Servo A5

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.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

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

2
Organization of this manual 1
Before Using the Products

1. Before Using the Products
Check of the Driver Model ... Installation
2
Describes how to identify and select the desired product and components, how to
UHDGWKHVSHFLÀFDWLRQVDQGKRZWRLQVWDOOWKHHTXLSPHQW
Preparation
2. Preparation
Operating requirements and procedure
Shows the timing chart and the list of parameters, and describes how to make 3
wiring and to use the front panel.
Connection
3. Connection
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host 4
controllor, I/O settings.
4. Setup
Setup
Describes parameters ... JOG running
Shows describes parameters and procedure of test operation.

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

3
Contents
page
Organization of this manual ............................................................................................ 3
Safety Precautions ............................................................................................................. 6
Conformance to international standards ................................................................... 10
Maintenance and Inspections ....................................................................................... 11
1. Before Using the Products ................................................................... 1-1
1. Introduction ...............................................................................................................1-2
2. Driver ........................................................................................................................ 1-3
3. Motor ....................................................................................................................... 1-21
4. Check of the Combination of the Driver and the Motor ........................................... 1-23
6. Installation ...............................................................................................................1-28
7. Permissible Load at Output Shaft ........................................................................... 1-35
2. Preparation ......................................................................................................... 2-1
1. Conformance to international standards ................................................................... 2-2

6\VWHP&RQÀJXUDWLRQDQG:LULQJ ........................................................................... 2-10
3. Wiring to the Connector, X1 .................................................................................... 2-51
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
1

page
4. Setup ........................................................................................................................ 4-1
1. Describes parameters ............................................................................................... 4-2

2. JOG running ............................................................................................................ 4-59 2
5. Adjustment .......................................................................................................... 5-1
Preparation
1. Gain Adjustment ........................................................................................................ 5-2
2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4
3. Adaptive Filter ......................................................................................................... 5-10
4. Manual Auto-Gain Tuning (Basic) ............................................................................ 5-13 3
5. Manual Auto-Gain Tuning (Application) ................................................................... 5-24
6. About Homing Operation ......................................................................................... 5-39
Connection
6. When in Trouble ............................................................................................. 6-1
1. When in Trouble ........................................................................................................ 6-2 4

2. Setup of gain pre-adjustment protection ................................................................. 6-18
3. Troubleshooting ...................................................................................................... 6-21
Setup
7. Supplement ........................................................................................................ 7-1
1. Safety function .......................................................................................................... 7-2

2. Absolute System ..................................................................................................... 7-10 5
3. Setup Support Software, PANATERM ..................................................................... 7-26
Adjustment
4. Communication ....................................................................................................... 7-27
5. Motor Characteristics (S-T Characteristics) ............................................................ 7-55
6. Dimensions ............................................................................................................. 7-73
7. Options ....................................................................................................................7-92
6
Warranty ........................................................................................................................... 7-126
When in Trouble
Cautions for Proper Use ................................................................................................... 7-127
After-Sale Service .................................................................................................... Back cover
7
Supplement

5
Safety Precautions Please observe safety precautions fully.
The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
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degree of potential harm or damage.
Danger Indicates great possibility of death or serious injury.
Caution Indicates the possibility of injury or property damage.
7KHIROORZLQJLQGLFDWLRQVVKRZWKLQJVWKDWPXVWEHREVHUYHG
Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
Failure to observe this instruc-
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WLRQFRXOGUHVXOWLQÀUHHOHFWULFDO
Do not place combustibles near by the motor,
shocks, damages and break-
driverd regenerative resistor and dynamic brake
downs.
resister..
Don't use the motor in a place subject to exces-
tion could result in electrical
sive vibration or shock.
VKRFNLQMXU\RUÀUH
Don't use cables soaked in water or oil.
downs.
The installation area should be away from heat
generating objects such as a heater and a large Failure to observe this instruc-
wire wound resistor. WLRQFRXOGUHVXOWLQÀUHDQG
Never connect the motor directly to the commer- breakdowns.
cial power supply.
Don't attempt to carry out wiring or manual opera-
tion with wet hand.
VKRFNLQMXU\RUÀUH
Do not put your hands in the servo driver. tion could result in burn and
electrical shocks.
6
1

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
tion could result in personal
while it is running.
injury. 2
Failure to observe this instruction could result in
damages and breakdowns.
Preparation
Do not touch the motor, servo driver, heat sink,
regenerative resistor and dynamic brake resister,
tion could result in burns.
since they become very hot.
Do not drive the motor with external power.
WLRQFRXOGUHVXOWLQÀUH
Failure to observe this instruc- 3
Do not subject the cables to excessive force,
heavy object, or pinching force, nor damage the
Connection
cables.
downs.
Failure to heed this precaution
Installation area should be free from excessive will result in electric shock, per-
dust, and from splashing water and oil. VRQDOLQMXU\ÀUHPDOIXQFWLRQRU
damage.
Mount the motor, driver and peripheral equip- ,QVWDOODWLRQRQDÁDPPDEOHPD-
4
ments on incombustible material such as metal. WHULDOPD\FDXVHÀUH
Allowing a person with no ex-
Setup
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pertise to carry out wiring will
authorized specialist.
result in electrical shocks.
Incorrect wiring will result in
Correctly run and arrange wiring. short circuit, electric shock, per-
sonal injury, etc. 5
Incorrect wiring will result short
After correctly connecting cables, insulate the live
FLUFXLWHOHFWULFVKRFNÀUHRU
Adjustment
parts with insulator.
malfunction.
Ground the earth terminal of the motor and driver Floating ground circuit will
without fail. cause electric shock.
Install and mount the Product and machinery
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incurred by earthquake. will result in electric shock, per-
6
Install an emergency stop circuit externally so that VRQDOLQMXU\ÀUHPDOIXQFWLRQRU
When in Trouble
you can stop the operation and shut off the power damage.
immediately.
Install an overcurrent protection, earth leakage
breaker, over-temperature protection and emer- )DLOXUHWRKHHGWKHVHUHTXLUH-
gency stop apparatus without fail. ments will result in electric
&KHFNDQGFRQÀUPWKHVDIHW\RIWKHRSHUDWLRQ VKRFNSHUVRQDOLQMXU\RUÀUH 7
after the earthquake.
Before transporting, wiring and inspecting the
Supplement
driver, turn off power and wait for a time longer

Energized circuit will cause
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electric shock.
panel of the product; and make sure that there is
no risk of electrical shock.
7
Safety Precautions Please observe safety precautions fully.
Caution
Do not hold the motor cable or motor shaft during Failure to observe this instruc-
the transportation. tion could result in injuries.
Don't drop or cause topple over of something dur-
tion could result in injuries and
ing transportation or installation.
breakdowns.
Do not step on the Product nor place the heavy tion could result in electrical
object on them. shocks, injuries, breakdowns
and damages.
Failure to heed these instruc-
Don't use the equipment under direct sunshine. tions will cause personal injury
RUÀUH
Do not block the heat dissipating holes or put the
foreign particles into them.
VKRFNVDQGÀUH
Do not give strong impact shock to the Product.
tion could result in breakdowns.
Do not give strong impact shock to the motor
tion could result in a failure of
shaft.
the detector etc.
Do not turn on and off the main power of the driv-
er repeatedly. Failure to observe this instruc-
Never run or stop the motor with the electro-mag- tion could result in breakdowns.
netic contactor installed in the main power side.
Do not make an extreme gain adjustment or
change of the drive. Failure to observe this instruc-
Do not keep the machine running/operating unsta- tion could result in injuries.
bly.
Do not use the built-in brake as a "Braking" to
tion could result in injuries and
stop the moving load.
breakdowns.
Do not approach to the machine since it may sud-
denly restart after the power resumption. Failure to observe this instruc-
Design the machine to secure the safety for the tion could result in injuries.
operator even at a sudden restart.
Failure to heed this instruction
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ZLOOUHVXOWLQÀUHHOHFWULFVKRFN
or repair.
personal injury or malfunction.

8
1

Make an appropriate mounting of the Product
matching to its wight and output rating. )DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in personal
2EVHUYHWKHVSHFLÀHGPRXQWLQJPHWKRGDQGGL- injury or malfunction.
rection. 2
Use the eye bolt of the motor for transportation of Using it for transportation of the
machine will cause personal
Preparation
the motor only, and never use this for transporta-
tion of the machine. injury or malfunction.
Don't place any obstacle object around the motor Temperature rise will cause
and peripheral, which blocks air passage. EXUQLQMXU\RUÀUH
Adjust the motor and driver ambient environmen-
tal condition to match the motor operating tem- 3
perature and humidity. )DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in personal
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Connection
injury or malfunction.
and the control panel inner surface or other de-
vices.
Operation from a voltage out-
side the rated voltage will cause
2EVHUYHWKHVSHFLÀHGYROWDJH
electric shock, personal injury 4
RUÀUH
Missing of one of these devices
Connect the brake control relay to the relay which
will result in personal injury or
Setup
is to shut off at emergency stop in series.
malfunction.
Provide protection device against idling of electro- No protection will cause per-
magnetic brake or gear head, or grease leakage sonal injury, damage, pollution
from gear head. RUÀUH
Not using the motor and the
5
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GULYHULQWKHVSHFLÀHGFRPELQD-
bination.
Adjustment
WLRQZLOOUHVXOWLQÀUH
7HVWUXQWKHVHFXUHO\À[HGPRWRUZLWKRXWORDGLQJ Operation using a wrong model
to verify normal operation, and then connect it to or wrong wiring connection will
the mechanical system. result in personal injury.
When any error occurs, remove the cause and Not removing the cause of the
release the error after securing the safety, then error will result in personal in- 6
restart. jury.
When in Trouble
If the driver fails, shut off the power on the power Allowing a large current to con-
supply side of the driver. WLQXHWRSDVVZLOOUHVXOWLQÀUH
Maintenance must be performed by an experi- Wrong wiring will cause person-
enced personnel. al injury or electric shock.
Always keep power disconnected when the power Improper operation will cause
is not necessary for a long time. personal injury. 7
When you dispose the batteries, observe any applicable regulations or laws after
Supplement
insulating them with tape.
This Product shall be treated as Industrial Waste when you dispose.

9
Conformance to international standards
Conformed Standards
Driver Motor
EN55011
EMC
EN61000-6-2 –
Directives
EN61800-3
Low-Voltage EN60034-1
EN61800-5-1
Directives EN60034-5
EC Direc-
tives EN954-1 (Cat. 3)
Machinery
ISO13849-1 (PL c,d)(Cat. 3)
Directives
EN61508 (SIL 2)
–
Functional EN62061 (SIL 2)
safety EN61800-5-2 (STO)
(*1) IEC61326-3-1
UL1004-1
( E327868: from
to 750W (200V)
6.0kW )
UL Standards UL508C (E164620) UL1004
( )
E327868: 400W (400V)
600W (400V), 750W (400V)
0.9kW to 5.0kW
CSA Standards C22.2 No.14 C22.2 No.100
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
* Products shall conform to the statutory regulations applied in the place of destination.
* Only for position control type does not support functional safety(*1) standards.
Note For details on compatibility with international standard, refer to P.2-2 Conformance to
international standards.

10
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 2

1) Turn on and turn off should be done by operators or inspectors themselves. When es-
Preparation
tablishing a system using safety functions, completely understand the applicable safety
standards and the operating instruction manual or technical documents for the product.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation 3
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
Connection
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

4
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.
5
Type Cycles Items to be inspected
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Adjustment
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2GRU
Daily /LQWRURWKHUSDUWLFOHVDWDLUKROHV
Daily
inspection &OHDQQHVVDWIURQWSRUWLRQRIWKHGULYHUDQGFRQQHFWRU
'DPDJHRIWKHFDEOHV 6
/RRVHFRQQHFWLRQRUPLVDOLJQPHQWEHWZHHQWKHPRWRUDQG
When in Trouble
PDFKLQHRUHTXLSPHQW
3LQFKLQJRIIRUHLJQREMHFWDWWKHORDG
/RRVHWLJKWHQLQJ
Motor
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with Gear Annual
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Reducer
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Supplement
Note 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 ac-
tual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.
Disassembling for inspection and repair should be

carried out only by authorized dealers or service
Prohibited company.
Standard replacement
Product Component Note
cycles (hour)
Smoothing condenser Approx. 5 years
2 to 3 years
Cooling fan
(10,000 to 30,000 hours)
Aluminum electrolytic
Approx. 5 years
capacitor (on PCB)
Driver Approx. 100,000 times
Rush current
(depending on working
preventive relay
condition)
Approx. 20,000 times These hours or cycles are
Rush current
(depending on working reference.
preventive resistor
condition) When you experience any
3 to 5 years HUURUUHSODFHPHQWLVUHTXLUHG
Bearing even before this standard
(20,000 to 30,000 hours)
replacement cycle.
Oil seal 5000 hours
3 to 5 years
Encoder
(20,000 to 30,000 hours)
Motor
Life time varies depending
on working conditions.
Battery Refer to the Operating
for absolute encoder Instructions attached to the
battery for absolute
encoder.
Related page 3´:DUUDQW\µ

12
1
1. Before Using the Products

1. Introduction
Outline .........................................................................................................1-2
2
On Opening the Product Package ...............................................................1-2
2. Driver
Preparation
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
3
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
4
Parts Description .......................................................................................1-22
4. Check of the Combination of the Driver and the Motor
Setup
Incremental Specifications, 20-bit..............................................................1-23
Absolute Specifications, 17-bit...................................................................1-25
Junction cable for motor ...........................................................................1-27
5. Installation 5
Driver .........................................................................................................1-28
Motor..........................................................................................................1-32
Adjustment
6. Permissible Load at Output Shaft
Motor..........................................................................................................1-35
6
When in Trouble
7
Supplement

1-1
1Before Using 1. Introduction
the Products Outline
The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all
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SHUIRUPDQFHRUZKLFKUHTXLUHVLPSOLÀHGVHWWLQJV
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 1. Introduction

the Products On Opening the Product Package
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&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 includ-
ed or not.
(Neither the power connector nor motor connector are included to F-frame to H-frame.)
(Safety bypass plug is not supplied with only for position control type because it does not use
this plug.)
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1-2
2. Driver 1
1Before Using

the Products Check of the Model
Contents of Name Plate
Model number Serial Number

Input/output voltage e.g.) : P09 04 0001N 2
Number of phase Lot number
Month of production
Preparation
Rated input/output current
Year of production
Input/output frequency (Lower 2 digits of AD year)
Rated output of Manufacture date

applicable motor e.g.) : 2009 04 01
Manufacture year Manufacture date 3
Manufacture month
Connection
Model Designation
M A D H T 1 5 0 5
Velocity, position,
torque and full-closed
FRQWUROW\SH 1 to 4 5 to 6 7 8 to 9 10 to 12
Special specifications 4
(letters and numbers)
Only for position
control type M A D H T 1 5 0 5 E
Setup
1 to 4 5 to 6 7 8 to 9 10 11 to 12
Special specifications
(letters and numbers)
Only for position control type

Max. current rating 5
Frame-size symbol of power device Current detector rating
Symbol Frame Symbol Current rating Symbol Current rating
Adjustment
MADH A5-series, A-frame T1 10A 05 5A
MBDH A5-series, B-frame T2 15A 07 7.5A
T3 30A 10 10A
MCDH A5-series, C-frame
T4 35A 12 12A
MDDH A5-series, D-frame T5 50A 20 20A
MEDH A5-series, E-frame T7 70A 30 30A
MFDH A5-series, F-frame TA 100A 40 40A 6
MGDH A5-series, G-frame TB 150A 64 64A
TC 300A 90 90A
When in Trouble
MHDH A5-series, H-frame

A2 120A
NOTE) B4 240A
Only for position control type is
SURYLGHG$)UDPHWR)IUDPH Power supply
Symbol Specifications
1 Single phase, 100V
3 3-phase, 200V 7
4 3-phase, 400V
5 Single/3-phase, 200V
Supplement
Related page 3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ

1-3
1Before Using 2. Driver
the Products 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 L1
Connector X2: for Serial bus
L2
input terminals L3
Control power L1C Connector X3: Safety function connector
L2C
input terminals
B1 Connector X4: Parallel I/O connector

Terminals for external B3
B2 Connector X5:
regenerative resistor U
(Normally short-circuit V for feedback scale
W
B3 to B2) connection
Terminals for motor Connector X6:

connection for encoder
Connector XB: connection
for motor connection Screws for earth (x2)
Charge lamp
06JFAT-SAXGF (JST)
LED cover
Safety by-pass prug
E-frame
Front panel
Connector XA:
for main power connection Connector X7: Monitor connector
05JFAT-SAXGSA-L (JST)
L1
Main power L2 Connector X2: for Serial bus
input terminals L3
Connector X3: Safety function connector
L1C
Control power L2C
input terminals
regenerative resistor B2 Connector X5:
(Normally short-circuit NC*
for feedback scale
B3 to B2) connection
U
V
Terminals for motor W Connector X6:
connection
Connector XB:
for motor connection
Screws for earth Charge lamp
Connector XC: (x2)
Connector for external
regenerative resistor LED cover
04JFAT-SAXGSA-L (JST) * NC is no connect. Safety by-pass prug
Note &RQQHFWRU;$DQG;%DUHDWWDFKHGLQ$WR'IUDPHGULYHU
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Only for position control type is not provided with X2, X3 and X5.

1-4
2. Driver
Parts Description
1

F-frame
Details of terminal block Front panel 2

Connector X7: Monitor connector
L1
Preparation
Main power L2
input terminals Connector X2: for Serial bus
L3
L1C Connector X3: Safety function connector
Control power
L2C
input terminals
regenerative resistor B2 Connector X5:
3
(Normally short-circuit NC* for feedback scale
B3 to B2)
U connection
Connection
V
connection W
for encoder
connection
* NC is no connect.
Screws for earth (x2) Charge lamp 4

LED cover
Safety by-pass prug
Setup
Terminal cover
Adjustment
6
When in Trouble
7
Supplement
Note 7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU
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1-5
2. Driver
Parts Description
G-frame
Front panel
Terminal cover
screw Connector X7: Monitor connector
NC
L1
L1C
X1
X2
L2
L 2C
X3
Terminal cover
L3
NC Connector X3: Safety function connector
NC
B1
B2
DB1
X4
Connector X4: Parallel I/O connector

DB2
NC
Connector X5: for feedback scale

NC
X5
connection
NC
X6
Connector X6: for encoder connection

V DB3
DB4
W
Terminal cover NC
screw
CHARGE
Charge lamp
Screws for earth (x2)
Details of terminal block
L1 NC*
L1C
Main power L2 Control power input terminals
L2C
input terminals L3 NC*
B1 NC*
Terminals for external DB1
regenerative resistor B2 Control terminal for dynamic brake resister
DB2
NC*
NC*
U NC*
Terminals for motor V DB3
connection Control terminal for dynamic brake resister
W DB4
(Normally short-circuit DB3 to DB4.)
NC*
* NC is no connect.
LED cover
Safety by-pass prug
Terminal cover
1-6
2. Driver
Parts Description
1

H-frame
2
Front panel
Preparation
X1

X2
X3

X4
3
X5
Connector X5: for feedback scale connection

X6
Connection
CHARGE
Charge lamp
4
L1C L2C DB1 DB2
Setup
L1 L2 L3 B1 B2 NC U V W
5
Adjustment
DB1 Control terminal for

DB2 dynamic brake resister
Control power L1C

input terminals L2C 6
LED cover
When in Trouble
Safety by-pass prug

L1 L2 L3 NC*
B1 B2 U V W
Main power
input terminals Terminals for motor
connection
Terminals for external 7
regenerative resistor * NC is no connect.
Terminal cover Terminal
cover screw
Supplement
1-7
2. Driver
Parts Description
D, E-frame (400 V)
Connector XA:
for main power connection
03JFAT-SAYGSA-L (JST)
Front panel
Connector XD:
Control power input terminals Connector X7: Monitor connector
02MJFAT-SAGF (JST)
Control power 24V
input terminals 0V Connector X2: for Serial bus
L1
Main power L2 Connector X3: Safety function connector
input terminals L3
Terminals for external B1 Connector X4: Parallel I/O connector
regenerative resistor B3
(Normally short-circuit B2 Connector X5:
B3 to B2) NC* for feedback scale
connection
Terminals for U
V Connector X6:
motor connection W for encoder
Connector XB: connection
for motor connection
Connector XC: Screws for earth Charge lamp

Connector for external (x2)
regenerative resistor
LED cover
04JFAT-SAXGSA-L(JST) * NC is no connect.
Safety by-pass prug
F-frame (400 V)
Front panel
Control power 24V
input terminals 0V
L1 Connector X2: for Serial bus
Main power Connector X3: Safety function connector
L2
input terminals
L3
Terminals for external B1 Connector X4: Parallel I/O connector
(Normally short-circuit Connector X5:
B2
B3 to B2) for feedback scale
NC* connection
U
V
W
connection
* NC is no connect.
Charge lamp
LED cover
Safety by-pass prug
Terminal cover
Note &RQQHFWRU;DQG;DUHDWWDFKHGLQ$WR'IUDPHGULYHU
&RQQHFWRU;$;%;&DQG;'DUHDWWDFKHGLQ'DQG(IUDPH 9 GULYHU

1-8
2. Driver
Parts Description
1

G-frame (400 V)
Front panel 2
Terminal cover
screw Connector X7: Monitor connector
NC
Preparation
L1 X1
24V

X2
L2
0V
X3

Terminal cover
L3
NC
NC
B1
B2
DB1
X4
DB2
NC
U
NC
X5 Connector X5: for feedback scale 3

connection
NC
X6

V DB3
Connection
DB4
W
Terminal cover NC
screw
CHARGE
Charge lamp
400V

4
L1 NC*
Setup
Main power 24V
L2 Control power input terminals
input terminals 0V
L3 NC*
Terminals for external B1 NC*
regenerative resistor B2 DB1
Control terminal for dynamic brake resister
NC*
DB2 5
NC*
U NC*
Terminals for motor
Adjustment
connection V DB3
Control terminal for dynamic brake resister
W DB4
(Normally short-circuit DB3 to DB4.)
NC*
* NC is no connect.
6
When in Trouble
LED cover
Safety by-pass prug
Terminal cover 7
Supplement
1-9
2. Driver
Parts Description
H-frame (400 V)
Front panel
X1

X2
X3

X4
X5
Connector X5: for feedback scale connection

X6
CHARGE
Charge lamp
24V 0V DB1 DB2
L1 L2 L3 B1 B2 NC U V W
DB1 Control terminal for

DB2 dynamic brake resister
Control power 24V

input terminals 0V
LED cover
Safety by-pass prug

L1 L2 L3 NC*
B1 B2 U V W
Main power
input terminals Terminals for motor
connection
Terminals for external
regenerative resistor * NC is no connect.
Terminal cover Terminal
cover screw
1-10
2. Driver 1
1Before Using

the Products Specifications (Velocity, position, torque, full-closed control type)
+10%
Main circuit Single phase, 100 to 120V 50/60Hz
–15%
100V
+10%
Control circuit Single phase, 100 to 120V 50/60Hz
–15%
A to
Single/3-phase, 200 to 240V
+10%
50/60Hz 2
Main D-frame –15%
Input power
circuit E to +10%
3-phase, 200 to 230V 50/60Hz
H-frame –15%
Preparation
200V
A to +10%
Single phase, 200 to 240V 50/60Hz
Control D-frame –15%
circuit E to +10%
H-frame –15%
+10%
Main circuit 3-phase, 380 to 480V 50/60Hz
400V –15%
*1 Control circuit DC24V ± 15% 3
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
Withstand voltage withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
Connection
* 400V control circuit is excluded.
$PELHQWWHPSHUDWXUHÝ&WRÝ& IUHHIURPIUHH]LQJ
temperature 6WRUDJHWHPSHUDWXUH²Ý&WRÝ& (Max. temperature guarantee: 80ÝC for 72 hours
free from condensation*2)
Environment
humidity Both operating and storage : 20 to 85%RH or less (free from condensation*2)
Altitude Lower than 1000m
Vibration 5.88m/s2RUOHVVWR+] 1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\
Control method IGBT PWM Sinusoidal wave drive
4
%DVLF6SHFLÀFDWLRQV
17-bit (131072 resolution) absolute encoder, 7-wire serial

Encoder feedback
20-bit (1048576 resolution) incremental encoder, 5-wire serial
A/B phase, initialization signal defferential input.
Setup
Manufacturers that support serial communication scale:
Feedback scale feedback
Mitsutoyo Corp.
Magnescale Co., Ltd. (old Sony Manufacturing Systems Corp.)
General purpose 10 inputs
Input
The function of general-purpose input is selected by parameters.
Control signal
General purpose 6 outputs
Output
The function of general-purpose input is selected by parameters. 5
Parallel I/O connector
Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)

Analog signal
Output 2 outputs (Analog monitor: 2 output)
Adjustment
2 inputs (Photo-coupler input, Line receiver input)
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.
Pulse signal 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,
Output
EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open
collector. 6
USB Connection with PC etc.
Communication
RS232 1 : 1 communication to a host.
When in Trouble
function
RS485 1 : n communication to a host.
Safety function Used for functional safety.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
Front panel
(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)
Regeneration
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)
Dynamic brake
H-frame: External only 7
Switching among the following 7 mode is enabled,
Control mode 3RVLWLRQFRQWURO 9HORFLW\FRQWURO 7RTXHFRQWURO 3RVLWLRQ9HORFLW\FRQWURO
Supplement
3RVLWLRQ7RUTXHFRQWURO 9HORFLW\7RUTXHFRQWURO )XOOFORVHGFRQWURO
Caution 7KHVSHFLÀFDWLRQRXWRI-DSDQ
*2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
Related page 3´,QVWDOODWLRQRI'ULYHUµ3´,QVWDOODWLRQRI0RWRUµ

1-11
2. Driver
Specifications (Velocity, position, torque, full-closed control type)
(1) Servo-ON input (2) Alarm clear input (3) Gain switching input
Control 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
Control output 6SHHGDUULYDORXWSXW 7RUTXHLQOLPLWVLJQDORXWSXW
(6) Zero-speed detection output signal (7) Alarm output (8) Alarm attribute output
(1) Deviation counter clear (2) Command pulse inhibition
Control input (3) Command dividing gradual increase switching (4) Damping control switching
7RUTXHOLPLWVZLWFKLQJ &RQWUROPRGHVZLWFKLQJ
Control output (1) Positioning complete (In-position) (2)Positional command ON/OFF output
Max. command Exclusive interface for Photo-coupler: 500kpps
SXOVHIUHTXHQF\ Exclusive interface for line driver : 4Mpps
Position control
Input pulse signal Differential input. Selectable with parameter. ((1) Positive and Negative direction,
Pulse format (2) A and B-phase, (3) Command and direction)
input
( 1 to 2 )
30
Electronic gear 3URFHVVFRPPDQGSXOVHIUHTXHQF\ðHOHFWURQLFJHDUUDWLR 1 to 230 as positional command
(Division/Multiplication of
command pulse) input. Use electronic gear ratio in the range 1/1000 to 1000 times.
6PRRWKLQJÀOWHU 3ULPDU\GHOD\ÀOWHURU),5W\SHÀOWHULVDGDSWDEOHWRWKHFRPPDQGLQSXW
7RUTXHOLPLW
Analog command input ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
input
7RUTXHIHHGIRUZDUGLQSXW $QDORJYROWDJHFDQEHXVHGDVWRUTXHIHHGIRUZDUGLQSXW
Instantaneous Speed Observer Available
Damping Control Available
(1) Selection of internal velocity setup (2) Speed zero clamp
Control input
(3) Speed command sign input (4)Control mode switching
Control output (1) Speed coincidence output (2)Speed command ON/OFF output
Velocity command Speed command input can be provided by means of analog voltage.
input Parameters are used for scale setting and command polarity. (6V/Rated rotational speed Default)
Velocity control
Analog
7RUTXHOLPLW
input ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
command input
Internal velocity command Switching the internal 8speed is enabled by command input.
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min.
Function
Soft-start/down function
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
Control input 6SHHG]HURFODPS 7RUTXHFRPPDQGVLJQLQSXW &RQWUROPRGHVZLWFKLQJ
7RUTXHFRQWURO
Control output (1) Speed coincidence output (2) Speed in-limit output
Analog 7RUTXHFRPPDQG 7RUTXHFRPPDQGLQSXWFDQEHSURYLGHGE\PHDQVRIDQDORJYROWDJH
input input 3DUDPHWHUVDUHXVHGIRUVFDOHVHWWLQJDQGFRPPDQGSRODULW\ 9UDWHGWRUTXH'HIDXOW
Speed limit function Speed limit value with parameter t is enabled.
Control input (3) Command dividing gradual increase switching (4) Damping control switching
7RUTXHOLPLWVZLWFKLQJ
Control output (1) Full-closed positioning complete (2) Positional command ON/OFF output
Full-closed control
Input pulse signal Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and
Pulse format B-phase, (3) Command and direction)
input
( 1 to 2 )
30
Electronic gear 3URFHVVFRPPDQGSXOVHIUHTXHQF\ðHOHFWURQLFJHDUUDWLR 1 to 230 as positional command
(Division/Multiplication of
command pulse) input. Use electronic gear ratio in the range 1/1000 to 1000 times.
7RUTXHOLPLW
Analog command input ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG
input
Setup range of division/ 1/40 to 160 times
multiplication of feedback The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 220
scale (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
Auto tuning WRWKHFRPPDQGJLYHQE\WKHFRQWUROOLQJGHYLFHDQGVHWXSVXSSRUWVRIWZDUH´3$1$7(50µ
The gain is set automatically in accordance with the rigidity setting.
Common
Division of encoder feedback pulse Set up of any value is enabled (encoder feedback pulses count is the max.).
Over-voltage, under-voltage, over-speed, over-load,
Protective Hard error
over-heat, over-current and encoder error etc.
function
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.

1-12
2. Driver 1
1Before Using

the Products Specifications (Only for position control type)
+10%
Main circuit Single phase, 100 to 120V 50/60Hz
–15%
100V
+10%
Control circuit Single phase, 100 to 120V 50/60Hz
–15%
A to
Single/3-phase, 200 to 240V
+10%
50/60Hz
2
Main D-frame –15%
circuit E to +10%
Input power
Preparation
3-phase, 200 to 230V 50/60Hz
F-frame –15%
200V
A to +10%
Control D-frame –15%
circuit E to +10%
F-frame –15%
Main D to +10%
circuit F-frame
3-phase, 380 to 480V
–15%
50/60Hz 3
400V
Control D to
DC 24V ± 15%
circuit F-frame
Connection
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
Withstand voltage withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
* 400V control circuit is excluded.
$PELHQWWHPSHUDWXUHÝ&WRÝ& IUHHIURPIUHH]LQJ
temperature 6WRUDJH WHPSHUDWXUH ²Ý& WR Ý& (Max. temperature guarantee: 80ÝC for 72
%DVLF6SHFLÀFDWLRQV
hours free from condensation*2)

Environment humidity Both operating and storage : 20 to 85%RH or less (free from condensation) 4
Vibration 5.88m/s2RUOHVVWR+] 1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\
Control method IGBT PWM Sinusoidal wave drive
Setup
Encoder feedback 20-bit (1048576 resolution) incremental encoder, 5-wire serial
General purpose 10 inputs
Input
Control signal
General purpose 6 outputs
Output
Parallel I/O connector

Analog signal Output 2 outputs (Analog monitor: 2 output)
5
2 inputs (Photo-coupler input, Line receiver input)
Adjustment
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.
Pulse signal 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
Output
(EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed
out in open collector.
Communication
function
USB Connection with PC etc. 6
Front panel (1) 5 keys (2) LED (6-digit) (3) Analog monitor output (2ch)
When in Trouble
A, B-frame: no built-in regenerative resistor (external resistor only)

Regeneration
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
7
Caution 7KHVSHFLÀFDWLRQRXWRI-DSDQ
Supplement
*2 Air containing water vapor will become saturated with water vapor as the temperature falls,
causing dew.
Related page 3´,QVWDOODWLRQRI'ULYHUµ3´,QVWDOODWLRQRI0RWRUµ
Caution Only for position control type is provided A-Frame to F-frame.

1-13
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.

Differential input
Position control
Input pulse signal

((1) Positive and Negative direction, (2) A and B-phase, (3) Command and
format
direction)
Pulse
input
Electronic gear
( 1 to 2 )
30
(Division/ 3URFHVVFRPPDQGSXOVHIUHTXHQF\ðHOHFWURQLFJHDUUDWLR 1 to 230 as positional
Multiplication of command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
command pulse)
Instantaneous Speed
Available
Observer
Damping Control Available

Function
Control input (1) Selection of internal velocity setup (2) Speed zero clamp
Control output Speed arrival

Internal velocity control
Internal velocity command Switching the internal 8speed is enabled by command input.
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/

Soft-start/down function
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
Available
Observer
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
Auto tuning
VRIWZDUH´3$1$7(50µ
The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback

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

pulse
Over-voltage, under-voltage, over-speed, over-load,

Hard error
Protective over-heat, over-current and encoder error etc.
function
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.

1-14
2. Driver 1
1Before Using

the Products Block Diagram
A, B-frame (100/200 V)
P U
Fuse
L1 + V
M
L2
L3 Fuse Resistor
W
2
Voltage
detection N
Fuse
RE
Preparation
L1C + (12V Gate drive
+5V
DC/DC PS for gate drive
L2C PS for RE
B1
B3
B2
Front panel Error

Sequence control detection
X1
Display
operation
control
Parameter control EEPROM
Protective
curcuit 3
USB
X2
Serial
X3
Connection
Safety function
X4
Alarm
signal
Pulse train Division/ + Deviation Position Position
command mulitiplication – counter deviation amp. + Speed Velocity
Analog deviation
External – amp. Torque Current PWM
velocity A/D
command Speed limit control circuit
16-bit Internal speed Speed Torque
Control command detection
input Internal
A/D
Control X6
output Encoder signal
Pusle Division
processing
limit 4
output processing X5
Feedback scale signal
processing limit
Setup
Feedback scale unit
C, D-frame (100/200 V)
P U
Fuse
L1
L2
+ V
M 5
L3 Fuse Resistor
W
Voltage
detection N
RE
Adjustment
Fan (D-frame only)
Fuse
L1C + (12V Gate drive
+5V
DC/DC PS for gate drive
L2C PS for RE
B1
B3
B2
Front panel Error

Sequence control
Display
operation Parameter control EEPROM
detection
Protective
curcuit
6
X1 control
USB
X2
When in Trouble
Serial
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
processing
limit
7
Pusle Division
Supplement
processing limit
Feedback scale unit
1-15
2. Driver
Block Diagram
E-frame (200 V)
P U
Fuse
L1 + V
L2 M
L3 Fuse Resistor
Voltage
W
detection N
Fuse
Fan Gate drive RE
L1C (12V
+ +5V
DC/DC
PS for gate drive
L2C PS for RE
B1
B3
B2
Front panel Error

Display Protective
operation Parameter control EEPROM curcuit
X1 control
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
processing
limit
Pusle Division
processing limit
Feedback scale unit
F-frame (200 V)
P U
Fuse
L1 + V
L2 Resistor M
L3
Fuse
W
N
Voltage
Fuse
detection Fan Gate drive RE
L1C (12V
+ +5V
DC/DC
PS for gate drive
L2C PS for RE
B1
B3
B2
Front panel Error

Display Protective
X1 control
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
processing
limit
Pusle Division
processing limit
Feedback scale unit
1-16
2. Driver
Block Diagram
1

G-frame (200 V)
P U
Fuse
L1 + V
M
L2
L3
Fuse
Resistor
W
2
N
Voltage
Fuse
detection Fan Gate drive DB1 RE
Preparation
L1C (12V
+ +5V
DC/DC DB2
PS for gate drive
L2C PS for RE DB3
DB4
B1
B3
B2
Front panel Error

X1
USB
Display
operation
control
Protective
curcuit 3
X2
Serial
X3
Connection
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
Pusle Division
processing
limit 4
processing limit
Setup
Feedback scale unit
H-frame (200 V)
P U
Fuse
L1
L2
L3
Resistor
+ V
M 5
Fuse
W
N
Voltage
detection Fan
RE
Adjustment
Gate drive DB1
Fuse
L1C (12V
+ +5V
DC/DC DB2
PS for gate drive
L2C PS for RE
B1
B3
B2
Front panel Error

Display
operation
control
Protective
curcuit
6
X1
USB
X2
When in Trouble
Serial
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
processing
limit
7
Pusle Division
processing limit
Supplement
Feedback scale unit
1-17
2. Driver
Block Diagram
D-frame (400 V)
P U
Fuse
L1 + V
L2 M
L3 Fuse Resistor
W
Voltage
detection N
Fuse
Fan RE
24V + ±12V Gate drive
DC/DC +5V
PS for gate drive
0V PS for RE
B1
B3
B2
Front panel Error

Display Protective
X1 control
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
processing
limit
Pusle Division
processing limit
Feedback scale unit
E-frame (400 V)
P U
Fuse
L1 + V
L2 M
L3 Fuse Resistor
W
Voltage
detection N
Fuse
Fan RE
DC/DC +5V
PS for gate drive
0V PS for RE
B1
B3
B2
Front panel Error

Display Protective
X1 control
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
processing
limit
Pusle Division
processing limit
Feedback scale unit
1-18
2. Driver
Block Diagram
1

F-frame (400 V)
P U
Fuse
L1 + V
M
L2
L3 Fuse
Resistor
W
2
Voltage
detection N
Fuse
Fan RE
Preparation
DC/DC +5V
PS for gate drive
0V PS for RE
B1
B3
B2
Front panel Error

X1
USB
Display
operation
control
Protective
curcuit 3
X2
Serial
X3
Connection
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
Pusle Division
processing
limit
X5
4
output processing
processing limit
Setup
Feedback scale unit
G-frame (400 V)
P U
Fuse
L1 V
L2
L3
Fuse
Resistor
+
M
5
W
N
Voltage
Adjustment
Fuse
24V (12V
+ +5V
DC/DC DB2
PS for gate drive
0V PS for RE DB3
DB4
B1
B3
B2
Front panel Error

X1
Display
operation
control
Protective
curcuit 6
USB
X2
Serial
When in Trouble
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
Pusle Division
processing
limit 7
processing limit
Supplement
Feedback scale unit
G-frame: Only for position control type is not provided.
1-19
2. Driver
Block Diagram
H-frame (400 V)
P U
Fuse
L1 + V
L2 Resistor M
L3
Fuse
W
N
Voltage
Fuse
24V (12V
+ +5V
DC/DC DB2
PS for gate drive
0V PS for RE
B1
B3
B2
Front panel Error

Display Protective
X1 control
USB
X2
Serial
X3
Safety function
X4
Alarm
signal
Analog deviation
velocity A/D
input Internal
A/D
Control X6
processing
limit
Pusle Division
processing limit
Only for position control type is not provided.

1-20
3. Motor 1
1Before Using

the Products Check of the Model
Contents of Name Plate
Model Serial Number

e.g.) : 09 04 0001N
Rated input voltage/current
2
Lot number
Month of production
Preparation
Rated output Year of production
(Lower 2 digits of AD year)
Rated frequency
Manufacture date
Rated e.g.) : 2009 04 01
rotational speed Manufacture year Manufacture date
Manufacture month
3
Model Designation
Connection
M S M E 5 A Z S 1 S
1 to 4 5 to 6 7 8 9 10 11 to 12
Type Motor rated output

Special specifications
Symbol Specifications
Low inertia
Symbol Output
5A 50W
Motor structure
Design order
4
MSMD (50W to 750W)
*1 01 100W Symbol Specifications
High inertia 02 200W 1 Standard
MHMD (200W to 750W) 04 400W Voltage specifications Connector for encoder
Setup
*1
Low inertia 06 600W

MSME Symbol Specifications : N/MS3102A20-29P
(50W to 5.0kW) 08 750W
*2
1 100 V C IP65 motor
09 900W
( )
Middle inertia 2 200 V 0.9 kW to 5.0 kW
MDME (400W to 15.0kW) 10 1.0kW
*2
15 1.5kW 4 400 V only selectable
Middle inertia 100/200 V common
MFME (1.5kW to 4.5kW) 20 2.0kW Z (50W only)
*2
Middle inertia
25 2.5kW 5
MGME (0.9kW to 6.0kW) 30 3.0kW
*2
40 4.0kW Rotary encoder specifications
High inertia 45 4.5kW
MHME
Adjustment
(1.0kW to 7.5kW) Specifications
*2
50 5.0kW Symbol
Format Pulse count Resolution Wire count
*1 The position control type only. 60 6.0kW
*2 Only for position control type is 75 7.5kW G Incremental 20bit 1,048,576 5-wire
MSME, MDME and MHME: C1 11.0kW S *3 Absolute 17bit 131,072 7-wire
1.0kW to 5.0kW, C5 15.0kW *3 Only for position control type does not support the 17-bit absolute
MGME: 0.9kW to 3.0kW, specification. It supports only 20-bit incremental specification.
MFME is none.
6
Motor structure
MSME (750W(400V), 1.0kW to 5.0kW),
When in Trouble
MSME (50W to 750W) MDME, MFME, MGME, MHME

Shaft Holding brake Oil seal Shaft Holding brake Oil seal
Symbol Symbol
Round Key way Without With Without With*4 Round Key way Without With Without With
A C
B D
S *5
G
T *5
H
*4 The product with oil seal is a special order product. *5 Key way with center tap 7
[Products are standard stock items or manufactured by order. For details, inquire the dealer.]
Supplement
Note )RUGHWDLOVRIVSHFLÀFPRGHOUHIHUWRWKH'LPHQVLRQVRI6XSSOHPHQW
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1-21
1Before Using 3. Motor
the Products Parts Description
060( :WR:
Connector for encoder

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

MDME 400W to 15.0kW
MFME 1.5kW to 4.5kW
MGMA 0.9kW to 6.0kW
MHME 1.0kW to 7.5kW
Connector for motor
Oil seal
Flange
Motor frame Mounting holes (X4)
e.g.) : Middle inertia type (MDME series, 1.0kW)
Note )RUGHWDLOVRIVSHFLÀFPRGHOUHIHUWRWKH'LPHQVLRQVRI6XSSOHPHQW 3WR

1-22
4. Check of the Combination of the Driver and the Motor 1
1Before Using

the Products Incremental Specifications, 20-bit
7KLVGULYHULVGHVLJQHGWREHXVHGLQDFRPELQDWLRQZLWKWKHPRWRUZKLFKDUHVSHFLÀHGE\
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HQFRGHUVSHFLÀFDWLRQV
Remarks Do not use in other combinations than those listed below. 2
Motor Driver
Rated Model of velocity, Model of Only for
Preparation
Power Rated
Type rotational Model position, torque and position control Frame
supply output
speed full-closed control type type
MSMD5AZG1 * 50W MADHT1105 MADHT1105E
Single A-frame
MSMD011G1 * 100W MADHT1107 MADHT1107E
phase,
MSMD021G1 * 200W MBDHT2110 MBDHT2110E B-frame
100V
MSMD041G1 * 400W MCDHT3120 MCDHT3120E C-frame
MSMD
3000r/min MSME5AZG1 * 50W
MADHT1505 MADHT1505E
Single/
Low inertia
MSME012G1 * 100W A-frame 3
3-phase, MSME022G1 * 200W MADHT1507 MADHT1507E
200V MSME042G1 * 400W MBDHT2510 MBDHT2510E B-frame
MSME082G1 * 750W MCDHT3520 MCDHT3520E C-frame
Connection
MSME5AZG1 * 50W MADHT1105 MADHT1105E
Single A-frame
MSME011G1 * 100W MADHT1107 MADHT1107E
phase,
MSME021G1 * 200W MBDHT2110 MBDHT2110E B-frame
100V
MSME041G1 * 400W MCDHT3120 MCDHT3120E C-frame
MSME5AZG1 * 50W
MADHT1505 MADHT1505E
MSME012G1 * 100W A-frame
Single/ MSME022G1 * 200W MADHT1507 MADHT1507E 4
3-phase, MSME042G1 * 400W MBDHT2510 MBDHT2510E B-frame
200V MSME082G1 * 750W MCDHT3520 MCDHT3520E C-frame
MSME102G□ * 1.0kW
MDDHT5540 MDDHT5540E D-frame
MSME MSME152G□ * 1.5kW
Setup
3000r/min
Low inertia MSME202G□ * 2.0kW MEDHT7364 MEDHT7364E E-frame
3-phase, MSME302G□ * 3.0kW MFDHTA390 MFDHTA390E
200V MSME402G□ * 4.0kW F-frame
MFDHTB3A2 MFDHTB3A2E
MSME502G□ * 5.0kW
MSME084G1 * 750W MDDHT2412 MDDHT2412E
MSME104G□ *
MSME154G□ *
1.0kW
1.5kW
MDDHT3420
MDDHT3420
MDDHT3420E
MDDHT3420E
D-frame 5
3-phase,
MSME204G□ * 2.0kW MEDHT4430 MEDHT4430E E-frame
400V
MSME304G□ * 3.0kW MFDHT5440 MFDHT5440E
Adjustment
MSME404G□ * 4.0kW F-frame
MFDHTA464 MFDHTA464E
MSME504G□ * 5.0kW
Single/ MDME102G□ * 1.0kW MDDHT3530 MDDHT3530E
D-frame
3-phase, 200V MDME152G□ * 1.5kW MDDHT5540 MDDHT5540E
MDME202G□ * 2.0kW MEDHT7364 MEDHT7364E E-frame
2000r/min
MDME302G□ * 3.0kW MFDHTA390 MFDHTA390E
MDME402G□ * 4.0kW F-frame
3-phase,
MDME502G□ * 5.0kW
MFDHTB3A2 MFDHTB3A2E 6
200V
MDME752G1 * 7.5kW MGDHTC3B4 G-frame
When in Trouble
1500r/min MDMEC12G1 * 11.0kW −

MHDHTC3B4 H-frame
MDMEC52G1 * 15.0kW
MDME MDME044G1 * 400W
MDDHT2407 MDDHT2407E
Middle inertia MDME064G1 * 600W
D-frame
MDME104G□ * 1.0kW MDDHT2412 MDDHT2412E
MDME154G□ * 1.5kW MDDHT3420 MDDHT3420E
2000r/min
MDME204G□ * 2.0kW MEDHT4430 MEDHT4430E E-frame
3-phase,
MDME304G□ * 3.0kW MFDHT5440 MFDHT5440E
400V 7
MDME404G□ * 4.0kW F-frame
MDME504G□ * 5.0kW
MDME754G1 * 7.5kW MGDHTB4A2 G-frame
Supplement
1500r/min MDMEC14G1 * 11.0kW −

MHDHTB4A2 H-frame
MDMEC54G1 * 15.0kW
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1-23
Incremental Specifications, 20-bit
Motor Driver
Rated Model of velocity, Model of Only for
Power Rated
Type rotational Model position, torque and position control Frame
supply output
speed full-closed control type type
Single/
3-phase, MFME152G1 * 1.5kW MDDHT5540 MDDHT5540E D-frame
200V
3-phase, MFME MFME252G1 * 2.5kW MEDHT7364 MEDHT7364E E-frame
200V 2000r/min
Middle inertia MFME452G1 * 4.5kW MFDHTB3A2 MFDHTB3A2E F-frame
MFME154G1 * 1.5kW MDDHT3420 MDDHT3420E D-frame
3-phase,
MFME254G1 * 2.5kW MEDHT4430 MEDHT4430E E-frame
400V
MFME454G1 * 4.5kW MFDHTA464 MFDHTA464E F-frame
Single/
3-phase, MGME092G□ * 0.9kW MDDHT5540 MDDHT5540E D-frame
200V
MGME202G□ * 2.0kW MFDHTA390 MFDHTA390E
3-phase, MGME302G□ * 3.0kW F-frame
MFDHTB3A2 MFDHTB3A2E
200V MGME MGME452G1 * 4.5kW
1000r/min
Middle inertia MGME602G1 * 6.0kW MGDHTC3B4 － G-frame
MGME094G□ * 0.9kW MDDHT3420 MDDHT3420E D-frame
MGME204G□ * 2.0kW MFDHT5440 MFDHT5440E
3-phase,
MGME304G□ * 3.0kW F-frame
400V MFDHTA464 MFDHTA464E
MGME454G1 * 4.5kW
MGME604G1 * 6.0kW MGDHTB4A2 － G-frame
Single MHMD021G1 * 200W MBDHT2110 MBDHT2110E B-frame
phase,
MHMD041G1 * 400W MCDHT3120 MCDHT3120E C-frame
100V MHMD
2000r/min
Single/ High inertia MHMD022G1 * 200W MADHT1507 MADHT1507E A-frame
3-phase, MHMD042G1 * 400W MBDHT2510 MBDHT2510E B-frame
200V MHMD082G1 * 750W MCDHT3520 MCDHT3520E C-frame
Single/ MHME102G□ * 1.0kW MDDHT3530 MDDHT3530E
3-phase, D-frame
MHME152G□ * 1.5kW MDDHT5540 MDDHT5540E
200V
2000r/min MHME202G□ * 2.0kW MEDHT7364 MEDHT7364E E-frame
MHME302G□ * 3.0kW MFDHTA390 MFDHTA390E
3-phase,
MHME402G□ * 4.0kW F-frame
200V MFDHTB3A2 MFDHTB3A2E
MHME502G□ * 5.0kW
MHME
1500r/min MHME752G1 * 7.5kW MGDHTC3B4 － G-frame
High inertia MHME104G□ * 1.0kW MDDHT2412 MDDHT2412E
D-frame
MHME154G□ * 1.5kW MDDHT3420 MDDHT3420E
MHME204G□ * 2.0kW MEDHT4430 MEDHT4430E E-frame
3-phase, 2000r/min
MHME304G□ * 3.0kW MFDHT5440 MFDHT5440E
400V
MHME404G□ * 4.0kW F-frame
MHME504G□ * 5.0kW
1500r/min MHME754G1 * 7.5kW MGDHTB4A2 － G-frame
Note • Suffix of "□" in the applicable motor model represents design order.
• Suffix of " * " in the applicable motor model represents the motor structure.

1-24
1Before Using

the Products Absolute Specifications, 17-bit
7KLVGULYHULVGHVLJQHGWREHXVHGLQDFRPELQDWLRQZLWKWKHPRWRUZKLFKDUHVSHFLÀHGE\
XV&KHFNWKHVHULHVQDPHRIWKHPRWRUUDWHGRXWSXWWRUTXHYROWDJHVSHFLÀFDWLRQVDQG
HQFRGHUVSHFLÀFDWLRQV
Remarks Do not use in other combinations than those listed below.

2
Motor Driver
Preparation
Model of velocity,
Power Rated rotational Rated
Type Model position, torque and Frame
supply speed output
full-closed control type
MSME5AZS1 * 50W MADHT1105
A-frame
Single phase, MSME011S1 * 100W MADHT1107
100V MSME021S1 * 200W MBDHT2110 B-frame
MSME041S1 * 400W MCDHT3120 C-frame
MSME5AZS1 * 50W
MADHT1505
3
MSME012S1 * 100W A-frame
Single/ MSME022S1 * 200W MADHT1507
Connection
3-phase, MSME042S1 * 400W MBDHT2510 B-frame
200V MSME082S1 * 750W MCDHT3520 C-frame
MSME102S□ * 1.0kW
MDDHT5540 D-frame
MSME MSME152S□ * 1.5kW
3000r/min
Low inertia MSME202S□ * 2.0kW MEDHT7364 E-frame
3-phase, MSME302S□ * 3.0kW MFDHTA390
200V MSME402S□ * 4.0kW F-frame
MSME502S□ * 5.0kW
MFDHTB3A2 4
MSME084S1 * 750W MDDHT2412
MSME104S□ * 1.0kW MDDHT3420 D-frame
MSME154S□ * 1.5kW MDDHT3420
3-phase,
Setup
MSME204S□ * 2.0kW MEDHT4430 E-frame
400V
MSME304S□ * 3.0kW MFDHT5440
MSME404S□ * 4.0kW F-frame
MFDHTA464
MSME504S□ * 5.0kW
Single/3-phase, MDME102S□ * 1.0kW MDDHT3530
D-frame
200V MDME152S□ * 1.5kW MDDHT5540
MDME202S□ * 2.0kW MEDHT7364 E-frame
5
2000r/min
MDME302S□ * 3.0kW MFDHTA390
MDME402S□ * 4.0kW F-frame
Adjustment
3-phase, MFDHTB3A2
MDME502S□ * 5.0kW
200V
MDME752S1 * 7.5kW MGDHTC3B4 G-frame
1500r/min MDMEC12S1 * 11.0kW
MHDHTC3B4 H-frame
MDMEC52S1 * 15.0kW
MDME MDME044S1 * 400W
MDDHT2407
Middle inertia MDME064S1 * 600W
D-frame
MDME104S□ *
MDME154S□ *
1.0kW
1.5kW
MDDHT2412
MDDHT3420
6
2000r/min
MDME204S□ * 2.0kW MEDHT4430 E-frame
3-phase,
When in Trouble
MDME304S□ * 3.0kW MFDHT5440

400V
MDME404S□ * 4.0kW F-frame
MFDHTA464
MDME504S□ * 5.0kW
MDME754S1 * 7.5kW MGDHTB4A2 G-frame
1500r/min MDMEC14S1 * 11.0kW
MHDHTB4A2 H-frame
MDMEC54S1 * 15.0kW
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7
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Supplement
When you use in absolute, make the following operations.

a) Install a battery for absolute encoder.
b) 6ZLWFKWKHSDUDPHWHU3U $EVROXWHHQFRGHUVHWXS IURP GHIDXOW WR
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1-25
Absolute Specifications, 17-bit
Motor Driver
Model of velocity,
Power Rated rotational Rated
Type Model position, torque and Frame
supply speed output
full-closed control type
Single/3-phase,
MFME152S1 * 1.5kW MDDHT5540 D-frame
200V
3-phase, MFME252S1 * 2.5kW MEDHT7364 E-frame
MFME
200V 2000r/min MFME452S1 * 4.5kW MFDHTB3A2 F-frame
Middle inertia
MFME154S1 * 1.5kW MDDHT3420 D-frame
3-phase,
MFME254S1 * 2.5kW MEDHT4430 E-frame
400V
MFME454S1 * 4.5kW MFDHTA464 F-frame
Single/3-phase,
MGME092S□ * 0.9kW MDDHT5540 D-frame
200V
MGME202S□ * 2.0kW MFDHTA390
3-phase, MGME302S□ * 3.0kW F-frame
MFDHTB3A2
200V MGME452S1 * 4.5kW
MGME
1000r/min MGME602S1 * 6.0kW MGDHTC3B4 G-frame
Middle inertia
MGME094S□ * 0.9kW MDDHT3420 D-frame
MGME204S□ * 2.0kW MFDHT5440
3-phase,
MGME304S□ * 3.0kW F-frame
400V MFDHTA464
MGME454S1 * 4.5kW
MGME604S1 * 6.0kW MGDHTB4A2 G-frame
Single/ MHME102S□ * 1.0kW MDDHT3530
3-phase, D-frame
MHME152S□ * 1.5kW MDDHT5540
200V
2000r/min MHME202S□ * 2.0kW MEDHT7364 E-frame
MHME302S□ * 3.0kW MFDHTA390
3-phase,
MHME402S□ * 4.0kW F-frame
200V MFDHTB3A2
MHME502S□ * 5.0kW
MHME
1500r/min MHME752S1 * 7.5kW MGDHTC3B4 G-frame
High inertia MHME104S□ * 1.0kW MDDHT2412
D-frame
MHME154S□ * 1.5kW MDDHT3420
MHME204S□ * 2.0kW MEDHT4430 E-frame
3-phase, 2000r/min
MHME304S□ * 3.0kW MFDHT5440
400V
MHME404S□ * 4.0kW F-frame
MFDHTA464
MHME504S□ * 5.0kW
1500r/min MHME754S1 * 7.5kW MGDHTB4A2 G-frame
Note • Suffix of "□" in the applicable motor model represents design order.
• Suffix of " * " in the applicable motor model represents the motor structure.
• Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".
• Only for position control type does not support the 17-bit absolute specification.
It supports only 20-bit incremental specification.
1-26
1Before Using

the Products Junction cable for motor
Encoder cable
Detail
Motor series ,QFUHPHQWDO6SHFLÀFDWLRQVELW Note)1 Absolute Specifications, 17-bit Note)1
page
MSMD 50W to 750W MFECA0 ** 0EAM — 7-98 2
MFECA0 ** 0MJD MFECA0 ** 0MJE
(Highly bendable type, Direction of motor shaft) (Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKD MFECA0 ** 0MKE
Preparation
MSME 50W (Highly bendable type, Opposite direction of motor shaft) (Highly bendable type, Opposite direction of motor shaft) 7-98
to 750W (200V) MFECA0 ** 0TJD MFECA0 ** 0TJE 7-99
(Standard bendable type, Direction of motor shaft) (Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKD MFECA0 ** 0TKE

(Standard bendable type, Opposite direction of motor shaft) (Standard bendable type, Opposite direction of motor shaft)
MSME 750W (400V), MFECA0 ** 0ESD note)2
MFECA0 ** 0ESE note)2
1.0kW to 5.0kW MFECA0 ** 0ETD note)3 MFECA0 ** 0ETE note)3
MDME 400W to 15.0kW
MFECA0 ** 0ESD note)2 MFECA0 ** 0ESEnote)2 3
MFECA0 ** 0ETD note)3 MFECA0 ** 0ETE note)3 7-99
MFME 1.5kW to 4.5kW MFECA0 ** 0ETD MFECA0 ** 0ETE
to
MFECA0 ** 0ESD note)2 MFECA0 ** 0ESE note)2
Connection
MGME 0.9kW to 6.0kW 7-100
MFECA0 ** 0ETD note)3 MFECA0 ** 0ETE note)3
MHMD 200W to 750W MFECA0 ** 0EAM —
MFECA0 ** 0ESD note)2 MFECA0 ** 0ESE note)2
MHME 1.0kW to 7.5kW
MFECA0 ** 0ETD note)3 MFECA0 ** 0ETE note)3
1RWH ´ µUHSUHVHQWVWKHFDEOHOHQJWK1RWH 'HVLJQRUGHU& N:WRN: 0*0(WRN: 1RWH 'HVLJQRUGHU
Motor cable/ Brake cable 4

Motor cable Note)1 Detail
Motor series Brake cable Note)1
without Brake with Brake page
Setup
7-101
MSMD 50W to 750W MFMCA0 ** 0EED — MFMCB0 ** 0GET
7-106
MFMCA0 ** 0NJD MFMCB0 ** 0PJT
(Direction of motor shaft)
Highly bendable type,
(Direction of motor shaft)
MFMCA0 ** 0NKD MFMCB0 ** 0PKT

(Opposite direction of motor shaft)
7-101
MSME 50W to 750W
MFMCA0 ** 0RJD
—
MFMCB0 ** 0SJT 7-106 5
(Standard bendable type,
Direction of motor shaft ) (Standard bendable type,
Direction of motor shaft )
MFMCA0 ** 0RKD MFMCB0 ** 0SKT
Adjustment
Standard bendable type,
Standard bendable type,
MSME 1.0kW to 2.0kW（200V） MFMCA0 ** 2FCD

MFMCD0 ** 2ECD
MSME 750W to 2.0kW（400V） MFMCE0 ** 2FCD —
MSME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MDME 1.0kW to 2.0kW（200V） MFMCA0 ** 2FCD
MFMCD0 ** 2ECD
MDME 400W to 2.0kW（400V） MFMCE0 ** 2FCD —
MDME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT 6
MFME 1.5kW（200V） MFMCA0 ** 2ECD MFMCA0 ** 2FCD
MFME 1.5kW（400V） 7-102
When in Trouble
MFMCF0 ** 2ECD MFMCE0 ** 2FCD —

MFME 2.5kW
to
MFME 4.5kW MFMCD0 ** 3ECT MFMCA0 ** 3FCT
MGME 0.9kW（200V） MFMCA0 ** 2FCD 7-106
MFMCD0 ** 2ECD
MGME 0.9kW（400V） MFMCE0 ** 2FCD —
MGME 2.0kW to 4.5kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MHMD 200W to 750W MFMCA0 ** 0EED — MFMCB0 ** 0GET
MHME 1.0kW, 1.5kW（200V） MFMCA0 ** 2FCD
MFMCD0 ** 2ECD
MHME 1.0kW, 1.5kW（400V）
MFMCE0 ** 2FCD —
7
MHME 2.0kW MFMCE0 ** 2ECD
MHME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
Supplement
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option.
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1-27
1Before Using 5. Installation
the Products Driver
Install the driver properly to avoid a breakdown or an accident.

Installation Place
1) Install the driver in a control panel enclosed in noncombustible material and placed in-
door where the product is not subjected to rain or direct sunlight. The products are not
waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sul-
ÀGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH
DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and low humidity and dust-free place.
5) Vibration-free place.
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can
discolor or damage the exterior case.
Environmental Conditions
Item Conditions
Ambient temperature Ý&WRÝ& IUHHIURPIUHH]LQJ
Ambient humidity 20% to 85% RH (free from condensation)
Storage temperature*1 ²Ý&WRÝ&
(Max. temperature guarantee: 80ÝC for 72 hours free from condensation*2)
Storage humidity 20% to 85% RH (free from condensation*2)
Vibration Lower than 5.88m/s2 (0.6G), 10 to 60Hz
*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 brack-
HW)RUFKRRVLQJWKHFRUUHFWRSWLRQDOPRXQWLQJEUDFNHWUHIHUWR3´0RXQWLQJ%UDFNHWµ
4) In consideration of strength of the screws and the material of the mounting base, se-
OHFWDSSURSULDWHIDVWHQLQJWRUTXHIRUWKHSURGXFWPRXQWLQJVFUHZVVRWKDWWKHVFUHZV
will not be loosened or damaged.
Example) To tighten a steel screw into a steel base
A to G-frame: M5 2.7 to 3.3 N·m, H-frame: M6 4.68 to 5.72 N·m
A to D-frame E to G-frame H-frame
Basemount (Standard) Frontmount Front or rearmount Rearmount [Basemount]
[Rear mount] [Use mounting bracket] [Use mounting bracket]
Mounting bracket Mounting bracket

(optional parts) (Attachment)
<E-frame> Fastening torque of ground terminal (M4)
Fastening torque of
to be 0.7 to 0.8 N m.
Fastening torque of ground terminal (M4) ground terminal (M6)
<F, G-frame> Fastening torque of ground terminal (M5)
to be 0.7 to 0.8 N m. to be 2.4 to 2.6 N m.
to be 1.4 to 1.6 N m.
1-28
5. Installation
Driver
1

Mounting Direction and Spacing
5HVHUYHHQRXJKVXUURXQGLQJVSDFHIRUHIIHFWLYHFRROLQJ
,QVWDOOIDQVWRSURYLGHXQLIRUPGLVWULEXWLRQRIWHPSHUDWXUHLQWKHFRQWUROSDQHO
'WR+IUDPHLVSURYLGHGZLWKDFRROLQJIDQDWWKHERWWRP (On the H-frame, the cooling
2
fan is also installed on the upper side.)
Observe the environmental conditions of the control panel described in the previous page.
Preparation
Fan Control panel Fan
100mm
or more
3
40mm a a a 40mm
Connection
or or
more more
a
Direction of air flowing
from the internal 100mm A to F-frame 10mm or more
cooling fan (D to H-frame) or more
G, H-frame 50mm or more
Note It is recommended to use the conductive paint when you make your own mounting brack- 4
et, 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 :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[FHS-
tionally large external noise disturbance and static electricity, or failure in input power, wiring and
5
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.
Adjustment
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 6
grounding terminal or grounding wire provided. (In order to prevent electric shock and malfunc-
WLRQV&ODVV'JURXQGLQJ JURXQGLQJUHVLVWDQFHRIїRUOHVV LVUHFRPPHQGHG
When in Trouble
,IWKHSURGXFWLVJURXQGHGLQVXIÀFLHQWO\QRWRQO\WKHGULYHUPD\QRWGHOLYHULWVSHUIRUPDQFHVXI-
ÀFLHQWO\EXWDOVRVDIHW\KD]DUGVVXFKDVDPDOIXQFWLRQGXHWRDHOHFWULÀFDWLRQRUDGLVWXUEDQFH
may be caused.
,IHOHFWULFZLUHVDUHERXQGDQGUXQWKURXJKPHWDOGXFWWKH\FDQQRWFDUU\WKHUDWHGFXUUHQWGXHWR
temperature rise. If they are forced to carry the rated current, they may burn. When determining
size of the wire.
'RQRWXVHRUVWRUHWKHSURGXFWLQDSODFHVXEMHFWWRPV2 or more vibration or shock, for- 7
HLJQPDWHULDOVVXFKDVGXVWPHWDOOLFSRZGHUDQGRLOPLVWOLTXLGVVXFKDVZDWHURLODQGJULQGLQJ
ÁXLG FORVH WR ÁDPPDEOH PDWHULDOV RU LQ DQ DWPRVSKHUH RI FRUURVLYH JDV +2S, SO2, NO2, Cl2,
Supplement
HWF RULQÁDPPDEOHJDVXQGHUDQ\FLUFXPVWDQFH
Related page 3´6SHFLÀFDWLRQVµ3´,QVWDOODWLRQRIPRWRUµ
3´'LPHQVLRQVµ3´0RXQWLQJEUDFNHWµ

1-29
5. Installation
Driver
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the mo-
tor running out of control or being damaged from overheating. In addition, pay attention not to al-
low conductive materials, such as wire chips, entering the driver during the installation and wiring.
6HFXUHWKHVFUHZVDQGHDUWKVFUHZRQWKHWHUPLQDOEORFNZLWKWKHWRUTXHVSHFLÀHGLQWKHVSHFLÀ-
cation.
:KHQHVWDEOLVKLQJDV\VWHPXVLQJVDIHW\IXQFWLRQVFRPSOHWHO\XQGHUVWDQGWKHDSSOLFDEOHVDIHW\
standards and the operating instruction manual or technical documents for the product.
1HYHUPDNHDQDSSURDFKWRWKHPRWRUDQGWKHPDFKLQH V GULYHQE\WKHPRWRUZKLOHSRZHU LV
applied because they may become failure or malfunction.
'RQRWXVHVHUYRRQVLJQDO 65921 DVWKHVWDUWVWRSVLJQDO'RLQJVRPD\GDPDJHWKHEXLOWLQ
dynamic brake circuit in the driver.
3D\DWWHQWLRQWRWKHKHDWGLVVLSDWLRQ7KHGULYHUZLOOJHQHUDWHKHDWZKLOHWKHPRWRULVLQRSHUD-
tion. Using the driver in a sealed control box may cause an abnormal heating of the control
box. A proper consideration should be given to cool the driver so that the ambient temperature
PDWFKHVWKHVSHFLÀHGRSHUDWLQJWHPSHUDWXUHUDQJH
7KHUHLVDSRVVLELOLW\WKDWWKHPRWRUZLOOEHGDPDJHGE\KHDWRUHPLWVPRNHRUGXVWGXHWRDIDXOW
in the motor itself or the driver coupled with it. A proper consideration should be given if the mo-
tor is used in a clean room or similar environment.
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 in-
operable.
7KHFDSDFLWDQFHRIFDSDFLWRULQWKHSRZHUVXSSO\UHFWLÀHUFLUFXLWGHFUHDVHVLWVFDSDFLWDQFHZLWK
age.
To prevent a secondary accident due to malfunction, it should be replaced with new one after
5-year use.
Replacement should be performed by us or our authorized distributor.
%HIRUHXVLQJWKHSURGXFWEHVXUHWRUHDGWKHLQVWUXFWLRQPDQXDO 6DIHW\SDUW
Recommended Electric Wires for Driver

)RUWKHPDLQFLUFXLWXVHHOHFWULFZLUHWKDWZLWKVWDQGVDWOHDVW9$&ZLWKWHPSHUD-
WXUHUDWLQJʝRUKLJKHU
:KHQ XVLQJ EXQGOHG ZLUHV UXQQLQJ WKURXJK PHWDOOLF FRQGXLW WKH DPRXQWV RI FXUUHQW
determined according to the reduction rate must be subtracted from the nominal allow-
able current.
(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 tempera-
WXUHDQGQHHGVVSHFLÀFSURWHFWLYHPHDVXUHZKHQXVHGLQFROGUHJLRQ
%HQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU
&DEOHVFDQQRWEHXVHGIRUFRQWLQXRXVUHJHQHUDWLRQEHFDXVHWKH\DUHQRWGHVLJQHGIRU
such application.
Related page 3´-XQFWLRQFDEOHIRUPRWRUµ

1-30
5. Installation
Driver
1

Relationship between Wire Diameter and Permissible Current
:KHQVHOHFWLQJDFDEOHUHIHUWRWKHIROORZLQJVHOHFWLRQJXLGHVKRZLQJUHODWLRQVKLSEH-
WZHHQFDEOHVSHFLÀFDWLRQDQGFXUUHQWFDUU\LQJFDSDFLW\
Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30°C 2
Determine the fundamental permissible current according to the )XQGDPHQWDOSHUPLVVLEOH
cable conductor material (example: stranded copper wire). (For the current
Preparation
purpose of this example, the ampere indicated by is selected from Copper
Stranded conductor
the table right.) (nominal cross section: mm2)
wire
Next, determine the number of conductors. (In this example, the (unit: A)
cable contains 4 conductors (3 + ground).) Determine the applicable 2 to 3.5 (excl.) 27
permissible current using the following formula. ◇ 3.5 to 5.5 (excl.) 37
5.5 to 8 (excl.) 49
Applicable permissible current
8 to 14 (excl.) 61
= IXQGDPHQWDOSHUPLVVLEOHFXUUHQW[FXUUHQWUHGXFWLRQFRHIÀFLHQW[FXUUHQW
FRUUHFWLRQFRHIÀFLHQW 14 to 22 (excl.)
11 to 30 (excl.)
88
115
3
= 37 x 0.7 x 1.414
. 30 to 38 (excl.) 139
=. 36.6 (A)
38 to 68 (excl.) 162
Connection
This permissible value is larger than 35 A to be carried though the
cable. Therefore, according to the list of recommended eco-cables, 60 to 100 (excl.) 217
the cable to be selected for the cable with nominal cross section 3.5 100 to 150 (excl.) 298
mm2 is a polyethylene-insulated heat-resistant 4-conductor power 150 to 200 (excl.) 395
FDEOHKDYLQJPPÀQLVK2' DSSUR[PPZLWKVKLHOG
<Supplement>
7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGXVLQJWKHIROORZLQJIRUPXOD
(Max. permissible temp. – ambient temp.) ÷ 30 4
Caution 7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGDFFRUGLQJWRWKHFDEOH&KHFNWKHVSHFLÀFDWLRQRIWKHFDEOH
used.
7KH FXUUHQW UHGXFWLRQ FRHIILFLHQW LV SURYLGHG IRU WKH FDVH &XUUHQWUHGXFWLRQFRHIILFLHQW
Setup
where the cable (4-conductor cable in the case of example), No. of wires in a tube Coefficient
is housed in plastic race/sheath, plastic tube, metal race/ ◎ Up to 3 0.70
VKHDWKPHWDOWXEHRUÁH[LEOHFRQGXLW 4 0.63
Caution Because the neutral conductor is not counted as a wire, the cur- 5 or 6 0.56
UHQWUHGXFWLRQFRHIÀFLHQWIRU´RUOHVVµLVDSSOLHGDVLQGLFDWHGE\ 7 to 15 0.49
( ) in the table right. 16 to 40 0.43
41 to 60 0.39 5
61 or more 0.34
5HFRPPHQGHGHFRFDEOH
Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath
Adjustment
(Standard: EM JIS C 3605) Maximum permissible temperature: 90°C
Conductor Max.
Minimum (Reference)
Nominal Insulation Sheath (Reference) conductor Test
Structure Outside insulation Approx.
cross thickness thickness Finish O.D. resistance voltage
or shape diameter resistance mass
section (mm) (mm) (mm) (20°C) (V/1 min.)
(wires/mm2) (mm) 0:NP (kg/km)
(mm2) (W/km)
2 7/0.6 1.8 0.8 1.5 12.0 9.42 1500 2500 170
3.5 7/0.8 2.4 0.8 1.5 13.5 5.30 1500 2500 250 6
5.5 7/1.0 3.0 1.0 1.5 16.0 3.40 1500 2500 360
8 7/1.2 3.6 1.0 1.5 17.0 2.36 1500 2000 475
When in Trouble
Circular
14 compression 4.4 1.0 1.5 19.0 1.34 2000 1500 730
Circular
22 compression 5.5 1.2 1.6 23 0.849 2000 1500 1100
Circular
38 compression 7.3 1.2 1.8 28 0.491 2500 1500 1800
Circular
60 compression 9.3 1.5 2.0 35 0.311 2500 1500 2790
Circular
100 12.0 2.0 2.4 44 0.187 2500 1500 4630
compression
Circular
7
150 compression 14.7 2.0 2.6 51 0.124 3000 1000 6710
Circular
200 compression 17.0 2.5 2.9 60 0.0933 3000 1500 8990
Supplement
Caution 6KLHOGZLOOLQFUHDVHÀQLVKRXWVLGHGLDPHWHUE\DSSUR[PP
Note $SSURSULDWHFDEOHVKRXOGEHVHOHFWHGWRKDYHVXIÀFLHQWDOORZDQFHIRUSDUDPHWHUVVXFKDVRSHUDWLQJDPEL-

ent temperature and current.
&XUUHQW UHGXFWLRQ FRHIILFLHQW IXQGDPHQWDO SHUPLVVLEOH FXUUHQW HWF VWDWHG RQ WKLV SDJH DUH VXEMHFW WR
change due to e.g. standard revision. Consult cable manufacturers for the latest information.
1-31
1Before Using 5. Installation
the Products 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 sul-
ÀGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH
DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
Item Conditions
Ambient temperature*1 Ý&WRÝ& IUHHIURPIUHH]LQJ
Ambient humidity 20% to 85% RH (free from condensation)
²Ý&WRÝ&
Storage temperature*2
(Max. temperature guarantee: 80ÝC for 72 hours free from condensation*5)
Storage humidity 20% to 85% RH (free from condensation*5)
Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Impact Motor only Lower than 98m/s2 (10G)
Enclosure Motor only IP67 (except rotating portion of output shaft and connecting pin
rating (Connector type) part of the motor connector and the encoder connector)*3*4
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
*3 7KHVHPRWRUVFRQIRUPWRWKHWHVWFRQGLWLRQVVSHFLÀHGLQ(1VWDQGDUGV (1(1 'R
QRWXVHWKHVHPRWRUVLQDSSOLFDWLRQZKHUHZDWHUSURRISHUIRUPDQFHLVUHTXLUHGVXFKDVFRQWLQXRXV
wash-down operation.
*4 This condition is applied when the connector mounting screw in case of motor 750W or less are
WLJKWHQHG WR WKH UHFRPPHQGHG WLJKWHQLQJ WRUTXH 5HIHU WR 3 %H VXUH WR XVH PRXQWLQJ
screw supplied with the connector. Correctly install and secure the gasket supplied with the cable
connector.
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
Motor
1

Oil/Water Protection
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is always subject-
2
Cable Motor
ed to oil or water.
Preparation
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
3
1) Avoid a stress application to the cable outlet and connecting portion by bending or self-
weight.
Connection
(VSHFLDOO\LQDQDSSOLFDWLRQZKHUHWKHPRWRULWVHOIWUDYHOVÀ[WKHMXQFWLRQFDEOHLQWRWKH
bearer so that the stress by bending can be minimized.
3) Take the cable bending radius as large as possible. (When you use our optional cable,
Minimum R20mm)
4
Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to the
Setup
motor shaft at installation and at normal operation can meet the permissible value
VSHFLÀHGWRHDFKPRGHO
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may dam-
age the shaft or deteriorate the bearing life.)
8VHDÁH[LEOHFRXSOLQJZLWKKLJKVWLIIQHVVGHVLJQHGH[FOXVLYHO\IRUVHUYRDSSOLFDWLRQLQ 5
order to make a radial thrust caused by micro misalignment smaller than the permis-
sible value.
Adjustment
Note )RUSHUPLVVLEOHORDGRIHDFKPRGHOUHIHUWR3´3HUPLVVLEOH/RDGDW2XWSXW6KDIWµ.
Notes on Installation
1) Do not apply direct impact to the shaft by hammer 6
while attaching/detaching a coupling to and from
the motor shaft.
When in Trouble
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
7
PD\UHVXOWLQWKHEHDULQJQRLVH&KHFNDQGYHULÀFDWLRQE\FXVWRPHULVUHTXLUHG
Supplement
Related page 3´-XQFWLRQFDEOHIRUPRWRUµ3´,QVWDOODWLRQRIGULYHUµ

3´3HUPLVVLEOH/RDGDW2XWSXW6KDIWµ3´'LPHQVLRQVµ

1-33
5. Installation
Motor
Wiring Precautions on Movable Section

When wiring cable bear, take the following precautions:
&DEOHEHDUZLULQJ
7KHEHQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU
)RUÀQLVKRXWVLGHGLDPHWHUUHIHUWR3+RZWR,QVWDOO´5HODWLRQVKLSEHWZHHQ:LUH
'LDPHWHUDQG3HUPLVVLEOH&XUUHQWµDQGDVVRFLDWHGWDEOHV
'RQRWÀ[RUEXQGOHZLUHVLQWKHFDEOHEHDU
:KHQVHFXULQJWKHFDEOHÀ[LWRQO\DWQRQPRYDEOHHQGVRIWKHFDEOHEHDUZKHUHWKH
cable is free from any stress (e.g. tension). (Avoid tight lock.)
[Recommended cable bear wiring]
Cable bear
Cable
Cable end
Caution Do not keep the cable loosened (too long) or under tension (too short).
Otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other
cable, etc., causing unpredictable troubles.
&DEOHGLVWRUWLRQ
Keep the cable free from twists or kinks.
Distorted cable will cause loose connection, lowering performance and reliability.
/DPLQDWLRQIDFWRURIFDEOHLQFDEOHEHDU
3ODFHFDEOHVRQDÁDWVXUIDFHLQSDUDOOHOZLWKRXWEULQJLQJWKHPLQWRFRQWDFWZLWKHDFK
other and measure the dimension necessary to cover these cables. Then select a ca-
ble bear which is wider than the measured dimension.
The lamination factor of cables should be lower than 60% (recommended factor is 30%
or below).
Do not run smaller and larger size cables in the same cable bear. Thin cables may
break under the pressure of thick cables. If it is necessary to mix cables of different
size, isolate them by using suitable separating material such as partition.
[Wiring arrangement in cable bear – example]
Cable Cable Partition

Partition
Thick cable Thin cable

1-34
6. Permissible Load at Output Shaft 1
1Before Using

the Products Motor
Radial load (P) direction Thrust load (A and B) direction

L
A 2
M
Preparation
B
L/2
P
Unit : N (1kgf=9.8N)
At assembly During running
Motor Thrust load Thrust load A
Motor output
series Radial thrust Radial thrust and 3
A-direction B-direction B-direction
50W, 100W 147 88 117.6 68.6 58.8
Connection
MSMD 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 4
MSME 750W (400V),
1.0kW, 1.5kW, 490 196
2.0kW, 3.0kW 980 588 686
Setup
4.0kW, 5.0kW 784 343
400W to 2.0kW 490 196
980 588 686
3.0kW
4.0kW 784 343
MDME 1666 784 980 5
5.0kW
7.5kW 2058 980 1176 1176 490
Adjustment
11.0kW, 15.0kW 4508 1470 1764 2254 686
0.9kW 980 588 686 686 196
2.0kW 1666 784 980 1176
MGME 3.0kW 490
1470
4.5kW 2058 980 1176
6.0kW 1764 588 6
1.5kW 980 588 490 196
When in Trouble
MFME 686
2.5kW, 4.0kW 1862 686 784 294
200W, 400W 392 147 196 245 98
MHMD
750W 686 294 392 392 147
1.0kW, 1.5kW 980 588 686 490 196
MHME 2.0kW to 5.0kW 1666 784 980 784 343
7.5kW 2058 980 1176 1176 490 7
Note When the load point varies, calculate the permissible radial load, P (N) from the distance
Supplement
RIWKHORDGSRLQW/ PP IURPWKHPRXQWLQJÁDQJHEDVHGRQWKHIRUPXODRIWKHULJKWWD-
ble, and make it smaller than the calculated result.

1-35
6. Permissible Load at Output Shaft
Motor
L
P
Formula of Load Formula of Load

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

1-36
1
2. Preparation

1. Conformance to international standards
EC Directives .............................................................................................2-2
Composition of Peripheral Equipments......................................................2-6
2. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments ...............................2-10
A to G-frame, 100/200 V type: 2
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
Preparation
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 3
Wiring method to connector .....................................................................2-50
3. Wiring to the connector, X1
Connection
Connecting host computer.............................................................................. 2-51
Connecting communication connector ........................................................... 2-51
Safety function connector.........................................................................2-53
Connection to Host Controller ..................................................................2-54 4
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
5
Servo-ON/OFF .........................................................................................2-64
11. Built-in Holding Brake
Adjustment
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 6
Outline / Setup / Connection ....................................................................2-72
When in Trouble
Composition and List of Parameters ........................................................2-73

List of Parameters ....................................................................................2-74
Setup of Torque Limit...............................................................................2-82
14. Setup of command division and multiplication ratio
(electronic gear ratio)
Relation between Electronic Gear and Position Resolution or Traveling Speed ...2-84
15. How to Use the Front Panel
Setup........................................................................................................2-86
Structure of Each Mode ...........................................................................2-88
7
Setup of front panel lock ..........................................................................2-90
Monitor Mode (SELECTION display) .......................................................2-91
Supplement
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
2 1. Conformance to international standards
Preparation EC Directives
EC Directives
7KH(&'LUHFWLYHVDSSO\WRDOOVXFKHOHFWURQLFSURGXFWVDVWKRVHKDYLQJVSHFLÀFIXQFWLRQV
and have been exported to EU and directly sold to general consumers. Those products
DUHUHTXLUHGWRFRQIRUPWRWKH(8XQLÀHGVWDQGDUGVDQGWRIXUQLVKWKH&(PDUNLQJRQWKH
products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so
that the machine or equipment comprising our AC servos can meet EC Directives.
EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor and
the driver. And actual working condition often differs from this model condition especially
in wiring and grounding. Therefore, in order for the machine to conform to the EMC Di-
rectives, especially for noise emission and noise terminal voltage, it is necessary to ex-
amine the machine incorporating our servos.
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1.
(e.g. Install in the control box with IP54 enclosure.)
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed
PDUNHG EHWZHHQWKHSRZHUVXSSO\DQGWKHQRLVHÀOWHU
Remarks 8VHDFRSSHUFDEOHZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU
Note For rated current of circuit breaker and fuse, refer to P.2-10 “Driver and List of Appli-
cable Peripheral Equipments”.
(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds
115% or more than the rated current based on the time characteristics (see the next
SDJH &RQÀUPWKDWWKHHIIHFWLYHFXUUHQWRIWKHGULYHUGRHVQRWH[FHHGWKHUDWHGFXU-
rent. Set up the peak permissible current with Pr0.13 (Setup of 1st torque limit) and
Pr5.22 (Setup 2nd torque limit).
SEMI F47
,QFOXGHVDIXQFWLRQLQFRPSOLDQFHZLWKWKH6(0,)VWDQGDUGIRUYROWDJHVDJLPPXQLW\
under no load or light load.
,GHDOIRUWKHVHPLFRQGXFWRUDQG/&'LQGXVWULHV
Caution (1) Excluding the single-phase 100-V type.

(2) Please verify the actual compliance of your machine with the F47 standard for volt-
age sag immunity.
Note For Overload protection time characterstics, refer to P.6-14.

2-2
EC Directives
1

Conformed Standards
Driver Motor
EMC
EN55011
EN61000-6-2 –
2
Directives
EN61800-3
Preparation
Low-Voltage EN60034-1
EN61800-5-1
Directives EN60034-5
EC Direc-
tives Machinery EN954-1 (Cat. 3)
Directives ISO13849-1 (PL c,d)(Cat. 3)
EN61508 (SIL 2)
–
Functional EN62061 (SIL 2)
safety EN61800-5-2 (STO) 3
(*1)
IEC61326-3-1
Connection
UL1004-1
( E327868: from
to 750W (200V)
6.0kW )
UL Standards UL508C (E164620) UL1004
( )
E327868: 400W (400V)
600W (400V), 750W (400V)
0.9kW to 5.0kW
CSA Standards C22.2 No.14 C22.2 No.100
4
IEC : International Electrotechnical Commission
EN : Europaischen Normen
Setup
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
5
Panasonic Marketing Europe GmbH
Adjustment
Winsbergring 15, 22525 Hamburg, F.R. Germany
* Only for position control type does not support functional safety(*1) standards.
6
When in Trouble
7
Supplement
Caution Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.

2-3
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 Metallic control box
Power Noise filter for signal lines *1 Driver

supply XA Noise filter for
Residual Circuit ① L1
current device Noise filter ② signal lines *2
breaker L2 XB Motor
(RCD) L3 U ③
V M
L1C W
L2C
Surge ⑥ RE
X6 ④
absorber Noise filter for
signal lines
Noise filter for A to F-frame:
⑦ signal lines Motor cable
X3 without shield
Insulated power supply Noise filter for cable
X4
for interface ⑧ signal lines G, H-frame:
⑤
Safety *3 Motor cable
controller 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 Metallic control box
Power Noise filter for signal lines *1 Driver

supply XA Noise filter for
Residual Circuit ① L1
current device Noise filter ② signal lines *2
breaker L2 XB Motor
(RCD) L3 U ③
V M
Insulated 24V W
DC24V 0V
Surge ⑥ RE
X6 ④
absorber Noise filter for
signal lines
Noise filter for D to F-frame:
⑦ signal lines Motor cable
X3 without shield
Insulated power supply Noise filter for cable
X4
for interface ⑧ signal lines G, H-frame:
⑤
Safety *3 Motor cable
controller 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).
･,QVWDOOQRLVHÀOWHUDQGOLJKWQLQJVXUJHDEVRUEHULQWKHSRZHUVXSSO\OLQH
･ Use braided shield cable (tin plated annealed copper wire) for I/O signal cable and
encoder cable.
･3URYLGH WKH QRLVH ÀOWHU DV VKRZQ LQ WKH ÀJXUH IRU HDFK FDEOH ,2 OLQH DQG SRZHU
source line to be connected to the servo driver.
･6KLHOGRIFDEOHVQRWVKRZQRQWKHÀJXUHVKRXOGEHGLUHFWO\JURXQGHGWKURXJK3(
Because these conditions for EMC directive are affected by status of connected de-
vices, wiring, connection and location, compliance should be checked after completing
installation.

2-4
EC Directives
1

'HWDLOVRIFDEOH OHIWKDQGILJXUH
Symbol From To Cable function Length Remarks Shield

1RLVHÀOWHU
for signal
2
lines
Preparation
Single phase
① Breaker 1RLVHÀOWHU Power line 2m none none
or 3-phase
② 1RLVHÀOWHU Servo driver Power line 2m ー none with
Junction cable
③ Servo driver Servo motor 20m ー *1 with
for motor
Junction cable
④ Servo driver Servo motor
for encoder
20m ー with with 3
⑤ Switch box Servo driver I/O cable 3m ー with with
Connection
⑥ Frame ground 1RLVHÀOWHU FG line 1m ー none none
⑦ Frame ground 1RLVHÀOWHU FG line 1m ー none none
⑧ AC power supply Switch box Power line 1m ー none none
*1 Frame A to F: none, Frame G and H: with.
5HIHUWR3IRUDOHIWKDQGILJXUHDQGWKHOLVWRIWKH3HULSKHUDO(TXLSPHQWVDIWHU 4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
the precautions.

2-5
2 1. Conformance to international standards
Preparation &RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Power Supply
+10% +10%
100V type : Single phase, 100V to 120V 50/60Hz
–15% –15%
(A to C-frame)
+10% +10%
200V type : Single/3-phase, 200V to 240V 50/60Hz
–15% –15%
(A to D-frame)
+10% +10%
200V type : 3-phase, 200V to 230V 50/60Hz
–15% –15%
(E to H-frame)
+10% +10%
400V type : Main power supply 3-phase, 380V to 480V 50/60Hz
–15% –15%
(D to H-frame)
: Control power supply DC 24V ± 15%
(1) This product is designed to be used in over-voltage category (installation category) III
of EN 61800-5-1:2007.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950.
Remarks Use sheathed (jacketed) cable, twisted cable or closely bundled cable for power cable.
3RZHUFDEOHDQGVLJQDOZLUHVPXVWEHVXIÀFLHQWO\LVRODWHGIURPHDFKRWKHU
Twisted Servo driver
Closely bundled cable Servo driver
L1
L1C
L2
L2C
L3
United
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and PDUNHG EHWZHHQSRZHUVXSSO\DQGQRLVHÀOWHU
The short-circuit protection circuit on the product is not for protection of branch circuit.
The branch circuit should be protected in accordance with NEC and the applicable local
regulations in your area.
Note For driver and applicable peripheral equipments, refer to P.2-10 "Driver and List of Applicable
Peripheral Equipments".

2-6
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
1

Noise Filter
9ROWDJHVSHFLÀFDWLRQV Manufacturer’s Applicable
Option part No. Manufacturer
for driver part No. driver (frame)
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A, B-frame
2
3-phase 200V A, B-frame
Preparation
DV0PM20042 Single phase 100V/200V 3SUP-HU10-ER-6
C-frame
3-phase 200V Okaya Electric Ind.
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
5HFRPPHQGHGFRPSRQHQWV 3
9ROWDJHVSHFLÀFDWLRQV Rated Applicable driver
Model No. Manufacturer
for driver current (frame)
Connection
RTHN-5010 10 A, B, C-frame
RTHN-5030 30 D-frame TDK-Lambda Corp.
RTHN-5050 3-phase 200V 50 E, F-frame
FS5559-60-34 60 G-frame
FS5559-80-34 80 H-frame
FN258L-16-07 16 D, E-frame
FN258L-30-07 30 F-frame
Schaffner 4
3-phase 400V
FN258-42-07 42
G, H-frame
FN258-42-33 42
Setup
Remarks 6HOHFWDQRLVHÀOWHUZKRVHFDSDFLW\LVFRPPHQVXUDWHZLWKWKHSRZHUVRXUFHFDSDFLW\ LQ
consideration of the load condition).
)RUWKHGHWDLOHGVSHFLÀFDWLRQVRIHDFKQRLVHÀOWHUFRQWDFWWKHPDQXIDFWXUHU
:KHQWZRRUPRUHVHUYRGULYHUVDUHXVHGZLWKDVLQJOHQRLVHÀOWHUDWWKHFRPPRQSRZ-
HUVRXUFHFRQVXOWZLWKWKHQRLVHÀOWHUPDQXIDFWXUHU
Do not run the input and output wiring on the same passage: noise resistance will drop. (Figure
5
at lower right)
Adjustment
Isolate the input and output line from each other. (Figure at lower left)
Isolate the input and output The effect of the noise filter is a little.
Noise Filter Noise Filter
AC input AC output AC input
1 4 1 4
2 5 2 5
3 E 6 3 E 6
Ground
Ground
AC output
6
When in Trouble
Do not place the input and output lines

in the same duct or do not tie both in a bundle.
Surge Absorber
9ROWDJHVSHFLÀFDWLRQV Manufacturer’s
for driver part No.
DV0P1450 3-phase 200V R･A･V-781BXZ-4
7
DV0P4190 Single phase 100V/200V R･A･V-781BWZ-4 Okaya Electric Ind.
Supplement
DV0PM20050 3-phase 400V R･A･V-801BXZ-4

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(TXLSPHQWVµ3´2SWLRQµ

2-7
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).
Manufacturer’s
part No.
DV0P1460 ZCAT3035-1330 TDK Corp.
5HFRPPHQGHGFRPSRQHQWV
Manufacturer’s Applicable driver
part No. (frame)
RJ8035 E-frame 200 V, F-frame 200 V
Power cable KK-CORP.CO.JP
RJ8095 G, H-frame
Motor cable T400-61D G, H-frame MICROMETALS
<Attaching signal noise filter>

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

the number of turns.
FG line
Cover Electric wire

Sheath (jacket)

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

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
2
(1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driver,
Preparation
and the ground terminal (PE) of the control panel.
(2) The ground terminal ( ) must not be shared with other equipment. Two ground ter-
minals are provided.
Structure of control board
3
If there is a gap at cable inlet/outlet, mounting hole of operation panel or a door, radio
waves will penetrate into or radiate out through the gap. To prevent unfavorable condi-
Connection
tions due to radio frequency activities, observe the following control board design and
selection instruction.
The control board should be made of metal which provides electrical continuity.
The control board should not have electrically-isolated conductor.
All units installed in the casing should be grounded to the case.
4
Increasing noise resistance of control I/O signal
When noise is applied to the control input/output, it causes displacement and malfunc-
Setup
tioning of I/O signal.
X1 to X7 are secondary side circuit which should be isolated from the primary power
source (24 VDC control power source, 24 VDC braking power source and 24 VDC for
regenerative resistor). Do not connect the secondary side circuit to the primary power
source and ground wire. Otherwise, I/O signal will cause error operation.
5
Control power source (particularly 24 VDC) should be completely isolated from external
Adjustment
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
Note For driver and applicable peripheral equipments, refer to P.2-10 “Driver and List of Applicable
Supplement
Peripheral Equipments”.
the precautions.
2-9
2 2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ
Preparation 'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
Rated Diameter Crimp

Diameter Crimp Diameter
5HTXLUHG Circuit Noise Surge operating and terminal Diameter
Noise and terminal and
Applicable Rated ÀOWHU absorber current of withstand for control and
Power breaker withstand for main withstand
Driver Voltage ÀOWHUIRU magnetic voltage power withstand
voltage of circuit voltage of
motor
*1
output at the
(rated rated
load) (current) ( Single phase
／
3-phase )( Single phase
／
3-phase ) signal ( )
contactor Contact
FRQÀJXUDWLRQ main circuit
cable
terminal
block
of control
power
supply
terminal
motor cable
*4
voltage of
brake cable
*2 supply cable block
Single
50W to approx.
phase, DV0P4170 DV0P4190
100W 0.4kVA
100V
MADH MSME
Single/ DV0P4170 DV0P4190
50W to approx.
3-phase, ／／
200W 0.5kVA DV0PM20042 DV0P1450
200V
Single approx. 10A 0.75mm2/
200W DV0P4170 DV0P4190
100V 0.5kVA 20A AWG18
MBDH MSME Single/ DV0P4170 DV0P4190 (3P+1a) 600 VAC
approx.
3-phase, 400W ／／ or more
0.9kVA DV0PM20042 DV0P1450
200V
Single approx. 0.75mm2/
400W DV0P4190
100V 0.9kVA
AWG18
MCDH MSME Single/ DV0PM20042
approx. 600 VAC
3-phase, 750W or more
1.3kVA
200V 15A
MDME approx.
1.0kW
Connection to exclusive connector
Connection to exclusive connector

MHME 1.8kVA DV0P1460
approx.
MGME 0.9kW DV0P4190
1.8kVA ／
approx. DV0P1450 30A

MSME 3-phase, 1.0kW DV0P4220
200V 1.8kVA (3P+1a) 2.0mm2/
MHME 20A AWG14
MDME approx. 600 VAC
1.5kW or more
MFME 2.3kVA
MDDH MSME
MSME
MDME 1.0kW approx.
MHME 1.8kVA 2.0mm2/ 0.52mm2/
MGME 3-phase, 0.9kW FN258L-16-07 20A AWG14 AWG20
10A Recommended DV0PM20050
MSME 400V ( component ) (3P+1a) 600V VAC 100 VAC
MDME approx. or more or more
1.5kW
MFME 2.3kVA
MHME
MDME DV0P1460
approx. 0.75mm2/
MSME 2.0kW RJ8035
3-phase, 3.3kVA 60A AWG18 0.75mm2/
MHME 30A DV0PM20043 DV0P1450
200V ( Recommended
component ) (3P+1a) 600 VAC AWG18
approx. or more
MFME 2.5kW *5 100 VAC
3.8kVA
MEDH or more
MSME
approx. 0.52mm2/
MDME 2.0kW FN258L-16-07
3-phase, 3.3kVA 30A AWG20
MHME 15A DV0PM20050 DV0P1460
400V
approx.
( Recommended
component ) (3P+1a) 100 VAC
MFME 2.5kW or more
3.8kVA
approx.
MGME 2.0kＷ
3.8kVA
MDME 60A
MHME approx. (3P+1a) 11mm or 11mm or
3.0kＷ smaller smaller
MSME 4.5kVA
MGME DV0P1460
MDME 0.75mm2/
3-phase, approx. RJ8035 AWG18
MHME 4.0kＷ 50A DV0P3410 DV0P1450 ø5.3 ø5.3
MSME
200V 6.0kVA ( Recommended
component ) Terminal
600 VAC
Terminal
*5 or more
approx. block block
MFME 100A M5 M5
4.5kＷ 6.8kVA
(3P+1a)
MGME
MDME approx.
MHME 5.0kＷ 7.5kVA 3.5mm2/ 3.5mm2/
MSME AWG12 AWG12
MFDH
approx. 600 VAC 600 VAC
MGME 2.0kW
3.8kVA or more or more
MSME
MDME approx. 7mm or
3.0kW 10mm or smaller
MGME 4.5kVA smaller
MHME
MSME 0.75mm2/
3-phase, approx. FN258L-30-07 60A AWG18 ø3.2
MDME 4.0kW 30A DV0PM20050 DV0P1460 ø4.3
MHME
component ) (3P+1a)
Terminal
100 VAC Terminal
or more block
approx. block
MFME M3
4.5kＷ 6.8kVA M4
MGME
MSME approx.
MDME 5.0kW 7.5kVA
MHME
*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 1RLVHÀOWHU36XUJHDEVRUEHU3

1RLVHÀOWHUIRUVLJQDO30RWRUEUDNHFRQQHFWRU3

2-10
2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ
'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
1

Rated Diameter Crimp
Diameter Crimp Diameter
5HTXLUHG Circuit operating and terminal Diameter
Noise and terminal and
Applicable Rated Noise Surge current of withstand for control and
Power breaker withstand for main withstand
Driver Voltage ÀOWHUIRU magnetic voltage power withstand
motor output at the rated ÀOWHU absorber voltage of circuit voltage of
*1 (rated load) (current) signal ( )
contactor Contact
FRQÀJXUDWLRQ main circuit terminal
of control
power
supply
terminal
motor cable
voltage of
brake cable
cable block *4
*2 supply cable block
MDME
3-phase,
7.5kW
approx.
11kVA
approx. FS5559-35-33 100A
11mm or
smaller
0.75mm2/
AWG18
10mm or
smaller
2
MGME 6.0kW 60A DV0P1450
component ) （3P+1a） 600 VAC
approx. 5.3mm2/ or more
MHME 7.5kW
11kVA AWG10 13.3 mm2/
Preparation
MGDH ø5.3 ø5.3
approx. 600 VAC AWG6
MDME 7.5kW FN258-42-07 Terminal Terminal
11kVA or more 2
0.75mm / 600 VAC
or block block
3-phase, approx. 60A AWG18 or more
MGME 6.0kW 30A FN258-42-33 DV0PM20050 M5 M5
400V 9.0kVA DV0P1460 （3P+1a） 100 VAC
MHME 7.5kW
approx. (Recommended
component )
RJ8095 or more
0.75mm2/
11kVA (Recommended
component ) AWG18
approx.
11kW 100A T400-61D 100 VAC
17kVA 0.75mm2/
3-phase, FS5559-80-34
DV0P1450
(Recommended
component ) 150A 16mm or
smaller
AWG18 10mm or
smaller 21.1 mm2/
or more
200V approx. ( Recommended
component ) *5 （3P+1a） 600 VAC AWG4
15kW
22kVA
125A
13.3mm2/
AWG6
or more 600 VAC
or more 3
MHDH MDME ø6.4 ø4.3 13.3 mm2/
approx. 600 VAC AWG6
11kW 50A FN258-42-07 Terminal Terminal
17kVA or more 0.75mm2/ 600 VAC
or block block or more
3-phase, 100A *3 AWG18
Connection
400V FN258-42-33 DV0PM20050 （3P+1a）
M6
100 VAC
M4
21.1 mm2/
15kW
approx.
60A (Recommended
component ) or more AWG4
22kVA 600 VAC
or more
$ERXWFLUFXLWEUHDNHUDQGPDJQHWLFFRQWDFWRU
7R FRPSO\ WR (& 'LUHFWLYHV LQVWDOO D FLUFXLW EUHDNHU EHWZHHQ WKH SRZHU DQG WKH QRLVH ÀOWHU
without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed
and marked). 4
Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, be-
low the maximum input voltage of the product.
6HOHFWDFLUFXLWEUHDNHUDQGQRLVHÀOWHUZKLFKPDWFKWRWKHFDSDFLW\RISRZHU
Setup
Remarks
supply (including a load condition).
Terminal block and protective ground terminals
8VHDFRSSHUFRQGXFWRUFDEOHVZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU
8VHWKHDWWDFKHGH[FOXVLYHFRQQHFWRUIRU$WR(IUDPHDQGPDLQWDLQWKHSHHOHGRIIOHQJWKRIWR
9mm. (Refer to P.2-50)
)DVWHQLQJWRUTXHOLVW 7HUPLQDOEORFNVFUHZ7HUPLQDOFRYHUIDVWHQLQJVFUHZ
5
Terminal cover fastening
Driver Terminal block screw
screw
Adjustment
Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH
Frame Terminal name
size 1P (Note 1) size 1P (Note 1)
F200V L1, L2, Ｌ３, L1C, L2C, B1, B2, B3, NC, U, V, W M5 1.0 to 1.7
24V、0V M3 0.4 to 0.6
F400V M3 0.19 to 0.21
L1, L2, Ｌ３, B1, B2, B3, NC, U, V, W M4 0.7 to 1.0
L1C, L2C, 24V, 0V, DB1, DB2, DB3, DB4, NC M5 1.0 to 1.7
G
L1, L2, Ｌ３, B1, B2, NC, U, V, W M5 2.0 to 2.4 M3 0.3 to 0.5
L1C, L2C, 24V, 0V, DB1, DB2 M4 0.7 to 1.0 6
H M5 2.0 to 2.5
L1, L2, Ｌ３, B1, B2, NC, U, V, W M6 2.2 to 2.5
When in Trouble
)DVWHQLQJWRUTXHOLVW *URXQGWHUPLQDOVFUHZ&RQQHFWRUWRKRVWFRQWUROOHU ;
Connector to host
Terminal block screw
controller (X4)
Driver frame
Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH
size 1P (Note 1) size 1P (Note 1)
A to E M4 0.7 to 0.8
F, G M5 1.4 to 1.6 M2.6 0.3 to 0.35
H M6 2.4 to 2.6
7
Caution Applying fastening torque larger than the maximum value may result in damage to the product.
'RQRWWXUQRQSRZHUZLWKRXWWLJKWHQLQJDOOWHUPLQDOEORFNVFUHZVSURSHUO\
(Note 1)
Supplement
'R QRW WXUQ RQ SRZHU ZLWKRXW WLJKWHQLQJ DOO WHUPLQDO EORFN VFUHZV SURSHUO\ RWKHUZLVH
ORRVHFRQWDFWVPD\JHQHUDWHKHDW VPRNLQJÀULQJ
7RFKHFNIRUORRVHQHVVFRQGXFWSHULRGLFLQVSHFWLRQRIIDVWHQLQJWRUTXHRQFHD\HDU
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
Preparation Overall Wiring (A to D-frame, 100/200 V type)
Connecting Example of A to D-frame

$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH 0DLQV
IURPWKHSRZHUVRXUFH 5HVLGXDO
6\PPHWULFFXUUHQWVKRXOGEH$UPVRUEHORZ FXUUHQWGHYLFH
,IWKHVKRUWFLUFXLWFXUUHQWRQWKHSRZHUVRXUFH
H[FHHGVWKLVYDOXHXVHDFXUUHQWOLPLWLQJGHYLFH
HJFXUUHQWOLPLWLQJIXVHFXUUHQWOLPLWLQJFLUFXLW
EUHDNHURUWUDQVIRUPHU
:LULQJRI0DLQ&RQQHFWRU ;$
&LUFXLW%UHDNHU 0&&% Wiring to Connector, XA P.2-14
7RSURWHFWSRZHUVXSSO\OLQHIURPRYHUORDG- &RQQHFWLRQWRLQSXWSRZHU
LQJLQVWDOODZLULQJFLUFXLWEUHDNHUUDWHGWR / 3LQ
WKHFDSDFLW\RIWKHSRZHUVXSSO\
/ 3LQ
Noise Filter (NF)
5HPRYHVH[WHUQDOQRLVHIURPWKHSRZHU / 3LQ
OLQHV$QGUHGXFHVDQHIIHFWRIWKHQRLVH
/& 3LQ
JHQHUDWHGE\WKHVHUYRGULYHU
/& 3LQ
0DJQHWLF&RQWDFWRU 0&
7XUQVRQRIIWKHPDLQSRZHURIWKHVHUYR
GULYHU
8VHFRLOVXUJHVXSSUHVVLRQXQLWVWRJHWKHU
ZLWKWKLV
Never start nor stop the servo motor
ZLWKWKLV0DJQHWLF&RQWDFWRU
Reactor (L) WREHVXSSOLHGE\FXVWRPHU
5HGXFHVKDUPRQLFFXUUHQWRIWKHPDLQ
SRZHU
:LULQJRI0RWRU&RQQHFWRU ;% :LULQJWR&RQQHFWRU;% P.2-14

&RQQHFWLRQWRH[WHUQDOFRPSRQHQWV
3LQ% SLQ % SLQ DQG
% SLQ % 3LQ
%DQG%WREHNHSWVKRUWHGIRU
% 3LQ
QRUPDORSHUDWLRQ )RU&IUDPH
DQG'IUDPH
:KHQ\RXFRQQHFWDQH[WHUQDO Regenerative resistor (optional)
UHJHQHUDWLYHUHVLVWRUGLVFRQQHFWD :KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
Remarks
VKRUWFLUFXLWZLUHEHWZHHQ%DQG% install an external protective apparatus, such
)RU&IUDPHDQG'IUDPH WKHQ as thermal fuse without fail.
FRQQHFWWKHH[WHUQDOUHJHQHUDWLYH 7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
UHVLVWRUEHWZHHQ%DQG%VHWXS UHJHQHUDWLYHUHVLVWRU 2SWLRQ If the thermal
3UWRRU fuse is activated, it will not resume.
Note 0RXQWWKHUHJHQHUDWLYHUHVLVWRUon
1RWHWKDWQRUHJHQHUDWLYHUHVLVWRULV incombustible material such as metal.
HTXLSSHGLQ)UDPH$DQG%W\SH
Note 7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF
application. The wiring indicated with the broken line shall be provided only when required.
Related page 3´2SWLRQVµ

2-12
Overall Wiring (A to D-frame, 100/200 V type)
1

: High voltage
3& WREHVXSSOLHG
E\FXVWRPHU
+DQGOHOHYHU Wiring to Connector, X7 3 2

8VHWKLVIRUFRQQHFWRU
0RQLWRURXWSXW
FRQQHFWLRQ6WRUHWKLV
Preparation
DIWHUFRQQHFWLRQIRU 6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
RWKHURFFDVLRQV 3OHDVHGRZQORDGIURPRXUZHEVLWH
5HIHUWR32-50 IRU
FRQQHFWLRQ
:LULQJWR&RQQHFWRU; P.2-51
&RQQHFWLRQWR3& 3$1$7(50
:LULQJWR&RQQHFWRU; P.2-51 3
&RQQHFWLRQWR5656
RUKRVWFRQWUROOHU
Connection
:LULQJWR&RQQHFWRU; 3
&RQQHFWLRQWR6DIHW\E\SDVVSOXJ
&KDUJHODPS
5HG/(' *1
4
6KRUWFLUFXLWZLUH %% :LULQJWR&RQQHFWRU; P.2-54
8SKDVH UHG &RQQHFWLRQWRKRVWFRQWUROOHU
Setup
9SKDVH ZKLWH
:SKDVH EODFN :LULQJWR&RQQHFWRU; P.2-55
7KHVHFRORUVDUHXVHG &RQQHFWLRQWRIHHGEDFNVFDOH
IRURSWLRQDOFDEOH
&RQQHFWLRQWRHQFRGHU 5
*URXQG *URXQG
Remarks
WHUPLQDO HDUWK
Adjustment
;WR;DUHXVHGIRUWKH
VHFRQGDU\FLUFXLW7RFRQQHFWWKHVH
-XQFWLRQFDEOHIRUHQFRGHU WHUPLQDOVWRWKHSULPDU\SRZHU
VXSSO\ SDUWLFXODUO\9'&SRZHU
-XQFWLRQFDEOHIRUPRWRU VXSSO\IRUEUDNH LQVXODWLRQLV
:LULQJWR&RQQHFWRU;% P.2-14 UHTXLUHG
&RQQHFWLRQWRPRWRUGULYLQJSKDVH 'RQRWFRQQHFWWKHVHWHUPLQDOVWR 6
DQGJURXQG WKHVDPHSRZHUVXSSO\
When in Trouble
-XQFWLRQFDEOH
IRUEUDNH
'&3RZHUVXSSO\
IRUEUDNH'&9
7
'RQRWPDNHGLVSODFHPHQWZLULQJRULQVSHFWLRQ WREHVXSSOLHGE\FXVWRPHU
ZKLOHWKH/('LVOLWFDXVHRIHOHFWULFVKRFN
Supplement
Note • The figure above shows connections on velocity, position, torque and full-closed mode driver.
• Only for position control type is not provided with X2, X3 and X5.
Related page
• P.2-14 "Wiring of the Main Circuit (A to G-frame, 100/200 V type)"
• P.2-48 "Specifications of Motor connector"
2-13
Preparation Wiring of the Main Circuit (A to D-frame, 100/200 V type)
A to D-frame, 100 V / 200 V type

:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO
'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG
1HYHUWRXFKWKHSRZHUFRQQHFWRU ;$DQG;% WRZKLFKKLJKYROWDJHLVDSSOLHG
There is a risk of electric shock.
Tips on Wiring
1) Wire connector (XA and XB).
2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks.
&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU
VSHFLILFDWLRQV
3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDO
FXUUHQWGHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHU
DQGLVHTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
3URYLGHDFLUFXLWEUHDNHU
0DNHVXUHWRSURYLGHDQRLVHILOWHU
Power
5 L1 3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
5&' MCCB NF MC L 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
supply 4 L2
Never start/stop the motor with this Magnetic
3 / Contactor.
2 L1C 3URYLGHDQ$&5HDFWRU
Connect L1 and L1C, and L3 and L2C at single
1 L2C
phase use (100V and 200V), and don't use L2.
XA
0DWFKWKHFRORUVRIWKHPRWRUOHDGZLUHVWRWKRVHRIWKH
([WHUQDOUHJHQHUDWLYH
FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89:
resistor
6 B1
'RQ WGLVFRQQHFWWKHVKRUWLQJFDEOHEHWZHHQ%DQG%
5 %
&DQG'IUDPHW\SH 6KRUWLQJFDEOHLVQRWUHTXLUHGIRU
4 B2 $DQG%IUDPH'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDO
U UHJHQHUDWLYHUHJLVWHULVXVHG
5HG 3 U
Avoid shorting and grounding. Don't connect the
:KLWH
V 2 V
main power.
W
1 W
Earth-ground this.
%ODFN XB 7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
*UHHQRU E WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO
*UHHQ\HOORZ
JURXQGSODWH RIWKHFRQWUROSDQHO
7KHVHFRORUV
DUHXVHGIRU 7 KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWKRWKHU
RSWLRQDOFDEOH
HTXLSPHQW
Motor
7ZRJURXQGWHUPLQDOVDUHSURYLGHG
*URXQGUHVLVWDQFHїPD[
)RUDSSOLFDEOHZLUHUHIHUWR3 Don't connect the earth cable to other inserting slot,
nor make them touch.
&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
DC DC power supply EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
24V IRUEUDNH VWRSVLJQDO
7KHKROGLQJEUDNHKDVQRSRODULWLHV
Varistor )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
Fuse (125 V 10 A)
%UDNHµRQ3
3URYLGHDYDULVWRU
&RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU
Note The wiring indicated with the broken line shall be provided only when required.
Related page 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ3´:LULQJPHWKRGWRFRQQHFWRUµ
3´&RQQHFWRUNLWIRU;$µ3´&RQQHFWRUNLWIRU;%µ

2-14
2. 6\VWHP&RQÀJXUDWLRQDQG:LULQJ 1
2

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% 2
Built-in thermostat of
Remarks an external regenerative
MC resistor (light yellow)
ON ALM
Preparation
When you use single phase, OFF
Coil surge suppression units
connect the main power
between L1 and L3 terminals. MCCB L XA
Noise filter
L1
Main power
L2 supply
L3
MC L1C Control power
L2C supply 3
XB
External regenerative resistor B1
Connection
B3
Remove the short wire when you connect B2
the external regenerative resistor. Red
U
(C, D-Frame) White Motor
* These colors V connection
are used for Black
W
optional cable. Green or Green/Yellow
Motor ALM
4
X4
37
Insulated + ALM+
DC12 to 24V
(±5%) ï 36
Setup
$/0ï
In Case of 3-Phase, A to D-frame, 200 V type

Power supply 3-phase, 200V –15% to 240V +10% Built-in thermostat of
an external regenerative
5
MC resistor (light yellow)
ON ALM
OFF
Adjustment
MCCB L XA
Noise filter
L1
Main power
L2 supply
L3
MC L1C Control power
L2C supply
XB
6
B3
When in Trouble
Remove the short wire when you connect

B2
the external regenerative resistor. Red
(C, D-Frame) U
White Motor
are used for Black
W
optional cable. Green or Green/Yellow
Motor ALM
37
X4 7
Insulated + ALM+
DC12 to 24V
(±5%) ï 36
Supplement
$/0ï

2-15
Preparation Overall Wiring (E-frame, 200 V type)
Connecting Example of E-frame

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6\PPHWULFFXUUHQWVKRXOGEH$UPVRUEHORZ FXUUHQWGHYLFH
,IWKHVKRUWFLUFXLWFXUUHQWRQWKHSRZHUVRXUFHH[FHHGV
WKLVYDOXHXVHDFXUUHQWOLPLWLQJGHYLFH HJFXUUHQW-
OLPLWLQJIXVHFXUUHQWOLPLWLQJFLUFXLWEUHDNHURU
WUDQVIRUPHU
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&LUFXLW%UHDNHU 0&&% :LULQJWR&RQQHFWRU;$ 3
7RSURWHFWSRZHUVXSSO\OLQHIURPRYHUORDG- &RQQHFWLRQWRLQSXWSRZHU
LQJLQVWDOODZLULQJFLUFXLWEUHDNHUUDWHGWR
/ 3LQ
WKHFDSDFLW\RIWKHSRZHUVXSSO\
Noise Filter (NF) / 3LQ
5HPRYHVH[WHUQDOQRLVHIURPWKHSRZHU / 3LQ
OLQHV$QGUHGXFHVDQHIIHFWRIWKHQRLVH
/& 3LQ
JHQHUDWHGE\WKHVHUYRGULYHU
0DJQHWLF&RQWDFWRU 0& /& 3LQ
7XUQVRQRIIWKHPDLQSRZHURIWKHVHUYR
GULYHU
8VHFRLOVXUJHVXSSUHVVLRQXQLWVWRJHWKHU
ZLWKWKLV
Never start nor stop the servo motor
Reactor (L) WREHVXSSOLHGE\FXVWRPHU
5HGXFHVKDUPRQLFFXUUHQWRIWKHPDLQ
SRZHU
:LULQJRI0RWRU&RQQHFWRU ;&
3LQ% SLQ % SLQ DQG
%SLQ :LULQJWR&RQQHFWRU;& 3
%DQG%WREHNHSWVKRUWHGIRU &RQQHFWLRQWRH[WHUQDOFRPSRQHQWV
normal operation.
B1 (Pin-6)
:KHQ\RXFRQQHFWDQH[WHUQDO
UHJHQHUDWLYHUHVLVWRUGLVFRQQHFWD B2 (Pin-4)
VKRUWFLUFXLWZLUHEHWZHHQ%DQG
%WKHQFRQQHFWWKHH[WHUQDO
UHJHQHUDWLYHUHVLVWRUEHWZHHQ% Regenerative resistor (optional)
DQG%VHWXS3UWRRU 5HPDUNV :KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
install an external protective apparatus, such
as thermal fuse without fail.
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
UHJHQHUDWLYHUHVLVWRU 2SWLRQ If the thermal
fuse is activated, it will not resume.
0RXQWWKHUHJHQHUDWLYHUHVLVWRUon
incombustible material such as metal.

2-16
Overall Wiring (E-frame, 200 V type)
1

+LJKYROWDJH
3& WREHVXSSOLHG
E\FXVWRPHU
+DQGOHOHYHU :LULQJWR&RQQHFWRU; 3 2

8VHWKLVIRUFRQQHFWRU
0RQLWRURXWSXW
FRQQHFWLRQ6WRUHWKLV
Preparation
DIWHUFRQQHFWLRQIRU 6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
RWKHURFFDVLRQV 3OHDVHGRZQORDGIURPRXUZHEVLWH
5HIHUWR3IRU
FRQQHFWLRQ
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&RQQHFWLRQWR5656
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Connection
6KRUWFLUFXLWZLUH %% 4
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Setup
8SKDVH UHG :LULQJWR&RQQHFWRU; 3
9SKDVH ZKLWH &RQQHFWLRQWRIHHGEDFNVFDOH
:SKDVH EODFN
7KHVHFRORUVDUHXVHG :LULQJWR&RQQHFWRU; 3
IRURSWLRQDOFDEOH
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Adjustment
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IRUHQFRGHU
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VXSSO\IRUEUDNH LQVXODWLRQLV
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&RQQHFWLRQWRPRWRUGULYLQJSKDVH
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When in Trouble
-XQFWLRQFDEOH
IRUEUDNH
'&3RZHUVXSSO\
IRUEUDNH'&9
7
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Supplement
Related page
• P.2-18 "Wiring of the Main Circuit (E-frame, 200 V type)"
2-17
Preparation Wiring of the Main Circuit (E-frame, 200 V type)
E-frame, 200 V type

1HYHUWRXFKWKHSRZHUFRQQHFWRU ;$;%DQG;& WRZKLFKKLJKYROWDJHLVDSSOLHG
There is a risk of electric shock.
Tips on Wiring
1) Wire connector (XA, XB and XC).
VSHFLILFDWLRQV
3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW
GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
3RZHU
5 L1 0DNHVXUHWRSURYLGHDQRLVHILOWHU
5&' 0&&% 1) MC L 3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
VXSSO\ 4 L2
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
3 / Never start/stop the motor with this Magnetic
2 L1C Contactor.
3URYLGHDQ$&5HDFWRU
1 L2C
Connect L1 and L1C, and L3 and L2C at single
XA phase use (100V and 200V), and don't use L2.
4 % 'RQ WGLVFRQQHFWWKHVKRUWLQJFDEOHEHWZHHQ%DQG%
([WHUQDOUHJHQHUDWLYH
resistor 3 % 'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDOUHJHQHUDWLYH
UHJLVWHULVXVHG
2 %
'RQRWFRQQHFWDQ\WKLQJWR1&
1 1&
XC FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89:
U Avoid shorting and grounding. Don't connect the
5HG 3 U
main power.
:KLWH
V 2 V
Earth-ground this.
W
1 W 7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
%ODFN ;% WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO
JURXQGSODWH RIWKHFRQWUROSDQHO
*UHHQ
E
7KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
7KHVHFRORUV
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RSWLRQDOFDEOH
Don't connect the earth cable to other inserting slot,
Motor
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EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
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DC '&SRZHUVXSSO\ 7KHKROGLQJEUDNHKDVQRSRODULWLHV
24V IRUEUDNH )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
%UDNHµRQ3
Varistor 3URYLGHDYDULVWRU
Fuse (125 V 10 A) &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU
3´&RQQHFWRUNLWIRU;$µ3´&RQQHFWRUNLWIRU;%;&µ

2-18
2

Preparation Wiring Diagram (E-frame, 200 V type)
In Case of 3-Phase, E-frame, 200 V type

Power supply 3-phase, 200V –15% to 230V +10% 2
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
Preparation
ON ALM
OFF
MCCB L XA
Noise filter L1
Main power
L2 supply
L3
MC L1C
L2C
Control power
supply 3
XC
Connection
B3
Remove the short wire when you connect B2
the external regenerative resistor.
NC
Red XB
U
White Motor
are used for Black
W
optional cable. Green
4
Motor ALM
X4
37
Insulated + ALM+
Setup
DC12 to 24V
(±5%) ï 36
$/0ï
Adjustment
6
When in Trouble
7
Supplement

2-19
Preparation Overall Wiring (F-frame, 200 V type)
Connecting Example of F-frame
from the power source. Residual
Symmetric current should be 5000 Arms or below. current device
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
:LULQJRI0DLQ&LUFXLW SRZHUVXSSO\ P.2-22
&LUFXLW%UHDNHU 0&&%
L1
To protect power supply line from overload-
ing, install a wiring circuit breaker rated to L2
the capacity of the power supply. L3
1RLVH)LOWHU 1) L1C
Removes external noise from the power L2C
lines. And reduces an effect of the noise
generated by the servo driver.
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.
&RQQHFWLRQWRH[WHUQDO
P.2-22
3LQ%%DQG% FRPSRQHQWV
%DQG%WREHNHSWVKRUWHG
IRUQRUPDORSHUDWLRQ B1
B2
regenerative resistor, disconnect a
short bar between B2 and B3,
then connect the external regen- 5HJHQHUDWLYHUHVLVWRU RSWLRQDO
erative resistor between B1 and
5HPDUNV :KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU
B2, set up Pr0.16 to 1 or 2.
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK
3LQ1& DVWKHUPDOIXVHZLWKRXWIDLO
'RQRWFRQQHFWDQ\WKLQJ 7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH
regenerative resistor (Option). ,IWKHWKHUPDO
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO

2-20
Overall Wiring (F-frame, 200 V type)
1

: High voltage PC (to be supplied by customer)
Setup support software
´3$1$7(50µ
:LULQJWR&RQQHFWRU; P.2-60 Please download
0RQLWRURXWSXW from our web site.
2
Preparation
&RQQHFWLRQWR5656
or host controller 3
Connection
Short circuit wire &RQQHFWLRQWRKRVWFRQWUROOHU
(B2-B3)
&RQQHFWLRQWRfeedback scale
4
U-phase(red)
V-phase(white) :LULQJWR&RQQHFWRU; P.2-57
Setup
W-phase(black) &RQQHFWLRQWRencoder
* These colors are
used for optional 5HPDUNV
cable. ;WR;DUHXVHGIRUWKHVHFRQGDU\
circuit. To connect these terminals to
the primary power supply (particularly,
Ground 24 VDC power supply for brake),
5
terminal Ground Charge lamp
insulation is required.
(earth) (Red LED)*1
Do not connect these terminals to the
Adjustment
same power supply.
Junction cable for motor

Junction cable
for brake &RQQHFWLRQWRPRWRUGULYLQJ Junction cable 6
P.2-22 for encoder
SKDVHDQGJURXQG
When in Trouble
DC Power supply for brake

DC24V 7
(to be supplied by customer)
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Supplement
Related page • P.2-22 "Wiring of the Main Circuit (F-frame, 200 V type)"
2-21
Preparation Wiring of the Main Circuit (F-frame, 200 V type)
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
7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the termi-
nal block. For cable diameter and size, reter to "Driver and List of Applicable Periph-
eral Equipments" (P.2-10).
Tighten the terminal block screw with a torque between 1.0 and 1.7 N P
$WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV
Tighten the screw securing the cover with a torque written on P.2-11.
&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHUVSHFLILFDWLRQV
L1 3URYLGHDFLUFXLWEUHDNHU
3RZHU 0DNHVXUHWRSURYLGHDQRLVHILOWHU
5&' MCCB 1) MC L L2
VXSSO\ 3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
L3 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
start/stop the motor with this Magnetic Contactor.
L1C 3URYLGHDQ$&5HDFWRU
L2C
'RQ WGLVFRQQHFWWKHVKRUWEDUEHWZHHQ%DQG%
B1 'LVFRQQHFWWKLVRQO\ZKHQDQH[WHUQDOUHJHQHUDWLYHUHJLVWHU
([WHUQDOUHJHQHUDWLYH LVXVHG
UHVLVWRU
B3 'RQRWFRQQHFWDQ\WKLQJWR1&
B2 0DWFKWKHFRORUVRIWKHPRWRUOHDGZLUHVWRWKRVHRIWKH
FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89:
NC Avoid shorting and grounding.
U Don't connect the main power.
5HG U
V Earth-ground this.
:KLWH V
7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
W
%ODFN W WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO JURXQG
E SODWH RIWKHFRQWUROSDQHO
*UHHQ
7KHVHFRORUV HTXLSPHQW
DUHXVHGIRU
RSWLRQDOFDEOH 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Motor Don't connect the earth cable to other inserting slot,
*URXQGUHVLVWDQFHїPD[ &RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKHEUDNH
)RUDSSOLFDEOHZLUHUHIHUWR3
FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
'&SRZHU 7KHKROGLQJEUDNHKDVQRSRODULWLHV
DC VXSSO\ )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
24V XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
IRUEUDNH
%UDNHµRQ3
)XVH 9$
Related page 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

2-22
2

Preparation Wiring Diagram (F-frame, 200 V type)
In Case of 3-Phase, F-frame, 200 V type

MC
Preparation
ON ALM resistor (light yellow)
OFF
Terminal block
MCCB L
Noise filter
L1
Main power
L2 supply
MC
L3
L1C Control power
3
L2C supply
Connection
B3
(Remove the short wire when you connect B2
the external regenerative resistor.)
NC
Red
U
White Motor
are used for Black
W
optional cable. Green
4
Motor ALM
X4
37
Insulated + ALM+
Setup
DC12 to 24V
(±5%) ï 36
$/0ï
Adjustment
6
When in Trouble
7
Supplement

2-23
Preparation Overall Wiring (G-frame, 200 V type)
Connecting Example of G-frame
from the power source. Residual
breaker or transformer). &RQQHFWLRQZLWKLQSXW
P.2-26
SRZHUVXSSO\
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU 0&&% L1C
To protect power supply line from overloading, L2C
install a wiring circuit breaker rated to the capacity
of the power supply. L1
1RLVH)LOWHU 1) L2
Removes external noise from the power lines. And L3
reduces an effect of the noise generated by the
servo driver.
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) 3LQ%DQG%
5HPDUNV :KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU resistor, connect the external regenerative resistor
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK between B1 and B2, set up Pr0.16 to 1 or 2.
DVWKHUPDOIXVHZLWKRXWIDLO. 3LQ'%'%'%DQG'%
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH ･1RUPDOO\OHDYH'%DQG'%VKRUWFLUFXLWHG
regenerative resistor (Option). ,IWKHWKHUPDOIXVH ･ To connect the external dynamic brake resistor,
LVDFWLYDWHGLWZLOOQRWUHVXPH UHIHUWR´'\QDPLF%UDNHµRQ3'RQRWXVH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH WKHH[WHUQDOG\QDPLFEUDNHUHVLVWRUWRJHWKHU
PDWHULDOVXFKDVPHWDO. ZLWKWKHEXLOWLQUHVLVWRU
1RWH 3LQ1&
The wiring indicated with the broken line shall be 'RQRWFRQQHFWDQ\WKLQJ
provided only when required.

2-24
Overall Wiring (G-frame, 200 V type)
1

: High voltage
PC (to be supplied
by customer)
2
0RQLWRURXWSXW
Preparation
6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ
Please download from our web site.
:LULQJWR&RQQHFWRU; P.2-51 3
NC
&RQQHFWLRQWR5656
L1 X1 or host controller
Connection
L1C
X2
L2
L 2C
X3
L3
NC &RQQHFWLRQWR6DIHW\E\SDVVSOXJ
NC
B1
X4
DB1
B2
NC
DB2
NC
&RQQHFWLRQWRKRVWFRQWUROOHU 4
U-phase U
X5
NC
V-phase X6
Setup
V DB3
:-phase DB4
W
:LULQJWR&RQQHFWRU; P.
NC
CHARGE
&RQQHFWLRQWRencoder
Junction cable for encoder

Short bar (DB3-DB4) 5
Charge lamp (LED)
Ground
Adjustment
terminal Ground Do not make displacement, wiring or
(earth) inspection while the LED is lit - cause
of electric shock.
0RWRUFDEOH 6KLHOGZLUH
&RQQHFWLRQWRPRWRUGULYLQJ
P.2-26 5HPDUNV
SKDVHDQGJURXQG
;WR;DUHXVHGIRUWKHVHFRQGDU\ 6
When in Trouble
Brake cable
24 VDC power supply for brake),
same power supply.
DC Power supply
for brake DC24V
(to be supplied
7
by customer)
Supplement
• Only for position control type is not provided.
Related page
• P.2-26 "Wiring of the Main Circuit (G-frame, 200 V type)"
2-25
Preparation Wiring of the Main Circuit (G-frame, 200 V type)
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.
VSHFLILFDWLRQV
NC HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
L1C 0DNHVXUHWRSURYLGHDQRLVHILOWHU
L2C 3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
L1 NC start/stop the motor with this Magnetic Contactor.
3RZHU 5&' MCCB 1) MC L 3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU
VXSSO\ L2 NC
7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH9$&
L3 DB1 RUEHORZRU9'&RUEHORZ
B1 DB2 0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU´89:µ
Avoid shorting and grounding.
B2 NC Don't connect the main power.
)RUQRUPDORSHUDWLRQGRQRWGLVFRQQHFWWKHVKRUWLQJEDU
NC NC
IURP'%DQG'%UHPRYHWKHEDURQO\ZKHQWKHH[WHUQDO
U
U DB3 G\QDPLFEUDNHUHVLVWRULVXVHG
V DB4
W
W NC WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO JURXQG
E /HIW 5LJKW SODWH RIWKHFRQWUROSDQHO
VLGH VLGH 7KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
Motor nor make them touch.
*URXQGUHVLVWDQFHїPD[ &RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKHEUDNH
)RUDSSOLFDEOHZLUHUHIHUWR3 FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
7KHKROGLQJEUDNHKDVQRSRODULWLHV
'&SRZHU )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
DC VXSSO\
24V XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
IRUEUDNH %UDNHµRQ3
3URYLGHDYDULVWRU
Varistor &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU
)XVH 9$ * Do not connect anything to NC.

2-26
2

Preparation Wiring Diagram (G-frame, 200 V type)
In Case of 3-Phase, G-frame, 200 V type

MC1
Preparation
ON OFF ALM
MCCB L
Noise filter
L1
Power supply Main power
L2 supply
(3-phase)
L3
MC1 L1C Control power
External
L2C supply 3
B1
regenerative resistor
B2
NC
Connection
DB1
DB2
Note 1) DB3
DB4
U
Motor
V connection
W
4
Motor ALM
37
Insulated + ALM＋
Setup
DC12 to 24V
(±5%) ï 36
ALM−
Note 1)
Normally, do not disconnect the shorting bar.
5
Adjustment
6
When in Trouble
7
Supplement

2-27
Preparation Overall Wiring (H-frame, 200 V type)
Connecting Example of H-frame
$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPH- Mains
plate from the power source. Residual
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading,
of the power supply. Charge lamp (LED)
Do not make displacement,
1RLVH)LOWHU 1)
wiring or inspection while
Removes external noise from the power lines. And the LED is lit - cause of
reduces an effect of the noise generated by the electric shock.
servo driver.
0DJQHWLF&RQWDFWRU
5HDFWRU / (to be supplied by customer) L2C L1C
L1 L2 L3 &RQQHFWLRQZLWKLQSXW
9'& P.2-30
SRZHUVXSSO\
SRZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU P.2-30
FRPSRQHQWV
(to be supplied by
customer )
* Use a power B1
supply with
5 A or larger
capacity. B2
5HJHQHUDWLYHUHVLVWRU
(optional)
5HPDUNV
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH
resistor, LQVWDOODQH[WHUQDOSURWHFWLYH '\QDPLF%UDNH Turns on/off the dynamic brake
UHVLVWRU resistor.
DSSDUDWXVVXFKDVWKHUPDOIXVHZLWKRXW
Use coil surge suppression units
IDLO. (tocustomer
be supplied by
) together with this.
regenerative resistor (Option). ,IWKHWKHUPDO 5HPDUNV
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH :KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRULQVWDOODQ
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO. ZLWKRXWIDLO
)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ 0RXQWWKHG\QDPLFEUDNHUHVLVWRURQLQFRPEXVWLEOHPDWHULDO
Diagram” on P.2-31. VXFKDVPHWDO
)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ'LDJUDPµRQ3
)RUDQH[DPSOHRIWKHUHFRPPHQGHGSURWHFWLYHFLUFXLWUHIHUWR
“Dynamic Brake” on P.2-67.

2-28
Overall Wiring (H-frame, 200 V type)
1

: High voltage PC(to be supplied by customer)
“PANATERM”
0RQLWRURXWSXW Please download
from our web site. 2
Preparation
X1
X2
X3
X4
&RQQHFWLRQWR5656
X5
X6 :LULQJWR&RQQHFWRU; P.2-53
Connection
CHARGE
4
L1C L2C DB1 DB2
&RQQHFWLRQWRencoder
Setup
5HPDUNV
L1 L2 L3 B1 B2 NC U V W ;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW
Junction cable To connect these terminals to the primary
for encoder power supply (particularly, the 24 VDC
power supply for brake and the 24 VDC
U-phase power supply for regenerative resistor), 5
Ground V-phase
(earth) Do not connect these terminals to the same
W-phase
Adjustment
power supply.
Ground terminal
3LQ%DQG%
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative
Motor cable (Shield wire) resistor between B1 and B2, set up Pr0.16
&RQQHFWLRQWRPRWRUGULYLQJ to 1 or 2.
SKDVHDQGJURXQG P.2-30
3LQ'%DQG'%
6
:KHQLQVWDOOLQJDQH[WHUQDOG\QDPLFEUDNH
When in Trouble
Brake cable resistor, connect the magnetic contactor (for

controlling) for external dynamic brake to
between LIC and DB1.
5HPDUNV
7KHYROWDJHDSSOLHGDFURVV'%DQG
DC Power supply '%PXVWEH9$&RUEHORZRU
for brake DC24V
(to be supplied
9'&RUEHORZ 7
3LQ1&
by customer)
'RQRWFRQQHFWDQ\WKLQJ
Supplement
Related page
• P.2-30 "Wiring of the Main Circuit (H-frame, 200 V type)"
2-29
Preparation Wiring of the Main Circuit (H-frame, 200 V type)
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).
VSHFLILFDWLRQV
Upper GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV
VLGH HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
L1C 3URYLGHDFLUFXLWEUHDNHU
L2C 3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
L1 DB1 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Power 5&' MCCB Never start/stop the motor with this Magnetic
1) MC L L2 DB2
supply Contactor.
7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH
L3
9$&RUEHORZRU9'&RUEHORZ
DC
B1 3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU
24V
3RZHUVXSSO\IRU 0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU“U, V, W”
UHJHQHUDWLYHUHVLVWRU NC Avoid shorting and grounding.
U
V
W
W WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO
Lower JURXQGSODWH RIWKHFRQWUROSDQHO
E
VLGH 7KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWKRWKHU
HTXLSPHQW
Motor nor make them touch.
*URXQGUHVLVWDQFHїPD[ &RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
)RUDSSOLFDEOHZLUHUHIHUWR3 EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
DC power 7KHKROGLQJEUDNHKDVQRSRODULWLHV
DC
supply )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR
24V
IRUEUDNH XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ
%UDNHµRQ3
)XVH 9$ &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU

2-30
2

Preparation Wiring Diagram (H-frame, 200 V type)
In Case of 3-Phase, H-frame, 200 V type

an external regenerative resistor
Preparation
MC1 (T1 and T2 terminals)
ON OFF ALM
MCCB L
Noise filter
L1
L2 supply
(3-phase)
L3
Insulated +
MC1
External
L1C
L2C
Control power
supply 3
B1
DC24V ï Note 1) regenerative resistor
B2
Note 4) NC
Connection
MC2
DB1
DB2
Note 2) Note 5) Note 5) Note 5) U
Dynamic Brake resistor Motor
V connection
Note 3)
W
MC2 Motor ALM 4

37
Insulated + ALM＋
DC12 to 24V
ï 36
(±5%) ALM−
Setup
Note 1)
Magnetic contactor MC2 must be the same as the contactor MC1 in the main circuit.
5
Note 2)
Servo may be turned on in the external sequence if the dynamic brake resistor deposits: to protect the
Adjustment
system, provide the auxiliary contact.
Note 3)
Use 1.2 ї, 400 W resistor (to be supplied by customer).
Note 4)
To use the external dynamic brake resistor:
Connect the R1 and R2 terminals to B1 and B2. 6
Connect the T1 and T2 terminals as shown in the left diagram.
When in Trouble
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

2-31
Preparation Overall Wiring (D, E-frame, 400 V type)
Connecting Example of D, E-frame
$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH 0DLQV * Use a power 9'&SRZHUVXSSO\

supply with
from the power source. Residual 2 A or larger IRUFRQWURO
Symmetric current should be 5000 Arms or below. current device capacity. (to be supplied by customer)
exceeds this value, use a current-limiting device 24V
breaker or transformer). 0V
:LULQJRI0DLQ&RQQHFWRU ;$ :LULQJWR&RQQHFWRU;' P.2-34

&LUFXLW%UHDNHU 0&&% &RQQHFWLRQWRcontrol power
To protect power supply line from overload-
ing, install a wiring circuit breaker rated to :LULQJWR&RQQHFWRU;$ P.2-34
the capacity of the power supply. &RQQHFWLRQWRLQSXWSRZHU
1RLVH)LOWHU 1) L1 (Pin-3)
Removes external noise from the power L2 (Pin-2)
lines. And reduces an effect of the noise L3 (Pin-1)
generated by the servo driver.
driver.
with this.
power.
:LULQJRI0RWRU&RQQHFWRU ;&
3LQ% SLQ % SLQ DQG% SLQ :LULQJWR&RQQHFWRU;& P.2-34
%DQG%WREHNHSWVKRUWHGIRUQRUPDO &RQQHFWLRQWRH[WHUQDOFRPSRQHQWV
RSHUDWLRQ
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH B1 (Pin-4)
resistor, disconnect a short circuit wire
between B2 and B3, then connect the external B2 (Pin-2)
regenerative resistor between B1 and B2, set
up Pr0.16 to 1 or 2. 5HJHQHUDWLYHUHVLVWRU(optional)
DVWKHUPDOIXVHZLWKRXWIDLO
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO

2-32
Overall Wiring (D, E-frame, 400 V type)
1

: High voltage PC (to be supplied by customer)
´3$1$7(50µ
Handle lever
Use this for connector
connection. Store this
Preparation
after connection for :LULQJWR&RQQHFWRU; P.2-51
other occasions.
(Refer to P.2-50 for
connection.) :LULQJWR&RQQHFWRU; P.2-51
&RQQHFWLRQWR5656
Connection
Short circuit wire (B2-B3)
:LULQJWR&RQQHFWRU;% P.2-34 :LULQJWR&RQQHFWRU; P.2-55 4

&RQQHFWLRQWRPRWRU &RQQHFWLRQWRfeedback scale
U-phase(red)
Setup
V-phase(white)
&RQQHFWLRQWRencoder
:SKDVH EODFN
5HPDUNV
Ground ;WR;DUHXVHGIRUWKHVHFRQGDU\
terminal
Ground Charge lamp
5
(earth) (Red LED)*1 the 24 VDC power supply for control
and the 24 VDC power supply for
Adjustment
brake), insulation is required.
Junction cable same power supply.
for encoder
0RWRUFDEOH 6KLHOGZLUH 6
Brake cable &RQQHFWLRQWRPRWRUGULYLQJ
P.2-34
When in Trouble
SKDVHDQGJURXQG
DC Power supply for brake

DC24V
7
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Supplement
Related page
• P.2-34 "Wiring of the Main Circuit (D, E-frame, 400 V type)"
2-33
Preparation Wiring of the Main Circuit (D, E-frame, 400 V type)
D, E-frame, 400 V type

1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ ;% ;& DQG ;' WR ZKLFK KLJK YROWDJH LV DS-
plied. There is a risk of electric shock.
Tips on Wiring
1) Wire connector (XA, XB, XC and XD).
'LUHFWSRZHUVXSSO\IRUFRQWUROFLUFXLW
DC 2 24V
24V 1 0V &KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU
XD VSHFLILFDWLRQV
3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH
3 L1 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Power RCD MCCB NF MC L
supply 2 L2 Never start/stop the motor with this Magnetic
Contactor.
1 /
3URYLGHDQ$&5HDFWRU
XA
$&SKDVHSRZHUVXSSO\9IRUPDLQFLUFXLW
4 B1 'RQ WGLVFRQQHFWWKHVKRUWLQJFDEOHEHWZHHQ%DQG
3 % %'LVFRQQHFWWKLVRQO\ZKHQWKHH[WHUQDO
UHJHQHUDWLYHUHJLVWHULVXVHG
2 B2
'RQRWFRQQHFWDQ\WKLQJWR1
1 N
Yellow 0DWFKWKHFRORUVRIWKHPRWRUOHDGZLUHVWRWKRVHRIWKH
(X2)
XC
U FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89:
Red
Avoid shorting and grounding. Don't connect the
3 U
V main power.
:KLWH 2 V
Earth-ground this.
Black
W 1 W
7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKH
XB JURXQGWHUPLQDO RIWKHGULYHUDQGWKHJURXQG
*UHHQ
or E
*UHHQ/
Yellow
WHUPLQDO JURXQGSODWH RIWKHFRQWUROSDQHO
7KHVHFRORUV
DUHXVHGIRU HTXLSPHQW
RSWLRQDOFDEOH
Motor 7ZRJURXQGWHUPLQDOVDUHSURYLGHG
Don't connect the earth cable to other inserting
*URXQGUHVLVWDQFHїPD[ slot, nor make them touch.
)RUDSSOLFDEOHZLUHUHIHUWR3 &RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH
DC DC power supply VWRSVLJQDO
24V IRUEUDNH 7KHKROGLQJEUDNHKDVQRSRODULWLHV
)RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZ
Varistor WRXVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ
+ROGLQJ%UDNHµRQ3
Fuse (125 V 10 A) 3URYLGHDYDULVWRU
3´&RQQHFWRUNLWIRU;$µ3´&RQQHFWRUNLWIRU;%;&µ3´&RQQHFWRUNLWIRU;'µ

2-34
2

Preparation Wiring Diagram (D, E-frame, 400 V type)
In Case of 3-Phase, D, E-frame, 400 V type

MC
Preparation
ON ALM
OFF
Note 1) XD
Insulated + 24V Control power
DC24V ï 0V supply
MCCB L
Noise filter
XA
L1
L2
Main power
supply
3
L3
Connection
B1 XC
B2
(Remove the short wire when you connect
the external regenerative resistor.) N
XB
U
Motor
V connection
W
4
Motor ALM
37 X4
Setup
Insulated + ALM+
DC12 to 24V
ï 36
(±5%) $/0ï
Note 1)
Shielding the circuit is recommended for the purpose of noise reduction.
5
Adjustment
6
When in Trouble
7
Supplement

2-35
Preparation Overall Wiring (F-frame, 400 V type)
Connecting Example of F-frame
$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH 0DLQV * Use a power 9'&SRZHUVXSSO\

supply with
from the power source. Residual 2 A or larger IRUFRQWURO
24V
:LULQJRI0DLQ&LUFXLW 0V
&LUFXLW%UHDNHU 0&&% &RQQHFWLRQZLWKFRQWURO
To protect power supply line from overload- 3
SRZHUVXSSO\
ing, install a wiring circuit breaker rated to
the capacity of the power supply. &RQQHFWLRQZLWKLQSXW
3
1RLVH)LOWHU 1)
SRZHUVXSSO\
Removes external noise from the power /
lines. And reduces an effect of the noise L2
generated by the servo driver. /
driver.
with this.
power.
3LQ%%DQG%
%DQG%WREHNHSWVKRUWHGIRU &RQQHFWLRQWRH[WHUQDO
3
normal operation. FRPSRQHQWV
regenerative resistor, disconnect a %
VKRUWEDUEHWZHHQ%DQG%
%
then connect the external regen-
HUDWLYHUHVLVWRUEHWZHHQ%DQG
%VHWXS3UWRRU 5HJHQHUDWLYHUHVLVWRU RSWLRQDO
3LQ1&
DVWKHUPDOIXVHZLWKRXWIDLO
regenerative resistor (Option). ,IWKHWKHUPDOIXVH
LVDFWLYDWHGLWZLOOQRWUHVXPH
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH
PDWHULDOVXFKDVPHWDO

2-36
Overall Wiring (F-frame, 400 V type)
1

: High voltage PC (to be supplied
by customer)
2
Preparation
0RQLWRURXWSXW Please download from our web site.
3
&RQQHFWLRQWR5656
or host controller
Connection
Short bar
%% 4
U-phase(red)
Setup
V-phase(white) :LULQJWR&RQQHFWRU; P.2-57
:SKDVH EODFN &RQQHFWLRQWRencoder
5HPDUNV
;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW
To connect these terminals to the primary
5
SRZHUVXSSO\ SDUWLFXODUO\WKH9'&SRZHU
Adjustment
Ground Ground Charge lamp VXSSO\IRUFRQWURODQGWKH9'&SRZHU
terminal (earth) 5HG/(' supply for brake), insulation is required.
'RQRWFRQQHFWWKHVHWHUPLQDOVWRWKHVDPH
power supply.
Junction cable for motor Junction cable 6

Junction cable &RQQHFWLRQWRPRWRUGULYLQJ for encoder
3
for brake SKDVHDQGJURXQG
When in Trouble
'&3RZHUVXSSO\IRUEUDNH
'&9
7
'RQRWPDNHGLVSODFHPHQWZLULQJRULQVSHFWLRQZKLOHWKH/('LVOLWFDXVHRIHOHFWULFVKRFN
Supplement
Related page
• P.2-38 "Wiring of the Main Circuit (F-frame, 400 V type)"
2-37
Preparation Wiring of the Main Circuit (F-frame, 400 V type)
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.
'LUHFWSRZHUVXSSO\IRUFRQWUROFLUFXLW
DC 24V &KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHUVSHFLILFDWLRQV
24V 3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQWGHYLFH
0V
WREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLVHTXLSSHGZLWK
FRXQWHUPHDVXUHVIRUKDUPRQLFV
L1 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever
3RZHU 5&' MCCB 1) MC L start/stop the motor with this Magnetic Contactor.
VXSSO\ L2 3URYLGHDQ$&5HDFWRU
L3
$&SKDVHSRZHUVXSSO\9IRUPDLQFLUFXLW
B1 'RQ WGLVFRQQHFWWKHVKRUWEDUEHWZHHQ%DQG%
'LVFRQQHFWWKLVRQO\ZKHQDQH[WHUQDOUHJHQHUDWLYHUHJLVWHULV
B3 XVHG
<HOORZ NC FRUUHVSRQGLQJPRWRURXWSXWWHUPLQDOV 89:
; Avoid shorting and grounding.
U
5HG U Don't connect the main power.
V
:KLWH V
Earth-ground this.
W
%ODFN W 7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG
WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO JURXQG
*UHHQRU E
*UHHQ\HOORZ SODWH RIWKHFRQWUROSDQHO
HTXLSPHQW
Motor
Don't connect the earth cable to other inserting slot, nor
make them touch.
&RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKHEUDNH
FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO
DC VXSSO\ )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWRXVH
24V WKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ%UDNHµRQ
IRUEUDNH 3
3URYLGHDYDULVWRU
Varistor
)XVH 9$

2-38
2

Preparation Wiring Diagram (F-frame, 400 V type)
In Case of 3-Phase, F-frame, 400 V type

Preparation
MC
ON ALM
OFF
Note 1)
Insulated + 24V Control power
DC24V ï 0V supply
MCCB L
Noise filter
L1
L2
Main power
supply
3
L3
MC B1
Connection
B3
(Remove the short wire when you connect NC
the external regenerative resistor.) U
Motor
V connection
W
Motor ALM
4
X4
37
Insulated + ALM+
DC12 to 24V
Setup
ï 36
(±5%) $/0ï
Note 1)
5
Adjustment
6
When in Trouble
7
Supplement

2-39
Preparation Overall Wiring (G-frame, 400 V type)
Connecting Example of G-frame

$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPH- 0DLQV * Use a power 9'&SRZHUVXSSO\
plate from the power source. Residual supply with
5 A or larger IRUFRQWURO
(e.g. current-limiting fuse, current-limiting circuit 24V
breaker or transformer). 0V
:LULQJRI0DLQ&LUFXLW &RQQHFWLRQZLWKFRQWURO
P.2-42
SRZHUVXSSO\
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading, &RQQHFWLRQZLWKLQSXW
P.2-42
install a wiring circuit breaker rated to the capacity SRZHUVXSSO\
of the power supply. /
1RLVH)LOWHU 1) L2
Removes external noise from the power lines. And
L3
reduces an effect of the noise generated by the
servo driver.
0DJQHWLF&RQWDFWRU
&RQQHFWLRQWRH[WHUQDOFRPSRQHQWVP.2-42
%
B2
5HJHQHUDWLYHUHVLVWRU(optional) 3LQ%DQG%
5HPDUNV :KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU resistor, connect the external regenerative resistor
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK EHWZHHQ%DQG%VHWXS3UWRRU
DVWKHUPDOIXVHZLWKRXWIDLO. 3LQ'%'%'%DQG'%
7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH ･1RUPDOO\OHDYH'%DQG'%VKRUWFLUFXLWHG
regenerative resistor (Option). ,IWKHWKHUPDOIXVH ･ To connect the external dynamic brake resistor,
LVDFWLYDWHGLWZLOOQRWUHVXPH UHIHUWR´'\QDPLF%UDNHµRQ3
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH 'RQRWXVHWKHH[WHUQDOG\QDPLFEUDNHUHVLVWRU
PDWHULDOVXFKDVPHWDO. WRJHWKHUZLWKWKHEXLOWLQUHVLVWRU
1RWH 3LQ1&
The wiring indicated with the broken line shall be 'RQRWFRQQHFWDQ\WKLQJ
provided only when required.

2-40
Overall Wiring (G-frame, 400 V type)
1

: High voltage
PC (to be supplied
by customer)
0RQLWRURXWSXW 2
Preparation
Please download from our web site.
NC &RQQHFWLRQWR5656 3
L1 X1
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24V
X2
Connection
L2
0V
X3
L3
NC
NC
B1
DB1
X4
B2
DB2
4
NC
NC
U-phase
X5
U
NC
V-phase X6
V DB3
:SKDVH
Setup
DB4
W
NC
CHARGE
&RQQHFWLRQWRencoder
400V
Junction cable for encoder
Short bar (DB3-DB4) 5

Ground Charge lamp (LED)
Adjustment
terminal Do not make displacement, wiring
Ground
(earth) or inspection while the LED is lit -
cause of electric shock.
0RWRUFDEOH 6KLHOGZLUH
&RQQHFWLRQWRPRWRUGULYLQJ 5HPDUNV
P.2-42
SKDVHDQGJURXQG
;WR;DUHXVHGIRUWKH 6
secondary circuit. To connect
these terminals to the primary
When in Trouble
Brake cable
power supply (particularly, 24
VDC power supply for brake),
Do not connect these terminals to
the same power supply.
DC Power supply
for brake DC24V 7
(to be supplied
by customer)
Supplement
Related page
• P.2-42 "Wiring of the Main Circuit (G-frame, 400 V type)"
2-41
Preparation Wiring of the Main Circuit (G-frame, 400 V type)
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).
&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHUVSHFLILFD-
WLRQV
NC 3URYLGHDFLUFXLWEUHDNHU
DC
24V 24V 0DNHVXUHWRSURYLGHDQRLVHILOWHU
0V 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
Never start/stop the motor with this Magnetic
L1 NC Contactor.
3RZHU 5&' MCCB 1) MC L 'LUHFWSRZHUVXSSO\9'&IRUFRQWUROFLUFXLW
VXSSO\ L2 NC 3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU
L3 DB1 $&SKDVHSRZHUVXSSO\9IRUPDLQFLUFXLW
7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH
B1 DB2 9$&RUEHORZRU9'&RUEHORZ
0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU´89:µ
B2 NC Avoid shorting and grounding.
NC NC Don't connect the main power.
)RUQRUPDORSHUDWLRQGRQRWGLVFRQQHFWWKHVKRUWLQJ
U
U DB3 EDUIURP'%DQG'%UHPRYHWKHEDURQO\ZKHQWKH
V H[WHUQDOG\QDPLFEUDNHUHVLVWRULVXVHG
V DB4 Earth-ground this.
W 7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKH
W NC
JURXQGWHUPLQDO RIWKHGULYHUDQGWKHJURXQG
E /HIW 5LJKW WHUPLQDO JURXQGSODWH RIWKHFRQWUROSDQHO
VLGH VLGH
7KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWK
RWKHUHTXLSPHQW
Motor slot, nor make them touch.
)RUDSSOLFDEOHZLUHUHIHUWR3 EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH
VWRSVLJQDO
DC VXSSO\ )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZ
24V WRXVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ
IRUEUDNH +ROGLQJ%UDNHµRQ3
3URYLGHDYDULVWRU
Varistor &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU
)XVH 9$ * Do not connect anything to NC.

2-42
2

Preparation Wiring Diagram (G-frame, 400 V type)
In Case of 3-Phase, G-frame, 400 V type

Preparation
MC1 resistor (light yellow)
ON OFF ALM
MCCB L
Noise filter
L1
L2 supply
(3-phase)
L3
Insulated + Note 1)
DC24V ï
MC1 24V
0V
Control power
supply 3
External B1
NC
Connection
DB1
DB2
Note 2) DB3
DB4
U
Motor
V connection
W
4
Motor ALM
37
Insulated + ALM＋
Setup
DC12 to 24V
ï 36
(±5%) ALM−
Note 1)
Note 2)
5
Normally, do not disconnect the shorting bar.
Adjustment
6
When in Trouble
7
Supplement

2-43
Preparation Overall Wiring (H-frame, 400 V type)
Connecting Example of H-frame

$SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPH- Mains * Use a power 9'&SRZHUVXSSO\
plate from the power source. Residual supply with
Neutral point
5 A or larger IRUFRQWURO
:LULQJRI0DLQ&LUFXLW
&LUFXLW%UHDNHU 0&&%
To protect power supply line from overloading,
of the power supply.
Charge lamp (LED)
1RLVH)LOWHU 1) Do not make displacement,
L1C
Removes external noise from the power lines. And wiring or inspection while
reduces an effect of the noise generated by the the LED is lit - cause of
electric shock.
servo driver.
Turns on/off the main power of the servo driver. 0V 24V
Use coil surge suppression units together with this. &RQQHFWLRQZLWK
1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV FRQWUROSRZHU P.2-46
0DJQHWLF&RQWDFWRU VXSSO\
L1 L2 L3 &RQQHFWLRQZLWKLQSXW
9'& P.2-46
SRZHUVXSSO\IRU
SRZHUVXSSO\
UHJHQHUDWLYHUHVLVWRU P.2-46
FRPSRQHQWV
(to be supplied by
customer )
* Use a power B1
supply with
5 A or larger
capacity. B2
5HJHQHUDWLYHUHVLVWRU
(optional)
5HPDUNV
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH
resistor, LQVWDOODQH[WHUQDOSURWHFWLYH '\QDPLF%UDNH Turns on/off the dynamic brake
UHVLVWRU resistor.
DSSDUDWXVVXFKDVWKHUPDOIXVHZLWKRXW
Use coil surge suppression units
IDLO. (tocustomer
be supplied by
) together with this.
regenerative resistor (Option). ,IWKHWKHUPDO 5HPDUNV
IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH :KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRULQVWDOODQ
0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH
LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO. ZLWKRXWIDLO
)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ 0RXQWWKHG\QDPLFEUDNHUHVLVWRURQLQFRPEXVWLEOHPDWHULDO
Diagram” on P.2-47. VXFKDVPHWDO
)RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ'LDJUDPµRQ3
)RUDQH[DPSOHRIWKHUHFRPPHQGHGSURWHFWLYHFLUFXLWUHIHUWR
“Dynamic Brake” on P.2-67.

2-44
Overall Wiring (H-frame, 400 V type)
1

: High voltage PC(to be supplied by customer)
:LULQJWR&RQQHFWRU; P.2-60 “PANATERM”
Preparation
X1
X2
X3
&RQQHFWLRQWR5656
X4
or host controller
X5
3
X6
Connection
CHARGE
4
24V 0V DB1 DB2 :LULQJWR&RQQHFWRU; P.2-57
&RQQHFWLRQWRencoder
Setup
5HPDUNV
L1 L2 L3 B1 B2 NC U V W ;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW7R
Junction cable connect these terminals to the primary power
for encoder supply (particularly, the 24 VDC power supply for
control, the 24 VDC power supply for brake, and
the 24 VDC power supply for regenerative
U-phase resistor), insulation is required. 5
V-phase Do not connect these terminals to the same power
Ground supply.
(earth) :-phase
Adjustment
3LQ%DQG%
Ground terminal
:KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH
resistor, connect the external regenerative resistor
between B1 and B2, set up Pr0.16 to 1 or 2.
Motor cable (Shield wire) 3LQ'%DQG'%
:KHQLQVWDOOLQJDQH[WHUQDOG\QDPLFEUDNH
&RQQHFWLRQWRPRWRUGULYLQJ
SKDVHDQGJURXQG P.2-46 resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to between
6
LIC and DB1.
When in Trouble
Brake cable 5HPDUNV

7KHYROWDJHDSSOLHGDFURVV'%DQG'%
PXVWEH9$&RUEHORZRU9'&RU
EHORZ
1RWH
/&LVFRQQHFWHGDIWHUWKH5SKDVHRIWKHQRLVH
DC Power supply filter.
for brake DC24V
(to be supplied
/&LVQRWLQGLFDWHGRQWKHGULYHUERG\ 7
3LQ1&
by customer)
Supplement
Related page
• P.2-46 "Wiring of the Main Circuit (H-frame, 400 V type)"
2-45
Preparation Wiring of the Main Circuit (H-frame, 400 V type)
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).
VSHFLILFDWLRQV
Upper HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV
DC VLGH
24V 24V 0DNHVXUHWRSURYLGHDQRLVHILOWHU
0V
0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU
L1 DB1 Never start/stop the motor with this Magnetic
Power 5&' MCCB 1) MC L
Contactor.
supply L2 DB2 'LUHFWSRZHUVXSSO\IRUFRQWUROFLUFXLW
L3 7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH
9$&RUEHORZRU9'&RUEHORZ
DC
B1 3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU
24V
B2 $&SKDVHSRZHUVXSSO\9IRUPDLQFLUFXLW
'RQRWFRQQHFWDQ\WKLQJWR1&
3RZHUVXSSO\IRU
UHJHQHUDWLYHUHVLVWRU NC 0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU´89:µ
U Avoid shorting and grounding.
V
W 7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKH
W JURXQGWHUPLQDO RIWKHGULYHUDQGWKHJURXQG
E Lower WHUPLQDO JURXQGSODWH RIWKHFRQWUROSDQHO
VLGH
7KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWK
RWKHUHTXLSPHQW
Motor slot, nor make them touch.
VWRSVLJQDO
DC power
DC 7KHKROGLQJEUDNHKDVQRSRODULWLHV
supply )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZ
24V
IRUEUDNH WRXVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ
+ROGLQJ%UDNHµRQ3
Varistor
3URYLGHDYDULVWRU
)XVH 9$ &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU

2-46
2

Preparation Wiring Diagram (H-frame, 400 V type)
In Case of 3-Phase, H-frame, 400 V type

Preparation
MC1 resistor
ON OFF ALM
(T1 and T2 terminals)
MCCB L
Noise filter
L1
L2 supply
(3-phase)
L3
Power supply
Insulated + Note 1)
DC24V ï
MC1 24V
0V
Control power
supply 3
(Neutral point) Insulated + External B1
The AC voltage across DC24V ï Note 1) regenerative resistor B2
DB1 and DB2 must be Note 5) NC
Connection
MC2
300 V or below. DB1
DB2
Note 3) Note 6) Note 6) Note 6) U
Dynamic Brake resistor Motor
V connection
Note 4)
W
MC2 Motor ALM 4

37
Insulated + ALM＋
DC12 to 24V
ï 36
(±5%) ALM−
Setup
Note 1)
5
Note 2)
Magnetic contactor MC2 must be the same as the contactor MC1 in the main circuit.
Adjustment
Note 3)
Servo may be turned on in the external sequence if the dynamic brake resistor deposits: to protect the
system, provide the auxiliary contact.
Note 4)
Use 4.8 ї, 400 W resistor (to be supplied by customer).
Note 5)
6
To use the external dynamic brake resistor:
When in Trouble
Connect the R1 and R2 terminals to B1 and B2.

Connect the T1 and T2 terminals as shown in the left diagram.
Connect the 24 V and 0 V terminals to a 24 VDC power supply.
Connect the E terminal to the ground.
Refer to P.7-122 “Options” for the specifications of the external regenerative resistor.
Note 6) 7
Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external
dynamic brake resistor.
Supplement

2-47
Preparation Specifications of Motor connector
:KHQWKHPRWRUVRI060'0+0'!DUHXVHGWKH\DUHFRQQHFWHGDVVKRZQEHORZ
Connector: Made by Tyco Electronics k.k, (The figures below show connectors for the motor.)
&RQQHFWRUIRUHQFRGHU PIN No. Application

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

&RQQHFWRUIRUEUDNH
2 1 1
4 3 2
&RQQHFWRU
IRUPRWRU 172167-1 172165-1
PIN No. Application PIN No. Application
1 U-phase 1 Brake
2 V-phase 2 Brake
3 W-phase
4 Ground
: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.
20-bit Incremental 17-bit Absolute

PIN No. Application PIN No. Application
1 5 1 FG(SHIELD) 1 FG(SHIELD)
&RQQHFWRUIRUHQFRGHU
2 6 2 — 2 %$7ï
3 3 E0V 3 E0V
4 7 4 PS 4 PS
5 — 5 BAT＋
JN6CR07PM2 6 E5V 6 E5V
7 PS 7 PS
Tightening torque of the screw (M2) 0.19 to 0.21 N·m
* Be sure to use only the screw supplied with the connector, to
avoid damage.
PE PIN No. Application

&RQQHFWRUIRUPRWRU 3 1 U-phase
2 2 V-phase
1 3 W-phase
PE Ground
JN8AT04NJ1 Tightening torque of the screw (M2) 0.085 to 0.095 N·m
(screwed to plastic)
* Be sure to use only the screw supplied with the connector,
to avoid damage.
[Motor with brake] 1 PIN No. Application

&RQQHFWRUIRUEUDNH 1 Brake * Electromagnetic brake is
2 Brake a nonpolar device.
2 Tightening torque of the screw (M2) 0.19 to 0.21 N·m
JN4AT02PJM-R * Be sure to use only the screw supplied with the connector,
to avoid damage.
Remarks Do not connect anything to NC.

2-48
Specifications of Motor connector
1

:KHQWKHPRWRUVRI060( : 9 N:WRN: 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 &RQQHFWRUIRUPRWRU 2
Preparation
<without Brake>
G H A A B C
1 2 3
4 5 6 7 D A
F I B D E F 3
8 9 10 E D C G H I
C B
Connection
JN2AS10ML3-R
JL04V-2E20-4PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
20-bit Incremental 17-bit Absolute MSME 750W (400V) MFME 1.5kW (200V) MFME 1.5kW (400V)
PIN No. Application PIN No. Application 1.0kW to 2.0kW 2.5kW, 4.5kW
1 E0V 1 E0V MDME 400W to 2.0kW
2 NC 2 NC MGME 0.9kW
MHME 1.0kW to 1.5kW
3 PS 3 PS
4 E5V 4 E5V JL04HV-2E22-22PE-B-R PIN No. Application PIN No. Application 4
5 NC 5 BATï MSME 3.0kW to 5.0kW G NC A NC
6 NC 6 BAT＋ MDME 3.0kW to 5.0kW H NC B NC
7 PS 7 PS MGME 2.0kW to 4.5kW A NC C NC
Setup
8 NC 8 NC MHME 2.0kW to 5.0kW F U-phase D U-phase
9 FG(SHIELD) 9 FG(SHIELD) PIN No. Application I V-phase E V-phase
10 NC 10 NC A U-phase B W-phase F W-phase
B V-phase E Ground G Ground
C W-phase D Ground H Ground
D Ground C NC I NC
&RQQHFWRUIRUPRWRU 5
&RQQHFWRUIRUEUDNH <with Brake> <with Brake>
(200 V) (400 V)
Adjustment
G H A A B C A B C
F I B D E F D E F
E D C G H I G H I
<Motor> <Brake> JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R JL04V-2E24-11PE-B-R

MSME 1.0kW to 2.0kW MSME 3.0kW to 5.0kW MSME 750W to 5.0kW 6
D A D A MDME 1.0kW to 2.0kW MDME 3.0kW to 5.0kW MDME 400W to 5.0kW
MFME 1.5kW MFME 2.5kW, 4.5kW MFME 1.5kW to 4.5kW
When in Trouble
MGME 0.9kW MGME 2.0kW to 4.5kW MGME 0.9kW to 4.5kW

C B C B
MHME 1.0kW to 1.5kW MHME 2.0kW to 5.0kW MHME 1.0kW to 5.0kW
JL04V-2E32-17PE-B-R N/MS3102A 14S-2P PIN No. Application PIN No. Application PIN No. Application
MDME 7.5kW to 15.0kW MDME 7.5kW to 15.0kW G Brake A Brake A Brake
MGME 6.0kW MGME 6.0kW H Brake B Brake B Brake
MHME 7.5kW MHME 7.5kW A NC C NC C NC
F U-phase D U-phase D U-phase
PIN No.
A
Application
U-phase
PIN No.
A
Application
Brake
I V-phase E V-phase E V-phase 7
B W-phase F W-phase F W-phase
B V-phase B Brake
E Ground G Ground G Ground
Supplement
C W-phase C NC D Ground Ground Ground

H H
D Ground D NC C NC I NC I NC
5HPDUNV Do not connect anything to NC.

2-49
Preparation Wiring method to connector
)ROORZWKHSURFHGXUHVEHORZIRUWKHZLULQJFRQQHFWLRQWRWKH&RQQHFWRU XA , XB and XC .
How to connect
1. Peel off the insulation cover of the cable. 8 to 9 mm
)RUVLQJOHZLUH 3OHDVHREH\WKHOHQJWKLQÀJXUH
)RUVWUDQGHGZLUHV IHUUXOHVPXVWEHXVHGDVLOOXVWUDWHGEHORZ
Example: Ferrules with plastic insulating sleeve Examples: Nylon-insulated ferrule
(AI series, Phoenix Contact, Ltd.) (NTUB series, J.S.T. Mfg. Co., Ltd.)
1) Peel off the sheath so that the conductor portion of the Vinyl-insulated ferrule
cable will protrude from the tip of the ferrule. (It should (VTUB series, J.S.T. Mfg. Co., Ltd.)
protrude 1 mm or more from the ferrule.) 1) Peel off the sheath of the cable conductor
2) Insert the cable into the ferrule and crimp it with an ap- portion to the length equal to that of sheath
propriate crimping tool. on the ferrule.
3) After crimping, cut off the cable conductor portion pro- 2) Insert the cable into the ferrule and crimp it
truding from the ferrule. (The allowable protruding length with an appropriate crimping tool.
after cutting should be 0 to 0.5 mm.) 3DUW1RRIWKHFULPSLQJWRRO<17
Part No. of the crimping tool: CRIMPFOX U-D66 (1204436) Available from J.S.T. Mfg. Co., Ltd
Available from Phoenix Contact, Ltd.
A B
(1) A＞B ① A≧B A≦B＋C
A B C
(2)
1mm or more ②
(3)
:KHQSHHOLQJRIIWKHVKHDWKRIWKHFDEOHWDNHFDUHQRWWRGDPDJHRWKHUSRUWLRQV
:KHQFULPSLQJWKHIHUUXOHVXIÀFLHQWO\FKHFNWKHVWDWXVRIWKHIHUUXOHDQGFDEOH,IWKHFRQGXFWRUVRIWKH
cable stick out from the insulation cover or protrude excessively from the tip of the ferrule, accidents
VXFKDVDQHOHFWULFVKRFNDQGÀUHIURPDVKRUWFLUFXLWPD\UHVXOW
2. Insert the cable to the connector in the following 2 methods.
(a) Insert the cable using the supplied handle lever.
E ,QVHUWWKHFDEOHXVLQJDÁDWEODGHVFUHZGULYHU (GJHZLGWKWRPP
(a) Using handle lever (b) Using screw driver
1 Attach the handle lever to the 1 Press the screw driver to the
handling slot on the upper handling slot on the upper
portion. Press down the lever portion to push down the
to push down the spring. spring.
2 Insert the peeled cable while 2 Insert the peeled cable while
pressing down the lever, until pressing down the screw
it hits the insertion slot driver, until it hits the
(round hole). insertion slot (round hole).
3 Release the lever. 3 Release the screw driver.
* You can pull out the cable

by pushing down the spring
as the above.
7DNHRIIWKHFRQQHFWRUIURPWKH6HUYR'ULYHUEHIRUHPDNLQJFRQQHFWLRQ
,QVHUWRQO\RQHFDEOHLQWRHDFKRQHRIFDEOHLQVHUWLRQVORW
3D\DWWHQWLRQWRLQMXU\E\VFUHZGULYHU
2-50
3. Wiring to the connector, X1 1
2

Preparation Connecting host computer
This is used for USB connection to a personal computer. It is possible to change the pa-
rameter setting and perform monitoring.
Connector
Application Symbol Contents
Pin No. 2
VBUS 1
Use for communication with personal
Preparation
Dï 2
computer.
USB signal terminal D+ 3
— 4 Do not connect.
GND 5 Connected to ground of control circuit.

3
Caution Use commercially available USB mini-B connector for the driver.
Connection
2 4. Wiring to the connector, X2
Preparation Connecting communication connector
4
This is used for connection to the host controller when two or more units are used.
RS232 and RS485 interfaces are supplied.
Setup
Connector
Pin No.
Signal ground GND 1 Connected to ground of control circuit.
NC – 2 Do not connect.
5
TXD 3 RS232
RS232 signal
The transmission / reception method.
Adjustment
RXD 4
ï 5
485+ 6 RS485
RS485 signal
ï 7 The transmission / reception method.
6
485+ 8
When in Trouble
Connected with protective earth terminal in

Frame ground FG Shell
the servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics)

[Connector pin assignment]
8 6 4 2
7 5 3 1 (Viewed from cable) 7
Remarks ;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW7RFRQQHFWWKHVHWHUPLQDOVWRWKHSULPDU\SRZHU
Supplement
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.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;
Related page 3´&RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOH IRU5656 µ

2-51
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]
Cable prepared Shut off both powers of
by the user the PC andthe driver
before inserting/pulling
out the connector.
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 connect-
ing other drivers via RS485 each other, you can connect multiple drivers.
RS485 RS485
RS232
Host controller
Connector X2 Connector X2 Connector X2 (PC controller)
Set the axis number (Pr5.31) of driver Set the axis number (Pr5.31) of driver to be
to be connected through RS485 to a value connected to the host through RS232 to 0.
in the range 1 to 31.
Note <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
Host controller
Connector X2 Connector X2 Connector X2 (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 <RXFDQFRQQHFWXSWRGULYHUVZLWKWKHKRVW
)RUGHWDLOVUHIHUWR3&RPPXQLFDWLRQRI6XSSOHPHQW
2-52
2

Preparation Safety function connector
A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal

times.
When controlling the safety function from the connected host controller, accessory con-
QHFWRUFDQQRWEHXVHG3UHSDUHDQGZLUHWKHFRQQHFWRU RSWLRQ DVVSHFLÀHGEHORZ 2
Since the standard connector cannot be used when controlling the safety function from
the host controller, purchase the optional connector and make connection as shown be-
Preparation
low.
Connector
Pin No.
– 1
NC Do not connect.
– 2 3
SF1ï 3
Connection
Safety input 1
SF1+ 4 These are two independent circuits that
turn off the operation signal to the power
SF2ï 5 module to shut off the motor current.
Safety input 2
SF2+ 6
EDMï 7 This is an output for monitoring the failure 4

EDM output
EDM+ 8 of the safety function.
Setup
the servo driver.
Connector (plug): 2013595-1 (optional, available from Tyco Electronics)

[Connector pin assignment]
8 6 4 2 5
7 5 3 1 (Viewed from cable)
Adjustment
6
When in Trouble
7
Supplement

Caution 'LVFRQQHFWLQJWKLVFRQQHFWRUGXULQJRSHUDWLRQUHVXOWVLQLPPHGLDWHVWRS
Related page 3´&RQQHFWRU.LWIRU6DIHW\µ

2-53
Preparation Connection to Host Controller
Tips on wiring
3m
or shorter Peripheral apparatus such as host controller should be located
within3m.
Controller
30cm or longer
Power Separate the main circuit at least 30cm away.
supply
Don't pass them in the same duct, nor bind them together.
Motor
Power supply for control signals (VCC) between COM+ and

COM– (VDC) should be prepared by customer.
COM+ 1
2
Use shield twisted pair for the wiring of command pulse input
GND
and encoder signal output.
Don't apply more than 24V to the control signal output

VDC
terminals, nor run 50mA or more to them.
When the relay is directly driven by the control output signals,

COM–
install a diode in parallel with a relay, and in the direction as
FG the Fig. shows. The driver might be damaged without a diode
Connector X4 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;µDQG3´,QSXWV

and outputs on connector X4”.
6SHFLÀFDWLRQVRIWKH&RQQHFWRU;
Connector at Connecter to be prepared by customer
Manufacturer
driver side Part name Part No.
Connecter (soldering type) 54306-5019

52986-5079 equivalent
equivalent
Molex Inc.
Connector cover 54331-0501
equivalent
or
Connecter (soldering type) 10150-3000PE

10250-52A2** equivalent
equivalent
Sumitomo 3M
Connector cover 10350-52A0-008
equivalent
Note )RUGHWDLOVUHIHUWR3´2SWLRQVµRI6XSSOHPHQW
Remarks 7LJKWHQLQJWRUTXHRIWKHVFUHZVIRUFRQQHFWRU ; IRUWKHFRQQHFWLRQWRWKHKRVWWREH
0.3 to 0.35Nm. Larger tightening torque than these may damage the connector at the
driver side.
2-54
2

Preparation Connect on to External Scale
Provide a power supply for the external scale on your part or use the following power out-
put (250mA or less).
Connector
Pin No. 2
Supply the power of external scale or A, B,
Power supply EX5V 1
Z phase encoder.
Preparation
output
EX0V 2 Connected to ground of control circuit.
I/F of external EXPS 3 Serial signal

scale signals /EXPS 4 The transmission / reception method.
EXA 5
3
/EXA 6
Parallel signal
A, B, Z phase EXB 7 reception
Connection
Endoder signal
/EXB 8 Correspondence speed :
input
4Mpps (after quadruple)
EXZ 9
/EXZ 10
the servo driver. 4
Connector (plug) sirial external signal: MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)
Caution
Setup
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.
5
2) 5HFRPPHQGHGH[WHUQDOVFDOHUDWLRLV([WHUQDOVFDOHUDWLR
Adjustment
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.
6
When in Trouble
7
Supplement
Related page 3´'HWDLOVRI3DUDPHWHUµ3´&RQQHFWRU.LWIRU([WHUQDO6FDOHµ

2-55
Connect on to Feedback Scale
Wiring Diagram of X5
Connector X5
Regulator
1 +5V
EX5V EX5V
2 0V
EX0V EX0V
3
EXPS EXPS
4
EXPS EXPS
5
EXA EXA
6
EXA EXA
7
EXB EXB
8
EXB EXB
9
EXZ EXZ
10
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 hav-
ing the twisted core wire with diameter of 0.18mm2.
2) Cable length to be max. 20m. Double wiring for 5V power supply is recommended
when the wiring length is long to reduce the voltage drop effect.
&RQQHFW WKH RXWHU ÀOP RI WKH VKLHOG ZLUH RI WKH H[WHUQDO VFDOH WR WKH VKLHOG RI WKH
MXQFWLRQFDEOH$OVRFRQQHFWWKHRXWHUÀOPRIWKHVKLHOGZLUHWRWKHVKHOO )* RIFRQ-
nector X5 of the driver without fail.
4) Separate the wiring to X7 from the power line (L1, L2, L3, B1, B2, B3, U, V. W, )
as much as possible (30cm or more). Do not pass these wires in the same duct, nor
bundle together.
5) Do not connect anything to the vacant pins of X5.
6) The maximum power available from the connector X5 is 250 mA at 5 V ±5%. If you
use an external scale requiring more power, you should provide the suitable power
source by yourself. Some external scales need longer initialization period after
SRZHUXS<RXUGHVLJQVKRXOGPHHWWKLVRSHUDWLRQWLPLQJDIWHUSRZHUXS
7) When driving the external scale from an external power supply, keep the EX5V
pin open circuit so that it does not receive any external voltage. Connect the
GND circuit (0 V) to EX0V (connector X5, pin 2) of the driver to eliminate potential
difference.
Input circuit
(;$(;%(;=LQSXWFLUFXLW
2kї 20kї
EXA, EXB, EXZ
PULS
120ї
EXA, EXB, EXZ
2kї 20kї
2-56
2

Preparation Connection to Encoder
Tips on Wiring
Power Maximum cable length between the driver and the motor to be
supply 20m. Consult with a dealer or distributor if you want to use the 2
longer cable than 20m. (Refer to the back cover.)
Motor Encoder 30cm or more
Keep this wiring away from the main circuit by 30 cm or more.
Preparation
20m max. Don't guide this wiring through the same duct with the main,
nor bind them together.
The voltage of input power to encoder side connector should
be in the range 4.90–5.25 VDC.
When you make your own encoder junction cable (for 3
connectors, refer to P.7-111, "Options (Connector Kit for Motor
Connection
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 4
Encoder
wiring.
junction cable 4) Shielding treatment
Setup
E5V E5V
6KLHOG ZDOO RI WKH GULYHU VLGH ,W VROGHUV WKH VKHOO RI
E0V E0V Connector X6.
6KLHOGZDOORIWKHPRWRUVLGH
PS
manufactured by JAE
PS
Small type motor (50W to 750W): connect to 6-pins
PS
FG
PS
Large type motor (0.9W to 15.0kW): connect to 9-pins
5
Encoder side 5) Connect nothing to the empty terminals of each connector.
Driver side
Adjustment
connector Connector X6
6
When in Trouble
7
Supplement
Related page 3´&RQQHFWRU.LWIRU(QFRGHUµ

2-57
Connection to Encoder
Wiring Diagram
,QFDVHRIELWLQFUHPHQWDOHQFRGHU
MSMD 50W to 750W MHMD 200W to 750W
X6
Regulator
White 4 1 ＋5V
E5V E5V
%ODFN 5 2 0V
E0V E0V
3
4
Light blue 2 5
PS PS
Purple 3 6
PS PS
6
FG Shell (FG)
Twisted pair
172160-1
(Tyco Electronics)
Motor Motor Encoder cable Driver
Caution 2QO\WKHW\SHRIRQO\IRUSRVLWLRQFRQWURO
MSME 50W to 750W

X6
Regulator
+5V
E5V 6 1
E5V
E0V 3 2
E0V
0V
3
4
[Connector pin
assignment ] PS
PS
7
4
5
6
PS
PS
1
1 FG Shell (FG)
5
2
3
6 Twisted pair
7 Cable connector: JN6FR07SM1
4
(by Japan Aviation Electronics Ind.)
(Viewed from cable)
Motor Encoder cable Driver
Caution 7LJKWHQWKHPRWRUFRQQHFWRUPRXQWLQJVFUHZ 0 ZLWKDWRUTXHEHWZHHQDQG

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 MDME 400W to 15.0kW

MFME 1.5kW to 4.5kW MGME 0.9kW to 6.0kW MHME 1.0kW to 7.5kW
X6
Regulator
+5V
E5V 4 1
E5V
E0V 1 2
E0V
0V
3
4
3 5
PS PS
7 6
PS PS
9
FG Shell (FG)
Twisted pair
Cable connector: JN2DS10SL1-R
2-58
Connection to Encoder
1

In case of 17-bit absolute encoder
MSME 50W to 750W 2
X6
Regulator
+5V
E5V 6 1
E5V
Preparation
E0V 3 2
E0V
0V
5 battery 3
BAT+
2 4
BATï
[Connector pin
assignment ] PS
PS
7
4
5
6
PS
PS
1
1 FG Shell (FG)
5
2
3
6
7
Twisted pair 3
4 Cable connector: JN6FR07SM1
(Viewed from cable)
Connection
Caution 7LJKWHQWKHPRWRUFRQQHFWRUPRXQWLQJVFUHZ 0 ZLWKDWRUTXHEHWZHHQDQG

Nm. To avoid damage, be sure to use only the screw supplied with the connector.
'RQRWUHPRYHWKHJDVNHWVXSSOLHGZLWKWKHMXQFWLRQFDEOHFRQQHFWRU6HFXUHO\LQVWDOOWKH
JDVNHWLQSODFH2WKHUZLVHWKHGHJUHHRISURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
Remarks &RQQHFWWKHEDWWHU\IRUDEVROXWHHQFRGHUDFURVV3DQG3RIWKHMXQFWLRQFRQQHFWRU WKH 4

figure above).
$EDWWHU\KROGHUDQGDEDWWHU\FRQQHFWLRQFDEOHVKRXOGEHWKHRSWLRQFDEOHRUSUHSDUHGE\
the user.
Setup
MSME 750W (400V), 1.0kW to 5.0kW MDME 400W to 15.0kW
MFME 1.5kW to 4.5kW MGME 0.9kW to 6.0kW MHME 1.0kW to 7.5kW
X6
5
Regulator
+5V
E5V 4 1
E5V
E0V 1 2
E0V
0V
6 battery 3
BAT+
5 4
Adjustment
BATï
3 5
PS PS
7 6
PS PS
9
FG Shell (FG)
Twisted pair
Cable connector: JN2DS10SL1-R
Motor Encoder cable Driver 6
When in Trouble
Remarks &RQQHFWWKHEDWWHU\IRUDEVROXWHHQFRGHUDFURVV3DQG3RIWKHMXQFWLRQFRQQHFWRU WKH

figure above).
$EDWWHU\KROGHUDQGDEDWWHU\FRQQHFWLRQFDEOHVKRXOGEHWKHRSWLRQFDEOHRUSUHSDUHGE\
the user.
7
Supplement
2-59
Preparation Monitor output
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
Nї AM1 1
Nї AM2 2 Measuring
instrument
Connector X7 Nї DM 4
6 1
Manufacturer’s part No.: 530140610 GND 3
X7 Manufacturer: Japan Molex Inc.
Connector
Pin No.
Analogue monitor 2XWSXWWKHDQDORJXHVLJQDOIRUPRQLWRU
AM1 1
output 1 7KHDPSOLWXGHRIWKHRXWSXWVLJQDOLV9
2XWSXWLPSHGDQFHLVN::KHQ
Analogue monitor
AM2 2 connecting a measuring instrument, check
output 2
its input circuit for impedance matching.
Signal ground GND 3 Connected to ground of control circuit.
2XWSXWWKHGLJLWDOVLJQDOIRUPRQLtor.
2XWSXWYROWDJHLV&026OHYHOFRPSDWLEOH
Digital monitor
DM 4 2XWSXWLPSHGDQFHLVN::KHQ
output *1
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.
Title Function
Class No.
Type of analog
4 16 Select the type of monitor for analog monitor 1.
monitor 1
Analog monitor 1
4 17 Set up the output gain of analog monitor 1.
output gain
Type of analog
4 18 Select the type of monitor for analog monitor 2.
monitor 2
Analog monitor 2
4 19 Set up the output gain of analog monitor 2.
output gain
Type of digital
4 20 Select type of the digital monitor.
monitor
Analog monitor
4 21 Select output format of the analog monitor.
output setup
*1 Position, Velocity, torque, Full closed type.
Only for position control type is not provided with this function.
Related page 3´'HWDLOVRISDUDPHWHUµ3´&RQQHFWRU.LWIRU$QDORJ0RQLWRU6LJQDOµ

2-60
10. Timing Chart 1
2

Preparation Timing on power-up
Servo-on signal accept timing on power-up

Control
power supply OFF ON
(L1C,L2C) 2
approx.100 to 300 ms
Internal control
Preparation
power supply OFF established
approx.2s
approx.1.5s
Action of
driver CPU reset (initialization) *3 usually operation
Main
0s or longer 3
power supply OFF ON
(L1,L2,L3) *2
Connection
10ms or longer
Servo-Ready output
(S-RDY) output Tr OFF 10ms or longer output Tr ON
*2
0ms or longer
Servo-ON input
(SRV-ON)
input coupler OFF input coupler ON 4
approx.2ms
Dynamic
Setup
brake engaged released
approx.60ms
Motor
energization not-energized energized
approx.4ms
5
External brake
release output output Tr OFF (brake engaged) ON
(BRK-OFF) (brake released)
Adjustment
Position/Speed/ 100ms or longer
Torque command No command entry *1 Command
entry
7KHDERYHFKDUWVKRZVWKHWLPLQJIURP$&SRZHU21WRFRPPDQGLQSXW
$FWLYDWHWKHH[WHUQDOFRPPDQGLQSXWDFFRUGLQJWRWKHDERYHWLPLQJFKDUW 6
Caution *1. In this term Servo-ON input (SRV-ON) turns ON as a hard ware, but operation com-
When in Trouble
mand can not be received.

65'<RXWSXWZLOOWXUQRQZKHQERWKFRQGLWLRQVDUHPHWLQLWLDOL]DWLRQRIPLFURFRP-
puter has been completed and the main power has been turned on.
*3. After Internal control power supply , protective functions are active from approx. 1.5
sec after the start of initializing microcomputer. Please set the signals, especially for
protective function, for example over-travel inhibit input (POT, NOT) or external scale 7
input, so as to decide their logic until this term.
Supplement
The lapse time can be changed with Pr6.18 Wait time after power-up.
Related page 3´'HWDLOVRISDUDPHWHUµ

2-61
2 10. Timing Chart
Preparation Alarm
When an Error (Alarm) Has Occurred (at Servo-ON Command)

Alarm normal alarm
0.5 to 5 ms
Dynamic brake released engaged *2
Motor energization energized non-energized
Servo-Ready output output Tr ON output Tr OFF (not ready)

(S-RDY) (ready)
Servo-Alarm output output Tr ON output Tr OFF (Alarm)

(ALM) (not Alarm)
value of Pr4.38
External brake
release output output Tr ON t1 *1 output Tr OFF (Break engage)
(BRK-OFF) (Break release)
motor speed when setup
Setup value of Pr4.39 value of Pr4.38
is shorter,
Setup value of Pr4.38
output Tr ON
(Break release) t1 *1 engaged (OFF)
motor speed 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].
t1 will be 0 when the motor is in stall regardless of the setup pf Pr4.37.
*2. When an alarm is generated, the dynamic brake operates according to Pr5.10 Se-
quence at alarm.
When an Alarm Has Been Cleared (at Servo-ON Command)

120ms or longer *1
Alarm-clear input input coupler input coupler
(A-CLR) OFF input coupler ON OFF
Dynamic brake engaged approx.2ms released
approx.60ms
Motor energization not-energized energized
approx.4ms
External brake output Tr OFF
release output (Break engage) output Tr ON
Servo-Ready output output Tr OFF

(not ready) output Tr ON
(S-RDY) (ready)
Servo-Alarm output output Tr OFF
(alarm) output Tr ON
(ALM) (not alarm)
Position/Speed/ 100ms or longer

no input entry input enabled
Torque command
Caution *1. The alarm clear input recognition time can be changed in Pr5.16 Alarm clear input setup.

2-62
10. Timing Chart 1
2

Preparation 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 input coupler input coupler
input coupler ON
(SRV-ON) OFF OFF
Preparation
approx.2ms
1 to 6ms
Dynamic brake engaged *3 released engaged *2
t1 *1
Motor energization not-energized energized not-energized 3

approx.60ms
approx.4ms
Connection
External brake
output Tr OFF output Tr OFF
release output output Tr ON
(Break engage) (Break engage)
Caution *1 t1 depends on the setup value of Pr4.37 Setup of mechanical brake action at stalling.
4
*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.
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Related page 3´'HWDLOVRI3DUDPHWHUµ

2-63
2 10. Timing Chart
Preparation Servo-ON/OFF
Servo-ON/OFF Action While the Motor Is in Motion

Remarks 7LPLQJDWHPHUJHQF\VWRSRUWULS'RQRWUHSHDWWKLVVHTXHQFH
at Servo-ON at Servo-OFF
Servo-ON input input coupler input coupler

(SRV-ON) OFF input coupler ON OFF
*4 1 to 5ms
Dynamic brake engaged *3 released engaged *3
Motor energization not-energized energized not-energized *5
approx.60ms
approx.4ms Setup value of
Pr4.38
External brake
release output Output Tr OFF Output Tr.ON Output Tr OFF
(BRK-OFF)
t1 *1
Motor rotational
Motor rotational speed speed
Setup value of
approx.30r/min Pr4.39
Setup value of when setup
value of Pr4.38
Motor rotational Pr4.38
is shorter
speed servo validated
released (ON) engaged (OFF)
t1 *1
No servo-ON until the motor speed
when time to fall
falls below approx. 30r/min.
Motor rotational below value of
speed Pr4.39 is shorter
Setup value of
Pr4.39
Caution *1. t1 will be a shorter time of either the setup value of Pr4.38 “Mechanical brake action
at running setup” or elapsing time for the motor speed to fall below Pr4.39 “Brake re-
lease speed setup”.
*2. Even though the SRV-ON signal is turned on again during the motor deceleration,
Servo-ON will not be activated until the motor stops.
*3. For the action of dynamic brake at alarm occurrence, refer to an explanation of
Pr5.06, “Sequence at Servo-OFF” as well.
*4. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
*5. For the motor energization during deceleration at Servo-OFF depends on the setup value
of Pr.5.08, “Sequence at Servo-OFF”.
Related page 3´'\QDPLFEUDNHµ

2-64
11. Built-in Holding Brake 1
2

Preparation Outline
In the applications where the motor drives the vertical axis, this brake would be used to
hold and prevent the work (moving load) from falling by gravity while the power to the
servo is shut off.
Caution
2
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
Preparation
load in motion.
Connecting Example
The following shows the example when the brake is controlled by using the brake release
output signal (BRK-OFF) of the driver. 3
Relays to be shut off
Driver at emergency stop
Connection
RY Motor
RY Brake coil
11 BRK-OFF+ VDC Surge
12 to 24V absorber
BRK-OFF–
10
Power supply Fuse
for brake (5A)
COM–
41 DC24V 4
Connector X4
Note 1. The brake coil has no polarity.
Setup
Caution 2. Power supply for the brake to be provided by customer. Do not co-use the power sup-
ply for the brake and for the control signals (VDC).
3. Install a surge absorber as the above Fig. shows to suppress surge voltage gener-
DWHGE\212))DFWLRQ RIWKHUHOD\ 5< :KHQ\RXXVHDGLRGH QRWHWKDWWKHWLPH
from the brake release to brake engagement is slower than that of the case of using a 5
surge absorber.
Adjustment
4. For a surge absorber, refer to P.7-124, "Recommended Components" of Supplement.
5HFRPPHQGHGFRPSRQHQWVDUHVSHFLÀHGWRPHDVXUHWKHEUDNHUHOHDVLQJWLPH
Reactance of the cable varies depending on the cable length, and it might generate
surge voltage.
Select a surge absorber so that relay coil voltage (max. rating : 30V, 50mA) and termi-
nal voltage may not exceed the rating. 6
Output Timing of BRK-OFF Signal
When in Trouble
)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 en-
ergized status and when BRK-OFF signal turns off (brake will be engaged), when the 7
Servo-OFF or alarm occurs while the motor is in motion.
Note 1. The lining sound of the brake (chattering and etc.) might be generated while running
Supplement
the motor with built-in brake, however this does not affect any functionality.
0DJQHWLFÁX[PLJKWEHJHQHUDWHGWKURXJKWKHPRWRUVKDIWZKLOHWKHEUDNHFRLOLVHQHU-
gized (brake is open). Pay an extra attention when magnetic sensors are used nearby
the motor.
2-65
2 11. Built-in Holding Brake
Preparation Specifications
Static Exciting Permissible

Rotor Engaging Releasing Permissible Permissible
Motor Motor friction current Releasing angular
inertia time time work (J) per total work
series output WRUTXH –4 2 DC A voltage 3 acceleration
x 10 kg·m ms ms one braking x 10 J
N·m (at cool-off) rad/s2
50W, 100W 0.29 or less 0.002 35 or less 20 or less 0.3 39.2 4.9
DC1V
MSMD 200W, 400W 1.27 or less 0.018 50 or less 15 or less 0.36 137 44.1 30000
or more
750W 2.45 or less 0.075 70 or less 20 or less 0.42 196 147
50W, 100W 0.29 or less 0.002 35 or less 20 or less 0.3 39.2 4.9
DC1V
200W, 400W 1.27 or less 0.018 50 or less 15 or less 0.36 137 44.1 30000
or more
750W(200V) 2.45 or less 0.075 70 or less 20 or less 0.42 196 147
750W(400V) 2.5 or less 15 or less 0.7
MSME 1.0kW, 1.5kW, 50 or less
7.8 or less 0.33 15 or less 392 490
2.0kW 0.81 DC2V
（100） 10000
3.0kW 11.8 or less 80 or less or more
50 or less
4.0kW, 5.0kW 16.2 or less 1.35 110 or less 0.9 1470 2200
（130）
400W, 600W 2.5 or less 50 or less 15 or less 0.70 392 490
70 or less
1.0kW 4.9 or less 80 or less 0.59 588 780
1.35 （200） 10000
1.5kW, 2.0kW 13.7 or less 100 or less 50 or less 0.79 1176 1500
DC2V
MDME 3.0kW 16.2 or less 110 or less （130） 0.9 1470 2200
or more
25 or less
4.0kW, 5.0kW 24.5 or less 80 or less 1.3 5440
4.7 （200） 1372 2900
7.5kW 58.8 or less 150 or less 50 or less 1.4 5000
11kW, 15kW 100 or less 7.1 300 or less 140 or less 1.08 2000 4000 3000
1.5kW 7.8 or less 4.7 80 or less 35 or less 0.83 1372 2900
DC2V
MFME 2.5kW 21.6 or less 1500 10000
8.75 150 or less 100 or less 0.75 or more 1470
4.5kW 31.4 or less 2200
50 or less
0.9kW 13.7 or less 1.35 100 or less 0.79 1176 1500 10000
（130）
25 or less
2.0kW 24.5 or less 80 or less 1.3 DC2V
MGME （200）
or more 5440
4.7 50 or less 1372 2900
3.0kW
58.8 or less 150 or less （130） 1.4
4.5kW, 6.0kW 50 or less 5000
200W, 400W 1.27 or less 0.018 50 or less 15 or less 0.36 DC1V 137 44.1
MHMD 30000
750W 2.45 or less 0.075 70 or less 20 or less 0.42 or more 196 147
70 or less
1.0kW 4.9 or less 80 or less 0.59 588 780
（200）
1.35 10000
50 or less
1.5kW 13.7 or less 100 or less 0.79 DC2V 1176 1500
MHME （130）
or more
2.0kW to 25 or less
24.5 or less 80 or less 1.3 5440
5.0kW 4.7 （200） 1372 2900
7.5kW 58.8 or less 150 or less 50 or less 1.4 5000
([FLWDWLRQYROWDJHLV'&9
5HOHDVLQJWLPHYDOXHVUHSUHVHQWWKHRQHVZLWK'&FXWRIIXVLQJDYDULVWRU
Values in ( ) represent those measured by using a diode (V03C by Hitachi, Ltd.)
$ERYHYDOXHV H[FHSWVWDWLFIULFWLRQWRUTXHUHOHDVLQJYROWDJHDQGH[FLWDWLRQFXUUHQW UHSUHVHQWW\SLFDO
values.
%DFNODVKRIWKHEXLOWLQKROGLQJEUDNHLVNHSWÝRUVPDOOHUDWH[IDFWRU\SRLQW
6HUYLFHOLIHRIWKHQXPEHURIDFFHOHUDWLRQGHFHOHUDWLRQZLWKWKHDERYHSHUPLVVLEOHDQJXODUDFFHOHUD-
WLRQLVPRUHWKDQPLOOLRQWLPHV /LIHHQGLVGHÀQHGDVZKHQWKHEUDNHEDFNODVKGUDVWLFDOO\FKDQJ-
es.)
2-66
12. Dynamic Brake 1
2

Preparation Outline
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.
2
Caution 1. Dynamic brake is only for emergency stop.
Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Preparation
Otherwise it may damage the dynamic brake circuit of the driver.
The Motor becomes a dynamo when driven externally and short circuit cur-
UHQWRFFXUUHGZKLOHG\QDPLFEUDNHLVDFWLYDWHGPD\FDXVHVPRNLQJRUÀUH
2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow ap- 3
prox. 10 minutes pause when the dynamic brake is activated during high-speed running.
(F-frame(200V), G-frame(200V/400V) built-in dynamic brake resistor is capable of
Connection
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.)
<RXFDQDFWLYDWHWKHG\QDPLFEUDNHLQWKHIROORZLQJFDVHV
1) When the main power is turned off
2) At Servo-OFF 4
3) When one of the protective function is activated.
4) When over-travel inhibit input (NOT, POT) of connector X4 is activated
In the above cases from 1) to 4), you can select either activation of the dynamic brake
Setup
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.
,IWKHEXLOWLQG\QDPLFEUDNHUHVLVWRURIWKH*IUDPHGULYHULVLQVXIÀFLHQWH[WHU-
nal dynamic brake resistors can be connected. 5
)RUWKH+IUDPHGULYHUH[WHUQDOG\QDPLFEUDNHUHVLVWRUVFDQEHFRQQHFWHG
Connections of the external dynamic brake resistors are the same as those of
Adjustment
the G-frame driver. (The DB3 and DB4 terminals are not provided.)
8VHWKHIROORZLQJUHVLVWRUVDVWKHH[WHUQDOG\QDPLFEUDNHUHVLVWRUV 7REHSUH-
pared by user)
Driver Resistance specifications per piece
Quantity of use
Frame Voltage Resistance Electric power
6
G, H 200V ї 400W 3 pcs.
When in Trouble
G, H 400V ї 400W 3 pcs.
Dynamic Brake Characteristics (e.g. Motor MDME 15kW 200V)
80
Brake torque (N・m)
70
60 Resistor 1.2ї
50 Resistor 2.4ї
40
30
20 7
10
0
0 500 1000 1500 2000
Supplement
Motor speed (r/min)
Related page 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

3´'HWDLOVRI3DUDPHWHUµ
3´3URWHFWLYH)XQFWLRQµ

2-67
2 12. Dynamic Brake
Preparation Connections of external dynamic brake resistor (Example)
G-frame, 200 V
0DLQV
Residual
FXUUHQWGHYLFH /&
/&
L1 L1
NC
X1
L2 L2
L1C
X2
L 2C
L3 L3
X3
NC
NC
B1
X4
DB1
B2
DB2
NC
NC
U-phase X5
U
NC
V-phase X6
V DB3
:SKDVH DB4
W
NC
CHARGE
Disconnect the
Thermal fuse shorting bar
(one fuse for each resistor) (between DB3
(to be supplied by customer) 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 Terminals DB1, DB2, DB3 and DB4
8VHWKHVDPHPDJQHWLFFRQWDFWRUDVWKDWRI
7RFRQQHFWDQH[WHUQDOG\QDPLFEUDNH
the main circuit.
UHVLVWRUGLVFRQQHFWWKHVKRUWLQJEDU
3URYLGHDQDX[LOLDU\FRQWDFWIRUSURWHFWLRQso
between DB3 and DB4.
that the servo does not turn on with an
&RQQHFWDPDJQHWLFFRQWDFWRU IRU
external sequence when the dynamic
FRQWURO IRUWKHH[WHUQDOG\QDPLFEUDNH
brake resistor is fused.
EHWZHHQ/&DQG'%
Dynamic Brake Resistor (to be supplied by customer) 3URYLGHDQH[WHUQDOSURWHFWLYHGHYLFH
(e.g. thermal fuse) between DB2 and
Remarks /&
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU
Remarks
install an external protective apparatus, such as
thermal fuse without fail. 7KHYROWDJHDSSOLHGDFURVV'%DQG
0RXQWWKHG\QDPLFEUDNHUHVLVWRUon incombustible DB2 must be 300 VAC or below or
material such as metal. 100 VDC or below.
Do not use an external dynamic brake resistor Pin NC
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
12. Dynamic Brake
Connections of external dynamic brake resistor (Example)
1

G-frame, 400 V
0DLQV Neutral point * Use a power 24 VDC power supply

supply with
5HVLGXDO for control
FXUUHQWGHYLFH
5 A or larger
capacity. (to be supplied by customer)
24V
2
0V
Preparation
L1 L1
NC
X1
L2 L2
24V
X2
0V
L3 L3
X3
NC
NC
B1
X4
DB1
B2
DB2
L1C
U-phase
NC
NC
X5
3
U
NC
V-phase X6
V DB3
Connection
W-phase DB4
W
NC
CHARGE
400V
4
Disconnect the
7KHUPDOIXVH shorting bar
Setup
RQHIXVHIRUHDFKUHVLVWRU (between DB3
(to be supplied by customer) 24 VDC power supply
and DB4). IRUEUDNH
0DJQHWLF&RQWDFWRU 0& (to be supplied by
customer)
7XUQVRQRIIWKHG\QDPLFEUDNHUHVLVWRU
Use coil surge suppression units together with
this.
5
Terminals DB1, DB2, DB3 and DB4
Remarks
Adjustment
7RFRQQHFWDQH[WHUQDOG\QDPLFEUDNH
8VHWKHVDPHPDJQHWLFFRQWDFWRUDVWKDWRI
resistor, disconnect the shorting bar
the main circuit.
between DB3 and DB4.
3URYLGHDQDX[LOLDU\FRQWDFWIRUSURWHFWLRQso
&RQQHFWDPDJQHWLFFRQWDFWRU IRU
WKDWWKHVHUYRGRHVQRWWXUQRQZLWKDQ FRQWURO IRUWKHH[WHUQDOG\QDPLFEUDNH
H[WHUQDOVHTXHQFHZKHQWKHG\QDPLF between L1C and DB1.
brake resistor is fused. 3URYLGHDQH[WHUQDOSURWHFWLYHGHYLFH 6
HJWKHUPDOIXVH EHWZHHQ'%DQG
When in Trouble
Dynamic Brake Resistor (to be supplied by customer) the neutral point.

Remarks Remarks
:KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRU 7KHYROWDJHDSSOLHGDFURVV'%DQG
LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDV DB2 must be 300 VAC or below or
WKHUPDOIXVHZLWKRXWIDLO 100 VDC or below.
0RXQWWKHG\QDPLFEUDNHUHVLVWRUon incombustible
PDWHULDOVXFKDVPHWDO
Note 7
Do not use an external dynamic brake resistor /&LVFRQQHFWHGDIWHUWKH5SKDVHRI
WRJHWKHUZLWKWKHEXLOWLQUHVLVWRU WKHQRLVHILOWHU
Supplement
3URYLGHRQHG\QDPLFEUDNHUHVLVWRUIRUHDFKSKDVH /&LVQRWLQGLFDWHGRQWKHGULYHUERG\
:KHQXVLQJDQH[WHUQDOG\QDPLFEUDNHEHVXUHWRXVHWKH Pin NC
resistor. 'RQRWFRQQHFWDQ\WKLQJ
'RQRWPDNHVKRUWFLUFXLW
2-69
2 12. Dynamic Brake
Preparation Condition setting chart
1) Setup of driving condition from deceleration to after stop by main power-off (Pr5.07)
Sequence at main Driving condition Contents of

deviation
power-off (Pr5.07) During deceleration After stalling counter

0 D B D B Clear
1 Free-run D B Clear
2 D B Free-run Clear
3 Free-run Free-run Clear
4 D B D B Hold
5 Free-run D B Hold
6 D B Free-run Hold
7 Free-run Free-run Hold
8 Emergency stop D B Clear
9 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 Driving condition Contents of

deviation
Servo-OFF (Pr5.06) During deceleration After stalling counter

0 D B D B Clear
1 Free-run D B Clear
2 D B Free-run Clear
3 Free-run Free-run Clear
4 D B D B Hold
5 Free-run D B Hold
6 D B Free-run Hold
8 Emergency stop D B Clear
9 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
Condition setting chart
1

3) Setup of driving condition from deceleration to after stop by activation of protective function (Pr5.10)
Sequence at over-travel Driving condition Contents of

deviation
inhibit input (Pr5.10) During deceleration After stalling counter 2
Preparation
0 D B D B Hold
1 Free-run D B Hold
2 D B Free-run Hold
Engaged A: Emergency stop

3
4 D B Hold
Engaged B: DB
Connection
5 D B Hold
Engaged B: Free-run

6 Free-run Hold
Engaged B: DB

7 Free-run Hold
Engaged B: Free-run
4
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.
Setup
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) 5
Sequence at over-travel Driving condition Contents of
Adjustment
deviation
inhibit input (Pr5.05) During deceleration After stalling counter

Torque command to
0 DB Hold
inhibited direction is 0
Torque command to Torque command to

1
inhibited direction is 0 inhibited direction is 0
Hold 6
2 Torque command to
Emergency stop clear
When in Trouble
inhibited direction is 0
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
2 13. Setup of Parameter and Mode
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 compre-
hend 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 sup-
port software from our web site and install it on your personal computer.
+RZWR&RQQHFW
Connect to X1
(USB mini-B)
Setup support software “PANATERM”

Please download from our web site and
86%FDEOH use after install to the PC.
On the driver, use commercially available USB mini-B connector.
7KHFRQQHFWRURQWKHSHUVRQDOFRPSXWHUVLGHVKRXOGEHLQDFFRUGDQFHZLWKWKHVSHFLÀ-
cations of the PC.
:KHQWKHFDEOHGRHVQRWKDYHQRLVHÀOWHUDWWDFKDVLJQDOOLQHQRLVHÀOWHU '93
to both ends of the cable.
3´6HWXSVXSSRUWVRIWZDUH>3$1$7(50@µ

2-72
13. Setup of Parameter and Mode 1
2

Preparation Composition and List of Parameters
7KHSDUDPHWHU1RLVGLVSOD\HGLQWKHIRUPRI3U;<< ;&ODVVLÀFDWLRQ<<1R
)RUWKHGHWDLOVRQWKHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Parametr No.
Class No.*
Class name Group page
2
0 00 to 17 Basic setting Parameter for Basic setting P.2-74
Preparation
1 00 to 27 Gain adjustment Parameter for Gain adjustment P.2-75
2 00 to 23 Damping control Parameter for Damping control P.2-76
Verocity/ Torque/ Parameter for Verocity/ Torque/ Full-closed

3 00 to 29 P.2-77
Full-closed control control
4 00 to 44 I/F monitor setting Parameter for I/F monitor setting P.2-78

3
5 00 to 35 Enhancing setting Parameter for Enhancing setting P.2-79
Connection
6 00 to 39 Special setting Parameter for Special setting P.2-81
* The Parameter No. consists of 2 digits.
,QWKLVGRFXPHQWIROORZLQJV\PEROVUHSUHVHQWHDFKPRGH 4
Setup value
Symbol Control mode
of Pr0.01
Setup
P Position control 0
S Velocity control 1
T Torque control 2
F Full-Closed control 6 5
P/S Position (1st)/Velocity (2nd) control 3*
Adjustment
P/T Position (1st)/Torque (2nd) control 4*
S/T Velocity (1st)/Torque (2nd) control 5*
* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd
with control mode switching input (C-MODE).
When C-MODE is ON : 1st mode selection
When C-MODE is OFF : 2nd mode selection
6
Do not enter the command 10ms before/after the switching.
When in Trouble
7
Supplement

2-73
Preparation List of Parameters
[Class 0] Basic setting

Parametr Turning Related
Default
No. on of Control Mode Detail
Title Range Unit
A,B C D,E,F G,H power page
Class No. -frame -frame -frame -frame supply P S T F
0 00 Rotational direction setup 0 to 1 1 ï ○ ○ ○ ○ ○
4-4
0 01 Control mode setup 0 to 6 0 ï ○ ○ ○ ○ ○
0 02 Real-time auto-gain tuning setup 0 to 6 1 ï ○ ○ ○ ○

Selection of machine stiffness at real- 4-5
0 03 0 to 31 13 11 ï ○ ○ ○ ○
time auto-gain tuning
0 04 Inertia ratio 0 to 10000 250 % ○ ○ ○ ○
4-6
0 05 Selection of command pulse input 0 to 1 0 ï ○ ○ ○
Command pulse rotational direction
0 06 0 to 1 0 ï ○ ○ ○
setup 4-7
0 07 Command pulse input mode setup 0 to 3 1 ï ○ ○ ○
Command pulse counts per one
0 08 0 to 220 10000 pulse ○ ○ ○
motor revolution
0 09 1st numerator of electronic gear 0 to 230 0 ï ○ ○ 4-8
0 10 Denominator of electronic gear 0 to 230 10000 ï ○ ○

Output pulse counts per one motor
0 11 1 to 262144 2500 P/r ○ ○ ○ ○ ○ 4-9
revolution
0 12 Reversal of pulse output logic 0 to 3 0 ï ○ ○ ○ ○ ○
0 13 1st torque limit 0 to 500 500*1 % ○ ○ ○ ○

4-11
27 Command
0 14 Position deviation excess setup 0 to 2 100000 unit ○ ○
0 15 Absolute encoder setup 0 to 2 1 ï ○ ○ ○
0 16 External regenerative resistor setup 0 to 3 3 0 3 ï ○ ○ ○ ○ ○

Load factor of external regenerative 4-12
0 17 0 to 4 0 ï ○ ○ ○ ○ ○
resistor selection
'HÀQLWLRQRIV\PEROVXQGHU´3RZHU2II2QµLIDFKDQJHLVPDGHLWZLOOEHUHÁHFWHGXSRQWKHSDUDPHWHUZKHQWKH
power to the driver is turned off and then on again.
* 'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ3SRVLWLRQFRQWURO6YHORFLW\FRQWURO7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 “Torque limit setting”.
Note Parameter describes of this page is P.4-4 to P.4-12.

2-74
13. Setup of Parameter and Mode
List of Parameters
1

[Class 1] Gain adjustment
Default
Title Range Unit
Class No. A,B C D,E,F G,H
-frame -frame -frame -frame
power
supply P S T F
page
2
1 00 1st gain of position loop 0 to 30000 480 320 0.1/s* ○ ○
Preparation
1 01 1st gain of velocity loop 1 to 32767 270 180 0.1Hz* ○ ○ ○ ○
1st time constant of velocity loop
1 02 1 to 10000 210 310 0.1ms* ○ ○ ○ ○ 4-13
integration
1 03 VWÀOWHURIVSHHGGHWHFWLRQ 0 to 5 0 ï ○ ○ ○ ○
1 04 VWWLPHFRQVWDQWRIWRUTXHÀOWHU 0 to 2500 84 126 0.01ms ○ ○ ○ ○
1 05 2nd gain of position loop 0 to 30000 570 380 0.1/s* ○ ○ 3

1 06 2nd gain of velocity loop 1 to 32767 270 180 0.1Hz* ○ ○ ○ ○
Connection
2nd time constant of velocity loop
1 07 1 to 10000 10000 0.1ms* ○ ○ ○ ○
integration
1 08 QGÀOWHURIVSHHGGHWHFWLRQ 0 to 5 0 ï ○ ○ ○ ○ 4-14
1 09 QGWLPHFRQVWDQWRIWRUTXHÀOWHU 0 to 2500 84 126 0.01ms* ○ ○ ○ ○
1 10 Velocity feed forward gain 0 to 1000 300 0.10%* ○ ○
1 11 9HORFLW\IHHGIRUZDUGÀOWHU 0 to 6400 50 0.01ms* ○ ○

4
1 12 Torque feed forward gain 0 to 1000 0 0.10%* ○ ○ ○
Setup
1 13 7RUTXHIHHGIRUZDUGÀOWHU 0 to 6400 0 0.01ms* ○ ○ ○ 4-15
1 14 2nd gain setup 0 to 1 1 ï ○ ○ ○ ○
1 15 Mode of position control switching 0 to 10 0 ï ○ ○

Delay time of position control 4-16
1 16 0 to 10000 50 0.1ms* ○ ○
switching 5
1 17 Level of position control switching 0 to 20000 50 ï ○ ○
Hysteresis at position control
Adjustment
1 18 0 to 20000 33 ï ○ ○ 4-17
switching
1 19 Position gain switching time 0 to 10000 33 0.1ms* ○ ○
1 20 Mode of velocity control switching 0 to 5 0 ï ○

Delay time of velocity control
1 21 0 to 10000 0 0.1ms* ○
switching
4-18
1 22 Level of velocity control switching 0 to 20000 0 ï ○ 6
Hysteresis at velocity control
1 23 0 to 20000 0 ï
When in Trouble
○
switching
1 24 Mode of torque control switching 0 to 3 0 ï ○
1 25 Delay time of torque control switching 0 to 10000 0 0.1ms* ○

4-19
1 26 Level of torque control switching 0 to 20000 0 ï ○
1 27 Hysteresis at torque control switching 0 to 20000 0 ï ○
7
Supplement
Caution 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.
2-75
List of Parameters
[Class 2] Damping control

Default
Title Range Unit
2 00 $GDSWLYHÀOWHUPRGHVHWXS 0 to 4 0 ï ○ ○ ○
2 01 1st notch frequency 50 to 5000 5000 Hz ○ ○ ○ ○
2 02 1st notch width selection 0 to 20 2 ï ○ ○ ○ ○

4-20
2 03 1st notch depth selection 0 to 99 0 ï ○ ○ ○ ○
2 04 2nd notch frequency 50 to 5000 5000 Hz ○ ○ ○ ○
2 05 2nd notch width selection 0 to 20 2 ï ○ ○ ○ ○
2 06 2nd notch depth selection 0 to 99 0 ï ○ ○ ○ ○
2 07 3rd notch frequency 50 to 5000 5000 Hz ○ ○ ○ ○
2 08 3rd notch width selection 0 to 20 2 ï ○ ○ ○ ○
2 09 3rd notch depth selection 0 to 99 0 ï ○ ○ ○ ○ 4-21
2 10 4th notch frequency 50 to 5000 5000 Hz ○ ○ ○ ○
2 11 4th notch width selection 0 to 20 2 ï ○ ○ ○ ○
2 12 4th notch depth selection 0 to 99 0 ï ○ ○ ○ ○
2 13 6HOHFWLRQRIGDPSLQJÀOWHUVZLWFKLQJ 0 to 3 0 ï ○ ○
4-22
2 14 1st damping frequency 0 to 2000 0 0.1Hz* ○ ○
2 15 VWGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz* ○ ○ 4-23
2 16 2nd damping frequency 0 to 2000 0 0.1Hz* ○ ○ 4-22
2 17 QGGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz* ○ ○ 4-23
2 18 3rd damping frequency 0 to 2000 0 0.1Hz* ○ ○ 4-22
2 19 UGGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz* ○ ○ 4-23
2 20 4th damping frequency 0 to 2000 0 0.1Hz* ○ ○ 4-22
2 21 WKGDPSLQJÀOWHUVHWXS 0 to 1000 0 0.1Hz* ○ ○

4-23
2 22 3RVLWLRQDOFRPPDQGVPRRWKLQJÀOWHU 0 to 10000 0 0.1ms* ○ ○
2 23 3RVLWLRQDOFRPPDQG),5ÀOWHU 0 to 10000 0 0.1ms* ○ ○ 4-24
2-76
List of Parameters
1

>&ODVV@9HURFLW\7RUTXH)XOOFORVHGFRQWURO
Default
Title Range Unit
power
supply P S T F
page
2
Speed setup, Internal/External
3 00 0 to 3 0 ï ○
switching
4-25
Preparation
Speed command rotational direction
3 01 0 to 1 0 ï ○
selection
(r/min)/
3 02 Input gain of speed command 10 to 2000 500 ○ ○
V 4-26
3 03 Reversal of speed command input 0 to 1 1 ï ○
3 04 1st speed of speed setup ïWR 0 r/min ○
3 05 2nd speed of speed setup ïWR 0 r/min ○
3
3 06 3rd speed of speed setup ïWR 0 r/min ○
Connection
3 07 4th speed of speed setup ïWR 0 r/min ○
3 09 6th speed of speed setup ïWR 0 r/min ○ 4-27

8th speed of speed setup 0 r/min
3 11 ïWR
ms/
○
4
3 12 Acceleration time setup 0 to 10000 0 ○
(1000r/min)
ms/
3 13 Deceleration time setup 0 to 10000 0 ○
(1000r/min)
Setup
Sigmoid acceleration/ deceleration
3 14 0 to 1000 0 ms ○
time setup
3 15 Speed zero-clamp function selection 0 to 3 0 ï ○ ○ 4-28
3 16 Speed zero clamp level 10 to 20000 30 r/min ○ ○

3 17 Selection of torque command 0 to 2 0 ï ○ 5
3 18 Torque command direction selection 0 to 1 0 ï ○
4-29
3 19 Input gain of torque command 10 to 100 30 0.1V/100%* ○
Adjustment
3 20 Input reversal of torque command 0 to 1 0 ï ○
3 21 Speed limit value 1 0 to 20000 0 r/min ○
3 22 Speed limit value 2 0 to 20000 0 r/min ○ 4-30
3 23 External scale selection 0 to 2 0 ï ○ ○
3 24 Numerator of external scale division 0 to 2 20
0 ï ○ ○ 6
Denominator of external scale
3 25 1 to 220 10000 ï ○ ○
When in Trouble
division
4-31
3 26 Reversal of direction of external scale 0 to 1 0 ï ○ ○
External scale Z phase disconnection
3 27 0 to 1 0 ï ○ ○
detection disable
Command
3 28 Hybrid deviation excess setup 1 to 227 16000 unit ○ ○
4-32
3 29 Hybrid deviation clear setup 0 to 100 0 Revolution ○ ○
7
Supplement
2-77
List of Parameters
[Class 4] I/F monitor setting

Default
Title Range Unit
4 00 SI1 input selection (Pin No.8) 0 to 00FFFFFFh 8553090 ï ○ ○ ○ ○ ○ 4-33
4 01 SI2 input selection (Pin No.9) 0 to 00FFFFFFh 8487297 ï ○ ○ ○ ○ ○
4 05 SI6 input selection (Pin No.29) 0 to 00FFFFFFh 197379 ï ○ ○ ○ ○ ○ 4-34
4 10 SO1 output selection ( Pin No.10, 11

Line driver output ) 0 to 00FFFFFFh 197379 ï ○ ○ ○ ○ ○
SO2 output selection ( )

Pin No.34, 35
4 11 Line driver output 0 to 00FFFFFFh 131586 ï ○ ○ ○ ○ ○

Pin No.36, 37
4-35
Pin No.38, 39
SO5 output selection ( ) 0 to 00FFFFFFh

Pin No.12
4 14 Open collector output 460551 ï ○ ○ ○ ○ ○
SO6 output selection ( ) 0 to 00FFFFFFh

Pin No.40
4 15 Open collector output 394758 ï ○ ○ ○ ○ ○
4 16 Type of analog monitor 1 0 to 21 0 ï ○ ○ ○ ○
4 17 Analog monitor 1 output gain 0 to 214748364 0 ï ○ ○ ○ ○
4 18 Type of analog monitor 2 0 to 21 4 ï ○ ○ ○ ○ 4-36
4 19 Analog monitor 2 output gain 0 to 214748364 0 ï ○ ○ ○ ○
4 20 Type of digital monitor 0 to 3 0 ï ○ ○ ○ ○
4 21 Analog monitor output setup 0 to 2 0 ï ○ ○ ○ ○
4 22 Analog input 1 (AI1) offset setup ïWR 0 0.366mV ○ ○ ○ ○
4 23 $QDORJLQSXW $, ÀOWHU 0 to 6400 0 0.01ms* ○ ○ ○ ○

Analog input 1 (AI1) overvoltage
4 24 0 to 100 0 0.1V* ○ ○ ○ ○
setup
4-38
4 26 $QDORJLQSXW $, ÀOWHU 0 to 6400 0 0.01ms* ○ ○ ○ ○

Analog input 2(AI2) overvoltage
4 27 0 to 100 0 0.1V* ○ ○ ○ ○
setup
4 29 $QDORJLQSXW $, ÀOWHU 0 to 6400 0 0.01ms* ○ ○ ○ ○ 4-39
2-78
List of Parameters
1

Default
Title Range Unit power
A,B C D,E,F G,H page
Analog input 3 (AI3) overvoltage
4 30
setup
0 to 100 0 0.1V* ○ ○ ○ ○
2
Positioning complete (In-position) Command
4 31 0 to 262144 10 unit ○ ○
range 4-39
Preparation
Positioning complete (In-position)
4 32 0 to 3 0 ï ○ ○
output setup
4 33 INP hold time 0 to 30000 0 1ms ○ ○
4 34 Zero-speed 10 to 20000 50 r/min ○ ○ ○ ○

4-40
4 35 Speed coincidence range 10 to 20000 50 r/min ○
4 36 At-speed (Speed arrival) 10 to 20000 1000 r/min ○ ○

3
Mechanical brake action at stalling
4 37 0 to 10000 0 1ms ○ ○ ○ ○ 4-41
setup
Connection
Mechanical brake action at running
4 38 0 to 10000 0 1ms ○ ○ ○ ○
setup
4 39 Brake release speed setup 30 to 3000 30 r/min ○ ○ ○ ○ ○
4 40 Selection of alarm output 1 0 to 10 0 ï ○ ○ ○ ○

4-42
4 41 Selection of alarm output 2 0 to 10 0 ï ○ ○ ○ ○ 4
2nd Positioning complete (In-position) Command
4 42 0 to 262144 10 unit ○ ○
range
Setup
[Class 5] Enhancing setting

5
Default
Title Range Unit
Class No. supply P S T F
Adjustment
5 00 2nd numerator of electronic gear 0 to 230 0 ï ○ ○
5 01 3rd numerator of electronic gear 0 to 230 0 ï ○ ○
5 02 4th numerator of electronic gear 0 to 230 0 ï ○ ○

4-43
5 03 Denominator of pulse output division 0 to 262144 0 ï ○ ○ ○ ○ ○
6
5 04 Over-travel inhibit input setup 0 to 2 1 ï ○ ○ ○ ○ ○
When in Trouble
5 05 Sequence at over-travel inhibit 0 to 2 0 ï ○ ○ ○ ○ ○
5 06 Sequence at Servo-Off 0 to 9 0 ï ○ ○ ○ ○
4-44
5 07 Sequence at main power OFF 0 to 9 0 ï ○ ○ ○ ○
5 08 LV trip selection at main power OFF 0 to 1 1 ï ○ ○ ○ ○

4-45
5 09 Detection time of main power off 70 to 2000 70 1ms ○ ○ ○ ○ ○
7
Supplement

2-79
List of Parameters

Default
Title Range Unit power
A,B C D,E,F G,H page
5 10 Sequence at alarm 0 to 7 0 ï ○ ○ ○ ○ 4-45
5 11 Torque setup for emergency stop 0 to 500 0 % ○ ○ ○ ○
5 12 Over-load level setup 0 to 500 0 % ○ ○ ○ ○
5 13 Over-speed level setup 0 to 20000 0 r/min ○ ○ ○ ○ 4-46

0.1
5 14 Motor working range setup 0 to 1000 10 revolution* ○ ○
5 15 ,)UHDGLQJÀOWHU 0 to 3 0 ï ○ ○ ○ ○ ○
5 16 Alarm clear input setup 0 to 1 0 ï ○ ○ ○ ○ ○
5 17 Counter clear input mode 0 to 4 3 ï ○ ○

Invalidation of command pulse inhibit 4-47
5 18 0 to 1 1 ï ○ ○
input
Command pulse inhibit input reading
5 19 0 to 4 0 ï ○ ○ ○
setup
5 20 Position setup unit select 0 to 1 0 ï ○ ○ ○
5 21 Selection of torque limit 0 to 6 1 ï ○ ○ ○ 4-48
5 22 2nd torque limit 0 to 500 500*1 % ○ ○ ○
5 23 Torque limit switching setup 1 0 to 4000 0 ms/100% ○ ○ ○
5 24 Torque limit switching setup 2 0 to 4000 0 ms/100% ○ ○ ○

External input positive direction
5 25 0 to 500 500*1 % ○ ○ ○ 4-49
torque limit
External input negative direction
5 26 0 to 500 500*1 % ○ ○ ○
torque limit
5 27 Input gain of analog torque limit 10 to 100 30 0.1V/100%* ○ ○ ○
5 28 LED initial status 0 to 35 1 ï ○ ○ ○ ○ ○
5 29 RS232 baud rate setup 0 to 6 2 ï ○ ○ ○ ○ ○ 4-50
5 30 RS485 baud rate setup 0 to 6 2 ï ○ ○ ○ ○ ○
5 31 Axis address 0 to 127 1 ï ○ ○ ○ ○ ○

Command pulse input maximum
5 32 250 to 4000 4000 kpulse/s ○ ○ ○
setup
5 33 Pulse regenerative output limit setup 0 to 1 0 ï ○ ○ ○ ○ ○ 4-51
5 34 For manufactuer's use ï 4 ï
5 35 Front panel lock setup 0 to 1 0 ï ○ ○ ○ ○ ○
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-82 “Torque limit setting”.
2-80
List of Parameters
1

[Class 6] Special setting
Default
Title Range Unit
power
supply P S T F
page
2
Analog torque feed forward
6 00 0 to 100 0 0.1V/100%* ○ ○ ○
conversion gain
Preparation
6 02 Velocity deviation excess setup 0 to 20000 0 r/min ○
6 04 JOG trial run command speed 0 to 500 300 r/min ○ ○ ○ ○ 4-51
6 05 Position 3rd gain valid time 0 to 10000 0 0.1ms* ○ ○
6 06 Position 3rd gain scale factor 50 to 1000 100 % ○ ○
6 07 Torque command additional value ïWR 0 %
Positive direction torque
○ ○ ○
3
6 08 ïWR 0 % ○ ○
compensation value
Negative direction torque
Connection
6 09 ïWR 0 % ○ ○ 4-52
compensation value
6 10 Function expansion setup 0 to 63 0 ï ○ ○ ○ ○
6 11 Current response setup 50 to 100 100 % ○ ○ ○ ○
6 13 Current response setup 0 to 10000 250 % ○ ○ ○ ○
6 14 Emergency stop time at alarm 0 to 1000 200 1ms ○ ○ ○ ○
4
6 15 2nd over-speed level setup 0 to 20000 0 r/min ○ ○ ○ ○
4-53
6 16 For manufacturer's use ï 0 ï ○
Setup
Front panel parameter writing
6 17 0 to 1 0 ï ○ ○ ○ ○ ○
selection
6 18 Power-up wait time 0 to 100 0 0.1s* ○ ○ ○ ○ ○
6 19 Encoder Z phase setup 0 to 32767 0 pulse ○ ○ ○ ○ ○
6 20 Z-phase setup of external scale 0 to 400 0 ѥV ○ ○
Serial absolute external scale Z 5
6 21 0 to 228 0 pulse ○ ○ 4-54
phase setup
A, B phase external scale pulse
Adjustment
6 22 0 to 1 0 ï ○ ○
output method selection
6 23 Disturbance torque compensating gain ïWR 0 % ○ ○
6 24 'LVWXUEDQFHREVHUYHUÀOWHU 0 to 2500 53 0.01ms* ○ ○
6 27 Alarm latch time selection 0 to 10 5 s ○ ○ ○ ○ ○ 4-55
6 31 Real time auto tuning estimation speed 0 to 3 1 ï ○ ○ ○ ○
6 32 Real time auto tuning custom setup ïWR 0 ï ○ ○ ○ ○ 4-56
6
When in Trouble
6 33 For manufacturer's use ï 1000 ï

6 34 Hybrid vibration suppression gain 0 to 30000 0 0.1/s* ○
6 35 +\EULGYLEUDWLRQVXSSUHVVLRQÀOWHU 0 to 6400 10 0.01ms* ○
4-57
6 37 Oscillation detecting level 0 to 1000 0 0.1%* ○ ○ ○ ○
6 38 Alarm mask setup ïWR 4 ï ○ ○ ○ ○ ○
6 39 For manufactuer's use ï 0 ï 7
Supplement
2-81
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.
Max. value of Max. value of
Frame Model No. Applicable motor Frame Model No. Applicable motor
WRUTXHOLPLW WRUTXHOLPLW
MGME092G** 225 MGME602G** 272
MDDHT5540
MGME092S** 225 MGME602S** 272
D
MGME094G** 225 MDME752G** 265
MDDHT3420 MGDHTC3B4
MGME094S** 225 MDME752S** 265
MGME202G** 250 MHME752G** 265
MFDHTA390
MGME202S** 250 MHME752S** 265
G
MGME302G** 250 MGME604G** 272
MGME302S** 250 MGME604S** 272
MFDHTB3A2
MGME452G** 262 MDME754G** 267
MGDHTB4A2
MGME452S** 262 MDME754S** 267
F
MGME204G** 250 MHME754G** 267
MFDHT5440
MGME204S** 250 MHME754S** 267
MGME304G** 250 MDMEC12G** 265
MGME304S** 250 MDMEC12S** 265
MFDHTA464 MHDHTC3B4
MGME454G** 263 MDMEC52G** 253
MGME454S** 263 MDMEC52S** 253
H
MDMEC14G** 265
MDMEC14S** 265
MHDHTB4A2
MDMEC54G** 253
MDMEC54S** 253
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 When you change the motor model, above max. value may change as well. Check and
reset the setup values of Pr0.13, Pr5.22, Pr5.11, Pr5.25 and Pr5.26.

2-82
6HWXSRI7RUTXH/LPLW
1

Cautions on Replacing the Motor
As stated previously, torque limit setup range might change when you replace the combi-
nation of the motor and the driver. Pay attention to the followings.
2
:KHQWKHPRWRUWRUTXHLVOLPLWHG
When you replace the motor series or to the different wattage motor, you need to reset
Preparation
the torque limit setup because the rated toque of the motor is different from the previ-
ous motor. (see e.g.1)
e.g.1)
before replacing the motor after replacing the motor
MADHT1507 MADHT1507
MSME022S1A MSME012S1A
3
Rated torque Rated torque
Connection
0.64N m 0.32N m
Pr0.13 Setup range : 0 to 300% Pr0.13 Setup range : Change to 0 to 300%. Set up Pr0.13 to 200 to
Setup value : 100%. Setup value : Keep 100%. make torque limit value
Torque limit value Torque limit value to 0.64N m
0.64N m x 100% = 0.64N m 0.32N m x 100% = 0.32N m (0.32N m x 200% = 0.64N m)
:KHQ\RXZDQWWRREWDLQWKHPD[PRWRUWRUTXH
<RXQHHGWRUHVHWWKHWRUTXHOLPLWLQJVHWXSWRWKHXSSHUOLPLWEHFDXVHWKHXSSHUOLPLW 4
value might be different from the previous motor. (see e.g.2)
e.g.2)
before replacing the motor after replacing the motor
Setup
MADHT1507 MADHT1507
MSME022S1A MSME012S1A
Rated torque
0.32N m
5
Pr0.13 Setup range : 0 to 300% Pr0.13 Setup range : change to 0 to 300% Set up Pr0.13 to 300 to obtain
Setup value : 300%. Setup value : Keep 300%. the max. output torque.
Adjustment
6
When in Trouble
7
Supplement

2-83
Setup of command division and
2 14. multiplication ratio (electronic gear ratio)
Preparation Relation between Electronic Gear and Position Resolution or Traveling Speed
Driver
Electronic gear ratio Rotational speed : N[r/min]
Pulse train position
command Pr0.09 +
D= Motor Gear Machine
[ Travel distance : P1 [P]
Traveling speed : F [PPS] ] Pr0.10
–
Reduction ratio : R
Encoder
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 GH-
scribed by the formula (2)
¨0 '( [ 5 [/
modifying the above formula (2), electronic gear ratio can be found in the formula (3).
' ¨0[([5 [/
Actual traveling velocity of ball screw, V[mm/s] can be described by the formula (4) and
the motor rotational speed, N at that time can be described by the formula (5).
V = F x (D/E) x (1/R) x L ..................... (4)
N = F x (D/E) x 60 ............................... (5)
modifying the above formula (5), electronic gear ratio can be found in the formula (6).
D = (N x E)/ (F x 60) ........................... (6)
Note 0DNHDSRVLWLRQUHVROXWLRQ¨0DVDSSUR[WRRIWKHPDFKLQHSRVLWLRQLQJDF-
FXUDF\¨ў, considering a mechanical error.
2) Set up Pr0.09 and Pr0.10 to any values between 1 to 230.
3) The desired setting can be determined by selecting value of numerator and denomina-
tor of electronic gear. However, an excessively high division or multiplication ratio can-
not guarantee the operation. The ratio should be in a range between 1/1000 and 1000.
Excessively high multiplication ratio will cause Err27.2 (command pulse multiplication
error protection) due to varying command pulse input or noises, even if the other set-
WLQJVDUHZLWKLQWKHVSHFLÀHGUDQJH
4) 2n Decimal 2n Decimal
20 1 211 2048
21 2 212 4096
22 4 213 8192
23 8 214 16384
24 16 215 32768
25 32 216 65536
26 64 217 131072
27 128 218 262144
28 256 219 524288
29 512 220 1048576
210 1024

2-84
14. Setup of command division and multiplication ratio (electronic gear ratio)
Relation between Electronic Gear and Position Resolution or Traveling Speed
1

уM×E×R Pr0.09
Electronic gear ratio D= D=
L Pr0.10
Lead of ball screw, L =10mm
Gear reduction ratio, R = 1 2
Position resolution, 0.0005×217×1 5×217 655360 Pr0.09 = 655360
= =
у0 PP 10 10×104 100000 Pr0.10 = 100000
Encoder, 17-bit
Preparation
(E= 217P/r)
Gear reduction ratio, R = 1 “D = 1” is the
Position resolution, 0.00005×217×1 D < 1, hence
= 0.32768 condition for
у0 PP 20 use 120-bit. minimum resolution.
Encoder, 17-bit 3
(E= 217P/r)
Connection
Encoder : 20-bit (E = 220 P/r) 0.00005×220×1 5×220 5242880 Pr0.09 = 5242880
= =
20 20×10 5
2000000 Pr0.10 = 2000000
D
Motor rotational speed (r/min), N = F ×
E
× 60 4
Gear reduction ratio, R = 1 1×215 1
Setup
500000 × × ×60
Position resolution, 10000 217
у0 PP
Line driver pulse input, 1
500kpps = 50 × 60 × = 750
22
Encoder, 17-bit
5
N×E Pr0.09
Electronic gear ratio D= D=
F × 60 Pr0.10
Adjustment
2000×217 2000×217 262144000 Pr0.09 = 262144000
D= = =
500000×60 30000000 30000000 Pr0.10 = 30000000
Ditto
To make it to 2000r/min.
Travel distance per command pulse (mm)
6
(Position resolution)
When in Trouble
D 1
уM = × ×L
E R
215 1 1 1 20 20
× × × 20 = × = = 0.00133mm
3750 217 1 3750 22 3750 × 4
7
Supplement

2-85
2 15. How to Use the Front Panel
Preparation Setup
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 1
Mode switching button
(valid at SELECTION display)
X7 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
Shifting of the digit for data EXECUTION display.
changing to higher digit. Press these to change display and data, select
parameters and execute actions.
(Change/Selection/Execution is valid to the digit
X7
which decimal point flashes.)
Output connector for monitor
Numerical value increases by pressing, ,
decreases by pressing .
Note For connector X7, refer to P.2-60 “Wiring to the connector, X7”.

2-86
Setup
1

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. 2
approx. 2 sec approx. 0.6 sec approx. 0.6 sec
Preparation
Initial display of LED
(Determined by the setup of Parameter, Pr5.28 "Initial status of LED".)
Upon Occurrence of an Alarm 3

If a driver alarm is generated, the front panel display shows the following repeatedly.
Connection
approx. 0.8 sec 0.3 sec
Repeatedly(during continuous alarm)

4
Below shows possible cause of an alarm.
alarm
Alarm Content
Setup
No.
A0 Overload protection Load factor is 85% or more the protection level.

Over-regeneration Regenerative load factor is 85% or more the protection
A1
alarm level.
A2 Battery alarm Battery voltage is 3.2 V or lower. 5
A3 Fan alarm Fan has stopped for 1 sec.
Adjustment
Encoder The number of successive encoder communication errors
A4
communication alarm H[FHHGVWKHVSHFLÀHGYDOXH
Encoder overheat
A5 The encoder detects overheat alarm.
alarm
Oscillation detection
A6
alarm
Oscillation or vibration is detected. 6
Lifetime detection The life expectancy of capacity or fan becomes shorter
When in Trouble
A7
alarm WKDQWKHVSHFLÀHGWLPH
External scale error
A8 The external scale detects the alarm.
alarm
External scale The number of successive external scale communication
A9
communication alarm HUURUVH[FHHGVWKHVSHFLÀHGYDOXH
7
Supplement

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 P.2-91
6(7EXWWRQ
WKH&RQVROH/('
0RGHVZLWFKLQJEXWWRQ
3DUDPHWHU
VHWXSPRGH
P.2-106
0RGHVZLWFKLQJEXWWRQ
((3520
ZULWLQJPRGH
P.2-107
0RGHVZLWFKLQJEXWWRQ
$X[LOLDU\
IXQFWLRQPRGH
P.2-108
0RGHVZLWFKLQJEXWWRQ
Note <RXFDQFKDQJHWKHÁDVKLQJGHFLPDOSRLQWZLWK , then shift the digit for data change “ ”

Caution On power-up, the monitor mode executed is displayed according to the setup of Pr5.28 LED
initial status.
2-88
Structure of Each Mode
1

EXECUTION display
2
Preparation
3WR105
6(7EXWWRQ
Connection
......P.2-106
)RUGHWDLOVRISDUDPHWHUVUHIHUWR
6(7EXWWRQ 3'HWDLOVRISDUDPHWHU
4
......P.2-107
Setup
6(7EXWWRQ
......P.2-109
$ODUPFOHDU
5
......P.2-110
$XWRPDWLFRIIVHWDGMXVWPHQW $,WR
Adjustment
6(7EXWWRQ
......P.2-111
0RWRUWULDOUXQ -2*
3
6
&OHDULQJRIDEVROXWHHQFRGHU
When in Trouble
......P.2-114
,QLWLDOL]DWLRQRISDUDPHWHU
......P.2-115
5HOHDVHRIIURQWSDQHOORFN
7
Supplement

2-89
Preparation Setup of front panel lock
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)
Cannot be run except for “Release of front panel lock”. (No
Auxiliary Function Mode
display)
How to operate
5HODWHGSDUDPHWHUV
Parameter No.
Title Function
Class No.
Locks the operation attempted from the front
5 35 Setup of front panel lock
panel.
Lock and unlock can be made in one of two ways.

Procedure Front panel
PANATERM
(1) Set Pr5.35 “Front panel lock” to 1, and writ the setting to EEPROM.
Lock (2) Turn on power to the driver.
(3) The front panel is locked.
(1) Execute the auxiliary function
(1) Set Pr5.35 “Front panel lock” to 0,
mode, front panel lock release
and writ the setting to EEPROM.
Unlock function.
(2) Turn on power to the driver.
(2) Turn on power to the driver.
(3) The front panel is unlocked.
(3) The front panel is unlocked.
Note For details of front panel lock release, refer to P.2-113.


2-90
15. How to Use the Front Panel 1
2

Preparation Monitor Mode (SELECTION display)
To change the monitor display setting, select the display option to be changed
from “ SELECTION display”, and press to change to “ EXECUTION display”.
After completion of changing, press to return to the selection display,
2
Monitor Mode SELECTION display
Preparation
Display Pages to Display Pages to
Description Description
example refer example refer
Positional command No. of changes in

P.2-92 (1) P.2-101 (11)
deviation I/O signals
Motor speed P.2-92 (2) Absolute encoder data P.2-101 (12)
Positional command Absolute external

3
P.2-92 (2) P.2-102 (13)
speed scale position
Connection
Velocity control No. of encoder/ external scale
command P.2-92 (2)
communication errors monitor P.2-102 (14)
Communication
Torque command P.2-92 (2) P.2-102 (15)
axis address
Encoder positional
Feedback pulse sum P.2-93 (3) deviation [Encoder unit] P.2-102 (16)
External scale deviation 4
Command pulse sum P.2-93 (3) P.2-103 (17)
[External scale unit]
External scale Hybrid deviation
P.2-93 (3) P.2-103 (18)
Setup
feedback pulse sum [Command unit]
EXECUTION
Control mode P.2-93 (4) Voltage across PN [V] P.2-103 (19) display
(SET button)
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)
5
Error factor and
Adjustment
P.2-96 (7) Motor serial number P.2-104 (22)
reference of history
Accumulated
Alarm Display P.2-98 (8) P.2-104 (23)
operation time
Regenerative load Automatic motor
P.2-99 (9) P.2-104 (24)
factor recognizing function
Over-load factor P.2-99 (9)

Temperature
information P.2-104 (25) 6
Safety condition
When in Trouble
Inertia ratio P.2-99 (9) P.2-105 (26)

monitor
Factor of
P.2-100 (10) <Return to “Positional command deviation”.>
no-motor running
Display shifts toward the arrowed direction by pressing and reversed direction by pressing .
(Mode switch button) 7

Parameter Setup Mode SELECTION display
Supplement
Note :KHQ\RXWXUQRQWKH3URGXFWIRUWKHÀUVWWLPHGLVSOD\VKRZV . (at motor stall)

To change this display, change the setup of Pr5.28 (Initial status of LED).

2-91
Preparation Monitor Mode (EXECUTION display)
(1) Display of positional command deviation [command unit]

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

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

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

3RVLWLRQDOFRPPDQGVSHHG UPLQ
Displays positional command speed (r/min).

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

7RUTXHFRPPDQG
Displays torque command (%).

2-92
Monitor Mode (EXECUTION display)
1

(3) Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum
)HHGEDFN3XOVH6XP>(QFRGHUIHHGEDFNSXOVH]
2
Feedback Pulse Sum
Preparation
......Low order
......High order
3
&RPPDQG3XOVH6XP>&RPPDQG3XOVH@
Connection
Command Pulse Sum
......Low order
......High order
To switch between Low order (L) and High order (H), press . 4
Setup
([WHUQDO6FDOH)HHGEDFN3XOVH6XP
External Scale Feedback Pulse Sum

......Low order
5
......High order
Adjustment
(4) Display of Control Mode 6

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 Active : Input signal photocoupler is ON.

Inactive : Input signal photocoupler is OFF.
When output signal Active : Output signal transistor is ON.
Inactive : Output signal transistor is OFF.
Note For detail of input/output signal, refer to P.3-30 “Inputs and outputs on connector X4”
For detail of Error Code, refer to P.6-2 “Protective Function”.

2-94
1

(6) Display of Analog Input Value
2
Input voltage value [V]
Preparation
Input signal
Select the signal No. to be monitored by pressings .
Displays the value after

(Analog input 1 value, unit [V])
offset correction. 3
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 <RXFDQUHIHUWKHODVW
error factors (including
........History 0 (latest error) present one)
Press to select
........History 13 (oldest error)
WKHIDFWRUWREHUHIHUUHG
<List of error code No.>
Error code Attribute
Protective function Can be Immediate
Main Sub History cleared stop
11 0 Control power supply under- voltage protection
12 0 Over-voltage protection
0 Main power supply under-voltage protection (between P to N)
13
1 Main power supply under-voltage protection (AC interception detection)
0 Over-current protection
14
1 IPM error protection
15 0 Over-heat protection
*1
16 0 Over-load protection
0 Over-regeneration load protection
18
1 Over-regeneration Tr error protection
0 Encoder communication disconnect error protection
21
1 Encoder communication error protection
23 0 Encoder communication data error protection
0 Position deviation excess protection
24
1 Velocity deviation excess protection
25 0 Hybrid deviation excess error protection
0 Over-speed protection
26
1 2nd over-speed protection
0 Command pulse input frequency error protection
27
2 Command pulse multiplier error protection
28 0 Limit of pulse replay error protection
29 0 'HYLDWLRQFRXQWHURYHUÁRZSURWHFWLRQ
30 0 Safety detection
0 IF overlaps allocation error 1 protection
1 IF overlaps allocation error 2 protection
2 IF input function number error 1 protection
3 IF input function number error 2 protection
33
4 IF output function number error 1 protection
5 IF output function number error 2 protection
6 &/ÀWWLQJHUURUSURWHFWLRQ
7 ,1+ÀWWLQJHUURUSURWHFWLRQ

2-96
1

Error code Attribute
Protective function Can be Immediate
Main Sub History cleared stop
34 0 Software limit protection
36 0 to 2 EEPROM parameter error protection
2
37 0 to 2 EEPROM check code error protection
Preparation
38 0 Over-travel inhibit input protection
0 Analog input1 excess protection
39 1 Analog input2 excess protection
2 Analog input3 excess protection
40 0 Absolute system down error protection
3
41 0 Absolute counter over error protection
42 0 Absolute over-speed error protection
Connection
43 0 Initialization failure
44 0 Absolute single turn counter error protection
45 0 Absolute multi-turn counter error protection
47 0 Absolute status error protection
48 0 Encoder Z-phase error protection 4
49 0 Encoder CS signal error protection
0 External scale connection error protection
50
Setup
1 External scale communication error protection
0 External scale status 0 error protection
51
3 External scale status 3 error protection 5
Adjustment
0 A-phase connection error protection
55 1 B-phase connection error protection
2 Z-phase connection error protection
87 0 Compulsory alarm input protection
95 0 to 4 Motor automatic recognition error protection 6
Other number Other error
When in Trouble
Note 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. 7
(Setting of “Pr.5.10 Sequence at alarm” is also required.)
Caution 1) Certain alarms are not included in the history. For detailed information on alarms e.g.
Supplement
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
(8) Alarm Display
......No alarm occurred
......High priority alarm
Alarm number
7RGLVSOD\WKHDODUPRFFXUUHQFHFRQGLWLRQSUHVVRUEXWWRQ
alarm Latched
Alarm Content
No. time *1
A0 Overload protection Load factor is 85% or more the protection level. WRVRU
Over-regeneration Regenerative load factor is 85% or more the
A1 VRU
alarm protection level.
A2 Battery alarm Battery voltage is 3.2 V or lower. )L[HGDW
A3 Fan alarm Fan has stopped for 1 sec. WRVRU
Encoder communication The number of successive encoder communication
A4 WRVRU
alarm HUURUVH[FHHGVWKHVSHFLÀHGYDOXH
A5 Encoder overheat alarm The encoder detects overheat alarm. WRVRU
A6 Oscillation or vibration is detected. WRVRU
alarm
A7 Lifetime detection alarm Life expectancy of capacitor or fan is short. )L[HGDW
A8 The external scale detects the alarm. WRVRU
alarm
External scale The number of successive external scale
A9 WRVRU
communication alarm FRPPXQLFDWLRQHUURUVH[FHHGVWKHVSHFLÀHGYDOXH
*1 Alarms can be cleared by using the alarm clear. Because the all existing alarms are kept cleared while the alarm
FOHDULQSXW $&/5 LVNHSW21EHVXUHWRWXUQLW2))GXULQJQRUPDORSHUDWLRQ(LWKHUVRUFDQEHVHOHFWHG
by using user parameter.
([FHSWLRQ%DWWHU\DODUPLVÀ[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
Display the ratio (%) against the alarm trigger level of regenerative
Preparation
protection.
This is valid when Pr0.16 (External regenerative resistor setup) is 0
or 1.
2YHUORDG)DFWRU
3
Displays the ratio (%) against the rated load.
Connection
Refer to P.6-14, "Overload Protection Time Characteristics" of
When in Trouble.
,QHUWLD5DWLR
4
Displays the inertia ratio (%) .
Value of Pr0.04 (Inertia Ratio) will be displayed as it is.
Setup
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
Related
Factor Control Mode
Factor Content
No. P S T F
Occurrence of
ÁDVKLQJ ○ ○ ○ ○ An error is occurring, and an alarm is triggered.
error/alarm
No factor is detected for No-motor run.
00 No particular factor ○ ○ ○ ○
The motor runs in normal case.
01 Main power shutoff ○ ○ ○ ○ The main power of the driver is not turned on.
No entry of
02 ○ ○ ○ ○ The Servo-ON input (SRV-ON) is not connected to COM–.
SRV-ON input
While Pr5.04 is 0 (Run-inhibition input is valid),
Over-travel 3RVLWLYH GLUHFWLRQ RYHUWUDYHO LQKLELWLRQ LQSXW 327 LV RSHQ DQG VSHHG
03 inhibition input ○ ○ ○ ○ command is Positive direction.
is valid 1HJDWLYH GLUHFWLRQ RYHUWUDYHO LQKLELWLRQ LQSXW 127 LV RSHQ DQG VSHHG
command is Negative direction.
Torque limit setup Either one of the valid torque limit setup value of Pr0.13 (1st) or Pr5.22
04 ○ ○ ○ ○
is small (2nd) is set to 5% or lower than the rating.
While Pr5.21 is 0 (analog torque limit input accepted),
3RVLWLYHGLUHFWLRQDQDORJWRUTXHOLPLWLQSXW 3$7/ LVQHJDWLYHYROWDJH
Analog torque
05 ○ ○ ○ and speed command is Positive direction.
limit input is valid.
1HJDWLYHGLUHFWLRQDQDORJWRUTXHOLPLWLQSXW 1$7/ LVSRVLWLYHYROWDJH
and speed command is Negative direction.
06 INH input is valid. ○ ○ Pr5.18 is 0 (Command pulse inhibition input is valid.), and INH is open.
The position command per each control cycle is 1 pulse or smaller due to,
Command pulse
1RFRUUHFWHQWU\RIFRPPDQGSXOVH
07 input frequency ○ ○
1RFRUUHFWFRQQHFWLRQWRWKHLQSXWVHOHFWHGZLWK3U
is low.
1RPDWFKLQJWRLQSXWVWDWXVVHOHFWHGZLWK3USU3U
While Pr5.17 is 0 (Deviation counter clear at level), the deviation counter
08 CL input is valid. ○ ○
clear input (CL) is connected to COM–.
ZEROSPD input While Pr3.15 is 1 (Speed zero clamp is valid.), the speed zero clamp input
09 ○ ○
is valid. (ZEROSPD) is open.
External speed While the analog speed command is selected, the analog speed
10 ○
command is small. command is smaller than 0.06[V].
Internal speed While the internal speed command is selected, the internal speed
11 ○
command is 0. command is set to lower than 30 [r/min]
Torque command The analog torque command input (SPR or P-ATL) is smaller than 5 [%]
12 ○
is small. of the rating.
:KLOH 3U LV VSHHG LV OLPLWHG E\ WK VSHHG RI LQWHUQDO VSHHG
Speed limit is Pr3.07, (4th speed of speed setup) is set to lower than 30 [r/min].
13 ○
small. :KLOH3ULV VSHHGLVOLPLWHGE\635LQSXW WKHDQDORJVSHHGOLPLW
input (SPR) is smaller than 0.06 [V].
The motor runs at 20 [r/min] or lower even though the factors from 1 to 13
are cleared,
14 Other factor ○ ○ ○ ○
(the command is small, the load is heavy, the motor lock or hitting, driver/
motor fault etc.)
Note * Motor might run even though the other number than 0 is displayed.
Refer to "6.In trouble".
2-100
1

(11) Display of No. of changes in I/O signals
No. of changes in I/O signals (the signal is invalid)

2
Pin No.
Preparation
.....Input signal
.....Output signal
6KLIWWKHIODVKLQJGHFLPDOSRLQWZLWK
/HIWVLGHRIGHFLPDOSRLQW3LQ1RVHOHFWLRQ
3
5LJKWVLGHRIGHFLPDOSRLQW,QSXW2XWSXW3LQ1RVHOHFWLRQ
Connection
7KHVZLWFKRILQSXWRXWSXWE\SUHVVLQJRUEXWWRQ
4
6HOHFWWKH1RRISLQWKHQXPEHURIFKDQJHVRQWKDWSLQVKRXOGEHGLVSOD\HG
E\SUHVVLQJRUEXWWRQ
Setup
/RZHVWSODFH3LQ1R
of output signal)
5
(Highest place Pin No.
Adjustment
of input signal)
(12) Display of absolute encoder data
6
Encoder data
When in Trouble
......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
ZKLFKLVGHÀQHGDV
External scale data

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

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

......Low order
......High order

2-102
1

(17) Display of External Scale Deviation [External Scale Unit]
External Scale Deviation [External scale unit]

2
......Low order
Preparation
......High order
(18) Display of hybrid deviation [Command unit]

3
Connection
Hybrid deviation [Command unit]
......Low order
......High order
4
Setup
(19) Display of voltage across PN [V]
Displays the voltage across PN [V] 5

(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
(21) Display of driver serial number
When in Trouble
Driver serial number

......Driver serial number- Low order
......Driver serial number- High order 7
To switch between Low order (L) and High order (H), press or .
(Example of display: Serial number 09010001)
Supplement

2-103
(22) Display of motor serial number
Motor serial number

......Motor serial number- Low order
......Motor serial number- High order
To switch between Low order (L) and High order (H), press or .
(Example of display: Serial number 09040001)
(23) Display of accumulated operation time
Displays accumulated operation time [h].

......Low order
......High order
(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
2
: Safety condition
: Servo-off condition
Preparation
Dot information
: Servo-on condition
: Alarm condition
Flashing Normal change is possible 3

Servo ready condition
OFF: Dot unlit
Connection
ON: Dot lit
6HOHFWGHVLUHGPRQLWRURSWLRQE\SUHVVLQJRUEXWWRQ
4
,QSXWSKRWRFRXSOHU2)) ,QSXWSKRWRFRXSOHU21
Setup
,QSXWSKRWRFRXSOHU2)) ,QSXWSKRWRFRXSOHU21
2XWSXWSKRWRFRXSOHU2)) 2XWSXWSKRWRFRXSOHU21 5
Adjustment
6
When in Trouble
7
Supplement
Related page P.7-2 “safety”.

2-105
Preparation Parameter Setup Mode

(Mode switch button)
Parameter Setup Mode SELECTION display EXECUTION display
You can change the

value which digit has
3DUDPHWHU1R a flashing decimal
+H[DGHFLPDO1R Parameter value point.
Class
Note 3UHVVRUWRVHWXSWKHYDOXHRI
parameter. (Value increases with
For parameters which place is displayed
decreases with .)
with “ ”, the content changed and
3UHVVDQGWKHIODVKLQJGHFLPDO
written to EEPROM becomes valid after
turning off the power once. separator shifts to the high order position,
allowing the figure at this digit to any other
3UHVVRUWRVHOHFWSDUDPHWHU1R figure.
to be set. 3URORQJHGGHSUHVVLRQRIXSGDWHVWKH
Pr0.00 SDUDPHWHULQWKHGULYHU1RWHWKDWWKH
parameter value selected by or is
not reflected until is pressed in this
Pr0.01
way.
7RFDQFHOWKHYDOXHVHOHFWHGE\RU
(SET button) press instead of , and the driver
Pr6.32 internal parameter value is kept
unchanged and the display returns to the
Pr6.33 parameter number display screen.
Remarks
Pr0.00
After changing the parameter value and
3UHVVDQGWKHIODVKLQJGHFLPDO pressing , the content will be reflected in
separator shifts to the high order position, the control. 'RQRWH[WUHPHO\FKDQJHWKH
allowing the figure at this digit to any other parameter value which change might affect the
figure. motor movement very much (especially
Pr0.01 velocity loop or position loop gains).
Pr0.11
Pr1.11
'LVSOD\WKH1RRISDUDPHWHUWREH
changed and press to change to
(;(&87,21GLVSOD\
(Mode switch button)
EEPROM Writing Mode SELECTION display
Note $IWHUVHWWLQJXSSDUDPHWHUVUHWXUQWR6(/(&7PRGHUHIHUULQJWRVWUXFWXUHRIHDFKPRGH
(P.2-88).
(DFKSDUDPHWHUKDVDOLPLWLQQXPEHURISODFHVIRUXSSHUVKLIWLQJ

2-106
2

Preparation EEPROM Writing Mode
Parameter Setup Mode SELECTION display

0RGHVZLWFKEXWWRQ
EEPROM Writing Mode SELECTION display EXECUTION display 2
Preparation
7RZULWHWKHSDUDPHWHUWR((3520SUHVV .HHSSUHVVLQJXQWLOWKHGLVSOD\
WRFKDQJHWR(;(&87,21GLVSOD\ changes to when you
execute writing.
* “Start” flashes instantaneously and is
difficult to check visually.
3
“ ” increases while
keep pressing (for
Connection
approx. 5sec) as the
right fig. shows.
4
Starts writing.
(SET button)
Setup
Writing completes
5
Writing error
Note
Adjustment
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.
6
0RGHVZLWFKEXWWRQ
When in Trouble
Auxiliary Function Mode SELECTION display
Caution 1. When writing error occurs, make writing again. If the writing error repeats many times,
this might be a failure.
7
2. Don't turn off the power during EEPROM writing. Incorrect data might be written. If this
Supplement
happens, set up all of parameters again, and re-write after checking the data.
:KHQWKHHUURUGHÀQHGE\(UU´8QGHUYROWDJHSURWHFWLRQRIFRQWUROSRZHUVXSSO\µ
occurs, is displayed indicating that no writing is made to EEPROM.

2-107
Preparation Auxiliary Function Mode (SELECTION display)
EEPROM Writing Mode SELECTION display

0RGHVZLWFKEXWWRQ
Auxiliary Function Mode SELECTION display EXECUTION display

7RVHOHFWWKHGHVLUHGDX[LOLDU\IXQFWLRQ
Display Pages to
SUHVVRU example
Description
refer
$ODUP&OHDU $ODUP&OHDU 3
3UHVVLQJ
$ODUPFOHDUVWDUWV
$ODUPFOHDUFRPSOHWHV
$$XWRPDWLF $$XWRPDWLF
3
2IIVHW$GMXVWPHQW 2IIVHW$GMXVWPHQW
3
3
6(7EXWWRQ
7ULDO5XQ 0RWRU7ULDO5XQ 3
&OHDULQJRI &OHDULQJRI
3
$EVROXWH(QFRGHU $EVROXWH(QFRGHU
,QLWLDOL]DWLRQRI ,QLWLDOL]DWLRQRI
3
SDUDPHWHU SDUDPHWHU
5HOHDVHRI 5HOHDVHRI
3
IURQWSDQHOORFN IURQWSDQHOORFN
$ODUP&OHDU
7'LVSOD\WKHDX[LOLDU\IXQFWLRQWREH
FKDQJHGDQGSUHVVWRFKDQJHWR
(;(&87,21GLVSOD\
0RGHVZLWFKEXWWRQ

2-108
2

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”.
2
Preparation
SELECTION display EXECUTION display
3UHVVWRFDOOIRU (SET button) .HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR

(;(&87,21GLVSOD\ ZKHQ\RXH[HFXWHDODUPFUHDU 3
´µLQFUHDVHVZKLOHNHHS
Connection
SUHVVLQJ IRUDSSUR[VHF
DVWKHOHIWILJVKRZV
4
$ODUPFOHDUVWDUWV
Setup
&OHDULQJ
ILQLVKHV
$ODUPFOHDUFRPSOHWHV &OHDULVQRWILQLVKHG
5HOHDVHWKHHUURUE\
UHVHWWLQJWKHSRZHU
5
Adjustment
6
When in Trouble
7
Supplement
Note After alarm cleaning, return to SELECTION display, referring to structure of each mode (P.2-88).

2-109
Auxiliary Function Mode (EXECUTION display)
(2) Analog inputs 1 to 3 automatic offset adjustment

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

2-110
1

(3) Motor trial run
<RXFDQPDNHDWULDOUXQ -2*UXQ ZLWKRXWFRQQHFWLQJWKH&RQQHFWRU&RQQHFWRU;WR
the host controller such as PLC.
2
Remarks 6HSDUDWHWKHPRWRUIURPWKHORDGGHWDFKWKH&RQQHFWRUConnector X4 before the trial
run.
Preparation
%ULQJWKHXVHUSDUDPHWHUVHWXSV HVSHFLDOO\3UDQG3UWR WRGHIDXOWVWR
avoid oscillation or other failure.
,QVSHFWLRQ%HIRUH7ULDO5XQ
(1) Inspection on wiring
0LVZLULQJ" (VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW 3
6KRUWRUJURXQGHG"
/RRVHFRQQHFWLRQ"
Connection
(2) Confirmation of power supply and voltage
5DWHGYROWDJH"
Power Display LED

supply
4
Setup
5
Adjustment
(3) Fixing of the servo motor
8QVWDEOHPRXQWLQJ"
(4) Separation from the

PHFKDQLFDOV\VWHP
Connector X6 6
(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 )RUZLULQJGHWDLOVUHIHUWR3´2YHUDOO:LULQJµ

3´3Uµ
3´3UWRµ

2-111
3URFHGXUHIRU7ULDO5XQ
6(/(&7,21GLVSOD\ (;(&87,21GLVSOD\
6(7EXWWRQ .HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
3UHVVWRFDOOIRU
ZKHQ\RXH[HFXWH0RWRUWULDOUXQ
(;(&87,21GLVSOD\
´µLQFUHDVHVZKLOHNHHS
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 nor-
mal run through external command.
Note $IWHUÀQLVKHGWULDOUXQQLQJUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUHRIHDFKPRGH
(P.2-88).
2-112
1

4) Clearing of Absolute Encoder
<RXFDQFOHDUWKHPXOWLWXUQGDWDRIWKHDEVROXWHHQFRGHU

2
Preparation
(SET button) .HHSSUHVVLQJXQWLOWKHGLVSOD\FKDQJHVWR
3UHVVWRFDOOIRU
when you execute Clearing of Absolute Encoder.
EXECUTION display.
“ ” increases while keep
pressing (for approx. 5sec) 3
Connection
Clearing of absolute encoder starts
4
Clearing
finishes
Clearing of Error occurs
Setup
absolute encoder
completes (When non-applicable
encoder is connected )
5
Adjustment
6
When in Trouble
7
Supplement
Note $IWHUFOHDULQJRIDEVROXWHHQFRGHUÀQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXF-
ture of each mode (P.2-88).

2-113
(5) Initialization of parameter

Initialize the parameter.

3UHVVWRFDOOIRU
when you execute Initialization of parameter.
EXECUTION display.
pressing (for approx. 5sec)
Initialization of parameter
Initialization
finishes
Initialization of Error occurs
parameter completes (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]DWLRQRISDUDPHWHUÀQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUH
of each mode (P.2-88).

2-114
1

(6) Release of front panel lock
Release the front panel lock setting.

2
Preparation
3UHVVWRFDOOIRU
when you execute Release of front panel lock.
EXECUTION display.
pressing (for approx. 5sec) 3
Connection
Release of front panel lock
4
Release
finishes
Release of Error occurs
Setup
front panel lock
completes
Adjustment
6
When in Trouble
7
Supplement
Note $IWHUUHOHDVHRIIURQWSDQHOORFNÀQLVKHVUHWXUQWR6(/(&7,21GLVSOD\UHIHUULQJWRVWUXFWXUH
of each mode (P.2-88).

2-115
MEMO

2-116
3. Connection 1

1. Outline of mode
Position Control Mode ................................................................................3-2
2
Velocity Control Mode .................................................................................3-6
Torque Control Mode ..................................................................................3-9
Preparation
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
3
Full-closed Control Mode ..........................................................................3-17
3. Wiring Diagram to the connector, X4
Connection
([DPSOHRIFRQWUROPRGHVSHFLÀFZLULQJ...................................................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 4
,QSXW6LJQDODQG3LQ1R ...........................................................................3-34
2XWSXW6LJQDODQG3LQ1R ........................................................................3-45
Setup
5. IF Monitor Settings
+RZWR$VVLJQ9DULRXV,2)XQFWLRQVWRWKH,) ........................................3-50
Adjustment
6
When in Trouble
7
Supplement

3-1
3 1. Outline of mode
Connection Position Control Mode
Outline
<RXFDQSHUIRUPSRVLWLRQFRQWUROEDVHGRQWKHSRVLWLRQDOFRPPDQG SXOVHWUDLQ IURPWKH
KRVWFRQWUROOHU
7KLVVHFWLRQGHVFULEHVWKHIXQGDPHQWDOVHWXSWREHXVHGIRUWKHSRVLWLRQFRQWURO
Positional
command
Servo driver
(pulse train)
Command pulse Electronic Positional command
input section gear section filtering function
CL input
Counter clear function
Host Position
INH input
controller Command pulse inhibition (INH) function control
Pulse output section
Pulse regeneration
function
Positioning complete
INP
output (INP) function
output
Function
(1) Process of command pulse input
7KHSRVLWLRQDOFRPPDQGVRIWKHIROORZLQJW\SHV SXOVHWUDLQ DUHDYDLODEOH
SKDVHSXOVH
3RVLWLYHGLUHFWLRQSXOVHQHJDWLYHGLUHFWLRQSXOVH
3XOVHWUDLQVLJQ
6HWWKHSXOVHFRQÀJXUDWLRQDQGSXOVHFRXQWLQJPHWKRGEDVHGRQWKHVSHFLÀFDWLRQDQG
FRQÀJXUDWLRQRILQVWDOODWLRQRIWKHKRVWFRQWUROOHU
7KHLQSXWWHUPLQDOVFDQDFFRPPRGDWHWKHIROORZLQJV\VWHPV
,QSXW´38/6+38/6+6,*1+6,*1+µOLQHUHFHLYHULQSXW 0SSV
,QSXW´38/638/66,*16,*1µSKRWRFRXSOHULQSXW NSSV
Caution )RUOLQHGULYHURXWSXW´,QSXWµFDQDOVREHXVHGZLWKRXWFKDQJLQJWKHDOORZDEOHLQSXW
frequency.
5HOHYDQWSDUDPHWHUV
Parameter
No. Title 5DQJH Function
<RXFDQVHOHFWHLWKHUWKHSKRWRFRXSOHULQSXWRUWKH
Selection of command
Pr0.05 0 to 1 H[FOXVLYHLQSXWIRUOLQHGULYHUDVWKHFRPPDQGSXOVH
pulse input
input.
Command pulse rotational 6HWVWKHFRXQWLQJGLUHFWLRQZKHQFRPPDQGSXOVHLV
Pr0.06 0 to 1
direction setup input.
Command pulse input 6HWVWKHFRXQWLQJPHWKRGZKHQFRPPDQGSXOVHLV
Pr0.07 0 to 3
mode setup input.
Note )RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
5HODWHGSDJH 3´&RQWURO%ORFN'LDJUDPµ
3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ

3-2
1. Outline of mode
Position Control Mode
1

(2) Electronic gear function
7KLV IXQFWLRQ PXOWLSOLHV WKH LQSXW SXOVH FRPPDQG IURP WKH KRVW FRQWUROOHU E\ WKH SUH-
GHWHUPLQHG GLYLGLQJ RU PXOWLSO\LQJ IDFWRU DQG DSSOLHV WKH UHVXOW WR WKH SRVLWLRQ FRQWURO
VHFWLRQDVWKHSRVLWLRQDOFRPPDQG%\XVLQJWKLVIXQFWLRQGHVLUHGPRWRUURWDWLRQVRU 2
PRYHPHQWGLVWDQFHSHUXQLWLQSXWFRPPDQGSXOVHFDQEHVHWRUWKHFRPPDQGSXOVH
IUHTXHQF\FDQEHLQFUHDVHGLIWKHGHVLUHGPRWRUVSHHGFDQQRWEHREWDLQHGGXHWROLP-
Preparation
LWHGSXOVHRXWSXWFDSDFLW\RIWKHKRVWFRQWUROOHU
5HOHYDQWSDUDPHWHUV
Parameter
Command pulse
0 to
Pr0.08 counts per one motor
1048576
6HWWKHFRPPDQGSXOVHVWKDWFDXVHVVLQJOHWXUQRI
WKHPRWRUVKDIW 3
UHYROXWLRQ
6HWWKHQXPHUDWRURIGLYLVLRQPXOWLSOLFDWLRQ
1st numerator of 0 to
Connection
Pr0.09 RSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVH
HOHFWURQLFJHDU 1073741824
input.
6HWWKH'HQRPLQDWRURIGLYLVLRQPXOWLSOLFDWLRQ
'HQRPLQDWRURI 1 to
Pr0.10 RSHUDWLRQPDGHDFFRUGLQJWRWKHFRPPDQGSXOVH
HOHFWURQLFJHDU 1073741824
input.
Note )RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ
4
(3) Positional command filtering function
7RPDNHWKHSRVLWLRQDOFRPPDQGGLYLGHGRUPXOWLSOLHGE\WKHHOHFWURQLFJHDUVPRRWK
Setup
VHWWKHFRPPDQGÀOWHU
5HOHYDQWSDUDPHWHUV
Parameter
No. Title 5DQJH Unit Function
Pr2.22
Positional command
0 to 10000 0.1ms
6HWXSWKHWLPHFRQVWDQWRIWKHVW
GHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDO
5
VPRRWKLQJÀOWHU
command.
Adjustment
6HWXSWKHWLPHFRQVWDQWRIWKHVW
Positional command
Pr2.23 0 to 10000 0.1ms GHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDO
),5ÀOWHU
command.
6
When in Trouble
7
Supplement

3-3
1. Outline of mode
(4) Pulse regeneration function

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IRUP RI$ DQG %SKDVH SXOVHV IURP WKH VHUYR GULYHU :KHQ WKH RXWSXW VRXUFH LV WKH
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5HOHYDQWSDUDPHWHUV
Parameter
Output pulse counts <RXFDQVHWXSWKHRXWSXWSXOVHFRXQWVSHU
Pr0.11 per one motor 1 to 262144 3U RQHPRWRUUHYROXWLRQIRUHDFK2$DQG2%
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Pr0.12 0 to 3 —
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Pr5.03 0 to 262144 —
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Pr5.33 0 to 1 —
output limit setup UHJHQHUDWLYHOLPLWSURWHFWLRQ
=SKDVHVHWXSRI 6HWXSWKH=SKDVHUHJHQHUDWLYHZLGWKRI
Pr6.20 0 to 400 ѥV
external scale IHHGEDFNVFDOHLQXQLWRIWLPH
)XOOFORVHGFRQWUROXVLQJVHULDODEVROXWH
IHHGEDFNVFDOH:KHQRXWSXWWLQJSXOVHVE\
Serial absolute
0 to XVLQJWKHIHHGEDFNVFDOHDVWKHVRXUFHRI
Pr6.21 H[WHUQDOVFDOH=SKDVH pulse
268435456 WKHRXWSXWVHWWKH=SKDVHRXWSXWLQWHUYDO
setup
LQXQLWVRI$SKDVHRXWSXWSXOVHVRIWKH
IHHGEDFNVFDOH EHIRUHPXOWLSOLHGE\
$%SKDVHH[WHUQDO
6HOHFWWKHSXOVHUHJHQHUDWLRQPHWKRGRI$
Pr6.22 scale pulse output 0 to 1 —
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PHWKRGVHOHFWLRQ
Note )RU GHWDLOV RI WKHVH SDUDPHWHUV UHIHU WR 3 DQG ´'HWDLOV RI
SDUDPHWHUµ
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7KHGHYLDWLRQFRXQWHUFOHDULQSXW &/ FOHDUVWKHFRXQWVRISRVLWLRQDOGHYLDWLRQFRXQWHU
DWWKHSRVLWLRQFRQWUROWR
5HOHYDQWSDUDPHWHUV
Parameter
Counter clear input <RXFDQVHWXSWKHFOHDULQJFRQGLWLRQVRIWKH
Pr5.17 0 to 4
mode FRXQWHUFOHDULQSXWVLJQDO

3-4
1. Outline of mode
1

(6) Positioning complete output (INP) function
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:KHQ WKH DEVROXWH YDOXH RI WKH SRVLWLRQDO GHYLDWLRQ FRXQWHU DW WKH SRVLWLRQ FRQWURO LV
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conditions.
Preparation
5HOHYDQWSDUDPHWHUV
Parameter
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQ
3RVLWLRQLQJFRPSOHWH Command
Pr4.31 0 to 262144 unit
DWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO
,QSRVLWLRQ UDQJH
,13 LVRXWSXW 3
3RVLWLRQLQJFRPSOHWH
6HOHFWWKHFRQGLWLRQWRRXWSXWWKH
Pr4.32 (In-position) output 0 to 3 —
SRVLWLRQLQJFRPSOHWHVLJQDO ,13
Connection
setup
6HWXSWKHKROGWLPHZKHQ3U
Pr4.33 ,13KROGWLPH 0 to 30000 1ms
3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS
QG3RVLWLRQLQJ 6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQ
Command
Pr4.42 complete (In-position) 0 to 262144 unit
DWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO
UDQJH ,13 LVRXWSXW
Note
4
)RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3DQG´'HWDLOVRISDUDPHWHUµ
(7) Command pulse inhibition (INH) function
Setup
7KH FRPPDQG SXOVH LQSXW FRXQWLQJ SURFHVV FDQ EH IRUFLEO\ WHUPLQDWHG E\ XVLQJ WKH
FRPPDQGSXOVHLQKLELWLQSXWVLJQDO ,1+ :KHQ,1+LQSXWLV21WKHVHUYRGULYHULJ-
QRUHVWKHFRPPDQGSXOVHGLVDEOLQJSXOVHFRXQWLQJIXQFWLRQ
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VHWWLQJRI3U´,QYDOLGDWLRQRIFRPPDQGSXOVHSURKLELWLRQLQSXWµ 5
5HOHYDQWSDUDPHWHUV
Adjustment
Parameter
,QYDOLGDWLRQRI
Pr5.18 FRPPDQGSXOVHLQKLELW 0 to 1 6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOH
input
6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOH
Pr5.19
&RPPDQGSXOVHLQKLELW
LQSXWUHDGLQJVHWXS
0 to 4
VLJQDOUHDGLQJSHULRG:KHQWKHVWDWXVRIVHYHUDO
VLJQDOVUHDGGXULQJWKHSUHGHWHUPLQHGUHDGLQJ
6
SHULRGDUHVDPHXSGDWHWKHVLJQDOVWDWXV
When in Trouble
7
Supplement

3-5
Connection Velocity Control Mode
Outline
<RXFDQFRQWUROWKHVSHHGDFFRUGLQJWRWKHDQDORJVSHHGFRPPDQGIURPWKHKRVWFRQ-
WUROOHURUWKHVSHHGFRPPDQGVHWLQWKHVHUYRGULYHU
Analog Servo driver

speed command Process of analog
(±10V) speed command input
Internal speed
command settings
Host ZEROSPD input Velocity
controller Speed zero clamp (ZEROSPD) function control
section
AT-SPEED output
Attained speed output
V-COIN output
Speed coincidence output
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
Function
(1) Velocity control by analog speed command
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FRPPDQG<RXFDQVHWWKHÀOWHUWRHOLPLQDWHQRLVHRUDGMXVWWKHRIIVHW
5HOHYDQWSDUDPHWHUV
Parameter
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHG
6SHHGVHWXS,QWHUQDO
Pr3.00 0 to 3 — VHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKH
([WHUQDOVZLWFKLQJ
VSHHGZLWKFRQWDFWLQSXWVRQO\
Speed command
6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQ
Pr3.01 rotational direction 0 to 1 —
VSHFLI\LQJPHWKRG
selection
%DVHGRQWKHYROWDJHDSSOLHGWRWKH
,QSXWJDLQRIVSHHG UPLQ
Pr3.02 10 to 2000 DQDORJVSHHGFRPPDQG 635 VHWXSWKH
command 9
FRQYHUVLRQJDLQWRPRWRUFRPPDQGVSHHG
5HYHUVDORIVSHHG 6SHFLI\WKHSRODULW\RIWKHYROWDJHDSSOLHG
Pr3.03 0 to 1 —
command input WRWKHDQDORJVSHHGFRPPDQG 635
$QDORJLQSXW $, ïWR 6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
Pr4.22 0.359mV
offset setup 5578 WRWKHYROWDJHIHGWRWKHDQDORJLQSXW
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHU
$QDORJLQSXW $,
Pr4.23 0 to 6400 0.01ms WKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKH
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3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ

3-6
1. Outline of mode
Velocity Control Mode
1

(2) Velocity control by internal speed command
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%\ XVLQJ WKH LQWHUQDO VSHHG FRPPDQG VHOHFWLRQV ,1763' \RX FDQ
VHOHFWEHVWDSSURSULDWHRQHDPRQJXSWRLQWHUQDOVSHHGFRPPDQGVHWWLQJV'HIDXOW 2
VHWWLQJXVHVWKHDQDORJVSHHGFRPPDQG7RXVHWKHLQWHUQDOVSHHGFRPPDQGVHOHFWLW
WKURXJK3U´,QWHUQDOH[WHUQDOVSHHGVHWXSµ
Preparation
5HOHYDQWSDUDPHWHUV
Parameter
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHG
6SHHGVHWXS,QWHUQDO
Pr3.00 0 to 3 — VHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKH
([WHUQDOVZLWFKLQJ
VSHHGZLWKFRQWDFWLQSXWVRQO\ 3
Speed command
6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQ
Pr3.01 rotational direction 0 to 1 —
VSHFLI\LQJPHWKRG
Connection
selection
Pr3.04 1st speed of speed setup 6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRVW
Pr3.05 2nd speed of speed setup 6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRQG
Pr3.06 3rd speed of speed setup 6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRUG
Pr3.07 WKVSHHGRIVSHHGVHWXS ïWR 6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
UPLQ
Pr3.08 WKVSHHGRIVSHHGVHWXS 20000 6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK 4
Pr3.09 WKVSHHGRIVSHHGVHWXS 6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
Setup
6SHHG]HURFODPS =(5263' IXQFWLRQ

<RXFDQIRUFLEO\VHWWKHVSHHGFRPPDQGWRE\XVLQJWKHVSHHG]HURFODPSLQSXW
5
5HOHYDQWSDUDPHWHUV
Parameter
Adjustment
6SHHG]HURFODPS <RXFDQVHWXSWKHIXQFWLRQRIWKHVSHHG
Pr3.15 0 to 3 —
function selection ]HURFODPSLQSXW
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6SHHG]HURFODPS FRQWUROLVDFWLYDWHGDVWKH3U6SHHG
Pr3.16 0 to 1 UPLQ
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3. 6
When in Trouble
(4) Attained speed output (AT-SPEED)

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VSHHGµ
5HOHYDQWSDUDPHWHUV
Parameter
Title 5DQJH Unit Function
7
No.
$WVSHHG 6HWWKHGHWHFWLRQWLPLQJRIWKHVSHHG
Pr4.36 10 to 20000 UPLQ
Supplement
6SHHGDUULYDO DUULYDORXWSXW $763(('

3-7
1. Outline of mode
Velocity Control Mode
(5) Speed coincidence output (V-COIN)

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VSHHGFRPPDQG7KHPRWRUVSHHGLVMXGJHGWREHFRLQFLGHQWZLWKWKHVSHFLÀHGVSHHG
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ZLWKLQWKHUDQJHVSHFLÀHGE\3U´6SHHGFRLQFLGHQWUDQJHµ
5HOHYDQWSDUDPHWHUV
Parameter
Speed coincidence 6HWWKHVSHHGFRLQFLGHQFH 9&2,1
Pr4.35 10 to 20000 UPLQ
UDQJH RXWSXWGHWHFWLRQWLPLQJ
(6) Speed command acceleration/deceleration setting function

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WKHGULYHUWRWKHLQSXWVSHHGFRPPDQG
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RUZKHQXVLQJLQWHUQDOVSHHGVHWXS<RXFDQDOVRXVH6VKDSHGDFFHOHUDWLRQGHFHOHUD-
WLRQIXQFWLRQWRPLQLPL]HVKRFNGXHWRFKDQJHLQVSHHG
5HOHYDQWSDUDPHWHUV
Parameter
$FFHOHUDWLRQWLPH PV 6HWXSDFFHOHUDWLRQSURFHVVLQJWLPHLQ
Pr3.12 0 to 10000
setup UPLQ UHVSRQVHWRWKHVSHHGFRPPDQGLQSXW
'HFHOHUDWLRQWLPH PV 6HWXSGHFHOHUDWLRQSURFHVVLQJWLPHLQ
Pr3.13 0 to 10000
setup UPLQ UHVSRQVHWRWKHVSHHGFRPPDQGLQSXW
6HW6FXUYHWLPHIRUDFFHOHUDWLRQ
6LJPRLGDFFHOHUDWLRQ
Pr3.14 0 to 1000 ms GHFHOHUDWLRQSURFHVVZKHQWKHVSHHG
deceleration time setup
command is applied.
Caution :KHQ WKH SRVLWLRQ ORRS LV H[WHUQDO WR WKH GULYHU GR QRW XVH WKH DFFHOHUDWLRQ
GHFHOHUDWLRQWLPHVHWWLQJ6HWWKHVHYDOXHVWR

3-8
3 1. Outline of mode 1

Connection Torque Control Mode
Outline
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DQDORJYROWDJH)RUFRQWUROOLQJWKHWRUTXHWKHVSHHGOLPLWLQSXWLVUHTXLUHGLQDGGLWLRQWR
2
WKHWRUTXHFRPPDQGWRPDLQWDLQWKHPRWRUVSHHGZLWKLQWKHVSHHGOLPLW
:LWKWKH$VHULHVWRUTXHFRQWUROPRGHVDUHDYDLODEOHHDFKUHTXLUHVGLIIHUHQWWRUTXH
Preparation
FRPPDQGDQGVSHHGOLPLWDVVKRZQLQWKHWDEOHEHORZ
3U 6HOHFWLRQRIWRUTXHFRPPDQG
Setup
YDOXH
Torque command input Velocity limit input
Selection of torque $QDORJLQSXW*1 3DUDPHWHUYDOXH

0
command 1 $,ELWUHVROXWLRQ (Pr3.21) 3
Selection of torque $QDORJLQSXW $QDORJLQSXW
1
command 2 $,ELWUHVROXWLRQ $,ELWUHVROXWLRQ
Connection
Selection of torque $QDORJLQSXW*1 3DUDPHWHUYDOXH
2
command 3 $,ELWUHVROXWLRQ 3U3U
*1 )RU 3U &RQWURO PRGH VHWXS YHORFLW\WRUTXH FRQWURO WKH WRUTXH FRPPDQG
LQSXWLVWKHDQDORJLQSXW $,ELWUHVROXWLRQ
Note )RUGHWDLOVRIWKHVHSDUDPHWHUVUHIHUWR3´'HWDLOVRISDUDPHWHUµ 4
<Selection of torque command 1, 3>
Analog Servo driver
Setup
torque command Process of analog
(AI1, ±10V) torque command input
Speed limit value
(Parameter)
Host ZEROSPD input Torque
controller Speed zero clamp (ZEROSPD) function control
section
AT-SPEED output
Attained speed output 5
V-COIN output
Adjustment
<Selection of torque command2>
Analog Servo driver
torque command Process of analog
(AI2, ±10V) torque command input
Speed limit input Process of
6
Host (AI1, ±10V) speed limit input Torque
When in Trouble
controller control
ZEROSPD input section
Speed zero clamp (ZEROSPD) function
AT-SPEED output
Attained speed output
V-COIN output
7
Supplement
5HODWHGSDJH 3´&RQWURO%ORFN'LDJUDPµ3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ

3-9
1. Outline of mode
Torque Control Mode
Function
(1) Process of analog torque command input
7KLV SURFHVV FRQYHUWV WKH DQDORJ WRUTXH FRPPDQG LQSXW YROWDJH WR WKH HTXLYDOHQW
GLJLWDOWRUTXHFRPPDQGKDYLQJWKHVDPHHIIHFW<RXFDQVHWWKHÀOWHURUDGMXVWWKHRII-
set to eliminate noise.
5HOHYDQWSDUDPHWHUV<Selection of torque command 1, 3>
Parameter
Torque command 6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
Pr3.18 0 to 1 —
direction selection direction of torque command.
%DVHGRQWKHYROWDJH 9 DSSOLHGWRWKH
,QSXWJDLQRIWRUTXH 0.1V DQDORJWRUTXHFRPPDQG 7545 VHWXS
Pr3.19 10 to 100
command WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG

,QSXWUHYHUVDORIWRUTXH 6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
Pr3.20 0 to 1 —
command WRWKHDQDORJWRUTXHFRPPDQG 7545
Pr4.22 0.359mV
$QDORJLQSXW $,
ÀOWHU
5HOHYDQWSDUDPHWHUV<Selection of torque command 2>

Parameter
Torque command 6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYH
Pr3.18 0 to 1 —
direction selection direction of torque command.
%DVHGRQWKHYROWDJH 9 DSSOLHGWRWKH
,QSXWJDLQRIWRUTXH 0.1V DQDORJWRUTXHFRPPDQG 7545 VHWXS
Pr3.19 10 to 100
command WKHFRQYHUVLRQJDLQWRWRUTXHFRPPDQG

,QSXWUHYHUVDORIWRUTXH 6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHG
Pr3.20 0 to 1 —
command WRWKHDQDORJWRUTXHFRPPDQG 7545
$QDORJLQSXW $, 6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHG
Pr4.25 ïWR 5.86mV
offset setup WRWKHYROWDJHIHGWRWKHDQDORJLQSXW
$QDORJLQSXW $,
ÀOWHU

3-10
1. Outline of mode
Torque Control Mode
1

(2) Speed limit function
7KHVSHHGOLPLWLVRQHRISURWHFWLYHIXQFWLRQVXVHGGXULQJWRUTXHFRQWURO
7KLVIXQFWLRQUHJXODWHVWKHPRWRUVSHHGVRWKDWLWGRHVQRWH[FHHGWKHVSHHGOLPLWZKLOH
WKHWRUTXHLVFRQWUROOHG 2
Caution :KLOHWKHVSHHGOLPLWLVXVHGWRFRQWUROWKHPRWRUWKHWRUTXHFRPPDQGDSSOLHGWRWKH
Preparation
PRWRU LV QRW GLUHFWO\ SURSRUWLRQDO WR WKH DQDORJ WRUTXH FRPPDQG 7RUTXH FRPPDQG
VKRXOGKDYHWKHIROORZLQJUHVXOWWKHPRWRUVSHHGLVHTXDOWRWKHVSHHGOLPLW
5HOHYDQWSDUDPHWHUV<Selection of torque command 1, 3>
Parameter
Pr3.21 6SHHGOLPLWYDOXH 0 to 20000 UPLQ 6HWXSWKHVSHHGOLPLWXVHGIRUWRUTXH 3
Pr3.22 6SHHGOLPLWYDOXH 0 to 20000 UPLQ FRQWUROOLQJ
Connection
Pr3.15 0 to 3 —
5HOHYDQWSDUDPHWHUV<Selection of torque command 2>

Parameter
%DVHGRQWKHYROWDJHDSSOLHGWRWKH
Pr3.02
,QSXWJDLQRIVSHHG
command
10 to 2000
UPLQ
9
DQDORJVSHHGFRPPDQG 635 VHWXSWKH 4
FRQYHUVLRQJDLQWRPRWRUFRPPDQGVSHHG
Pr4.22 0.359mV
Setup
$QDORJLQSXW $,
ÀOWHU
Pr3.15 0 to 3 —
5
Adjustment
6
When in Trouble
7
Supplement

3-11
Connection Full-closed Control Mode
Outline
,Q WKLV IXOOFORVHG FRQWURO \RX FDQ PDNH D SRVLWLRQ FRQWURO E\ XVLQJ D H[WHUQDO VFDOH
PRXQWHGH[WHUQDOO\ZKLFKGHWHFWVWKHSRVLWLRQGLUHFWO\DQGIHHGVLWEDFN:LWKWKLVFRQWURO
\RX FDQ FRQWURO ZLWKRXW EHLQJ DIIHFWHG E\ WKH SRVLWLRQDO YDULDWLRQ GXH WR WKH EDOO VFUHZ
HUURURUWHPSHUDWXUHDQG\RXFDQH[SHFWWRDFKLHYHDYHU\KLJKSUHFLVLRQSRVLWLRQLQJLQ
sub-micron order.
(Speed detection)
Position
Controller
command
Position detection
External scale

We recommend the external scale division ratio of ExternalVFDOHGLYLVLRQUDWLR

Cautions on Full-Closed Control

(QWHUWKHFRPPDQGSXOVHVPDNLQJWKHH[WHUQDOVFDOHDVDUHIHUHQFH
,IWKHFRPPDQGSXOVHVGRQRWPDWFKWRWKHH[WHUQDOVFDOHSXOVHVXVHWKHFRPPDQGGLYLVLRQ
PXOWLSOLFDWLRQIXQFWLRQ 3UWR3U DQGVHWXSVRWKDWWKHFRPPDQGSXOVHVDIWHUGLYLVLRQ
PXOWLSOLFDWLRQLVEDVHGRQWKHH[WHUQDOVFDOHUHIHUHQFH
7KH$VHULHVVXSSRUWVWKHH[WHUQDOVFDOHRI$DQG%SKDVHRXWSXWW\SHDQGVHULDOFRPPXQLFD-
WLRQW\SH,QLWLDOL]HWKHSDUDPHWHUVDFFRUGLQJWRWKHIROORZLQJSURFHGXUHVDQGZULWHWR((3520
DQGWXUQRQSRZHU
:KHQXVLQJDVFDOHRI$DQG%SKDVHRXWSXWW\SHFRUUHFWO\FRQQHFWLWVRWKDWWKHURWDWLQJGL-
UHFWLRQRIWKHPRWRU &:&&: DQG$SKDVHDQG%SKDVHRIWKHH[WHUQDOVFDOHKDYHWKHIROORZ-
LQJUHODWLRQVKLS
CCW direction CW direction
t1 t1 t1 t1
EXA EXA
t1 t1 t1 t1
EXB EXB
t2 t2
t1＞ѥV t2＞ѥV t1＞ѥV t2＞ѥV
<How to make an initial setup of parameters related to external scale >

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&KHFN WKH YDOXHV LQLWLDO IHHGEDFN SXOVH VXP DQG H[WHUQDO VFDOH IHHGEDFN SXOVH VXP ZLWK WKH
front panel.
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,IWKHWUDYHORIWKHIHHGEDFNSXOVHVXPDQGWKHH[WHUQDOVFDOHIHHGEDFNSXOVHVXPDUHUHYHUVHGLQ
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6HWXSWKHH[WHUQDOVFDOHGLYLVLRQUDWLR 3U3U XVLQJWKHIRUPXODEHORZ
7RWDOYDULDWLRQRIIHHGEDFNSXOVHVXP Pr3.24
([WHUQDOVFDOHGLYLVLRQUDWLR
7RWDOYDULDWLRQRIH[WHUQDOVFDOHIHHGEDFNSXOVHVXP Pr3.25
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Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKFRQQHFWRU;
5HODWHGSDJH 3´&RQWURO%ORFN'LDJUDPµ3´:LULQJ'LDJUDPWRWKHFRQQHFWRU;µ
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ3´'HWDLOVRISDUDPHWHUµ

3-12
1. Outline of mode
Full-closed Control Mode
1

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2
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Connection
Function
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Parameter
No. Title 5DQJH Function 4
External scale
Pr3.23 0 to 2 6HOHFWWKHW\SHRIH[WHUQDOVFDOH
selection
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5
Parameter
Title 5DQJH Function
Adjustment
No.
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VFDOHGLYLVLRQ setup.
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Parameter
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excess setup
external scale position.
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3-13
3 2. Control Block Diagram
Connection Position Control Mode
Sum of command pulses Positional command Internal positional

[Command unit] speed [r/min] command speed [r/min]
Pulse train Input setup Electric gear Smoothing Damping control

PULS One filter Gain switching
SIGN Input 1st 2nd Switching 2.13
selection 0.05 revolu- 0.08 numerator 0.09 numerator 5.00 Primary 2.22 selection 2nd
tion
delay 1.14 3rd 6.05
Direction 0.06 3rd Frequency Filter setup setup
Denominator 0.10 numerator 5.01
setup FIR 2.23 1st Mode 1.15 Scale 6.06
4th
2.14 2.15 factor
Mode 0.07 numerator 5.02 Delay 1.16
2nd 2.16 2.17 time
Level 1.17
3rd 2.18 2.19
＋ Command positional deviation Hysteresis 1.18
[Command unit] 4th 2.20 2.21 Switching 1.19
−
time
Friction
compensation
Velocity Torque
feed forward feed forward additional 6.07
value
Inversion of
Gain 1.10 Gain 1.12 Positive 6.08
electric gear direction
Filter 1.11 Filter 1.13 Negative 6.09
direction
Notch filter
Velocity control
Frequency Depth Width
Propor- Integra-
tion tion 1st 2.01 2.02 2.03
Position control ＋
1st 1.01 1.02
＋＋＋＋＋ 2nd 2.04 2.05 2.06
1st 1.00
− ＋ − 2nd 1.06 1.07 ＋＋ 3rd 2.07 2.08 2.09
2nd 1.05
Inertia ratio 0.04
4th 2.10 2.11 2.12
Speed detection Function 6.10
expansion Adaptive
filter mode setup 2.00
2nd inertia ratio 6.13
1st 1.03
Encoder velocity control 2nd 1.08

positional deviation
[Encoder pulse] command [r/min] Instantaneous 6.10
speed
Disturbance Torque filter
observer
Sum of Motor speed
feedback pulses Gain 6.23 1st 1.04
[Encoder pulse] [r/min]
Pulse Filter 6.24 2nd 1.09

regeneration
One
revolution 0.11
Speed detection
Reversal 0.12
Pulses
output Numerator/
OA Denominator
Torque limit
OB Denomi- 5.03
OZ nator Selection 5.21
Current control
Encoder Motor Response 6.11 1st 0.13
setup
2nd 5.22
Torque command
Main [％]
power
Load supply
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3-14
3 2. Control Block Diagram 1

Connection Velocity Control Mode
Gain switching 2
2nd 1.14
setup
Mode 1.20
Preparation
Delay 1.21
time
Al1 input voltage Level 1.22
[Ｖ]
Hysteresis 1.23
Analog
input 1
Analog input Scaling Torque Friction
16bit A/D compensation
feed forward
AI1
Offset 4.22 Gain 3.02 Gain 1.12
additional 6.07
value 3
Filter 4.23 Reversal 3.03 Filter 1.13
Connection
Velocity control
command [r/min]
Notch filter
Velocity control
Frequency Depth Width
Propor- Integra-
Velocity command Acceleration/ tion tion 1st 2.01 2.02 2.03
selection Deceleration limit 1st 1.01 1.02 ＋
Accelera- 3.12 ＋＋＋ 2nd 2.04 2.05 2.06
Internal/External 3.00 tion 2nd 1.06 1.07
− ＋＋ 3rd
switching Decelera- 3.13 2.07 2.08 2.09
Direction
selection
3.01
tion Inertia ratio 0.04
4th 2.10 2.11 2.12
4
Sigmoid 3.14 Function 6.10 Adaptive
expansion
mode setup 2.00
Setup
Internal velocity setup
Velocity
1st 3.04 5th 3.08 detection filter
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
5
Disturbance Torque filter
Adjustment
observer
Sum of Motor speed
feedback pulses Gain 6.23 1st 1.04
Filter 6.24 2nd 1.09
Pulse
regeneration
One
revolution 0.11
Velocity detection
Reversal 0.12
Pulses
output
OA
Numerator/
Denominator Torque limit
6
OB Denomi- 5.03
nator Current control Selection 5.21
OZ
When in Trouble

setup
2nd 5.22
Torque command
Main [％]
power
Load supply
7
Supplement
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3-15
3 2. Control Block Diagram
Connection Torque Control Mode
Al2 input voltage

[Ｖ]
Gain switching
Analog 2nd
input 2 1.14
setup
12bit A/D Analog input Scaling
Mode 1.24
AI2
Delay 1.25
Offset 4.25 Gain 3.19 time
Level 1.26
Filter 4.26 Reversal 3.20 Torque command
selection Hysteresis 1.27
Internal/External 3.17 Absolute value
switching
Direction 3.18
Scaling selection
（Torque command）
Analog Gain 3.19

input 1 Analog input
16bit A/D Reversal 3.20
AI1 Sign
Offset 4.22
Filter 4.23 Scaling

Speed limit
（Speed limit）
[r/min] Notch filter
Gain 3.02 Velocity control
Frequency Width Depth
Propor- Integra-
Reversal 3.03 tion tion 1st 2.01 2.02 2.03
Speed limit
selection 1st 1.01 1.02
＋ 2nd 2.04 2.05 2.06
Command 3.17
Al1 input voltage selection 2nd 1.06 1.07
− 3rd
[Ｖ] 2.07 2.08 2.09
Internal Inertia ratio 0.04
speed limit 4th 2.10 2.11 2.12
Function 6.10
Limit expansion
value 1 3.21
Limit 2nd inertia ratio 6.13
value 2 3.22
Velocity
detection filter
1st 1.03
2nd 1.08
Instantaneous 6.10
speed
Torque filter
Sum of Motor speed

feedback pulses 1st 1.04
2nd 1.09
Pulse
regeneration
One
revolution 0.11
Speed detection
Reversal 0.12
Pulses
output Numerator/
OA Denominator Torque limit
OB Denomi- 5.03
nator Current control Selection 5.21
OZ
setup
2nd 5.22
Torque command
Main [％]
power
Load supply
5HODWHGSDJH 3´:LULQJH[DPSOHRIWRUTXHFRQWUROPRGHµ

3-16
3 2. Control Block Diagram 1

Connection Full-closed Control Mode
Internal positional
command speed [r/min]
External scale
dividing
Sum of command pulses
[Command unit]
Positional command
speed [r/min]
Numera- 3.24
tor 2
Denomi- 3.25
nator
Pulse train
Preparation
Input setup Electric gear Smoothing Damping control
PULS filter
SIGN Input One 1st 2nd Gain switching
revolu- 0.08 numerator 0.09 Switching 2.13
selection 0.05 numerator 5.00 Primary 2.22 selection 2nd
tion
delay 1.14 3rd 6.05
Direction 0.06 3rd Frequency Filter setup setup
Denominator 0.10 numerator 5.01
setup FIR 2.23 1st Mode 1.15 Scale 6.06
4th
2.14 2.15 factor
Mode 0.07 numerator 5.02 Delay 1.16
2nd 2.16 2.17 time
Level 1.17
3rd 2.18 2.19
＋
−
Command positional deviation
[Command unit] 4th 2.20 2.21
Hysteresis 1.18
Switching 1.19
3
time
Connection
Friction
compensation
Velocity Torque additional 6.07
feed forward feed forward value
Inversion of
Gain 1.10 Gain 1.12 Positive 6.08
electric gear direction
Filter 1.11 Filter 1.13 Negative 6.09
direction
Notch filter
Velocity control
Propor- Integra-
Frequency Width Depth
4
tion tion 1st 2.01 2.02 2.03
Position control ＋
1st 1.01 1.02
＋＋＋＋＋ 2nd 2.04 2.05 2.06
1st 1.00
2nd 1.06 1.07
Setup
− ＋ − ＋＋ 3rd 2.07 2.08 2.09
2nd 1.05
Inertia ratio 0.04
4th 2.10 2.11 2.12
Speed detection Function 6.10
expansion Adaptive
filter mode setup 2.00
1st 1.03
External scale
External Pulse
scale Full-closed 2nd
pulse
output
regeneration
Numera- 0.11
deviation
[External scale pulse]
velocity control
command [r/min]
1.08
Instantaneous 6.10
5
tor speed
EXA
Denomi- 5.03 Sum of
EXB feedback pulses
EXZ nator
[External scale pulse] Motor speed
Adjustment
Reversal 0.12 [r/min] Disturbance Torque filter
Hybrid observer
Z-phase 6.20 deviation
Width [Command unit] Gain 6.23 1st 1.04
Z-phase 6.21
setup Filter 6.24 2nd 1.09
output Inversion of
method 6.22 electric gear External scale Speed detection
Reverse dividing
Numera- 3.25
Pulse − ＋
tor
Denomi- 3.24
6
regeneration nator
One
When in Trouble
revolution 0.11
Encoder Reversal 0.12
feedback Numerator/
pulses Input setup
Denominator Torque limit
output Denomi- Type 3.23
OA 5.03 Selection 5.21
nator Current control
OB Reversal 3.26 Encoder Motor Response 6.11 1st
OZ setup
0.13
Ｚ-phase 3.27
invalid 2nd 5.22
Main
Torque command
[％]
7
power
supply
External scale
Supplement
5HODWHGSDJH 3´:LULQJH[DPSOHRIIXOOFORVHFRQWUROPRGHµ

3-17
3 3. Wiring Diagram to the connector, X4
Connection Example of control mode specific wiring
Wiring Example of Position Control Mode

In case of open collector I/F (1) When you use the external
7 COM+ 2.2kї 1
Command pulse OPC1 resistor with 12V and 24V
inhibition input 33 4.7kї 2.2kї 3
Deviation counter
INH PULS1 power supply
clear input 30 220ї 4
CL PULS2 2.2kї PULS1 3
Servo-ON input 29 SRV-ON 2.2kї 2 Command
OPC2
pulse PULS2 4 R
Gain switching input 27 2.2kї 5 input A
GAIN SIGN1 220ї
Electronic gear 2.2kї SIGN1 5
switching input 1 28
220ї 6 (Use with
DIV1 SIGN2 500 kpps or less.) VDC
Damping control 13 SIGN2 6 R
switching input 1 26 VS-SEL1 GND 220ї
Control mode
switching input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5 .
Positive direction OA- VDC =10mA
over-travel inhibition input 9 of R R+220 .
POT 48
Divider
Negative direction OB+ B-phase 12V 1kї1/2W
over-travel inhibition input 8 NOT 49 output
OB- 24V 2kї1/2W
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the
34 S-RDY- 24 output external resistor with 24V
OZ-
Servo-Alarm output power supply
37 ALM+
36 2.2kї OPC1 1
ALM- 2.2kї
Positioning complete output 39 25
VDC INP+ GND PULS2 4
Z-phase output 220ї
12 to 24V 38 INP- 19 (open collector) 2.2kї OPC1 2
External brake release output 11 CZ 2.2kї 24VDC
BRKOFF+ SIGN2 6
10 BRKOFF- 220ї
Torque in-limit output 40 TLC 20kї
47kї 47kї
Zero speed detection output

–
( : Twisted pair)
12
+
ZSP 47kї 47kї 14

SPR/TRQR/SPL
41 COM- 20kї 15
GND
44 2kї 20kї – 20kї 20kї 14kї 16 Positive direction torque limit input
PULSH1
+
P-ATL/TRQR
45 120ї 10kї 17 (0 to +10V)
PULSH2 GND
2kї 20kї
46
– 20kї 20kї 14kї 18
SIGNH1 2kї 20kї N-ATL Negative direction torque limit input
10kї
47 SIGNH2 120ї (-10 to +10V)
2kї 20kї 1kї 43
13 GND SP Velocity monitor output
1kї 42 Torque monitor output
Command pulse input B 50 FG IM
(Use with 4Mpps or less.)
X4
Be sure to connect.
Wiring Example of Velocity Control Mode

7 COM+
Selection 1 input of
internal command speed 33 INTSPD1 4.7kї
internal command speed 30 INTSPD2
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
internal command speed 28 INTSPD3 21
Speed zero clamp input 26 OA+
ZEROSPD 22 A-phase output
Control mode switching OA-
input 32 C-MODE 48
Divider
Alarm clear input 31 A-CLR OB+

49 B-phase output
Positive direction OB-
over-travel inhibition input 9 POT 23
Negative direction OZ+
over-travel inhibition input 8 NOT 24 Z-phase output
OZ-
Servo-Ready output 35 S-RDY+
34 S-RDY-
Servo alarm output 37 25
ALM+ GND
36 ALM- 19 Z-phase output (open collector)
At-speed output 39 AT-SPEED+ CZ
VDC
12 to 24V 38 AT-SPEED-
External brake release output 11 20kї
BRKOFF+ 47kї 47kї
10 BRKOFF- –
+
Torque in-limit output 40 47kї 47kї 14

TLC SPR/TRQR/SPL Velocity command
GND 15 input (0 to ± 10V)
20kї
Zero speed detection output 12 – 20kї 20kї 14kї 16

ZSP +
P-ATL/TRQR Positive direction torque
10kї 17
41 COM- GND limit input (0 to ± 10V)
N-ATL 18
– 20kї 20kї 14kї
+
10kї
limit input (-10 to 0V)
1kї 43 Velocity monitor output
SP
50 FG IM
X4 ( : Twisted pair)
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3-18
Example of control mode specific wiring
1

Wiring Example of Torque Control Mode
7 COM+
33 4.7kї
INH
Servo-ON input
30 CL
29 SRV-ON
2
Gain switching input 27 GAIN
Speed zero clamp 28 DIV1
Preparation
input 26 ZEROSPD 21
OA+ A-phase
Control mode 22
switching input 32 C-MODE OA- output
Alarm clear input 48
Divider
31 A-CLR OB+ B-phase
Positive direction 49
over-travel inhibition input 9 POT OB- output
Negative direction 23
over-travel inhibition input 8 NOT OZ+ Z-phase
24 output
Servo-Ready output OZ-
35 S-RDY+
34 S-RDY-
Servo-Alarm output 37 ALM+ 25
VDC
At-speed output
36 ALM-
39 AT-SPEED+
GND
CZ
19 Z-phase output (open collector)
3
12 to 24V 38 AT-SPEED- 20kї
External brake release output 11 BRKOFF+
47kї 47kї
–
Connection
+
10 BRKOFF- 47kї 47kї 14

Torque in-limit output SPR/TRQR/SPL Torque command input or
40 TLC 20kї 15
GND velocity limit input (0 to ±10V)
P-ATL/TRQR 16
– 20kї 20kї 14kї
Zero speed detection output 12
+
Wiring example when control mode Pr0.01=5 or Pr3.17=1
10kї
ZSP 17 16
GND CCWTL/TRQR Negative direction torque
41 COM- 20kї 20kї 14kї
–
N-ATL 18 17 limit input (0 to ±10V)

GND
+
10kї
Select with Pr3.17.
1kї 43 Velocity monitor output
SP
IM
50 FG
4
X4 ( : Twisted pair)
Wiring Example of Full-closed Control Mode
Setup
In case of open collector I/F (1) When you use the external
7 COM+ 2.2kї 1
Command pulse OPC1 resistor with 12V and 24V
inhibition input 33 4.7kї 2.2kї 3
Deviation counter
INH PULS1 power supply
clear input 30 220ї 4
CL PULS2 2.2kї PULS1 3
Servo-ON input 29 SRV-ON 2.2kї 2 Command
OPC2
pulse PULS2 4 R
Gain switching input 27 2.2kї 5 input A
GAIN SIGN1 220ї
Electronic gear
switching input 1
Damping control
switching input 1
28 DIV1
26 VS-SEL1
220ї
SIGN2
GND
6
13
(Use with
500 kpps or less.)
2.2kї SIGN1 5
SIGN2 6 R
VDC 5
220ї
Control mode
switching input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5 .
OA- VDC =10mA
Adjustment
Positive direction
over-travel inhibition input 9 of R R+220 .
POT 48
Divider
Negative direction OB+ B-phase 12V 1kї1/2W

over-travel inhibition input 8 NOT 49 output
OB- 24V 2kї1/2W
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the
34 S-RDY- 24 output external resistor with 24V
OZ-
Servo-Alarm output power supply
37 ALM+
36 2.2kї OPC1 1
ALM- 2.2kї
Positioning complete output 39 25
VDC INP+ GND PULS2 4
Z-phase output 220ї
12 to 24V 38 INP- 19 (open collector)
6
2.2kї OPC1 2
External brake release output 11 CZ 2.2kї 24VDC
BRKOFF+ SIGN2 6
10 BRKOFF- 220ї
Torque in-limit output 40 TLC 20kї
When in Trouble
47kї 47kї
Zero speed detection output

–
( : Twisted pair)
12
+
ZSP 47kї 47kї 14

SPR/TRQR/SPL
41 COM- 20kї 15
GND
44 2kї 20kї – 20kї 20kї 14kї 16 Positive direction torque limit input
PULSH1
+
P-ATL/TRQR
45 120ї 10kї 17 (0 to +10V)
PULSH2 GND
2kї 20kї
46
– 20kї 20kї 14kї 18
SIGNH1 2kї 20kї N-ATL Negative direction torque limit input
10kї
47 SIGNH2 120ї (-10 to +10V)
2kї 20kї 1kї 43
13 GND SP Velocity monitor output
50
Command pulse input B
(Use with 4Mpps or less.)
FG
X4
IM
7
Be sure to connect.
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Supplement
Note
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3-19
3 3. Wiring Diagram to the connector, X4
Connection Connecting Example to Host Controller
Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works)
PLC Driver
FP2-PP22 AFP2434 A5-series
(Panasonic Electric Works)
* Process of shield wire varies with equipment. 50 FG
A1 3 PULS1
CW pulse command Command pulse
output 220Ω input 2
B1 4 PULS2
A2 5 SIGN1
CCW pulse command Command sign
B2 6 SIGN2
390Ω
A4 23 OZ＋
Origin input Z-phase output
B3 24 OZ−
13,25 GND
7 COM＋
4.7Ω
A7 30 CL Counter clear input
Deviation counter
reset output 4.7Ω
B7 29 SRV-ON Servo-ON input
3.6kΩ 4.7Ω
B4 27 GAIN Gain switching input
Origin proximity input
from 4.7Ω
A5 PLC I/O 31 A-CLR Alarm clear input
6.8kΩ output
9 POT
4.7Ω Inhibit positive direction
travel input
Limit excess ○
＋
A6 8 NOT
4.7Ω Inhibit negative direction
travel input
35 S-RDY＋
Limit excess −
○ Servo-Ready output
B6 34 S-RDY−
External power supply ＋24VDC A20 to

PLC I/O 37 ALM＋
input input Servo-Alarm output
GND B20 36 ALM−
39 INP＋
output
38 INP−
Origin proximity sensor
CW limit sensor 41 COM−
CCW limit sensor
GND + 24V
DC24V
Power supply
Note UHSUHVHQWVWZLVWHGSDLUZLUH
5HODWHGSDJH 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

3-20
Connecting Example to Host Controller
1

Connection between MINAS A5 and FPG-PP12 AFPG432 (Panasonic Electric Works)
PLC Driver
FPG-PP12 AFPG432 A5-series 2
Preparation
A1 3 PULS1
B1 4 PULS2
A2 5 SIGN1
output input 2
B2 6 SIGN2
220Ω
3
560Ω
A4 23 OZ＋
Connection
B3 24 OZ−
13,25 GND
7 COM＋
4.7Ω
Deviation counter
reset output
B7 29 SRV-ON
4.7Ω
Servo-ON input
4
6.8kΩ 4.7Ω
from
Setup
4.7Ω
output
9 POT
travel input
8 NOT
travel input
FG A19 35 S-RDY＋
Servo-Ready output
5
FG B19 34 S-RDY−
to
Adjustment
External power supply
＋24VDC A20 PLC I/O 37 ALM＋
GND B20 36 ALM−
39 INP＋
output
38 INP−
CW limit sensor to 41 COM−

6
PLC I/O
CCW limit sensor
When in Trouble
input
GND + 24V
DC24V
Power supply 7
Supplement

3-21
Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works)
PLC Driver
FP2-PP2 AFP2430 A5-series
A1 3 PULS1
B1 4 PULS2
A2 5 SIGN1
B2 6 SIGN2
220Ω
A4 23 OZ＋
B3 24 OZ−
13,25 GND
7 COM＋
4.7Ω
Deviation counter
reset output 4.7Ω
B7 29 SRV-ON Servo-ON input
1.6Ω 4.7Ω
from 4.7Ω
output
9 POT
travel input
8 NOT
travel input
FG A19 35 S-RDY＋
Servo-Ready output
FG B19 34 S-RDY−
External power supply to

＋24VDC A20 PLC I/O 37 ALM＋
GND B20 36 ALM−
39 INP＋
output
38 INP−
CW limit sensor to 41 COM−

PLC I/O
CCW limit sensor input
GND + 24V
DC24V
Power supply

3-22
1

Connection between MINAS A5 and FPG-C32T (Panasonic Electric Works)
PLC Driver
FPG-C32T A5-series 2
Preparation
2kΩ
Y0 3 PULS1
4 PULS2
2kΩ
Y1 5 SIGN1
output input 2
6 SIGN2
220Ω
3
5.6kΩ
X2 19 CZ
Connection
COM 13 GND
○
＋ 25 GND
7 COM＋
4.7Ω
Y2 30 CL Counter clear input
Deviation counter
reset output
○
− 29 SRV-ON
4.7Ω
Servo-ON input
4
4.7Ω
27 GAIN Gain switching input
from
Setup
4.7Ω
PLC I/O 31 A-CLR Alarm clear input
output
COM 9 POT
travel input
3kΩ
X3 8 NOT
travel input
35 S-RDY＋
Servo-Ready output
5
CCW limit excess 5.6kΩ
X5 34 S-RDY−
input
to
Adjustment
PLC I/O 37 ALM＋
input Servo-Alarm output
CW limit excess 5.6kΩ
X6 36 ALM−
input
39 INP＋
output
38 INP−
CCW limit sensor 41 COM−

6
CW limit sensor
When in Trouble
GND + 24V
DC24V
Power supply 7
Supplement

3-23
Connection between MINAS A5 and F3YP14-ON/F3YP18-ON (Yokogawa Electric Corp.)
PLC Driver
F3YP14-ON/F3YP18-ON A5-series
(Yokogawa Electric Corp.)
14a 3 PULS1
13a 4 PULS2
12a 5 SIGN1
11a 6 SIGN2
240Ω
15a 23 OZ＋
Origin line driver Z-phase output
input
16a 24 OZ−
13,25 GND
7 COM＋
4.7Ω
10a 30 CL Counter clear input
Deviation counter
reset output 4.7Ω
9a 29 SRV-ON Servo-ON input
4.7Ω
from 4.7Ω
8b PLC I/O 31 A-CLR Alarm clear input
5V power supply ＋V
output
for pulse output GND 4.7Ω Inhibit positive direction
8a 9 POT
travel input
8 NOT
travel input
1a 35 S-RDY＋
CW limit input Servo-Ready output
7.4kΩ
3a 34 S-RDY−
to
PLC I/O 37 ALM＋
CCW limit input input Servo-Alarm output
7.4kΩ
2a 36 ALM−
39 INP＋
Origin proximity input Positioning complete
7.4kΩ output
4a 38 INP−
41 COM−
CCW limit sensor
CW limit sensor
GND + 5V GND + 24V

DC5V DC24V
Power supply Power supply

3-24
1

Connection between MINAS A5 and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.)
PLC Driver
F3NC32-ON/F3NC34-ON A5-series 2
(Yokogawa Electric Corp.)
Preparation
3a 3 PULS1
Command pulse
Pulse output A input 2
220Ω
4a 4 PULS2
5a 5 SIGN1
Pulse output B Command sign
input 2
6a 6 SIGN2
220Ω
3
Encoder Z-phase 240Ω
output + 19a 23 OZ＋
Z-phase output
Connection
Encoder Z-phase 20a 24 OZ−
output –
13,25 GND
7 COM＋
4.7Ω
14a 30 CL Counter clear input
Deviation counter
reset output
29 SRV-ON
4.7Ω
Servo-ON input
4
External power supply 4.7Ω
1a 27 GAIN Gain switching input
24VDC input
from
Setup
External power supply 4.7Ω
24VDC input (GND) 1b PLC I/O 31 A-CLR Alarm clear input
output
9 POT
travel input
Contact point 13a 8 NOT
input COM travel input
35 S-RDY＋
Servo-Ready output
5
Negative direction 7.4kΩ
limit input 8a 34 S-RDY−
to
Adjustment
PLC I/O 37 ALM＋
Positive direction input Servo-Alarm output
7.4kΩ
limit input 9a 36 ALM−
39 INP＋
7.4kΩ output
Origin input 7a 38 INP−
41 COM−
6
When in Trouble
CCW limit sensor
CW limit sensor
7
GND + 24V
DC24V
Power supply
Supplement

3-25
Connection between MINAS A5 and CJ1W-NC113 (Omron Corp.)
PLC Driver
CJ1W-NC113 A5-series
(Omron Corp.)
1.6kΩ
A6 3 PULS1
4 PULS2
1.6kΩ
A8 5 SIGN1
6 SIGN2
150Ω
A16 23 OZ＋
Origin line driver
Z-phase output
input
A14 24 OZ−
A1 13,25 GND
Power supply ＋V
for output GND
A2 7 COM＋
4.7Ω
Deviation counter
reset output 4.7Ω
29 SRV-ON Servo-ON input
4.7Ω
A24 27 GAIN Gain switching input
Emergency stop
input 4.7kΩ from 4.7Ω
output
9 POT
Origin proximity travel input
input 4.7kΩ
A21 8 NOT
travel input
CCW limit excess 35 S-RDY＋

input Servo-Ready output
4.7kΩ
A23 34 S-RDY−
to
CW limit excess PLC I/O 37 ALM＋
input 4.7kΩ
A22 36 ALM−
39 INP＋
output
38 INP−
CCW limit sensor 41 COM−
CW limit sensor
GND + 24V
DC24V
Power supply

3-26
1

Connection between MINAS A5 and CJ1W-NC133 (Omron Corp.)
PLC Driver
CJ1W-NC133
CJ1W-NC113 A5-series 2
(Omron Corp.)
Preparation
A5 3 PULS1
A6 4 PULS2
A7 5 SIGN1
input 2
output
A8 6 SIGN2
220Ω
3
150Ω
A16 23 OZ＋
Origin line driver
Z-phase output
input
Connection
A14 24 OZ−
A1 13,25 GND
24V power supply ＋V
for output GND
A2 7 COM＋
4.7Ω
Deviation counter
reset output
29 SRV-ON
4.7Ω
Servo-ON input
4
4.7Ω
A24 27 GAIN Gain switching input
Emergency stop
from
Setup
input 4.7kΩ 4.7Ω
output
9 POT
travel input
Origin proximity input 4.7kΩ
A21 8 NOT
travel input
35 S-RDY＋
Servo-Ready output
5
CCW limit over input 4.7kΩ
A23 34 S-RDY−
to
Adjustment
PLC I/O 37 ALM＋
CW limit over input input Servo-Alarm output
4.7kΩ
A22 36 ALM−
A3 39 INP＋
5V power supply ＋V Positioning complete
for pulse output GND output
A4 38 INP−
41 COM−
6
When in Trouble
CCW limit sensor
CW limit sensor
7
GND + 5V GND + 24V
DC5V DC24V
Power supply Power supply
Supplement

3-27
Connection between MINAS A5 and QD75D1 (Mitsubishi Electric Corp.)
PLC Driver
QD75D1 A5-series
(Mitsubishi Electric Corp.)
15 3 PULS1
16 4 PULS2
17 5 SIGN1
18 6 SIGN2
300Ω
9 23 OZ＋
Zero point signal Z-phase output
10 24 OZ−
13,25 GND
7 COM＋
4.7Ω
13 30 CL Counter clear input
Deviation counter clear
4.7Ω
14 29 SRV-ON Servo-ON input
4.7Ω
12 27 GAIN Gain switching input
Drive unit ready
4.7kΩ from 4.7Ω
11 PLC I/O 31 A-CLR Alarm clear input
output
9 POT
travel input
Common
6 8 NOT
travel input
7 35 S-RDY＋
Proximity signal Servo-Ready output
4.3kΩ
3 34 S-RDY−
Upper limit to
4.7kΩ
1 PLC I/O 37 ALM＋
Lower limit input Servo-Alarm output
4.7kΩ
2 36 ALM−
39 INP＋
output
38 INP−
CCW limit sensor
GND + 24V
DC24V
Power supply

3-28
1

Connection between MINAS A5 and KV-5000/3000 (keyence Corp.)
PLC Driver
KV-5000/3000 A5-series 2
(keyence Corp.)
Preparation
1 3 PULS1
Origin sensor input
4.3kΩ
Command pulse
2kΩ 220Ω input 2
4.3kΩ
3 4 PULS2
X axis limit switch CW
4 5 SIGN1
4.3kΩ
Command sign
X axis limit switch CCW input 2
2kΩ
6 SIGN2
220Ω
3
1.2kΩ
14 23 OZ＋
Z-phase output
Connection
15 24 OZ−
16 13,25 GND
X axis CW
7 COM＋
4.7Ω
19 30 CL Counter clear input
X sxis deviation
counter clear
29 SRV-ON
4.7Ω
Servo-ON input
4
4.7Ω
from
Setup
4.7Ω
26 PLC I/O 31 A-CLR Alarm clear input
output
9 POT
travel input
8 NOT
travel input
35 S-RDY＋
Servo-Ready output
5
36 34 S-RDY−
X axis CCW to
Adjustment
PLC I/O 37 ALM＋
40 36 ALM−
39 INP＋
output
38 INP−

6
CCW limit sensor
When in Trouble
GND + 24V
DC24V
Power supply 7
Supplement

3-29
3 4. Inputs and outputs on connector X4
Connection Interface Circuit (Input)
Input Circuit
Related
SI Connection to sequence input signals control mode P S T F
&RQQHFWWRFRQWDFWVRIVZLWFKHVDQGUHOD\VRURSHQFROOHFWRURXWSXWWUDQVLVWRUV
:KHQ\RXXVHFRQWDFWLQSXWVXVHWKHVZLWFKHVDQGUHOD\VIRUPLFURFXUUHQWWRDYRLGFRQWDFW
failure.
0DNHWKHORZHUOLPLWYROWDJHRIWKHSRZHUVXSSO\ WR9 DV9RUPRUHLQRUGHUWR
VHFXUHWKHSULPDU\FXUUHQWIRUSKRWRFRXSOHUV
12 to 24V 7 COM+4.7k1
Relay 7 COM+4.7k1
SRV-ON etc. SRV-ON etc.

Relay
V\VWHPV6,WR6,)RUDVVLJQDQGIXQFWLRQUHIHUWR3WR3
Note 5HODWHGSDJH P.3-50
Related
PI1 Connection to sequence input signals (Pulse train interface) control mode P S T F
/LQHGULYHU,) 3HUPLVVLEOHPD[LQSXWIUHTXHQF\RIFRPPDQGSXOVHLQSXWVLJQDONSSV
7KLVVLJQDOWUDQVPLVVLRQPHWKRGKDVEHWWHUQRLVHLPPXQLW\
:HUHFRPPHQGWKLVWRVHFXUHWKHVLJQDOWUDQVPLVVLRQ
2SHQFROOHFWRU,) 3HUPLVVLEOHPD[LQSXWIUHTXHQF\RIFRPPDQGSXOVHLQSXWVLJQDONSSV
7KHPHWKRGZKLFKXVHVDQH[WHUQDOFRQWUROVLJQDOSRZHU
VXSSO\ 9'& VDC Specifications
&XUUHQWUHJXODWLQJUHVLVWRU 5 FRUUHVSRQGLQJWR9'& is 12V 1k11/2W
UHTXLUHGLQWKLVFDVH 24V 2k11/2W
&RQQHFWWKHVSHFLÀHGUHVLVWHUDVEHORZ VDC –1.5 .
=. 10mA
5 VKRXOGEHSODFHGFORVHWRWKHGULYHUIRUHIIHFWLYHQRLVHUHGXFWLRQ R+220
2SHQFROOHFWRU,) 3HUPLVVLEOHPD[LQSXWIUHTXHQF\RIFRPPDQGSXOVHLQSXWVLJQDONSSV
&RQQHFWLQJGLDJUDPZKHQDFXUUHQWUHJXODWLQJUHVLVWRULVQRWXVHGZLWK9SRZHUVXSSO\
(1) 1 PULS1 2.2kї (3) 1 OPC1 2.2kї

2.2kї 2.2kї
4 PULS2 4 PULS2
220ї 220ї
2 SIGN1 2.2kї 2 OPC1 2.2kї
2.2kї 24VDC 2.2kї
6 SIGN2 6 SIGN2
13 220ї 13
220ї
(2) 2.2kї
3 PULS1
R 4 PULS2 * Keep the length of wiring short (1 m or less).

220ї
5 SIGN1 2.2kї
VDC 0D[LQSXWYROWDJH
R 6 SIGN2
13
220ї '&95DWHGFXUUHQWP$
UHSUHVHQWVWZLVWHGSDLU
V\VWHP3,)RUIXQFWLRQUHIHUWR33

3-30
Interface Circuit (Input)
1

Connection to sequence input signals Related
PI2 P S T F
3XOVHWUDLQLQWHUIDFHH[FOXVLYHWROLQHGULYHU control mode
2
/LQHGULYHU,) 3HUPLVVLEOHPD[LQSXWIUHTXHQF\RIFRPPDQGSXOVHLQSXWVLJQDO0SSV
7KLVVLJQDOWUDQVPLVVLRQPHWKRGKDVEHWWHUQRLVHLPPXQLW\
Preparation
:HUHFRPPHQGWKLVWRVHFXUHWKHVLJQDOWUDQVPLVVLRQZKHQOLQHGULYHU,)LVXVHG
44 2kї 20kї
PULS
120ї
45
2kї 20kї
3
46 2kї 20kї
SIGN
120ї
Connection
47
2kї 20kї
13
V\VWHP3,)RUIXQFWLRQUHIHUWR33
4
Related
AI Analog command input control mode P S T F
,WJRHVWKURXJKV\VWHPV$,WR$,
Setup
0D[SHUPLVVLEOHLQSXWYROWDJHWRHDFKLQSXWLV9
)RULQSXWLPSHGDQFHRIHDFKLQSXWUHIHUWRWKHULJKW)LJ
:KHQ\RXFRPSRVHDVLPSOHFRPPDQGFLUFXLWXVLQJYDULDEOHUHVLVWRU 95 DQGUHJLVWHU5
FRQQHFWDVWKHULJKW)LJVKRZV:KHQWKHYDULDEOHUDQJHRIHDFKLQSXWLVPDGHDV
²9WR9XVH95ZLWKN:%FKDUDFWHULVWLFV:RUODUJHU5ZLWK::RU 5
ODUJHU
$'FRQYHUWHUUHVROXWLRQRIHDFKFRPPDQGLQSXWLVDVIROORZV
Adjustment
$'&ELW $,
$'&ELW $,$,
20kї
47kї 47kї
＋12V ï
R
VR
AI1 SPR 14 47kї 47kї
＋
6
15 20kї
When in Trouble
AI2 P-ATL 16 14kї 20kї 20kї ï

＋
17 10kї
–12V R
AI3 N-ATL 18 14kї 20kї 20kї ï

＋
10kї
7
)RUIXQFWLRQUHIHUWR33 UHSUHVHQWVWZLVWHGSDLU
Supplement

3-31
Connection Interface Circuit (Output)
Output Circuit
Related
SO Sequence output circuit control mode P S T F
7KHRXWSXWFLUFXLWLVFRPSRVHGRIRSHQFROOHFWRUWUDQVLVWRURXWSXWVLQWKH'DUOLQJWRQ
FRQQHFWLRQDQGFRQQHFWWRUHOD\VRUSKRWRFRXSOHUV
7KHUHH[LVWVFROOHFWRUWRHPLWWHUYROWDJH9CE 6$7 RIDSSUR[9DWWUDQVLVWRU21GXHWRWKH
'DUOLQJWRQFRQQHFWLRQRIWKHRXWSXWRU1RWHWKDWQRUPDO77/,&FDQQRWEHGLUHFWO\FRQQHFWHG
VLQFHLWGRHVQRWPHHW9,/
7KHUHDUHWZRW\SHVRIRXWSXWRQH V\VWHPVRI6262 ZKLFKHPLWWHUVLGHRIWKHRXWSXW
WUDQVLVWRULVLQGHSHQGHQWDQGLVFRQQHFWDEOHLQGLYLGXDOO\DQGWKHRQH V\VWHPVRI6,WR
6, ZKLFKLVFRPPRQWR²VLGHRIWKHFRQWUROSRZHUVXSSO\ &20²
,IDUHFRPPHQGHGSULPDU\FXUUHQWYDOXHRIWKHSKRWRFRXSOHULVP$GHFLGHWKHUHVLVWRU
YDOXHXVLQJWKHIRUPXODRIWKHEHORZÀJXUH
:KHQDFFHSWLQJWKHRXWSXWVLJQDOWKURXJKDORJLFFLUFXLWHJJDWHLQÁXHQFHIURPQRLVHV
VKRXOGEHSUHYHQWHG
)RUWKHUHFRPPHQGHGSULPDU\FXUUHQWYDOXHUHIHUWRWKHGDWDVKHHWRIWKHHTXLSPHQWDQG
SKRWRFRXSOHUWREHXVHG
Install toward the direction as
the fig. shows without fail.
Pay attention to the polarity SO1 to 4
of the power supply. ALM+ etc.
Connection in the opposite 12 to 24V ALM– etc.
polarity will damage the
servo driver. VDC
SO5, 6
ZSP, TLC
41 COM–
VDC[V] – 2.5[V]
R [k1] =
10
Max. rating 30V, 50mA
Note )RUIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH P.3-52
Related
PO1 /LQHGULYHU 'LIIHUHQWLDORXWSXW RXWSXW control mode P S T F
)HHGVRXWWKHGLYLGHGHQFRGHU
RXWSXWV $%DQG=SKDVH LQ AM26LS31 or
AM26LS32 or equivalent equivalent
GLIIHUHQWLDOWKURXJKHDFKOLQHGULYHU 21
OA+ A
$WWKHKRVWVLGHUHFHLYHWKHVHLQOLQH OA– 22
UHFHLYHU,QVWDOODWHUPLQDOUHVLVWRU
OB+ 48 B
DSSUR[ї ULJKWÀJXUH OB– 49
EHWZHHQOLQHUHFHLYHULQSXWVZLWKRXW OZ+ 23 Z
fail. OZ– 24
7KHVHRXWSXWVDUHQRWLQVXODWHG (1)
GND 25
Connect signal ground of the host

and the driver without fail.
)RUIXQFWLRQUHIHUWR3

3-32
Interface Circuit (Output)
1

Related
PO2 Open collector output control mode P S T F
)HHGVRXWWKH=SKDVHVLJQDODPRQJWKHHQFRGHUVLJQDOVLQRSHQFROOHFWRU7KLVRXWSXWLV
2
not insulated.
Preparation
5HFHLYHWKLVRXWSXWZLWKKLJKVSHHGSKRWRFRXSOHUVDWWKHKRVWVLGHVLQFHWKHSXOVHZLGWKRI
WKH=SKDVHVLJQDOLVQDUURZ
Max. rating 30V,

50mA
19 CZ
3
25 GND
Connection
High speed photo-coupler
(TLP554 by Toshiba or equivalent) UHSUHVHQWVWZLVWHGSDLU
)RUIXQFWLRQUHIHUWR3
AO Analog monitor output Related

P S T F
4
control mode
7KHUHDUHWZRRXWSXWVWKHVSHHGPRQLWRUVLJQDORXWSXW 63 DQGWKHWRUTXHPRQLWRU
Setup
VLJQDORXWSXW ,0
2XWSXWVLJQDOZLGWKLV9
7KHRXWSXWLPSHGDQFHLVNї3D\DQDWWHQWLRQWRWKHLQSXWLPSHGDQFHRIWKHPHDVXULQJ
LQVWUXPHQWRUWKHH[WHUQDOFLUFXLWWREHFRQQHFWHG
5HVROXWLRQ!
(1) Speed monitor output (SP)
5
:LWKDVHWXSRI9UPLQWKHUHVROXWLRQFRQYHUWHGWRVSHHGLVUPLQP9
Adjustment
(2) Torque monitor output (IM)
:LWKDUHODWLRQRI9UDWHGWRUTXH WKHUHVROXWLRQFRQYHUWHGWRWRUTXHLV
P9
43 SP Nї
Measuring
instrument
6
or
When in Trouble
external 42 IM Nї
circuit
17 GND
)RUIXQFWLRQUHIHUWR3
7
Supplement

3-33
Connection Input Signal and Pin No.
Input Signals (common) and Their Functions
Title of Related
Pin VLJQDO Power supply for control signal (+) control mode P S T F
1R 7
Symbol COM+ ,)FLUFXLW —
&RQQHFWRIWKHH[WHUQDO'&SRZHUVXSSO\ WR9
8VHWKHSRZHUVXSSO\YROWDJHRI9²9
Title of Related
Pin VLJQDO Power supply for control signal (-) control mode P S T F
1R 41
Symbol &20ï ,)FLUFXLW —
&RQQHFW²RIWKHH[WHUQDO'&SRZHUVXSSO\ WR9
7KHSRZHUFDSDFLW\YDULHVGHSHQGLQJRQDFRPSRVLWLRQRI,2FLUFXLW$RUPRUHLV
recommended.

3-34
Input Signal and Pin No.
1

Input Signals (Pulse Train) and Their Functions
<RXFDQVHOHFWDSSURSULDWHLQWHUIDFHRXWRIWZRNLQGVGHSHQGLQJRQWKHFRPPDQGSXOVHVSHFLÀFDWLRQV
3XOVHWUDLQLQWHUIDFHH[FOXVLYHIRUOLQHGULYHU 2
Title of Related
VLJQDO Command pulse input 1 control mode P S T F
Pin 44
Preparation
1R 3LQ1RPULSH1
45 Symbol ,)FLUFXLW PI2 3-31 SDJH
3LQ1RPULSH2
Title of Related
VLJQDO Command pulse sign input 1 control mode P S T F
Pin 46
1R 3LQ1RSIGNH1
47 Symbol ,)FLUFXLW PI2 3-31 SDJH
3LQ1RSIGNH2
,QSXWWHUPLQDOIRUSRVLWLRQFRPPDQGSXOVH<RXFDQVHOHFWE\VHWWLQJXS3U 6HOHFWLRQRI
3
command pulse input) to 1.
Connection
7KLVLQSXWEHFRPHVLQYDOLGDWVXFKFRQWUROPRGHDVYHORFLW\FRQWURORUWRUTXHFRQWUROZKHUH
no position command is required.
3HUPLVVLEOHPD[LQSXWIUHTXHQF\LV0SSV
<RXFDQVHOHFWXSWRFRPPDQGSXOVHLQSXWIRUPDWVZLWK3U 6HWXSRIFRPPDQGSXOVH
rotational direction) and Pr0.07 (Setup of command pulse input mode).
)RUGHWDLOVUHIHUWRWKHWDEOHQH[WSDJH&RPPDQGSXOVHLQSXWIRUPDW
4
3XOVHWUDLQLQWHUIDFH VXSSRUWVERWKOLQHGULYHUDQGRSHQFROOHFWRU
Title of Related
Setup
1 VLJQDO Command pulse input 2 control mode P S T F
Pin 3LQ1ROPC1
1R 3
Symbol 3LQ1RPULS1 ,)FLUFXLW PI1 3-30 SDJH
4 3LQ1RPULS2
Title of Related
Command pulse sign input 2 P S T F
Pin
2 VLJQDO
3LQ1ROPC2
control mode 5
1R 5
Symbol 3LQ1RSIGN1 ,)FLUFXLW PI1 3-30 SDJH
6
Adjustment
3LQ1RSIGN2
,QSXWWHUPLQDOIRUWKHSRVLWLRQFRPPDQG<RXFDQVHOHFWE\VHWWLQJXS3U 6HOHFWLRQRI
command pulse input) to 0.
7KLVLQSXWEHFRPHVLQYDOLGDWVXFKFRQWUROPRGHDVWKHYHORFLW\FRQWURORUWRUTXHFRQWURO
ZKHUHQRSRVLWLRQFRPPDQGLVUHTXLUHG
3HUPLVVLEOHPD[LQSXWIUHTXHQF\LVNSSVDWOLQHGULYHULQSXWDQGNSSVDWRSHQ 6
collector input.
When in Trouble
<RXFDQVHOHFWXSWRFRPPDQGSXOVHLQSXWIRUPDWVZLWK3U 6HWXSRIFRPPDQGSXOVH
rotational direction) and Pr0.07 (Setup of command pulse input mode).
)RUGHWDLOVUHIHUWRWKHWDEOHQH[WSDJH&RPPDQGSXOVHLQSXWIRUPDW
7
Supplement
3´'HWDLOVRISDUDPHWHUµ

3-35
,QSXWIRUPDWFRPPDQGSXOVH
Pr0.06 setup value Pr0.07 setup value
&RPPDQGSXOVH &RPPDQGSXOVH
( rotational
GLUHFWLRQVHWXS
(LQSXWPRGH
setup
&RPPDQG
pulse format
Signal
title
3RVLWLYHGLUHFWLRQ
FRPPDQG
1HJDWLYHGLUHFWLRQ
FRPPDQG
t1 t1 t1 t1
ÝSKDVH A-phase
difference PULS
0 or 2
2-phase pulse SIGN
B-phase
t1 t1 t1 t1
(A + B-phase)
%SKDVHDGYDQFHVWR$E\Ý %SKDVHGHOD\VIURP$E\Ý
Positive direction t3
pulse train PULS
0 1 + t2 t2
Negative direction SIGN
pulse train t2 t2
pulse train PULS

3 + t4 t5 t4 t5
Signal SIGN “H” “L”
t6 t6 t6 t6
t1 t1 t1 t1
ÝSKDVH A-phase
0 or 2
difference PULS
2-phase pulse SIGN
B-phase
t1 t1 t1 t1
(A + B-phase)
%SKDVHGHOD\VIURP$E\Ý %SKDVHDGYDQFHVWR$E\Ý
pulse train PULS
1 1 + t2 t2
pulse train t2 t2
pulse train PULS

3 + t4 t5 t4 t5
Signal SIGN “L” “H”
t6 t6 t6 t6
38/6DQG6,*1UHSUHVHQWVWKHRXWSXWVRISXOVHWUDLQLQSXWFLUFXLW5HIHUWRWKHILJRI3,QSXW&LUFXLW
,QFDVHRIQHJDWLYHGLUHFWLRQSXOVHWUDLQSRVLWLYHGLUHFWLRQSXOVHWUDLQDQGSXOVHWUDLQVLJQSXOVHWUDLQZLOO
EHFDSWXUHGDWWKHULVLQJHGJH
,QFDVHRISKDVHSXOVHSXOVHWUDLQZLOOEHFDSWXUHGDWHDFKHGJH
3HUPLVVLEOHPD[LQSXWIUHTXHQF\DQGPLQQHFHVVDU\WLPHZLGWKRIFRPPDQGSXOVHLQSXWVLJQDO
Permissible max. 0LQQHFHVVDU\WLPHZLGWK ѥV
Input I/F of PULS/SIGN signal
input frequency t1 t2 t3 t4 t5 t6
Pulse train interface exclusive to line driver 4Mpps
Line driver interface 500kpps 2 1 1 1 1 1
Pulse train interface
Open collector interface 200kpps 5
5HODWHGSDJH 3´'HWDLOVRI3DUDPHWHUµ

3-36
1

Control Input
&RQWUROVLJQDOKDYLQJWKHGHVLUHGIXQFWLRQFDQEHDSSOLHGWRDQ\LQSXWSLQRI,)FRQQHFWRU
7KHORJLFFDQEHFKDQJHG
2
'HIDXOWDVVLJQPHQW
Preparation
'HIDXOW 'HIDXOW6HWXS
$SSOLFDEOH parameter 3RVLWLRQ)XOOFORVHGFRQWURO Verocity control Torque control
VHWWLQJ
parameter GHFLPDO *1
6LJQDO /RJLF 6LJQDO /RJLF*1 6LJQDO /RJLF*1
notation
Title of
Pin VLJQDO SI1 input K
1R 8 Pr4.00
(8553090)
127 b-contact 127 b-contact 127 b-contact
Symbol SI1
Title of
3
1R 9 Pr4.01
(8487297)
POT b-contact POT b-contact POT b-contact
Symbol SI2
Connection
Title of
Pin VLJQDO SI3 input $K
1R 26 Pr4.02
(9539850)
966(/ b-contact =(5263' b-contact =(5263' b-contact
Symbol SI3
Title of
1R 27 Pr4.03
(394758)
*$,1 a-contact *$,1 a-contact *$,1 a-contact
Symbol SI4
Title of
SI5 input
4
Pin VLJQDO &K
1R 28 Pr4.04
(4108)
',9 b-contact ,1763' b-contact — —
Symbol SI5
Title of
Setup
1R 29 Pr4.05
(197379)
65921 a-contact 65921 a-contact 65921 a-contact
Symbol SI6
Title of
Pin VLJQDO SI7 input IK
1R 30 Pr4.06
(3847)
&/ a-contact ,1763' a-contact — —
Symbol SI7
Pin
Title of
VLJQDO SI8 input K
5
1R 31 Pr4.07
(263172)
$&/5 a-contact $&/5 a-contact $&/5 a-contact
Symbol SI8
Adjustment
Title of
1R 32 Pr4.08
(328965)
&02'( a-contact &02'( a-contact &02'( a-contact
Symbol SI9
Title of
Pin VLJQDO SI10 input (K
1R 33 Pr4.09
(3720)
,1+ b-contact ,1763' b-contact — —
Symbol SI10
7KHIXQFWLRQGHSHQGVRQSDUDPHWHUVHWXS5HIHUWR3 6
5HIHUWRWKHQH[WVHFWLRQ´)XQFWLRQDVVLJQDEOHWRJHQHUDOSXUSRVHLQSXWµ
When in Trouble
Note *2SHUDWLRQRIDFRQWDFWDQGEFRQWDFW
DFRQWDFW,QSXWVLJQDOGLVFRQQHFWHGIURP&20²IXQFWLRQGLVDEOHG 2))VWDWH
,QSXWVLJQDOFRQQHFWHGWR&20²IXQFWLRQHQDEOHG 21VWDWH
EFRQWDFW,QSXWVLJQDOGLVFRQQHFWHGIURP&20²IXQFWLRQHQDEOHG 21VWDWH
,QSXWVLJQDOFRQQHFWHGWR&20IXQFWLRQGLVDEOHG 2))VWDWH
>³@1RIXQFWLRQDVVLJQHG 7
5HODWHGSDJH P.3-50
Supplement

3-37
Function allocatable to control input
Title of Related
VLJQDO 6HUYR21LQSXW control mode P S T F
Symbol 65921 'HIDXOWDVVLJQPHQW 29 (SI6) ,)FLUFXLW SI 3-30 SDJH
7KLVVLJQDOWXUQVRQRIIWKHVHUYR PRWRU
Title of Related
VLJQDO 3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW control mode P S T F
Symbol POT 'HIDXOWDVVLJQPHQW 9 (SI2) ,)FLUFXLW SI 3-30 SDJH
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
7KH RSHUDWLRQ ZLWK WKLV LQSXW WXUQHG 21 LV VHW XS LQ 3U ´6HWXS RI RYHUWUDYHO LQKLELW
LQSXWµ
:KHQXVLQJWKLVLQSXWVHW3U´6HWXSRIRYHUWUDYHOLQKLELWLQSXWµWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGSRVLWLYHGLUHFWLRQ
Title of Related
VLJQDO 1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW control mode P S T F
Symbol NOT 'HIDXOWDVVLJQPHQW 8 (SI1) ,)FLUFXLW SI 3-30 SDJH
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLQSXW
7KH RSHUDWLRQ ZLWK WKLV LQSXW WXUQHG 21 LV VHW XS LQ 3U ´6HWXS RI RYHUWUDYHO LQKLELW
LQSXWµ
:KHQXVLQJWKLVIXQFWLRQVHW3U´6HWXSRIRYHUWUDYHOLQKLELWLQSXWµWRDYDOXHRWKHUWKDQ
VRWKDWWKHLQSXWLV21ZKHQWKHPRYLQJSRUWLRQRIWKHPDFKLQHH[FHHGVWKLVVLJQDOUDQJH
WRZDUGQHJDWLYHGLUHFWLRQ
Title of Related
VLJQDO 'HYLDWLRQFRXQWHUFOHDULQSXW control mode P S T F
Symbol CL 'HIDXOWDVVLJQPHQW 30 (SI7) ,)FLUFXLW SI 3-30 SDJH
&OHDUVWKHSRVLWLRQDOGHYLDWLRQFRXQWHU
'HIDXOWVHWXSFOHDUVWKHFRXQWHUDWWKHULVLQJHGJHRIWKHFOHDULQSXW7RFKDQJHWKHVHWXS
PRGLI\LWLQWKH3U´&RXQWHUFOHDULQSXWPRGHµ
<Signal width and clear timing>
Pr5.17 CL signal width 'HYLDWLRQFOHDUWLPLQJ
1 ѥVRUPRUH &RQWLQXDOO\FOHDUWKHFRXQWHUZKLOHWKHGHYLDWLRQFRXQWHU
2 1 ms or more FOHDULQSXWLV21*1
3 ѥVRUPRUH 2QO\ RQFH FOHDU WKH FRXQWHU DW 2)) WR 21 HGJH RI WKH
4 1 ms or more GHYLDWLRQFRXQWHUFOHDULQSXWVLJQDO*1
'HYLDWLRQFRXQWHUFOHDULQSXW212)) LQSXWSKRWRFRXSOHU212))
Caution 7KLV IXQFWLRQ FDQ EH DVVLJQHG WR RQO\ 6,$OORFDWLRQ RI WKLV IXQFWLRQ WR DQ\ RWKHU SLQ ZLOO
cause an error.

3-38
1

Title of Related
VLJQDO Alarm clear input control mode P S T F
Symbol $&/5 'HIDXOWDVVLJQPHQW 31 (SI8) ,)FLUFXLW SI 3-30 SDJH
&OHDUVWKHDODUPFRQGLWLRQ
7KLVLQSXWFDQQRWFOHDUVRPHDODUPV
2
)RUGHWDLOVUHIHUWR3:KHQLQ7URXEOH´3URWHFWLYHIXQFWLRQµ3´ $ODUP'LVSOD\µ
Preparation
DQG3´'LVSOD\RI%DWWHU\$ODUPµ
Title of Related
VLJQDO Command pulse inhibition input control mode P S T F
Symbol INH 'HIDXOWDVVLJQPHQW 33 (SI10) ,)FLUFXLW SI 3-30 SDJH
,JQRUHVWKHSRVLWLRQDOFRPPDQGSXOVH 3
:KHQXVLQJWKLVIHDWXUHVHW3U´,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLRQLQSXWµWR
Caution 7KLVIXQFWLRQFDQEHDVVLJQHGWRRQO\6,$OORFDWLRQRIWKLVIXQFWLRQWRDQ\RWKHUSLQZLOO
Connection
cause an error.
Title of Related
VLJQDO Control mode switching input control mode P S T F
Symbol C-MODE 'HIDXOWDVVLJQPHQW 32 (SI9) ,)FLUFXLW SI 3-30 SDJH
6HOHFWVDFRQWUROPRGH
4
Caution 7KLVVLJQDOLVUHTXLUHGLQDOOFRQWUROPRGHV1RVHWWLQJZLOOFDXVHDQHUURU
'RQRWLQSXWDQ\FRPPDQGPVEHIRUHDQGDIWHUFKDQJLQJWKHFRQWUROPRGH
Setup
Title of Related
VLJQDO (OHFWURQLFJHDU GLYLVLRQPXOWLSOLFDWLRQ VZLWFKLQJLQSXW control mode P S T F
Symbol DIV1 'HIDXOWDVVLJQPHQW 28 (SI5) ,)FLUFXLW SI 3-30 SDJH
Title of
VLJQDO (OHFWURQLFJHDU GLYLVLRQPXOWLSOLFDWLRQ VZLWFKLQJLQSXW Related
control mode P S T F 5
Symbol DIV2 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH
Adjustment
8SWRQXPHUDWRUVFDQEHXVHGIRUFRPPDQGGLYLGLQJPXOWLSO\LQJE\XVLQJ',9DQG',9
',9DQG',9YVQXPHUDWRUGHQRPLQDWRURIVHOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV!
6HOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV
DIV1 DIV2
Numerator Denominator
OFF OFF Pr0.09 Pr0.10
21 OFF Pr5.00 Pr0.10 6
OFF 21 Pr5.01 Pr0.10
When in Trouble
21 21 Pr5.02 Pr0.10
Title of Related
VLJQDO Damping control switching input 1 control mode P S T F
Symbol VS-SEL1 'HIDXOWDVVLJQPHQW 26 (SI3) ,)FLUFXLW SI 3-30 SDJH
Title of Related
Damping control switching input 2 P S T F
VLJQDO control mode 7
Symbol VS-SEL2 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH
6HOHFWVDSSOLFDEOHIUHTXHQF\IRUGDPSLQJFRQWURO
Supplement
&RPELQDWLRQRIGDPSLQJFRQWUROLQSXWFKDQJHRYHUDQG 966(/966(/ HQDEOHV

select of max. 4 options.
Note $OVRUHIHUWR3´3U>'DPSLQJÀOWHUVZLWFKLQJVHOHFWLRQ@µ

3-39
Title of Related
VLJQDO Gain switching input control mode P S T F
Symbol GAIN 'HIDXOWDVVLJQPHQW 27 (SI4) ,)FLUFXLW SI 3-30 SDJH
6HOHFWVWRUQGJDLQ
Title of Related
VLJQDO Torque limit switching input control mode P S T F
Symbol TL-SEL 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH
Select 1st or 2nd torque limit.

Torque limit Torque limit
3RVLWLYHGLUHFWLRQ 1HJDWLYHGLUHFWLRQ
Pr5.21 switching input switching setup
(TL-SEL) (Pr5.23, Pr5.24)
0 $QDORJLQSXW*1
1 — — Pr0.13
2 — — Pr0.13 Pr5.22
OFF Pr0.13
3 Valid
21 Pr5.22
4
$QDORJLQSXW*1
5
OFF Pr0.13 Pr5.22
6 —
21 Pr5.25 Pr5.26
*1 7RVSHFLI\WKHWRUTXHOLPLWYDOXHE\DQDQDORJLQSXWUHIHUWR3U´$QDORJWRUTXHOLPLWIXQFWLRQµ
6HWXSRIUDWHRIFKDQJHDIWHUWRUTXHOLPLWVZLWFKRYHU
:KHQ DSSO\LQJ 3U ´7RUTXH OLPLW VHOHFWLRQµ FKDQJLQJ UDWH RI WRUTXH VORSH DIWHU
VHOHFWLQJQHZWRUTXHOLPLWFDQEHFKDQJHG
:KHQFKDQJLQJIURPWKHVWWRUTXHOLPLWWRQGWRUTXHOLPLWWKHFKDQJLQJUDWH VORSH VHWDW
3U ´7RUTXH OLPLW VHOHFWLRQ VHWXS µ LV DSSOLHG DIWHU FKDQJLQJ IURP WKH QG WRUTXH OLPLW
WRVWWRUTXHOLPLWWKHFKDQJLQJUDWH VORSH VHWDW3U´7RUTXHOLPLWVHOHFWLRQVHWXSµLV
DSSOLHG7KHVLJQRIWKHFKDQJLQJUDWHLVDXWRPDWLFDOO\VHOHFWHGE\WKHGULYHUDFFRUGLQJWRWKH
GLIIHUHQFHLQYDOXHEHWZHHQWKHVWDQGQGWRUTXHOLPLW
,I3U´7RUTXHOLPLWVHOHFWLRQVHWXSµDQG3U´7RUTXHOLPLWVHOHFWLRQVHWXSµDUHVHWWR
VZLWFKRYHULVLQVWDQWDQHRXV
Torque limit selection input

(TL-SEL)
1st torque limit Torque limit selection setup 1 (Pr5.23)

(Pr0.13)
2nd torque limit Torque limit selection setup 2 (Pr 5.24)

(Pr5.22)
Caution :KHQWKHVWWRUTXHOLPLW 3U DQGQGWRUTXHOLPLW 3U DUHFKDQJHGIURPWKHIURQW

SDQHORUWKURXJKFRPPXQLFDWLRQWKHFKDQJLQJUDWHVHWXSLVLJQRUHGDQGWKHQHZWRUTXHOLPLW
YDOXHLVLPPHGLDWHO\DQGGLUHFWO\DSSOLHG7KDWLVFKDQJLQJUDWHVHWWLQJLVHIIHFWLYHRQO\ZKHQ
WKHVHOHFWLRQLVPDGHE\XVLQJWKHWRUTXHOLPLWVHOHFWLQSXW 7/6(/

3-40
1

Title of Related
VLJQDO Selection 1 input of internal command speed control mode P S T F
Symbol INTSPD1 'HIDXOWDVVLJQPHQW 33 (SI10) ,)FLUFXLW SI 3-30 SDJH
Title of Related
Selection 2 input of internal command speed P S T F
VLJQDO control mode
2
Title of Related
Selection 3 input of internal command speed P S T F
Preparation
VLJQDO control mode
6HOHFWRQHRILQWHUQDOFRPPDQGVSHHGV
5HODWLRQVKLSEHWZHHQ3U´6ZLWFKLQJEHWZHHQLQWHUQDODQGH[WHUQDOVSHHGVHWXSµ
and internal command speed selection 1-3 and the speed command selected>.
Selection 1 of Selection 2 of Selection 3 of
Selection of
3
Pr3.00 internal command internal command internal command
speed command
speed (INTSPD1) speed (INTSPD2) speed (INTSPD3)
Connection
OFF OFF 1st speed
21 OFF 2nd speed
1 1RHIIHFW
OFF 21 3rd speed
21 21 WKVSHHG
OFF OFF 1st speed
21 OFF 2nd speed
2 OFF 21 1RHIIHFW 3rd speed 4
$QDORJVSHHG
21 21
command
7KHVDPHDV3U OFF VWWRWKVSHHG
Setup
OFF OFF 21 WKVSHHG
3 21 OFF 21 WKVSHHG
OFF 21 21 WKVSHHG
21 21 21 WKVSHHG
Caution ,QWHUQDOFRPPDQGVSHHGVZLWFKLQJSDWWHUQVKRXOGEHVRDUUDQJHGDVVKRZQEHORZWKDWVLQJOH
LQSXWVLJQDOVDUHVHOHFWHGDOWHUQDWHO\,IRUPRUHLQSXWVLJQDOVDUHVHOHFWHGVLPXOWDQHRXVO\ 5
XQVSHFLÀHGLQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\VHOHFWHGZKRVHVHWWLQJYDOXHDQG
DFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ
Adjustment
INTSPD1 open COMï
INTSPD1 open COMï
INTSPD2 open COMï
INTSPD2 open
COMï
INTSPD3 open COMï
4th 8th
3rd 7th
6th
Speed 2nd Speed 4th
5th
command 1st 1st command 3rd
[r/min] [r/min] 1st
2nd
1st
6
Example 1) When Pr3.00=1 or 2 Example 2) When Pr3.00=3
When in Trouble
Title of Related
VLJQDO Speed zero clamp input control mode P S T F
Symbol =(5263' 'HIDXOWDVVLJQPHQW 26 (SI3) ,)FLUFXLW SI 3-30 SDJH
6HWWKHVSHHGFRPPDQGWR
:KHQXVLQJVHW3U´6SHHG]HURFODPSIXQFWLRQVHOHFWLRQµWRDYDOXHRWKHUWKDQ 7
Title of Related
Speed command sign input P S T F
Supplement
VLJQDO control mode

Symbol VC-SIGN 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH
6SHFLI\WKHVLJQRIVSHHGFRPPDQGLQSXWDWYHORFLW\FRQWURO
5HIHUWR3´3U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQµ

3-41
Title of Related
VLJQDO Torque command sign input control mode P S T F
Symbol TC-SIGN 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH
6SHFLI\WKHVLJQRIWRUTXHFRPPDQGLQSXWDWWRUTXHFRQWURO
21 1HJDWLYHGLUHFWLRQ
OFF 3RVLWLYHGLUHFWLRQ
5HIHUWR3´3U7RUTXHFRPPDQGGLUHFWLRQVHOHFWLRQµ
Title of Related
VLJQDO Forced alarm input control mode P S T F
Symbol E-STOP 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH
*HQHUDWHV(UU´)RUFHGDODUPLQSXWHUURUµ
Title of Related
VLJQDO Inertia ratio switching input control mode P S T F
Symbol J-SEL 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH
6HOHFWVVWLQHUWLDUDWLRRUQGLQHUWLDUDWLRDFFRUGLQJWRWKHLQHUWLDUDWLRVHOHFWLQSXW -6(/
Inertia ratio switching
Applicable inertia ratio
input (J-SEL)
OFF 1st Inertia ratio (Pr0.04)
21 2nd Inertia ratio (Pr6.12)
5HIHUWR3´3U)XQFWLRQH[SDQVLRQVHWXSµ

3-42
1

Input Signals (Analog Command)
Title of
Pin VLJQDO AI1 input Correspondence function
14
1R Symbol AI1 635754563/ 2
Title of
16
Preparation
1R Symbol AI2 75453$7/
Title of
1R 18
Symbol AI3 N-ATL
3
Function allocatable to Input Signals (Analog Command)
Connection
Title of Related
VLJQDO 3RVLWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW control mode P S T F
Symbol P-ATL ,)FLUFXLW $, 3-31 SDJH
Title of Related
VLJQDO 1HJDWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW control mode P S T F
Symbol N-ATL ,)FLUFXLW $, 3-31 SDJH
6SHFLI\WKHWRUTXHOLPLWIRUHDFKGLUHFWLRQYDOXHE\WKHDQDORJYROWDJH
4
Pr5.21 Torque limit input Torque limit input
Setup
(P-ATL) (N-ATL)
0 0 to 10V ïWR9 3$7/ 1$7/
1
2 — 6HWXSWKURXJKSDUDPHWHU*1
3
4 0 to 10V 0 to 10V 3$7/ 1$7/
5
5 0 to 10V 1RHIIHFW 3$7/
Adjustment
6 — Setup by parameter *1
* :KHQVSHFLI\LQJWKHWRUTXHOLPLWYDOXHWKURXJKWKHSDUDPHWHUUHIHUWR3´7RUTXHOLPLW
VHOHFWIXQFWLRQµ
6
When in Trouble
7
Supplement

3-43
Title of Related
VLJQDO Speed command input control mode P S T F
Symbol 635 ,)FLUFXLW $, 3-31 SDJH
,QSXWWKHVSHHGFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
7KHWDEOHEHORZVKRZVUHODWLRQVKLSEHWZHHQWKHFRPELQDWLRQRI3U´6ZLWFKLQJEHWZHHQ
LQWHUQDODQGH[WHUQDOVSHHGVHWXSµ3U´6SHHGFRPPDQGGLUHFWLRQVHOHFWLRQµ3U
´6SHHGFRPPDQGLQSXWLQYHUVLRQµDQDORJVSHHGFRPPDQG 635 RI,)FRQQHFWRUDQGVSHHG
FRPPDQGVLJQVHOHFWLRQ 9&6,*1 DQGWKHPRWRUURWDWLRQDOGLUHFWLRQDQGWKHFRQYHUVLRQ
JUDSKRIDQDORJVSHHGFRPPDQGLQSXWYROWDJHWRWKHVSHHGFRPPDQG
Speed command Motor
Speed command input
Pr3.00 Pr3.01 Pr3.03 sign selection rotational
635
(VC-SIGN) direction
3RVLWLYH
9ROWDJH (0 to 10V) 1RHIIHFW
direction
0
1HJDWLYH
ï9ROWDJH ïWR9 1RHIIHFW
direction
0
1HJDWLYH
direction
0 1
3RVLWLYH
direction
9ROWDJH (0 to 10V) 3RVLWLYH
OFF
ï9ROWDJH ïWR9 direction
1 1RHIIHFW
9ROWDJH (0 to 10V) 1HJDWLYH
21
Title of Related
VLJQDO Torque command input control mode P S T F
Symbol 7545 ,)FLUFXLW $, 3-31 SDJH
,QSXWWKHWRUTXHFRPPDQGLQWKHIRUPRIDQDORJYROWDJH
:KHQ3U´7RUTXHFRPPDQGVHOHFWLRQµ SLQ1R
:KHQ3U´7RUTXHFRPPDQGVHOHFWLRQµ SLQ1R
Torque command Motor
Torque command input
Pr3.17 Pr3.18 Pr3.20 sign selection rotational
7545
(TC-SIGN) direction
3RVLWLYH
direction
0
1HJDWLYH
direction
0
1HJDWLYH
direction
0 1
3RVLWLYH
direction
9ROWDJH (0 to 10V) 3RVLWLYH
OFF
1 1RHIIHFW
9ROWDJH (0 to 10V) 1HJDWLYH
21
Title of Related
VLJQDO Speed limit input control mode P S T F
Symbol SPL ,)FLUFXLW $, 3-31 SDJH
:KHQVHWWLQJ3U´7RUTXHFRPPDQGVHOHFWLRQµWRLQSXWWKHVSHHGOLPLWYDOXHLQWKHIRUP
RIDQDORJYROWDJH

3-44
3 4. Inputs and outputs on connector X4 1

Connection Output Signal and Pin No.
Output Signals (Common) and Their Functions
&RQWURORXWSXWVLJQDORIGHVLUHGIXQFWLRQFDQEHDVVLJQHGWR,)FRQQHFWRU/RJLFRIWKHRXWSXW
SLQFDQQRWEHFKDQJHG 2
'HIDXOW 'HIDXOW6HWXS
$SSOLFDEOH parameter 3RVLWLRQ)XOO
VHWWLQJ Verocity control Torque control
Preparation
parameter GHFLPDO closed control
notation 6LJQDO 6LJQDO 6LJQDO
Title of
SO1 output
Pin 10 VLJQDO K
3LQ1R62ï Pr4.10 %5.2)) %5.2)) %5.2))
1R 11 Symbol (197379)
3LQ1RSO1+
Title of
Pin 34 VLJQDO SO2 output
3LQ1R62ï Pr4.11
K
65'< 65'< 65'<
3
1R 35 Symbol (131586)
3LQ1RSO2+
Connection
Title of
SO3 output *1
Pin 36 VLJQDO K
3LQ1R62ï Pr4.12 $/0 $/0 $/0
1R 37 Symbol (65793)
3LQ1RSO3+
Title of
SO4 output
Pin 38 VLJQDO K
3LQ1R62ï Pr4.13 ,13 $763((' $763(('
1R 39 (328964)
Symbol
3LQ1RSO4+ 4
Title of
Pin VLJQDO SO5 output K
1R 12 Pr4.14
(460551)
=63 =63 =63
Symbol SO5
Setup
Title of
Pin VLJQDO SO6 output K
1R 40 Pr4.15
(394758)
7/& 7/& 7/&
Symbol SO6
7KHIXQFWLRQLVFKDQJHGE\WKHVHWWLQJRISDUDPHWHU)RUGHWDLOVUHIHUWR3
6HH´)XQFWLRQVDVVLJQDEOHWRFRQWURORXWSXWµDVVKRZQEHORZ 5
Note )L[HG$/0RXWSXW
>³@1RIXQFWLRQDVVLJQHG
Adjustment
5HODWHGSDJH P.3-52
Function allocatable to control input
Title of
VLJQDO 6HUYR$ODUPRXWSXW Related
control mode P S T F 6
Symbol ALM 'HIDXOWDVVLJQPHQW 36, 37 (SO3) ,)FLUFXLW SO 3-32 SDJH
When in Trouble
7KLVVLJQDOVKRZVWKDWWKHGULYHULVLQDODUPVWDWXV
2XWSXWWUDQVLVWRUWXUQV21ZKHQWKHGULYHULVDWQRUPDOVWDWXVDQGWXUQV2))DWDODUPVWDWXV
Title of Related
VLJQDO 6HUYR5HDG\RXWSXW control mode P S T F
Symbol 65'< 'HIDXOWDVVLJQPHQW 34, 35 (SO2) ,)FLUFXLW SO 3-32 SDJH 7
7KLVVLJQDOVKRZVWKDWWKHGULYHULVUHDG\WREHDFWLYDWHG
Supplement
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3-45
Output Signal and Pin No.
Title of Related
VLJQDO External brake release signal control mode P S T F
Symbol %5.2)) 'HIDXOWDVVLJQPHQW 10, 11 (SO1) ,)FLUFXLW SO 3-32 SDJH
)HHGVRXWWKHWLPLQJVLJQDOZKLFKDFWLYDWHVWKHKROGLQJEUDNHRIWKHPRWRU
7XUQVWKHRXWSXWWUDQVLVWRU21DWWKHUHOHDVHWLPLQJRIWKHKROGLQJEUDNH
Title of Related
VLJQDO Positioning complete control mode P S T F
Symbol INP 'HIDXOWDVVLJQPHQW 38, 39 (SO4) ,)FLUFXLW SO 3-32 SDJH
Title of Related
VLJQDO Positioning complete 2 control mode P S T F
Symbol INP2 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHSRVLWLRQLQJFRPSOHWHVLJQDOSRVLWLRQLQJFRPSOHWHVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRPSOHWLRQRISRVLWLRQLQJ
Title of Related
VLJQDO 6SHHGDUULYDORXWSXW control mode P S T F
Symbol AT-SPPED 'HIDXOWDVVLJQPHQW 38, 39 (SO4) ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHVSHHGDUULYDOVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQDUULYHRIVSHHG
Title of Related
VLJQDO Torque in-limit signal output control mode P S T F
Symbol TLC 'HIDXOWDVVLJQPHQW 40 (SO6) ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHWRUTXHLQOLPLWVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQOLPLWRIWRUTXH
Title of Related
VLJQDO Zero-speed detection output signal control mode P S T F
Symbol ZSP 'HIDXOWDVVLJQPHQW 12 (SO5) ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKH]HURVSHHGGHWHFWLRQVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQGHWHFWLRQRI=HURVSHHG
Title of Related
VLJQDO Speed coincidence output control mode P S T F
Symbol V-COIN 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHVSHHGFRLQFLGHQFHVLJQDO
7XUQV21WKHRXWSXWWUDQVLVWRUXSRQFRLQFLGHQFHRIVSHHG
Title of Related
VLJQDO Alarm output 1 control mode P S T F
Symbol :$51 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U´:DUQLQJRXWSXWVHOHFWµ
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3-46
1

Title of Related
VLJQDO Alarm output 2 control mode P S T F
Symbol :$51 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
2XWSXWVWKHZDUQLQJRXWSXWVLJQDOVHWWR3U´:DUQLQJRXWSXWVHOHFWµ
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2
Preparation
6HOHFWLRQRIDODUPRXWSXWDQGRXWSXW
Alarm Pr4.40/ Pr6.38
Alarm Content Pr6.27 *1 Corresponding
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time limit.
Connection
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alarm
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alarm
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4
$ 8 bit2
alarm VKRUWHUWKDQWKHVSHFLÀHGWLPH time limit.
$ 7KHIHHGEDFNVFDOHGHWHFWVWKHDODUP 9 bit8
alarm
Setup
External scale 7KHQXPEHURIVXFFHVVLYHIHHGEDFNVFDOH
$ 10 bit10
* 7KH´FLUFOHµPHDQVWKDWDWLPHLQWKHUDQJHWRVRUQRWLPHOLPLWFDQEHVHOHFWHGWKURXJK3U
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* 6HOHFWWKHZDUQLQJRXWSXWVLJQDO :$51 RUZDUQLQJRXWSXWVLJQDO :$51 WKURXJK3U 5
´:DUQLQJRXWSXWVHOHFWµRU3U´:DUQLQJRXWSXWVHOHFWµ:KHQWKHVHWYDOXHLVDOOZDUQLQJV
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Adjustment
* $ZDUQLQJGHWHFWLRQFDQEHPDVNHGE\3U´:DUQLQJPDVNVHWXSµ&RUUHVSRQGLQJELWVDUHVKRZQ
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alarm is displayed.
Title of
Positional command ON/OFF output Related
P S T F
6
VLJQDO control mode
Symbol P-CMD 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
When in Trouble
7XUQVRQRXWSXWWUDQVLVWRUZLWKSRVLWLRQDOFRPPDQGDSSOLHG
Title of Related
VLJQDO Speed in-limit output control mode P S T F
Symbol V-LIMIT 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
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7
Supplement
Title of Related
VLJQDO Alarm attribute output control mode P S T F
Symbol ALM-ATB 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
7XUQVRQRXWSXWWUDQVLVWRUZKHQDQDODUPWKDWFDQEHFOHDUHGJHQHUDWHV

3-47
Title of Related
VLJQDO Speed command ON/OFF output control mode P S T F
Symbol V-CMD 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH
7XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGFRPPDQGLVDSSOLHGZKLOHWKHVSHHGLVFRQWUROOHG
Output Signals (Pulse Train) and Their Functions
Title of Related
VLJQDO A-phase output control mode P S T F
Pin 21
1R 3LQ1ROA+
22 Symbol ,)FLUFXLW PO1 3-32 SDJH
3LQ1ROA–
Title of Related
VLJQDO B-phase output control mode P S T F
Pin 48
1R 3LQ1ROB+
3LQ1ROB–
Title of Related
VLJQDO Z-phase output control mode P S T F
Pin 23
1R 3LQ1ROZ+
3LQ1ROZ–
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0D[RXWSXWIUHTXHQF\LV0SSV DIWHUTXDGUXSOHG
Title of Related
Pin VLJQDO Z-phase output control mode P S T F
1R 19
Symbol CZ ,)FLUFXLW PO2 3-33 SDJH
2SHQFROOHFWRURXWSXWRI=SKDVHVLJQDO
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and is not insulated.
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ZLOOQRWV\QFKURQL]HZLWK$SKDVHEHFDXVHRIQDUURZHUZLGWKWKDQWKDWRI$SKDVH
Pr0.11 Pr0.11
when the encoder resolution × is when the encoder resolution × is
Pr5.03 Pr5.03
multiple of 4, not multiple of 4,
A A
B B
Z Z
synchronized not-synchronized
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3-48
1

Output Signals (Analog) and Their Functions
Title of Related
Pin VLJQDO Torque monitor output control mode P S T F
42
1R Symbol IM ,)FLUFXLW $2 3-33 SDJH 2
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Preparation
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Title of Related
Pin VLJQDO Speed monitor output control mode P S T F
1R 43
SP $2 3-33 SDJH
Symbol ,)FLUFXLW
3
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Connection
)RURXWSXWVHWWLQJUHIHUWR3´'HWDLOVRISDUDPHWHUµ
Output Signals (Others) and Their Functions
Title of Related
4
Pin 13, 15 VLJQDO Signal ground control mode P S T F
1R 17, 25 Symbol GND ,)FLUFXLW —
Setup
6LJQDOJURXQG
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Title of Related
Pin VLJQDO Frame ground control mode P S T F
1R 50
Symbol FG ,)FLUFXLW —
5
7KLVRXWSXWLVFRQQHFWHGWRWKHHDUWKWHUPLQDOLQVLGHRIWKHGULYHU
Adjustment
6
When in Trouble
7
Supplement

3-49
3 5. IF Monitor Settings
Connection How to Assign Various I/O Functions to the I/F
Control Input Settings

Connector X4 7KHVHSDUDPHWHUVVKDOOEHVHWE\XVLQJ
Title of signal Parameter No.
Pin No. KH[DGHFLPDOQXPEHUV6HWWLQJVKDOOEHPDGHIRU
SI1 input selection 8 Pr4.00
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SI3 input selection 26 Pr4.02 00 ーーーー▲▲ K3RVLWLRQ)XOOFORVHGFRQWURO
SI4 input selection 27 Pr4.03 00 ーー＊＊ーー K6SHHGFRQWURO
SI5 input selection 28 Pr4.04 00 ■■ーーーー K7RUTXHFRQWURO
Set an appropriate function number in place of
SI8 input selection 31 Pr4.07 ´ ■■ µ´ ＊＊ µDQG´ ▲▲ µ)RUWKHIXQFWLRQ
SI9 input selection 32 Pr4.08 QXPEHUVHHWKHWDEOHRQWKHEHORZ
6HWXSYDOXH
Title Symbol
a-contact b-contact
,QYDOLG ï K 'RQRWVHWXS
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW POT K K
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW 127 K K
6HUYR21LQSXW*1 65921 K K
$ODUPFOHDULQSXW $&/5 K 'RQRWVHWXS
&RQWUROPRGHVZLWFKLQJLQSXW*2 &02'( K K
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'DPSLQJFRQWUROVZLWFKLQJLQSXW 966(/ %K %K
(OHFWURQLFJHDUVZLWFKLQJLQSXW ',9 &K &K
(OHFWURQLFJHDUVZLWFKLQJLQSXW ',9 'K 'K
Selection 1 input of internal command speed ,1763' (K (K
Selection 2 input of internal command speed ,1763' )K )K
Selection 3 input of internal command speed ,1763' K K
6SHHG]HURFODPSLQSXW =(5263' K K
6SHHGFRPPDQGVLJQLQSXW 9&6,*1 K K
7RUTXHFRPPDQGVLJQLQSXW 7&6,*1 K K
Forced alarm input E-STOP K K
,QHUWLDUDWLRVZLWFKLQJLQSXW -6(/ 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 (Speed zero clamp input; b-contact)
Enter this value to the relevant parameter.

3-50
How to Assign Various I/O Functions to the I/F
1

The front panel display is in decimal (six digits).
For setting functions and parameters, hexadecimal and
decimal numbers should be used respectively. 2
6 1
The expression of “00 ■■ ＊＊▲▲ h” indicates that the number
Preparation
X7
is hexadecimal.
The SI1 input (connector X4, pin No. 8) means that the negative direction over-travel
inhibition input is set to b-contact as a factory default.
For using the device in the position or full-closed control mode, the negative direction
over-travel inhibition input is set to b-contact by setting “8” and “2” in the seventh and eighth 3
digits from the left respectively. The settings in the first to sixth digits from the left do not
matter.
Connection
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 4
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
Setup
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”. 5
Caution 'RQRWVHWXSWRDYDOXHRWKHUWKDQWKDWVSHFLÀHGLQWKHWDEOH
Adjustment
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When in Trouble
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7
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Supplement
Note ,QSXWFLUFXLWUHIHUWR3DQGIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH 33

3-51
How to Assign Various I/O Functions to the I/F
Control Output Settings

Connector X4
Title of signal Parameter No.
Pin No.
SO1 input Pr4.10
SO2 input Pr4.11
SO3 input Pr4.12
SO4 input Pr4.13
SO5 input 12 Pr4.14
SO6 input 40 Pr4.15
7KHVHSDUDPHWHUVVKDOOEHVHWE\XVLQJ Setup
Title Symbol
KH[DGHFLPDOQXPEHUV6HWWLQJVKDOOEHPDGHIRU YDOXH
K ,QYDOLG ï
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00 ーー＊＊ーー K6SHHGFRQWURO K 3RVLWLRQLQJFRPSOHWHRXWSXW ,13
00 ■■ーーーー K7RUTXHFRQWURO K $WVSHHGRXWSXW $7633('
Set an appropriate function number in place of K Torque in-limit VLJQDOoutput 7/&
K =HURVSHHGGHWHFWLRQRXWSXWVLJQDO =63
´ ■■ µ´ ＊＊ µDQG´ ▲▲ µ)RUWKHIXQFWLRQ
K Speed coincidence output 9&2,1
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&K 3RVLWLRQLQJFRPSOHWH ,13
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)K 6SHHGFRPPDQG212))RXWSXW 9&0'
Position/ Full-closed Control (External brake release signal)
Velocity Control (External brake release signal)
Torque Control (External brake release signal)
Position/ Full-closed Control (Positioning complete)
Velocity Control (Speed arrival output)
Torque Control (Speed zero clamp input; b-contact)
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'RQRWFKDQJHWKHVHWXSYDOXHVKRZQLQWKHWDEOH
Caution *1RWHWKDWWKHVHWXSYDOXHVDUHGLVSOD\HGLQGHFLPDORQWKHIURQWSDQHO
Note ,QSXWFLUFXLWUHIHUWR3DQGIXQFWLRQUHIHUWR3WR3
5HODWHGSDJH P.4-35

3-52
4. Setup 1

5. Details of parameter
List of Parameters .......................................................................................4-2
2
[Class 0] Basic setting ...............................................................................4-4
[Class 1] Gain adjustment ........................................................................4-13
Preparation
[Class 2] Damping control ........................................................................4-20
[Class 3] Verocity/ Torque/ Full-closed control .........................................4-25
[Class 4] I/F monitor setting .....................................................................4-33
[Class 5] Enhancing setting .....................................................................4-43
[Class 6] Special setting ..........................................................................4-52
3
2.Trial Run (JOG run)
Inspection Before Trial Run ......................................................................4-59
Connection
Trial Run by Connecting the Connector X4 ..............................................4-60
Setup of Motor Rotational Speed and Input Pulse Frequency .................4-63
Setup
5
Adjustment
6
When in Trouble
7
Supplement

4-1
4 1. Details of parameter
Setup List of Parameters
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Parametr No.

Title
Related Control Mode Detail
Pr0.00 Class No. P S T F page
Class Parameter No. 00 $GDSWLYHÀOWHUPRGHVHWXS ○ ○ ̶ ○
'HÀQLWLRQRIV\PEROVXQGHU´5HODWHGPRGHµ 01 frequency ○ ○ ○ ○
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4-20
03 depth selection ○ ○ ○ ○
7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
04 frequency ○ ○ ○ ○
Parametr No. Related Control Mode Detail
Title 05 2nd notch ZLGWKVHOHFWLRQ ○ ○ ○ ○
Class No. P S T F page
06 depth selection ○ ○ ○ ○
00 Rotational direction setup ○ ○ ○ ○
4-4 07 frequency ○ ○ ○ ○

01 Control mode setup ○ ○ ○ ○
08 3rd notch ZLGWKVHOHFWLRQ ○ ○ ○ ○
02 Real-time setup ○ ○ ○ ○
09 depth selection ○ ○ ○ ○ 4-21
auto-gain Selection of machine 4-5
03 tuning ○ ○ ○ ○ 10 frequency ○ ○ ○ ○
stiffness
04 Inertia ratio ○ ○ ○ ○
11 4th notch ZLGWKVHOHFWLRQ ○ ○ ○ ○
4-6 12 depth selection ○ ○ ○ ○
05 input selection ○ ̶ ̶ ○
Command 13
06 otational direction setup ○ ̶ ̶ ○

6HOHFWLRQRIGDPSLQJÀOWHUVZLWFKLQJ ○ ̶ ̶ ○
pulse 4-22
4-7 14 1st frequency ○ ̶ ̶ ○
07 input mode setup ○ ̶ ̶ ○
15 damping ÀOWHUVHWXS ○ ̶ ̶ ○ 4-23
Command pulse counts
08 ○ ̶ ̶ ̶
16 frequency ○ ̶ ̶ ○ 4-22
SHURQHPRWRUUHYROXWLRQ 2nd
4-8 17 damping ÀOWHUVHWXS ○ ̶ ̶ ○ 4-23
09 1st numerator of electronic gear ○ ̶ ̶ ○
10 Denominator of electronic gear ○ ̶ ̶ ○ 18 3rd frequency ○ ̶ ̶ ○ 4-22
Output pulse counts per one motor 19 damping ÀOWHUVHWXS ○ ̶ ̶ ○ 4-23
11 ○ ○ ○ ○ 4-9
UHYROXWLRQ 20 4th frequency ○ ̶ ̶ ○ 4-22
12 5HYHUVDORISXOVHRXWSXWORJLF ○ ○ ○ ○ 21 damping ÀOWHUVHWXS ○ ̶ ̶ ○
13 1st torque limit ○ ○ ○ ○ 4-23
4-11 22 Positional VPRRWKLQJÀOWHU ○ ̶ ̶ ○
14 3RVLWLRQGHYLDWLRQH[FHVVVHWXS ○ ̶ ̶ ○ 23 command ),5ÀOWHU ○ ̶ ̶ ○ 4-24
15 $EVROXWHHQFRGHUVHWXS ○ ̶ ̶ ○
16 ([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS ○ ○ ○ ○ 6SHHGVHWXS,QWHUQDO([WHUQDO
00 ̶ ○ ̶ ̶
4-12
VZLWFKLQJ
/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH 4-25
17 ○ ○ ○ ○ rotational direction
resistor selection 01 ̶ ○ ̶ ̶
Speed selection
00 gain of position loop ○ ̶ ̶ ○ 02 command input gain ̶ ○ ○ ̶
4-26
01 JDLQRIYHORFLW\ORRS ○ ○ ○ ○ 03 UHYHUVDOLQSXW ̶ ○ ̶ ̶
WLPHFRQVWDQWRIYHORFLW\ORRS 04 1st ̶ ○ ̶ ̶
02 1st ○ ○ ○ ○ 4-13
integration 05 2nd ̶ ○ ̶ ̶
03 ÀOWHURIVSHHGGHWHFWLRQ ○ ○ ○ ○
06 3rd ̶ ○ ̶ ̶
04 WLPHFRQVWDQWRIWRUTXHÀOWHU ○ ○ ○ ○
07 4th ̶ ○ ̶ ̶
[Class 3] Verocity/ Torque/ Full-closed control
Speed
05 gain of position loop ○ ̶ ̶ ○
08 setup 5th ̶ ○ ̶ ̶
06 JDLQRIYHORFLW\ORRS ○ ○ ○ ○ 4-27
09 6th ̶ ○ ̶ ̶
WLPHFRQVWDQWRIYHORFLW\ORRS 10 7th ̶ ○ ̶ ̶
07 2nd ○ ○ ○ ○
integration
4-14 11 8th ̶ ○ ̶ ̶
08 ÀOWHURIVSHHGGHWHFWLRQ ○ ○ ○ ○
12 acceleration ̶ ○ ̶ ̶
09 WLPHFRQVWDQWRIWRUTXHÀOWHU ○ ○ ○ ○ Time setup

13 deceleration ̶ ○ ̶ ̶
10 gain ○ ̶ ̶ ○
9HORFLW\IHHGIRUZDUG Sigmoid acceleration/ deceleration
11 ÀOWHU ○ ̶ ̶ ○ 14 ̶ ○ ̶ ̶
time setup
12 gain ○ ○ ̶ ○ 4-28
7RUTXHIHHGIRUZDUG 15 Speed function selection ̶ ○ ○ ̶
13 ÀOWHU ○ ○ ̶ ○ 4-15 16 zero-clamp OHYHO ̶ ○ ○ ̶
14 2nd gain setup ○ ○ ○ ○ 17 selection ̶ ̶ ○ ̶
15 mode ○ ̶ ̶ ○ 18 direction selection ̶ ̶ ○ ̶
Position 4-16 Torque
16 delay time ○ ̶ ̶ ○ 4-29
control 19 command input gain ̶ ̶ ○ ̶
17 VZLWFKLQJ OHYHO ○ ̶ ̶ ○
20 LQSXWUHYHUVDO ̶ ̶ ○ ̶
18 hysteresis ○ ̶ ̶ ○ 4-17
21 Speed limit 1 ̶ ̶ ○ ̶
19 3RVLWLRQJDLQVZLWFKLQJWLPH ○ ̶ ̶ ○
22 YDOXH 2 ̶ ̶ ○ ̶ 4-30
20 mode ̶ ○ ̶ ̶
23 selection ̶ ̶ ̶ ○
21 Velocity delay time ̶ ○ ̶ ̶
control 4-18 24 QXPHUDWRURIGLYLVLRQ ̶ ̶ ̶ ○
22 VZLWFKLQJ OHYHO ̶ ○ ̶ ̶
25 ([WHUQDO GHQRPLQDWRURIGLYLVLRQ ̶ ̶ ̶ ○
23 hysteresis ̶ ○ ̶ ̶
26 scale UHYHUVDORIGLUHFWLRQ ̶ ̶ ̶ ○ 4-31
24 mode ̶ ̶ ○ ̶ Z phase disconnection
Torque 27 ̶ ̶ ̶ ○
25 delay time ̶ ̶ ○ ̶ detection disable
control 4-19
26 VZLWFKLQJ OHYHO ̶ ̶ ○ ̶ 28 Hybrid H[FHVVVHWXS ̶ ̶ ̶ ○
4-32
27 hysteresis ̶ ̶ ○ ̶ 29 GHYLDWLRQ clear setup ̶ ̶ ̶ ○
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU ; 6DIHW\

IXQFWLRQFRQQHFWRU ; ([WHUQDOVFDOHFRQQHFWRU DQGDQDORJLQSXW
4-2
List of Parameters
1

Parametr No. Related Control Mode Detail Parametr No. Related Control Mode Detail
Title Title
Class No. P S T F page Class No. P S T F page
00 6, 3LQ1R ○ ○ ○ ○ 4-33 14 0RWRUZRUNLQJUDQJHVHWXS ○ ̶ ̶ ○
4-46
01 6, 3LQ1R ○ ○ ○ ○ 15 ,)UHDGLQJÀOWHU ○ ○ ○ ○
02
03
6, 3LQ1R
6, 3LQ1R
○ ○ ○ ○
○ ○ ○ ○
16
17
$ODUPFOHDULQSXWVHWXS
Counter clear input mode
○ ○ ○ ○
○ ̶ ̶ ○
2
4-47
04 Input 6, 3LQ1R ○ ○ ○ ○ 18 Command pulse ,QYDOLGDWLRQ ○ ̶ ̶ ○
05 selection 6, 3LQ1R ○ ○ ○ ○ 4-34 19 inhibit input reading setup
Preparation
○ ̶ ̶ ○
06 6, 3LQ1R ○ ○ ○ ○ 20 Position setup unit select ○ ̶ ̶ ○

07 6, 3LQ1R ○ ○ ○ ○ 21 Selection of torque limit ○ ○ ̶ ○ 4-48
08 6, 3LQ1R ○ ○ ○ ○ 22 2nd torque limit ○ ○ ̶ ○
09 6, 3LQ1R ○ ○ ○ ○ 23 7RUTXHOLPLWVZLWFKLQJ 1 ○ ○ ̶ ○
10 SO1 /LQHGULYHURXWSXW
3LQ1R
○ ○ ○ ○ 24 setup 2 ○ ○ ̶ ○
3LQ1R
11 SO2 /LQHGULYHURXWSXW ○ ○ ○ ○ SRVLWLYHGLUHFWLRQWRUTXH
12 Output SO3 /LQHGULYHURXWSXW
3LQ1R
○ ○ ○ ○
4-35
25
([WHUQDO limit
input QHJDWLYHGLUHFWLRQWRUTXH
○ ○ ̶ ○
4-49 3
13 selection SO4 /LQHGULYHURXWSXW
3LQ1R
○ ○ ○ ○ 26 ○ ○ ̶ ○
limit
14 SO5 Open
3LQ1R
collector output ○ ○ ○ ○
27 Input gain of analog torque limit ○ ○ ̶ ○
Connection
3LQ1R
15 SO6 Open collector output ○ ○ ○ ○
28 LED initial status ○ ○ ○ ○
16 type ○ ○ ○ ○
$QDORJPRQLWRU 29 RS232 ○ ○ ○ ○ 4-50
17 output gain ○ ○ ○ ○ baud rate setup
30 RS485 ○ ○ ○ ○
18 type ○ ○ ○ ○ 4-36
$QDORJPRQLWRU 31 $[LVDGGUHVV ○ ○ ○ ○
19 output gain ○ ○ ○ ○
32 &RPPDQGSXOVHLQSXWPD[LPXPVHWXS ○ ̶ ̶ ○
20 Type of digital monitor ○ ○ ○ ○
33 3XOVHUHJHQHUDWLYHRXWSXWOLPLWVHWXS ○ ○ ○ ○ 4-51
21 $QDORJPRQLWRURXWSXWVHWXS
22 offset setup
○ ○ ○ ○
○ ○ ○ ○
34
35
For manufacturer's use
Front panel lock setup ○ ○ ○ ○
4
$QDORJLQSXW
23 ÀOWHU ○ ○ ○ ○
$,
24 RYHUYROWDJHVHWXS ○ ○ ○ ○ $QDORJWRUTXHIHHGIRUZDUG
4-38 00 ○ ○ ̶ ○
25 offset setup ○ ○ ○ ○ FRQYHUVLRQJDLQ
Setup
$QDORJLQSXW 02 9HORFLW\GHYLDWLRQH[FHVVVHWXS ○ ̶ ̶ ̶
26 ÀOWHU ○ ○ ○ ○
$, 04 JOG trial run command speed ○ ○ ○ ○
4-52
27 RYHUYROWDJHVHWXS ○ ○ ○ ○
28 offset setup ○ ○ ○ ○ 05 YDOLGWLPH ○ ̶ ̶ ○
Position 3rd gain
$QDORJLQSXW 06 scale factor ○ ̶ ̶ ○
29 ÀOWHU ○ ○ ○ ○
$, 07 7RUTXHFRPPDQGDGGLWLRQDOYDOXH ○ ○ ̶ ○
30 RYHUYROWDJHVHWXS ○ ○ ○ ○
3RVLWLYHGLUHFWLRQ torque
31
32
Positioning complete range
,QSRVLWLRQ output setup
○ ̶ ̶ ○ 4-39
○ ̶ ̶ ○
08
09
compensation
1HJDWLYHGLUHFWLRQ YDOXH
○
○
̶ ̶ ○
̶ ̶ ○ 4-53
5
33 ,13KROGWLPH ○ ̶ ̶ ○
10 )XQFWLRQH[SDQVLRQVHWXS ○ ○ ○ ○
34 Zero-speed ○ ○ ○ ○
Adjustment
4-40 11 Current response setup ○ ○ ○ ○
35 Speed coincidence range ̶ ○ ○ ̶
13 2nd Inertia ratio ○ ○ ○ ○
36 $WVSHHG 6SHHGDUULYDO ̶ ○ ○ ̶
14 Emergency stop time at alarm ○ ○ ○ ○
37 Mechanical at stalling setup ○ ○ ○ ○ 4-41
15 QGRYHUVSHHGOHYHOVHWXS ○ ○ ○ ○
brake action 4-54
38 at running setup ○ ○ ○ ○
)URQWSDQHOSDUDPHWHUZULWLQJ
Mechanical brake action at running 17 ○ ○ ○ ○
39 ○ ○ ○ ○
selection
setup 18 3RZHUXSZDLWWLPH ○ ○ ○ ○
40
41
Selection of
alarm output
1
2
○ ○ ○ ○
○ ○ ○ ○
4-42 19 Encoder Z phase setup ̶ ̶ ̶ ○ 6
20 =SKDVHVHWXSRIH[WHUQDOVFDOH ̶ ̶ ̶ ○
QG3RVLWLRQLQJFRPSOHWH ,QSRVLWLRQ 6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH
42
When in Trouble
○ ̶ ̶ ○
range 21 ̶ ̶ ̶ ○
setup 4-55
00 2nd ○ ̶ ̶ ○ $%SKDVHH[WHUQDOVFDOHSXOVH
22 ̶ ̶ ̶ ○
output method selection
01 3rd numerator of electronic gear ○ ̶ ̶ ○
23 Disturbance torque compensating gain ○ ○ ̶ ̶
02 4th ○ ̶ ̶ ○
4-43 24 'LVWXUEDQFHREVHUYHUÀOWHU ○ ○ ̶ ̶
03 'HQRPLQDWRURISXOVHRXWSXWGLYLVLRQ ○ ○ ○ ○
27 $ODUPODWFKWLPHVHOHFWLRQ ○ ○ ○ ○ 4-56
04 2YHUWUDYHOLQKLELWLQSXWVHWXS ○ ○ ○ ○
31 Real time estimation speed ○ ○ ○ ○
05 6HTXHQFHDWRYHUWUDYHOLQKLELW ○ ○ ○ ○
06 6HTXHQFHDW6HUYR2II ○ ○ ○ ○
32
34
auto tuning custom setup ○ ○ ○ ○ 4-57
7
4-44 +\EULGYLEUDWLRQ gain ̶ ̶ ̶ ○
07 sequence ○ ○ ○ ○
PDLQSRZHU 35 suppression ÀOWHU ̶ ̶ ̶ ○
08 LV trip selection ○ ○ ○ ○
OFF
Supplement
37 2VFLOODWLRQGHWHFWLRQOHYHO ○ ○ ○ ○ 4-58
09 detection time ○ ○ ○ ○ 4-45
38 $ODUPPDVNVHWXS ○ ○ ○ ○
10 Sequence at alarm ○ ○ ○ ○
39 For manufacturer's use
11 Torque setup for emergency stop ○ ○ ○ ○
12 2YHUORDGOHYHOVHWXS ○ ○ ○ ○ 4-46
13 2YHUVSHHGOHYHOVHWXS ○ ○ ○ ○

4-3
Setup [Class 0] Basic setting
'HIDXOW>@
Related
Range Unit Default control mode
Pr0.00 * Rotational direction setup
0 to 1 — 1 P S T F
6HWXSWKHUHODWLRQVKLSEHWZHHQWKHGLUHFWLRQRIFRPPDQGDQGGLUHFWLRQRIPRWRUURWDWLRQ
0RWRUWXUQV&:LQUHVSRQVHWRSRVLWLYHGLUHFWLRQFRPPDQG &:ZKHQYLHZHGIURPORDG
VLGHVKDIWHQG
0RWRUWXUQV&&:LQUHVSRQVHWRSRVLWLYHGLUHFWLRQFRPPDQG &&:ZKHQYLHZHGIURPORDG
VLGHVKDIWHQG
Positive direction
(CCW)
Negative direction
(CW)
Default
Setup Motor rotational Positive direction Negative direction
Command direction
value direction drive inhibit input drive inhibit input
3RVLWLYHGLUHFWLRQ &: Valid —
0
1HJDWLYHGLUHFWLRQ &&: — Valid
3RVLWLYHGLUHFWLRQ &&: Valid —
[1]
1HJDWLYHGLUHFWLRQ &: — Valid
Related
Pr0.01 * Control mode setup
0 to 6 — 0 P S T F
You can set up the control mode to be used.
Setup Content * :KHQ\RXVHWXSWKHFRPELQDWLRQPRGHRI

value 1st mode 2st mode RU\RXFDQVHOHFWHLWKHUWKHVWRUWKHQG
[0] Position — ZLWKFRQWUROPRGHVZLWFKLQJLQSXW &02'(
1 Velocity — :KHQ&02'(LVRSHQWKHVWPRGHZLOOEH
2 Torque — selected.
3 *1 Position Velocity :KHQ&02'(LVVKRUWHGWKHQGPRGHZLOO
4 *1 Position Torque
be selected.
*1 Don't enter commands 10ms before/after
5 Velocity Torque
VZLWFKLQJ
6 Full-closed —
C-MODE open close open
1st 2nd 1st
10ms or longer 10ms or longer
7KHZDYHIRUPDERYHVKRZVZKHQORJLFDO
VHWWLQJRI&02'(LQSXWLVDFRQWDFW:KHQ
EFRQWDFWLVXVHGRSHQDQGVKRUWLVUHYHUVHG
Note $SDUDPHWHULVGHVLJQDWHGDVIROORZVClass Pr0.00 Parameter No.

)RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ
\RXWXUQRQWKHFRQWUROSRZHU
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU ; 6DIHW\
IXQFWLRQFRQQHFWRU ; ([WHUQDOVFDOHFRQQHFWRU DQGDQDORJLQSXW

4-4
1

'HIDXOW>@
Related
Pr0.02 Real-time auto-gain tuning setup
0 to 6 — 1 P S T F
You can set up the action mode of the real-time auto-gain tuning.
Setup
Mode Varying degree of load inertia in motion
2
value
0 ,QYDOLG Real-time auto-gain tuning function is disabled.
Preparation
%DVLF PRGH 'R QRW XVH XQEDODQFHG ORDG IULFWLRQ FRPSHQVDWLRQ RU
[1] Standard
JDLQVZLWFKLQJ
Main application is positioning. It is recommended to use this mode
2 Positioning *1 RQ HTXLSPHQW ZLWKRXW XQEDODQFHG KRUL]RQWDO D[LV EDOO VFUHZ GULYLQJ
HTXLSPHQWZLWKORZIULFWLRQHWF
:LWK DGGLWLRQDO IHDWXUHV WR WKH SRVLWLRQLQJ PRGH XVH WKLV PRGH WR 3
3 9HUWLFDOD[LV*2 SRVLWLYHO\ DQG HIIHFWLYHO\ FRPSHQVDWH IRU XQEDODQFHG ORDG WR WKH
YHUWLFDOD[LVRUPLQLPL]HYDULDWLRQVLQVHWWLQJWLPH
Connection
:LWKDGGLWLRQDOIHDWXUHVWRWKHYHUWLFDOD[LVPRGHXVHWKLVPRGHWR
Friction
4 SRVLWLYHO\DQGHIIHFWLYHO\UHGXFHSRVLWLRQLQJVHWWLQJWLPHZKHQWKHEHOW
compensation *3
GULYLQJD[LVKDVKLJKIULFWLRQ
Load characteristic (VWLPDWHWKHORDGFKDUDFWHULVWLFVZLWKRXWFKDQJLQJFXUUHQWSDUDPHWHU
5
measurement VHWWLQJ7KLVPRGHUHTXLUHVXVHRIWKHVHWXSVXSSRUWVRIWZDUH
Functions of real-time auto-gain tuning can be customized to meet the
6 Customize *4 UHTXLUHPHQWVRIWKHVSHFLÀFDSSOLFDWLRQE\FRPELQLQJGHVLUHGIXQFWLRQV 4
DFFRUGLQJWRWKH3U´5HDOWLPHDXWRJDLQWXQLQJFXVWRPVHWWLQJµ
*1 Velocity and torque controls are the same as in the standard mode.
Setup
*2 Torque control is the same as in the standard mode.
* 9HORFLW\FRQWUROLVWKHVDPHDVLQWKHYHUWLFDOD[LVPRGH7RUTXHFRQWUROLVWKHVDPHDV
in the standard mode.
* &HUWDLQIXQFWLRQ V LVQRWDYDLODEOHLQDVSHFLÀFFRQWUROPRGH5HIHUWRGHVFULSWLRQLQ
Pr6.32.
5
Related
Selection of machine stiffness Range Unit Default control mode
Pr0.03
Adjustment
at real-time auto-gain tuning $%&IUDPH13
0 to 31 — D to H-IUDPH11
P S T F
<RXFDQVHWXSWKHUHVSRQVHZKLOHWKHUHDOWLPHDXWRJDLQWXQLQJLVYDOLG
low machine stiffness high
low servo gain high
0, 1 - - - - - - - 11 - - 13 - - - - - - - - - - - - 30, 31 6
low response high
When in Trouble
Caution +LJKHU WKHVHWXS YDOXH KLJKHU WKHYHORFLW\ UHVSRQVH DQGVHUYRVWLIIQHVVZLOOEHREWDLQHG

+RZHYHUZKHQLQFUHDVLQJWKHYDOXHFKHFNWKHUHVXOWLQJRSHUDWLRQWRDYRLGRVFLOODWLRQRU
YLEUDWLRQ
&RQWUROJDLQLVXSGDWHGZKLOHWKHPRWRULVVWRSSHG,IWKHPRWRUFDQQRWEHVWRSSHGGXHWR
H[FHVVLYHO\ORZJDLQRUFRQWLQXRXVDSSOLFDWLRQRIRQHZD\GLUHFWLRQFRPPDQGDQ\FKDQJH
PDGH WR3U ´6HOHFWLRQ RI PDFKLQH VWLIIQHVV DW UHDOWLPH DXWRJDLQ WXQLQJµ LV QRW XVHG
IRUXSGDWH,IWKHFKDQJHGVWLIIQHVVVHWWLQJLVPDGHYDOLGDIWHUWKHPRWRUVWRSSHGDEQRUPDO 7
VRXQGRURVFLOODWLRQZLOOEHJHQHUDWHG7RSUHYHQWWKLVSUREOHPVWRSWKHPRWRUDIWHUFKDQJLQJ
the stiffness setting and check that the changed setting is enabled.
Supplement


4-5
'HIDXOW>@
Related
Pr0.04 Inertia ratio
0 to 10000 % 250 * P S T F
Set 1st inertia ratio.

<RXFDQVHWXSWKHUDWLRRIWKHORDGLQHUWLDDJDLQVWWKHURWRU RIWKHPRWRU LQHUWLD
3U ORDGLQHUWLDURWRULQHUWLD ð>@
7KHLQHUWLDUDWLRZLOOEHHVWLPDWHGDWDOOWLPHZKLOHWKHUHDOWLPHDXWRJDLQWXQLQJLVYDOLGDQG
LWVUHVXOWZLOOEHVDYHGWR((3520HYHU\PLQ
Caution ,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV +] :KHQ
WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU
Related
Pr0.05 * Selection of command pulse input
0 to 1 — 0 P F
<RX FDQ VHOHFW HLWKHU WKH SKRWRFRXSOHULQSXW RU WKH H[FOXVLYHLQSXW IRU OLQH GULYHU DV WKH
command pulse input.
Setup value Content

[0] 3KRWRFRXSOHULQSXW 38/638/66,*16,*1
1 ([FOXVLYHLQSXWIRUOLQHGULYHU 38/6+38/6+6,*1+6,*1+
Note 3DUDPHWHUVZKLFKGHIDXOWYDOXHVKDYHDVXIIL[RI*ZLOOEHDXWRPDWLFDOO\VHWXSGXULQJ
UHDO WLPHDXWRJDLQ WXQLQJ :KHQ \RX FKDQJH PDQXDOO\ LQYDOLGDWH WKHUHDOWLPH DXWRJDLQ
WXQLQJÀUVW WKHQVHWUHIHUULQJWR35HOHDVHRI$XWRPDWLF*DLQ$GMXVWLQJ)XQFWLRQRI
$GMXVWPHQW
4-6
1

'HIDXOW>@
Related
Pr0.06 * Command pulse rotational direction setup
0 to 1 — 0 P F
Related
Pr0.07 * Command pulse input mode setup
0 to 3 — 1 P F 2
<RXFDQVHWXSWKHURWDWLRQDOGLUHFWLRQDJDLQVWWKHFRPPDQGSXOVHLQSXWDQGWKHFRPPDQG
pulse input format.
Preparation
7KHWDEOHEHORZVKRZVFRPELQDWLRQVRI3U&RPPDQGSXOVHURWDWLRQDOGLUHFWLRQVHWXSDQG3U
&RPPDQGSXOVHLQSXWPRGHVHWXS
3XOVHVDUHFRXQWHGDWHGJHVLQGLFDWHGE\WKHDUURZVDVVKRZQLQWKHWDEOH
,QSXWIRUPDWFRPPDQGSXOVH
Pr0.06 setup value Pr0.07 setup value
3
&RPPDQGSXOVH &RPPDQGSXOVH
( rotational
(LQSXWPRGH
&RPPDQG
pulse format
Signal
title
3RVLWLYHGLUHFWLRQ
FRPPDQG
1HJDWLYHGLUHFWLRQ
FRPPDQG
Connection
GLUHFWLRQVHWXS setup
t1 t1 t1 t1
ÝSKDVH A-phase
difference PULS
0 or 2
2-phase pulse SIGN
B-phase
t1 t1 t1 t1
(A + B-phase)
%SKDVHDGYDQFHVWR$E\Ý %SKDVHGHOD\VIURP$E\Ý
Positive direction
pulse train PULS
t3
4
[0] [1] + t2 t2
pulse train t2 t2
Setup
pulse train PULS
3 + t4 t5 t4 t5
Signal SIGN “H” “L”
t6 t6 t6 t6
t1 t1 t1 t1
ÝSKDVH A-phase
0 or 2
difference PULS
2-phase pulse SIGN
B-phase
t1 t1 t1 t1
5
(A + B-phase)
%SKDVHGHOD\VIURP$E\Ý %SKDVHDGYDQFHVWR$E\Ý
Adjustment
pulse train PULS
1 1 + t2 t2
pulse train t2 t2
pulse train PULS

3 + t4 t5 t4 t5
Signal SIGN “L” “H”
t6 t6 t6 t6
6
3HUPLVVLEOHPD[LQSXWIUHTXHQF\DQGPLQQHFHVVDU\WLPHZLGWKRIFRPPDQGSXOVHLQSXWVLJQDO
When in Trouble
Permissible max. 0LQQHFHVVDU\WLPHZLGWK ѥV

Input I/F of PULS/SIGN signal
input frequency t1 t2 t3 t4 t5 t6
Pulse train interface exclusive to line driver 4Mpps
Line driver interface 500kpps 2 1 1 1 1 1
Pulse train interface
Open collector interface 200kpps 5
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Command pulse counts per one motor Range Unit Default control mode
Pr0.08 *
revolution 0 to 1048576 pulse 10000 P
Set the command pulses that causes single turn of the motor shaft.
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Related
Pr0.09 1st numerator of electronic gear
0 to 230 — 0 P F
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Pr0.10 Denominator of electronic gear
1 to 230 — 10000 P F
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pulse input.
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Pr0.08 Pr0.09 Pr0.10 Command division/multiplication operation
Command Positional
pulse input Encoder resolution command
— — [Pr0.08 setup value]
1 to 1048576
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Pr0.08.
Command Positional
pulse input Encoder resolution command
[Pr0.10 setup value]
0 0 to 1073741824
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Pr0.10.
0
Command Positional
pulse input [Pr0.09 setting] command
[Pr0.10 setting]
1 to 1073741824 1 to 1073741824
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Pr0.08 Pr0.09 Pr0.10 Command division/multiplication operation
Command Positional
pulse input 1 command
1
0 1 to 1073741824 2
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Preparation
numerator and denominator set to 1.
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Command Positional
pulse input [Pr0.09 setting] command
[Pr0.10 setting]
1 to 1073741824 1 to 1073741824
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Pr0.10. 3
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Connection
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Output pulse counts Range Unit Default control mode
Pr0.11 *
Setup
per one motor revolution 0 to 262144 P/r 2500 P S T F
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the Pr0.11 setup.
Caution )RUGHWDLOVRIVHWXSUHIHUWRGHVFULSWLRQLQ3U
5
Adjustment
6
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Pr5.03 * Denominator of pulse output division
0 to 262144 — 0 P S T F
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Pr0.11 as the numerator and Pr5.03 as the denominator.
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3UVHWXSYDOXH/ Pr5.03 VHWXSYDOXH ð(QFRGHUUHVROXWLRQð 4
<Combination of Pr0.11 Output pulse counts per one motor revolution and Pr5.03
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Pr0.11 Pr5.03 Pulse reproducing process
When the output source is encoder
Encoder Output pulse
feedback pulse [Pr0.11 setup value]×4 [pulse]
[pulse]
Encoder resolution
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[0] OB are the number of pulses set in Pr0.11. The resolution of
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resolution.
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External scale pulse Output pulse
[pulse] 1 [pulse]
1
1 to 262144 * 'LYLVLRQUDWLRLV
Encoder feedback pulse Output pulse

or external scale pulse [Pr0.11 setup value] [pulse]
[pulse] [Pr5.03 setup value]
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1 to 262144 When the output source is encoder

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resolution.

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Pr0.12 * Reversal of pulse output logic
0 to 3 — 0 P S T F
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source for full-closed control. The encoder is selected as the source if not for full-closed control.
Preparation
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B-phase Output CCW direction CW direction
Pr0.12
logic source rotation rotation
[0] Encoder $SKDVH $SKDVH
1RQ
2
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scale
B-phase B-phase 3
1 Encoder $SKDVH $SKDVH
Connection
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([WHUQDO B-phase
3 B-phase
scale
Caution 6HWXSYDOXHDQGDUHYDOLGRQO\IRUIXOOFORVHGFRQWURO6HWWLQJPXVWEHRULIQRWIRUIXOO
closed control.
The selection of the output source of Z-phase is held concurrently.
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Setup
Related
Pr0.13 1st torque limit
0 to 500 % 500 P S T F
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Pr0.14 3RVLWLRQGHYLDWLRQH[FHVVVHWXS
Adjustment
WR Command
unit 100000 P F
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When in Trouble
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Pr0.15 * Absolute encoder setup
0 to 2 — 1 P F
You can set up the using method of 17-bit absolute encoder.

Setup value Function
0 Use as an absolute encoder.
7
[1] Use as an incremental encoder.
Supplement
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Caution 7KLVSDUDPHWHUZLOOEHLQYDOLGDWHGZKHQZLUHELWLQFUHPHQWDOHQFRGHULVXVHG

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Pr0.16 * ([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS $%*+IUDPH3
0 to 3 — &'()IUDPH0
P S T F
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Regenerative
Setup value resistor Function
to be used
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[0]
Built-in resistor UHJHQHUDWLYHUHVLVWRURYHUORDGSURWHFWLRQZLOOEHWULJJHUHG
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resistor
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2
resistor RYHUORDGSURWHFWLRQLVWULJJHUHG
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resistor.
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/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH Range Unit Default control mode
Pr0.17 *
resistor selection 0 to 4 — 0 P S T F
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[0]
10%.
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Setup [Class 1] Gain adjustment
Related
Pr1.00 1st gain of position loop $%C-IUDPH480
0 to 30000 0.1/s D to H-IUDPH320
P F
You can determine the response of the positional control system.

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Preparation
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Pr1.01 1st gain of velocity loop $%C-IUDPH270
1 to 32767 0.1Hz D to H-IUDPH180
P S T F
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3
oscillation.
Connection
Caution :KHQWKHLQHUWLDUDWLRRI3ULVVHWFRUUHFWO\WKHVHWXSXQLWRI3UEHFRPHV +]
Related
1st time constant of velocity loop Range Unit Default control mode
Pr1.02 $%C-IUDPH210
integration 1 to 10000 0.1ms P S T F
D to H-IUDPH310
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Setup
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Pr1.03 1st filter of speed detection
0 to 5 — 0 P S T F
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steps.
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Adjustment
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operation.
Related
Pr1.04 1st time constant of torque filter $%C-IUDPH84
0 to 2500 0.01ms P S T F
D to H-IUDPH126
6
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When in Trouble
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7
Caution 7R3DQDVRQLF0,1$6XVHUV$DQGKLJKHUVHULHV
Supplement
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Related
Pr1.05 2nd gain of position loop $%C-IUDPH570
0 to 30000 0.1/s D to H-IUDPH380
P F
Related
Pr1.06 2nd gain of velocity loop $%C-IUDPH270
1 to 32767 0.1Hz D to H-IUDPH180
P S T F
Related
2nd time constant of velocity loop Range Unit Default control mode
Pr1.07
integration 1 to 10000 0.1ms 10000 P S T F
Related
Pr1.08 2nd filter of speed detection
0 to 5 — 0 P S T F
Related
Pr1.09 2nd time constant of torque filter $%C-IUDPH 84
0 to 2500 0.01ms D to H-IUDPH126
P S T F
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The function and the content of each parameter is as same as that of the 1st gain and time
constant.
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Pr1.10 9HORFLW\IHHGIRUZDUGJDLQ
0 to 1000 0.10% 300 P F
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command by the ratio of this parameter and add the result to the speed command resulting
from the positional control process.
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Pr1.11 9HORFLW\IHHGIRUZDUGILOWHU
0 to 6400 0.01ms 50 P F
6HWWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWVWKHLQSXWRIYHORFLW\IHHGIRUZDUG
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Pr1.12 7RUTXHIHHGIRUZDUGJDLQ
0 to 1000 0.1% 0 P S F
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UDWLRRIWKLVSDUDPHWHUDQGDGGWKHUHVXOWWRWKHWRUTXHFRPPDQGUHVXOWLQJIURPWKHYHORFLW\ 2
control process.
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Preparation
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DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO
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Range Unit Default
Pr1.13 7RUTXHIHHGIRUZDUGILOWHU
0 to 6400 0.01ms 0
control mode
P S F
3
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Connection
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Setup
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Adjustment
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Pr1.14 2nd gain setup
0 to 1 — 1 P S T F
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function.
6
Setup value *DLQVHOHFWLRQVZLWFKLQJ
When in Trouble
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Pr1.15 0RGHRISRVLWLRQFRQWUROVZLWFKLQJ
0 to 10 — 0 P F
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Setup 6ZLWFKLQJ
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value condition
[0] )L[HGWRVWJDLQ )L[HGWRWKHVWJDLQ 3UWR3U
1 )L[HGWRQGJDLQ )L[HGWRWKHQGJDLQ 3UWR3U
VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVRSHQ
:LWKJDLQ
2 QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR&20
VZLWFKLQJLQSXW
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1 WKHVWJDLQLVÀ[HG
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGH[FHHGHG OHYHO
Torque
K\VWHUHVLV SUHYLRXVO\ZLWKWKHVWJDLQ
3 command is
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGZDVNHSWEHORZ OHYHO
large
K\VWHUHVLV SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV
Speed 6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGH[FHHGHG OHYHO
5 command is K\VWHUHVLV UPLQ SUHYLRXVO\ZLWKWKHVWJDLQ
large 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGZDVNHSWEHORZ OHYHO
K\VWHUHVLV UPLQ SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQH[FHHGHG OHYHO
Position K\VWHUHVLV SXOVH SUHYLRXVO\ZLWKWKHVWJDLQ
6 GHYLDWLRQLV 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQZDVNHSWEHORZ
large OHYHOK\VWHUHVLV SXOVH SUHYLRXVO\RYHUGHOD\WLPHZLWKWKHQGJDLQ
*8QLWRIOHYHODQGK\VWHUHVLV SXOVH LVVHWDVWKHHQFRGHUUHVROXWLRQIRUSRVLWLRQDOFRQWURO
DQGH[WHUQDOVFDOHUHVROXWLRQIRUIXOOFORVHGFRQWURO
Position
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
7 command
5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVNHSWSUHYLRXVO\GXULQJGHOD\
H[LVWV
WLPHZLWKWKHQGJDLQ
1RWLQ
6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQLQJZDVQRWFRPSOHWHGSUHYLRXVO\ZLWKWKHVWJDLQ
8 positioning
5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQLQJZDVNHSWLQFRPSOHWHGFRQGLWLRQSUHYLRXVO\
complete
GXULQJGHOD\WLPHZLWKWKHQGJDLQ
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH DFWXDO VSHHG H[FHHGHG OHYHO
$FWXDOVSHHGLV
9 K\VWHUHVLV UPLQ SUHYLRXVO\ZLWKWKHVWJDLQ
large
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHDFWXDOVSHHGZDVNHSWEHORZ OHYHO
K\VWHUHVLV UPLQ SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
Position 6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ
command
10 5HWXUQ WR WKH VW JDLQ ZKHQ WKH SRVLWLRQDO FRPPDQG ZDV NHSW DW GXULQJ WKH GHOD\
H[LVWV
$FWXDOVSHHG WLPHDQGWKHDEVROXWHYDOXHRIDFWXDOVSHHGZDVNHSWEHORZ OHYHOK\VWHUHVLV UPLQ
SUHYLRXVO\ZLWKWKHQGJDLQ
Related
Pr1.16 'HOD\WLPHRISRVLWLRQFRQWUROVZLWFKLQJ
0 to 10000 0.1ms 50 P F
)RUSRVLWLRQFRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U3RVLWLRQ
FRQWURO VZLWFKLQJ PRGH VHW DW RU VHW XS WKH GHOD\ WLPH IURP WULJJHU
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4-16
1

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Related
Pr1.17 /HYHORISRVLWLRQFRQWUROVZLWFKLQJ Mode-
0 to 20000 dependent 50 P F
)RUSRVLWLRQFRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U3RVLWLRQFRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU 2
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
Caution 6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
Preparation
Related
Pr1.18 +\VWHUHVLVDWSRVLWLRQFRQWUROVZLWFKLQJ Mode-
0 to 20000 dependent 33 P F
)RU SRVLWLRQ FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 3RVLWLRQ FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDWRU 3
Connection
Caution :KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
Related
Pr1.19 3RVLWLRQJDLQVZLWFKLQJWLPH
0 to 10000 0.1ms 33 P F
)RUSRVLWLRQFRQWUROOLQJ,IWKHGLIIHUHQFHEHWZHHQ3UVWJDLQRISRVLWLRQORRSDQG3U
QGJDLQRISRLVRQORRSLVODUJHWKHLQFUHDVLQJUDWHRISRVLWLRQORRSJDLQFDQEHOLPLWHGE\
4
this parameter.
7KHSRVLWLRQORRSJDLQZLOOLQFUHDVHRYHUWKHWLPHVHW
Setup
3RVLWLRQJDLQVZLWFKLQJWLPH!
:KHQXVLQJSRVLWLRQFRQWURODQGIXOOFORVHGFRQWUROJDLQRISRVLWLRQORRSUDSLGO\FKDQJHV
FDXVLQJ WRUTXH FKDQJH DQG YLEUDWLRQ %\ DGMXVWLQJ 3U 3RVLWLRQ JDLQ VZLWFKLQJ WLPH
LQFUHDVLQJUDWHRIWKHSRLVRQORRSJDLQFDQEHGHFUHDVHGDQGYLEUDWLRQOHYHOFDQEHUHGXFHG
Caution 6HWWLQJRIWKLVSDUDPHWHUGRHVQRWDIIHFWWKHJDLQVZLWFKLQJWLPHZKHQWKHJDLQRISRVLWLRQ 5
ORRSLVVZLWFKHGWRORZHUOHYHO JDLQLVVZLWFKHGLPPHGLDWHO\
([DPSOHVW 3U !QG 3U
Adjustment
2nd (Pr1.05)
Position gain
1st (Pr1.00) switching time (ms)
(Pr1.19)
Result of
1st 2nd 1st
6
switching
When in Trouble
7
Supplement


4-17
'HIDXOW>@
Related
Pr1.20 0RGHRIYHORFLW\FRQWUROVZLWFKLQJ
0 to 5 — 0 S
)RUYHORFLW\FRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
Setup value 6ZLWFKLQJFRQGLWLRQ *DLQVZLWFKLQJFRQGLWLRQ
[0] )L[HGWRWKHVWJDLQ )L[HGWRWKHVWJDLQ 3UWR3U
1 )L[HGWRWKHQGJDLQ )L[HGWRWKHQGJDLQ 3UWR3U
QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR
2 *DLQVZLWFKLQJLQSXW COM–.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1
WKHVWJDLQLVÀ[HG
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH
FRPPDQG H[FHHGHG OHYHO K\VWHUHVLV SUHYLRXVO\ ZLWK
the 1st gain.
3 Torque command
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
FRPPDQGZDVNHSWEHORZ OHYHOK\VWHUHVLV SUHYLRXVO\
9DOLGRQO\GXULQJYHORFLW\FRQWURO
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH VSHHG
FRPPDQGYDULDWLRQVH[FHHGHG OHYHOK\VWHUHVLV UPLQV
Speed command SUHYLRXVO\ZLWKWKHVWJDLQ
4
YDULDWLRQLVODUJHU 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHG
FRPPDQGYDULDWLRQVZDVNHSWEHORZ OHYHOK\VWHUHVLV U
PLQV GXULQJGHOD\WLPHSUHYLRXVO\ZLWKWKHQGJDLQ
*7KHVWJDLQLVÀ[HGZKLOHWKHYHORFLW\FRQWUROLVQRWDSSOLHG
Related page )RUWKHVZLWFKLQJOHYHODQGWLPLQJUHIHUWR36HWXSRI*DLQ6ZLWFKLQJ&RQGLWLRQRI$GMXVWPHQW
Related
Pr1.21 'HOD\WLPHRIYHORFLW\FRQWUROVZLWFKLQJ
0 to 10000 0.1ms 0 S
)RUYHORFLW\FRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U9HORFLW\
FRQWURO VZLWFKLQJ PRGH VHW DW RU VHW WKH GHOD\ WLPH IURP WULJJHU GHWHFWLRQ WR WKH
VZLWFKLQJRSHUDWLRQ
Related
Pr1.22 /HYHORIYHORFLW\FRQWUROVZLWFKLQJ Mode-
0 to 20000 dependent 0 S
)RUYHORFLW\FRQWUROOLQJ6HWXSWULJJHULQJOHYHOZKHQ3U9HORFLW\FRQWUROJDLQVZLWFKLQJ
PRGHLVVHWDWRU
Caution 8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
Related
Pr1.23 +\VWHUHVLVDWYHORFLW\FRQWUROVZLWFKLQJ Mode-
0 to 20000 dependent 0 S
)RU YHORFLW\ FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 9HORFLW\ FRQWURO JDLQ
VZLWFKLQJPRGHLVVHWDWRU
Caution 8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
:KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO


4-18
1

'HIDXOW>@
Related
Pr1.24 0RGHRIWRUTXHFRQWUROVZLWFKLQJ
0 to 3 — 0 T
)RUWRUTXHFRQWUROOLQJ6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ
Setup value 6ZLWFKLQJFRQGLWLRQ *DLQVZLWFKLQJFRQGLWLRQ 2
[0] )L[HGWRWKHVWJDLQ )L[HGWRWKHVWJDLQ 3UWR3U
Preparation
1 )L[HGWRWKHQGJDLQ )L[HGWRWKHQGJDLQ 3UWR3U
QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR
2 *DLQVZLWFKLQJLQSXW COM–.
*,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1
WKHVWJDLQLVÀ[HG
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH
FRPPDQG H[FHHGHG OHYHO K\VWHUHVLV SUHYLRXVO\ ZLWK
3
the 1st gain.
3 Torque command
5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH
Connection
FRPPDQGZDVNHSWEHORZ OHYHOK\VWHUHVLV SUHYLRXVO\
Related
Pr1.25 'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ
0 to 10000 0.1ms 0 T
4
)RUWRUTXHFRQWUROOLQJ:KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U7RUTXH
FRQWUROVZLWFKLQJPRGHVHWDWVHWXSWKHGHOD\WLPHIURPWULJJHUGHWHFWLRQWRWKHVZLWFKLQJ
operation.
Setup
Related
Pr1.26 /HYHORIWRUTXHFRQWUROVZLWFKLQJ Mode-
0 to 20000 dependent 0 T
)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ OHYHO ZKHQ 3U7RUTXH FRQWURO JDLQ VZLWFKLQJ
mode is set at 3.
5
8QLWYDULHVGHSHQGLQJRQWKHVHWXSRIPRGHRIFRQWUROVZLWFKLQJ
Adjustment
Caution 6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
Related
Pr1.27 +\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ Mode-
0 to 20000 dependent 0 T
)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 7RUTXH FRQWURO JDLQ 6
VZLWFKLQJPRGHLVVHWDW
When in Trouble
Caution :KHQOHYHOK\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
7
Supplement


4-19
Setup [Class 2] Damping control
Related
Pr2.00 Adaptive filter mode setup
0 to 4 — 0 P S F
6HW XS WKH UHVRQDQFH IUHTXHQF\ WR EH HVWLPDWHG E\ WKH DGDSWLYH ILOWHU DQG VSHFLI\ WKH
operation after estimation.
Setup value Content
$GDSWLYHÀOWHU 3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUKROGWKH
[0]
LQYDOLG FXUUHQWYDOXH
$GDSWLYHÀOWHU 2QHDGDSWLYHÀOWHULVHQDEOHG3DUDPHWHUVUHODWHGWRWKHUG
1
ÀOWHULVYDOLG QRWFKÀOWHUZLOOEHXSGDWHGEDVHGRQDGDSWLYHSHUIRUPDQFH
7ZRDGDSWLYHÀOWHUVDUHHQDEOHG3DUDPHWHUVUHODWHGWRWKH
$GDSWLYHÀOWHU
2 UGDQGWKQRWFKÀOWHUVZLOOEHXSGDWHGEDVHGRQDGDSWLYH
ÀOWHUVDUHYDOLG
performance.
Measure the resonance frequency. Result of measurement
Resonance frequency
3 FDQEHFKHFNHGZLWK3$1$7(503DUDPHWHUVUHODWHGWRWKH
measurement mode
UGDQGWKQRWFKÀOWHUKROGWKHFXUUHQWYDOXH
Clear result of 3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUDUH
4
adaptation GLVDEOHGDQGUHVXOWVRIDGDSWLYHRSHUDWLRQDUHFOHDUHG
Related
Pr2.01 1st notch frequency
50 to 5000 Hz 5000 P S T F
6HWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
Caution 7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
Related
Pr2.02 VWQRWFKZLGWKVHOHFWLRQ
0 to 20 — 2 P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
Caution +LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDO
operation.
Related
Pr2.03 1st notch depth selection
0 to 99 — 0 P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
Caution +LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
Related
Pr2.04 2nd notch frequency
50 to 5000 Hz 5000 P S T F
6HWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
Caution 7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
Related
Pr2.05 QGQRWFKZLGWKVHOHFWLRQ
0 to 20 — 2 P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
Caution +LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ

4-20
1

'HIDXOW>@
Related
Pr2.06 2nd notch depth selection
0 to 99 — 0 P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
Caution +LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ 2
Preparation
Related
Pr2.07 3rd notch frequency
50 to 5000 Hz 5000 P S T F
1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHVWUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHÀOWHU
Caution ,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHWWR
Related
3
Pr2.08 UGQRWFKZLGWKVHOHFWLRQ
0 to 20 — 2 P S T F
Connection
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKÀOWHU
:KHQWKHDSSOLFDEOHÀOWHUIXQFWLRQLVXVHGSDUDPHWHUYDOXHLVDXWRPDWLFDOO\VHW
Pr2.09 3rd notch depth selection

Range Unit Default Related
control mode 4
0 to 99 — 0 P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKÀOWHU
Setup
Related
Pr2.10 4th notch frequency
50 to 5000 Hz 5000 P S T F 5
1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHQGUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHÀOWHU
Caution
Adjustment
7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
Related
Pr2.11 WKQRWFKZLGWKVHOHFWLRQ
0 to 20 — 2 P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKÀOWHU
6
When in Trouble
Related
Pr2.12 4th notch depth selection
0 to 99 — 0 P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKÀOWHU
7
Supplement


4-21
'HIDXOW>@
Related
Pr2.13 6HOHFWLRQRIGDPSLQJILOWHUVZLWFKLQJ
0 to 3 — 0 P F
$PRQJÀOWHUVVHOHFWWKHÀOWHUVWREHXVHGIRUGDPSLQJFRQWURO
:KHQVHWXSYDOXHLV8SWRÀOWHUVFDQEHXVHGVLPXOWDQHRXVO\
:KHQVHWXSYDOXHLVRU6HOHFWWKHÀOWHUZLWKH[WHUQDOLQSXW V 966(/DQGRU966(/
Setup
VS-SEL2 VS-SEL1 1st damping 2nd damping 3rd damping 4th damping
value
[0] — —
—
1
—
:LWKVHWXSYDOXH6HOHFWWKHÀOWHUZLWKFRPPDQGGLUHFWLRQ
Setup Position command
1st damping 2nd damping 3rd damping 4th damping
value direction
3RVLWLYHGLUHFWLRQ
3
1HJDWLYHGLUHFWLRQ
Caution 6ZLWFKLQJ RI GDPSLQJ FRQWUROV ZLOO EH GRQH RQ WKH ULVLQJ HGJH RI WKH FRPPDQG ZKRVH
QXPEHU RI SXOVHV PV KDV EHHQ FKDQJHG IURP ZKLOH WKH SRVLWLRQLQJ FRPSOHWH
signal is being output.
:KHQWKHGDPSLQJIUHTXHQF\LVLQFUHDVHGRUGLVDEOHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLV
ODUJHDQGSXOVHVDUHVWRUHGLQWKHÀOWHUDWWKDWWLPH WKHDUHDUHSUHVHQWHGE\WKHYDOXHRI
SRVLWLRQFRPPDQGEHIRUHÀOWHUVXEWUDFWHGE\WKHYDOXHRISRVLWLRQFRPPDQGDIWHUÀOWHUDQG
LQWHJUDWHGZLWKWKHWLPH 1RWHWKDWVLQFHWKHVHSXOVHVZLOOEHGLVFKDUJHGDWDKLJKHUUDWH
XSRQVZLWFKLQJWRUHWXUQEDFNWRWKHRULJLQDOSRVLWLRQWKHPRWRUPD\UXQDWDVSHHGKLJKHU
than the command speed for a short time.
Related
Pr2.14 1st damping frequency
0 to 2000 0.1Hz 0 P F
Related
Pr2.16 2nd damping frequency
0 to 2000 0.1Hz 0 P F
Related
Pr2.18 3rd damping frequency
0 to 2000 0.1Hz 0 P F
Related
Pr2.20 4th damping frequency
0 to 2000 0.1Hz 0 P F
<RXFDQVHWXSWKHVWWRWK GDPSLQJ IUHTXHQF\ RI WKH GDPSLQJ FRQWURO ZKLFK VXSSUHVV

YLEUDWLRQDWWKHORDGHGJH
7KHGULYHUPHDVXUHVYLEUDWLRQDWORDGHGJH6HWXSXQLWLV>+]@
Related page 7KHVHWXSIUHTXHQF\LVWR>+]@6HWXSRIWREHFRPHVLQYDOLG5HIHUWR3
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4-22
1

Related
Pr2.15 1st damping filter setup
0 to 1000 0.1Hz 0 P F
Related
Pr2.17 2nd damping filter setup
0 to 1000 0.1Hz 0 P F 2
Related
Pr2.19 3rd damping filter setup
0 to 1000 0.1Hz 0 P F
Preparation
Related
Pr2.21 4th damping filter setup
0 to 1000 0.1Hz 0 P F
,IWRUTXHVDWXUDWLRQRFFXUVZLWKGDPSLQJIUHTXHQF\ VWWK HQDEOHGGHFUHDVHWKHVHWXS

YDOXHRULIWKHRSHUDWLRQLVVORZLQFUHDVHLW8VXDOO\VHWLWWR
Caution 7KHPD[LPXPVHWXSYDOXHLVLQWHUQDOO\OLPLWHGWRWKHFRUUHVSRQGLQJGDPSLQJIUHTXHQF\RU 3
GDPSLQJIUHTXHQF\ZKLFKHYHULVVPDOOHU
Connection
Related page 5HIHUWR3'DPSLQJFRQWURODVZHOOEHIRUHXVLQJWKLVSDUDPHWHU
Related
Pr2.22 Positional command smoothing filter
0 to 10000 0.1ms 0 P F
6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG
:KHQDVTXDUHZDYHFRPPDQGIRUWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKHWLPHFRQVWDQW
4
RIWKHVWGHOD\ÀOWHUDVVKRZQLQWKHÀJXUHEHORZ
Speed Positional command before filter
Filter switching
Setup
[r/min] Positional command after filter
waiting time *2
Vc
Positional command smoothing
Vc×0.632 *1 filter setup time [ms]
(Pr2.22 × 0.1 ms)
Vc×0.368 *1 5
Time
Adjustment
* $FWXDOÀOWHUWLPHFRQVWDQW VHWXSYDOXHðPV KDVWKHPD[LPXPDEVROXWHHUURURIPVIRUDWLPH
FRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH
* 6ZLWFKLQJRI3U3RVLWLRQDOFRPPDQGVPRRWKLQJÀOWHULVSHUIRUPHGRQWKHULVLQJHGJHRIWKHFRPPDQG
ZLWK WKH QXPEHU RI FRPPDQG SXOVHV PV LV FKDQJHG IURP WR D YDOXH RWKHU WKDQ ZKLOH WKH
positioning complete is being output.
,IWKHÀOWHUWLPHFRQVWDQWLVGHFUHDVHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLVLQFUHDVHGDQGDPDQ\QXPEHU 6
RISOXVVHVDUHDFFXPXODWHGLQWKHÀOWHU WKHDUHDHTXLYDOHQWRI´YDOXHRISRVLWLRQDOFRPPDQGÀOWHUYDOXH
RISRVLWLRQDOFRPPDQGDIWHUÀOWHUµLQWHJUDWHGRYHUWKHWLPH DWWKHWLPHRIVZLWFKLQJWKHVHSXOVHVDUH
When in Trouble
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
7
Supplement


4-23
'HIDXOW>@
Related
Pr2.23 Positional command FIR filter
0 to 10000 0.1ms 0 P F
6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG
:KHQDVTXDUHZDYHFRPPDQGRIWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKH9&DUULYDO
WLPHDVVKRZQLQWKHÀJXUHEHORZ
Speed Positional command before filter
[r/min] Filter switching
Positional command after filter
waiting time *2
Vc
Positional command
smoothing filter setup
time [ms]
(Pr2.23 × 0.1 ms)*1
Time
* 7KHDFWXDODYHUDJHWUDYHOWLPH VHWXSYDOXHðPV KDVWKHPD[LPXPDEVROXWHHUURURIPVIRUD

WLPHFRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH
* :KHQFKDQJLQJ3U3RVLWLRQDOFRPPDQG),5ÀOWHUVWRSWKHFRPPDQGSXOVHDQGZDLWXQWLOWKHÀOWHU
VZLWFKLQJZDLWWLPHKDVHODSVHG7KHÀOWHUVZLWFKLQJZDLWWLPHLVWKHVHWXSYDOXHðPVPV
ZKHQWKHVHWXSWLPHLVPVDQGVHWXSYDOXHðPVðZKHQWKHVHWXSWLPHLVPVRUPRUH,I
3ULVFKDQJHGZKLOHWKHFRPPDQGSXOVHLVEHLQJLQSXWWKHFKDQJHLVQRWUHÁHFWHGXQWLOWKHFRPPDQG
SXOVHOHVVVWDWHKDVFRQWLQXHGIRUWKHÀOWHUVZLWFKLQJZDLWWLPH
* (YHQLI3U3RVLWLRQDOFRPPDQG),5ÀOWHULVFKDQJHGLWLVQRWDSSOLHGLPPHGLDWHO\,IWKHVZLWFKLQJDV
described in *RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG


4-24

Setup [Class 3] Verocity/ Torque/ Full-closed control
'HIDXOW>@
Related
Pr3.00 6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
0 to 3 — 0 S
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHGVHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKHVSHHG
ZLWKFRQWDFWLQSXWVRQO\ 2
Setup value Speed setup method
Preparation
[0] $QDORJVSHHGFRPPDQG 635
1 ,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG 3UWR3U
,QWHUQDOVSHHGFRPPDQGVWWRUGVSHHG 3UWR3U
2
$QDORJVSHHGFRPPDQG 635
3 ,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG 3UWR3U
5HODWLRQVKLSEHWZHHQ3U,QWHUQDOH[WHUQDOVZLWFKLQJVSHHGVHWXSDQGWKH 3
LQWHUQDOFRPPDQGVSHHGVHOHFWLRQDQGDQGVSHHGFRPPDQGWREHVHOHFWHG!
Selection 1 of Selection 2 of Selection 3 of
Setup Selection of
Connection
internal command internal command internal command
value Speed command
speed (INTSPD1) speed (INTSPD2) speed (INTSPD3)
OFF OFF 1st speed
21 OFF 2nd speed
1 1RHIIHFW
OFF 21 3rd speed
21 21 4th speed
OFF
21
OFF
OFF
1st speed
2nd speed
4
2 OFF 21 1RHIIHFW 3rd speed
$QDORJVSHHG
21 21
command
Setup
The same as Pr3.00=1 OFF 1st to 4th speed
OFF OFF 21 5th speed
3 21 OFF 21 6th speed
OFF 21 21 7th speed
21 21 21 8th speed
,QWHUQDO FRPPDQG VSHHG VZLWFKLQJ SDWWHUQ VKRXOG EH VR DUUDQJHG DV VKRZQ EHORZ 5
that single input signals are selected alternately. If 2 or more input signals are selected
VLPXOWDQHRXVO\ XQVSHFLÀHGLQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\VHOHFWHGZKRVH
Adjustment
VHWWLQJYDOXHDQGDFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ
INTSPD1 open COMï
INTSPD1 open COMï
INTSPD2 open COMï
INTSPD2 open
COMï
INTSPD3 open COMï
4th 8th
3rd 7th
6th
Speed
command 1st
2nd
1st
Speed
command 2nd
4th
3rd
5th
6
1st 1st
[r/min] [r/min]
When in Trouble
Example 1) When Pr3.00=1 or 2 Example 2) When Pr3.00=3
Related
Speed command rotational direction Range Unit Default control mode
Pr3.01
selection 0 to 1 — 0 S
6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQVSHFLI\LQJPHWKRG
Select speed Speed command
7
Position command
Setup value command sign direction
direction
(1st to 8th speed) (VC-SIGN)
Supplement
1RHIIHFW 3RVLWLYHGLUHFWLRQ
[0]
ï 1RHIIHFW 1HJDWLYHGLUHFWLRQ
Sign has no effect. OFF 3RVLWLYHGLUHFWLRQ
1
Sign has no effect. 21 1HJDWLYHGLUHFWLRQ

4-25
'HIDXOW>@
Related
Pr3.02 Input gain of speed command
10 to 2000 UPLQ 9 500 S T
%DVHGRQWKHYROWDJHDSSOLHGWRWKHDQDORJVSHHGFRPPDQG 635 VHWXSWKHFRQYHUVLRQ

gain to motor command speed.
<RXFDQVHWXSDVORSH RI WKH UHODWLRQ EHWZHHQ WKH FRPPDQG LQSXW YROWDJH DQG WKH
PRWRUVSHHGZLWK3U
'HIDXOWLVVHWWR3U >UPLQ@
hence input of 6V becomes 3000r/min.
Caution 'RQRWDSSO\PRUHWKDQ9WRWKHVSHHGFRPPDQGLQSXW 635

:KHQ\RXFRPSRVHDSRVLWLRQORRSRXWVLGHRIWKHGULYHUZKLOH\RXXVHWKH
GULYHULQYHORFLW\FRQWUROPRGHWKHVHWXSRI3UJLYHVODUJHUYDULDQFH
WRWKHRYHUDOOVHUYRV\VWHP
3D\DQH[WUDDWWHQWLRQWRRVFLOODWLRQFDXVHGE\ODUJHUVHWXSRI3U
Positive direction
Speed (r/min)
3000
–10 –6
2 4 6 8 10
Command input voltage (V)
Slope at ex-factory
–3000
Negative direction
Related
Pr3.03 Reversal of speed command input
0 to 1 — 1 S
6SHFLI\WKHSRODULW\RIWKHYROWDJHDSSOLHGWRWKHDQDORJVSHHGFRPPDQG 635
Setup value Motor rotating direction
0 1RQUHYHUVDO ´9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ´²9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ
[1] 5HYHUVDO ´9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ´²9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ
Note 'HIDXOW RI WKLV SDUDPHWHU LV DQG WKH PRWRU WXUQV WR &: ZLWK VLJQDO WKLV KDV
FRPSDWLELOLW\WRH[LVWLQJ0,1$6VHULHVGULYHU
Caution :KHQ \RX FRPSRVH WKH VHUYR GULYH V\VWHP ZLWK WKLV GULYHU VHW WR YHORFLW\ FRQWURO PRGH
DQGH[WHUQDOSRVLWLRQLQJXQLWWKHPRWRUPLJKWSHUIRUPDQDEQRUPDODFWLRQLIWKHSRODULW\RI
the speed command signal from the unit and the polarity of this parameter setup does not
match.


4-26
1

'HIDXOW>@
Related
Pr3.04 1st speed of speed setup
ïWR r/min 0 S
Related
Pr3.05 2nd speed of speed setup
ïWR r/min 0 S 2
Related
Pr3.06 3rd speed of speed setup
ïWR r/min 0 S
Preparation
Related
Pr3.07 4th speed of speed setup
ïWR r/min 0 S
Related
ïWR r/min 0 S

control mode 3
ïWR r/min 0 S
Related
Connection
ïWR r/min 0 S
Related
ïWR r/min 0 S
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
4
Related
Pr3.12 Acceleration time setup ms/
0 to 10000 0 S
Setup
(1000r/min)
Related
Pr3.13 Deceleration time setup ms/
0 to 10000 (1000r/min) 0 S
Set up acceleration/deceleration processing time in response to the speed command input.

6HWWKHWLPHUHTXLUHGIRUWKHVSHHGFRPPDQG VWHSZLVHLQSXW WRUHDFKUPLQWR3U
$FFHOHUDWLRQWLPHVHWXS$OVRVHWWKHWLPHUHTXLUHGIRUWKHVSHHGFRPPDQGWRUHDFKIURP
5
UPLQWRUPLQWR3U'HFHOHUDWLRQWLPHVHWXS
Adjustment
$VVXPLQJWKDWWKHWDUJHWYDOXHRIWKHVSHHGFRPPDQGLV9F UPLQ WKHWLPHUHTXLUHGIRU
DFFHOHUDWLRQGHFHOHUDWLRQFDQEHFRPSXWHGIURPWKHIRUPXODVKRZQEHORZ
$FFHOHUDWLRQWLPH PV 9Fð3UðPV
'HFHOHUDWLRQWLPH PV 9Fð3UðPV
Stepwise input speed command Speed command after
Speed
[r/min]
acceleration/deceleration
process
6
1000r/min
When in Trouble
Time
Pr3.12×1ms Pr3.13×1ms
Caution :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 7
FRPPDQGDSSOLHGDIWHUDFFHOHUDWLRQGHFHOHUDWLRQUHVXOWLV´DFFHOHUDWLRQµDQGLIWKHUHYHUVH
GLUHFWLRQWKHUHVXOWLV´GHFHOHUDWLRQµ
Supplement


4-27
'HIDXOW>@
Related
Sigmoid acceleration/ deceleration time Range Unit Default control mode
Pr3.14
setup 0 to 1000 ms 0 S
6HW6FXUYHWLPHIRUDFFHOHUDWLRQGHFHOHUDWLRQSURFHVVZKHQWKHVSHHGFRPPDQGLVDSSOLHG
$FFRUGLQJ WR 3U$FFHOHUDWLRQ WLPH VHWXS DQG 3U 'HFHOHUDWLRQ WLPH VHWXS VHW XS
VLJPRLGWLPHZLWKWLPHZLGWKFHQWHULQJWKHLQÁHFWLRQSRLQWRIDFFHOHUDWLRQGHFHOHUDWLRQ
ts ts
Speed Speed command after
[r/min] acceleration/deceleration
process
Target speed (Vc) ta = Vc/1000 × Pr3.12 × 1ms

td = Vc/1000 × Pr3.13 × 1ms
ts ts = Pr3.14 × 1ms ts
* Use with the setup of
ta/2 > ts, td/2 > ts
Time
ta td
Related
Pr3.15 Speed zero-clamp function selection
0 to 3 — 0 S T
You can set up the function of the speed zero clamp input.
Setup value Function of ZEROSPD (Pin-26)
[0] ,QYDOLG6SHHG]HURFODPSLQSXWLVLJQRUHG
6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDO
1
LVWXUQHG21 *1.
6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDO
LVWXUQHG21 *1$QGZKHQWKHDFWXDOPRWRUVSHHGGURSVWR3U6SHHG]HURFODPS
2 OHYHORUEHORZWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFNLVDFWLYDWHGDWWKLVSRLQW
7KHIXQGDPHQWDORSHUDWLRQVH[FHSWIRUWKLVIXQFWLRQ VZLWFKLQJWRWKHSRVLWLRQFRQWURO
DUHLGHQWLFDOWRWKRVHZKHQVHWXSYDOXHLV
:KHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDOLV21 *1 and speed command is
EHORZ3U
3
6SHHG]HURFODPSOHYHO²UPLQWKHQWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFN
LVDFWLYDWHGDWWKDWSRLQW
7KH GHIDXOW ORJLF LV EFRQWDFWWKHIXQFWLRQLVHQDEOHG ZKLOH WKHWHUPLQDO LVRSHQ LQSXWVLJQDO LV
21 5HIHUWR3&RQWUROLQSXW
Related
Pr3.16 Speed zero clamp level
10 to 20000 r/min 30 S T
6HOHFWWKHWLPLQJDWZKLFKWKHSRVLWLRQFRQWUROLVDFWLYDWHGDVWKH3U6SHHG]HURFODPS
function selection is set to 2 or 3.
,I3U WKHQK\VWHUHVLVRIUPLQLVSURYLGHGIRUGHWHFWLRQ


4-28
1

'HIDXOW>@
Related
Pr3.17 Selection of torque command
0 to 2 — 0 T
You can select the input of the torque command and the speed limit.
Setup value Torque command input Velocity limit input 2
$QDORJLQSXW *1 3DUDPHWHUYDOXH
[0]
$,ELWUHVROXWLRQ 3U
Preparation
$QDORJLQSXW $QDORJLQSXW
1
$,ELWUHVROXWLRQ $,ELWUHVROXWLRQ
$QDORJLQSXW *1 3DUDPHWHUYDOXH
2
$,ELWUHVROXWLRQ 3U3U
* )RU3U&RQWUROPRGHVHWXS YHORFLW\WRUTXHFRQWURO WKHWRUTXHFRPPDQGLQSXW

LVWKHDQDORJLQSXW $,ELWUHVROXWLRQ 3
Connection
Related
Pr3.18 Torque command direction selection
0 to 1 — 0 T
6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYHGLUHFWLRQRIWRUTXHFRPPDQG
Setup value Designation
6SHFLI\WKHGLUHFWLRQZLWKWKHVLJQRIWRUTXHFRPPDQG
[0]
([DPSOH7RUTXHFRPPDQGLQSXW IRUSRVLWLYHGLUHFWLRQ ² IRUQHJDWLYHGLUHFWLRQ 4
6SHFLI\WKHGLUHFWLRQZLWKWRUTXHFRPPDQGVLJQ 7&6,*1
1
2))3RVLWLYHGLUHFWLRQ211HJDWLYHGLUHFWLRQ
Setup
Related
Pr3.19 Input gain of torque command
10 to 100 0.1V/100% 30 T
%DVHG RQ WKH YROWDJH 9 DSSOLHG WR WKH DQDORJ WRUTXH FRPPDQG 7545 VHW XS WKH
FRQYHUVLRQJDLQWRWRUTXHFRPPDQG 5
8QLWRIWKHVHWXSYDOXHLV>9@ torque Positive direction
300[%]
Adjustment
DQGVHWXSLQSXWYROWDJHQHFHVVDU\WR
Default Rated 200
produce the rated torque. torque
'HIDXOWVHWXSRIUHSUHVHQWV9 100
–10V –8 –6 –4 –2
2 4 6 8 10V
100 command input v 6
200
When in Trouble
300[%]
Negative direction
Related
Pr3.20 Input reversal of torque command
0 to 1 — 0 T
7
6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHGWRWKHDQDORJWRUTXHFRPPDQG 7545
Setup value Direction of motor output torque
Supplement
[0] 1RQUHYHUVDO ´9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ´²9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ

1 5HYHUVDO ´9ROWDJHµ ´1HJDWLYHGLUHFWLRQµ´²9ROWDJHµ ´3RVLWLYHGLUHFWLRQµ

4-29
'HIDXOW>@
Related
Pr3.21 Speed limit value 1
0 to 20000 r/min 0 T
Set up the speed limit used for torque controlling.

'XULQJWKHWRUTXHFRQWUROOLQJWKHVSHHGVHWE\WKHVSHHGOLPLWYDOXHFDQQRWEHH[FHHGHG
:KHQ3U WKHVSHHGOLPLWLVDSSOLHGXSRQUHFHLYLQJSRVLWLYHGLUHFWLRQFRPPDQG
Related
Pr3.22 Speed limit value 2
0 to 20000 r/min 0 T
6SHHGOLPLWYDOXHRIQHJDWLYHGLUHFWLRQFRPPDQGZKHQ3U
Speed zero clamp Analog torque
Pr3.17 Pr3.21 Pr3.22 Pr3.15 Speed limit value
(ZEROSPD) command direction
0 1RHIIHFW 3UVHWXSYDOXH
0 0 to 20000 1RHIIHFW OFF 1RHIIHFW 3UVHWXSYDOXH
1 to 3
21 0
3RVLWLYHGLUHFWLRQ 3UVHWXSYDOXH
0 to 20000 0 to 20000 0 1RHIIHFW
1HJDWLYHGLUHFWLRQ 3UVHWXSYDOXH
2 3RVLWLYHGLUHFWLRQ 3UVHWXSYDOXH
0 to 20000 0 to 20000 1 to 3 OFF
1HJDWLYHGLUHFWLRQ 3UVHWXSYDOXH
0 to 20000 0 to 20000 1 to 3 21 1RHIIHFW 0
Related
Pr3.23 * ([WHUQDOVFDOHVHOHFWLRQ
0 to 2 — 0 F
6HOHFWWKHW\SHRIH[WHUQDOVFDOH
Setup Compatible
([WHUQDOVFDOHW\SH Compatible scale
value speed
to 4Mpps
[0] $%SKDVHRXWSXWW\SH*1 ([WHUQDOVFDOHRI$%SKDVHRXWSXWW\SH
DIWHUTXDGUXSOHG
Serial communication type 0DJQHVFDOH&R/WG
1 to 400Mpps
LQFUHPHQWDOYHUVLRQ *1 65656/6/
Mitsutoyo Corp.
Serial communication type $767$67$
2 to 400Mpps
DEVROXWHYHUVLRQ *1 0DJQHVFDOH&R/WG
6565
* &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 :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

Related page 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ3´3URWHFWLYH)XQFWLRQµ

4-30
1

Related
Pr3.24 * 1XPHUDWRURIH[WHUQDOVFDOHGLYLVLRQ
WR — 0 F
6HWXSWKHQXPHUDWRURIWKHH[WHUQDOVFDOHGLYLGLQJVHWXS
:KHQVHWXSYDOXH HQFRGHUUHVROXWLRQLVXVHGDVQXPHUDWRURIWKHGLYLVLRQ 2
Related
Preparation
Pr3.25 * 'HQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ
WR — 10000 F
&KHFNWKHQXPEHURIHQFRGHUIHHGEDFNSOXVHVSHURQHPRWRUUHYROXWLRQDQGWKHQXPEHURI
H[WHUQDOVFDOHSXOVHVSHURQHPRWRUUHYROXWLRQDQGWKHQVHWXSWKHQXPHUDWRURIH[WHUQDO
VFDOHGLYLVLRQ 3U DQGWKHGHQRPLQDWRURIH[WHUQDOVFDOHGLYLVLRQ 3U WRHVWDEOLVK
WKHH[SUHVVLRQVKRZQEHORZ 3
:LWK3UVHWDWWKHHQFRGHUUHVROXWLRQLVDXWRPDWLFDOO\XVHGDVQXPHUDWRU
([DPSOH:KHQEDOOVFUHZSLWFKLVPPVFDOHBPSXOVHHQFRGHUUHVROXWLRQELWV
Connection
SXOVHV
Pr3.24 1048576 Encoder resolution per one motor revolution [pulse]
=
Pr3.25 100000 External scale resolution per one motor revolution [pulse]
Caution ,IWKLVUDWLRLVZURQJWKHGLIIHUHQFHEHWZHHQWKHSRVLWLRQFDOFXODWHGEDVHGRQWKHHQFRGHU
SXOVHVDQGWKHSRVLWLRQFDOFXODWHGEDVHGRQWKHH[WHUQDOVFDOHSXOVHVEHFRPHVODUJHRYHUD 4
ORQJWUDYHOGLVWDQFHDQGZLOODFWLYDWHWKHH[FHVVK\EULGGHYLDWLRQHUURUSURWHFWLRQ
Related
Setup
Pr3.26 * 5HYHUVDORIGLUHFWLRQRIH[WHUQDOVFDOH
0 to 1 — 0 F
5HYHUVHWKHGLUHFWLRQRIH[WHUQDOVFDOHIHHGEDFNFRXQWHU
Setup value Content
[0] &RXQWYDOXHRIH[WHUQDOVFDOHFDQEHXVHGDVLWLV 5
1 6LJQ SRVLWLYHQHJDWLYH RIFRXQWYDOXHRIH[WHUQDOVFDOHVKRXOGEHLQYHUWHG
Note )RUVHWWLQJPHWKRGRIWKLVSDUDPHWHUUHIHUWR3)XOOFORVHGFRQWUROPRGH
Adjustment
Related
([WHUQDOVFDOH=SKDVHGLVFRQQHFWLRQ Range Unit Default control mode
Pr3.27 *
detection disable 0 to 1 — 0 F
(QDEOHGLVDEOH=SKDVHGLVFRQQHFWLRQGHWHFWLRQZKHQ$%SKDVHRXWSXWW\SHH[WHUQDOVFDOH
is used. 6
Setup value Content
When in Trouble
[0] Valid
1 ,QYDOLG
7
Supplement


4-31
'HIDXOW>@
Related
Pr3.28 * +\EULGGHYLDWLRQH[FHVVVHWXS
WR Command
unit 16000 F
<RXFDQVHWXSWKHSHUPLVVLEOH JDS K\EULG GHYLDWLRQ EHWZHHQ WKHSUHVHQW PRWRUSRVLWLRQ

DQGWKHSUHVHQWH[WHUQDOVFDOHSRVLWLRQ
Related
Pr3.29 * Hybrid deviation clear setup
0 to 100 5HYROXWLRQ 0 F
$VWKHPRWRUWXUQVWKHQXPEHURIUHYROXWLRQVVHWE\WKLVSDUDPHWHUWKHK\EULGGHYLDWLRQLV
FOHDUHGWR1RFOHDULQJLVPDGHZLWKVHWXSYDOXH
+\EULGGHYLDWLRQFOHDUIHDWXUH!
$VWKHPRWRUUHDFKHVWKHQXPEHURIUHYROXWLRQVVHWE\3U+\EULGGHYLDWLRQFOHDUVHWXS
FOHDUWKHK\EULGGHYLDWLRQWR7KLVIHDWXUHDOORZVWKHPRWRUWREHXVHGLQDQDSSOLFDWLRQ
ZKHUHK\EULGGHYLDWLRQDFFXPXODWHGXHWRVOLSSDJHHWF
Hybrid deviation value
Excess hybrid deviation error
(command unit) (absolute value)
Pr3.28
(Hybrid deviation
excess setup)
Pr3.29 Pr3.29
(Hybrid deviation clear setup) (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 7RXVHWKHK\EULGGHYLDWLRQFOHDUEHVXUHWRVHW3U+\EULGGHYLDWLRQFOHDUVHWXSWRWKH
DSSURSULDWHYDOXH,IWKHVHWXSYDOXHLVWRRVPDOOZLWKUHVSHFWWRWKHYDOXHRI3U+\EULG
GHYLDWLRQ H[FHVV VHWXS DEQRUPDO RSHUDWLRQ GXH WR HJ H[WHUQDO VFDOH FRQQHFWLRQ HUURU
cannot be protected.
Limit sensor should be used to assure safety.


4-32

Setup [Class 4] I/F monitor setting
Related
Pr4.00 * SI1 input selection 00828282h P S T F
0 to 00FFFFFFh —
$VVLJQIXQFWLRQVWR6,LQSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV*5 2
+H[DGHFLPDOSUHVHQWDWLRQLVIROORZHGE\DVSHFLÀFFRQWUROPRGHGHVLJQDWLRQ
0 0 – – – – * * K SRVLWLRQIXOOFORVHGFRQWURO
Preparation
0 0 – – * * ² ² K YHORFLW\FRQWURO
0 0 * * ² ² ² ² K WRUTXHFRQWURO
Replace * *ZLWKWKHIXQFWLRQQXPEHU
)RUWKHIXQFWLRQQXPEHUVHHWKHWDEOHEHORZ/RJLFDOVHWXSLVDOVRDIXQFWLRQQXPEHU
Setup value
Title Symbol
a-contact b-contact 3
,QYDOLG ï 00h Do not setup.
3RVLWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW POT 01h 81h
Connection
1HJDWLYHGLUHFWLRQRYHUWUDYHOLQKLELWLRQLQSXW 127 02h 82h
6HUYR21LQSXW*1 65921 03h 83h
$ODUPFOHDULQSXW $&/5 04h Do not setup.
&RQWUROPRGHVZLWFKLQJLQSXW*2 C-MODE 05h 85h
*DLQVZLWFKLQJLQSXW *$,1 06h 86h
'HYLDWLRQFRXQWHUFOHDULQSXW*3 CL 07h Do not setup.
Command pulse inhibition input *4 ,1+ 08h 88h 4
7RUTXHOLPLWVZLWFKLQJLQSXW TL-SEL 09h 89h
'DPSLQJFRQWUROVZLWFKLQJLQSXW VS-SEL1 $K $K
'DPSLQJFRQWUROVZLWFKLQJLQSXW VS-SEL2 0Bh 8Bh
Setup
(OHFWURQLFJHDUVZLWFKLQJLQSXW DIV1 0Ch 8Ch
(OHFWURQLFJHDUVZLWFKLQJLQSXW DIV2 0Dh 8Dh
Selection 1 input of internal command speed ,1763' 0Eh 8Eh
Selection 2 input of internal command speed ,1763' 0Fh 8Fh
Selection 3 input of internal command speed ,1763' 10h 90h
Speed zero clamp input
Speed command sign input
ZEROSPD
9&6,*1
11h
12h
91h
92h
5
Torque command sign input 7&6,*1 13h 93h
Forced alarm input E-STOP 14h 94h
Adjustment
,QHUWLDUDWLRVZLWFKLQJLQSXW J-SEL 15h 95h
Note )RULQSXWSLQDVVLJQPHQWZLWKGHIDXOWVHWWLQJUHIHUWRUHIHUWR3&RQWUROLQSXW
Related page P.3-50
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6
)RUHDVLHUVHWWLQJXVHWKHVHWXSVXSSRUWVRIWZDUH3$1$7(50
When in Trouble
Caution 'RQRWVHWXSWRDYDOXHRWKHUWKDQWKDWVSHFLÀHGLQWKHWDEOH
'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.
* 6HUYRRQLQSXWVLJQDO 65921 PXVWEHXVHGWRHQDEOHVHUYRRQ
* :KHQXVLQJFRQWUROPRGHVZLWFKLQJLQSXW &02'( VHWWKHVLJQDOWRDOOFRQWUROPRGHV,IWKHVLJQDOLV
VHWWRRQO\RUFRQWUROPRGHV(UU,)LQSXWIXQFWLRQQXPEHUHUURURU(UU,)LQSXWIXQFWLRQ
QXPEHUHUURUZLOOEHJHQHUDWHG
7KHFRQWUROLQSXWSLQVHWWRLQYDOLGVWDWHGRHVQRWDIIHFWDQ\RSHUDWLRQ
7
)XQFWLRQ VHUYRRQLQSXWDODUPFOHDUHWF WREHXVHGLQPXOWLSOHFRQWUROPRGHVPXVWEHDVVLJQHGWR
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Supplement
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
4-33
Related
0 to 00FFFFFFh —
Related
Pr4.02 * SI3 input selection $K P S T F
0 to 00FFFFFFh —
Related
0 to 00FFFFFFh —
Related
Pr4.04 * SI5 input selection 0000100Ch P S T F
0 to 00FFFFFFh —
Related
0 to 00FFFFFFh —
Related
Pr4.06 * SI7 input selection 00000f07h
0 to 00FFFFFFh — P S T F

Caution 'HYLDWLRQFRXQWHUFOHDU &/ FDQEHVHWXSRQO\ZLWKWKLVSDUDPHWHU,IDQ\RWKHUSDUDPHWHU
LVXVHGIRUWKLVSXUSRVH(UU&RXQWHUFOHDUDVVLJQPHQWHUURUZLOOEHLVVXHG
Related
0 to 00FFFFFFh —
Related
0 to 00FFFFFFh —
Related
Pr4.09 * SI10 input selection 00000E88h P S T F
0 to 00FFFFFFh —
$VVLJQIXQFWLRQVWR6,WR6,LQSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV
Setup procedure is the same as described for Pr4.00.
Note )RULQSXWSLQDVVLJQPHQWZLWKGHIDXOWVHWWLQJDOVRUHIHUWR3&RQWUROLQSXW
Caution &RPPDQGSXOVHLQKLELWLRQLQSXW ,1+ FDQEHVHWXSRQO\ZLWKWKLVSDUDPHWHU,IDQ\RWKHU
SDUDPHWHULVXVHGIRUWKLVSXUSRVH(UU,1+DVVLJQPHQWHUURUZLOOEHLVVXHG


4-34
1

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Related
Pr4.10 * SO1 output selection 00030303h P S T F
0 to 00FFFFFFh —
$VVLJQIXQFWLRQVWR62RXWSXWV
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV*1 2
+H[DGHFLPDOSUHVHQWDWLRQLVIROORZHGE\DVSHFLÀFFRQWUROPRGHGHVLJQDWLRQ
0 0 – – – – * * K SRVLWLRQIXOOFORVHGFRQWURO
Preparation
0 0 – – * * ² ² K YHORFLW\FRQWURO
0 0 * * ² ² ² ² K WRUTXHFRQWURO
Replace * *ZLWKWKHIXQFWLRQQXPEHU
)RUWKHIXQFWLRQQXPEHUVHHWKHWDEOHEHORZ/RJLFDOVHWXSLVDOVRDIXQFWLRQQXPEHU
Setup Note
Title Symbol
value
)RURXWSXWSLQDVVLJQPHQWZLWK
3
00h ,QYDOLG ï
02h 6HUYR5HDG\RXWSXW S-RDY GHIDXOWVHWWLQJDOVRUHIHUWR3
Connection
03h ([WHUQDOEUDNHUHOHDVHsignal BRK-OFF 2XWSXWVLJQDOV FRPPRQ
04h Positioning complete output ,13 and their functions.
05h $WVSHHGRXWSXW $7633(' Related page P.3-52
06h Torque in-limit signal output TLC
07h Zero-speed detection output signal ZSP ([DPSOHRIFKDQJH!
08h Speed coincidence output 9&2,1 To change the default setting
09h
$K
$ODUPRXWSXW
$ODUPRXWSXW
:$51
:$51
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LQDOOPRGHV WR´$ODUPRXWSXW
4
0Bh 3RVLWLRQDOFRPPDQG212))RXWSXW P-CMD µVHWWKHLQSXWWRK
0Ch Positioning complete 2 ,13
0Dh Speed in-limit output V-LIMIT )RUHDVLHUVHWWLQJXVHWKH
Setup
0Eh $ODUPDWWULEXWHRXWSXW $/0$7% VHWXSVXSSRUWVRIWZDUH
0Fh 6SHHGFRPPDQG212))RXWSXW V-CMD 3$1$7(50
Caution Same function can be assigned to 2 or more output signals.
&RQWURORXWSXWSLQVHWWRLQYDOLGDOZD\VKDVWKHRXWSXWWUDQVLVWRUWXUQHG2))
'RQRWFKDQJHWKHVHWXSYDOXHVKRZQLQWKHWDEOH 5
*1RWHWKDWWKHVHWXSYDOXHVDUHGLVSOD\HGLQGHFLPDORQWKHIURQWSDQHO
Adjustment
Related
0 to 00FFFFFFh —
Related
0 to 00FFFFFFh —
Range Unit Default Related 6
control mode
0 to 00FFFFFFh —
When in Trouble

Related
0 to 00FFFFFFh —
Related
0 to 00FFFFFFh —
$VVLJQIXQFWLRQVWR62WR62RXWSXWV
7
7KHVHSDUDPHWHUVDUHSUHVHQWHGLQKH[DGHFLPDOV
Supplement
Setup procedure is the same as described for Pr4.10.

4-35
'HIDXOW>@
Related
Pr4.16 Type of analog monitor 1
0 to 21 — 0 P S T F
Select the type of monitor for analog monitor 1. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Related
Pr4.17 Analog monitor 1 output gain [Monitor unit
0 to 214748364 in Pr4.16] / V 0 P S T F
Set up the output gain of analog monitor 1.

)RU3U 0RWRUVSHHG9LVRXWSXWDWWKHPRWRUVSHHG>UPLQ@ 3UVHWXSYDOXH
Related
Pr4.18 Type of analog monitor 2
0 to 21 — 4 P S T F
Select the type of monitor for analog monitor 2. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Related
Pr4.19 Analog monitor 2 output gain [Monitor unit
0 to 214748364 in Pr4.16] / V 0 P S T F
Set up the output gain of analog monitor 2.

)RU3U 7RUTXHFRPPDQG9LVRXWSXWDWWKHWRUTXHFRPPDQG>@ 3UVHWXSYDOXH
Related
Pr4.20 Type of digital monitor
0 to 3 — 0 P S T F
Select type of the digital monitor.

Digital signal output
Setup value Type of monitor
L output H output
[0] Positioning complete condition 1RWFRPSOHWHG Completed
1 Positional command :LWKRXWFRPPDQG :LWKFRPPDQG
2 $ODUP 1RWJHQHUDWHG Generated
2nd gain
3 Gain selected 1st gain
LQFOXGLQJUGJDLQ

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKGLJLWDOPRQLWRURXWSXW

4-36
1

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

* 7HPSHUDWXUHLQIRUPDWLRQIURPWKHHQFRGHULQFOXGHVYDOXHRQO\ZKHQLWLVDELWLQFUHPHQWDOHQFRGHU2WKHUZLVH
WKHYDOXHLVDOZD\V
4-37
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Related
Pr4.21 Analog monitor output setup
0 to 2 — 0 P S T F
Select output format of the analog monitor.

Setup value Output format
[0] Signed data output –10 V to 10 V
1 $EVROXWHYDOXHGDWDRXWSXW 9WR9
2 'DWDRXWSXWZLWKRIIVHW 9WR9 9DWFHQWHU
Related
Pr4.22 Analog input 1 (AI1) offset setup
ïWR 0.359mV 0 P S T F
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Related
Pr4.23 Analog input 1 (AI1) filter
0 to 6400 0.01ms 0 P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH
applied to the analog input 1.
Related
Pr4.24 Analog input 1 (AI1) overvoltage setup
0 to 100 0.1V 0 P S T F
6HW XS WKH H[FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW E\ XVLQJ WKH YROWDJH
DVVRFLDWHGZLWKRIIVHW
Related
Related
0 to 6400 0.01ms 0 P S T F
applied to the analog input 2.
Related
0 to 100 0.1V 0 P S T F
Related


4-38
1

Related
0 to 6400 0.01ms 0 P S T F
applied to the analog input 3. 2
Related
Preparation
0 to 100 0.1V 0 P S T F

control mode
3
Pr4.31 Positioning complete (In-position) range Command
0 to 262144 unit 10 P F
Connection
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQDWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO ,13 LVRXWSXW
Caution The command unit is used as the default unit but can be replaced by the encoder unit by
XVLQJ 3U 3RVLWLRQLQJ XQLW VHOHFWLRQ 1RWH WKDW ZKHQ WKH HQFRGHU XQLW LV XVHG XQLW RI
3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG
4
Related
Positioning complete (In-position) Range Unit Default control mode
Pr4.32
output setup 0 to 3 — 0 P F
Setup
6HOHFWWKHFRQGLWLRQWRRXWSXWWKHSRVLWLRQLQJFRPSOHWHVLJQDO ,13
Setup value Action of positioning complete signal
7KHVLJQDOZLOOWXUQRQZKHQWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U 3RVLWLRQLQJ
[0]
FRPSOHWHUDQJH
7KH VLJQDO ZLOO WXUQ RQ ZKHQ WKHUH LV QR SRVLWLRQ FRPPDQG DQG WKH SRVLWLRQDO 5
1
GHYLDWLRQLVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH
7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGWKH]HURVSHHGGHWHFWLRQVLJQDO
Adjustment
2
LV21DQGWKHSRVLWLRQDOGHYLDWLRQLVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH
7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGDQGWKHSRVLWLRQDOGHYLDtion
LVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH 7KHQKROGV21VWDWXVXQWLOWKH
3 QH[WSRVLWLRQFRPPDQGLVHQWHUHG6XEVHTXHQWO\21VWDWHLVPDLQWDLQHGXQWLO3U
,13KROGWLPHKDVHODSVHG$IWHUWKHKROGWLPH,13RXWSXWZLOOEHWXUQHG212))DF-
FRUGLQJWRWKHFRPLQJSRVLWLRQDOFRPPDQGRUFRQGLWLRQRIWKHSRVLWLRQDOGHYLDWLRQ
6
When in Trouble
Related
Pr4.33 INP hold time
0 to 30000 1ms 0 P F
6HWXSWKHKROGWLPHZKHQ3U3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS
Setup value State of positioning complete signal
7KHKROGWLPHLVPDLQWDLQHGGHÀQLWHO\NHHSLQJ21VWDWHXQWLOWKHQH[WSRVLWLRQDO
[0]
FRPPDQGLVUHFHLYHG 7
21VWDWHLVPDLQWDLQHGIRUVHWXSWLPH PV EXWVZLWFKHGWR2))VWDWHDVWKHSRVLWLRQDO
1 to 30000
FRPPDQGLVUHFHLYHGGXULQJKROGWLPH
Supplement


4-39
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Related
Pr4.34 Zero-speed
10 to 20000 r/min 50 P S T F
<RXFDQVHWXSWKHWLPLQJWRIHHGRXWWKH]HURVSHHGGHWHFWLRQRXWSXWVLJQDO =63RU7&/ LQ

rotational speed [r/min].
7KH]HURVSHHGGHWHFWLRQVLJQDO =63 ZLOOEHIHGRXWZKHQWKHPRWRUVSHHGIDOOVEHORZWKH
VHWXSRIWKLVSDUDPHWHU3U
7KHVHWXSRI3ULVYDOLGIRUERWK Positive direction

3RVLWLYH DQG 1HJDWLYH GLUHFWLRQ speed
regardless of the motor rotating
(Pr4.34+10)r/min
direction.
7KHUHLVK\VWHUHVLVRI>UPLQ@
(Pr4.34–10)r/min
Negative direction
ZSP ON
Related
Pr4.35 Speed coincidence range
10 to 20000 r/min 50 S T
6HWWKHVSHHGFRLQFLGHQFH 9&2,1 RXWSXWGHWHFWLRQWLPLQJ

2XWSXWWKHVSHHGFRLQFLGHQFH 9&2,1 ZKHQWKHGLIIHUHQFHEHWZHHQWKHVSHHGFRPPDQG
DQGWKHPRWRUVSHHGLVHTXDOWRRUVPDOOHUWKDQWKHVSHHGVSHFLÀHGE\WKLVSDUDPHWHU
Speed command after
acceleration/deceleration
Speed Pr4.35 *1
process
command (Speed coincidence range)
Speed
[r/min]
Pr4.35 *1
(Speed coincidence Motor speed
range)
Time
Pr4.35 *1
(Speed coincidence range)
Speed coincidence
output ON OFF ON OFF
V-COIN
*1 %HFDXVHWKHVSHHGFRLQFLGHQFHGHWHFWLRQLVDVVRFLDWHGZLWKUPLQK\VWHUHVLVDFWXDO
GHWHFWLRQUDQJHLVDVVKRZQEHORZ
Speed coincidence output OFF 21WLPLQJ 3U² UPLQ
6SHHGFRLQFLGHQFHRXWSXW21 2))WLPLQJ 3U UPLQ


4-40
1

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Related
Pr4.36 At-speed (Speed arrival)
10 to 20000 r/min 1000 S T
6HWWKHGHWHFWLRQWLPLQJRIWKHVSHHGDUULYDORXWSXW $763(('
:KHQWKHPRWRUVSHHGH[FHHGVWKLVVHWXSYDOXHWKHVSHHGDUULYDORXWSXW $763((' LV 2
output.
'HWHFWLRQLVDVVRFLDWHGZLWKUPLQK\VWHUHVLV
Preparation
Speed
[r/min] Motor speed
Pr4.36+10
3Uï
Time
ï 3Uï
ï 3U
3
the speed
arrival output OFF ON OFF ON
Connection
AT-SPEED
Related
Pr4.37 Mechanical brake action at stalling setup
0 to 10000 1ms 0 P S T F
<RXFDQVHWXSWKHWLPHIURPZKHQWKHEUDNHUHOHDVHVLJQDO %5.2)) WXUQVRIIWRZKHQ 4

WKHPRWRULVGHHQHUJL]HG 6HUYRIUHH ZKHQWKHPRWRUWXUQVWR6HUYR2))ZKLOHWKHPRWRU
is at stall.
Setup
6HWXSWRSUHYHQWDPLFURWUDYHOGURSRI SRV-ON OFF
ON
WKHPRWRU ZRUN GXHWRWKHDFWLRQGHOD\
WLPH WE RIWKHEUDNH BRK-OFF
release hold
tb
$IWHUVHWWLQJXS3UWE
then compose the sequence so as the actual brake
release hold 5
GULYHUWXUQVWR6HUYR2))DIWHUWKHEUDNH
LVDFWXDOO\DFWLYDWHG motor non-
energization energized energized
Adjustment
Pr4.37
Related
Pr4.38 Mechanical brake action at running setup
0 to 10000 1ms 0 P S T F
6
<RXFDQVHWXSWLPHIURPZKHQGHWHFWLQJWKHRIIRI6HUYR21LQSXWVLJQDO 65921 LVWR
When in Trouble
ZKHQH[WHUQDOEUDNHUHOHDVHVLJQDO %5.2)) WXUQVRIIZKLOHWKHPRWRUWXUQVWRVHUYRRII

during the motor in motion.
6HWXSWRSUHYHQWWKHEUDNHGHWHULRUDWLRQ SRV-ON ON OFF

due to the motor running.
$W6HUYR2))GXULQJWKHPRWRULV BRK-OFF
release hold
UXQQLQJWERIWKHULJKWÀJZLOOEHD
actual
tb 7
VKRUWHURQHRIHLWKHU3UVHWXSWLPH energized non-
brake energized
or time lapse till the motor speed falls
Supplement
EHORZ3UVHWXSVSHHG Pr4.39
motor setup speed.
energization

4-41
'HIDXOW>@
Related
Pr4.39 Brake release speed setup
30 to 3000 r/min 30 P S T F
Set up the speed timing of brake output checking during operation.
Related
Pr4.40 Selection of alarm output 1
0 to 10 — 0 P S T F
Related
Pr4.41 Selection of alarm output 2
0 to 10 — 0 P S T F
Select the type of alarm issued as the alarm output 1 or 2.

Setup
Alarm Content
value
[0] — ORed output of all alarms.
1 2YHUORDGSURWHFWLRQ /RDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
2 2YHUUHJHQHUDWLRQDODUP 5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
3 Battery alarm %DWWHU\YROWDJHLV9RUORZHU
4 Fan alarm Fan has stopped for 1 sec. *1
Encoder communication 7KHQXPEHURIVXFFHVVLYHHQFRGHUFRPPXQLFDWLRQHUURUV
5
alarm H[FHHGVWKHVSHFLÀHGYDOXH
6 (QFRGHURYHUKHDWDODUP 7KHHQFRGHUGHWHFWVRYHUKHDWDODUP
7 Oscillation detection alarm 2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG
8 Lifetime detection alarm /LIHH[SHFWDQF\RIFDSDFLWRURUIDQEHFRPHVVKRUW
9 ([WHUQDOVFDOHHUURUDODUP 7KHH[WHUQDOVFDOHGHWHFWVWKHDODUP
([WHUQDOVFDOH 7KHQXPEHURIVXFFHVVLYHH[WHUQDOVFDOHFRPPXQLFDWLRQ
10
7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDO
Related page )RUGHWDLOHGGHVFULSWLRQRIDODUPW\SHVUHIHUWR3
Related
2nd Positioning complete (In-position) Range Unit Default control mode
Pr4.42 Command
range 0 to 262144 unit 10 P F
7KH,13WXUQV21ZKHQHYHUWKHSRVLWLRQDOGHYLDWLRQLVORZHUWKDQWKHYDOXHVHWXSLQWKLV
SDUDPHWHUZLWKRXWEHLQJDIIHFWHGE\3U3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS 3UHVHQFH
DEVHQFHRISRVLWLRQDOFRPPDQGLVQRWUHODWHGWRWKLVMXGJPHQW
Caution The command unit is used as the default unit but can be replaced by the encoder unit by
XVLQJ 3U 3RVLWLRQLQJ XQLW VHOHFWLRQ 1RWH WKDW ZKHQ WKH HQFRGHU XQLW LV XVHG XQLW RI
3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG


4-42

Setup [Class 5] Enhancing setting
'HIDXOW>@
Related
Pr5.00 2nd numerator of electronic gear
0 to 230 — 0 P F
Related
Pr5.01 3rd numerator of electronic gear
0 to 230
— 0 P F 2
Related
Pr5.02 4th numerator of electronic gear 30
0 to 2 — 0 P F
Preparation
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 3
numerator.
:KHQWKHVHWWLQJYDOXHLVIRUIXOOFORVHGFRQWUROOLQJERWKQXPHUDWRUDQGGHQRPLQDWRUDUH
Connection
set to 1.
Related
Pr5.03 * Denominator of pulse output division
0 to 262144 — 0 P S T F
)RUGHWDLOVUHIHUWR3
4
Related
Pr5.04 * Over-travel inhibit input setup
Setup
0 to 2 — 1 P S T F
6HWXSWKHRSHUDWLRQRIWKHUXQLQKLELWLRQ 327127 LQSXWV

Setup value Operation
POT ,QKLELWSRVLWLYHGLUHFWLRQWUDYHO
0
127 ,QKLELWQHJDWLYHGLUHFWLRQWUDYHO 5
[1] 'LVDEOH327127
2 327RU127LQSXWDFWLYDWHV(UU5XQLQKLELWLRQLQSXWSURWHFWLRQ
Adjustment
Related
Pr5.05 * Sequence at over-travel inhibit
0 to 2 — 0 P S T F
:KHQ3U2YHUWUDYHOLQKLELWLRQ VSHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDQGVWRSDIWHU
DSSOLFDWLRQRIWKHRYHUWUDYHOLQKLELWLRQ 327127 6
'HWDLOVRI3U 6HTXHQFHDWRYHUWUDYHOLQKLELW !
When in Trouble
Deviation counter
Pr5.04 Pr5.05 During deceleration After stalling
content
Dynamic brake Torque command=0
[0] Hold
action WRZDUGVLQKLELWHGGLUHFWLRQ
Torque command=0 Torque command=0
0 1 Hold
WRZDUGVLQKLELWHGGLUHFWLRQ WRZDUGVLQKLELWHGGLUHFWLRQ
2 Emergency stop
Command=0 Clears before/ 7
WRZDUGVLQKLELWHGGLUHFWLRQ after deceleration
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Pr5.06 Sequence at Servo-Off
0 to 9 — 0 P S T F
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Positional deviation/
Setup
During deceleration *3 After stalling H[WHUQDOVFDOH
value
deviation
[0] '\QDPLF%UDNH '% DFWLRQ '\QDPLF%UDNH '% DFWLRQ Clear *4
1 )UHHUXQ '%2)) '\QDPLF%UDNH '% DFWLRQ Clear *4
2 '\QDPLF%UDNH '% DFWLRQ )UHHUXQ '%2)) Clear *4
3 )UHHUXQ '%2)) )UHHUXQ '%2)) Clear *4
4 '\QDPLF%UDNH '% DFWLRQ '\QDPLF%UDNH '% DFWLRQ Hold *2
5 )UHHUXQ '%2)) '\QDPLF%UDNH '% DFWLRQ Hold *2
6 '\QDPLF%UDNH '% DFWLRQ )UHHUXQ '%2)) Hold *2
7 )UHHUXQ '%2)) )UHHUXQ '%2)) Hold *2
8 Emergency stop *1 '\QDPLF%UDNH '% DFWLRQ Clear *4
9 Emergency stop *1 )UHHUXQ '%2)) Clear *4
* (PHUJHQF\VWRSUHIHUVWRDFRQWUROOHGLPPHGLDWHVWRSZLWKVHUYRRQ
7KHWRUTXHFRPPDQGYDOXHLVOLPLWHGGXULQJWKLVSURFHVVE\3U(PHUJHQF\VWRSWRUTXHVHWXS
* ,IWKHSRVLWLRQDOFRPPDQGLVNHSWDSSOLHGRUWKHPRWRULVNHSWUXQQLQJZLWKVHUYRRIIFRQGLWLRQSRVLWLRQDO
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* 3RVLWLRQDOGHYLDWLRQH[WHUQDOVFDOHGHYLDWLRQLVDOZD\VFOHDUHGWR
Caution ,IDQHUURURFFXUVGXULQJVHUYRRIIIROORZ3U6HTXHQFHDWDODUP,IWKHPDLQSRZHULV
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Pr5.07 6HTXHQFHDWPDLQSRZHU2))
0 to 9 — 0 P S T F
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7KH UHODWLRQVKLS EHWZHHQ WKH VHWXS YDOXH RI 3U DQG WKH RSHUDWLRQ DQG SURFHVV DW
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Caution ,I DQ HUURU RFFXUV ZLWK WKH PDLQ SRZHU VXSSO\ WXUQHG RII 3U 6HTXHQFH DW DODUP LV
applied to the operation.
:KHQ WKH PDLQ SRZHU VXSSO\ LV WXUQHG RII ZLWK VHUYRRQ VWDWH (UU 0DLQ SRZHU
XQGHUYROWDJH HUURU RFFXUV LI 3U /9 WULS VHOHFWLRQ ZLWK PDLQ SRZHU RII DQG WKH
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Pr5.08 /9WULSVHOHFWLRQDWPDLQSRZHU2))
0 to 1 — 1 P S T F
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IXQFWLRQZKLOHWKHPDLQSRZHUVKXWRIIFRQWLQXHVIRUWKHVHWXSRI3U 0DLQSRZHU2)) 2
GHWHFWLRQWLPH
Preparation
Setup value $FWLRQRIPDLQSRZHUORZYROWDJHSURWHFWLRQ
:KHQWKHPDLQSRZHULVVKXWRIIGXULQJ6HUYR21(UUZLOOQRWEHWULJJHUHGDQG
0 WKHGULYHUWXUQVWR6HUYR2))7KHGULYHUUHWXUQVWR6HUYR21DJDLQDIWHUWKHPDLQ
SRZHUUHVXPSWLRQ
:KHQWKHPDLQSRZHULVVKXWRIIGXULQJ6HUYR21WKHGULYHUZLOOWULSGXHWR(UU
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0DLQSRZHUORZYROWDJHSURWHFWLRQ
7KLVSDUDPHWHULVLQYDOLGZKHQ3U 'HWHFWLRQWLPHRIPDLQSRZHU2)) (UU

3
Caution
0DLQ SRZHU XQGHUYROWDJH SURWHFWLRQ LVWULJJHUHG ZKHQ VHWXS RI3 LVORQJ DQG31
Connection
YROWDJH RI WKH PDLQ FRQYHUWHU IDOOV EHORZ WKH VSHFLILHG YDOXH EHIRUH GHWHFWLQJ WKH PDLQ
SRZHUVKXWRIIUHJDUGOHVVRIWKH3UVHWXS
Related
Pr5.09 * 'HWHFWLRQWLPHRIPDLQSRZHURII
70 to 2000 1ms 70 P S T F
<RXFDQVHWXSWKHWLPHWRGHWHFWWKHVKXWRIIZKLOHWKHPDLQSRZHULVNHSWVKXWRIIFRQWLQXRXVO\
4
7KHPDLQSRZHURIIGHWHFWLRQLVLQYDOLGZKHQ\RXVHWXSWKLVWR
Setup
Related
Pr5.10 Sequence at alarm
0 to 7 — 0 P S T F
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Setup
value
During deceleration *3 After stalling
Positional deviation/
H[WHUQDOVFDOH 5
deviation
[0] '\QDPLF%UDNH '% DFWLRQ '\QDPLF%UDNH '% DFWLRQ Hold *1
Adjustment
1 )UHHUXQ '%2)) '\QDPLF%UDNH '% DFWLRQ Hold *1
2 '\QDPLF%UDNH '% DFWLRQ )UHHUXQ '%2)) Hold *1
3 )UHHUXQ '%2)) )UHHUXQ '%2)) Hold *1
$FWLRQ$(PHUJHQF\VWRS
4 '\QDPLF%UDNH '% DFWLRQ Hold *1
$FWLRQ%'%DFWLRQ *2
6
5 '\QDPLF%UDNH '% DFWLRQ Hold *1
$FWLRQ%'%2)) *2
When in Trouble
6 )UHHUXQ '%2)) Hold *1
$FWLRQ%'%DFWLRQ *2
7 )UHHUXQ '%2)) Hold *1
$FWLRQ%'%2)) *2
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FOHDUHGZKHQWKHDODUPLVFDQFHOOHG
* $FWLRQRI$%:KHQDQDODUPUHTXLULQJHPHUJHQF\VWRSRFFXUVWKHDFWLRQ$LVVHOHFWHGZKHQWKH 7
VHWXSYDOXHLQWKHWDEOHLVVHWZLWKLQWKHUDQJHWRFDXVLQJHPHUJHQF\VWRSRIRSHUDWLRQ:KHQ
DQDODUPQRWUHTXLULQJHPHUJHQF\VWRSRFFXUVLWWULJJHUVG\QDPLFEUDNLQJ '% VSHFLÀHGE\DFWLRQ
Supplement
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Related
Pr5.11 Torque setup for emergency stop
0 to 500 % 0 P S T F
Set up the torque limit at emergency stop.

Note :KHQVHWXSYDOXHLVWKHWRUTXHOLPLWIRUQRUPDORSHUDWLRQLVDSSOLHG
Related
Pr5.12 Over-load level setup
0 to 500 % 0 P S T F
<RXFDQVHWXSWKHRYHUORDGOHYHO7KHRYHUORDGOHYHOEHFRPHV>@E\VHWWLQJXSWKLV
to 0.
8VHWKLVZLWKVHWXSLQQRUPDORSHUDWLRQ6HWXSRWKHUYDOXHRQO\ZKHQ\RXQHHGWRORZHU
WKHRYHUORDGOHYHO
7KHVHWXSYDOXHRIWKLVSDUDPHWHULVOLPLWHGE\>@RIWKHPRWRUUDWLQJ
Related
Pr5.13 Over-speed level setup
0 to 20000 r/min 0 P S T F
,IWKHPRWRUVSHHGH[FHHGVWKLVVHWXSYDOXH(UU2YHUVSHHGSURWHFWLRQRFFXUV
7KHRYHUVSHHGOHYHOEHFRPHVWLPHVRIWKHPRWRUPD[VSHHGE\VHWWLQJXSWKLVWR
Related
Pr5.14 0RWRUZRUNLQJUDQJHVHWXS
0 to 1000 UHYROXWLRQ 10 P S T F
<RXFDQVHWXSWKHPRYDEOHUDQJHRIWKHPRWRUDJDLQVWWKHSRVLWLRQFRPPDQGLQSXWUDQJH
:KHQWKHPRWRUPRYHPHQWH[FHHGVWKHVHWXSYDOXHVRIWZDUHOLPLWSURWHFWLRQRI(UU
ZLOOEHWULJJHUHG
Related
Pr5.15 * I/F reading filter
0 to 3 — 0 P S T F
Select reading period of the control input signal.

Setup value Reading period of the signal.
[0] 0.166ms
1 0.333ms
2 1ms
3 1.666ms
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Pr5.16 * Alarm clear input setup
0 to 1 — 0 P S T F
6HOHFWDODUPFOHDULQSXW $&/5 UHFRJQLWLRQWLPH

Setup value Recognition time 2
[0] 120ms
Preparation
1 7R3U,)UHDGLQJÀOWHU
Related
Pr5.17 Counter clear input mode
0 to 4 — 3 P F
You can set up the clearing conditions of the counter clear input signal.
3
Setup value Clear condition
0 ,QYDOLG
Connection
1 &OHDUDWDOHYHO QRUHDGLQJÀOWHU
2 &OHDUDWDOHYHO ZLWKUHDGLQJÀOWHU
[3] &OHDUDWDQHGJH QRUHDGLQJÀOWHU
4 &OHDUDWDQHGJH ZLWKUHDGLQJÀOWHU
Note )RUVLJQDOZLGWKWLPLQJUHTXLULQJWKHGHYLDWLRQFRXQWHULQSXWUHIHUWR3 4
Related
Invalidation of command pulse inhibit Range Unit Default control mode
Pr5.18
Setup
input 0 to 1 — 1 P F
Select command pulse inhibit input enable/disable.

Setup value INH input
0 Valid
[1] ,QYDOLG 5
Adjustment
Related
Command pulse inhibit input reading Range Unit Default control mode
Pr5.19 *
setup 0 to 4 — 0 P F
6HOHFWFRPPDQGSXOVHLQKLELWLQSXWHQDEOHGLVDEOHVLJQDOUHDGLQJSHULRG:KHQWKHVWDWXVRI
VHYHUDOVLJQDOVUHDGGXULQJWKHSUHGHWHUPLQHGUHDGLQJSHULRGDUHVDPHXSGDWHWKHVLJQDOVWDWXV
Setup value Signal reading period
[0] 0.166ms
6
1 0.333ms
When in Trouble
2 1ms
3 1.666ms
4 PV QRFKHFNIRUPXOWLSOHFRLQFLGHQFH
Caution Longer reading period protects against operation error due to noise but decreases response
to input signal.
7
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Related
Pr5.20 * Position setup unit select
0 to 1 — 0 P F
6SHFLI\ WKH XQLW WR GHWHUPLQH WKH UDQJHRI SRVLWLRQLQJFRPSOHWH DQG H[FHVVLYH SRVLWLRQDO
GHYLDWLRQ
Setup value Unit
[0] Command unit
1 Encoder unit
Note 7KHFRPPDQGXQLWGHÀQHVFRPPDQGSXOVHIURPWKHKLJKHUOHYHOGHYLFHDVVHWWLQJYDOXH
ZKLOHWKHHQFRGHUXQLWGHÀQHVHQFRGHUSXOVHDVVHWWLQJYDOXH
:KHQWKHHOHFWURQLFJHDUUDWLRVHWE\XVLQJWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQIXQFWLRQ
HOHFWURQLFJHDU LV5WKHIROORZLQJUHODWLRQVKLSLVREWDLQHG
Command unit × R = encoder unit
)RUH[DPSOHLIELWHQFRGHULVXVHGZLWKWKHGHIDXOWVHWWLQJ
220 220
R= WKHQFRPPDQGXQLW = encoder unit.
10000 10000
Related
Pr5.21 Selection of torque limit
0 to 6 — 1 P S F
You can set up the torque limiting method.

Setup value Positive direction Negative direction
0 3$7/ WR9 1$7/ ïWR9
[1] VWWRUTXHOLPLW 3U
2 VWWRUTXHOLPLW 3U QGWRUTXHOLPLW 3U
TL-SEL OFF VWWRUTXHOLPLW 3U
3
7/6(/21 QGWRUTXHOLPLW 3U
4 3$7/ WR9 1$7/ WR9
5 3$7/ WR9
TL-SEL OFF
VWWRUTXHOLPLW 3U QGWRUTXHOLPLW 3U
6 7/6(/21
([WHUQDOLQSXWSRVLWLYHGLUHFWLRQWRUTXH ([WHUQDOLQSXWQHJDWLYHGLUHFWLRQWRUTXH
OLPLW 3U OLPLW 3U
Related
Pr5.22 2nd torque limit
0 to 500 % 500 P S F
<RXFDQVHWXSWKHQGOLPLWYDOXHRIWKHPRWRURXWSXWWRUTXH
7KHYDOXHRISDUDPHWHULVOLPLWHGWRWKHPD[LPXPWRUTXHRIWKHDSSOLFDEOHPRWRU

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Pr5.23 7RUTXHOLPLWVZLWFKLQJVHWXS
0 to 4000 ms/100% 0 P S F
6SHFLI\WKHUDWHRIFKDQJH VORSH IURPVWWRQGGXULQJWRUTXHOLPLWVZLWFKLQJ

2
Related
Pr5.24 7RUTXHOLPLWVZLWFKLQJVHWXS
Preparation
0 to 4000 ms/100% 0 P S F
6SHFLI\WKHUDWHRIFKDQJH VORSH IURPQGWRVWGXULQJWRUTXHOLPLWVZLWFKLQJ
Related
([WHUQDOLQSXWSRVLWLYHGLUHFWLRQ Range Unit Default control mode
Pr5.25
torque limit 0 to 500 % 500 P S F 3
6HWXSSRVLWLYHGLUHFWLRQWRUTXHOLPLWXSRQUHFHLYLQJ7/6(/ZLWK3U6HOHFWLRQRIWRUTXH
limit set at 6.
Connection
Related
([WHUQDOLQSXWQHJDWLYHGLUHFWLRQ Range Unit Default control mode
Pr5.26
torque limit 0 to 500 % 500 P S F 4
6HWXSQHJDWLYHGLUHFWLRQWRUTXHOLPLWXSRQUHFHLYLQJ7/6(/ZLWK3U6HOHFWLRQRIWRUTXH
limit set at 6.
Setup
Related
Pr5.27 Input gain of analog torque limit
Range Unit Default control mode 5
10 to 100 0.1V/100% 30 P S F
)URPWKHYROWDJH>9@DSSOLHGWRWKHDQDORJWRUTXHOLPLWLQSXW 3$7/1$7/ VHWFRQYHUVLRQ
Adjustment
gain to torque limit [%].
6
When in Trouble
7
Supplement

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Pr5.28 * LED initial status
0 to 35 — 1 P S T F
<RXFDQVHOHFWWKHW\SHRIGDWDWREHGLVSOD\HGRQWKHIURQWSDQHO/(' VHJPHQW DWWKH

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

Setup value
of Pr5.28
Setup Setup Setup

Content Content Content
value value value
0 3RVLWLRQDOFRPPDQGGHYLDWLRQ 12 Error factor and reference of history 24 (QFRGHUSRVLWLRQDOGHYLDWLRQ>(QFRGHUXQLW@
[1] Motor speed 13 $ODUP'LVSOD\ 25 ([WHUQDOVFDOHGHYLDWLRQ>([WHUQDOVFDOHXQLW@
2 Positional command speed 14 5HJHQHUDWLYHORDGIDFWRU 26 +\EULGGHYLDWLRQ>&RPPDQGXQLW@
3 Velocity control command 15 2YHUORDGIDFWRU 27 9ROWDJHDFURVV31>9@
4 Torque command 16 Inertia ratio 28 6RIWZDUHYHUVLRQ
5 Feedback pulse sum 17 Factor of no-motor running 29 'ULYHUVHULDOQXPEHU
6 Command pulse sum 18 1RRIFKDQJHVLQ,2VLJQDOV 30 Motor serial number
8 ([WHUQDOVFDOHIHHGEDFNSXOVHVXP 20 $EVROXWHHQFRGHUGDWD 31 $FFXPXODWHGRSHUDWLRQWLPH
9 Control mode 21 $EVROXWHH[WHUQDOVFDOHSRVLWLRQ 32 $XWRPDWLFPRWRUUHFRJQL]LQJIXQFWLRQ
1RRIHQFRGHUH[WHUQDOVFDOH
10 I/O signal status 22 33 Temperature information
communication errors monitor
11 $QDORJLQSXWYDOXH 23 &RPPXQLFDWLRQD[LVDGGUHVV 35 Safety condition monitor
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Related
Baud rate setup of Range Unit Default control mode
Pr5.29 *
RS232 communication 0 to 6 — 2 P S T F
You can set up the communication speed of RS232.

Note )RUEDXGUDWHVHWXSYDOXHUHIHUWR56VHWXS
Related
Baud rate setup of Range Unit Default control mode
Pr5.30 *
RS485 communication 0 to 6 — 2 P S T F
You can set up the communication speed of RS485.

Setup value Baud rate Setup value Baud rate
0 2400bps 4 38400bps
1 4800bps 5 57600bps
[2] 9600bps 6 115200bps
3 19200bps
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Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU

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Pr5.31 * $[LVDGGUHVV
0 to 127 — 1 P S T F
'XULQJFRPPXQLFDWLRQZLWKWKHKRVW HJ3& WRFRQWUROPXOWLSOHVKDIWVWKHVKDIWEHLQJ

DFFHVVHGE\WKHKRVWVKRXOGEHLGHQWLÀHG 2
Note :KHQXVLQJ5656WKHPD[LPXPYDOLGYDOXHLV
Preparation
Related
Pr5.32 * &RPPDQGSXOVHLQSXWPD[LPXPVHWXS
250 to 4000 k pulse/s 4000 P F
6HWWKHPD[LPXPQXPEHURISXOVHVWREHXVHGDVFRPPDQGSXOVHLQSXW,IWKHQXPEHURI
LQSXWSXOVHVH[FHHGVWKHVHWXSYDOXHð(UU&RPPDQGSXOVHLQSXWIUHTXHQF\HUURU
protection occurs. 3
Caution 7KHQXPEHURILQSXWSXOVHVUHFHLYHGE\WKHGULYHULVDOZD\VFKHFNHG,IWKHIUHTXHQF\RIWKH
UHFHLYHGSXOVHLVKLJKHUWKDQWKHXSSHUOLPLWRIWKHVHWWLQJLQSXWSXOVHVDUHQRWDFFXUDWHO\
Connection
detected.
%\ VHOHFWLQJ D YDOXH ORZHU WKDQ D GLJLWDO ILOWHU RI WKH VSHFLILFDWLRQ VKRZQ EHORZ LV
enabled against the command pulse input.
Pr5.32 setting range 'LJLWDOÀOWHU
250 to 499 200 ns 2-time reading
500 to 999 100 ns 2-time reading 4
1000 or more 1RUHDGLQJ WKUX
Setup
Related
Pr5.33 * Pulse regenerative output limit setup
0 to 1 — 0 P S T F
Enable/disable detection of Err28.0 Pulse Setup value Content

UHJHQHUDWLYHOLPLWSURWHFWLRQ [0] ,QYDOLG
1 Valid 5
Adjustment
Related
Pr5.34 For manufacturer's use
— — 4
)L[HGWR
Pr5.35 * Front panel lock setup

control mode 6
0 to 1 — 0 P S T F
When in Trouble
Lock the operation on the front panel. Setup value Content

[0] 1ROLPLWRQWKHIURQWSDQHORSHUDWLRQ
1 Lock the operation on the front panel
7
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Setup [Class 6] Special setting
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$QDORJWRUTXHIHHGIRUZDUGFRQYHUVLRQ Range Unit Default control mode
Pr6.00
gain 0 to 100 0.1V/100% 0 P S F
6HWWKHLQSXWJDLQRIDQDORJWRUTXHIHHGIRUZDUG
WRDUHLQYDOLG
8VDJHH[DPSOHRI$QDORJWRUTXHIHHGIRUZDUG!
6HWWLQJELWSODFHRI3U)XQFWLRQH[SDQVLRQVHWXSWRHQDEOHVWKHDQDORJWRUTXHIHHG
IRUZDUG:KHQWKHDQDORJLQSXWLVXVHGE\DQRWKHUIXQFWLRQ HJDQDORJWRUTXHOLPLW WKH
IXQFWLRQEHFRPHVLQYDOLG
7KHYROWDJH 9 DSSOLHGWRWKHDQDORJLQSXWLVFRQYHUWHGWRWKHWRUTXHYLD3U$QDORJ
WRUTXHIHHGIRUZDUGFRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQG LQ&&:
GLUHFWLRQLILWLVSRVLWLYHYROWDJHRULQ&:GLUHFWLRQLIQHJDWLYH
7KH FRQYHUVLRQ RI DQDORJ LQSXW LQSXW YROWDJH >9@ WR WKH WRUTXH FRPPDQG >@ WR WKH
PRWRUPD\EHH[SUHVVHGPDWKHPDWLFDOO\DVIROORZV
7RUTXHFRPPDQG ðLQSXWYROWDJH 9 3UVHWXSYDOXHð
Related
Pr6.02 9HORFLW\GHYLDWLRQH[FHVVVHWXS
0 to 100 r/min 0 P
:KHQWKHVSHHGGHYLDWLRQ GLIIHUHQFHEHWZHHQLQWHUQDOSRVLWLRQDOFRPPDQGDQGDFWXDO
VSHHG H[FHHGVWKLVYDOXH(UU6SHHGRYHUGHYLDWLRQSURWHFWLRQRFFXUV
7KLVSURWHFWLRQLVQRWGHWHFWHGZKHQWKHVHWXSYDOXHLV
Related
Pr6.04 JOG trial run command speed
0 to 500 r/min 300 P S T F
6HWXSWKHFRPPDQGVSHHGXVHGIRU-2*WULDOUXQ YHORFLW\FRQWURO
Related page %HIRUHXVLQJUHIHUWR33UHSDUDWLRQ7ULDO5XQ
Related
Pr6.05 Position 3rd gain valid time
0 to 10000 0.1ms 0 P F
6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG
:KHQQRWXVLQJWKLVSDUDPHWHUVHW3UWRDQG3UWR
7KLVLVYDOLGIRURQO\SRVLWLRQFRQWUROIXOOFORVHGFRQWURO
Related
Pr6.06 Position 3rd gain scale factor
50 to 1000 % 100 P F
6HWXSWKHUGJDLQE\DPXOWLSO\LQJIDFWRURIWKHVWJDLQ
UGJDLQ VWJDLQð Pr6.06/100


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Pr6.07 Torque command additional value
ïWR % 0 P S F
6HW XS WKH RIIVHW ORDG FRPSHQVDWLRQ YDOXH XVXDOO\ DGGHG WR WKH WRUTXH FRPPDQG LQ D
FRQWUROPRGHH[FHSWIRUWKHWRUTXHFRQWUROPRGH 2
8SGDWHWKLVSDUDPHWHUZKHQWKHYHUWLFDOD[LVPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Preparation
Related
Positive direction torque compensation Range Unit Default control mode
Pr6.08
value ïWR % 0 P F
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHGWRWKHWRUTXHFRPPDQGZKHQ
IRUZDUGSRVLWLRQDOFRPPDQGLVIHG
8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG 3
Related
Negative direction torque compensation Range Unit Default
Connection
control mode
Pr6.09
value ïWR % 0 P F
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHGWRWKHWRUTXHFRPPDQGZKHQ
QHJDWLYHGLUHFWLRQSRVLWLRQDOFRPPDQGLVIHG
8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQFRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
4
Related
Pr6.10 )XQFWLRQH[SDQVLRQVHWXS
0 to 63 — 0 P S T F
Setup
Set up the function in unit of bit.
Setup value
Function
[0] 1
bit 0 6SHHGREVHUYHU ,QYDOLG Valid
bit 1 'LVWXUEDQFHREVHUYHU ,QYDOLG Valid 5
9DOLGRQO\ZKHQVWJDLQ
bit 2 'LVWXUEDQFHREVHUYHURSHUDWLRQVHWXS $OZD\VYDOLG
is selected.
Adjustment
bit 3 ,QHUWLDUDWLRVZLWFKLQJ ,QYDOLG Valid
bit 4 &XUUHQWUHVSRQVHLPSURYHPHQW ,QYDOLG Valid
bit 5 $QDORJWRUTXH)) ,QYDOLG Valid
* bit 0 = LSB

6
control mode
Pr6.11 Current response setup
50 to 100 % 100 P S T F
When in Trouble
)LQHWXQHWKHFXUUHQWUHVSRQVHZLWKUHVSHFWWRGHIDXOWVHWXS
7
Supplement


4-53
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Related
Pr6.13 2nd Inertia ratio
0 to 10000 % 250 P S T F
Set 2nd inertia ratio.

<RXFDQVHWXSWKHUDWLRRIWKHORDGLQHUWLDDJDLQVWWKHURWRU RIWKHPRWRU LQHUWLD
3U ORDGLQHUWLDURWRULQHUWLD ð>@
Caution ,IWKHLQHUWLDUDWLRLVFRUUHFWO\VHWWKHVHWXSXQLWRI3UDQG3UEHFRPHV +] :KHQ

WKHLQHUWLDUDWLRRI3ULVODUJHUWKDQWKHDFWXDOWKHVHWXSXQLWRIWKHYHORFLW\ORRSJDLQ
EHFRPHVODUJHUDQGZKHQWKHLQHUWLDUDWLRRI3ULVVPDOOHUWKDQWKHDFWXDOWKHVHWXSXQLW
RIWKHYHORFLW\ORRSJDLQEHFRPHVVPDOOHU
Related
Pr6.14 Emergency stop time at alarm
0 to 1000 1ms 200 P S T F
6HWXSWKHWLPHDOORZHGWRFRPSOHWHHPHUJHQF\VWRSLQDQDODUPFRQGLWLRQ([FHHGLQJWKLV
time puts the system in alarm state.
:KHQVHWXSYDOXHLVLPPHGLDWHVWRSLVGLVDEOHGDQGWKHLPPHGLDWHDODUPVWRSLVHQDEOHG
Related
Pr6.15 2nd over-speed level setup
0 to 20000 r/min 0 P S T F
:KHQ WKH PRWRU VSHHG H[FHHGV WKLV VHWXS WLPH GXULQJ HPHUJHQF\ VWRS VHTXHQFH LQ DQ
DODUPFRQGLWLRQ(UUQGRYHUVSHHGSURWHFWLRQZLOOEHDFWLYDWHG
7KHRYHUVSHHGOHYHOEHFRPHVWLPHVRIWKHPRWRUPD[VSHHGE\VHWWLQJXSWKLVWR
Related
Pr6.17 * )URQWSDQHOSDUDPHWHUZULWLQJVHOHFWLRQ
0 to 1 — 0 P S T F
6SHFLI\WKH((3520ZULWLQJSURFHGXUHZKHQSDUDPHWHULVHGLWHGIRUPWKHIURQWSDQHO
Setup value Writing
[0] 'RQRWZULWHWR((3520DWWKHVDPHWLPH
1 :ULWHWR((3520DWWKHVDPHWLPH
Related
Pr6.18 * 3RZHUXSZDLWWLPH
0 to 100 0.1s 0 P S T F
6HWXSWKHVWDQGDUGLQLWLDOL]DWLRQWLPH Vњ DIWHUSRZHUXS

Related page 3´((3520:ULWLQJ0RGHµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

4-54
1

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Related
Pr6.19 * Encoder Z phase setup
0 to 32767 pulse 0 P S T F
,IWKHQXPEHURIRXWSXWSXOVHVSHURQHPRWRUUHYROXWLRQDIWHUGLYLVLRQRISXOVHRXWSXWLVQRW
DQLQWHJHUÀQHDGMXVWWKHZLGWKRIHQFRGHU=SKDVH 2
Related
Preparation
Pr6.20 * =SKDVHVHWXSRIH[WHUQDOVFDOH
0 to 400 ѥV 0 F
6HWXSWKH=SKDVHUHJHQHUDWLYHZLGWKRIH[WHUQDOVFDOHLQXQLWRIWLPH(YHQLIWKHZLGWKRI
=SKDVHVLJQDOFDQQRWEHGHWHFWHGEHFDXVHWKHZLGWKHTXLYDOHQWRIWKHWUDYHOGLVWDQFHIURP
WKHH[WHUQDOVFDOHLVWRRVKRUWWKH=SKDVHVLJQDOZLOOEHRXWSXWIRUDWOHDVWWKHSHULRGVHWWR
this parameter. 3
Related
6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH Range Unit Default
Connection
control mode
Pr6.21 *
setup 0 to 228 pulse 0 F
)XOOFORVHGFRQWUROXVLQJVHULDODEVROXWHH[WHUQDOVFDOH:KHQRXWSXWWLQJSXOVHVE\XVLQJWKH
H[WHUQDOVFDOHDVWKHVRXUFHRIWKHRXWSXWVHWWKH=SKDVHRXWSXWLQWHUYDOLQXQLWVRI$SKDVH
RXWSXWSXOVHVRIWKHH[WHUQDOVFDOH EHIRUHPXOWLSOLHGE\
Setup value Content 4
[0] 2XWSXW=SKDVHRQO\DWDEVROXWHSRVLWLRQRIH[WHUQDOVFDOH
$IWHUWKHSRZHULVIHGWRWKHGULYHUWKH=SKDVHDVLWFURVVHVWKH]HURDW
WKHDEVROXWHSRVLWLRQRIH[WHUQDOVFDOHLVRXWSXWLQV\QFKURQRXVZLWKWKH
Setup
1 to 268435456
$SKDVH6XEVHTXHQWO\WKH=SKDVHLVRXWSXWDWWKH$SKDVHRXWSXWSXOVH
LQWHUYDOVVHWWRWKLVSDUDPHWHU
Related
$%SKDVHH[WHUQDOVFDOHSXOVHRXWSXW Range Unit Default
Pr6.22 *
method selection 0 to 1 — 0
control mode
F 5
6HOHFWWKHSXOVHUHJHQHUDWLRQPHWKRGRI$%DQG=SDUDOOHOH[WHUQDOVFDOH
Adjustment
Setup value Regenerating method
[0] 'LUHFWO\RXWSXWWKHVLJQDOVIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
2XWSXW$DQG%SKDVHVLJQDOVUHFRYHUHGIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV
1
Z-phase is output directly.

control mode
6
Pr6.23 Disturbance torque compensating gain
ïWR % 0 P S
When in Trouble
6HWXSWRFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH
$IWHUVHWWLQJXS3ULQFUHDVH3U
7KH GLVWXUEDQFH VXSSUHVVLQJ FDSDELOLW\ LQFUHDVHV E\ LQFUHDVLQJ WKH JDLQ EXW LW LV
DVVRFLDWHGZLWKLQFUHDVLQJYROXPHRIRSHUDWLRQQRLVH
7KLVPHDQVWKDWZHOOEDODQFHGVHWXSFDQEHREWDLQHGE\DGMXVWLQJ3UDQG3U
7
Supplement


4-55
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Related
Pr6.24 Disturbance observer filter
0 to 2500 0.01ms 53 P S
6HWXSWKHÀOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFHWRUTXHFRPSHQVDWLRQ
)LUVW VHW XS 3U WR D ODUJHU YDOXH DQG FKHFN WKH RSHUDWLRQ ZLWK 3U 'LVWXUEDQFH
WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH
RI3U$ORZÀOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\
DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ
QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG
Related
Pr6.27 * Alarm latch time selection
0 to 10 — 5 P S T F
Set up the latch time.

Setup value Content
0 /DWFKWLPHLQÀQLWH
1 1 [s]
2 2 [s]
3 3 [s]
4 4 [s]
[5] 5 [s]
Latch time
6 6 [s]
7 7 [s]
8 8 [s]
9 9 [s]
10 10 [s]
Related
Pr6.31 Real time auto tuning estimation speed
0 to 3 — 1 P S T F
6HWXSWKHORDGFKDUDFWHULVWLFVHVWLPDWLRQVSHHGZLWKWKHUHDOWLPHDXWRWXQLQJEHLQJYDOLG$
KLJKHUVHWXSYDOXHDVVXUHVIDVWHUUHVSRQVHWRDFKDQJHLQORDGFKDUDFWHULVWLFVEXWLQFUHDVHV
YDULDWLRQV LQ GLVWXUEDQFH HVWLPDWLRQ 5HVXOW RI HVWLPDWLRQ LV VDYHG WR ((3520 HYHU\
minutes.
Setup value Mode Description
0 1RFKDQJH Stop estimation of load characteristics.
[1] $OPRVWFRQVWDQW 5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\PLQXWH
2 6ORZHUFKDQJH 5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\VHFRQG
Obtain best suitable estimation in response to changes in load
3* Faster change
characteristics.
* ,IWKHDXWRPDWLFRVFLOODWLRQGHWHFWLRQLVHQDEOHGE\WKHVXSSRUWVRIWZDUH3$1$7(50WKH
VHWXSYDOXHLVXVHG

7KHVHWXSVXSSRUWVRIWZDUH3$1$7(50FDQEHGRZQORDGHGIURPRXUZHEVLWH

4-56
1

Related
Pr6.32 Real time auto tuning custom setup
ïWR — 0 P S T F
:KHQWKHRSHUDWLRQPRGHRIUHDOWLPHDXWRWXQLQJLVVHWWRWKHFXVWRPL]H 3U VHW

WKHDXWRPDWLFDGMXVWLQJIXQFWLRQDVVKRZQEHORZ 2
Bit Content Description
Preparation
Enable/disable the load characteristics estimation function.
[0] Disable
Load char-
1 Enable
1 to 0 acteristics
estimation * * ,I WKH ORDG FKDUDFWHULVWLFV HVWLPDWLRQ LV GLVDEOHG WKH FXUUHQW VHWXS
FDQQRWEHFKDQJHGHYHQLIWKHLQHUWLDUDWLRLVXSGDWHGDFFRUGLQJWR
WKHHVWLPDWHGYDOXH:KHQWKHWRUTXHFRPSHQVDWLRQLVXSGDWHGE\
3
WKHHVWLPDWHGYDOXHLWLVFOHDUHGWR LQYDOLG
Connection
Set up update to be made based on result of the load characteristics
estimation of Pr0.04 Inertia ratio.
Inertia ratio
3 to 2 Setup value Function
update
[0] Use the current setup.
1 8SGDWHE\WKHHVWLPDWHGYDOXH
Set up the update to be made according to the results of load

4
FKDUDFWHULVWLFVHVWLPDWLRQRI3U7RUTXHFRPPDQGDGGLWLRQDOYDOXH
3U SRVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH DQG 3U
Setup
QHJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
Setup value Function Compensation setup
[0] Use current setup Pr6.07 Pr6.08 Pr6.09
Torque
6 to 4 1 Disable torque compensation 0 clear 0 clear 0 clear
compensation
2 9HUWLFDOD[LVPRGH Update 0 clear 0 clear
3 Friction compensation Update /RZ /RZ
5
ORZ
Friction compensation
4 Update Middle Middle
Adjustment
PLGGOH
Friction compensation
5 Update High High
KLJK
Enable/disable the basic gain setup to be made according to Pr0.03

Real time auto tuning mechanical stiffness selection.
Stiffness
7
setup
Setup value
[0]
Function
Disable
6
1 Enable
When in Trouble
(QDEOHGLVDEOHWKHFKDQJHRISDUDPHWHUWKDWLVQRUPDOO\VHWDWDÀ[HGYDOXH
)L[HG
8 parameter
setup
1 6HWWRDÀ[HGYDOXH
6HOHFWWKHJDLQVZLWFKLQJUHODWHGSDUDPHWHUWREHXVHGZKHQWKHUHDO 7
time auto tuning is enabled.
Gain
Supplement
10 to 9 VZLWFKLQJ
setup
1 'LVDEOHJDLQVZLWFKLQJ
2 (QDEOHJDLQVZLWFKLQJ
FRQWLQXHG
4-57
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Caution 7KLVSDUDPHWHUVKRXOGEHVHWXSELWE\ELW7RSUHYHQWVHWWLQJHUURUXVHRIWKHVHWXSVXSSRUW
VRIWZDUHLVUHFRPPHQGHGZKHQHGLWLQJSDUDPHWHU
6HWXSSURFHGXUHRIELWZLVHSDUDPHWHU!
:KHQVHWWLQJSDUDPHWHUWRDYDOXHRWKHUWKDQFDOFXODWHWKHVHWXSYDOXHRI3ULQWKH
IROORZLQJSURFHGXUH
,GHQWLI\WKH/6%RIWKHVHWXS
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0XOWLSO\WKHVHWXSYDOXHE\SRZHURI /6%
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24ð
3HUIRUPVWHSV DQG IRUHYHU\VHWXSVVXPXSWKHYDOXHVZKLFKDUHWREH3UVHWXSYDOXH
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WRUTXHFRPSHQVDWLRQ IULFWLRQFRPSHQVDWLRQ PLGGOH VWLIIQHVVVHWXS HQDEOH
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20ð2ð4ð7ð8ð9ð
Related
Pr6.34 Hybrid vibration suppression gain
0 to 30000 0.1/s 0 F
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Related
Pr6.35 Hybrid vibration suppression filter
0 to 6400 0.01ms 10 F
6HWXSWKHWLPHFRQVWDQWRIWKHK\EULGYLEUDWLRQVXSSUHVVLRQÀOWHUIRUIXOOFORVHGFRQWUROOLQJ
:KLOH GULYLQJ XQGHU IXOOFORVHG FRQWURO JUDGXDOO\ LQFUHDVH WKH VHWXS YDOXH DQG FKHFN
changes in the response.
Related
Pr6.37 Oscillation detecting level
0 to 1000 0.1% 0 P S T F
6HWXSWKHRVFLOODWLRQGHWHFWLQJOHYHO
8SRQ GHWHFWLRQ RI D WRUTXH YLEUDWLRQ ZKRVH OHYHO LV KLJKHU WKDQ WKLV VHWXS YDOXH WKH
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Related
Pr6.38 * Alarm mask setup
ïWR — 0 P S T F
Set up the alarm detection mask. Placing 1 to the corresponding bit position disables
detection of the alarm condition.
Related
Pr6.39 For manufacturer's use
— — 0
)L[HGWR


4-58
4 2.Trial Run (JOG run) 1

Setup Inspection Before Trial Run
(1) Inspection on wiring

0LVZLULQJ" (VSHFLDOO\SRZHULQSXWDQGPRWRURXWSXW
6KRUWRUJURXQGHG"
/RRVHFRQQHFWLRQ"
2
(2) Confirmation of power supply and voltage
5DWHGYROWDJH"
Preparation
Power Display LED
supply
Connection
4
(3) Fixing of the servo motor
8QVWDEOHPRXQWLQJ"
Setup
(4) Separation from the
PHFKDQLFDOV\VWHP
Connector X6
(5) Release of the brake
5
ground
Adjustment
Machine Motor
(6) Turn to Servo-OFF after finishing the trial run by pressing .

6
When in Trouble
7
Supplement
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2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU ; 6DIHW\
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4-59
4 2.Trial Run (JOG run)
Setup Trial Run by Connecting the Connector X4
Trial Run (JOG run) at Position Control Mode

&RQQHFWWKH&RQQHFWRU;
(QWHUWKHSRZHU '&WR9 WRFRQWUROVLJQDO &20&20²
(QWHUWKHSRZHUWRWKHGULYHU
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PRGHVHWXS
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&RQQHFW WKH 6HUYR21 LQSXW 65921 DQG &20² &RQQHFWRU ; 3LQ WR EULQJ
WKHGULYHUWR6HUYR21VWDWXVDQGHQHUJL]HWKHPRWRU
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&KHFNWKHPRWRUURWDWLRQDOVSHHGDWPRQLWRUPRGHZKHWKHU
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Connector X4
7
COM+
DC 29
SRV-ON
12V to 24V
41
COM-
3
PULS1
1kї 4
PULS2 In case of
5 open collector input
DC SIGN1
12V 1kї 6
SIGN2
2kї H/L
44 20kї
PULSH1 PULS
120ї
45 in case of
PULSH2 2kї 20kї
line receiver
46 2kї 20kї
SIGNH1 SIGN input
120ї
47 SIGNH2
2kї 20kї
13
GND
3DUDPHWHU
Pr No. Title Setup value
0.01 Control mode setup 0
5.04 2YHUWUDYHOLQKLELWLQSXWVHWXS 1
0.05 Selection of command pulse input 0/1
0.07 Command pulse input mode setup 1
5.18 ,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLQSXW 1
5.17 Counter clear input mode 2
,QSXWVLJQDOVWDWXV
No. Title of signal Monitor display
0 6HUYR21 $

4-60
Trial Run by Connecting the Connector X4
1

Trial Run (JOG run) at Velocity Control Mode
(QWHUWKHSRZHU '&WR9 WRFRQWUROVLJQDO &20&20²
2
Preparation
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;3LQ WRWXUQWR6HUYR21DQGHQHUJL]HWKHPRWRU
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FRPPDQGLQSXW635 &RQQHFWRU;3LQ DQG*1' &RQQHFWRU;3LQ DQG
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3
:KHWKHUWKHPRWRUVWRSVZLWK]HURFRPPDQGRUQRW
Connection
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:KHQ\RXZDQWWRFKDQJHWKHURWDWLRQDOVSHHGDQGGLUHFWLRQVHWXSWKHIROORZLQJSD-
rameters again.
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3U6SHHGFRPPDQGURWDWLRQDOGLUHFWLRQVHOHFWLRQ HWHU6HWXS 3DUDPHWHUVIRU
9HORFLW\7RUTXH&RQWURO
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,I WKH PRWRU GRHV QRW UXQ FRUUHFWO\ UHIHU WR 3 'LVSOD\ RI )DFWRU IRU 1R0RWRU
5XQQLQJRI3UHSDUDWLRQ
Setup
:LULQJ'LDJUDP
7
COM+
29
DC
SRV-ON
12V to 24V 26 Run with ZEROSPD switch close,
ZEROSPD
and Stop with open
41
COMï
In case of bi-directional operation
5
(Positive/Negative), provide a bipolar
14 power supply, or use with Pr3.15 = 3.
Adjustment
DC SPR/TRQR/SPL
10V 15 In case of one-directional operation
GND
3DUDPHWHU
5.04 2YHUWUDYHOLQKLELWLQSXWVHWXS 1 6
3.15 Speed zero-clamp function selection 1
When in Trouble
3.00 6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
3.01 Speed command rotational direction selection
3.02 Input gain of speed command Set up as
3.03 5HYHUVDORIVSHHGFRPPDQGLQSXW required
4.22 $QDORJLQSXW $, RIIVHWVHWXS
4.23 $QDORJLQSXW $, ILOWHU
,QSXWVLJQDOVWDWXV 7
Supplement
0 6HUYR21 $
5 Speed zero clamp —

4-61
Trial Run by Connecting the Connector X4
Trial Run (JOG run) at Torque Control Mode

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6HWDORZHUYDOXHWR3U WKVSHHGRIVSHHGVHWXS
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3LQ DQG&20² 3LQRI&RQQHFWRU; WRWXUQWR6HUYR21VWDWXV
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3LQRI&RQQHFWRU;
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3UInput gain of torque command 5HIHUWR33DUDPHWHU6HWXS
3U,QSXWUHYersal of torque command 3DUDPHWHUVIRU9HORFLW\7RUTXH&RQ-
3U6SHHGOLPLWYDOXH WURO
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QLQJRI3UHSDUDWLRQ
:LULQJ'LDJUDP
7
COM+
DC 29
SRV-ON
12V to 24V
41
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For bi-directional running (Positive/Negative),

provide a bipolar power supply.
14
DC
SPR/TRQR
10V 15 In case of one way running
GND
3DUDPHWHU
5.04 2YHUWUDYHOLQKLELWLQSXWVHWXS 1
3.15 Speed zero-clamp function selection 0
3.17 Selection of torque command 0
3.19 Input gain of torque command Set up as
3.20 ,QSXWUHYHUVDORIWRUTXHFRPPDQG required
3.21 6SHHGOLPLWYDOXH ORZHUYDOXH
,QSXWVLJQDOVWDWXV
0 6HUYR21 $
5 Speed zero clamp —

4-62
4 2.Trial Run (JOG run) 1

Setup Setup of Motor Rotational Speed and Input Pulse Frequency
Input pulse frequency Motor rotational speed Pr0.08

(pps) (r/min) 17-bit 20-bit
17
2 220
2M 3000
40000 40000
2
217 220
500K 3000
10000 10000
Preparation
217 220
250K 3000
5000 5000
217 220
100K 3000
2000 2000
217 220
500K 1500
20000 20000 3
Note :KHQVHWWLQJ3UDQGHQFRGHUUHVROXWLRQLVDXWRPDWLFDOO\VHWXSDVQXPHUDWRUV)RU
Connection
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Caution 0D[LQSXWSXOVHIUHTXHQF\YDULHVGHSHQGLQJRQLQSXWWHUPLQDOV
7KHGHVLUHGVHWWLQJFDQEHGHWHUPLQHGE\VHOHFWLQJYDOXHRIQXPHUDWRUDQGGHQRPLQD-
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Setup
WLQJVDUHZLWKLQWKHVSHFLÀHGUDQJH
Pulley ratio : 18
Relation between the motor 60° 60
rotational speed and input Gear ratio : 12
73
pulse counts Gear
Total reduction ratio : 18
365 5
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Adjustment
DV QXPHUDWRUGHQRPLQDWRU H[SUHVV LW DV 3U3U ZLWK 2 0
1
Pr0.08 = 0. )RU IXOO FORVHG FRQWUROOLQJ VHWWLQJ RI 3U LV LJ- 21 2
QRUHGDQGVHWWLQJVRI3UDQG3UDUHDOZD\VDSSOLHG 22 4
3
HJ :KHQ\RXZDQWWRURWDWHWKHPRWRUE\ZLWKWKHORDG 2 8
24 16
of total reduction ratio of 18/365.
Encoder
25
6
32
6
2 64
17-bit 20-bit 27 128
When in Trouble
Pr0.09 5840 5840 28 256

9
Pr0.10 108 67500 2 512
210 1024
To rotate the output shaft by To rotate the output shaft by 211 2048
Command HQWHUWKHFRPPDQGRI HQWHUWKHFRPPDQGRI 212
4096
pulse 13 SXOVHVIURPWKH 10000 pulses from the host
213 8192
host controller. controller.
214 16384
7
365 ð17 365 ð20 215 32768
+RZWR × × × ×
Supplement
18 213 18 10000 216 65536

determine 5840 5840 217 131072
parameter ＝＝
108 67500 218 262144
219 524288
5HIHUWR3´6HWXSRIFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQUDWLR 220 1048576
HOHFWURQLFJHDUUDWLR µRI6XSSOHPHQW
4-63
MEMO

4-64
5. Adjustment 1

1. Gain Adjustment
Outline ........................................................................................................5-2
2
2. Real-Time Auto-Gain Tuning
Basic ...........................................................................................................5-4
Preparation
3. Adaptive filter
$GDSWLYHÀOWHU ............................................................................................5-10
4. Manual Gain Tuning (Basic)

Outline ......................................................................................................5-13
$GMXVWPHQWLQ3RVLWLRQ&RQWURO0RGH........................................................5-14
3
$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
4
)HHGIRUZDUGIXQFWLRQ ...............................................................................5-26
,QVWDQWDQHRXV6SHHG2EVHUYHU ................................................................5-28
Setup
'LVWXUEDQFHREVHUYHU................................................................................5-30
UGJDLQVZLWFKLQJIXQFWLRQ .......................................................................5-32
)ULFWLRQWRUTXHFRPSHQVDWLRQ ...................................................................5-34
,QHUWLDUDWLRVZLWFKLQJIXQFWLRQ ..................................................................5-36
+\EULGYLEUDWLRQGDPSLQJIXQFWLRQ ............................................................5-38 5
6. About Homing Operation
Adjustment
&DXWLRQRQ+RPLQJ2SHUDWLRQ ..................................................................5-39
Homing with Hit & Stop .............................................................................5-40
3UHVV +ROG&RQWURO ................................................................................5-41
6
When in Trouble
7
Supplement

5-1
5 1. Gain Adjustment
Adjustment Outline
Purpose
,W LV UHTXLUHG IRU WKH VHUYR GULYHU WR UXQ WKH PRWRU LQ OHDVW WLPH GHOD\ DQG DV IDLWKIXO DV
SRVVLEOHDJDLQVWWKHFRPPDQGVIURPWKHKRVWFRQWUROOHU<RXFDQPDNHDJDLQDGMXVWPHQW
VRWKDW\RXFDQUXQWKHPRWRUDVFORVHO\DVSRVVLEOHWRWKHFRPPDQGVDQGREWDLQWKHRS-
WLPXPSHUIRUPDQFHRIWKHPDFKLQH
<e.g. : Ball screw>
[r/min] Gain setup : Low Gain setup : High Gain setup : High + feed forward setup
+2000
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 : 20 Position loop gain : 100 Position loop gain : 100
Velocity loop gain : 100 Velocity loop gain : 50 Velocity loop gain : 50
Time constant of Time constant of Time constant of
V-loop integration : 50 V-loop integration : 50 V-loop integration : 50
Velocity loop feed forward : 0 Velocity loop feed forward : 0 Velocity loop feed forward : 500
Inertia ratio : 100 Inertia ratio : 100 Inertia ratio : 100
Procedures
Start adjustment
Automatic
adjustment ? No
Yes Release of
auto-adjusting
function
Ready for
command
input ? No
Use the
Yes Operation by using gain setup of auto-
adjustment ? Yes
the trial run function (see P.5-17)
(Default) (see P.5-4) No
Real time Gain automatic
auto-gain tuning setup function
Action O.K.?
No
Yes (see P.5-24)
Release of Manual gain tuning

auto-adjusting
function
Action O.K.?
No
Yes
Writing to EEPROM
Finish adjustment Consult to authorized dealer
Note )RU VDIHW\ RSHUDWLRQ ILUVW DGMXVW WKH JDLQ E\ UHIHUULQJ WR 3 6HWXS SURWHFWLYH IXQFWLRQ
EHIRUHJDLQDGMXVWPHQW

5-2
1. Gain Adjustment
Outline
1

Type
Pages
Function Explanation
to refer
(VWLPDWHVWKHORDGLQHUWLDRIWKHPDFKLQHLQUHDOWLPHDQGDXWR-
2
5HDOWLPHDXWRJDLQWXQLQJ P.5-4
PDWLFDOO\VHWVXSWKHRSWLPXPJDLQFRUUHVSRQGLQJWRWKLVUHVXOW
adjustment
Automatic
Preparation
5HGXFHVWKHUHVRQDQFHYLEUDWLRQSRLQWE\DXWRPDWLFDOO\VHWWLQJXS
WKHQRWFKÀOWHUFRHIÀFLHQWZKLFKUHPRYHVWKHUHVRQDQFHFRPSR-
$GDSWLYHÀOWHU QHQWIURPWKHWRUTXHFRPPDQGZKLOHHVWLPDWLQJWKHUHVRQDQFH P.5-10
IUHTXHQF\IURPWKHYLEUDWLQJFRPSRQHQWZKLFKDSSHDUVLQWKHPR-
WRUVSHHGLQDFWXDORSHUDWLQJFRQGLWLRQ
([HFXWHWKHPDQXDODGMXVWPHQWRUÀQHWXQLQJZKHQUHDOWLPH
0DQXDOJDLQWXQLQJ EDVLF
DXWRJDLQWXQLQJFDQQRWEHDFWLYDWHGGXHWRWKHOLPLWDWLRQRIRSHUD-
WLRQRUORDGFRQGLWLRQRUZKHQ\RXZDQWWRREWDLQDQRSWLPXP
P.5-13 3
UHVSRQVHDQGVWDELOLW\XQGHUWKHVHFRQGLWLRQV
Connection
$GMXVWPHQWRISRVLWLRQFRQWUROPRGH P.5-14
$GMXVWPHQWRIYHORFLW\FRQWUROPRGH P.5-15
%DVLFSURFHGXUH
$GMXVWPHQWRIWRUTXHFRQWUROPRGH P.5-15
$GMXVWPHQWRIIXOOFORVHGFRQWUROPRGH P.5-16
<RXFDQH[SHFWWRUHGXFHYLEUDWLRQDWVWRSSLQJDQGVHWWOLQJWLPH 4
*DLQVZLWFKLQJIXQFWLRQ DQGWRLPSURYHFRPPDQGFRPSOLDQFHE\VZLWFKLQJWKHJDLQVE\ P.5-17
LQWHUQDOGDWDRUH[WHUQDOVLJQDOV
:KHQWKHPDFKLQHVWLIIQHVVLVORZYLEUDWLRQRUQRLVHPD\EHJHQ-
Setup
6XSSUHVVLRQRIPDFKLQH
HUDWHGGXHWRWKHGLVWRUWHGD[LVKHQFH\RXFDQQRWVHWWKHKLJKHU P.5-20
UHVRQDQFH
JDLQ<RXFDQVXSSUHVVWKHUHVRQDQFHZLWKWZRNLQGVRIÀOWHU
<RXFDQREWDLQWKHKLJKHUSHUIRUPDQFHZKLOH\RXDUHQRWVDWLVÀHG
0DQXDODGMXVWPHQW
0DQXDOJDLQWXQLQJ
ZLWKWKHSHUIRUPDQFHREWDLQHGZLWKWKHEDVLFDGMXVWPHQWXVLQJ
DSSOLFDWLRQ
WKHIROORZLQJDSSOLFDWLRQIXQFWLRQV
)XQFWLRQZKLFKUHGXFHVYLEUDWLRQE\UHPRYLQJWKHYLEUDWLRQIUH- 5
'DPSLQJFRQWURO P.5-24
TXHQF\FRPSRQHQWZKLOHWKHIURQWHQGRIWKHPDFKLQHYLEUDWHV
9HORFLW\IHHGIRUZDUGIXQFWLRQLPSURYHVUHVSRQVLYHQHVVGXULQJ
Adjustment
)HHGIRUZDUGIXQFWLRQ SRVLWLRQFRQWURODQGIXOOFORVHGFRQWURO7RUTXHIHHGIRUZDUG P.5-26
LPSURYHVWKHUHVSRQVHRIYHORFLW\FRQWUROV\VWHP
)XQFWLRQZKLFKREWDLQVERWKKLJKUHVSRQVHDQGUHGXFWLRQRI
Instantaneous speed
YLEUDWLRQDWVWRSSLQJE\HVWLPDWLQJWKHPRWRUVSHHGZLWKWKHORDG P.5-28
REVHUYHU
PRGHODQGKHQFHLPSURYHVWKHDFFXUDF\RIVSHHGGHWHFWLRQ
'LVWXUEDQFHREVHUYHU
)XQFWLRQZKLFKXVHVHVWLPDWHGGLVWXUEDQFHWRUTXHWRUHGXFH
P.5-30 6
HIIHFWVRIWKHGLVWXUEDQFHWRUTXHDQGWRUHGXFHYLEUDWLRQ
When in Trouble
%\XVLQJWKLVIXQFWLRQLQDGGLWLRQWRWKHQRUPDOJDLQVZLWFKLQJ
UGJDLQVZLWFKLQJ
IXQFWLRQWKHJDLQFDQEHFKDQJHGDWWKHPRPHQWRIVWRSWRIXUWKHU P.5-32
IXQFWLRQ
VKRUWHQWKHSRVLWLRQLQJWLPH
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P.5-34
compensation XVHGWRUHGXFHHIIHFWVRIPHFKDQLFDOIULFWLRQ
,QHUWLDUDWLRVZLWFKLQJ 7KLVIXQFWLRQFDQEHXVHGZKHQVHOHFWDEOHLQHUWLDUDWLRVDUH
P.5-36
IXQFWLRQ SURYLGHG
+\EULGYLEUDWLRQGDPSLQJ 7KLVIXQFWLRQZKHQXVHGLQIXOOFORVHGFRQWUROPRGHSUHYHQWV
7
P.5-38
IXQFWLRQ YLEUDWLRQUHVXOWLQJIURPWRUVLRQRQPRWRUDQGORDG
Supplement
Remarks 3D\ H[WUD DWWHQWLRQ WR VDIHW\ ZKHQ RVFLOODWLRQ DEQRUPDO QRLVH DQG YLEUDWLRQ RFFXUV
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5-3
5 2. Real-Time Auto-Gain Tuning
Adjustment Basic
Outline
7KH V\VWHP HVWLPDWHV WKH ORDG FKDUDFWHULVWLFV LQ UHDO WLPH DQG DXWRPDWLFDOO\ SHUIRUPV
EDVLFJDLQVHWWLQJDQGIULFWLRQFRPSHQVDWLRQE\UHIHUULQJWRVWLIIQHVVSDUDPHWHU
Position/ Basic gain automatic Adaptive Friction torque

Torque
Velocity setting process compensation
command Motor
command Position/ Torque
Notch current current
Velocity command Motor
control filter Generation control
Load characteristic
estimation
Resonant frequency
measurement Motor
speed
Encoder
Servo driver
Applicable Range
5HDOWLPHDXWRJDLQWXQLQJLVDSSOLFDEOHWRDOOFRQWUROPRGHV
Real-time auto-tuning condition
6SHFLÀF UHDOWLPH DXWRWXQLQJ PRGH LV VHOHFWHG DFFRUGLQJ WR WKH FXUUHQWO\
Control Mode DFWLYH FRQWURO PRGH )RU GHWDLOV UHIHU WR WKH GHVFULSWLRQ RI 3U 5HDO
time auto-tuning setup.
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,QSXW VLJQDOV VXFK DV WKH GHYLDWLRQ FRXQWHU FOHDU DQG FRPPDQG LQSXW
Others
LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH
FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
Caution
5HDOWLPHDXWRJDLQWXQLQJPD\QRWEHH[HFXWHGSURSHUO\XQGHUWKHFRQGLWLRQVGHVFULEHG
in the table below. 8QGHU WKHVH FRQGLWLRQV FKDQJH WKH ORDG FRQGLWLRQ RU RSHUDWLRQ SDW-
WHUQRUVWDUWPDQXDOJDLQWXQLQJ VHH3
Conditions which obstruct real-time auto-gain tuning action

7KHORDGLVWRRVPDOORUODUJHFRPSDUHGWRWKHURWRULQHUWLD OHVVWKDQ
Load inertia WLPHVRUPRUHWKDQWLPHV
7KHORDGLQHUWLDFKDQJHVWRRTXLFNO\
7KHPDFKLQHVWLIIQHVVLVH[WUHPHO\ORZ
Load
1RQOLQHDUFKDUDFWHULVWLFVVXFKDVEDFNODVKH[LVW
7KHPRWRULVUXQQLQJFRQWLQXRXVO\DWORZVSHHGRI >UPLQ@RUORZHU
$FFHOHUDWLRQGHFHOHUDWLRQLVVORZ >UPLQ@SHU>V@RUORZ
$FFHOHUDWLRQGHFHOHUDWLRQ WRUTXH LV VPDOOHU WKDQ XQEDODQFHG ZHLJKWHG
Action
YLVFRXVIULFWLRQWRUTXH
pattern
:KHQ WKH VSHHG FRQGLWLRQ RI >UPLQ@ RU PRUH DQG DFFHOHUDWLRQ
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>PV@

5-4
Basic
1

How to Operate
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6HWXS3U 6HWXSRIUHDOWLPHDXWRJDLQWXQLQJPRGH WR
'HIDXOWLVVHWWR
2
Setup * 9HORFLW\DQGWRUTXHFRQWUROVDUHWKH
Real-time auto-gain tuning
Preparation
value VDPHDVLQWKHVWDQGDUGPRGH
0 Invalid * 7RUTXHFRQWUROLVWKHVDPHDVLQWKH
1 6WDQGDUG VWDQGDUGPRGH
* 9HORFLW\FRQWUROLVWKHVDPHDVLQWKH
2 Positioning *1
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3 9HUWLFDOD[LV*2 WKHVDPHDVLQWKHVWDQGDUGPRGH
4 )ULFWLRQFRPSHQVDWLRQ*3 * &HUWDLQIXQFWLRQ V LVQRWDYDLODEOH 3
5 /RDGFKDUDFWHULVWLFPHDVXUHPHQW LQDVSHFLÀFFRQWUROPRGH5HIHUWR
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Connection
6 Customize *4
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QHVVVHWXS)RUGHWDLOVVHH3DQG
7XUQRQVHUYRDQGVWDUWWKHPDFKLQH
4
(VWLPDWLRQRIORDGFKDUDFWHULVWLFVVWDUWV
:KHQWKHORDGFKDUDFWHULVWLFVDUHGHWHUPLQHG3U,QHUWLDUDWLRLVXSGDWHG
Setup
,QDVSHFLÀFPRGHWKHIROORZLQJSDUDPHWHUVDUHFKDQJHG
3U7RUTXHFRPPDQGDGGLWLRQDOYDOXH
3U3RVLWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
3U1HJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH
:KHQYDOXHRI3U5HDOWLPHDXWRWXQLQJVWLIIQHVVVHWXSLVLQFUHDVHGWKHPRWRUUH- 5
VSRQVLYHQHVVZLOOEHLPSURYHG
'HWHUPLQHWKHPRVWDSSURSULDWHVWLIIQHVVLQUHODWLRQWRWKHSRVLWLRQLQJVHWXSWLPHDQG
Adjustment
YLEUDWLRQFRQGLWLRQ
7RVDYHWKHUHVXOWWRPHPRU\ZULWHWKHGDWDWR((3520
Caution ,ISRZHULVWXUQHGRIIZLWKLQPLQXWHVDIWHUWKHHQGRIWXQLQJSURFHVVWKHUHVXOWRIWKH
UHDOWLPHDXWRWXQLQJLVQRWVDYHG,IWKHUHVXOWLVQRWVDYHGPDQXDOO\ZULWHSDUDPHWHUVWR
((3520DQGWKHQWXUQRIISRZHU
6
When in Trouble
7
Supplement
Note :KLOHWKHDXWRWXQLQJLVYDOLGSDUDPHWHUVWKDWDUHWREHDXWRPDWLFDOO\DGMXVWHGFDQQRWEH
changed.
Related page 3´((3520:ULWLQJ0RGHµ3´'HWDLOVRISDUDPHWHUµ

5-5
Basic
Parameters set/changed by real-time auto-gain tuning

3DUDPHWHUVZKLFKDUHXSGDWHG
7KH UHDOWLPH DXWRWXQLQJ IXQFWLRQ XSGDWHV WKH IROORZLQJ SDUDPHWHUV DFFRUGLQJ WR
3U 5HDOWLPH DXWRWXQLQJ VHWXS DQG 3U 5HDOWLPH DXWRWXQLQJ FXVWRP VHWXS
DQGE\XVLQJWKHORDGFKDUDFWHULVWLFHVWLPDWHYDOXHV
Class No. Title Function
8SGDWHVWKLVSDUDPHWHUZKHQWKHUHDOWLPHDXWR
0 04 ,QHUWLDUDWLR
WXQLQJLQHUWLDUDWLRXSGDWHLVHQDEOHG
7RUTXHFRPPDQG 8SGDWHWKLVSDUDPHWHUZKHQWKHYHUWLFDOD[LVPRGH
6 07
additional value IRUUHDOWLPHDXWRWXQLQJLVYDOLG
3RVLWLYHGLUHFWLRQWRUTXH 8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQ
6 08
compensation value FRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
1HJDWLYHGLUHFWLRQWRUTXH 8SGDWHWKLVSDUDPHWHUZKHQWKHIULFWLRQ
6 09
compensation value FRPSHQVDWLRQPRGHIRUUHDOWLPHDXWRWXQLQJLVYDOLG
Parameters which are updated to setup value corresponding to stiffness setup

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DFFRUGLQJWR3U5HDOWLPHDXWRWXQLQJVWLIIQHVVVHWXS
1 00 VWJDLQRISRVLWLRQORRS
1 01 VWJDLQRIYHORFLW\ORRS
VWWLPHFRQVWDQWRIYHORFLW\ORRS
1 02 :KHQVWLIIQHVVVHWXSLVYDOLGXSGDWHVWKH
LQWHJUDWLRQ
SDUDPHWHUEDVHGRQWKHVHWXSYDOXH
1 04 VWWLPHFRQVWDQWRIWRUTXHÀOWHU
5HIHUWR3%DVLFJDLQSDUDPHWHUVHWXS
1 05 QGJDLQRISRVLWLRQORRS
table.
1 06 QGJDLQRIYHORFLW\ORRS
QGWLPHFRQVWDQWRIYHORFLW\
1 07
ORRSLQWHJUDWLRQ
1 09 QGWLPHFRQVWDQWRIWRUTXHÀOWHU
3DUDPHWHUVZKLFKDUHVHWWRIL[HGYDOXH
5HDOWLPHDXWRWXQLQJIXQFWLRQVHWVWKHIROORZLQJSDUDPHWHUVWRWKHÀ[HGYDOXH
Setup value when fixed parameter
Class No. Title
setup is valid.
1 03 VWÀOWHURIVSHHGGHWHFWLRQ
0
1 08 QGÀOWHURIVSHHGGHWHFWLRQ
1 10 9HORFLW\IHHGIRUZDUGJDLQ
1 11 9HORFLW\IHHGIRUZDUGÀOWHU PV
1 12 7RUTXHIHHGIRUZDUGJDLQ
0
1 13 7RUTXHIHHGIRUZDUGÀOWHU
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5-6
Basic
1

3DUDPHWHUVZKLFKDUHVHWLQUHVSRQVHWRJDLQVZLWFKLQJVHWXS
7KH UHDOWLPH DXWRWXQLQJ IXQFWLRQ VHWV WKH IROORZLQJ SDUDPHWHUV DV WKH JDLQ LV
switched.
Class No. Title Function 2
6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
1 14 2nd gain setup
maintained.
Preparation
Sets to 10 to enable the gain switching.
1 15 0RGHRISRVLWLRQFRQWUROVZLWFKLQJ
Sets to 0 to disable the gain switching.
'HOD\WLPHRISRVLWLRQFRQWURO
1 16 6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
switching
maintained.
1 17 /HYHORISRVLWLRQFRQWUROVZLWFKLQJ
+\VWHUHVLVDWSRVLWLRQFRQWURO 3
1 18 6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW
switching
maintained.
1 19 Position gain switching time
Connection
1 20 0RGHRIYHORFLW\FRQWUROVZLWFKLQJ
'HOD\WLPHRIYHORFLW\FRQWURO
1 21
switching
1 22 /HYHORIYHORFLW\FRQWUROVZLWFKLQJ
1 23
+\VWHUHVLVDWYHORFLW\FRQWURO
switching
6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW 4
maintained.
1 24 0RGHRIWRUTXHFRQWUROVZLWFKLQJ
1 25 'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ
Setup
1 26 /HYHORIWRUTXHFRQWUROVZLWFKLQJ
1 27 +\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ
3DUDPHWHUVZKLFKDUHDOZD\VVHWWRLQYDOLG
7KH IROORZLQJ VHWWLQJV DUH DOZD\V VHW WR LQYDOLG ZKHQ 3U 5HDOWLPH DXWRWXQLQJ 5
setup is not 0.
Adjustment
,QVWDQWDQHRXV VSHHG REVHUYHU IXQFWLRQ HQDEOH
ELW ELW GLVWXUEDQFHREVHUYHUIXQFWLRQHQDEOH
6 10 )XQFWLRQH[SDQVLRQVHWXS
ELW ELW DQG LQHUWLD UDWLR VZLWFKLQJ IXQFWLRQ
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6 13 QG,QHUWLDUDWLR
'LVWXUEDQFHWRUTXH 3 D U D P H W H U V H W X S F D Q E H F K D Q J H G E X W
6
6 23
compensating gain GLVWXUEDQFHREVHUYHULVGLVDEOHG
When in Trouble
6 24 'LVWXUEDQFHREVHUYHUÀOWHU
7
Supplement
Related page 3´3Uµ3´3Uµ

5-7
Basic
Caution
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5HDOWLPH DXWRWXQLQJ VWLIIQHVV VHWXS DEQRUPDO VRXQG RU RVFLOODWLRQ PD\ EH JHQHU-
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6HW3U,QHUWLDOUDWLRWRWKHFDOFXODWLRQDOYDOXHRIWKHHTXLSPHQWDQGVHW3U
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PRWRUWRWXUQLQWKHVDPHGLUHFWLRQFRQWLQXRXVO\,IWKHFKDQJHGVWLIIQHVVVHWWLQJYDOXH
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$IWHU FKDQJLQJ VWLIIQHVV VWRS WKH PRWRU DQG FKHFN WR VHH WKDW WKH QHZ VWLIIQHVV
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Invalidation of Real-Time Auto-Gain Tuning

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5-8
Basic
1

Basic gain parameter setup table
1st gain 2nd gain
A4
2
*2
Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr1.05 Pr1.06 Pr1.07 Pr1.09 *2
Series
Time Time
Time Time Stiffness
Stiffness Gain of Gain of constant Gain of Gain of constant
constant constant setup
position velocity of velocity position velocity of velocity
Preparation
of torque of torque (reference)
loop loop loop loop loop loop
filter filter *1
[0.1/s] [0.1Hz] integration [0.1/s] [0.1Hz] integration
[0.01ms] [0.01ms]
[0.1ms] [0.1ms]
0 20 15 3700 1500 25 15 10000 1500 —
1 25 20 2800 1100 30 20 10000 1100 —
2 30 25 2200 900 40 25 10000 900 —
3 40 30 1900 800 45 30 10000 800 —
3
4 45 35 1600 600 55 35 10000 600 —
Connection
5 55 45 1200 500 70 45 10000 500 —
6 75 60 900 400 95 60 10000 400 —
7 95 75 700 300 120 75 10000 300 —
8 115 90 600 300 140 90 10000 300 0
9 140 110 500 200 175 110 10000 200 —
10
*3
175 140 400 200 220 140 10000 200 —
4
11 320 180 310 126 380 180 10000 126 1
12 390 220 250 103 460 220 10000 103 2
*3
13 480 270 210 84 570 270 10000 84 3
Setup
14 630 350 160 65 730 350 10000 65 4
15 720 400 140 57 840 400 10000 57 5
16 900 500 120 45 1050 500 10000 45 6
17 1080 600 110 38 1260 600 10000 38 7
18 1350 750 90 30 1570 750 10000 30 8 5
19 1620 900 80 25 1880 900 10000 25 9
20 2060 1150 70 20 2410 1150 10000 20 10
Adjustment
21 2510 1400 60 16 2930 1400 10000 16 11
22 3050 1700 50 13 3560 1700 10000 13 12
23 3770 2100 40 11 4400 2100 10000 11 13
24 4490 2500 40 9 5240 2500 10000 9 14
25 5000 2800 35 8 5900 2800 10000 8 —
26 5600 3100 30 7 6500 3100 10000 7 15
6
27 6100 3400 30 7 7100 3400 10000 7 —
When in Trouble
28 6600 3700 25 6 7700 3700 10000 6 —

29 7200 4000 25 6 8400 4000 10000 6 —
30 8100 4500 20 5 9400 4500 10000 5 —
31 9000 5000 20 5 10500 5000 10000 5 —
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Supplement
Note For details of parameters, refer to P.4-13 "Details of parameter".

Download the A4 series manual from the website.

5-9
5 $GDSWLYHÀOWHU
Adjustment Adaptive filter
Outline
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tion.
Gain Filter
Position/Velocity auto-setup auto-adjustment Torque Motor
command command
Position/ Adaptive current current
Filter control Motor
Velocity control
Action command under
actual condition
Resonance frequency
estimation
Load inertia estimation
Real time Motor
auto-gain tuning speed
Encoder
Servo driver
Applicable Range
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Conditions under which the Adaptive filter is activated
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5-10
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Adaptive filter
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How to Operate
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to 5000.
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to 5000.
2 11 4th notch width selection
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2 12 4th notch depth selection
7
Supplement

5-11
$GDSWLYHÀOWHU
Adaptive filter
Caution
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5-12
5 4. Manual Gain Tuning (Basic) 1

Adjustment Outline
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Preparation
Before Making a Manual Adjustment
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connection cable
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install to the PC.
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5-13
5 4. Manual Gain Tuning (Basic)
Adjustment Adjustment in Position Control Mode
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Parameter Standard Parameter Standard
No. Title of parameter No. Title of parameter
(Pr ) value (Pr ) value
1.00 1st gain of position loop 270 0.04 Inertia ratio 100
1.01 1st gain of velocity loop 150 0.02 Setup of real time auto-gain tuning mode 0
1.02 1st time constant of velocity loop integration 370 2.00 Adaptive filter setup mode 0
1.03 1st filter of velocity detection 0 2.14 1st damping frequency 0
1.04 1st time constant of torque filter time 152 2.15 Setup of 1st damping filter 0
1.10 Velocity feed forward 0 2.16 2nd damping frequency 0
1.11 Time constant of feed forward filter 0 2.17 Setup of 2nd damping filter 0
1.05 2nd gain of position loop 270 1.14 2nd gain setup 0
1.06 2nd gain of velocity loop 150 1.15 Mode of position control switching 0
1.07 2nd time constant of velocity loop integration 370 1.16 Delay time of position control switching delay 0
1.08 2nd filter of speed detection 0 1.17 Level of position control switching 0
1.09 2nd time constant of torque filter 152 1.18 Hysteresis at position control switching 0
2.01 1st notch frequency 5000 1.19 Position gain switching time 0
2.02 1st notch width selection 2 2.22 Positional command smoothing filter 1
2.23 Positional command FIR filter 0
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Parameter Standard
Order No. Title How to adjust
(Pr ) value
1st gain of Increase the value within the range where no abnormal noise and no
1 Pr1.01 300
velocity loop 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.
1st time constant
2 Pr1.04 50 If you want to suppress vibration at stopping, setup larger value to
of torque filter
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
1st gain of
3 Pr1.00 500 the positioning time you can obtain, but too large setup may cause
position loop
oscillation.
Setup this value within the range where no problem occurs. If you
setup smaller value, you can obtain a shorter positioning time, but
1st time constant
too small value may cause oscillation. If you setup too large value,
4 Pr1.02 of velocity loop 250
deviation pulses do not converge and will be remained.
integration
Increase the value within the range where no abnormal noise
occurs.
Too large setup may result in overshoot or chattering of position
Velocity feed complete signal, hence does not shorten the settling time. If the
5 Pr1.10 300
forward gain command pulse is not even,you can improve by setting up Pr1.11
(Feed forward filter) to larger value.
Related page 3´'HWDLOVRISDUDPHWHUµ3´&RQWURO%ORFN'LDJUDPµ

5-14

Adjustment Adjustment in Velocity Control Mode
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Preparation
3
Connection
Adjustment Adjustment in Torque Control Mode
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speed limiting value.
Setup
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The torque command selection (Pr3.17) specifies the setup method.
Pr3.17 = 0 Set up by using speed limit value 1 (Pr3.21)
Pr3.17 = 1 Set up by using analog input (SPL) 5
Pr3.17 = 2 For positive direction, set up by using the speed limit value 1
(Pr3.21)
Adjustment
For negative direction, set up by using the speed limit value 2
(Pr3.22)
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value.
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5-15
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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Pr3.24 Number of encoder feedback pulses per motor rotation
=
Pr3.25 Number of external scale pulses per motor rotation
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cally set up.
2) Setup of hybrid deviation excess
Set up the minimum value of hybrid deviation excess (Pr3.28) within the
range where the gap between the motor (encoder) position and the load
(feedback scale) position will be considered to be an excess.
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We recommend the external scale as 1/40 external scale ratio 160.
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5-16

Adjustment Gain Switching Function
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Preparation
Action Command speed
Stop Run Stop Time

Status (Servo-Lock) (Servo-Lock)
Low gain High gain Low gain

Gain (1st gain) (2nd gain) (1st gain) 3
1ms 2ms
Suppress the vibration by lowering the gain.
Connection
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Execute manual Set up the same Set up Pr1.14 to Adjust Pr1.01
gain-tuning value as Pr1.05 1.19 and 1.04 at 4
Parameter without gain to 1.09 (2nd gain) (Gain switching stopping
No. Title of parameter switching to Pr1.00 to 1.04 condition) (1st gain)
(Pr ) (1st gain)
Setup
1.00 1st gain of position loop 630
1.01 1st gain of velocity loop 350 270
1.02 1st time constant of velocity integration 160
1.03 1st filter of velocity detection 0
1.04 1st time constant of torque filter 65 84
1.10 Velocity feed forward 300 5
1.11 Filter of velocity feed forward 50
1.05 2nd gain of position loop 630
Adjustment
1.06 2nd gain of velocity loop 350
1.07 2nd time constant of velocity integration 160
1.08 2nd filter of velocity detection 0
1.09 2nd time constant of torque filter time 65
1.14 Action setup of 2nd gain 0 1
1.15 1st mode of control switching 7 6
1.16 1st delay time of control switching 30
1.17 1st level of control switching 0
When in Trouble
1.18 1st hysteresis of control switching 0

1.19 Switching time of position gain 0
(QWHUWKHNQRZQ
value from load
calculation
0HDVXUHWKH
0.04 Inertia ration inertia ratio by
executing nor 7
mal auto-gain
tuning
Supplement
'HIDXOWLV

5-17
Gain Switching Function
Setup of Gain Switching Condition

3RVLWLQJFRQWUROPRGH)XOOFORVHGFRQWUROPRGH : Corresponding parameter is valid, – : invalid)
Setup of gain switching condition Setup parameters at position control, full-closed control
Switching condition to Delay time *1 Level Hysteresis *2

Pr1.15 Fig.
2nd gain Pr1.16 Pr1.17 Pr1.18
0 )L[HGWRVWJDLQ – – –
1 )L[HGWRQGJDLQ – – –
2 Gain switching input – – –
3 7RUTXHFRPPDQG A >@ >@
4 Invalid )L[HGWRVWJDLQ – – –
5 Speed command C >UPLQ@ >UPLQ@
*3 *3
6 Position deviation D >SXOVH@ >SXOVH@
7 3RVLWLRQFRPPDQGH[LVWV E – –
8 1RWLQSRVLWLRQLQJFRPSOHWH F – –
9 Speed C >UPLQ@ >UPLQ@
10 &RPPDQGH[LVWVYHORFLW\ G >UPLQ@ *5 >UPLQ@ *5
9HORFLW\FRQWUROPRGH
Setup of gain switching condition Setup parameters at velocity control mode

Pr1.20 Fig.
2nd gain Pr1.16, 1.21 Pr1.17, 1.22 Pr1.18, 1.23
2 Gain switching input – – –
3 7RUTXHFRPPDQG A >@ >@
9DULDWLRQRIVSHHGFRPPDQGLV *4 *4
4 B – > UPLQ V@ > UPLQ V@
ODUJH
5 Speed command C >UPLQ@ >UPLQ@
7RUTXHFRQWUROPRGH
Setup of gain switching condition Setup parameters at torque control mode

Pr1.24 Fig.
2nd gain Pr1.16, 1.25 Pr1.17, 1.26 Pr1.18, 1.27
2 *DLQVZLWFKLQJLQSXW*$,121 – – –
9DULDWLRQRIWRUTXHFRPPDQGLV
3 A >@ >@
ODUJH
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gain.
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LQJRQWKHFRQWUROPRGH
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(Pr1.18, 1.23, 1.27)
LV VSHHG YDULDWLRQ RI UPLQ LQ V VHW Level
( )
up the value to 1. Pr1.17 L
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Pr1.26
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5-18
Gain Switching Function
1

Fig.A Fig. B
speed N command
speed S
уS
2
level level
switching level
Preparation
switching level
delay
1st 2nd 1st gain 2nd 1st 1st 2nd 1st gain 2nd 1st
3
motor speed or Fig. C Fig. D
commanded speed N
speed S
Connection
level
delay deviation pulse

1st 2nd gain 1st
level
delay
4
1st 2nd gain 1st
Setup
Fig. E Fig. F
command speed N
speed S
delay 5
1st 2nd gain 1st
COIN
Adjustment
delay
1st 2nd gain 1st
Fig. G
6
command pulse no command pulse | actual speed | <
exists. × Pr1.16,delay time Pr1.17 level
When in Trouble
at stall in action at settling proximity of stall

2nd gain for velocity integrating
1st gain 2nd gain 2nd gain only and 1st gain for others
| actual speed | < (Pr1.17 level - Pr1.18 hysteresis)
| actual speed | < (Pr1.17 level - Pr1.178 hysteresis)

7
Supplement
Caution $ERYH)LJGRHVQRWUHÁHFWDWLPLQJODJRIJDLQVZLWFKLQJGXHWRK\VWHUHVLV 3UDQG


5-19
Adjustment Suppression of Machine Resonance
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$GDSWLYHÀOWHULVYDOLG
Pr2.00 $GDSWLYHÀOWHUPRGH
DGDSWLYHILOWHUVDUHYDOLG
,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHWWR
Pr2.07 UGQRWFKIUHTXHQF\
5000.
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Pr2.10 WKQRWFKIUHTXHQF\
,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHWWR
5000.
Pr2.11 4th notch width selection
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0,1$6$ VHULHV IHDWXUH QRUPDO QRWFK ILOWHUV <RX FDQ DGMXVW IUHTXHQF\ DQG
width and depth.
Pr2.01 VWQRWFKIUHTXHQF\ 6HWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU *1
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVW
Pr2.02 1st notch width selection
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6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKH
Pr2.03 1st notch depth selection
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6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKH
Pr2.05 2nd notch width selection
QGQRWFKÀOWHU
Pr2.06 2nd notch depth selection
QGQRWFKÀOWHU
Pr2.07 UGQRWFKIUHTXHQF\ 6HWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKÀOWHU *1
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUG
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UGQRWFKÀOWHU
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6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWK
Pr2.11 4th notch width selection
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5-20
Suppression of Machine Resonance
1

Machine characteristics at resonance
Resonance
gain
Anti-resonance
2
Notch filter frequency
Preparation
characteristics
gain
Notch
frequency
3
Connection
width width
torque
torque command
command after filtering
Depth
4
frequency automatic following frequency frequency
Adaptive filter 1st notch filter 2nd to 4th notch filter
Setup
Copying of the setup from Adjustment of frequency,
Suppress resonance point
the adaptive filter to 1st width and depth is enabled.
instantaneously.
notch filter is enabled. (refer to P.5-22)
Example of application machine

5
Gain Gain Gain
Adjustment
frequency frequency
frequency
velocity response
Machine which resonance point Machine which has multiple Machine which has small peak
varies by each machine or by aging resonance points nearby velocity response
6
daptive filter enabled Adaptive filter and Depth adjustment enabled
When in Trouble
notch filter enabled
7
Supplement

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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SOHWHO\VKXWZLWKVHWXSYDOXHEXWIXOO\UHFHLYHGZLWKVHWXSYDOXH7KHWDEOHEHORZ
VKRZVWKLVYDOXHLQG%RQWKHULJKW
Band width/center
frequency
Notch width Notch depth I/O ratio [dB]
A4 series
A5 series
(reference)
0 0.41 0.5 0 0 ï
1 0.56 0.59 1 0.01 ï
2 0.71 0.71 2 0.02 ï
3 0.86 0.84 3 0.03 ï
4 1.01 1 4 0.04 ï
5 — 1.19 5 0.05 ï
6 — 1.41 6 0.06 ï
7 — 1.68 7 0.07 ï
8 — 2 8 0.08 ï
9 — 2.38 9 0.09 ï
10 — 2.83 10 0.1 ï
11 — 3.36 15 0.15 ï
12 — 4 20 0.2 ï
13 — 4.76 25 0.25 ï
14 — 5.66 30 0.3 ï
15 — 6.73 35 0.35 ï
16 — 8 40 0.4 ï
17 — 9.51 45 0.45 ï
18 — 11.31 50 0.5 ï
19 — 13.45 60 0.6 ï
20 — 16 70 0.7 ï
80 0.8 ï
90 0.9 ï
100 1 0
Notch filter frequency characteristics

10
Depth 0, width 4
5 Depth 50, width 4
0 Depth 0, width 8
ï>G%@
ï5
Gain [dB]
ï10
ï15
ï20
ï25
ï30
10 100 1000
Frequency [Hz]

5-22
1

How to Check the Resonance Frequency of the Machine
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2
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Preparation
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6HWXSWKHDPSOLWXGHWR UPLQ RUVR QRWWRVDWXUDWHWKHWRUTXH
0DNHWKHRIIVHWWR UPLQ RUVR WRLQFUHDVHWKHVSHHGGHWHFWLQJGDWDDQGWR
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6HWXSWKHVDPSOLQJUDWHWR VHWXSUDQJHWREHWR 3
([HFXWHWKHIUHTXHQF\FKDUDFWHULVWLFDQDO\VLV
Connection
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6WDQGDUGUHYROXWLRQVDUH
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Note :KHQ\RXVHWDODUJHUYDOXHRIRIIVHWWKDQWKHDPSOLWXGHVHWXSDQGPDNHWKHPRWRUUXQ
WRWKHRQHGLUHFWLRQDWDOOWLPH\RXFDQREWDLQDEHWWHUPHDVXUHPHQWUHVXOW
Setup
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VDPSOLQJUDWHZKHQ\RXPHDVXUHDORZIUHTXHQF\EDQGLQRUGHUWRREWDLQDEHWWHUPHD-
VXUHPHQWUHVXOW
:KHQ\RXVHWDODUJHUDPSOLWXGH\RXFDQREWDLQDEHWWHUPHDVXUHPHQWUHVXOWEXW
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5
Adjustment
Relation of Gain Adjustment and Machine Stiffness
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8VHDZLGHUWLPLQJEHOW%HOWWHQVLRQWREHZLWKLQWKHSHUPLVVLEOHORDGWRWKHPRWRU 6
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When in Trouble
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7
Supplement
Note Please download the Setup support software "PANATERM" from our website and use install to
the PC.
Related page P.7-26 "Outline of setup support software "PANATERM"

5-23
5 5. Manual Gain Tuning (Application)
Adjustment Damping Control
Outline
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Front edge vibrates. Vibration

measurement
with
Setup of front edge vibration displacement
Driver sensor
frequency Motor
travel
Coupling Work Ball
PLC screw Machine
Torque
Position command Motor base
command Damping current
Position/Velocity Current Motor Load
filter control control
Motor position
Encoder
Servo driver
Applicable Range
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Conditions under which the damping control is activated
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FRQWURO
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Control mode
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3U )XOOFORVHGFRQWURO
Caution
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tions.
Conditions which obstruct the damping control effect
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Load
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5-24
Damping Control
1

How to Use
(1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20))
0HDVXUH WKH YLEUDWLRQ IUHTXHQF\ RI WKH IURQW Command Position deviation
HGJH RI WKH PDFKLQH :KHQ \RX XVH VXFK LQ- speed
2
Calculation of
VWUXPHQW DV ODVHU GLVSODFHPHQW PHWHU DQG FDQ vibration frequency
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Preparation
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LQWKHÀJXUHEHORZ'HWHUPLQHWKHIUHTXHQF\ +] RIWKHUHVLGXDOYLEUDWLRQDQGVHWWKH 3
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(2) Setup of damping filter (1st: Pr2.15, 2nd: Pr2.17, 3rd: Pr2.19, 4th: Pr2.21))
Connection
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<RX FDQ UHGXFH WKH VHWWOLQJ WLPH E\ Damping filter setup is Damping filter setup is
VHWWLQJXSODUJHUYDOXHKRZHYHUWKH appropriate. too large.
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ILJ VKRZV 6HWXS ZLWKLQ WKH UDQJH 4

ZKHUH QR WRUTXH VDWXUDWLRQ RFFXUV
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VDWXUDWLRQ RFFXUV GDPSLQJ FRQWURO command
Setup
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Caution 6HWWLQJUDQJHRIWKHGDPSLQJÀOWHUVKRXOGEHOLPLWHGDVIROORZV
+]²GDPSLQJIUHTXHQF\GDPSLQJÀOWHUVHWWLQJGDPSLQJIUHTXHQF\
(3) Setup of damping filter switching selection (Pr2.13)
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5
RIWKHPDFKLQH
Adjustment
Pr2.13 VS-SEL2 VS-SEL1 1st damping 2nd damping 3rd damping 4th damping
0 — —
— OFF
1
— 21
OFF OFF
OFF 21
2
21 OFF 6
21 21
When in Trouble
Position command
Pr2.13 1st damping 2nd damping 3rd damping 4th damping
direction
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3
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5-25
Adjustment Feed forward function
Outline
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WRUTXH IHHG IRUZDUG FDOFXODWHG E\ FRPSDULVRQ ZLWK YHORFLW\ IHHGEDFN WR WKH WRUTXH
command.
Related Parameter
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1 10
gain UDWLRRIWKLVSDUDPHWHUDQGDGGWKHUHVXOWWRWKHVSHHG
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1 11
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1 12
gain SDUDPHWHUDQGDGGWKHUHVXOWWRWKHWRUTXHFRPPDQG
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1 13
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gain
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6 10
setup $QDORJWRUTXHIHHGIRUZDUGLV9DOLG
ELW /6%
Usage example of velocity feed forward

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Positional deviation Velocity feed forward gain

0[%]
Motor speed
Positional deviation within the
Command speed 50[%] constant speed range will
reduce as the velocity
80[%] forward gain is increased.
Time

5-26
Feed forward function
1

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Preparation
Usage example of torque feed forward
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Connection
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Motor speed Velocity feed forward gain = Fixed 100[%]
Positional deviation
Command speed Torque feed forward
4
gain Positional deviation in the
0[%]
region where acceleration
50[%] is constant can be reduced
Setup
Time
by torque feed forward.
100[%]
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5
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Adjustment
Usage example of analog torque feed forward
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Torque command [%]
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When in Trouble
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6 10
FRQYHUVLRQJDLQVHWXSDQGDGGHGWRWKHWRUTXHFRPPDQG Input voltage
[V]
LQ&&:GLUHFWLRQLILWLVSRVLWLYHYROWDJHRULQ&: ï200
GLUHFWLRQLIQHJDWLYH
ï333
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Supplement
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5-27
Adjustment Instantaneous Speed Observer
Outline
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SLQJE\HVWLPDWLQJWKHPRWRUVSHHGXVLQJDORDGPRGHOKHQFHLPSURYLQJWKHDFFXUDF\
RIWKHVSHHGGHWHFWLRQ
Torque
Velocity Motor
command
command current
Velocity Current Motor Load
control control
Estimated
velocity Instantaneous
value speed observer
(Total inertia)
Load model
Motor
Position control 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
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Caution
7KLVIXQFWLRQGRHVQRWZRUNSURSHUO\RUQRHIIHFWLVREWDLQHGXQGHUWKHIROORZLQJFRQGL-
tions.
Conditions which obstruct instantaneous speed observer action
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PDFKLQHLVODUJH
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Load
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Others 6HWWOLQJUDQJHLVYHU\VPDOO

5-28
Instantaneous Speed Observer
1

Related Parameter
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2
6 10
setup ELW,QYDOLG9DOLG
Preparation
*ELW /6%
How to Use
(1) Setup of inertia ratio (Pr0.04)
Set up as exact inertia ratio as possible. 3

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Connection
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value.
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value.
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4
(2) Adjustment at normal position control
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Setup
(3) Setup of instantaneous velocity observer (Pr6.10)
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Adjustment
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6
When in Trouble
7
Supplement

5-29
Adjustment Disturbance observer
Outline
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GXFHHIIHFWRIGLVWXUEDQFHWRUTXHDQGYLEUDWLRQ
Disturbance torque
–
Torque command + +
Motor + load
Added in the direction to +
cancel the disturbance
Torque command Motor speed
+ –
Load model
Gain
Set in Pr6.23 Set in Pr6.24

Filter
Disturbance observer
Estimated disturbance torque value
Applicable Range
Conditions under which the disturbance observer is activated
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Control mode 3U 3RVLWLRQFRQWURO
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Others
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Caution
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Conditions which obstruct disturbance observer action
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Load GLVWXUEDQFHREVHUYHU
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5-30
Disturbance observer
1

Related Parameter
6HWVELWVUHODWHGWRGLVWXUEDQFHREVHUYHU
ELW ,QYDOLG 9DOLG
2
ELW $OZD\VYDOLG alid only when 1st gain is selected.
Preparation
*ELW /6%
([DPSOH
Function
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Connection
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sating gain
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How to Use
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Setup
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2) Setup of Pr6.24 (Disturbance observer filter)
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Adjustment
3) Setup of Pr6.23 (Disturbance torque compensating gain)
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6
When in Trouble
7
Supplement

5-31
Adjustment 3rd gain switching function
Outline
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positioning adjusting time.
Applicable Range
Conditions under which the 3rd gain switching function is activated
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Control mode
3U 3RVLWLRQFRQWURO
Others
Related Parameter
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6 5 6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG
valid time
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6 6
VFDOHIDFWRU UGJDLQ VWJDLQð3U

5-32
3rd gain switching function
1

How to Use
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2
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Preparation
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used.
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plied.
Connection
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4
Position speed command [r/min]
Setup
Pr6.05×0.1ms
2nd gain 3rd gain 1st gain 5

Pr1.05 to 1.09 Pr1.00 to 1.04
[3rd gain period]
Adjustment
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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WLRQYDULHV
Applicable Range
Conditions under which the Friction torque compensation is activated
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Control mode
below.
Others
Related Parameter
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6 7 command WKHWRUTXHFRPPDQGLQDFRQWUROPRGHH[FHSWIRUWKHWRUTXH
additional value FRQWUROPRGH
Positive
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GLUHFWLRQWRUTXH
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compensation
LVIHG
value
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compensation
FRPPDQGLVIHG
value

5-34
Friction torque compensation
1

How to Use
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2
[Positive direction]
Preparation
Command speed Pr6.08
Pr6.07
[
Positive direction torque
compensation value ]
Pr6.09
[ Torque command
additional value ] [
compensation value ]
Time 3
Connection
[Negative direction]
Motor Motor
de-energized de-energized
Motor energized
The friction compensation torque is the sum of the offset load compensation value which is set 4
according to the torque command additional value (always constant) and the dynamic friction
compensation torque which is set according to positive/negative direction torque compensation
value.
Setup
The command speed direction is reset upon power-up or when the motor is de-energized.
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Adjustment
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Caution 7KHRIIVHWORDGFRPSHQVDWLRQDQGG\QDPLFIULFWLRQFRPSHQVDWLRQFDQEHXVHGLQGLYLGX-
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When in Trouble
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Supplement

5-35
Adjustment Inertia ratio switching function
Outline
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IHDWXUHLVXVHIXOLQDSSOLFDWLRQZKHUHWKHORDGLQHUWLDFKDQJHVLQWZRVWHSV
Applicable Range
Conditions under which the Inertia ratio switching function is activated
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3U 9HORFLW\FRQWURO
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Control mode
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3U 9HORFLW\7RUTXHFRQWURO
Others
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Caution
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actual model.
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5-36
Inertia ratio switching function
1

Related Parameter
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Class No. Title Function 2
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ELW ,QYDOLG 9DOLG
Preparation
ELW $OZD\VYDOLG alid only when 1st gain is selected.
Function *ELW /6%
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Connection
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How to Use
4
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Setup
Inertia ratio switching
Applicable inertia ratio
input (J-SEL)
OFF VW,QHUWLDUDWLR 3U
21 QG,QHUWLDUDWLR 3U
5
Adjustment
6
When in Trouble
7
Supplement

5-37
Adjustment Hybrid vibration damping function
Outline
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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
6HWXSWKHK\EULGYLEUDWLRQVXSSUHVVLRQJDLQIRUIXOOFORVHG
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6 34
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How to Use
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gain.
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+\EULGYLEUDWLRQVXSSUHVVLRQILOWHUZKLOHFKHFNLQJUHVSRQVHFKDQJH
:KHQWKHUHVSRQVHLVLPSURYHGDGMXVW3UDQG3UWRGHWHUPLQHWKHFRPELQDWLRQ
WKDWSURYLGHVWKHEHVWUHVSRQVH

5-38
5 6. About Homing Operation 1

Adjustment Caution on Homing Operation
,Q KRPLQJ DFWLRQ E\ XVLQJ WKH KRVW FRQWUROOHU VWRS SRVLWLRQ PLJKW QRW EH VWDELOL]HG LI
WKHRULJLQLQSXW =SKDVHRIWKHHQFRGHU LVHQWHUHGZKLOHWKHPRWRULVQRWGHFHOHUDWHG
HQRXJKDIWHUWKHSUR[LPLW\LQSXWLVWXUQHGRQ6HWXSWKH21SRVLWLRQVRISUR[LPLW\LQSXW
DQGWKHSRVLWLRQRIRULJLQSRLQWFRQVLGHULQJWKHQHFHVVDU\SXOVHFRXQWVIRUGHFHOHUD- 2
WLRQ7DNHWKHSRVLWLRQLQJDFWLRQDQGKRPLQJDFWLRQLQWRDFFRXQWZKHQ\RXVHWSXWDF-
FHOHUDWLRQGHFHOHUDWLRQWLPHZLWKSDUDPHWHUVLQFHWKLVDIIHFWWKHVHDFWLRQDVZHOO
Preparation
For the details of homing, observe the instruction manual of the host controller.
([DPSOHRI+RPLQJ$FWLRQ
3UR[LPLW\GRJRQ'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
RIWKHÀUVWRULJLQLQSXW =SKDVH
3
proximity dog
proximity input
Connection
speed
origin input
encoder Z-phase 4
3UR[LPLW\GRJRII'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\
Setup
RIWKHÀUVWRULJLQLQSXW =SKDVH DIWHUWKHLQSXWLVWXQHGRII
proximity dog
proximity input
5
speed
Adjustment
origin input
encoder Z-phase
6
When in Trouble
7
Supplement

5-39
5 6. About Homing Operation
Adjustment Homing with Hit & Stop
<RXFDQVHWXSWKHKRPLQJSRVLWLRQZLWK+LW 6WRSZKHUHLWLVQRWHDV\WRLQVWDOODVHQ-
VRUGXHWRHQYLURQPHQW
(1) when you make a point where the (2) when you stop the work (load) using
work (load) hits as an origin Z-phase after making a hitting point
as a starting point, then make that
stopping point as an origin.
1st 2nd torque limit 1st 2nd torque limit
TL-SEL *1 TL-SEL *1
(
Factory setting:
no allocation ) ON
(Factory
no allocation )
setting: ON
TLC ON TLC ON
(
Factory setting:
40-pin ) (Factory
40-pin
setting:
)
50%
Torque Torque
hits hits
Counter Counter
ON
clear clear ON
command command
Motor Motor
speed speed
(1) (2) (1) (2) (3)
Z-phase
(1) (1)
(2)
(2)
origin
origin (3)
Parameter No. Title Setup example

5.22 Setup of 2nd torque limit 50 (Set up to less than 100%)
0.14 Excess setup of position deviation 25000
5.13 Setup of over-speed level 0 (6000r/min)
5.21 Selection of torque limit 3
Remarks Assign TL-SEL to the input signal.

8SRQFRPSOHWLRQRIWKHKRPLQJZLWKKLWDQGVWRSWXUQRII7/6(/ RSHQLIORJLFDOVHWWLQJ
LVDFRQWDFWFORVHLIEFRQWDFW

5-40
5 6. About Homing Operation 1

Adjustment Press & Hold Control
Application example
Press fit Parameter Setup

Title
machine No. example 2
5.21 Selection of torque limit 3
0.13 Setup of 1st torque limit 200
Preparation
5.22 Setup of 2nd torque limit 50
0.14 Excess setup of position deviation 25000
5.13 Setup of over-speed level 0
3
(1) (2) (3) (4) (5)
Connection
*1
TL-SEL (Factory
no allocation )
setting:
ON
: Torque limit switching input
4
TLC (Factory
40-pin
setting:
) ON
Setup
: Torque in-limit output
Setup value of 2nd torque limit 5

(+)
Torque
Adjustment
(–)
B
Search speed
(+) A (low speed)
Command
(–) 6
C=A+B
When in Trouble
Holds the non-traveled

portion with deviation
counter
(+)
Motor speed
(–)
(1) (2) (3) (4) (5) 7
Supplement
Remarks 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
2
Protective Function (What is Error Code ?) ................................................6-2
Protective function (Detail of error code) ....................................................6-4
Preparation
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 3
Positioning Accuracy Is Poor ....................................................................6-24
Origin Point Slips ......................................................................................6-25
Connection
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
4
Parameter Returns to Previous Setup ......................................................6-27
Setup
5
Adjustment
6
When in Trouble
7
Supplement

6-1
6 1. When in Trouble
When in Trouble What to Check ?
Isn't error code No. is displayed ?
Aren't the parameter

Doesn't the power voltage vary ? setups wrong ?
Is the power turned on ?
Any loose connection ? Motor does not run.
Check the cause by referring to P.2-98,
Is the connecting portion “Display of Factor of No Motor Running” of
disconnected ? Preparation, and then take necessary measure.
(Broke wire, contact)
Is the wiring correct ? Host
Isn't the connector pulled off ? controller
Isn't the short wire pulled off ?
Is the wiring to Connector
X4 correct ?
Is abnormal noise generated Or aren't any wires pulled
from the motor ? off ?
Is the wiring to Connector X5

Isn't the holding in case of full-closed control
brake engaged ? correct ?
Ground
Or aren't any wires pulled off ?
Is the wiring to Connector X6

Machine Motor correct ?
Or aren't any wires pulled off ?
Isn't the connection

loose ?
External scale
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 $&/5 LQPVRUORQJHU
:KHQRYHUORDGSURWHFWLRQLVWULJJHUHG\RXFDQFOHDULWE\$ODUPFOHDULQSXW $&/5
LQVHFRUORQJHUDIWHUWKHHUURURFFXUV<RXFDQFOHDUWKH2YHUORDGSURWHFWLRQWLPH
characteristics (refer to P.6-14) by turning off the control power supply between L1C
DQG/& 99 9DQG9 9 RIWKHGULYHU
<RXFDQFOHDUWKHDERYHHUURUE\RSHUDWLQJWKHIURQWSDQHONH\VDQGVHWXSVXSSRUW
VRIWZHDU3$1$7(505HIHUWR3“Alarm Clear Screen” of Preparation.
%HVXUHWRFOHDUWKHDODUPGXULQJVWRSDIWHUUHPRYLQJWKHFDXVHRIWKHHUURUDQGVH-
curing safety.
Note 7KH ILJXUH DERYH VKRZV FRQQHFWLRQV RQ YHORFLW\ SRVLWLRQ WRUTXH DQG IXOOFORVHG PRGH
driver.
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;;DQG;
Related page 3´+RZWR8VHWKH)URQW3DQHOµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
3´2XWOLQHRI6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ

6-2
1. When in Trouble
Protective Function (What is Error Code ?)
1

<List of error code No.>
Error code Attribute Error code Attribute
Detail Detail
Protective function Can be Immediate page Protective function Can be Immediate page
Main Sub History cleared
stop Main Sub History cleared
stop
Control power supply under- 34 Software limit protection
11
voltage protection
36
WR EEPROM parameter error pro- 2
12 Over-voltage protection 2 tection
Main power supply under-volt- 6-4 WR EEPROM check code error
37
Preparation
age protection (between P and N) 2 protection
13 Main power supply under- 38 Over-travel inhibit input protection
1 voltage protection Analog input1 excess protection
(AC interception detection) 1 Analog input2 excess protection
Over-current protection 2 Analog input3 excess protection
14
1 IPM error protection 6-5 Absolute system down error

15 Over-heat protection protection
16 Over-load protection
6-6 41
Absolute counter over error 3
Over-regeneration load protection protection
18 Over-regeneration Tr error Absolute over-speed error pro-
1 42
tection
Connection
protection
Encoder communication dis- 43 Initialization failure 6-11
Absolute single turn counter
connect error protection 44
21 error protection
Encoder communication error
1 Absolute multi-turn counter er-
protection 45
6-7 ror protection
Encoder communication data
23 47 Absolute status error protection
error protection

Position deviation excess pro-
tection
48

Encoder Z-phase error protection
Encoder CS signal error protection
4
24
Velocity deviation excess pro- Feedback scale connection er-
1
tection ror protection

+\EULGGHYLDWLRQH[FHVVHUURU Feedback scale communication
Setup
25 1
protection error protection
Over-speed protection )HHGEDFNVFDOHVWDWXVHUURU
26
1 2nd over-speed protection protection
Command pulse input frequen- Feedback scale status 1 error
6-8 1
cy error protection protection 6-12
27 Feedback scale status 2 error
2
Command pulse multiplier error
protection 51
2
protection 5
Limit of pulse replay error pro- Feedback scale status 3 error
28 3
tection protection
Adjustment
'HYLDWLRQFRXQWHURYHUÁRZ Feedback scale status 4 error
4
protection protection
Safety detection Feedback scale status 5 error
5
IF overlaps allocation error 1 protection
A-phase connection error protection
protection
IF overlaps allocation error 2 55 1 B-phase connection error protection
1 2 Z-phase connection error protection
protection
2
IF input function number error 1 87 Compulsory alarm input protection
6-13
6
protection Motor automatic recognition
WR
IF input function number error 2 error protection
When in Trouble
33 3
protection
4
IF output function number error Other Other error
1 protection number
IF output function number error
5
2 protection
6 &/ÀWWLQJHUURUSURWHFWLRQ

7 ,1+ÀWWLQJHUURUSURWHFWLRQ
Note +LVWRU\7KHHUURUZLOOEHVWRUHGLQWKHHUURUKLVWRU\ 7
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
Supplement
power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
6HWWLQJRI´3U6HTXHQFHDWDODUPµLVDOVRUHTXLUHG
Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;;; and analog input.

6-3
When in Trouble Protective function (Detail of error code)
Protective Error code No.

Causes Measures
function Main Sub
Control 11 0 Voltage between P and N of the converter Measure the voltage between lines of
power portion of the control power supply has connector and terminal block.
supply IDOOHQEHORZWKHVSHFLÀHGYDOXH 99GULYHU/&/&
under- 9YHUVLRQapprox.9'& approx.9$& 9GULYHU99
voltage 9YHUVLRQapprox. 145 VDC (approx.9$&
protection 9YHUVLRQapprox. 15 VDC
1) Power supply voltage is low. 1) Increase the power capacity. Change the
Instantaneous power failure has power supply.
occurred
2) Lack of power capacity...Power supply 2) Increase the power capacity.
voltage has fallen down due to inrush
current at the main power-on.
3) Failure of servo driver (failure of the circuit) 3) Replace the driver with a new one.
Over-voltage 12 0 Voltage between P and N of the Measure the voltage between lines of
protection converter portion of the control power connector (L1, L2 and L3).
VXSSO\KDVH[FHHGHGWKHVSHFLÀHGYDOXH
9YHUVLRQapprox.9'& approx.9$&
1) Power supply voltage has exceeded 1) Enter correct voltage. Remove a phase-
the permissible input voltage. Voltage advancing capacitor.
surge due to the phase-advancing
capacitor or UPS (Uninterruptible
Power Supply) have occurred.
2) Disconnection of the regeneration 2) Measure the resistance of the external
discharge resistor resistor connected between terminal B1
- B2 of the driver. Replace the external
UHVLVWRULIWKHYDOXHLV
3) External regeneration discharge &KDQJHWRWKHRQHZLWKVSHFLÀHG
resistor is not appropriate and could resistance and wattage.
not absorb the regeneration energy.
4) Failure of servo driver (failure of the 4) Replace the driver with a new one.
circuit)
Main power 13 0 Instantaneous power failure has occurred Measure the voltage between lines of
supply between L1 and L3 for longer period than connector (L1, L2 and L3).
under- WKHSUHVHWWLPHZLWK3U 0DLQSRZHU
voltage RIIGHWHFWLQJWLPH ZKLOH3U /9WULS
protection selection at the main power-off) is set
(PN) to 1. Or the voltage between P and N of
the converter portion of the main power
Main power 1 VXSSO\KDVIDOOHQEHORZWKHVSHFLÀHG
supply value during Servo-ON.
under- 9YHUVLRQapprox.9'& approx. 55 VAC)
voltage 9YHUVLRQapprox.9'& approx. 75 VAC)
protection 9YHUVLRQapprox.9'& approx. 125 VAC)
(AC) 1) Power supply voltage is low. 1) Increase the power capacity. Change the
Instantaneous power failure has power supply. Remove the causes of the
occurred shutdown of the magnetic contactor or the
main power supply, then re-enter the power.
2) Instantaneous power failure has 6HWXSWKHORQJHUWLPHWR3U 0DLQ
occurred. power off detecting time). Set up each
phase of the power correctly.
3) Lack of power capacity...Power supply 3) Increase the power capacity. For the capacity,
voltage has fallen down due to inrush UHIHUWR3'ULYHUDQG/LVWRI$SSOLFDEOH
current at the main power-on. Peripheral Equipments" of Preparation.
4) Phase lack...3-phase input driver has 4) Connect each phase of the power supply
been operated with single phase input. (L1, L2 and L3) correctly. For single phase,
9DQG9GULYHUXVH/DQG/
5) Failure of servo driver (failure of the circuit) 5) Replace the driver with a new one.
6-4
1. When in Trouble
Protective function (Detail of error code)
1

Causes Measures
function Main Sub
* 14 0 Current through the converter portion has

Over-current H[FHHGHGWKHVSHFLÀHGYDOXH
protection 1) Failure of servo driver (failure of the 1) Turn to Servo-ON, while disconnecting the 2
circuit, IGBT or other components) motor. If error occurs immediately, replace
* 1 with a new driver.
Preparation
IPM error 2) Short of the motor wire (U, V and W) 2) Check that the motor wire (U, V and W) is
protection not shorted, and check the branched out
wire out of the connector. Make a correct
,30 wiring connection.
Intelligent 3) Earth fault of the motor wire 3) Measure the insulation resistance between
Power Module motor wires, U, V and W and earth wire. In
case of poor insulation, replace the motor.
4) Burnout of the motor 4) Check the balance of resister between 3
each motor line, and if unbalance is found,
replace the motor.
Connection
5) Poor contact of the motor wire. 5) Check the loose connectors. If they are, or
SXOOHGRXWÀ[WKHPVHFXUHO\
6) Welding of contact of dynamic braking 6) Replace the servo driver. Do not use
relay due to frequent servo ON/OFF Servo-ON/Servo-OFF as a means of
operations. staring/stopping the operation.
7) Timing of pulse input is same as or (QWHUWKHSXOVHVPVRUORQJHUDIWHU
earlier than Servo-ON. Servo-ON.
8) Blowout of thermal fuse due to 8) Replace the driver. 4
overheating dynamic brake circuit.
(Only F and G frames)
Setup
* 15 0 Temperature of the heat sink or power
Over-heat GHYLFHKDVEHHQULVHQRYHUWKHVSHFLÀHG
protection temperature.
1) Ambient temperature has risen over 1) Improve the ambient temperature and
WKHVSHFLÀHGWHPSHUDWXUH cooling condition.
2) Over-load 2) Increase the capacity of the driver
and motor. Set up longer acceleration/
deceleration time. Lower the load.
5
Adjustment
6
When in Trouble
7
Supplement
Note :KHQSURWHFWLYHIXQFWLRQPDUNHGZLWK * in the protective function table is activated, it can-

not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
Related page 3´6\VWHP&RQÀJXUDWLRQDQG:LULQJµ3´'HWDLOVRISDUDPHWHUµ

6-5
1. When in Trouble

Causes Measures
function Main Sub
Over-load 16 0 Torque command value has exceeded Check that the torque (current) does not
protection the over-load level set with Pr5.12 RVFLOODWHVQRUÁXFWXDWHXSDQGRZQYHU\
(Setup of over-load level) and resulted in much on the analog outoput and via
overload protection according to the time communication. Check the over-load alarm
characteristics (described later) display and load factor with the analog
outoput and via communication..
1) Load was heavy and actual torque has 1) Increase the capacity of the driver
exceeded the rated torque and kept and motor. Set up longer acceleration/
running for a long time. deceleration time. Lower the load.
2) Oscillation and hunching action due to 2) Make a re-adjustment.
poor adjustment.
Motor vibration, abnormal noise.
,QHUWLDUDWLR 3U VHWXSHUURU
3) Miswiring, disconnection of the motor. 3) Make a wiring as per the wiring diagram.
Replace the cables.
4) Machine has collided or the load has 4) Remove the cause of distortion. Lower the
gotten heavy. Machine has been load.
distorted.
5) Electromagnetic brake has been kept 5) Measure the voltage between brake
engaged. terminals. Release the brake
6) While wiring multiple axes, miswiring 6) Make a correct wiring by matching the
has occurred by connecting the motor correct motor and encoder wires.
cable to other axis.
7KHRYHUORDGSURWHFWLRQWLPHFKDUDFWHULVWLFVDUHGHVFULEHGRQ3
Caution 2QFHWKLVHUURURFFXUVLWFDQQRWEHFOHDUHGDWOHDVWIRUVHF
* 18 0 Regenerative energy has exceeded the Check the load factor of the regenerative
Over- capacity of regenerative resistor. resistor from the front panel or via communi-
regeneration cation.
Do not use in the continuous regenerative
load
1) Due to the regenerative energy during brake application.
protection 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) Regenerative energy has not been 2) Check the running pattern (speed monitor).
DEVRUEHGLQWKHVSHFLÀHGWLPHGXHWRD Check the load factor of the regenerative
high motor rotational speed. resistor. Increase the capacity of the driver
and the motor, and loosen the deceleration
time. Lower the motor rotational speed.
Use an external regenerative resistor.
3) Active limit of the external regenerative 6HWXS3UWR
UHVLVWRUKDVEHHQOLPLWHGWRGXW\
Caution Install an external protection such as thermal fuse without fail when
\RXVHWXS3UWR2WKHUZLVHUHJHQHUDWLYHUHVLVWRUORVHVWKH
protection and it may be heated up extremely and may burn out.


6-6
1. When in Trouble
1

Causes Measures
function Main Sub
* 18 1 Regenerative driver transistor on the Replace the driver.

Regenerative servo driver is defective.
transistor 2
error
protection
Preparation
* 21 0 Communication between the encoder Make a wiring connection of the encoder as
Encoder and the driver has been interrupted per the wiring diagram. Correct the miswiring
communica- in certain times, and disconnection of the connector pins.
tion discon- detecting function has been triggered.
nection error
protection 3
* 1 Communication error has occurred in 6HFXUHWKHSRZHUVXSSO\IRUWKHHQFRGHU
Encoder data from the encoder. Mainly data RI'&9WR9 SD\DQDWWHQWLRQ
Connection
communica- error due to noise. Encoder cables are especially when the encoder cables are
tion error connected, but communication data has long.
protection some errors. 6HSDUDWHWKHHQFRGHUFDEOHDQGWKHPRWRU
cable if they are bound together.
* 23 0 Data communication between the &RQQHFWWKHVKLHOGWR)*
Encoder encoder is normal, but contents of data
communi- are not correct. 4
cation data Mainly data error due to noise. Encoder
error cables are connected, but communication
protection data has some errors.
Setup
Position 24 0 Deviation pulses have exceeded the
deviation VHWXSRI3U
excess 1) The motor movement has not followed 1) Check that the motor follows to the position
protection the command. command pulses. Check that the output
toque has not saturated in torque monitor.
Make a gain adjustment. Set up maximum
5
YDOXHWR3UDQG3U0DNHD
encoder wiring as per the wiring diagram.
Adjustment
Set up the longer acceleration/deceleration
time. Lower the load and speed.
6HWXSYDOXHRI3U 3RVLWLRQ 6HWXSDODUJHUYDOXHWR3U
deviation excess setup) is small.
Velocity 1 The difference between the internal ,QFUHDVHWKHVHWXSYDOXHRI3U

deviation positional command speed and actual /HQJWKHQWKHDFFHOHUDWLRQGHFHOHUDWLRQ 6
excess speed (speed deviation) exceeds the time of internal positional command speed,
protection VHWXSYDOHRI3U or improve the follow-up characteristic by
When in Trouble
Note) If the internal positional command adjusting the gain.

VSHHGLVIRUFLEO\VHWWRGXHWR 'LVDEOHWKHH[FHVVVSHHGGHYLDWLRQ
instantaneous stop caused by the GHWHFWLRQ 3U
FRPPDQGSXOVHLQKLELWLQSXW ,1+ RU
CW/CCW over-travel inhibit input, the
speed deviation rapidly increases at this
PRPHQW3UVHWXSYDOXHVKRXOGKDYH
VXIÀFLHQWPDUJLQEHFDXVHWKHVSHHG
7
deviation also largely increases on the
Supplement
rising edge of the internal positional

command speed.

6-7
1. When in Trouble

Causes Measures
function Main Sub
* 25 0 3RVLWLRQRIORDGE\WKHH[WHUQDOVFDOH &KHFNWKHFRQQHFWLRQEHWZHHQWKHPRWRU
Hybrid and position of the motor by the and the load.
deviation encoder slips larger than the setup &KHFNWKHFRQQHFWLRQEHWZHHQWKHH[WHUQDO
excess error pulses with Pr3.28 (Setup of hybrid scale and the driver.
protection deviation excess) at full-closed control. &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.
'XULQJIXOOFORVHGFRQWUROQXPHUDWRU 'RQRWFKDQJHFRPPDQGGLYLVLRQ
of command division/multiplication is multiplication during full closed control.
changed or switched over.
Over-speed 26 0 The motor rotational speed has exceeded 'RQRWJLYHDQH[FHVVLYHVSHHGFRPPDQG

protection the setup value of Pr5.13. &KHFNWKHFRPPDQGSXOVHLQSXWIUHTXHQF\
and division/multiplication ratio.
2nd Over- 1 The motor rotational speed has exceeded 0DNHDJDLQDGMXVWPHQWZKHQDQRYHUVKRRW
speed the setup value of Pr6.15. has occurred due to a poor gain adjustment.
protection 0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
per the wiring diagram.
Command 27 0 The frequency of command pulse input is Check the command pulse input for
pulse input more than 1.2 times the setting in Pr5.32. frequency.
frequency
error
protection
Electronic 2 Division and multiplication ratio which are 6HWWKHFRPPDQGGLYLVLRQDQGPXOWLSOLFDWLRQ

gear error set up with the command pulse counts ratio to a value as small as possible e.g.
protection per single turn and the1st and the 4th EHWZHHQDQG
numerator/denominator of the electronic &KHFNWKHVHWXSYDOXHRIHOHFWURQLFJHDU
gear are not appropriate. ,ISRVVLEOHXVHWKHOLQHGULYHU,)
7KHFRPPDQGSXOVHVSHUPV 6HW3U VHWWLQJRIPD[FRPPDQGSXOVH
multiplied by the command division and LQSXW WRDYDOXHOHVVWKDQDQGHQDEOH
PXOWLSOLFDWLRQUDWLRH[FHHGV0SSV GLJLWDOÀOWHU
7KHFRPPDQGSXOVHLQSXWÁXFWXDWHV
Noises mixed with the command pulse
input cause counting error.
Pulse 28 0 The output frequency of pulse &KHFNWKHVHWXSYDOXHVRI3UDQG

regeneration regeneration has exceeded the limit. 7RGLVDEOHWKHGHWHFWLRQVHW3UWR
limit
protection

6-8
1. When in Trouble
1

Causes Measures
function Main Sub
Deviation 29 0 Positional deviation of encoder pulse &KHFNWKDWWKHPRWRUUXQVDVSHUWKH

counter reference has exceeded 2 position command pulses.
RYHUÁRZ &KHFNWKDWWKHRXWSXWWRTXHKDVQRW 2
protection saturated in torque monitor.
0DNHDJDLQDGMXVWPHQW
Preparation
6HWXSPD[LPXPYDOXHWR3UDQG
Pr5.22.
0DNHDZLULQJFRQQHFWLRQRIWKHHQFRGHUDV
per the wiring diagram.
Safety input 30 0 Input photocoupler of both or one of Check wiring of safety input 1 and 2.
protection safety input 1 and 2 is OFF. 3
* 33 0 Input signals (SI1, SI2, SI3, SI4, SI5) are Allocate correct function to each connector
I/F input assigned with two functions. pin.
Connection
duplicated
allocation
error 1
protection
* 1 ,QSXWVLJQDOV 6,6,6,6,6,
I/F input
duplicated
are assigned with two functions. 4
allocation
error 2
Setup
protection
* 2 Input signals (SI1, SI2, SI3, SI4, SI5) are

I/F input DVVLJQHGZLWKXQGHÀQHGQXPEHU
function
number error
1 protection 5
* 3 ,QSXWVLJQDOV 6,6,6,6,6,
I/F input DUHDVVLJQHGZLWKXQGHÀQHGQXPEHU
Adjustment
function
number error
2 protection
* 4 Output signals (SO1, SO2, SO3) are

I/F output DVVLJQHGZLWKXQGHÀQHGQXPEHU
function
number error
6
1 protection
When in Trouble
* 5 Output signals (SO4, SO5, SO6) are

I/F output DVVLJQHGZLWKXQGHÀQHGQXPEHU
function
number error
2 protection
7
Supplement

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;DQGDQODRJLQSXW

1. When in Trouble

Causes Measures
function Main Sub
* 33 6 Counter clear function is assigned to a Allocate correct function to each connector

CL signal number other than SI7. pin.
assignment
error
* 7 Command pulse inhibit input function is

INH assigned to a signal number other than
assignment 6,
error
Software 34 0 When a position command within the

limit VSHFLÀHGLQSXWUDQJHLVJLYHQWKHPRWRU
protection operates outside its working range
VSHFLÀHGLQ3U
1) Gain is not appropriate. 1) Check the gain (balance between position
loop gain and speed loop gain) and inertia
ratio.
2) Pr5.14 setup value is low. 2) Increase the setup value of Pr5.14. Or,
6HW3UWRWRGLVDEOHWKHSURWHFWLYH
function.
* 36 0 Data in parameter storage area has been 6HWXSDOOSDUDPHWHUVDJDLQ

EEPROM damaged when reading the data from ,IWKHHUURUSHUVLVWVUHSODFHWKHGULYHU LW
parameter 1 EEPROM at power-on. may be a failure.) Return the product to the
error dealer or manufacturer.
2
protection
* 37 0 'DWDIRUZULWLQJFRQÀUPDWLRQWR((3520 Replace the driver. (it may be a failure).

EEPROM has been damaged when reading the Return the product to a dealer or
check code 1 data from EEPROM at power-on. manufacturer.
error
2
protection
* 38 0 :LWK3URYHUWUDYHOLQKLELWLQSXW Check that there are not any errors in

Over-travel VHWXS ERWKSRVLWLYHDQGQHJDWLYH switches, wires or power supply which are
inhibit over-travel inhibit inputs (POT/NOT) connected to positive direction/ negative
input have been ON. direction over-travel inhibit input. Check that
protection :LWK3U SRVLWLYHRUQHJDWLYH the rising time of the control power supply
over-travel inhibit input has turned ON. (DC12 to 24V) is not slow.
Analog 39 0 +LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH 6HWXS3UFRUUHFWO\&KHFNWKH

input 1 (AI1) analog input 1 than the value that has FRQQHFWLQJFRQGLWLRQRIWKHFRQQHFWRU;
excess been set by Pr4.24. 6HWXS3UWRDQGLQYDOLGDWHWKH
protection protective function.
Analog 1 +LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH 6HWXS3UFRUUHFWO\&KHFNWKH

excess been set by Pr4.27. 6HWXS3UWRDQGLQYDOLGDWHWKH
Analog 2 +LJKHUYROWDJHKDVEHHQDSSOLHGWRWKH 6HWXS3UFRUUHFWO\&KHFNWKH

excess EHHQVHWE\3U 6HWXS3UWRDQGLQYDOLGDWHWKH

1. When in Trouble
1

Causes Measures
function Main Sub
Absolute 40 0 Voltage of the built-in capacitor has fallen After connecting the power supply for the
system EHORZWKHVSHFLÀHGYDOXHEHFDXVHWKH battery, clear the absolute encoder.
down error power supply or battery for the absolute 2
protection encoder has been down.
Preparation
Caution Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.
* 41 0 Multi-turn counter of the absolute 6HW3UWRWRLJQRUHWKHPXOWLWXUQ

Absolute HQFRGHUKDVH[FHHGHGWKHVSHFLÀHG counter over.
counter value. /LPLWWKHWUDYHOIURPWKHPDFKLQHRULJLQ
over error within 32767 revolutions. 3
protection
Absolute 42 0 The motor speed has exceeded the &KHFNWKHVXSSO\YROWDJHDWWKHHQFRGHU
Connection
over- VSHFLÀHGYDOXHZKHQRQO\WKHVXSSO\ VLGH 9
speed error from the battery has been supplied to &KHFNWKHFRQQHFWLQJFRQGLWLRQRIWKH
protection 17-bit encoder during the power failure. FRQQHFWRU;
Caution Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.
4
* 43 0 Encoder initialization error was detected. Replace the motor.
Encoder
initialization
Setup
error
protection *1
* 44 0 Single turn counter error of encoder has Replace the motor.

Absolute been detected.
single turn
counter error
5
protection *1
Adjustment
* 45 0 Multi turn counter error of encoder has Replace the motor.
Absolute been detected.
multi-turn
counter error
protection *1
* 47 0 Encoder has been running at faster Arrange so as the motor does not run at
Absolute VSHHGWKDQWKHVSHFLÀHGYDOXHDWSRZHU power-on.
6
status error on.
When in Trouble
protection *1
* 48 0 Missing pulse of Z-phase of serial Replace the motor.

Encoder incremental encoder has been detected.
Z-phase The encoder might be a failure.
error
protection*1
7
Supplement


6-11
1. When in Trouble

Causes Measures
function Main Sub
* 49 0 CS signal logic error of serial incremental Replace the motor.
Encoder CS encoder has been detected.
signal error The encoder might be a failure.
protection*1
* 50 0 Communication between the external 0DNHDZLULQJFRQQHFWLRQRIWKHH[WHUQDO

Feedback scale and the driver has been interrupted scale as per the wiring diagram.
scale in certain times, and disconnection &RUUHFWWKHPLVZLULQJRIWKHFRQQHFWRUSLQV
wiring error detecting function has been triggered.
protection
* 1 Communication error has occurred in 6HFXUHWKHSRZHUVXSSO\IRUWKHH[WHUQDO

External data from the external scale. Mainly data VFDOHRI'& WR9 SD\
communi- error due to noise. External scale cables attention especially when the external scale
cation data are connected, but communication date cables are long.
error has some error. 6HSDUDWHWKHH[WHUQDOVFDOHFDEOHDQGWKH
protection motor cable if they are bound together.
&RQQHFWWKHVKLHOGWR)*UHIHUWRZLULQJ
diagram.
* 51 0 %LWRIWKHH[WHUQDOVFDOHHUURUFRGH Remove the causes of the error, then clear

External (ALMC) has been turned to 1. the external scale error from the front panel.
scale status &KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO And then, shut off the power to reset.
0 error scale.
protection *1
* 1 Bit 1 of the external scale error code

External (ALMC) has been turned to 1.
scale status &KHFNWKHVSHFLÀFDWLRQVRIWKHH[WHUQDO
1 error scale.
protection *1

2 error scale.
protection *1

3 error
scale.
protection *1

4 error
scale.
protection *1

5 error
scale.
protection *1

2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK;
6-12
1. When in Trouble
1

Causes Measures
function Main Sub
* 55 0 A-phase wiring in the external scale is Check the A-phase wiring connection.
A-phase defective, e.g. discontinued.
wiring error 2
protection
* 1 B-phase wiring in the external scale is Check the B-phase wiring connection.
Preparation
B-phase defective, e.g. discontinued.
wiring error
protection
* 2 Z-phase wiring in the external scale is Check the Z-phase wiring connection.
Z-phase defective, e.g. discontinued.
wiring error
protection 3
Forced 87 0 Forced alarm input (E-STOP) is applied. Check the wiring of forced alarm input
Connection
alarm input (E-STOP).
protection
* 95 0 to 4 The motor and the driver has not been Replace the motor which matches to the
Motor matched. driver.
automatic
recognition
error
protection
4
* 99 0 Excessive noise or the like is detected as 7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
Other error an abnormal signal. ,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Setup
This type of error will occur if the alarm Stop using the products, and replace the
clear is attempted while the safety input motor and the driver. Return the products to
1/safety input 2 is not in normal state the dealer or manufacturer.
(input photocoupler is ON). $GMXVWWKHFRQGLWLRQRIWKHVDIHW\LQSXW
safety input 2 and then start the alarm clear.
5
Other Control circuit has malfunctioned due to 7XUQRIIWKHSRZHURQFHWKHQUHHQWHU
No. excess noise or other causes. ,IHUURUUHSHDWVWKLVPLJKWEHDIDLOXUH
Adjustment
Some error has occurred inside of the Stop using the products, and replace the
driver while triggering self-diagnosis motor and the driver. Return the products to
function of the driver. the dealer or manufacturer.
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 Time [s]
100
MSMD 100W（100V）
MSMD 100W（200V）
MSMD 200W
10
MHMD 200W
MSMD 400W
MHMD 400W
1
MSMD 750W
MHMD 750W
* Only for position control type. 0.1

115
100 200 300 400 500
Torque [%]
Motor Type: M * ME
MSME 50W Time [s]
MSME 100W（100V） 100
MSME 100W（200V）
MSME 200W
MSME 400W 10
MSME 750W（200V）
MSME 750W(400V),
1
1.0kW to 5.0kW
MDME 400W(400V),
600W(400V),
1.0kW to 15.0kW 0.1
115
MFME 1.5kW to 4.5kW 100 200 300 400 500
MHME 1.0kW to 7.5kW Torque [%]
MGME 0.9kW to 6.0kW
* MDME 7.5kW to 15.0kW, MHME 7.5kW and MGME 6.0kW is less than 300%.
* Only for position control type is not provided with MSME 50W to 750W(200V), 750W(400V),
MDME 400W(400V), 600W(400V), 7.5kW to 15.0kW, MFME, MHME 7.5kW and MGME 4.5kW, 6.0kW.
Caution Use the motor so that actual torque stays in the continuous running range shown in “S-T
characteristic” of the motor. For the S-T characteristics, see P.7-55 Motor characteristics
(S-T characteristics).

6-14
1. When in Trouble
1

Software Limit Function (Err34.0)
1) Outline
<RXFDQPDNHDQDODUPVWRSRIWKHPRWRUZLWKVRIWZDUHOLPLWSURWHFWLRQ (UU ZKHQ
the motor travels exceeding the movable range which is set up with Pr5.14 (Motor
2
working range setup) against the position command input range.
Preparation
<RXFDQSUHYHQWWKHZRUNIURPFROOLGLQJWRWKHPDFKLQHHQGFDXVHGE\PRWRURVFLOOD-
tion.
2) Applicable range
This function works under the following conditions.
Conditions under which the software limit works
Control mode 3RVLWLRQFRQWURO)XOOFORVHGFRQWURO 3
Connection
,QSXWVLJQDOVVXFKDVWKHGHYLDWLRQFRXQWHUFOHDUDQGFRPPDQGLQSXW
Others
inhibit, and parameters except for controls such as torque limit setup,
are correctly set, assuring that the motor can run smoothly.
3) Cautions
7KLVIXQFWLRQLVQRWDSURWHFWLRQDJDLQVWWKHDEQRUPDOSRVLWLRQFRPPDQG
:KHQWKLVVRIWZDUHOLPLWSURWHFWLRQLVDFWLYDWHGWKHPRWRUGHFHOHUDWHVDQGVWRSVDF-
4
FRUGLQJWR3U VHTXHQFHDWDODUP
The work (load) may collide to the machine end and be damaged depending on the
Setup
load during this deceleration, hence set up the range of Pr5.14 including the decel-
eration movement.
7KLV VRIWZDUH OLPLW SURWHFWLRQ ZLOO EH LQYDOLGDWHG GXULQJ WKH WULDO UXQ DQG IUHTXHQF\
characteristics functioning of the PANATERM.
5
Adjustment
6
When in Trouble
7
Supplement

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(UURFFXUUHQFHUDQJH REOLTXHOLQHUDQJH VRIWZDUHOLPLWSURWHFWLRQZLOOEH
activated.
Motor Load
Pr5.14 Pr5.14
Motor
Error occurrence range movable Error occurrence range
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
Position command
Pr5.14 input range Pr5.14
Error occurrence range Error occurrence range
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
Position command
Pr5.14 input range Pr5.14
Error occurrence range Error occurrence range
Motor movable range
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

6-16
1. When in Trouble
1

Warning Function
When an error condition e.g. overloading occurs, the alarm code is issued to indicate that the
corresponding protective function will be triggered if suitable corrective action is not taken.
7KHDODUPZLOOEHFOHDUHGDVWKHFDXVHRIWKHHUURULVUHPRYHG+RZHYHUFHUWDLQDODUPZLOO
2
remain latched for predetermined period as shown in the table below. To forcibly clear the
Preparation
alarm, take the normal alarm clear procedure.
Alarm
Alarm Pr6.27 *1 Content
No.
Overload protection $ /RDGIDFWRULVRUPRUHWKHSURWHFWLRQOHYHO
5HJHQHUDWLYHORDGIDFWRULVRUPRUHWKH
Over-regeneration alarm A1
protection level.
Battery alarm A2
Fixed at no
time limit.
Battery voltage is 3.2 V or lower. 3
Fan alarm A3 Fan has stopped for 1 sec. *2
Connection
A4
Encoder overheat alarm A5 The encoder detects overheat alarm.
A6 Oscillation or vibration is detected.
alarm
Fixed at no The life expectancy of capacity or fan becomes
Lifetime detection alarm A7
time limit. VKRUWHUWKDQWKHVSHFLÀHGWLPH
External scale error alarm A8 The feedback scale detects the alarm. 4
External scale The number of successive feedback scale
$
* 7KH´FLUFOHµPHDQVWKDWDWLPHLQWKHUDQJHWRVRUQRWLPHOLPLWFDQEHVHOHFWHG
Setup
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
no fan alarm is displayed.
5
Adjustment
6
When in Trouble
7
Supplement

6-17
6 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 over-
travel inhibit input (POT/NOT). Set the following parameters which are related to over-
travel inhibit input.
3U6HWXSRIRYHUWUDYHOLQKLELWLQSXW
3U6HTXHQFHDWRYHUWUDYHOLQKLELW
Related page 3 327127 3 3U3U
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.
%\DOORFDWLQJWKHWRUTXHLQOLPLWRXWSXW 7/& RILQWHUIDFHVSHFLÀFDWLRQWRWKHRXWSXWVLJ-
nal, torque limit condition can be detected externally.
Related page 3 7/& 3 3U 3 3U
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[ð 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 over-
speed protection by multiplying the adjusting speed by a certain margin to protect the mo-
tor against possible oscillation.
Related page P.4-46 (Pr5.13)
(Continued ...)

6-18
2. Setup of gain pre-adjustment protection
1

4) Setup of the excess positional deviation protection
During the position control or full-closed control, this function detects potential exces-
VLYHGLIIHUHQFHEHWZHHQWKHSRVLWLRQDOFRPPDQGDQGPRWRUSRVLWLRQDQGLVVXHV(UU
Excess positional deviation protection. 2
([FHVV SRVLWLRQDO GHYLDWLRQ OHYHO FDQ EH VHW WR 3U 6HWXS RI SRVLWLRQDO GHYLDWLRQ
excess. The deviation can be detected through command positional deviation [pulse
Preparation
(command unit)] and encoder positional deviation [pulse (encoder unit)], and one of
ZKLFKFDQEHVHOHFWHGE\3U3RVLWLRQVHWXSXQLWVHOHFW 6HHWKHFRQWUROEORFNGLD-
gram.)
'HIDXOWVHWWLQJLV>SXOVH FRPPDQGXQLW @
Because the positional deviation during normal operation depends on the operating
VSHHGDQGJDLQVHWWLQJÀOOWKHHTXDWLRQEHORZEDVHGRQ\RXURSHUDWLQJFRQGLWLRQDQG
3
LQSXWWKHUHVXOWLQJYDOXHWR3U
Connection
:KHQ3U GHWHFWLRQWKURXJKFRPPDQGSRVLWLRQDOGHYLDWLRQ
3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9FNSð WR

9FPD[LPXPIUHTXHQF\RISRVLWLRQDOFRPPDQGSXOVH>SXOVH FRPPDQGXQLW V@
.SSRVLWLRQORRSJDLQ>V@
Factor in ( ) is margin to prevent frequent activation of excess positional deviation 4
protection.
Note 1) When switching position loop gain Kp, select the smallest value for calculation.
Setup
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\>+]@ 5
:KHQ3U GHWHFWLRQWKURXJKHQFRGHUSRVLWLRQDOGHYLDWLRQ
full-closed positional deviation)
Adjustment
3U6HWXSRISRVLWLRQDOGHYLDWLRQH[FHVV 9H.S× WR
9HPD[LPXPRSHUDWLRQIUHTXHQF\>SXOVHV@LQHQFRGHUXQLWRUIXOOFORVHGXQLW
.SSRVLWLRQORRSJDLQ>V@
Note 3) When switching position loop gain Kp, select the smallest value for calculation. 6
1RWH :KHQ3U VHWXSVRISRVLWLRQDOFRPPDQGILOWHUDQGGDPSLQJFRQWUROKDYH
When in Trouble
no effect.
Related page 3 3U 3 3U
5) Setup of motor working range

During the position control or full-closed control, this function detects the motor posi-
tion which exceeds the revolutions set to Pr5.14 Motor working range setup, and is-
VXHV(UUSoftware limit protection.
7
Supplement

2. Setup of gain pre-adjustment protection
6) Setup of hybrid deviation excess error protection

At the initial operation with full-closed control, operation failure may occur due to re-
verse connection of external scale or wrong external scale division ratio.
7R LQGLFDWH WKLV W\SH RI GHIHFW (UU +\EULG GHYLDWLRQ H[FHVV HUURU SURWHFWLRQ LV LV-
sued when the deviation of motor position (encoder unit) and load position (external
scale unit) exceed Pr3.28 Setup of hybrid deviation excess.
'HIDXOWVHWWLQJLVSXOVH FRPPDQGXQLW %HFDXVHWKHGHYLDWLRQLQQRUPDORSHUD-
tion varies with the operation speed and gain setup. Add a margin to this setting ac-
cording to your operating condition.

6 3. Troubleshooting 1

When in Trouble Motor Does Not Run
:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
&ODVVLÀFDWLRQ Causes Measures
Parameter Setup of the Check that the present 6HWXS3UDJDLQ 2
control mode is control mode is correct 2) Check that the input to control mode switching
not correct with monitor mode of the &02'( RIWKH&QQHFWRU;LVFRUUHFWZKHQ
Preparation
front panel. 3ULVVHWWRWR
Selection of Check that the external 6HWXS3UWRDQGDSSO\>9@WR1$7/DQG

torque limit is not analog input (N-ATL/ >9@WR3$7/ZKHQ\RXXVHWKHH[WHUQDOLQSXW
correct P-ATL) is not used for the 6HWXS3UWRDQGVHWXSWKHPD[YDOXHWR
torque limit. 3UZKHQ\RXXVHWKHSDUDPHWHUYDOXH
Setup of Check that the motor &KHFNWKHVHWXSVRI3U3UDQG3UWR

3
electronic gear moves by expected 3UDJDLQ
is not correct. revolution against the 2) Connect the electronic gear switching input (DIV) of
Connection
(Position/Full- command pulses. &RQQHFWRU;WR&20²RULQYDOLGDWHWKHGLYLVLRQ
closed) multiplication switching by setting up the same
YDOXHWR3UDQG3U
Wiring Servo-ON input In the front panel monitor Check and make a wiring so as to connect the SRV-
of Connector mode, is the Pin No. 21LQSXWWR&20²
; 65921 LV corresponding to SRV- 4
open. ON in “ - ” state?
Positive/negative In the front panel monitor 1) Check and make a wiring so as to connect both
Setup
direction over- mode, is the Pin No. 127327LQSXWVWR&20²
travel inhibit input corresponding to NOT/ 6HWXS3UWR LQYDOLG DQGUHVHWWKHSRZHU
RI&RQQHFWRU; POT in “ A ” state?
(NOT/POT) is
open.
5
Command pulse Check that the input 1) Check that the command pulses are entered
input setup pulse counts and FRUUHFWO\WRWKHGLUHFWLRQVHOHFWHGZLWK3U
Adjustment
is incorrect. variation of command 2) Check that the command pulses are entered
(Position/Full- pulse sum does not slips, FRUUHFWO\LQWKHIRUPDWVHOHFWHGZLWK3U
closed) with monitor mode of the
front panel.
Command In the front panel monitor &KHFNDQGPDNHDZLULQJVRDVWRFRQQHFWWKH,1+

pulse input
LQKLELWLRQ ,1+ RI
mode, is the Pin No.
FRUUHVSRQGLQJWR,1+LQ
LQSXWWR&20²
2) Set up Pr5.18 to 1 (invalid).
6
&RQQHFWRU;LV “ A ” state?
When in Trouble
open. (Position/
Full-closed)
Counter clear In the front panel monitor 1) Check and make wiring so as to open the CL input
input (CL) of mode, is the Pin No. 6HWXS3UWR LQYDOLG
&RQQHFWRU; corresponding to CL in
is connected to “ A ” state?
&20² 3RVLWLRQ
7
Full-closed)
Supplement
Related page 3´+RZWR8VHWKH)URQW3DQHOµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

3´'HWDLOVRISDUDPHWHUµ

6-21
3. Troubleshooting
Motor Does Not Run
:KHQWKHPRWRUGRHVQRWUXQUHIHUWR3'LVSOD\RI)DFWRURI1R0RWRU5XQQLQJRI3UHSDUDWLRQ
as well.
Wiring Speed command Check that the velocity &KHFNWKHVHWXSVRI3UWR3UDJDLQE\
is invalid command input method VHWWLQJXS3UWRZKHQ\RXXVHWKHH[WHUQDO
(Velocity) (external analog analog command.
command/internal 6HWXS3UWR3UDQG3UWR3UE\
velocity command) is VHWWLQJXS3UWRHLWKHURQHRIRUZKHQ
correct. you use the internal speed command.
Speed zero In the front panel 1) Check and make wiring so as to connect speed
clamp input monitor mode, is the Pin ]HURFODPSLQSXWWR&20²
(ZEROSPD) of No. corresponding to 2) Set up Pr3.15.
&RQQHFWHU;LV ZEROSPD in “ A ” state?
open.
(Velocity/Torque)
Torque command Check that the torque 1) Check that the input voltage is applied correctly by
is invalid (Torque) command input method VHWWLQJXS3UWRZKHQ\RXXVH6357545
(SPR/TRQR input, input.
P-ATL/TRQR input) is 2) Check that the input voltage is applied correctly by
correct. setting up Pr3.17 to 1, when you use the P-ATL/
TRQR input.
Velocity control is Check that the velocity 1) Set up the desired value to Pr3.21 by setting up
invalid (Torque) limit input method 3UWRZKHQ\RXXVHWKHSDUDPHWHUVSHHG
(parameter velocity, SPR/ 2) Check that the input voltage is applied correctly
TRQR/SPL input) is by setting up Pr3.17 to 1, when you use the SPR/
correct. TRQR/SPL input.
Installation Main power is In the front panel monitor Check the wiring/voltage of main power of the driver
shut off. mode, is the Pin No. (L1, L2 and L3).
FRUUHVSRQGLQJWR65'<
in “ - ” state?
The motor shaft 1)Check that you can If you cannot turn the motor shaft, consult with the
drags, the motor turn the motor shaft, dealer for repair.
does not run. 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.
Related page 3´'HWDLOVRISDUDPHWHUµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

6-22

Unstable Rotation (Not Smooth),
When in Trouble Motor Runs Slowly Even with Speed Zero at Velocity Control Mode

Parameter Setup of the control mode is not ,I\RXVHWXS3UWR 9HORFLW\FRQWUROPRGH E\PLVWDNHDW
correct. position control mode, the motor runs slowly at servo-ON due to
VSHHGFRPPDQGRIIVHW&KDQJHWKHVHWXSRI3UWR
2
Adjustment Gain adjustment is not proper. ,QFUHDVHWKHVHWXSRI3UVWYHORFLW\ORRSJDLQ(QWHUWRUTXH
ÀOWHURI3UDQGLQFUHDVHWKHVHWXSRI3UDJDLQ
Preparation
Velocity and position command &KHFNWKHPRWRUPRYHPHQWZLWKFRQQHFWRU;RIWKHIURQWSDQHO
are not stable. or the waveform graphic function of the PANATERM. Review the
wiring, connector contact failure and controller.
Wiring Each input signal of Connector &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH

;LVFKDWWHULQJ
1) Servo-ON signal
&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV
Correct the wiring and connection so that the Servo-ON signal
3
can be turned on normally. Review the controller.
Connection
2) Positive/Negative direction 2) Check the wiring and connection between Pin-18 and 17, 16 and
torque limit input signal RIWKH&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH&RUUHFWWKH
wiring and connection so that Positive/Negative direction torque
limit input can be entered normally.
3) Deviation counter input signal &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
&RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
the wiring and connection so that the deviation counter input can 4
be turned on normally. Review the controller.
4) Check the wiring and connection between Pin-26 and 41of the
4) Speed zero clamp signal &RQQHFWRU;XVLQJ'LVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
Setup
the wiring and connection so that the speed zero clamp input can
be entered normally. Review the controller.
5) Check the wiring and connection between Pin-33 and 41of the
5) Command pulse inhibition &RQQHFWRU;XVLQJGLVSOD\IXQFWLRQRI,2VLJQDOVWDWXV&RUUHFW
input the wiring and connection so that the command pulse inhibition
input can be entered normally. Review the controller. 5
Noise is on the velocity 8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;
Adjustment
command. 6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQH FPRUORQJHU LQWKH
separate duct.
Slip of offset Check the voltage between Pin-14 and 15 (speed command input)
using a tester or an oscilloscope.
Noise is on the position 8VHDVKLHOGFDEOHIRUFRQQHFWLQJFDEOHWRWKH&RQQHFWRU;

command. 6HSDUDWHWKHSRZHUOLQHDQGVLJQDOOLQH FPRUORQJHU LQWKH 6
separate duct.
When in Trouble
7
Supplement


6-23
6 3. Troubleshooting
When in Trouble Positioning Accuracy Is Poor

System Position command is not correct. Count the feedback pulses with a monitor function of the
(Amount of command pulse) 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 Monitor the deviation at positioning complete signal reception
complete signal at the edge. ZLWKWKH&RQQHFWRU;RUWKHZDYHIRUPJUDSKLFIXQFWLRQRIWKH
PANATERM.
Make the controller capture the signal not at the edge but with
some time allowance.
Shape or width of the If the shape of the command pulse is broken or narrowed, review
command pulse is not per the the pulse generating circuit. Make a noise measure.
VSHFLÀFDWLRQV
Noise is superposed on Make a noise measure to external DC power supply and make no
deviation counter clear input CL wiring of the unused signal lines.
&RQQHFWRU;3LQ
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 Lower the setup of Pr4.31 within the range where no chattering of
complete range is large. complete signal occurs.
Command pulse frequency have Lower the command pulse frequency. Change the division/
H[FHHGHGNSSVRU0SSV 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/ Check if the repetition accuracy is same or not. If it does not
multiplication is not correct. change, use a larger capacity motor and driver.
Velocity loop gain is proportion 6HWXS3UDQG3URIWLPHFRQVWDQWRIYHORFLW\ORRS
action at motor in stall. LQWHJUDWLRQWRRUVPDOOHU
5HYLHZWKHZLULQJDQGFRQQHFWLRQVRWKDWWKHFRQQHFWLRQEHWZHHQ
Pin-27 and 41 of the gain switching input connector, Connector
;EHFRPHVRIIZKLOH\RXVHWXS3URIQGJDLQVHWXSWR
Wiring Each input signal of Connector &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
;LVFKDWWHULQJ FRQQHFWRU&RQQHFWRU;XVLQJWKHGLVSOD\IXQFWLRQRI,2VLJQDO
1) Servo-ON signal status. Correct the wiring and connection so that the servo-On
signal can be turned on normally. Review the controller.
2) Deviation counter clear input &KHFNWKHZLULQJDQGFRQQHFWLRQEHWZHHQ3LQDQGRIWKH
signal 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) Positive/Negative direction 3 Check the wiring and connection between Pin-18 and 17, 16 and
torque limit input signal RIWKHFRQQHFWRU&RQQHFWRU;XVLQJWHVWHURURVFLOORVFRSH
Correct the wiring and connection so that Positive/Negative
direction torque limit input can be entered normally.
4) Command pulse inhibition 4) Check the wiring and connection between Pin-33 and 41of the
input 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.
Installation Load inertia is large. Check the overshoot at stopping with graphic function of the
PANATERM. If no improvement is obtained, increase the driver and
motor capacity.


6-24

When in Trouble Origin Point Slips

System Z-phase is not detected. Check that the Z-phase matches to the center of proximity dog.
Execute the homing matching to the controller correctly.
+RPLQJFUHHSVSHHGLVIDVW Lower the homing speed at origin proximity. Or widen the origin 2
sensor.
Preparation
Wiring Chattering of proximity sensor Check the dog sensor input signal of the controller with
(proximity dog sensor) output . oscilloscope.
Review the wiring near to proximity dog and make a noise measure
or reduce noise.
Noise is on the encoder line. 5HGXFHQRLVH LQVWDOODWLRQRIQRLVHÀOWHURUIHUULWHFRUH VKLHOG

treatment of I/F cables, use of a twisted pair or separation of power
and signal lines.
3
No Z-phase signal output. Check the Z-phase signal with oscilloscope. Check that the Pin-
Connection
RIWKHFRQQHFWRUFRQQHFWRU;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 4
differential input.
Setup
When in Trouble Abnormal Motor Noise or Vibration 5
Adjustment
Wiring Noise is on the speed command. Measure the speed command inputs of Pin-14 and 15 of the
connector, &RQQHFWRU; with an oscilloscope. Reduce noise
LQVWDOODWLRQRIQRLVHÀOWHURUIHUULWHFRUH VKLHOGWUHDWPHQWRI,)
cables, use of a twisted pair, separation of power and signal lines.
Adjustment Gain setup is large. /RZHUWKHJDLQE\VHWWLQJXSORZHUYDOXHVWR3UDQGRI

YHORFLW\ORRSJDLQDQG3UDQG3URISRVLWLRQORRSJDLQ
6
When in Trouble
Installation Resonance of the machine and 5HDGMXVW3UDQG

the motor. 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. 7
Request for repair.
Supplement
Electro-magnetic sound, gear Check the noise of the motor while running the motor with no load.
noise, rubbing noise at brake Replace the motor to check. Request for repair.
engagement, hub noise or
rubbing noise of encoder.

6-25
Overshoot/Undershoot,
When in Trouble Overheating of the Motor (Motor Burn-Out)

Adjustment Gain adjustment is not proper. Check with graphic function of PANATERM or monitor (connector
; 0DNHDFRUUHFWJDLQDGMXVWPHQW5HIHUWR´$GMXVWPHQWµ
Installation Load inertia is large. Check with graphic function of PANATERM or monitor (Connector
; 0DNHDQDSSURSULDWHDGMXVWPHQW,QFUHDVHWKHPRWRUDQG
driver capacity and lower the inertia ratio. Use a gear reducer.
Looseness or slip of the Review the mounting to the machine.

machine.
Ambient temperature, Lower the temperature with cooling fan if the ambient temperature
environment. exceeds the predications.
Stall of cooling fan, dirt of fan Check the cooling fans of the driver and the machine. Replace the
ventilation duct. GULYHUIDQRUUHTXHVWIRUUHSDLU 7KHXSSHUIDQRQWKH+IUDPHGULYHU
stops during servo OFF to save energy. This is normal.)
Mismatching of the driver and Check the name plates of the driver and the motor. Select a
the motor. 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 Check the voltage at brake terminals. Apply the power (DC24V) to
engaged (left un-released). release the brake.
Motor failure (oil, water or Avoid the installation place where the motor is subject to high
others) temperature, humidity, oil, dust or iron particles.
Motor has been turned by Check the running pattern, working condition and operating status,
external force while dynamic and inhibit the operation under the condition of the left.
brake has been engaged.
Motor Speed Does Not Reach to the Setup,
When in Trouble Motor Revolutions (Travel) Is Too Large or Small

Parameter Velocity command input gain is &KHFNWKDWWKHVHWXSRI3UVSHHGFRPPDQGLQSXWJDLQLV
not correct. PDGHVRDVWRPDNHWKHVHWXSRIPDNHVUPLQ9
Adjustment Position loop gain is low. 6HWXS3UDQG3USRVLWLRQORRSJDLQWRDSSUR[
Division/Multiplication is not 6HWXSFRUUHFWYDOXHVWR3UVWQXPHUDWRURIHOHFWURQLF

proper. JHDU3UQXPHUDWRUPXOWLSOLHURIHOHFWURQLFJHDUDQG3U
denominator of electronic gear. Refer to parameter setup at each
mode.

6-26

When in Trouble Parameter Returns to Previous Setup

Parameter No writing to EEPROM has been 5HIHUWR3´((3520:ULWLQJ0RGHµRI3UHSDUDWLRQ
carried out before turning off the
power.
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
Safety Circuit Block Diagram ......................................................................7-5 2
Timing Chart ...............................................................................................7-6
Example of connection ...............................................................................7-8
Preparation
2. Absolute system
Outline ......................................................................................................7-10
&RQÀJXUDWLRQ ............................................................................................7-11
Battery (for Backup) Installation ................................................................7-12
Setup (Initialization) of Absolute Encoder .................................................7-16
Transferring absolute data ........................................................................7-16 3
Transferring external scale absolute data .................................................7-21
Display of Battery Alarm ...........................................................................7-25
Connection
3.Outline of Setup Support Software, “PANATERM”
Setup on the PC .......................................................................................7-26
4. Communication
Outline ......................................................................................................7-27
6SHFLÀFDWLRQV............................................................................................7-28 4
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
5
E-frame (400 V), F-frame .............................................................7-76
G-frame ........................................................................................7-77
Adjustment
H-frame ........................................................................................7-78
Motor .........................................................................................................7-79
7. Options
Noise Filter ................................................................................................7-94
Surge Absorber .........................................................................................7-98
Noise Filter for Signal Lines ......................................................................7-99
6
Junction Cable for Encoder ....................................................................7-100
When in Trouble
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
7
External Regenerative Resistor ..............................................................7-122
Supplement
Recommended components(Surge absorber for motor brake) ..............7-124

List of Peripheral Equipments .................................................................7-125

7-1
7 1. Safety function
Supplement Outline
Outline description of safe torque off (STO)

The safe torque off (STO) function is a safety function that shuts the motor current
and turns off motor output torque by forcibly turning off the driving signal of the servo
driver internal power transistor. For this purpose, the STO uses safety input signal and
hardware (circuit).
When STO function operates, the servo driver turns off the servo ready output signal
(S-RDY) and enters safety state.
This is an alarm condition and the 7-seg LED on the front panel displays the error code
number.
Safety precautions
When using the STO function, be sure to perform equipment risk assessment to ensure
that the system conforms to the safety requirements.
Even while the STO function is working, the following potential safety hazards exist.
Check safety in risk assessment.
The motor may move when eternal 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 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; 6DIHW\IXQFWLRQFRQQHFWRU

Related page 3´&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGVµ3´+RZWR8VHWKH)URQW3DQHOµ
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ

7-2
7 1. Safety function 1

Supplement Input & output signals
Safety input signal

For list of connector pin numbers, refer to P.2-53,
Signal Symbol Pin No. Contents

Control
mode
2
Input 1 that triggers STO function. This input turns
SF1+ 4
Preparation
off the upper arm drive signal of power transistor.
Safety
When using the function, connect this pin in a way
input 1
so that the photocoupler of this input circuit turns off
6)ï 3
to activate STO function. Compatible
all control
Input 2 that triggers STO function. This input turns mode
SF2+ 6
Safety
off the lower arm drive signal of power transistor. 3
When using the function, connect this pin in a way
input 2
so that the photocoupler of this input circuit turns off
5
Connection
6)ï
to activate STO function.
<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 6DIHW\HTXLSPHQWVHOIGLDJQRVLV/SXOVH 4
Safety output signal from the safety controller and safety sensor may include L pulse for
self-diagnosis.
Setup
To prevent the L pulse from mis-triggering STO function, the safety input circuit has
EXLOWLQÀOWHUWKDWUHPRYHVWKHVHOIGLDJQRVLV/SXOVH
Therefore, if the off period of safety input signal less than 1 ms, the safety input circuit
GRHVQRWGHWHFWWKLV´RIIµHYHQW
7RYDOLGDWHWKLV´RIIµSHULRGWXUQRIIWKHLQSXWVLJQDOIRUPRUHWKDQPV 5
L pulse for self-diagnosis
Adjustment
Safety input 5 ms or more
signal
1 ms or shorter 5 ms or shorter
Servo driver Response time 6
Operate STO state
When in Trouble
7
Supplement

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.
Control
Signal Symbol Pin No. Contents
mode
EDM+ 8 Outputs monitor signal that is used to check the

Compatible
EDM safety function. all control
output
Caution This output signal is not a safety output. mode
('0ï 7
/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 Symbol Photocoupler logic
SF1 ON ON OFF OFF
Safety input
SF2 ON OFF ON OFF
EDM output EDM OFF OFF OFF ON
By monitoring the logics (all 4 states) of photocoupler shown in the table above, the
external device can determine the status (normal or abnormal) of safety input circuit and
EDM output circuit.
Note Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms.

7-4
7 1. Safety function 1

Supplement Safety Circuit Block Diagram
+5V
Control
+5V
Power 2
Circuit
X3
SF1+ 4 IL_EMG
Preparation
I_SF1 IL_ERR1 ASIC
μC +5V
analog
input
+5V +5V
6)ï 3
LPF（3ms）
Power section interface

SF2+ 6 I_SF2
μC
PC
3
analog
input +5V
PC
Connection
6)ï 5 5V
+5V
EDM+ 8
μC port
3.3V
level
+5V +5V
shifter N in out
O_EDM
5V +5V PS
('0ï 7 Voltage
Monitor 4
Motor
Setup
M
Adjustment
6
When in Trouble
7
Supplement

7-5
Supplement Timing Chart
Operating timing for safety status

input coupler OFF
Servo-ON input input coupler ON (Servo-OFF command)
(SRV-ON) (Servo-ON command)
Safety input 1
input coupler ON input coupler OFF (STO)
Safety input 2 *3
max 5ms
Motor energization
energized not-energized
max 6ms
EDM output
output coupler OFF output coupler ON
0.5 to 5ms
Dynamic brake *2
released engaged
output coupler OFF

Servo-Ready output (not ready)
(S-RDY) output coupler ON
(ready)
output coupler OFF

Servo-Alarm output (Alarm)
(ALM) output coupler ON
(not Alarm)
output coupler OFF
External brake output coupler ON (Break engage)
release output (Break release)
(BRK-OFF) t1*1
motor speed when setup

value of Pr4.38
Setup value of Pr4.39 is shorter,
output coupler OFF
output coupler ON (Break engage)
(Break release)
t1*1
when time to fall
motor speed 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.

Related page 3´3U3Uµ3´3Uµ

7-6
1. Safety function
Timing Chart
1

Return timing from safety state
input coupler OFF
Servo-ON input (Servo-OFF command) input coupler ON
(SEV-ON) *1 (Servo-ON command) 2
Safety input 1
input coupler OFF input coupler ON
Safety input 2
Preparation
Motor energization not-energized
max 6ms
EDM output output coupler ON output coupler OFF Once the servo
on command is 3
input, the
Dynamic brake released/engaged *2 released/engaged *3 operation
Connection
proceeds in
generated alarm Servo-OFF synchronous
with normal
output coupler OFF servo on/off
Servo-Ready output (not ready)
(S-RDY) output coupler ON
(ready) timing.
(Refer to P.2-61
Servo-Clear intput
“Timing Chart”) 4
input coupler OFF input coupler ON
(ALM) *1
output coupler OFF
Setup
Servo-Alarm output (Alarm) output coupler ON
(ALM) (not Alarm)
External brake output coupler OFF (Break engage)

release output
(BRK-OFF) 5
*1 Photocouplers for safety input 1 and 2 should be turned on again with servo-on input
Adjustment
turned off. Otherwise, alarm occurs, and should be cleared.
Alarm clear should be performed after the safety input 1 and 2 have been turned
back to on.
Otherwise, alarm occurs.
*2 This is an alarm condition and the dynamic brake operates according to Pr5.10 Se- 6
quence at alarm.
When in Trouble
*3 This is normal servo-off condition and the dynamic brake operates according to
Pr5.06 Sequence at servo-off.
7
Supplement

Related page 3´3Uµ3´3Uµ

7-7
Supplement Example of connection
Example of connection to safety switch
24V
Safety
switch
Servo driver
Contact output SF1+

Safety input
6)ï
M
SF2+
Safety input
6)ï
0V
EDM+
EDM output
EDMï
Example of connection to safety sensor

Safety sensor Sefety output
(source) Servo driver
Control output 1
SF1+
Safety input
6)ï
Control output 2 M
SF2+
Safety input
0V 6)ï
24V EDM+
EDM input EDMï
EDM output
Example of connection to safety controller

Contact output
Safety
controller T31 Servo driver
T33
SF1+
Safety input
6)ï
M
SF2+
A2 6)ï
S14 S24 EDM+

EDMï
Sefety output EDM output
(source)
0V

7-8
1. Safety function
Example of connection
1

Example of connection when using multiple axes
Safety sensor Sefety output
(source)
Control output 1
2
Servo driver
Preparation
Control output 2 SF1+
6)ï
0V M
SF2+
24V 6)ï
EDM input
EDM+
3
EDMï
EDM
Connection
output
Servo driver
SF1+
6)ï 4
M
SF2+
6)ï
Setup
EDM+
EDMï
EDM
output
5
Servo driver
Adjustment
SF1+
6)ï
M
SF2+
6)ï
6
EDM+
EDMï
When in Trouble
EDM output
Capacity requirement per safety output (source) channel: 50 × No. of connected axes
(mA)
24 VDC supply allowable voltage: 24 V±15%
Maximum No. of connectable axes: 8
7
Supplement

7-9
7 2. Absolute system
Supplement Outline
Outline of Absolute System

When you compose an absolute system using an absolute encoder, you are not required
to carry out homing operation at the power-on, and this function suits very well to such an
application as a robot.
&RQQHFWWKHKRVWFRQWUROOHUZLWKWKH0,1$6$ZLWKDEVROXWHVSHFLÀFDWLRQV PRWRUZLWK
absolute encoder and driver with absolute spec) and set up the parameter, Pr0.15 to 0 or 2,
then connect the battery for absolute encoder to compose an absolute system with which
you can capture the exact present position information after the power-ON.
Shift the system to origin once after installing the battery and clear the multi-turn data by
clearing the absolute encoder, then you can detect the absolute position without carrying
out homing operation.
Via RS232 or RS485 communication, the host controller can connect up to 32 MINAS-A5
and capture the present position information as serial data to obtain the absolute position
of each axis by processing. each data.
Applicable Mode
<RXFDQXVHDOORI0,1$6$VHULHVGULYHULQDEVROXWHVSHFLÀFDWLRQVE\VHWWLQJXSSDUDP-
HWHU8VHWKHPRWRUZKLFKWKSODFH GHVLJQDWHGIRUURWDU\HQFRGHUVSHFLÀFDWLRQV LV´6µ
(7-wire type).
M M S
8th place
Rotary encoder specifications
$EVROXWH6SHFLÀFDWLRQV
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.)


7-10
7 2. Absolute system 1

Supplement Configuration
&RQÀJXUDWLRQRIDEVROXWHV\VWHPRIVFDOHXVLQJ56LQWHUIDFH
Host controller Servo driver
RS232
interface
4
X2 SN751701 or equivalent 2
TXD RXD
3
RXD TXD
1
GND GND
8
Preparation
RS485+
7 Relay
RS485ï X6
6 connector Motor
RS485+
5 RS485 can be
RS485ï
connecter to either
X4 terminal pair.
X5 Relay Detection
connector head
Positioning
controller External scale unit
3
* No connection to X5 when no
X2 SN751701 or equivalent external scale is used.
Connection
4
When longer wirings RXD
3
are used and/or drivers TXD
1
are connected to GND
8
different power RS485+
sources, interconnect 7 Relay
RS485ï X6
GND terminals of these 6 connector Motor
RS485+
drivers to prevent 5 RS485 can be
RS485ï
potential generation. connecter to either
X4 terminal pair.
Relay Detection
X5
connector head 4
External scale unit
Setup
Related page 3´&RQQHFWLRQRI&RPPXQLFDWLRQ/LQHµ
&RQÀJXUDWLRQRIDEVROXWHV\VWHPRIVFDOHXVLQJ56LQWHUIDFH
5
RS485
interface X2 ADM485 or equivalent
Adjustment
RS485+
6
RS485+ * No connection to X5 when no
5 external scale is used.
RS485– RS485–
1
GND GND
X6 Relay
8 connector Motor
RS485+
7
RS485–
X4 Relay Detection
Positioning
X5
connector head 6
controller
External scale unit
When in Trouble
Related page 3´&RQQHFWLRQRI&RPPXQLFDWLRQ/LQHµ
7
Supplement
Note * Battery for absolute encoder is required to store the multi-turn data into the encoder.
Connect the battery between BAT+ and BAT– of the motor.
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU
7-11
Supplement Battery (for Backup) Installation
First Installation of the Battery

After installing and connecting the back-up battery to the motor, execute an absolute en-
coder setup. Refer to P.7-16, "Setup (initialization) of Absolute Encoder ".
It is recommended to perform ON/OFF action once a day after installing the battery for
refreshing the battery.
A battery error might occur due to voltage delay of the battery if you fail to carry out the
battery refreshment.
Caution 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 Prepara-
tion), 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
HQFRGHUµ UHIHUWR3
How to Replace the Battery
1) Refresh the new battery. 2) Take off the cover of the battery box.
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
Raise the latch and
take off the cover.
Note 2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
Related page 3´%DWWHU\)RU$EVROXWH(QFRGHUµ

7-12
2. Absolute system
Battery (for Backup) Installation
1

3) Install the battery to the battery box.
Preparation
Place the battery with
+ facing downward. Connect
4) Close the cover of the battery box.

the connector. 3
Connection
Close the cover not to
pinch the connector cable.
Setup
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 be-
come corroded, and/or the battery itself may rupture.
,QVHUWWKHEDWWHU\ZLWKLWV´µDQG´²µHOHFWURGHVRULHQWHGFRUUHFWO\
2) Leaving a battery which has been used for a long period of time or a battery which is no 5
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
Adjustment
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\RUWKURZLWLQWRDÀUH 6
'RQRWGLVDVVHPEOHWKHEDWWHU\VLQFHIUDJPHQWVRIWKHLQWHULRUSDUWVPD\Á\LQWR\RXU
When in Trouble
H\HVZKLFKLVH[WUHPHO\GDQJHURXV,WLVDOVRGDQJHURXVWRWKURZDEDWWHU\LQWRDÀUH
or apply heat to it as doing to may cause it to rupture.
'RQRWFDXVHWKHEDWWHU\WREHVKRUWFLUFXLWHG8QGHUQRFLUFXPVWDQFHVPXVWWKHEDWWHU\
tube be peeled off.
,WLVGDQJHURXVIRUPHWDOLWHPVWRPDNHFRQWDFWZLWKWKH´µDQG´²µHOHFWURGHVRIWKH
EDWWHU\VLQFHVXFKREMHFWVPD\FDXVHDKLJKFXUUHQWWRÁRZDOODWRQFHZKLFKZLOOQRW
only reduce the battery performance but also generate considerable heat, possibly 7
leading to the rupture of the battery.
7KLVEDWWHU\LVQRWUHFKDUJHDEOH8QGHUQRFLUFXPVWDQFHVPXVWDQ\DWWHPSWEHPDGHWR
Supplement
recharge it.
Caution 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.
7-13
2. Absolute system
/LIHRIWKHEDWWHU\
Following example shows the life calculation of the back-up battery used in assumed ro-
bot operation.
2000[mAh] of battery capacity is used for calculation.
Note that the following value is not a guaranteed value, but only represents a calculated
value.
Caution The values below were calculated with only the current consumption factored in. The cal-
culations do not factor in electrolyte leakage and other forms of battery deterioration.
Life time may be shortened depending on ambient condition.
1) 2 cycles/day
Mon. to Sat. 313 days/365 day Sun. 52 days/365 days
24h 24h
10h 2h 10h 2h
ON
Power
supply
OFF
a bc a bc c
a : Current consumption in normal mode 3.6[ѥA]

b : Current consumption at power failure timer mode 280[ѥA]
* Power failure timer mode...Action mode in time period when the motor
can respond to max. speed even the power is off (5sec).
c : Current consumption at power failure mode 110[ѥA]
Annual consumption capacity =

(10h × a + 0.0014h × b + 2h × c) × 2 × 313 days + 24h × c × 52 days =
297.8[mAh] )
Battery life = 2000[mAh]/297.8[mAh] = 6.7 (6.7159) [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 =
640.6[mAh] )
Battery life = 2000[mAh]/630.6[mAh] = 3.1 (3.1715) [year]

7-14
2. Absolute system
1

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 bat-
tery for absolute encoder shall be provided by customer as well.
2
Caution Install and fix the battery securely. If the installation and fixing of the battery is not appro-
Preparation
priate, it may cause the wire breakdown or damage of the battery.
Refer to the instruction manual of the battery for handling the battery.
• Installation Place
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 3
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline
and salt and so on, and are free from splash of inflammable gas, grinding oil, oil
Connection
mist, iron powder or chips and etc.
3) Well-ventilated and humid and dust-free place.
4) Vibration-free place
• Wiring Diagram
4
Junction connector for Pin number when a connector (small motor) is used Twisted
pair Connector X6
encoder cable Pin number when a connector (large motor) is used (Optional connector kit)
(Optional connector kit)
6 (4) 1
Setup
E5V E5V
3 (1) 2
E0V E0V
Battery box for absolute encoder:
DV0P4430
5 (6) 1 1 Battery *1 5
5
BAT+ BAT+ BAT+ PS
2 (5) 2 2 6
BAT– BAT– BAT– PS
7 (3)
PS Connector, ZHR-2 FG (Case)
4 (7) (by J.S.T.)
PS
Adjustment
1 (9)
FG
*1 Battery for absolute encoder (Option):
Title Part No. Manufacturer

DV0P2990
6
Connector ZMR-2 J.S.T.
When in Trouble
Connector pin SMM-003T-P0.5 J.S.T. Connector for absolute encoder connection

Clamping Jig YRS-800 J.S.T. (To be provided by customer)
7
Supplement
Note • Only for position control type does not support the 17-bit absolute specification.
It supports only 20-bit incremental specification.
Related page • P.7-118 “Battery For Absolute Encoder”

7-15
Supplement Setup (Initialization) of Absolute Encoder
Absolute multi-turn data will be maintained by the absolute encoder battery.

:KHQRSHUDWLQJWKHPDFKLQHIRUWKHÀUVWWLPHDIWHULQVWDOOLQJWKHEDWWHU\WRWKHDEVROXWHHQ-
coder, clear the encoder data (multi-turn data) to 0 at the origin by following the procedure
described below.
Clear the absolute encoder from the front panel (see P.2-113) or PANATERM. Turn off
power and then on again.
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.

Related page 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ3´'HWDLOVRISDUDPHWHUµ

7-16
2. Absolute system
Transferring absolute data
1

RS232 Communication Protocol
Refer to the instruction manual of the host for the transmission/reception method of com-
mand.
2
Data of *1 and *2 are determined by the setup
Transmission starts
RI3U´$[LVDGGUHVVµ
Preparation
Axis address
Data of *1 Data of *2
05h transmission (example)
0 00h 2Eh
1 01h 2Dh
N
04h reception 2 02h 2Ch
3 03h 2Bh
Host requests Y
for absolute
4 04h 2Ah 3
00h transmission 5 05h 29h
data to driver 6 06h 28h
01h transmission *1
D2h transmission 7 07h 27h
Connection
2Dh transmission *2 8 08h 26h
9 09h 25h
10 0Ah 24h
N 11 0Bh 23h
06h reception
12 0Ch 22h
Y 13 0Dh 21h
N 14 0Eh 20h 4
05h reception 15 0Fh 1Fh
Y 16 10h 1Eh
17 11h 1Dh
Setup
04h transmission 18 12h 1Ch
19 13h 1Bh
20 14h 1Ah
Host receives Reception of 21 15h 19h
absolute data absolute data 22 16h 18h
from driver (15 characters) 23 17h 17h
24 18h 16h 5
25 19h 15h
N 26 1Ah 14h
Adjustment
Check sum
OK'ed reception 27 1Bh 13h
28 1Ch 12h
Y
29 1Dh 11h
06h transmission 15h transmission 30 1Eh 10h
31 1Fh 0Fh
Check sum becomes OK'ed when the lower
transmission finishes 8-bit of the sum of the received absolute data 6
(15 characters) is 0.
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 $OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWR
capture multiple axes data.
,WLVUHFRPPHQGHGIRU\RXWRUHSHDWWKHDERYHFRPPXQLFDWLRQPRUH 7
than 2 times to confirm the absolute data coincide, in order to avoid
Supplement
mis-operation due to unexpected noise.


7-17
2. Absolute system
56&RPPXQLFDWLRQ3URWRFRO
PDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQH[DPSOHRIWKHGULYHUWR3U´$[LVDGGUHVV
µ
Data of *1, *2 and *3 are determined by the setup of
Transmission starts
3U´$[LVDGGUHVVµ
Axis
81h transmission *1 address Data of *1 Data of *2 Data of *3
0 not usable with RS485 communication
N 1 81h 01h 2Dh
81h reception *1
2 82h 02h 2Ch
04h reception
3 83h 03h 2Bh
Host requests Y
4 84h 04h 2Ah
for absolute
00h transmission 5 85h 05h 29h
data to driver
01h transmission *2 6 86h 06h 28h
D2h transmission 7 87h 07h 27h
2Dh transmission *3 8 88h 08h 26h
9 89h 09h 25h
10 8Ah 0Ah 24h
N 11 8Bh 0Bh 23h
06h reception
12 8Ch 0Ch 22h
Y
13 8Dh 0Dh 21h
N 14 8Eh 0Eh 20h
80h reception 15 8Fh 0Fh 1Fh
05h reception
16 90h 10h 1Eh
Y
17 91h 11h 1Dh
80h transmission 18 92h 12h 1Ch
04h transmission 19 93h 13h 1Bh
Host receives 20 94h 14h 1Ah
absolute data 21 95h 15h 19h
Reception of
from driver 22 96h 16h 18h
absolute data
23 97h 17h 17h
(15 characters)
24 98h 18h 16h
25 99h 19h 15h
N 26 9Ah 1Ah 14h
Check sum
OK'ed reception 27 9Bh 1Bh 13h
28 9Ch 1Ch 12h
Y
29 9Dh 1Dh 11h
06h transmission 15h transmission 30 9Eh 1Eh 10h
31 9Fh 1Fh 0Fh
transmission finishes Check sum becomes OK'ed when the lower 8-bit of the
sum of the received absolute data (15 characters) is 0.
Command from the host will be transmitted to the desired driver based on RS485 trans-
mission protocol. For details of communication, refer to P.7-27, "Communication".
Caution $OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWRFDS-
ture multiple axes data.
,W LV UHFRPPHQGHG IRU \RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH
WKDQ WLPHV WR FRQÀUP WKH DEVROXWH GDWD FRLQFLGH LQ RUGHU WR DYRLG


7-18
2. Absolute system
1

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.
2
131071 0,1,2 … 13107 1 0,1,2 … 131071 0,1,
Preparation
Single-turn data
–1 0 01 12
Multi-turn data
Motor rotational direction CW CCW
Single-turn data and multi-turn data are composed by using 15-character data (hexadeci-
mal binary code) which are received via RS232 or RS485. 3
0Bh
Connection
Axis address Setup value of Pr5.31 “Axis address”.
D2h
03h
11h
Encoder status (L)
Received Encoder status (H) 4
absolute data Single-turn data (L)
(15 characters) Single-turn data (M)
Setup
Single-turn data (H)
Multi-turn data (L)
Multi-turn data (H)
00h
Error code Becomes to 0 when the communication is
carried out normally. If not 0, capture the
5
Checksum
absolute data from the driver again
Adjustment
'HWDLOVRIPXOWLWXUQGDWD
65535
Multi-turn data
6
When in Trouble
CW 0 CCW
Absolute counter over Error Normal Error
error protection
Single-turn data Single-turn data (H)×10000h+Single-turn data (M)×100h+Single-turn data (L)

multi-turn data multi-turn data (H) ×100h+multi-turn data (L)
7
Remarks ,I WKH PXOWLWXUQ GDWD RI WKH DERYH ÀJ LV EHWZHHQ WR FRQYHUW LW WR VLJQHG
Supplement
date after deducting 65536.


7-19
2. Absolute system
(QFRGHUVWDWXV / UHSUHVHQWVHUURURFFXUUHQFH
Encoder status (L)
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
0
(1) (2) (3) (4) (5) (6) (7)
(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)

0 0 0 0 0 0
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(QFRGHUVSHFLÀFDWLRQ
Remarks 7UDQVPLWWKHDEVROXWHGDWDZKLOHIL[LQJWKHPRWRUZLWKEUDNHE\WXUQ-
ing to Servo-Off.

Related page 3´3URWHFWLYH)XQFWLRQµ3´'LVSOD\RI%DWWHU\$ODUPµ

7-20

Supplement Transferring external scale absolute data
External scale RS232 communication procedure

µ
2
Data of *1 and *2 are determined by the setup
Transmission starts
RI3U´$[LVDGGUHVVµ
Preparation
Axis address
Data of *1 Data of *2
K 3Eh
1 K 3Dh
N
04h reception 2 K 3Ch
Y
3 K 3Bh
Host requests
for absolute
4 K 3Ah 3
data to driver 00h transmission 5 K 39h
01h transmission *1 6 K K
Connection
C2h transmission 7 K 37h
3Dh transmission *2 K 36h
9 K 35h
$K 34h
N 11 %K 33h
06h reception
12 &K 32h
Y
13 'K 31h
N 14 (K K 4
05h reception 15 )K 2Fh
Y 16 K 2Eh
17 11h 2Dh
Setup
04h transmission 12h 2Ch
19 13h 2Bh
14h 2Ah
Host receives Reception of 21 15h 29h
absolute data absolute data 22 16h K
from driver (15 characters) 23
24
17h
K
27h
26h
5
25 19h 25h
N 26 1Ah 24h
Adjustment
Check sum
OK'ed reception 27 1Bh 23h
1Ch 22h
Y
29 1Dh 21h
06h transmission 15h transmission 1Eh K
31 1Fh 1Fh
Check sum becomes OK'ed when the lower
transmission finishes
8-bit of the sum of the received absolute data 6
(15 characters) is 0.
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 $OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWR
capture multiple axes data.
,WLVUHFRPPHQGHGIRU\RXWRUHSHDWWKHDERYHFRPPXQLFDWLRQPRUH 7
than 2 times to confirm the absolute data coincide, in order to avoid
Supplement

Note 2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWK; &RPPXQLFDWLRQFRQQHFWRU DQG; &RQ-
nector for External Scale).
7-21
2. Absolute system
Transferring external scale absolute data
([WHUQDOVFDOH56FRPPXQLFDWLRQSURFHGXUH
µ
Data of *1, *2 and *3 are determined by the setup of
Transmission starts
3U´$[LVDGGUHVVµ
Axis
81h transmission *1 address Data of *1 Data of *2 Data of *3
1RWXVDEOHZLWK56FRPPXQLFDWLRQ
N 1 K K 3Dh
81h reception *1
2 K K 3Ch
04h reception
3 K K 3Bh
Host requests Y
4 K K 3Ah
for absolute
00h transmission 5 K K 39h
data to driver
01h transmission *2 6 K K K
C2h transmission 7 K K 37h
3Dh transmission *3 K K 36h
9 K K 35h
$K $K 34h
N 11 %K %K 33h
06h reception
12 &K &K 32h
Y
13 'K 'K 31h
N 14 (K (K K
80h reception 15 )K )K 2Fh
05h reception
16 K K 2Eh
Y
17 91h 11h 2Dh
80h transmission 92h 12h 2Ch
04h transmission 19 93h 13h 2Bh
Host receives 94h 14h 2Ah
absolute data Reception of
21 95h 15h 29h
from driver absolute data
22 96h 16h K
23 97h 17h 27h
(15 characters)
24 K K 26h
25 99h 19h 25h
Check sum
N 26 9Ah 1Ah 24h
OK'ed reception 27 9Bh 1Bh 23h
9Ch 1Ch 22h
Y
29 9Dh 1Dh 21h
06h transmission 15h transmission 9Eh 1Eh K
31 9Fh 1Fh 1Fh
transmission finishes Check sum becomes OK'ed when the lower 8-bit of the
sum of the received absolute data (15 characters) is 0.
Command from the host will be transmitted to the desired driver based on RS485 trans-
mission protocol. For details of communication, refer to P.7-27, "Communication".
Caution $OORZPVRUORQJHULQWHUYDOIRUD[LVVZLWFKLQJZKHQ\RXZDQWWRFDS-
ture multiple axes data.
,W LV UHFRPPHQGHG IRU \RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH
WKDQ WLPHV WR FRQÀUP WKH DEVROXWH GDWD FRLQFLGH LQ RUGHU WR DYRLG

7-22
2. Absolute system
1

Composition of external scale absolute data
8VLQJFKDUDFWHUGDWDUHFHLYHGWKURXJK5656RUJDQL]HWXUQGDWDDQGPXOWL
turn data.
2
0Bh
Setup value of Pr5.31 “Axis address”.
Preparation
Axis address
*1 Undefined
C2h *2 Depends on external scale.
FFh *1 31h: Mitsutoyo made
AT573
31h *2 32h: Mitsutoyo made
External scale status (L) ST771A, ST773A 3
41h: Magnescale made
Received External scale status (H) SR77, SR87
absolute data Absolute data (1)
Connection
(15 characters)
Absolute data (2)
Absolute data (3)
Absolute data (4)
Absolute data (5)
4
Absolute data (6)
Error code Becomes to 0 when the communication is
carried out normally. If not 0, capture the
Setup
Checksum absolute data from the driver again
External scale absolute data

Absolute data (6)×10000000000h
+Absolute data (5)×100000000h 5
+Absolute data (4)×1000000h
Adjustment
+Absolute data (1)
Absolute data of external scale is represented as 48 bit number (negative value is repre-
sented as two's complement).
6
Remarks ,I WKH PXOWLWXUQ GDWD RI WKH DERYH ÀJ LV EHWZHHQ WR FRQYHUW LW WR VLJQHG
date after deducting 65536.
When in Trouble
7
Supplement

7-23
2. Absolute system
([WHUQDOVFDOHVWDWXV / UHSUHVHQWVHUURURFFXUUHQFH
External scale status (L)
0
(1) (2) (3) (4) (5) (6) (7) (8)
(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)

0 0 0 0 0 0
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[WHUQDOVFDOHVSHFLÀFDWLRQ
Remarks 7UDQVPLWWKH([WHUQDOVFDOHDEVROXWHGDWDZKLOHIL[LQJWKHPRWRUZLWK
brake by turning to Servo-Off.

Related page 3´3URWHFWLYH)XQFWLRQµ1H[WSDJH´'LVSOD\RI%DWWHU\$ODUPµ

7-24

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

2
...... Highest priority alarm
Preparation
Alarm number
3UHVVWRVFUROODODUPFRQGLWLRQV
Connection
.LQGVRIDODUP
alarm /DWFKHG
Alarm Content
No. time *1
A0 Overload protection Load factor is 85% or more the protection level. WRVRU
Regenerative load factor is 85% or more the
A1 Over-regeneration alarm
protection level.
VRU 4
A2 Battery alarm Battery voltage is 3.2 V or lower. )L[HGDW
A3 Fan alarm Fan has stopped for 1 sec. WRVRU
Setup
A4 WRVRU
A5 Encoder overheat alarm The encoder detects overheat alarm. WRVRU
A6 Oscillation detection alarm Oscillation or vibration is detected. WRVRU
The life expectancy of capacity or fan becomes
A7 Lifetime detection alarm )L[HGDW
VKRUWHUWKDQWKHVSHFLÀHGWLPH 5
A8 External scale error alarm The external scale detects the alarm. WRVRU
External scale The number of successive external scale
A9 WRVRU
Adjustment
*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\DODUPLVÀ[HGDWEHFDXVHLWLVODWFKHGE\WKHHQFRGHU
%HFDXVHWKHHQGRIOLIHDODUPPHDQVWKDWWKHOLIHH[SHFWDQF\FDQQRWEHH[WHQGHGWKHDODUPLVVHWDW
6
How to Clear the Battery Alarm
When in Trouble
Replace the battery for absolute encoder when battery alarm occurs according to P.7-12,
"How to Replace the Battery". After replacement, clear the battery alarm in the following
3 methods.
D &RQQHFWRU;&RQQHFWLQJ$ODUPFOHDULQSXW $&/5 WR&20²IRUPRUHWKDQPV

(b) Executing the alarm clear function in auxiliary function mode by using the front panel. 7
(c) Click the "Battery warning" Clear button, after select the "Absolute encoder" tab in the
monitor display window by using the PANATERM (option).
Supplement
Note 2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ
Related page 3´$ODUP&OHDU6FUHHQµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
3´2XWOLQHRI6HWXS6XSSRUW6RIWZDUH´3$1$7(50µµ

7-25
7 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.
,IWKHFDEOHKDVQRQRLVHÀOWHULQVWDOODVLJQDOQRLVHÀOWHU '90P1460) to both ends of
the cable.
System required for PANATERM

To use PANATERM, the following system components are required.
3& Windows®;363 ELW9HU
Windows® VISTA SP1 (32-bit Ver.)
OS
Windows® 7 (32-bit Ver., 64-bit Ver.)
(Japanese, English, Chinese or Korean version)
CPU Pentium III 512 MHz or better
Memory 256 MB or more (512 MB recommended)
Hard disk 512 MB or more free space
Serial communication 86%SRUW
'LVSOD\ Resolution 1024 × 768 pixel or more

No. of colors 24-bit color (True Color) or better
3OHDVHFRQÀUPWKHODWHVWV\VWHPUHTXLUHPHQWVRQWKHKRPHSDJH

7-26
7 4. Communication 1

Supplement Outline
You can connect up to 32 MINAS-A5 series with your computer or NC via serial commu-
nication based on RS232 and RS484, and can execute the following functions.
(1) Change over of the parameters

2
(2) Referring and clearing of alarm data status and history
(3) Monitoring of control conditions such as status and I/O.
Preparation
(4) Referring of the absolute data
(5) Saving and loading of the parameter data
0HULWV
<RXFDQZULWHSDUDPHWHUVIURPWKHKRVWWRWKHGULYHULQEDWFKZKHQ\RXVWDUWXSWKH
machine. 3
<RXFDQGLVSOD\WKHUXQQLQJFRQGLWLRQRIPDFKLQHWRLPSURYHVHUYLFHDELOLW\
Connection
<RXFDQFRPSRVHPXOWLD[LVDEVROXWHV\VWHPZLWKVLPSOHZLULQJ
Setup
5
Adjustment
6
When in Trouble
7
Supplement

Related page 3´:LULQJWRWKH&RQQHFWRU;µ3´$EVROXWHV\VWHPµ
3´2XWOLQHRI6HWXS6XSSRUW6RIWZDUH´3$1$7(50µµ

7-27
7 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 accord-
ing to RS232 transmission protocol.
Selector etc.
RS232
Host
X2 X2 X2 X2
Pr5.31=1 Pr5.31=1 Pr5.31=1 Pr5.31=1
6HWXSWKHPRGXOH,'RI0,1$6$,QWKHDERYHFDVH\RXFDQVHWDQ\YDOXHRIWR
<RXFDQVHWWKHVDPHPRGXOH,'DVORQJDVWKHKRVWKDVQRGLIÀFXOW\LQFRQWURO
56DQG56FRPPXQLFDWLRQ
When you connect one host to multiple MINAS-A5s, connect the host to connec-
WRU;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 RS485
Host X2 X2 X2 X2
... Max. 32 axis
Pr5.31=0 Pr5.31=1 Pr5.31=2 Pr5.31=3

7-28
4. Communication
Specifications
1

2
56FRPPXQLFDWLRQ
Connect the host to multiple MINAS-A5s with RS485 communication, set up the
Preparation
Pr5.31 of each front panel of MINAS-A5 to 1 to 31.
RS485
RS485 RS485 RS485
3
Module ID=0 X2 X2 X2 X2
Host
Connection
... Max. 31 axis
Pr5.31=1 Pr5.31=2 Pr5.31=3 Pr5.31=4
Setup
$OORZPVRUORQJHULQWHUYDOIRUVZLWFKLQJWKHD[HVZKLOHFDSWXULQJGDWDRIPXO-
tiple axes.
Adjustment
6
When in Trouble
7
Supplement

7-29
4. Communication
Specifications
Interface of Communication Connector

&RQQHFWLRQWRWKHKRVWZLWK56
RS232
interface X2 SN751701 or equivalent
4
TXD RXD
3
RXD TXD
1
GND GND
8
RS485+
7 Relay
RS485ï X6
6 connector Motor
RS485+
5 RS485 can be
RS485ï
connecter to either
X4 terminal pair.
X5 Relay Detection
connector head
Positioning
controller External scale unit
* No connection to X5 when no
X2 SN751701 or equivalent external scale is used.
4
When longer wirings RXD
3
are used and/or drivers TXD
1
are connected to GND
8
different power RS485+
sources, interconnect 7 Relay
RS485ï X6
GND terminals of these 6 connector Motor
RS485+
drivers to prevent 5 RS485 can be
RS485ï
potential generation. connecter to either
X4 terminal pair.
X5 Relay Detection
connector head
External scale unit
&RQQHFWLRQWRWKHKRVWZLWK56
RS485
interface X2 ADM485 or equivalent
RS485+
6
RS485+ * No connection to X5 when no
5 external scale is used.
RS485– RS485–
1
GND GND
X6 Relay
8 connector Motor
RS485+
7
RS485–
X4 X5 Relay Detection
connector head
Positioning
controller
External scale unit
Communication Method
RS232 56
Full duplex, asynchronous Half duplex, asynchronous
Communication baud rate 2400, 4800, 9600, 19200, 38400, 57600, 115200bps 2400, 4800, 9600, 19200, 38400, 57600, 115200bps
Data 8 bit 8 bit
Parity none none
Start bit 1 bit 1 bit
Stop bit 1 bit 1 bit
Set up the RS232 communication baud rate with Pr5.29, and RS485 communication baud
rate with Pr5.30. The change of these parameters will be validated after the control power
entry. For details, refer to the following list of parameters related to communication.

7-30
4. Communication
Specifications
1

/LVWRI8VHU3DUDPHWHUVIRU&RPPXQLFDWLRQ
Setup
value
0 to Set the axis number for serial communication to 0 to 31. 2
5 31 Axis address
127 This parameter setup value has no effect on servo operation.
Set up the communication speed of RS232 communication.
Preparation
Baud rate
0 to 0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
5 29 setup of RS232
6 4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
communication
8SGDWHGVHWXSRILVYDOLGDWHGXSRQWXUQLQJRQRIFRQWUROSRZHU
Set up the communication speed of RS485 communication.
Baud rate
0 to 0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
5 30 setup of RS485 3
6 4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
communication
8SGDWHGVHWXSRILVYDOLGDWHGXSRQWXUQLQJRQRIFRQWUROSRZHU
Connection
5HTXLUHGWLPHIRUGDWDWUDQVPLVVLRQSHUE\WHLVFDOFXODWHGLQWKHIROORZLQJIRUPXODLQ
case of 9600[bps].
1000 / 9600 × (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit Stop bit
Data
Note that the time for processing the received command and time for switching the line
4
and transmission/reception control will added to the actual communication time.
+DQGVKDNHFRGH
Setup
Following codes are used for line control.
Title Code Function
ENQ 05h (Module recognition byte of the transmitted) Enquire for transmission
EOT 04h (Module recognition byte of the transmitted) Ready for receiving
ACK 06h Acknowledgement 5
NAK 15h Negative acknowledgement
ENQ ..... The module (host or driver) sends out ENQ when it has a block to send.
Adjustment
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. 6
NAK ..... When the received block is judged abnormal, NAK will be sent. A judgment is
based on checksum and timeout.
When in Trouble
Caution 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.
1 0 0 0 Module ID 7
Module ID : The module ID of the host side will be 0 in case of RS485 communica-
tion, therefore set up Pr5.31 of MINAS-A5 to 1 to 31.
Supplement

7-31
4. Communication
Specifications
Transmission Sequence
7UDQVPLVVLRQSURWRFRO
,QFDVHRI56
Host MINAS-A5
1) ENQ(05h)
2) EOT(04h)
Receiving
3) Data block data
4) ACK(06h)
(or NAK (15h))
5) ENQ(05h)
6) EOT(04h)
Transmitting
7) Data block data
8) ACK(06h)
(or NAK (15h))
,QFDVHRI56
Host MINAS-A5
Module ID : 0 1) 81h, ENQ (05h) Module ID : 1
2) 81h, EOT (04h)
Receiving
3) Data block data
4) ACK (06h)
(or NAK (15h))
5) 80h, ENQ (05h)

6) 80h, EOT (04h)
Transmitting
7) Data block 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 trans-
mitting ENQ.
At contention of transmission and reception... Slave side will enter to reception mode
when it receives ENQ while waiting for EOT after transmitting ENQ, by giving priority
to ENQ (of master side).
7UDQVPLVVLRQFRQWURO
On entering to transmission mode, the module transmits the command block continu-
ously and then waits for ACK reception. Transmission completes at reception of ACK..
ACK may not be returned at transmission failure of command byte counts. If no ACK
is received within T2 period, or other code than NAK or ACK is received, sequence will
be retried. Retry will start from ENQ.
5HFHSWLRQFRQWURO
On entering to reception mode, the module receives the transmitted block continuously. It
ZLOOUHFHLYHWKHFRPPDQGE\WHFRXQWVIURPWKHÀUVWE\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.
7-32
4. Communication
Specifications
1

'DWD%ORFN&RPSRVLWLRQ
Below shows the composition of data block which is transmitted in physical phase.
(1 byte)
2
N
axis
mode command
Preparation
Parameter
(N byte)
check sum
N : Command byte counts (0 to 240)
Shows the number of parameters which are required by command.
axis : Sets up the value of Pr5.31.(0 to 127) 3
command : Control command (0 to 15)
mode : Command execution mode (0 to 15)
Connection
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).
4
Title Function Initial value Setup range Unit
RS232 5 (0.5 sec)
T1 Time out between characters 1 to 255 0.1 sec
RS485 1 (0.1 sec)
Setup
RS232 5 (0.5 sec)
T2 Protocol time out 1 to 255 1 sec
RS485 1 (0.1 sec)
RS232 0 (0ms) 0 to 255
T6 Driver response time 1 ms
RS485 6 (6ms) 2 to 255
RTY Retry limit 1 (once) 1–8 Once
M/S Master/Slave 0 (Slave) 0, 1 (Master) 5
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
Adjustment
block. Time out error occurs and the driver returns NAK to the transmitter when the actual recep-
tion time has exceed ed this setup time.
7 3HUPLVVLEOHWLPHLQWHUYDOIRUWKHGULYHUWRWUDQVPLW(14DQGWRUHFHLYH(27,IWKHDFWXDOUHFHS-
tion time exceeds this setup, this represents that the receiver is not ready to receive, or it has
failed to receive ENQ code in some reason, and the driver will re-transmit ENQ code to the re-
ceiver. (retry times)
3HUPLVVLEOH WLPH LQWHUYDO IRU WKH GULYHU WR WUDQVPLW (27 DQG WR UHFHLYH WKH UHFHSWLRQ RI WKH VW
FKDUDFWHUFRGH7KHGULYHUZLOOUHWXUQ1$.DQGÀQLVKHVWKHUHFHSWLRQPRGHLIWKHDFWXDOUHFHSWLRQ
6
has exceeded this setup time.
When in Trouble
3HUPLVVLEOH WLPH LQWHUYDO IRU WKH PRGXOH WR WUDQVPLW WKH FKHFN VXP E\WHV DQG WR UHFHLYH$&.
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. 7
M/S: Switching of master and slave. When contention of ENQ has occurred, the module decides which
is to be given priority.
Supplement
Priority is given to the transmitter which is set up as a master. (0: Slave mode, 1 : Master mode)

7-33
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 ÁRZ FKDUW GHVFULEHV WKH
DFWXDOÁRZRIWKHFRPPXQLFDWLRQGDWDZKHQ\RXZDQWWRFDSWXUHWKHDEVROXWHGDWDRI
the module ID=1.
e.g. of system composition
Pr5.31=0 Pr5.31=1 Pr5.31=2 Pr5.31=3
RS485 RS485 RS485

X2 X2 X2 X2
RS232
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 00 01 D2 2D 04
(ENQ) (EOT)
MINAS-A5 (0) 04 06 05 0B 01 D2
(EOT) (ACK) (ENQ)
Obtain data with RS485
(see the below)
Host 06
(ACK)
MINAS-A5 (0) 03 11 00 00 D8 FF 01 00 00 00 00 36
* RS485 communication
MINAS-A5 (0) 81 05 00 01 D2 2D 80 04
(ENQ) (EOT)
MINAS-A5 (1) 81 04 06 80 05
(EOT) (ACK) (ENQ)
MINAS-A5 (0)
MINAS-A5 (1) 0B 01 D2 03 11 00 00 D8 FF 01 00 00
MINAS-A5 (0) 06
(ACK)
MINAS-A5 (1) 00 00 36
Caution See the below for the captured data. Refer to P.7-48, "Read out of Absolute Encoder " of
details of communication command, for the data composition.
Multi-turn data : 0000h = 0
Single turn data : 01FFD8h = 131032
$OORZPVRUORQJHULQWHUYDOIRUVZLWFKLQJWKHD[LVZKLOHFDSWXULQJGDWDRIPXOWLSOHD[HV

7-34
4. Communication
Specifications
1

([DPSOHRI3DUDPHWHU&KDQJH
Following shows the communication data in time series when you change parameters.
Communication in general will be carried out in sequence of (1) Request for captur-
ing of execution right, (2) Writing of individual parameter, and (3) Writing to EEPROM 2
when saving of data is required, and (4) Release of execution right. Here the hard-
ware connection shows the case that the driver (user ID= 1) is directly connected to
Preparation
the host with RS232. Date is presented in hexadecimals.
1) Capture of execution right
Host 05 01 01 71 01 8C 04
(ENQ) (EOT) 3
MINAS-A5(1) 04 06 05 01 01 71
(EOT) (ACK) (ENQ)
Connection
2) Writing of individual parameter
Host 06 05 06 01 17 00 02 00 00 00 00 E0
(ACK) (ENQ)
MINAS-A5(1) 00 8D 04 06
(EOT) (ACK) 4
3) Writing of parameter to EEPROM
Host 04 06 05 00 01 27
Setup
(EOT) (ACK) (ENQ)
MINAS-A5(1) 05 01 01 17 00 E6 04
(ENQ) (EOT)
Host D8 04 06 5
(EOT) (ACK)
MINAS-A5(1) 06 05 01 01 27 00 D7
Adjustment
(ACK) (ENQ)
4) Release of execution right
Host 05 01 01 71 00 8D 04
(ENQ) (EOT)
MINAS-A5(1) 04 06 05 01 01 71 6
(EOT) (ACK) (ENQ)
When in Trouble
Host 06
(ACK)
MINAS-A5(1) 00 8D
Caution For details of command, refer to P.7-40, "Details of Communication Command". 7

Supplement

7-35
4. Communication
Specifications
Status Transition Chart

56&RPPXQLFDWLRQ
Transmitter Reception of EOT
Size←Command bytes+3 Transmission of
T2 stop one character
Ready for EOT Size←Command bytes–1
Reception of ENQ and Block transmission

Enquiry for at slave
transmission, and Return ENQ to reception T2 time out
retry times are buffer Size becomes 0
One count of retry times
within setup Clear of transmission enquiry Trransmission of check sum
T2 stop
Transmission of →(reception processing) Clear of transmission T2 start
ENQ, buffer
T2 start
Ready for ACK/NAK

Enquiry for transmission, but
retry times are over. Reception of other than Reception of ACK
Reset of retry times ACK orT2 time out Reset of retry times
Clear of transmission enquiry Count once of retry times T2 stop
T2 stop Clear of transmission
Clearance of transmission enquiry
buffer
Idling = It waits for the reception of ENQ, and or it is dealing with reception.
T1 time out
T2 time out Transmission of NAK, T1 time out
ENQ Transmission of NAK, T1 stop Failure of reception. Transmission
Transmission T2 stop (Check sum OK'ed when of NAK,
of EOT Success of reception size becomes o.) T1 stop
T2 start (Check sum OK'ed when T1 start
size becomes o.)
Transmission of ACK,
T1 stop
Ready for finish of receiving data
Ready for command byte counts Reception of remained block
Reception of command byte counts Reception of

Size←command byte counts + 3 one character
Sum←command byte counts Reception of one character T1 start
T1 start, T2 stop Size←Size –1
Sum←Sum + received character
T1 start
Receiver

7-36
4. Communication
Specifications
1

56&RPPXQLFDWLRQ
Module identification byte Transmitter Transmission of
one character
2
of transmitter is the module Reception of EOT
ID | 80h of the counterpart. Module ID of opponent Size Command bytes +3 Size←Size - 1
Preparation
T1 start T2 stop
Ready for ID Ready for EOT Block transmission

T2 time out Size becomes 0
Enquiry for ID reception of other than
opponent and at slave One count of
transmission, Trransmission of
retry times
and retry times Return ENQ to reception check sum
are within setup buffer
T2 stop
Clearance of
T2 start 3
Module (→receipt processing)
transmission
recognition byte, Clear of transmission enquiry
buffering Ready for ACK/NAK
Connection
Transmission
of ENQ, Enquiry for transmission, Reception of ACK
T1 time out Reception of ACK or
T2 start butretry times are over. Reset of retry times
One count of T2 time out
Reset of retry times T2 stop
retry times Count once of
Clear of transmission Clearance of
T1 stop retry times
enquiry transmission enquiry
Clearance of T2 stop
transmission Clearance of
buffering transmission buffer 4
Idling = It waits for the reception of Module ID, and or it is dealing with reception.
Setup
T1 time out
Reception of Success of reception Transmission of NAK and
module T1 time out (Check sum OK'ed and T1 stop when module
T1 stop
recognition
bytes
module recognition
byte is module ID,
recognition byte is
module ID.
T1 time out 5
T1 start when size becomes o.) T1 stop in other case Transmission
Transmission of ACK, than the above. of NAK,
T1 stop
Adjustment
Ready for ENQ or EOT T1 stop
Transmission to other
Module axis (module recognition
identification byte byte is not module ID
T2 time out when size becomes 0)
isnot module ID
Transmission of NAK T1 stop
and ENQ
and T2 stop when
reception or Failure of reception.
module recognition
T1 timeout
T1 stop
byte is module ID.
T2 stop in other case
(Check sum error when
size becomes o.)
6
than the above. T1 start
Reception of
When in Trouble
of EOT
Ready for finish of receiving data
T2 start
Ready for command byte counts Reception of remained block

Reception of
Module recognition byte is Reception of command byte counts one character
module ID and reception of ENQ Size←command byte counts + 3 T1 start
Module recognition byte, Sum←command byte counts Reception of one character
Transmission of EOT, T2 start T1 start, T2 stop Size←Size - 1 7
Sum←Sum + received character
Receiver T1 start
Supplement

7-37
4. Communication
Specifications
Timing of Data Communication

,QFDVHRI56 56WRIROORZ
T3 T4 T3 T5 T4
Host to driver
Enquiry for transmission Data block
Driver to host
Permission for ACK/

0 to 2ms transmission 0 to 2ms 0 to 2ms NAK 0 to 2ms
RS485 bus
occupation
T3 T5 T3 T4 T5
Host to driver
Permission for ACK/NAK

transmission
Driver to host
0 to 2ms Enquiry for 0 to 2ms 0 to 2ms Data block 0 to 2ms

transmission
RS485 bus
occupation
Symbol Title Minimum Maximum

T3 Continuous inter-character time Stop bit length Protocol parameter T1
T4 Response time of driver Protocol parameter T6 Protocol parameter T2
T5 Response time of host 2ms Protocol parameter T2
Caution Above time represents a period from the rising edge of the stop bit.

7-38
7 4. Communication 1

Supplement /LVWRI&RPPXQLFDWLRQ&RPPDQG
command mode Content

NOP
1 Read out of CPU version
0
5 Read out of driver model 2
6 Read out of motor model
INIT
Preparation
7 Capture and release of execution right
1
8 Setup of RS232 protocol parameter
9 Setup of RS485 protocol parameter
POS, STATUS, I/O
0 Read out of status
1 Read out of command pulse counter 3
2 Read out of feedback pulse counter
4 Read out of present speed
Connection
5 Read out of present torque output
6 Read out of present deviation counter
2
7 Read out of input signal
8 Read out of output signal
9 Read out of present speed, torque and deviation counter 4
A Read out of status, input signal and output signal
C Read out of external scale
D Read out of absolute encoder
Setup
E Read out of external scale deviation and sum of pulses
PARAMETER
0 Individual read out of parameter
1 Individual writing of parameter
7 2 Writing of parameter to EEPROM 5
6 Individual read out of user parameter
7 Read out of two or more user parameter
Adjustment
8 Writing of two or more user parameter
ALARM
0 Read out of present alarm data
2 Batch read out of alarm history
9
3 Clear of user alarm history 6
4 Alarm clear
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command mode
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7-40
4. Communication
Details of Communication Command
1

command mode
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7-41
4. Communication
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7-42
4. Communication
1

command mode
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7-43
4. Communication
command mode
2 6
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at positive direction.
command mode
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data H
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For 6ZLWFKLQJRI 6SHHG]HUR Control mode CCW over-travel CW over-travel Alarm clear 6HUYR21
manufacturer's use electronic gear 1 clamp switching inhibit inhibit
bit15 14 13 12 11 10 9
For For Internal speed Internal speed For Counter clear Gain switching Command pulse
command command
manufacturer's use manufacturer's use selection 2 selection 1 manufacturer's use input inhibition
bit23 22 21 20 19 17 16
6ZLWFKLQJRI Damping control Torque limit Internal speed Damping control For For For
command
electronic gear 2 switching 2 switching selection 3 switching 1 manufacturer's use manufacturer's use manufacturer's use
bit31 31 29 27 26 25 24
For For For 6DIHW\LQSXW 6DIHW\LQSXW For Torque 6SHHG
manufacturer's use manufacturer's use manufacturer's use manufacturer's use command sign command sign
Logic of input signal is based on assignment set in the parameter.

Because of the internal logical data after conversion of input, it does not directly correspond to the input signal from the
connector X5.
CW over-travel inhibit input and CCW over-travel inhibit input will change according to the input logic, even if they have
been disabled by the parameter,

7-44
4. Communication
1

command mode
2 8 5HDGRXWRIRXWSXWVLJQDO
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axis axis
8 2 8 2 2
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data H
alarm data L
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error code
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Connection
For In-speed Torque in-limit Zero speed Mechanical Positioning Servo-Alarm Servo-Ready
complete
PDQXIDFWXUHU VXVH detection brake released (In-position)
bit15 14 13 12 11 10 9 8
Excite motor &RQWUROSRZHU Dynamic brake Control inrush Control
regeneration
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positioning
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latch engagement suppression relay brake complete PDQXIDFWXUHU VXVH
bit23 22 21 20 19 18 17 16
6DIHW\('0 Speed
command
ON/OFF
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output
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output
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complete
(In-position)
command
ON/OFF
Alarm output 2 Alarm output 1 4
bit31 31 29 28 27 26 25 24
For For For For For For For For
Setup
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Overload Fan Over-regeneration Encoder
communication
Encoder overheat /LIHWLPH For Battery
protection alarm alarm alarm alarm detection alarm PDQXIDFWXUHU VXVH alarm
bit15 14 13 12 11 10 9 8
For For For
PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH PDQXIDFWXUHU VXVH
External scale Oscillation
communication detection
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error alarm
5
alarm alarm
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Positioning completed Positioning not completed Positioning in-complete
Mechanical brake released Mechanical brake engaged Mechanical brake released
Zero speed detection Zero speed not detected Zero speed detected
Torque in-limit Torque not in-limit Torque in-limit 6
At-speed (Speed arrival) Not at-speed(Speed not arrived) Speed arriving
When in Trouble
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Full-closed positioning complete Full-closed positioning not completed Full-closed positioning completed
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Control inrush suppression relay Release inrush suppression relay Operate inrush suppression relay
Dynamic brake engagement Dynamic brake released Dynamic brake engaged
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7-45
4. Communication
command mode
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7-46
4. Communication
1

command mode
2 C
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*1 bit5 : Logical sum of bit0 to bit 5 of status (L) *2 bit4 : logical sum of bit6 and bit 7 of status (L)
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7-47
4. Communication
command mode
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7-48
4. Communication
1

command mode
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7-49
4. Communication
command mode
7 6 ,QGLYLGXDOUHDGRXWRIXVHUSDUDPHWHU
2 17 (11h)
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parameter type parameter type
parameter No. parameter No.
checksum (L)
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7-50
4. Communication
1

command mode
7 7
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ELW 6 5 4 1 0
3DUDPHWHU 'LVSOD\ &KDQJHDW
QRWLQXVH LQKLELWHG LQLWLDOL]DWLRQ
ELW 14 11 10 9 8
5HDGRQO\
(UURUFRGH
5
ELW 6 5 4 1 0
1RUPDO &RPPDQGHUURU 56HUURU 1R(UURU
Adjustment
(UURU
3DUDPHWHUYDOXH0,1YDOXHDQG0$;YDOXHVKRXOGEHVLJQH[WHQGHGWRELWVEHIRUHEHLQJWUDQVPLWWHG
6
When in Trouble
7
Supplement

7-51
4. Communication
command mode
7 8
:ULWLQJRIWZRRUPRUHXVHUSDUDPHWHU
30h(48) 17(11h)
axis axis
8 7 8 7
(1) parameter type (1) parameter type
(1) parameter No. (1) parameter No.
(L) (2) parameter type
(1) parameter value (2) parameter No.
(H)
(8) parameter type
(8) parameter No.
(8) parameter type Error code
(8) parameter No. checksum
(L)
(8) parameter value
(H)
checksum
(UURUFRGH
ELW 5 4 3 2 1 0
0 : Normal Data Error Command error RS485 error No.Error
1 : Error
6HWWRXQXVHGSDUDPHWHU2WKHUZLVHGDWDHUURURFFXUV:KHQGDWDRXWVLGHWKHVSHFLILHGVHWWLQJUDQJHLVVHQWGDWD
error occurs.
command mode
9 0 5HDGRXWRISUHVHQWDODUPGDWD
0 3
axis axis
0 9 0 9
checksum alarm No. (Main)
DODUP1R 6XE
error code
checksum
(UURUFRGH
ELW 5 4 3 2 1 0
0 : Normal Command error RS485 error
1 : Error
,IQRDODUPRFFXUVDODUP1REHFRPHV
)RUDODUP1RUHIHUWR33URWHFWLYHIXQFWLRQ :KDWLVDODUPFRGH" RI:KHQLQ7URXEOH

7-52
4. Communication
1

command mode
9 2 %DWFKUHDGRXWRIDODUPKLVWRU\
0 'K
axis axis
2 9 2 9 2
checksum VWODWHVW DODUP1R 0DLQ
DODUP1R 6XE
Preparation
QGODWHVW DODUP1R 0DLQ
DODUP1R 6XE
WKODWHVW DODUP1R 0DLQ

DODUP1R 6XE
HUURUFRGH
checksum
(UURUFRGH
3
ELW 6 5 4 3 2 1 0
1RUPDO &RPPDQGHUURU &RPPDQGHUURU
Connection
(UURU
<RXFDQUHDGRXWODVWHUURUHYHQWV
command mode
9 3
&OHDURIXVHUDODUPKLVWRU\ 4
0 1
axis axis
3 9 3 9
Setup
checksum (UURUFRGH
checksum
(UURUFRGH
ELW 6 5 4 3 2 1 0
5
1RUPDO 'DWD(UURU &RPPDQGHUURU 56HUURU &RQWURO/9
(UURU
Adjustment
&OHDUVWKHDODUPGDWDKLVWRU\
'DWDHUURUZLOORFFXUZKHQ\RXIDLOWRFOHDU
:KHQXQGHUYROWDJHRIFRQWUROSRZHUVXSSO\RFFXUVHUURUFRGHRIFRQWURO/9ZLOOEHUHWXUQHGLQVWHDGRIH[HFXWLQJZULWLQJ
command mode
9 4
$ODUPFOHDU 6
0 1
When in Trouble
axis axis
4 9 4 9
checksum (UURUFRGH
checksum
(UURUFRGH
ELW 6 5 4 3 2 1 0
7
(UURU
Supplement
&OHDUVWKHSUHVHQWDODUP RQO\WKRVH\RXFDQFOHDU

7-53
4. Communication
command mode
9 B
$EVROXWHFOHDU
0
axis axis
B 9 B 9
checksum (UURUFRGH
checksum
(UURUFRGH
ELW 6 5 4 3 2 0
(UURU
&OHDUVDEVROXWHHQFRGHUHUURUDQGPXOWLWXUQGDWD
&RPPDQGHUURUZLOOEHUHWXUQHGZKHQ\RXXVHRWKHUHQFRGHUWKDQELWDEVROXWHHQFRGHU

7-54
7 5. Motor Characteristics (S-T
Characteristics )
1

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) 2

Without oil seal With oil seal
Preparation
MSMD5AZ * 1 * MSMD5AZ * 1 *
,QSXWYROWDJHWRGULYHU$&99 ,QSXWYROWDJHWRGULYHU$&99
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH 'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
* Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp.
torque ratio vs. rated torque torque ratio vs. rated torque
>1ÃP@ >@ >1ÃP@ >@ without
EUDNH
0.5 0.5
95
(0.4)
0.25
3HDNUXQQLQJUDQJH
50
(0.4)
0.25
3HDNUXQQLQJUDQJH
70
60
50 ZLWKEUDNH
3
Continuous running range Continuous running range
Connection
(3600) (3600)
0 2000 3000 4000 5000 0 20 30 40 0 2000 3000 4000 5000 0 20 30 40
VSHHG>UPLQ@ ambient temp. >&@ VSHHG>UPLQ@ ambient temp. >&@
MSMD011 * 1 * MSMD011 * 1 *
torque
>1ÃP@
ratio vs. rated torque
>@
torque
>1ÃP@
>@ without
EUDNH
4

95
(0.8) (0.8) 75
3HDNUXQQLQJUDQJH 3HDNUXQQLQJUDQJH 70
(0.6) (0.6) ZLWKEUDNH
0.5 50 50
Setup
0.5
0 2000 3000 4000 5000 0 20 30 40 0 2000 3000 4000 5000 0 20 30 40
MSMD012 * 1 * MSMD012 * 1 *
Input voltage to driver: AC2009
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
Input voltage to driver: AC2009
'RWWHGOLQHUHSUHVHQWVWRUTXHDWOHVVYROWDJH
5
torque ratio vs. rated torque ratio vs. rated torque
Adjustment
>1ÃP@ >@ >@ without
EUDNH

95
75
70
3HDNUXQQLQJUDQJH 3HDNUXQQLQJUDQJH ZLWKEUDNH
0.5 50 0.5 50
0 2000 3000 4000 5000 0 20 30 40 0 2000 3000 4000 5000 0 20 30 40

VSHHG>UPLQ@

ambient temp. >&@

VSHHG>UPLQ@

ambient temp. >&@ 6
* These are subject to change. Contact us when you use these values for your machine design.
When in Trouble
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRIÝ&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH
:KHQ\RXORZHUWKHWRUTXHOLPLWVHWXS 3DQG
running range at high speed might be lowered as well. 7
torque
5XQQLQJUDQJH 7RUTXHOLPLWVHWXS
Supplement
Continuous running range
speed

7-55
Characteristics )
Supplement MSMD series :
MSMD series (200W)

MSMD021 * 1 * MSMD021 * 1 *
Input voltage to driver: AC100V Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.)
[N·m] [%] [N·m] [%] without
brake
2.0 100 2.0 100
80
70
Peak running range Peak running range with brake
1.0 50 1.0 50
(0.9) (0.9)
(0.5) (0.5)
(3600) (3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
speed [r/min] ambient temp. [°C] speed [r/min] ambient temp. [°C]
MSMD022 * 1 * MSMD022 * 1 *
torque ratio vs. rated torque ratio vs. rated torque
[N·m] [%] [%] without
brake
2.0 100 2.0 100
(1.5) (1.5) 80
70
(1.2) (1.2) with brake
1.0 Peak running range 50 1.0 Peak running range 50

(4500) (4500)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
running range at high speed might be lowered as well.
torque
Running range (Torque limit setup : 300%)
speed

7-56
Characteristics )
1

Supplement MSMD series :WR:
MSMD series (400W to 750W)

MSMD041 * 1 * MSMD041 * 1 *
(Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) 2
[N·m] [%] [N·m] [%]
Preparation
4.0 100 4.0 100
90
75
Peak running range 50 Peak running range
2.0 2.0 50
(1.3) (1.3)
(0.6) (0.6)
(2800) (3200) (2800) (3200)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 0 10 20 30 40
1000 2000 3000 4000 5000
回転速度 [r/min] 周囲温度 [°C] 回転速度 [r/min] 周囲温度 [°C]
3
MSMD042 * 1 * MSMD042 * 1 *
Connection
[N·m] [%] [N·m] [%]
4.0 100 4.0 100

90
75
Peak running range Peak running range
2.0 50 2.0 50
(1.7) (1.7)
(1.3)
(1.3)
Continuous running range 4
(3400)(3800) (3400)(3800)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
Setup
MSMD082 * 1 * MSMD082 * 1 *
[N·m] [%] [N·m] [%]
100 100
8.0 8.0
5
4.0 50 4.0 50
(3.0) (3.0)
Adjustment
(3200)(3600) (3200)(3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
6
When in Trouble
7
Supplement

7-57
Characteristics )
Supplement MSME series :WR:
MSME series (50W to 100W)

MSME5AZ * 1 * MSME5AZ * 1 *
EUDNH
0.5 0.5 ZLWKEUDNH
60
0.25 50 0.25 50

0 2000 3000 4000 5000 6000 0 20 30 40 0 2000 3000 4000 5000 6000 0 20 30 40
MSME5AZ * 1 * MSME5AZ * 1 *
Input voltage to driver: AC2009 Input voltage to driver: AC2009
EUDNH
0.5 0.5 ZLWKEUDNH
60
0.25 50 0.25 50

0 2000 3000 4000 5000 6000 0 20 30 40 0 2000 3000 4000 5000 6000 0 20 30 40
MSME011 * 1 * MSME011 * 1 *
EUDNH
ZLWKEUDNH

70
0.5 50 0.5 50


0 2000 3000 4000 5000 6000 0 20 30 40 0 2000 3000 4000 5000 6000 0 20 30 40
MSME012 * 1 * MSME012 * 1 *
Input voltage to driver: AC2009 Input voltage to driver: AC2009
EUDNH
ZLWKEUDNH

75
70
3HDNUXQQLQJUDQJH 3HDNUXQQLQJUDQJH
0.5 50 0.5 50

0 2000 3000 4000 5000 6000 0 20 30 40 0 2000 3000 4000 5000 6000 0 20 30 40
* 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRIÝ&LVLQFDVHRIZLWKRXWRLOVHDOZLWKRXWEUDNH

7-58
Characteristics )
1

Supplement MSME series :
MSME series (200W)

MSME021 * 1 * MSME021 * 1 *
(Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) 2
without
[N·m] [%] [N·m] [%] brake
Preparation
100 100 with brake
2.0 2.0
80
Peak running range Peak running range 70
1.0 50 1.0 50
(0.8) (0.8)
(0.32) (0.32)
(2600) (3100) (2600) (3100)

0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
3
MSME022 * 1 * MSME022 * 1 *
Connection
without
[N·m] [%] [N·m] [%] brake
2.0 100 2.0 100 with brake
Peak running range Peak running range 80

(1.3) (1.3) 70
(1.1) (1.1)
1.0 50 1.0 50
(0.32)
(0.32)
4
(4600) (4600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
Setup
5
Adjustment
6
When in Trouble
torque
Supplement
speed

7-59
Characteristics )
Supplement MSME series :WR:
MSME series (400W to 750W)

MSME041 * 1 * MSME041 * 1 *
[N·m] [%] [N·m] [%]
4.0 100 4.0 100

90
75
2.0 50 2.0 50
(1.7) (1.7)

(0.32) (0.32)
(2600) (3100) (2600) (3100)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
MSME042 * 1 * MSME042 * 1 *
[N·m] [%] [N·m] [%]
4.0 100 4.0 100

75
2.0 50 2.0 50
(1.7) (1.7)
(0.64) (0.64)
(3100)(3600) (3100)(3600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
MSME082 * 1 * MSME082 * 1 *
[N·m] [%] [N·m] [%]
8.0 100 8.0 100

4.0 (3.4) 50 4.0 (3.4) 50
(3.0) (3.0)
(0.6) (0.6)
(3200)(3600) (3200)(3600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
MSME084 * 1 *
Input voltage to driver: AC400V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs. ambient temp.
torque ratio vs. rated torque
[N·m] [%]
8.0 100
Peak running range

4.0 50
(2.6)
(1.6)
(3500)(3800)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
speed [r/min] ambient temp. [°C]

7-60
Characteristics )
1

Supplement MSME series N:WRN:
MSME series (1.0kW to 2.0kW)

With oil seal
060(* 1 * 060(* 1 *
2
[N·m] [%] [N·m] [%]
Preparation
10 100 10 100

(6.0) (6.0)
5 50 5 50
(4.0) (4.0)
(1.9) (1.9)
(3800) (4200) (3800) (4200)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
3
060(* 1 * 060(* 1 *
Connection
without without
[N·m] [%] brake [N·m] [%] brake
15 100 15 100
85 85
with brake with brake
7.5 50 7.5 50
(4.0)
(4.0)
(3200) (3600) (3200) (3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
Setup
060(* 1 * 060(* 1 *
[N·m] [%] without [N·m] [%] without
brake brake
20 100 20 100
Peak running range

85
70 with brake Peak running range
85
70 with brake
5
10 50 10 50
(7.0) (7.0)
Adjustment
(2.0) (2.0)
(3300) (3700) (3300) (3700)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
6
When in Trouble
torque
Supplement
speed

7-61
Characteristics )
Supplement MSME series N:WRN:
MSME series (3.0kW to 5.0kW)

With oil seal
060( * 1 * 060( * 1 *
brake brake
30 100 30 100
90 90
85 with brake 85 with brake
15 50 15 50
(12) (12)
(8.0) (8.0)
(5.7) (5.7)
(3100) (3400) (3100) (3400)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
060(* 1 * 060(* 1 *
brake brake
40 100 40 100
90 90
85 with brake 85 with brake
20 50 20 50
(10) (10)
(2800) (3100) (2800) (3100)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
060(* 1 * 060(* 1 *
[N·m] [%] [N·m] [%]
50 100 50 100
70 70
25 50 25 50
(15) (15)
(2800) (3200) (2800) (3200)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
torque
speed

7-62
Characteristics )
1

Supplement MDME series :WRN:
MDME series (400W to 2.0kW)

With oil seal
0'0(* * 0'0(* *
2
torque ratio vs. rated torque torque
トルク ratio vs. rated torque
[N·m] [%] [N·m] [%]
Preparation
6 100 10 100
4 Peak running range

(3.5) Peak running range
50 5 50
(4.5)
2
(1.3) (1.9)
(2400) (2700) (2100)(2400)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
3
0'0(* * 0'0(* *
Connection
[N·m] [%] [N·m] [%]
15 100 15 100
10 10
(6.0) 50 (6.0) 50
5
(4.0)
(3.2) Continuous running range
5
(4.0)
(3.2) Continuous running range
4
(2200) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
Setup
0'0(* * 0'0(* *
[N·m] [%] [N·m] [%]
20 100 20 100

5
10 50 10 50
(6.0) (6.0)
Adjustment
(4.8) (4.8)
(2300) (2300)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
0'0(* * 0'0(* *

torque
[N·m]
[%]
torque
[N·m]
[%]
6
30 100 30 100
When in Trouble

15 50 15 50
(11) (11)
(6.4) (6.4)
(2200) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
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 *
[N·m] [%] [N·m] [%]
50 100 50 100
(28) (28)
25 Peak running range 50 25 Peak running range 50
(20) (20)

(9.5) (9.5)
(2200)(2400) (2200)(2400)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
0'0(* 1 * 0'0(* 1 *
[N·m] [%] [N·m] [%]
50 100 50 100

25 50 25 50
(13) (13)
(1900)(2100) (1900)(2100)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
0'0(* 1 * 0'0(* 1 *
torque ratio vs. rated torque without torque ratio vs. rated torque without
with with
70 100 brake 70 100 brake
90 90
85 85
35 50 35 50
(20) (20)
(3) (3)
(1900)(2100) (1900)(2100)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
torque
speed

7-64
Characteristics )
1

Supplement MDME series N:WRN:
0'0(series(N:WRN:)
:LWKRLOVHDO
0'0(* * 0'0(* *
2
[N·m] [%] [N·m] [%]
Preparation
（119）（119）
100 100 100 100
90 90
(60) (60)
50 50 50 50
(47.8) (47.8)
(12) (12)
0 (1500) (2200) (2500) 0 (1500) (2200) (2500)

1000 2000 3000 0 10 20 30 40 1000 2000 3000 0 10 20 30 40
3
0'0(&* * 0'0(&* *
Connection
torque * Continuous torque vs. ambient temp. torque * Continuous torque vs. ambient temp.
[N·m] ratio vs. rated torque [N·m] ratio vs. rated torque
(175) [%] (175) [%]
150 100 150 100

(130) (130)
75 50 75 50
(70) (70)
(52.5)
(52.5)
(1500)(1700) (1500)(1700)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
Setup
0'0(&* * 0'0(&* *
torque * Continuous torque vs. ambient temp. torque * Continuous torque vs. ambient temp.
[N·m] ratio vs. rated torque [N·m] ratio vs. rated torque
[%] [%]
(224) (224)
200 100 200 100
Peak running range

90
Peak running range
90
5
100 50 100 50
(95.5) (95.5)
(57) (57)
Adjustment
(1500)(1700) (1500)(1700)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
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 *
[N·m] [%] [N·m] [%]
（21.5）（21.5）
20 100 20 100
（14）（14）

（7.16）（7.16）
（4.8）（4.8）
0 (2200) (2600) 0 (2200) (2600)

1000 2000 3000 0 10 20 30 40 1000 2000 3000 0 10 20 30 40
0)0(* 1 * 0)0(* 1 *
[N·m] [%] [N·m] [%]
（30.4）（30.4）
30 100 30 100
15 50 15 50
（11.9）（11.9）
（5）（5）
0 (1800) 0 (1800)
1000 2000 3000 0 10 20 30 40 1000 2000 3000 0 10 20 30 40
0)0(* 1 * 0)0(* 1 *
[N·m] [%] [N·m] [%]
（54.9）（54.9）
50 100 50 100
25 50 25 50
（21.5）（21.5）
（10）（10）
0 (1800) 0 (1800)
1000 2000 3000 0 10 20 30 40 1000 2000 3000 0 10 20 30 40
torque
speed

7-66
Characteristics )
1

Supplement MGME series N:WRN:
0*0(VHULHV(N:WRN:)
:LWKRLOVHDO
0*0$* * 0*0$* *
(Dotted line represents torque at 10% less voltage.) 2
[N·m] [%] [N·m] [%]
Preparation
20 100 20 100
(14) (14)
10 50 10 50
(8) (8)
(4.3) (4.3)
(1600)(1800) (1600)(1800)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
3
0*0$* * 0*0$* *
Connection
[N·m] [%] [N·m] [%]
50 100 50 100

(28) (28)
25 50 25 50
(18)
(9.6)
(18)
(9.6)
4
(1400)(1600) (1400)(1600)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
Setup
0*0$* * 0*0$* *
[N·m] [%] [N·m] [%]
70 100 70 100
(40)
Peak running range
(40)
Peak running range
5
35 50 35 50
(20) (20)
Adjustment
(14) Continuous running range (14) Continuous running range
(1400)(1600) (1400)(1600)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
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 *
[N·m] [%] [N·m] [%]
(107) (107)
100 100 100 100
(70) (70)
50 50 50 50
(43) (43)
(22) (22)
(1500)(1700) (1500)(1700)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
0*0(* 1 * 0*0(* 1 *
[N·m] [%] [N·m] [%]
150 100 150 100

(143) (143)
(100) (100)
(57.3) (57.3)
(28) (28)
(1500)(1700) (1500)(1700)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
torque
speed

7-68
Characteristics )
1

Supplement MHMD series :
MHMD series (200W)

0+0'* * 0+0'* *
Preparation
brake
2.0 100 2.0 100
80
70
Peak running range Peak running range with brake
1.0 50 1.0 50
(0.9) (0.9)
(0.5) (0.5)
(3600) (3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
3
0+0'* * 0+0'* *
Connection
brake
2.0 100 2.0 100
80
(1.5) (1.5) 70
(1.2) Peak running range (1.2) Peak running range with brake
1.0 50 1.0 50
Continuous running range Continuous running range 4

(4500) (4500)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
Setup
Adjustment
6
When in Trouble
7
Supplement

7-69
Characteristics )
Supplement MHMD series :WR:
MHME series (400W to 750W)

0+0'* * 0+0'* *
[N·m] [%] [N·m] [%]
4.0 100 4.0 100

90
75
2.0 50 2.0 50
(1.3) (1.3)
(0.6) (0.6)
(2800) (3200) (2800) (3200)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 0 10 20 30 40
1000 2000 3000 4000 5000
0+0'* * 0+0'* *

[N·m] [%] [N·m] [%]
4.0 100 4.0 100

90
75
2.0 50 2.0 50
(1.7) (1.7)
(1.3) (1.3)
(3400) (3800) (3400) (3800)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
0+0'* * 0+0'* *

[N·m] [%] [N·m] [%]
8.0 8.0
100 100

4.0 50 4.0 50
(3.0) (3.0)

(3200) (3600) (3200) (3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
torque
speed

7-70
Characteristics )
1

Supplement MHME series N:WRN:
0+0(series (N:WRN:)
With oil seal
0+0(* * 0+0(* *
[N·m] [%] [N·m] [%]
Preparation
15 100 15 100
10 10
(6.0)
50 (6.0)
50
5 5
(4.0) (4.0)
(3.2) (3.2)
(2200) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
3
0+0(* * 0+0(* *
Connection
[N·m] [%] [N·m] [%]
20 100 20 100

10 50 10 50
(6.0)
(4.8)
(6.0)
(4.8)
4
(2300) (2300)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
Setup
0+0(* * 0+0(* *
[N·m] [%] [N·m] [%]
30 100 30 100

5
15 50 15 50
(6.4) (6.4)
Adjustment
(2200) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
0+0(* * 0+0(* *

torque
[N·m]
[%]
torque
[N·m]
[%]
6
50 100 50 100
When in Trouble

25 50 25 50
(20) (20)
(9.5) (9.5)
(2400) (2400)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
7
Supplement

7-71
Characteristics )
Supplement MHME series N:WRN:
0+0(series (N:WRN:)
With oil seal
0+0(* 1 * 0+0(* 1 *
[N·m] [%] [N·m] [%]
50 100 50 100

25 50 25 50
(13) (13)
(1900) (2100) (1900) (2100)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
0+0(* 1 * 0+0(* 1 *
torque ratio vs. rated torque without torque ratio vs. rated torque
without
70 100 70 100
90 90
85 85
Peak running range with brake Peak running range with brake
35 50 35 50
(20) (20)
(3) (3)
(1900) (2100) (1900) (2100)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
0+0(* 1 * 0+0(* 1 *
[N·m] [%] [N·m] [%]
（119）（119）
100 100 100 100

(60) (60)
50 50 50 50
(47.8) (47.8)
(12) (12)
0 (1500) (2200) (2500) 0 (1500) (2200) (2500)
1000 2000 3000 0 10 20 30 40 1000 2000 3000 0 10 20 30 40
torque
speed

7-72
7 6. Dimensions 1

Supplement Driver
A-frame
2
40 (22.4) 2.5
Preparation
40 7 (20) 20.4
ø5
.2 Mounting bracket
3.5 ø5
(Option)
(18)
.2
125
(27)
140
150
150
170
180 24
Connection
Mounting bracket
5
Name plate 5.2
5
5.2 2.5
(Option)
28 6
7 4.5 130
Rack mount type (70) Base mount type
(
Option :
Front-end mounting ) (
Standard:
Back-end mounting ) 4
Mass: 0.8kg
Setup
B-frame
5
55 55
(22.4) 2.5
Adjustment
47
(20) 20.4
7
ø5
.2 Mounting bracket
3.5 ø5
(Option)
(18)
.2
125
(27)
6
140
150
150
170
180
24
When in Trouble
Mounting bracket
5
5.2
Name plate (Option)
5.2 2.5 43 6
4.5 130
7
(70) Base mount type
Rack mount type
(
Standard:
) 7
(
Option :
Front-end mounting ) Back-end mounting
Supplement
Mass: 1.0kg
Related page 3´'ULYHUµ3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ

3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ

7-73
6. Dimensions
Driver
C-frame
65 65
40 (22.4) 2.5
20 (22) 20.4
ø5.
2 Mounting bracket
4 ø5
(Option)
(15)
.2
120
(27)
140
150
150
170
180
24 Name plate
(18)
Mounting bracket
5
5.2
5
5.2 2.5 (Option)

50 7.5
20 4.5 170
40 (70) Base mount type
Rack mount type (
Standard:
Back-end mounting )
(
Option :
Front-end mounting )
Mass: 1.6kg
'IUDPH 9
(86) (86)
85 (22.4) 2.5
60
(22) 20.4
10 40
2-ø5.2 Mounting bracket 4
(Option) ø5
(15)
.2
120
(27)
140
150
150
170
180
24 Name plate
(18)
5
R2
Mounting bracket 5.2 .6
5.2 5.2 2.5 (Option)
70 8.5
Direction of air flowing 10 40 4.5 170
from the internal 60 (70) Base mount type
cooling fan Rack mount type (
Standard:
Back-end mounting )
(
Option :
Front-end mounting )
Mass: 1.8kg
Related page 3´'ULYHUµ3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ


7-74
6. Dimensions
Driver
1

'IUDPH 9
2
(92) (92)
Preparation
85
60 (22.4) 2.5
(22) 20.4
10 40
2-ø5.2
Mounting bracket 4 4
(Option) ø5
(15)
.2
120
(27)
24
3
140
150
150
170
180
Name plate
Connection
(18)
Mounting bracket(Option) 5.2
5
2.5
4.5 170
5.2 5.2 7.5 70
(70)
Direction of air flowing 10 40
from the internal Base mount type
( ) 4
Rack mount type Standard:
cooling fan
(
Option :
Front-end mounting ) Back-end mounting
Mass: 1.9kg
Setup
(IUDPH 9
5
(86) (86)
Adjustment
85
17.5 50
(33.1) 2.5
42.5 Mounting bracket (3.5)
(22) 31.7
(deviation from shipping specification)
5.2
.2
ø5
Mounting bracket
(29)
(to shipping specification)
130
(32)
6
When in Trouble
Name plate
168
168
188
198
24
(18)
5.2 5.2
Mounting bracket (to shipping specification)
Mounting bracket 7
ø5.2
Direction of air flowing 42.5 2.5 (deviation from shipping specification)

from the internal 17.5 50 193
85
cooling fan
Supplement
Mass: 2.7kg

7-75
6. Dimensions
Driver
(IUDPH 9
94 94
85
17.5 50
(33.1) 2.5
42.5 Mounting bracket (3.5)
(22) 31.7
5.2 5.2
.2
ø5
Mounting bracket
(29)
130
(32)
Name plate
168
168
188
198
24
(18)
ø5.2
5.2 5.2
Mounting bracket
Direction of air flowing 42.5 2.5 (deviation from shipping specification)
193
from the internal 17.5 50
cooling fan
Mass: 2.7kg
)IUDPH 9
130 130
15 100 214
65 42.7 2.5 (3.5)
5.2 5.2 (22) Mounting bracket
.2

ø5
(23)
125
(32)
24
Name plate
220
220
240
250

Mounting bracket
ø5.2
5.2 5.2 2.5 (deviation from shipping specification)

Direction of air flowing 65
15 100
from the internal 130
cooling fan
Mass: 4.8kg [200V]

4.7kg [400V]
7-76
6. Dimensions
Driver
1

*IUDPH 9
2
NC
L1
X1
L1C
Preparation
X2
L2
L 2C
X3
L3
NC
NC
B1
X4
DB1
B2
DB2
NC
NC
X5
U
NC
X6
V DB3
DB4
W
3
NC
CHARGE
Connection
Direction of air flowing
from the internal
cooling fan
233
12 210
27 90 90
334
72
5.2 5.2
90
5.2 (22)
52
2.5
Mounting bracket
(deviation from shipping specification) 3.5
4
ø5
ø5
Mounting bracket
.2
.2
Handle
(23)
125
Setup
(32)
NC
L1 X1
L1C
X2
L2
L 2C
X3
L3
NC
24
NC
B1
220
235
250
X4
DB1
B2
DB2
Name plate
NC
5
NC
X5
U
NC
X6
V DB3
DB4
W
NC
CHARGE
Adjustment
Mounting bracket
ø5.
ø5.

5.2 5.2 5.2 2.5 Mounting bracket
2
72 90 (deviation from shipping specification)
27 90 90
12 210
6
When in Trouble
7
Mass: 13.5kg
Supplement


7-77
6. Dimensions
Driver
+IUDPH 9
261 21 270 200 30.5

4
ø7
ø7
125
(32)
Name
plate
450
435
Name
plate
7 7
7.5
200 30.5
Direction of air flowing Base mount type

from the internal (Back-end mounting)
cooling fan
266 4
Mount
Mount
Mass: 21.0kg


7-78
7 6. Dimensions 1

Supplement Motor
060':WR:
2
Encoder connector
Preparation
Brake connector
Shaft end spec.
LL LR (D-cut shaft)
LF LE Motor connector
LW RH
LK
1°
RH
°±
90
3
230
200
(7) (7) □LC (Key way with center tap shaft)

LW
Connection
4-ѮLZ
ѮSh6
LK KW
ѮLA
KH
LH
ѮLBh7
TP
RH
LN
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Setup
060'VHULHV /RZLQHUWLD
Motor output 50W 100W
Motor model MSMD 5A * * 1□ * 01 * * 1 *
Without brake 72 92
LL
With brake 102 122 5
LR 25
S 8
Adjustment
LA 45
LB 30
LC 38
LE 3
LF 6
LH 32
LN
LZ
26.3
3.4
46.5
6
LW 25
寸法
カット
D
When in Trouble
LK 20
RH 7.5
LW 14
LK 12.5
dimensions
Key way
KW 3h9
KH 3
RH 6.2
TP M3 depth 6 7
Without brake 0.32 0.47
Mass (kg)
With brake 0.53 0.68
Supplement
&RQQHFWRUVSHFLÀFDWLRQV 5HIHUWR3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
Caution Reduce the moment of inertia ratio if high speed response operation is required.
Related page 3´&KHFNRIWKH0RGHOµ3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
3´67&KDUDFWHULVWLFVµ

7-79
6. Dimensions
Motor
060':WR:
Encoder connector
Brake connector Shaft end spec.
(D-cut shaft)
LL LR
LW RH
LF LE Motor connector
LK
1°
RH
°±
90
220
(7) (7)
4-ѮLZ
200
□LC
(Key way with center tap shaft)
LW
ѮSh6
KW
LK
ѮLA
KH
LH
ѮLBh7
TP
RH
060'VHULHV /RZLQHUWLD
Motor output 200W 400W 750W
Motor model MSMD 02 * * 1□ * 04 * * 1□ * 08 * * 1□ *
Without brake 79.5 99 112.2
LL
With brake 116 135.5 149.2
LR 30 35
S 11 14 19
LA 70 90
LB 50 70
LC 60 80
LE 3
LF 6.5 8
LH 43 53
LZ 4.5 6
30 35
寸法
カット
D LW
LK 22 25
RH 10 12.5 17.5
LW 20 25 25
18 22.5 22
dimensions
LK
Key way
KW 4h9 5h9 6h9

KH 4 5 6
RH 8.5 11 15.5
TP M4 depth 8 M5 depth 10
Without brake 0.82 1.2 2.3
Mass (kg)
With brake 1.3 1.7 3.1

7-80
6. Dimensions
Motor
1

060(:WR:
Encoder connector
Motor connector
LL LR 2
LT LM LC Shaft end spec.
Preparation
LF LE 4-ѮLZ LW
ѮSh6
KW
LK
ѮLA
KH
LN
ѮLBh7
TP
RH
[With brake] 3
Encoder connector Brake connector
Motor connector
Connection
LL LR
LT LM LC Shaft end spec.
LF LE 4-ѮLZ LW
ѮSh6
KW
LK
ѮLA
KH
LN
4
ѮLBh7
TP
RH
Setup
060(VHULHV /RZLQHUWLD
Motor output 50W 100W 200W 400W 750W
Motor model MSME 5A * * 1 * OP 01 * * 1 * OP 02 * * 1 * OP 04 * * 1 * OP 08 * * 1 * OP
Without brake 72 92 79.5 99 112
LL
With brake 102 122 116 135.5 148.2 5
LR 25 30 35
S 8 11 14 19
Adjustment
LA 45 70 90
LB 30 50 70
LC 38 60 80
LE 3
LF — 6.5 8
LH 46.6 52.5 61.6
LM
Without brake
With brake
48
78
68
98
56.5
93
76
112.5
86.2
122.2
6
LN 23 43 — — —
When in Trouble
LT 24 23 26
LZ 3.4 4.5 6
LW 14 20 25 25
LK 12.5 18 22.5 22
dimensions
Key way
KW 3h9 4h9 5h9 6h9

KH 3 4 5 6
RH 6.2 8.5 11 15.5
TP M3 depth 6 M4 depth 8 M5 depth 10 7
Without brake 0.32 0.47 0.82 1.2 2.3
Mass (kg)
With brake 0.53 0.68 1.3 1.7 3.1
Supplement
3WR´67&KDUDFWHULVWLFVµ

7-81
6. Dimensions
Motor
060(: 9 N:WRN: 'HVLJQ2UGHU

<MSME 750W(400V), 1.0kW to 2.0kW>
LL LR LC
Motor/Brake 44 LM
connector
Shaft end spec.
(Key way shaft)
Encoder
connector LF LE
4-ѮLZ LW M3 through
LK
LH
D
ѮL
ѮSh6
KW
LG
KH
ѮLBh7
ѮL
A
RH
<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 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model MSME 084 * 1 * 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 *
Without brake 131.5 141 159.5 178.5 190 208 243
LL
With brake 158.5 168 186.5 205.5 215 233 268
LR 55 65
S 19 22 24
LA 115 145
LB 95 110
LC 100 120 130
LD 135 162 165
LE 3 6
LF 10 12
LG 60
LH 101 113 118
Without brake 87.5 97 115.5 134.5 146 164 199
LM
With brake 114.5 124 142.5 161.5 171 189 224
LZ 9
LW 45 55
dimensions
LK 42 41 51
Key way
KW 6h9 8h9
KH 6 7
RH 15.5 18 20
Without brake 3.1 3.5 4.4 5.3 8.3 11.0 14.0
Mass (kg)
With brake 4.1 4.5 5.4 6.3 9.4 12.6 16.0

7-82
6. Dimensions
Motor
1

060(N:WRN: 'HVLJQ2UGHU&
<MSME 1.0kW to 2.0kW>
LL LR □LC
Motor/Brake
connector
46 LM
Shaft end spec.
2
(Key way shaft)
Encoder
connector LF LE
Preparation
4-ѮLZ LW M3 through
LK
LH
D
LG
ѮL
ѮSh6
KW
KH
ѮLBh7
ѮL
A
RH
3
<MSME 3.0kW to 5.0kW> * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF.
Connection
LF
4
Setup
Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model MSME 10 * * C * 15 * * C * 20 * * C * 30 * * C * 40 * * C * 50 * * C *
Without brake 143 161.5 180.5 192 210 245
LL
With brake 170 188.5 207.5 217 235 270
LR 55 65 5
S 19 22 24
LA 115 145
Adjustment
LB 95 110
LC 100 120 130
LD 135 162 165
LE 3 6
LF 10 12
LG
LH 101
84
113 118
6
Without brake 97 115.5 134.5 146 164 199
When in Trouble
LM
With brake 124 142.5 161.5 171 189 224
LZ 9
LW 45 55
dimensions
LK 42 41 51
Key way
KW 6h9 8h9
KH 6 7
RH 15.5 18 20 7
Without brake 3.5 4.4 5.3 8.3 11.0 14.0
Mass (kg)
With brake 4.5 5.4 6.3 9.4 12.6 16.0
Supplement

7-83
6. Dimensions
Motor
0'0(:WRN: 'HVLJQ2UGHU
Encoder connector
Motor/Brake connector
LL LR LC
44 LM
Shaft end spec.
(Key way shaft)
LF LE
4-ѮLZ
LW M3 through
LH
LK
ѮSh6
KW
KH
LG
ѮLBh7
ѮLD
ѮLA
RH
MDME series (Middle inertia)

Motor output 400W 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW
Motor model MDME 044 * 1 * 064 * 1 * 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 *
Without brake 131.5 141 138 155.5 173 208 177 196
LL
With brake 158.5 168 163 180.5 198 233 202 221
LR 55 65 70
S 19 22 35
LA 115 145 200
LB 95 110 114.3
LC 100 130 176
LD 135 165 233
LE 3 6 3.2
LF 10 12 18
LG 60
LH 101 116 118 140
Without brake 87.5 97 94 111.5 129 164 133 152
LM
With brake 114.5 124 119 136.5 155 189 158 177
LZ 9 13.5
LW 45 55
dimensions
LK 42 41 51 50
Key way
KW 6h9 8h9 10h9

KH 6 7 8
RH 15.5 18 20 30
Without brake 3.1 3.5 5.2 6.7 8.0 11.0 15.5 18.6
Mass (kg)
With brake 4.1 4.5 6.7 8.2 9.5 12.6 18.7 21.8

7-84
6. Dimensions
Motor
1

0'0(:WRN: 'HVLJQ2UGHU&
Encoder connector
2
LL LR □LC
Preparation
46 LM
Shaft end spec.
(Key way shaft)
LF LE
4-ѮLZ
LW M3 through
LH
LK
LG
ѮSh6
KW
3
KH
ѮLBh7
ѮLA
ѮLD
Connection
RH
4
Motor model 10 * * C * 15 * * C * 20 * * C * 30 * * C * 40 * * C * 50 * * C *
Setup
MDME
Without brake 140 157.5 175 210 179 198
LL
With brake 165 182.5 200 235 204 223
LR 55 65 70
S 22 35
LA 145 200 5
LB 110 114.3
LC 130 176
Adjustment
LD 165 233
LE 6 3.2
LF 12 18
LG 84
LH 116 118 140
Without brake 94 111.5 129 164 133 152
6
LM
With brake 119 136.5 155 189 158 177
When in Trouble
LZ 9 13.5
LW 45 55
dimensions
LK 41 51 50
Key way
KW 8h9 10h9
KH 7 8
RH 18 20 30
Without brake 5.2 6.7 8.0 11.0 15.5 18.6
7
Mass (kg)
With brake 6.7 8.2 9.5 12.6 18.7 21.8
Supplement

7-85
6. Dimensions
Motor
0'0(N:WRN:
<MDME 7.5kW> Motor connector
Brake connector
LL LR □LC
Encoder 44 LM 43.5 43.5
connector Eye bolt Shaft end spec.
(Thread 10)
(Key way shaft)
48
LF LE
4-ѮLZ LW
M4 through
ѮSh6
LK
LH
KW
KH
LG
ѮLBh7
D
ѮL ѮL
A
RH
<MDME 11.0kW, 15.0kW>
LL LR □LC
44 LM 57 57
Eye bolt Shaft end spec.
(Thread 10) (Key way shaft)
48 LF LE
4-ѮLZ LW
LK M5 through
LH
ѮSm6
KW
KH
LG
ѮLBh7
D
ѮL ѮL
A
RH

Motor output 7.5kW 11.0kW 15.0kW
Motor model MDME 75 * * 1 * C1 * * 1 * C5 * * 1 *
Without brake 312 316 348
LL
LR 113 116
S 42 55
LA 200 235
LB 114.3 200
LC 176 220
LD 233 268
LE 3.2 4
LF 24 32
LG 60
LH 184 205
LM
LZ 13.5
LW 96 98
dimensions
LK 90 90
Key way
KW 12h9 16h9
KH 8 10
RH 37 ï0 49 0
ï

Mass (kg)
With brake 40.4 58.9 76.3

7-86
6. Dimensions
Motor
1

MFME 1.5kW to 4.5kW
Encoder connector 2
LL LR □LC
Preparation
44 LM Shaft end spec.
(Key way shaft)
LF LE
4-ѮLZ
LW M3 through
LK
LH
ѮSh6
KW
KH
3
LG
ѮLBh7
D
ѮL
ѮL
A
RH
Connection
4
MFME series (Middle inertia)
Motor output 1.5kW 2.5kW 4.5kW
Motor model 15 * * 1 * 25 * * 1 * 45 * * 1 *
Setup
MFME
LL
LR 70
S 35
LA 200 235 5
LB 114.3 200
LC 176 220
Adjustment
LD 233 266
LE 3.2 4
LF 18 16
LG 60
LH 140 162
6
LM
When in Trouble
LZ 176
LW 55
dimensions
LK 50
Key way
KW 10h9
KH 8
RH 30
7
Mass (kg)
With brake 12.5 17.2 23.1
Supplement

7-87
6. Dimensions
Motor
0*0(:WRN: 'HVLJQ2UGHU
Encoder connector
LL LR LC
44 LM
Shaft end spec.
(Key way shaft)
LF LE
4-ѮLZ
LW M3 through
LH
LK
ѮSh6
KW
KH
LG
ѮLBh7
ѮLD
ѮLA
RH
MGME series (Middle inertia)

Motor output 900W 2.0kW 3.0kW
Motor model MGME 09 * * 1 * 20 * * 1 * 30 * * 1 *
Without brake 155.5 163.5 209.5
LL
With brake 180.5 188.5 234.5
LR 70 80
S 22 35
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18
LG 60
LH 116 140
Without brake 111.5 119.5 165.5
LM
With brake 136.5 144.5 190.5
LZ 9 13.5
LW 45 55
dimensions
LK 41 50
Key way
KW 8h9 10h9
KH 7 8
RH 18 30
Mass (kg)
With brake 8.2 17.5 23.5

7-88
6. Dimensions
Motor
1

0*0(:WRN: 'HVLJQ2UGHU&
Encoder connector
2
LL LR □LC
Preparation
46 LM
Shaft end spec.

(Key way shaft)
LF LE
4-ѮLZ
LW M3 throug
LH
LK
ѮSh6
LG
KH
ѮLBh7
ѮLA
ѮLD
Connection
RH
4
Motor output 900W 2.0kW 3.0kW
Motor model 09 * * C * 20 * * C * 30 * * C *
Setup
MGME
Without brake 157.5 165.5 211.5
LL
With brake 182.5 190.5 236.5
LR 70 80
S 22 35
LA 145 200 5
LB 110 114.3
LC 130 176
Adjustment
LD 165 233
LE 6 3.2
LF 12 18
LG 84
LH 116 140
Without brake 111.5 119.5 165.5
6
LM
With brake 136.5 144.5 190.5
When in Trouble
LZ 9 13.5
LW 45 55
dimensions
LK 41 50
Key way
KW 8h9 10h9
KH 7 8
RH 18 30
7
Mass (kg)
With brake 8.2 17.5 23.5
Supplement

7-89
6. Dimensions
Motor
0*0(N:N:
<MGME 4.5kW> Motor/Brake connector
Encoder LL LR
□LC
connector 44 LM
Eye bolt 43.5 43.5 Shaft end spec.
LF LE
4-ѮLZ LW
M4 through
ѮSh6
LK
LH
KW
KH
LG
ѮLBh7
D
ѮL ѮL
A
RH
<MGME 6.0kW> Motor connector
Brake connector □LC
LL LR
Encoder 43.5 43.5
44 LM
connector Eye bolt Shaft end spec.
48
LF LE
4-ѮLZ LW
M4 through
ѮSh6
LK
LH
KW
KH
LG
ѮLBh7
D
ѮL ѮL
A
RH

Motor output 4.5kW 6.0kW
Motor model MGME 45 * * 1 * 60 * * 1 *
Without brake 266 312
LL
With brake 291 337
LR 113
S 42
LA 200
LB 114.3
LC 176
LD 233
LE 3.2
LF 24
LG 60
LH 140 184
Without brake 222 268
LM
With brake 247 293
LZ 13.5
LW 96
dimensions
LK 90
Key way
KW 12h9
KH 8
RH 37 ï
0
Without brake 29.4 36.4

Mass (kg)
With brake 33.0 40.4

7-90
6. Dimensions
Motor
1

0+0':WR:
Preparation
Encoder connector
Shaft end spec.
Brake connector Motor connector
(D-cut shaft)
LL LR LW RH
LF LE LK
1°
RH
°±
90
(7) (7)
3
220
200
□LC
ѮSh6
LW
Connection
4-ѮLZ KW
LK
ѮLA
KH
LH
ѮLBh7
TP
RH
4
Setup
MHMD series (High inertia)

Motor output 200W 400W 750W
Motor model MHMD 02 * * 1 * 04 * * 1 * 08 * * 1 *
LL
Without brake 99 118.5 164.2 5
With brake 135.5 155 127.2
LR 30 35
Adjustment
S 11 14 19
LA 70 90±0.2
LB 50 70
LC 60 80
LE 3
LF 6.5 8
LH
LZ
43
4.5
53
6
6
LW 30 35
寸法
カット
D
When in Trouble
LK 22 25
RH 10 12.5 17.5
LW 20 25 25
LK 18 22.5 22
dimensions
Key way
KW 4h9 5h9 6h9

KH 4 5 6
RH 8.5 11 15.5
TP M4 depth 8 M5 depth 10 7
Mass (kg)
With brake 1.4 1.8 3.3
Supplement

7-91
6. Dimensions
Motor
0+0(N:WRN: 'HVLJQ2UGHU
<MHME 1.0kW∼5.0kW>
LL LR □LC
Encoder 44 LM
connector Shaft end spec.
(Key way shaft)
LF LE
4-ѮLZ
LW M3 through
LH
LK
KW
ѮSh6
KH
LG
ѮLBh7
ѮLD
ѮLA
RH
<MHME 7.5kW> Motor connector
LL LR
□LC
44 LM
43.5 43.5
Brake connector Shaft end spec.
Encoder Eye bolt (Key way shaft)
connector (Thread 10)
48
LF LE
4-ѮLZ LW
M4 through
ѮSh6
LK
LH
KW
KH
LG
ѮLBh7
D
ѮL ѮL
A
RH
MHME series (High inertia)

Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW
Motor model MHME 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 * 75 * * 1 *
Without brake 173 190.5 177 196 209.5 238.5 357
LL
With brake 198 215.5 202 221 234.5 263.5 382
LR 70 80 113
S 22 35 42
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18 24
LG 60
LH 116 140 184
Without brake 129 146.5 133 152 165.5 194.5 313
LM
With brake 154 171.5 158 177 190.5 219.5 338
LZ 9 13.5
LW 45 55 96
dimensions
LK 41 50 90
Key way
KW 8h9 10h9 12h9

KH 7 8
RH 18 30 37 ï
0
Without brake 6.7 8.6 12.2 16.0 18.6 23.0 42.3

Mass (kg)
With brake 8.1 10.1 15.5 19.2 21.8 26.2 46.2

7-92
6. Dimensions
Motor
1

0+0(N:WRN: 'HVLJQ2UGHU&
Encoder connector
2
Preparation
LL LR □LC
46 LM
Shaft end spec.
(Key way shaft)
LF LE
4-ѮLZ
LW M3 through
LH
LK
3
LG
ѮLA
ѮSh6
KW
KH
ѮLBh7
Connection
ѮLD
RH
4
MHME series (High inertia)
Motor model 10 * * C * 15 * * C * 20 * * C * 30 * * C * 40 * * C * 50 * * C *
Setup
MHME
Without brake 175 192.5 179 198 211.5 240.5
LL
With brake 200 217.5 204 223 236.5 265.5
LR 70 80
S 22 35
LA 145 200 5
LB 110 114.3
LC 130 176
Adjustment
LD 165 233
LE 6 3.2
LF 12 18
LG 84
LH 116 140
Without brake 129 146.5 133 152 165.5 194.5
6
LM
With brake 154 171.5 158 177 190.5 219.5
When in Trouble
LZ 9 13.5
LW 45 55
dimensions
LK 41 50
Key way
KW 8h9 10h9
KH 7 8
RH 18 30
Without brake 6.7 8.6 12.2 16.0 18.6 23.0
7
Mass (kg)
With brake 8.1 10.1 15.5 19.2 21.8 26.2
Supplement

7-93
7 7. Options
Supplement Noise Filter
:KHQ\RXLQVWDOORQHQRLVHÀOWHUDWWKHSRZHUVXSSO\IRUPXOWLD[HVDSSOLFDWLRQFRQWDFWWR
DPDQXIDFWXUHRIWKHQRLVHÀOWHU,IQRLVHPDUJLQLVUHTXLUHGFRQQHFWÀOWHUVLQVHULHVWR
emphasize effectiveness.
2SWLRQV
9ROWDJH
Option Manufacturer's Applicable
specifications Manufacturer
part No. part No. driver (frame)
for driver
Single phase
DV0P4170 683(.(5 A and B-frame Okaya Electric Ind.
100V, 200V
100.0 ± 2.0 Terminal cover
88.0 (transparent)
7.0 5.0
75.0 53.1±1.0 Circuit diagram
IN OUT
1 L
Cy
L 3
2.0
R
12.0
Label Cx Cx
50.0
60.0
Cy
10.0
2 4
6 – M4 (11.6)
2 – ø4.5 x 6.75 2 – ø4.5
(13.0)
[Unit: mm]
9ROWDJH
for driver
3-phase 200V A and B-frame
DV0PM20042 Single phase 683+8(5

100V, 200V C-frame
3-phase 200V Okaya Electric Ind.
Single/3-phase
DV0P4220 683+8(5 D-frame
200V
DV0PM20043 3-phase 200V 683+8(5 E-frame
[DV0PM20042, DV0P4220] [DV0PM20043]

H
A A
B B Earth terminal
C H C M4
Earth terminal
M4
F
Label Label
10
F
D
E
D
E
Screw for cover

M3
Screw for cover
M4 M3
M5
Cover Cover
G
Body Body
Circuit diagram
[Size] [Unit: mm] IN OUT
1 L1 4
A B C D E F G H
DV0PM20042 115 105 95 70 43 10 52 5.5 2 5
DV0P4220 145 135 125 70 50 10 52 5.5
DV0PM20043 165 136 165 90 80 40 54 5.5 3 6
R Cx1 Cx1
For single phase application, use 2 terminals among 3 terminals,
leaving the remaining terminal unconnected. Cy1
Related page 3´&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGVµ


7-94
7. Options
Noise Filter
1

9ROWDJH
for driver
DV0P3410 3-phase 200V 683+/(5% F-frame Okaya Electric Ind.
286±3.0 Circuit diagram

2
270
IN OUT
2-ø5.5 x 7 255±1.0 2-ø5.5
150 240
Preparation
1 4
6-6M
2 5
(13) (18)
90±1.0
120
Label
3 6
[Unit: mm]
3
9ROWDJH
Connection
Current rating Applicable driver
Part No. specifications Manufacturer
(A) (frame)
for driver
RTHN-5010 10 A, B, C-frame
RTHN-5030 3-phase 200V 30 D-frame TDK-Lambda Corp.
RTHN-5050 50 E, F-frame
[RTHN-5010] [RTHN-5030]
4
210±2 240±2
195±1 225±1
Setup
18.5±1 18.5±1
10±1
10±1
18.5±1 18.5±1
95±2
78±1
105±2
85±1
4.5±1
4.5±1
M4 6-M4 M4 6-M4
4.5 4.5
50±2 55±2
Adjustment
[RTHN-5050]
300±2
280±1
12.5±1
21±1 21±1
128±2
102±1
5.5±1
M4
5.5
6-M5
6
68±2
When in Trouble
Remarks 6HOHFWDQRLVHÀOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFH DOVR

check for load condition).
)RUGHWDLOHGVSHFLÀFDWLRQRIWKHÀOWHUFRQWDFWWKHPDQXIDFWXUHU
7
Supplement
Caution Use options correctly after reading operation manuals of the options to better un-
derstand the precautions.

7-95
7. Options
Noise Filter
9ROWDJH
Current rating Applicable driver
part No. specifications Manufacturer
(A) (frame)
for driver
FS5559-60-34 60 G-frame
3-phase 200V
FS5559-80-34 80 H-frame
FN258L-16-07 16 D, E-frame
Schaffner
FN258L-30-07 30 F-frame
3-phase 400V
FN258-42-07 42
G, H-frame
FN258-42-33 42
[FS5559-60-34, FS5559-80-34]
C
[Unit: mm]
95
1.5
25
A
D
6.5
[Size]
50
140
A B C D
B
50
M8
FS5559-60-34 410 170 370 388
25
FS5559-80-34 460 180 420 438
Circuit diagram
L1 L1'
L2 L2'
L3 L3'
PE
LINE LOAD
[FN258L-16-07] [FN258L-30-07]
275 300`10
305 400`10
9 9
M5
142
150
Litze AWG14
M5
Litze AWG10
60
290 55 320
6.5
6.5
30
35
[Unit: mm] 335 [Unit: mm]

305
344.5
Circuit diagram Circuit diagram

3x1,5MOhm 3x1,5MOhm
3x2mH 3x1mH 3x2,2μF(X2) 3x1,35mH 3x0,65mH 3x2,2μF(X2)SH
L1 L1' L3 L3'
L2 L2' L2 L2'
LOAD
LOAD
LINE
LINE
L3 L3' L1 L1'
3x2,2μF(X2) 3x1,5μF(X2) 47nF(Y2) 3x2,2μF(X2)SH 3x2,2μF(X2)SH 47nF(Y2)SH

E E E E

7-96
7. Options
Noise Filter
1

[FN258-42-07] [FN258-42-33]
300 500±10 300
12
185
185
1.5
1.5
70
Preparation
314 70 314
45
6.5
45
329
6.5
329 [Unit: mm] 350
[Unit: mm]
Circuit diagram
3
L1 L1'
L2 L2'
Connection
L3 L3'
E E
LINE LOAD
Setup
5
Adjustment
6
When in Trouble
Remarks 6HOHFWDQRLVHÀOWHURIFDSDFLW\WKDWH[FHHGVWKHFDSDFLW\RIWKHSRZHUVRXUFH DOVR

check for load condition).
7
)RUGHWDLOHGVSHFLÀFDWLRQRIWKHÀOWHUFRQWDFWWKHPDQXIDFWXUHU
Supplement
Caution Use options correctly after reading operation manuals of the options to better un-
derstand the precautions.

7-97
7 7. Options
Supplement Surge Absorber
3URYLGHDVXUJHDEVRUEHUIRUWKHSULPDU\VLGHRIQRLVHÀOWHU
9ROWDJH
Option Manufacturer's
part No. part No.
for driver
DV0P1450 3-phase 200V R･A･9%;=
Okaya Electric Ind.
DV0PM20050 3-phase 400V R･A･9%;=
[Unit: mm]
5.5±1
11±1
Ѯ4.2±0.2
Circuit diagram
(1) (1) (3)

28.5±1
UL-1015 AWG16
+30
200 -0
1 2 3 4.5±0.5
28±1
41±1
9ROWDJH
Option Manufacturer's
part No. part No.
for driver
Single phase
DV0P4190 R･A･V-781BWZ-4 Okaya Electric Ind.
100V, 200V
[Unit: mm]
5.5±1
11±1
Ѯ4.2±0.2
Circuit diagram
(1) (2)
28.5±1
UL-1015 AWG16
+30
200 -0
4.5±0.5
1 2
28±1
41±1
Remarks Take off the surge absorber when you execute a dielectric test to the machine or equip-
ment, or it may damage the surge absorber.
Related page 3´&RQIRUPDQFHWRLQWHUQDWLRQDOVWDQGDUGVµ


7-98
7 7. Options 1

Supplement 1RLVH)LOWHUIRU6LJQDO/LQHV
IQVWDOOQRLVHÀOWHUVIRUVLJQDOOLQHVWRDOOFDEOHV SRZHUFDEOHPRWRUFDEOHHQFRGHUFDEOH
and interface cable)
2SWLRQV
<24 V 3RZHUFDEOH0RWRUFDEOH(QFRGHUFDEOH,QWHUIDFHFDEOH86%FDEOH> 2
Option part No. Manufacturer's part No. Manufacturer
Preparation
DV0P1460 ZCAT3035-1330 TDK Corp.
39±1
Remarks To connect the noise filter to
34±1
Mass: 62.8g the connector XB connection
cable, adjust the sheath length
at the tip of the cable, as 3
13±1
30±1
required.
[Unit: mm]
Connection
<Power cable>
Part No. Applicable driver (frame) Manufacturer
RJ8035 E-frame 200 V, F-frame 200 V
KK-CORP.CO.JP
4
RJ8095 G-frame, H-frame
Setup
D2
D1
A
5
B
Adjustment
C
F
E
Manufacturer's Current 100kHz 'LPHQVLRQ>8QLWPP@

part No. value ѥ+ A B C D1 D2 Core thikness E F
RJ8035 35A 9.9±3 170 150 23 80 53 24 R3.5 7
RJ8095 95A 7.9±3 200 180 34 130 107 35 R3.5 7 6
<Motor cable>
When in Trouble
Part No. Applicable driver (frame) Manufacturer

T400-61D G-frame, H-frame MICROMETALS
7
ø57.2
ø102
Supplement
33
[Unit: mm]
Remarks )L[WKHVLJQDOOLQHQRLVHÀOWHULQSODFHWRHOLPLQDWHH[FHVVLYHVWUHVVWRWKHFDEOHV

7-99
7 7. Options
Supplement Junction Cable for Encoder
Compatible
Part No. 0)(&$* * ($0 motor output MSMD 50W to 750W, MHMD 200W to 750W
Specifications For 20-bit incremental encoder (Without battery box)
(ø6.5)
(11.8)
(4) (14) (4)
Title Part No. Manufacturer / P Part No.

Connector (Driver side) 3E206-0100 KV 3 MFECA0030EAM
Sumitomo 3M *1
Shell kit 3E306-3200-008 5 MFECA0050EAM
Connector (Motor side) 172160-1 10 MFECA0100EAM
Tyco Electronics
Connector pin 170365-1 20 MFECA0200EAM
Cable 0.20mm2×3P (6-wire type) Oki Electric Cable Co., Ltd.
*1 Old model number: 55100-0670 (Japan Molex Inc.)
0)(&$ * * 0-'
(Highly bendable type, Direction of motor shaft)
0)(&$ * * 0.'
(Highly bendable type, Opposite direction of motor shaft) Compatible 50W to
Part No.
0)(&$ * * 7-' motor output 750W (200V)
(Standard bendable type, Direction of motor shaft)
0)(&$ * * 7.'
(Standard bendable type, Opposite direction of motor shaft)
Specifications For 20-bit incremental encoder (Without battery box) * Also for 17-bit version.
Direction of L
motor shaft
(ø5.5)
Opposite direction of
motor shaft Identification label

Connector (Driver side) 3E206-0100 KV 3 MFECA0030MJD
Sumitomo 3M *1
Shell kit 3E306-3200-008 5 MFECA0050MJD
Connector JN6FR07SM1 Japan Aviation 10 MFECA0100MJD
Connector pin LY10-C1-A1-10000 Electronics Ind. 20 MFECA0200MJD
Cable AWG24×4P, AWG22×2P Hitachi Cable, Ltd.
Caution Option cable does not conform to IP65 and IP67.

Related page 3´-XQFWLRQFDEOHIRUPRWRUµ3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ

7-100
7. Options
Junction Cable for Encoder
1

0)(&$ * * 0-(
0)(&$ * * 0.(
(Highly bendable type, Opposite direction of motor shaft) Compatible 50W to
Part No.
0)(&$ * * 7-( motor output 750W (200V) 2
0)(&$ * * 7.(
Preparation
Specifications For 17-bit absolute encoder (With battery box)
L
Direction of 110 300
motor shaft
3
(ø5.5)
Connection
motor shaft
Identification label

Connector (Driver side) 3E206-0100 KV
Sumitomo 3M *1
3 MFECA0030MJE 4
Shell kit 3E306-3200-008 5 MFECA0050MJE
Connector ZMR-02 10 MFECA0100MJE
J.S.T Mfg. Co., Ltd.
Setup
Connector pin SMM-003T-P0.5 20 MFECA0200MJE
Connector JN6FR07SM1 Japan Aviation
Connector pin LY10-C1-A1-10000 Electronics Ind.
Cable AWG24 ×4P, AWG22×2P Hitachi Cable, Ltd.
5
Compatible 400W (400V), 600W (400V), 750W (400V),
Adjustment
Part No. 0)(&$ * * (7' motor output 0.9kW to 15.0kW
Specifications For 20-bit incremental encoder (Without battery box), Design order: 1
6
(ø6)
ø20
When in Trouble

Connector (Driver side) 3E206-0100 KV 3 MFECA0030ETD
Sumitomo 3M *1
Shell kit 3E306-3200-008 5 MFECA0050ETD
Connector JN2DS10SL1-R Japan Aviation 10 MFECA0100ETD
Connector pin JN1-22-22S-PKG100 Electronics Ind. 20 MFECA0200ETD 7
Cable 0.2mm ×3P
2
Oki Electric Cable Co., Ltd.
Supplement


7-101
7. Options
Junction Cable for Encoder
Compatible
Part No. 0)(&$* * (6' motor output 0.9kW to 5.0kW (IP65 Motor)
Specifications For 20-bit incremental encoder (Without battery box), Design order: C
L
(ø6.5)
ø37.3

Connector (Driver side) 3E206-0100 KV 3 MFECA0030ESD
Sumitomo 3M *1
Shell kit 3E306-3200-008 5 MFECA0050ESD
Connector (Motor side) N/MS3106B20-29S Japan Aviation 10 MFECA0100ESD
Cable clamp N/MS3057-12A Electronics Ind. 20 MFECA0200ESD
Cable 0.2mm2 ×3P (6-wire type) Oki Electric Cable Co., Ltd.
Compatible 400W (400V), 600W (400V), 750W (400V),

Part No. 0)(&$ * * (7( motor output 0.9kW to 15.0kW
Specifications For 17-bit absolute encoder (With battery box), Design order: 1
110 300
(ø6)
ø20

Connector (Driver side) 3E206-0100 KV 3 MFECA0030ETE
Sumitomo 3M *1
Shell kit 3E306-3200-008 5 MFECA0050ETE
Connector ZMR-02 10 MFECA0100ETE
Connector pin SMM-003T-P0.5 20 MFECA0200ETE
Connector JN2DS10SL1-R Japan Aviation
Connector pin JN1-22-22S-PKG100 Electronics Ind.
Cable 0.2mm2 ×3P Oki Electric Cable Co., Ltd.
Compatible
Part No. 0)(&$* * (6( motor output 0.9kW to 5.0kW (IP65 Motor)
Specifications For 17-bit absolute encoder (With battery box), Design order: C
L
110 300
(ø8)
ø37.3

Connector (Driver side) 3E206-0100 KV 3 MFECA0030ESE
Sumitomo 3M *1
Shell kit 3E306-3200-008 5 MFECA0050ESE
Connector (Motor side) N/MS3106B20-29S Japan Aviation 10 MFECA0100ESE
Cable clamp N/MS3057-12A Electronics Ind. 20 MFECA0200ESE
Cable 0.2mm2 ×4P (8-wire type) Oki Electric Cable Co., Ltd.

7-102
7 7. Options 1

Supplement Junction Cable for Motor (Without brake)
Applicable
Part No. 0)0&$* * ((' model MSMD 50W to 750W, MHMD 200W to 750W
(50) L (50)
2
Ѯ

Preparation
(4) (4)

Connector 172159-1 3 MFMCA0030EED
Tyco Electronics
Connector pin 170366-1 5 MFMCA0050EED
Rod terminal AI0.75-8GY Phoenix Contact 10 MFMCA0100EED
3
Nylon insulated 20 MFMCA0200EED
N1.25-M4 J.S.T Mfg. Co., Ltd.
round terminal
Connection
Cable ROBO-TOP 600V 0.75mm2 4-wire type Daiden Co.,Ltd.
0)0&$ * * 1-'
0)0&$ * * 1.'
4
(Highly bendable type, Opposite direction of motor shaft) Applicable
Part No. model MSME 50W to 750W
0)0&$ * * 5-'
Setup
0)0&$ * * 5.'
Direction of (28.8) L (50)

motor shaft
5
(ø6)
Adjustment
Opposite direction of Identification label
motor shaft
Caution Motor cable for opposite direction of

motor shaft cannot be used with a
motor 50W and 100W.
6
When in Trouble
Connector JN8FT04SJ1 Japan Aviation 3 MFMCA0030NJD

Connector pin ST-TMH-S-C1B-3500 Electronics Ind. 5 MFMCA0050NJD
Rod terminal AI0.75-8GY Phoenix Contact 10 MFMCA0100NJD
Nylon insulated 20 MFMCA0200NJD
round terminal
Cable AWG18×4P Hitachi Cable, Ltd. 7
Supplement


7-103
7. Options
Junction Cable for Motor (Without brake)
MSME 750W (400V), 1.0kW to 2.0kW,

Applicable
Part No. 0)0&' * * 2ECD model MDME 1.0kW to 2.0kW, MHME 1.0kW to 1.5kW,
MGME 0.9kW
L (50)
(Ѯ12.5)
ø37.3

Connector JL04V-6A20-4SE-EB-R Japan Aviation 3 MFMCD0032ECD
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCD0052ECD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCD0102ECD
Nylon insulated 20 MFMCD0202ECD
N2-M4 J.S.T Mfg. Co., Ltd.
round terminal
Cable ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd.
Applicable
Part No. 0)0&( * * 2ECD model MHME 2.0kW
L (50)
ø40.5

Connector JL04V-6A22-22SE-EB-R Japan Aviation 3 MFMCE0032ECD
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCE0052ECD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCE0102ECD
Nylon insulated 20 MFMCE0202ECD
round terminal
Applicable MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW

Part No. 0)0&$ * * 3ECT model MHME 3.0kW to 5.0kW, MGME 2.0kW to 3.0kW
L (50)
(Ѯ14)
ø40.5

Connector JL04V-6A22-22SE-EB-R Japan Aviation 3 MFMCA0033ECT
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCA0053ECT
Nylon insulated 10 MFMCA0103ECT
N5.5-5 J.S.T Mfg. Co., Ltd.
round terminal 20 MFMCA0203ECT
Cable ROBO-TOP 600V 3.5mm 2
Daiden Co.,Ltd.


7-104
7. Options
Junction Cable for Motor (Without brake)
1

Applicable
Part No. 0)0&$ * * 2ECD model MFME 1.5kW (200V)
L (50)
(Ѯ12.5)
ø37.3
Preparation
Connector JL04V-6A20-18SE-EB-R Japan Aviation 3 MFMCA0032ECD
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCA0052ECD
Rod terminal $,%8 Phoenix Contact 10 MFMCA0102ECD 3
Nylon insulated 20 MFMCA0202ECD
round terminal
Connection
Applicable
Part No. 0)0&) * * 2ECD model MFME 1.5kW (400V), 2.5kW
L (50)
4
ø43.7
Setup
Connector JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCF0032ECD
Cable clamp JL04-2428CK(14)-R Electronics Ind. 5 MFMCF0052ECD
Rod terminal 178% Phoenix Contact 10 MFMCF0102ECD 5
Nylon insulated 20 MFMCF0202ECD
round terminal
Adjustment
Applicable
Part No. 0)0&' * * 3ECT model MFME 4.5kW
L (50)
6
(Ѯ14)
When in Trouble
ø43.7

Connector JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCA0033ECT
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCA0053ECT
Nylon insulated 10 MFMCA0103ECT 7
N5.5-5 J.S.T Mfg. Co., Ltd.
round terminal 20 MFMCA0203ECT
Cable ROBO-TOP 600V 3.5mm Daiden Co.,Ltd.
Supplement


7-105
7 7. Options
Supplement Junction Cable for Motor (With brake)
MSME 1.0kW to 2.0kW (200V)

MDME 1.0kW to 2.0kW (200V)
Applicable
Part No. 0)0&$ * * 2FCD model MFME 1.5kW (200V)
MHME 1.0kW to 1.5kW (200V)
MGME 0.9kW (200V)
L (50)
(ø12.5)
ø37.3
.8)
(ø9
L
(50
)

Connector JL04V-6A20-18SE-EB-R Japan Aviation 3 MFMCA0032FCD
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCA0052FCD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCA0102FCD
Nylon insulated Earth N2-M4 20 MFMCA0202FCD
round terminal Brake N1.25-M4
ROBO-TOP 600V 0.75mm2 and
Cable Daiden Co.,Ltd.
ROBO-TOP 600V 2.0mm2
MSME 750W to 2.0kW (400V)

MDME 400W to 2.0kW (400V)
Applicable
Part No. 0)0&( * * 2FCD model MFME 1.5kW (400V), 2.5kW
MGME 0.9kW (400V)
MHME 1.0kW (400V), 1.5kW (400V), 2.0kW
L (50)
ø43.7
(50
)

Connector JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCE0032FCD
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCE0052FCD
Rod terminal 178% J.S.T Mfg. Co., Ltd. 10 MFMCE0102FCD
Nylon insulated Earth N2-M4 20 MFMCE0202FCD
round terminal Brake N1.25-M4
ROBO-TOP 600V 2.0mm2


7-106
7. Options
Junction Cable for Motor (With brake)
1

MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
Applicable
Part No. 0)0&$ * * 3FCT model MFME 4.5kW, MHME 3.0kW to 5.0kW
MGME 2.0kW to 4.5kW
L (50) 2
(ø14)
ø43.7
Preparation
.8)
(ø9
L
(50
)
3
Connection
Connector JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCA0033FCT
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCA0053FCT
Nylon insulated Earth N5.5-5 10 MFMCA0103FCT
round terminal Brake N1.25-M4 20 MFMCA0203FCT
ROBO-TOP 600V 3.5mm2 4
Setup
5
Adjustment
6
When in Trouble
7
Supplement


7-107
7 7. Options
Supplement Junction Cable for Brake
Applicable
Part No. 0)0&%* * *(7 model MSMD 50W to 750W, MHMD 200W to 750W
L
Ѯ


Connector 172157-1 3 MFMCB0030GET
Tyco Electronics
Connector pin 170366-1, 170362-1 5 MFMCB0050GET
Nylon insulated 10 MFMCB0100GET
round terminal 20 MFMCB0200GET
Cable ROBO-TOP 600V 0.75mm2 ×2-wire type Daiden Co.,Ltd.
0)0&% * * 3-7
0)0&% * * 3.7
(Highly bendable type, Opposite direction of motor shaft) Applicable
Part No. model MSME 50W to 750W
0)0&% * * 6-7
0)0&% * * 6.7
(26.6) L (50)
Direction of
motor shaft
(ø4.3)
motor shaft Identification label

Connector JN4FT02SJMR Japan Aviation 3 MFMCB0030PJT
Connector pin ST-TMH-S-C1B-3500 Electronics Ind. 5 MFMCB0050PJT
Nylon insulated 10 MFMCB0100PJT
round terminal 20 MFMCB0200PJT
Cable AWG22 Hitachi Cable, Ltd.


7-108
7 7. Options 1

Supplement &RQQHFWRU.LW
&RQQHFWRU.LWIRU,QWHUIDFH
Part No. '93
&RPSRQHQWV 2
Title Part No. Number Manufacturer Note
Preparation
Connector 10150-3000PE equivalent 1 )RU&RQQHFWRU;
Sumitomo 3M *1
Connector cover 10350-52A0-008 equivalent 1 (50-pins)
*1 Old model number: Connector 54306-5019, Connector cover 54331-0501 (Japan Molex Inc.)
Pin disposition (50 pins) (viewed from the soldering side)
26 28 30 32 34 36 38 40 42 44 46 48 50
SI3 SI5 SI7 SI9 SO2– SO3– SO4– SO6 IM PULSH1 SIGNH1 OB FG 3
27 29 31 33 35 37 39 41 43 45 47 49
SI4 SI6 SI8 SI10 SO2+ SO3+ SO4+ COM SP PULSH2 SIGNH2 OB
Connection
1 3 5 7 9 11 13 15 17 19 21 23 25
OPC1 PULS1 SIGN1 COM SI2 SO1+ GND GND GND CZ OA OZ GND
2 4 6 8 10 12 14 16 18 20 22 24
OPC2 PULS2 SIGN2 SI1 SO1– SO5 SPR/ P-ATL N-ATL NC OA OZ
SPL /TRQR
1) Check the stamped pin-No. on the connector body while making a wiring.
4
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.
Setup
Interface Cable
Part No. '93
Connector cover: 10350-52A0-008 Connector: 10150-3000PE
5
Sumitomo 3M or equivalent Sumitomo 3M or equivalent
2000+200 39 12.7
Adjustment
0
50 +10
50
25
0
52.4
26
6
1
18
This 2 m connector cable contains AWG28 conductors.
When in Trouble
7DEOHIRUZLULQJ
Pin No. color Pin No. color Pin No. color Pin No. color Pin No. color
1 Orange (Red1) 11 Orange (Black2) 21 Orange (Red3) 31 Orange (Red4) 41 Orange (Red5)
2 Orange (Black1) 12 Yellow (Black1) 22 Orange (Black3) 32 Orange (Black4) 42 Orange (Black5)
3 Gray (Red1) 13 Gray (Red2) 23 Gray (Red3) 33 Gray (Red4) 43 Gray (Red5)
4 Gray (Black1) 14 Gray (Black2) 24 Gray (Black3) 34 White (Red4) 44 White (Red5)
5
6
White (Red1)
White (Black1)
15
16
White (Red2)
Yellow (Red2)
25
26
White (Red3)
White (Black3)
35
36
White (Black4)
Yellow (Red4)
45
46
White (Black5)
Yellow (Red5)
7
7 Yellow (Red1) 17 Yel (Blk2)/Pink (Blk2) 27 Yellow (Red3) 37 Yellow (Black4) 47 Yellow (Black5)
8 Pink (Red1) 18 Pink (Red2) 28 Yellow (Black3) 38 Pink (Red4) 48 Pink (Red5)
Supplement
9 Pink (Black1) 19 White (Black2) 29 Pink (Red3) 39 Pink (Black4) 49 Pink (Black5)
10 Orange (Red2) 20 – 30 Pink (Black3) 40 Gray (Black4) 50 Gray (Black5)
<Remarks>
Color designation of the cable e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable
The shield of this cable is connected to the connector shell but not to the terminal.
7-109
7. Options
&RQQHFWRU.LW
&RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOH IRU5656
Part No. '930
&RPSRQHQWV
Title Part No. Manufacturer Note
Connector 2040008-1 Tyco Electronics )RU&RQQHFWRU; SLQV
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV
485+ RXD
10.7
7.3
11
485+ NC
(ø6.7)
8 (1.5)
8 6 4 2 Shell: FG
7 5 3 1
5.2
ï GND
ï TXD (Viewed from cable) (33) (11)
&RQQHFWRU.LWIRU6DIHW\
Part No. '930
&RPSRQHQWV
Connector 2013595-1 Tyco Electronics )RU&RQQHFWRU; SLQV
SF2+ SF1+
10.7
7.3
11
EDM+ NC
(ø6.7)
8 (1.5)
8 6 4 2 Shell: FG
7 5 3 1
5.2
('0ï NC
6)ï 6)ï (Viewed from cable) (33) (11)
&RQQHFWRU.LWIRU([WHUQDO6FDOH
Part No. '930
&RPSRQHQWV
Connector 08)3..; J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;
PS EXB
7.1
E5V EXA EXZ

18.5
11.9
1 3 5 7 9
2 4 6 8 10
13.6
10.4
E0V EXZ
PS EXA EXB (Viewed from cable) (10.5) (32)
Remarks &RQQHFWRU;XVHZLWKFRPPHUFLDOO\DYDLODEOHFDEOH
&RQÀJXUDWLRQRIFRQQHFWRU;86%PLQL%
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU
or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125
"List of Peripheral Equipments".
7-110
7. Options
&RQQHFWRU.LW
1

&RQQHFWRU.LWIRU(QFRGHU
Part No. '930
&RPSRQHQWV 2
Preparation
Connector (Driver side) 3E206-0100 KV
Sumitomo 3M *1 )RU&RQQHFWRU;
Shell kit 3E306-3200-008
<Shell kit> <Connector>
1 E5V 2 E0V 3
18.8
18.8
10.1
11.0
7.8
7.1
3 NC 4 NC
2.0
2.0
2.4 1.7
5 PS 6 PS 0.8 37.4 13.7 5.4
Connection
18.2 5.8
Shell: FG
12.0
(Viewed from cable)
4.5
33.0
&RQQHFWRU.LWIRU$QDORJ0RQLWRU6LJQDO
4
Part No. '930
&RPSRQHQWV
Setup
Connector 510040600 1
Molex Inc )RU&RQQHFWRU; SLQV
Connector pin 500118100 6
3LQGLVSRVLWLRQRIFRQQHFWRUFRQQHFWRU; 'LPHQVLRQV 5
3 GND 4 DM 14±0.3
0.8
Adjustment
AM2
2 5 NC
5.3±0.3
1 AM1 6 NC
1
MX
12.9±0.3 3.35±0.3
&RQQHFWRU.LWIRUPower Supply Input 6

When in Trouble
Part No. '930 (For A to D-frame: Single row type)
&RPSRQHQWV
Connector -)$76$;*) 1
J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;$
Handle lever J-FAT-OT 2
7
Supplement
Remarks )RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU

7-111
7. Options
&RQQHFWRU.LW
Part No. '930 (For A to D-frame: double row type)
&RPSRQHQWV
Connector -)$76$;*6$& 1
'LPHQVLRQV
B
5 4 3 2 1
26
5 4 3 2 1
39.3
27.6
5 4 3 2 1
Part No. '930 (For E-frame 200 V)
&RPSRQHQWV
Connector -)$76$;*6$/ 1
Handle lever J-FAT-OT-L 2
Part No. '930 (For D-frame 400 V, E-frame 400 V and 24 V Input power)
&RPSRQHQWV
Connector 02MJFAT-SAGF 1
J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;'
Handle lever MJFAT-OT 2
Part No. '930 (For D-frame 400 V)
&RPSRQHQWV
Connector 03JFAT-SAYGSA-M 1
Part No. '930 (For E-frame 400 V)
&RPSRQHQWV
Connector 03JFAT-SAYGSA-L 1

7-112
7. Options
&RQQHFWRU.LW
1

&RQQHFWRU.LWIRU5HJHQHUDWLYH5HVLVWRU&RQQHFWLRQ (E-frame)
Part No. '930 (For E-frame)
&RPSRQHQWV 2
Preparation
Connector -)$76$;*6$/ 1
J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;&
&RPSRQHQWV
3
Connector -)$76$;*6$0 1
J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;&
Connection
&RQQHFWRU.LWIRU0RWRU&RQQHFWLRQ
'930 (For A to D-frame)

Part No.
4
&RPSRQHQWV
Setup
Connector -)$76$;*) 1
J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;%
Part No. '930 (For E-frame)

5
&RPSRQHQWV
Adjustment
Connector -)$76$;*6$/ 1
&RPSRQHQWV 6
When in Trouble
Connector -)$76$;*6$0 1
7
Supplement

7-113
7. Options
&RQQHFWRU.LW
&RQQHFWRU.LWIRU0RWRU(QFRGHU&RQQHFWLRQ
Applicable MSMD 50W to 750W, MHMD 200W to 750W

Part No. '93 model (incremental encoder type)
&RPSRQHQWV
Connector (Driver side) 3E206-0100 KV 1
Sumitomo 3M *1 )RU&RQQHFWRU; SLQV
Shell kit 3E306-3200-008 1
Connector 172160-1 1 For Encoder cable
Tyco Electronics
Connector pin 170365-1 6 (6-pins)
Connector 172159-1 1 For Motor cable
Tyco Electronics
Connector pin 170366-1 4 (4-pins)
3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU

FRQQHFWRU; for encoder cable for motor cable
1 E5V 2 E0V
3 NC* 4 NC*
1 2 3 1 2
5 PS 6 PS NC PS PS U V
4 5 6 3 4
E5V E0V FG W E
( Case
FG ) *NC: None Connect
Applicable
Part No. '930 model MSME 50W to 750W
&RPSRQHQWV
Sumitomo 3M *1
)RU&RQQHFWRU; SLQV
Shell kit 3E306-3200-008 1
Encoder plug connector JN6FR07SM1 1 Japan Aviation For Encoder cable
Socket contact LY10-C1-A1-10000 7 Electronics Ind. (7-pins)
Motor plug connector JN8FT04SJ1 1 Japan Aviation For Motor cable
Socket contact ST-TMH-S-C1B-3500 4 Electronics Ind. (4-pins)
3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU 3LQGLVSRVLWLRQRIFRQQHFWRU

FRQQHFWRU; for encoder cable for motor cable
[Direction of motor shaft]
Gasket
4 PS 7 PS 1 U
1 E5V 2 E0V 3 E0V 2 V Gasket
3 NC *1
4 NC *1 6 E5V
3 W
2 BAT–
5 PS 6 PS
1 FG 5 BAT+ PE E
(Case
FG ) *1 NC: None Connect [Opposite direction of motor shaft]
Gasket
5 BAT+ 1 FG PE E
3 W Gasket
2 BAT–
Remarks 6 E5V
Secure the gasket in place 2 V
3 E0V
without removing it from the 1 U
7 PS 4 PS
connector. Otherwise, the degree
of protection of IP67 will not be * Pins 2 and 5 are left unused (NC)
guaranteed. with an incremental encoder.
Caution :KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ
7-114
7. Options
&RQQHFWRU.LW
1

MSME 750W (400V), 1.0kW to 2.0kW,
Part No. '930 Applicable Without
MDME 400W (400V), 600W (400V), 1.0kW to 2.0kW
model brake
Specifications Design order: 1 MHME 1.0kW to 1.5kW, MGME 0.9kW
&RPSRQHQWV 2
Sumitomo 3M *1
Preparation
)RU&RQQHFWRU; SLQV
Shell kit 3E306-3200-008 1
Encoder connector JN2DS10SL1-R 1 Japan Aviation
For Encoder cable
Connector pin JN1-22-22S-PKG100 5 Electronics Ind.
Motor connector JL04V-6A-20-4SE-EB-R 1 Japan Aviation
For Motor cable
Cable clamp JL04-2022CK(14)-R 1 Electronics Ind.
3
Part No. '93 Applicable MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW Without
Specifications Design order: C
model MHME 1.0kW to 1.5kW, MGME 0.9kW brake
Connection
&RPSRQHQWV
Shell kit 3E306-3200-008 1
Encoder connector N/MS3106B20-29S 1
Cable clamp N/MS3057-12A 1
Japan Aviation
Electronics Ind.
For Encoder cable 4
Motor connector N/MS3106B20-4S 1 Japan Aviation
For Motor cable
Cable clamp N/MS3057-12A 1 Electronics Ind.
Setup
Specifications Design order: 1
model MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW brake
&RPSRQHQWV 5
Adjustment
Shell kit 3E306-3200-008 1
For Encoder cable
Motor connector JL04V-6A22-22SE-EB-R 1 Japan Aviation
For Motor cable
6
When in Trouble
&RPSRQHQWV
Sumitomo 3M *1
)RU&RQQHFWRU; SLQV
Shell kit 3E306-3200-008 1
Encoder connector N/MS3106B20-29S 1 Japan Aviation
For Encoder cable
7
For Motor cable
Supplement
7-115
7. Options
&RQQHFWRU.LW
Part No. '930 MSME 1.0kW to 2.0kW (200V),

Applicable MDME 1.0kW to 2.0kW (200V), With
model MFME 1.5kW (Common to with/without brake) (200V), brake
MHME 1.0kW to 1.5kW (200V), MGME 0.9kW (200V)
&RPSRQHQWV
Shell kit 3E306-3200-008 1
For Encoder cable
For Motor cable
Part No. '93 Applicable MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW With
model MHME 1.0kW to 1.5kW, MGME 0.9kW brake
&RPSRQHQWV
Shell kit 3E306-3200-008 1
For Encoder cable
For Motor cable
MSME 750W to 2.0kW (400V), 3.0kW to 5.0kW

Part No. '930 MDME 400W to 2.0kW (400V), 3.0kW to 5.0kW
Applicable With
MFME 1.5kW (400V), 2.5kW to 4.5kW (Common to with/without brake)
model brake
Specifications Design order: 1 MHME 1.0kW to 1.5kW (400V), 2.0kW to 5.0kW
MGME 0.9kW (400V), 2.0kW to 4.5kW
&RPSRQHQWV
Shell kit 3E306-3200-008 1
For Encoder cable
For Motor cable
Part No. '93 Applicable MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW With
&RPSRQHQWV
Shell kit 3E306-3200-008 1
For Encoder cable
For Motor cable
"List of -Peripheral
Phone: 800.894.0412 Equipments".
Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net
7-116
7. Options
&RQQHFWRU.LW
1

'930 Applicable MDME 7.5kW to 15.0kW
Part No. Without
model MGME 6.0kW, MHME 7.5kW brake
&RPSRQHQWV
2
Preparation
Shell kit 3E306-3200-008 1
For Encoder cable
For Motor cable
Cable clamp JL04-32CK(24)-R *2 1 Electronics Ind.
*2 &DEOHFRYHUVL]HєWRє&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG
3
'930 Applicable MDME 7.5kW to 15.0kW
Part No. With
Connection
model MGME 6.0kW, MHME 7.5kW brake
&RPSRQHQWV
Sumitomo 3M *1
)RU&RQQHFWRU; SLQV
Shell kit 3E306-3200-008 1
4
For Encoder cable
For Motor cable
Cable clamp JL04-32CK(24)-R *2 1 Electronics Ind.
Setup
Brake connector N/MS3106B14S-2S 1 Japan Aviation
For Brake cable
*2 &DEOHFRYHUVL]HєWRє&DEOHFRUHPDWHULDOLVQRWVSHFLILHG7KHXVHUFDQVHOHFWWKHFDEOHFRPSDWLEOHZLWKWKHFRQQHFWRUWREHXVHG
5
&RQQHFWRU.LWIRU0RWRU%UDNH&RQQHFWLRQ
Adjustment
Part No. '930
&RPSRQHQWV
Connector JN4FT02SJM-R 1 Japan Aviation
Electronics Ind.
Socket contact ST-TMH-S-C1B-3500 2 6
3LQGLVSRVLWLRQRIFRQQHFWRUIRUEUDNHFDEOH
When in Trouble
>'LUHFWLRQRIPRWRUVKDIW@ >2SSRVLWHGLUHFWLRQRIPRWRUVKDIW@
*DVNHW *DVNHW
%UDNH %UDNH
%UDNH %UDNH
Remarks 6HFXUHWKHJDVNHWLQSODFHZLWKRXWUHPRYLQJLWIURPWKHFRQQHFWRU2WKHUZLVHWKHGHJUHHRI
SURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
7
Supplement
7-117
7 7. Options
Supplement Battery For Absolute Encoder
Battery For Absolute Encoder

Part No. '93
/LWKLXPEDWWHU\9P$K
84
Lead wire length 50mm
DV0P2990
00090001
ZHR-2
14.5 (J.S.T Mfg. Co., Ltd.)
1 2
BAT+ BAT–
18
Paper insulator
Caution This battery is categorized as hazardous substance, and you may be required to present
an application of hazardous substance when you transport by air (both passenger and
cargo airlines).
Battery Box For Absolute Encoder

Part No. '93
&RPSRQHQWV
(112)
(110)
R5
DV0P4430
(31)
P04090001*
(27)
Related page 3´$EVROXWHV\VWHPµ

7-118
7 7. Options 1

Supplement Mounting Bracket
Frame symbol of
Part No. '930 applicable driver A-frame Mounting screw M4 × L6 Pan head 4pcs
2-M4, Pan head 2-M4, Pan head

2-
2-
C
C
5
5
2
17
17
9.5
9.5
Bottom side
Dimensions
Upper side
24 11 ±0.2 5 11 ±0.2
Preparation
2-R 5.2
2.5 1 2.5
.2 ss ss
ø5 R2 le R2 le
R
R
or or
2
2
R1 R1
2.5
2.5
15
15
10
10
7 33
40 40
Frame symbol of
3
Part No. '930 applicable driver B-frame Mounting screw M4 × L6 Pan head 4pcs
Connection
2-
2-
C
C
5
5
17
17
9.5
9.5
Bottom side
Dimensions
Upper side
24 18 ± 0.2 5 18 ± 0.2
2-R 5.2
2.5 1 2.5
.2 ss ss
ø5 R2 le R2 le
R
R
or or
2
R1 2 R1 4
2.5
2.5
15
15
10
10
7 40
47 47
Setup
Frame symbol of
Part No. '930 applicable driver C-frame Mounting screw M4 × L6 Pan head 4pcs

2-
2-
C
C
5
5
17
17
9.5
9.5
Bottom side
Dimensions
Upper side
30 ± 0.2 30 ± 0.2
2-R 5.2
Adjustment
2.5 1 2.5
.2 ss ss
ø5 R2 le R2 le
R
R
or or
2
2
R1 R1
2.5
2.5
15
15
10
10
20 20
40 40
Part No. '930

Frame symbol of
D-frame Mounting screw M4 × L6 Pan head 4pcs
6
applicable driver
When in Trouble
2-M4, Pan head

2-
2-M4, Pan head

2-
C
C
5
5
17
17
9.5
9.5
Bottom side
Dimensions
Upper side
5 36 ± 0.2 19 36 ± 0.2
5.2 5.2
2.5 1 2.5
.2
ss 4-R ss
ø5
R2 le R2 le
R
R
2-
or or
2
R1 R1
7
2.5
2.5
15
15
10
10
10 40 ± 0.2 10 40 ±0.2
60 60
Supplement
Caution For E, F and G-frame, you con make a front end and back end mounting by changing the
mounting direction of L-shape bracket (attachment).
Related page 3´'LPHQVLRQVRIGULYHUµ

7-119
7 7. Options
Supplement Reactor
Fig.1
X Y Z
NP
R S T
6-I E
H F
D
C
A 4-H F F: Center-to-center distance

(Mounting pitch) (Mounting pitch)
B G on outer circular arc
Fig.2 2-I E
H F
D
A
C
A 4-H F F: Center-to-center distance

(Mounting pitch) (Mounting pitch)
on slotted hole
B G
Inductance Rated
Part No. A B C D E (Max) F G H I current
(mH) (A)
'93 65±1 125±1 (93) 136Max 155 ï 85±2 Ѯð M4 6.81 3
'93 60±1 150±1 (113) 155Max 130 ï 75±2 Ѯð M4 4.02 5
'93 60±1 150±1 (113) 155Max 140 ï 85±2 Ѯð M4 2 8
Fig.1
'93 60±1 150±1 (113) 155Max 150 ï 95±2 Ѯð M4 1.39 11
'93 60±1 150±1 (113) 160Max 155 ï 100±2 Ѯð M5 0.848 16
'93 60±1 150±1 (113) 160Max 170 ï 115±2 Ѯð M5 0.557 25
'93 55±0.7 80±1 66.5±1 110Max 90 41±2 55±2 Ѯð M4 4.02 5
Fig.2 '93 55±0.7 80±1 66.5±1 110Max 95 46±2 60±2 Ѯð M4 2 8
'930 55±0.7 80±1 66.5±1 110Max 105 56±2 70±2 Ѯð M4 1.39 11
Motor Motor
Power supply Rated output Part No. Power supply Rated output Part No.
series series
Single phase, 50W to 100W DV0P227 MSME
MSME
100V 200W to 400W DV0P228 MDME
2.0kW DV0P223
Single phase, 50W to 200W DV0P227 MHME
MSME
200V 400W to 750W DV0P228 MGME
MSME 1.0kW DV0P228 MSME
Single phase,
MDME
200V 1.5kW DV0PM20047 MDME
MHME 3-phase, 200V
3.0kW DV0P224
Single phase,
MGME 0.9kW DV0P228 MHME
200V
MSME 50W to 750W DV0P220 MGME
MGME 0.9kW DV0P221 MSME
MSME 3-phase, 200V MDME 4.0kW DV0P225
1.0kW
MDME DV0P222 MHME
1.5kW
MHME
Single phase,
1.5kW DV0PM20047
200V
MFME
1.5kW DV0P222
3-phase, 200V
2.5kW DV0P224

7-120
7. Options
Reactor
1

Harmonic restraint
Harmonic restraint measures are not common to all countries. Therefore, prepare the
measures that meet the requirements of the destination country.
:LWK SURGXFWV IRU -DSDQ RQ 6HSWHPEHU ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ
2
heavy consumers who receive power through high voltage system or extra high voltage
Preparation
V\VWHPµ DQG ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG
JHQHUDOSXUSRVH DUWLFOHVµ HVWDEOLVKHG E\ WKH$JHQF\ IRU 1DWXUDO 5HVRXUFHV DQG (QHUJ\
of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and
Industry). According to those guidelines, the Japan Electrical Manufacturers’ Association
(JEMA) have prepared technical documents (procedure to execute harmonic restraint:
JEM-TR 198, JEM-TR 199 and JEM-TR 201) and have been requesting the users to un- 3
derstand the restraint and to cooperate with us. On January, 2004, it has been decided to
Connection
H[FOXGHWKHJHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUIURPWKH´*XLGHOLQHVIRUKDUPRQLF
UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDOSXUSRVH DUWLFOHVµ$IWHU WKDW
WKH ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDO
SXUSRVHDUWLFOHVµZDVDEROLVKHGRQ6HSWHPEHU
We are pleased to inform you that the procedure to execute the harmonic restraint on
JHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUZDVPRGLÀHGDVIROORZV 4
$OOW\SHVRIWKHJHQHUDOSXUSRVHLQYHUWHUVDQGVHUYRGULYHUVXVHGE\VSHFLÀFXVHUVDUH
Setup
XQGHUWKHFRQWURORIWKH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKHDY\FRQVXPHUVZKRUH-
FHLYHSRZHUWKURXJKKLJKYROWDJHV\VWHPRUH[WUDKLJKYROWDJHV\VWHPµ7KHXVHUVZKR
are required to apply the guidelines must calculate the equivalent capacity and har-
monic current according to the guidelines and must take appropriate countermeasures
LIWKHKDUPRQLFFXUUHQWH[FHHGVDOLPLWYDOXHVSHFLÀHGLQDFRQWUDFWGHPDQG 5HIHUWR
JEM-TR 210 and JEM-TR 225.)
5
7KH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKRXVHKROGHOHFWULFDODSSOLDQFHVDQGJHQHUDO
Adjustment
SXUSRVH DUWLFOHVµ ZDV DEROLVKHG RQ 6HSWHPEHU +RZHYHU EDVHG RQ FRQYHQ-
tional guidelines, JEMA applies the technical documents JEM-TR 226 and JEM-TR
WR DQ\ XVHUV ZKR GR QRW ÀW LQWR WKH ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KHDY\
consumers who receive power through high voltage system or extra high voltage sys-
WHPµIURPDSHUVSHFWLYHRQHQOLJKWHQPHQWRQJHQHUDOKDUPRQLFUHVWUDLQW7KHSXUSRVH
of these guidelines is the execution of harmonic restraint at every device by a user as 6
usual to the utmost extent.
When in Trouble
7
Supplement

7-121
7 7. Options
Supplement External Regenerative Resistor
Specifications
cable core Rated power Activation
Manufacturer's (reference) *1
Part No. Resistance outside Mass temperature of
part No.
diameter Free air with fan built-in thermostat
ї mm kg W W
DV0P4280 RF70M 50 0.1 10 25
DV0P4281 RF70M 100 0.1 10 25
DV0P4282 RF180B 25 0.4 17 50
Ѯ Ý&
( )
DV0P4283 RF180B 50 0.2 17 50 B-contact
AWG18
DV0P4284 RF240 30 stranded 0.5 40 100 Open/Close capacity
wire
DV0P4285 RH450F 20 1.2 52 130 (resistance load)
DV0PM20048 RF240 120 0.5 35 80 1A 125VAC 6000 times
0.5A 250VAC 10000 times
DV0PM20049 RH450F 80 1.2 65 190
DV0PM20058 RH450F × 6 3.3 — *2 16 — *3 780
DV0PM20059 RH450F × 6 13.3 — *2
16 — *3
1140
Manufacturer : Iwaki Musen Kenkyusho
*1 Power with which the driver can be used without activating the built-in thermostat.
A built-in thermal fuse and a thermal protector are provided for safety.
The circuit should be so designed that the power supply will be turned off as the thermal protector operates.
The built-in thermal fuse blows depending on changes in heat dissipation condition, operating temperature limit, power
supply voltage or load.
Mount the regenerative resistor on a machine operating under aggressive regenerating condition (high power supply
voltage, large load inertia, shorter deceleration time, etc.) and make sure that the surface temperature will not exceed
100°C.
$WWDFKWKHUHJHQHUDWLYHUHVLVWRUWRDQRQÁDPPDEOHPDWHULDOVXFKDVPHWDO
&RYHUWKHUHJHQHUDWLYHUHVLVWRUZLWKDQRQÁDPPDEOHPDWHULDOVRWKDWLWFDQQRWEHGLUHFWO\WRXFKHG
Temperatures of parts that may be directly touched by people should be kept below 70°C.
*2 Terminal block with screw tightening torque as shown below.
T1, T2, 24V, 0V, E：M4：1.2 to 1.4N·m
R1, R2 ：M5：2.0 to 2.4N·m
8VHWKHFDEOHZLWKWKHVDPHGLDPHWHUDVWKHPDLQFLUFXLWFDEOH 5HIHUWR3
*3 With built-in fan which should always be operated with the power supply connected across 24 V and 0 V.
Power supply DV0P4280, DV0P4281

300
Frame Single phase,
Single phase, Ѯ
9 SKDVH9
9
SKDVH9
21
DV0P4281

13
60
(50W, 100W)
13
A DV0P4280
8
DV0P4283
17

13
(200W) — 30
thermostat
10MAX
B DV0P4283 (light yellow ×2)

DV0P4283
C DV0P4282
7
D DV0P4284 DV0PM20048
DV0P4284 DV0P4282, DV0P4283
E × 2 in parallel or DV0PM20049 170±1
thermostat
DV0P4285 Ѯ
160
(light yellow ×2)
DV0P4285 DV0PM20049
F 24
— × 2 in parallel × 2 in parallel

±1
23

7
28
DV0P4285 DV0PM20049 10
G 300±30

× 3 in parallel × 3 in parallel

DV0P4285 DV0PM20049 Drawing process

H × 6 in parallel or × 6 in parallel or

(2mm MAX)
10MAX
DV0PM20058 DV0PM20059


7-122
7. Options
External Regenerative Resistor
1

DV0P4284, DV0PM20048 DV0P4285, DV0PM20049
300 300
290 （5） 278
280
Ѯ
thermostat
thermostat 450 (light yellow ×2)
300 (light yellow ×2)
Ѯ
450 2
100
25
4.5
130
140
70
100
53 450
15
14
50
Preparation
300
15
10 71 10
20
10MAX
288
9MAX
11
18
DV0PM20058, DV0PM20059
R1 R2 T1 T2 24V 0V E
3
The third from the top
Connection
FG
T.F R
T.F R
T.F R
T.F R
T.F R
T.F R
FAN
ѡ
7
6-
Ѯ
5 ї（DV0PM20058）
5 ї（DV0PM20059）
Circuit diagram 4
240
228
Setup
20 215 215 20
470
193 380 Cover (Punching metal)
5
270 MAX
Adjustment
124
(38)
470
6
Remarks Thermal fuse is installed for safety. Compose the circuit so that the power will
When in Trouble
be turned off when the thermostat is activated. The thermal fuse may blow
due to heat dissipating condition, working temperature, supply voltage or load
fluctuation.
0DNHLWVXUHWKDWWKHVXUIDFHWHPSHUDWXUHRIWKHUHVLVWRUPD\QRWH[FHHGÝ&DW
the worst running conditions with the machine, which brings large regeneration
(such case as high supply voltage, load inertia is large or deceleration time is
short) Install a fan for a forced cooling if necessary. 7
Caution Regenerative resistor gets very hot.
Supplement
Take preventive measures for fire and burns.

Avoid the installation near inflammable
objects, and easily accessible place by hand.
7-123
7 7. Options
Supplement Recommended components
Surge absorber for motor brake
Motor Part No. Manufacturer
50W to 750W (200V) Z15D271

MSME 750W (400V)
1.0kW to 5.0kW Ishizuka Electronics Co.
Z15D151
400W (400V)
600W (400V)
MDME 1.0kW to 3.0kW NVD07SCD082 KOA CORPORATION
4.0kW to 7.5kW Z15D151 Ishizuka Electronics Co.
11kW, 15kW
1.5kW NVD07SCD082 KOA CORPORATION

MFME
2.5kW, 4.5kW
MGME 0.9kW to 6.0kW Z15D151 Ishizuka Electronics Co.
1.0kW, 1.5kW NVD07SCD082 KOA CORPORATION

MHME
2.0kW to 7.5kW Z15D151 Ishizuka Electronics Co.

7-124
Warranty
Warranty period
7KH ZDUUDQW\ SHULRG LV RQH \HDU IURP WKH GDWH RI SXUFKDVH RU PRQWKV IURP WKH
month of manufacture in our plant.
For a motor with brake, the axis accelerated and decelerated more times than the
VSHFLÀHGOLPLWLVQRWFRYHUHGE\ZDUUDQW\
Warranty information
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as described in the manual, the company agrees to make repairs free of charge.
Even during warranty period, the company makes fee-based repair on product contain-
ing:
[1] Failure or damage due to misuse, improper repair or alteration.
[2] Failure or damage due to falling, or damage during transportation, after the origi-
nal delivery
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>@ )DLOXUHRUGDPDJHGXHWRXQUHJXODWHGYROWDJHDQGÀUHDQGDFWRIQDWXUDOGLVDV-
WHUVVXFKDVHDUWKTXDNHOLJKWQLQJZLQGÁRRGDQGVDOWSROOXWLRQ
[5] Defects resulting from invasion of foreign materials such as water, oil and metal
pieces.
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7KHFRPSDQ\VKDOOQRWEHOLDEOHIRUDQ\LQGLUHFWLQFLGHQWDORUFRQVHTXHQWLDOGDPDJHRU
loss of any nature that may arise in connection with the product.

7-126
Cautions for Proper Use
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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.
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TXDOLÀHGDQGH[SHULHQFHGSHUVRQQHO
$SSO\DGHTXDWHWLJKWHQLQJWRUTXHWRWKHSURGXFWPRXQWLQJVFUHZE\WDNLQJLQWRFRQVLG-
eration strength of the screw and the characteristics of material to which the product is
LQVWDOOHG 2YHUWLJKWHQLQJ FDQ GDPDJH WKH VFUHZ DQGRU PDWHULDO XQGHUWLJKWHQLQJ FDQ
result in loosening.
Example) Steel screw into steel section:
M4 1.35 to 1.65 N·m.
M5 2.7 to 3.3 N·m.
M6 4.68 to 5.72 N·m.
M8 11.25 to 13.75 N·m.
M10 22.05 to 26.95 N·m.
M11 37.8 to 46.2 N·m.
,QVWDOODVDIHW\HTXLSPHQWVRUDSSDUDWXVLQ\RXUDSSOLFDWLRQZKHQDVHULRXVDFFLGHQWRU
loss of property is expected due to the failure of this product.
Consult us if the application of this product is under such special conditions and environ-
ments as nuclear energy control, aerospace, transportation, medical equipment, various
safety equipments or equipments which require a lesser air contamination.
:HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\RIWKHSURGXFWVKRZ-
ever, application of exceptionally larger external noise disturbance and static electricity,
or failure in input power, wiring and components may result in unexpected action. It is
highly recommended that you make a fail-safe design and secure the safety in the op-
erative range.
,IWKHPRWRUVKDIWLVQRWHOHFWULFDOO\JURXQGHGLWPD\FDXVHDQHOHFWURO\WLFFRUURVLRQWR
the bearing, depending on the condition of the machine and its mounting environment,
DQGPD\UHVXOWLQWKHEHDULQJQRLVH&KHFNLQJDQGYHULÀFDWLRQE\FXVWRPHULVUHTXLUHG
)DLOXUH RI WKLV SURGXFW GHSHQGLQJ RQ LWV FRQWHQW PD\ JHQHUDWH VPRNH RI DERXW RQH
cigarette. Take this into consideration when the application of the machine is clean room
related.
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sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a poor
contact connection.
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to the power supply of this product. Failure to heed this caution may result in damage to
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The user is responsible for matching between machine and components in terms of
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RU FKDQJLQJ VSHFLÀFDWLRQ RI WKH PDFKLQH 7KH XVHU LV DOVR UHVSRQVLEOH IRU FRPSO\LQJ
with applicable laws and regulations.
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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.
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.
M DH
Model No. Serial No.
M ME
Date of
purchase
Name
Dealer Address
Phone ( ) -
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212

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A1009-2021

Servo A5

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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.

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

This is the original instruction.

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Before Using the Products

Shows describes parameters and procedure of test operation.

Read this section when you encounter trouble or error.

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

1. Before Using the Products ................................................................... 1-1

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

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

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

1. Outline of mode ......................................................................................................... 3-2

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Before Using the Products

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

1. Describes parameters ............................................................................................... 4-2

1. When in Trouble ........................................................................................................ 6-2 4

1. Safety function .......................................................................................................... 7-2

Cautions for Proper Use ................................................................................................... 7-127

After-Sale Service .................................................................................................... Back cover

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Danger Indicates great possibility of death or serious injury.

Caution Indicates the possibility of injury or property damage.

Indicates something that must not be done.

Indicates something that must be done.

Before Using the Products

driver, turn off power and wait for a time longer

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Before Using the Products

insulating them with tape.

This Product shall be treated as Industrial Waste when you dispose.

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Before Using the Products

Notes on Maintenance and Inspection 2

Inspection Items and Cycles

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Guideline for Parts Replacement

Disassembling for inspection and repair should be

Related page 3´:DUUDQW\µ

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Before Using the Products

4. Check of the Combination of the Driver and the Motor

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

1Before Using 1. Introduction

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Before Using the Products

Contents of Name Plate

Model number Serial Number

Rated output of Manufacture date

Only for position control type

MHDH A5-series, H-frame

Related page 3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

B1 Connector X4: Parallel I/O connector

Terminals for motor Connector X6:

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: info@ctiautomation.net

Before Using the Products

Details of terminal block Front panel 2

Thank you for purchasing this Panasonic product.

Related page 3´:DUUDQW\µ

Related page 3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ

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