k
from
PLC I/O
output
A5
FG A19
4.7
4.7
4.7
Counter clear input

Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
FG B19
GND B20

CW limit sensor
37
ALM
36
ALM
39
INP
38
INP
41
COM
Servo-Alarm output
output
6
When in Trouble
CCW limit sensor
to
PLC I/O
input
S-RDY
+ 24V
GND
DC24V
Power supply
5HODWHGSDJH
7
Supplement
Note
5
Adjustment
to
PLC I/O
input
External power supply

24VDC A20
input
34
4
Setup
4.7
Connection
Z-phase output
Origin input
Preparation
50
3-21

Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works)

PLC
Driver
FP2-PP2 AFP2430
A5-series
50
FG
A1
PULS1
B1
PULS2
A2
SIGN1
B2
SIGN2
A4
23
OZ
B3
24
OZ
13,25
GND
COM
A7
30
CL
B7
29
SRV-ON
B4
27
GAIN
31
A-CLR
POT
NOT
FG A19
35
S-RDY
FG B19
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM
CW pulse command
output
CCW pulse command

output
220
220
Command pulse
input 2
220
Command sign
input 2
Z-phase output
Origin input
Deviation counter
reset output
1.6
from
PLC I/O
output
A5
4.7
4.7
4.7
4.7
Counter clear input

Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
to
PLC I/O
input

24VDC A20
input
GND B20

CW limit sensor
CCW limit sensor
to
PLC I/O
input
+ 24V
GND
DC24V
Power supply
Note
5HODWHGSDJH
3-22
Servo-Alarm output
output
1
Connection between MINAS A5 and FPG-C32T (Panasonic Electric Works)

PLC
Driver
FPG-C32T
A5-series
FG
PULS1
PULS2
SIGN1
SIGN2
X2
19
CZ
COM
13
GND
25
GND
COM
Y2
30
CL
29
SRV-ON
27
GAIN
31
A-CLR
COM
POT
X3
NOT
35
S-RDY
Y0
CW pulse command
output
Y1
CCW pulse command

output
5.6k
2k
2k
220
Command pulse
input 2
220
Command sign
input 2
Deviation counter
reset output
CCW limit excess

input
3k
5.6k
5.6k
4.7
4.7
Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
X5
to
PLC I/O
input
X6

CCW limit sensor
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM
Servo-Alarm output
6
When in Trouble
+ 24V
GND
DC24V
Power supply
7
Supplement
5HODWHGSDJH
output
CW limit sensor
Note
Adjustment
CW limit excess
input
4.7
Counter clear input
Setup
from
PLC I/O
output
4.7
Connection
Z-phase output
Origin input
Preparation
50
3-23

Connection between MINAS A5 and F3YP14-ON/F3YP18-ON (Yokogawa Electric Corp.)

PLC
Driver
F3YP14-ON/F3YP18-ON
(Yokogawa Electric Corp.)
A5-series
50
FG
14a
PULS1
13a
PULS2
12a
SIGN1
11a
SIGN2
15a
23
OZ
16a
24
OZ
13,25
GND
COM
10a
30
CL
9a
29
SRV-ON
27
GAIN
31
A-CLR
POT
NOT
1a
35
S-RDY
3a
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM
CW pulse command
output
CCW pulse command

output
240
Origin line driver

input
5V power supply
for pulse output
V
GND
CW limit input
7.4k
CCW limit input
7.4k
7.4k
from
PLC I/O
output
8b
8a
to
PLC I/O
input
2a
4a
CCW limit sensor

CW limit sensor
+ 5V
GND
DC5V
Power supply
3-24
220
Command sign
input 2
4.7
4.7
4.7
4.7
Counter clear input

Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
5HODWHGSDJH
Command pulse
input 2
Z-phase output
Deviation counter
reset output
Note
220
+ 24V
GND
DC24V
Power supply
Servo-Alarm output
output
Connection between MINAS A5 and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.)

PLC
Driver
F3NC32-ON/F3NC34-ON
(Yokogawa Electric Corp.)
A5-series
FG
3a
PULS1
4a
PULS2
5a
SIGN1
6a
SIGN2
19a
23
OZ
20a
24
OZ
13,25
GND
COM
30
CL
29
SRV-ON
27
GAIN
31
A-CLR
POT
NOT
35
S-RDY
Pulse output A
220
Command pulse
input 2
220
Command sign
input 2
Pulse output B
Encoder Z-phase
output +
240
14a
Deviation counter
reset output
1a
from
PLC I/O
output
1b
Contact point
input COM
13a
Negative direction
limit input
7.4k
7.4k
Origin input
4.7
4.7
Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
8a
to
PLC I/O
input
9a
7a
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM
Servo-Alarm output
6
When in Trouble
CCW limit sensor

CW limit sensor
7
Supplement
+ 24V
GND
DC24V
Power supply
5HODWHGSDJH
output
Note
Adjustment
Positive direction
limit input
7.4k
4.7
Counter clear input
Setup

24VDC input
24VDC input (GND)
4.7
Connection
Z-phase output
Encoder Z-phase
output
Preparation
50
3-25

Connection between MINAS A5 and CJ1W-NC113 (Omron Corp.)

PLC
Driver
CJ1W-NC113
(Omron Corp.)
A5-series
50
FG
PULS1
PULS2
SIGN1
SIGN2
A16
23
OZ
A14
24
OZ
A1
13,25
GND
A2
COM
A10
30
CL
29
SRV-ON
27
GAIN
31
A-CLR
POT
NOT
35
S-RDY
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM

1.6k
CW pulse command
output
1.6k
CCW pulse command

output
150
Origin line driver

input
A6
A8
V
GND
Deviation counter
reset output
A24
Emergency stop
input
4.7k
Origin proximity
input
4.7k
CCW limit excess

input
4.7k
CW limit excess
input
4.7k
from
PLC I/O
output
A20
A21
to
PLC I/O
input
A22
CCW limit sensor

CW limit sensor
+ 24V
GND
DC24V
Power supply
3-26
220
Command sign
input 2
4.7
4.7
4.7
4.7
Counter clear input

Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
A23
5HODWHGSDJH
Command pulse
input 2
Z-phase output
Power supply
for output
Note
220
Servo-Alarm output
output
1
Connection between MINAS A5 and CJ1W-NC133 (Omron Corp.)

PLC
Driver
CJ1W-NC133
CJ1W-NC113
(Omron Corp.)
A5-series
FG
CW pulse command
output
A5
PULS1
A6
PULS2
CCW pulse command

output
A7
SIGN1
A8
SIGN2
150
Origin line driver

input
A16
23
OZ
A14
24
OZ
A1
13,25
GND
A2
COM
A10
30
CL
29
SRV-ON
27
GAIN
31
A-CLR
POT
NOT
35
S-RDY
220
Command pulse
input 2
220
Command sign
input 2
V
GND
Deviation counter
reset output
A24
4.7k
CCW limit over input
5V power supply
for pulse output
4.7k
4.7k
GND
V
A21
4.7
4.7
Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
34
S-RDY
37
ALM
A22
36
ALM
A3
39
INP
A4
38
INP
41
COM
A23
to
PLC I/O
input
Servo-Alarm output
6
When in Trouble
CCW limit sensor

CW limit sensor
+ 24V
GND
DC24V
Power supply
Supplement
+ 5V
GND
DC5V
Power supply
5HODWHGSDJH
output
Note
Adjustment
CW limit over input
4.7k
from
PLC I/O
output
A20
4.7
Counter clear input
Setup
Emergency stop
input
4.7
Connection
Z-phase output
24V power supply

for output
Preparation
50
3-27

Connection between MINAS A5 and QD75D1 (Mitsubishi Electric Corp.)

PLC
Driver
QD75D1
(Mitsubishi Electric Corp.)
A5-series
50
FG
15
PULS1
16
PULS2
17
SIGN1
18
SIGN2
23
OZ
10
24
OZ
13,25
GND
COM
13
30
CL
14
29
SRV-ON
12
27
GAIN
31
A-CLR
POT
NOT
35
S-RDY
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM
CW pulse command
output
CCW pulse command

output
300
220
Command pulse
input 2
220
Command sign
input 2
Zero point signal
Z-phase output
4.7
Counter clear input
Deviation counter clear
Drive unit ready
4.7k
from
PLC I/O
output
11
Common
Proximity signal
4.3k
Upper limit
4.7k
Lower limit
4.7k
to
PLC I/O
input
1
2
CW limit sensor
CCW limit sensor
+ 24V
GND
DC24V
Power supply
5HODWHGSDJH
3-28
4.7
4.7
Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
Note
4.7
Servo-Alarm output
output
1
Connection between MINAS A5 and KV-5000/3000 (keyence Corp.)

PLC
Driver
KV-5000/3000
(keyence Corp.)
A5-series
FG
4.3k
Origin sensor input
PULS1
PULS2
X axis limit switch CW

X axis limit switch CCW
4.3k
4.3k
SIGN1
SIGN2
14
23
OZ
15
24
OZ
16
13,25
GND
COM
30
CL
29
SRV-ON
27
GAIN
31
A-CLR
POT
NOT
35
S-RDY
1
3
2k
4
2k
1.2k
220
Command pulse
input 2
220
Command sign
input 2
3
Connection
Z-phase output
X axis CW
19
X sxis deviation
counter clear
4.7
4.7
4.7
Counter clear input

Servo-ON input
Alarm clear input
4.7

travel input
4.7

travel input
Servo-Ready output
36
to
PLC I/O
input
40

CW limit sensor
34
S-RDY
37
ALM
36
ALM
39
INP
38
INP
41
COM
Servo-Alarm output
output
6
When in Trouble
CCW limit sensor
+ 24V
GND
DC24V
Power supply
5HODWHGSDJH
7
Supplement
Note
5
Adjustment
X axis CCW
4
Setup
from
PLC I/O
output
26
4.7
Preparation
50
3-29
Connection
Interface Circuit (Input)
Input Circuit
SI
Related
control mode
Connection to sequence input signals
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Relay
7 COM+4.7k1
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SRV-ON etc.
SRV-ON etc.
Relay
Note
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Connection to sequence input signals (Pulse train interface) control
mode
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R+220
=. 10mA
2SHQFROOHFWRU,)3HUPLVVLEOHPD[LQSXWIUHTXHQF\RIFRPPDQGSXOVHLQSXWVLJQDONSSV
&RQQHFWLQJGLDJUDPZKHQDFXUUHQWUHJXODWLQJUHVLVWRULVQRWXVHGZLWK9SRZHUVXSSO\
(1)
1 PULS1
2.2k
(3)
1 OPC1
2.2k
2.2k
4 PULS2
4 PULS2
220
2 SIGN1
220
2.2k
2.2k
2 OPC1
(2)
R
6 SIGN2
220
3 PULS1
13
220
2.2k
* Keep the length of wiring short (1 m or less).
4 PULS2
220
5 SIGN1
VDC
6 SIGN2
13
220
2.2k
0D[LQSXWYROWDJH
'&95DWHGFXUUHQWP$
UHSUHVHQWVWZLVWHGSDLU
V\VWHP3,)RUIXQFWLRQUHIHUWR33
3-30
2.2k
2.2k
24VDC
6 SIGN2
13
2.2k
PI2
Interface Circuit (Input)
Connection to sequence input signals

3XOVHWUDLQLQWHUIDFHH[FOXVLYHWROLQHGULYHU
Related
control mode
2k
44
Preparation
/LQHGULYHU,)3HUPLVVLEOHPD[LQSXWIUHTXHQF\RIFRPPDQGSXOVHLQSXWVLJQDO0SSV
7KLVVLJQDOWUDQVPLVVLRQPHWKRGKDVEHWWHUQRLVHLPPXQLW\
:HUHFRPPHQGWKLVWRVHFXUHWKHVLJQDOWUDQVPLVVLRQZKHQOLQHGULYHU,)LVXVHG
20k
PULS
120
45
46
2k
20k
2k
20k
3
SIGN
2k
13
Connection
120
47
20k
V\VWHP3,)RUIXQFWLRQUHIHUWR33
AI
4
Related
control mode
F
Setup
,WJRHVWKURXJKV\VWHPV$,WR$,
0D[SHUPLVVLEOHLQSXWYROWDJHWRHDFKLQSXWLV9
)RULQSXWLPSHGDQFHRIHDFKLQSXWUHIHUWRWKHULJKW)LJ
:KHQ\RXFRPSRVHDVLPSOHFRPPDQGFLUFXLWXVLQJYDULDEOHUHVLVWRU95DQGUHJLVWHU5
FRQQHFWDVWKHULJKW)LJVKRZV:KHQWKHYDULDEOHUDQJHRIHDFKLQSXWLVPDGHDV
9WR9XVH95ZLWKN:%FKDUDFWHULVWLFV:RUODUJHU5ZLWK::RU
ODUJHU
$'FRQYHUWHUUHVROXWLRQRIHDFKFRPPDQGLQSXWLVDVIROORZV
$'&ELW$,
$'&ELW$,$,
5
Adjustment
20k
47k
12V
47k
R
VR
AI1 SPR
14
47k
47k
15
17
AI3 N-ATL 18
20k
14k
20k
20k
When in Trouble
AI2 P-ATL 16
12V
10k
14k
20k
20k
10k
Note
Supplement
)RUIXQFWLRQUHIHUWR33
3-31
Connection
Interface Circuit (Output)
Output Circuit
SO
Related
control mode
Sequence output circuit
7KHRXWSXWFLUFXLWLVFRPSRVHGRIRSHQFROOHFWRUWUDQVLVWRURXWSXWVLQWKH'DUOLQJWRQ
FRQQHFWLRQDQGFRQQHFWWRUHOD\VRUSKRWRFRXSOHUV
7KHUHH[LVWVFROOHFWRUWRHPLWWHUYROWDJH9CE6$7RIDSSUR[9DWWUDQVLVWRU21GXHWRWKH
'DUOLQJWRQFRQQHFWLRQRIWKHRXWSXWRU1RWHWKDWQRUPDO77/,&FDQQRWEHGLUHFWO\FRQQHFWHG
VLQFHLWGRHVQRWPHHW9,/
7KHUHDUHWZRW\SHVRIRXWSXWRQHV\VWHPVRI6262ZKLFKHPLWWHUVLGHRIWKHRXWSXW
WUDQVLVWRULVLQGHSHQGHQWDQGLVFRQQHFWDEOHLQGLYLGXDOO\DQGWKHRQHV\VWHPVRI6,WR
6,ZKLFKLVFRPPRQWRVLGHRIWKHFRQWUROSRZHUVXSSO\&20
,IDUHFRPPHQGHGSULPDU\FXUUHQWYDOXHRIWKHSKRWRFRXSOHULVP$GHFLGHWKHUHVLVWRU
YDOXHXVLQJWKHIRUPXODRIWKHEHORZJXUH
:KHQDFFHSWLQJWKHRXWSXWVLJQDOWKURXJKDORJLFFLUFXLWHJJDWHLQXHQFHIURPQRLVHV
VKRXOGEHSUHYHQWHG
)RUWKHUHFRPPHQGHGSULPDU\FXUUHQWYDOXHUHIHUWRWKHGDWDVKHHWRIWKHHTXLSPHQWDQG
SKRWRFRXSOHUWREHXVHG
Install toward the direction as
the fig. shows without fail.
Pay attention to the polarity

Connection in the opposite
polarity will damage the
servo driver.
SO1 to 4
ALM+ etc.
12 to 24V
ALM etc.
VDC
SO5, 6
ZSP, TLC
R [k1] =
VDC[V] 2.5[V]
41 COM
10
Max. rating 30V, 50mA
Note
PO1
)RUIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH
P.3-52
/LQHGULYHU'LIIHUHQWLDORXWSXWRXWSXW
)HHGVRXWWKHGLYLGHGHQFRGHU
RXWSXWV$%DQG=SKDVHLQ
GLIIHUHQWLDOWKURXJKHDFKOLQHGULYHU
$WWKHKRVWVLGHUHFHLYHWKHVHLQOLQH
UHFHLYHU,QVWDOODWHUPLQDOUHVLVWRU
DSSUR[ULJKWJXUH
EHWZHHQOLQHUHFHLYHULQSXWVZLWKRXW
fail.
7KHVHRXWSXWVDUHQRWLQVXODWHG
Related
control mode
21
A
22
48
49
OZ+
OZ
23
24
(1)
Connect signal ground of the host

and the driver without fail.
3-32
OB+
OB
GND
)RUIXQFWLRQUHIHUWR3
AM26LS31 or
equivalent
AM26LS32 or equivalent
OA+
OA
25
PO2
Interface Circuit (Output)
Related
control mode
2
Preparation
)HHGVRXWWKH=SKDVHVLJQDODPRQJWKHHQFRGHUVLJQDOVLQRSHQFROOHFWRU7KLVRXWSXWLV
not insulated.
5HFHLYHWKLVRXWSXWZLWKKLJKVSHHGSKRWRFRXSOHUVDWWKHKRVWVLGHVLQFHWKHSXOVHZLGWKRI
WKH=SKDVHVLJQDOLVQDUURZ
Max. rating 30V,
50mA
19 CZ
High speed photo-coupler

(TLP554 by Toshiba or equivalent)
Connection
25 GND
)RUIXQFWLRQUHIHUWR3
AO
Analog monitor output
Related
control mode
5HVROXWLRQ!
5
Adjustment
(1) Speed monitor output (SP)

:LWKDVHWXSRI9UPLQWKHUHVROXWLRQFRQYHUWHGWRVSHHGLVUPLQP9
(2) Torque monitor output (IM)
:LWKDUHODWLRQRI9UDWHGWRUTXHWKHUHVROXWLRQFRQYHUWHGWRWRUTXHLV
P9
43 SP N
6
When in Trouble
Measuring
instrument
or
external
circuit
Setup
7KHUHDUHWZRRXWSXWVWKHVSHHGPRQLWRUVLJQDORXWSXW63DQGWKHWRUTXHPRQLWRU
VLJQDORXWSXW,0
2XWSXWVLJQDOZLGWKLV9
7KHRXWSXWLPSHGDQFHLVN3D\DQDWWHQWLRQWRWKHLQSXWLPSHGDQFHRIWKHPHDVXULQJ
LQVWUXPHQWRUWKHH[WHUQDOFLUFXLWWREHFRQQHFWHG
42 IM N
17 GND
)RUIXQFWLRQUHIHUWR3
7
Supplement
3-33
Connection
Input Signal and Pin No.
Input Signals (common) and Their Functions

Pin
1R
Title of
VLJQDO
Power supply for control signal (+)
Symbol
COM+
Related
control mode
,)FLUFXLW
&RQQHFWRIWKHH[WHUQDO'&SRZHUVXSSO\WR9
8VHWKHSRZHUVXSSO\YROWDJHRI99
Pin
1R
41
Title of
VLJQDO
Power supply for control signal (-)
Symbol
&20
Related
control mode
,)FLUFXLW
&RQQHFWRIWKHH[WHUQDO'&SRZHUVXSSO\WR9
7KHSRZHUFDSDFLW\YDULHVGHSHQGLQJRQDFRPSRVLWLRQRI,2FLUFXLW$RUPRUHLV
recommended.
3-34
Input Signals (Pulse Train) and Their Functions

<RXFDQVHOHFWDSSURSULDWHLQWHUIDFHRXWRIWZRNLQGVGHSHQGLQJRQWKHFRPPDQGSXOVHVSHFLFDWLRQV
3XOVHWUDLQLQWHUIDFHH[FOXVLYHIRUOLQHGULYHU
44
45
Pin
1R
46
47
Title of
VLJQDO
Command pulse input 1
Symbol
3LQ1RPULSH1
3LQ1RPULSH2
Title of
VLJQDO
Command pulse sign input 1
Symbol
3LQ1RSIGNH1
3LQ1RSIGNH2
Related
control mode
,)FLUFXLW
Related
control mode
,)FLUFXLW
PI2 3-31 SDJH

P
Preparation
Pin
1R
PI2 3-31 SDJH
3
Connection
,QSXWWHUPLQDOIRUSRVLWLRQFRPPDQGSXOVH<RXFDQVHOHFWE\VHWWLQJXS3U6HOHFWLRQRI
command pulse input) to 1.
7KLVLQSXWEHFRPHVLQYDOLGDWVXFKFRQWUROPRGHDVYHORFLW\FRQWURORUWRUTXHFRQWUROZKHUH
no position command is required.
3HUPLVVLEOHPD[LQSXWIUHTXHQF\LV0SSV
<RXFDQVHOHFWXSWRFRPPDQGSXOVHLQSXWIRUPDWVZLWK3U6HWXSRIFRPPDQGSXOVH
rotational direction) and Pr0.07 (Setup of command pulse input mode).
)RUGHWDLOVUHIHUWRWKHWDEOHQH[WSDJH&RPPDQGSXOVHLQSXWIRUPDW
3XOVHWUDLQLQWHUIDFHVXSSRUWVERWKOLQHGULYHUDQGRSHQFROOHFWRU
Command pulse input 2
Symbol
3LQ1ROPC1
3LQ1RPULS1
3LQ1RPULS2
Title of
VLJQDO
Command pulse sign input 2
Symbol
3LQ1ROPC2
3LQ1RSIGN1
3LQ1RSIGN2
Related
control mode
,)FLUFXLW
Related
control mode
,)FLUFXLW
PI1 3-30 SDJH

P
PI1 3-30 SDJH
6
When in Trouble
,QSXWWHUPLQDOIRUWKHSRVLWLRQFRPPDQG<RXFDQVHOHFWE\VHWWLQJXS3U6HOHFWLRQRI
command pulse input) to 0.
7KLVLQSXWEHFRPHVLQYDOLGDWVXFKFRQWUROPRGHDVWKHYHORFLW\FRQWURORUWRUTXHFRQWURO
ZKHUHQRSRVLWLRQFRPPDQGLVUHTXLUHG
3HUPLVVLEOHPD[LQSXWIUHTXHQF\LVNSSVDWOLQHGULYHULQSXWDQGNSSVDWRSHQ
collector input.
<RXFDQVHOHFWXSWRFRPPDQGSXOVHLQSXWIRUPDWVZLWK3U6HWXSRIFRPPDQGSXOVH
rotational direction) and Pr0.07 (Setup of command pulse input mode).
)RUGHWDLOVUHIHUWRWKHWDEOHQH[WSDJH&RPPDQGSXOVHLQSXWIRUPDW
Adjustment
Pin
1R
2
5
6
Title of
VLJQDO
Setup
Pin
1R
1
3
4
7
Supplement
5HODWHGSDJH
3'HWDLOVRISDUDPHWHU
3-35

,QSXWIRUPDWFRPPDQGSXOVH
Pr0.06 setup value Pr0.07 setup value
&RPPDQGSXOVH &RPPDQGSXOVH
rotational
LQSXWPRGH
GLUHFWLRQVHWXS
setup
0 or 2
&RPPDQG
pulse format
SKDVH
difference
2-phase pulse
(A + B-phase)
Positive direction
pulse train
+
Negative direction
pulse train
pulse train
+
Signal
Signal
title
3RVLWLYHGLUHFWLRQ
FRPPDQG
t1
t1
0 or 2
Positive direction
pulse train
+
Negative direction
pulse train
pulse train
+
Signal
t1
t1
A-phase
PULS
B-phase
SIGN
t1
t1
t1
%SKDVHDGYDQFHVWR$E\
t1
%SKDVHGHOD\VIURP$E\
t3
PULS
t2
t2
t4
t5
SIGN
PULS
t2
t2
t4
t5
SIGN
H
t6
SKDVH
difference
2-phase pulse
(A + B-phase)
1HJDWLYHGLUHFWLRQ
FRPPDQG
t6 t6
t1
t6
t1
t1
t1
A-phase
PULS
SIGN
B-phase
t1
t1
t1
t1
%SKDVHGHOD\VIURP$E\ %SKDVHDGYDQFHVWR$E\
t3
PULS
t2
t2
SIGN
PULS
t4
SIGN
t5
t2
t2
t4
t5
L
t6
H
t6 t6
t6
38/6DQG6,*1UHSUHVHQWVWKHRXWSXWVRISXOVHWUDLQLQSXWFLUFXLW5HIHUWRWKHILJRI3,QSXW&LUFXLW
,QFDVHRIQHJDWLYHGLUHFWLRQSXOVHWUDLQSRVLWLYHGLUHFWLRQSXOVHWUDLQDQGSXOVHWUDLQVLJQSXOVHWUDLQZLOO
EHFDSWXUHGDWWKHULVLQJHGJH
,QFDVHRISKDVHSXOVHSXOVHWUDLQZLOOEHFDSWXUHGDWHDFKHGJH
3HUPLVVLEOHPD[LQSXWIUHTXHQF\DQGPLQQHFHVVDU\WLPHZLGWKRIFRPPDQGSXOVHLQSXWVLJQDO
Input I/F of PULS/SIGN signal
Permissible max.
input frequency
Pulse train interface exclusive to line driver

Line driver interface
Pulse train interface
Open collector interface
4Mpps
500kpps
200kpps
5HODWHGSDJH
3-36
3'HWDLOVRI3DUDPHWHU
0LQQHFHVVDU\WLPHZLGWKV
t1
t2
t3
t4
t5
t6

Control Input
&RQWUROVLJQDOKDYLQJWKHGHVLUHGIXQFWLRQFDQEHDSSOLHGWRDQ\LQSXWSLQRI,)FRQQHFWRU
7KHORJLFFDQEHFKDQJHG
'HIDXOWDVVLJQPHQW
notation
Pin
1R
Title of
VLJQDO
Symbol
SI2 input
Pin
1R
26
Title of
VLJQDO
Symbol
SI3 input
Pin
1R
27
Title of
VLJQDO
Symbol
SI4 input
Pin
1R
28
Title of
VLJQDO
Symbol
SI5 input
Pin
1R
29
Title of
VLJQDO
Symbol
SI6 input
Pin
1R
30
Title of
VLJQDO
Symbol
SI7 input
Pin
1R
31
Title of
VLJQDO
Symbol
SI8 input
Pin
1R
32
Title of
VLJQDO
Symbol
SI9 input
Pin
1R
33
Title of
VLJQDO
Symbol
SI10 input
SI1
SI2
SI3
SI4
SI5
SI6
SI7
SI8
SI9
SI10
/RJLF*1
6LJQDO
/RJLF*1
127
b-contact
127
b-contact
Pr4.00
K
(8553090)
127
Pr4.01
K
(8487297)
POT
Pr4.02
$K
966(/ a-contact =(5263' b-contact =(5263' b-contact
(9539850)
Pr4.03
K
(394758)
Pr4.04
&K
(4108)
Pr4.05
K
65921 a-contact 65921 a-contact 65921 a-contact
(197379)
Pr4.06
IK
(3847)
&/
Pr4.07
K
(263172)
$&/5
Pr4.08
K
&02'( a-contact &02'( a-contact &02'( a-contact
(328965)
Pr4.09
(K
(3720)
b-contact
*$,1
b-contact
a-contact
POT
*$,1
b-contact
a-contact
POT
*$,1
b-contact
a-contact
4
',9
a-contact ,1763' a-contact
a-contact ,1763' a-contact
$&/5
a-contact
,1+
a-contact
$&/5
a-contact
b-contact ,1763' a-contact
6
When in Trouble
7KHIXQFWLRQGHSHQGVRQSDUDPHWHUVHWXS5HIHUWR3
5HIHUWRWKHQH[WVHFWLRQ)XQFWLRQDVVLJQDEOHWRJHQHUDOSXUSRVHLQSXW
Note
Adjustment
SI1 input
Torque control
6LJQDO
Setup
Title of
VLJQDO
Symbol
/RJLF
Connection
Pin
1R
6LJQDO
'HIDXOW6HWXS
Verocity control
Preparation
'HIDXOW
$SSOLFDEOH parameter 3RVLWLRQ)XOOFORVHGFRQWURO
VHWWLQJ
parameter GHFLPDO
*1
*2SHUDWLRQRIDFRQWDFWDQGEFRQWDFW

DFRQWDFW,QSXWVLJQDOGLVFRQQHFWHGIURP&20IXQFWLRQGLVDEOHG2))VWDWH

,QSXWVLJQDOFRQQHFWHGWR&20IXQFWLRQHQDEOHG21VWDWH

EFRQWDFW,QSXWVLJQDOGLVFRQQHFWHGIURP&20IXQFWLRQHQDEOHG21VWDWH

,QSXWVLJQDOFRQQHFWHGWR&20IXQFWLRQGLVDEOHG2))VWDWH
>@1RIXQFWLRQDVVLJQHG
5HODWHGSDJH
P.3-50
7
Supplement
3-37

Function allocatable to control input

Title of
VLJQDO
6HUYR21LQSXW
Symbol
65921
Related
control mode
'HIDXOWDVVLJQPHQW
29 (SI6)
,)FLUFXLW
SI 3-30 SDJH
7KLVVLJQDOWXUQVRQRIIWKHVHUYRPRWRU
Title of
VLJQDO
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW
Symbol
POT
'HIDXOWDVVLJQPHQW
Related
control mode
9 (SI2)
,)FLUFXLW
SI 3-30 SDJH
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
7KH RSHUDWLRQ ZLWK WKLV LQSXW WXUQHG 21 LV VHW XS LQ 3U 6HWXS RI RYHUWUDYHO LQKLELW
LQSXW
:KHQXVLQJWKLVLQSXWVHW3U6HWXSRIRYHUWUDYHOLQKLELWLQSXWWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGSRVLWLYHGLUHFWLRQ
Title of
VLJQDO
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW
Symbol
NOT
'HIDXOWDVVLJQPHQW
Related
control mode
8 (SI1)
,)FLUFXLW
SI 3-30 SDJH
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
7KH RSHUDWLRQ ZLWK WKLV LQSXW WXUQHG 21 LV VHW XS LQ 3U 6HWXS RI RYHUWUDYHO LQKLELW
LQSXW
:KHQXVLQJWKLVIXQFWLRQVHW3U6HWXSRIRYHUWUDYHOLQKLELWLQSXWWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGQHJDWLYHGLUHFWLRQ
Title of
VLJQDO
'HYLDWLRQFRXQWHUFOHDULQSXW
Symbol
CL
Related
control mode
'HIDXOWDVVLJQPHQW
30 (SI7)
,)FLUFXLW
SI 3-30 SDJH
&OHDUVWKHSRVLWLRQDOGHYLDWLRQFRXQWHU
'HIDXOWVHWXSFOHDUVWKHFRXQWHUDWWKHULVLQJHGJHRIWKHFOHDULQSXW7RFKDQJHWKHVHWXS
PRGLI\LWLQWKH3U&RXQWHUFOHDULQSXWPRGH
<Signal width and clear timing>
Pr5.17
CL signal width
'HYLDWLRQFOHDUWLPLQJ
VRUPRUH
1 ms or more
&RQWLQXDOO\FOHDUWKHFRXQWHUZKLOHWKHGHYLDWLRQFRXQWHU
FOHDULQSXWLV21*1
VRUPRUH
2QO\ RQFH FOHDU WKH FRXQWHU DW 2)) WR 21 HGJH RI WKH
1 ms or more
GHYLDWLRQFRXQWHUFOHDULQSXWVLJQDO*1
'HYLDWLRQFRXQWHUFOHDULQSXW212)) LQSXWSKRWRFRXSOHU212))
Caution
5HODWHGSDJH
3-38
7KLV IXQFWLRQ FDQ EH DVVLJQHG WR RQO\ 6,$OORFDWLRQ RI WKLV IXQFWLRQ WR DQ\ RWKHU SLQ ZLOO
cause an error.
3'HWDLOVRI3DUDPHWHU
Title of
VLJQDO
Alarm clear input
Symbol
$&/5
Related
control mode
'HIDXOWDVVLJQPHQW
31 (SI8)
,)FLUFXLW
SI 3-30 SDJH
&OHDUVWKHDODUPFRQGLWLRQ
7KLVLQSXWFDQQRWFOHDUVRPHDODUPV
)RUGHWDLOVUHIHUWR3:KHQLQ7URXEOH3URWHFWLYHIXQFWLRQ3$ODUP'LVSOD\
DQG3'LVSOD\RI%DWWHU\$ODUP
Command pulse inhibition input
Symbol
INH
'HIDXOWDVVLJQPHQW
Related
control mode
33 (SI10)
,)FLUFXLW
SI 3-30 SDJH
,JQRUHVWKHSRVLWLRQDOFRPPDQGSXOVH
:KHQXVLQJWKLVIHDWXUHVHW3U,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLRQLQSXWWR
7KLVIXQFWLRQFDQEHDVVLJQHGWRRQO\6,$OORFDWLRQRIWKLV IXQFWLRQWRDQ\RWKHUSLQZLOO
cause an error.
Title of
VLJQDO
Control mode switching input
Symbol
C-MODE
'HIDXOWDVVLJQPHQW
Related
control mode
32 (SI9)
,)FLUFXLW
SI 3-30 SDJH
6HOHFWVDFRQWUROPRGH
Caution
(OHFWURQLFJHDUGLYLVLRQPXOWLSOLFDWLRQVZLWFKLQJLQSXW
Symbol
DIV1
Title of
VLJQDO
(OHFWURQLFJHDUGLYLVLRQPXOWLSOLFDWLRQVZLWFKLQJLQSXW
Symbol
DIV2
'HIDXOWDVVLJQPHQW
'HIDXOWDVVLJQPHQW
Related
control mode
28 (SI5)
,)FLUFXLW
Related
control mode
,)FLUFXLW
Setup
7KLVVLJQDOLVUHTXLUHGLQDOOFRQWUROPRGHV1RVHWWLQJZLOOFDXVHDQHUURU
'RQRWLQSXWDQ\FRPPDQGPVEHIRUHDQGDIWHUFKDQJLQJWKHFRQWUROPRGH
Title of
VLJQDO
SI 3-30 SDJH
P
OFF
OFF
21
21
Title of
VLJQDO
Damping control switching input 1
Symbol
VS-SEL1
Title of
VLJQDO
Damping control switching input 2
Symbol
VS-SEL2
'HIDXOWDVVLJQPHQW
'HIDXOWDVVLJQPHQW
Related
control mode
26 (SI3)
,)FLUFXLW
Related
control mode
,)FLUFXLW
SI 3-30 SDJH
P
SI 3-30 SDJH
$OVRUHIHUWR33U>'DPSLQJOWHUVZLWFKLQJVHOHFWLRQ@
3-39
7
Supplement
6HOHFWVDSSOLFDEOHIUHTXHQF\IRUGDPSLQJFRQWURO
&RPELQDWLRQRIGDPSLQJFRQWUROLQSXWFKDQJHRYHUDQG966(/966(/HQDEOHV
select of max. 4 options.
Note
When in Trouble
OFF
21
OFF
21
6HOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV
Numerator
Denominator
Pr0.09
Pr0.10
Pr5.00
Pr0.10
Pr5.01
Pr0.10
Pr5.02
Pr0.10
Adjustment
DIV2
SI 3-30 SDJH
8SWRQXPHUDWRUVFDQEHXVHGIRUFRPPDQGGLYLGLQJPXOWLSO\LQJE\XVLQJ',9DQG',9
',9DQG',9YVQXPHUDWRUGHQRPLQDWRURIVHOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV!
DIV1
Connection
Caution
Preparation
Title of
VLJQDO

Title of
VLJQDO
Symbol
GAIN
Related
control mode
'HIDXOWDVVLJQPHQW
27 (SI4)
SI 3-30 SDJH
,)FLUFXLW
6HOHFWVWRUQGJDLQ
Title of
VLJQDO
Torque limit switching input
Symbol
TL-SEL
Related
control mode
'HIDXOWDVVLJQPHQW
SI 3-30 SDJH
,)FLUFXLW
Select 1st or 2nd torque limit.

Pr5.21
Torque limit
switching input
(TL-SEL)
Torque limit
switching setup
(Pr5.23, Pr5.24)
3RVLWLYHGLUHFWLRQ
Torque limit
$QDORJLQSXW*1
0
1
OFF
21
Pr0.13
Pr0.13
Pr5.22
Pr0.13
Valid
Pr5.22
$QDORJLQSXW*1
5
6
1HJDWLYHGLUHFWLRQ
Torque limit
OFF
21
Pr0.13
Pr5.22
Pr5.25
Pr5.26
*1 7RVSHFLI\WKHWRUTXHOLPLWYDOXHE\DQDQDORJLQSXWUHIHUWR3U$QDORJWRUTXHOLPLWIXQFWLRQ
6HWXSRIUDWHRIFKDQJHDIWHUWRUTXHOLPLWVZLWFKRYHU
:KHQ DSSO\LQJ 3U 7RUTXH OLPLW VHOHFWLRQ FKDQJLQJ UDWH RI WRUTXH VORSH DIWHU
VHOHFWLQJQHZWRUTXHOLPLWFDQEHFKDQJHG
:KHQFKDQJLQJIURPWKHVWWRUTXHOLPLWWRQGWRUTXHOLPLWWKHFKDQJLQJUDWHVORSHVHWDW
3U 7RUTXH OLPLW VHOHFWLRQ VHWXS LV DSSOLHG DIWHU FKDQJLQJ IURP WKH QG WRUTXH OLPLW
WRVWWRUTXHOLPLWWKHFKDQJLQJUDWHVORSHVHWDW3U7RUTXHOLPLWVHOHFWLRQVHWXSLV
DSSOLHG7KHVLJQRIWKHFKDQJLQJUDWHLVDXWRPDWLFDOO\VHOHFWHGE\WKHGULYHUDFFRUGLQJWRWKH
GLIIHUHQFHLQYDOXHEHWZHHQWKHVWDQGQGWRUTXHOLPLW
,I3U7RUTXHOLPLWVHOHFWLRQVHWXSDQG3U7RUTXHOLPLWVHOHFWLRQVHWXSDUHVHWWR
VZLWFKRYHULVLQVWDQWDQHRXV
Torque limit selection input

(TL-SEL)
1st torque limit
(Pr0.13)
2nd torque limit
(Pr5.22)
Caution
Torque limit selection setup 1 (Pr5.23)
Torque limit selection setup 2 (Pr 5.24)
:KHQWKHVWWRUTXHOLPLW3UDQGQGWRUTXHOLPLW3UDUHFKDQJHGIURPWKHIURQW

SDQHORUWKURXJKFRPPXQLFDWLRQWKHFKDQJLQJUDWHVHWXSLVLJQRUHGDQGWKHQHZWRUTXHOLPLW
YDOXHLVLPPHGLDWHO\DQGGLUHFWO\DSSOLHG7KDWLVFKDQJLQJUDWHVHWWLQJLVHIIHFWLYHRQO\ZKHQ
WKHVHOHFWLRQLVPDGHE\XVLQJWKHWRUTXHOLPLWVHOHFWLQSXW7/6(/
5HODWHGSDJH
3-40
3'HWDLOVRI3DUDPHWHU
Selection 1 input of internal command speed
Symbol
INTSPD1
Title of
VLJQDO
Symbol
INTSPD2
Title of
VLJQDO
Symbol
INTSPD3
'HIDXOWDVVLJQPHQW
'HIDXOWDVVLJQPHQW
'HIDXOWDVVLJQPHQW
Related
control mode
33 (SI10)
Related
control mode
SI 3-30 SDJH
,)FLUFXLW
Related
control mode
28 (SI5)
SI 3-30 SDJH
,)FLUFXLW
30 (SI7)
SI 3-30 SDJH
,)FLUFXLW
6HOHFWRQHRILQWHUQDOFRPPDQGVSHHGV
5HODWLRQVKLSEHWZHHQ3U6ZLWFKLQJEHWZHHQLQWHUQDODQGH[WHUQDOVSHHGVHWXS
and internal command speed selection 1-3 and the speed command selected>.
Pr3.00
Selection 2 of
internal command
speed (INTSPD2)
OFF
OFF
21
21
OFF
OFF
21
21
21
Selection of
speed command
1st speed
2nd speed
3rd speed
WKVSHHG
1st speed
2nd speed
3rd speed
$QDORJVSHHG
command
VWWRWKVSHHG
WKVSHHG
WKVSHHG
WKVSHHG
WKVSHHG
1RHIIHFW
1RHIIHFW
OFF
21
21
21
21
INTSPD2
Speed
command
[r/min]
open
COM
open
COM
4th
open
INTSPD2
open
INTSPD3
open
2nd
1st
Speed
command
[r/min]
Speed zero clamp input
Symbol
=(5263'
COM
COM
8th
4th
1st
2nd
5th
1st
Example 2) When Pr3.00=3

Related
control mode
'HIDXOWDVVLJQPHQW
6th
3rd
26 (SI3)
,)FLUFXLW
SI 3-30 SDJH
6HWWKHVSHHGFRPPDQGWR
:KHQXVLQJVHW3U6SHHG]HURFODPSIXQFWLRQVHOHFWLRQWRDYDOXHRWKHUWKDQ
Speed command sign input
Symbol
VC-SIGN
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
7
F
SI 3-30 SDJH
6SHFLI\WKHVLJQRIVSHHGFRPPDQGLQSXWDWYHORFLW\FRQWURO
5HIHUWR33U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQ
3-41
Supplement
Title of
VLJQDO
When in Trouble
Example 1) When Pr3.00=1 or 2

Title of
VLJQDO
COM
7th
3rd
1st
INTSPD1
5
Adjustment
,QWHUQDOFRPPDQGVSHHGVZLWFKLQJSDWWHUQVKRXOGEHVRDUUDQJHGDVVKRZQEHORZWKDWVLQJOH
LQSXWVLJQDOVDUHVHOHFWHGDOWHUQDWHO\,IRUPRUHLQSXWVLJQDOVDUHVHOHFWHGVLPXOWDQHRXVO\
XQVSHFLHGLQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\VHOHFWHGZKRVHVHWWLQJYDOXHDQG
DFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ
INTSPD1
Setup
7KHVDPHDV3U
OFF
OFF
21
OFF
OFF
21
21
21
Caution
Selection 3 of
internal command
speed (INTSPD3)
Connection
Selection 1 of
internal command
speed (INTSPD1)
OFF
21
OFF
21
OFF
21
OFF
2
Preparation
Title of
VLJQDO

Title of
VLJQDO
Torque command sign input
Symbol
TC-SIGN
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SI 3-30 SDJH
6SHFLI\WKHVLJQRIWRUTXHFRPPDQGLQSXWDWWRUTXHFRQWURO
21
OFF
1HJDWLYHGLUHFWLRQ
3RVLWLYHGLUHFWLRQ
5HIHUWR33U7RUTXHFRPPDQGGLUHFWLRQVHOHFWLRQ
Title of
VLJQDO
Forced alarm input
Symbol
E-STOP
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SI 3-30 SDJH
*HQHUDWHV(UU)RUFHGDODUPLQSXWHUURU
Title of
VLJQDO
Inertia ratio switching input
Symbol
J-SEL
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SI 3-30 SDJH
6HOHFWVVWLQHUWLDUDWLRRUQGLQHUWLDUDWLRDFFRUGLQJWRWKHLQHUWLDUDWLRVHOHFWLQSXW-6(/
Inertia ratio switching
input (J-SEL)
Applicable inertia ratio
OFF
1st Inertia ratio (Pr0.04)
21
2nd Inertia ratio (Pr6.12)
5HIHUWR33U)XQFWLRQH[SDQVLRQVHWXS
Note
3-42
1
Input Signals (Analog Command)

14
Pin
1R
16
Pin
1R
18
Title of
VLJQDO
AI1 input
Symbol
AI1
Title of
VLJQDO
AI2 input
Symbol
AI2
Title of
VLJQDO
AI3 input
Symbol
AI3
Correspondence function
635754563/
Preparation
Pin
1R
75453$7/
N-ATL
3
Function allocatable to Input Signals (Analog Command)
3RVLWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW
Symbol
P-ATL
Title of
VLJQDO
1HJDWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW
Symbol
N-ATL
Related
control mode
$, 3-31 SDJH
,)FLUFXLW
Related
control mode
$, 3-31 SDJH
,)FLUFXLW
Connection
Title of
VLJQDO
6SHFLI\WKHWRUTXHOLPLWIRUHDFKGLUHFWLRQYDOXHE\WKHDQDORJYROWDJH
3RVLWLYHGLUHFWLRQ
Torque limit input
(P-ATL)
1HJDWLYHGLUHFWLRQ
Torque limit input
(N-ATL)
3RVLWLYHGLUHFWLRQ
Torque limit
1HJDWLYHGLUHFWLRQ
Torque limit
0 to 10V
WR9
3$7/
1$7/
Setup
Pr5.21
1
6HWXSWKURXJKSDUDPHWHU*1
2
3
4
0 to 10V
0 to 10V
0 to 10V
1RHIIHFW
1$7/
3$7/
Setup by parameter *1
* :KHQVSHFLI\LQJWKHWRUTXHOLPLWYDOXHWKURXJKWKHSDUDPHWHUUHIHUWR37RUTXHOLPLW
VHOHFWIXQFWLRQ
Adjustment
3$7/
6
When in Trouble
7
Supplement
Note
3-43

Title of
VLJQDO
Speed command input
Symbol
635
Related
control mode
,)FLUFXLW
$, 3-31 SDJH
,QSXWWKHVSHHGFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
7KHWDEOHEHORZVKRZVUHODWLRQVKLSEHWZHHQWKHFRPELQDWLRQRI3U6ZLWFKLQJEHWZHHQ
LQWHUQDODQGH[WHUQDOVSHHGVHWXS3U6SHHGFRPPDQGGLUHFWLRQVHOHFWLRQ3U
6SHHGFRPPDQGLQSXWLQYHUVLRQDQDORJVSHHGFRPPDQG635RI,)FRQQHFWRUDQGVSHHG
FRPPDQGVLJQVHOHFWLRQ9&6,*1DQGWKHPRWRUURWDWLRQDOGLUHFWLRQDQGWKHFRQYHUVLRQ
JUDSKRIDQDORJVSHHGFRPPDQGLQSXWYROWDJHWRWKHVSHHGFRPPDQG
Pr3.00
Pr3.01
Pr3.03
Speed command input

635
Speed command
sign selection
(VC-SIGN)
9ROWDJH (0 to 10V)
1RHIIHFW
9ROWDJHWR9
1RHIIHFW
9ROWDJH (0 to 10V)
1RHIIHFW
9ROWDJHWR9
1RHIIHFW
0
0
1
Title of
VLJQDO
Symbol
7545
1RHIIHFW
9ROWDJH (0 to 10V)
9ROWDJHWR9
9ROWDJH (0 to 10V)
9ROWDJHWR9
OFF
1HJDWLYH
direction
21
Related
control mode
,)FLUFXLW
Motor
rotational
direction
3RVLWLYH
direction
1HJDWLYH
direction
1HJDWLYH
direction
3RVLWLYH
direction
3RVLWLYH
direction
$, 3-31 SDJH
,QSXWWKHWRUTXHFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
:KHQ3U7RUTXHFRPPDQGVHOHFWLRQ SLQ1R
:KHQ3U7RUTXHFRPPDQGVHOHFWLRQ SLQ1R
Pr3.17
Pr3.18
Pr3.20

7545
Torque command
sign selection
(TC-SIGN)
9ROWDJH (0 to 10V)
1RHIIHFW
9ROWDJHWR9
1RHIIHFW
9ROWDJH (0 to 10V)
1RHIIHFW
9ROWDJHWR9
1RHIIHFW
0
0
1
Title of
VLJQDO
Speed limit input
Symbol
SPL
1RHIIHFW
9ROWDJH (0 to 10V)
9ROWDJHWR9
9ROWDJH (0 to 10V)
9ROWDJHWR9
OFF
1HJDWLYH
direction
21
Related
control mode
,)FLUFXLW
Motor
rotational
direction
3RVLWLYH
direction
1HJDWLYH
direction
1HJDWLYH
direction
3RVLWLYH
direction
3RVLWLYH
direction
$, 3-31 SDJH
:KHQVHWWLQJ3U7RUTXHFRPPDQGVHOHFWLRQWRLQSXWWKHVSHHGOLPLWYDOXHLQWKHIRUP
RIDQDORJYROWDJH
Note
3-44
Connection
Output Signal and Pin No.
Output Signals (Common) and Their Functions
1
&RQWURORXWSXWVLJQDORIGHVLUHGIXQFWLRQFDQEHDVVLJQHGWR,)FRQQHFWRU/RJLFRIWKHRXWSXW
SLQFDQQRWEHFKDQJHG
Title of
VLJQDO
6LJQDO
6LJQDO
%5.2))
%5.2))
%5.2))
SO2 output
3LQ1R62
3LQ1RSO2+
Pr4.11
K
(131586)
65'<
65'<
65'<
Pr4.12
K
(65793)
$/0
$/0
$/0
Pr4.13
K
(328964)
,13
$763(('
$763(('
Pr4.14
K
(460551)
=63
=63
=63
Pr4.15
K
(394758)
7/&
7/&
7/&
36
37
Pin
1R
38
39
Pin
1R
12
Title of
VLJQDO
Symbol
SO5 output
Pin
1R
40
Title of
VLJQDO
Symbol
SO6 output
Title of
VLJQDO
SO3 output
Symbol
3LQ1R62
3LQ1RSO3+
Title of
VLJQDO
SO4 output
Symbol
3LQ1R62
3LQ1RSO4+
SO5
SO6
7KHIXQFWLRQLVFKDQJHGE\WKHVHWWLQJRISDUDPHWHU)RUGHWDLOVUHIHUWR3
6HH)XQFWLRQVDVVLJQDEOHWRFRQWURORXWSXWDVVKRZQEHORZ
>@1RIXQFWLRQDVVLJQHG
P.3-52
Adjustment
5HODWHGSDJH
Function allocatable to control input

Title of
VLJQDO
6HUYR$ODUPRXWSXW
Symbol
ALM
Related
control mode
'HIDXOWDVVLJQPHQW
36, 37 (SO3)
,)FLUFXLW
SO 3-32 SDJH
6HUYR5HDG\RXWSXW
Symbol
65'<
Related
control mode
'HIDXOWDVVLJQPHQW
34, 35 (SO2)
,)FLUFXLW
6
When in Trouble
7KLVVLJQDOVKRZVWKDWWKHGULYHULVLQDODUPVWDWXV
2XWSXWWUDQVLVWRUWXUQV21ZKHQWKHGULYHULVDWQRUPDOVWDWXVDQGWXUQV2))DWDODUPVWDWXV
Title of
VLJQDO
4
Setup
Pin
1R
3
Connection
34
35
Note
6LJQDO
K
(197379)
Pin
1R
Symbol
Verocity control Torque control
Pr4.10
10
11
Title of
VLJQDO
3RVLWLRQ)XOO
closed control
SO1 output
3LQ1R62
3LQ1RSO1+
Pin
1R
Symbol
GHFLPDO
notation
'HIDXOW6HWXS
Preparation
$SSOLFDEOH
parameter
'HIDXOW
parameter
VHWWLQJ
SO 3-32 SDJH
7KLVVLJQDOVKRZVWKDWWKHGULYHULVUHDG\WREHDFWLYDWHG
2XWSXWWUDQVLVWRUWXUQV21ZKHQERWKFRQWURODQGPDLQSRZHUDUH21EXWQRWDWDODUPVWDWXV
7
Supplement
3-45

Title of
VLJQDO
External brake release signal
Symbol
%5.2))
Related
control mode
'HIDXOWDVVLJQPHQW
10, 11 (SO1)
,)FLUFXLW
SO 3-32 SDJH
)HHGVRXWWKHWLPLQJVLJQDOZKLFKDFWLYDWHVWKHKROGLQJEUDNHRIWKHPRWRU
7XUQVWKHRXWSXWWUDQVLVWRU21DWWKHUHOHDVHWLPLQJRIWKHKROGLQJEUDNH
Title of
VLJQDO
Symbol
INP
Title of
VLJQDO
Positioning complete 2
Symbol
INP2
Related
control mode
'HIDXOWDVVLJQPHQW
38, 39 (SO4)
,)FLUFXLW
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SO 3-32 SDJH
P
SO 3-32 SDJH
2XWSXWVWKHSRVLWLRQLQJFRPSOHWHVLJQDOSRVLWLRQLQJFRPSOHWHVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRPSOHWLRQRISRVLWLRQLQJ
Title of
VLJQDO
6SHHGDUULYDORXWSXW
Symbol
AT-SPPED
Related
control mode
'HIDXOWDVVLJQPHQW
38, 39 (SO4)
,)FLUFXLW
SO 3-32 SDJH
2XWSXWVWKHVSHHGDUULYDOVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQDUULYHRIVSHHG
Title of
VLJQDO
Torque in-limit signal output
Symbol
TLC
Related
control mode
'HIDXOWDVVLJQPHQW
40 (SO6)
,)FLUFXLW
SO 3-32 SDJH
2XWSXWVWKHWRUTXHLQOLPLWVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQOLPLWRIWRUTXH
Title of
VLJQDO
Zero-speed detection output signal
Symbol
ZSP
'HIDXOWDVVLJQPHQW
Related
control mode
12 (SO5)
,)FLUFXLW
SO 3-32 SDJH
2XWSXWVWKH]HURVSHHGGHWHFWLRQVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQGHWHFWLRQRI=HURVSHHG
Title of
VLJQDO
Symbol
V-COIN
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SO 3-32 SDJH
2XWSXWVWKHVSHHGFRLQFLGHQFHVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRLQFLGHQFHRIVSHHG
Title of
VLJQDO
Alarm output 1
Symbol
:$51
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U:DUQLQJRXWSXWVHOHFW
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQRFFXUUHQFHRIZDUQLQJFRQGLWLRQ
3-46
SO 3-32 SDJH
Title of
VLJQDO
Alarm output 2
Symbol
:$51
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SO 3-32 SDJH
2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U:DUQLQJRXWSXWVHOHFW
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQRFFXUUHQFHRIZDUQLQJFRQGLWLRQ
Alarm
$
Pr6.27 *1
Content
$
%DWWHU\DODUP
%DWWHU\YROWDJHLV9RUORZHU
$
Fan alarm
Encoder
communication alarm
(QFRGHURYHUKHDW
alarm
alarm
/LIHWLPHGHWHFWLRQ
alarm
alarm
External scale
communication alarm
$
$
$
$
$
$
$
bit5
bit0
)DQKDVVWRSSHGIRUVHF
7KHQXPEHURIVXFFHVVLYHHQFRGHUFRPPXQLFDWLRQ
bit6
bit4
7KHHQFRGHUGHWHFWVRYHUKHDWDODUP
bit3
2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG
bit9
bit2
7KHIHHGEDFNVFDOHGHWHFWVWKHDODUP
bit8
7KHQXPEHURIVXFFHVVLYHIHHGEDFNVFDOH
10
bit10
Fixed at no
time limit.
7KHOLIHH[SHFWDQF\RIFDSDFLW\RUIDQEHFRPHV
VKRUWHUWKDQWKHVSHFLHGWLPH
Fixed at no
time limit.
4
Setup
/RDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKH
SURWHFWLRQOHYHO
Connection
2YHUORDGSURWHFWLRQ
2YHUUHJHQHUDWLRQ
alarm
Pr4.40/ Pr6.38
Corresponding
Pr4.41 *2 bit *3
1
bit7
Preparation
6HOHFWLRQRIDODUPRXWSXWDQGRXWSXW
Alarm
No.
5
Adjustment
* 7KHFLUFOHPHDQVWKDWDWLPHLQWKHUDQJHWRVRUQRWLPHOLPLWFDQEHVHOHFWHGWKURXJK3U
:DUQLQJODWFKLQJWLPH1RWHWKDWWKHEDWWHU\ZDUQLQJDQGWKHHQGRIOLIHZDUQLQJKDYHQRWLPHOLPLW
* 6HOHFWWKHZDUQLQJRXWSXWVLJQDO:$51RUZDUQLQJRXWSXWVLJQDO:$51WKURXJK3U
:DUQLQJRXWSXWVHOHFWRU3U:DUQLQJRXWSXWVHOHFW:KHQWKHVHWYDOXHLVDOOZDUQLQJV
DUH25HGEHIRUHEHLQJRXWSXW'RQRWVHWWRDQ\YDOXHRWKHUWKDQWKRVHVSHFLILHGLQWKHWDEOHDERYH
* $ZDUQLQJGHWHFWLRQFDQEHPDVNHGE\3U:DUQLQJPDVNVHWXS&RUUHVSRQGLQJELWVDUHVKRZQ
LQWKHWDEOH:DUQLQJLVPDVNHGZLWKELW
*4 7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDODQGQRIDQ
alarm is displayed.
Positional command ON/OFF output
Symbol
P-CMD
'HIDXOWDVVLJQPHQW
Related
control mode
,)FLUFXLW
SO 3-32 SDJH
7XUQVRQRXWSXWWUDQVLVWRUZLWKSRVLWLRQDOFRPPDQGDSSOLHG
Title of
VLJQDO
Speed in-limit output
Symbol
V-LIMIT
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SO 3-32 SDJH
7XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGLVOLPLWHGE\WRUTXHFRQWUROOLQJIXQFWLRQ
Alarm attribute output
Symbol
ALM-ATB
Related
control mode
'HIDXOWDVVLJQPHQW
,)FLUFXLW
SO 3-32 SDJH
7XUQVRQRXWSXWWUDQVLVWRUZKHQDQDODUPWKDWFDQEHFOHDUHGJHQHUDWHV
3-47
Supplement
Title of
VLJQDO
6
When in Trouble
Title of
VLJQDO

Title of
VLJQDO
Speed command ON/OFF output
Symbol
V-CMD
'HIDXOWDVVLJQPHQW
Related
control mode
,)FLUFXLW
SO 3-32 SDJH
7XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGFRPPDQGLVDSSOLHGZKLOHWKHVSHHGLVFRQWUROOHG
Output Signals (Pulse Train) and Their Functions

Pin
1R
21
22
Pin
1R
48
49
Pin
1R
23
24
Title of
VLJQDO
A-phase output
Symbol
3LQ1ROA+
3LQ1ROA
Title of
VLJQDO
B-phase output
Symbol
3LQ1ROB+
3LQ1ROB
Title of
VLJQDO
Z-phase output
Symbol
3LQ1ROZ+
3LQ1ROZ
Related
control mode
,)FLUFXLW
Related
control mode
,)FLUFXLW
Related
control mode
,)FLUFXLW
PO1 3-32 SDJH

P
PO1 3-32 SDJH

P
PO1 3-32 SDJH
)HHGVRXWWKHGLYLGHGHQFRGHUVLJQDORUIHHGEDFNVFDOHVLJQDO$%=SKDVHLQGLIIHUHQWLDO

HTXLYDOHQWWR56
*URXQGIRUOLQHGULYHURIRXWSXWFLUFXLWLVFRQQHFWHGWRVLJQDOJURXQG*1'DQGLVQRWLQVXODWHG
0D[RXWSXWIUHTXHQF\LV0SSVDIWHUTXDGUXSOHG
Pin
1R
19
Title of
VLJQDO
Z-phase output
Symbol
CZ
Related
control mode
,)FLUFXLW
PO2 3-33 SDJH
2SHQFROOHFWRURXWSXWRI=SKDVHVLJQDO
7KHHPLWWHUVLGHRIWKHWUDQVLVWRURIWKHRXWSXWFLUFXLWLVFRQQHFWHGWRWKHVLJQDOJURXQG*1'
and is not insulated.
:KHQXVLQJWKH&=VLJQDOLVRODWHLWIURPH[WHUQDOQRLVH
1RWH WKDW WKH ORJLF RI = SKDVH RSHQ FROOHFWRU RXWSXW &= LV D UHYHUVDO RI WKH OLQH GULYHU
RXWSXW2=ORJLF
Note
:KHQWKHRXWSXWVRXUFHLVWKHHQFRGHU
,IWKHHQFRGHUUHVROXWLRQ
Pr0.11
LVPXOWLSOHRI=SKDVHZLOOEHIHGRXWV\QFKURQL]LQJ
Pr5.03
ZLWK$SKDVH,QRWKHUFDVHWKH=SKDVHZLGWKZLOOEHHTXDOWRWKHHQFRGHUUHVROXWLRQDQG
ZLOOQRWV\QFKURQL]HZLWK$SKDVHEHFDXVHRIQDUURZHUZLGWKWKDQWKDWRI$SKDVH
Pr0.11
when the encoder resolution
is
Pr5.03
multiple of 4,
Pr0.11
when the encoder resolution
is
Pr5.03
not multiple of 4,
Z
synchronized
not-synchronized
,QFDVHRIWKHZLUHELWLQFUHPHQWDOHQFRGHUWKHVLJQDOVHTXHQFHPLJKWQRWIROORZWKH
DERYHJXQWLOWKHUVW=SKDVHLVIHGRXW:KHQ\RXXVHWKHSXOVHRXWSXWDVWKHFRQWURO
VLJQDOURWDWHWKHPRWRURQHUHYROXWLRQRUPRUHWRPDNHVXUHWKDWWKH=SKDVHLVIHGRXWDW
OHDVWRQFHEHIRUHXVLQJ
3-48
1
Output Signals (Analog) and Their Functions

Pin
1R
42
Title of
VLJQDO
Symbol
IM
Related
control mode
,)FLUFXLW
$2 3-33 SDJH
Preparation
'HQLWLRQRIWKHRXWSXWVLJQDOYDULHVZLWKWKHRXWSXWRI3UDQDORJPRQLWRUW\SH
7KHRXWSXWVLJQDOLVLGHQWLFDOWRWKHDQDORJPRQLWRURQWKHIURQWPRQLWRU
)RURXWSXWVHWWLQJUHIHUWR3'HWDLOVRISDUDPHWHU
Pin
1R
43
Title of
VLJQDO
Speed monitor output
Symbol
SP
Related
control mode
,)FLUFXLW
$2 3-33 SDJH
3
Connection
'HQLWLRQRIWKHRXWSXWVLJQDOYDULHVZLWKWKHRXWSXWRI3UDQDORJPRQLWRUW\SH
7KHRXWSXWVLJQDOLVLGHQWLFDOWRWKHDQDORJPRQLWRURQWKHIURQWPRQLWRU
)RURXWSXWVHWWLQJUHIHUWR3'HWDLOVRISDUDPHWHU
Output Signals (Others) and Their Functions

Pin
1R
13, 15
17, 25
Title of
VLJQDO
Signal ground
Symbol
GND
Related
control mode
4
P
,)FLUFXLW
Setup
6LJQDOJURXQG
7KLVRXWSXWLVLQVXODWHGIURPWKHFRQWUROVLJQDOSRZHU&20LQVLGHRIWKHGULYHU
Pin
1R
50
Title of
VLJQDO
Frame ground
Symbol
FG
Related
control mode
,)FLUFXLW
Adjustment
7KLVRXWSXWLVFRQQHFWHGWRWKHHDUWKWHUPLQDOLQVLGHRIWKHGULYHU
6
When in Trouble
7
Supplement
3-49
Connection
How to Assign Various I/O Functions to the I/F
Control Input Settings

Title of signal
SI1 input selection
SI2 input selection
SI3 input selection
SI4 input selection
SI5 input selection
SI6 input selection
SI7 input selection
SI8 input selection
SI9 input selection
SI10 input selection
Connector X4
Pin No.
8
9
26
27
28
29
30
31
32
33
Parameter No.
Pr4.00
Pr4.01
Pr4.02
Pr4.03
Pr4.04
Pr4.05
Pr4.06
Pr4.07
Pr4.08
Pr4.09
7KHVHSDUDPHWHUVVKDOOEHVHWE\XVLQJ
KH[DGHFLPDOQXPEHUV6HWWLQJVKDOOEHPDGHIRU
HDFKFRQWUROPRGHDVVKRZQLQH[DPSOHVEHORZ
00 K3RVLWLRQ)XOOFORVHGFRQWURO
00 K6SHHGFRQWURO
00 K7RUTXHFRQWURO
Set an appropriate function number in place of
DQG )RUWKHIXQFWLRQ
QXPEHUVHHWKHWDEOHRQWKHEHORZ
Title
Symbol
,QYDOLG
6HUYR21LQSXW*1
$ODUPFOHDULQSXW
&RQWUROPRGHVZLWFKLQJLQSXW*2
*DLQVZLWFKLQJLQSXW
'HYLDWLRQFRXQWHUFOHDULQSXW*3
&RPPDQGSXOVHLQKLELWLRQLQSXW*4
7RUTXHOLPLWVZLWFKLQJLQSXW
'DPSLQJFRQWUROVZLWFKLQJLQSXW
(OHFWURQLFJHDUVZLWFKLQJLQSXW
6SHHG]HURFODPSLQSXW
6SHHGFRPPDQGVLJQLQSXW
7RUTXHFRPPDQGVLJQLQSXW
Forced alarm input
,QHUWLDUDWLRVZLWFKLQJLQSXW
POT
127
65921
$&/5
&02'(
*$,1
&/
,1+
7/6(/
966(/
966(/
',9
',9
,1763'
,1763'
,1763'
=(5263'
9&6,*1
7&6,*1
E-STOP
-6(/
6HWXSYDOXH
a-contact
b-contact
K
'RQRWVHWXS
K
K
K
K
K
K
K
'RQRWVHWXS
K
K
K
K
K
'RQRWVHWXS
K
K
K
K
$K
$K
%K
%K
&K
&K
'K
'K
(K
(K
)K
)K
K
K
K
K
K
K
K
K
K
K
K
K
(e.g. 1) Parameter setting

00 82 82 82 h (Hexadecimal numbers)
Position/ Full-closed Control (Negative direction over-travel inhibition input; b-contact)
Velocity Control
(Negative direction over-travel inhibition input; b-contact)
Torque Control
(Negative direction over-travel inhibition input; b-contact)
Convert to a decimal number

8553090
Enter this value to the relevant parameter.

00 h (Hexadecimal numbers)
Position/ Full-closed Control (Damping control switching input 1; a-contact)
Velocity Control
(Speed zero clamp input; b-contact)
Torque Control

3-50
1
The front panel display is in decimal (six digits).

For setting functions and parameters, hexadecimal and
decimal numbers should be used respectively.
6
The expression of 00 h indicates that the number

is hexadecimal.
7
Supplement
Note
6
When in Trouble
* 6HUYRRQLQSXWVLJQDO65921PXVWEHXVHGWRHQDEOHVHUYRRQ

* :KHQXVLQJFRQWUROPRGHVZLWFKLQJLQSXW&02'(VHWWKHVLJQDOWRDOOFRQWUROPRGHV
,IWKHVLJQDOLVVHWWRRQO\RUFRQWUROPRGHV(UU,)LQSXWIXQFWLRQQXPEHUHUURU
RU(UU,)LQSXWIXQFWLRQQXPEHUHUURUZLOOEHJHQHUDWHG
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)XQFWLRQ VHUYRRQ LQSXW DODUP FOHDU HWF WR EH XVHG LQ PXOWLSOH FRQWURO PRGHV
PXVWEHDVVLJQHGWRWKHVDPHSLQZLWKFRUUHFWORJLFDODUUDQJHPHQW,QFRUUHFWVHWWLQJ
ZLOO FDXVH (UU ,) LQSXW PXOWLSOH DVVLJQPHQW HUURU RU (UU ,) LQSXW PXOWLSOH
DVVLJQPHQWHUURU
* 'HYLDWLRQFRXQWHUFOHDULQSXW&/FDQEHDVVLJQHGRQO\WR6,LQSXW:URQJDVVLJQPHQW
ZLOOFDXVH(UU&RXQWHUFOHDUDVVLJQPHQWHUURU
* &RPPDQG SXOVH LQKLELW LQSXW ,1+ FDQ EH DVVLJQHG RQO\ WR 6, LQSXW :URQJ
DVVLJQPHQWZLOOFDXVH(UU&RPPDQGSXOVHLQSXWLQKLELWLQSXW
5
Adjustment
'RQRWVHWXSWRDYDOXHRWKHUWKDQWKDWVSHFLHGLQWKHWDEOH
'R QRW DVVLJQ VSHFLILF IXQFWLRQ WR RU PRUH VLJQDOV 'XSOLFDWHG DVVLJQPHQW ZLOO FDXVH
(UU,)LQSXWPXOWLSOHDVVLJQPHQWHUURURU(UU,)LQSXWPXOWLSOHDVVLJQPHQWHUURU
4
Setup
Caution
3
Connection
The SI1 input (connector X4, pin No. 8) means that the negative direction over-travel
inhibition input is set to b-contact as a factory default.
For using the device in the position or full-closed control mode, the negative direction
over-travel inhibition input is set to b-contact by setting 8 and 2 in the seventh and eighth
digits from the left respectively. The settings in the first to sixth digits from the left do not
matter.
For the hexadecimal value 00000082h or simply 82h, enter 130 (decimal) to the
parameter Pr4.00.
To make multiple settings, enter the function number in the first eight digits from the left and
then enter a parameter in a decimal number after converting it from a hexadecimal number.
An example of this is shown in example 1 (the case on the left side).
Similarly, the SI3 input (connector X4, pin No. 26) has a function of damping control switching
input 1 as a default when used in the position control mode.
Also, if the speed control is used, it is set to the function of speed zero clamp input.
Therefore, in order to set it to the damping control switching input in the position control
mode, enter the value of 10 (decimal) in the parameter Pr4.02 meaning the hexadecimal
number 0Ah, or Ah.
To change the speed zero clamp of pin No. 26 from b-contact to a-contact in the speed
control mode, enter the decimal number of 4352 in the parameter Pr4.02 meaning the
hexadecimal number of 00001100h, or 1100h.
Preparation
X7
,QSXWFLUFXLWUHIHUWR3DQGIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH 33
3-51
Control Output Settings

Title of signal
SO1 input
SO2 input
SO3 input
SO4 input
SO5 input
SO6 input
Connector X4
Pin No.

12
40
Parameter No.
Pr4.10
Pr4.11
Pr4.12
Pr4.13
Pr4.14
Pr4.15
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00 K3RVLWLRQ)XOOFORVHGFRQWURO
00 K6SHHGFRQWURO
00 K7RUTXHFRQWURO
Set an appropriate function number in place of
DQG )RUWKHIXQFWLRQ
QXPEHUVHHWKHWDEOHRQWKHULJKW
Setup
YDOXH
K
K
K
K
K
K
K
K
K
$K
%K
&K
'K
(K
)K
Title
Symbol
,QYDOLG
6HUYR5HDG\RXWSXW
([WHUQDOEUDNHUHOHDVHVLJQDO
3RVLWLRQLQJFRPSOHWHRXWSXW
$WVSHHGRXWSXW
Torque in-limit VLJQDOoutput
=HURVSHHGGHWHFWLRQRXWSXWVLJQDO
$ODUPRXWSXW
$ODUPRXWSXW
3RVLWLRQDOFRPPDQG212))RXWSXW
3RVLWLRQLQJFRPSOHWH
$ODUPDWWULEXWHRXWSXW
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65'<
%5.2))
,13
$7633('
7/&
=63
9&2,1
:$51
:$51
3&0'
,13
9/,0,7
$/0$7%
9&0'
Position/ Full-closed Control (External brake release signal)
Velocity Control
(External brake release signal)
Torque Control
(External brake release signal)

197379

Position/ Full-closed Control (Positioning complete)
Velocity Control
(Speed arrival output)
Torque Control

328964
6DPHIXQFWLRQFDQEHDVVLJQHGWRRUPRUHRXWSXWVLJQDOV
&RQWURORXWSXWSLQVHWWRLQYDOLGDOZD\VKDVWKHRXWSXWWUDQVLVWRUWXUQHG2))
'RQRWFKDQJHWKHVHWXSYDOXHVKRZQLQWKHWDEOH
Caution
Note
3-52
*1RWHWKDWWKHVHWXSYDOXHVDUHGLVSOD\HGLQGHFLPDORQWKHIURQWSDQHO
,QSXWFLUFXLWUHIHUWR3DQGIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH
P.4-35
4. Setup
1
5. Details of parameter
List of Parameters .......................................................................................4-2

[Class 0] Basic setting ...............................................................................4-4
Preparation
[Class 1] Gain adjustment ........................................................................4-13

[Class 2] Damping control ........................................................................4-20
[Class 3] Verocity/ Torque/ Full-closed control .........................................4-25
[Class 4] I/F monitor setting .....................................................................4-33
[Class 5] Enhancing setting .....................................................................4-43
[Class 6] Special setting ..........................................................................4-52
2.Trial Run (JOG run)
Connection
Inspection Before Trial Run ......................................................................4-59

Trial Run by Connecting the Connector X4 ..............................................4-60
Setup of Motor Rotational Speed and Input Pulse Frequency .................4-63
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4-1
Setup
List of Parameters
$SDUDPHWHULVGHVLJQDWHGDVIROORZV
Pr0.00
Class
Parameter No.
'HQLWLRQRIV\PEROVXQGHU5HODWHGPRGH
3SRVLWLRQFRQWURO6YHORFLW\FRQWURO
7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
Parametr No.
Title
Class No.
00
01
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Note
4-2
4-5
4-6
4-7
4-8
4-9
4-11
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
Title
$GDSWLYHOWHUPRGHVHWXS
frequency
1st notch ZLGWKVHOHFWLRQ
depth selection
frequency
2nd notch ZLGWKVHOHFWLRQ
depth selection
frequency
3rd notch ZLGWKVHOHFWLRQ
depth selection
frequency
4th notch ZLGWKVHOHFWLRQ
depth selection
6HOHFWLRQRIGDPSLQJOWHUVZLWFKLQJ
frequency
1st
damping OWHUVHWXS
frequency
2nd
damping OWHUVHWXS
frequency
3rd
damping OWHUVHWXS
frequency
4th
damping OWHUVHWXS
Positional VPRRWKLQJOWHU
command ),5OWHU
Related Control Mode Detail

P S T F page

4-20

4-21

4-22
4-23
4-22
4-23
4-22
4-23
4-22

4-23
4-24
00
4-12
01

4-13

4-14

4-15

4-16

4-17

4-18
[Class 3] Verocity/ Torque/ Full-closed control
03
04
05
06
4-4
02
Class No.

P S T F page
00 Rotational direction setup

01 Control mode setup
02 Real-time setup
auto-gain Selection of machine
03 tuning
stiffness
04 Inertia ratio
05
input selection
Command
06
otational direction setup
pulse
input mode setup
07
Command pulse counts
08
SHURQHPRWRUUHYROXWLRQ
09 1st numerator of electronic gear
10 Denominator of electronic gear
Output pulse counts per one motor
11
UHYROXWLRQ
12 5HYHUVDORISXOVHRXWSXWORJLF
13 1st torque limit
14 3RVLWLRQGHYLDWLRQH[FHVVVHWXS
15 $EVROXWHHQFRGHUVHWXS
16 ([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS
/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH
17
resistor selection
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
1st
integration
OWHURIVSHHGGHWHFWLRQ
WLPHFRQVWDQWRIWRUTXHOWHU
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
2nd
integration
OWHURIVSHHGGHWHFWLRQ
WLPHFRQVWDQWRIWRUTXHOWHU
gain
9HORFLW\IHHGIRUZDUG
OWHU
gain
7RUTXHIHHGIRUZDUG
OWHU
2nd gain setup
mode
Position
delay time
control
VZLWFKLQJ OHYHO
hysteresis
3RVLWLRQJDLQVZLWFKLQJWLPH
mode
Velocity
delay time
control
VZLWFKLQJ OHYHO
hysteresis
mode
Torque
delay time
control
VZLWFKLQJ OHYHO
hysteresis
Parametr No.
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
4-19
28
29
6SHHGVHWXS,QWHUQDO([WHUQDO
VZLWFKLQJ
selection
Speed
input gain
command
UHYHUVDOLQSXW
1st
2nd
3rd
4th
Speed
setup
5th
6th
7th
8th
acceleration
Time setup
deceleration
Sigmoid acceleration/ deceleration
time setup
function selection
Speed
zero-clamp OHYHO
selection
direction selection
Torque
command
input gain
LQSXWUHYHUVDO
Speed limit 1
YDOXH
2
selection
QXPHUDWRURIGLYLVLRQ
([WHUQDO
GHQRPLQDWRURIGLYLVLRQ
scale
UHYHUVDORIGLUHFWLRQ
Z phase disconnection
detection disable
H[FHVVVHWXS
Hybrid
GHYLDWLRQ
clear setup
4-25

4-26
4-27
4-28
4-29

4-30

4-31

4-32
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRU;6DIHW\

IXQFWLRQFRQQHFWRU;([WHUQDOVFDOHFRQQHFWRUDQGDQDORJLQSXW
Parametr No.
Class No.

4-34

4-35

4-36

25
26
27
28
29
30
31
32
33
34
35
00
4-38
02
04
05
06
07
4-39
08
09
10
11
13
14
15
4-40

4-41

4-42
4-43
21
22
18
19
20
4-44
4-45

4-46
4-47

4-48

4-49

4-50

4-51

$QDORJWRUTXHIHHGIRUZDUG
FRQYHUVLRQJDLQ
9HORFLW\GHYLDWLRQH[FHVVVHWXS
YDOLGWLPH
Position 3rd gain
scale factor
7RUTXHFRPPDQGDGGLWLRQDOYDOXH
3RVLWLYHGLUHFWLRQ torque
compensation
1HJDWLYHGLUHFWLRQ YDOXH
)XQFWLRQH[SDQVLRQVHWXS
2nd Inertia ratio
QGRYHUVSHHGOHYHOVHWXS
)URQWSDQHOSDUDPHWHUZULWLQJ
selection
3RZHUXSZDLWWLPH
=SKDVHVHWXSRIH[WHUQDOVFDOH
6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH
setup
$%SKDVHH[WHUQDOVFDOHSXOVH
output method selection

Disturbance torque compensating gain
$ODUPODWFKWLPHVHOHFWLRQ
estimation
speed
Real time
auto tuning
custom setup
+\EULGYLEUDWLRQ gain
suppression
OWHU
2VFLOODWLRQGHWHFWLRQOHYHO
$ODUPPDVNVHWXS
4-52

4-53
4-54
4-55

4-56

4-57

4-58

4-46

4-3
Supplement
23
24
27
31
32
34
35
37
38
39
When in Trouble
17
0RWRUZRUNLQJUDQJHVHWXS
,)UHDGLQJOWHU
$ODUPFOHDULQSXWVHWXS
Command pulse ,QYDOLGDWLRQ
inhibit input
reading setup
2nd torque limit
1
7RUTXHOLPLWVZLWFKLQJ
setup
2
SRVLWLYHGLUHFWLRQWRUTXH
([WHUQDO limit
input
QHJDWLYHGLUHFWLRQWRUTXH
limit
LED initial status
RS232
baud rate setup
RS485
$[LVDGGUHVV
&RPPDQGSXOVHLQSXWPD[LPXPVHWXS
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Adjustment
2nd
4th
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2YHUWUDYHOLQKLELWLQSXWVHWXS
6HTXHQFHDWRYHUWUDYHOLQKLELW
6HTXHQFHDW6HUYR2II
sequence
PDLQSRZHU
LV trip selection
OFF
detection time
Sequence at alarm
2YHUORDGOHYHOVHWXS
2YHUVSHHGOHYHOVHWXS
14
15
16
17
18
19
20
21
22
23
24

P S T F page
Setup
00
01
02
03
04
05
06
07
08
09
10
11
12
13
Title
Connection
42
4-33
Class No.
Preparation
40
41
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
Input
selection 6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
3LQ1R

SO1 /LQHGULYHURXWSXW
3LQ1R
3LQ1R

Output
3LQ1R
selection SO4 /LQHGULYHURXWSXW

3LQ1R
SO5 Open
collector output
3LQ1R
SO6 Open
collector output
type
$QDORJPRQLWRU
output gain
type
$QDORJPRQLWRU
output gain
$QDORJPRQLWRURXWSXWVHWXS
offset setup
$QDORJLQSXW
OWHU
$,
RYHUYROWDJHVHWXS
offset setup
$QDORJLQSXW
OWHU
$,
RYHUYROWDJHVHWXS
offset setup
$QDORJLQSXW
OWHU
$,
RYHUYROWDJHVHWXS
Positioning complete range
,QSRVLWLRQ
output setup
,13KROGWLPH
Zero-speed
$WVSHHG6SHHGDUULYDO
at stalling setup
Mechanical
brake action
at running setup
Mechanical brake action at running
setup
1
Selection of
alarm output
2
QG3RVLWLRQLQJFRPSOHWH,QSRVLWLRQ
range
Parametr No.
39

P S T F page
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
Title
List of Parameters
Setup

'HIDXOW>@
Pr0.00 *
Rotational direction setup
Range
Unit
Default
Related
control mode
0 to 1
P S T F
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Positive direction
(CCW)
Negative direction
(CW)
Default
Setup
value
0
[1]
Pr0.01 *
Command direction
Motor rotational
direction
Positive direction
drive inhibit input
Negative direction
drive inhibit input
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Control mode setup
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Unit
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Related
control mode
0 to 6
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You can set up the control mode to be used.

Content
Setup
value
1st mode
2st mode
[0]
Position
Velocity
Torque
3 *1
Position
Velocity
4 *1
Position
Torque
Velocity
Torque
Full-closed
5
6
*1
* :KHQ\RXVHWXSWKHFRPELQDWLRQPRGHRI
RU\RXFDQVHOHFWHLWKHUWKHVWRUWKHQG
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selected.

:KHQ&02'(LVVKRUWHGWKHQGPRGHZLOO
be selected.
Don't enter commands 10ms before/after
VZLWFKLQJ
C-MODE
open
close
open
2nd
1st
1st
10ms or longer
10ms or longer
7KHZDYHIRUPDERYHVKRZVZKHQORJLFDO
VHWWLQJRI&02'(LQSXWLVDFRQWDFW:KHQ
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Note
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4-4
$SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.

)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI * FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
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1
'HIDXOW>@
Pr0.02
Real-time auto-gain tuning setup
Range
Unit
Default
Related
control mode
0 to 6
P S T F
You can set up the action mode of the real-time auto-gain tuning.
,QYDOLG
[1]
Standard
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JDLQVZLWFKLQJ
Positioning *1
Main application is positioning. It is recommended to use this mode

RQ HTXLSPHQW ZLWKRXW XQEDODQFHG KRUL]RQWDO D[LV EDOO VFUHZ GULYLQJ
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Friction
compensation *3
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Varying degree of load inertia in motion

Real-time auto-gain tuning function is disabled.
Load characteristic (VWLPDWHWKHORDGFKDUDFWHULVWLFVZLWKRXWFKDQJLQJFXUUHQWSDUDPHWHU

measurement
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Customize *4
Functions of real-time auto-gain tuning can be customized to meet the

UHTXLUHPHQWVRIWKHVSHFLFDSSOLFDWLRQE\FRPELQLQJGHVLUHGIXQFWLRQV
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Range
Unit
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Related
Default
control mode
$%&IUDPH13
P S T F
D to H-IUDPH11
<RXFDQVHWXSWKHUHVSRQVHZKLOHWKHUHDOWLPHDXWRJDLQWXQLQJLVYDOLG
low
low
machine stiffness
servo gain
high
high
0, 1 - - - - - - - 11 - - 13 - - - - - - - - - - - - 30, 31
low
response
high
Related page

4-5
7
Supplement
Note
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the stiffness setting and check that the changed setting is enabled.
When in Trouble
Caution
Adjustment
Selection of machine stiffness

at real-time auto-gain tuning
4
Setup
*1 Velocity and torque controls are the same as in the standard mode.
*2 Torque control is the same as in the standard mode.
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in the standard mode.
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Pr6.32.
Pr0.03
3
Connection
Mode
Preparation
Setup
value
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Pr0.04
Inertia ratio
Range
Unit
Default
Related
control mode
0 to 10000
250 *
P S T F
Set 1st inertia ratio.

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3U ORDGLQHUWLDURWRULQHUWLD>@
7KHLQHUWLDUDWLRZLOOEHHVWLPDWHGDWDOOWLPHZKLOHWKHUHDOWLPHDXWRJDLQWXQLQJLVYDOLGDQG
LWVUHVXOWZLOOEHVDYHGWR((3520HYHU\PLQ
Caution
Pr0.05 *
,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV+]:KHQ
WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU
Range
Unit
Default
0 to 1
Related
control mode
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command pulse input.
Setup value
[0]
1
Note
4-6
Content
3KRWRFRXSOHULQSXW38/638/66,*16,*1
([FOXVLYHLQSXWIRUOLQHGULYHU38/6+38/6+6,*1+6,*1+
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UHDO WLPH DXWRJDLQ WXQLQJ :KHQ \RX FKDQJH PDQXDOO\ LQYDOLGDWH WKH UHDOWLPH DXWRJDLQ
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1
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control mode
Range
Unit
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0 to 3
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control mode
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0 or 2
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pulse format
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difference
2-phase pulse
(A + B-phase)
Positive direction
pulse train
+
Negative direction
pulse train
pulse train
+
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Signal
title
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t1
t1
0 or 2
pulse train
+
Signal
t1
PULS
B-phase
SIGN
t1
t1
t1
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t1
%SKDVHGHOD\VIURP$E\
t3
PULS
t2
t2
t4
t5
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PULS
t2
t2
t4
t5
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H
t6 t6
t1
t6
t1
t1
t1
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PULS
SIGN
B-phase
t1
t1
t1
t1
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Adjustment
Positive direction
pulse train
+
Negative direction
pulse train
t1
A-phase
t6
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difference
2-phase pulse
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3
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pulse input format.
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t2
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t4
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t5
t2
t2
t4
t5
L
t6
H
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Permissible max.
input frequency
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Line driver interface
Pulse train interface
Open collector interface
4Mpps
500kpps
200kpps
When in Trouble
Input I/F of PULS/SIGN signal
0LQQHFHVVDU\WLPHZLGWKV
t1
t2
t3
t4
t5
t6

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Related page

4-7
Supplement
Note
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Pr0.08 *
Command pulse counts per one motor

revolution
Range
Unit
Default
0 to 1048576
pulse
10000
Related
control mode
Set the command pulses that causes single turn of the motor shaft.
:KHQWKLVVHWWLQJLV3UVWQXPHUDWRURIHOHFWURQLFJHDUDQG3U'HQRPLQDWRURI
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Pr0.09
1st numerator of electronic gear
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Unit
Default
0 to 230
Related
control mode
6HWWKHQXPHUDWRURIGLYLVLRQPXOWLSOLFDWLRQRSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVHLQSXW
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Pr0.10
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Unit
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1 to 230
10000
Related
control mode
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pulse input.
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Pr0.08
Pr0.09
Pr0.10
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Command
pulse input
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1RWHIIHFW
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command
[Pr0.08 setup value]

5HJDUGOHVV RI VHWXS RI 3U DQG 3U WKLV
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Pr0.08.
Command
pulse input
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Encoder resolution
Encoder resolution
Positional
command
0 to 1073741824
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Pr0.10.
Command
pulse input
1 to 1073741824 1 to 1073741824
[Pr0.09 setting]
Positional
command
[Pr0.10 setting]
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Pr0.08
Pr0.09
Pr0.10
Command division/multiplication operation

Command
pulse input
1 to 1073741824
1 to 1073741824
[Pr0.09 setting]
Positional
command
[Pr0.10 setting]
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Pr0.10.
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Output pulse counts
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Unit
Default
Related
control mode
0 to 262144
P/r
2500
P S T F
4
Setup
Pr0.11 *
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numerator and denominator set to 1.
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pulse input
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command
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the Pr0.11 setup.
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5
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6
When in Trouble
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Pr5.03 *
Denominator of pulse output division
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Unit
Default
Related
control mode
0 to 262144
P S T F
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Pr0.11 as the numerator and Pr5.03 as the denominator.
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4
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Pr0.11
Pr5.03
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When the output source is encoder
Encoder
feedback pulse
[pulse]
[0]
Output pulse
[Pr0.11 setup value]4 [pulse]
Encoder resolution
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OB are the number of pulses set in Pr0.11. The resolution of
SXOVHRXWSXWSHURQHUHYROXWLRQLVHTXDOWRRUOHVVWKHHQFRGHU
resolution.
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External scale pulse
[pulse]
Output pulse
[pulse]
1
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1 to 262144
Encoder feedback pulse

or external scale pulse
[pulse]
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[pulse]
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When the output source is encoder

1 to 262144
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1RWHWKDWZKHQWKHQXPEHURISXOVHVSHURQHPRWRUUHYROXWLRQ
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resolution.
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Pr0.12 *
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Unit
Default
Related
control mode
0 to 3
P S T F
Pr0.12
[0]
B-phase
logic
1RQ
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5HYHUVDO
3
Caution
CW direction
rotation
Encoder
$SKDVH
$SKDVH
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scale
B-phase
B-phase
Encoder
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$SKDVH
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scale
B-phase
B-phase
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closed control.
The selection of the output source of Z-phase is held concurrently.
6HWXSYDOXHDQGDUH=SKDVHRXWSXWRIHQFRGHU
6HWXSYDOXHDQGDUH=SKDVHRXWSXWRIH[WHUQDOVFDOH
1st torque limit
Range
Unit
Default
Related
control mode
0 to 500
500
P S T F
Setup
Pr0.13
CCW direction
rotation
Connection
Output
source
2
Preparation
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source for full-closed control. The encoder is selected as the source if not for full-closed control.
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unit
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control mode
100000
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Pr0.15 *
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Absolute encoder setup
Range
Unit
Default
0 to 2
Related
control mode
When in Trouble
Note
Adjustment
Pr0.14
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You can set up the using method of 17-bit absolute encoder.

Setup value
0
[1]
Caution
Use as an incremental encoder.

Supplement
Function
Use as an absolute encoder.
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Default
control mode
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Setup value
[0]
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Regenerative
resistor
to be used
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Built-in resistor UHJHQHUDWLYHUHVLVWRURYHUORDGSURWHFWLRQZLOOEHWULJJHUHG
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resistor
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resistor
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,QVWDOODQH[WHUQDOSURWHFWLRQVXFKDVWKHUPDOIXVHZKHQ\RXXVHWKHH[WHUQDOUHJHQHUDWLYH
resistor.
2WKHUZLVHWKHUHJHQHUDWLYHUHVLVWRUPLJKWEHKHDWHGXSDEQRUPDOO\DQGUHVXOWLQEXUQRXW
UHJDUGOHVVRIYDOLGDWLRQRULQYDOLGDWLRQRIUHJHQHUDWLYHRYHUORDGSURWHFWLRQ
Caution
:KHQ\RXXVHWKHEXLOWLQUHJHQHUDWLYHUHVLVWRUQHYHUWRVHWXSRWKHUYDOXHWKDQ'RQ
W
WRXFKWKHH[WHUQDOUHJHQHUDWLYHUHVLVWRU
([WHUQDOUHJHQHUDWLYHUHVLVWRUJHWVYHU\KRWDQGPLJKWFDXVHEXUQLQJ
Pr0.17 *
/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH
resistor selection
Range
Unit
Default
Related
control mode
0 to 4
P S T F
:KHQ VHOHFWLQJ WKH H[WHUQDO UHJHQHUDWLYH UHVLVWRU 3U VHOHFW WKH FRPSXWLQJ
PHWKRGRIORDGIDFWRURIUHJHQHUDWLYHUHVLVWRU
Setup value
Function
[0]
5HJHQHUDWLYHORDGIDFWRULVZKHQGXW\IDFWRURIH[WHUQDOUHJHQHUDWLYHUHVLVWRULV
10%.
1 to 4
Note
Related page
4-12
)RUPDQXIDFWXUHU
VXVHGRQRWVHWXS

36\VWHP&RQJXUDWLRQDQG:LULQJ3,QSXWVDQGRXWSXWVRQFRQQHFWRU;
Setup
Pr1.00
Range
Unit
0 to 30000
0.1/s
Related
Default
control mode
$%C-IUDPH480
P
F
D to H-IUDPH320
You can determine the response of the positional control system.

+LJKHUWKHJDLQRISRVLWLRQORRS\RXVHWIDVWHUWKHSRVLWLRQLQJWLPH\RXFDQREWDLQ
1RWHWKDWWRRKLJKVHWXSPD\FDXVHRVFLOODWLRQ
Range
Unit
1 to 32767
0.1Hz
Related
Default
control mode
$%C-IUDPH270
P S T F
D to H-IUDPH180
<RXFDQGHWHUPLQHWKHUHVSRQVHRIWKHYHORFLW\ORRS
,QRUGHUWRLQFUHDVHWKHUHVSRQVHRIRYHUDOOVHUYRV\VWHPE\VHWWLQJKLJKSRVLWLRQORRSJDLQ
\RXQHHGKLJKHUVHWXSRIWKLVYHORFLW\ORRSJDLQDVZHOO+RZHYHUWRRKLJKVHWXSPD\FDXVH
oscillation.
Pr1.02
:KHQWKHLQHUWLDUDWLRRI3ULVVHWFRUUHFWO\WKHVHWXSXQLWRI3UEHFRPHV+]
1st time constant of velocity loop

integration
Range
Unit
1 to 10000
0.1ms
Related
Default
control mode
$%C-IUDPH210
P S T F
D to H-IUDPH310
1st filter of speed detection
Setup
<RXFDQVHWXSWKHLQWHJUDWLRQWLPHFRQVWDQWRIYHORFLW\ORRS
6PDOOHUWKHVHWXSIDVWHU\RXFDQGRJLQGHYLDWLRQDWVWDOOWR
7KHLQWHJUDWLRQZLOOEHPDLQWDLQHGE\VHWWLQJWR
7KHLQWHJUDWLRQHIIHFWZLOOEHORVWE\VHWWLQJWR
Pr1.03
Range
Unit
Default
Related
control mode
0 to 5
P S T F
1st time constant of torque filter
Range
Unit
0 to 2500
0.01ms
Related
Default
control mode
$%C-IUDPH84
P S T F
D to H-IUDPH126
6
When in Trouble
<RXFDQVHWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\OWHULQVHUWHGLQWKHWRUTXHFRPPDQG
SRUWLRQ<RXPLJKWH[SHFWVXSSUHVVLRQRIRVFLOODWLRQFDXVHGE\GLVWRUWLRQUHVRQDQFH
5
Adjustment
<RXFDQVHWXSWKHWLPHFRQVWDQWRIWKHORZSDVVOWHU/3)DIWHUWKHVSHHGGHWHFWLRQLQ

steps.
+LJKHUWKHVHWXSODUJHUWKHWLPHFRQVWDQW\RXFDQREWDLQVRWKDW\RXFDQGHFUHDVHWKH
PRWRUQRLVHKRZHYHUUHVSRQVHEHFRPHVVORZ8VHZLWKDGHIDXOWYDOXHRILQQRUPDO
operation.
Pr1.04
3
Connection
Caution
Preparation
Pr1.01
Note
Related page
7R3DQDVRQLF0,1$6XVHUV$DQGKLJKHUVHULHV
&$87,213DUDPHWHUVHWWLQJVVKRZQLQWKLVPDQXDOPD\GLIIHUIURPWKRVHDSSOLHGWR\RXU
SURGXFWV
4-13
Supplement
Caution
'HIDXOW>@
Pr1.05
Pr1.06
Pr1.07
2nd time constant of velocity loop

integration
Pr1.08
2nd filter of speed detection
Pr1.09
2nd time constant of torque filter
Related
Default
control mode
$%C-IUDPH570
P
F
D to H-IUDPH380
Range
Unit
0 to 30000
0.1/s
Range
Unit
1 to 32767
0.1Hz
Range
Unit
Default
Related
control mode
1 to 10000
0.1ms
10000
P S T F
Range
Unit
Default
Related
control mode
0 to 5
P S T F
Range
Unit
0 to 2500
0.01ms
Related
Default
control mode
$%C-IUDPH270
P S T F
D to H-IUDPH180
Related
Default
control mode
$%C-IUDPH 84
P S T F
D to H-IUDPH126
3RVLWLRQORRSYHORFLW\ORRSVSHHGGHWHFWLRQOWHUDQGWRUTXH FRPPDQGOWHUKDYHWKHLU
SDLUVRIJDLQRUWLPHFRQVWDQWVWDQGQG
Related page
Pr1.10
)RUGHWDLOVRIVZLWFKLQJWKHVWDQGWKHQGJDLQRUWKHWLPHFRQVWDQWUHIHUWR3*DLQ
6ZLWFKLQJ)XQFWLRQRI$GMXVWPHQW
The function and the content of each parameter is as same as that of the 1st gain and time
constant.
9HORFLW\IHHGIRUZDUGJDLQ
Range
Unit
Default
0 to 1000
0.10%
300
Related
control mode
0XOWLSO\ WKH YHORFLW\ FRQWURO FRPPDQG FDOFXODWHG DFFRUGLQJ WR WKH LQWHUQDO SRVLWLRQDO
command by the ratio of this parameter and add the result to the speed command resulting
from the positional control process.
Pr1.11
9HORFLW\IHHGIRUZDUGILOWHU
Range
Unit
Default
0 to 6400
0.01ms
50
Related
control mode
6HWWKHWLPHFRQVWDQWRIVWGHOD\OWHUZKLFKDIIHFWVWKHLQSXWRIYHORFLW\IHHGIRUZDUG
8VDJHH[DPSOHRIYHORFLW\IHHGIRUZDUG!
7KHYHORFLW\IHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHYHORFLW\IHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHG ZLWK WKH YHORFLW\ IHHG IRUZDUG ILOWHU VHW DW DSSUR[ PV7KH SRVLWLRQDO
GHYLDWLRQGXULQJRSHUDWLRQDWDFRQVWDQWYHORFLW\LVUHGXFHGDVVKRZQLQWKHHTXDWLRQEHORZ
LQSURSRUWLRQWRWKHYDOXHRIYHORFLW\IHHGIRUZDUGJDLQ
3RVLWLRQDOGHYLDWLRQ>XQLWRIFRPPDQG@ FRPPDQGVSHHG>XQLWRIFRPPDQGV@
SRVLWLRQDOORRSJDLQ>V@YHORFLW\IHHGIRUZDUGJDLQ>@
Note
Related page
4-14

1
'HIDXOW>@
Pr1.12
7RUTXHIHHGIRUZDUGJDLQ
Range
Unit
Default
0 to 1000
0.1%
Related
control mode
P S
Pr1.13
7RUTXHIHHGIRUZDUGILOWHU
Range
Unit
Default
0 to 6400
0.01ms
Related
control mode
P S
Caution
2nd gain setup
Range
Unit
Default
Related
control mode
0 to 1
P S T F
$UUDQJHWKLVSDUDPHWHUZKHQSHUIRUPLQJRSWLPXPDGMXVWPHQWE\XVLQJWKHJDLQVZLWFKLQJ
function.
*DLQVHOHFWLRQVZLWFKLQJ
VWJDLQLV[HGDWDYDOXH%\XVLQJWKHJDLQVZLWFKLQJLQSXW*$,1FKDQJH

WKHYHORFLW\ORRSRSHUDWLRQIURP3,WR3
*$,1LQSXWSKRWRFRXSOHU2)) PI operation
*$,1LQSXWSKRWRFRXSOHU21 P operation
*7KHDERYHGHVFULSWLRQDSSOLHVZKHQWKHORJLFDOVHWWLQJRI*$,1LQSXWLV
DFRQWDFW212))RISKRWRFRXSOHULVUHYHUVHGZKHQEFRQWDFW
[1]
(QDEOH JDLQ VZLWFKLQJ RI VW JDLQ 3U3U DQG QG JDLQ 3U
3U
4-15
7
Supplement
)RUVZLWFKLQJFRQGLWLRQRIWKHVWDQGWKHQGUHIHUWR3*DLQ6ZLWFKLQJ)XQFWLRQRI
$GMXVWPHQW
6
When in Trouble
Related page
Setup value
5
Adjustment
Pr1.14
=HURSRVLWLRQDOGHYLDWLRQLVLPSRVVLEOHLQDFWXDOVLWXDWLRQEHFDXVHRIGLVWXUEDQFHWRUTXH
$VZLWKWKHYHORFLW\IHHGIRUZDUGODUJHWRUTXHIHHGIRUZDUGOWHUWLPHFRQVWDQWGHFUHDVHV
WKHRSHUDWLQJQRLVHEXWLQFUHDVHVSRVLWLRQDOGHYLDWLRQDWDFFHOHUDWLRQFKDQJHSRLQW
4
Setup
8VDJHH[DPSOHRIWRUTXHIHHGIRUZDUG!
7RXVHWKHWRUTXHIHHGIRUZDUGFRUUHFWO\VHWWKHLQHUWLDUDWLR
8VHWKHYDOXHWKDWZDVGHWHUPLQHGDWWKHVWDUWRIWKHUHDOWLPHDXWRWXQLQJRUVHWWKHLQHUWLD
UDWLRWKDWFDQEHFDOFXODWHGIURPWKHPDFKLQHVSHFLFDWLRQWR3U,QHUWLDUDWLR
7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHGZLWKWKHWRUTXHIHHGIRUZDUGOWHULVVHWDWDSSUR[PV
3RVLWLRQDOGHYLDWLRQDWDFRQVWDQWDFFHOHUDWLRQGHFHOHUDWLRQFDQEHPLQLPL]HGFORVHWRE\
LQFUHDVLQJWKHWRUTXHIRUZDUGJDLQ7KLVPHDQVWKDWSRVLWLRQDOGHYLDWLRQFDQEHPDLQWDLQHG
DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO
FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH
3
Connection
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\OWHUZKLFKDIIHFWVWKHLQSXWRIWRUTXHIHHGIRUZDUG
7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\
LQFUHDVHGZLWKWKHWRUTXHIHHGIRUZDUGOWHULVVHWDWDSSUR[PV
2
Preparation
0XOWLSO\WKHWRUTXHFRPPDQGFDOFXODWHGDFFRUGLQJWRWKHYHORFLW\FRQWUROFRPPDQGE\WKH
UDWLRRIWKLVSDUDPHWHUDQGDGGWKHUHVXOWWRWKHWRUTXHFRPPDQGUHVXOWLQJIURPWKHYHORFLW\
control process.
3RVLWLRQDOGHYLDWLRQDWDFRQVWDQWDFFHOHUDWLRQGHFHOHUDWLRQFDQEHPLQLPL]HGFORVHWRE\
LQFUHDVLQJWKHWRUTXHIRUZDUGJDLQ7KLVPHDQVWKDWSRVLWLRQDOGHYLDWLRQFDQEHPDLQWDLQHG
DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO
FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH
Pr1.15
0RGHRISRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10
Related
control mode
6HWXSWKHWULJJHULQJFRQGLWLRQRIJDLQVZLWFKLQJIRUSRVLWLRQFRQWURO
Setup
value
6ZLWFKLQJ
condition
[0]
)L[HGWRVWJDLQ
)L[HGWRQGJDLQ
)L[HGWRWKHQGJDLQ3UWR3U
:LWKJDLQ
VZLWFKLQJLQSXW
VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVRSHQ

QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVFRQQHFWHGWR&20
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW*$,1WKHVWJDLQLV[HG
Torque
command is
large
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGH[FHHGHGOHYHO
K\VWHUHVLVSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGZDVNHSWEHORZOHYHO
K\VWHUHVLVSUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
Speed
command is
large
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGH[FHHGHGOHYHO
K\VWHUHVLVUPLQSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGZDVNHSWEHORZOHYHO
K\VWHUHVLVUPLQSUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
Position
GHYLDWLRQLV
large
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQH[FHHGHGOHYHO
K\VWHUHVLVSXOVHSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQZDVNHSWEHORZ
OHYHOK\VWHUHVLVSXOVHSUHYLRXVO\RYHUGHOD\WLPHZLWKWKHQGJDLQ
*8QLWRIOHYHODQGK\VWHUHVLVSXOVHLVVHWDVWKHHQFRGHUUHVROXWLRQIRUSRVLWLRQDOFRQWURO
DQGH[WHUQDOVFDOHUHVROXWLRQIRUIXOOFORVHGFRQWURO
Position
command
H[LVWV
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVNHSWSUHYLRXVO\GXULQJGHOD\
WLPHZLWKWKHQGJDLQ
1RWLQ
positioning
complete
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQLQJZDVQRWFRPSOHWHGSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQLQJZDVNHSWLQFRPSOHWHGFRQGLWLRQSUHYLRXVO\
GXULQJGHOD\WLPHZLWKWKHQGJDLQ
$FWXDOVSHHGLV
large
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH DFWXDO VSHHG H[FHHGHG OHYHO
K\VWHUHVLVUPLQSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHDFWXDOVSHHGZDVNHSWEHORZOHYHO
K\VWHUHVLVUPLQSUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
10
Position
command
H[LVWV
$FWXDOVSHHG
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQ WR WKH VW JDLQ ZKHQ WKH SRVLWLRQDO FRPPDQG ZDV NHSW DW GXULQJ WKH GHOD\
WLPHDQGWKHDEVROXWHYDOXHRIDFWXDOVSHHGZDVNHSWEHORZOHYHOK\VWHUHVLVUPLQ
SUHYLRXVO\ZLWKWKHQGJDLQ
Pr1.16
*DLQVZLWFKLQJFRQGLWLRQ
)L[HGWRWKHVWJDLQ3UWR3U
'HOD\WLPHRISRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10000
0.1ms
50
Related
control mode
)RUSRVLWLRQFRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U3RVLWLRQ
FRQWURO VZLWFKLQJ PRGH VHW DW RU VHW XS WKH GHOD\ WLPH IURP WULJJHU
GHWHFWLRQWRWKHVZLWFKLQJRSHUDWLRQ
Note
Related page
4-16

1
'HIDXOW>@
Pr1.17
/HYHORISRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
50
Related
control mode
)RUSRVLWLRQFRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U3RVLWLRQFRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
Pr1.18
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
+\VWHUHVLVDWSRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
33
Related
control mode
)RU SRVLWLRQ FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 3RVLWLRQ FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDWRU
Pr1.19
:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
3RVLWLRQJDLQVZLWFKLQJWLPH
Range
Unit
Default
0 to 10000
0.1ms
33
Related
control mode
3RVLWLRQJDLQVZLWFKLQJWLPH!
:KHQXVLQJSRVLWLRQFRQWURODQGIXOOFORVHGFRQWUROJDLQRISRVLWLRQORRSUDSLGO\FKDQJHV
FDXVLQJ WRUTXH FKDQJH DQG YLEUDWLRQ %\ DGMXVWLQJ 3U 3RVLWLRQ JDLQ VZLWFKLQJ WLPH
LQFUHDVLQJUDWHRIWKHSRLVRQORRSJDLQFDQEHGHFUHDVHGDQGYLEUDWLRQOHYHOFDQEHUHGXFHG
6HWWLQJRIWKLVSDUDPHWHUGRHVQRWDIIHFWWKHJDLQVZLWFKLQJWLPHZKHQWKHJDLQRISRVLWLRQ
ORRSLVVZLWFKHGWRORZHUOHYHOJDLQLVVZLWFKHGLPPHGLDWHO\
2nd (Pr1.05)
Position gain
switching time (ms)
(Pr1.19)
1st (Pr1.00)
Result of
switching
1st
5
Adjustment
([DPSOHVW3U!QG3U
4
Setup
)RUSRVLWLRQFRQWUROOLQJ,IWKHGLIIHUHQFHEHWZHHQ3UVWJDLQRISRVLWLRQORRSDQG3U
QGJDLQRISRLVRQORRSLVODUJHWKHLQFUHDVLQJUDWHRISRVLWLRQORRSJDLQFDQEHOLPLWHGE\
this parameter.
7KHSRVLWLRQORRSJDLQZLOOLQFUHDVHRYHUWKHWLPHVHW
Caution
3
Connection
Caution
2
Preparation
Caution
2nd
1st
When in Trouble
Related page

4-17
Supplement
Note
'HIDXOW>@
Pr1.20
0RGHRIYHORFLW\FRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 5
Related
control mode
)RUYHORFLW\FRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
Setup value
6ZLWFKLQJFRQGLWLRQ
[0]
)L[HGWRWKHVWJDLQ
)L[HGWRWKHQGJDLQ
Related page
Pr1.21
*DLQVZLWFKLQJLQSXW

QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVFRQQHFWHGWR
COM.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW*$,1
WKHVWJDLQLV[HG
Torque command
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH
FRPPDQG H[FHHGHG OHYHO K\VWHUHVLV SUHYLRXVO\ ZLWK
the 1st gain.
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
FRPPDQGZDVNHSWEHORZOHYHOK\VWHUHVLVSUHYLRXVO\
Speed command
YDULDWLRQLVODUJHU
9DOLGRQO\GXULQJYHORFLW\FRQWURO
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH VSHHG
FRPPDQGYDULDWLRQVH[FHHGHGOHYHOK\VWHUHVLVUPLQV
SUHYLRXVO\ZLWKWKHVWJDLQ
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHG
FRPPDQGYDULDWLRQVZDVNHSWEHORZOHYHOK\VWHUHVLVU
PLQVGXULQJGHOD\WLPHSUHYLRXVO\ZLWKWKHQGJDLQ
*7KHVWJDLQLV[HGZKLOHWKHYHORFLW\FRQWUROLVQRWDSSOLHG
)RUWKHVZLWFKLQJOHYHODQGWLPLQJUHIHUWR36HWXSRI*DLQ6ZLWFKLQJ&RQGLWLRQRI$GMXVWPHQW
'HOD\WLPHRIYHORFLW\FRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10000
0.1ms
Related
control mode
)RUYHORFLW\FRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U9HORFLW\
FRQWURO VZLWFKLQJ PRGH VHW DW RU VHW WKH GHOD\ WLPH IURP WULJJHU GHWHFWLRQ WR WKH
VZLWFKLQJRSHUDWLRQ
Pr1.22
/HYHORIYHORFLW\FRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
Related
control mode
)RUYHORFLW\FRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U9HORFLW\FRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU
Caution
Pr1.23
+\VWHUHVLVDWYHORFLW\FRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
Related
control mode
)RU YHORFLW\ FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 9HORFLW\ FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDWRU
Caution
Note
Related page
4-18
1
'HIDXOW>@
Pr1.24
0RGHRIWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 3
Related
control mode
)RUWRUTXHFRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
6ZLWFKLQJFRQGLWLRQ
[0]
)L[HGWRWKHVWJDLQ
)L[HGWRWKHQGJDLQ
Pr1.25
*DLQVZLWFKLQJLQSXW

QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW*$,1LVFRQQHFWHGWR
COM.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW*$,1
WKHVWJDLQLV[HG
Torque command
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH
FRPPDQG H[FHHGHG OHYHO K\VWHUHVLV SUHYLRXVO\ ZLWK
the 1st gain.
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
FRPPDQGZDVNHSWEHORZOHYHOK\VWHUHVLVSUHYLRXVO\
'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10000
0.1ms
Related
control mode
/HYHORIWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
Related
control mode
)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ OHYHO ZKHQ 3U7RUTXH FRQWURO JDLQ VZLWFKLQJ
mode is set at 3.
8QLWYDULHVGHSHQGLQJRQWKHVHWXSRIPRGHRIFRQWUROVZLWFKLQJ
Pr1.27
+\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
Related
control mode
6
When in Trouble
)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 7RUTXH FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDW
Caution
5
Adjustment
Caution
4
Setup
)RUWRUTXHFRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U7RUTXH
FRQWUROVZLWFKLQJPRGHVHWDWVHWXSWKHGHOD\WLPHIURPWULJJHUGHWHFWLRQWRWKHVZLWFKLQJ
operation.
Pr1.26
3
Connection
Preparation
Setup value
Related page

4-19
Supplement
Note
Setup
Pr2.00
Adaptive filter mode setup
Range
Unit
Default
0 to 4
Related
control mode
P S
6HW XS WKH UHVRQDQFH IUHTXHQF\ WR EH HVWLPDWHG E\ WKH DGDSWLYH ILOWHU DQG VSHFLI\ WKH
operation after estimation.
Setup value
Pr2.01
Content
[0]
$GDSWLYHOWHU
LQYDOLG
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKOWHUKROGWKH
FXUUHQWYDOXH
$GDSWLYHOWHU
OWHULVYDOLG
2QHDGDSWLYHOWHULVHQDEOHG3DUDPHWHUVUHODWHGWRWKHUG
QRWFKOWHUZLOOEHXSGDWHGEDVHGRQDGDSWLYHSHUIRUPDQFH
$GDSWLYHOWHU
OWHUVDUHYDOLG
7ZRDGDSWLYHOWHUVDUHHQDEOHG3DUDPHWHUVUHODWHGWRWKH
UGDQGWKQRWFKOWHUVZLOOEHXSGDWHGEDVHGRQDGDSWLYH
performance.
Resonance frequency
measurement mode
Measure the resonance frequency. Result of measurement

FDQEHFKHFNHGZLWK3$1$7(503DUDPHWHUVUHODWHGWRWKH
UGDQGWKQRWFKOWHUKROGWKHFXUUHQWYDOXH
Clear result of
adaptation
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKOWHUDUH
GLVDEOHGDQGUHVXOWVRIDGDSWLYHRSHUDWLRQDUHFOHDUHG
1st notch frequency
Range
Unit
Default
Related
control mode
50 to 5000
Hz
5000
P S T F
6HWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKOWHU
Caution
Pr2.02
7KHQRWFKOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
VWQRWFKZLGWKVHOHFWLRQ
Range
Unit
Default
Related
control mode
0 to 20
P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKOWHU
Caution
Pr2.03
+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDO
operation.
Range
Unit
Default
Related
control mode
0 to 99
P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKOWHU
Caution
Pr2.04
+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
2nd notch frequency
Range
Unit
Default
Related
control mode
50 to 5000
Hz
5000
P S T F
6HWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKOWHU
Caution
Pr2.05
QGQRWFKZLGWKVHOHFWLRQ
Range
Unit
Default
Related
control mode
0 to 20
P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKOWHU
Caution
4-20
+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ
1
'HIDXOW>@
Pr2.06
Range
Unit
Default
Related
control mode
0 to 99
P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKOWHU
Caution
3rd notch frequency
Range
Unit
Default
Related
control mode
50 to 5000
Hz
5000
P S T F
1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHVWUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHOWHU
Caution
Pr2.08
,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHWWR
UGQRWFKZLGWKVHOHFWLRQ
Unit
Default
Related
control mode
0 to 20
P S T F
Pr2.09
:KHQWKHDSSOLFDEOHOWHUIXQFWLRQLVXVHGSDUDPHWHUYDOXHLVDXWRPDWLFDOO\VHW
3rd notch depth selection
Range
Unit
Default
Related
control mode
0 to 99
P S T F
3
Connection
Range
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKOWHU
Caution
Preparation
Pr2.07
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKOWHU
Pr2.10
Setup
Caution
4th notch frequency
Range
Unit
Default
Related
control mode
50 to 5000
Hz
5000
P S T F
1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHQGUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHOWHU
Pr2.11
WKQRWFKZLGWKVHOHFWLRQ
Range
Unit
Default
Related
control mode
0 to 20
P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKOWHU
Caution
Range
Unit
Default
Related
control mode
0 to 99
P S T F
6
When in Trouble
Pr2.12
Adjustment
Caution
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKOWHU
Caution
Related page

4-21
Supplement
Note
'HIDXOW>@
Pr2.13
6HOHFWLRQRIGDPSLQJILOWHUVZLWFKLQJ
Range
Unit
Default
0 to 3
Related
control mode
$PRQJOWHUVVHOHFWWKHOWHUVWREHXVHGIRUGDPSLQJFRQWURO
:KHQVHWXSYDOXHLV8SWROWHUVFDQEHXVHGVLPXOWDQHRXVO\
:KHQVHWXSYDOXHLVRU6HOHFWWKHOWHUZLWKH[WHUQDOLQSXWV966(/DQGRU966(/
Setup
value
VS-SEL2
VS-SEL1
[0]
1st damping 2nd damping 3rd damping 4th damping
:LWKVHWXSYDOXH6HOHFWWKHOWHUZLWKFRPPDQGGLUHFWLRQ
Setup
value
3
Caution
Pr2.14
Pr2.16
Position command
direction
3RVLWLYHGLUHFWLRQ
1HJDWLYHGLUHFWLRQ
6ZLWFKLQJ RI GDPSLQJ FRQWUROV ZLOO EH GRQH RQ WKH ULVLQJ HGJH RI WKH FRPPDQG ZKRVH
QXPEHU RI SXOVHV PV KDV EHHQ FKDQJHG IURP ZKLOH WKH SRVLWLRQLQJ FRPSOHWH
signal is being output.
:KHQWKHGDPSLQJIUHTXHQF\LVLQFUHDVHGRUGLVDEOHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLV
ODUJHDQGSXOVHVDUHVWRUHGLQWKHOWHUDWWKDWWLPHWKHDUHDUHSUHVHQWHGE\WKHYDOXHRI
SRVLWLRQFRPPDQGEHIRUHOWHUVXEWUDFWHGE\WKHYDOXHRISRVLWLRQFRPPDQGDIWHUOWHUDQG
LQWHJUDWHGZLWKWKHWLPH1RWHWKDWVLQFHWKHVHSXOVHVZLOOEHGLVFKDUJHGDWDKLJKHUUDWH
XSRQVZLWFKLQJWRUHWXUQEDFNWRWKHRULJLQDOSRVLWLRQWKHPRWRUPD\UXQDWDVSHHGKLJKHU
than the command speed for a short time.

Pr2.18
3rd damping frequency
Pr2.20
4th damping frequency
Range
Unit
Default
0 to 2000
0.1Hz
Range
Unit
Default
0 to 2000
0.1Hz
Range
Unit
Default
0 to 2000
0.1Hz
Range
Unit
Default
0 to 2000
0.1Hz
Related
control mode
Related
control mode
Related
control mode
Related
control mode
<RX FDQ VHW XS WKH VW WR WK GDPSLQJ IUHTXHQF\ RI WKH GDPSLQJ FRQWURO ZKLFK VXSSUHVV
YLEUDWLRQDWWKHORDGHGJH
7KHGULYHUPHDVXUHVYLEUDWLRQDWORDGHGJH6HWXSXQLWLV>+]@
Related page
Note
Related page
4-22
7KHVHWXSIUHTXHQF\LVWR>+]@6HWXSRIWREHFRPHVLQYDOLG5HIHUWR3
'DPSLQJFRQWURODVZHOOEHIRUHXVLQJWKLVSDUDPHWHU

Pr2.15
Pr2.17
Pr2.21
2nd damping filter setup

3rd damping filter setup
4th damping filter setup
Range
Unit
Default
0 to 1000
0.1Hz
Range
Unit
Default
0 to 1000
0.1Hz
Range
Unit
Default
0 to 1000
0.1Hz
Range
Unit
Default
0 to 1000
0.1Hz
Related
control mode
Related
control mode
Related
control mode
,IWRUTXHVDWXUDWLRQRFFXUVZLWKGDPSLQJIUHTXHQF\VWWKHQDEOHGGHFUHDVHWKHVHWXS

YDOXHRULIWKHRSHUDWLRQLVVORZLQFUHDVHLW8VXDOO\VHWLWWR
7KHPD[LPXPVHWXSYDOXHLVLQWHUQDOO\OLPLWHGWRWKHFRUUHVSRQGLQJGDPSLQJIUHTXHQF\RU
GDPSLQJIUHTXHQF\ZKLFKHYHULVVPDOOHU
Related page
5HIHUWR3'DPSLQJFRQWURODVZHOOEHIRUHXVLQJWKLVSDUDPHWHU
Positional command smoothing filter
Range
Unit
Default
0 to 10000
0.1ms
Related
control mode
6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\OWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG
:KHQDVTXDUHZDYHFRPPDQGIRUWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKHWLPHFRQVWDQW
RIWKHVWGHOD\OWHUDVVKRZQLQWKHJXUHEHORZ
Positional command before filter
Positional command after filter
4
Setup
Speed
[r/min]
3
Connection
Caution
Pr2.22
Related
control mode
Preparation
Pr2.19
1st damping filter setup
Filter switching
waiting time *2
Vc
Vc0.632 *1
Positional command smoothing

filter setup time [ms]
(Pr2.22 0.1 ms)
Vc0.368 *1
6
When in Trouble
* $FWXDOOWHUWLPHFRQVWDQWVHWXSYDOXHPVKDVWKHPD[LPXPDEVROXWHHUURURIPVIRUDWLPH

FRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH
* 6ZLWFKLQJRI3U3RVLWLRQDOFRPPDQGVPRRWKLQJOWHULVSHUIRUPHGRQWKHULVLQJHGJHRIWKHFRPPDQG
ZLWK WKH QXPEHU RI FRPPDQG SXOVHV PV LV FKDQJHG IURP WR D YDOXH RWKHU WKDQ ZKLOH WKH
positioning complete is being output.
,IWKHOWHUWLPHFRQVWDQWLVGHFUHDVHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLVLQFUHDVHGDQGDPDQ\QXPEHU
RISOXVVHVDUHDFFXPXODWHGLQWKHOWHUWKHDUHDHTXLYDOHQWRIYDOXHRISRVLWLRQDOFRPPDQGOWHUYDOXH
RISRVLWLRQDOFRPPDQGDIWHUOWHULQWHJUDWHGRYHUWKHWLPHDWWKHWLPHRIVZLWFKLQJWKHVHSXOVHVDUH
GLVFKDUJHGDWDKLJKHUUDWHFDXVLQJWKHPRWRUWRUHWXUQWRWKHSUHYLRXVSRVLWLRQWKHPRWRUUXQVDWD
speed higher than the command speed for a short time.
* (YHQ LI 3U 3RVLWLRQDO FRPPDQG VPRRWKLQJ ILOWHU LV FKDQJHG LW LV QRW DSSOLHG LPPHGLDWHO\ ,I WKH
VZLWFKLQJDVGHVFULEHGLQ*RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG
Adjustment
Time
Related page

4-23
Supplement
Note
'HIDXOW>@
Pr2.23
Positional command FIR filter
Range
Unit
Default
0 to 10000
0.1ms
Related
control mode
6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\OWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG
:KHQDVTXDUHZDYHFRPPDQGRIWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKH9&DUULYDO
WLPHDVVKRZQLQWKHJXUHEHORZ
Speed
[r/min]
Positional command before filter

Positional command after filter
Filter switching
waiting time *2
Vc
Positional command
smoothing filter setup
time [ms]
(Pr2.23 0.1 ms)*1
Time
* 7KHDFWXDODYHUDJHWUDYHOWLPHVHWXSYDOXHPVKDVWKHPD[LPXPDEVROXWHHUURURIPVIRUD
WLPHFRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH
* :KHQFKDQJLQJ3U3RVLWLRQDOFRPPDQG),5OWHUVWRSWKHFRPPDQGSXOVHDQGZDLWXQWLOWKHOWHU
VZLWFKLQJZDLWWLPHKDVHODSVHG7KHOWHUVZLWFKLQJZDLWWLPH LVWKHVHWXSYDOXHPVPV
ZKHQWKHVHWXSWLPHLVPVDQGVHWXSYDOXHPVZKHQWKHVHWXSWLPHLVPVRUPRUH,I
3ULVFKDQJHGZKLOHWKHFRPPDQGSXOVHLVEHLQJLQSXWWKHFKDQJHLVQRWUHHFWHGXQWLOWKHFRPPDQG
SXOVHOHVVVWDWHKDVFRQWLQXHGIRUWKHOWHUVZLWFKLQJZDLWWLPH
* (YHQLI3U3RVLWLRQDOFRPPDQG),5OWHULVFKDQJHGLWLVQRWDSSOLHGLPPHGLDWHO\,IWKHVZLWFKLQJDV
described in *RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG
Note
Related page
4-24

Setup
Pr3.00
6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
Unit
Default
0 to 3
Related
control mode
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHGVHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKHVSHHG
ZLWKFRQWDFWLQSXWVRQO\
Setup value
Preparation
,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG3UWR3U
,QWHUQDOVSHHGFRPPDQGVWWRUGVSHHG3UWR3U
$QDORJVSHHGFRPPDQG635
,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG3UWR3U
5HODWLRQVKLSEHWZHHQ3U,QWHUQDOH[WHUQDOVZLWFKLQJVSHHGVHWXSDQGWKH
LQWHUQDOFRPPDQGVSHHGVHOHFWLRQDQGDQGVSHHGFRPPDQGWREHVHOHFWHG!
Selection 2 of
internal command
speed (INTSPD2)
OFF
OFF
21
21
OFF
OFF
21
21
21
Selection 3 of
internal command
speed (INTSPD3)
1st speed
2nd speed
3rd speed
4th speed
1st speed
2nd speed
3rd speed
$QDORJVSHHG
command
1st to 4th speed
5th speed
6th speed
7th speed
8th speed
1RHIIHFW
1RHIIHFW
The same as Pr3.00=1

OFF
OFF
21
OFF
OFF
21
21
21
Selection of
Speed command
OFF
21
21
21
21
4
Setup
Selection 1 of
internal command
speed (INTSPD1)
OFF
21
OFF
21
OFF
21
OFF
Connection
Setup
value
INTSPD2
Speed
command
[r/min]
open
COM
open
COM
4th
open
INTSPD2
open
INTSPD3
open
3rd
1st
Speed
command
[r/min]
COM
COM
8th
4th
1st
2nd
6th
5th
3rd
1st
Example 2) When Pr3.00=3
Speed command rotational direction

selection
Range
Unit
Default
0 to 1
Related
control mode
6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQVSHFLI\LQJPHWKRG
Setup value
Speed command
direction
(VC-SIGN)
1RHIIHFW
1RHIIHFW
OFF
21
7
Position command
direction
Supplement
[0]
Select speed
command sign
(1st to 8th speed)

Sign has no effect.

Sign has no effect.
When in Trouble
Example 1) When Pr3.00=1 or 2
Pr3.01
COM
7th
2nd
1st
INTSPD1
5
Adjustment
,QWHUQDO FRPPDQG VSHHG VZLWFKLQJ SDWWHUQ VKRXOG EH VR DUUDQJHG DV VKRZQ EHORZ
that single input signals are selected alternately. If 2 or more input signals are selected
VLPXOWDQHRXVO\ XQVSHFLHG LQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\ VHOHFWHGZKRVH
VHWWLQJYDOXHDQGDFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ
INTSPD1
Speed setup method

$QDORJVSHHGFRPPDQG635
[0]
'HIDXOW>@
Range
3RVLWLYHGLUHFWLRQ
1HJDWLYHGLUHFWLRQ
3RVLWLYHGLUHFWLRQ
1HJDWLYHGLUHFWLRQ
4-25
'HIDXOW>@
Pr3.02
Range
Unit
Default
Related
control mode
10 to 2000
UPLQ9
500
S T
%DVHGRQWKHYROWDJHDSSOLHGWRWKHDQDORJVSHHGFRPPDQG635VHWXSWKHFRQYHUVLRQ

gain to motor command speed.
<RX FDQ VHW XS D VORSH RI WKH UHODWLRQ EHWZHHQ WKH FRPPDQG LQSXW YROWDJH DQG WKH
PRWRUVSHHGZLWK3U
'HIDXOWLVVHWWR3U >UPLQ@
hence input of 6V becomes 3000r/min.
Caution
'RQRWDSSO\PRUHWKDQ9WRWKHVSHHGFRPPDQGLQSXW635

:KHQ\RXFRPSRVHDSRVLWLRQORRSRXWVLGHRIWKHGULYHUZKLOH\RXXVHWKH
GULYHULQYHORFLW\FRQWUROPRGHWKHVHWXSRI3UJLYHVODUJHUYDULDQFH
WRWKHRYHUDOOVHUYRV\VWHP
3D\DQH[WUDDWWHQWLRQWRRVFLOODWLRQFDXVHGE\ODUJHUVHWXSRI3U
Positive direction
Speed (r/min)
3000
10
6
2
4 6 8 10
Command input voltage (V)
Slope at ex-factory
3000
Negative direction
Pr3.03
Reversal of speed command input
Range
Unit
Default
0 to 1
Related
control mode
6SHFLI\WKHSRODULW\RIWKHYROWDJHDSSOLHGWRWKHDQDORJVSHHGFRPPDQG635
Setup value
0
1RQUHYHUVDO
9ROWDJH 3RVLWLYHGLUHFWLRQ9ROWDJH 1HJDWLYHGLUHFWLRQ
[1]
5HYHUVDO
9ROWDJH 1HJDWLYHGLUHFWLRQ9ROWDJH 3RVLWLYHGLUHFWLRQ
Note
'HIDXOW RI WKLV SDUDPHWHU LV DQG WKH PRWRU WXUQV WR &: ZLWK VLJQDO WKLV KDV
FRPSDWLELOLW\WRH[LVWLQJ0,1$6VHULHVGULYHU
Caution
:KHQ \RX FRPSRVH WKH VHUYR GULYH V\VWHP ZLWK WKLV GULYHU VHW WR YHORFLW\ FRQWURO PRGH
DQGH[WHUQDOSRVLWLRQLQJXQLWWKHPRWRUPLJKWSHUIRUPDQDEQRUPDODFWLRQLIWKHSRODULW\RI
the speed command signal from the unit and the polarity of this parameter setup does not
match.
Note
Related page
4-26
Motor rotating direction

1
'HIDXOW>@
Pr3.04
Pr3.05
Pr3.07
Pr3.08
Pr3.09

Pr3.11
Default
WR
r/min
Range
Unit
Default
WR
r/min
Range
Unit
Default
WR
r/min
Range
Unit
Default
WR
r/min
Range
Unit
Default
WR
r/min
Range
Unit
Default
WR
r/min
Range
Unit
Default
WR
r/min
Range
Unit
Default
WR
r/min
Related
control mode
S
Related
control mode
S
Related
control mode
S
Related
control mode
S
Related
control mode
S
Related
control mode
Deceleration time setup
4
Range
Unit
Default
0 to 10000
ms/
(1000r/min)
Range
Unit
Default
0 to 10000
ms/
(1000r/min)
Related
control mode
S
Related
control mode
Stepwise input speed command
Speed command after

acceleration/deceleration
process
5
Adjustment
Set up acceleration/deceleration processing time in response to the speed command input.

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$FFHOHUDWLRQWLPHVHWXS$OVRVHWWKHWLPHUHTXLUHGIRUWKHVSHHGFRPPDQGWRUHDFKIURP
UPLQWRUPLQWR3U'HFHOHUDWLRQWLPHVHWXS
$VVXPLQJWKDW WKH WDUJHW YDOXHRI WKH VSHHGFRPPDQGLV9FUPLQ WKH WLPH UHTXLUHGIRU
DFFHOHUDWLRQGHFHOHUDWLRQFDQEHFRPSXWHGIURPWKHIRUPXODVKRZQEHORZ
$FFHOHUDWLRQWLPHPV 9F3UPV
'HFHOHUDWLRQWLPHPV 9F3UPV
Speed
[r/min]
Setup
Pr3.13
Acceleration time setup
S
Related
control mode
Pr3.12
Related
control mode
Connection
Pr3.10
Unit
Preparation
Pr3.06
Range
1000r/min
When in Trouble
Time
Pr3.121ms
Caution
Related page
:KHQ WKH VSHHG GLIIHUHQFH EHWZHHQ WKH VSHHG FRPPDQG EHLQJ VHOHFWHG DQG WKH VSHHG
command after acceleration/deceleration indicates the same direction as that of the speed
FRPPDQGDSSOLHGDIWHUDFFHOHUDWLRQGHFHOHUDWLRQUHVXOWLVDFFHOHUDWLRQDQGLIWKHUHYHUVH
GLUHFWLRQWKHUHVXOWLVGHFHOHUDWLRQ
4-27
7
Supplement
Note
Pr3.131ms
'HIDXOW>@
Pr3.14
Sigmoid acceleration/ deceleration time

setup
Range
Unit
Default
0 to 1000
ms
Related
control mode
6HW6FXUYHWLPHIRUDFFHOHUDWLRQGHFHOHUDWLRQSURFHVVZKHQWKHVSHHGFRPPDQGLVDSSOLHG
$FFRUGLQJ WR 3U$FFHOHUDWLRQ WLPH VHWXS DQG 3U 'HFHOHUDWLRQ WLPH VHWXS VHW XS
VLJPRLGWLPHZLWKWLPHZLGWKFHQWHULQJWKHLQHFWLRQSRLQWRIDFFHOHUDWLRQGHFHOHUDWLRQ
ts
Speed
[r/min]
Target speed (Vc)
ts
Speed command after

process
ta = Vc/1000 Pr3.12 1ms

td = Vc/1000 Pr3.13 1ms
ts = Pr3.14 1ms
* Use with the setup of
ta/2 > ts, td/2 > ts
ts
ts
Time
ta
Pr3.15
td
Range
Unit
Default
Related
control mode
0 to 3
S T
You can set up the function of the speed zero clamp input.
Setup value
[0]
Function of ZEROSPD (Pin-26)

,QYDOLG6SHHG]HURFODPSLQSXWLVLJQRUHG
6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS=(5263'LQSXWVLJQDO

LVWXUQHG21 *1.
6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS=(5263'LQSXWVLJQDO

LVWXUQHG21 *1$QGZKHQWKHDFWXDOPRWRUVSHHGGURSVWR3U6SHHG]HURFODPS
OHYHORUEHORZWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFNLVDFWLYDWHGDWWKLVSRLQW
7KHIXQGDPHQWDORSHUDWLRQVH[FHSWIRUWKLVIXQFWLRQVZLWFKLQJWRWKHSRVLWLRQFRQWURO
DUHLGHQWLFDOWRWKRVHZKHQVHWXSYDOXHLV
:KHQWKHVSHHG]HURFODPS=(5263'LQSXWVLJQDOLV21 *1 and speed command is

EHORZ3U
6SHHG]HURFODPSOHYHOUPLQWKHQWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFN
LVDFWLYDWHGDWWKDWSRLQW
7KH GHIDXOW ORJLF LV EFRQWDFW WKH IXQFWLRQ LV HQDEOHG ZKLOH WKH WHUPLQDO LV RSHQ LQSXW VLJQDO LV
215HIHUWR3&RQWUROLQSXW
Pr3.16
Speed zero clamp level
Range
Unit
Default
Related
control mode
10 to 20000
r/min
30
S T
6HOHFWWKHWLPLQJDWZKLFKWKHSRVLWLRQFRQWUROLVDFWLYDWHGDVWKH3U6SHHG]HURFODPS
function selection is set to 2 or 3.
,I3U WKHQK\VWHUHVLVRIUPLQLVSURYLGHGIRUGHWHFWLRQ
Note
Related page
4-28

1
'HIDXOW>@
Pr3.17
Range
Unit
Default
0 to 2
Related
control mode
You can select the input of the torque command and the speed limit.
Velocity limit input
[0]
$QDORJLQSXW *1
$,ELWUHVROXWLRQ
3DUDPHWHUYDOXH
3U
$QDORJLQSXW
$,ELWUHVROXWLRQ
$QDORJLQSXW
$,ELWUHVROXWLRQ
$QDORJLQSXW *1
$,ELWUHVROXWLRQ
3DUDPHWHUYDOXH
3U3U
Preparation
Setup value
* )RU3U&RQWUROPRGHVHWXS YHORFLW\WRUTXHFRQWUROWKHWRUTXHFRPPDQGLQSXW

LVWKHDQDORJLQSXW$,ELWUHVROXWLRQ
Torque command direction selection
Range
Unit
Default
0 to 1
Related
control mode
6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYHGLUHFWLRQRIWRUTXHFRPPDQG
Setup value
[0]
1
3
Connection
Pr3.18
Designation
6SHFLI\WKHGLUHFWLRQZLWKWKHVLJQRIWRUTXHFRPPDQG
([DPSOH7RUTXHFRPPDQGLQSXWIRUSRVLWLYHGLUHFWLRQIRUQHJDWLYHGLUHFWLRQ
6SHFLI\WKHGLUHFWLRQZLWKWRUTXHFRPPDQGVLJQ7&6,*1
2))3RVLWLYHGLUHFWLRQ211HJDWLYHGLUHFWLRQ
Setup
Pr3.19
Range
Unit
Default
10 to 100
0.1V/100%
30
Related
control mode
%DVHG RQ WKH YROWDJH 9 DSSOLHG WR WKH DQDORJ WRUTXH FRPPDQG 7545 VHW XS WKH
FRQYHUVLRQJDLQWRWRUTXHFRPPDQG
DQGVHWXSLQSXWYROWDJHQHFHVVDU\WR
Default
produce the rated torque.

'HIDXOWVHWXSRIUHSUHVHQWV9
Positive direction
Adjustment
torque
300[%]
8QLWRIWKHVHWXSYDOXHLV>9@
Rated 200
torque
100
10V 8 6 4 2
2
100
6 8 10V
command input v
300[%]
Negative direction
Input reversal of torque command
Range
Unit
Default
0 to 1
Related
control mode
6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHGWRWKHDQDORJWRUTXHFRPPDQG7545
Direction of motor output torque
[0]
1RQUHYHUVDO
9ROWDJH 3RVLWLYHGLUHFWLRQ9ROWDJH 1HJDWLYHGLUHFWLRQ
5HYHUVDO
9ROWDJH 1HJDWLYHGLUHFWLRQ9ROWDJH 3RVLWLYHGLUHFWLRQ
7
Supplement
Setup value
6
When in Trouble
200
Pr3.20
4-29
'HIDXOW>@
Pr3.21
Speed limit value 1
Range
Unit
Default
0 to 20000
r/min
Related
control mode
Set up the speed limit used for torque controlling.

'XULQJWKHWRUTXHFRQWUROOLQJWKHVSHHGVHWE\WKHVSHHGOLPLWYDOXHFDQQRWEHH[FHHGHG
:KHQ3U WKHVSHHGOLPLWLVDSSOLHGXSRQUHFHLYLQJSRVLWLYHGLUHFWLRQFRPPDQG
Pr3.22
Speed limit value 2
Range
Unit
Default
0 to 20000
r/min
Related
control mode
6SHHGOLPLWYDOXHRIQHJDWLYHGLUHFWLRQFRPPDQGZKHQ3U
Pr3.17
Pr3.21
Pr3.22
Pr3.15
0
0 to 20000
1RHIIHFW
1 to 3
0 to 20000 0 to 20000
2
Pr3.23 *
Speed zero clamp

Analog torque
(ZEROSPD)
command direction
1RHIIHFW
3UVHWXSYDOXH
OFF
1RHIIHFW
3UVHWXSYDOXH
21
1RHIIHFW
0 to 20000 0 to 20000
1 to 3
OFF
0 to 20000 0 to 20000
1 to 3
21
([WHUQDOVFDOHVHOHFWLRQ
Speed limit value
3RVLWLYHGLUHFWLRQ
3UVHWXSYDOXH
1HJDWLYHGLUHFWLRQ
3UVHWXSYDOXH
3RVLWLYHGLUHFWLRQ
3UVHWXSYDOXH
1HJDWLYHGLUHFWLRQ
3UVHWXSYDOXH
1RHIIHFW
Range
Unit
Default
0 to 2
Related
control mode
6HOHFWWKHW\SHRIH[WHUQDOVFDOH
Setup
value
([WHUQDOVFDOHW\SH
Compatible scale
Compatible
speed
to 4Mpps
DIWHUTXDGUXSOHG
$%SKDVHRXWSXWW\SH*1
([WHUQDOVFDOHRI$%SKDVHRXWSXWW\SH
Serial communication type

LQFUHPHQWDOYHUVLRQ*1
0DJQHVFDOH&R/WG
65656/6/
to 400Mpps
Serial communication type

DEVROXWHYHUVLRQ*1
Mitsutoyo Corp.
$767$67$
0DJQHVFDOH&R/WG
6565
to 400Mpps
[0]
* &RQQHFW WKH H[WHUQDO VFDOH VR WKDW LW LQFUHPHQWV WKH FRXQW DV WKH PRWRU VKDIW WXUQV
SRVLWLYH GLUHFWLRQ DQG GHFUHPHQWV DV WKH VKDIW WXUQV QHJDWLYH GLUHFWLRQ ,I WKLV
FRQQHFWLRQDUUDQJHPHQWLVLPSRVVLEOHGXHWRLQVWDOODWLRQFRQGLWLRQHWFXVHWKHFRXQW
UHYHUVHIXQFWLRQRI3U5HYHUVDORIGLUHFWLRQRIH[WHUQDOVFDOH
Caution
Note
Related page
4-30
:KHQ WKH VHWXS YDOXH LV RU ZKLOH WKH$ % SKDVH RXWSXW W\SH LV FRQQHFWHG (UU
([WHUQDO VFDOH ZLULQJ HUURU SURWHFWLRQ RFFXUV DQG LI WKH VHWXS YDOXH LV ZKLOH WKH VHULDO
FRPPXQLFDWLRQW\SHLVFRQQHFWHG(UURU$SKDVH%SKDVHRU=SKDVHZLULQJHUURU
SURWHFWLRQZLOORFFXU

3,QSXWVDQGRXWSXWVRQFRQQHFWRU;33URWHFWLYH)XQFWLRQ
Pr3.24 *
1XPHUDWRURIH[WHUQDOVFDOHGLYLVLRQ
Range
Unit
Default
WR
Related
control mode
6HWXSWKHQXPHUDWRURIWKHH[WHUQDOVFDOHGLYLGLQJVHWXS
:KHQVHWXSYDOXH HQFRGHUUHVROXWLRQLVXVHGDVQXPHUDWRURIWKHGLYLVLRQ
'HQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ
Range
Unit
Default
Related
control mode
WR
10000
Pr3.24 1048576
Pr3.25 100000
Caution
Encoder resolution per one motor revolution [pulse]

External scale resolution per one motor revolution [pulse]
,IWKLVUDWLRLVZURQJWKHGLIIHUHQFHEHWZHHQWKHSRVLWLRQFDOFXODWHGEDVHGRQWKHHQFRGHU
SXOVHVDQGWKHSRVLWLRQFDOFXODWHGEDVHGRQWKHH[WHUQDOVFDOHSXOVHVEHFRPHVODUJHRYHUD
ORQJWUDYHOGLVWDQFHDQGZLOODFWLYDWHWKHH[FHVVK\EULGGHYLDWLRQHUURUSURWHFWLRQ
5HYHUVDORIGLUHFWLRQRIH[WHUQDOVFDOH
Range
Unit
Default
0 to 1
Related
control mode
4
Setup
Pr3.26 *
3
Connection
&KHFNWKHQXPEHURIHQFRGHUIHHGEDFNSOXVHVSHURQHPRWRUUHYROXWLRQDQGWKHQXPEHURI
H[WHUQDOVFDOHSXOVHVSHURQHPRWRUUHYROXWLRQDQGWKHQVHWXSWKHQXPHUDWRURIH[WHUQDO
VFDOHGLYLVLRQ3UDQGWKHGHQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ3UWRHVWDEOLVK
WKHH[SUHVVLRQVKRZQEHORZ
:LWK3UVHWDWWKHHQFRGHUUHVROXWLRQLVDXWRPDWLFDOO\XVHGDVQXPHUDWRU
([DPSOH:KHQEDOOVFUHZSLWFKLVPPVFDOHBPSXOVHHQFRGHUUHVROXWLRQELWV
SXOVHV
Preparation
Pr3.25 *
5HYHUVHWKHGLUHFWLRQRIH[WHUQDOVFDOHIHHGEDFNFRXQWHU
Setup value
[0]
1
Pr3.27 *
&RXQWYDOXHRIH[WHUQDOVFDOHFDQEHXVHGDVLWLV
6LJQSRVLWLYHQHJDWLYHRIFRXQWYDOXHRIH[WHUQDOVFDOHVKRXOGEHLQYHUWHG
)RUVHWWLQJPHWKRGRIWKLVSDUDPHWHUUHIHUWR3)XOOFORVHGFRQWUROPRGH
([WHUQDOVFDOH=SKDVHGLVFRQQHFWLRQ
detection disable
Range
Unit
Default
0 to 1
Related
control mode
(QDEOHGLVDEOH=SKDVHGLVFRQQHFWLRQGHWHFWLRQZKHQ$%SKDVHRXWSXWW\SHH[WHUQDOVFDOH
is used.
Content
[0]
Valid
,QYDOLG
6
When in Trouble
Setup value
Adjustment
Note
Content
Related page

4-31
Supplement
Note
'HIDXOW>@
Pr3.28 *
+\EULGGHYLDWLRQH[FHVVVHWXS
Range
Unit
WR Command
unit
Default
Related
control mode
16000
<RX FDQ VHWXS WKH SHUPLVVLEOH JDS K\EULG GHYLDWLRQ EHWZHHQ WKH SUHVHQW PRWRU SRVLWLRQ
DQGWKHSUHVHQWH[WHUQDOVFDOHSRVLWLRQ
Pr3.29 *
Hybrid deviation clear setup
Range
Unit
Default
0 to 100
5HYROXWLRQ
Related
control mode
$VWKHPRWRUWXUQVWKHQXPEHURIUHYROXWLRQVVHWE\WKLVSDUDPHWHUWKHK\EULGGHYLDWLRQLV
FOHDUHGWR1RFOHDULQJLVPDGHZLWKVHWXSYDOXH
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$VWKHPRWRUUHDFKHVWKHQXPEHURIUHYROXWLRQVVHWE\3U+\EULGGHYLDWLRQFOHDUVHWXS
FOHDUWKHK\EULGGHYLDWLRQWR7KLVIHDWXUHDOORZVWKHPRWRUWREHXVHGLQDQDSSOLFDWLRQ
ZKHUHK\EULGGHYLDWLRQDFFXPXODWHGXHWRVOLSSDJHHWF
Hybrid deviation value
(command unit) (absolute value)
Excess hybrid deviation error
Pr3.28
(Hybrid deviation
excess setup)
Pr3.29
(Hybrid deviation clear setup)
Pr3.29
(Hybrid deviation clear setup)
No. of motor revolutions [rev]
Note: Revolution in the hybrid deviation clear setup is counted by using encoder feedback pulses.
Caution
Note
Related page
4-32
7RXVHWKHK\EULGGHYLDWLRQFOHDUEHVXUHWRVHW3U+\EULGGHYLDWLRQFOHDUVHWXSWRWKH
DSSURSULDWHYDOXH,IWKHVHWXSYDOXHLVWRRVPDOOZLWKUHVSHFWWRWKHYDOXHRI3U+\EULG
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cannot be protected.
Limit sensor should be used to assure safety.

Setup
Pr4.00 *
SI1 input selection
Range
Unit
0 to 00FFFFFFh
Default
Related
control mode
00828282h
P S T F

$VVLJQIXQFWLRQVWR6,LQSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV*5
+H[DGHFLPDOSUHVHQWDWLRQLVIROORZHGE\DVSHFLFFRQWUROPRGHGHVLJQDWLRQ
0 0 * * K SRVLWLRQIXOOFORVHGFRQWURO
0 0 * * K YHORFLW\FRQWURO
0 0 * * K WRUTXHFRQWURO
Replace * *ZLWKWKHIXQFWLRQQXPEHU
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'RQRWVHWXSWRDYDOXHRWKHUWKDQWKDWVSHFLHGLQWKHWDEOH
'R QRW DVVLJQ VSHFLILF IXQFWLRQ WR RU PRUH VLJQDOV 'XSOLFDWHG DVVLJQPHQW ZLOO FDXVH
Err33.0 I/F input multiple assignment error 1 or Err33.1 I/F input multiple assignment error 2.
4-33
7
Supplement
* 6HUYRRQLQSXWVLJQDO65921PXVWEHXVHGWRHQDEOHVHUYRRQ

* :KHQXVLQJFRQWUROPRGHVZLWFKLQJLQSXW&02'(VHWWKHVLJQDOWRDOOFRQWUROPRGHV,IWKHVLJQDOLV
VHWWRRQO\RUFRQWUROPRGHV(UU,)LQSXWIXQFWLRQQXPEHUHUURURU(UU,)LQSXWIXQFWLRQ
QXPEHUHUURUZLOOEHJHQHUDWHG
7KHFRQWUROLQSXWSLQVHWWRLQYDOLGVWDWHGRHVQRWDIIHFWDQ\RSHUDWLRQ
)XQFWLRQVHUYRRQLQSXWDODUPFOHDUHWFWREHXVHGLQPXOWLSOHFRQWUROPRGHVPXVWEHDVVLJQHGWR
WKHVDPHSLQZLWKFRUUHFWORJLFDODUUDQJHPHQW ,QFRUUHFWVHWWLQJZLOOFDXVH(UU,)LQSXWPXOWLSOH
assignment error 1 or Err33.1 I/F input multiple assignment error 2.
* 'HYLDWLRQ FRXQWHU FOHDU LQSXW &/ FDQ EH DVVLJQHG RQO\ WR 6, LQSXW :URQJ DVVLJQPHQW ZLOO FDXVH
Err33.6 Counter clear assignment error.
* &RPPDQGSXOVHLQKLELWLQSXW,1+FDQEHDVVLJQHGRQO\WR6,LQSXW:URQJDVVLJQPHQWZLOOFDXVH
Err33.7 Command pulse input inhibit input.
* 1RWHWKDWWKHIURQWSDQHOLQGLFDWHVSDUDPHWHUYDOXHLQGHFLPDOQXPEHU
6
When in Trouble
)RULQSXWSLQDVVLJQPHQWZLWKGHIDXOWVHWWLQJUHIHUWRUHIHUWR3&RQWUROLQSXW
Related page
P.3-50
([DPSOHRIFKDQJH!
7R FKDQJH WKH GHIDXOW VHWWLQJ 1HJDWLYH GLUHFWLRQ RYHUWUDYHO LQKDELWDWLRQ LQSXW LQ DOO
PRGHVIRUEFRQWDFWWRIRUDFRQWDFWVHWWKHLQSXWWRK
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Adjustment
Caution
Setup
Note
POT
127
65921
$&/5
C-MODE
*$,1
CL
,1+
TL-SEL
VS-SEL1
VS-SEL2
DIV1
DIV2
,1763'
,1763'
,1763'
ZEROSPD
9&6,*1
7&6,*1
E-STOP
J-SEL
Setup value
a-contact
b-contact
00h
Do not setup.
01h
81h
02h
82h
03h
83h
04h
Do not setup.
05h
85h
06h
86h
07h
Do not setup.
08h
88h
09h
89h
$K
$K
0Bh
8Bh
0Ch
8Ch
0Dh
8Dh
0Eh
8Eh
0Fh
8Fh
10h
90h
11h
91h
12h
92h
13h
93h
14h
94h
15h
95h
Connection
,QYDOLG
6HUYR21LQSXW*1
$ODUPFOHDULQSXW
&RQWUROPRGHVZLWFKLQJLQSXW*2
*DLQVZLWFKLQJLQSXW
'HYLDWLRQFRXQWHUFOHDULQSXW*3
Command pulse inhibition input *4
7RUTXHOLPLWVZLWFKLQJLQSXW
Speed zero clamp input
Speed command sign input
Torque command sign input
Forced alarm input
,QHUWLDUDWLRVZLWFKLQJLQSXW
Symbol
2
Preparation
Title
Pr4.01 *
SI2 input selection
Pr4.02 *
SI3 input selection
Pr4.03 *
SI4 input selection
Pr4.04 *
SI5 input selection
Pr4.05 *
SI6 input selection
Pr4.06 *
SI7 input selection
Caution
Pr4.07 *
Pr4.08 *
Pr4.09 *
Default
Related
control mode
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
Default
Related
control mode
0 to 00FFFFFFh
00000f07h

P S T F
00818181h
P S T F

Default
Related
control mode
$K
P S T F

Default
Related
control mode
00060606h
P S T F

Default
Related
control mode
0000100Ch
P S T F

Default
Related
control mode
00030303h
P S T F

'HYLDWLRQFRXQWHUFOHDU&/FDQEHVHWXSRQO\ZLWKWKLVSDUDPHWHU,IDQ\RWKHUSDUDPHWHU

LVXVHGIRUWKLVSXUSRVH(UU&RXQWHUFOHDUDVVLJQPHQWHUURUZLOOEHLVVXHG
SI8 input selection
SI9 input selection
SI10 input selection
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Default
Related
control mode
00040404h P S T F

Default
Related
control mode
00050505h P S T F

Default
Related
control mode
00000E88h P S T F

$VVLJQIXQFWLRQVWR6,WR6,LQSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV
Setup procedure is the same as described for Pr4.00.
Note
Caution
Note
Related page
4-34
)RULQSXWSLQDVVLJQPHQWZLWKGHIDXOWVHWWLQJDOVRUHIHUWR3&RQWUROLQSXW
&RPPDQGSXOVHLQKLELWLRQLQSXW,1+FDQEHVHWXSRQO\ZLWKWKLVSDUDPHWHU,IDQ\RWKHU
SDUDPHWHULVXVHGIRUWKLVSXUSRVH(UU,1+DVVLJQPHQWHUURUZLOOEHLVVXHG

1
'HIDXOW>@
Pr4.10 *
Range
Unit
0 to 00FFFFFFh
Default
Related
control mode
00030303h
P S T F

$VVLJQIXQFWLRQVWR62RXWSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV*1
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0 0 * * K SRVLWLRQIXOOFORVHGFRQWURO
0 0 * * K YHORFLW\FRQWURO
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,QYDOLG
6HUYR5HDG\RXWSXW
([WHUQDOEUDNHUHOHDVHsignal
Positioning complete output
$WVSHHGRXWSXW
Torque in-limit signal output
Zero-speed detection output signal
$ODUPRXWSXW
$ODUPRXWSXW
3RVLWLRQDOFRPPDQG212))RXWSXW
Positioning complete 2
$ODUPDWWULEXWHRXWSXW
6SHHGFRPPDQG212))RXWSXW
S-RDY
BRK-OFF
,13
$7633('
TLC
ZSP
9&2,1
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,13
V-LIMIT
$/0$7%
V-CMD
Note
)RURXWSXWSLQDVVLJQPHQWZLWK
GHIDXOWVHWWLQJDOVRUHIHUWR3
2XWSXWVLJQDOVFRPPRQ
and their functions.
Related page
P.3-52
([DPSOHRIFKDQJH!
To change the default setting
([WHUQDOEUDNHUHOHDVHVLJQDO
LQDOOPRGHVWR$ODUPRXWSXW
VHWWKHLQSXWWRK
)RUHDVLHUVHWWLQJXVHWKH
VHWXSVXSSRUWVRIWZDUH
3$1$7(50
4
Setup
Symbol
Connection
Caution
Title
2
Preparation
Setup
value
00h
02h
03h
04h
05h
06h
07h
08h
09h
$K
0Bh
0Ch
0Dh
0Eh
0Fh
Same function can be assigned to 2 or more output signals.

&RQWURORXWSXWSLQVHWWRLQYDOLGDOZD\VKDVWKHRXWSXWWUDQVLVWRUWXUQHG2))
'RQRWFKDQJHWKHVHWXSYDOXHVKRZQLQWKHWDEOH
*1RWHWKDWWKHVHWXSYDOXHVDUHGLVSOD\HGLQGHFLPDORQWKHIURQWSDQHO
Pr4.12 *
Pr4.14 *
Pr4.15 *
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Range
Unit
0 to 00FFFFFFh
Default
Related
control mode
00020202h P S T F

Default
Related
control mode
00010101h
P S T F

Default
Related
control mode
00050504h P S T F

Default
Related
control mode
00070707h P S T F

Default
Related
control mode
00060606h P S T F

7
Supplement
$VVLJQIXQFWLRQVWR62WR62RXWSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV
Setup procedure is the same as described for Pr4.10.
6
When in Trouble
Pr4.13 *
Unit
Adjustment
Pr4.11 *
Range
4-35
'HIDXOW>@
Pr4.16
Range
Unit
Default
Related
control mode
0 to 21
P S T F
Select the type of monitor for analog monitor 1. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Pr4.17
Range
Unit
Default
Related
control mode
0 to 214748364
[Monitor unit
in Pr4.16] / V
P S T F

)RU3U 0RWRUVSHHG9LVRXWSXWDWWKHPRWRUVSHHG>UPLQ@ 3UVHWXSYDOXH
Pr4.18
Range
Unit
Default
Related
control mode
0 to 21
P S T F
Select the type of monitor for analog monitor 2. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Pr4.19
Range
Unit
Default
Related
control mode
0 to 214748364
[Monitor unit
in Pr4.16] / V
P S T F

)RU3U 7RUTXHFRPPDQG9LVRXWSXWDWWKHWRUTXHFRPPDQG>@ 3UVHWXSYDOXH
Pr4.20
Range
Unit
Default
Related
control mode
0 to 3
P S T F
Select type of the digital monitor.
Note
Related page
4-36
Digital signal output
Setup value
Type of monitor
L output
H output
[0]
Positioning complete condition
1RWFRPSOHWHG
Completed
Positional command
:LWKRXWFRPPDQG
:LWKFRPPDQG
$ODUP
1RWJHQHUDWHG
Generated
Gain selected
1st gain
2nd gain
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Unit
Output gain for setting

Pr4.17/Pr4.19 = 0
Motor speed
r/min
500
Positional command speed *3
r/min
500
Internal positional command speed *3
r/min
500
Velocity control command
r/min
500
Torque command
33
SXOVH&RPPDQGXQLW
3000
&RPPDQGSRVLWLRQDOGHYLDWLRQ
(QFRGHUSRVLWLRQDOGHYLDWLRQ*4
SXOVH(QFRGHUXQLW
3000
)XOOFORVHGGHYLDWLRQ*4
SXOVH([WHUQDOVFDOHXQLW
3000
+\EULGGHYLDWLRQ
SXOVH&RPPDQGXQLW
3000
9ROWDJHDFURVV31
80
10
5HJHQHUDWLYHORDGIDFWRU
33
11
2YHUORDGIDFWRU
33
12
3RVLWLYHGLUHFWLRQWRUTXHOLPLW
33
13
1HJDWLYHGLUHFWLRQWRUTXHOLPLW
33
14
6SHHGOLPLWYDOXH
r/min
500
15
Inertia ratio
500
16
$QDORJLQSXW
*2
17
$QDORJLQSXW*2
18
*2
$QDORJLQSXW
*5
Encoder temperature
10
20
'ULYHUWHPSHUDWXUH
10
21
Encoder single-turn data *1
SXOVH(QFRGHUXQLW
110000
7KHHQFRGHUURWDWLRQGDWD&&:LVDOZD\VSRVLWLYHYDOXHUHJDUGOHVVRI3U5RWDWLRQDOGLUHFWLRQVHWXS
7KHGLUHFWLRQRIRWKHUPRQLWRUGDWDEDVLFDOO\IROORZV3U5RWDWLRQDOGLUHFWLRQVHWXS
$QDORJLQSXWVDQGDOZD\VRXWSXWWHUPLQDOYROWDJHUHJDUGOHVVRIXVDJHRIDQDORJLQSXWIXQFWLRQ
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXWV
)RUWKHFRPPDQGSXOVHLQSXWWKHVSHHGEHIRUHWKHFRPPDQGOWHUVPRRWKLQJ),5OWHULVGHQHGDVSRVLWLRQDO
FRPPDQGVSHHGDQGVSHHGDIWHUOWHULVGHQHGDVLQWHUQDOFRPPDQGVSHHG
Command
division/
multiplication
process
Command
pulse input
Positional
command
filter
Position
control
Encoder feedback/
external scale feedback
Command
division/
multiplication
Command
division/multiplication
reverse conversion
Positional
control
Encoder feedback/
external scale feedback
Supplement
Positional
command
filter
When in Trouble
* &RPPDQGSRVLWLRQDOGHYLDWLRQLVWKHGHYLDWLRQZLWKUHVSHFWWRWKHFRPPDQGSXOVHLQSXWDQGWKHHQFRGHUSRVLWLRQDO
GHYLDWLRQIXOOFORVHGSRVLWLRQDOGHYLDWLRQLVWKHGHYLDWLRQDWWKHLQSXWVHFWLRQRIWKHSRVLWLRQDOFRQWURODVGHVFULEHGLQ
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Encoder positional deviation (encoder unit)
/ Full-closed deviation (external unit)
Command
pulse input
5
Adjustment
Positional command
Internal position
speed [r/min]
Setup
19
3
Connection
*

*

*
*4
2
Preparation
Type of monitor
Pr4.16/Pr4.18
Positional command deviation (command unit)

* 7HPSHUDWXUHLQIRUPDWLRQIURPWKHHQFRGHULQFOXGHVYDOXHRQO\ZKHQLWLVDELWLQFUHPHQWDOHQFRGHU2WKHUZLVH
WKHYDOXHLVDOZD\V
4-37
'HIDXOW>@
Pr4.21
Analog monitor output setup
Range
Unit
Default
Related
control mode
0 to 2
P S T F
Select output format of the analog monitor.

Setup value
Signed data output
10 V to 10 V
$EVROXWHYDOXHGDWDRXWSXW
9WR9
'DWDRXWSXWZLWKRIIVHW
9WR99DWFHQWHU
[0]
Pr4.22
Output format
Range
Unit
Default
Related
control mode
WR
0.359mV
P S T F
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.23
Analog input 1 (AI1) filter
Range
Unit
Default
Related
control mode
0 to 6400
0.01ms
P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\OWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 1.
Pr4.24
Analog input 1 (AI1) overvoltage setup
Range
Unit
Default
Related
control mode
0 to 100
0.1V
P S T F
6HW XS WKH H[FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW E\ XVLQJ WKH YROWDJH
DVVRFLDWHGZLWKRIIVHW
Pr4.25
Range
Unit
Default
Related
control mode
WR
5.86mV
P S T F
Pr4.26
Range
Unit
Default
Related
control mode
0 to 6400
0.01ms
P S T F
Pr4.27
Range
Unit
Default
Related
control mode
0 to 100
0.1V
P S T F
Pr4.28
Range
Unit
Default
Related
control mode
WR
5.86mV
P S T F
Note
Related page
4-38

Pr4.29
Range
Unit
Default
Related
control mode
0 to 6400
0.01ms
P S T F
Range
Unit
Default
Related
control mode
0 to 100
0.1V
P S T F
Pr4.31
Positioning complete (In-position) range
Range
Unit
Default
0 to 262144
Command
unit
10
Related
control mode
Pr4.32
The command unit is used as the default unit but can be replaced by the encoder unit by
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3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG
Range
Unit
Default
0 to 3
Related
control mode
6HOHFWWKHFRQGLWLRQWRRXWSXWWKHSRVLWLRQLQJFRPSOHWHVLJQDO,13
Action of positioning complete signal
[0]
7KHVLJQDOZLOOWXUQRQZKHQWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U3RVLWLRQLQJ
FRPSOHWHUDQJH
7KH VLJQDO ZLOO WXUQ RQ ZKHQ WKHUH LV QR SRVLWLRQ FRPPDQG DQG WKH SRVLWLRQDO
GHYLDWLRQLVVPDOOHUWKDQ3U3RVLWLRQLQJFRPSOHWHUDQJH
7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGWKH]HURVSHHGGHWHFWLRQVLJQDO
LV21DQGWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U3RVLWLRQLQJFRPSOHWHUDQJH
7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGDQGWKHSRVLWLRQDOGHYLDtion
LVVPDOOHUWKDQ3U3RVLWLRQLQJFRPSOHWHUDQJH7KHQKROGV21VWDWXVXQWLOWKH
QH[WSRVLWLRQFRPPDQGLVHQWHUHG6XEVHTXHQWO\21VWDWHLVPDLQWDLQHGXQWLO3U
,13KROGWLPHKDVHODSVHG$IWHUWKHKROGWLPH,13RXWSXWZLOOEHWXUQHG212))DFFRUGLQJWRWKHFRPLQJSRVLWLRQDOFRPPDQGRUFRQGLWLRQRIWKHSRVLWLRQDOGHYLDWLRQ
Range
Unit
Default
0 to 30000
1ms
Related
control mode
6HWXSWKHKROGWLPHZKHQ3U3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS
Setup value
[0]
1 to 30000
Related page
State of positioning complete signal

7KHKROGWLPHLVPDLQWDLQHGGHQLWHO\NHHSLQJ21VWDWHXQWLOWKHQH[WSRVLWLRQDO
FRPPDQGLVUHFHLYHG
21VWDWHLVPDLQWDLQHGIRUVHWXSWLPHPVEXWVZLWFKHGWR2))VWDWHDVWKHSRVLWLRQDO
FRPPDQGLVUHFHLYHGGXULQJKROGWLPH

4-39
Supplement
Note
When in Trouble
INP hold time
5
Adjustment
Pr4.33
Setup value
Setup

output setup
Connection
Note
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQDWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO,13LVRXWSXW
Caution
2
Preparation
Pr4.30
'HIDXOW>@
Pr4.34
Zero-speed
Range
Unit
Default
Related
control mode
10 to 20000
r/min
50
P S T F
<RXFDQVHWXSWKHWLPLQJWRIHHGRXWWKH]HURVSHHGGHWHFWLRQRXWSXWVLJQDO=63RU7&/LQ

rotational speed [r/min].
7KH]HURVSHHGGHWHFWLRQVLJQDO=63ZLOOEHIHGRXWZKHQWKHPRWRUVSHHGIDOOVEHORZWKH
VHWXSRIWKLVSDUDPHWHU3U
7KHVHWXSRI3ULVYDOLGIRUERWK
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regardless of the motor rotating
direction.
7KHUHLVK\VWHUHVLVRI>UPLQ@
Positive direction
speed
(Pr4.34+10)r/min
(Pr4.3410)r/min
Negative direction
ON
ZSP
Pr4.35
Range
Unit
Default
Related
control mode
10 to 20000
r/min
50
S T
6HWWKHVSHHGFRLQFLGHQFH9&2,1RXWSXWGHWHFWLRQWLPLQJ

2XWSXWWKHVSHHGFRLQFLGHQFH9&2,1ZKHQWKHGLIIHUHQFHEHWZHHQWKHVSHHGFRPPDQG
DQGWKHPRWRUVSHHGLVHTXDOWRRUVPDOOHUWKDQWKHVSHHGVSHFLHGE\WKLVSDUDPHWHU
Speed
[r/min]
Speed
command
Speed command after

process
Pr4.35 *1
(Speed coincidence
range)
Pr4.35 *1
(Speed coincidence range)
Motor speed
Time
Pr4.35 *1
(Speed coincidence range)
Speed coincidence
output
V-COIN
ON
OFF
ON
OFF
*1 %HFDXVHWKHVSHHGFRLQFLGHQFHGHWHFWLRQLVDVVRFLDWHGZLWKUPLQK\VWHUHVLVDFWXDO
GHWHFWLRQUDQJHLVDVVKRZQEHORZ
Speed coincidence output OFF 21WLPLQJ3UUPLQ
6SHHGFRLQFLGHQFHRXWSXW21 2))WLPLQJ3UUPLQ
Note
Related page
4-40

1
'HIDXOW>@
Pr4.36
Range
Unit
Default
Related
control mode
10 to 20000
r/min
1000
S T
Speed
[r/min]
Pr4.36+10
3U
Motor speed
Time
3U
3U
Pr4.37
OFF
ON
OFF
Mechanical brake action at stalling setup
ON
Connection
the speed
arrival output
AT-SPEED
Range
Unit
Default
Related
control mode
0 to 10000
1ms
P S T F
<RXFDQVHWXSWKHWLPHIURPZKHQWKHEUDNHUHOHDVHVLJQDO%5.2))WXUQVRIIWRZKHQ

WKHPRWRULVGHHQHUJL]HG6HUYRIUHHZKHQWKHPRWRUWXUQVWR6HUYR2))ZKLOHWKHPRWRU
is at stall.
SRV-ON
OFF
ON
BRK-OFF
release
actual brake
hold
tb
hold
release
motor
energization energized
Adjustment
nonenergized
Pr4.37
Pr4.38
Mechanical brake action at running setup
Range
Unit
Default
Related
control mode
0 to 10000
1ms
P S T F
SRV-ON
OFF
ON
BRK-OFF
release
hold
tb
actual
brake
energized
nonenergized
Supplement
motor
energization
6
When in Trouble
<RXFDQVHWXSWLPHIURPZKHQGHWHFWLQJWKHRIIRI6HUYR21LQSXWVLJQDO65921LVWR

ZKHQH[WHUQDOEUDNHUHOHDVHVLJQDO%5.2))WXUQVRIIZKLOHWKHPRWRUWXUQVWRVHUYRRII
during the motor in motion.
6HWXSWRSUHYHQWWKHEUDNHGHWHULRUDWLRQ
due to the motor running.
$W6HUYR2))GXULQJWKHPRWRULV
UXQQLQJWERIWKHULJKWJZLOOEHD
VKRUWHURQHRIHLWKHU3UVHWXSWLPH
or time lapse till the motor speed falls
EHORZ3UVHWXSVSHHG
4
Setup
6HWXSWRSUHYHQWDPLFURWUDYHOGURSRI
WKHPRWRUZRUNGXHWRWKHDFWLRQGHOD\
WLPHWERIWKHEUDNH
$IWHUVHWWLQJXS3UWE
then compose the sequence so as the
GULYHUWXUQVWR6HUYR2))DIWHUWKHEUDNH
LVDFWXDOO\DFWLYDWHG
2
Preparation
6HWWKHGHWHFWLRQWLPLQJRIWKHVSHHGDUULYDORXWSXW$763(('
:KHQWKHPRWRUVSHHGH[FHHGVWKLVVHWXSYDOXHWKHVSHHGDUULYDORXWSXW$763(('LV
output.
'HWHFWLRQLVDVVRFLDWHGZLWKUPLQK\VWHUHVLV
Pr4.39
setup speed.
4-41
'HIDXOW>@
Pr4.39
Brake release speed setup
Range
Unit
Default
Related
control mode
30 to 3000
r/min
30
P S T F
Set up the speed timing of brake output checking during operation.
Pr4.40
Pr4.41
Range
Unit
Default
Related
control mode
0 to 10
P S T F
Range
Unit
Default
Related
control mode
0 to 10
P S T F
Select the type of alarm issued as the alarm output 1 or 2.

Setup
value
Alarm
[0]
Content
ORed output of all alarms.
2YHUORDGSURWHFWLRQ
2YHUUHJHQHUDWLRQDODUP
5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
Battery alarm
%DWWHU\YROWDJHLV9RUORZHU
Fan alarm
Fan has stopped for 1 sec. *1
alarm
7KHQXPEHURIVXFFHVVLYHHQFRGHUFRPPXQLFDWLRQHUURUV
H[FHHGVWKHVSHFLHGYDOXH
(QFRGHURYHUKHDWDODUP
7KHHQFRGHUGHWHFWVRYHUKHDWDODUP
Oscillation detection alarm
2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG
/LIHH[SHFWDQF\RIFDSDFLWRURUIDQEHFRPHVVKRUW
([WHUQDOVFDOHHUURUDODUP
7KHH[WHUQDOVFDOHGHWHFWVWKHDODUP
10
([WHUQDOVFDOH
communication alarm
7KHQXPEHURIVXFFHVVLYHH[WHUQDOVFDOHFRPPXQLFDWLRQ
7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDO
Related page
Pr4.42
)RUGHWDLOHGGHVFULSWLRQRIDODUPW\SHVUHIHUWR3
2nd Positioning complete (In-position)

range
Range
Unit
Default
0 to 262144
Command
unit
10
Related
control mode
7KH,13WXUQV21ZKHQHYHUWKHSRVLWLRQDOGHYLDWLRQLVORZHUWKDQWKHYDOXHVHWXSLQWKLV
SDUDPHWHUZLWKRXWEHLQJDIIHFWHGE\3U3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS3UHVHQFH
DEVHQFHRISRVLWLRQDOFRPPDQGLVQRWUHODWHGWRWKLVMXGJPHQW
Caution
Note
Note

Related page
4-42
The command unit is used as the default unit but can be replaced by the encoder unit by
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3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG
Setup
1
'HIDXOW>@
Pr5.00
Pr5.01
Unit
Default
0 to 230
Range
30
0 to 2
Range
4th numerator of electronic gear
30
0 to 2
Related
control mode
Unit
Default
Unit
Default
Related
control mode
Denominator of pulse output division
Range
Unit
Default
Related
control mode
0 to 262144
P S T F
)RUGHWDLOVUHIHUWR3
Over-travel inhibit input setup
Range
Unit
Default
Related
control mode
0 to 2
P S T F
Setup
Pr5.04 *
3
Connection
6HW WKH QG WR WK QXPHUDWRU RI GLYLVLRQPXOWLSOLFDWLRQ RSHUDWLRQ PDGH DFFRUGLQJ WR WKH
command pulse input.
7KLVVHWXSLVHQDEOHGZKHQ3UFRPPDQGSXOVHFRXQWVSHURQHPRWRUUHYROXWLRQ RU
full closed controlling.
:KHQ WKH VHWWLQJ YDOXH LV IRU SRVLWLRQLQJ FRQWUROOLQJ HQFRGHU UHVROXWLRQ LV VHW DV D
numerator.
:KHQWKHVHWWLQJYDOXHLVIRUIXOOFORVHGFRQWUROOLQJERWKQXPHUDWRUDQGGHQRPLQDWRUDUH
set to 1.
Pr5.03 *
Related
control mode
Preparation
Pr5.02
2nd numerator of electronic gear
Range
6HWXSWKHRSHUDWLRQRIWKHUXQLQKLELWLRQ327127LQSXWV

Setup value
0
'LVDEOH327127
[1]
327RU127LQSXWDFWLYDWHV(UU5XQLQKLELWLRQLQSXWSURWHFWLRQ
Sequence at over-travel inhibit
Range
Unit
Default
Related
control mode
0 to 2
P S T F
:KHQ3U2YHUWUDYHOLQKLELWLRQ VSHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDQGVWRSDIWHU
DSSOLFDWLRQRIWKHRYHUWUDYHOLQKLELWLRQ327127
Pr5.04
Related page
During deceleration
After stalling
Deviation counter
content
[0]
Dynamic brake
action
Torque command=0
WRZDUGVLQKLELWHGGLUHFWLRQ
Hold
Torque command=0
Torque command=0
Hold
Emergency stop
Command=0
Clears before/
after deceleration

4-43
Supplement
Note
Pr5.05
6
When in Trouble
'HWDLOVRI3U6HTXHQFHDWRYHUWUDYHOLQKLELW!
Adjustment
Pr5.05 *
Operation
POT ,QKLELWSRVLWLYHGLUHFWLRQWUDYHO
127 ,QKLELWQHJDWLYHGLUHFWLRQWUDYHO
'HIDXOW>@
Pr5.06
Sequence at Servo-Off
Range
Unit
Default
Related
control mode
0 to 9
P S T F
6SHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDQGDIWHUVWRSDIWHUVHUYRRII
Setup
value
During deceleration *3
After stalling
Positional deviation/
H[WHUQDOVFDOH
deviation
[0]
'\QDPLF%UDNH'%DFWLRQ
Clear *4
)UHHUXQ'%2))
Clear *4
)UHHUXQ'%2))
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)UHHUXQ'%2))
)UHHUXQ'%2))
Clear *4
Hold *2
)UHHUXQ'%2))
Hold *2
)UHHUXQ'%2))
Hold *2
)UHHUXQ'%2))
)UHHUXQ'%2))
Hold *2
Emergency stop *1
Clear *4
Emergency stop *1
)UHHUXQ'%2))
Clear *4
* (PHUJHQF\VWRSUHIHUVWRDFRQWUROOHGLPPHGLDWHVWRSZLWKVHUYRRQ

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Caution
,IDQHUURURFFXUVGXULQJVHUYRRIIIROORZ3U6HTXHQFHDWDODUP,IWKHPDLQSRZHULV
WXUQHGRIIGXULQJVHUYRRIIIROORZ3U6HTXHQFHGXULQJPDLQSRZHULQWHUUXSWLRQ
Related page
5HIHU WR 3 7LPLQJ &KDUW6HUYR212)) DFWLRQ ZKLOH WKH PRWRU LV DW VWDOO RI
3UHSDUDWLRQDVZHOO
Pr5.07
6HTXHQFHDWPDLQSRZHU2))
Range
Unit
Default
Related
control mode
0 to 9
P S T F
6SHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDIWHUPDLQSRZHULQWHUUXSWRUDIWHUVWRSSDJH
7KH UHODWLRQVKLS EHWZHHQ WKH VHWXS YDOXH RI 3U DQG WKH RSHUDWLRQ DQG SURFHVV DW
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Caution
Note
Related page
4-44
,I DQ HUURU RFFXUV ZLWK WKH PDLQ SRZHU VXSSO\ WXUQHG RII 3U 6HTXHQFH DW DODUP LV
applied to the operation.
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XQGHUYROWDJH HUURU RFFXUV LI 3U /9 WULS VHOHFWLRQ ZLWK PDLQ SRZHU RII DQG WKH
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1
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Pr5.08
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Range
Unit
Default
Related
control mode
0 to 1
P S T F
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IXQFWLRQZKLOHWKHPDLQSRZHUVKXWRIIFRQWLQXHVIRUWKHVHWXSRI3U0DLQSRZHU2))
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Caution
:KHQWKHPDLQSRZHULVVKXWRIIGXULQJ6HUYR21(UUZLOOQRWEHWULJJHUHGDQG
WKHGULYHUWXUQVWR6HUYR2))7KHGULYHUUHWXUQVWR6HUYR21DJDLQDIWHUWKHPDLQ
SRZHUUHVXPSWLRQ
[1]
:KHQWKHPDLQSRZHULVVKXWRIIGXULQJ6HUYR21WKHGULYHUZLOOWULSGXHWR(UU
0DLQSRZHUORZYROWDJHSURWHFWLRQ
7KLVSDUDPHWHULVLQYDOLGZKHQ3U'HWHFWLRQWLPHRIPDLQSRZHU2)) (UU

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YROWDJH RI WKH PDLQ FRQYHUWHU IDOOV EHORZ WKH VSHFLILHG YDOXH EHIRUH GHWHFWLQJ WKH PDLQ
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Range
Unit
Default
Related
control mode
70 to 2000
1ms
70
P S T F
<RXFDQVHWXSWKHWLPHWRGHWHFWWKHVKXWRIIZKLOHWKHPDLQSRZHULVNHSWVKXWRIIFRQWLQXRXVO\
7KHPDLQSRZHURIIGHWHFWLRQLVLQYDOLGZKHQ\RXVHWXSWKLVWR
Sequence at alarm
Range
Unit
Default
Related
control mode
0 to 7
P S T F
4
Setup
Pr5.10
3
Connection
Pr5.09 *
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2
Preparation
Setup value
6SHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDQGDIWHUVWRSDIWHURFFXUUHQFHRIDODUP
During deceleration *3
After stalling
Positional deviation/
H[WHUQDOVFDOH
deviation
[0]
Hold *1
)UHHUXQ'%2))
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Hold *1
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)UHHUXQ'%2))
Hold *1
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$FWLRQ%'%2)) *2
Hold *1
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)UHHUXQ'%2))
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$FWLRQ%'%2)) *2
)UHHUXQ'%2))
Hold *1
5
Adjustment
Setup
value
6
When in Trouble
4-45
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FOHDUHGZKHQWKHDODUPLVFDQFHOOHG
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Pr5.11
Range
Unit
Default
Related
control mode
0 to 500
P S T F
Set up the torque limit at emergency stop.
Note
Pr5.12
:KHQVHWXSYDOXHLVWKHWRUTXHOLPLWIRUQRUPDORSHUDWLRQLVDSSOLHG
Over-load level setup
Range
Unit
Default
Related
control mode
0 to 500
P S T F
<RXFDQVHWXSWKHRYHUORDGOHYHO7KHRYHUORDGOHYHOEHFRPHV>@E\VHWWLQJXSWKLV
to 0.
8VHWKLVZLWKVHWXSLQQRUPDORSHUDWLRQ6HWXSRWKHUYDOXHRQO\ZKHQ\RXQHHGWRORZHU
WKHRYHUORDGOHYHO
7KHVHWXSYDOXHRIWKLVSDUDPHWHULVOLPLWHGE\>@RIWKHPRWRUUDWLQJ
Pr5.13
Over-speed level setup
Range
Unit
Default
Related
control mode
0 to 20000
r/min
P S T F
,IWKHPRWRUVSHHGH[FHHGVWKLVVHWXSYDOXH(UU2YHUVSHHGSURWHFWLRQRFFXUV
7KHRYHUVSHHGOHYHOEHFRPHVWLPHVRIWKHPRWRUPD[VSHHGE\VHWWLQJXSWKLVWR
Pr5.14
0RWRUZRUNLQJUDQJHVHWXS
Range
Unit
Default
Related
control mode
0 to 1000
UHYROXWLRQ
10
P S T F
<RXFDQVHWXSWKHPRYDEOHUDQJHRIWKHPRWRUDJDLQVWWKHSRVLWLRQFRPPDQGLQSXWUDQJH
:KHQWKHPRWRUPRYHPHQWH[FHHGVWKHVHWXSYDOXHVRIWZDUHOLPLWSURWHFWLRQRI(UU
ZLOOEHWULJJHUHG
Pr5.15 *
I/F reading filter
Range
Unit
Default
Related
control mode
0 to 3
P S T F
Select reading period of the control input signal.

Setup value
Reading period of the signal.
[0]
0.166ms
0.333ms
1ms
1.666ms
([FOXGHGHYLDWLRQFRXQWHUFOHDULQSXW&/DQGFRPPDQGSXOVHLQKLELWLQSXW,1+
Note
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4-46

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Pr5.16 *
Alarm clear input setup
Range
Unit
Default
Related
control mode
0 to 1
P S T F
6HOHFWDODUPFOHDULQSXW$&/5UHFRJQLWLRQWLPH
Setup value
Recognition time
[0]
120ms
7R3U,)UHDGLQJOWHU
Range
Unit
Default
0 to 4
Related
control mode
You can set up the clearing conditions of the counter clear input signal.
0
,QYDOLG
&OHDUDWDOHYHOQRUHDGLQJOWHU
&OHDUDWDOHYHOZLWKUHDGLQJOWHU
[3]
&OHDUDWDQHGJHQRUHDGLQJOWHU
&OHDUDWDQHGJHZLWKUHDGLQJOWHU
)RUVLJQDOZLGWKWLPLQJUHTXLULQJWKHGHYLDWLRQFRXQWHULQSXWUHIHUWR3
Invalidation of command pulse inhibit

input
Range
Unit
Default
0 to 1
Related
control mode
Setup
Pr5.18
Clear condition
Connection
Note
Setup value
Preparation
Pr5.17
Select command pulse inhibit input enable/disable.

Setup value
0
Valid
[1]
,QYDOLG
Command pulse inhibit input reading

setup
Range
Unit
Default
0 to 4
Related
control mode
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[0]
0.166ms
0.333ms
1ms
1.666ms
PVQRFKHFNIRUPXOWLSOHFRLQFLGHQFH
Longer reading period protects against operation error due to noise but decreases response
to input signal.

4-47
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Supplement
Note
Signal reading period
When in Trouble
Caution
Setup value
Adjustment
Pr5.19 *
INH input
Pr5.20 *
Range
Unit
Default
0 to 1
Related
control mode
6SHFLI\ WKH XQLW WR GHWHUPLQH WKH UDQJH RI SRVLWLRQLQJ FRPSOHWH DQG H[FHVVLYH SRVLWLRQDO
GHYLDWLRQ
Note
Setup value
Unit
[0]
Command unit
Encoder unit
7KHFRPPDQGXQLWGHQHVFRPPDQGSXOVHIURPWKHKLJKHUOHYHOGHYLFHDVVHWWLQJYDOXH
ZKLOHWKHHQFRGHUXQLWGHQHVHQFRGHUSXOVHDVVHWWLQJYDOXH
:KHQWKHHOHFWURQLFJHDUUDWLRVHWE\XVLQJWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQIXQFWLRQ
HOHFWURQLFJHDULV5WKHIROORZLQJUHODWLRQVKLSLVREWDLQHG
Command unit R = encoder unit
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R=
Pr5.21
220
220
WKHQFRPPDQGXQLW
= encoder unit.
10000
10000
Range
Unit
Default
0 to 6
Related
control mode
P S
You can set up the torque limiting method.

Setup value
Positive direction
3$7/WR9
Negative direction
1$7/WR9
VWWRUTXHOLPLW3U
[1]
2
VWWRUTXHOLPLW3U
QGWRUTXHOLPLW3U
TL-SEL OFF VWWRUTXHOLPLW3U

7/6(/21 QGWRUTXHOLPLW3U
3
4
3$7/WR9
1$7/WR9
3$7/WR9
TL-SEL OFF
VWWRUTXHOLPLW3U
6
QGWRUTXHOLPLW3U
7/6(/21
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OLPLW3U
Pr5.22
2nd torque limit
([WHUQDOLQSXWQHJDWLYHGLUHFWLRQWRUTXH
OLPLW3U
Range
Unit
Default
0 to 500
500
Related
control mode
P S
<RXFDQVHWXSWKHQGOLPLWYDOXHRIWKHPRWRURXWSXWWRUTXH
7KHYDOXHRISDUDPHWHULVOLPLWHGWRWKHPD[LPXPWRUTXHRIWKHDSSOLFDEOHPRWRU
Note
Note

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1
'HIDXOW>@
Pr5.23
7RUTXHOLPLWVZLWFKLQJVHWXS
Range
Unit
Default
0 to 4000
ms/100%
Related
control mode
P S
6SHFLI\WKHUDWHRIFKDQJHVORSHIURPVWWRQGGXULQJWRUTXHOLPLWVZLWFKLQJ
7RUTXHOLPLWVZLWFKLQJVHWXS
Range
Unit
Default
0 to 4000
ms/100%
2
Related
control mode
P S
6SHFLI\WKHUDWHRIFKDQJHVORSHIURPQGWRVWGXULQJWRUTXHOLPLWVZLWFKLQJ
Pr5.25
([WHUQDOLQSXWSRVLWLYHGLUHFWLRQ
torque limit
Range
Unit
Default
0 to 500
500
Related
control mode
P S
Note
Pr5.26
([WHUQDOLQSXWQHJDWLYHGLUHFWLRQ
torque limit
Range
Unit
Default
0 to 500
500
Related
control mode
P S
Note
Pr5.27
4
Setup
6HWXSQHJDWLYHGLUHFWLRQWRUTXHOLPLWXSRQUHFHLYLQJ7/6(/ZLWK3U6HOHFWLRQRIWRUTXH
limit set at 6.
3
Connection
6HWXSSRVLWLYHGLUHFWLRQWRUTXHOLPLWXSRQUHFHLYLQJ7/6(/ZLWK3U6HOHFWLRQRIWRUTXH
limit set at 6.
Preparation
Pr5.24
Range
Unit
Default
10 to 100
0.1V/100%
30
Related
control mode
P S
Adjustment
)URPWKHYROWDJH>9@DSSOLHGWRWKHDQDORJWRUTXHOLPLWLQSXW3$7/1$7/VHWFRQYHUVLRQ

gain to torque limit [%].
6
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Note
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Pr5.28 *
LED initial status
Range
Unit
Default
Related
control mode
0 to 35
P S T F
<RXFDQVHOHFWWKHW\SHRIGDWDWREHGLVSOD\HGRQWKHIURQWSDQHO/('VHJPHQWDWWKH

LQLWLDOVWDWXVDIWHUSRZHURQ
Power -ON
Flashes (for approx. 2 sec) during initialization

Setup value
of Pr5.28
Setup
Content
value
0 3RVLWLRQDOFRPPDQGGHYLDWLRQ
Setup
Content
value
12 Error factor and reference of history
Setup
Content
value
24 (QFRGHUSRVLWLRQDOGHYLDWLRQ>(QFRGHUXQLW@
[1]
Motor speed
13
$ODUP'LVSOD\
25
([WHUQDOVFDOHGHYLDWLRQ>([WHUQDOVFDOHXQLW@
Positional command speed
14
5HJHQHUDWLYHORDGIDFWRU
26
+\EULGGHYLDWLRQ>&RPPDQGXQLW@
Velocity control command
15
2YHUORDGIDFWRU
27
9ROWDJHDFURVV31>9@
Torque command
16
Inertia ratio
28
6RIWZDUHYHUVLRQ
Feedback pulse sum
17
Factor of no-motor running
29
'ULYHUVHULDOQXPEHU
Command pulse sum
18
1RRIFKDQJHVLQ,2VLJQDOV
30
Motor serial number
([WHUQDOVFDOHIHHGEDFNSXOVHVXP 20
$EVROXWHHQFRGHUGDWD
31
$FFXPXODWHGRSHUDWLRQWLPH
Control mode
21
$EVROXWHH[WHUQDOVFDOHSRVLWLRQ
32
$XWRPDWLFPRWRUUHFRJQL]LQJIXQFWLRQ
33
Temperature information
35
Safety condition monitor
10
I/O signal status
22
1RRIHQFRGHUH[WHUQDOVFDOH
communication errors monitor
11
$QDORJLQSXWYDOXH
23
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Pr5.29 *
)RUGHWDLOVRIGLVSOD\UHIHUWR3+RZWR8VHWKH)URQW3DQHORI3UHSDUDWLRQ
Baud rate setup of

RS232 communication
Range
Unit
Default
Related
control mode
0 to 6
P S T F
Range
Unit
Default
Related
control mode
0 to 6
P S T F
You can set up the communication speed of RS232.
Note
Pr5.30 *
)RUEDXGUDWHVHWXSYDOXHUHIHUWR56VHWXS
Baud rate setup of
RS485 communication
You can set up the communication speed of RS485.

Setup value
0
1
[2]
3
Baud rate
2400bps
4800bps
9600bps
19200bps
Setup value
4
5
6
Baud rate
38400bps
57600bps
115200bps
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Note
4-50
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRU
Pr5.31 *
$[LVDGGUHVV
Range
Unit
Default
Related
control mode
0 to 127
P S T F
'XULQJFRPPXQLFDWLRQZLWKWKHKRVWHJ3&WRFRQWUROPXOWLSOHVKDIWVWKHVKDIWEHLQJ

DFFHVVHGE\WKHKRVWVKRXOGEHLGHQWLHG
Note
:KHQXVLQJ5656WKHPD[LPXPYDOLGYDOXHLV
&RPPDQGSXOVHLQSXWPD[LPXPVHWXS
Range
Unit
Default
250 to 4000
k pulse/s
4000
Related
control mode
6HWWKHPD[LPXPQXPEHURISXOVHVWREHXVHGDVFRPPDQGSXOVHLQSXW,IWKHQXPEHURI
LQSXWSXOVHVH[FHHGVWKHVHWXSYDOXH(UU&RPPDQGSXOVHLQSXWIUHTXHQF\HUURU
protection occurs.
Caution
Pr5.32 setting range
'LJLWDOOWHU
250 to 499
200 ns 2-time reading
500 to 999
100 ns 2-time reading
1000 or more
1RUHDGLQJWKUX
Enable/disable detection of Err28.0 Pulse

UHJHQHUDWLYHOLPLWSURWHFWLRQ
Range
Unit
Default
Related
control mode
0 to 1
P S T F
Setup value
[0]
1
Content
,QYDOLG
Valid
5
Related
control mode
Range
Unit
Default
Range
Unit
Default
Related
control mode
0 to 1
P S T F
Adjustment
Pr5.34
4
Setup
Pulse regenerative output limit setup
3
Connection
Pr5.33 *
7KHQXPEHURILQSXWSXOVHVUHFHLYHGE\WKHGULYHULVDOZD\VFKHFNHG,IWKHIUHTXHQF\RIWKH
UHFHLYHGSXOVHLVKLJKHUWKDQWKHXSSHUOLPLWRIWKHVHWWLQJLQSXWSXOVHVDUHQRWDFFXUDWHO\
detected.
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enabled against the command pulse input.
Preparation
Pr5.32 *
)L[HGWR
Pr5.35 *
When in Trouble
Lock the operation on the front panel.
Setup value
Content
1ROLPLWRQWKHIURQWSDQHORSHUDWLRQ
[0]
1
Lock the operation on the front panel
Related page

4-51
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Note
Setup

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Pr6.00
$QDORJWRUTXHIHHGIRUZDUGFRQYHUVLRQ
gain
Range
Unit
Default
0 to 100
0.1V/100%
Related
control mode
P S
6HWWKHLQSXWJDLQRIDQDORJWRUTXHIHHGIRUZDUG
WRDUHLQYDOLG
8VDJHH[DPSOHRI$QDORJWRUTXHIHHGIRUZDUG!
6HWWLQJELWSODFHRI3U)XQFWLRQH[SDQVLRQVHWXSWRHQDEOHVWKHDQDORJWRUTXHIHHG
IRUZDUG:KHQWKHDQDORJLQSXWLVXVHGE\DQRWKHUIXQFWLRQHJDQDORJWRUTXHOLPLWWKH
IXQFWLRQEHFRPHVLQYDOLG
7KHYROWDJH9DSSOLHGWRWKHDQDORJLQSXWLVFRQYHUWHGWRWKHWRUTXHYLD3U$QDORJ
WRUTXHIHHGIRUZDUGFRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQGLQ&&:
GLUHFWLRQLILWLVSRVLWLYHYROWDJHRULQ&:GLUHFWLRQLIQHJDWLYH
7KH FRQYHUVLRQ RI DQDORJ LQSXW LQSXW YROWDJH >9@ WR WKH WRUTXH FRPPDQG >@ WR WKH
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7RUTXHFRPPDQG LQSXWYROWDJH93UVHWXSYDOXH
Pr6.02
9HORFLW\GHYLDWLRQH[FHVVVHWXS
Range
Unit
Default
0 to 20000
r/min
Related
control mode
:KHQWKHVSHHGGHYLDWLRQGLIIHUHQFHEHWZHHQLQWHUQDOSRVLWLRQDOFRPPDQGDQGDFWXDO
VSHHGH[FHHGVWKLVYDOXH(UU6SHHGRYHUGHYLDWLRQSURWHFWLRQRFFXUV
7KLVSURWHFWLRQLVQRWGHWHFWHGZKHQWKHVHWXSYDOXHLV
Pr6.04
Range
Unit
Default
Related
control mode
0 to 500
r/min
300
P S T F
Related
control mode
6HWXSWKHFRPPDQGVSHHGXVHGIRU-2*WULDOUXQYHORFLW\FRQWURO
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Pr6.05
%HIRUHXVLQJUHIHUWR33UHSDUDWLRQ7ULDO5XQ
Position 3rd gain valid time
Range
Unit
Default
0 to 10000
0.1ms
6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG
:KHQQRWXVLQJWKLVSDUDPHWHUVHW3UWRDQG3UWR
7KLVLVYDOLGIRURQO\SRVLWLRQFRQWUROIXOOFORVHGFRQWURO
Pr6.06
Position 3rd gain scale factor
Range
Unit
Default
50 to 1000
100
Related
control mode
6HWXSWKHUGJDLQE\DPXOWLSO\LQJIDFWRURIWKHVWJDLQ
UGJDLQ VWJDLQ Pr6.06/100
Note
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1
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Pr6.07
Torque command additional value
Range
Unit
Default
WR
Related
control mode
P S
6HW XS WKH RIIVHW ORDG FRPSHQVDWLRQ YDOXH XVXDOO\ DGGHG WR WKH WRUTXH FRPPDQG LQ D
FRQWUROPRGHH[FHSWIRUWKHWRUTXHFRQWUROPRGH
8SGDWHWKLVSDUDPHWHUZKHQWKHYHUWLFDOD[LVPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Positive direction torque compensation
value
Range
Unit
Default
WR
Related
control mode
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHGWRWKHWRUTXHFRPPDQGZKHQ
IRUZDUGSRVLWLRQDOFRPPDQGLVIHG
8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Negative direction torque compensation
value
Range
Unit
Default
WR
Related
control mode
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHGWRWKHWRUTXHFRPPDQGZKHQ
QHJDWLYHGLUHFWLRQSRVLWLRQDOFRPPDQGLVIHG
8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Pr6.10
Range
Unit
Default
Related
control mode
0 to 63
P S T F
4
Setup
Set up the function in unit of bit.

Function
3
Connection
Pr6.09
2
Preparation
Pr6.08
Setup value
[0]
1
Valid
bit 0
6SHHGREVHUYHU
,QYDOLG
bit 1
'LVWXUEDQFHREVHUYHU
,QYDOLG
Valid
$OZD\VYDOLG
9DOLGRQO\ZKHQVWJDLQ
is selected.
Valid
'LVWXUEDQFHREVHUYHURSHUDWLRQVHWXS
bit 3
,QHUWLDUDWLRVZLWFKLQJ
,QYDOLG
bit 4
&XUUHQWUHVSRQVHLPSURYHPHQW
,QYDOLG
Valid
bit 5
$QDORJWRUTXH))
,QYDOLG
Valid
Adjustment
bit 2
* bit 0 = LSB
Unit
Default
Related
control mode
50 to 100
100
P S T F
)LQHWXQHWKHFXUUHQWUHVSRQVHZLWKUHVSHFWWRGHIDXOWVHWXS
6
When in Trouble
Pr6.11
Range
Related page

4-53
Supplement
Note
'HIDXOW>@
Pr6.13
2nd Inertia ratio
Range
Unit
Default
Related
control mode
0 to 10000
250
P S T F
Set 2nd inertia ratio.

<RXFDQVHWXSWKHUDWLRRIWKHORDGLQHUWLDDJDLQVWWKHURWRURIWKHPRWRULQHUWLD
3U ORDGLQHUWLDURWRULQHUWLD>@
Caution
Pr6.14
,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV+]:KHQ
WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU
Range
Unit
Default
Related
control mode
0 to 1000
1ms
200
P S T F
6HWXSWKHWLPHDOORZHGWRFRPSOHWHHPHUJHQF\VWRSLQDQDODUPFRQGLWLRQ([FHHGLQJWKLV
time puts the system in alarm state.
:KHQVHWXSYDOXHLVLPPHGLDWHVWRSLVGLVDEOHGDQGWKHLPPHGLDWHDODUPVWRSLVHQDEOHG
Pr6.15
2nd over-speed level setup
Range
Unit
Default
Related
control mode
0 to 20000
r/min
P S T F
:KHQ WKH PRWRU VSHHG H[FHHGV WKLV VHWXS WLPH GXULQJ HPHUJHQF\ VWRS VHTXHQFH LQ DQ
DODUPFRQGLWLRQ(UUQGRYHUVSHHGSURWHFWLRQZLOOEHDFWLYDWHG
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Pr6.17 *
)URQWSDQHOSDUDPHWHUZULWLQJVHOHFWLRQ
Range
Unit
Default
Related
control mode
0 to 1
P S T F
6SHFLI\WKH((3520ZULWLQJSURFHGXUHZKHQSDUDPHWHULVHGLWHGIRUPWKHIURQWSDQHO
Setup value
Writing
[0]
'RQRWZULWHWR((3520DWWKHVDPHWLPH
Pr6.18 *
:ULWHWR((3520DWWKHVDPHWLPH
3RZHUXSZDLWWLPH
Range
Unit
Default
Related
control mode
0 to 100
0.1s
P S T F
6HWXSWKHVWDQGDUGLQLWLDOL]DWLRQWLPHVDIWHUSRZHUXS
Note
Related page
4-54

3((3520:ULWLQJ0RGH3,QSXWVDQGRXWSXWVRQFRQQHFWRU;
1
'HIDXOW>@
Pr6.19 *
Range
Unit
Default
Related
control mode
0 to 32767
pulse
P S T F
,IWKHQXPEHURIRXWSXWSXOVHVSHURQHPRWRUUHYROXWLRQDIWHUGLYLVLRQRISXOVHRXWSXWLVQRW
DQLQWHJHUQHDGMXVWWKHZLGWKRIHQFRGHU=SKDVH
=SKDVHVHWXSRIH[WHUQDOVFDOH
Range
Unit
Default
0 to 400
Related
control mode
6HWXSWKH=SKDVHUHJHQHUDWLYHZLGWKRIH[WHUQDOVFDOHLQXQLWRIWLPH(YHQLIWKHZLGWKRI
=SKDVHVLJQDOFDQQRWEHGHWHFWHGEHFDXVHWKHZLGWKHTXLYDOHQWRIWKHWUDYHOGLVWDQFHIURP
WKHH[WHUQDOVFDOHLVWRRVKRUWWKH=SKDVHVLJQDOZLOOEHRXWSXWIRUDWOHDVWWKHSHULRGVHWWR
this parameter.
6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH
setup
Range
Unit
Default
0 to 228
pulse
Related
control mode
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H[WHUQDOVFDOHDVWKHVRXUFHRIWKHRXWSXWVHWWKH=SKDVHRXWSXWLQWHUYDOLQXQLWVRI$SKDVH
RXWSXWSXOVHVRIWKHH[WHUQDOVFDOHEHIRUHPXOWLSOLHGE\
Setup value
Content
2XWSXW=SKDVHRQO\DWDEVROXWHSRVLWLRQRIH[WHUQDOVFDOH
[0]
$IWHUWKHSRZHULVIHGWRWKHGULYHUWKH=SKDVHDVLWFURVVHVWKH]HURDW
WKHDEVROXWHSRVLWLRQRIH[WHUQDOVFDOHLVRXWSXWLQV\QFKURQRXVZLWKWKH
$SKDVH6XEVHTXHQWO\WKH=SKDVHLVRXWSXWDWWKH$SKDVHRXWSXWSXOVH
LQWHUYDOVVHWWRWKLVSDUDPHWHU
$%SKDVHH[WHUQDOVFDOHSXOVHRXWSXW
method selection
Range
Unit
Default
0 to 1
Setup
1 to 268435456
Pr6.22 *
Related
control mode
Setup value
Pr6.23
5
Adjustment
6HOHFWWKHSXOVHUHJHQHUDWLRQPHWKRGRI$%DQG=SDUDOOHOH[WHUQDOVFDOH
[0]
3
Connection
Pr6.21 *
Preparation
Pr6.20 *
Regenerating method
'LUHFWO\RXWSXWWKHVLJQDOVIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
2XWSXW$DQG%SKDVHVLJQDOVUHFRYHUHGIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
Z-phase is output directly.
Disturbance torque compensating gain
Unit
Default
WR
Related
control mode
P S
6HWXSWRFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH
$IWHUVHWWLQJXS3ULQFUHDVH3U
7KH GLVWXUEDQFH VXSSUHVVLQJ FDSDELOLW\ LQFUHDVHV E\ LQFUHDVLQJ WKH JDLQ EXW LW LV
DVVRFLDWHGZLWKLQFUHDVLQJYROXPHRIRSHUDWLRQQRLVH
7KLVPHDQVWKDWZHOOEDODQFHGVHWXSFDQEHREWDLQHGE\DGMXVWLQJ3UDQG3U
6
When in Trouble
Range
Related page

4-55
Supplement
Note
'HIDXOW>@
Pr6.24
Disturbance observer filter
Range
Unit
Default
0 to 2500
0.01ms
53
Related
control mode
P S
6HWXSWKHOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFHWRUTXHFRPSHQVDWLRQ
)LUVW VHW XS 3U WR D ODUJHU YDOXH DQG FKHFN WKH RSHUDWLRQ ZLWK 3U 'LVWXUEDQFH
WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH
RI3U$ORZOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\
DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ
QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG
Pr6.27 *
Alarm latch time selection
Range
Unit
Default
Related
control mode
0 to 10
P S T F
Range
Unit
Default
Related
control mode
0 to 3
P S T F
Set up the latch time.

Setup value
Content
/DWFKWLPHLQQLWH
1 [s]
2 [s]
3 [s]
4 [s]
[5]
6
Pr6.31
Latch time
5 [s]
6 [s]
7 [s]
8 [s]
9 [s]
10
10 [s]
Real time auto tuning estimation speed
6HWXSWKHORDGFKDUDFWHULVWLFVHVWLPDWLRQVSHHGZLWKWKHUHDOWLPHDXWRWXQLQJEHLQJYDOLG$
KLJKHUVHWXSYDOXHDVVXUHVIDVWHUUHVSRQVHWRDFKDQJHLQORDGFKDUDFWHULVWLFVEXWLQFUHDVHV
YDULDWLRQV LQ GLVWXUEDQFH HVWLPDWLRQ 5HVXOW RI HVWLPDWLRQ LV VDYHG WR ((3520 HYHU\
minutes.
Setup value
Mode
Description
1RFKDQJH
[1]
$OPRVWFRQVWDQW
Stop estimation of load characteristics.

5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\PLQXWH
6ORZHUFKDQJH
5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\VHFRQG
3*
Faster change
Obtain best suitable estimation in response to changes in load

characteristics.
* ,IWKHDXWRPDWLFRVFLOODWLRQGHWHFWLRQLVHQDEOHGE\WKHVXSSRUWVRIWZDUH3$1$7(50WKH
VHWXSYDOXHLVXVHG
Note
Related page
4-56

7KHVHWXSVXSSRUWVRIWZDUH3$1$7(50FDQEHGRZQORDGHGIURPRXUZHEVLWH
Pr6.32
Real time auto tuning custom setup
Range
Unit
Default
Related
control mode
WR
P S T F
:KHQWKHRSHUDWLRQPRGHRIUHDOWLPHDXWRWXQLQJLVVHWWRWKHFXVWRPL]H3U VHW

WKHDXWRPDWLFDGMXVWLQJIXQFWLRQDVVKRZQEHORZ
Bit
Content
Preparation
Load characteristics
estimation *
Setup value
[0]
1
Function
Disable
Enable
* ,I WKH ORDG FKDUDFWHULVWLFV HVWLPDWLRQ LV GLVDEOHG WKH FXUUHQW VHWXS
FDQQRWEHFKDQJHGHYHQLIWKHLQHUWLDUDWLRLVXSGDWHGDFFRUGLQJWR
WKHHVWLPDWHGYDOXH:KHQWKHWRUTXHFRPSHQVDWLRQLVXSGDWHGE\
WKHHVWLPDWHGYDOXHLWLVFOHDUHGWRLQYDOLG
Inertia ratio
update
Setup value
[0]
1
Function
Use the current setup.
8SGDWHE\WKHHVWLPDWHGYDOXH
6 to 4
Torque
compensation
Compensation setup
Pr6.07 Pr6.08 Pr6.09
0 clear 0 clear 0 clear
Update 0 clear 0 clear
/RZ
/RZ
Update
Middle
Middle
Update
High
High
5
Adjustment
Update
4
Setup
Set up the update to be made according to the results of load

FKDUDFWHULVWLFVHVWLPDWLRQRI3U7RUTXHFRPPDQGDGGLWLRQDOYDOXH
3U SRVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH DQG 3U
QHJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
Setup value
Function
Use current setup
[0]
1
Disable torque compensation
2
9HUWLFDOD[LVPRGH
Friction compensation
3
ORZ
Friction compensation
4
PLGGOH
Friction
compensation
5
KLJK
3
Connection
Set up update to be made based on result of the load characteristics

estimation of Pr0.04 Inertia ratio.
3 to 2
Description
Enable/disable the load characteristics estimation function.
1 to 0
Enable/disable the basic gain setup to be made according to Pr0.03

Real time auto tuning mechanical stiffness selection.
Stiffness
setup
)L[HG
parameter
setup
Setup value
[0]
1
Function
Disable
Enable
(QDEOHGLVDEOHWKHFKDQJHRISDUDPHWHUWKDWLVQRUPDOO\VHWDWD[HGYDOXH
Setup value
[0]
1
Function
6HWWRD[HGYDOXH
6HOHFWWKHJDLQVZLWFKLQJUHODWHGSDUDPHWHUWREHXVHGZKHQWKHUHDO
time auto tuning is enabled.
Gain
VZLWFKLQJ
setup
Setup value
[0]
1
2
Function
'LVDEOHJDLQVZLWFKLQJ
(QDEOHJDLQVZLWFKLQJ
Supplement
10 to 9
When in Trouble
FRQWLQXHG
4-57
'HIDXOW>@
Caution
7KLVSDUDPHWHUVKRXOGEHVHWXSELWE\ELW7RSUHYHQWVHWWLQJHUURUXVHRIWKHVHWXSVXSSRUW
VRIWZDUHLVUHFRPPHQGHGZKHQHGLWLQJSDUDPHWHU
6HWXSSURFHGXUHRIELWZLVHSDUDPHWHU!
:KHQVHWWLQJSDUDPHWHUWRDYDOXHRWKHUWKDQFDOFXODWHWKHVHWXSYDOXHRI3ULQWKH
IROORZLQJSURFHGXUH
,GHQWLI\WKH/6%RIWKHVHWXS
([DPSOH/6%RIWKHWRUTXHFRPSHQVDWLRQIXQFWLRQLV
0XOWLSO\WKHVHWXSYDOXHE\SRZHURI/6%
([DPSOH7RVHWWKHWRUTXHFRPSHQVDWLRQIXQFWLRQWRIULFWLRQFRPSHQVDWLRQPLGGOH
24
3HUIRUPVWHSVDQGIRUHYHU\VHWXSVVXPXSWKHYDOXHVZKLFKDUHWREH3UVHWXSYDOXH
([DPSOH/RDG FKDUDFWHULVWLFV PHDVXUHPHQW HQDEOH LQHUWLD UDWLR XSGDWH HQDEOH
WRUTXHFRPSHQVDWLRQ IULFWLRQFRPSHQVDWLRQPLGGOHVWLIIQHVVVHWXS HQDEOH
[HGSDUDPHWHU VHWWRD[HGYDOXHJDLQVZLWFKLQJVHWXS HQDEOHWKHQ
2024789
Pr6.34
Hybrid vibration suppression gain
Range
Unit
Default
0 to 30000
0.1/s
Related
control mode
6HWXSWKHK\EULGYLEUDWLRQVXSSUHVVLRQJDLQIRUIXOOFORVHGFRQWUROOLQJ
)LUVWVHWLWWRWKHYDOXHLGHQWLFDOWRWKDWRISRLVRQORRSJDLQDQGWKHQQHWXQHDVQHFHVVDU\
Pr6.35
Hybrid vibration suppression filter
Range
Unit
Default
0 to 6400
0.01ms
10
Related
control mode
6HWXSWKHWLPHFRQVWDQWRIWKHK\EULGYLEUDWLRQVXSSUHVVLRQOWHUIRUIXOOFORVHGFRQWUROOLQJ
:KLOH GULYLQJ XQGHU IXOOFORVHG FRQWURO JUDGXDOO\ LQFUHDVH WKH VHWXS YDOXH DQG FKHFN
changes in the response.
Pr6.37
Oscillation detecting level
Range
Unit
Default
Related
control mode
0 to 1000
0.1%
P S T F
6HWXSWKHRVFLOODWLRQGHWHFWLQJOHYHO
8SRQ GHWHFWLRQ RI D WRUTXH YLEUDWLRQ ZKRVH OHYHO LV KLJKHU WKDQ WKLV VHWXS YDOXH WKH
RVFLOODWLRQGHWHFWLRQDODUPZLOOEHLVVXHG
Pr6.38 *
Alarm mask setup
Range
Unit
Default
Related
control mode
WR
P S T F
Set up the alarm detection mask. Placing 1 to the corresponding bit position disables
detection of the alarm condition.
Pr6.39
Range
Unit
Default
Related
control mode
)L[HGWR
Note
Related page
4-58

Setup
Inspection Before Trial Run
1
(1) Inspection on wiring

0LVZLULQJ"(VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
6KRUWRUJURXQGHG"
/RRVHFRQQHFWLRQ"
(2) Confirmation of power supply and voltage

5DWHGYROWDJH"
Preparation
s la
Po er
s
l
3
Connection
4
(3) Fixing of the servo motor

8QVWDEOHPRXQWLQJ"
Setup
(4) Separation from the

PHFKDQLFDOV\VWHP
Co
e tor
(5) Release of the brake
5
e
Adjustment
ro
a
otor
(6) Turn to Servo-OFF after finishing the trial run by pressing
6
When in Trouble
7
'HWDLOVRIZLULQJUHIHUWR32YHUDOO:LULQJ
IXQFWLRQFRQQHFWRU;([WHUQDOVFDOHFRQQHFWRU
4-59
Supplement
Note
Setup
Trial Run by Connecting the Connector X4
Trial Run (JOG run) at Position Control Mode

&RQQHFWWKH&RQQHFWRU;
(QWHUWKHSRZHU'&WR9WRFRQWUROVLJQDO&20&20
(QWHUWKHSRZHUWRWKHGULYHU
&RQUPWKHGHIDXOWYDOXHVRISDUDPHWHUV
0DWFKWRWKHRXWSXWIRUPDWRIWKHKRVWFRQWUROOHUZLWK3U&RPPDQGSXOVHLQSXW
PRGHVHWXS
:ULWHWR((3520DQGWXUQRIIRQWKHSRZHURIWKHGULYHU
&RQQHFW WKH 6HUYR21 LQSXW 65921 DQG &20 &RQQHFWRU ; 3LQ WR EULQJ
WKHGULYHUWR6HUYR21VWDWXVDQGHQHUJL]HWKHPRWRU

(QWHUORZIUHTXHQF\IURPWKHKRVWFRQWUROOHUWRUXQWKHPRWRUDWORZVSHHG
&KHFNWKHPRWRUURWDWLRQDOVSHHGDWPRQLWRUPRGHZKHWKHU
URWDWLRQDOVSHHGLVDVSHUWKHVHWXSRUQRWDQG
WKHPRWRUVWRSVE\VWRSSLQJWKHFRPPDQGSXOVHRUQRW
,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RI)DFWRUIRU1R0RWRU
5XQQLQJRI3UHSDUDWLRQ
:LULQJ'LDJUDP
Connector X4
7
29
DC
12V to 24V
41
3
1k
DC
12V
1k
COM+
SRV-ON
COMPULS1
PULS2
SIGN1
SIGN2
44
45
46
PULSH1
In case of
open collector input
2k
120
PULSH2
2k
2k
SIGNH1
47
SIGNH2
13
GND
20k
20k
20k
120
2k
H/L
PULS
SIGN
in case of
line receiver
input
20k
3DUDPHWHU
Pr No.
Title
Setup value
0.01
Control mode setup
5.04
0.05
0/1
0.07
5.18
,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLQSXW
5.17
,QSXWVLJQDOVWDWXV
No.
0
4-60
Title of signal
6HUYR21
Monitor display
$
Trial Run (JOG run) at Velocity Control Mode
DC
12V to 24V
26
41
15
COM+
SRV-ON
ZEROSPD
COM
SPR/TRQR/SPL
GND
Run with ZEROSPD switch close,

and Stop with open
In case of bi-directional operation

(Positive/Negative), provide a bipolar
power supply, or use with Pr3.15 = 3.
In case of one-directional operation
Adjustment
14
DC
10V
3DUDPHWHU
Title
Control mode setup
6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
Speed command rotational direction selection
5HYHUVDORIVSHHGFRPPDQGLQSXW
$QDORJLQSXW$,RIIVHWVHWXS
$QDORJLQSXW$,ILOWHU
Setup value
1
1
1
6
When in Trouble
Pr No.
0.01
5.04
3.15
3.00
3.01
3.02
3.03
4.22
4.23
Set up as
required
,QSXWVLJQDOVWDWXV
Note
Title of signal
6HUYR21
Speed zero clamp
Monitor display
$
Supplement
No.
0
5
4
Setup
29
3
Connection
:LULQJ'LDJUDP
7
2
Preparation
(QWHUWKHSRZHU'&WR9WRFRQWUROVLJQDO&20&20
&RQQHFWWKH6HUYR21LQSXW65921&RQQHFWRU;3LQDQG&20&RQQHFWRU
;3LQWRWXUQWR6HUYR21DQGHQHUJL]HWKHPRWRU
&ORVHWKHVSHHG]HURFODPSLQSXW=(5263'DQGDSSO\'&YROWDJHEHWZHHQYHORFLW\
FRPPDQGLQSXW635&RQQHFWRU;3LQDQG*1'&RQQHFWRU;3LQDQG
JUDGXDOO\LQFUHDVHIURP9WRFRQUPWKHPRWRUUXQV
&RQUPWKHPRWRUURWDWLRQDOVSHHGLQPRQLWRUPRGH
:KHWKHUWKHURWDWLRQDOVSHHGLVSHUWKHVHWXSRUQRW
:KHWKHUWKHPRWRUVWRSVZLWK]HURFRPPDQGRUQRW
,IWKHPRWRUGRHVURWDWHDWDPLFURVSHHGZLWKFRPPDQGYROWDJHRI
:KHQ\RXZDQWWRFKDQJHWKHURWDWLRQDOVSHHGDQGGLUHFWLRQVHWXSWKHIROORZLQJSDrameters again.
3U6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
5HIHUWR33DUDP 3U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQ HWHU6HWXS3DUDPHWHUVIRU
9HORFLW\7RUTXH&RQWURO
3U5HYHUVDORIVSHHGFRPPDQGLQSXW
,I WKH PRWRU GRHV QRW UXQ FRUUHFWO\ UHIHU WR 3 'LVSOD\ RI )DFWRU IRU 1R0RWRU
5XQQLQJRI3UHSDUDWLRQ
4-61

Trial Run (JOG run) at Torque Control Mode

(QWHUWKHSRZHU'&9WRFRQWUROVLJQDO&20&20
6HWDORZHUYDOXHWR3UWKVSHHGRIVSHHGVHWXS
(QHUJL]H WKH PRWRU E\ FRQQHFWLQJ WKH 6HUYR21 LQSXW 65921 &RQQHFWRU ;
3LQDQG&203LQRI&RQQHFWRU;WRWXUQWR6HUYR21VWDWXV
&RQUPWKDWWKHPRWRUUXQVDVSHUWKHVHWXSRI3UE\DSSO\LQJ'&YROWDJHSRVLWLYHQHJDWLYHEHWZHHQWKHWRUTXHFRPPDQGLQSXW3LQRI&RQQHFWRU;DQG*1'
3LQRI&RQQHFWRU;
,I\RXZDQWWRFKDQJHWKHWRUTXHPDJQLWXGHGLUHFWLRQDQGYHORFLW\OLPLWYDOXHDJDLQVW
WKHFRPPDQGYROWDJHVHWXSWKHIROORZLQJSDUDPHWHUV
3UInput gain of torque command
5HIHUWR33DUDPHWHU6HWXS
3DUDPHWHUVIRU9HORFLW\7RUTXH&RQ 3U,QSXWUHYersal of torque command
WURO
3U6SHHGOLPLWYDOXH
,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RIIDFWRUIRU1RPRWRUUXQQLQJRI3UHSDUDWLRQ
:LULQJ'LDJUDP
C
C
to
or
ro
re t o al r
Pos t e Ne at e
ea
olar o er s
l .
C
0
ase o o e
a r
3DUDPHWHU
Pr No.
Title
Setup value
0.01
Control mode setup
5.04
3.15
3.17
3.19
3.20
,QSXWUHYHUVDORIWRUTXHFRPPDQG
Set up as
required
3.21
6SHHGOLPLWYDOXH
ORZHUYDOXH
,QSXWVLJQDOVWDWXV
No.
Note
4-62
Title of signal
Monitor display
6HUYR21
$
Speed zero clamp
Setup
Setup of Motor Rotational Speed and Input Pulse Frequency

Motor rotational speed
(r/min)
Pr0.08
17-bit
20-bit
17
2
40000
220
40000
500K
3000
217
10000
220
10000
250K
3000
217
5000
220
5000
100K
3000
217
2000
220
2000
500K
1500
217
20000
220
20000
2
Preparation
3000
2M
Caution
0D[LQSXWSXOVHIUHTXHQF\YDULHVGHSHQGLQJRQLQSXWWHUPLQDOV
7KHGHVLUHGVHWWLQJFDQEHGHWHUPLQHGE\VHOHFWLQJYDOXHRIQXPHUDWRUDQGGHQRPLQDWRURIHOHFWURQLFJHDU+RZHYHUDQH[FHVVLYHO\KLJKGLYLVLRQRUPXOWLSOLFDWLRQUDWLRFDQQRWJXDUDQWHHWKHRSHUDWLRQ7KHUDWLRVKRXOGEHLQDUDQJHEHWZHHQDQG
([FHVVLYHO\ KLJK PXOWLSOLFDWLRQ UDWLR ZLOO FDXVH (UU FRPPDQG SXOVH PXOWLSOLFDWLRQ
HUURUSURWHFWLRQGXHWRYDU\LQJFRPPDQGSXOVHLQSXWRUQRLVHVHYHQLIWKHRWKHUVHWWLQJVDUHZLWKLQWKHVSHFLHGUDQJH
0
ear
P lle rat o
otal re
Command
pulse
determine
parameter
Decimal figures
21
22
24
16
25
32
64
2
20-bit
27
128
5840
28
256
67500
To rotate the output shaft by

HQWHUWKHFRPPDQGRI
13SXOVHVIURPWKH
host controller.
To rotate the output shaft by

HQWHUWKHFRPPDQGRI
10000 pulses from the host
controller.
365
17

18
213

5840
108
365
20

18
10000

5840
67500
5HIHUWR36HWXSRIFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQUDWLR
HOHFWURQLFJHDUUDWLRRI6XSSOHPHQW
512
210
1024
211
2048
12
4096
213
8192
214
16384
215
32768
216
65536
217
131072
218
262144
219
524288
220
1048576
7
Supplement
+RZWR
108
2n
When in Trouble
Pr0.10
5840
t o rat o
Adjustment
Encoder
Pr0.09
ear rat o
:KHQ VHWWLQJ WKH FRPPDQG GLYLVLRQ DQG PXOWLSOLFDWLRQ UDWLR

DV QXPHUDWRUGHQRPLQDWRU H[SUHVV LW DV 3U3U ZLWK
Pr0.08 = 0. )RU IXOO FORVHG FRQWUROOLQJ VHWWLQJ RI 3U LV LJQRUHGDQGVHWWLQJVRI3UDQG3UDUHDOZD\VDSSOLHG
HJ :KHQ\RXZDQWWRURWDWHWKHPRWRUE\ZLWKWKHORDG
of total reduction ratio of 18/365.
17-bit
4
Setup
:KHQVHWWLQJ3UDQGHQFRGHUUHVROXWLRQLVDXWRPDWLFDOO\VHWXSDVQXPHUDWRUV)RU
IXOOFORVHGFRQWUROOLQJVHWWLQJRI3ULVLJQRUHGDQGVHWWLQJVRI3UDQG3UDUH
DOZD\VDSSOLHG
Connection
Note
Relation between the motor

rotational speed and input
pulse counts
Input pulse frequency

(pps)
4-63
MEMO
4-64
5. Adjustment
1
1. Gain Adjustment
Outline ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning

Preparation
Basic ...........................................................................................................5-4
3. Adaptive filter
$GDSWLYHOWHU ............................................................................................5-10
4. Manual Gain Tuning (Basic)

Outline ......................................................................................................5-13
$GMXVWPHQWLQ3RVLWLRQ&RQWURO0RGH........................................................5-14
$GMXVWPHQWLQ9HORFLW\&RQWURO0RGH ........................................................5-15
Connection
$GMXVWPHQWLQ7RUTXH&RQWURO0RGH .........................................................5-15
$GMXVWPHQWLQ)XOO&ORVHG&RQWURO0RGH ..................................................5-16
Gain Switching Function ...........................................................................5-17
6XSSUHVVLRQRI0DFKLQH5HVRQDQFH ........................................................5-20
5. Manual Gain Tuning (Application)
'DPSLQJ&RQWURO .......................................................................................5-24
)HHGIRUZDUGIXQFWLRQ ...............................................................................5-26
Setup
,QVWDQWDQHRXV6SHHG2EVHUYHU ................................................................5-28
'LVWXUEDQFHREVHUYHU................................................................................5-30
UGJDLQVZLWFKLQJIXQFWLRQ .......................................................................5-32
)ULFWLRQWRUTXHFRPSHQVDWLRQ ...................................................................5-34
,QHUWLDUDWLRVZLWFKLQJIXQFWLRQ ..................................................................5-36
+\EULGYLEUDWLRQGDPSLQJIXQFWLRQ ............................................................5-38
6. About Homing Operation

Adjustment
&DXWLRQRQ+RPLQJ2SHUDWLRQ ..................................................................5-39
Homing with Hit & Stop .............................................................................5-40
3UHVV +ROG&RQWURO ................................................................................5-41
6
When in Trouble
7
Supplement
5-1
1. Gain Adjustment
Adjustment
Outline
Purpose
,W LV UHTXLUHG IRU WKH VHUYR GULYHU WR UXQ WKH PRWRU LQ OHDVW WLPH GHOD\ DQG DV IDLWKIXO DV
SRVVLEOHDJDLQVWWKHFRPPDQGVIURPWKHKRVWFRQWUROOHU<RXFDQPDNHDJDLQDGMXVWPHQW
VRWKDW\RXFDQUXQWKHPRWRUDVFORVHO\DVSRVVLEOHWRWKHFRPPDQGVDQGREWDLQWKHRSWLPXPSHUIRUPDQFHRIWKHPDFKLQH
<e.g. : Ball screw>
Gain setup : Low
[r/min]
+2000
Gain setup : High
Gain setup : High + feed forward setup
0
Motor actual speed
Command Speed
-2000
0.0
125
250
375
0.0
125
250
375
0.0
125
250
375
Position loop gain

Velocity loop gain
: 20
: 100
Position loop gain

Velocity loop gain
: 100
: 50
Position loop gain

Velocity loop gain
: 100
: 50
Time constant of
V-loop integration
: 50
Time constant of
V-loop integration
: 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0

Inertia ratio
: 100

Inertia ratio
: 100

Inertia ratio
: 100
Procedures
Start adjustment
Automatic
adjustment ?
No
Yes
Ready for
command
input ?
Release of
auto-adjusting
function
No
Yes
(Default)
(see P.5-4)
Operation by using
the trial run function
Use the
gain setup of autoadjustment ?
No
(see P.5-17)
Gain automatic
setup function
Real time
auto-gain tuning
Action O.K.?
Yes
No
Yes
Release of
auto-adjusting
function
(see P.5-24)
Manual gain tuning
Action O.K.?
No
Yes
Writing to EEPROM
Finish adjustment
Note
5-2
Consult to authorized dealer
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Type
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Pages
to refer
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Automatic
adjustment
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Basic
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Position/
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command
Basic gain automatic

setting
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control
Adaptive
process
Friction torque
compensation
Notch
filter
Torque
command
Torque
command
Generation
current
control
Motor
current
Motor
Load characteristic
estimation
Resonant frequency
measurement
Servo driver
Motor
speed
Encoder
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Conditions which obstruct real-time auto-gain tuning action
Load inertia
Load
Action
pattern
5-4
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Adjustment
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Setup
Real-time auto-gain tuning
value
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0
Invalid
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6
When in Trouble
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changed.
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5-5
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Note

Basic
Parameters set/changed by real-time auto-gain tuning

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Class No.
Title
Function
04
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07
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additional value
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compensation value
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compensation value
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Parameters which are updated to setup value corresponding to stiffness setup

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Title
00
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02
04
05
06
07
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09
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table.
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Class No.
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5-6
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Setup value when fixed parameter

setup is valid.
03
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10
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11
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12
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13
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switched.
Class No.
Title
Function
14
2nd gain setup
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maintained.
15
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16
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switching
17
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18
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switching
19
20
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21
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switching
22
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23
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switching
24
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25
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26
/HYHORIWRUTXHFRQWUROVZLWFKLQJ
27
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Preparation
maintained.
3
Connection
maintained.
maintained.
Setup
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7KH IROORZLQJ VHWWLQJV DUH DOZD\V VHW WR LQYDOLG ZKHQ 3U 5HDOWLPH DXWRWXQLQJ
setup is not 0.
Title
10
13
QG,QHUWLDUDWLR
23
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compensating gain
24
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6
When in Trouble
Function
5
Adjustment
Class No.
Basic
7
Supplement
Related page
33U33U
5-7

Basic
Caution
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Invalidation of Real-Time Auto-Gain Tuning

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WLPHDXWRJDLQWXQLQJE\VHWWLQJXS3U5HDOWLPHDXWRJDLQWXQLQJVHWXSWR
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EHFRPHVDEQRUPDOYDOXHXVHWKHQRUPDOPRGHDXWRJDLQWXQLQJRUVHWXSSURSHUYDOXH
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Caution
5-8
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UHDOWLPHDXWRWXQLQJLVQRWVDYHG,IWKHUHVXOWLVQRWVDYHGPDQXDOO\ZULWHSDUDPHWHUVWR
((3520DQGWKHQWXUQRIISRZHU
1
Basic
Basic gain parameter setup table

1st gain
Pr1.00
Pr1.01
2nd gain
Pr1.02
Pr1.04
*2
Pr1.06
Pr1.07
Pr1.09 *2
A4
Series
Stiffness
setup
Time
Time
constant
constant
of velocity
of torque (reference)
loop
*1
filter
integration
[0.01ms]
[0.1ms]
15
10000
1500
2800
1100
30
20
10000
1100
2200
900
40
25
10000
900
30
1900
800
45
30
10000
800
45
35
1600
600
55
35
10000
600
55
45
1200
500
70
45
10000
500
75
60
900
400
95
60
10000
400
95
75
700
300
120
75
10000
300
115
90
600
300
140
90
10000
300
140
110
500
200
175
110
10000
200
10
175
140
400
200
220
140
10000
200
320
180
310
126
380
180
10000
126
390
220
250
103
460
220
10000
103
480
270
210
84
570
270
10000
84
14
630
350
160
65
730
350
10000
65
15
720
400
140
57
840
400
10000
57
16
900
500
120
45
1050
500
10000
45
17
1080
600
110
38
1260
600
10000
38
18
1350
750
90
30
1570
750
10000
30
19
1620
900
80
25
1880
900
10000
25
20
2060
1150
70
20
2410
1150
10000
20
10
21
2510
1400
60
16
2930
1400
10000
16
11
22
3050
1700
50
13
3560
1700
10000
13
12
23
3770
2100
40
11
4400
2100
10000
11
13
24
4490
2500
40
5240
2500
10000
14
25
5000
2800
35
5900
2800
10000
26
5600
3100
30
6500
3100
10000
15
27
6100
3400
30
7100
3400
10000
28
6600
3700
25
7700
3700
10000
29
7200
4000
25
8400
4000
10000
30
8100
4500
20
9400
4500
10000
31
9000
5000
20
10500
5000
10000
20
15
3700
25
20
30
25
40
4
5
11
*3
12
13
*3
6
When in Trouble
25
Adjustment
1500
Gain of
velocity
loop
[0.1Hz]
Setup
Gain of
velocity
loop
[0.1Hz]
Gain of
position
loop
[0.1/s]
Connection
Gain of
position
loop
[0.1/s]
Stiffness
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5-9
7
Supplement
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Note
2
Preparation
Time
Time
constant
constant
of velocity
of torque
loop
filter
integration
[0.01ms]
[0.1ms]
Pr1.05
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Adjustment
Adaptive filter
Outline
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Position/Velocity
command
Gain
auto-setup
Filter
auto-adjustment
Position/
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Adaptive
Filter
Torque
command
Motor
current current
control
Motor
Action command under

actual condition
Resonance frequency
estimation
Load inertia estimation
Real time
auto-gain tuning
Motor
speed
Encoder
Servo driver
Applicable Range
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Conditions under which the Adaptive filter is activated
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Others
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Resonance
point
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3'HWDLOVRISDUDPHWHU
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5-12
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Adjustment
Outline
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1. Analog monitor output
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2
Preparation
Before Making a Manual Adjustment
Front panel
4
6
Setup
X7
Connector kit for

analog monitor signal
DV0PM20031
USB mini-B
connection cable
Adjustment
2. Waveform graphic function of the PANATERM

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Connect to X1
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install to the PC.
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5-13
Supplement
Caution
Adjustment
Adjustment in Position Control Mode
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Parameter
No.
(Pr
)
Title of parameter
Standard
value
Parameter
No.
(Pr
)
Title of parameter
Standard
value
1.00
270
0.04
Inertia ratio
1.01
150
0.02
Setup of real time auto-gain tuning mode
1.02
1st time constant of velocity loop integration
370
2.00
Adaptive filter setup mode
1.03
1st filter of velocity detection
1.04
1st time constant of torque filter time
1.10
Velocity feed forward
100
2.14
152
2.15
Setup of 1st damping filter
2.16
1.11
Time constant of feed forward filter
2.17
Setup of 2nd damping filter
1.05
270
1.14
2nd gain setup
1.06
150
1.15
Mode of position control switching
1.07
2nd time constant of velocity loop integration
370
1.16
Delay time of position control switching delay
1.08
2nd filter of speed detection
1.17
Level of position control switching
1.09
2nd time constant of torque filter
152
1.18
Hysteresis at position control switching
2.01
1st notch frequency
5000
1.19
2.02
2.22
Positional command smoothing filter
2.23
Positional command FIR filter
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Order
Parameter
No.
(Pr
)
Pr1.01
1st gain of
velocity loop
300
Pr1.04
1st time constant

of torque filter
50
Pr1.00
1st gain of
position loop
500
Pr1.02
1st time constant

of velocity loop
integration
250
Pr1.10
Velocity feed
forward gain
300
Related page
5-14
Title
Standard
value
How to adjust
Increase the value within the range where no abnormal noise and no
vibration occur. If they occur, lower the value.
When vibration occurs by changing Pr1.01, change this value.
Setup so as to make Pr1.01 x Pr1.04 becomes smaller than 10000.
If you want to suppress vibration at stopping, setup larger value to
Pr1.04 and smaller value to Pr1.01. If you experience too large
vibration right before stopping, lower than value of Pr1.04.
Adjust this observing the positioning time. Larger the setup, faster
the positioning time you can obtain, but too large setup may cause
oscillation.
Setup this value within the range where no problem occurs. If you
setup smaller value, you can obtain a shorter positioning time, but
too small value may cause oscillation. If you setup too large value,
deviation pulses do not converge and will be remained.
Increase the value within the range where no abnormal noise
occurs.
Too large setup may result in overshoot or chattering of position
complete signal, hence does not shorten the settling time. If the
command pulse is not even,you can improve by setting up Pr1.11
(Feed forward filter) to larger value.
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Adjustment
Adjustment in Velocity Control Mode
2
Preparation
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Adjustment
Adjustment in Torque Control Mode
Connection
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Setup
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speed limiting value.
The torque command selection (Pr3.17) specifies the setup method.

Pr3.17 = 0 Set up by using speed limit value 1 (Pr3.21)
Pr3.17 = 1 Set up by using analog input (SPL)

Pr3.17 = 2 For positive direction, set up by using the speed limit value 1
Adjustment
(Pr3.21)
For negative direction, set up by using the speed limit value 2
(Pr3.22)
Related page
7
Supplement
Note
6
When in Trouble
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value.
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Adjustment
Adjustment in Full-Closed Control Mode
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1) Setup of external scale ratio

Setup the external scale ratio using the numerator of external scale division
(Pr3.24) and denominator of external scale division (Pr3.25).
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Number of encoder feedback pulses per motor rotation

Number of external scale pulses per motor rotation
Pr3.25
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Pr3.24
2) Setup of hybrid deviation excess

Set up the minimum value of hybrid deviation excess (Pr3.28) within the
range where the gap between the motor (encoder) position and the load
(feedback scale) position will be considered to be an excess.
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Caution
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We recommend the external scale as 1/40
Note
Related page
5-16
external scale ratio 160.
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Adjustment
Gain Switching Function
Action Command speed

Status
Gain
Stop
(Servo-Lock)
Low gain
(1st gain)
Run
High gain
(2nd gain)
Stop
(Servo-Lock)
Time
Low gain
(1st gain)
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Parameter
No.
(Pr
)
1.01
1.02
1.03
1.04
1.10
1.11
1.06
1.07
1.08
1.09
1.14
1.15
1.16
1.18
1.19
0.04
630
350
270
160
0
65
84
300
50
630
350
160
0
65
0
7
30
0
0
0
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value from load
calculation
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inertia ratio by
executing nor
mal auto-gain
tuning
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7
Supplement
Related page
Inertia ration
When in Trouble
1.17
Adjust Pr1.01
and 1.04 at
stopping
(1st gain)
Adjustment
1.05

1st time constant of velocity integration
1st filter of velocity detection
1st time constant of torque filter
Velocity feed forward
Filter of velocity feed forward
2nd time constant of velocity integration
2nd filter of velocity detection
2nd time constant of torque filter time
Action setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Switching time of position gain
Set up Pr1.14 to
1.19
(Gain switching
condition)
Setup
1.00
Title of parameter
Set up the same

value as Pr1.05
to 1.09 (2nd gain)
to Pr1.00 to 1.04
(1st gain)
Connection
1ms
2ms
Suppress the vibration by lowering the gain.
Execute manual
gain-tuning
without gain
switching
2
Preparation
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5-17

Setup of Gain Switching Condition

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Setup parameters at position control, full-closed control
Setup of gain switching condition

Pr1.15
0
Switching condition to
2nd gain
Fig.
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Delay time *1
Level
Hysteresis *2
Pr1.16
Pr1.17
Pr1.18
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Speed command
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Position deviation
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Setup parameters at velocity control mode

Pr1.20
0
2nd gain
Fig.
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Delay time *1
Level
Hysteresis *2
Pr1.16, 1.21
Pr1.17, 1.22
Pr1.18, 1.23
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Setup parameters at torque control mode

Pr1.24
2nd gain
Fig.
Delay time *1
Level
Hysteresis *2
Pr1.18, 1.27
Pr1.16, 1.25
Pr1.17, 1.26
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gain.
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Hysteresis
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5-18
Fig.A
speed N
Fig. B
command
speed S
S
level
switching level
Preparation
level
switching level
delay
1st
1st gain
2nd
2nd
1st
1st
1st gain
2nd
2nd
1st
3
Fig. C
motor speed or
commanded
speed S
level
Fig. D
delay
1st
2nd gain
Connection
speed N
deviation pulse
1st
level
delay
1st
2nd gain
Fig. F
Setup
Fig. E
1st
speed N
command
speed S
delay
1st
2nd gain
1st
Adjustment
COIN
delay
1st
2nd gain
1st
Fig. G
at stall
1st gain
no command pulse
Pr1.16,delay time
in action
2nd gain
| actual speed | <

Pr1.17 level
at settling
proximity of stall
2nd gain
2nd gain for velocity integrating

only and 1st gain for others
6
When in Trouble
command pulse
exists.
| actual speed | < (Pr1.17 level - Pr1.18 hysteresis)
| actual speed | < (Pr1.17 level - Pr1.178 hysteresis)
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5-19
Supplement
Caution
Adjustment
Suppression of Machine Resonance
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Pr2.08
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Pr2.11
Pr2.12

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0,1$6$ VHULHV IHDWXUH QRUPDO QRWFK ILOWHUV <RX FDQ DGMXVW IUHTXHQF\ DQG
width and depth.
Pr2.01
Pr2.02
Pr2.03
Pr2.04
Pr2.05
Pr2.06
Pr2.07
Pr2.08
Pr2.09
Pr2.10
Pr2.11
Pr2.12
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2nd notch width selection
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5-20
1
Machine characteristics at resonance

Resonance
gain
Anti-resonance
Preparation
frequency
Notch filter
characteristics
gain
Notch
frequency
width
torque
command
after filtering
torque
command
Connection
width
Depth
4
frequency
frequency
Adaptive filter
1st notch filter
2nd to 4th notch filter
Suppress resonance point

instantaneously.
Setup
frequency automatic following
Adjustment of frequency,
width and depth is enabled.
(refer to P.5-22)
Copying of the setup from

the adaptive filter to 1st
notch filter is enabled.
Example of application machine

Gain
Gain
Gain
frequency
frequency
Adjustment
frequency
velocity response
Machine which resonance point
varies by each machine or by aging
daptive filter enabled
Machine which has multiple

resonance points
Depth adjustment enabled

When in Trouble
Adaptive filter and

notch filter enabled
Machine which has small peak

nearby velocity response
7
Supplement
Related page
33'HWDLOVRISDUDPHWHU
5-21

Notch width and depth

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ZLWK UHVSHFW WR WKH QRWFK IUHTXHQF\ DW LWV FHQWHU ZKHQ GHSWK LV DQG WKH YDOXH LV DV
shown in the table below.
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VKRZVWKLVYDOXHLQG%RQWKHULJKW
Notch width
Band width/center
frequency
A4 series
(reference)
Notch depth
I/O ratio
[dB]
A5 series
0.41
0.5
0.56
0.59
0.01

0.71
0.71
0.02

0.86
0.84
0.03

1.01
0.04

1.19
0.05

1.41
0.06

1.68
0.07

0.08

2.38
0.09

10
2.83
10
0.1

11
3.36
15
0.15

12
20
0.2

13
4.76
25
0.25

14
5.66
30
0.3

15
6.73
35
0.35

16
40
0.4
17
9.51
45
0.45

18
11.31
50
0.5
19
13.45
60
0.6

20
16
70
0.7

80
0.8

90
0.9

100
Notch filter frequency characteristics

10
Depth 0, width 4
Depth 50, width 4
Depth 0, width 8
5
0
Gain [dB]
>G%@
5
10
15
20
25
30
10
100
Frequency [Hz]
5-22
1000
How to Check the Resonance Frequency of the Machine
Note
3
Connection
Remarks
2
Preparation
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6
When in Trouble
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Adjustment
Relation of Gain Adjustment and Machine Stiffness
Setup
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Related page
3OHDVH GRZQORDG WKH 6HWXS VXSSRUW VRIWZDUH 3$1$7(50IURP RXU ZHE VLWH DQGXVH DIWHU
install to the PC.
http://industrial.panasonic.com/jp/i/fa_motor.html
32XWOLQHRI6HWXSVXSSRUWVRIWZDUH3$1$7(50
5-23
Supplement
Note
Adjustment
Damping Control
Outline
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Front edge vibrates.
Setup of front edge vibration
frequency
Position
command
Damping
filter
Torque
command
Position/Velocity
Current
control
control
Motor position
Driver
Motor
Vibration
measurement
with
displacement
sensor
travel
Coupling Work Ball

screw Machine
PLC
Motor
current
base
Motor
Load
Encoder
Servo driver
Applicable Range
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Conditions under which the damping control is activated
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Conditions which obstruct the damping control effect
Load
Related page
5-24
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How to Use
4
Setup
Caution
3
Connection
(2) Setup of damping filter (1st: Pr2.15, 2nd: Pr2.17, 3rd: Pr2.19, 4th: Pr2.21))
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Damping filter setup is
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too large.
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Torque
command
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2
Preparation
(1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20))
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Position deviation
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vibration frequency
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Damping Control
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(3) Setup of damping filter switching selection (Pr2.13)
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VS-SEL2
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21
21
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21
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21
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Position command
direction
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5-25
7
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When in Trouble
Pr2.13
Adjustment
Pr2.13
Adjustment
Feed forward function
Outline
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command.
Related Parameter
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Class No.
Title
Function
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10
9HORFLW\IHHGIRUZDUG
gain
11
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12
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gain
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gain
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setup
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ELW /6%
Usage example of velocity feed forward

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Positional deviation
Velocity feed forward gain

0[%]
Motor speed
Command speed
Positional deviation within the

constant speed range will
reduce as the velocity
forward gain is increased.
50[%]
80[%]
Time
5-26
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Velocity feed forward gain = Fixed 100[%]
Torque feed forward

gain
0[%]
Time
Positional deviation in the

region where acceleration
is constant can be reduced
by torque feed forward.
Setup
50[%]
3
Connection
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Positional deviation
Command speed
2
Preparation
Usage example of torque feed forward
Motor speed
Feed forward function
100[%]
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7
Supplement
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Related page
6
When in Trouble
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Torque command [%]
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333
LQSXW LV XVHG E\ DQRWKHU IXQFWLRQ HJ DQDORJ WRUTXH
200
OLPLWWKHIXQFWLRQEHFRPHVLQYDOLG
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6 10
WRWKHWRUTXHYLD3U$QDORJWRUTXHIHHGIRUZDUG
6
10
Input voltage
FRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQG
[V]
LQ&&:GLUHFWLRQLILWLVSRVLWLYHYROWDJHRULQ&:
200
GLUHFWLRQLIQHJDWLYH
333
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WRWKHPRWRUWRUTXHFRPPDQGWKURXJKWKHSURFHVVDV
VKRZQLQWKHJUDSKEHORZ
7KHVORSHUHSUHVHQWVZKHQ3U 7KHVORSHFKDQJHVDVWKHVHWXSYDOXHFKDQJHV
Adjustment
Usage example of analog torque feed forward
3'HWDLOVRISDUDPHWHU
5-27
Adjustment
Outline
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RIWKHVSHHGGHWHFWLRQ
Velocity
command
Velocity
control
Estimated
velocity
value
Torque
command
Current
control
Motor
current
Motor
Load
Instantaneous
speed observer
Load model
Position control
(Total inertia)
Motor
position
Encoder
Servo driver
Applicable Range
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Conditions under which the instantaneous speed observer is activated
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Control mode 3U 3RVLWLRQFRQWURO
3U 9HORFLW\FRQWURO
Others
5HDOWLPHDXWRWXQLQJVKRXOGEHGLVDEOHG3U
Caution
7KLVIXQFWLRQGRHVQRWZRUNSURSHUO\RUQRHIIHFWLVREWDLQHGXQGHUWKHIROORZLQJFRQGLtions.
Conditions which obstruct instantaneous speed observer action
Load
Others
Related page
5-28
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PDFKLQHLVODUJH
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EHORZ1RQOLQHDUIDFWRUVXFKDVODUJHEDFNODVKH[LVWV
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6HWWOLQJUDQJHLVYHU\VPDOO
1
Related Parameter
Class No.
10
Title
)XQFWLRQH[SDQVLRQ
setup
Function
2
Preparation
6SHHGREVHUYHUHQDEOHELWELWYDOLGLQYDOLGWKH

IXQFWLRQ
ELW,QYDOLG9DOLG
*ELW /6%
How to Use
(1) Setup of inertia ratio (Pr0.04)
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value.
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value.
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PHDVXUHWKHLQHUWLDUDWLR
5
Adjustment
(3) Setup of instantaneous velocity observer (Pr6.10)

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REVHUYHU
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Setup
(2) Adjustment at normal position control

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Connection
Set up as exact inertia ratio as possible.
6
When in Trouble
7
Supplement
5-29
Adjustment
Disturbance observer
Outline
7KLVIXQFWLRQXVHVWKHGLVWXUEDQFHWRUTXHGHWHUPLQHGE\WKHGLVWXUEDQFHREVHUYHUWRUHGXFHHIIHFWRIGLVWXUEDQFHWRUTXHDQGYLEUDWLRQ
Disturbance torque
Torque command +
Added in the direction to
cancel the disturbance
Motor + load
+
Torque command
Motor speed
Load model
Gain
Set in Pr6.23
Filter
Set in Pr6.24
Estimated disturbance torque value
Applicable Range
Conditions under which the disturbance observer is activated
&RQWUROPRGHWREHHLWKHURUERWKSRVLWLRQFRQWURORUDQGYHORFLW\FRQWURO
Control mode 3U 3RVLWLRQFRQWURO
3U 9HORFLW\FRQWURO
Others
,QVWDQWDQHRXVVSHHGREVHUYHUVKRXOGEHGLVDEOHG3UELW
Caution
(IIHFWPD\QRWEHH[SHFWHGLQWKHIROORZLQJFRQGLWLRQ
Conditions which obstruct disturbance observer action
Load
Related page
5-30
5HVRQDQW IUHTXHQF\ LV ORZHU WKDQ WKH FXWRII IUHTXHQF\ HVWLPDWHG E\ WKH
GLVWXUEDQFHREVHUYHU
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1
Related Parameter
Class No.
10
Function
Function
H[SDQVLRQVHWXS
6HWVELWVUHODWHGWRGLVWXUEDQFHREVHUYHU
ELW ,QYDOLG
9DOLG
ELW $OZD\VYDOLG alid only when 1st gain is selected.
*ELW /6%
([DPSOH
7RXVHWKHGLVWXUEDQFHREVHUYHULQWKHHQDEOHGPRGHRQO\
ZKHQVWJDLQLVVHOHFWHG
6HWXSYDOXH
7RXVHWKHGLVWXUEDQFHREVHUYHUDOZD\VLQWKHHQDEOHG
PRGH
6HWXSYDOXH
23
24
'LVWXUEDQFH
REVHUYHUOWHU
3
Connection
'LVWXUEDQFH
WRUTXHFRPSHQsating gain
2
Preparation
Title
6HWXSFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH
6HWXSWKHOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFH
WRUTXHFRPSHQVDWLRQ
How to Use
Setup
:LWK3U)XQFWLRQHQKDQFHPHQWVHWXSVHWREVHUYHUHQDEOHGLVDEOHDQGRSHUDWLRQ
PRGHDOZD\VHQDEOHHQDEOHRQO\ZKHQVWJDLQLVVHOHFWHG
2) Setup of Pr6.24 (Disturbance observer filter)
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3) Setup of Pr6.23 (Disturbance torque compensating gain)

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5
Adjustment
WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH
RI3U$ORZOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\
DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ
QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG
6
When in Trouble
7
Supplement
5-31
Adjustment
3rd gain switching function
Outline
,QDGGLWLRQWRWKHQRUPDOJDLQVZLWFKLQJIXQFWLRQGHVFULEHGRQ3UGJDLQVZLWFKLQJ
IXQFWLRQ FDQ EH VHW WR LQFUHDVH WKH JDLQ MXVW EHIRUH VWRSSLQJ7KH KLJKHU JDLQ VKRUWHQV
positioning adjusting time.
Applicable Range
Conditions under which the 3rd gain switching function is activated
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FRQWURO
Control mode
3U 3RVLWLRQFRQWURO
Others
Related Parameter
Class No.
Related page
5-32
Title
Function
3RVLWLRQUGJDLQ
valid time
6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG
3RVLWLRQUGJDLQ
VFDOHIDFWRU
6HWXSWKHUGJDLQE\DPXOWLSO\LQJIDFWRURIWKHVWJDLQ
UGJDLQ VWJDLQ3U
How to Use
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3
Connection
Caution
2
Preparation
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used.
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3rd gain switching function
Position speed command [r/min]

Setup
Pr6.050.1ms
2nd gain
Pr1.05 to 1.09
3rd gain
1st gain
Pr1.00 to 1.04
Adjustment
[3rd gain period]

Position loop gain = Pr1.00 Pr6.06/100
Speed proportional gain = Pr1.01 Pr6.06/100
Time constant of velocity integration, speed
detection filter and torque filter directly use the
1st gain value.
6
When in Trouble
7
Supplement
5-33
Adjustment
Friction torque compensation
Outline
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FRPSHQVDWLRQ FDQ EH DSSOLHG RIIVHW ORDG FRPSHQVDWLRQ WKDW FDQFHOV FRQVWDQW RIIVHW
WRUTXHDQGWKHG\QDPLFIULFWLRQFRPSHQVDWLRQWKDWYDULHVGLUHFWLRQDVWKHRSHUDWLQJGLUHFWLRQYDULHV
Applicable Range
Conditions under which the Friction torque compensation is activated
Control mode
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below.
Others
Related Parameter
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Class No.
Related page
5-34
Title
Function
7RUTXH
command
additional value
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WKHWRUTXHFRPPDQGLQDFRQWUROPRGHH[FHSWIRUWKHWRUTXH
FRQWUROPRGH
Positive
GLUHFWLRQWRUTXH
compensation
value
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG
WRWKHWRUTXHFRPPDQGZKHQIRUZDUGSRVLWLRQDOFRPPDQG
LVIHG
1HJDWLYH
GLUHFWLRQWRUTXH
compensation
value
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG
WRWKHWRUTXHFRPPDQGZKHQQHJDWLYHGLUHFWLRQSRVLWLRQDO
FRPPDQGLVIHG
3'HWDLOVRISDUDPHWHU
How to Use
7KH IULFWLRQ WRUTXH FRPSHQVDWLRQ ZLOO EH DGGHG LQ UHVSRQVH WR WKH HQWHUHG SRVLWLRQDO
FRPPDQGGLUHFWLRQDVVKRZQEHORZ
Friction torque compensation
[Positive direction]
Pr6.07
Torque command
additional value
Pr6.08
compensation value
Pr6.09
compensation value
Preparation
Command speed
]
3
Time
Connection
[Negative direction]
Motor
de-energized
Motor energized
Motor
de-energized
The friction compensation torque is the sum of the offset load compensation value which is set
according to the torque command additional value (always constant) and the dynamic friction
compensation torque which is set according to positive/negative direction torque compensation
Setup
value.
The command speed direction is reset upon power-up or when the motor is de-energized.
Caution
7
Supplement
5-35
6
When in Trouble
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5
Adjustment
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Adjustment
Inertia ratio switching function
Outline
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Applicable Range
Conditions under which the Inertia ratio switching function is activated
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3U 3RVLWLRQFRQWURO
3U 9HORFLW\FRQWURO
3U 7RUTXHFRQWURO
Control mode
3U 3RVLWLRQ9HORFLW\FRQWURO
3U 3RVLWLRQ7RUTXHFRQWURO
3U 9HORFLW\7RUTXHFRQWURO
Others
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'LVWXUEDQFHREVHUYHUVKRXOGEHGLVDEOHG3U ELW
Caution
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PD\RFFXUHYHQLQVWRSPRGH7KHVHSRWHQWLDOSUREOHPVVKRXOGEHLGHQWLHGRQWKHDFtual model.
Related page
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Related Parameter
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Class No.
Title
Function
04
,QHUWLDUDWLR
13
QG,QHUWLDUDWLR
6HWQGLQHUWLDUDWLR
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WKHPRWRULQHUWLD
3
Connection
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WKHPRWRULQHUWLD
Preparation
10
6HWVELWVUHODWHGWRLQHUWLDUDWLRVZLWFKLQJIXQFWLRQ
ELW ,QYDOLG
9DOLG
ELW $OZD\VYDOLG 9DOLG only when 1st gain is selected.
Function
*ELW /6%
H[SDQVLRQVHWXS
([DPSOH
7RHQDEOHLQHUWLDOUDWLRVZLWFKLQJ
6HWXSYDOXH
Inertia ratio switching function
How to Use
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Applicable inertia ratio
OFF
VW,QHUWLDUDWLR3U
21
QG,QHUWLDUDWLR3U
Setup
Inertia ratio switching

input (J-SEL)
5
Adjustment
6
When in Trouble
7
Supplement
5-37
Adjustment
Hybrid vibration damping function
Outline
7KLVIXQFWLRQVXSSUHVVHVYLEUDWLRQGXHWRDPRXQWRIWZLVWEHWZHHQWKHPRWRUDQGORDGLQ
WKHIXOOFORVHGFRQWUROPRGH7KLVIXQFWLRQHQDEOHVKLJKJDLQVHWWLQJ
Applicable range
Conditions under which the Hybrid vibration damping function is activated
Control mode )XOOFORVHGFRQWUROPRGH
Others
Caution
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and load.
Related Parameter
Class No.
Title
Function
34
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VXSSUHVVLRQJDLQ
6HWXSWKHK\EULGYLEUDWLRQVXSSUHVVLRQJDLQIRUIXOOFORVHG
FRQWUROOLQJ
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WKHQQHWXQHDVQHFHVVDU\
35
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VXSSUHVVLRQOWHU
6HWXSWKHWLPHFRQVWDQWRIWKHK\EULGYLEUDWLRQVXSSUHVVLRQOWHU
IRUIXOOFORVHGFRQWUROOLQJ
How to Use
>@ 6HW3U+\EULGYLEUDWLRQVXSSUHVVLRQJDLQWRWKHYDOXHHTXDOWRWKDWRISRVLWLRQDOORRS
gain.
>@ 'ULYLQJXQGHUIXOOFORVHGFRQWUROJUDGXDOO\LQFUHDVHWKHVHWXSYDOXHRI3U
+\EULGYLEUDWLRQVXSSUHVVLRQILOWHUZKLOHFKHFNLQJUHVSRQVHFKDQJH
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WKDWSURYLGHVWKHEHVWUHVSRQVH
Related page
5-38
3'HWDLOVRISDUDPHWHU
Adjustment
Caution on Homing Operation
([DPSOHRI+RPLQJ$FWLRQ
3UR[LPLW\GRJRQ'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
RIWKHUVWRULJLQLQSXW=SKDVH
proximity dog
speed
origin input
3
Connection
proximity input
2
Preparation
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WKHRULJLQLQSXW=SKDVHRIWKHHQFRGHULVHQWHUHGZKLOHWKHPRWRULVQRWGHFHOHUDWHG
HQRXJKDIWHUWKHSUR[LPLW\LQSXWLVWXUQHGRQ6HWXSWKH21SRVLWLRQVRISUR[LPLW\LQSXW
DQGWKHSRVLWLRQRIRULJLQSRLQWFRQVLGHULQJWKHQHFHVVDU\SXOVHFRXQWVIRUGHFHOHUDWLRQ7DNHWKHSRVLWLRQLQJDFWLRQDQGKRPLQJDFWLRQLQWRDFFRXQWZKHQ\RXVHWSXWDFFHOHUDWLRQGHFHOHUDWLRQWLPHZLWKSDUDPHWHUVLQFHWKLVDIIHFWWKHVHDFWLRQDVZHOO
For the details of homing, observe the instruction manual of the host controller.
encoder Z-phase
Setup
3UR[LPLW\GRJRII'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
RIWKHUVWRULJLQLQSXW=SKDVHDIWHUWKHLQSXWLVWXQHGRII
proximity dog
proximity input
5
speed
Adjustment
origin input
encoder Z-phase
6
When in Trouble
7
Supplement
5-39
Adjustment
Homing with Hit & Stop
<RXFDQVHWXSWKHKRPLQJSRVLWLRQZLWK+LW 6WRSZKHUHLWLVQRWHDV\WRLQVWDOODVHQVRUGXHWRHQYLURQPHQW
(1) when you make a point where the

work (load) hits as an origin
1st
TL-SEL *1
Factory setting:
no allocation
TLC
Factory setting:
40-pin
(2) when you stop the work (load) using

Z-phase after making a hitting point
as a starting point, then make that
stopping point as an origin.
1st
2nd torque limit
TL-SEL *1
setting:
(Factory
no allocation )
ON
ON
TLC
ON
2nd torque limit
ON
setting:
(Factory
)
40-pin
50%
Torque
Torque
hits
Counter
clear
ON
command
command
Motor
speed
Motor
speed
(1)
hits
Counter
clear
ON
(1)
(2)
(2)
(3)
Z-phase
(1)
(1)
(2)
(2)
origin
origin (3)
Parameter No.
5.22
0.14
5.13
5.21
Title
Setup of 2nd torque limit
Excess setup of position deviation
Setup of over-speed level
Setup example
50 (Set up to less than 100%)
25000
0 (6000r/min)
3
Remarks
Assign TL-SEL to the input signal.

8SRQFRPSOHWLRQRIWKHKRPLQJZLWKKLWDQGVWRSWXUQRII7/6(/RSHQLIORJLFDOVHWWLQJ
LVDFRQWDFWFORVHLIEFRQWDFW
Related page
3'HWDLOVRISDUDPHWHU
5-40
Adjustment
Press & Hold Control
1
Application example
Setup
example
3
200
Setup of 1st torque limit
50
Setup of 2nd torque limit
Excess setup of position deviation 25000
Setup of over-speed level
0
Title
2
Preparation
Parameter
No.
5.21
0.13
5.22
0.14
5.13
Press fit
machine
3
(1)
(2)
(3)
setting:
(Factory
no allocation )
(5)
Connection
TL-SEL
(4)
*1
ON
: Torque limit switching input
4
TLC
setting:
(Factory
)
40-pin
Setup
ON
: Torque in-limit output
Setup value of 2nd torque limit

(+)
Adjustment
Torque
()
B
Command
(+)
()
Search speed
(low speed)
C=A+B
Motor speed
(+)
When in Trouble
Holds the non-traveled

portion with deviation
counter
()
(1)
(3)
(4)
(5)
Supplement
Remarks
(2)
Assign TL-SEL to the input signal.
5-41
MEMO
5-42
6. When in Trouble
1
1. When in Trouble
What to Check ? .........................................................................................6-2

Protective Function (What is Error Code ?) ................................................6-2
Preparation
Protective function (Detail of error code) ....................................................6-4
2. Setup of gain pre-adjustment protection ................................6-18

3. Troubleshooting
Motor Does Not Run .................................................................................6-21
Unstable Rotation (Not Smooth) ,
Motor Runs Slowly Even with Speed Zero at Velocity Control Mode .......6-23
Positioning Accuracy Is Poor ....................................................................6-24
Connection
Origin Point Slips ......................................................................................6-25

Abnormal Motor Noise or Vibration ...........................................................6-25
Overshoot/Undershoot,
Overheating of the Motor (Motor Burn-Out) ..............................................6-26
Motor Speed Does Not Reach to the Setup,
Motor Revolutions (Travel) Is Too Large or Small .....................................6-26

Parameter Returns to Previous Setup ......................................................6-27
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6-1
1. When in Trouble
When in Trouble
What to Check ?
Isn't error code No. is displayed ?

Aren't the parameter
setups wrong ?
Doesn't the power voltage vary ?

Is the power turned on ?
Any loose connection ?
Motor does not run.

Check the cause by referring to P.2-98,
Display of Factor of No Motor Running of
Preparation, and then take necessary measure.
Is the connecting portion

disconnected ?
(Broke wire, contact)
Is the wiring correct ?
Isn't the connector pulled off ?
Isn't the short wire pulled off ?
Host
controller
Is the wiring to Connector
X4 correct ?
Or aren't any wires pulled
off ?
Is abnormal noise generated

from the motor ?
Isn't the holding

brake engaged ?
Machine
Ground
Is the wiring to Connector X6

correct ?
Or aren't any wires pulled off ?
Motor
Isn't the connection

loose ?
Is the wiring to Connector X5

in case of full-closed control
correct ?
Or aren't any wires pulled off ?
External scale
1. When in Trouble
When in Trouble
Protective Function (What is Error Code ?)
Various protective functions are equipped in the driver. When these are triggered, the motor
will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
(UURUVWDWXVDQGWKHLUPHDVXUHV
'XULQJWKHHUURUVWDWXVWKHHUURUFRGH1RZLOOEHGLVSOD\HGRQWKHIURQWSDQHO/('
and you cannot turn Servo-ON.
<RXFDQFOHDUWKHHUURUVWDWXVE\$ODUPFOHDULQSXW$&/5LQPVRUORQJHU
:KHQRYHUORDGSURWHFWLRQLVWULJJHUHG\RXFDQFOHDULWE\$ODUPFOHDULQSXW$&/5
LQVHFRUORQJHUDIWHUWKHHUURURFFXUV 7DEOHEHORZ<RXFDQFOHDUWKH2YHUORDG
protection time characteristics (refer to P.6-14) by turning off the control power supply
EHWZHHQ/&DQG/&999DQG99RIWKHGULYHU
<RXFDQFOHDUWKHDERYHHUURUE\RSHUDWLQJWKHIURQWSDQHONH\VDQGVHWXSVXSSRUW
VRIWZHDU3$1$7(505HIHUWR3Alarm Clear Screen of Preparation.
%HVXUHWRFOHDUWKHDODUPGXULQJVWRSDIWHUUHPRYLQJWKHFDXVHRIWKHHUURUDQGVHcuring safety.
Note
Related page
6-2
7KH ILJXUH DERYH VKRZV FRQQHFWLRQV RQ YHORFLW\ SRVLWLRQ WRUTXH DQG IXOOFORVHG PRGH
driver.
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;;DQG;
3+RZWR8VHWKH)URQW3DQHO3,QSXWVDQGRXWSXWVRQFRQQHFWRU;
1. When in Trouble
<List of error code No.>

Error code
Attribute
Protective function
Main Sub
11
12
13
1
14
15
16
1

21
1
23

24
1

26

1

27
2

1
2
3
4
5
6
7
37
38

6-5

6-6

41
42
43
44
6-7
45
47
48

6-8
51
55

87

2

3
6-11
6-12
6-13
6
When in Trouble
33
6-4
Software limit protection

WR EEPROM parameter error pro2 tection
WR EEPROM check code error
2 protection
Over-travel inhibit input protection
1 Analog input2 excess protection
2 Analog input3 excess protection
Absolute system down error

protection
Absolute counter over error

protection
Absolute over-speed error pro
tection
Initialization failure
Absolute single turn counter

error protection
Absolute multi-turn counter er
ror protection
Absolute status error protection
Encoder Z-phase error protection
Encoder CS signal error protection
Feedback scale connection er
ror protection
Feedback scale communication
1
error protection
)HHGEDFNVFDOHVWDWXVHUURU

protection
Feedback scale status 1 error
1
protection
2
protection
3
protection
4
protection
5
protection
A-phase connection error protection
1 B-phase connection error protection
2 Z-phase connection error protection
Compulsory alarm input protection
Motor automatic recognition
WR
error protection
Adjustment
28
36
Detail
Can be Immediate page
History cleared stop
Setup
25
34
Attribute
Protective function
Connection
18

1

Error code
Main Sub
Preparation
Control power supply undervoltage protection

Over-voltage protection
Main power supply under-voltage protection (between P and N)
Main power supply undervoltage protection
(AC interception detection)
Over-current protection
IPM error protection
Over-heat protection
Over-load protection
Over-regeneration load protection
Over-regeneration Tr error
protection
Encoder communication disconnect error protection
Encoder communication error
protection
Encoder communication data
error protection
Position deviation excess protection
Velocity deviation excess protection
+\EULGGHYLDWLRQH[FHVVHUURU
protection
Over-speed protection
2nd over-speed protection
Command pulse input frequency error protection
Command pulse multiplier error
protection
Limit of pulse replay error protection
'HYLDWLRQFRXQWHURYHURZ
protection
Safety detection
IF overlaps allocation error 1
protection
IF overlaps allocation error 2
protection
IF input function number error 1
protection
IF input function number error 2
protection
IF output function number error
1 protection
IF output function number error
2 protection
&/WWLQJHUURUSURWHFWLRQ
,1+WWLQJHUURUSURWHFWLRQ
Detail
Can be Immediate page
History cleared stop
Protective Function (What is Error Code ?)

Other Other error
number

+LVWRU\7KHHUURUZLOOEHVWRUHGLQWKHHUURUKLVWRU\
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the error and then turn on
power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
6HWWLQJRI3U6HTXHQFHDWDODUPLVDOVRUHTXLUHG
Note
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;;; and analog input.

6-3
7
Supplement
Note
1. When in Trouble
When in Trouble
Protective function (Detail of error code)
Protective
function
Control
power
supply
undervoltage
protection
Over-voltage
protection
Error code No.

Main Sub
11
12
Causes
Voltage between P and N of the converter
portion of the control power supply has
IDOOHQEHORZWKHVSHFLHGYDOXH
9YHUVLRQapprox.9'&approx.9$&
9YHUVLRQapprox. 145 VDC (approx.9$&
9YHUVLRQapprox. 15 VDC
1) Power supply voltage is low.
Instantaneous power failure has
occurred
2) Lack of power capacity...Power supply
voltage has fallen down due to inrush
current at the main power-on.
3) Failure of servo driver (failure of the circuit)
Measure the voltage between lines of

connector and terminal block.
99GULYHU/&/&
9GULYHU99
Voltage between P and N of the

converter portion of the control power
VXSSO\KDVH[FHHGHGWKHVSHFLHGYDOXH
1) Power supply voltage has exceeded
the permissible input voltage. Voltage
surge due to the phase-advancing
capacitor or UPS (Uninterruptible
Power Supply) have occurred.
2) Disconnection of the regeneration
discharge resistor

connector (L1, L2 and L3).
3) External regeneration discharge

resistor is not appropriate and could
not absorb the regeneration energy.
4) Failure of servo driver (failure of the
circuit)
Main power
supply
undervoltage
protection
(PN)
Main power
supply
undervoltage
protection
(AC)
13
Instantaneous power failure has occurred

between L1 and L3 for longer period than
WKHSUHVHWWLPHZLWK3U0DLQSRZHU
RIIGHWHFWLQJWLPHZKLOH3U/9WULS
selection at the main power-off) is set
to 1. Or the voltage between P and N of
the converter portion of the main power
VXSSO\KDVIDOOHQEHORZWKHVSHFLHG
value during Servo-ON.
9YHUVLRQapprox.9'&approx. 55 VAC)
1) Power supply voltage is low.
Instantaneous power failure has
occurred
2) Instantaneous power failure has
occurred.
3) Lack of power capacity...Power supply
voltage has fallen down due to inrush
current at the main power-on.
4) Phase lack...3-phase input driver has
been operated with single phase input.
5) Failure of servo driver (failure of the circuit)
6-4
Measures
1) Increase the power capacity. Change the

power supply.
2) Increase the power capacity.
3) Replace the driver with a new one.
1) Enter correct voltage. Remove a phaseadvancing capacitor.
2) Measure the resistance of the external

resistor connected between terminal B1
- B2 of the driver. Replace the external
UHVLVWRULIWKHYDOXHLV
&KDQJHWRWKHRQHZLWKVSHFLHG
resistance and wattage.
connector (L1, L2 and L3).
1) Increase the power capacity. Change the

power supply. Remove the causes of the
shutdown of the magnetic contactor or the
main power supply, then re-enter the power.
6HWXSWKHORQJHUWLPHWR3U0DLQ
power off detecting time). Set up each
phase of the power correctly.
3) Increase the power capacity. For the capacity,
UHIHUWR3'ULYHUDQG/LVWRI$SSOLFDEOH
Peripheral Equipments" of Preparation.
4) Connect each phase of the power supply
(L1, L2 and L3) correctly. For single phase,
9DQG9GULYHUXVH/DQG/
1. When in Trouble
Protective
function
*
Over-current
protection
Error code No.

Main Sub
14
Current through the converter portion has

H[FHHGHGWKHVSHFLHGYDOXH
1) Failure of servo driver (failure of the
circuit, IGBT or other components)
1
2) Short of the motor wire (U, V and W)
,30
Intelligent
Power Module
3) Earth fault of the motor wire
4) Burnout of the motor
6) Welding of contact of dynamic braking

relay due to frequent servo ON/OFF
operations.
7) Timing of pulse input is same as or
earlier than Servo-ON.
8) Blowout of thermal fuse due to
overheating dynamic brake circuit.
(Only F and G frames)
15
Temperature of the heat sink or power

GHYLFHKDVEHHQULVHQRYHUWKHVSHFLHG
temperature.
1) Ambient temperature has risen over
WKHVSHFLHGWHPSHUDWXUH
2) Over-load
4
Setup
*
Over-heat
protection
1) Turn to Servo-ON, while disconnecting the

motor. If error occurs immediately, replace
with a new driver.
2) Check that the motor wire (U, V and W) is
not shorted, and check the branched out
wire out of the connector. Make a correct
wiring connection.
3) Measure the insulation resistance between
motor wires, U, V and W and earth wire. In
case of poor insulation, replace the motor.
4) Check the balance of resister between
each motor line, and if unbalance is found,
replace the motor.
5) Check the loose connectors. If they are, or
SXOOHGRXW[WKHPVHFXUHO\
6) Replace the servo driver. Do not use
Servo-ON/Servo-OFF as a means of
staring/stopping the operation.
(QWHUWKHSXOVHVPVRUORQJHUDIWHU
Servo-ON.
8) Replace the driver.
Connection
5) Poor contact of the motor wire.
Measures
Preparation
*
IPM error
protection
Causes
1) Improve the ambient temperature and

cooling condition.
2) Increase the capacity of the driver
and motor. Set up longer acceleration/
deceleration time. Lower the load.
5
Adjustment
6
When in Trouble
Related page
:KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK * in the protective function table is activated, it cannot be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
36\VWHP&RQJXUDWLRQDQG:LULQJ3'HWDLOVRISDUDPHWHU
6-5
Supplement
Note
1. When in Trouble
Protective
function
Over-load
protection
Error code No.

Main Sub
16
Causes
Torque command value has exceeded
the over-load level set with Pr5.12
(Setup of over-load level) and resulted in
overload protection according to the time
characteristics (described later)
1) Load was heavy and actual torque has
exceeded the rated torque and kept
running for a long time.
2) Oscillation and hunching action due to
poor adjustment.
Motor vibration, abnormal noise.
,QHUWLDUDWLR3UVHWXSHUURU
3) Miswiring, disconnection of the motor.
4) Machine has collided or the load has
gotten heavy. Machine has been
distorted.
5) Electromagnetic brake has been kept
engaged.
6) While wiring multiple axes, miswiring
has occurred by connecting the motor
cable to other axis.
Measures
Check that the torque (current) does not
RVFLOODWHVQRUXFWXDWHXSDQGRZQYHU\
much on the analog outoput and via
communication. Check the over-load alarm
display and load factor with the analog
outoput and via communication..
1) Increase the capacity of the driver
and motor. Set up longer acceleration/
deceleration time. Lower the load.
2) Make a re-adjustment.
3) Make a wiring as per the wiring diagram.

Replace the cables.
4) Remove the cause of distortion. Lower the
load.
5) Measure the voltage between brake
terminals. Release the brake
6) Make a correct wiring by matching the
correct motor and encoder wires.
7KHRYHUORDGSURWHFWLRQWLPHFKDUDFWHULVWLFVDUHGHVFULEHGRQ3
Caution
*
18
Overregeneration
load
protection
Regenerative energy has exceeded the

capacity of regenerative resistor.
Check the load factor of the regenerative

resistor from the front panel or via communication.
Do not use in the continuous regenerative
1) Due to the regenerative energy during
brake application.
deceleration caused by a large load
1) Check the running pattern (velocity
inertia, converter voltage has risen,
monitor). Check the load factor of the
and the voltage is risen further due to
regenerative resistor and over-regeneration
the lack of capacity of absorbing this
warning display. Increase the capacity
energy of the regeneration discharge
of the driver and the motor, and loosen
resistor.
the deceleration time. Use the external
regenerative resistor.
2) Check the running pattern (speed monitor).
2) Regenerative energy has not been
Check the load factor of the regenerative
DEVRUEHGLQWKHVSHFLHGWLPHGXHWRD
resistor. Increase the capacity of the driver
high motor rotational speed.
and the motor, and loosen the deceleration
time. Lower the motor rotational speed.
Use an external regenerative resistor.
3) Active limit of the external regenerative 6HWXS3UWR
UHVLVWRUKDVEHHQOLPLWHGWRGXW\
Caution
Note
Related page
6-6
2QFHWKLVHUURURFFXUVLWFDQQRWEHFOHDUHGDWOHDVWIRUVHF
Install an external protection such as thermal fuse without fail when

\RXVHWXS3UWR2WKHUZLVHUHJHQHUDWLYHUHVLVWRUORVHVWKH
protection and it may be heated up extremely and may burn out.
3'HWDLOVRISDUDPHWHU
1. When in Trouble
Protective
function
Error code No.

Main Sub
18
*
Encoder
communication disconnection error
protection
21
Regenerative driver transistor on the

servo driver is defective.
Replace the driver.
Communication between the encoder

and the driver has been interrupted
in certain times, and disconnection
detecting function has been triggered.
Make a wiring connection of the encoder as

per the wiring diagram. Correct the miswiring
of the connector pins.
23
Position
deviation
excess
protection
24
Communication error has occurred in

data from the encoder. Mainly data
error due to noise. Encoder cables are
connected, but communication data has
some errors.
Data communication between the

encoder is normal, but contents of data
are not correct.
Mainly data error due to noise. Encoder
cables are connected, but communication
data has some errors.
Deviation pulses have exceeded the

VHWXSRI3U
1) The motor movement has not followed
the command.
1) Check that the motor follows to the position

command pulses. Check that the output
toque has not saturated in torque monitor.
Make a gain adjustment. Set up maximum
YDOXHWR3UDQG3U0DNHD
encoder wiring as per the wiring diagram.
Set up the longer acceleration/deceleration
time. Lower the load and speed.
6HWXSDODUJHUYDOXHWR3U
,QFUHDVHWKHVHWXSYDOXHRI3U
/HQJWKHQWKHDFFHOHUDWLRQGHFHOHUDWLRQ
time of internal positional command speed,
or improve the follow-up characteristic by
adjusting the gain.
'LVDEOHWKHH[FHVVVSHHGGHYLDWLRQ
GHWHFWLRQ3U
6
When in Trouble
7
Supplement
The difference between the internal

positional command speed and actual
speed (speed deviation) exceeds the
VHWXSYDOHRI3U
Note) If the internal positional command
VSHHGLVIRUFLEO\VHWWRGXHWR
instantaneous stop caused by the
FRPPDQGSXOVHLQKLELWLQSXW,1+RU
CW/CCW over-travel inhibit input, the
speed deviation rapidly increases at this
PRPHQW3UVHWXSYDOXHVKRXOGKDYH
VXIFLHQWPDUJLQEHFDXVHWKHVSHHG
deviation also largely increases on the
rising edge of the internal positional
command speed.
Adjustment
6HWXSYDOXHRI3U3RVLWLRQ
deviation excess setup) is small.
6HFXUHWKHSRZHUVXSSO\IRUWKHHQFRGHU
RI'&9WR9SD\DQDWWHQWLRQ
especially when the encoder cables are
long.
6HSDUDWHWKHHQFRGHUFDEOHDQGWKHPRWRU
cable if they are bound together.
&RQQHFWWKHVKLHOGWR)*
Setup
*
Encoder
communication data
error
protection
Connection
*
Encoder
communication error
protection
Velocity
deviation
excess
protection
Measures
Preparation
*
Regenerative
transistor
error
protection
Causes
6-7
1. When in Trouble
Protective
function
*
Hybrid
deviation
excess error
protection
Error code No.

Main Sub
25
Causes
Measures
3RVLWLRQRIORDGE\WKHH[WHUQDOVFDOH
and position of the motor by the
encoder slips larger than the setup
pulses with Pr3.28 (Setup of hybrid
deviation excess) at full-closed control.
&KHFNWKHFRQQHFWLRQEHWZHHQWKHPRWRU
and the load.
&KHFNWKHFRQQHFWLRQEHWZHHQWKHH[WHUQDO
scale and the driver.
&KHFNWKDWWKHYDULDWLRQRIWKHPRWRU
position (encoder feedback value) and
the load position (external scale feedback
value) is the same sign when you move the
load.
Check that the numerator and denominator
of the external scale division (Pr3.24 and
3.25) and reversal of external scale direction
(Pr3.26) are correctly set.
'RQRWFKDQJHFRPPDQGGLYLVLRQ
multiplication during full closed control.
'XULQJIXOOFORVHGFRQWUROQXPHUDWRU
of command division/multiplication is
changed or switched over.
Over-speed
protection
26
2nd Overspeed
protection
Command
pulse input
frequency
error
protection
27
Electronic
gear error
protection
Pulse
regeneration
limit
protection
6-8
28
The motor rotational speed has exceeded

the setup value of Pr5.13.
The motor rotational speed has exceeded

the setup value of Pr6.15.
'RQRWJLYHDQH[FHVVLYHVSHHGFRPPDQG
&KHFNWKHFRPPDQGSXOVHLQSXWIUHTXHQF\
and division/multiplication ratio.
0DNHDJDLQDGMXVWPHQWZKHQDQRYHUVKRRW
has occurred due to a poor gain adjustment.
0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
per the wiring diagram.
The frequency of command pulse input is

more than 1.2 times the setting in Pr5.32.
Check the command pulse input for

frequency.
Division and multiplication ratio which are

set up with the command pulse counts
per single turn and the1st and the 4th
numerator/denominator of the electronic
gear are not appropriate.
7KHFRPPDQGSXOVHVSHUPV
multiplied by the command division and
PXOWLSOLFDWLRQUDWLRH[FHHGV0SSV
7KHFRPPDQGSXOVHLQSXWXFWXDWHV
Noises mixed with the command pulse
input cause counting error.
6HWWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQ
ratio to a value as small as possible e.g.
EHWZHHQDQG
&KHFNWKHVHWXSYDOXHRIHOHFWURQLFJHDU
,ISRVVLEOHXVHWKHOLQHGULYHU,)
6HW3UVHWWLQJRIPD[FRPPDQGSXOVH
LQSXWWRDYDOXHOHVVWKDQDQGHQDEOH
GLJLWDOOWHU
The output frequency of pulse

regeneration has exceeded the limit.
&KHFNWKHVHWXSYDOXHVRI3UDQG
7RGLVDEOHWKHGHWHFWLRQVHW3UWR
1. When in Trouble
Protective
function
Error code No.

Main Sub
Measures
Positional deviation of encoder pulse

reference has exceeded 2
&KHFNWKDWWKHPRWRUUXQVDVSHUWKH
position command pulses.
&KHFNWKDWWKHRXWSXWWRTXHKDVQRW
saturated in torque monitor.
0DNHDJDLQDGMXVWPHQW
6HWXSPD[LPXPYDOXHWR3UDQG
Pr5.22.
0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
per the wiring diagram.
Safety input
protection
30
Input photocoupler of both or one of

safety input 1 and 2 is OFF.
Check wiring of safety input 1 and 2.
*
I/F input
duplicated
allocation
error 1
protection
33
Input signals (SI1, SI2, SI3, SI4, SI5) are

assigned with two functions.
Allocate correct function to each connector

pin.
*
I/F input
duplicated
allocation
error 2
protection
,QSXWVLJQDOV6,6,6,6,6,
are assigned with two functions.
*
I/F input
function
number error
1 protection
Input signals (SI1, SI2, SI3, SI4, SI5) are

DVVLJQHGZLWKXQGHQHGQXPEHU
*
I/F input
function
number error
2 protection
,QSXWVLJQDOV6,6,6,6,6,
DUHDVVLJQHGZLWKXQGHQHGQXPEHU
*
I/F output
function
number error
1 protection
Output signals (SO1, SO2, SO3) are

*
I/F output
function
number error
2 protection
4
Setup
29
Connection
Deviation
counter
RYHURZ
protection
Preparation
Causes
5
Adjustment
6
When in Trouble
Output signals (SO4, SO5, SO6) are

7
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;DQGDQODRJLQSXW

Supplement
Note
1. When in Trouble
Protective
function
*
CL
assignment
error
Error code No.

Main Sub
33
*
INH
assignment
error
Software
limit
protection
34
Causes
Counter clear function is assigned to a

signal number other than SI7.
Command pulse inhibit input function is

assigned to a signal number other than
6,
When a position command within the

VSHFLHGLQSXWUDQJHLVJLYHQWKHPRWRU
operates outside its working range
VSHFLHGLQ3U
1) Gain is not appropriate.
2) Pr5.14 setup value is low.
Allocate correct function to each connector

pin.
1) Check the gain (balance between position

loop gain and speed loop gain) and inertia
ratio.
2) Increase the setup value of Pr5.14. Or,
6HW3UWRWRGLVDEOHWKHSURWHFWLYH
function.
Data in parameter storage area has been

damaged when reading the data from
EEPROM at power-on.
6HWXSDOOSDUDPHWHUVDJDLQ
,IWKHHUURUSHUVLVWVUHSODFHWKHGULYHULW
may be a failure.) Return the product to the
dealer or manufacturer.
'DWDIRUZULWLQJFRQUPDWLRQWR((3520
has been damaged when reading the
data from EEPROM at power-on.
Replace the driver. (it may be a failure).

Return the product to a dealer or
manufacturer.
:LWK3URYHUWUDYHOLQKLELWLQSXW
VHWXS ERWKSRVLWLYHDQGQHJDWLYH
over-travel inhibit inputs (POT/NOT)
have been ON.
:LWK3U SRVLWLYHRUQHJDWLYH
over-travel inhibit input has turned ON.
Check that there are not any errors in

switches, wires or power supply which are
connected to positive direction/ negative
direction over-travel inhibit input. Check that
the rising time of the control power supply
(DC12 to 24V) is not slow.
+LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH
analog input 1 than the value that has
been set by Pr4.24.
6HWXS3UFRUUHFWO\&KHFNWKH
FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
6HWXS3UWRDQGLQYDOLGDWHWKH
protective function.
Analog
input 2 (AI2)
excess
protection
been set by Pr4.27.
Analog
input 3 (AI3)
excess
protection
EHHQVHWE\3U
*
EEPROM
parameter
error
protection
36
*
EEPROM
check code
error
protection
37
*
Over-travel
inhibit
input
protection
38
Analog
input 1 (AI1)
excess
protection
39
Note

Measures
0
1
2
0
1
2
1. When in Trouble
Protective
function
Absolute
system
down error
protection
Error code No.

Main Sub
40
Causes
Voltage of the built-in capacitor has fallen
EHORZWKHVSHFLHGYDOXHEHFDXVHWKH
power supply or battery for the absolute
encoder has been down.
41
Absolute
counter
over error
protection
42
After connecting the power supply for the

battery, clear the absolute encoder.
Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.
Multi-turn counter of the absolute

HQFRGHUKDVH[FHHGHGWKHVSHFLHG
value.
6HW3UWRWRLJQRUHWKHPXOWLWXUQ
counter over.
/LPLWWKHWUDYHOIURPWKHPDFKLQHRULJLQ
within 32767 revolutions.
The motor speed has exceeded the

VSHFLHGYDOXHZKHQRQO\WKHVXSSO\
from the battery has been supplied to
17-bit encoder during the power failure.
&KHFNWKHVXSSO\YROWDJHDWWKHHQFRGHU
VLGH9
&KHFNWKHFRQQHFWLQJFRQGLWLRQRIWKH
FRQQHFWRU;
Caution
3
Connection
Absolute
overspeed error
protection
Measures
Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.
43
Encoder initialization error was detected.
Replace the motor.
*
Absolute
single turn
counter error
protection *1
44
$EVROXW
single turn counter error protection
LQFUHPHQWDO
Replace the motor.
*
Absolute
multi-turn
counter error
protection *1
45
$EVROXW
multi-turn counter error protection
LQFUHPHQWDO
Replace the motor.
*
Absolute
status error
protection *1
47
Encoder has been running at faster

VSHHGWKDQWKHVSHFLHGYDOXHDWSRZHU
on.
Arrange so as the motor does not run at

power-on.
*
Encoder
Z-phase
error
protection*1
48
Missing pulse of Z-phase of serial

incremental encoder has been detected.
The encoder might be a failure.
Replace the motor.
4
Setup
*
Encoder
initialization
error
protection *1
Preparation
Caution
5
Adjustment
6
When in Trouble
7
6-11
Supplement
Note
1. When in Trouble
Protective
function
Error code No.

Main Sub
Measures
*
Encoder CS
signal error
protection*1
49
CS signal logic error of serial incremental

encoder has been detected.
The encoder might be a failure.
Replace the motor.
*
Feedback
scale
wiring error
protection
50
Communication between the external

scale and the driver has been interrupted
in certain times, and disconnection
detecting function has been triggered.
0DNHDZLULQJFRQQHFWLRQRIWKHH[WHUQDO
scale as per the wiring diagram.
&RUUHFWWKHPLVZLULQJRIWKHFRQQHFWRUSLQV
Communication error has occurred in

data from the external scale. Mainly data
error due to noise. External scale cables
are connected, but communication date
has some error.
6HFXUHWKHSRZHUVXSSO\IRUWKHH[WHUQDO
VFDOHRI'&WR9SD\
attention especially when the external scale
cables are long.
6HSDUDWHWKHH[WHUQDOVFDOHFDEOHDQGWKH
motor cable if they are bound together.
&RQQHFWWKHVKLHOGWR)*UHIHUWRZLULQJ
diagram.
%LWRIWKHH[WHUQDOVFDOHHUURUFRGH
(ALMC) has been turned to 1.
&KHFNWKHVSHFLFDWLRQVRIWKHH[WHUQDO
scale.
Remove the causes of the error, then clear

the external scale error from the front panel.
And then, shut off the power to reset.
*
External
scale status
1 error
protection *1
Bit 1 of the external scale error code

scale.
*
External
scale status
2 error
protection *1

scale.
*
External
scale status
3 error
protection *1

scale.
*
External
scale status
4 error
protection *1

scale.
*
External
scale status
5 error
protection *1

scale.
*
External
communication data
error
protection
*
External
scale status
0 error
protection *1
Note
6-12
Causes
51
1. When in Trouble
Protective
function
*
A-phase
wiring error
protection
Error code No.

Main Sub
55
Causes
Measures
A-phase wiring in the external scale is

defective, e.g. discontinued.
Check the A-phase wiring connection.
B-phase wiring in the external scale is

Check the B-phase wiring connection.
*
Z-phase
wiring error
protection
Z-phase wiring in the external scale is

Check the Z-phase wiring connection.
Preparation
*
B-phase
wiring error
protection
3
Forced alarm input (E-STOP) is applied.
87
*
Motor
automatic
recognition
error
protection
95 0 to 4 The motor and the driver has not been

matched.
*
Other error
99
Check the wiring of forced alarm input

(E-STOP).
Connection
Forced
alarm input
protection
Replace the motor which matches to the

driver.
4
7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Stop using the products, and replace the
motor and the driver. Return the products to
the dealer or manufacturer.
$GMXVWWKHFRQGLWLRQRIWKHVDIHW\LQSXW
safety input 2 and then start the alarm clear.
Control circuit has malfunctioned due to

excess noise or other causes.
Some error has occurred inside of the
driver while triggering self-diagnosis
function of the driver.
7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Stop using the products, and replace the
motor and the driver. Return the products to
the dealer or manufacturer.
5
Adjustment
Excessive noise or the like is detected as

an abnormal signal.
This type of error will occur if the alarm
clear is attempted while the safety input
1/safety input 2 is not in normal state
(input photocoupler is ON).
Setup
Other
No.
6
When in Trouble
7
Supplement
6-13
1. When in Trouble
Time characteristics of Err16.0 (Overload protection)

Overload protection time characteristics
Motor Type: M * MD
MSMD 50W
MSMD 100W100V
Time [s]
100
MSMD 100W200V
MSMD
MHMD
MSMD
MHMD
200W
200W
400W
400W
MSMD 750W
MHMD 750W
* Only for position control type.
10
0.1
115
100
200
300
400
500
Torque [%]
Motor Type: M * ME
MSME 50W
MSME 100W100V
Time [s]
100
MSME 100W200V
MSME 200W
MSME 400W
10
MSME 750W200V
MSME 750W(400V),
1.0kW to 5.0kW
MDME 400W(400V),
600W(400V),
1.0kW to 15.0kW
MFME 1.5kW to 4.5kW
MHME 1.0kW to 7.5kW
MGME 0.9kW to 6.0kW
0.1
115
100
200
300
400
500
Torque [%]
* MDME 7.5kW to 15.0kW, MHME 7.5kW and MGME 6.0kW is less than 300%.
* Only for position control type is not provided with MSME 50W to 750W(200V), 750W(400V),
MDME 400W(400V), 600W(400V), 7.5kW to 15.0kW, MFME, MHME 7.5kW and MGME 4.5kW, 6.0kW.
Caution
6-14
Use the motor so that actual torque stays in the continuous running range shown in S-T
characteristic of the motor. For the S-T characteristics, see P.7-55 Motor characteristics
(S-T characteristics).
1. When in Trouble
Software Limit Function (Err34.0)
Conditions under which the software limit works

Control mode
3RVLWLRQFRQWURO)XOOFORVHGFRQWURO
,QSXWVLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQGLQSXW
inhibit, and parameters except for controls such as torque limit setup,
are correctly set, assuring that the motor can run smoothly.
4
Setup
3) Cautions
7KLVIXQFWLRQLVQRWDSURWHFWLRQDJDLQVWWKHDEQRUPDOSRVLWLRQFRPPDQG
:KHQWKLVVRIWZDUHOLPLWSURWHFWLRQLVDFWLYDWHGWKHPRWRUGHFHOHUDWHVDQGVWRSVDFFRUGLQJWR3UVHTXHQFHDWDODUP

The work (load) may collide to the machine end and be damaged depending on the
load during this deceleration, hence set up the range of Pr5.14 including the deceleration movement.
7KLV VRIWZDUH OLPLW SURWHFWLRQ ZLOO EH LQYDOLGDWHG GXULQJ WKH WULDO UXQ DQG IUHTXHQF\
characteristics functioning of the PANATERM.
Connection
Others
2
Preparation
1) Outline
<RXFDQPDNHDQDODUPVWRSRIWKHPRWRUZLWKVRIWZDUHOLPLWSURWHFWLRQ(UUZKHQ
the motor travels exceeding the movable range which is set up with Pr5.14 (Motor
working range setup) against the position command input range.
<RXFDQSUHYHQWWKHZRUNIURPFROOLGLQJWRWKHPDFKLQHHQGFDXVHGE\PRWRURVFLOODtion.
2) Applicable range
This function works under the following conditions.
5
Adjustment
6
When in Trouble
Related page
Supplement
Note
3'HWDLOVRISDUDPHWHU
6-15
1. When in Trouble
4) Example of movement
(1) When no position command is entered (Servo-ON status),
The motor movable range will be the travel range which is set at both sides of the
motor with Pr5.14 since no position command is entered. When the load enters to
WKH(UURFFXUUHQFHUDQJHREOLTXHOLQHUDQJHVRIWZDUHOLPLWSURWHFWLRQZLOOEH
activated.
Motor
Load
Pr5.14 Pr5.14
Error occurrence range
Motor
movable
range
(2) When the load moves to the right (at Servo-ON),

When the position command to the right direction is entered, the motor movable
range will be expanded by entered position command, and the movable range will
be the position command input range + Pr5.14 setups in both sides.
Motor
Load
Pr5.14
Position command
input range
Pr5.14
Motor movable range
(3) When the load moves to the left (at Servo-ON),

When the position command to the left direction, the motor movable range will be
expanded further.
Motor
Load
Pr5.14
Position command
input range
Motor movable range
Pr5.14
5) Condition under which the position command input range is cleared

7KHSRVLWLRQFRPPDQGLQSXWUDQJHZLOOEHFOHDUHGXQGHUWKHIROORZLQJFRQGLWLRQV
ZKHQWKHSRZHULVWXUQHGRQ
ZKLOHWKHSRVLWLRQGHYLDWLRQLVEHLQJFOHDUHG'HYLDWLRQFRXQWHUFOHDULVYDOLG3U
(Sequence at over-travel inhibition) is 2 and over-travel inhibition input is valid.)
$WWKHEHJLQQLQJDQGHQGLQJRIWULDOUXQYLDFRPPXQLFDWLRQ
Related page
6-16
3'HWDLOVRISDUDPHWHU
1. When in Trouble
Warning Function
Alarm
Overload protection
Alarm
No.
$
A1
Battery alarm
A2
Fan alarm
alarm
alarm
A3
Content
5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKH
protection level.
Fixed at no
time limit.
A5
Fan has stopped for 1 sec. *2

A6
A4
A7
External scale error alarm

External scale
communication alarm
A8
$
Fixed at no
time limit.
The life expectancy of capacity or fan becomes

The feedback scale detects the alarm.
The number of successive feedback scale
no fan alarm is displayed.
4
Setup
* 7KHFLUFOHPHDQVWKDWDWLPHLQWKHUDQJHWRVRUQRWLPHOLPLWFDQEHVHOHFWHG
through Pr6.27 Warning latching time. Note that the battery warning and the end of life
warning have no time limit.
*2 7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDODQG
Connection
Over-regeneration alarm
Pr6.27 *1
2
Preparation
When an error condition e.g. overloading occurs, the alarm code is issued to indicate that the
corresponding protective function will be triggered if suitable corrective action is not taken.
7KHDODUPZLOOEHFOHDUHGDVWKHFDXVHRIWKHHUURULVUHPRYHG+RZHYHUFHUWDLQDODUPZLOO
remain latched for predetermined period as shown in the table below. To forcibly clear the
alarm, take the normal alarm clear procedure.
5
Adjustment
6
When in Trouble
7
Supplement
6-17
2. Setup of gain pre-adjustment protection
When in Trouble
Before starting gain adjustment, set the following parameters based on the conditions of
use, to assure safe operation.
1) Setup of over-travel inhibit input
By inputting the limit sensor signal to the driver, the bumping against mechanical end
can be prevented. Refer to interface specification, positive/negative direction overtravel inhibit input (POT/NOT). Set the following parameters which are related to overtravel inhibit input.
3U6HWXSRIRYHUWUDYHOLQKLELWLQSXW
3U6HTXHQFHDWRYHUWUDYHOLQKLELW
Related page
332712733U3U

2) Setup of torque limit
By limiting motor maximum torque, damage caused by failure or disturbance such as

bite of the machine and collision will be minimized. To apply standardized limit through
SDUDPHWHUVVHW3U7KHVWWRUTXHOLPLW
If the torque limit setup is lower than the value required during the actual application,
WKH IROORZLQJ WZR SURWHFWLYH IHDWXUHV ZLOO EH WULJJHUHG RYHUVSHHG SURWHFWLRQ ZKHQ
overshoot occurs, and excess positional deviation protection when response to the
command delays.
%\DOORFDWLQJWKHWRUTXHLQOLPLWRXWSXW7/&RILQWHUIDFHVSHFLFDWLRQWRWKHRXWSXWVLJnal, torque limit condition can be detected externally.
Related page
37/&33U33U

3) Setup of over-speed protection
*HQHUDWHV(UU2YHUVSHHGSURWHFWLRQZKHQWKHPRWRUVSHHGLVH[FHVVLYHO\KLJK
Default setting is the applicable motor maximum speed [r/min] 1.2.
If your application operates below the motor maximum speed, set Pr5.13 Setup of
over-speed level by using the formula below.
3U6HWXSRIRYHUVSHHGOHYHO 9PD[ to 1.5)
9PD[PRWRUPD[LPXPVSHHG>UPLQ@LQRSHUDWLQJFRQGLWLRQ
Factor in ( ) is margin to prevent frequent activation of over-speed protection.
When running the motor at a low speed during initial adjustment stage, setup the overspeed protection by multiplying the adjusting speed by a certain margin to protect the motor against possible oscillation.
Related page
P.4-46 (Pr5.13)
(Continued ...)
6-18
2
Preparation
During the position control or full-closed control, this function detects potential excesVLYHGLIIHUHQFHEHWZHHQWKHSRVLWLRQDOFRPPDQGDQGPRWRUSRVLWLRQDQGLVVXHV(UU
Excess positional deviation protection.
([FHVV SRVLWLRQDO GHYLDWLRQ OHYHO FDQ EH VHW WR 3U 6HWXS RI SRVLWLRQDO GHYLDWLRQ
excess. The deviation can be detected through command positional deviation [pulse
(command unit)] and encoder positional deviation [pulse (encoder unit)], and one of
ZKLFKFDQEHVHOHFWHGE\3U3RVLWLRQVHWXSXQLWVHOHFW6HHWKHFRQWUROEORFNGLDgram.)
'HIDXOWVHWWLQJLV>SXOVHFRPPDQGXQLW@
Because the positional deviation during normal operation depends on the operating
VSHHGDQGJDLQVHWWLQJOOWKHHTXDWLRQEHORZEDVHGRQ\RXURSHUDWLQJFRQGLWLRQDQG
LQSXWWKHUHVXOWLQJYDOXHWR3U
4) Setup of the excess positional deviation protection
3
Connection
:KHQ3U GHWHFWLRQWKURXJKFRPPDQGSRVLWLRQDOGHYLDWLRQ

3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9FNSWR
9FPD[LPXPIUHTXHQF\RISRVLWLRQDOFRPPDQGSXOVH>SXOVHFRPPDQGXQLWV@
.SSRVLWLRQORRSJDLQ>V@
Factor in ( ) is margin to prevent frequent activation of excess positional deviation
protection.
3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9H.SWR

9HPD[LPXPRSHUDWLRQIUHTXHQF\>SXOVHV@LQHQFRGHUXQLWRUIXOOFORVHGXQLW
.SSRVLWLRQORRSJDLQ>V@
Note 3) When switching position loop gain Kp, select the smallest value for calculation.
1RWH :KHQ3U VHWXSVRISRVLWLRQDOFRPPDQGILOWHUDQGGDPSLQJFRQWUROKDYH
33U33U

5) Setup of motor working range
During the position control or full-closed control, this function detects the motor position which exceeds the revolutions set to Pr5.14 Motor working range setup, and isVXHV(UUSoftware limit protection.
P.4-46 (Pr5.14)
7
Supplement
Related page
6
When in Trouble
no effect.
Related page
5
Adjustment
:KHQ3U GHWHFWLRQWKURXJKHQFRGHUSRVLWLRQDOGHYLDWLRQ

full-closed positional deviation)
Setup
Note 1) When switching position loop gain Kp, select the smallest value for calculation.
Note 2) When using the positional command filter and damping control, add the
following values.

3RVLWLRQDOFRPPDQGVPRRWKLQJILOWHU9F filter time constant [s]

3RVLWLRQDOFRPPDQG),5ILOWHU9F filter time constant [s]/2

'DPSLQJFRQWURO9F GDPSLQJIUHTXHQF\>+]@

6) Setup of hybrid deviation excess error protection
At the initial operation with full-closed control, operation failure may occur due to reverse connection of external scale or wrong external scale division ratio.
7R LQGLFDWH WKLV W\SH RI GHIHFW (UU +\EULG GHYLDWLRQ H[FHVV HUURU SURWHFWLRQ LV LVsued when the deviation of motor position (encoder unit) and load position (external
scale unit) exceed Pr3.28 Setup of hybrid deviation excess.
'HIDXOWVHWWLQJLVSXOVHFRPPDQGXQLW%HFDXVHWKHGHYLDWLRQLQQRUPDORSHUDtion varies with the operation speed and gain setup. Add a margin to this setting according to your operating condition.
Related page

P.4-32 (Pr3.28)
3. Troubleshooting
When in Trouble
Motor Does Not Run
:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
&ODVVLFDWLRQ
Parameter
Check that the present

control mode is correct
with monitor mode of the
front panel.
6HWXS3UDJDLQ
2) Check that the input to control mode switching
&02'(RIWKH&QQHFWRU;LVFRUUHFWZKHQ
3ULVVHWWRWR
Selection of
torque limit is not
correct
Check that the external

analog input (N-ATL/
P-ATL) is not used for the
torque limit.
6HWXS3UWRDQGDSSO\>9@WR1$7/DQG
>9@WR3$7/ZKHQ\RXXVHWKHH[WHUQDOLQSXW
6HWXS3UWRDQGVHWXSWKHPD[YDOXHWR
3UZKHQ\RXXVHWKHSDUDPHWHUYDOXH
Setup of
electronic gear
is not correct.
(Position/Fullclosed)
Check that the motor

moves by expected
revolution against the
command pulses.
&KHFNWKHVHWXSVRI3U3UDQG3UWR
3UDJDLQ
2) Connect the electronic gear switching input (DIV) of
&RQQHFWRU;WR&20RULQYDOLGDWHWKHGLYLVLRQ
multiplication switching by setting up the same
YDOXHWR3UDQG3U
Servo-ON input
of Connector
;65921LV
open.
In the front panel monitor

mode, is the Pin No.
corresponding to SRVON in - state?
Check and make a wiring so as to connect the SRV21LQSXWWR&20
Positive/negative
direction overtravel inhibit input
RI&RQQHFWRU;
(NOT/POT) is
open.

corresponding to NOT/
POT in A state?
1) Check and make a wiring so as to connect both

127327LQSXWVWR&20
6HWXS3UWRLQYDOLGDQGUHVHWWKHSRZHU
Command pulse
input setup
is incorrect.
(Position/Fullclosed)
Check that the input

pulse counts and
variation of command
pulse sum does not slips,
with monitor mode of the
front panel.
1) Check that the command pulses are entered

FRUUHFWO\WRWKHGLUHFWLRQVHOHFWHGZLWK3U
2) Check that the command pulses are entered
FRUUHFWO\LQWKHIRUPDWVHOHFWHGZLWK3U
Command
pulse input
LQKLELWLRQ,1+RI
&RQQHFWRU;LV
open. (Position/
Full-closed)

FRUUHVSRQGLQJWR,1+LQ
A state?
&KHFNDQGPDNHDZLULQJVRDVWRFRQQHFWWKH,1+
LQSXWWR&20
2) Set up Pr5.18 to 1 (invalid).
Counter clear
input (CL) of
&RQQHFWRU;
is connected to
&203RVLWLRQ
Full-closed)

corresponding to CL in
A state?
1) Check and make wiring so as to open the CL input

6HWXS3UWRLQYDOLG
4
Setup
Setup of the
control mode is
not correct
Connection
5
Adjustment
6
When in Trouble
7
Supplement
Related page
Measures
Preparation
Wiring
Causes
3+RZWR8VHWKH)URQW3DQHO3,QSXWVDQGRXWSXWVRQFRQQHFWRU;
3'HWDLOVRISDUDPHWHU
6-21
3. Troubleshooting
Motor Does Not Run
:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
&ODVVLFDWLRQ
Wiring
Installation
Related page
6-22
Causes
Measures
Speed command
is invalid
(Velocity)
Check that the velocity

command input method
(external analog
command/internal
velocity command) is
correct.
&KHFNWKHVHWXSVRI3UWR3UDJDLQE\
VHWWLQJXS3UWRZKHQ\RXXVHWKHH[WHUQDO
analog command.
6HWXS3UWR3UDQG3UWR3UE\
VHWWLQJXS3UWRHLWKHURQHRIRUZKHQ
you use the internal speed command.
Speed zero
clamp input
(ZEROSPD) of
&RQQHFWHU;LV
open.
(Velocity/Torque)
In the front panel

monitor mode, is the Pin
No. corresponding to
ZEROSPD in A state?
1) Check and make wiring so as to connect speed

]HURFODPSLQSXWWR&20
2) Set up Pr3.15.
Torque command
is invalid (Torque)
Check that the torque

command input method
(SPR/TRQR input,
P-ATL/TRQR input) is
correct.
1) Check that the input voltage is applied correctly by

VHWWLQJXS3UWRZKHQ\RXXVH6357545
input.
2) Check that the input voltage is applied correctly by
setting up Pr3.17 to 1, when you use the P-ATL/
TRQR input.
Velocity control is
invalid (Torque)
Check that the velocity

limit input method
(parameter velocity, SPR/
TRQR/SPL input) is
correct.
1) Set up the desired value to Pr3.21 by setting up

3UWRZKHQ\RXXVHWKHSDUDPHWHUVSHHG
2) Check that the input voltage is applied correctly
by setting up Pr3.17 to 1, when you use the SPR/
TRQR/SPL input.
Main power is
shut off.

FRUUHVSRQGLQJWR65'<
in - state?
Check the wiring/voltage of main power of the driver

(L1, L2 and L3).
The motor shaft

drags, the motor
does not run.
1)Check that you can

turn the motor shaft,
after turning off the
power and separate it
from the machine.
2)Check that you can
turn the motor shaft
while applying DC24V
to the brake in case
of the motor with
electromagnetic brake.
If you cannot turn the motor shaft, consult with the

dealer for repair.
3'HWDLOVRISDUDPHWHU3,QSXWVDQGRXWSXWVRQFRQQHFWRU;
6
&ODVVLFDWLRQ
Adjustment
Unstable Rotation (Not Smooth),

Motor Runs Slowly Even with Speed Zero at Velocity Control Mode
Causes
Setup of the control mode is not
correct.
Measures
,I\RXVHWXS3UWR9HORFLW\FRQWUROPRGHE\PLVWDNHDW
position control mode, the motor runs slowly at servo-ON due to
VSHHGFRPPDQGRIIVHW&KDQJHWKHVHWXSRI3UWR
Velocity and position command

are not stable.
&KHFNWKHPRWRUPRYHPHQWZLWKFRQQHFWRU;RIWKHIURQWSDQHO
or the waveform graphic function of the PANATERM. Review the
wiring, connector contact failure and controller.
Each input signal of Connector

;LVFKDWWHULQJ
1) Servo-ON signal
&KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV
Correct the wiring and connection so that the Servo-ON signal
can be turned on normally. Review the controller.
2) Check the wiring and connection between Pin-18 and 17, 16 and
RIWKH&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH&RUUHFWWKH
wiring and connection so that Positive/Negative direction torque
limit input can be entered normally.
&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the deviation counter input can
be turned on normally. Review the controller.
4) Check the wiring and connection between Pin-26 and 41of the
&RQQHFWRU;XVLQJ'LVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the speed zero clamp input can
be entered normally. Review the controller.
&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the command pulse inhibition
input can be entered normally. Review the controller.
2) Positive/Negative direction
torque limit input signal
3) Deviation counter input signal
4) Speed zero clamp signal
5) Command pulse inhibition

input
8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;
6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQHFPRUORQJHULQWKH
separate duct.
Slip of offset
Check the voltage between Pin-14 and 15 (speed command input)

using a tester or an oscilloscope.
Noise is on the position

command.
8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;
6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQHFPRUORQJHULQWKH
separate duct.
5
Adjustment
Noise is on the velocity

command.
Setup
,QFUHDVHWKHVHWXSRI3UVWYHORFLW\ORRSJDLQ(QWHUWRUTXH
OWHURI3UDQGLQFUHDVHWKHVHWXSRI3UDJDLQ
Connection
Gain adjustment is not proper.
Preparation
Wiring
When in Trouble
Parameter
3. Troubleshooting
6
When in Trouble
7
Supplement
Related page
6-23
3. Troubleshooting
When in Trouble
Positioning Accuracy Is Poor
&ODVVLFDWLRQ
Causes
Position command is not correct.
(Amount of command pulse)
Count the feedback pulses with a monitor function of the

PANATERM or feedback pulse monitor mode of the console while
repeating the movement of the same distance. If the value does
not return to the same value, review the controller. Make a noise
measure to command pulse.
Captures the positioning

complete signal at the edge.
Monitor the deviation at positioning complete signal reception

ZLWKWKH&RQQHFWRU;RUWKHZDYHIRUPJUDSKLFIXQFWLRQRIWKH
PANATERM.
Make the controller capture the signal not at the edge but with
some time allowance.
Shape or width of the

command pulse is not per the
VSHFLFDWLRQV
If the shape of the command pulse is broken or narrowed, review

the pulse generating circuit. Make a noise measure.
Noise is superposed on
deviation counter clear input CL
&RQQHFWRU;3LQ
Make a noise measure to external DC power supply and make no

wiring of the unused signal lines.
Adjustment
Position loop gain is small.
Check the position deviation with the monitor function of the

PANATERM or at the monitor mode of the console.
,QFUHDVHWKHVHWXSRI3UZLWKLQWKHUDQJHZKHUHQRRVFLOODWLRQ
occurs.
Parameter
Setup of the positioning

complete range is large.
Lower the setup of Pr4.31 within the range where no chattering of

complete signal occurs.
Command pulse frequency have

H[FHHGHGNSSVRU0SSV
Lower the command pulse frequency. Change the division/

multiplication ratio of 1st and 2nd numerator of command division/
PXOWLSOLFDWLRQ3UDQG3U8VHDSXOVHOLQHLQWHUIDFH
exclusive to line driver when pulse line interface is used.
Setup of the division/

multiplication is not correct.
Check if the repetition accuracy is same or not. If it does not

change, use a larger capacity motor and driver.
Velocity loop gain is proportion

action at motor in stall.
6HWXS3UDQG3URIWLPHFRQVWDQWRIYHORFLW\ORRS
LQWHJUDWLRQWRRUVPDOOHU
5HYLHZWKHZLULQJDQGFRQQHFWLRQVRWKDWWKHFRQQHFWLRQEHWZHHQ
Pin-27 and 41 of the gain switching input connector, Connector
;EHFRPHVRIIZKLOH\RXVHWXS3URIQGJDLQVHWXSWR
Each input signal of Connector

;LVFKDWWHULQJ
1) Servo-ON signal
FRQQHFWRU&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the servo-On
signal can be turned on normally. Review the controller.
FRQQHFWRU&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the deviation
counter clear input can be turned on normally. Review the
controller.
3 Check the wiring and connection between Pin-18 and 17, 16 and
RIWKHFRQQHFWRU&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH
Correct the wiring and connection so that Positive/Negative
direction torque limit input can be entered normally.
FRQQHFWRU&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDO
status. Correct the wiring and connection so that the command
pulse inhibition input can be entered normally. Review the controller.
System
Wiring
2) Deviation counter clear input

signal
3) Positive/Negative direction
torque limit input signal
4) Command pulse inhibition

input
Installation
Related page
6-24
Measures
Load inertia is large.
Check the overshoot at stopping with graphic function of the

PANATERM. If no improvement is obtained, increase the driver and
motor capacity.
3. Troubleshooting
When in Trouble
Origin Point Slips
&ODVVLFDWLRQ
System
Measures
Z-phase is not detected.
Check that the Z-phase matches to the center of proximity dog.

Execute the homing matching to the controller correctly.
+RPLQJFUHHSVSHHGLVIDVW
Lower the homing speed at origin proximity. Or widen the origin

sensor.
Chattering of proximity sensor

(proximity dog sensor) output .
Check the dog sensor input signal of the controller with

oscilloscope.
Review the wiring near to proximity dog and make a noise measure
or reduce noise.
Noise is on the encoder line.
5HGXFHQRLVHLQVWDOODWLRQRIQRLVHOWHURUIHUULWHFRUHVKLHOG

treatment of I/F cables, use of a twisted pair or separation of power
and signal lines.
Check the Z-phase signal with oscilloscope. Check that the PinRIWKHFRQQHFWRUFRQQHFWRU;LVFRQQHFWHGWRWKHHDUWKRIWKH
controller. Connect the earth of the controller because the open
collector interface is not insulated. Replace the motor and driver.
Request for repair.
Miswiring of Z-phase output.
Check the wiring to see only one side of the line driver is connected
or not. Use a CZ output (open collector if the controller is not
differential input.
3
Connection
No Z-phase signal output.
Preparation
Wiring
Causes
1
4
Setup
3. Troubleshooting
When in Trouble
Abnormal Motor Noise or Vibration
Causes
Measures
Wiring
Noise is on the speed command.
Measure the speed command inputs of Pin-14 and 15 of the

connector, &RQQHFWRU; with an oscilloscope. Reduce noise
LQVWDOODWLRQRIQRLVHOWHURUIHUULWHFRUHVKLHOGWUHDWPHQWRI,)
cables, use of a twisted pair, separation of power and signal lines.
Adjustment
Gain setup is large.
/RZHUWKHJDLQE\VHWWLQJXSORZHUYDOXHVWR3UDQGRI
YHORFLW\ORRSJDLQDQG3UDQG3URISRVLWLRQORRSJDLQ
Installation
Resonance of the machine and

the motor.
5HDGMXVW3UDQG
Check if the machine resonance exists or not with frequency
characteristics analyzing function of the PANATERM. Set up the
QRWFKIUHTXHQF\WR3U3U3URU3ULIUHVRQDQFH
exists.
Motor bearing
Check the noise and vibration near the bearing of the motor while
running the motor with no load. Replace the motor to check.
Request for repair.
Electro-magnetic sound, gear

noise, rubbing noise at brake
engagement, hub noise or
rubbing noise of encoder.
Check the noise of the motor while running the motor with no load.
Replace the motor to check. Request for repair.
Adjustment
&ODVVLFDWLRQ
6
When in Trouble
Supplement
6-25
3. Troubleshooting
When in Trouble
&ODVVLFDWLRQ
Causes
Measures
Adjustment
Gain adjustment is not proper.
Check with graphic function of PANATERM or monitor (connector

;0DNHDFRUUHFWJDLQDGMXVWPHQW5HIHUWR$GMXVWPHQW
Installation
Load inertia is large.
Check with graphic function of PANATERM or monitor (Connector

;0DNHDQDSSURSULDWHDGMXVWPHQW,QFUHDVHWKHPRWRUDQG
driver capacity and lower the inertia ratio. Use a gear reducer.
Looseness or slip of the

machine.
Review the mounting to the machine.
Ambient temperature,
environment.
Lower the temperature with cooling fan if the ambient temperature

exceeds the predications.
Stall of cooling fan, dirt of fan

ventilation duct.
Check the cooling fans of the driver and the machine. Replace the
GULYHUIDQRUUHTXHVWIRUUHSDLU7KHXSSHUIDQRQWKH+IUDPHGULYHU
stops during servo OFF to save energy. This is normal.)
Mismatching of the driver and

the motor.
Check the name plates of the driver and the motor. Select a
correct combination of them referring to the instruction manual or
catalogue.
Failure of motor bearing.
Check that the motor does not generate rumbling noise while
turning it by hand after shutting off the power. Replace the motor
and request for repair if the noise is heard.
Electromagnetic brake is kept

engaged (left un-released).
Check the voltage at brake terminals. Apply the power (DC24V) to

release the brake.
Motor failure (oil, water or

others)
Avoid the installation place where the motor is subject to high

temperature, humidity, oil, dust or iron particles.
Motor has been turned by

external force while dynamic
brake has been engaged.
Check the running pattern, working condition and operating status,

and inhibit the operation under the condition of the left.
3. Troubleshooting
When in Trouble
&ODVVLFDWLRQ
Motor Speed Does Not Reach to the Setup,

Motor Revolutions (Travel) Is Too Large or Small
Causes
Measures
Parameter
Velocity command input gain is

not correct.
&KHFNWKDWWKHVHWXSRI3UVSHHGFRPPDQGLQSXWJDLQLV
PDGHVRDVWRPDNHWKHVHWXSRIPDNHVUPLQ9
Adjustment
Position loop gain is low.
6HWXS3UDQG3USRVLWLRQORRSJDLQWRDSSUR[
Division/Multiplication is not
proper.
6HWXSFRUUHFWYDOXHVWR3UVWQXPHUDWRURIHOHFWURQLF
JHDU3UQXPHUDWRUPXOWLSOLHURIHOHFWURQLFJHDUDQG3U
denominator of electronic gear. Refer to parameter setup at each
mode.
Related page
6-26
Overshoot/Undershoot,
Overheating of the Motor (Motor Burn-Out)
3. Troubleshooting
When in Trouble
Parameter Returns to Previous Setup
&ODVVLFDWLRQ
Causes
Parameter
No writing to EEPROM has been

carried out before turning off the
power.
1
Measures
5HIHUWR3((3520:ULWLQJ0RGHRI3UHSDUDWLRQ
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6-27
MEMO
6-28
7. Supplement
1
1. Safety function
Outline ........................................................................................................7-2
Input & output signals .................................................................................7-3
2
Preparation
Safety Circuit Block Diagram ......................................................................7-5

Timing Chart ...............................................................................................7-6
Example of connection ...............................................................................7-8
2. Absolute system
Outline ......................................................................................................7-10
&RQJXUDWLRQ ............................................................................................7-11
Battery (for Backup) Installation ................................................................7-12
Setup (Initialization) of Absolute Encoder .................................................7-16
Transferring absolute data ........................................................................7-16
Transferring external scale absolute data .................................................7-21
Display of Battery Alarm ...........................................................................7-25
3
Connection
3.Outline of Setup Support Software, PANATERM

Setup on the PC .......................................................................................7-26
4. Communication
Outline ......................................................................................................7-27
6SHFLFDWLRQV............................................................................................7-28
List of Communication Command .............................................................7-39
Details of Communication Command .......................................................7-40

Setup
5. Motor Characteristics (S-T Characteristics)

Motor .........................................................................................................7-55
6. Dimensions
Driver A-frame, B-frame .........................................................................7-73
C-frame, D-frame (200 V) ............................................................7-74
D-frame (400 V), E-frame (200 V) ................................................7-75
E-frame (400 V), F-frame .............................................................7-76
5
Adjustment
G-frame ........................................................................................7-77
H-frame ........................................................................................7-78
Motor .........................................................................................................7-79
7. Options
Noise Filter ................................................................................................7-94
6
When in Trouble
Surge Absorber .........................................................................................7-98

Noise Filter for Signal Lines ......................................................................7-99
Junction Cable for Encoder ....................................................................7-100
Junction Cable for Motor (Without brake) ...............................................7-103
Junction Cable for Motor (With brake) ....................................................7-106
Junction Cable for Brake ........................................................................7-108
Connector Kit ..........................................................................................7-109
Battery For Absolute Encoder .................................................................7-118
Mounting Bracket ....................................................................................7-119
Reactor ...................................................................................................7-120
External Regenerative Resistor ..............................................................7-122
7
Supplement
Recommended components(Surge absorber for motor brake) ..............7-124

List of Peripheral Equipments .................................................................7-125
7-1
1. Safety function
Supplement
Outline
Outline description of safe torque off (STO)

The safe torque off (STO) function is a safety function that shuts the motor current
and turns off motor output torque by forcibly turning off the driving signal of the servo
driver internal power transistor. For this purpose, the STO uses safety input signal and
hardware (circuit).
When STO function operates, the servo driver turns off the servo ready output signal
(S-RDY) and enters safety state.
This is an alarm condition and the 7-seg LED on the front panel displays the error code
number.
Safety precautions
When using the STO function, be sure to perform equipment risk assessment to ensure
that the system conforms to the safety requirements.
Even while the STO function is working, the following potential safety hazards exist.
Check safety in risk assessment.
The motor may move when external force (e.g. gravity force on vertical axis) is
exerted on it. Provide an external brake, etc., as necessary to secure the motor. Note
that the purpose of motor with brake is holding and it cannot be used for braking
application.
When parameter Pr5.10 Sequence at alarm is set to free run (disable dynamic
brake), the motor is free run state and requires longer stop distance even if no
external force is applied. Make sure that this does not cause any problem.
When power transistor, etc., becomes defective, the motor will move to the extent
equivalent of 180 electrical angle (max.). Make sure that this does not cause any
problem.
The STO turns off the current to the motor but does not turn off power to the servo
driver and does not isolate it. When starting maintenance service on the servo driver,
turn off the driver by using a different disconnecting device.
External device monitor (hereafter EDM) output signal is not a safety signal. Do not use
it for an application other than failure monitoring.
Dynamic brake and external brake release signal output are not related to safety
function. When designing the system, make sure that the failure of external brake
release during STO condition does not result in danger condition.
When using STO function, connect equipment conforming to the safety standards.
Note
Related page
7-2
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;6DIHW\IXQFWLRQFRQQHFWRU
3&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGV3+RZWR8VHWKH)URQW3DQHO
1. Safety function
Supplement
Input & output signals
1
7
Safety input signal
For list of connector pin numbers, refer to P.2-53,

Signal
SF1+
6)
SF2+
6)
Safety
input 1
Safety
input 2
Control
mode
Contents
Input 1 that triggers STO function. This input turns
off the upper arm drive signal of power transistor.
When using the function, connect this pin in a way
so that the photocoupler of this input circuit turns off
to activate STO function.
Input 2 that triggers STO function. This input turns
off the lower arm drive signal of power transistor.
When using the function, connect this pin in a way
so that the photocoupler of this input circuit turns off
to activate STO function.
Compatible
all control
mode
<Response time>
Safety input 1 or 2 enables STO to operate: within 5 ms of response time, the motor
output torque will be turned off.
Caution
4
Setup
6DIHW\HTXLSPHQWVHOIGLDJQRVLV/SXOVH
Safety output signal from the safety controller and safety sensor may include L pulse for
self-diagnosis.
To prevent the L pulse from mis-triggering STO function, the safety input circuit has
EXLOWLQOWHUWKDWUHPRYHVWKHVHOIGLDJQRVLV/SXOVH
Therefore, if the off period of safety input signal less than 1 ms, the safety input circuit
GRHVQRWGHWHFWWKLVRIIHYHQW
7RYDOLGDWHWKLVRIISHULRGWXUQRIIWKHLQSXWVLJQDOIRUPRUHWKDQPV
3
Connection
Pin No.
Preparation
Symbol
L pulse for self-diagnosis
5 ms or more
1 ms or shorter
Servo driver
Operate
Adjustment
Safety input
signal
5 ms or shorter
Response time
STO state
When in Trouble
7
Supplement
Note
7-3
1. Safety function
Input & output signals
External device monitor (EDM) output signal

The monitor output signal is used by the external device to monitor the state of the safety
input signal. Connect the monitor output to the external device monitor terminal of the
safety devices such as safety controller and safety sensor.
Signal
Control
mode
Symbol
Pin No.
Contents
EDM+
Outputs monitor signal that is used to check the
EDM
output
safety function.
('0
Caution
This output signal is not a safety output.
Compatible
all control
mode
/RJLFDOUHODWLRQVKLSEHWZHHQVDIHW\LQSXWVLJQDODQG('0RXWSXWVLJQDO
When both safety input 1 and 2 are off, i.e. when STO function of 2 safety input channels
are active, the photocoupler in EDM output circuit turns on.
Signal
Safety input
EDM output
Symbol
SF1
Photocoupler logic
ON
ON
OFF
OFF
SF2
ON
EDM
OFF
OFF
ON
OFF
OFF
OFF
ON
By monitoring the logics (all 4 states) of photocoupler shown in the table above, the
external device can determine the status (normal or abnormal) of safety input circuit and
EDM output circuit.
7-4
Note
Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms.
Note
1. Safety function
Supplement
Safety Circuit Block Diagram
C
analog
input
SF2+
LPF3ms
C
analog
input
EDM+
+5V
+5V
I_SF2
+5V
+5V
in
N
O_EDM
PC
5V
C port
3.3V
level
shifter
('0
PC
Connection
6)
ASIC
IL_ERR1
+5V
Power section interface
+5V
Preparation
IL_EMG
I_SF1
Control
Circuit
X3
4
6)
Power
+5V
+5V
SF1+
5V
+5V
out
+5V PS
Voltage
Monitor
4
Motor
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
7-5
1. Safety function
Supplement
Timing Chart
Operating timing for safety status

Servo-ON input
(SRV-ON)
input coupler OFF

(Servo-OFF command)
input coupler ON
(Servo-ON command)
Safety input 1
Safety input 2 *3
input coupler OFF (STO)
input coupler ON
max 5ms
Motor energization
energized
not-energized
max 6ms
EDM output
output coupler ON
output coupler OFF
0.5 to 5ms
Dynamic brake
*2
released
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
engaged
output coupler OFF
(not ready)
output coupler ON
(ready)
output coupler ON
(not Alarm)
output coupler ON
(Break release)
output coupler OFF

(Alarm)
output coupler OFF
(Break engage)
t1*1
motor speed
when setup
value of Pr4.38
is shorter,
output coupler OFF

(Break engage)
output coupler ON
(Break release)
t1*1
motor speed
when time to fall

below value of
Pr4.39 is shorter,
*1 t1 is the value set to Pr4.38 Setup of mechanical brake action at running or the time
at which the motor revolution speed drops below the time set to Pr4.39 Brake release
speed setup, whichever comes first.
*2 Dynamic brake operates to the setting of Pr5.10 Sequence at alarm.
*3 When safety input 1 or 2 turns off, the state changes to STO condition.
Note
Related page
7-6
33U3U33U
1. Safety function
1
Timing Chart
Return timing from safety state

input coupler OFF
(Servo-OFF command)
Servo-ON input
(SEV-ON) *1
input coupler OFF
input coupler ON
Motor energization
2
Preparation
Safety input 1
Safety input 2
input coupler ON
(Servo-ON command)
not-energized
max 6ms
EDM output
released/engaged *2
generated alarm
Servo-Ready output
(S-RDY)
Servo-Clear intput
(ALM) *1
input coupler OFF
output coupler OFF

(Alarm)
External brake
release output
(BRK-OFF)
released/engaged *3
Servo-OFF
output coupler ON
(ready)
Once the servo

on command is
input, the
operation
proceeds in
synchronous
with normal
servo on/off
timing.
(Refer to P.2-61
Timing Chart)
input coupler ON
Setup
Servo-Alarm output
(ALM)
output coupler OFF

(not ready)
output coupler OFF
Connection
Dynamic brake
output coupler ON
output coupler ON
(not Alarm)
output coupler OFF (Break engage)
5
Adjustment
6
When in Trouble
*1 Photocouplers for safety input 1 and 2 should be turned on again with servo-on input
turned off. Otherwise, alarm occurs, and should be cleared.
Alarm clear should be performed after the safety input 1 and 2 have been turned
back to on.
Otherwise, alarm occurs.
*2 This is an alarm condition and the dynamic brake operates according to Pr5.10 Sequence at alarm.
*3 This is normal servo-off condition and the dynamic brake operates according to
Pr5.06 Sequence at servo-off.
Related page
Supplement
Note
33U33U
7-7
1. Safety function
Supplement
Example of connection
Example of connection to safety switch

24V
Safety
switch
Servo driver
Contact output
SF1+
Safety input
6)
M
Safety input
SF2+
6)
0V
EDM output
EDM+
EDM
Example of connection to safety sensor

Safety sensor
Sefety output
(source)
Servo driver
Control output 1
SF1+
Safety input
6)
Control output 2
Safety input
SF2+
0V
6)
24V
EDM+
EDM input
EDM
EDM output
Example of connection to safety controller

Safety
controller
Contact output
T31
Servo driver
T33
SF1+
Safety input
6)
M
SF2+
A2
S14
6)
S24
EDM+
EDM
Sefety output
(source)
Note
7-8
EDM output
0V
1. Safety function
1
Example of connection
Example of connection when using multiple axes

Safety sensor
Sefety output
(source)
Control
output 1
Servo driver
Preparation
Control
output 2
SF1+
6)
0V
SF2+
24V
6)
EDM input
EDM+
EDM
Connection
EDM
output
Servo driver
SF1+
6)
M
SF2+
Setup
6)
EDM+
EDM
EDM
output
5
Servo driver
Adjustment
SF1+
6)
M
SF2+
6)
EDM+
EDM output
Capacity requirement per safety output (source) channel: 50 No. of connected axes
(mA)
24 VDC supply allowable voltage: 24 V15%
Maximum No. of connectable axes: 8
7
Supplement
Note
When in Trouble
EDM
7-9
2. Absolute system
Supplement
Outline
Outline of Absolute System

When you compose an absolute system using an absolute encoder, you are not required
to carry out homing operation at the power-on, and this function suits very well to such an
application as a robot.
&RQQHFWWKHKRVWFRQWUROOHUZLWKWKH0,1$6$ZLWKDEVROXWHVSHFLFDWLRQVPRWRUZLWK
absolute encoder and driver with absolute spec) and set up the parameter, Pr0.15 to 0 or 2,
then connect the battery for absolute encoder to compose an absolute system with which
you can capture the exact present position information after the power-ON.
Shift the system to origin once after installing the battery and clear the multi-turn data by
clearing the absolute encoder, then you can detect the absolute position without carrying
out homing operation.
Via RS232 or RS485 communication, the host controller can connect up to 32 MINAS-A5
and capture the present position information as serial data to obtain the absolute position
of each axis by processing. each data.
Applicable Mode
<RXFDQXVHDOORI0,1$6$VHULHVGULYHULQDEVROXWHVSHFLFDWLRQVE\VHWWLQJXSSDUDPHWHU8VHWKHPRWRUZKLFKWKSODFHGHVLJQDWHGIRUURWDU\HQFRGHUVSHFLFDWLRQVLV6
(7-wire type).
S
8th place
Rotary encoder specifications
$EVROXWH6SHFLFDWLRQV
There are 3 connecting methods of the host controller and MINAS-A5 driver as described
below, and select a method depending on the interface of the host controller specs or
number of axis to be connected. Designate a module ID to Pr5.31 of each MINAS-A5
driver when you connect multiple MINAS-A5 in communication to one host controller as
shown below.
[Parameter Pr5.31]
:KHQ\RXFRQQHFWHDFK0,1$6$WRWKHKRVWVHSDUDWHO\ZLWK56DQGVZLWFKWKH
communication individually, designate 0 to 31 to each MINAS-A5.
:KHQ\RXFRQQHFWRQH0,1$6$WRWKHKRVWZLWK56DQGFRQQHFWHDFK0,1$6$
with RS485, designate 0 to the MINAS-A5 connected with the host, and designate 1 to
31 to other MINAS-A5. (Max 32 axis are connectable.)
:KHQ\RXFRQQHFW0,1$6$WRWKHKRVWZLWK56WKHKRVWLVJLYHQPRGXOH,'RI
and designate 1 to 31 to MINAS-A5. (Max 31 axis are connectable.)
Note
7-10
2. Absolute system
Supplement
Configuration
1
&RQJXUDWLRQRIDEVROXWHV\VWHPRIVFDOHXVLQJ56LQWHUIDFH
Host controller
RS232
interface
Servo driver
X2
SN751701 or equivalent
4
RXD
3
TXD
1
GND
8
RS485+
7
RS485
6
RS485+
5
RS485
RS485 can be
connecter to either
terminal pair.
X4
X6
Relay
connector
Motor
X5
Relay
connector
Detection
head
Positioning
controller
Preparation
TXD
RXD
GND
External scale unit
When longer wirings

are used and/or drivers
are connected to
different power
sources, interconnect
GND terminals of these
drivers to prevent
potential generation.
4
RXD
3
TXD
1
GND
8
RS485+
7
RS485
6
RS485+
5
RS485
X4
RS485 can be
connecter to either
terminal pair.
X6
Relay
connector
Motor
X5
Relay
connector
Detection
head
Connection
X2
* No connection to X5 when no
external scale is used.
External scale unit
Setup
Related page
3&RQQHFWLRQRI&RPPXQLFDWLRQ/LQH
&RQJXUDWLRQRIDEVROXWHV\VWHPRIVFDOHXVLQJ56LQWHUIDFH
Host controller
RS485+
RS485
GND
X2
6
RS485+
5
RS485
1
GND
8
RS485+
7
RS485
X4
Positioning
controller
X6
Relay
connector
Motor
X5
Relay
connector
Detection
head
External scale unit
When in Trouble
Related page
ADM485 or equivalent
Adjustment
RS485
interface
Servo driver
3&RQQHFWLRQRI&RPPXQLFDWLRQ/LQH
7
* Battery for absolute encoder is required to store the multi-turn data into the encoder.
Connect the battery between BAT+ and BAT of the motor.
7-11
Supplement
Note
2. Absolute system
Supplement
Battery (for Backup) Installation
First Installation of the Battery

After installing and connecting the back-up battery to the motor, execute an absolute encoder setup. Refer to P.7-16, "Setup (initialization) of Absolute Encoder ".
It is recommended to perform ON/OFF action once a day after installing the battery for
refreshing the battery.
A battery error might occur due to voltage delay of the battery if you fail to carry out the
battery refreshment.
Caution
8VHWKHIROORZLQJEDWWHU\IRUDEVROXWHHQFRGHU
Battery .............Part No. : DV0P2990 (3.6V 2000mAh)
Battery box ......Part No. : DV0P4430
Replacement of the Battery

It is necessary to replace the battery for absolute encoder when battery alarm occurs.
Replace while turning on the control power. Data stored in the encoder might be
lost when you replace the battery while the control power of the driver is off.
After replacing the battery, clear the battery alarm. Refer to P.7-25, "How to Clear the
Battery Alarm".
Caution
When you execute the absolute encoder with the front panel (refer to P.2-113 of Preparation), or via communication (refer to P.7-54), all of error and multi-turn data will be cleared
WRJHWKHU ZLWK DODUP DQG \RX DUH UHTXLUHG WR H[HFXWH 6HWXS ,QLWLDOL]DWLRQ RI DEVROXWH
HQFRGHUUHIHUWR3
How to Replace the Battery

1) Refresh the new battery.
Connector with lead wire of the
battery to CN601 and leave of 5 min.
Pull out the connector from CN601 5
min after.
CN601
Pull out after 5 min.
connection
Note
Related page
7-12
2) Take off the cover of the battery box.
Raise the latch and

take off the cover.
3%DWWHU\)RU$EVROXWH(QFRGHU
2. Absolute system
1
3) Install the battery to the battery box.
2
Preparation
Place the battery with

+ facing downward.
Connect
the connector.
4) Close the cover of the battery box.
3
Connection
Close the cover not to

pinch the connector cable.
7
Supplement
7-13
6
When in Trouble
The disposal of used batteries after they have been replaced may be subject to
restrictions imposed by local governing authorities. In such cases, ensure
that their disposal is in accordance with these restrictions.
5
Adjustment
Caution
%H DEVROXWHO\ VXUH WR IROORZ WKH SUHFDXWLRQV EHORZ VLQFH LPSURSHU XVH RI WKH EDWWHU\ FDQ
cause electrolyte to leak from the battery, giving rise to trouble where the product may become corroded, and/or the battery itself may rupture.
,QVHUWWKHEDWWHU\ZLWKLWVDQGHOHFWURGHVRULHQWHGFRUUHFWO\
2) Leaving a battery which has been used for a long period of time or a battery which is no
longer usable sitting inside the product can cause electrolyte leakage and other trouble.
For this reason, ensure that such a battery is replaced at an early date. (As a general
guideline, it is recommended that the battery be replaced every two years.)
7KHHOHFWURO\WHLQVLGHWKHEDWWHU\LVKLJKO\FRUURVLYHDQGLILWVKRXOGOHDNRXWLWZLOOQRW
only corrode the surrounding parts but also give rise to the danger of short-circuiting
since it is electrically conductive. For this reason, ensure that the battery is replaced
periodically.
'RQRWGLVDVVHPEOHWKHEDWWHU\RUWKURZLWLQWRDUH
'RQRWGLVDVVHPEOHWKHEDWWHU\VLQFHIUDJPHQWVRIWKHLQWHULRUSDUWVPD\\LQWR\RXU
H\HVZKLFKLVH[WUHPHO\GDQJHURXV,WLVDOVRGDQJHURXVWRWKURZDEDWWHU\LQWRDUH
or apply heat to it as doing to may cause it to rupture.
'RQRWFDXVHWKHEDWWHU\WREHVKRUWFLUFXLWHG8QGHUQRFLUFXPVWDQFHVPXVWWKHEDWWHU\
tube be peeled off.
,WLVGDQJHURXVIRUPHWDOLWHPVWRPDNHFRQWDFWZLWKWKHDQGHOHFWURGHVRIWKH
EDWWHU\VLQFHVXFKREMHFWVPD\FDXVHDKLJKFXUUHQWWRRZDOODWRQFHZKLFKZLOOQRW
only reduce the battery performance but also generate considerable heat, possibly
leading to the rupture of the battery.
7KLVEDWWHU\LVQRWUHFKDUJHDEOH8QGHUQRFLUFXPVWDQFHVPXVWDQ\DWWHPSWEHPDGHWR
recharge it.
Setup
Caution
2. Absolute system
/LIHRIWKHEDWWHU\
Following example shows the life calculation of the back-up battery used in assumed robot operation.
2000[mAh] of battery capacity is used for calculation.
Note that the following value is not a guaranteed value, but only represents a calculated
value.
Caution
The values below were calculated with only the current consumption factored in. The calculations do not factor in electrolyte leakage and other forms of battery deterioration.
Life time may be shortened depending on ambient condition.
1) 2 cycles/day
Mon. to Sat. 313 days/365 day
Sun. 52 days/365 days
24h
24h
ON
Power
supply
10h
2h
10h
2h
bc
bc
OFF
c
a : Current consumption in normal mode 3.6[A]

b : Current consumption at power failure timer mode 180[A]
* Power failure timer mode...Action mode in time period when the motor
can respond to max. speed even the power is off (5sec).
c : Current consumption at power failure mode 60[A]
Annual consumption capacity =
(10h a + 0.0014h b + 2h c) 2 313 days + 24h c 52 days =
172.7[mAh] )
Battery life = 2000[mAh]/172.7[mAh/year] = 11.6 (11.581) [year]
2) 1 cycle/day
(2nd cycle of the above 1) is for rest.
Annual consumption capacity =
(10h a + 0.0014h b + 14h c) 313 days + 24h c 52 days =
349.1[mAh] )
Battery life = 2000[mAh]/349.1[mAh/year] = 5.7 (5.728) [year]
7-14
2. Absolute system
When you make your own cable for 17-bit absolute encoder
When you make your own cable for 17-bit absolute encoder, connect the optional battery
for absolute encoder, DV0P2990 as per the wiring diagram below. Connector of the battery for absolute encoder shall be provided by customer as well.
:LULQJ'LDJUDP
BAT+
BAT
Pin number when a connector (small motor) is used Twisted

pair
Pin number when a connector (large motor) is used
PS
2
Battery box for absolute encoder:
DV0P4430
1
2 (5)
BAT+
BAT+
BAT
BAT
Battery *1
5
6
E5V
E0V
PS
PS
FG (Case)
Adjustment
Connector, ZHR-2
(by J.S.T.)
4 (7)
PS
Connector X6
(Optional connector kit)
1
5 (6)
7 (3)
4
Setup
Junction connector for

encoder cable
(Optional connector kit)
6 (4)
E5V
3 (1)
E0V
1 (9)
FG
*1 Battery for absolute encoder (Option):

DV0P2990
Part No.
ZMR-2
SMM-003T-P0.5
YRS-800
Manufacturer
J.S.T.
J.S.T.
J.S.T.
6
When in Trouble
Title
Connector
Connector pin
Clamping Jig
3
Connection
,QVWDOODWLRQ3ODFH
1) Indoors, where the products are not subjected to rain or direct sun beam.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
VXOGH VXOIXURXV DFLG FKORULQH DPPRQLD FKORULF JDV VXOIXULF JDV DFLG DONDOLQH
DQG VDOW DQG VR RQ DQG DUH IUHH IURP VSODVK RI LQDPPDEOH JDV JULQGLQJ RLO RLO
mist, iron powder or chips and etc.
3) Well-ventilated and humid and dust-free place.
4) Vibration-free place
2
Preparation
,QVWDOODQG[WKHEDWWHU\VHFXUHO\,IWKHLQVWDOODWLRQDQG[LQJRIWKHEDWWHU\LVQRWDSSURpriate, it may cause the wire breakdown or damage of the battery.

Refer to the instruction manual of the battery for handling the battery.
Caution
Connector for absolute encoder connection

(To be provided by customer)
Related page
Supplement
Note
3%DWWHU\)RU$EVROXWH(QFRGHU
7-15
2. Absolute system
Supplement
Setup (Initialization) of Absolute Encoder
Absolute multi-turn data will be maintained by the absolute encoder battery.

:KHQRSHUDWLQJWKHPDFKLQHIRUWKHUVWWLPHDIWHULQVWDOOLQJWKHEDWWHU\WRWKHDEVROXWHHQcoder, clear the encoder data (multi-turn data) to 0 at the origin by following the procedure
described below.
Clear the absolute encoder from the front panel (see P.2-113) or PANATERM. Turn off
power and then on again.
2. Absolute system
Supplement
Transferring absolute data
Transfer the absolute data (absolute data of external scale) from the servo driver to the
host controller: turn on power and wait until the servo ready output (S-RDY) is turned on,
and then start transfer.
Setup of serial communication interface on host controller

56
Baud rate
2400, 4800, 9600, 19200, 38400, 57600, 115200bps
Data
8 bit
Parity
none
Start bit
1 bit
Stop bit
1 bit
The baud rate is set according to Pr5.29 Baud rate setup of RS232 communication.
56
Baud rate
2400, 4800, 9600, 19200, 38400, 57600, 115200bps
Data
8 bit
Parity
none
Start bit
1 bit
Stop bit
1 bit
The baud rate is set according to Pr5.30 Baud rate setup of RS485 communication.
Note
Related page
7-16
2. Absolute system
RS232 Communication Protocol

Refer to the instruction manual of the host for the transmission/reception method of command.
05h transmission
04h reception
Host requests
for absolute
data to driver
06h reception
05h reception
Host receives
absolute data
from driver
Reception of
absolute data
(15 characters)
06h transmission
transmission finishes
15h transmission
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
10h
11h
12h
13h
14h
15h
16h
17h
18h
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh
2Eh
2Dh
2Ch
2Bh
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
20h
1Fh
1Eh
1Dh
1Ch
1Bh
1Ah
19h
18h
17h
16h
15h
14h
13h
12h
11h
10h
0Fh
5
Adjustment
Check sum
OK'ed reception
Data of *2
Setup
04h transmission
Data of *1
Connection
00h transmission
01h transmission *1
D2h transmission
2Dh transmission *2
Axis address
(example)
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Check sum becomes OK'ed when the lower

8-bit of the sum of the received absolute data
(15 characters) is 0.
7-17
7
Supplement
Note
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWR
capture multiple axes data.
,WLVUHFRPPHQGHGIRU\RXWRUHSHDWWKHDERYHFRPPXQLFDWLRQPRUH
than 2 times to confirm the absolute data coincide, in order to avoid
mis-operation due to unexpected noise.
6
When in Trouble
Enter the Pr5.31 value of the driver to which you want to communicate from the host to
axis (*1 data) of the command block, and transmit the command according to the RS232
communication protocol. For details of communication, refer to P.7-27, "Communication".
Caution
2
Preparation
Data of *1 and *2 are determined by the setup

RI3U$[LVDGGUHVV
Transmission starts
2. Absolute system
56&RPPXQLFDWLRQ3URWRFRO
Refer to the instruction manual of the host for the transmission/reception method of comPDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQH[DPSOHRIWKHGULYHUWR3U$[LVDGGUHVV

Data of *1, *2 and *3 are determined by the setup of
3U$[LVDGGUHVV
Transmission starts
81h transmission
05h transmission
Host requests
for absolute
data to driver
*1
81h reception *1
04h reception
Y
00h transmission
01h transmission *2
D2h transmission
2Dh transmission *3
06h reception
Y
80h reception
05h reception
Y
80h transmission
04h transmission
Host receives
absolute data
from driver
Reception of
absolute data
(15 characters)
Check sum
OK'ed reception
Y
06h transmission
15h transmission
Axis
address
(example)
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Data of *1
Data of *2
Data of *3
not usable with RS485 communication

81h
01h
2Dh
82h
02h
2Ch
83h
03h
2Bh
84h
04h
2Ah
85h
05h
29h
86h
06h
28h
87h
07h
27h
88h
08h
26h
89h
09h
25h
8Ah
0Ah
24h
8Bh
0Bh
23h
8Ch
0Ch
22h
8Dh
0Dh
21h
8Eh
0Eh
20h
8Fh
0Fh
1Fh
90h
10h
1Eh
91h
11h
1Dh
92h
12h
1Ch
93h
13h
1Bh
94h
14h
1Ah
95h
15h
19h
96h
16h
18h
97h
17h
17h
98h
18h
16h
99h
19h
15h
9Ah
1Ah
14h
9Bh
1Bh
13h
9Ch
1Ch
12h
9Dh
1Dh
11h
9Eh
1Eh
10h
9Fh
1Fh
0Fh
Check sum becomes OK'ed when the lower 8-bit of the

sum of the received absolute data (15 characters) is 0.
Command from the host will be transmitted to the desired driver based on RS485 transmission protocol. For details of communication, refer to P.7-27, "Communication".
Caution
Note
7-18
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWRFDSture multiple axes data.

,W LV UHFRPPHQGHG IRU \RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH
WKDQ WLPHV WR FRQUP WKH DEVROXWH GDWD FRLQFLGH LQ RUGHU WR DYRLG
2. Absolute system
Composition of Absolute Data

Absolute data consists of singe-turn data which shows the absolute position per one
revolution and multi-turn data which counts the number of revolution of the motor after
clearing the encoder.
13107 1 0,1,2 131071 0,1,
1 0
Multi-turn data
Motor rotational direction
01
12
CW
2
Preparation
131071 0,1,2
Single-turn data
CCW
Single-turn data and multi-turn data are composed by using 15-character data (hexadecimal binary code) which are received via RS232 or RS485.
Connection
0Bh
Setup value of Pr5.31 Axis address.
Axis address
D2h
03h
11h
Encoder status (L)
Received
absolute data
(15 characters)
Encoder status (H)

Single-turn data (L)
Setup
Single-turn data (M)

Single-turn data (H)
Multi-turn data (L)
Multi-turn data (H)
00h
Becomes to 0 when the communication is
carried out normally. If not 0, capture the
absolute data from the driver again
Error code
Checksum
Adjustment
'HWDLOVRIPXOWLWXUQGDWD
Multi-turn data
65535
Single-turn data
multi-turn data
Error
0
Normal
CCW
Error
Single-turn data (H)10000h+Single-turn data (M)100h+Single-turn data (L)
When in Trouble
CW
Absolute counter over
error protection
multi-turn data (H) 100h+multi-turn data (L)
Note
,I WKH PXOWLWXUQ GDWD RI WKH DERYH J LV EHWZHHQ WR FRQYHUW LW WR VLJQHG
date after deducting 65536.
7-19
Supplement
Remarks
2. Absolute system
(QFRGHUVWDWXV/UHSUHVHQWVHUURURFFXUUHQFH
Encoder status (L)
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
(4)
(5)
(6)
(7)
0
(1)
(2)
(3)
(1) Over-speed
Err42.0 (Absolute over-speed error protection)
(2) Full absolute status
Err47.0 (Absolute status error protection)
(3) Counter error
Err44.0 (Absolute single-turn counter error protection)
(4) Counter overflow
Err41.0 (Absolute counter over error protection)
(5) Multi-turn error
Err45.0 (Absolute multi-turn counter error protection)
(6) Battery error
Err40.0 (Absolute system down error protection)
(7) Battery alarm
Alarm No.A2 Battery alarm
(QFRGHUVWDWXV/UHSUHVHQWVHUURURFFXUUHQFH
Encoder status (H)
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Battery error
One of the following has occurred.
Battery alarm, multi-turn error, counter overflow,
counter error, full absolute status, Counter overflow
multi-turn error, battery error or battery alarm
Remarks
)RUGHWDLORIWKH(QFRGHUVWDWXVUHIHUWRWKH(QFRGHUVSHFLFDWLRQ
Remarks
7UDQVPLWWKHDEVROXWHGDWDZKLOHIL[LQJWKHPRWRUZLWKEUDNHE\WXUQing to Servo-Off.
Note
Related page
7-20
33URWHFWLYH)XQFWLRQ3'LVSOD\RI%DWWHU\$ODUP
2. Absolute system
Supplement
Transferring external scale absolute data

05h transmission
04h reception
Host requests
for absolute
data to driver
06h reception
05h reception
Host receives
absolute data
from driver
Reception of
absolute data
(15 characters)
06h transmission
15h transmission
K
K
K
K
K
K
K
K
K
K
$K
%K
&K
'K
(K
)K
K
11h
12h
13h
14h
15h
16h
17h
K
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh
3Eh
3Dh
3Ch
3Bh
3Ah
39h
K
37h
36h
35h
34h
33h
32h
31h
K
2Fh
2Eh
2Dh
2Ch
2Bh
2Ah
29h
K
27h
26h
25h
24h
23h
22h
21h
K
1Fh
5
Adjustment
Check sum
OK'ed reception
Data of *2
Setup
04h transmission
Data of *1
Connection
00h transmission
01h transmission *1
C2h transmission
3Dh transmission *2
Axis address
(example)

1
2
3
4
5
6
7

9

11
12
13
14
15
16
17

19

21
22
23
24
25
26
27

29

31
Check sum becomes OK'ed when the lower

8-bit of the sum of the received absolute data
(15 characters) is 0.
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;&RPPXQLFDWLRQFRQQHFWRUDQG;&RQnector for External Scale).

7-21
7
Supplement
Note
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWR
capture multiple axes data.
,WLVUHFRPPHQGHGIRU\RXWRUHSHDWWKHDERYHFRPPXQLFDWLRQPRUH
than 2 times to confirm the absolute data coincide, in order to avoid
6
When in Trouble
Enter the Pr5.31 value of the driver to which you want to communicate from the host to
axis (*1 data) of the command block, and transmit the command according to the RS232
communication protocol. For details of communication, refer to P.7-27, "Communication".
Caution
2
Preparation
Data of *1 and *2 are determined by the setup

RI3U$[LVDGGUHVV
Transmission starts
External scale RS232 communication procedure
2. Absolute system
([WHUQDOVFDOH56FRPPXQLFDWLRQSURFHGXUH

Data of *1, *2 and *3 are determined by the setup of
3U$[LVDGGUHVV
Transmission starts
81h transmission
05h transmission
Host requests
for absolute
data to driver
*1
81h reception *1
04h reception
Y
00h transmission
01h transmission *2
C2h transmission
3Dh transmission *3
06h reception
Y
80h reception
05h reception
Y
80h transmission
04h transmission
Host receives
absolute data
from driver
Reception of
absolute data
(15 characters)
Check sum
OK'ed reception
Y
06h transmission
15h transmission
Axis
address
(example)

1
2
3
4
5
6
7

9

11
12
13
14
15
16
17

19

21
22
23
24
25
26
27

29

31
Data of *1
Data of *2
Data of *3
1RWXVDEOHZLWK56FRPPXQLFDWLRQ
K
K
3Dh
K
K
3Ch
K
K
3Bh
K
K
3Ah
K
K
39h
K
K
K
K
K
37h
K
K
36h
K
K
35h
$K
$K
34h
%K
%K
33h
&K
&K
32h
'K
'K
31h
(K
(K
K
)K
)K
2Fh
K
K
2Eh
91h
11h
2Dh
92h
12h
2Ch
93h
13h
2Bh
94h
14h
2Ah
95h
15h
29h
96h
16h
K
97h
17h
27h
K
K
26h
99h
19h
25h
9Ah
1Ah
24h
9Bh
1Bh
23h
9Ch
1Ch
22h
9Dh
1Dh
21h
9Eh
1Eh
K
9Fh
1Fh
1Fh
Check sum becomes OK'ed when the lower 8-bit of the

sum of the received absolute data (15 characters) is 0.
Command from the host will be transmitted to the desired driver based on RS485 transmission protocol. For details of communication, refer to P.7-27, "Communication".
Caution
$OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWRFDSture multiple axes data.

,W LV UHFRPPHQGHG IRU \RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH
WKDQ WLPHV WR FRQUP WKH DEVROXWH GDWD FRLQFLGH LQ RUGHU WR DYRLG
Note

7-22
2. Absolute system
Composition of external scale absolute data

8VLQJFKDUDFWHUGDWDUHFHLYHGWKURXJK5656RUJDQL]HWXUQGDWDDQGPXOWL
turn data.
0Bh
C2h
FFh *1
31h *2
External scale status (L)
External scale status (H)
Setup value of Pr5.31 Axis address.

*1 Undefined
*2 Depends on external scale.
31h: Mitsutoyo made
AT573
32h: Mitsutoyo made
ST771A, ST773A
41h: Magnescale made
SR77, SR87
3
Connection
Received
absolute data
(15 characters)
Preparation
Axis address
Absolute data (1)

Absolute data (2)
Absolute data (3)
Absolute data (4)
Absolute data (5)

Absolute data (6)
Error code
Remarks
5
Adjustment
External scale absolute data

Absolute data (6)10000000000h
+Absolute data (5)100000000h
+Absolute data (1)
Absolute data of external scale is represented as 48 bit number (negative value is represented as two's complement).
Setup
Checksum
Becomes to 0 when the communication is

carried out normally. If not 0, capture the
absolute data from the driver again
6
When in Trouble
,I WKH PXOWLWXUQ GDWD RI WKH DERYH J LV EHWZHHQ WR FRQYHUW LW WR VLJQHG
date after deducting 65536.
7
7-23
Supplement
Note
2. Absolute system
([WHUQDOVFDOHVWDWXV/UHSUHVHQWVHUURURFFXUUHQFH
External scale status (L)
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
(5)
(6)
(7)
(8)
0
(1)
(2)
(3)
(4)
(1) Alarm No. A8 External scale error alarm

(2) Alarm No. A8 External scale error alarm
(3) Err51.5 External scale status 5 error protection
([WHUQDOVFDOHVWDWXV+UHSUHVHQWVHUURURFFXUUHQFH
External scale status (H)
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Logical sum of bit6 and bit 7 of external scale status (L)

Logical sum of bit0 to bit 5 of external scale status (L)
Remarks
)RUGHWDLORIWKHH[WHUQDOVFDOHVWDWXVUHIHUWRWKHH[WHUQDOVFDOHVSHFLFDWLRQ
Remarks
7UDQVPLWWKH([WHUQDOVFDOHDEVROXWHGDWDZKLOHIL[LQJWKHPRWRUZLWK
brake by turning to Servo-Off.
Note
Related page
7-24

33URWHFWLYH)XQFWLRQ1H[WSDJH'LVSOD\RI%DWWHU\$ODUP
2. Absolute system
Supplement
Display of Battery Alarm
Following alarm will be displayed when making the front panel to alarm execution mode
of monitor mode.
....... No alarm condition
...... Highest priority alarm

Preparation
Alarm number
3UHVVWRVFUROODODUPFRQGLWLRQV
alarm
No.
Alarm
A1
Over-regeneration alarm
A2
A3
A5
A6
Battery alarm
Fan alarm
alarm
Oscillation detection alarm
A7
A8
External scale error alarm

External scale
communication alarm
A4
A9

Regenerative load factor is 85% or more the
protection level.
The life expectancy of capacity or fan becomes
The number of successive external scale
VRU
)L[HGDW
WRVRU
WRVRU
WRVRU
WRVRU
)L[HGDW
WRVRU
Replace the battery for absolute encoder when battery alarm occurs according to P.7-12,
"How to Replace the Battery". After replacement, clear the battery alarm in the following
3 methods.
3$ODUP&OHDU6FUHHQ3,QSXWVDQGRXWSXWVRQFRQQHFWRU;
32XWOLQHRI6HWXS6XSSRUW6RIWZDUH3$1$7(50
7-25
7
Supplement
D &RQQHFWRU;&RQQHFWLQJ$ODUPFOHDULQSXW$&/5WR&20IRUPRUHWKDQPV

(b) Executing the alarm clear function in auxiliary function mode by using the front panel.
(c) Click the "Battery warning" Clear button, after select the "Absolute encoder" tab in the
monitor display window by using the PANATERM (option).
6
When in Trouble
How to Clear the Battery Alarm
Related page
WRVRU
*1 Alarms can be cleared by using the alarm clear. Because the all existing alarms are kept cleared while the alarm
clear input (A-CLR) is kept ON, be sure to turn it OFF during normal operation. Either 1-10s or can be selected
by using user parameter.
([FHSWLRQ%DWWHU\DODUPLV[HGDWEHFDXVHLWLVODWFKHGE\WKHHQFRGHU
%HFDXVHWKHHQGRIOLIHDODUPPHDQVWKDWWKHOLIHH[SHFWDQF\FDQQRWEHH[WHQGHGWKHDODUPLVVHWDW
Note
Adjustment
Overload protection
/DWFKHG
time *1
WRVRU
Setup
A0
Content
Connection
.LQGVRIDODUP
3.Outline of Setup Support Software, PANATERM
Supplement
Setup on the PC
&RQQHFWRU;RI0,1$6$FDQEHFRQQHFWHGWR\RXU3&WKURXJK86%FDEOHIRUFRPSXWHU
Once you download the setup support software PANATERM from our web site and install it
to your PC, the following tasks can be easily performed.
Outline of PANATERM
With the PANATERM, you can execute the followings.
(1) Setup and storage of parameters, and writing to the memory (EEPROM).
(2) Monitoring of I/O and pulse input and load factor.
(3) Display of the present alarm and reference of the error history.
(4) Data measurement of the wave-form graphic and bringing of the stored data.
(5) Normal auto-gain tuning
(6) Frequency characteristic measurement of the machine system.
Note
Distribution media such as CD-ROM for this software are not prepared.
Download the software from our web site and install it to your PC.
How to Connect
Connect to connector X1.

(USB mini-B)
Download setup support software PANATERM
from our web site and install it to your PC.
86%FDEOH
7KHFRQQHFWLRQFDEOHVKRXOGEHSURYLGHGZLWK86%PLQL%FRQQHFWRUDWWKHGULYHUVLGH
and the PC compatible connector on the other end.
,IWKHFDEOHKDVQRQRLVHOWHULQVWDOODVLJQDOQRLVHOWHU'90P1460) to both ends of
the cable.
System required for PANATERM

To use PANATERM, the following system components are required.
3&
'LVSOD\
OS
Windows;363ELW9HU
Windows VISTA SP1 (32-bit Ver.)
Windows 7 (32-bit Ver., 64-bit Ver.)
(Japanese, English, Chinese or Korean version)
CPU
Pentium III 512 MHz or better
Memory
256 MB or more (512 MB recommended)
Hard disk
512 MB or more free space
Serial communication
86%SRUW
Resolution
1024 768 pixel or more
No. of colors
24-bit color (True Color) or better
3OHDVHFRQUPWKHODWHVWV\VWHPUHTXLUHPHQWVRQWKHKRPHSDJH
7-26
4. Communication
Supplement
Outline
You can connect up to 32 MINAS-A5 series with your computer or NC via serial communication based on RS232 and RS484, and can execute the following functions.
(1) Change over of the parameters
(2) Referring and clearing of alarm data status and history
(3) Monitoring of control conditions such as status and I/O.
(4) Referring of the absolute data
(5) Saving and loading of the parameter data
2
Preparation
0HULWV
3
Connection
<RXFDQZULWHSDUDPHWHUVIURPWKHKRVWWRWKHGULYHULQEDWFKZKHQ\RXVWDUWXSWKH
machine.
<RXFDQGLVSOD\WKHUXQQLQJFRQGLWLRQRIPDFKLQHWRLPSURYHVHUYLFHDELOLW\
<RXFDQFRPSRVHPXOWLD[LVDEVROXWHV\VWHPZLWKVLPSOHZLULQJ
4
Setup
5
Adjustment
6
When in Trouble
Related page

3:LULQJWRWKH&RQQHFWRU;3$EVROXWHV\VWHP
32XWOLQHRI6HWXS6XSSRUW6RIWZDUH3$1$7(50
7-27
Supplement
Note
4. Communication
Supplement
Specifications
&RQQHFWLRQRI&RPPXQLFDWLRQ/LQH
MINAS-A5 series provide 2 types of communications ports of RS232 and RS485, and
support the following 3 types of connection with the host.
56FRPPXQLFDWLRQ
Connect the host and the driver in one to one with RS232, and communicate according to RS232 transmission protocol.
Selector etc.
RS232
Host
X2
Pr5.31=1
X2
Pr5.31=1
X2
Pr5.31=1
X2
Pr5.31=1
6HWXSWKHPRGXOH,'RI0,1$6$,QWKHDERYHFDVH\RXFDQVHWDQ\YDOXHRIWR
<RXFDQVHWWKHVDPHPRGXOH,'DVORQJDVWKHKRVWKDVQRGLIFXOW\LQFRQWURO
56DQG56FRPPXQLFDWLRQ
When you connect one host to multiple MINAS-A5s, connect the host to connecWRU;RIRQHGULYHUZLWK56FRPPXQLFDWLRQDQGFRQQHFWHDFK0,1$6$ZLWK
RS485 communication. Set up the Pr5.31 of the driver to 0 which is connected to the
host, and set up 1 to 31 to other drivers each.
RS232
RS485
RS485
X2
Host
RS485
X2
X2
X2
... Max. 32 axis
Pr5.31=0
Note
7-28
Pr5.31=1
Pr5.31=2
Pr5.31=3

4. Communication
1
Specifications
2
56FRPPXQLFDWLRQ
RS485
RS485
RS485
X2
RS485
X2
X2
X2
... Max. 31 axis
Pr5.31=1
Pr5.31=2
Pr5.31=3
Connection
Module ID=0
Host
Preparation
Connect the host to multiple MINAS-A5s with RS485 communication, set up the
Pr5.31 of each front panel of MINAS-A5 to 1 to 31.
Pr5.31=4
4
Setup
$OORZPVRUORQJHULQWHUYDOIRUVZLWFKLQJWKHD[HVZKLOHFDSWXULQJGDWDRIPXOtiple axes.
5
Adjustment
6
When in Trouble
7
7-29
Supplement
Note
4. Communication
Specifications
Interface of Communication Connector

&RQQHFWLRQWRWKHKRVWZLWK56
Host controller
RS232
interface
Servo driver
X2
TXD
RXD
GND
4
RXD
3
TXD
1
GND
8
RS485+
7
RS485
6
RS485+
5
RS485
X4
RS485 can be
connecter to either
terminal pair.
X6
Relay
connector
Motor
X5
Relay
connector
Detection
head
Positioning
controller
External scale unit
X2
When longer wirings

are used and/or drivers
are connected to
different power
sources, interconnect
GND terminals of these
drivers to prevent
potential generation.
4
RXD
3
TXD
1
GND
8
RS485+
7
RS485
6
RS485+
5
RS485
X4
RS485 can be
connecter to either
terminal pair.
X6
Relay
connector
Motor
X5
Relay
connector
Detection
head
External scale unit
&RQQHFWLRQWRWKHKRVWZLWK56
Host controller
RS485
interface
RS485+
RS485
GND
Servo driver
X2
6
RS485+
5
RS485
1
GND
ADM485 or equivalent
8
RS485+
7
RS485
X4
Positioning
controller
X6
Relay
connector
Motor
X5
Relay
connector
Detection
head
External scale unit
Communication Method
Communication baud rate

Data
Parity
Start bit
Stop bit
RS232
Full duplex, asynchronous
2400, 4800, 9600, 19200, 38400, 57600, 115200bps
8 bit
none
1 bit
1 bit
56
Half duplex, asynchronous
2400, 4800, 9600, 19200, 38400, 57600, 115200bps
8 bit
none
1 bit
1 bit
Set up the RS232 communication baud rate with Pr5.29, and RS485 communication baud
rate with Pr5.30. The change of these parameters will be validated after the control power
entry. For details, refer to the following list of parameters related to communication.
Note
7-30

4. Communication
1
Specifications
/LVWRI8VHU3DUDPHWHUVIRU&RPPXQLFDWLRQ
Class No.
Setup
value
Function
0 to
127
Set the axis number for serial communication to 0 to 31.

This parameter setup value has no effect on servo operation.
31
Axis address
29
Baud rate
setup of RS232
communication
0 to
6
Set up the communication speed of RS232 communication.

0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
8SGDWHGVHWXSRILVYDOLGDWHGXSRQWXUQLQJRQRIFRQWUROSRZHU
30
Baud rate
setup of RS485
communication
0 to
6
Set up the communication speed of RS485 communication.

0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
8SGDWHGVHWXSRILVYDOLGDWHGXSRQWXUQLQJRQRIFRQWUROSRZHU
1000 / 9600 (1 + 8 + 1 ) = 1.04 [ms/byte]

Start bit
Stop bit
Data
Note that the time for processing the received command and time for switching the line
and transmission/reception control will added to the actual communication time.
3
Connection
5HTXLUHGWLPHIRUGDWDWUDQVPLVVLRQSHUE\WHLVFDOFXODWHGLQWKHIROORZLQJIRUPXODLQ
case of 9600[bps].
2
Preparation
Title
+DQGVKDNHFRGH
Setup
Following codes are used for line control.

Title
Code
Function
ENQ
EOT
ACK
NAK
05h (Module recognition byte of the transmitted)

04h (Module recognition byte of the transmitted)
06h
15h
Enquire for transmission

Ready for receiving
Acknowledgement
Negative acknowledgement
1 byte of module recognition is added to ENQ and EOT at RS485 communication.

Module recognition byte... Make the Pr5.31 value of the front panel as a module ID,
and data which makes its bit7 as 1, becomes a module recognition byte.
bit7
1
bit6
0
bit5
0
bit4
0
bit3
bit2
bit1
Module ID
bit0

7-31
Supplement
Module ID : The module ID of the host side will be 0 in case of RS485 communication, therefore set up Pr5.31 of MINAS-A5 to 1 to 31.
Note
6
When in Trouble
Caution
Adjustment
ENQ ..... The module (host or driver) sends out ENQ when it has a block to send.
EOT ..... The module (host or driver) sends out EOT when it is ready to receive a
block. The line enters to a transmission mode when ENQ is transmitted and
EOT is received.
ACK ..... When the received block is judged normal, the module (host or driver) will
send out ACK.
NAK ..... When the received block is judged abnormal, NAK will be sent. A judgment is
based on checksum and timeout.
4. Communication
Specifications
Transmission Sequence
7UDQVPLVVLRQSURWRFRO
,QFDVHRI56
Host
MINAS-A5
1) ENQ(05h)
2) EOT(04h)
3) Data block
Receiving
data
4) ACK(06h)
(or NAK (15h))
5) ENQ(05h)
6) EOT(04h)
7) Data block
Transmitting
data
8) ACK(06h)
(or NAK (15h))
,QFDVHRI56
Host
Module ID : 0
MINAS-A5
1) 81h, ENQ (05h)

2) 81h, EOT (04h)
3) Data block
Module ID : 1
Receiving
data
4) ACK (06h)
(or NAK (15h))
5) 80h, ENQ (05h)
6) 80h, EOT (04h)
7) Data block
Transmitting
data
8) ACK (06h)
(or NAK (15h))
/LQHFRQWURO
Decides the direction of transmission and solves the contention.
Reception mode... From when the module (host or driver) returns EOT after receiving ENQ.
Transmission mode... From when the module (host or driver) receives EOT after transmitting ENQ.
At contention of transmission and reception... Slave side will enter to reception mode
when it receives ENQ while waiting for EOT after transmitting ENQ, by giving priority
to ENQ (of master side).
7UDQVPLVVLRQFRQWURO
On entering to transmission mode, the module transmits the command block continuously and then waits for ACK reception. Transmission completes at reception of ACK..
ACK may not be returned at transmission failure of command byte counts. If no ACK
is received within T2 period, or other code than NAK or ACK is received, sequence will
be retried. Retry will start from ENQ.
5HFHSWLRQFRQWURO
On entering to reception mode, the module receives the transmitted block continuously. It
ZLOOUHFHLYHWKHFRPPDQGE\WHFRXQWVIURPWKHUVWE\WHDQGFRQWLQXRXVO\UHFHLYHH[WUD
bytes. It will return ACK when the received data sum becomes 0, by taking this status as
normal. In case of a check sum error or a timeout between characters, it will return NAK.
Note
7-32

4. Communication
1
Specifications
'DWD%ORFN&RPSRVLWLRQ
Below shows the composition of data block which is transmitted in physical phase.
(1 byte)
N
axis
Preparation
mode
command
Parameter
(N byte)
check sum
3
Connection
: Command byte counts (0 to 240)

Shows the number of parameters which are required by command.
axis
: Sets up the value of Pr5.31.(0 to 127)
command : Control command (0 to 15)
mode
: Command execution mode (0 to 15)
Contents vary depending on the mode.
check sum : 2's complement of the total number of bytes, ranging from the top to the
end of the block
3URWRFRO3DUDPHWHU
Following parameters are used to control the block transmission. You can set any
value with the INIT command (described later).
Title
Function
Time out between characters
T2
Protocol time out
T6
Driver response time
RTY
M/S
Retry limit
Master/Slave
Initial value
5 (0.5 sec)
1 (0.1 sec)
5 (0.5 sec)
1 (0.1 sec)
0 (0ms)
6 (6ms)
1 (once)
0 (Slave)
Setup range
Unit
1 to 255
0.1 sec
1 to 255
1 sec
0 to 255
2 to 255
18
0, 1 (Master)
Setup
T1
RS232
RS485
RS232
RS485
RS232
RS485
1 ms
Once
7
Supplement
7-33
6
When in Trouble

Adjustment
7 3HUPLVVLEOH WLPH LQWHUYDO IRU WKLV GULYHU WR UHFHLYH WKH FRQVHFXWLYH FKDUDFWHU FRGV ZKLFK H[LVWV
between the module recognition bytes and ENQ/EOT, or in the transmission/reception data
block. Time out error occurs and the driver returns NAK to the transmitter when the actual reception time has exceed ed this setup time.
7 3HUPLVVLEOHWLPHLQWHUYDOIRUWKHGULYHUWRWUDQVPLW(14DQGWRUHFHLYH(27,IWKHDFWXDOUHFHStion time exceeds this setup, this represents that the receiver is not ready to receive, or it has
failed to receive ENQ code in some reason, and the driver will re-transmit ENQ code to the receiver. (retry times)
3HUPLVVLEOH WLPH LQWHUYDO IRU WKH GULYHU WR WUDQVPLW (27 DQG WR UHFHLYH WKH UHFHSWLRQ RI WKH VW
FKDUDFWHUFRGH7KHGULYHUZLOOUHWXUQ1$.DQGQLVKHVWKHUHFHSWLRQPRGHLIWKHDFWXDOUHFHSWLRQ
has exceeded this setup time.
3HUPLVVLEOH WLPH LQWHUYDO IRU WKH PRGXOH WR WUDQVPLW WKH FKHFN VXP E\WHV DQG WR UHFHLYH$&.
The module will re-transmit ENQ code to the receiver in the same way as the NAK reception, if
the actual reception time exceeds this setup time.
7 3HUPLVVLEOH WLPH LQWHUYDO IRU WKH GULYHU WR UHFHLYH (14 DQG WR WUDQVPLW (27 3HUPLVVLEOH WLPH
LQWHUYDOIRUWKHGULYHUWRUHFHLYHWKHFKHFNVXPE\WHVDQGWRWUDQVPLW$&.DQG3HUPLVVLEOHWLPH
interval for the driver to receive EOT and to transmit the 1st character.
RTY: Maximum value of retry times. Transmission error occurs if the actual retry has exceeds this setup
value.
M/S: Switching of master and slave. When contention of ENQ has occurred, the module decides which
is to be given priority.
Priority is given to the transmitter which is set up as a master. (0: Slave mode, 1 : Master mode)
Note
4. Communication
Specifications
Example of Data Communication

HJ5HIHUHQFHRI$EVROXWH'DWD
When you connect the host to one driver with RS232 communication, and connect
PXOWLSOH 0,1$6$V ZLWK 56 FRPPXQLFDWLRQ )ROORZLQJ RZ FKDUW GHVFULEHV WKH
DFWXDORZRIWKHFRPPXQLFDWLRQGDWDZKHQ\RXZDQWWRFDSWXUHWKHDEVROXWHGDWDRI
the module ID=1.
e.g. of system composition

Pr5.31=0
Pr5.31=1
RS485
RS485
X2
RS232
Pr5.31=2
Pr5.31=3
RS485
X2
X2
X2
Host
e.g. of capturing the absolute data

Following shows the communication data in time series when you want to capture the
absolute data. Data is presented in hexadecimals.
RS232 communication
Host
05
(ENQ)
00
01
D2
2D
04
(EOT)
MINAS-A5 (0)
04
(EOT)
06
(ACK)
05
(ENQ)
0B
01
D2
Obtain data with RS485

(see the below)
06
(ACK)
Host
MINAS-A5 (0)
03
11
00
00
D8
FF
01
00
01
D2
00
00
00
00
36
* RS485 communication
MINAS-A5 (0)
81
05
(ENQ)
2D
81
04
(EOT)
MINAS-A5 (1)
80
04
(EOT)
06
(ACK)
80
05
(ENQ)
MINAS-A5 (0)
MINAS-A5 (1)
0B
01
D2
Caution
11
00
00
D8
FF
01
00
00
06
(ACK)
MINAS-A5 (0)
MINAS-A5 (1)
03
00
00
36
See the below for the captured data. Refer to P.7-48, "Read out of Absolute Encoder " of
details of communication command, for the data composition.
Multi-turn data : 0000h = 0
Single turn data : 01FFD8h = 131032
$OORZPVRUORQJHULQWHUYDOIRUVZLWFKLQJWKHD[LVZKLOHFDSWXULQJGDWDRIPXOWLSOHD[HV
Note
7-34

4. Communication
([DPSOHRI3DUDPHWHU&KDQJH
1) Capture of execution right

Host
05
01
01
71
01
8C
04
(ENQ)
MINAS-A5(1)
(EOT)
04
06
05
01
01
71
00
00
00
(ACK) (ENQ)
2) Writing of individual parameter

Host
06
05
06
01
17
00
02
00
E0
Connection
(EOT)
2
Preparation
Following shows the communication data in time series when you change parameters.
Communication in general will be carried out in sequence of (1) Request for capturing of execution right, (2) Writing of individual parameter, and (3) Writing to EEPROM
when saving of data is required, and (4) Release of execution right. Here the hardware connection shows the case that the driver (user ID=1) is directly connected to
the host with RS232. Date is presented in hexadecimals.
Specifications
(ACK) (ENQ)
MINAS-A5(1)
00
8D
04
06
(EOT)
04
06
(EOT)
MINAS-A5(1)
05
05
01
27
01
17
00
E6
04
(EOT)
D8
06
04
06
(EOT)
(ACK)
05
01
01
27
00
5
Adjustment
MINAS-A5(1)
01
(ACK) (ENQ)
(ENQ)
Host
00
Setup
Host
(ACK)
3) Writing of parameter to EEPROM
D7
(ACK) (ENQ)
4) Release of execution right
Host
05
01
01
71
00
8D
04
(ENQ)
MINAS-A5(1)
(EOT)
04
06
Host
01
01
71
(ACK) (ENQ)
When in Trouble
(EOT)
05
06
(ACK)
MINAS-A5(1)
Caution
8D
For details of command, refer to P.7-40, "Details of Communication Command".

7-35
Supplement
Note
00
4. Communication
Specifications
Status Transition Chart

56&RPPXQLFDWLRQ
Transmitter
Reception of EOT
SizeCommand bytes+3
T2 stop
Ready for EOT
Enquiry for
transmission, and
retry times are
within setup
Transmission of
ENQ,
T2 start
Transmission of
one character
SizeCommand bytes1
Block transmission
Reception of ENQ and

at slave
Return ENQ to reception
buffer
Clear of transmission enquiry
(reception processing)
T2 time out
One count of retry times
T2 stop
Clear of transmission
buffer
Size becomes 0
Trransmission of check sum
T2 start
Ready for ACK/NAK
Enquiry for transmission, but

retry times are over.
Reset of retry times
Reception of other than

ACK orT2 time out
Count once of retry times
T2 stop
Clearance of transmission
buffer
Reception of ACK
T2 stop
enquiry
Idling = It waits for the reception of ENQ, and or it is dealing with reception.
ENQ
Transmission
of EOT
T2 start
T2 time out
Transmission of NAK,
T2 stop
T1 time out
Transmission of NAK,
T1 stop
Success of reception
(Check sum OK'ed when
size becomes o.)
Transmission of ACK,
T1 stop
Ready for command byte counts
Receiver
7-36
T1 time out
Transmission
of NAK,
T1 stop
Ready for finish of receiving data
Reception of remained block
Reception of command byte counts

Sizecommand byte counts + 3
Sumcommand byte counts
T1 start, T2 stop
Note
Failure of reception.
(Check sum OK'ed when
size becomes o.)
T1 start
Reception of one character

SizeSize 1
SumSum + received character
T1 start
Reception of
one character
T1 start

4. Communication
1
Specifications
56&RPPXQLFDWLRQ
Transmitter
Module identification byte

of transmitter is the module
ID | 80h of the counterpart.
Ready for ID
ID reception of other than
opponent and at slave
Return ENQ to reception
buffer
(receipt processing)
Enquiry for transmission,
butretry times are over.
enquiry
T2 time out
One count of
retry times
T2 stop
Clearance of
transmission
buffering
T1 time out
One count of
retry times
T1 stop
Clearance of
transmission
buffering
Block transmission
Size becomes 0
Trransmission of
check sum
T2 start
Ready for ACK/NAK

Reception of ACK or
T2 time out
Count once of
retry times
T2 stop
Clearance of
transmission buffer
Reception of ACK
T2 stop
Clearance of
transmission enquiry
T1 time out
T1 stop
Module
identification byte
isnot module ID
and ENQ
reception or
T1 timeout
T1 stop
Reception of command byte counts

Sizecommand byte counts + 3
Sumcommand byte counts
T1 start, T2 stop
Reception of one character

SizeSize - 1
SumSum + received character
T1 start
Reception of remained block

Reception of
one character
T1 start

7-37
Supplement
Receiver
Note
Failure of reception.
(Check sum error when
size becomes o.)
T1 start
Ready for finish of receiving data
Ready for command byte counts

Module recognition byte is
module ID and reception of ENQ
Module recognition byte,
Transmission of EOT, T2 start
Transmission to other
axis (module recognition
byte is not module ID
when size becomes 0)
T1 stop
T1 time out
Transmission
of NAK,
T1 stop
When in Trouble
Reception of
of EOT
T2 start
T2 time out
Transmission of NAK
and T2 stop when
module recognition
byte is module ID.
T2 stop in other case
than the above.
T1 time out
Transmission of NAK and
T1 stop when module
recognition byte is
module ID.
T1 stop in other case
than the above.
Adjustment
Ready for ENQ or EOT
Success of reception
(Check sum OK'ed and
module recognition
byte is module ID,
when size becomes o.)
Transmission of ACK,
T1 stop
Setup
Idling = It waits for the reception of Module ID, and or it is dealing with reception.
Reception of
module
recognition
bytes
T1 start
Connection
Enquiry for
transmission,
and retry times
are within setup
Module
recognition byte,
Transmission
of ENQ,
T2 start
Ready for EOT
Preparation
Module ID of opponent
T1 start
Transmission of
one character
SizeSize - 1
Reception of EOT
Size Command bytes +3
T2 stop
4. Communication
Specifications
Timing of Data Communication

,QFDVHRI5656WRIROORZ
T3
T4
T3
T5
T4
Host to driver
Enquiry for transmission
Data block
Driver to host
Permission for
transmission
0 to 2ms
RS485 bus
occupation
T3
T5
0 to 2ms
T3
0 to 2ms
T4
ACK/
NAK
0 to 2ms
T5
Host to driver
Permission for
transmission
ACK/NAK
Driver to host
0 to 2ms
RS485 bus
occupation
Caution
Note
7-38
Enquiry for
transmission
0 to 2ms
0 to 2ms
Data block
0 to 2ms
Symbol
Title
Minimum
Maximum
T3
Continuous inter-character time
Stop bit length
Protocol parameter T1
T4
Response time of driver
T5
Response time of host
2ms
Above time represents a period from the rising edge of the stop bit.

4. Communication
Supplement
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command
0
1
2
6
7
8
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be guaranteed.
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byte1 (Error code only) will be returned regardless of communication command.
When in Trouble
0
2
3
4
B
Adjustment
0
1
2
4
5
6
7
8
9
A
C
D
E
Setup
7
8
9
NOP
Read out of CPU version
Read out of driver model
Read out of motor model
INIT
Capture and release of execution right
Setup of RS232 protocol parameter
Setup of RS485 protocol parameter
POS, STATUS, I/O
Read out of status
Read out of command pulse counter
Read out of feedback pulse counter
Read out of present speed
Read out of present torque output
Read out of present deviation counter
Read out of input signal
Read out of output signal
Read out of present speed, torque and deviation counter
Read out of status, input signal and output signal
Read out of external scale
Read out of absolute encoder
Read out of external scale deviation and sum of pulses
PARAMETER
Individual read out of parameter
Individual writing of parameter
Writing of parameter to EEPROM
Individual read out of user parameter
Read out of two or more user parameter
Writing of two or more user parameter
ALARM
Read out of present alarm data
Batch read out of alarm history
Clear of user alarm history
Alarm clear
Absolute clear
Connection
1
5
6
Content
Preparation
mode
1
7
Supplement
7-39
4. Communication
Supplement
Details of Communication Command
command
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Model
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Error
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command
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7-40
4. Communication
command
1
mode

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command
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mode
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7-41
4. Communication
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7-42
4. Communication
command
2
mode
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axis
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axis
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command
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axis
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command
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mode
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7-43
4. Communication
command
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mode
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5
4
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at positive direction.
command
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mode
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axis
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axis
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data L
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bit7
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1 : Error
5
4
'DWD
6
5
bit7
For
6ZLWFKLQJRI
6SHHG]HUR
manufacturer's use electronic gear 1 clamp
4
Control mode
switching
bit15
14
13
Internal speed
For
For
command
manufacturer's use manufacturer's use selection 2
Internal speed
command
selection 1
bit23
22
21
Damping control Torque limit
6ZLWFKLQJRI
electronic gear 2 switching 2
switching
Internal speed
command
selection 3
12
20
31
29

bit31
For
For
For
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manufacturer's use manufacturer's use manufacturer's use
2
1
3
CCW over-travel CW over-travel Alarm clear
inhibit
inhibit
0
6HUYR21
11
10
For
Counter clear
manufacturer's use

Command pulse
input inhibition
9
Gain switching
19

17
16
Damping control For
For
For
switching 1
manufacturer's use manufacturer's use manufacturer's use
27
6DIHW\LQSXW
26
25
Torque
For
manufacturer's use command sign
24
6SHHG
command sign
Logic of input signal is based on assignment set in the parameter.

Because of the internal logical data after conversion of input, it does not directly correspond to the input signal from the
connector X5.
CW over-travel inhibit input and CCW over-travel inhibit input will change according to the input logic, even if they have
been disabled by the parameter,
7-44
4. Communication
command
2
mode
8
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axis
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axis
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checksum
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data L
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data H
alarm data L
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error code
checksum
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bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
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5
Torque in-limit
bit15
Excite motor
13
11
12
Dynamic brake Control inrush Control
regeneration
engagement
suppression relay brake
bit23
6DIHW\('0
14
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latch
22
Speed
command
ON/OFF
21
Alarm attribute
output
4
Zero speed
detection
20
Speed in-limit
output
3
Mechanical
brake released
2
Positioning
complete
(In-position)
10
Full-closed
positioning
complete
19
18
2nd positioning Positional

command
complete
ON/OFF
(In-position)
1
Servo-Alarm
0
Servo-Ready
9
At-speed
8
For
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17
Alarm output 2
16
Alarm output 1
6
Fan
alarm
Setup
31
29
28
27
26
25
24
bit31
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For
For
For
For
For
For
For
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bit7
Overload
protection
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bit7
6
For
In-speed
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4
3
5
2
1
0
Over-regeneration Encoder
Encoder overheat /LIHWLPH
For
Battery
communication
alarm
alarm
detection alarm PDQXIDFWXUHU
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alarm
bit15
14
13
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12
11
10
External scale Oscillation

communication detection
alarm
alarm
8
External scale
error alarm
0
Servo-Not Ready
Normal
Positioning not completed
Mechanical brake engaged
Zero speed not detected
Torque not in-limit
Not at-speed(Speed not arrived)
Not in-speed(Speed not coincided)
Full-closed positioning not completed
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Release inrush suppression relay
Dynamic brake released
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Energize motor
1
At Servo-Ready
At Servo-Alarm
Positioning in-complete
Mechanical brake released
Zero speed detected
Torque in-limit
Speed arriving
In-speed (Speed coincided)
Full-closed positioning completed
Turn on regeneration Tr
Operate inrush suppression relay
Dynamic brake engaged
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When in Trouble
Signal title
Servo-Ready
Servo-Alarm
Positioning completed
Mechanical brake released
Zero speed detection
Torque in-limit
In-speed (Speed coincidence)
Full-closed positioning complete
Control regeneration brake
Control inrush suppression relay
Dynamic brake engagement
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Excite motor
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7-45
4. Communication
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2
mode
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7-46
4. Communication
command
2
mode
C
5HDGRXWRIIHHGEDFNVFDOH
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0
axis
C
7UDQVPLVVLRQGDWD
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axis
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encoder ID (L)
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status (L)
(H)
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checksum
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error code
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Encoder ID (H)
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31h
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Encoder ID (L)
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67
6WDWXV/
bit7
Thermal alarm
6WDWXV+
bit7
0
4
5
6
Signal intensity Signal intensity Transducer
error
error
alarm
1
Initialization
error
4
3
2
1
Encoder
0
0
0
error *2
*2 bit4 : logical sum of bit6 and bit 7 of status (L)
4
CPU, memory
error
3
&DSDFLW\DQG
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error
2
Encoder
non-matching
error
1
Initialization
error
4
3
2
1
Encoder
0
0
0
alarm *4
*4 bit4 : logical sum of bit6 and bit 7 of status (L)
5
4
0
2YHUVSHHG
0
0
0
2YHUVSHHG
0
0
Adjustment
2
Hardware
error
Setup
5
Encoder
error *1
*1 bit5 : Logical sum of bit0 to bit 5 of status (L)
$7VHULHV
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bit7
6
5
Thermal alarm 0
Communication
error
6WDWXV+
bit7
6
5
0
0
Encoder
error *3
*3 bit5 : Logical sum of bit0 to bit 5 of status (L)
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0 : Normal
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3
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7-47
4. Communication
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2
mode
D
5HDGRXWRIDEVROXWHHQFRGHU
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0
axis
D
7UDQVPLVVLRQGDWD
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axis
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command
2
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(
5HDGRXWRIH[WHUQDOVFDOHGHYLDWLRQDQGVXPRISXOVHV
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0
axis
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7-48
4. Communication
command
7
mode

,QGLYLGXDOUHDGRXWRISDUDPHWHU
5HFHSWLRQGDWD

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7UDQVPLVVLRQGDWD
5
D[LV
7
L
SDUDPHWHUYDOXH
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SDUDPHWHUW\SH
SDUDPHWHU1R
FKHFNVXP
H
error code
FKHFNVXP
(UURUFRGH
ELW
1RUPDO
(UURU
5
4

1R(UURU
command
7
mode
1
Connection
,IWKHSDUDPHWHUW\SHRUWKHSDUDPHWHU1RLVRXWVLGHWKHUDQJHUHWXUQV1RHUURU
3DUDPHWHUYDOXHLVVLJQH[WHQGHGWRELWVDQGUHWXUQHG
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7
error code
FKHFNVXP
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H
FKHFNVXP
(UURUFRGH
ELW
1RUPDO
(UURU
6
'DWD(UURU
5
4

1R(UURU
command
7
mode

:ULWLQJRISDUDPHWHUWR((3520
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5
4
When in Trouble
7UDQVPLVVLRQGDWD
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error code
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Control LV
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7UDQVPLVVLRQGDWDZLOOEHUHWXUQHGDIWHU((3520ZULWLQJFRPSOHWHV,WPD\WDNHPD[VHFIRU((3520ZULWLQJ
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7-49
4. Communication
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7
mode
6
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7UDQVPLVVLRQGDWD
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7
parameter type
parameter No.
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parameter type
parameter No.
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parameter value
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(L)
0,1 value
(H)
(L)
0$; value
(H)
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Error code
checksum
3URSHUW\
bit7
Parameter
not in use
6
Display inhibited
bit15
14
13
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4
Change at
initialization
12
5
4
11
10
3
No.Error
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7-50
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Read only
4. Communication
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7
mode
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7
SDUDPHWHUW\SH
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4
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8
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6
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Setup
3URSHUW\
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3DUDPHWHU
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3DUDPHWHUYDOXH0,1YDOXHDQG0$;YDOXHVKRXOGEHVLJQH[WHQGHGWRELWVEHIRUHEHLQJWUDQVPLWWHG
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When in Trouble
7
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7-51
4. Communication
command
7
mode
8
:ULWLQJRIWZRRUPRUHXVHUSDUDPHWHU
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(2) parameter No.
(H)
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Error code
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Data Error
5
4
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command
9
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error code
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7-52
4. Communication
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2
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axis
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axis
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5
4
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9
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9
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3
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axis
3
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7UDQVPLVVLRQGDWD
1
axis
5
4
1
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command
9
mode
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7UDQVPLVVLRQGDWD
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axis
4
5
4
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When in Trouble
Adjustment
&OHDUVWKHDODUPGDWDKLVWRU\
'DWDHUURUZLOORFFXUZKHQ\RXIDLOWRFOHDU
:KHQXQGHUYROWDJHRIFRQWUROSRZHUVXSSO\RFFXUVHUURUFRGHRIFRQWURO/9ZLOOEHUHWXUQHGLQVWHDGRIH[HFXWLQJZULWLQJ
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7-53
4. Communication
command
9
mode
B
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0
axis
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axis
B
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5
4
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7-54
9
(UURUFRGH
checksum
checksum
5. Motor Characteristics (S-T

Characteristics )
Supplement
MSMD series :WR:
1RWHWKDWWKHPRWRUFKDUDFWHULVWLFVPD\YDU\GXHWRWKHH[LVWHQFHRIRLOVHDORUEUDNH
&RQWLQXRXVWRUTXHYVDPELHQWWHPSHUDWXUHFKDUDFWHULVWLFVKDYHEHHQPHDVXUHGZLWKDQ
aluminum flange attached to the motor (approx. twice as large as the motor flange).
MSMD series (50W to 100W)

Without oil seal
With oil seal

MSMD5AZ * 1 *
,QSXWYROWDJHWRGULYHU$&99
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
* Continuous torque vs. ambient temp.
ratio vs. rated torque

>@
0.5
(0.4)
3HDNUXQQLQJUDQJH
0.25

95
0.5
50
0.25
3000
4000 5000
VSHHG>UPLQ@

20
30
40
(3600)

2000
3000
ambient temp. >&@
4000 5000
VSHHG>UPLQ@

20
MSMD011 * 1 *
torque
>1P@

>@

95

0.5
Continuous running range

2000
3000
75
70
50
3HDNUXQQLQJUDQJH
without
EUDNH
ZLWKEUDNH
4000
5000

VSHHG>UPLQ@
20
30
40

2000
3000
ambient temp. >&@
4000
5000

20
VSHHG>UPLQ@
MSMD012 * 1 *
Input voltage to driver: AC2009



2000
3000
75
70
50
3HDNUXQQLQJUDQJH
0.5

50
0.5
without
EUDNH
ZLWKEUDNH
Adjustment

>@

95
3HDNUXQQLQJUDQJH

>@

40
ambient temp. >&@
MSMD012 * 1 *
torque
>1P@
30
4
Setup
0.5

>@
(0.6)
50
40
torque
>1P@
(0.8)
3HDNUXQQLQJUDQJH
(0.6)
30
ambient temp. >&@
MSMD011 * 1 *
(0.8)
ZLWKEUDNH
Connection
2000
70
60
50
3HDNUXQQLQJUDQJH

(3600)

without
EUDNH

(0.4)

>@
torque
>1P@
Preparation
MSMD5AZ * 1 *
torque
>1P@
1
4000
5000
VSHHG>UPLQ@

20
30
40

2000
ambient temp. >&@
3000
4000
5000
VSHHG>UPLQ@

20
30
40
ambient temp. >&@
When in Trouble
* These are subject to change. Contact us when you use these values for your machine design.
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRI&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS3DQG
running range at high speed might be lowered as well.
torque
5XQQLQJUDQJH7RUTXHOLPLWVHWXS
speed
7-55
Supplement

Characteristics )
Supplement
MSMD series :
MSMD series (200W)

Without oil seal
With oil seal
MSMD021 * 1 *
MSMD021 * 1 *
Input voltage to driver: AC100V

(Dotted line represents torque at 10% less voltage.)

torque
[Nm]

[%]
100
2.0
Peak running range
1.0
1000
2000
3000
4000 5000
speed [r/min]
80
70
50
1.0
(0.9)
(0.5)
10
20
30
40
(3600)
1000
2000
3000
30

[%]
100
2.0
(1.5)
(1.2)
40
1.0
80
70
50
Peak running range
with brake

(4500)
3000
without
brake
100
2.0
(1.5)
(1.2)
50
Peak running range
2000
20
ambient temp. [C]

[%]
1000
10

torque
[Nm]
4000 5000
speed [r/min]
MSMD022 * 1 *

1.0
with brake
ambient temp. [C]
MSMD022 * 1 *
without
brake
100
Peak running range
50
(3600)

[%]
2.0
(0.9)
(0.5)
torque
[Nm]
4000 5000
speed [r/min]
10
20
30
40
(4500)
1000
2000
ambient temp. [C]
3000
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
torque
Running range (Torque limit setup : 300%)

speed
7-56

Characteristics )
Supplement
MSMD series :WR:
MSMD series (400W to 750W)

Without oil seal
With oil seal
MSMD041 * 1 *
MSMD041 * 1 *



[%]
torque
[Nm]

[%]
4.0
100
90
4.0
100
50
2.0
Preparation
torque
[Nm]
75
Peak running range
2.0
(1.3)
(0.6)
(1.3)
(0.6)
(2800) (3200)
1000
2000
3000 4000 5000

[r/min]
10
20
30
40
Peak running range
50
[C]
MSMD042 * 1 *
(2800) (3200)
1000
2000
3000 4000 5000

[r/min]
10
torque
[Nm]

[%]
4.0
100
90
4.0
100
50
2.0
Peak running range
(1.7)
(1.3)
75
50
(3400)(3800)
3000
Peak running range
(1.7)
(1.3)
4000 5000
speed [r/min]
10
20
30
40
(3400)(3800)
1000
2000
3000
ambient temp. [C]
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
Setup
MSMD082 * 1 *
MSMD082 * 1 *


torque
[Nm]

[%]
torque
[Nm]

[%]
8.0
100
8.0
100
Peak running range
Peak running range
50
4.0
50
4.0
(3.0)
(3.0)
(3200)(3600)
1000
2000
3000
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
(3200)(3600)
1000
2000
3000
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
Adjustment
3
Connection
2000
40


[%]
1000
30
[C]
torque
[Nm]
20
MSMD042 * 1 *

2.0
1
6
When in Trouble
7
Supplement
7-57

Characteristics )
Supplement
MSME series :WR:
MSME series (50W to 100W)

Without oil seal
With oil seal
MSME5AZ * 1 *
MSME5AZ * 1 *

>@
torque
>1P@
0.5

0.5
50
0.25
3HDNUXQQLQJUDQJH

0.25


2000 3000 4000 5000 6000


>@
torque
>1P@
20
30
40
MSME5AZ * 1 *
2000 3000 4000 5000 6000
20

50

20
30
40
ZLWKEUDNH
70
60
50
2000 3000 4000 5000 6000

VSHHG>UPLQ@
ambient temp. >&@
VSHHG>UPLQ@
20
MSME011 * 1 *
torque
>1P@

>@


>@

75
70
0.5
50
3HDNUXQQLQJUDQJH
50
0.5


2000 3000 4000 5000 6000

VSHHG>UPLQ@

20
30
40
ambient temp. >&@
without
EUDNH
ZLWKEUDNH

3HDNUXQQLQJUDQJH


2000 3000 4000 5000 6000

VSHHG>UPLQ@

20
MSME012 * 1 *



>@

3HDNUXQQLQJUDQJH
50
0.5

20
30
40
ambient temp. >&@
without
EUDNH
ZLWKEUDNH

2000 3000 4000 5000 6000

VSHHG>UPLQ@

>@

3HDNUXQQLQJUDQJH
0.5
75
70
50
2000 3000 4000 5000 6000

VSHHG>UPLQ@

20
30
40
ambient temp. >&@
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRI&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH
7-58
40
torque
>1P@

30
ambient temp. >&@
MSME012 * 1 *
torque
>1P@
40
torque
>1P@

30
ambient temp. >&@
MSME011 * 1 *
40
without
EUDNH

3HDNUXQQLQJUDQJH
0.25
2000 3000 4000 5000 6000

>@
0.5
3HDNUXQQLQJUDQJH
0.25

30
ambient temp. >&@
torque
>1P@

0.5


>@
torque
>1P@

VSHHG>UPLQ@
MSME5AZ * 1 *

ZLWKEUDNH
70
60
50
3HDNUXQQLQJUDQJH
ambient temp. >&@
VSHHG>UPLQ@
without
EUDNH


Characteristics )
Supplement
MSME series :
MSME series (200W)

Without oil seal
With oil seal
MSME021 * 1 *
MSME021 * 1 *

torque
[Nm]
100
Peak running range
1.0
50
(0.32)
(2600) (3100)
1000 2000 3000 4000 5000 6000

speed [r/min]
50
(0.8)
10
20
30
40
ambient temp. [C]
MSME022 * 1 *
(2600) (3100)
20
30
40
ambient temp. [C]
100
(1.3)
(1.1)
50
(0.32)
1000 2000 3000 4000 5000 6000

speed [r/min]
10
20
30
40
ambient temp. [C]
without
brake
with brake
100
80
70
Peak running range
50
1.0

(4600)

[%]
2.0
Peak running range
1.0
torque
[Nm]
Connection

[%]
2.0
10

torque
[Nm]
(0.32)
1000 2000 3000 4000 5000 6000

speed [r/min]
MSME022 * 1 *

(1.3)
(1.1)
without
brake
with brake
100
80
70
2.0
Peak running range
1.0
(0.8)
(0.32)

[%]
Preparation

[%]
2.0

torque
[Nm]
1

(4600)
1000 2000 3000 4000 5000 6000

speed [r/min]
10
20
30
40
ambient temp. [C]
Setup
5
Adjustment
6
When in Trouble
torque
speed
7-59
Supplement


Characteristics )
Supplement
MSME series :WR:
MSME series (400W to 750W)

Without oil seal
With oil seal
MSME041 * 1 *
MSME041 * 1 *


torque
[Nm]

[%]
4.0
torque
[Nm]
100
90
4.0
50
2.0
Peak running range

(1.7)
75
(0.32)
(2600) (3100)
1000 2000 3000 4000 5000 6000

speed [r/min]
50
(1.7)
100
Peak running range
2.0
(0.32)

[%]
10
20
30
40

(2600) (3100)
ambient temp. [C]
MSME042 * 1 *
4.0
40
100
4.0
50
2.0

[%]
100
75
Peak running range
(1.7)
(0.64)
(3100)(3600)
1000 2000 3000 4000 5000 6000

speed [r/min]
50
(1.7)
10
20
30
40

(3100)(3600)
1000 2000 3000 4000 5000 6000

speed [r/min]
ambient temp. [C]
MSME082 * 1 *
10
20
30
40
ambient temp. [C]
MSME082 * 1 *


torque
[Nm]

[%]
8.0
torque
[Nm]

[%]
8.0
100
Peak running range
100
Peak running range
4.0 (3.4)
4.0 (3.4)
50
(3.0)
30
torque
[Nm]
Peak running range
2.0
(0.6)
20
ambient temp. [C]


[%]
torque
[Nm]
10
MSME042 * 1 *

(0.64)
1000 2000 3000 4000 5000 6000

speed [r/min]
(0.6)
(3200)(3600)
1000 2000 3000 4000 5000 6000

speed [r/min]
50
(3.0)
10
20
30
40
(3200)(3600)
1000 2000 3000 4000 5000 6000
ambient temp. [C]
10
speed [r/min]
20
30
40
ambient temp. [C]
MSME084 * 1 *
torque
[Nm]

[%]
8.0
100
Peak running range
4.0
(2.6)
(1.6)
50
(3500)(3800)
1000 2000 3000 4000 5000 6000

speed [r/min]
7-60
10
20
30
40
ambient temp. [C]

Characteristics )
Supplement
MSME series N:WRN:
MSME series (1.0kW to 2.0kW)

With oil seal
060(* 1 *
060(* 1 *

100
100
Peak running range
(6.0)
50

[%]
10
Peak running range
(6.0)
torque
[Nm]
50
(4.0)
(4.0)
(1.9)
(1.9)
1000
2000
3000
(3800) (4200)
4000 5000
speed [r/min]
10
20
30
40
1000
2000
3000
ambient temp. [C]
060(* 1 *
(3800) (4200)
15
(4.0)

(3200) (3600)
3000
4000 5000
speed [r/min]
100
85
10
20
30
40
without
brake
with brake
Peak running range
50
1000
2000
(3200) (3600)
3000
ambient temp. [C]
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
Setup
060(* 1 *
060(* 1 *


torque
[Nm]

[%]
20
Peak running range
without
brake
torque
[Nm]

[%]
20
100
85
70
10
100
85
70
Peak running range
with brake
10
50
(7.0)
without
brake
with brake
50
(7.0)
1000
2000
(2.0)
(3300) (3700)
3000
4000 5000
speed [r/min]
10
20
30
40
1000
2000
ambient temp. [C]
(3300) (3700)
3000
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
Adjustment
40
7.5
50
2000
30

[%]
torque
[Nm]
with brake
Peak running range
7.5
without
brake
15
100
85
1000
20
ambient temp. [C]
Connection
10


[%]
torque
[Nm]
(4.0)
4000 5000
speed [r/min]
060(* 1 *

(2.0)
Preparation

[%]
10

torque
[Nm]
1
6
When in Trouble
torque
speed
7-61
Supplement


Characteristics )
Supplement
MSME series N:WRN:
MSME series (3.0kW to 5.0kW)

With oil seal
060( * 1 *
060( * 1 *



[%]
torque
[Nm]
100
90
85
30
1000
(3100) (3400)
2000
3000
4000 5000
speed [r/min]
50
(12)
(8.0)
(5.7)
10
20
30
40
1000
(3100) (3400)
2000
3000
ambient temp. [C]
060(* 1 *
4000 5000
speed [r/min]

[%]
100
90
85
40
without
brake
(10)
2000
(2800) (3100)
3000
4000 5000
speed [r/min]
100
90
85
40
10
20
30
with brake
50
40
without
brake
Peak running range
20
1000
2000
(2800) (3100)
3000
ambient temp. [C]
060(* 1 *
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
060(* 1 *


torque
[Nm]
torque
[Nm]

[%]
50
100
50
25
70
50
25
Peak running range
(15)

[%]
100
70
50
Peak running range
(15)
30

[%]
40
50
1000
20
ambient temp. [C]
torque
[Nm]
with brake
Peak running range
10

torque
[Nm]
(10)
060(* 1 *

20
without
brake
with brake
Peak running range
15
100
90
85
30
50
(12)
(8.0)
(5.7)

[%]
torque
[Nm]
with brake
Peak running range
15
without
brake
1000
(2800) (3200)
2000
3000
4000 5000
speed [r/min]
10
20
30
40
1000
(2800) (3200)
2000
ambient temp. [C]
3000
4000 5000
speed [r/min]
10
20
30
40
ambient temp. [C]
torque

speed
7-62

Characteristics )
Supplement
MDME series :WRN:
MDME series (400W to 2.0kW)

With oil seal
0'0(* *
0'0(* *

(3.5)
Peak running range
50
1000
2000
3000
speed [r/min]
100
Peak running range
50
(4.5)
(1.9)
(2400) (2700)

[%]
10
100
(1.3)
torque
[Nm]
10
20
30
40
1000
ambient temp. [C]
0'0(* *
(2100)(2400)
50
Peak running range
50
(4.0)
(3.2)
1000
(2200)
2000
3000
speed [r/min]
10
20
30
40
1000
ambient temp. [C]
(2200)
10
20
30
40
ambient temp. [C]
Setup

torque
[Nm]
20
torque
[Nm]

[%]

[%]
20
100
Peak running range
100
Peak running range
50
10
2000
3000
speed [r/min]
10
20
30
40
1000
ambient temp. [C]
0'0(* *
(2300)
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
Adjustment
(2300)
50
10
(6.0)
(4.8)
0'0(* *


torque
[Nm]

[%]
torque
[Nm]
100
30
50
15
Peak running range

[%]
100
Peak running range
15
(11)
(11)
(6.4)
(6.4)

(2200)
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
50
1000
(2200)
2000
3000
speed [r/min]
10
20
30
40
6
When in Trouble
30
1000
2000
3000
speed [r/min]
0'0(* *

1000
100
(6.0)
0'0(* *
40
Connection
10
Peak running range
30

[%]
15
100
(6.0)
(6.0)
(4.8)
20
ambient temp. [C]
torque
[Nm]

[%]
15
10

torque
[Nm]
(4.0)
(3.2)
2000
3000
speed [r/min]
0'0(* *

10
Preparation

[%]

torque
[Nm]
1
ambient temp. [C]
7
Supplement
7-63

Characteristics )
Supplement
MDME series N:WRN:
MDME series (3.0kW to 5.0kW)

With oil seal
0'0(* 1 *
0'0(* 1 *


torque
[Nm]
50
(28)
25
Peak running range
(9.5)
(28)
50
25
1000
(9.5)
2000
3000
speed [r/min]
100
Peak running range
50
(20)

(2200)(2400)

[%]
50
100
(20)
torque
[Nm]

[%]
10
20
30
40
(2200)(2400)
1000
0'0(* 1 *
50
100
Peak running range
50
25
(1900)(2100)
2000
3000
speed [r/min]
50
25
(13)
10
20
30
40
(1900)(2100)
1000
20
30
40
ambient temp. [C]

torque
[Nm]

[%]
without
brake
with
brake
100
90
85
70
Peak running range
2000
3000
speed [r/min]
(3)
10
20
30
40
without
brake
with
brake
100
90
85
70
(20)

[%]
50
35

(1900)(2100)
torque
[Nm]
Peak running range
50
35
1000
10
0'0(* 1 *

2000
3000
speed [r/min]
ambient temp. [C]
0'0(* 1 *
(3)
40

[%]
50
100
Peak running range
(20)
30
torque
[Nm]

[%]
1000
20
ambient temp. [C]

torque
[Nm]
10
0'0(* 1 *

(13)
2000
3000
speed [r/min]
ambient temp. [C]
(1900)(2100)
1000
2000
3000
speed [r/min]
ambient temp. [C]
10
20
30
40
ambient temp. [C]
torque

speed
7-64

Characteristics )
Supplement
MDME series N:WRN:
0'0(series(N:WRN:)
:LWKRLOVHDO
0'0(* *
0'0(* *

(60)
50
50
100
90
100
Peak running range
Peak running range
50
50
(47.8)
(47.8)
1000
(1500)
(12)
(2200) (2500)
2000
3000
speed [r/min]
10
20
30
40
150
20
30
40
ambient temp. [C]

[%]
150
100
(130)
Peak running range
Peak running range
50
75
(1500)(1700)
2000
3000
speed [r/min]
50
75
(70)
(52.5)
10
20
30
40
1000
(1500)(1700)
2000
3000
speed [r/min]
ambient temp. [C]
10
20
30
40
ambient temp. [C]
Setup
0'0(&* *
0'0(&* *


torque
[Nm]

[%]
(224)
200
torque
[Nm]

[%]
(224)
200
100
90
Peak running range
100
90
Peak running range
50
100
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
1000
(1500)(1700)
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
Adjustment
(1500)(1700)
50
100
(95.5)
(57)
1000
10
torque
[Nm]
(175)
100
(130)
Connection

[%]
(175)
1000
(2200) (2500)
2000
3000
speed [r/min]

torque
[Nm]
(1500)
0'0(&* *

(70)
(52.5)
1000
ambient temp. [C]
0'0(&* *
(95.5)
(57)

[%]
119
100
90
100
(12)
torque
[Nm]
Preparation

[%]
119
(60)

torque
[Nm]
1
6
When in Trouble
7
Supplement
7-65

Characteristics )
Supplement
MFME series (1.5kW to 4.5kW)
MFME series (1.5kW to 4.5kW)

With oil seal
0)0(* 1 *
0)0(* 1 *


torque
[Nm]

[%]
21.5
14
Peak running range
100
20
14
10

[%]
21.5
100
20
7.16
4.8
torque
[Nm]
50

(2200) (2600)
1000
Peak running range
10
7.16
4.8
2000
3000
speed [r/min]
10
20
30
40
(2200) (2600)
1000
20
30
40
ambient temp. [C]

torque
[Nm]

[%]
torque
[Nm]
30.4

[%]
30.4
100
30
100
30
Peak running range
Peak running range
50
15
11.9
1000
50
15
11.9
(1800)
2000
3000
speed [r/min]
10
20
30
40
(1800)
1000
2000
3000
speed [r/min]
ambient temp. [C]
0)0(* 1 *
10
20
30
40
ambient temp. [C]
0)0(* 1 *


torque
[Nm]

[%]
torque
[Nm]
54.9

[%]
54.9
100
50
100
50
Peak running range
Peak running range
50
25
50
25
21.5
21.5
10
10
10
0)0(* 1 *

2000
3000
speed [r/min]
ambient temp. [C]
0)0(* 1 *
50
1000
(1800)
2000
3000
speed [r/min]
10
20
30
40
(1800)
1000
2000
3000
speed [r/min]
ambient temp. [C]
10
20
30
40
ambient temp. [C]
torque

speed
7-66

Characteristics )
Supplement
MGME series N:WRN:
0*0(VHULHV(N:WRN:)
:LWKRLOVHDO
0*0$* *
0*0$* *

[%]
20
torque
[Nm]
50
(8)
(4.3)
1000
Peak running range
10
50
(8)
(4.3)
100
(14)
Peak running range
10

[%]
20
100
(14)
(1600)(1800)
2000
3000
speed [r/min]
10
20
30
40
1000
(1600)(1800)
50
Peak running range
(18)
(9.6)
2000
3000
speed [r/min]
Peak running range
50
25
10
20
30
40
(1400)(1600)
1000
2000
3000
speed [r/min]
ambient temp. [C]
10
20
30
40
ambient temp. [C]
Setup
0*0$* *


torque
[Nm]

[%]
70

[%]
70
Peak running range
(40)
50
35
torque
[Nm]
100
100
Peak running range
50
35
(1400)(1600)
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
1000
(1400)(1600)
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
Adjustment
(20)
(14) Continuous running range
(20)
(14) Continuous running range
1000
100
(28)
50
(1400)(1600)

[%]
50
0*0$* *
40
torque
[Nm]
100
25
(40)
30
Connection

[%]
1000
20
ambient temp. [C]

torque
[Nm]
10
0*0$* *

(18)
(9.6)
2000
3000
speed [r/min]
ambient temp. [C]
0*0$* *
(28)
Preparation
torque
[Nm]

1
6
When in Trouble
7
Supplement
7-67

Characteristics )
Supplement
MGME series N:WRN:
0'0(series (N:WRN:)
With oil seal
0*0(* 1 *
0*0(* 1 *


torque
[Nm]

[%]
torque
[Nm]
(107)
(107)
100
100
100
100
Peak running range
Peak running range
(70)
(70)
50
50
(43)
(22)

[%]
(22)
1000
(1500)(1700)
2000
3000
speed [r/min]
50
50
(43)
10
20
30
40
1000
(1500)(1700)
20
30
40
ambient temp. [C]


torque
[Nm]

[%]
150
torque
[Nm]

[%]
150
100
(143)
100
(143)
(100)
(100)
50
75 Peak running range
10
0*0(* 1 *
0*0(* 1 *
(57.3)
(28)
2000
3000
speed [r/min]
ambient temp. [C]
1000
(1500)(1700)
2000
3000
speed [r/min]
50
75 Peak running range

(57.3)
(28)
10
20
30
40
1000
(1500)(1700)
2000
3000
speed [r/min]
ambient temp. [C]
10
20
30
40
ambient temp. [C]
torque

speed
7-68

Characteristics )
Supplement
MHMD series :
MHMD series (200W)

Without oil seal
With oil seal
0+0'* *
0+0'* *

[%]
2.0
100
Peak running range
1.0
(0.5)
torque
[Nm]
(0.5)
1000
2000
3000
4000 5000
speed [r/min]
Peak running range
1.0
10
20
30
40
1000
2000
(3600)
3000
4000
2.0
100
30
40
torque
[Nm]
Peak running range
without
brake
100
80
70
Peak running range
1.0
50
3000

[%]
2.0
(1.5)
(1.2)
1.0
2000
20
ambient temp. [C]
with brake
50

(4500)
4000
5000
speed [r/min]
10
20
30
40
ambient temp. [C]
1000
2000
Connection

[%]
1000
10

torque
[Nm]
5000
speed [r/min]
0+0'* *

(1.5)
(1.2)
with brake
50
ambient temp. [C]
0+0'* *
without
brake
100
80
70
(0.9)

(3600)

[%]
2.0
50
(0.9)
Preparation
torque
[Nm]

1
3000
(4500)
4000
5000
speed [r/min]
10
20
30
40
ambient temp. [C]
Setup
5
Adjustment
6
When in Trouble
7
Supplement
7-69

Characteristics )
Supplement
MHMD series :WR:
MHME series (400W to 750W)

Without oil seal
With oil seal
0+0'* *
0+0'* *


torque
[Nm]

[%]
torque
[Nm]
4.0
100
90
4.0
50
2.0

[%]
100
75
Peak running range
2.0
Peak running range
(1.3)
(0.6)
1000
2000
50
(1.3)
(0.6)
(2800) (3200)
3000
4000
5000
10
speed [r/min]
20
30
40
1000
2000
(2800) (3200)
3000
ambient temp. [C]
0+0'* *
4000
5000
10
speed [r/min]
20
30
40
ambient temp. [C]
0+0'* *


torque
[Nm]

[%]
torque
[Nm]
4.0
100
90
4.0

[%]
100
75
Peak running range
Peak running range
50
2.0
50
2.0
(1.7)
(1.3)
(1.7)
(1.3)
1000
2000

(3400) (3800)
3000
4000 5000
speed [r/min]
10
20
30
40
1000
2000
(3400) (3800)
3000
ambient temp. [C]
0+0'* *
4000

[%]
8.0
30
40
torque
[Nm]

[%]
8.0
100
Peak running range
100
Peak running range
4.0
4.0
50
(3.0)
(3200) (3600)
3000
50
(3.0)
2000
20
ambient temp. [C]

torque
[Nm]
1000
10
0+0'* *

5000
speed [r/min]
4000 5000
speed [r/min]
10
20
30
40
1000
2000
ambient temp. [C]
(3200) (3600)
3000
4000
5000
speed [r/min]
10
20
30
40
ambient temp. [C]
torque

speed
7-70

Characteristics )
Supplement
MHME series N:WRN:
0+0(series (N:WRN:)
With oil seal
0+0(* *
0+0(* *

[%]
15
10
torque
[Nm]
10
Peak running range
50
100
Peak running range
50
(6.0)

[%]
15
100
(6.0)
(4.0)
(3.2)
(4.0)
(3.2)
1000
(2200)
2000
3000
speed [r/min]
10
20
30
40
1000
ambient temp. [C]
0+0(* *
(2200)
20
100

(2300)
2000
3000
speed [r/min]
50
10
(6.0)
(4.8)
10
20
30
40
1000
(2300)
10
20
30
40
ambient temp. [C]
Setup

torque
[Nm]

[%]
30
torque
[Nm]
100
30
50
15
Peak running range

[%]
100
Peak running range
15
(2200)
2000
3000
speed [r/min]
10
20
30
40
50
1000
ambient temp. [C]
0+0(* *
(2200)
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
Adjustment
(6.4)
0+0(* *


torque
[Nm]

[%]
torque
[Nm]

[%]
50
100
Peak running range
100
Peak running range
50
25
(20)
(9.5)

(2400)
2000
3000
speed [r/min]
50
25
(20)
10
20
30
40
ambient temp. [C]
1000
(2400)
2000
3000
speed [r/min]
10
20
30
40
6
When in Trouble
50
1000
2000
3000
speed [r/min]
0+0(* *

ambient temp. [C]
0+0(* *
(9.5)
Peak running range
50
1000
40

[%]
20
100
10
30
torque
[Nm]
Peak running range
(6.4)
20
ambient temp. [C]
Connection

[%]
1000
10

torque
[Nm]
2000
3000
speed [r/min]
0+0(* *

(6.0)
(4.8)
Preparation
torque
[Nm]

1
ambient temp. [C]
7
Supplement
7-71

Characteristics )
Supplement
MHME series N:WRN:
0+0(series (N:WRN:)
With oil seal
0+0(* 1 *
0+0(* 1 *


torque
[Nm]
torque
[Nm]

[%]
50
50
100
100
Peak running range
Peak running range
(13)
(1900) (2100)
1000
50
25
50
25
(13)

[%]
2000
3000
speed [r/min]
10
20
30
40
(1900) (2100)
1000
0+0(* 1 *

[%]
100
90
85
70
Peak running range
without
brake
30
40
torque
[Nm]

[%]
70
100
90
85
with brake
Peak running range
50
35
without
brake
with brake
50
35
(20)
(20)
(3)
1000
(3)
(1900) (2100)
2000
3000
speed [r/min]
10
20
30
40
(1900) (2100)
1000
2000
3000
speed [r/min]
ambient temp. [C]
0+0(* 1 *
10
20
30
40
ambient temp. [C]
0+0(* 1 *



[%]
torque
[Nm]

[%]
torque
[Nm]
119
119
100
100
100
100
Peak running range
(60)
50
50
Peak running range
50
50
(47.8)
20
ambient temp. [C]

torque
[Nm]
(12)
10
0+0(* 1 *

(60)
2000
3000
speed [r/min]
ambient temp. [C]
(47.8)
1000
(1500)
(12)
(2200) (2500)
2000
3000
speed [r/min]
10
20
30
40
1000
(1500)
ambient temp. [C]
(2200) (2500)
2000
3000
speed [r/min]
10
20
30
40
ambient temp. [C]
torque

speed
7-72
6. Dimensions
Supplement
Driver
1
7
A-frame
2
(22.4)
40
7
2.5
20.4
Mounting bracket
(Option)
.2
(18)
(20)
Preparation
40
3.5
.2
125
140
5.2
2.5
4.5
Rack mount type

Option :
Front-end mounting
Mounting bracket
(Option)
180
24
Connection
Name plate
170
150
150
(27)
5.2
28
130
(70)
Base mount type

Standard:
Back-end mounting
Mass: 0.8kg
Setup
B-frame
5
55
55
7
2.5
20.4
Mounting bracket
(Option)
.2
(18)
(20)
Adjustment
(22.4)
47
3.5
.2
125
140
24
2.5
4.5
Rack mount type

Option :
Front-end mounting
Mounting bracket
(Option)
5.2
43
130
(70)
Base mount type

Standard:
Back-end mounting
3'ULYHU3'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
3'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
7-73
7
Supplement
Mass: 1.0kg
Related page
When in Trouble
Name plate
5.2
180
170
150
150
(27)
6. Dimensions
Driver
C-frame
65
65
40
(22.4)
20.4
(22)
20
2.5
Mounting bracket
(Option)
(15)
5.
.2
120
140
180
170
150
150
(27)
Name plate
24
5.2
2.5
4.5
20
Mounting bracket
(Option)
5.2
50
170
Rack mount type

Option :
Front-end mounting
7.5
Base mount type

Standard:
Back-end mounting
(70)
40
(18)
Mass: 1.6kg
'IUDPH9
(86)
(86)
85
(22.4)
60
10
(22)
40
2.5
20.4
Mounting bracket
(Option)
(15)
2-5.2
.2
120
140
180
170
150
150
(27)
Name plate
24
(18)

from the internal
cooling fan
5.2 5.2
40
60
10
Rack mount type

Option :
Front-end mounting
2.5
4.5
Mounting bracket
(Option)
5.2
70
170
(70)
R2
.6
8.5
Base mount type

Standard:
Back-end mounting
Mass: 1.8kg
Related page
7-74
3'ULYHU3&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRU
6. Dimensions
1
Driver
'IUDPH9
2
(92)
85
60
(22)
40
2-5.2
(15)
10
(22.4)
20.4
Preparation
(92)
2.5
Mounting bracket
(Option)
.2
120
3
140
24
180
170
150
150
(27)
Name plate
Connection

from the internal
cooling fan
10
5.2
40
4.5
5.2
Mounting bracket(Option)
5.2
170
7.5
(70)
Rack mount type

Option :
Front-end mounting
2.5
(18)
70
Base mount type

Standard:
Back-end mounting
Setup
Mass: 1.9kg
(IUDPH9
5
85
17.5
50
42.5
(33.1)
31.7
2.5
Mounting bracket
(deviation from shipping specification)
(3.5)
.2
Mounting bracket
(29)
5.2
(22)
(to shipping specification)
130
198
188
168
When in Trouble
168
(32)
Name plate
24
(18)
5.2
42.5
17.5
5.2
50
85
5.2
Mounting bracket (to shipping specification)

Mounting bracket
2.5
193
Supplement

from the internal
cooling fan
Adjustment
(86)
(86)
Mass: 2.7kg
7-75
6. Dimensions
Driver
(IUDPH9
94
85
94
17.5
50
42.5
.2
5.2
2.5
Mounting bracket
Mounting bracket
(29)
5.2
(33.1)
31.7
(22)
130
198
188
168
168
(32)
Name plate
24
(18)
5.2
5.2
42.5

from the internal
cooling fan
17.5

Mounting bracket
5.2
2.5
50

193
Mass: 2.7kg
)IUDPH9
130
214
(22)
5.2
42.7
2.5
Mounting bracket

(23)
65
5.2
.2
130
100
15
125
(32)
Mass: 4.8kg [200V]

4.7kg [400V]
7-76
5.2
65
15
5.2

from the internal
cooling fan
100
130
5.2
Name plate
250
240
220
220
24

Mounting bracket
2.5
(3.5)
(3.5)
6. Dimensions
1
Driver
*IUDPH9
L1
Preparation
L2

L3
B1
B2
NC
Connection

from the internal
cooling fan
233
210
12
90
27
90
(22)
5.2
5.2
Mounting bracket
52
2.5
.2
.2
Mounting bracket
(23)
5.2
334
90
72
3.5
Handle
125
Setup
L1
(32)
L2

L3
24
B2
250
220
235
B1
NC
Name plate
90
Adjustment
27
Mounting bracket
5.2
2.5
Mounting bracket
90
72
12
5.2
5.
5.
5.2
90
210
6
When in Trouble
7
Related page
7-77
Supplement
Mass: 13.5kg
6. Dimensions
Driver
+IUDPH9
261
21
270
30.5
200
4
125
(32)
435
450
Name
plate
7
30.5
200

from the internal
cooling fan
7.5
Name
plate
Base mount type

(Back-end mounting)
266
Mount
Mount
Related page
7-78
Mass: 21.0kg
6. Dimensions
Supplement
Motor
1
060':WR:
2
Brake connector
RH
RH
90
LW
LK
3
LBh7
Connection
4-LZ
LA
(Key way with center tap shaft)

LW
KW
LK
KH
LC
LH
(7)
(D-cut shaft)
Motor connector
Sh6
(7)
Shaft end spec.
200
230
LF
LR
LE
TP
RH
LL
Preparation
Encoder connector
LN
4
Setup
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
060'VHULHV/RZLQHUWLD
50W
5A * * 1 *
72
102
100W
01 * * 1 *
92
122
25
8
45
30
38
3
6
32
26.3
Adjustment
46.5
Key way
dimensions
3.4
25
20
7.5
14
12.5
3h9
3
6.2
M3 depth 6
When in Trouble
0.32
0.47
0.53
0.68
5HIHUWR36SHFLFDWLRQVRI0RWRUFRQQHFWRU
Caution
Reduce the moment of inertia ratio if high speed response operation is required.
Related page
3&KHFNRIWKH0RGHO3&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRU
367&KDUDFWHULVWLFV
Supplement
Motor output
Motor model
MSMD
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
LN
LZ
LW
D
LK
RH
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
&RQQHFWRUVSHFLFDWLRQV
7-79
6. Dimensions
Motor
060':WR:
Encoder connector
Shaft end spec.
Brake connector
(D-cut shaft)
LW
1
LK
RH
Motor connector
4-LZ
LC
LBh7
LH
LA

LW
KW
LK
KH
(7)
Sh6
(7)
200
220
90
LF
LR
LE
RH
LL
RH
TP
060'VHULHV/RZLQHUWLD
200W
02 * * 1 *
79.5
116
400W
04 * * 1 *
99
135.5
30
11
14
70
50
60
750W
08 * * 1 *
112.2
149.2
35
19
90
70
80
3
6.5
43
4.5
30
22
Motor output
Motor model
MSMD
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
LZ
LW
D
LK
RH
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
Key way
dimensions
10
20
18
4h9
4
8.5
M4 depth 8
0.82
1.3
12.5
25
22.5
5h9
5
11
M5 depth 10
1.2
1.7
8
53
6
35
25
17.5
25
22
6h9
6
15.5
2.3
3.1
Caution
Related page
367&KDUDFWHULVWLFV
7-80
6. Dimensions
1
Motor
060(:WR:
Encoder connector
Motor connector
LL
LM
LT
LR
LC
Shaft end spec.

LH
KW
KH
LA
LBh7
LN
LW
LK
4-LZ
Sh6
LE
Preparation
LF
RH
TP
[With brake]
LL
LM
LT
LR
LC
Shaft end spec.

LH
LA
LBh7
LN
LW
LK
4-LZ
KW
KH
LE
Sh6
LF
RH
TP
Setup
060(VHULHV/RZLQHUWLD
50W
5A * * 1 *
72
102
100W
01 * * 1 *
92
122
200W
02 * * 1 *
79.5
116
400W
04 * * 1 *
99
135.5
30
11
14
70
50
60
750W
082 * 1 *
112.2
148.2
35
19
90
70
80
5
Adjustment
25
8
45
30
38
46.6
6.5
52.5
64.8
94.8
43
27.2
3.4
14
12.5
3h9
3
6.2
M3 depth 6
72.5
109
26.5
4.5
20
25
18
22.5
4h9
5h9
4
5
8.5
11
M4 depth 8
M5 depth 10
0.46
0.78
1.2
0.66
1.2
1.6
Caution
Related page
3WR67&KDUDFWHULVWLFV
6
25
22
6h9
6
15.5
2.3
3.1
Supplement
0.31
0.51
53
89.5
8
61.6
85.7
121.7
When in Trouble
44.8
74.8
23
Key way
dimensions
Motor output
Motor model
MSME
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
Without brake
LM
With brake
LN
LT
LZ
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
Connection
Encoder connector Brake connector

Motor connector
7-81
6. Dimensions
Motor
060(:9N:WRN:'HVLJQ2UGHU

<MSME 750W(400V), 1.0kW to 2.0kW>
LL
Motor/Brake
connector
44
LC
LR
LM
Shaft end spec.

(Key way shaft)
LF LE
LH
KW
KH
Sh6
D
L
LBh7
LG
M3 through
LW
LK
4-LZ
L
A
RH
Encoder
connector
<MSME 3.0kW to 5.0kW> * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF.
LF
Motor output
Motor model
LL
MSME
Without brake
With brake
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
084 * 1 *
10 * * 1 *
15 * * 1 *
20 * * 1 *
30 * * 1 *
40 * * 1 *
50 * * 1 *
131.5
141
159.5
178.5
190
208
243
158.5
168
186.5
205.5
215
233
LR
55
19
LA
115
LB
95
LC
100
LD
135
LE
22
110
120
130
162
165
6
10
12
LG
60
LH
101
113
118
Without brake
87.5
97
115.5
134.5
146
164
199
With brake
114.5
124
142.5
161.5
171
189
224
LZ
Key way
dimensions
Mass (kg)
24
145
LF
LM
268
65
9
LW
45
LK
42
KW
6h9
KH
RH
15.5
55
41
51
8h9
7
18
20
Without brake
3.1
3.5
4.4
5.3
8.3
11.0
14.0
With brake
4.1
4.5
5.4
6.3
9.4
12.6
16.0
Caution
Related page
367&KDUDFWHULVWLFV
7-82
6. Dimensions
1
Motor
060(N:WRN:'HVLJQ2UGHU&
<MSME 1.0kW to 2.0kW>
LL
Motor/Brake
connector
46
LC
LR
LM
Shaft end spec.

(Key way shaft)
LF LE
LH
KH
L
A
KW
RH
Sh6
D
L
LBh7
LG
M3 through
LW
LK
4-LZ
Preparation
Encoder
connector
3
Connection
<MSME 3.0kW to 5.0kW> * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF.
LF
4
Setup
Motor output
Motor model
LL
MSME
Without brake
With brake
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
10 * * C *
15 * * C *
20 * * C *
30 * * C *
40 * * C *
50 * * C *
143
161.5
180.5
192
210
245
170
188.5
207.5
217
235
LR
55
19
115
LB
95
LC
100
LD
135
LE
22
110
130
162
165
6
12
84
LH
101
113
118
97
115.5
134.5
146
164
199
124
142.5
161.5
171
189
224
Key way
dimensions
When in Trouble
Without brake
With brake
LZ
Mass (kg)
120
10
LG
LM
24
145
LF
5
Adjustment
S
LA
270
65
9
LW
45
LK
42
KW
6h9
KH
RH
15.5
55
41
51
8h9
7
18
20
3.5
4.4
5.3
8.3
11.0
14.0
With brake
4.5
5.4
6.3
9.4
12.6
16.0
Supplement
Without brake
Caution
Related page
367&KDUDFWHULVWLFV
7-83
6. Dimensions
Motor
0'0(:WRN:'HVLJQ2UGHU
Encoder connector
Motor/Brake connector
LL
44
LR
LC
LM
Shaft end spec.

(Key way shaft)
LE
4-LZ
KW
KH
LBh7
Sh6
LD
LA
RH
LG
M3 through
LW
LK
LH
LF
MDME series (Middle inertia)

Motor output
600W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
044 * 1 *
064 * 1 *
10 * * 1 *
15 * * 1 *
20 * * 1 *
30 * * 1 *
40 * * 1 *
50 * * 1 *
Without brake
131.5
141
138
155.5
173
208
177
196
With brake
158.5
168
163
180.5
198
233
202
Motor model
LL
400W
MDME
LR
55
19
22
24
35
LA
115
145
200
95
110
114.3
LC
100
130
176
LD
135
165
233
LE
3.2
LF
10
12
18
60
LH
101
116
118
140
Without brake
87.5
97
94
111.5
129
164
133
152
With brake
114.5
124
119
136.5
155
189
158
177
LZ
9
LW
13.5
45
55
Key way
dimensions
LK
42
KW
6h9
8h9
10h9
KH
RH
Mass (kg)
70
LB
LG
LM
221
65
41
15.5
18
Without brake
3.1
3.5
With brake
4.1
4.5
51
50
20
30
5.2
6.7
8.0
11.0
15.5
18.6
6.7
8.2
9.5
12.6
18.7
21.8
Caution
Related page
367&KDUDFWHULVWLFV
7-84
6. Dimensions
1
Motor
0'0(:WRN:'HVLJQ2UGHU&
Encoder connector
LR
LC
Preparation
LL
46
LM
Shaft end spec.

(Key way shaft)
LE
4-LZ
KH
KW
LA
LD
RH
Sh6
M3 through
LW
LK
Connection
LBh7
LG
LH
LF

Motor output
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
15 * * C *
20 * * C *
30 * * C *
40 * * C *
50 * * C *
140
157.5
175
210
179
198
With brake
165
182.5
200
235
204
MDME
LR
55
65
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
3.2
LF
12
18
84
116
118
140
94
111.5
129
164
133
152
With brake
119
136.5
155
189
158
177
Key way
dimensions
LW
45
LK
41
13.5
55
51
50
KW
8h9
10h9
KH
RH
18
20
30
5.2
6.7
8.0
11.0
15.5
18.6
With brake
6.7
8.2
9.5
12.6
18.7
21.8
Supplement
Without brake
6
When in Trouble
Without brake
LZ
Mass (kg)
5
Adjustment
22
LH
LM
223
70
LG
Setup
10 * * C *
Without brake
Motor model
LL
1.0kW
Caution
Related page
367&KDUDFWHULVWLFV
7-85
6. Dimensions
Motor
0'0(N:WRN:
<MDME 7.5kW>
LL
LM
44
LC
43.5 43.5
LR
Eye bolt
(Thread 10)
48
Shaft end spec.

(Key way shaft)
LW
LK
4-LZ
M4 through
KW
KH
LH
LBh7
LG
Sh6
LF LE
D
L
L
A
RH
Encoder
connector
Motor connector
Brake connector
<MDME 11.0kW, 15.0kW>

LL
LM
44
LC
57 57
LR
Shaft end spec.
Eye bolt
(Thread 10)
(Key way shaft)
LE
KH
M5 through
D
L
L
A
RH
LG
LW
LK
4-LZ
LH
LF
Sm6
LBh7
48
Key way
dimensions
Motor output
Motor model
MDME
Without brake
LL
With brake
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
Without brake
LM
With brake
LZ
LW
LK
KW
KH
RH
Without brake
With brake
Mass (kg)
7.5kW
75 * * 1 *
312
337
113
42
200
114.3
176
233
3.2
24
11.0kW
C1 * * 1 *
316
364
15.0kW
C5 * * 1 *
348
432
116
55
235
200
220
268
4
32
60
184
268
293
96
90
12h9
8
37 0

36.4
40.4
205
272
320
13.5
340
388
98
90
16h9
10
49
0

52.7
58.9
70.2
76.3
Caution
Related page
367&KDUDFWHULVWLFV
7-86
KW
6. Dimensions
1
Motor
MFME 1.5kW to 4.5kW
Encoder connector
LL
LM
LC
LR
Preparation
44
Shaft end spec.

(Key way shaft)
LE
4-LZ
LW
LK
M3 through
KH
LH
D
L
L
A
KW
3
Connection
RH
LBh7
LG
Sh6
LF
MFME series (Middle inertia)

Motor output
2.5kW
4.5kW
25 * * 1 *
45 * * 1 *
142
136
156
With brake
167
169
189
MFME
LR
70
35
200
235
LB
114.3
200
LC
176
220
LD
233
266
LE
3.2
LF
18
16
LG
60
LH
LM
140
162
98
91
111
With brake
123
124
144
Key way
dimensions
When in Trouble
Without brake
LZ
176
LW
55
LK
50
KW
10h9
KH
RH
Mass (kg)
5
Adjustment
LA
Setup
15 * * 1 *
Without brake
Motor model
LL
1.5kW
With brake
12.5
13.1
18.2
17.2
23.1
Supplement
9.5
30
Without brake
Caution
Related page
367&KDUDFWHULVWLFV
7-87
6. Dimensions
Motor
0*0(:WRN:'HVLJQ2UGHU
Encoder connector
LL
44
LR
LC
LM
Shaft end spec.

(Key way shaft)
LE
4-LZ
LW
LK
KH
M3 through
LD
LA
RH
LBh7
LG
Sh6
LH
LF
MGME series (Middle inertia)

Motor output
2.0kW
3.0kW
09 * * 1 *
20 * * 1 *
30 * * 1 *
Without brake
155.5
163.5
209.5
With brake
180.5
188.5
Motor model
LL
900W
MGME
70
80
22
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
3.2
LF
12
18
LG
60
LH
LM
116
140
Without brake
111.5
119.5
165.5
With brake
136.5
144.5
190.5
LZ
Key way
dimensions
13.5
LW
45
55
LK
41
50
KW
8h9
10h9
KH
RH
Mass (kg)
234.5
LR
18
Without brake
6.7
With brake
8.2
30
14.0
20.0
17.5
23.5
Caution
Related page
367&KDUDFWHULVWLFV
7-88
KW
6. Dimensions
1
Motor
0*0(:WRN:'HVLJQ2UGHU&
Encoder connector
LR
LC
Preparation
LL
LM
46
Shaft end spec.

(Key way shaft)
LE
4-LZ
M3 throug
LH
LW
LK
KH
LD
RH
LA
Connection
LBh7
LG
Sh6
LF

Motor output
2.0kW
3.0kW
20 * * C *
30 * * C *
157.5
165.5
211.5
With brake
182.5
190.5
MGME
80
22
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
3.2
LF
12
18
84
116
140
111.5
119.5
165.5
With brake
136.5
144.5
190.5
Key way
dimensions
13.5
LW
45
55
LK
41
50
KW
8h9
10h9
KH
RH
18
6.7
With brake
8.2
30
14.0
20.0
17.5
23.5
Supplement
Without brake
6
When in Trouble
Without brake
LZ
Mass (kg)
5
Adjustment
70
LH
LM
236.5
LR
LG
Setup
09 * * C *
Without brake
Motor model
LL
900W
Caution
Related page
367&KDUDFWHULVWLFV
7-89
6. Dimensions
Motor
0*0(N:N:
<MGME 4.5kW>
LR
LC
43.5 43.5
Eye bolt
(Thread 10)
Shaft end spec.

(Key way shaft)
LF LE
KH
D
L
Motor connector
Brake connector
LL
LM
44
L
A
Shaft end spec.

(Key way shaft)
LW
LK
4-LZ
LH
LBh7
LG
Sh6
LF LE
D
L
L
A
Key way
dimensions
Motor output
Motor model
MGME
Without brake
LL
With brake
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
Without brake
LM
With brake
LZ
LW
LK
KW
KH
RH
Without brake
Mass (kg)
With brake
4.5kW
45 * * 1 *
266
291
6.0kW
60 * * 1 *
312
337
113
42
200
114.3
176
233
3.2
24
60
140
222
247
184
268
293
13.5
96
90
12h9
8
0
37
29.4
36.4
33.0
40.4
Caution
Related page
367&KDUDFWHULVWLFV
7-90
KW
LC
43.5 43.5
LR
Eye bolt
(Thread 10)
48
M4 through
M4 through
KH
Encoder
connector
LH
Sh6
LBh7
LG
<MGME 6.0kW>
LW
LK
4-LZ
RH
LL
LM
44
RH
Encoder
connector
KW
6. Dimensions
1
Motor
0+0':WR:
RH
3
LH
4-LZ

LW
KW
LK
Connection
Sh6
LC
KH
200
(7)
220
(7)
LK
RH
LF
(D-cut shaft)
LW
LR
LE
90
LL
Shaft end spec.
Motor connector
Preparation
Encoder connector
Brake connector
LBh7
LA
RH
TP
4
Setup
MHMD series (High inertia)

200W
02 * * 1 *
99
135.5
400W
04 * * 1 *
118.5
155
750W
08 * * 1 *
164.2
127.2
35
19
900.2
70
80
14
70
50
60
5
Adjustment
30
11
Key way
dimensions
12.5
25
22.5
5h9
5
11
M5 depth 10
1.4
1.8
2.5
3.3
Caution
Related page
367&KDUDFWHULVWLFV
Supplement
10
20
18
4h9
4
8.5
M4 depth 8
0.96
1.4
8
53
6
35
25
17.5
25
22
6h9
6
15.5
When in Trouble
6.5
43
4.5
30
22
Motor output
Motor model
MHMD
Without brake
LL
With brake
LR
S
LA
LB
LC
LE
LF
LH
LZ
LW
D
LK
RH
LW
LK
KW
KH
RH
TP
Without brake
Mass (kg)
With brake
7-91
6. Dimensions
Motor
0+0(N:WRN:'HVLJQ2UGHU
<MHME 1.0kW5.0kW>
LL
44
Encoder
connector
LR
LC
LM
Shaft end spec.

(Key way shaft)
LE
4-LZ
LW
LK
<MHME 7.5kW>
KH
KW
LD
LA
Motor connector
LL
LM
44
LR
LC
43.5 43.5
Brake connector
Shaft end spec.

(Key way shaft)
Eye bolt
(Thread 10)
LF LE
M4 through
KW
KH
LH
LBh7
LG
LW
LK
4-LZ
D
L
L
A
RH
48
Sh6
Encoder
connector
M3 through
RH
LG
Sh6
LBh7
LH
LF
MHME series (High inertia)

1.0kW
10 * * 1 *
173
198
1.5kW
15 * * 1 *
190.5
215.5
2.0kW
20 * * 1 *
177
202
3.0kW
30 * * 1 *
196
221
70
22
145
110
130
165
6
12
4.0kW
40 * * 1 *
209.5
234.5
5.0kW
50 * * 1 *
238.5
263.5
80
35
200
114.3
176
233
3.2
18
24
116
129
154
140
146.5
171.5
133
158
152
177
9
45
41
8h9
7
18
6.7
8.1
165.5
190.5
13.5
194.5
219.5
55
50
10h9
184
313
338
96
90
12h9
8
30
8.6
10.1
12.2
15.5
16.0
19.2
18.6
21.8
23.0
26.2
Caution
Related page
367&KDUDFWHULVWLFV
7-92
7.5kW
75 * * 1 *
357
382
113
42
60
Key way
dimensions
Motor output
Motor model
MHME
Without brake
LL
With brake
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
Without brake
LM
With brake
LZ
LW
LK
KW
KH
RH
Without brake
Mass (kg)
With brake
0
37
42.3
46.2
6. Dimensions
1
Motor
0+0(N:WRN:'HVLJQ2UGHU&
Encoder connector
Preparation
LL
46
LC
LR
LM
Shaft end spec.

(Key way shaft)
LE
4-LZ
LW
LK
KW
KH
LA
M3 through
RH
LD
3
Connection
LBh7
Sh6
LG
LH
LF
MHME series (High inertia)

Motor output
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
15 * * C *
20 * * C *
30 * * C *
40 * * C *
50 * * C *
175
192.5
179
198
211.5
240.5
With brake
200
217.5
204
223
236.5
265.5
MHME
70
80
22
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
3.2
LF
12
18
LG
84
LH
LM
116
140
129
146.5
133
152
165.5
194.5
With brake
154
171.5
158
177
190.5
219.5
Key way
dimensions
13.5
LW
45
55
LK
41
50
KW
8h9
10h9
KH
RH
18
30
6.7
8.6
12.2
16.0
18.6
23.0
With brake
8.1
10.1
15.5
19.2
21.8
26.2
Supplement
Without brake
6
When in Trouble
Without brake
LZ
Mass (kg)
5
Adjustment
LR
Setup
10 * * C *
Without brake
Motor model
LL
1.0kW
Caution
Related page
367&KDUDFWHULVWLFV
7-93
7. Options
Supplement
Noise Filter
:KHQ\RXLQVWDOORQHQRLVHOWHUDWWKHSRZHUVXSSO\IRUPXOWLD[HVDSSOLFDWLRQFRQWDFWWR
DPDQXIDFWXUHRIWKHQRLVHOWHU,IQRLVHPDUJLQLVUHTXLUHGFRQQHFWOWHUVLQVHULHVWR
emphasize effectiveness.
2SWLRQV
9ROWDJH
specifications
for driver
Single phase
100V, 200V
Option
part No.
DV0P4170
100.0 2.0
88.0
75.0
7.0
5.0
Manufacturer's
part No.
Applicable
driver (frame)
Manufacturer
683(.(5
A and B-frame
Okaya Electric Ind.
Terminal cover
(transparent)
53.11.0
IN
Circuit diagram
L
12.0
50.0
60.0
1
2.0
6 M4
9ROWDJH
specifications
for driver
3-phase 200V
Option
part No.
DV0PM20042
3
Cx
2 4.5
2 4.5 x 6.75
Cy
Cx
Cy
10.0
Label
OUT
L
Single phase
100V, 200V
3-phase 200V
(11.6)
(13.0)
[Unit: mm]
Manufacturer's
part No.
Applicable
driver (frame)
A and B-frame
683+8(5
C-frame
Okaya Electric Ind.
DV0P4220
Single/3-phase
200V
683+8(5
D-frame
DV0PM20043
3-phase 200V
683+8(5
E-frame
[DV0PM20042, DV0P4220]
Manufacturer
[DV0PM20043]
A
B
C
A
B
C
Earth terminal
M4
Label
D
E
10
Label
Earth terminal
M4
Screw for cover

M3
M4
Screw for cover

M3
M5
Cover
G
Cover
Body
Body
Circuit diagram
[Size]
[Unit: mm]
A
B
C
D E F G H
DV0PM20042 115 105 95 70 43 10 52 5.5
DV0P4220 145 135 125 70 50 10 52 5.5
DV0PM20043 165 136 165 90 80 40 54 5.5
IN
7-94
For single phase application, use 2 terminals among 3 terminals,

leaving the remaining terminal unconnected.
Related page
OUT
L1
3&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGV
Cx1
Cx1
Cy1
7. Options
1
Noise Filter
Option
part No.
9ROWDJH
specifications
for driver
Manufacturer's
part No.
Applicable
driver (frame)
Manufacturer
DV0P3410
3-phase 200V
683+/(5%
F-frame
Okaya Electric Ind.
Circuit diagram
2-5.5 x 7
150
2-5.5
(13) (18)
901.0
120
6-6M
Label
IN
OUT
[Unit: mm]
RTHN-5010
Current rating Applicable driver

(A)
(frame)
10
Single phase
100V, 200V
3-phase 200V
RTHN-5030
RTHN-5050
[RTHN-5010]
Connection
9ROWDJH
specifications
for driver
Part No.
Manufacturer
A, B, C-frame
30
D-frame
50
E, F-frame
TDK-Lambda Corp.
[RTHN-5030]
2102
1951
M4
4.5
6-M4
M4
101
18.51 18.51
1052
851
4.51
18.51 18.51
101
2402
2251
Setup
952
781
4.51
2
Preparation
2863.0
270
2551.0
240
6-M4
4.5
552
502
5
Adjustment
[RTHN-5050]
12.51
211 211
1282
1021
5.51
3002
2801
M4
6-M5
5.5
682
Use options correctly after reading operation manuals of the options to better understand the precautions.
7-95
7
Supplement
Caution
6HOHFWDQRLVHOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFHDOVR
check for load condition).
)RUGHWDLOHGVSHFLFDWLRQRIWKHOWHUFRQWDFWWKHPDQXIDFWXUHU
When in Trouble
Remarks
7. Options
Noise Filter
9ROWDJH
specifications
for driver
part No.
FS5559-60-34
Current rating Applicable driver

(A)
(frame)
60
G-frame
80
H-frame
FN258L-16-07
16
D, E-frame
FN258L-30-07
30
F-frame
FS5559-80-34
FN258-42-07
3-phase 200V
3-phase 400V
42
FN258-42-33
Manufacturer
Schaffner
G, H-frame
42
[FS5559-60-34, FS5559-80-34]
C
1.5
25
95
[Unit: mm]
[Size]
25
M8
50
140
50
6.5
FS5559-60-34
FS5559-80-34
A
410
460
B
170
180
C
370
420
D
388
438
Circuit diagram
L1
L1'
L2
L2'
L3
L3'
PE
LINE
LOAD
[FN258L-16-07]
[FN258L-30-07]
275
300`10
305
400`10
9
M5
150
142
Litze AWG14
M5
Litze AWG10
60
290
55
35
30
6.5
6.5
320
L2'
L2
L3
L3'
3x1,5F(X2)
47nF(Y2)
E
LINE
L2
3x1,35mH
3x0,65mH
L2'
L1
L1'
3x2,2F(X2)SH
3x1,5MOhm
3x2,2F(X2)SH
L3'
3x2,2F(X2)SH
47nF(Y2)SH
E
LOAD
Circuit diagram
LOAD
LINE
3x1,5MOhm
3x2,2F(X2)
L3
3x2,2F(X2)
7-96
3x1mH
L1'
L1
[Unit: mm]
344.5
Circuit diagram
3x2mH
335
[Unit: mm]
305
7. Options
[FN258-42-07]
[FN258-42-33]
300
1.5
1.5
45
6.5
45
6.5
70
314
70
Preparation
314
329
185
50010
12
185
300
Noise Filter
329
[Unit: mm]
350
[Unit: mm]
Circuit diagram
3
L1'
L2
L2'
L3
L3'
Connection
L1
E
LINE
LOAD
4
Setup
5
Adjustment
6
When in Trouble
Remarks
Use options correctly after reading operation manuals of the options to better understand the precautions.
7-97
7
Supplement
Caution
6HOHFWDQRLVHOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFHDOVR
check for load condition).
)RUGHWDLOHGVSHFLFDWLRQRIWKHOWHUFRQWDFWWKHPDQXIDFWXUHU
7. Options
Supplement
Surge Absorber
3URYLGHDVXUJHDEVRUEHUIRUWKHSULPDU\VLGHRIQRLVHOWHU
Option
part No.
9ROWDJH
specifications
for driver
Manufacturer's
part No.
DV0P1450
3-phase 200V
RA9%;=
DV0PM20050
3-phase 400V
RA9%;=
Manufacturer
5.51
111
Okaya Electric Ind.
[Unit: mm]
Circuit diagram
(1)
281
1 2 3
(1) (3)
UL-1015 AWG16
4.50.5
+30
200 -0
28.51
4.20.2
411
9ROWDJH
specifications
for driver
Single phase
100V, 200V
Option
part No.
5.51
111
DV0P4190
Manufacturer
RAV-781BWZ-4
Okaya Electric Ind.
[Unit: mm]
Circuit diagram
(1)
(2)
UL-1015 AWG16
4.50.5
1 2
281
+30
200 -0
28.51
4.20.2
Manufacturer's
part No.
411
Remarks
Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may damage the surge absorber.
Related page
3&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGV
7-98
7. Options
Supplement
1RLVH)LOWHUIRU6LJQDO/LQHV
2SWLRQV
<24 V 3RZHUFDEOH0RWRUFDEOH(QFRGHUFDEOH,QWHUIDFHFDEOH86%FDEOH>
Manufacturer's part No.
Manufacturer
DV0P1460
ZCAT3035-1330
TDK Corp.
391
Remarks
341
To connect the noise filter to

the connector XB connection
cable, adjust the sheath length
at the tip of the cable, as
required.
Mass: 62.8g
301
131
2
Preparation
Option part No.
3
Connection
[Unit: mm]
<Power cable>
Part No.
Applicable driver (frame)
RJ8035
E-frame 200 V, F-frame 200 V
Manufacturer
KK-CORP.CO.JP
RJ8095
IQVWDOOQRLVHOWHUVIRUVLJQDOOLQHVWRDOOFDEOHVSRZHUFDEOHPRWRUFDEOHHQFRGHUFDEOH
and interface cable)
G-frame, H-frame
D1
D2
Setup
A
B
Adjustment
F
E
'LPHQVLRQ>8QLWPP@
Manufacturer's
part No.
Current
value
100kHz
+
RJ8035
35A
9.93
170
150
23
80
53
24
R3.5
RJ8095
95A
7.93
200
180
34
130
107
35
R3.5
D1
D2
Core thikness
Part No.
Applicable driver (frame)
Manufacturer
T400-61D
G-frame, H-frame
MICROMETALS
When in Trouble
<Motor cable>
Remarks
Supplement
33
57.2
102
7
[Unit: mm]
)L[WKHVLJQDOOLQHQRLVHOWHULQSODFHWRHOLPLQDWHH[FHVVLYHVWUHVVWRWKHFDEOHV
7-99
7. Options
Supplement
Junction Cable for Encoder

Compatible
motor output
0)(&$* * ($0
Part No.
MSMD 50W to 750W, MHMD 200W to 750W
Specifications For 20-bit incremental encoder (Without battery box)
(11.8)
(6.5)
(4)
(14)
(4)
Title
Part No.
Connector (Driver side)
3E206-0100 KV
Shell kit
3E306-3200-008
Connector (Motor side)
172160-1
Connector pin
170365-1
Cable
0.20mm23P (6-wire type)
Manufacturer
Sumitomo 3M *1
Tyco Electronics
/P
Part No.
MFECA0030EAM
MFECA0050EAM
10
MFECA0100EAM
20
MFECA0200EAM
Oki Electric Cable Co., Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
0)(&$ * * 0-'
0)(&$ * * 0.'
Part No.
Compatible
motor output
0)(&$ * * 7-'
50W to
750W (200V)
0)(&$ * * 7.'
Specifications For 20-bit incremental encoder (Without battery box) * Also for 17-bit version.
L
(5.5)
Direction of
motor shaft
Opposite direction of
motor shaft
Identification label
Title
Part No.
3E206-0100 KV
Shell kit
3E306-3200-008
Connector
JN6FR07SM1
Manufacturer
Sumitomo 3M *1
Connector pin
LY10-C1-A1-10000
Japan Aviation
Electronics Ind.
Cable
AWG244P, AWG222P
Hitachi Cable, Ltd.
Caution
Option cable does not conform to IP65 and IP67.
Related page
3-XQFWLRQFDEOHIRUPRWRU36SHFLFDWLRQVRI0RWRUFRQQHFWRU
7-100
/P
Part No.
MFECA0030MJD
MFECA0050MJD
10
MFECA0100MJD
20
MFECA0200MJD
7. Options
1
0)(&$ * * 0-(
0)(&$ * * 0.(
Part No.
0)(&$ * * 7-(
Compatible
motor output
50W to
750W (200V)

Preparation
0)(&$ * * 7.(
Specifications For 17-bit absolute encoder (With battery box)
L
Direction of
motor shaft
300
(5.5)
110
Connection
motor shaft
Part No.
3E206-0100 KV
Manufacturer
Shell kit
3E306-3200-008
Connector
ZMR-02
Connector pin
SMM-003T-P0.5
Connector
JN6FR07SM1
Connector pin
LY10-C1-A1-10000
Japan Aviation
Electronics Ind.
Cable
AWG24 4P, AWG222P
Hitachi Cable, Ltd.
Sumitomo 3M *1
J.S.T Mfg. Co., Ltd.
/P
Part No.
MFECA0030MJE
MFECA0050MJE
10
MFECA0100MJE
20
MFECA0200MJE
Compatible
motor output
400W (400V), 600W (400V), 750W (400V),

0.9kW to 15.0kW
Adjustment
0)(&$ * * (7'
Part No.
4
Setup
Title
Specifications For 20-bit incremental encoder (Without battery box), Design order: 1
20
(6)
Part No.
3E206-0100 KV
Shell kit
3E306-3200-008
Connector
JN2DS10SL1-R
Connector pin
JN1-22-22S-PKG100
Cable
0.2mm 3P
Manufacturer
Sumitomo 3M *1
Japan Aviation
Electronics Ind.
/P
Part No.
MFECA0030ETD
MFECA0050ETD
10
MFECA0100ETD
20
MFECA0200ETD
When in Trouble
Title

Supplement
Caution
Related page
7-101
7. Options
Part No.
0)(&$* * (6'
Compatible
motor output
0.9kW to 5.0kW (IP65 Motor)
Specifications For 20-bit incremental encoder (Without battery box), Design order: C
37.3
(6.5)
Title
Shell kit
Cable clamp
Cable
Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
0.2mm2 3P (6-wire type)
Manufacturer
/P
3
5
10
20
Sumitomo 3M *1
Japan Aviation
Electronics Ind.
Part No.
MFECA0030ESD
MFECA0050ESD
MFECA0100ESD
MFECA0200ESD
Part No.
0)(&$ * * (7(
400W (400V), 600W (400V), 750W (400V),

0.9kW to 15.0kW
Compatible
motor output
Specifications For 17-bit absolute encoder (With battery box), Design order: 1
L
300
20
(6)
110
Title
Shell kit
Connector
Connector pin
Connector
Connector pin
Cable
Part No.
3E206-0100 KV
3E306-3200-008
ZMR-02
SMM-003T-P0.5
JN2DS10SL1-R
JN1-22-22S-PKG100
0.2mm2 3P
Manufacturer
/P
3
5
10
20
Sumitomo 3M *1
Part No.
MFECA0030ETE
MFECA0050ETE
MFECA0100ETE
MFECA0200ETE
Japan Aviation
Electronics Ind.
Part No.
0)(&$* * (6(
Compatible
motor output
0.9kW to 5.0kW (IP65 Motor)
Specifications For 17-bit absolute encoder (With battery box), Design order: C
L
300
37.3
(8)
110
Title
Shell kit
Cable clamp
Cable
Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
0.2mm2 4P (8-wire type)
Manufacturer
Sumitomo 3M *1
Japan Aviation
Electronics Ind.
Caution
7-102
/P
3
5
10
20
Part No.
MFECA0030ESE
MFECA0050ESE
MFECA0100ESE
MFECA0200ESE
7. Options
Supplement
Junction Cable for Motor (Without brake)
(50)
(50)

(4)
Preparation
(4)
Applicable
model
0)0&$* * (('
Part No.
Title
Part No.
Connector
172159-1
Manufacturer
Tyco Electronics
170366-1
Rod terminal
AI0.75-8GY
Phoenix Contact
Nylon insulated
round terminal
N1.25-M4
Cable
ROBO-TOP 600V 0.75mm2 4-wire type
Daiden Co.,Ltd.
Part No.
MFMCA0030EED
MFMCA0050EED
10
MFMCA0100EED
20
MFMCA0200EED
3
Connection
Connector pin
/P
0)0&$ * * 1-'
0)0&$ * * 1.'
Part No.
0)0&$ * * 5-'
Applicable
MSME 50W to 750W
model
Setup
0)0&$ * * 5.'
(28.8)
(50)
(6)
Direction of
motor shaft
Adjustment
motor shaft
Caution
Motor cable for opposite direction of

motor shaft cannot be used with a
motor 50W and 100W.
Part No.
JN8FT04SJ1
Manufacturer
/P
Part No.
MFMCA0030NJD
ST-TMH-S-C1B-3500
Japan Aviation
Electronics Ind.
Connector pin
MFMCA0050NJD
Rod terminal
AI0.75-8GY
Phoenix Contact
10
MFMCA0100NJD
20
MFMCA0200NJD
Nylon insulated
round terminal
N1.25-M4
Cable
AWG184P
Hitachi Cable, Ltd.
Related page
7
Supplement
Caution
When in Trouble
Title
Connector
7-103
7. Options
MSME 750W (400V), 1.0kW to 2.0kW,
0)0&' * * 2ECD
Part No.
Applicable
MDME 1.0kW to 2.0kW, MHME 1.0kW to 1.5kW,
model
MGME 0.9kW
(50)
37.3
(12.5)
Title
Part No.
Manufacturer
/P
Part No.
Connector
JL04V-6A20-4SE-EB-R
MFMCD0032ECD
MFMCD0052ECD
10
MFMCD0102ECD
20
MFMCD0202ECD
Cable clamp
JL04-2022CK(14)-R
Japan Aviation
Electronics Ind.
Rod terminal
178%
Nylon insulated
round terminal
N2-M4
Cable
ROBO-TOP 600V 2.0mm2
Daiden Co.,Ltd.
0)0&( * * 2ECD
Part No.
Applicable
MHME 2.0kW
model
(50)
40.5
Title
Part No.
Manufacturer
/P
Part No.
Connector
JL04V-6A22-22SE-EB-R
MFMCE0032ECD
MFMCE0052ECD
10
MFMCE0102ECD
20
MFMCE0202ECD
Cable clamp
JL04-2022CK(14)-R
Japan Aviation
Electronics Ind.
Rod terminal
178%
Nylon insulated
round terminal
N2-M4
Cable
Daiden Co.,Ltd.
0)0&$ * * 3ECT
Part No.
Applicable MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW

model
MHME 3.0kW to 5.0kW, MGME 2.0kW to 3.0kW
(50)
40.5
(14)
Title
Part No.
Connector
Cable clamp
Nylon insulated
round terminal
Cable
Manufacturer
/P
Part No.
MFMCA0033ECT
JL04-2022CK(14)-R
Japan Aviation
Electronics Ind.
3
5
MFMCA0053ECT
N5.5-5
10
MFMCA0103ECT
20
MFMCA0203ECT
ROBO-TOP 600V 3.5mm
Daiden Co.,Ltd.
Caution
Related page
7-104
7. Options
0)0&$ * * 2ECD
Part No.
Applicable
MFME 1.5kW (200V)
model
(50)
2
Preparation
37.3
(12.5)
Title
Part No.
Manufacturer
/P
Part No.
Connector
MFMCA0032ECD
Cable clamp
JL04-2022CK(14)-R
Japan Aviation
Electronics Ind.
MFMCA0052ECD
Rod terminal
$,%8
Phoenix Contact
10
MFMCA0102ECD
20
MFMCA0202ECD
N2-M4
Cable
Daiden Co.,Ltd.
0)0&) * * 2ECD
Part No.
Applicable
MFME 1.5kW (400V), 2.5kW
model
(50)
43.7
3
Connection
Nylon insulated
round terminal
Setup
Title
Part No.
Manufacturer
/P
Part No.
Connector
MFMCF0032ECD
JL04-2428CK(14)-R
Japan Aviation
Electronics Ind.
Cable clamp
MFMCF0052ECD
Rod terminal
178%
Phoenix Contact
10
MFMCF0102ECD
20
MFMCF0202ECD
N2-M4
Cable
Daiden Co.,Ltd.
0)0&' * * 3ECT
Part No.
Applicable
MFME 4.5kW
model
(50)
43.7
When in Trouble
(14)
Title
Part No.
Manufacturer
/P
3
MFMCA0033ECT
MFMCA0053ECT
10
MFMCA0103ECT
20
MFMCA0203ECT
Connector
Cable clamp
JL04-2428CK(17)-R
Japan Aviation
Electronics Ind.
Nylon insulated
round terminal
N5.5-5
ROBO-TOP 600V 3.5mm
Part No.
Daiden Co.,Ltd.
Caution
Related page
7
Supplement
Cable
5
Adjustment
Nylon insulated
round terminal
7-105
7. Options
Supplement
Junction Cable for Motor (With brake)

MSME
MDME
Applicable
MFME
model
MHME
MGME
0)0&$ * * 2FCD
Part No.
1.0kW to 2.0kW (200V)

1.0kW to 2.0kW (200V)
1.5kW (200V)
1.0kW to 1.5kW (200V)
0.9kW (200V)
(50)
( 9
.8)
37.3
(12.5)
L
(50
)
Title
Part No.
Manufacturer
/P
Part No.
Connector
MFMCA0032FCD
JL04-2022CK(14)-R
Japan Aviation
Electronics Ind.
Cable clamp
MFMCA0052FCD
Rod terminal
178%
10
MFMCA0102FCD
20
MFMCA0202FCD
Nylon insulated
round terminal
Earth
N2-M4
Brake
N1.25-M4
ROBO-TOP 600V 0.75mm2 and
Cable
0)0&( * * 2FCD
Part No.

Daiden Co.,Ltd.
MSME
MDME
Applicable
MFME
model
MGME
MHME
750W to 2.0kW (400V)

400W to 2.0kW (400V)
1.5kW (400V), 2.5kW
0.9kW (400V)
1.0kW (400V), 1.5kW (400V), 2.0kW
(50)
43.7
(50
)
Title
Part No.
Connector
Cable clamp
Rod terminal
Nylon insulated
round terminal
Cable
Manufacturer
/P
Part No.
MFMCE0032FCD
JL04-2428CK(17)-R
Japan Aviation
Electronics Ind.
3
5
MFMCE0052FCD
178%
Earth
N2-M4
Brake
N1.25-M4

Daiden Co.,Ltd.
Caution
Related page
7-106
10
MFMCE0102FCD
20
MFMCE0202FCD
7. Options
0)0&$ * * 3FCT
Part No.
Junction Cable for Motor (With brake)
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW

MHME 3.0kW to 5.0kW
MGME 2.0kW to 4.5kW
Applicable
MFME 4.5kW,
model
(9
.8)
Preparation
43.7
(14)
(50)
(50
)
Part No.
Cable clamp
JL04-2428CK(17)-R
Nylon insulated
round terminal
Cable
Earth
N5.5-5
Brake
N1.25-M4
Manufacturer
/P
Part No.
Japan Aviation
Electronics Ind.
MFMCA0033FCT
MFMCA0053FCT
10
MFMCA0103FCT
20
MFMCA0203FCT
Connection
Title
Connector
Daiden Co.,Ltd.
Setup
5
Adjustment
6
When in Trouble
7
Related page
Supplement
Caution
7-107
7. Options
Supplement
Junction Cable for Brake
0)0&%* * *(7
Part No.
Applicable
model

Title
Part No.
Connector
172157-1
Connector pin
170366-1, 170362-1
Manufacturer
Tyco Electronics
Nylon insulated
round terminal
N1.25-M4
Cable
ROBO-TOP 600V 0.75mm2 2-wire type
Daiden Co.,Ltd.
/P
Part No.
MFMCB0030GET
MFMCB0050GET
10
MFMCB0100GET
20
MFMCB0200GET
0)0&% * * 3-7
0)0&% * * 3.7
Part No.
0)0&% * * 6-7
Applicable
MSME 50W to 750W
model
0)0&% * * 6.7
(26.6)
(50)
(4.3)
Direction of
motor shaft
motor shaft
Title
Part No.
Connector
JN4FT02SJMR
Manufacturer
/P
Part No.
MFMCB0030PJT
ST-TMH-S-C1B-3500
Japan Aviation
Electronics Ind.
Connector pin
MFMCB0050PJT
Nylon insulated
round terminal
N1.25-M4
10
MFMCB0100PJT
20
MFMCB0200PJT
Cable
AWG22
Hitachi Cable, Ltd.
Caution
Related page
7-108
7. Options
Supplement
&RQQHFWRU.LW
1
&RQQHFWRU.LWIRU,QWHUIDFH
'93
Part No.
&RPSRQHQWV
Title
Number
Connector
10150-3000PE equivalent
Connector cover
10350-52A0-008 equivalent
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;
(50-pins)
*1 Old model number: Connector 54306-5019, Connector cover 54331-0501 (Japan Molex Inc.)
Preparation
Part No.
Pin disposition (50 pins) (viewed from the soldering side)

26
SI3
28
SI5
29
SI6
32
SI9
31
SI8
34
SO2
33
SI10
1
3
5
7
OPC1 PULS1 SIGN1 COM
2
4
6
8
OPC2 PULS2 SIGN2 SI1
9
SI2
36
SO3
35
SO2+
37
SO3+
11
SO1+
10
SO1
38
SO4
39
SO4+
13
GND
12
SO5
40
SO6
41
COM
15
GND
14
SPR/
SPL
42
IM
44
46
48
PULSH1 SIGNH1 OB
43
SP
17
GND
50
FG
45
47
49
PULSH2 SIGNH2 OB
19
CZ
21
OA
16
18
20
P-ATL N-ATL NC
/TRQR
23
OZ
22
OA
Connection
27
SI4
30
SI7
25
GND
24
OZ
4
Setup
1) Check the stamped pin-No. on the connector body while making a wiring.
2) For the function of each signal title or its symbol, refer to the wiring example of the connector X4.
3) Do not connect anything to NC pins in the above table.
Interface Cable
'93
Connector cover: 10350-52A0-008
Sumitomo 3M or equivalent
12.7
50
26
52.4
50 +10
0
25
39
Adjustment
2000+200
0
Connector: 10150-3000PE
Sumitomo 3M or equivalent
Part No.
18
7DEOHIRUZLULQJ
color
Pin No.
Orange (Red1)
11
Orange (Black1)
12
Gray (Red1)
13
Gray (Black1)
14
White (Red1)
15
White (Black1)
16
Yellow (Red1)
17
Pink (Red1)
18
Pink (Black1)
19
Orange (Red2)
20
color
Pin No.
Orange (Black2)
21
Yellow (Black1)
22
Gray (Red2)
23
Gray (Black2)
24
White (Red2)
25
Yellow (Red2)
26
Yel (Blk2)/Pink (Blk2) 27
Pink (Red2)
28
White (Black2)
29
30
color
Pin No.
Orange (Red3)
31
Orange (Black3)
32
Gray (Red3)
33
Gray (Black3)
34
White (Red3)
35
White (Black3)
36
Yellow (Red3)
37
Yellow (Black3)
38
Pink (Red3)
39
Pink (Black3)
40
color
Pin No.
Orange (Red4)
41
Orange (Black4)
42
Gray (Red4)
43
White (Red4)
44
White (Black4)
45
Yellow (Red4)
46
Yellow (Black4)
47
Pink (Red4)
48
Pink (Black4)
49
Gray (Black4)
50
color
Orange (Red5)
Orange (Black5)
Gray (Red5)
White (Red5)
White (Black5)
Yellow (Red5)
Yellow (Black5)
Pink (Red5)
Pink (Black5)
Gray (Black5)
<Remarks>
Color designation of the cable e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable
The shield of this cable is connected to the connector shell but not to the terminal.
7-109
7
Supplement
Pin No.
1
2
3
4
5
6
7
8
9
10
When in Trouble
This 2 m connector cable contains AWG28 conductors.
7. Options
&RQQHFWRU.LW
&RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOHIRU5656
Part No.
'930
&RPSRQHQWV
Title
Part No.
Manufacturer
Note
Connector
2040008-1
Tyco Electronics
)RU&RQQHFWRU;SLQV
5.2
GND
TXD (Viewed from cable)

8 (1.5)
Shell: FG
8 6 4 2
7 5 3 1
7.3
10.7
RXD
NC
(6.7)
485+
485+
11
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV
(33)
(11)
&RQQHFWRU.LWIRU6DIHW\
Part No.
'930
&RPSRQHQWV
Title
Part No.
Manufacturer
Note
Connector
2013595-1
Tyco Electronics
)RU&RQQHFWRU;SLQV
5.2
NC
6)
('0
6)
8 (1.5)
Shell: FG
8 6 4 2
7 5 3 1
7.3
10.7
SF1+
NC
(6.7)
SF2+
EDM+
11
(33)
(Viewed from cable)
(11)
&RQQHFWRU.LWIRU([WHUQDO6FDOH
Part No.
'930
&RPSRQHQWV
Title
Part No.
Manufacturer
Note
Connector
08)3..;
)RU&RQQHFWRU;
Remarks
3
2
5
4
7
6
EXA
9
8 10
EXZ
EXB (Viewed from cable)
18.5
11.9
10.4
E0V
PS
EXB
EXZ
EXA
13.6
PS
E5V
7.1
(10.5)
(32)
&RQQHFWRU;XVHZLWKFRPPHUFLDOO\DYDLODEOHFDEOH
&RQJXUDWLRQRIFRQQHFWRU;86%PLQL%
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-110
7. Options
1
&RQQHFWRU.LW
&RQQHFWRU.LWIRU(QFRGHU
'930
Part No.
&RPSRQHQWV
Title
Part No.
3E206-0100 KV
Shell kit
3E306-3200-008
Note
Sumitomo 3M *1
)RU&RQQHFWRU;
Preparation
Manufacturer
PS
0.8
2.4
13.7
18.2
37.4
7.1
PS
1.7
5.4
5.8
4.5
12.0
Shell: FG
(Viewed from cable)
2.0
2.0
11.0
NC
10.1
E0V
18.8
NC
7.8
E5V
Connection
<Connector>
18.8
<Shell kit>
33.0
&RQQHFWRU.LWIRU$QDORJ0RQLWRU6LJQDO
'930
Part No.
Title
Part No.
Number
Connector
510040600
Connector pin
500118100
Setup
&RPSRQHQWV
Manufacturer
Note
Molex Inc
)RU&RQQHFWRU;SLQV
DM
5
140.3
NC
6
5.30.3
Adjustment
3 GND
AM2
1 AM1
2
0.8
NC
MX
12.90.3
3.350.3
&RQQHFWRU.LWIRUPower Supply Input
When in Trouble
'930 (For A to D-frame: Single row type)
Part No.
&RPSRQHQWV
Title
Part No.
Number
Connector
-)$76$;*)
Handle lever
J-FAT-OT
Note
)RU&RQQHFWRU;$
7-111
Supplement
Remarks
Manufacturer
7. Options
&RQQHFWRU.LW
Part No.
'930 (For A to D-frame: double row type)
&RPSRQHQWV
Title
Part No.
Number
Connector
-)$76$;*6$&
Handle lever
J-FAT-OT
Manufacturer
Note
)RU&RQQHFWRU;$
Manufacturer
Note
)RU&RQQHFWRU;$
'LPHQVLRQV
B
2
26
Part No.
27.6
39.3
'930 (For E-frame 200 V)
&RPSRQHQWV
Part No.
Title
Part No.
Number
Connector
-)$76$;*6$/
Handle lever
J-FAT-OT-L
'930 (For D-frame 400 V, E-frame 400 V and 24 V Input power)
&RPSRQHQWV
Part No.
Title
Part No.
Number
Connector
02MJFAT-SAGF
Handle lever
MJFAT-OT
Manufacturer
Note
)RU&RQQHFWRU;'
Manufacturer
Note
)RU&RQQHFWRU;$
Manufacturer
Note
)RU&RQQHFWRU;$
'930 (For D-frame 400 V)
&RPSRQHQWV
Part No.
Title
Part No.
Number
Connector
03JFAT-SAYGSA-M
Handle lever
J-FAT-OT-L
'930 (For E-frame 400 V)
&RPSRQHQWV
7-112
Title
Part No.
Number
Connector
03JFAT-SAYGSA-L
Handle lever
J-FAT-OT-L
7. Options
1
&RQQHFWRU.LW
&RQQHFWRU.LWIRU5HJHQHUDWLYH5HVLVWRU&RQQHFWLRQ (E-frame)
Part No.
'930 (For E-frame)
&RPSRQHQWV
Part No.
Number
Connector
-)$76$;*6$/
Handle lever
J-FAT-OT-L
Manufacturer
Note
)RU&RQQHFWRU;&
Manufacturer
Note
)RU&RQQHFWRU;&
Preparation
Part No.
Title
&RPSRQHQWV
Part No.
Number
Connector
-)$76$;*6$0
Handle lever
J-FAT-OT-L
3
Connection
Title
&RQQHFWRU.LWIRU0RWRU&RQQHFWLRQ
Part No.
'930 (For A to D-frame)
&RPSRQHQWV
Part No.
Number
Connector
-)$76$;*)
Handle lever
J-FAT-OT
Manufacturer
Note
)RU&RQQHFWRU;%
Setup
Part No.
Title
'930 (For E-frame)
&RPSRQHQWV
Part No.
Number
Connector
-)$76$;*6$/
Handle lever
J-FAT-OT-L
Manufacturer
Note
)RU&RQQHFWRU;%
Adjustment
Part No.
Title
&RPSRQHQWV
Part No.
Number
Connector
-)$76$;*6$0
Handle lever
J-FAT-OT-L
Manufacturer
Note
)RU&RQQHFWRU;%
When in Trouble
Title
7
Supplement
7-113
7. Options
&RQQHFWRU.LW
&RQQHFWRU.LWIRU0RWRU(QFRGHU&RQQHFWLRQ
Applicable MSMD 50W to 750W, MHMD 200W to 750W
model
(incremental encoder type)
'93
Part No.
&RPSRQHQWV
Title
Shell kit
Connector
Connector pin
Connector
Connector pin
Part No.
3E206-0100 KV
3E306-3200-008
172160-1
170365-1
172159-1
170366-1
Number
1
1
1
6
1
4
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
For Encoder cable
(6-pins)
For Motor cable
(4-pins)
Tyco Electronics
Tyco Electronics
3LQGLVSRVLWLRQRIFRQQHFWRU
FRQQHFWRU;
1
E5V
E0V
NC*
NC*
PS
PS
Case
FG
*NC: None Connect
for motor cable
NC
PS
PS
E5V
E0V
FG
Applicable
MSME 50W to 750W
model
'930
Part No.
for encoder cable
&RPSRQHQWV
Title
Shell kit
Encoder plug connector
Socket contact
Motor plug connector
Socket contact
Part No.
3E206-0100 KV
3E306-3200-008
JN6FR07SM1
LY10-C1-A1-10000
JN8FT04SJ1
ST-TMH-S-C1B-3500
Number
1
1
1
7
1
4
Manufacturer
Sumitomo 3M
Note
*1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable

(7-pins)
For Motor cable
(4-pins)
FRQQHFWRU;
E5V
NC
*1
PS
(Case
FG )
E0V
NC
*1
PS
for encoder cable
for motor cable
[Direction of motor shaft]
4
PS
E0V
BAT
FG
PS
U
V
Gasket
E5V
BAT+
PE
[Opposite direction of motor shaft]

5
6
Secure the gasket in place

without removing it from the
connector. Otherwise, the degree
of protection of IP67 will not be
guaranteed.
7
6
*1 NC: None Connect
Remarks
Gasket
BAT+
E5V
PS
Gasket
FG
PE
BAT
E
W
E0V
PS
Gasket
* Pins 2 and 5 are left unused (NC)

with an incremental encoder.
Caution
:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ
Remarks
7-114
7. Options
Part No.
'930
Specifications Design order: 1
MSME 750W (400V), 1.0kW to 2.0kW,
Applicable
MDME 400W (400V), 600W (400V), 1.0kW to 2.0kW
model
MHME 1.0kW to 1.5kW, MGME 0.9kW
Without
brake
&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04V-6A-20-4SE-EB-R
JL04-2022CK(14)-R
Number
1
1
1
5
1
1
Manufacturer
Sumitomo 3M
*1
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
Note
)RU&RQQHFWRU;SLQV
For Encoder cable
For Motor cable
Part No.
'93

model
Without
brake
&RPSRQHQWV
Title
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp
Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-4S
N/MS3057-12A
Number
1
1
1
1
1
1
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable
Setup
'930

model
Without
brake
&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04-2022CK(14)-R
Number
1
1
1
5
1
1
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable
Adjustment
Title
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp
For Motor cable
Part No.
Connection
Specifications Design order: C
Preparation
Title
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp
&RQQHFWRU.LW
For Motor cable
Part No.
'93
Without
brake
&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B22-22S
N/MS3057-12A
Number
1
1
1
1
1
1
Manufacturer
Sumitomo 3M
*1
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
Note
)RU&RQQHFWRU;SLQV
For Encoder cable
For Motor cable

Supplement
Title
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp
When in Trouble

model
Caution
Remarks
7-115
7. Options
&RQQHFWRU.LW
Part No.
'930
MSME 1.0kW to 2.0kW (200V),

Applicable MDME 1.0kW to 2.0kW (200V),
model
MFME 1.5kW (Common to with/without brake) (200V),
With
brake
MHME 1.0kW to 1.5kW (200V), MGME 0.9kW (200V)
&RPSRQHQWV
Title
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04-2022CK(14)-R
Number
1
1
1
5
1
1
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable

For Motor cable
Part No.
'93

model
With
brake
&RPSRQHQWV
Title
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp
Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-18S
N/MS3057-12A
Number
1
1
1
1
1
1
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable

For Motor cable
Part No.
'930
MSME
MDME
Applicable
MFME
model
MHME
MGME
750W to 2.0kW (400V), 3.0kW to 5.0kW

400W to 2.0kW (400V), 3.0kW to 5.0kW
With
1.5kW (400V), 2.5kW to 4.5kW (Common to with/without brake)
brake
1.0kW to 1.5kW (400V), 2.0kW to 5.0kW
0.9kW (400V), 2.0kW to 4.5kW
&RPSRQHQWV
Title
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04-2428CK(17)-R
Number
1
1
1
5
1
1
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable

For Motor cable
Part No.
'93

model
With
brake
&RPSRQHQWV
Title
Shell kit
Encoder connector
Cable clamp
Motor connector
Cable clamp
Part No.
3E206-0100 KV
3E306-3200-008
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B24-11S
N/MS3057-16A
Number
1
1
1
1
1
1
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable

For Motor cable
Caution
Remarks
7-116
7. Options
Part No.
'930
Applicable MDME 7.5kW to 15.0kW

model
MGME 6.0kW, MHME 7.5kW
Without
brake
&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04-32CK(24)-R *2
Number
1
1
1
5
1
1
Manufacturer
Note
Sumitomo 3M *1
)RU&RQQHFWRU;SLQV
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
For Encoder cable
Preparation
Title
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp
&RQQHFWRU.LW
For Motor cable

*2 &DEOHFRYHUVL]HWR&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG
'930
Applicable MDME 7.5kW to 15.0kW

model
MGME 6.0kW, MHME 7.5kW
With
brake
&RPSRQHQWV
Part No.
3E206-0100 KV
3E306-3200-008
JN2DS10SL1-R
JN1-22-22S-PKG100
JL04-32CK(24)-R *2
N/MS3106B14S-2S
N/MS3057-6A
Number
1
1
1
5
1
1
1
1
Manufacturer
Sumitomo 3M
*1
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
Japan Aviation
Electronics Ind.
Note
)RU&RQQHFWRU;SLQV
For Encoder cable
For Motor cable
4
Setup
Title
Shell kit
Encoder connector
Connector pin
Motor connector
Cable clamp
Brake connector
Cable clamp
Connection
Part No.
For Brake cable

*2 &DEOHFRYHUVL]HWR&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG
5
&RQQHFWRU.LWIRU0RWRU%UDNH&RQQHFWLRQ
Adjustment
Part No.
'930
&RPSRQHQWV
Title
Part No.
Number
Manufacturer
Connector
JN4FT02SJM-R
Socket contact
ST-TMH-S-C1B-3500
Japan Aviation
Electronics Ind.
Note
%UDNH
%UDNH
Remarks
*DVNHW
%UDNH
When in Trouble
3LQGLVSRVLWLRQRIFRQQHFWRUIRUEUDNHFDEOH
>'LUHFWLRQRIPRWRUVKDIW@
>2SSRVLWHGLUHFWLRQRIPRWRUVKDIW@
*DVNHW
%UDNH
6HFXUHWKHJDVNHWLQSODFHZLWKRXWUHPRYLQJLWIURPWKHFRQQHFWRU2WKHUZLVHWKHGHJUHHRI
SURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
Remarks
7-117
Supplement
Caution
7. Options
Supplement
Battery For Absolute Encoder
Battery For Absolute Encoder

Part No.
'93
/LWKLXPEDWWHU\9P$K
84
Lead wire length 50mm
DV0P2990
00090001
ZHR-2
(J.S.T Mfg. Co., Ltd.)
14.5
BAT+ BAT
18
Paper insulator
Caution
This battery is categorized as hazardous substance, and you may be required to present
an application of hazardous substance when you transport by air (both passenger and
cargo airlines).
Battery Box For Absolute Encoder

Part No.
'93
&RPSRQHQWV
(112)
(110)
DV0P4430
(27)
P04090001*
(31)
R5
Related page
7-118
3$EVROXWHV\VWHP
7. Options
Supplement
Mounting Bracket
15
40
3
B-frame
17
9.5
2-R
1
15
10
R1
ss
le
or
2.5
R2
5.2
2.5
R2
2
R
2
R
.2
5 18 0.2
R1
ss
le
or
10
9.5
2.5
Connection
18 0.2
Bottom side
Upper side
Dimensions
2-M4, Pan head
5
C
2-
5
C
2-
2-M4, Pan head
24
M4 L6 Pan head 4pcs
Mounting screw
2.5
Frame symbol of
applicable driver
'930
17
ss
le
or
33
40
15
2.5
R2
R1
Part No.
5.2
2-R
1
2.5
17
9.5
11 0.2
10
10
R1
ss
le
or
2.5
17
9.5
R2
2
R
.2
2
Preparation
2.5
Bottom side
2
R
2-M4, Pan head
5
C
2-
5
C
2-
Upper side
Dimensions
11 0.2
M4 L6 Pan head 4pcs
Mounting screw
2-M4, Pan head
24
15
A-frame
Frame symbol of
applicable driver
'930
Part No.
40
47
47
Setup
9.5
17
15
2.5
40
17
15
2.5
.2
5
2-
10
R1
ss
le
or
2
R
2
R
R2
19
5.2
36 0.2
5.2
1
4-R
2.5
R2
R1
10
9.5
2.5
Bottom side
36 0.2
2-M4, Pan head
9.5
2-M4, Pan head
40 0.2
60
M4 L6 Pan head 4pcs
10
6
When in Trouble
17
Mounting screw
5
C
2-
5
C
2-
Upper side
Dimensions
15
D-frame
ss
le
or
2.5
Frame symbol of
applicable driver
'930
10
ss
le
or
20
40
2.5
R2
R1
20
Part No.
5.2
10
9.5
10
R1
ss
le
or
30 0.2
2-R
1
Adjustment
R2
5
2
R
15
2-M4, Pan head
5
C
2-
2
R
.2
2.5
Bottom side
Upper side
Dimensions
30 0.2
M4 L6 Pan head 4pcs
Mounting screw
2-M4, Pan head
5
C
2-
17
C-frame
2.5
Frame symbol of
applicable driver
'930
Part No.
40 0.2
60
For E, F and G-frame, you con make a front end and back end mounting by changing the
mounting direction of L-shape bracket (attachment).
Related page
3'LPHQVLRQVRIGULYHU
7-119
Supplement
Caution
7. Options
Supplement
Reactor
Fig.1
X Y Z
NP
R S T
6-I
4-H
(Mounting pitch)
F: Center-to-center distance
on outer circular arc
(Mounting pitch)
Fig.2
2-I
4-H
(Mounting pitch)
F: Center-to-center distance
on slotted hole
(Mounting pitch)
Fig.2
Part No.
E (Max)
'93
'93
'93
'93
'93
'93
'93
'93
'930
651
601
601
601
601
601
550.7
550.7
550.7
1251
1501
1501
1501
1501
1501
801
801
801
(93)
(113)
(113)
(113)
(113)
(113)
66.51
66.51
66.51
136Max
155Max
155Max
155Max
160Max
160Max
110Max
110Max
110Max
155
130
140
150
155
170
90
95
105

412
462
562
852
752
852
952
1002
1152
552
602
702

M4
M4
M4
M4
M5
M5
M4
M4
M4
Motor
series
Power supply
Rated output
Part No.
MSME
Single phase,
100V
50W to 100W
DV0P227
MSME
200W to 400W
DV0P228
MDME
MSME
Single phase,
200V
50W to 200W
DV0P227
MHME
400W to 750W
DV0P228
MGME
1.0kW
DV0P228
MSME
1.5kW
DV0PM20047
MDME
0.9kW
DV0P228
MHME
MSME
MDME
MHME
Single phase,
200V
MGME
Single phase,
200V
Motor
series
MSME
50W to 750W
DV0P220
MGME
MGME
0.9kW
DV0P221
MSME
MSME
MDME
3-phase, 200V
MDME
1.0kW
1.5kW
DV0P222
1.5kW
DV0PM20047
1.5kW
DV0P222
2.5kW
DV0P224
MHME
Single phase,
200V
MFME
3-phase, 200V
7-120
Fig.1
MHME
Power supply
3-phase, 200V
Inductance Rated
current
(mH)
(A)
6.81
3
4.02
5
2
8
1.39
11
0.848
16
0.557
25
4.02
5
2
8
1.39
11
Rated output
Part No.
2.0kW
DV0P223
3.0kW
DV0P224
4.0kW
DV0P225
7. Options
Harmonic restraint
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
$OOW\SHVRIWKHJHQHUDOSXUSRVHLQYHUWHUVDQGVHUYRGULYHUVXVHGE\VSHFLFXVHUVDUH
XQGHUWKHFRQWURORIWKH*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKHDY\FRQVXPHUVZKRUHFHLYHSRZHUWKURXJKKLJKYROWDJHV\VWHPRUH[WUDKLJKYROWDJHV\VWHP7KHXVHUVZKR
are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must take appropriate countermeasures
LIWKHKDUPRQLFFXUUHQWH[FHHGVDOLPLWYDOXHVSHFLHGLQDFRQWUDFWGHPDQG5HIHUWR
JEM-TR 210 and JEM-TR 225.)
7KH*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKRXVHKROGHOHFWULFDODSSOLDQFHVDQGJHQHUDO
SXUSRVH DUWLFOHV ZDV DEROLVKHG RQ 6HSWHPEHU +RZHYHU EDVHG RQ FRQYHQtional guidelines, JEMA applies the technical documents JEM-TR 226 and JEM-TR
WR DQ\ XVHUV ZKR GR QRW W LQWR WKH *XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KHDY\
consumers who receive power through high voltage system or extra high voltage sysWHPIURPDSHUVSHFWLYHRQHQOLJKWHQPHQWRQJHQHUDOKDUPRQLFUHVWUDLQW7KHSXUSRVH
of these guidelines is the execution of harmonic restraint at every device by a user as
usual to the utmost extent.
2
Preparation
Harmonic restraint measures are not common to all countries. Therefore, prepare the
measures that meet the requirements of the destination country.
:LWK SURGXFWV IRU -DSDQ RQ 6HSWHPEHU *XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ
heavy consumers who receive power through high voltage system or extra high voltage
V\VWHP DQG *XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG
JHQHUDOSXUSRVH DUWLFOHV HVWDEOLVKHG E\ WKH$JHQF\ IRU 1DWXUDO 5HVRXUFHV DQG (QHUJ\
of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and
Industry). According to those guidelines, the Japan Electrical Manufacturers Association
(JEMA) have prepared technical documents (procedure to execute harmonic restraint:
JEM-TR 198, JEM-TR 199 and JEM-TR 201) and have been requesting the users to understand the restraint and to cooperate with us. On January, 2004, it has been decided to
H[FOXGHWKHJHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUIURPWKH*XLGHOLQHVIRUKDUPRQLF
UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDOSXUSRVH DUWLFOHV$IWHU WKDW
WKH *XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDO
SXUSRVHDUWLFOHVZDVDEROLVKHGRQ6HSWHPEHU
We are pleased to inform you that the procedure to execute the harmonic restraint on
JHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUZDVPRGLHGDVIROORZV
Reactor
7
Supplement
7-121
7. Options
Supplement
External Regenerative Resistor

Specifications
Manufacturer's
Resistance
part No.
Part No.
Mass
Free air
with fan
mm
kg
0.1
10
25
DV0P4280
Rated power
(reference) *1
cable core
outside
diameter
RF70M
50
DV0P4281
RF70M
100
0.1
10
25
DV0P4282
RF180B
25
0.4
17
50
DV0P4283
RF180B
50
0.2
17
50
DV0P4284
RF240
30
DV0P4285
RH450F
20
DV0PM20048
RF240
120
DV0PM20049
RH450F
80
DV0PM20058
RH450F 6
3.3
DV0PM20059
RH450F 6
13.3

AWG18
stranded
wire
0.5
40
100
1.2
52
130
0.5
35
80
1.2
65
190
16
*3
780
16
*3
*2
*2
Activation
temperature of
built-in thermostat
&
B-contact
Open/Close capacity
(resistance load)
1A 125VAC 6000 times
0.5A 250VAC 10000 times
1140
Manufacturer : Iwaki Musen Kenkyusho
*1 Power with which the driver can be used without activating the built-in thermostat.
A built-in thermal fuse and a thermal protector are provided for safety.
The circuit should be so designed that the power supply will be turned off as the thermal protector operates.
The built-in thermal fuse blows depending on changes in heat dissipation condition, operating temperature limit, power
supply voltage or load.
Mount the regenerative resistor on a machine operating under aggressive regenerating condition (high power supply
voltage, large load inertia, shorter deceleration time, etc.) and make sure that the surface temperature will not exceed
100C.
$WWDFKWKHUHJHQHUDWLYHUHVLVWRUWRDQRQDPPDEOHPDWHULDOVXFKDVPHWDO
&RYHUWKHUHJHQHUDWLYHUHVLVWRUZLWKDQRQDPPDEOHPDWHULDOVRWKDWLWFDQQRWEHGLUHFWO\WRXFKHG
Temperatures of parts that may be directly touched by people should be kept below 70C.
*2 Terminal block with screw tightening torque as shown below.
T1, T2, 24V, 0V, EM41.2 to 1.4Nm
R1, R2
M52.0 to 2.4Nm
8VHWKHFDEOHZLWKWKHVDPHGLDPHWHUDVWKHPDLQFLUFXLWFDEOH5HIHUWR3
*3 With built-in fan which should always be operated with the power supply connected across 24 V and 0 V.
DV0P4280, DV0P4281

17
60
13

30

thermostat
(light yellow 2)
DV0P4283
DV0P4284
DV0PM20048
DV0P4284
2 in parallel or
DV0P4285
DV0PM20049
DV0P4285
2 in parallel
DV0PM20049
2 in parallel
DV0P4285
3 in parallel
DV0PM20049
3 in parallel
DV0P4285
6 in parallel or
DV0PM20058
DV0PM20049
6 in parallel or
DV0PM20059
DV0P4282, DV0P4283
1701

160

thermostat
(light yellow 2)
10
Drawing process
(2mm MAX)
1

30030

24
23
21
13

DV0P4282
SKDVH9
28

DV0P4283
300
13
DV0P4280
DV0P4281
(50W, 100W)
DV0P4283
(200W)
7-122
Single phase,
9
SKDVH9
10MAX

Single phase,
9

Frame
10MAX
Power supply
7. Options
DV0P4284, DV0PM20048
DV0P4285, DV0PM20049
300
290
280
300
278

thermostat
(light yellow 2)
300
450
100
50
15
20
10
288
18
11
9MAX
10MAX
Preparation
300
71
140
130
70
14
15
100
25
4.5
450
10
450

53
thermostat
(light yellow 2)
External Regenerative Resistor
DV0PM20058, DV0PM20059
R1 R2
T1 T2 24V 0V E
T.F R
T.F R
T.F R
T.F R
T.F R
FAN
Connection
T.F R
The third from the top
FG
6-
5 DV0PM20058
5 DV0PM20059
4
240
228
Circuit diagram
Setup
20
215
215
20
470
380
193
Cover (Punching metal)
124
(38)
Adjustment
270 MAX
470
Regenerative resistor gets very hot.
7
Supplement
Caution
Thermal fuse is installed for safety. Compose the circuit so that the power will
be turned off when the thermostat is activated. The thermal fuse may blow
due to heat dissipating condition, working temperature, supply voltage or load
fluctuation.
0DNHLWVXUHWKDWWKHVXUIDFHWHPSHUDWXUHRIWKHUHVLVWRUPD\QRWH[FHHG&DW
the worst running conditions with the machine, which brings large regeneration
(such case as high supply voltage, load inertia is large or deceleration time is
short) Install a fan for a forced cooling if necessary.
When in Trouble
Remarks
Take preventive measures for fire and burns.

Avoid the installation near inflammable
objects, and easily accessible place by hand.
7-123
7. Options
Supplement
Recommended components
Surge absorber for motor brake

Motor
Part No.
50W to 750W (200V)

MSME
Manufacturer
Z15D271
750W (400V)
1.0kW to 5.0kW
Ishizuka Electronics Co.

Z15D151
400W (400V)
600W (400V)
MDME
1.0kW to 3.0kW
NVD07SCD082
KOA CORPORATION
4.0kW to 7.5kW
Z15D151
NVD07SCD082
KOA CORPORATION
0.9kW to 6.0kW
Z15D151
1.0kW, 1.5kW
NVD07SCD082
KOA CORPORATION
2.0kW to 7.5kW
Z15D151
11kW, 15kW
1.5kW
MFME
2.5kW, 4.5kW
MGME
MHME
7-124
7. Options
Supplement
/LVWRI3HULSKHUDO(TXLSPHQWV
Manufacturer
Tel No. / Home Page
Peripheral components
81-6-6908-1131
http://panasonic-denko.co.jp/ac
Circuit breaker
Surge absorber
Iwaki Musen Kenkyusho Co., Ltd.
81-44-833-4311
http://www.iwakimusen.co.jp/
Regenerative resistor
Ishizuka Electronics Corp.
81-3-3621-2703
http://www.semitec.co.jp/
KOA CORPORATION
81-42-336-5300
http://www.koanet.co.jp/
TDK Corp.
81-3-5201-7229
http://www.tdk.co.jp/
(Nisshin Electric Co., Ltd.)
81-4-2934-4151
http://www.nisshin-electric.com/
81-3-4544-7040
http://www.okayatec.co.jp/
Japan Aviation Electronics Industry, Ltd.
81-3-3780-2717
http://www.jae.co.jp
Sumitomo 3M
81-3-5716-7290
http://www.mmmco.jp
Tyco Electronics
81-44-844-8052
http://www.tycoelectronics.com/
japan/
Japan Molex Inc.
81-462-65-2313
http://www.molex.co.jp
J.S.T. Mfg. Co., Ltd.
81-45-543-1271
http://www.jst-mfg.com/index_i.
html
Daiden Co., Ltd.
81-3-5805-5880
http://www.dyden.co.jp/
Mitutoyo Corp.
81-44-813-8236
http://www.mitutoyo.co.jp
Magnescale Co., Ltd.
81-463-92-7973
http://www.mgscale.com
Schaffner EMC, Inc.
81-3-5712-3650
http://www.schaffner.jp/
Surge absorber
1RLVHOWHU
5
Connector
6
When in Trouble
Okaya Electric Industries Co. Ltd.
1RLVHOWHUIRUVLJQDOOLQHV
Adjustment
81-184-53-2307
http://www.kk-corp.co.jp/
Setup
KK-CORP.CO.JP
Surge absorber
for holding brake
Cable
External scale
7
1RLVHOWHU
Supplement
Note
Connection
MICROMETALS
2
Preparation
Automation Controls Company

Panasonic Electric Works, Co.,Ltd
Contact information shown above is as of Februaly 2011.

This list is for reference only and subject to change without notice.
7-125
Warranty
Warranty period
7KH ZDUUDQW\ SHULRG LV RQH \HDU IURP WKH GDWH RI SXUFKDVH RU PRQWKV IURP WKH
month of manufacture in our plant.
For a motor with brake, the axis accelerated and decelerated more times than the
VSHFLHGOLPLWLVQRWFRYHUHGE\ZDUUDQW\
Warranty information
6KRXOG DQ\ GHIHFW GHYHORS GXULQJ ZDUUDQW\ SHULRG XQGHU VWDQGDUG VHUYLFH FRQGLWLRQV
as described in the manual, the company agrees to make repairs free of charge.
Even during warranty period, the company makes fee-based repair on product containing:
[1] Failure or damage due to misuse, improper repair or alteration.
[2] Failure or damage due to falling, or damage during transportation, after the original delivery
>@ 'HIHFWVUHVXOWLQJIURPQHJOHFWRIWKHVSHFLFDWLRQLQXVHRIWKHSURGXFW
>@ )DLOXUHRUGDPDJHGXHWRXQUHJXODWHGYROWDJHDQGUHDQGDFWRIQDWXUDOGLVDVWHUVVXFKDVHDUWKTXDNHOLJKWQLQJZLQGRRGDQGVDOWSROOXWLRQ
[5] Defects resulting from invasion of foreign materials such as water, oil and metal
pieces.
3DUWVH[FHHGLQJWKHLUVWDQGDUGOLIHWLPHVSHFLHGLQWKLVGRFXPHQWDUHH[FOXGHG
7KHFRPSDQ\VKDOOQRWEHOLDEOHIRUDQ\LQGLUHFWLQFLGHQWDORUFRQVHTXHQWLDOGDPDJHRU
loss of any nature that may arise in connection with the product.
7-126
Cautions for Proper Use
3UDFWLFDOFRQVLGHUDWLRQVIRUH[SRUWLQJWKHSURGXFWRUDVVHPEO\FRQWDLQLQJWKHSURGXFW
When the end user of the product or end use of the product is associated with military
affair or weapon, its export may be controlled by the Foreign Exchange and Foreign
Trade Control Law. Complete review of the product to be exported and export formalities
should be practiced.
7KLVSURGXFWLVLQWHQGHGWREHXVHGZLWKDJHQHUDOLQGXVWULDOSURGXFWEXWQRWGHVLJQHG
or manufactured to be used in a machine or system that may cause personal death
when it is failed.
,QVWDOODWLRQ ZLULQJ RSHUDWLRQ PDLQWHQDQFH HWF RI WKH HTXLSPHQW VKRXOG EH GRQH E\
TXDOLHGDQGH[SHULHQFHGSHUVRQQHO
$SSO\DGHTXDWHWLJKWHQLQJWRUTXHWRWKHSURGXFWPRXQWLQJVFUHZE\WDNLQJLQWRFRQVLGeration strength of the screw and the characteristics of material to which the product is
LQVWDOOHG 2YHUWLJKWHQLQJ FDQ GDPDJH WKH VFUHZ DQGRU PDWHULDO XQGHUWLJKWHQLQJ FDQ
result in loosening.
Example) Steel screw into steel section:
M4 1.35 to 1.65 Nm.
M5 2.7 to 3.3 Nm.
M6 4.68 to 5.72 Nm.
M8 11.25 to 13.75 Nm.
M10 22.05 to 26.95 Nm.
M11 37.8 to 46.2 Nm.
,QVWDOODVDIHW\HTXLSPHQWVRUDSSDUDWXVLQ\RXUDSSOLFDWLRQZKHQDVHULRXVDFFLGHQWRU
loss of property is expected due to the failure of this product.
Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment, various
safety equipments or equipments which require a lesser air contamination.
:HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\RIWKHSURGXFWVKRZever, application of exceptionally larger external noise disturbance and static electricity,
or failure in input power, wiring and components may result in unexpected action. It is
highly recommended that you make a fail-safe design and secure the safety in the operative range.
,IWKHPRWRUVKDIWLVQRWHOHFWULFDOO\JURXQGHGLWPD\FDXVHDQHOHFWURO\WLFFRUURVLRQWR
the bearing, depending on the condition of the machine and its mounting environment,
DQGPD\UHVXOWLQWKHEHDULQJQRLVH&KHFNLQJDQGYHULFDWLRQE\FXVWRPHULVUHTXLUHG
)DLOXUH RI WKLV SURGXFW GHSHQGLQJ RQ LWV FRQWHQW PD\ JHQHUDWH VPRNH RI DERXW RQH
cigarette. Take this into consideration when the application of the machine is clean room
related.
3OHDVH EH FDUHIXO ZKHQ XVLQJ LQ DQ HQYLURQPHQW ZLWK KLJK FRQFHQWUDWLRQV RI VXOIXU RU
sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a poor
contact connection.
7DNHFDUHWRDYRLGLQSXWWLQJDVXSSO\YROWDJHZKLFKVLJQLFDQWO\H[FHHGVWKHUDWHGUDQJH
to the power supply of this product. Failure to heed this caution may result in damage to
WKHLQWHUQDOSDUWVFDXVLQJVPRNLQJDQGRUDUHDQGRWKHUWURXEOH
The user is responsible for matching between machine and components in terms of
FRQJXUDWLRQGLPHQVLRQVOLIHH[SHFWDQF\FKDUDFWHULVWLFVZKHQLQVWDOOLQJWKHPDFKLQH
RU FKDQJLQJ VSHFLFDWLRQ RI WKH PDFKLQH 7KH XVHU LV DOVR UHVSRQVLEOH IRU FRPSO\LQJ
with applicable laws and regulations.
7KHSURGXFWZLOOQRWEHJXDUDQWHHGZKHQLWLVXVHGRXWVLGHLWVVSHFLFDWLRQOLPLWV
Parts are subject to minor change to improve performance.
7-127
After-Sale Service (Repair)
Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacturer or the dealer of the machine or equipment.
Technical information
Technical information of this product (Operating Instructions, CAD data) can be downloaded from the
following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
Panasonic Corporation, Motor Business Unit, Industrial Sales Group

Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031

TEL +81-3-3538-2961
)$;
Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044

TEL +81-72-870-3065
)$;
For your records:

The model number and serial number of this product can be found on either the back or the bottom of the unit.
Please note them in the space provided and keep for future reference.
Model No.
DH
ME
Serial No.
Date of
purchase
Name
Dealer
Address
Phone
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212

Panasonic Corporation 2009
IME10
A1009-3121

MN 63789 0700 en Minas A5 PDF

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Operating Instructions (Overall)

AC Servo Motor & Driver

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

Thank you for purchasing this Panasonic product.

Organization of this manual

1. Before Using the Products

Operating requirements and procedure

Describes parameters ... JOG running

Read this section when you encounter trouble or error.

Organization of this manual ............................................................................................ 3

1. Before Using the Products

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

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

6\VWHP&RQJXUDWLRQDQG:LULQJ ........................................................................... 2-10

1. Outline of mode ......................................................................................................... 3-2

1. Describes parameters ............................................................................................... 4-2

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

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

Before Using the Products

2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4

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

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

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

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

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

1. Safety function ..........................................................................................................7-2

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

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

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

6. Dimensions ............................................................................................................. 7-73

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

Please observe safety precautions fully.

Indicates great possibility of death or serious injury.

Indicates the possibility of injury or property damage.

Indicates something that must be done.

Failure to observe this instruction could result in electrical

Don't use cables soaked in water or oil.

Failure to observe this instruction could result in electrical

The installation area should be away from heat

Failure to observe this instrucWLRQFRXOGUHVXOWLQUHHOHFWULFDO

Failure to observe this instrucWLRQFRXOGUHVXOWLQUHDQG

Failure to observe this instruction could result in electrical

Do not put your hands in the servo driver.

Failure to observe this instruction could result in burn and

Installation area should be free from excessive

Correctly run and arrange wiring.

)DLOXUHWRKHHGWKHVHUHTXLUHments will result in electric

Ground the earth terminal of the motor and driver

Failure to observe this instrucWLRQFRXOGUHVXOWLQUH

After correctly connecting cables, insulate the live

Failure to observe this instruction could result in burns.

Do not subject the cables to excessive force,

Failure to observe this instruction could result in personal

Do not drive the motor with external power.

Before Using the Products

In the case of the motor with shaft end keyway, do

Energized circuit will cause

Please observe safety precautions fully.

Failure to observe this instruction could result in injuries.

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

Failure to observe this instruction could result in injuries and

Do not step on the Product nor place the heavy

6\VWHP&RQJXUDWLRQDQG:LULQJ ........................................................................... 2-10

Failure to observe this instrucWLRQFRXOGUHVXOWLQUHHOHFWULFDO

Failure to observe this instrucWLRQFRXOGUHVXOWLQUH

Allowing a large current to conWLQXHWRSDVVZLOOUHVXOWLQUH

$PELHQWFRQGLWLRQV&DQQXDODYHUDJHORDGIDFWRURIRU