Panasonic Power Supply A4P Series User Manual

Instruction Manual  
AC Servo Motor and Driver  
MINAS A4P Series  
•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P Series.  
•Read through this Instruction Manual for proper use, especially read "Precautions for Safety" ( P.8  
to 11) without fail for safety purpose.  
Keep this Manual at an easily accessible place so as to be referred anytime as necessary.  
DV0P4490  
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List of Servo Parameter ................................................................................................................................ 58  
List of 16-bit Positioning Parameters ........................................................................................................... 73  
List of 32-bit Positioning Parameters ........................................................................................................... 77  
List of Step Parameters ................................................................................................................................ 77  
Setup of Torque Limit.................................................................................................................................... 78  
How to Use the Console.......................................................... 80  
Setup with the Console ................................................................................................................................ 80  
Initial Status of the Console Display (7 Segment LED)................................................................................ 80  
Mode Change ............................................................................................................................................... 81  
Monitor Mode................................................................................................................................................ 82  
Teaching Mode ............................................................................................................................................. 87  
Parameter setup mode ................................................................................................................................. 91  
EEPROM Writing Mode ................................................................................................................................ 96  
Auto-Gain Tuning Mode ............................................................................................................................... 97  
Auxiliary Function Mode ............................................................................................................................... 98  
Copying Function (Console Only) .............................................................................................................. 101  
Outline of Setup Support Software, "PANATERM®" ........... 103  
Outline of PANATERM® .............................................................................................................................. 103  
How to Connect .......................................................................................................................................... 103  
[Operation Setting]  
page  
Overview of Operation Setting.............................................. 106  
Step Operation ....................................................................... 107  
Step Operation ........................................................................................................................................... 107  
Example of Incremental Operation Setting ................................................................................................ 108  
Example of Absolute Operation Setting ..................................................................................................... 109  
Example of Rotary Axis Operation Setting ................................................................................................. 110  
Example of Dwell Timer Operation Setting ................................................................................................ 111  
Jog Operation ........................................................................ 112  
Jog Operation ............................................................................................................................................. 112  
Homing ................................................................................... 114  
Homing Operation ...................................................................................................................................... 114  
Home Sensor + Z Phase (based on the front end) .................................................................................... 116  
Home Sensor (based on the front end) ...................................................................................................... 117  
Home sensor + Z phase (based on the rear end) ...................................................................................... 118  
Limit Sensor + Z phase .............................................................................................................................. 120  
Limit Sensor................................................................................................................................................ 121  
Z Phase Homing ......................................................................................................................................... 122  
Bumping Homing ........................................................................................................................................ 122  
Data Set...................................................................................................................................................... 123  
Homing Offset Operation............................................................................................................................ 124  
Emergency Stop Operation/Deceleration-and-Stop Operation .....125  
Temporary Stop Operation.................................................... 126  
Block Operation ..................................................................... 127  
Overview of Block Operation ...................................................................................................................... 127  
Continuous Block Operation....................................................................................................................... 127  
Combined Block Operation ........................................................................................................................ 128  
Sequential Operation............................................................. 130  
S-shaped Acceleration/Deceleration Function .................... 131  
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Timing Chart .......................................................................... 132  
Operation Timing after Power-ON .............................................................................................................. 132  
When an Error (Alarm) Has Occurred (at Servo-ON Command) .............................................................. 133  
When an Alarm Has Been Cleared (at Servo-ON Command) ................................................................... 134  
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ................................................................ 135  
Servo-ON/OFF Action While the Motor Is in Motion .................................................................................. 135  
Absolute System ................................................................... 136  
Overview of Absolute System..................................................................................................................... 136  
Configuration of Absolute System .............................................................................................................. 136  
Battery (for Backup) Installation ................................................................................................................. 136  
Setup (Initialization) of Absolute Encoder .................................................................................................. 136  
Outline of Full-Closed Control .............................................. 140  
What Is Full-Closed Control ? .................................................................................................................... 140  
[Adjustment]  
page  
Gain Adjustment .................................................................... 142  
Real-Time Auto-Gain Tuning Mode....................................... 144  
Adaptive Filter............................................................................................................................................. 147  
Normal Mode Auto-Gain Tuning ........................................... 148  
Release of Automatic Gain Adjusting Function .................. 151  
Manual Gain Tuning (Basic) .................................................. 152  
Adjustment in Position Control Mode ......................................................................................................... 153  
Adjustment in Full-Closed Control Mode.................................................................................................... 154  
Gain Switching Function............................................................................................................................. 155  
Suppression of Machine Resonance ......................................................................................................... 158  
Manual Gain Tuning (Application) ........................................ 160  
Instantaneous Speed Observer.................................................................................................................. 160  
Damping Control......................................................................................................................................... 161  
[When in Trouble]  
page  
When in Trouble..................................................................... 164  
What to Check ? ......................................................................................................................................... 164  
Protective Function (What is Error Code ?) ............................................................................................... 164  
Protective Function (Detail of Error Code) ................................................................................................. 165  
Troubleshooting .................................................................... 172  
Motor Does Not Run / Motor Stops During an Operation .......................................................................... 172  
Point Deviates / Positioning Accuracy is Poor ........................................................................................... 173  
Home position Slips.................................................................................................................................... 173  
Abnormal Motor Noise or Vibration ............................................................................................................ 173  
Overshoot/Undershoot / Overheating of the Motor (Motor Burn-Out)........................................................ 174  
Parameter Returns to Previous Setup ....................................................................................................... 174  
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the  
PANATERM®............................................................................................................................................... 174  
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[Supplement]  
page  
Conformity to EC Directives and UL Standards .................. 176  
Options ................................................................................... 180  
Recommended components................................................. 191  
Dimensions (Driver)............................................................... 192  
Dimensions (Motor) ............................................................... 195  
Permissible Load at Output Shaft ........................................ 210  
Motor Characteristics (S-T Characteristics) ........................ 211  
Motor with Gear Reducer ...................................................... 217  
Dimensions/Motor with Gear Reducer ................................. 218  
Permissible Load at Output Shaft/Motor with Gear Reducer ........220  
Characteristics of Motor with Gear Reducer ....................... 221  
Block Diagram of Driver ....................................................... 222  
Block Diagram by Control Mode........................................... 224  
Specifications (Driver)........................................................... 226  
Default Parameters (for all the models of A4P Series) .... 228  
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[Before Using the Products]  
page  
Safety Precautions ....................................................8  
Maintenance and Inspection ..................................12  
Introduction .............................................................14  
Outline ......................................................................................... 14  
On Opening the Package ............................................................ 14  
Check of the Driver Model........................................................... 14  
Check of the Motor Model ........................................................... 15  
Check of the Combination of the Driver and the Motor ............... 16  
Parts Description ....................................................18  
Driver ........................................................................................... 18  
Motor ........................................................................................... 20  
Console ....................................................................................... 21  
Installation ...............................................................22  
Driver ........................................................................................... 22  
Motor ........................................................................................... 24  
Console ....................................................................................... 26  
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Observe the Following Instructions Without Fail  
Safety Precautions  
Observe the following precautions in order to avoid damages on the machinery  
and injuries to the operators and other personnel during the operation.  
• In this document, the following symbols are used to indicate the level of damages or  
injuries which might be incurred by the misoperation ignoring the precautions.  
Indicates a potentially hazardous situation which, if not  
avoided, will result in death or serious injury.  
DANGER  
Indicates a potentially hazardous situation which, if not  
avoided, will result in minor injury or property damage.  
CAUTION  
The following symbols represent "MUST NOT" or "MUST" operations which you have to  
observe. (Note that there are other symbols as well.)  
Represents "MUST NOT" operation which is inhibited.  
Represents "MUST" operation which has to be executed.  
DANGER  
Do not subject the Product to wa-  
ter, corrosive or flammable gases,  
and combustibles.  
Do not subject the cables to exces-  
sive force, heavy object, or pinch-  
ing force, nor damage the cables.  
Failure to observe this in-  
struction could result in  
electrical shocks, damages  
and breakdowns.  
Failure to observe this in-  
struction could result in fire.  
Do not put your hands in the ser-  
vo driver.  
Do not touch the rotat-  
ing portion of the mo-  
tor while it is running.  
Rotating portion  
Failure to observe this in-  
struction could result in  
burn and electrical shocks.  
Failure to observe this instruc-  
tion could result in injuries.  
Do not touch the motor, servo driver  
and external regenerative resistor of  
the driver, since they become very hot.  
Do not drive the motor with exter-  
nal power.  
Failure to observe this in-  
struction could result in  
burns.  
Failure to observe this in-  
struction could result in fire.  
8
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[Before Using the Products]  
DANGER  
Do not place combustibles near  
by the motor, driver and regenera-  
tive resistor.  
Do not place the console close to  
a heating unit such as a heater or  
a large wire wound resistor.  
Failure to observe this in-  
struction could result in fire  
and breakdowns.  
Failure to observe this in-  
struction could result in fire.  
Install an overcurrent protection,  
earth leakage breaker, over-tem-  
perature protection and emergen-  
cy stop apparatus without fail.  
Ground the earth terminal of the  
motor and driver without fail.  
Failure to observe this in-  
struction could result in  
electrical shocks.  
Failure to observe this instruc-  
tion could result in electrical  
shocks, injuries and fire.  
Install an emergency stop circuit  
externally so that you can stop  
the operation and shut off the  
power immediately.  
Turn off the power and wait for a  
longer time than the specified  
time, before transporting, wiring  
and inspecting the driver.  
Failure to observe this instruction could  
result in injuries, electrical shocks, fire,  
breakdowns and damages.  
Failure to observe this in-  
struction could result in  
electrical shocks.  
Install and mount the Product and  
machinery securely to prevent  
any possible fire or accidents in-  
curred by earthquake.  
Turn off the power and make it  
sure that there is no risk of elec-  
trical shocks before transporting,  
wiring and inspecting the motor.  
Failure to observe this instruc-  
tion could result in electrical  
shocks, injuries and fire.  
Failure to observe this in-  
struction could result in  
electrical shocks.  
Check and confirm the safety of  
the operation after the earthquake.  
Wiring has to be carried out by the  
qualified and authorized specialist.  
Failure to observe this in-  
struction could result in  
electrical shocks.  
Failure to observe this instruc-  
tion could result in electrical  
shocks, injuries and fire.  
Mount the motor, driver and re-  
generative resistor on incombust-  
ible material such as metal.  
Make the correct phase sequence  
of the motor and correct wiring of  
the encoder.  
Failure to observe this instruction  
could result in injuries breakdowns  
and damages.  
Failure to observe this in-  
struction could result in fire.  
9
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Observe the Following Instructions Without Fail  
Safety Precautions  
CAUTION  
Do not hold the motor cable or  
motor shaft during the transporta-  
tion.  
Do not block the heat dissipating  
holes or put the foreign particles  
into them.  
Failure to observe this  
instruction could result in  
injuries.  
Failure to observe this in-  
struction could result in  
electrical shocks and fire.  
Never run or stop the motor with  
the electro-magnetic contactor  
installed in the main power side.  
Failure to observe this  
instruction could result in  
breakdowns.  
Do not step on the Product nor  
place the heavy object on them.  
Failure to observe this  
instruction could result in  
electrical shocks, injuries,  
breakdowns and damages.  
Do not give strong  
impact shock to  
the motor shaft.  
Do not turn on and off the main  
power of the driver repeatedly.  
Failure to observe this  
instruction could result  
in breakdowns.  
Failure to observe this  
instruction could result in  
breakdowns.  
Do not approach to the machine  
since it may suddenly restart after  
the power resumption.  
Design the machine to secure the  
safety for the operator even at a  
sudden restart.  
Do not make an extreme gain ad-  
justment or change of the drive.  
Do not keep the machine run-  
ning/operating unstably.  
Failure to observe this  
instruction could result in  
injuries.  
Failure to observe this  
instruction could result in  
injuries.  
Do not use the built-in brake as a  
"Braking" to stop the moving  
load.  
Do not give strong impact shock  
to the Product.  
Failure to observe this  
instruction could result in  
injuries and breakdowns.  
Failure to observe this  
instruction could result in  
breakdowns.  
Do not modify, disassemble nor  
repair the Product.  
Do not pull the cables with exces-  
sive force.  
Failure to observe this in-  
struction could result in fire,  
electrical shocks and injuries.  
Failure to observe this  
instruction could result in  
breakdowns.  
10  
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[Before Using the Products]  
CAUTION  
Use the motor and the driver in  
the specified combination.  
Failure to observe this  
Make a wiring correctly and  
securely.  
Failure to observe this  
instruction could result in  
fire.  
instruction could result in  
fire and electrical shocks.  
Use the eye bolt of the motor for  
transportation of the motor only,  
and never use this for transporta-  
tion of the machine.  
Observe the specified mounting  
method and direction.  
Failure to observe this  
instruction could result in  
injuries and breakdowns.  
Failure to observe this  
instruction could result in  
breakdowns.  
Make an appropriate mounting of  
the Product matching to its wight  
and output rating.  
Observe the specified voltage.  
Failure to observe this in-  
struction could result in  
electrical shocks, injuries  
and fire.  
Failure to observe this  
instruction could result in  
injuries and breakdowns.  
Execute the trial run without connecting  
the motor to the machine system and fix  
the motor. After checking the operation,  
connect to the machine system again.  
Keep the ambient temperature be-  
low the permissible temperature  
for the motor and driver.  
Failure to observe this  
instruction could result in  
breakdowns.  
Failure to observe this  
instruction could result in  
injuries.  
When any error occurs, remove  
the cause and release the error  
after securing the safety, then  
restart.  
Connect the brake control relay to  
the relay which is to shut off at  
emergency stop in series.  
Failure to observe this  
instruction could result in  
injuries and breakdowns.  
Failure to observe this  
instruction could result in  
injuries.  
When you dispose the batter-  
ies, observe any applicable reg-  
ulations or laws after insulating  
them with tape.  
This Product shall be treated as  
Industrial Waste when you  
dispose.  
11  
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Maintenance and Inspection  
• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.  
Notes on Maintenance and Inspection  
1) Turn on and turn off should be done by operators or inspectors themselves.  
2) Internal circuit of the driver is kept charged with high voltage for a while even after power-off. Turn off the  
power and allow 15 minutes or longer after LED display of the front panel has gone off, before performing  
maintenance and inspection.  
3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance mea-  
surement) to the driver, otherwise it could result in breakdown of the driver.  
Inspection Items and Cycles  
General and normal running condition  
Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating  
hours of 20 hours or less per day.  
Perform the daily and periodical inspection as per the items below.  
Type  
Cycles  
Items to be inspected  
• Ambient temperature, humidity, speck, dust or foreign object  
• Abnormal vibration and noise  
• Main circuit voltage  
• Odor  
Daily  
inspection  
• Lint or other particles at air holes  
• Cleanness at front portion of the driver and connecter  
• Damage of the cables  
Daily  
• Loose connection or misalignment between the motor and  
machine or equipment  
• Pinching of foreign object at the load  
• Loose tightening  
• Trace of overheat  
• Damage of the terminals  
Periodical  
inspection  
Annual  
<Note> Inspection cycle may change when the running conditions of the above change.  
12  
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[Before Using the Products]  
Guideline for Parts Replacement  
Use the table below for a reference. Parts replacement cycle varies depending on the actual operating  
conditions. Defective parts should be replaced or repaired when any error have occurred.  
Disassembling for inspection and repair should be carried  
out only by authorized dealers or service company.  
Prohibited  
Standard replacement  
Product  
Component  
Smoothing capacitor  
Cooling fan  
Note  
cycles (hour)  
Approx. 5 years  
2 to 3 years  
(10,000 to 30,000 hours)  
Aluminum electrolytic  
capacitor (on PCB)  
Approx. 5 years  
Driver  
Approx. 100,000 times  
(depending on working  
condition)  
Rush current  
preventive relay  
Approx. 20,000 times  
(depending on working  
condition)  
3 to 5 years  
(20,000 to 30,000 hours)  
5000 hours  
These hours or cycles are  
reference.  
When you experience any  
error, replacement is required  
even before this standard  
replacement cycle.  
Rush current preventive  
resistor  
Bearing  
Oil seal  
Encoder  
3 to 5 years  
(20,000 to 30,000 hours)  
Life time varies depending  
on working conditions.  
Refer to the instruction  
manual attached to the  
battery for absolute  
encoder.  
Motor  
Battery  
for absolute encoder  
Motor with  
gear reducer  
10,000 hours  
Gear reducer  
13  
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Introduction  
Outline  
MINAS-A4P Series is a servo motor and driver of I/O command type. A4P Series is based on the high-  
performance servo driver MINAS-A4 Series, which achieved response frequency of 1kHz, real-time auto-  
gain tuning function and damping control, and contains the NC function which can perform positioning more  
easily.  
A maximum of 60 setting points can be set for (1) moving distance, (2) maximum rotation speed in a moving  
section, (3) acceleration time and (4) deceleration time in each moving section and positioning can be  
performed by an external contact input. Moreover, in combination with a motor equipped with a 17-bit abso-  
lute encoder, positioning can be performed at an absolute position and a homing operation is not required.  
A4P Series have also improved the user-friendliness by offering some optional components, e.g., a console  
which enables you to monitor the rotation speed display, set up parameters, perform teaching (setup of  
target position) and copy parameters, and a waveform graphic display to show a operating waveform and  
the communication software “PANATERM®” available for frequency measurement to measure machine reso-  
nance point.  
Read this document with care and exploit the versatile functions of A4P Series to full extent.  
Cautions  
1) Any part or whole of this document shall not be reproduced without written permission from us.  
2) Contents of this document are subject to change without notice.  
On Opening the Product Package  
• Make sure that the model is what you have ordered.  
• Check if the product is damaged or not during transportation.  
• Check if the instruction manual is attached or not.  
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) are attached or not (A  
to D-frame).  
Contact to a dealer if you find any failures.  
Check of the Driver Model  
Contents of Name Plate  
AC SERVO  
Model number  
Model No. MADDT1205P Serial No.P05110001Z  
Serial Number  
e.g.) : P0511 0001Z  
INPUT  
200-240V  
1ø  
1.3A  
50/60Hz  
OUTPUT  
69V  
3ø  
1.2A  
0~333.3Hz  
100W  
Voltage  
Rated input/output voltage  
Rated input/output current  
Phase  
F.L.C  
Freq.  
Power  
Lot number  
Month of production  
Rated output of applicable motor  
Year of production  
(Lower 2 digits of AD year)  
Model Designation  
M A D D T 1 2 0 5 P  
1 to 4  
5 to 6  
7
8 to 9  
10  
11, 12  
Special specifications  
(letters and numbers)  
Interface specification  
I/O command type  
Current detector rating  
Max. current rating of  
power device  
Frame-size symbol  
Frame  
Symbol Current rating  
Symbol  
Power supply  
Current  
rating  
Current  
rating  
MADD A4-series, A-frame  
MBDD A4-series, B-frame  
MCDD A4-series, C-frame  
MDDD A4-series, D-frame  
MEDD A4-series, E-frame  
MFDD A4-series, F-frame  
T1  
T2  
T3  
T5  
T7  
TA  
TB  
10A  
15A  
30A  
50A  
70A  
Symbol  
Symbol  
Symbol Specifications  
1
2
3
Single phase, 100V  
Single phase, 200V  
3-phase, 200V  
05  
07  
10  
15  
20  
5A  
7.5A  
10A  
15A  
20A  
30  
40  
64  
90  
A2  
30A  
40A  
64A  
90A  
Single/3-phase,  
200V  
5
100A  
150A  
120A  
14  
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[Before Using the Products]  
Check of the Motor Model  
Contents of Name Plate  
CONT. TORQUE 0.64 Nm  
Model  
AC SERVO MOTOR  
RATING  
S1  
Serial Number  
e.g.) : 0511 0001  
MODELNo. MSMD5AZS1S  
INS. CLASS  
IP65  
B
(TÜV)  
A
(UL)  
INPUT 3ØAC  
92  
1.6  
0.2 kW  
V
A
Rated input voltage/current  
CONNECTION  
SER No. 05110001  
RATED OUTPUT  
RATED FREQ. 200  
Hz  
Lot number  
Month of production  
RATED REV. 3000 r/min  
Rated output  
Rated rotational speed  
Year of production  
(Lower 2 digits of AD year)  
Model Designation  
M S M D 5 A Z S 1 S  
11 to 12  
1 to 4  
5 to 6  
7
8
9
10  
Special specifications  
(letters and numbers)  
Motor structure  
Symbol  
Type  
Design order  
1: Standard  
Ultra low inertia  
(100W to 750W)  
MAMA  
Low inertia  
(100W to 400W)  
Low inertia  
(50W to 750W)  
Low inertia  
(1.0kW to 5.0kW)  
Middle inertia  
(1.0kW to 5.0kW)  
High inertia  
(500W to 5.0kW)  
Middle inertia  
(400W to 4.5kW)  
Middle inertia  
(900W to 4.5kW)  
MQMA  
MSMD  
MSMA  
MDMA  
MHMA  
MFMA  
MGMA  
Voltage specifications  
Symbol  
Specifications  
100 V  
Motor rated output  
Symbol Output  
Symbol Output  
1
2
5A  
01  
02  
04  
05  
08  
09  
50W  
100W  
200W  
400W  
500W  
750W  
900W  
15 1.5kW  
20 2.0kW  
25 2.5kW  
30 3.0kW  
40 4.0kW  
45 4.5kW  
50 5.0kW  
200 V  
100/200 common  
(50W only)  
Z
10 1.0kW  
Rotary encoder specifications  
Specifications  
Pulse count Resolution Wire count  
Symbol  
Format  
P
S
Incremental  
Absolute/Incremental common  
2500P/r  
17bit  
10,000  
131,072  
5-wire  
7-wire  
Motor structure  
MSMD, MQMA  
MAMA  
Shaft  
Holding brake  
Oil seal  
Shaft  
Holding brake  
Oil seal  
Symbol Round  
Symbol Round  
1
*
Key way Without With Without With  
Key way Without With Without With  
A
B
S
T
A
B
E
F
2
*
*
2
*1 The product with oil seal is a special order product.  
*2 Key way with center tap.  
MSMA, MDMA, MFMA, MGMA, MHMA  
Shaft  
Holding brake  
Oil seal  
Symbol Round  
Products are standard stock items or build to order  
items. For details, inquire of the dealer.  
Key way Without With Without With  
C
D
G
H
15  
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Introduction  
Check of the Combination of the Driver and the Motor  
This drive is designed to be used in a combination with the motor which are specified by us.  
Check the series name of the motor, rated output torque, voltage specifications and encoder specifications.  
Incremental Specifications, 2500P/r  
<Remarks> Do not use in other combinations than those listed below.  
Applicable motor  
Applicable driver  
Power  
supply  
Motor  
series  
Rated  
Rated  
output  
Model  
Model  
Frame  
rotational speed  
Single phase,  
200V  
3-phase,  
200V  
MAMA012P1*  
MAMA022P1*  
MAMA042P1*  
MAMA082P1*  
MQMA011P1*  
MQMA021P1*  
MQMA041P1*  
MQMA012P1*  
MQMA022P1*  
MQMA042P1*  
MSMD5AZP1*  
MSMD011P1*  
MSMD021P1*  
MSMD041P1*  
MSMD5AZP1*  
MSMD012P1*  
MSMD022P1*  
MSMD042P1*  
MSMD082P1*  
MSMA102P1*  
MSMA152P1*  
MSMA202P1*  
MSMA302P1*  
MSMA402P1*  
MSMA502P1*  
MDMA102P1*  
MDMA152P1*  
MDMA202P1*  
MDMA302P1*  
MDMA402P1*  
MDMA502P1*  
MHMA052P1*  
MHMA102P1*  
MHMA152P1*  
MHMA202P1*  
MHMA302P1*  
MHMA402P1*  
MHMA502P1*  
MFMA042P1*  
MFMA152P1*  
MFMA252P1*  
MFMA452P1*  
MGMA092P1*  
MGMA202P1*  
MGMA302P1*  
MGMA452P1*  
100W  
200W  
400W  
750W  
100W  
200W  
400W  
100W  
200W  
400W  
50W  
MADDT1207P  
MBDDT2210P  
MCDDT3520P  
MDDDT5540P  
MADDT1107P  
MBDDT2110P  
MCDDT3120P  
MADDT1205P  
MADDT1207P  
MBDDT2210P  
MADDT1105P  
MADDT1107P  
MBDDT2110P  
MCDDT3120P  
A-frame  
B-frame  
C-frame  
D-frame  
A-frame  
B-frame  
C-frame  
A-frame  
A-frame  
B-frame  
MAMA  
Ultra low  
inertia  
5000r/min  
Single phase,  
100V  
MAMA  
Low  
inertia  
3000r/min  
3000r/min  
Single phase,  
200V  
A-frame  
Single phase,  
100V  
100W  
200W  
400W  
50W  
B-frame  
C-frame  
MSMD  
Low  
inertia  
MADDT1205P  
Single phase,  
200V  
100W  
200W  
400W  
750W  
1.0kW  
1.5kW  
2.0kW  
3.0kW  
4.0kW  
5.0kW  
1.0kW  
1.5kW  
2.0kW  
3.0kW  
4.0kW  
5.0kW  
500W  
1.0kW  
1.5kW  
2.0kW  
3.0kW  
4.0kW  
5.0kW  
400W  
1.5kW  
2.5kW  
4.5kW  
900W  
2.0kW  
3.0kW  
4.5kW  
A-frame  
MADDT1207P  
MBDDT2210P  
MCDDT3520P  
B-frame  
C-frame  
Single/3-phase,  
200V  
MDDDT5540P  
D-frame  
E-frame  
MSMA  
Low  
inertia  
MEDDT7364P  
MFDDTA390P  
3000r/min  
2000r/min  
3-phase,  
200V  
F-frame  
MFDDTB3A2P  
Single/3-phase,  
200V  
MDDDT3530P  
MDDDT5540P  
MEDDT7364P  
MFDDTA390P  
D-frame  
E-frame  
MDMA  
Middle  
inertia  
3-phase,  
200V  
F-frame  
MFDDTB3A2P  
MCDDT3520P  
MDDDT3530P  
MDDDT5540P  
MEDDT7364P  
MFDDTA390P  
C-frame  
D-frame  
E-frame  
Single/3-phase,  
200V  
MHMA  
High  
inertia  
2000r/min  
3-phase,  
200V  
F-frame  
MFDDTB3A2P  
Single/3-phase,  
200V  
3-phase,  
200V  
Single/3-phase, 200V  
MCDDT3520P  
MDDDT5540P  
MEDDT7364P  
MFDDTB3A2P  
MDDDT5540P  
MFDDTA390P  
C-frame  
D-frame  
E-frame  
F-frame  
D-frame  
MFMA  
Middle  
inertia  
2000r/min  
1000r/min  
MGMA  
Middle  
inertia  
3-phase, 200V  
F-frame  
MFDDTB3A2P  
<Note>  
Suffix of " * " in the applicable motor model represents the motor structure.  
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[Before Using the Products]  
Absolute/Incremental Specifications, 17-bit  
<Remarks> Do not use in other combinations than those listed below.  
Applicable motor  
Power  
Applicable driver  
Rated  
output  
Motor  
series  
Rated  
supply  
Model  
Model  
Frame  
rotational speed  
Single phase,  
200V  
3-phase,  
200V  
MAMA012S1*  
MAMA022S1*  
MAMA042S1*  
MAMA082S1*  
MQMA011S1*  
MQMA021S1*  
MQMA041S1*  
MQMA012S1*  
MQMA022S1*  
MQMA042S1*  
MSMD5AZS1*  
MSMD011S1*  
MSMD021S1*  
MSMD041S1*  
MSMD5AZS1*  
MSMD012S1*  
MSMD022S1*  
MSMD042S1*  
MSMD082S1*  
MSMA102S1*  
MSMA152S1*  
MSMA202S1*  
MSMA302S1*  
MSMA402S1*  
MSMA502S1*  
MDMA102S1*  
MDMA152S1*  
MDMA202S1*  
MDMA302S1*  
MDMA402S1*  
MDMA502S1*  
MHMA052S1*  
MHMA102S1*  
MHMA152S1*  
MHMA202S1*  
MHMA302S1*  
MHMA402S1*  
MHMA502S1*  
MFMA042S1*  
MFMA152S1*  
MFMA252S1*  
MFMA452S1*  
MGMA092S1*  
MGMA202S1*  
MGMA302S1*  
MGMA452S1*  
100W  
200W  
400W  
750W  
100W  
200W  
400W  
100W  
200W  
400W  
50W  
MADDT1207P  
MBDDT2210P  
MCDDT3520P  
MDDDT5540P  
MADDT1107P  
MBDDT2110P  
MCDDT3120P  
MADDT1205P  
MADDT1207P  
MBDDT2210P  
MADDT1105P  
MADDT1107P  
MBDDT2110P  
MCDDT3120P  
A-frame  
B-frame  
C-frame  
D-frame  
A-frame  
B-frame  
C-frame  
A-frame  
A-frame  
B-frame  
MAMA  
Ultra low  
inertia  
5000r/min  
3000r/min  
Single phase,  
100V  
MAMA  
Low  
inertia  
Single phase,  
200V  
A-frame  
Single phase,  
100V  
100W  
200W  
400W  
50W  
B-frame  
C-frame  
MSMD  
Low  
inertia  
3000r/min  
MADDT1205P  
Single phase,  
200V  
100W  
200W  
400W  
750W  
1.0kW  
1.5kW  
2.0kW  
3.0kW  
4.0kW  
5.0kW  
1.0kW  
1.5kW  
2.0kW  
3.0kW  
4.0kW  
5.0kW  
500W  
1.0kW  
1.5kW  
2.0kW  
3.0kW  
4.0kW  
5.0kW  
400W  
1.5kW  
2.5kW  
4.5kW  
900W  
2.0kW  
3.0kW  
4.5kW  
A-frame  
MADDT1207P  
MBDDT2210P  
MCDDT3520P  
B-frame  
C-frame  
Single/3-phase,  
200V  
MDDDT5540P  
D-frame  
E-frame  
MSMA  
Low  
inertia  
MEDDT7364P  
MFDDTA390P  
3000r/min  
2000r/min  
3-phase,  
200V  
F-frame  
MFDDTB3A2P  
Single/3-phase,  
200V  
MDDDT3530P  
MDDDT5540P  
MEDDT7364P  
MFDDTA390P  
D-frame  
E-frame  
MDMA  
Middle  
inertia  
3-phase,  
200V  
F-frame  
MFDDTB3A2P  
MCDDT3520P  
MDDDT3530P  
MDDDT5540P  
MEDDT7364P  
MFDDTA390P  
C-frame  
D-frame  
E-frame  
Single/3-phase,  
200V  
MHMA  
High  
inertia  
2000r/min  
3-phase,  
200V  
F-frame  
MFDDTB3A2P  
Single/3-phase,  
200V  
3-phase,  
200V  
Single/3-phase, 200V  
MCDDT3520P  
MDDDT5540P  
MEDDT7364P  
MFDDTB3A2P  
MDDDT5540P  
MFDDTA390P  
C-frame  
D-frame  
E-frame  
F-frame  
D-frame  
MFMA  
Middle  
inertia  
2000r/min  
1000r/min  
MGMA  
Middle  
inertia  
3-phase, 200V  
F-frame  
MFDDTB3A2P  
<Notes>  
1) Suffix of " * " in the applicable motor model represents the motor structure.  
2) 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. (refer to P.190, "Options" of Supplement.)  
b) Switch the parameter SV.Pr0B (Absolute encoder setup) from "1 (default)" to "0".  
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in incremental.  
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Parts Description  
Driver  
• A and B-frame  
ID address setup  
rotary switch (MSD, LSD)  
Display LED (2-digit)  
Velocity monitor check pin (SP)  
Torque monitor check pin (IM)  
Check pin (G : GND)  
Communication  
connector, CN X4  
SP  
IM  
Connector  
X4  
G
Connector, CN X4A  
(For manufacturers' use only:  
Not for individual use)  
Main power  
input terminals  
(L1,L2)  
A
Connector, CN X1  
for power input  
connection  
04JFAT-SAXGF  
(JST)  
X3  
Connector, CN X4B  
B
(For manufacturers' use only:  
Not for individual use)  
Control power  
input terminals  
(L1C, L2C)  
X3  
Connector, CN X5  
for host connection  
Terminals  
X5  
for external  
regenerative resistor  
(RB1,RB2,RB3)  
Connector, CN X2  
for motor  
connection  
06JFAT-SAXGF  
(JST)  
Connector, CN X6  
for encoder connection  
Terminals  
for motor connection  
(U,V,W)  
X6  
X7  
Connector, CN X7  
Screws for earth (x2)  
for external scale connection  
e.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame)  
ID address setup  
rotary switch (MSD, LSD)  
Display LED (2-digit)  
• C and D-frame  
Velocity monitor check pin (SP)  
Torque monitor check pin (IM)  
Check pin (G : GND)  
Communication  
connector, CN X4  
Connector  
SP  
IM  
X4  
G
Connector, CN X4A  
(For manufacturers' use only:  
A
Not for individual use)  
Main power  
X3  
input terminals  
(L1,L2)  
Connector, CN X1  
for power input  
connection  
04JFAT-SAXGF  
(JST)  
Connector, CN X4B  
(For manufacturers' use only:  
Not for individual use)  
B
X3  
Control power  
input terminals  
(L1C, L2C)  
Connector, CN X5  
for host connection  
X5  
Terminals  
for external  
regenerative resistor  
(RB1,RB2,RB3)  
Connector, CN X2  
for motor  
connection  
06JFAT-SAXGF  
(JST)  
Connector, CN X6  
for encoder connection  
Terminals  
for motor connection  
(U,V,W)  
X6  
X7  
Connector, CN X7  
Screws for earth (x2)  
for external scale connection  
e.g.) : MCDDT3520P (Single/3-phase, 200V, 750W : C-frame)  
<Note>  
X1 and X2 are attached in A to D-frame driver.  
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[Before Using the Products]  
Velocity monitor check pin (SP)  
Torque monitor check pin (IM)  
• E and F-frame  
Check pin (G : GND)  
Display LED (2-digit)  
ID address setup  
rotary switch (MSD, LSD)  
Main power  
input terminals  
(L1,L2,L3)  
Communication  
connector, CN X4  
SP  
IM  
X4  
Control power  
input terminals  
(r, t)  
G
Screw for cover M3  
A
X3  
Connector, CN X4A  
(For manufacturers' use only:  
Not for individual use)  
B
X3  
Terminals  
for external  
regenerative  
resistor  
Connector, CN X4B  
(For manufacturers' use only:  
Not for individual use)  
(P, B1, B2)  
X5  
Connector, CN X5  
for host connection  
Terminals  
for motor  
connection  
(U,V,W)  
Connector, CN X6  
for encoder connection  
X6  
X7  
Connector, CN X7  
for external scale connection  
Screws for earth (x2)  
Terminal cover  
Screw for cover M3  
e.g.) : MEDDT7364P (3-phase, 200V, 2.0kW : E-frame)  
Velocity monitor check pin (SP)  
Check pin (G : GND)  
Torque monitor check pin (IM)  
Display LED (2-digit)  
Main power  
input terminals  
(L1,L2,L3)  
ID address setup  
rotary switch (MSD, LSD)  
Communication  
connector, CN X4  
Control power  
input terminals  
(r, t)  
SP  
IM  
X
4
G
Screw for cover M3  
A
X
3
Connector, CN X4A  
(For manufacturers' use only:  
Not for individual use)  
Terminals  
for external  
regenerative  
resistor  
B
X
3
Connector, CN X4B  
(For manufacturers' use only:  
Not for individual use)  
(P, B1, B2)  
X
5
Connector, CN X5  
for host connection  
Terminals  
for motor  
connection  
(U,V,W)  
X6  
X7  
Connector, CN X6  
for encoder connection  
Connector, CN X7  
for external scale connection  
Terminal cover  
Screw for cover M3  
Screws for earth (x2)  
e.g.) : MFDDTB3A2P (3-phase, 200V, 5.0kW : F-frame)  
<Note>  
For details of each model, refer to "Dimensions " (P.192 to 194) of Supplement.  
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Parts Description  
Motor  
• MSMD 50W to 750W  
• MAMA 100W to 750W  
• MQMA 100W to 400W  
Encoder cable  
Motor cable  
Rotary encoder  
Connector for brake cable  
(Only applicable to the motor  
with electromagnetic brake)  
Motor frame  
Flange  
Mounting holes (X4)  
e.g.) : Low inertia type (MSMD series, 50W)  
• MSMA 1.0kW to 5.0kW  
• MDMA 1.0kW to 5.0kW  
• MHMA 500W to 5.0kW  
• MFMA 400W to 4.5kW  
• MGMA 900W to 4.5kW  
Connector for motor and brake  
Connector for encoder  
Oil seal  
Flange  
Flange  
Mounting holes (X4)  
e.g.) : Middle inertia type (MDMA series, 1.0kW)  
<Note>  
For details of each model, refer to "Dimensions " (P.195 to P.209) of Supplement.  
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[Before Using the Products]  
Console  
Main Body  
Connector  
Console body  
Display  
(7-segment LED)  
Cable  
Touch panel  
<Note>  
Console is an option (Part No.: DV0P4420).  
Display/Touch panel  
Display LED (6-digit)  
All of LED will flash when error occurs, and switch to error display  
screen.  
Display LED (in 2 digits)  
Parameter No. is displayed at parameter setup mode. Point No. is  
displayed at teaching mode.  
SHIFT Button  
Press this to shift the digit for data change.  
Button  
Press these to change data or execute selected action of parameter.  
Numerical value increases by pressing ,  
,
decreases by pressing  
.
SET Button  
Press this to shift each mode which is selected by mode switching  
button to EXECUTION display.  
Mode Switching Button Press this to switch 7 kinds of mode.  
1) Monitor mode  
2) Teaching mode  
5) Normal auto-gain tuning mode  
6) Auxiliary function mode  
Target position settings established  
by teaching  
• Alarm clear  
• Absolute encoder clear  
Test operation  
7) Copy mode  
3) Parameter setup mode  
4) EEPROM write mode  
• Copying of parameters from the driver to the console.  
• Copying of parameters from the console to the driver.  
The data for the parameters is set after the mode has been switched to the parameter setup mode. For  
details on operation, refer to the instruction manual provided with the console.  
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How to Install  
Install the driver and the motor properly to avoid a breakdown or an accident.  
Driver  
Installation Place  
1) Indoors, where the products are not subjected to rain or direct sun beams. The products are not water-  
proof.  
2) Where the products are not subjected to corrosive atmospheres such as hydrogen 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 mist, iron powder or chips and etc.  
3) Well-ventilated and low humidity and dust-free place.  
4) Vibration-free place  
Environmental Conditions  
Item  
Condition  
Ambient temperature  
Ambient humidity  
Storage temperature  
Storage humidity  
Vibration  
0˚C to 55˚C (free from freezing)  
Less than 90% RH (free from condensation)  
–20˚C to 80˚C (free from freezing)  
Less than 90% RH (free from condensation)  
Lower than 5.9m/S2 (0.6G), 10 to 60Hz  
Lower than 1000m  
Altitude  
How to Install  
1) Rack-mount type. Install in vertical position, and reserve enough space around the servo driver for ventilation.  
Base mount type (rear mount) is standard (A to D-frame)  
2) Use the optional mounting bracket when you want to change the mounting face.  
A to D-frame  
e.g.) In case of C-frame  
MADD  
MBDD  
MCDD  
MDDD  
Mounting bracket  
(optional parts)  
Fastening torque of earth screws (M4) to be 0.39 to 0.59N m.  
E and F-frame  
Mounting bracket  
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[Before Using the Products]  
Mounting Direction and Spacing  
• Reserve enough surrounding space for effective cooling.  
• Install fans to provide uniform distribution of temperature in the control panel.  
• Observe the environmental conditions of the control panel described in the next page.  
100mm  
or more  
Fan  
Fan  
40mm  
or more  
10mm  
10mm  
or  
10mm  
40mm  
or more  
or  
or  
more  
more  
more  
100mm  
or more  
<Note>  
It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after  
peeling off the paint on the machine for installing the products, in order to make noise countermeasure.  
Caution on Installation  
We have been making the best effort to ensure the highest quality, however, application of exceptionally  
large external noise disturbance and static electricity, or failure in input power, wiring and components may  
result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety  
in the operative range.  
There might be a chance of smoke generation due to the failure of these products. Pay an extra attention  
when you apply these products in a clean room environment.  
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How to Install  
Motor  
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 water-  
proof.  
2) Where the products are not subjected to corrosive atmospheres such as hydrogen 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 mist, iron powder or chips and etc.  
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  
Condition  
Ambient temperature  
Ambient humidity  
Storage temperature  
Storage humidity  
0˚C to 40˚C (free from freezing) *1  
Less than 85% RH (free from condensation)  
–20˚C to 80˚C (free from freezing) *2  
Less than 85% RH (free from condensation)  
Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall  
Lower than 98m/s2 (10G)  
Vibration  
Motor only  
Impact  
Motor only  
IP65 (except rotating portion of output shaft and lead wire end)  
These motors conform to the test conditions specified in EN  
standards (EN60529, EN60034-5). Do not use these motors in  
application where water proof performance is required such as  
continuous wash-down operation.  
Enclosure rating  
Motor only  
*1 Ambient temperature to be measured at 5cm away from the motor.  
*2 Permissible temperature for short duration such as transportation.  
How to Install  
You can mount the motor either horizontally or vertically as long as you observe the followings.  
1) Horizontal mounting  
• Mount the motor with cable outlet facing downward for water/oil countermeasure.  
2) Vertical mounting  
• Use the motor with oil seal (non-standard) when mounting the motor with gear reducer to prevent the  
reducer oil/grease from entering to the motor.  
3) For mounting dimensions, refer to P.195 to 209 "Dimensions".  
Oil/Water Protection  
Motor  
Cable  
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 subjected to oil or water.  
4) Use the motor with an oil seal when used with the gear reducer, so that  
the oil may not enter to the motor through shaft.  
Oil, water  
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[Before Using the Products]  
Stress to Cables  
1) Avoid a stress application to the cable outlet and connecting portion by bending or self-weight.  
2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension  
junction cable into the bearer so that the stress by bending can be minimized.  
3) Take the cable bending radius as large as possible. (Minimum R20mm)  
Permissible Load to Output Shaft  
1) Design the mechanical system so that the applied radial load and/or thrust load to  
the motor shaft at installation and at normal operation can meet the permissible  
value specified to each model.  
Motor  
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may  
damage the shaft or deteriorate the bearing life.  
3) Use a flexible coupling with high stiffness designed exclusively for servo application  
in order to make a radial thrust caused by micro misalignment smaller than the  
permissible value.  
4) For permissible load of each model, refer to P.210, "List of Permissible Load to Output Shaft" of Supple-  
ment.  
Notes on Installation  
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the  
motor shaft.  
(Or it may damage the encoder mounted on the other side of the shaft.)  
2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.)  
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending  
on the condition of the machine and its mounting environment, and may result in the bearing noise. Check  
and verification by customer is required.  
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How to Install  
Console  
Installation Place  
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not water-  
proof.  
2) Where the products are not subjected to corrosive atmospheres such as hydrogen 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 mist, iron powder or chips and etc.  
3) Well-ventilated and low humidity and dust-free place.  
4) Easy-to-access place for inspection and cleaning  
Environmental Conditions  
Item  
Ambient temperature  
Ambient humidity  
Storage temperature  
Storage humidity  
Vibration  
Condition  
0˚C to 55˚C (free from freezing)  
Less than 90% RH (free from condensation)  
–20˚C to 80˚C (free from freezing)  
Less than 90% RH (free from condensation)  
Lower than 5.9m/s2 (0.6G), 10 to 60Hz  
Conform to JISC0044 (Free fall test, 1m for 2 directions, 2 cycles)  
Lower than 1000m  
Impact  
Altitude  
<Cautions>  
• Do not give strong impact to the products.  
• Do not drop the products.  
• Do not pull the cables with excess force.  
• Avoid the place near to the heat source such as a heater or a large winding resistor.  
How to Connect  
Connect to  
MODE  
SHIFT  
SET  
CN X4.  
<Remarks>  
• Connect the console connector securely to CN X4 connector of the driver  
• Never pull the cable to plug in or plug out.  
26  
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[Preparation]  
page  
System Configuration and Wiring .........................28  
Overall Wiring (Connecting Example of C-frame, 3-phase)........ 28  
Overall Wiring (Connecting Example of E-frame) ....................... 30  
Driver and List of Applicable Peripheral Equipments .................. 32  
Wiring of the Main Circuit (A to D-frame) .................................... 34  
Wiring of the Main Circuit (E and F-frame).................................. 35  
Wiring to the Connector, CN X6 (Connection to Encoder).......... 38  
Wiring to the Connector, CN X3 and 4  
Wiring to the Connector, CN X7 (Connection to External Scale) ..... 40  
Wiring to the Connector, CN X5 (Connection to Host Controller)..... 41  
Wiring for Connector CN X5........................................................ 42  
Interface Circuit ........................................................................... 43  
List of Signal for Connector CN X5 ............................................. 44  
Setup with the Front Panel .....................................48  
Composition of Touch Panel and Display.................................... 48  
Initial Status of the Front Panel Display (7-Segment LED) ......... 48  
Output Signals (Analog) and Their Functions ............................. 49  
Built-in Holding Brake ............................................50  
Dynamic Brake ........................................................52  
27  
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System Configuration and Wiring  
Overall Wiring (Connecting Example of C-frame, 3-phase)  
• Wiring of the Main Circuit (see P.34, 35.)  
(see P.32, 33 and 177.)  
Circuit Breaker (NFB)  
Use the circuit breaker matching capacity  
of the power source to protect the power  
lines.  
(see P.177 , 178.)  
Noise Filter (NF)  
Prevents external noise from the power  
lines. And reduces an effect of the noise  
generated by the servo driver.  
• Connection to  
the Connector, CN X1  
(connection to input power)  
<Remarks>  
Before turning the power  
supply on, check whether  
the input voltage is correct.  
(see P.32, 33.)  
Magnetic Contactor (MC)  
Turns on/off the main power of the servo  
driver.  
Use a surge absorber together with this.  
• Never start nor stop the servo motor  
with this Magnetic Contactor.  
L1 (Pin-5)  
L2 (Pin-4)  
L3 (Pin-3)  
L1C (Pin-2)  
L2C (Pin-1)  
(see P.189.)  
Reactor (L)  
Reduces harmonic current of the main  
power.  
Pin RB1 (6-pin), RB2 (4-pin), and  
RB3 (5-pin)  
RB2 and RB3 to be kept shorted for  
normal operation.  
• Connection to the Connector, CN X2  
(connection to external components)  
RB1 (Pin-6)  
RB2 (Pin-4)  
When the capacity shortage of  
the regenerative resister is found,  
disconnect a shorting bar be-  
tween RB2 and RB3, then connect  
the external regenerative resister  
between RB1 and RB2.  
Handle lever  
Use this for connector  
connection. Store this after  
connection for other occasions.  
(see page for connection.)  
(Note that no regenerative resister  
is equipped in Frame A and B type.  
Install an external regenerative  
resister on incombustible materi-  
al, such as metal. Follow the same  
wiring connection as the above.)  
Regenerative resistor (optional)  
<Remarks>  
• When you use an external regenerative resister, install  
an external protective apparatus, such as thermal fuse  
without fail.  
• Thermal fuse and thermostat are built in to the  
regenerative resistor (Option). If the thermal fuse is  
activated, it will not resume.  
• When you connect an external re-  
generative resister, set up SV.Pr6C  
to 1 or 2.  
28  
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[Preparation]  
PC (to be supplied by customer)  
Setup support software  
"PANATERM®"  
DV0P4460  
Console (option)  
DV0P4420  
Wiring to Connector, CN X4 (option)  
(Connection to PC or host controller)  
SP  
IM  
X4  
G
A
X3  
X1  
• For manufacturers' use only, CN X3A and X3B  
B
X3  
(Not for individual use)  
• Wiring to Connector, CN X5  
(Connection to host controller)  
X5  
X2  
• Wiring to Connector, CN X6  
(Connection to encoder)  
X6  
X7  
Short bar  
Junction cable for encoder  
• Wiring to  
Connector, CN X7  
(Connection to  
Ground (earth)  
external scale)  
U-phase (red)  
V-phase (white)  
W-phase (black)  
Junction cable for motor  
• Wiring to Connector, CN X2  
(Connection to motor driving  
phase and ground)  
DC Power supply for brake  
DC24V  
(to be supplied by customer)  
Junction cable  
for brake  
: High voltage  
29  
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System Configuration and Wiring  
Overall Wiring (Connecting Example of E-frame)  
• Wiring of the Main Circuit (see P.36, 37.)  
(see P.32, 33 and 177.)  
Circuit Breaker (NFB)  
Use the circuit breaker matching capacity  
of the power source to protect the power  
lines.  
(see P.177 , 178.)  
Noise Filter (NF)  
Prevents external noise from the power  
lines. And reduces an effect of the noise  
generated by the servo driver.  
Connection with input  
power supply  
<Remarks>  
Before turning the power  
supply on, check whether  
the input voltage is correct.  
(see P.32, 33.)  
Magnetic Contactor (MC)  
Turns on/off the main power of the servo  
driver.  
L1  
L2  
L3  
r
Use a surge absorber together with this.  
• Never start nor stop the servo motor  
with this Magnetic Contactor.  
(see P.189.)  
Reactor (L)  
Reduces harmonic current of the main  
power.  
t
Pin P, B1 and B2...  
B1 and B2 to be kept shorted for nor-  
mal operation.  
Connection to external components  
P
B2  
When the capacity shortage of the  
regenerative resister is found, dis-  
connect a short bar between B1  
and B2, then connect the external  
regenerative resister between P  
and B2.  
Ground (earth)  
Install an external regenerative re-  
sister on incombustible material,  
such as metal. Follow the same wir-  
ing connection as the above.  
Regenerative resistor (optional)  
<Remarks>  
When you use an external regenerative resister,  
install an external protective apparatus, such as  
thermal fuse without fail.  
• When you connect an external re-  
generative resister, set up SV.Pr6C  
to 1 or 2.  
Thermal fuse and thermostat are built in to the  
regenerative resistor (Option). If the thermal  
fuse is activated, it will not resume.  
30  
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[Preparation]  
PC (to be supplied by customer)  
Setup support software  
"PANATERM®"  
DV0P4460  
Console (option)  
DV0P4420  
Wiring to Connector, CN X4 (option)  
(Connection to PC or host controller)  
SP  
IM  
X4  
G
A
X3  
• For manufacturers' use  
only, CN X3A and X3B  
(Not for individual use)  
B
X3  
• Wiring to Connector, CN X5  
X5  
(Connection to host controller)  
• Wiring to Connector, CN X6  
(Connection to encoder)  
X6  
X7  
Junction cable  
for encoder  
• Wiring to Connector, CN X7  
(Connection to external scale)  
• Connection to motor driving  
phase and ground  
Short bar  
From a top  
U-phase  
V-phase  
Junction cable  
for motor  
W-phase  
Junction cable for brake  
DC Power supply for brake  
DC24V  
(to be supplied by customer)  
: High voltage  
31  
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System Configuration and Wiring  
Driver and List of Applicable Peripheral Equipments  
Required Circuit  
Cable  
Cable  
Applicable  
motor  
Rated  
output  
Noise  
filter  
Magnetic  
contactor  
Surge Noise filter  
absorber for signal  
Power breaker  
(at the rated (rated  
load) current)  
diameter diameter  
Driver  
Voltage  
Connection  
(main circuit) (control circuit)  
approx.  
–100W 0.4kVA  
50W  
MSMD Single  
phase,  
BMFT61041N  
(3P+1a)  
approx.  
0.4kVA  
approx.  
MQMA 100V 100W  
50W  
MSMD  
–200W 0.5kVA  
MADD  
approx.  
Single 100W  
MQMA phase,  
200V 200W  
0.3kVA  
approx.  
0.5kVA  
approx.  
0.3kVA  
BMFT61542N  
(3P+1a)  
DV0P4170 DV0P4190  
MAMA  
100W  
10A  
MSMD Single  
phase, 200W  
MQMA 100V  
approx.  
0.5kVA  
BMFT61041N  
(3P+1a)  
0.75 to  
2.0mm2  
AWG  
MBDD MSMD  
approx.  
0.9kVA  
14 to 18  
Single 400W  
BMFT61542N  
(3P+1a)  
MQMA phase,  
200V  
approx.  
0.5kVA  
MAMA  
200W  
MQMA Single  
approx.  
0.9kVA  
BMFT61541N  
(3P+1a)  
phase, 400W  
100V  
MSMD  
approx.  
1.3kVA  
750W  
DV0P4180  
0.75mm2  
AWG18  
MCDD  
DV0P1460  
MAMA Single/  
3- phase, 400W  
MFMA 200V  
approx.  
0.9kVA  
BMFT61542N  
(3P+1a)  
approx.  
1.1kVA  
approx.  
1.6kVA  
15A  
MHMA  
500W  
750W  
MAMA  
MDMA  
approx.  
1.8kVA  
1.0kW  
900W  
MHMA  
approx.  
1.8kVA  
approx.  
1.8kVA  
DV0P1450  
MGMA  
Single/  
MDDD MSMA 3- phase, 1.0kW  
BMFT61842N 2.0mm2  
(3P+1a)  
AWG14  
200V  
MHMA  
20A  
DV0P4220  
MDMA  
1.5kW  
MSMA  
approx.  
2.3kVA  
MFMA  
MDMA  
Terminal  
block  
2.0mm2  
BMF6352N AWG14  
(3P+2a2b)  
M5  
approx.  
3.3kVA  
MSMA  
2.0kW  
2.5kW  
11.0 or  
smaller  
30A  
MEDD  
3- phase,  
MHMA 200V  
3.5mm2  
AWG12  
approx.  
3.8kVA  
MFMA  
ø5.3  
32  
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[Preparation]  
Required Circuit  
Power breaker  
(at the rated (rated  
load) current)  
Cable  
Cable  
Applicable  
motor  
Rated  
output  
Noise  
filter  
Magnetic  
contactor  
Surge Noise filter  
absorber for signal  
diameter diameter  
Driver  
Voltage  
Connection  
(main circuit) (control circuit)  
approx.  
3.8kVA  
MGMA  
MDMA  
MHMA  
MSMA  
MGMA  
MDMA  
2.0kW  
BMF6352N  
(3P+2a2b)  
approx.  
4.5kVA  
3.0kW  
3.5mm2  
AWG12  
Terminal  
block  
M5  
3- phase,  
11.0 or  
smaller  
0.75mm2  
AWG18  
approx.  
6kVA  
MFDD MHMA 200V 4.0kW  
50A DV0P3410 DV0P1450 DV0P1460  
MSMA  
ø5.3  
approx.  
6.8kVA  
approx.  
7.5kVA  
MFMA  
4.5kW  
MGMA  
BMF6652N  
(3P+2a2b)  
5.3mm2  
AWG10  
MDMA  
approx.  
7.5kVA  
MHMA  
MSMA  
5.0kW  
• Select a single and 3-phase common specifications according to the power source.  
• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.  
To comply to EC Directives, install a circuit breaker between the power and the noise filter without fail, and  
the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).  
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or larger model when the  
maximum current value of the circuit breaker is limited to 20A.  
• For details of noise filters, refer to P.177, 178, "Noise Filter" and P.179, "Driver and List of Applicable  
Peripheral Equipments (EC Directives)" of Supplement.  
<Remarks>  
• Select and use the circuit breaker and noise filter with matching capacity to those of the power source,  
considering the load conditions as well.  
Terminal block and protective earth terminal  
Use a copper conductor cable with temperature rating of 60˚C or higher.  
Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.  
Larger tightening torque of the screw than the max. value (M4 : 1.2 N m, M5 : 2.0 N m) may damage the  
terminal block.  
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model, and 3.5mm2 (AWG12)  
or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger for 4.5kW to 5kW model.  
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off length of 8 to 9mm.  
• Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35 N m.  
Larger tightening torque than these may damage the connector at the driver side.  
33  
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System Configuration and Wiring  
Wiring of the Main Circuit (A to D-frame)  
• Wiring should be performed by a specialist or an authorized personnel.  
• Do not turn on the power until the wiring is completed.  
Tips on Wiring  
8 to 9mm  
1) Peel off the insulation cover of the cable.  
(Observe the dimension as the right fig. shows.)  
2) Insert the cable to the connector detached  
from the driver. (See P.37 for details.)  
3) Connect the wired connector to the driver.  
Check the name plate of the driver for power  
specifications.  
Provide a circuit breaker, or a leakage breaker. The  
leakage breaker to be the one designed for "Inverter" and  
is equipped with countermeasures for harmonics.  
Provide a noise filter without fail.  
Provide a surge absorber to a coil of the Magnetic  
Contactor. Never start/stop the motor with this  
Magnetic Contactor.  
Connect a fuse in series with the surge absorber. Ask the  
manufacturer of the Magnetic Contactor for the fuse rating.  
Provide an AC Reactor.  
Connect L1 and L1C, and L3 and L2C at single phase  
use (100V and 200V), and don' t use L2.  
L1  
5
Power  
supply  
NFB NF  
MC  
L
L2  
L3  
4
3
2
1
L1C  
L2C  
CN X1  
RB1  
Match the colors of the motor lead wires to those of the  
corresponding motor output terminals (U,V,W).  
Don't disconnect the shorting cable between RB2 and RB3 (C  
and D frame type). Disconnect this only when the external  
regenerative register is used.  
6
5
4
3
2
1
RB3  
RB2  
U
Yellow  
(X2)  
U
V
Red  
1
2
3
4
Avoid shorting and ground fault. Don' t connect the  
V
main power.  
White  
Black  
W
*
Connect pin 3 of the connector on the driver side with pin 1  
of the connector on the motor side.  
W
CN X2  
Green E  
Earth-ground this.  
yellow  
Connect the protective earth terminal ( ) of the driver and  
the protective earth (earth plate) of the control panel without  
fail to prevent electrical shock.  
Motor  
Don't co-clamp the earth wires to the protective earth  
terminal ( ) . Two terminals are provided.  
Don' t connect the earth cable to other inserting slot,  
nor make them touch.  
Ground resistance : 100max.  
For applicable wire,  
refer to P.B14 and B15.  
DC  
24V  
DC power supply  
for brake  
Compose a duplex Brake Control Circuit so that the brake  
can also be activated by an external emergency stop  
signal.  
Surge absorber  
Fuse (5A)  
The Electromagnetic Brake has no polarity.  
For the capacity of the electromagnetic brake and how to  
use it, refer to P.50, "Specifications of Built-in Holding  
Brake".  
Provide a surge absorber.  
Connect a 5A fuse in series with the surge absorber.  
34  
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[Preparation]  
Wiring Diagram  
Compose the circuit so that the main circuit power will be shut off when an error occurs.  
In Case of Single Phase, 100V (A and B-frame)  
In Case of Single Phase, 200V (A and B-frame)  
+10%  
–15%  
+10%  
–15%  
+10%  
to 240V  
–15% –15%  
+10%  
Power supply Single phase, 100V  
to 115V  
Power supply Single phase, 200V  
Built-in thermostat of an external  
regenerative resistor (light yellow)  
Built-in thermostat of an external  
regenerative resistor (light yellow)  
ON OFF ALM  
MC  
ON OFF ALM  
MC  
MC  
MC  
Surge absorber  
Surge absorber  
CN X1  
CN X1  
MC L  
MC L  
NFB  
NFB  
L1  
L1  
Main power  
supply  
Main power  
supply  
L3  
L3  
L1C  
L1C  
Control power  
supply  
Control power  
supply  
Use a reactor for  
3-phase  
L2C  
L2C  
CN X2  
CN X2  
RB1  
RB3  
RB2  
U
RB1  
RB3  
RB2  
U
External regenerative resistor  
External regenerative resistor  
172167-1  
Tyco Electronics AMP  
Red  
172167-1  
Tyco Electronics AMP  
Red  
1 1  
1 1  
Motor  
connection  
Motor  
connection  
White  
Black  
Green  
White  
Black  
Green  
2 2  
3 3  
4 4  
2 2  
3 3  
4 4  
V
V
W
W
Motor  
Motor  
CN X5  
CN X5  
ALM  
ALM  
172159-1  
Tyco Electronics AMP  
172159-1  
Tyco Electronics AMP  
15  
15  
ALM  
COM–  
ALM  
COM–  
DC12 to 24V  
DC12 to 24V  
17  
17  
(±5%)  
(±5%)  
In Case of Single Phase, 200V (C and D-frame)  
In Case of 3-Phase, 200V (C and D-frame)  
+10%  
–15%  
+10%  
–15%  
+10%  
–15%  
+10%  
–15%  
Power supply Single phase, 200V  
<Remarks>  
When you use single  
phase, connect the main  
power between L1 and  
L3 terminals.  
to 240V  
Power supply 3-phase, 200V  
to 240V  
Built-in thermostat of an external  
regenerative resistor (light yellow)  
Built-in thermostat of an external  
regenerative resistor (light yellow)  
<Remarks>  
When you use single  
phase, connect the main  
ON OFFALM  
MC  
ON OFFALM  
MC  
MC  
MC  
power between L1 and L3  
Surge absorber  
Surge absorber  
CN X1  
terminals.  
CN X1  
MC L  
MC  
L
NFB  
NFB  
L1  
L2  
L1  
L2  
Main power  
supply  
Main power  
supply  
L3  
L3  
Use a reactor for  
3-phase  
L1C  
L2C  
L1C  
L2C  
Control power  
supply  
Control power  
supply  
(Remove the short wire when you connect  
the external regenerative resistor.)  
(Remove the short wire when you connect  
the external regenerative resistor.)  
CN X2  
CN X2  
RB1  
RB3  
RB2  
U
RB1  
RB3  
RB2  
U
External regenerative resistor  
172167-1  
Tyco Electronics AMP  
External regenerative resistor  
172167-1  
Tyco Electronics AMP  
Red  
Red  
*
*
1 1  
1 1  
Motor  
White  
2 2  
White  
Motor  
2 2  
V
V
connection  
connection  
Black  
3 3  
Black  
3 3  
W
W
Green  
4 4  
Green  
4 4  
Motor  
Motor  
172159-1  
Tyco Electronics AMP  
172159-1  
Tyco Electronics AMP  
CN X5  
CN X5  
ALM  
ALM  
15  
15  
ALM  
COM–  
ALM  
COM–  
DC12 to 24V  
(±5%)  
DC12 to 24V  
(±5%)  
17  
17  
D
A
B
* When you use motor model of  
MSMA, MDMA, MFMA, MHMA  
and MGMA, use the connections  
as the below table shows.  
PIN No. Application  
PIN No. Application  
G
H
A
F
I
B
E
D
C
Brake  
Brake  
NC  
U-phase  
V-phase  
W-phase  
Ground  
Ground  
NC  
A
B
C
D
E
F
G
H
I
Brake  
Brake  
NC  
U-phase  
V-phase  
W-phase  
Ground  
Ground  
NC  
C
JL04V-2E20-4PE-B-R  
JL04HV-2E22-22PE-B-R  
G
E
H
D
A
C
A
B
C
F
I
B
D
E
F
PIN No. Application  
[ Motor portion]  
Connector : by Japan Aviation Electronics Ind.  
A
B
C
D
U-phase  
V-phase  
W-phase  
Ground  
G
H
I
JL04V-2E20-18PE-B-R  
JL04V-2E24-11PE-B-R  
<Remark>  
Do not connect anything to NC.  
35  
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System Configuration and Wiring  
Wiring of the Main Circuit (E and F-frame)  
• Wiring should be performed by a specialist or an authorized personnel.  
• Do not turn on the power until the wiring is completed.  
Tips on Wiring  
1) Take off the cover fixing screws, and detach the terminal cover.  
2) Make wiring  
Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable  
diameter and size, rater to "Driver and List of Applicable Peripheral Equipments" (P.B14 and B15).  
3) Attach the terminal cover, and fix with screws.  
Fastening torque of cover fixed screw in less than 0.2 N•m.  
Check the name plate of the driver for power  
specifications.  
Provide a circuit breaker, or a leakage breaker. The  
leakage breaker to be the one designed for  
"Inverter" and is equipped with countermeasures for  
harmonics.  
L1  
Provide a noise filter without fail.  
Power  
Provide a surge absorber to a coil of the Magnetic  
Contactor. Never start/stop the motor with this  
Magnetic Contactor.  
NFB  
NF  
MC  
L
L2  
L3  
r
supply  
Connect a fuse in series with the surge absorber.  
Ask the manufacturer of the Magnetic Contactor for  
the fuse rating.  
Provide an AC Reactor.  
t
P
Don't disconnect the short bar between B1 and B2.  
Disconnect this only when an external regenerative  
register is used.  
Match the colors of the motor lead wires to those of  
the corresponding motor output terminals (U,V,W).  
Avoid shorting and ground fault.  
B1  
B2  
U
Yellow  
(X2)  
U
V
Red  
Don' t connect the main power.  
V
White  
Black  
Earth-ground this.  
Connect the protective earth terminal ( ) of the  
driver and the protective earth (earth plate) of the  
control panel without fail to prevent electrical shock.  
Don't co-clamp the earth wires to the protective  
earth terminal ( ) . Two terminals are provided.  
Don' t connect the earth cable to other inserting  
slot, nor make them touch.  
W
W
Green E  
yellow  
Motor  
Ground resistance : 100max.  
For applicable wire,  
refer to P.B14 and B15.  
Compose a duplex Brake Control Circuit so that the  
brake can also be activated by an external  
emergency stop signal.  
The Electromagnetic Brake has no polarity.  
For the capacity of the electromagnetic brake and  
how to use it, refer to P.50, "Specifications of Built-in  
Holding Brake".  
Provide a surge absorber.  
Connect a 5A fuse in series with the surge absorber.  
DC  
24V  
DC power supply  
for brake  
Surge absorber  
Fuse (5A)  
36  
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[Preparation]  
Wiring Diagram  
Compose the circuit so that the main circuit power will be shut off when an error occurs.  
[ Motor portion]  
Connector : by Japan Aviation Electronics Ind.  
In Case of 3-Phase, 200V (E and F-frame)  
+10%  
–15%  
+10%  
to 230V  
–15%  
D
A
Power supply 3-phase, 200V  
C
B
Built-in thermostat of an external  
regenerative resistor (light yellow)  
JL04V-2E20-4PE-B-R  
JL04HV-2E22-22PE-B-R  
ON OFF  
ALM  
MC  
MC  
Surge absorber  
PIN No. Application  
A
B
C
D
U-phase  
V-phase  
W-phase  
Ground  
MC  
L
NFB  
L1  
Main power  
supply  
L2  
L3  
Control power  
supply  
r
t
G
E
H
D
A
A
B
H
C
I
P
External regenerative resistor  
F
I
B
D
E
F
B1  
B2  
U
(Remove the short bar when you connect  
the external regenerative resistor.)  
C
G
Red  
Motor  
connection  
White  
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R  
PIN No. Application PIN No. Application  
V
Black  
W
Green  
G
H
A
F
I
B
E
D
C
Brake  
Brake  
NC  
U-phase  
V-phase  
W-phase  
Ground  
Ground  
NC  
A
B
C
D
E
F
G
H
I
Brake  
Brake  
NC  
U-phase  
V-phase  
W-phase  
Ground  
Ground  
NC  
Motor  
ALM  
15  
17  
ALM  
COM–  
DC12 to 24V  
(±5%)  
<Remark>  
Do not connect anything to NC.  
Wiring method to connector (A to D-frame)  
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 .  
How to connect  
1. Peel off the insulation cover of the cable. (see the right fig for exact length for peeling.)  
2. Insert the cable to the connecter in the following 2 methods.  
(a) Using the attached Handle Lever  
8 to 9mm  
(b) Using a screw driver (blade width of 3.0 to 3.5 mm)  
(a)  
1
2
3
Using  
handle  
lever  
Attach the handle lever  
to the handling slot on  
the upper portion.  
Insert the peeled cable  
while pressing down the  
lever, until it hits the  
insertion slot (round  
hole).  
Release the lever.  
<CAUTION>  
Press down the lever to  
push down the spring.  
Peel off the cable  
with exact length (8  
to 9 mm).  
* You can pull out the cable by pushing down the spring as the above.  
(b)  
Take off the  
connector from the  
Servo Driver  
before making  
connection.  
1
2
3
Using  
screw  
driver  
Insert one cable  
into each one of  
cable insertion slot.  
Pay attention to  
injury by screw  
driver.  
Press the screw driver  
to the handling slot on  
the upper portion to  
push down the spring.  
Insert the peeled cable  
while pressing down the  
screw driver, until it hits  
the insertion slot (round  
hole).  
Release the screw  
driver.  
* You can pull out the cable by pushing down the spring as the above.  
37  
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System Configuration and Wiring  
Wiring to the Connector, CN X6 (Connection to Encoder)  
Tips on Wiring  
Maximum cable length between the driver and the motor to be 20m.  
Consult with a dealer or distributor if you want to use the longer  
cable than 20m. (Refer to the back cover.)  
Power  
supply  
Keep this wiring away from the main circuit by 30 cm or more. Don't  
guide this wiring through the same duct with the main, nor bind  
them together.  
Encoder  
Motor  
30cm or more  
20m max.  
Encoder outlets are different by the motors, flyer leads + connecter  
and cannon plug type.  
Connector  
Junction cable  
When you make your own encoder junction cable (for connectors,  
refer to P.186, "Options (Connector Kit for Motor and Encoder  
connection)" of Supplement.  
20m max.  
Junction cable  
Cannon plug  
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.  
20m max.  
3) Use twisted pair cable for corresponding signal/power wiring.  
4) Shielding treatment  
Encoder  
• Shield wall of the driver side : Connect to Pin-20 (FG) of CN X6.  
• Shield wall of the motor side :  
Tyco Electronics AMP  
junction cable  
1
2
E5V  
E0V  
E5V  
E0V  
In case of 9-pin (17-bit absolute/incremental encoder) : Connect to pin-3.  
In case of 6-pin (2500P/r incremental encoder) : Connect to pin-6.  
In case of cannon plug, connect to Pin-J.  
5
6
PS  
PS  
PS  
PS  
5) Connect nothing to the empty terminals of each connector and  
Cannon Plug.  
Encoder side  
connector  
(Cannon plug)  
Driver side  
CN X6  
Wiring Diagram In case of 2500P/r incremental encoder  
• MSMD 50W to 750W  
• MAMA 100W to 750W  
• MQMA 100W to 400W  
CN X6  
White  
Black  
4
5
1
2
3
4
5
6
+5V  
0V  
E5V  
E5V  
E0V  
Regulator  
E0V  
2
3
Light Blue  
Purple  
PS  
PS  
PS  
PS  
FG  
6
Case  
Twisted pair  
172168-1  
172160-1  
(by Tyco Electronics , AMP) (by Tyco Electronics, AMP)  
motor  
Junction cable  
Motor side  
Driver side  
38  
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[Preparation]  
• MSMA 1kW to 5kW  
• MDMA 1kW to 5kW  
• MHMA 500W to 5kW  
• MFMA 400W to 4.5kW  
• MGMA 900W to 4.5kW  
Pin No. of connector  
CN X6  
H
G
1
+5V  
0V  
E5V  
E0V  
E5V  
E0V  
Regulator  
2
3
4
5
6
K
PS  
PS  
PS  
L
J
PS  
FG  
Straight plug N/MS3106B20-29S  
Cable clamp N/MS3057-12A  
(by Japan Aviation Electronics Ind.)  
Case  
Twisted pair  
motor  
Junction cable  
Motor side  
Driver side  
Wiring Diagram In case of 17-bit absolute/incremental encoder  
• MSMD 50W to 750W  
• MAMA 100W to 750W  
• MQMA 100W to 400W  
CN X6  
E5V  
White  
Black  
7
8
1
2
3
4
5
6
+5V  
0V  
E5V  
E0V  
Regulator  
E0V  
battery  
Red  
1
2
4
5
BAT+  
BAT–  
PS  
PS  
PS  
Pink  
Light Blue  
Purple  
Yellow/Green  
PS  
FG  
3
Case  
Twisted pair  
172169-1  
172161-1  
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)  
motor  
Junction cable  
Motor side  
Driver side  
• MSMA  
• MDMA  
• MHMA 500W to 5kW  
• MFMA 400W to 4.5kW  
• MGMA 900W to 4.5kW  
1kW to 5kW  
1kW to 5kW  
Pin No. of connector  
CN X6  
H
G
+5V  
0V  
1
2
E5V  
E0V  
E5V  
E0V  
Regulator  
3
4
5
6
battery  
T
S
K
L
J
PS  
PS  
BAT+  
BAT–  
PS  
PS  
FG  
Straight plug N/MS3106B20-29S  
Cable clamp N/MS3057-12A  
(Japan Aviation Electronics Industry, Ltd.)  
Case  
Twisted pair  
motor  
Junction cable  
Motor side  
Driver side  
39  
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System Configuration and Wiring  
Wiring to the Connector, CN X7 (Connection to External Scale)  
Power supply for the external scale shall be prepared by customer, or use the following power supply output  
for the external scale (250mA or less).  
Connector  
Application  
Content  
PinNo.  
Power supply output  
for external scale  
1
EX5V  
EX0V  
EXPS  
EXPS  
FG  
2
5
I/F of external scale signals  
(serial signal)  
6
Frame ground  
Case  
<Note>  
EXOV of the external scale power supply output is connected to the control circuit ground which is  
connected to the Connecter, CN X5.  
<Remark>  
Do not connect anything to other Pin numbers descried in the above table (Pin-3 and 4).  
Cautions  
(1) Following external scale can be used for full-closed control.  
AT500 series by Mitutoyo (Resolution 0.05[µm] , max. speed 2[ m/s] )  
• ST771 by Mitutoyo (Resolution 0.5[µm] , max. speed 2[ m/s] )  
(2) Recommended external scale ratio is 1/20<External scale ratio<20  
If you set up the external scale ratio to smaller value than 50/position loop gain (SV.Pr10 and 18), you  
may not be able to control per 1 pulse unit. Setup of larger scale ratio may result in larger noise.  
Wiring to the External Scale, Connector, CN X7  
Wire the signals from the external scale to the external scale connector, CN X7.  
1) Cable for the external scale to be the twisted pair with bundle shielding and to having the twisted core  
wire with diameter of 0.18mm2.  
2) Cable length to be max. 20m. Double wiring for 5V power supply is recommended when the wiring  
length is long to reduce the voltage drop effect.  
3) Connect the outer film of the shield wire of the external scale to the shield of the junction cable. Also  
connect the outer film of the shield wire to the shell (FG) of CN X7 of the driver without fail.  
4) Separate the wiring to CN X7 from the  
CN X7  
3
1
1
2
3
4
5
6
+5V  
0V  
power line (L1, L2, L3, L1C(r), L2C(t),  
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 CN X7.  
EX5V  
EX0V  
EX5V  
EX0V  
EX5V  
EX0V  
EX5V  
EX0V  
4
2
11  
13  
EXPS  
EXPS  
55100-0600  
(by Molex Inc.)  
6) Cut away the driver's CN X7 cover.  
7
8
EXPS  
EXPS  
FG  
X6  
X7  
15  
Twisted pair  
HDAB-15P  
(by Hirose Electric Co.) (by Hirose Electric Co.)  
HDAB-15S  
Detection head  
Please cut it out  
with nippers etc.  
Junction cable  
External scale unit  
External scale side  
Servo driver  
40  
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[Preparation]  
Wiring to the Connector, CN X5 (Connection to Host Controller)  
• Tips on wiring  
3m  
or shorter  
Peripheral apparatus such as host controller should be located  
within 3m.  
Controller  
30cm or longer  
Separate the main circuit at least 30cm away.  
Power  
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 encoder signal output.  
GND  
Don't apply more than 24V to the control signal output terminals, nor run  
50mA or more to them.  
VDC  
When the relay is directly driven by the control output signals, install a  
diode in parallel with a relay, and in the direction as the Fig. shows. The  
driver might be damaged without a diode installment, or by reverse  
direction.  
COM–  
FG  
CN X5  
Frame ground (FG) is connected to the earth terminal inside of the  
driver.  
For detailed information, refer to P.42 to 47.  
• Specifications of the Connector, CN X5  
Connecter to be prepared by customer  
Connector at driver side  
Manufacturer  
Part name  
Part No.  
54306-3611  
54306-3619 (lead-free)  
54331-0361  
or  
Connecter (soldering type)  
Connector cover  
Molex Inc.  
52986-3679  
or  
Connecter (soldering type)  
Connector cover  
10136-3000VE  
10336-52A0-008  
Sumitomo 3M  
<Note>  
For details, refer to P.185, "Options" of Supplement.  
<Remarks>  
• Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35N m.  
Larger tightening torque than these may damage the connector at the driver side.  
41  
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System Configuration and Wiring  
Wiring for Connector CN X5  
Driver side  
Control signal power supply  
1
2
COM+  
EMG-STP  
CCWL  
CWL  
4.7k  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
4.7kΩ  
Emergency stop input  
CCW over-travel inhibit input  
CW over-travel inhibit input  
Home sensor input  
Servo-ON signal input  
Strobe signal input  
19  
20  
21  
23  
24  
3
Z-LS  
SRV-ON  
STB  
Point specifying input  
Point specifying input  
Point specifying input  
Point specifying input  
Point specifying input  
Point specifying input  
Multi-function input 1  
Multi-function input 2  
P1IN  
4
P2IN  
5
P4IN  
6
P8IN  
7
P16IN  
P32IN  
EX-IN1  
EX-IN2  
8
22  
25  
11  
12  
13  
14  
9
OA+  
OA  
OB+  
OB  
OZ+  
OZ  
A-phase  
output  
Present position  
330  
330Ω  
330Ω  
MAX 50mA  
MAX 50mA  
MAX 50mA  
MAX 50mA  
MAX 50mA  
MAX 50mA  
MAX 50mA  
MAX 50mA  
MAX 50mA  
MAX 50mA  
-
output  
29  
30  
31  
32  
33  
34  
28  
27  
15  
36  
17  
P1OUT  
P2OUT  
P4OUT  
P8OUT  
P16OUT  
P32OUT  
BUSY  
B-phase  
output  
Present position  
output  
-
Z-phase  
output  
Present position  
output  
VDC  
12 to 24V  
10  
-
Present position  
output  
26  
16  
GND  
CZ  
Present position  
output  
Z-phase output (open collector)  
Present position  
output  
Motor operation  
condition output  
Positioning completion  
output / Output during  
deceleration  
COIN/  
DCLON  
Servo alarm output  
ALM  
BRK-OFF  
COM–  
FG  
Brake release  
signal  
Control signal power supply  
18  
CN X5  
(
represents twisted pair.)  
42  
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[Preparation]  
Interface Circuit  
Input Circuit  
SI Connection to sequence input signals  
• Connect to contacts of switches and relays, or open collec-  
tor output transistors.  
• When you use contact inputs, use the switches and relays  
for micro current to avoid contact failure.  
• Make the lower limit voltage of the power supply (12 to 24V)  
as 11.4V or more in order to secure the primary current for  
photo-couplers.  
12 to 24V  
1
1
COM+4.7k  
SRV-ON etc.  
Relay  
12 to 24V  
COM+4.7kΩ  
SRV-ON etc.  
Output Circuit  
SO1 Sequence output circuit  
Install toward the direction.  
SO1  
ALM,  
COIN etc.  
• The output circuit is composed of open collector transistor  
outputs in the Darlington connection, and connect to relays or  
photo-couplers.  
• There exists collector to emitter voltage, VCE (SAT) of approx.  
1V at transistor-ON, due to the Darlington connection of the  
output or. Note that normal TTL IC cannot be directly connec-  
ted since it does not meet VIL.  
• There are two types of output, one which emitter side of the  
output transistor is independent and is connectable individual-  
ly, and the one which is common to – side of the control pow-  
er supply (COM–).  
12 to 24V  
17 COM–  
Max. rating 30V,50mA  
or  
SO1  
ALM,  
COIN etc.  
12 to 24V  
17 COM–  
VDC[ V]2.5[ V]  
10  
R [ k] =  
If a recommended primary current value of the photo-coupler is  
10mA, decide the resistor value using the formula of the right Fig.  
Max. rating 30V,50mA  
For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.  
PO1 Line driver (Differential output) output  
AM26LS31 or  
AM26LS32 or equivalent  
OA+  
equivalent  
11  
12  
• Feeds out the divided encoder outputs (A, B and Z-phase) in  
differential through each line driver.  
A
OA–  
• At the host side, receive these in line receiver. Install a termi-  
nal resistor (approx. 330) between line receiver inputs with-  
out fail.  
B
Z
13  
14  
OB+  
OB  
9
10  
OZ+  
OZ–  
• These outputs are not insulated.  
GND  
26  
Connect signal ground of the host  
and the driver without fail.  
represents twisted pair.  
PO2 Open collector output  
Max. rating 30V,  
50mA  
• Feeds out the Z-phase signal among the encoder signals in  
open collector. This output is not insulated.  
• Receive this output with high-speed photo couplers at the  
host side, since the pulse width of the Z-phase signal is nar-  
row.  
16 CZ  
26 GND  
High speed  
photo-coupler  
(TLP554 by Toshiba or equivalent)  
represents twisted pair.  
43  
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System Configuration and Wiring  
List of Signal for Connector CN X5  
Common input signals  
Connector  
pin No.  
Application  
Code  
Function  
• Connected to the + terminal of an external DC power supply (12 to 24 V)  
• Use a 12 V (±5%) to 24 V (±5%) power supply.  
• Connected to the – terminal of an external DC power supply (12 to 24 V).  
• The power supply capacity differs depending on the configuration of the  
input/output circuits used. A capacity of more than 0.5A is recommended.  
COM+  
1
Control signal  
power supply  
COM–  
17  
2
• When connection with COM– is opened, emergency stop input error (error  
code No.39) occurs, and the circuit trips.  
• Tripping can be reset using an alarm clear input initiated by specifying point  
0 or assigning the multi-function inputs (EX-IN1, EX-IN2).  
Emergency  
stop input  
EMG-  
STP  
• Specify an operation point number when operation command is input.  
• The number at which operation point can be specified depends on the  
number of points set by SV.Pr57.  
• SV.Pr58 can be used for setting input logic.  
When the point described below is specified, special operation is  
performed.  
1)Specify point 0, and input a strobe signal, then alarm is cleared.  
2)Specify the maximum point number specified in SV.Pr57, and input a  
strobe signal, then system returns to the home position.  
3)Specify the maximum point number specified in SV.Pr57 –1 and input a  
strobe signal, then high-speed normal rotation jog is performed.  
4)Specify the maximum point number specified in SV.Pr57 –2 and input a  
strobe signal, then high-speed reverse rotation jog is performed.  
• CCW drive prohibition input (CCWL).  
P1IN  
P2IN  
P4IN  
P8IN  
P16IN  
P32IN  
3
4
5
6
7
8
Point specifying  
input  
• Connect so as to open COM– connection when movable part of the  
equipment exceeds the movable range in CCW direction.  
• When this input is open, operation command in CCW direction is not  
issued. (Torque is generated)  
CCW over-  
travel  
inhibit input  
CCWL  
19  
• SV.Pr53, 54, and 55 enable for setting of valid/invalid, input logic, and  
operation.  
• CW drive prohibition input (CWL).  
• Connect so as to open COM– connection when movable part of the  
equipment exceeds the movable range in CW direction.  
• When this input is open, operation command in CW direction is not issued.  
(Torque is generated)  
• SV.Pr53, 54, and 55 enable setting of valid/invalid, input logic, and  
operation.  
CW over-travel  
inhibit input  
CWL  
Z-LS  
20  
21  
• Connect so as to close the home sensor input when system is in the  
vicinity of home position (default).  
SV.Pr56 can be used for setting input logic.  
• Connected to the home sensor signal.  
Home sensor  
input  
• Connect so as to close the home sensor input when system is in the  
vicinity of home position.  
Pr56 can be used for setting input logic.  
When servo driver is connected to COM  
set in servo-ON condition.  
of control signal power supply, it is  
• When connection to COM– is opened, servo-OFF condition is set, and  
energization of motor is cut off.  
Servo-ON sig-  
nal input  
Dynamic brake operation and deviation counter clearing operation in servo-OFF  
condition can be chosen by SV.Pr69 (sequence at servo-off).  
SRV-ON  
23  
• SV.Pr5D enable setting of valid/invalid.  
<Notes>  
1)When shifting from servo-OFF to servo-ON, make sure that the motor is  
stopped.  
2)After shifting to servo-ON, allow 100ms or more before giving an  
instruction.  
3)Frequent repeating of servo-ON/OFF may damage the dynamic brake  
circuit contained in servo driver. Avoid such a use.  
44  
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[Preparation]  
Connector  
pin No.  
Application  
Code  
Function  
• When this is connected to COM– of the control signal power supply, the  
servo driver starts the movement to the specified point.  
• When 10ms or more has passed after setting specified point input, connect  
the strobe signal input (STB) to COM–. It is possible that the servo driver is  
unable to read specified point input properly.  
Strobe signal  
input  
STB  
24  
• Input STB signal 10ms or longer. Also, reset STB signal to opened  
condition after receiving BUSY signal from the servo driver in order to  
ensure that STB signal is received reliably.  
Multi-function  
input 1  
Multi-function  
input 2  
Function can be selected and set by Pr5A and 5C out of the options below.  
Instantaneous stop, temporary stop, deceleration stop, high-speed normal  
rotation jog, high-speed reverse rotation jog, and alarm clearing  
Input logic can be set by SV.Pr59 and 5B.  
EX-IN1  
EX-IN2  
22  
25  
Overview of Point Spesifying Input  
Operation instruction is specified by use of signal for point specifying input (P1IN to P32IN).  
See the table below for the relation between point specifying input and operation instruction.  
In order to execute an instruction, determine the kind of instruction by P1IN to P32IN, and then input  
a strobe signal.  
<Remarks>  
Because down of the signal wires during moving operation or exceptionally larger external noise  
disturbance may result in unexpected action, the protective equipments like limit sensors or  
emergency stop input must be installed before using.  
Ex) When SV.Pr57 = 3 (6 bits) is set  
Point No. P32IN P16IN P8IN P4IN P2IN P1IN  
Description  
0 (00H)  
1 (01H)  
2 (02H)  
3 (03H)  
4 (04H)  
5 (05H)  
6 (06H)  
7 (07H)  
8 (08H)  
9 (09H)  
10 (0AH)  
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
L
H
H
H
H
L
L
L
L
H
H
L
H
L
H
L
H
L
H
L
Alarm clearing instruction  
Moves to step parameter 1.  
Moves to step parameter 2.  
Moves to step parameter 3.  
Moves to step parameter 4.  
Moves to step parameter 5.  
Moves to step parameter 6.  
Moves to step parameter 7.  
Moves to step parameter 8.  
Moves to step parameter 9.  
Moves to step parameter 10.  
L
H
H
L
L
H
H
H
H
H
L
H
L
H
L
L
59 (3BH)  
60 (3CH)  
61 (3DH)  
62 (3EH)  
63 (3FH)  
L
L
L
L
L
L
L
L
L
L
L
L
L
L
L
H
L
L
L
L
L
H
H
L
L
H
L
H
L
Moves to step parameter 59.  
Moves to step parameter 60.  
High-speed jog operation (negative)  
High-speed jog operation (positive)  
Homing instruction  
L
<Notes>  
• H indicates the opened contact condition and L the closed contact condition.  
• The number of point inputs can be set by SV.Pr57.  
• The logic of point input can be changed by SV.Pr58.  
The table above describes the case where SV.Pr58 is "1: Point input valid by closed connection  
with COM–".  
In the case of "0: Point input valid by opened connection with COM–", "H" and "L" are reversed.  
• Point number of "High-speed jog operation (negative)", "High-speed jog operation (positive)",  
and "Homing instruction" depends on the setting of SV.Pr57.  
45  
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System Configuration and Wiring  
Common output signals and their functions  
Connector  
Application  
Code  
ALM  
Function  
pin No.  
Output signal indicating that the alarm is on.  
Output transistor turns on in normal condition, and output transistor turns off  
when alarm is on.  
Servo alarm  
output  
15  
• This output signal can be used by choosing positioning completion output  
(COIN) or output during deceleration (DCLON) by SV.Pr64.  
COIN: When the amount of position deviation pulse is within the range set by  
SV.Pr60 (In-position range), the transistor turns on. However, while the  
operation command is being processed, it will not turn ON even inside the  
positioning completion range.  
DCLON: Transistor turns ON while the motor is decelerating. However, the  
signal is not output when the motor has stopped because the deceleration  
time is zero.  
• Transistor turns OFF while the servo driver is processing operation  
command.  
<Notes>  
When an operation command has been started by the strobe signal input  
(STB), the motor operation status output remains OFF until the strobe  
signal input is set to the opened condition.  
Positioning  
completion  
output/  
Output during  
deceleration  
COIN/  
DCLON  
27  
28  
Motor operation  
condition output  
BUSY  
• Outputs the present motor position (point number) when the step operation  
is completed.  
• All the transistors are OFF (point 0) when the power is turned on. However,  
when the absolute mode is established or when the 16.Pr38 is set to 1  
(homing is invalid), the maximum point number set in the SV.Pr57  
(Selecting the number of input points) is output.  
• Upon completion of homing, the maximum point number set in the SV.Pr57  
(Selecting the number of input points) is output.  
• During high-speed normal rotation jog operations, the maximum point  
number set in the SV.Pr57 (Selecting the number of input points) minus 1 is  
output after the motor has stopped.  
• During high-speed reverse rotation jog operations, the maximum point  
number set in the SV.Pr57 (Selecting the number of input points) minus 2 is  
output after the motor has stopped.  
When an alarm has occurred, all the transistors are set OFF.  
<Note>  
When an operation has been aborted because of servo OFF,  
instantaneous stop or deceleration stop, the last status is held as the  
current position output. To obtain the correct output, move to the reference  
position (home point, absolute position command point).  
P1OUT  
P2OUT  
P4OUT  
P8OUT  
P16OUT  
P32OUT  
29  
30  
31  
32  
33  
34  
Present posi-  
tion output  
Defines the timing signal to activate the electromagnetic brake for the motor.  
When the electromagnetic brake is released, the output transistor turns ON.  
Brake release  
output  
BRK-OFF 36  
• Output timing of this signal can be set by SV.Pr6A (Mechanical brake delay  
at motor standstill) and SV.Pr6B (Mechanical brake delay at motor in  
motion).  
Output signal (pulse train) and function  
Connector  
Application  
Code  
OA+  
OA–  
OB+  
OB–  
OZ+  
OZ–  
Function  
pin No.  
• Division-processed encoder signal or external scale signal (A/B-phase) is  
output in differential mode. (RS422)  
11  
A-phase output  
• SV.Pr44 (numerator of output pulse ratio) and SV.Pr45 (denominator of  
output pulse ratio) can be used to set the division ratio.  
• SV.Pr46 (pulse output logic inversion) can be used to select the logic  
relation of phase B with regard to the pulse of phase A, and its output  
source.  
• Ground of line driver of the output circuit is connected to signal ground  
(GND); not insulated.  
• The maximum output frequency is 4 Mpps (after being multiplied by 4).  
12  
13  
14  
9
B-phase output  
Z-phase output  
Z-phase output  
10  
• Open collector output of Z-phase signal.  
• Emitter side of the transistor of the output circuit is connected to signal  
ground (GND); not insulated.  
CZ  
16  
46  
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[Preparation]  
<Note>  
• When the output source is the encoder  
SV.Pr44  
SV.Pr45  
If the encoder resolution X  
is multiple of 4, Z-phase will be fed out synchronizing with A-phase.  
In other case, the Z-phase width will be equal to the encoder resolution, and will not synchronize with  
A-phase because of narrower width than that of A-phase.  
SV.Pr44  
SV.Pr45  
SV.Pr44  
SV.Pr45  
when the encoder resolution  
is multiple of 4,  
when the encoder resolution  
is not multiple of 4,  
A
B
Z
A
B
Z
synchronized  
not-synchronized  
• In case of the 5-wire, 2500P/r incremental encoder, the signal sequence might not follow the above fig.  
until the first Z-phase is fed out. When you use the pulse output as the control signal, rotate the motor  
one revolution or more to make sure that the Z-phase is fed out at least once before using.  
Others  
Connector  
pin No.  
Application  
Code  
Function  
Frame ground  
FG  
18 • Internally connected to the ground terminal inside the servo driver.  
• Signal ground  
Signal ground  
GND  
26  
• Internally insulated from the control signal power supply (COM–) inside the  
servo driver.  
47  
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Setup with the Front Panel  
Composition of Touch Panel and Display  
Display LED (2 digits)  
In the case of an error, the alarm code will flash.  
In the case of a warning, the warning code (about 2 seconds)  
will alternate at about 4 seconds intervals with  
.
ID address setup rotary switch  
LSD : Lower-shifting (Default : 0)  
MSD : Upper-shifting (Default : 0)  
For manufacturers' use only.  
(Not for individual use)  
Output signal (Analog signal)  
Speed monitor output  
Torque monitor output  
Signal ground  
Initial Status of the Front Panel Display (7-Segment LED)  
When an alarm has been given, an alarm code of two-digit decimal number blinks on the front panel display  
(7-segment LED) of this servo driver. When no alarm is given, the display shows as follows:  
Control power supply  
turns on  
All the segments turn on  
(Light check)  
After approximately 2 seconds  
Baud Rate indicated  
ID address indicated  
After approximately 0.5 seconds  
(A set value)  
After approximately 0.5 seconds  
After approximately 0.5 seconds  
(A set value)  
After approximately 0.5 seconds  
Hyphens indicated  
A dot blinks  
Main power supply  
turns on  
SERVO READY = 1  
Main power supply  
turns off  
SERVO READY = 0  
“Servo off” command  
(at the right-hand side)  
“Servo on”  
command  
“Servo off”  
command  
Normal display  
(Alarm code 0)  
“Servo on” command  
• When an alarm has been given  
• When a warning has been given  
A warning code and normal state are shown in turn  
An alarm code blinks.  
(In the case of overflow)  
Warning code  
Normal display  
(Approximately 2 seconds) (Approximately 4 seconds)  
48  
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[Preparation]  
Output Signals (Analog) and Their Functions  
Application  
Code  
Function  
• The content of the output signal varies depending on SV.Pr07 (Speed monitor (IM)  
selection).  
You can set up the scaling with SV.Pr07 value.  
SV.Pr07 Control mode  
Function  
• Feeds out the voltage in proportion to the motor speed  
with polarity.  
Speed monitor  
signal output  
SP  
Motor  
0 to 4  
speed  
+ : rotates to CCW  
– : rotates to CW  
• Feeds out the voltage in proportion to the command  
speed with polarity.  
+ : rotates to CCW  
Command  
5 to 9  
speed  
– : rotates to CW  
• The content of output signal varies depending on SV.Pr08 (Torque monitor (IM)  
selection).  
You can set up the scaling with SV.Pr08 value.  
SV.Pr08 Control mode  
Function  
• Feeds out the voltage in proportion to the motor torque  
command with polarity.  
+ : generates CCW torque  
Torque monitor  
signal output  
IM  
0,  
11,12  
Torque  
command  
– : generates CW torque  
• Feeds out the voltage in proportion to the positional  
deviation pulse counts with polarity.  
+ : positional command to CCW of motor position  
– : positional command to CW of motor position  
Positional  
deviation  
1 – 5  
49  
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Built-in Holding Brake  
In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the  
work (moving load) from falling by gravity while the power to the servo is shut off.  
<Caution>  
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.  
Never use this for "Brake" purpose to stop the load in motion.  
Connecting Example  
The following shows the example when the brake is controlled by using the brake release output signal  
(BRK-OFF) of the driver.  
Relays to be shut off  
at emergency stop  
Surge absorber  
Motor  
Driver  
RY  
Brake coil  
RY  
BRK-OFF+  
36  
17  
VDC  
12 to 24V  
COM–  
Power supply  
for brake  
Fuse  
(5A)  
DC24V  
CN X5  
<Notes, Cautions>  
1. The brake coil has no polarity.  
2. Power supply for the brake to be provided by customer. Do not co-use the power supply for the brake and  
for the control signals (VDC).  
3. Install a surge absorber as the above Fig. shows to suppress surge voltage generated by ON/OFF action  
of the relay (RY). When you use a diode, note that the time from the brake release to brake engagement  
is slower than that of the case of using a surge absorber.  
4. For a surge absorber, refer to P.191, "Recommended Components"of Supplement.  
5. Recommended components are specified to measure the brake releasing time.  
Reactance of the cable varies depending on the cable length, and it might generate surge voltage.  
Select a surge absorber so that relay coil voltage (max. rating : 30V, 50mA) and terminal voltage may not  
exceed the rating.  
Output Timing of BRK-OFF Signal  
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is  
in motion, refer to P.133, 135, "Timing Chart".  
• With the parameter, SV.Pr6B (Setup of mechanical brake action while the motor is in motion), you can set  
up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal  
turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion.  
<Notes>  
1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with built-  
in brake, however this does not affect any functionality.  
2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is  
open). Pay an extra attention when magnetic sensors are used nearby the motor.  
50  
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[Preparation]  
Specifications of Built-in Holding Brake  
Static friction Rotor inertia Engaging Releasing Exciting  
Permissible Permissible  
work (J) per total work  
one braking x 103J  
Motor  
series  
Motor  
output  
current DC A Releasing  
torque  
N m  
X104  
time  
ms  
time  
ms*  
voltage  
2
kg m  
0.002  
0.018  
0.075  
0.03  
(at cool-off)  
50W, 100W  
200W, 400W  
750W  
0.29 or more  
1.27 or more  
2.45 or more  
0.29 or more  
1.27 or more  
4.9 or more  
7.8 or more  
11.8 or more  
35 or less  
50 or less  
0.25  
39.2  
137  
196  
137  
196  
4.9  
44.1  
147  
44.1  
147  
196  
MSMD  
MAMA  
10 or less  
DC2V  
0.30  
or more  
0.35  
70 or less 20 or less  
100W  
50 or less  
15 or less  
60 or less  
0.29  
0.41  
0.74  
DC1V  
MQMA  
200W, 400W  
1.0kW  
0.09  
or more  
0.25  
50 or less 15 or less  
1.5kW, 2.0kW  
3.0kW  
392  
0.33  
1.35  
(100)  
0.81  
0.90  
0.59  
490  
2156  
780  
MSMA  
80 or less  
50 or less  
110 or less  
4.0kW, 5.0kW  
1.0kW  
16.1 or more  
4.9 or more  
1470  
588  
(130)  
70 or less  
80 or less  
(200)  
1.35  
1.5kW, 2.0kW  
3.0kW  
13.7 or more  
16.1 or more  
100 or less 50 or less  
0.79  
0.90  
1176  
1470  
1470  
2156  
110 or less  
(130)  
35 or less  
(150)  
MDMA  
4.0kW  
5.0kW  
21.5 or more  
24.5 or more  
4.9 or more  
13.7 or more  
24.5 or more  
4.9 or more  
7.8 or more  
4.25  
4.7  
90 or less  
1.10  
1.30  
0.59  
0.79  
1.30  
0.59  
0.83  
0.75  
0.79  
1.3  
1078  
1372  
588  
2450  
2940  
784  
25 or less  
(200)  
80 or less  
70 or less  
(200)  
500W, 1.0kW  
1.5kW  
DC2V  
1.35  
50 or less  
(130)  
or more  
MHMA  
MFMA  
MGMA  
100 or less  
1176  
1372  
588  
1470  
2940  
784  
25 or less  
(200)  
2.0kW to 5.0kW  
400W  
4.7  
1.35  
4.7  
70 or less  
(200)  
80 or less  
35 or less  
(150)  
1.5kW  
1372  
1470  
1176  
2940  
2.5kW  
4.5kW  
21.6 or more  
31.4 or more  
100 or less  
(450)  
1470  
2156  
8.75  
1.35  
150 or less  
100 or less  
80 or less  
150 or less  
50 or less  
(130)  
900W  
2.0kW  
13.7 or more  
24.5 or more  
58.8 or more  
1470  
25 or less  
(200)  
4.7  
1372  
2940  
50 or less  
(130)  
3.0kW, 4.5kW  
1.4  
• Excitation voltage is DC24±10%.  
• * Values represent the ones with DC-cutoff using a surge absorber for holding brake.  
Values in ( ) represent those measured by using a diode (V03C by Renesas Technology Corp.)  
• Above values (except static friction torque, releasing voltage and excitation current) represent typical  
values.  
• Backlash of the built-in holding brake is kept ±1˚ or smaller at ex-factory point.  
• Permissible angular acceleration : 30000rad/s2 for MAMA series  
10000rad/s2 for MSMD, MQMA, MSMA, MDMA, MHMA, MFMA and  
MGMA series  
• Service life of the number of acceleration/deceleration with the above permissible angular acceleration is  
more than 10 million times.  
(Life end is defined as when the brake backlash drastically changes.)  
51  
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Dynamic Brake  
This driver is equipped with a dynamic brake for emergency stop.  
Pay a special attention to the followings.  
<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).  
Or it may damage the dynamic brake circuit of the driver.  
The motor becomes a dynamo when driven externally, and shorting current runs  
while this dynamic brake is activated and might cause smoking or fire.  
2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 3 minutes  
pause when the dynamic brake is activated during high-speed running.  
(Over-current protection (error code No. 14) may be activated when the dynamic brake circuit inside the  
F-frame driver has overheated.)  
You can activate the dynamic brake in the following cases.  
1) When the main power is turned off  
2) At Servo-OFF  
3) When one of the protective function is activated.  
In the above cases from 1) to 3), you can select either activation of the dynamic brake or making the  
motor free-run during deceleration or after the stop, with parameter.  
Note that when the control power is off, the dynamic brake will be kept activated.  
1) Setup of driving condition from deceleration to after stop by main power-off (SV.Pr67)  
Contents of  
deviation  
counter  
Driving condition  
Sequence at main  
power-off (SV.Pr67)  
during deceleration  
after stalling  
Setup value of SV.Pr67  
0
1
2
3
D B  
Free-run  
D B  
D B  
D B  
Clear  
Clear  
Clear  
Clear  
Hold  
Hold  
Hold  
Hold  
Clear  
Clear  
Free-run  
Free-run  
D B  
Free-run  
D B  
4
5
6
7
8
9
Free-run  
D B  
D B  
Free-run  
Free-run  
D B  
Free-run  
Emergency stop  
Emergency stop  
Free-run  
Torque limit value at emergency stop will be that of SV.Pr6E (Emergency stop torque set up)  
when the setup value is 8 or 9.  
52  
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[Preparation]  
2) Setup of driving condition from deceleration to after stop by Servo-OFF (SV.Pr69)  
Contents of  
deviation  
counter  
Driving condition  
Sequence at main  
Servo-OFF (SV.Pr69)  
During deceleration after stalling  
Setup value of SV.Pr69  
0
1
2
3
D B  
Free-run  
D B  
D B  
D B  
Clear  
Clear  
Clear  
Clear  
Hold  
Hold  
Hold  
Hold  
Clear  
Clear  
Free-run  
Free-run  
D B  
Free-run  
D B  
4
5
6
7
8
9
Free-run  
D B  
D B  
Free-run  
Free-run  
D B  
Free-run  
Emergency stop  
Emergency stop  
Free-run  
Torque limit value at emergency stop will be that of SV.Pr6E (Emergency stop torque set up)  
when the setup value is 8 or 9.  
3) Setup of driving condition from deceleration to after stop by activation of protective func-  
tion (SV.Pr68)  
Contents of  
deviation  
counter  
Driving condition  
Sequence at main  
Servo-OFF (SV.Pr68)  
During deceleration after stalling  
Setup value of SV.Pr68  
0
1
2
3
D B  
Free-run  
D B  
D B  
D B  
Hold  
Hold  
Hold  
Hold  
Free-run  
Free-run  
Free-run  
Deviation counter at activation of protective function will be cleared at alarm-clear.  
53  
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M E M O  
54  
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[Setting]  
page  
Parameter Setup......................................................56  
Outline of Parameter ................................................................... 56  
How to Set ................................................................................... 56  
Outline of PANATERM® .............................................................. 56  
How to Connect ........................................................................... 56  
Composition of Parameters......................................................... 57  
List of Servo Parameter............................................................... 58  
List of 16-bit Positioning Parameters .......................................... 73  
List of 32-bit Positioning Parameters .......................................... 77  
List of Step Parameters............................................................... 77  
Setup of Torque Limit .................................................................. 78  
How to Use the Console .........................................80  
Setup with the Console ............................................................... 80  
Initial Status of the Console Display (7 Segment LED)............... 80  
Mode Change .............................................................................. 81  
Monitor Mode .............................................................................. 82  
Teaching Mode ............................................................................ 87  
Parameter setup mode................................................................ 91  
EEPROM Writing Mode............................................................... 96  
Auto-Gain Tuning Mode .............................................................. 97  
Auxiliary Function Mode .............................................................. 98  
Copying Function (Console Only) ............................................. 101  
Outline of Setup Support Software, "PANATERM®"....103  
Outline of PANATERM® ............................................................. 103  
How to Connect ......................................................................... 103  
55  
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Parameter Setup  
Outline of Parameter  
This driver is equipped with various parameters to set up its characteristics and functions. This section  
describes the outline of each parameter. Read and comprehend very well so that you can adjust this driver  
in optimum condition for your running requirements.  
<Remarks>  
The parameter numbers not be mentioned in this section are not for individual use but for manufacturers'  
use. Do not change these parameters from the default setting.  
How to Set  
You can refer and set up the parameter with either one of the following.  
1) Console (DV0P4420, option)  
2) Combination of the setup support software, "PANATERM®" (Option, DV0P4460: Japanese / English ver-  
sion) and PC.  
<Note>  
For setup of the parameters on PC screen, refer to the instruction manual of the "PANATERM®".  
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.  
How to Connect  
RS232 connection cable (option)  
DV0P1960 (for DOS/V machines)  
Connect to CN X4  
Setup disc of setup support software, PANATERM®  
• DV0P4460 : Japanese / English version (option)  
For the latest version, feel free to contact us.  
®
Refer to “Outline of Setup Support Software ‘ ‘ PANATERM”  
on page 103.  
Connect to CN X4  
Console : DV0P4420 (option)  
<Remarks>  
• Connect the console connector to the connector, CN X4 of the driver securely.  
• Do not pull the cable to insert/unplug.  
56  
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[Setting]  
Composition of Parameters  
• Servo parameter  
Servo  
parameter No.  
Group  
Outline  
Servo  
parameter  
Function selection  
01 to 03, You can select a control mode,  
07,08,0B, and set up a baud rate.  
0C,0F  
Adjustment  
10 to 1E, You can set up servo gains (1st and 2nd) of position, velocity,  
27 to 2E integration, etc, and time constants of various filters.  
20 to 26, Parameters related to Real Time Auto-Gain Tuning. You  
2F  
30 to 35 You can set up parameters related to gain  
switching(1st 2nd)  
can set up a mode and select a mechanical stiffness.  
Position Control  
Input signals  
Sequence  
44 to 46, You can set up dividing of encoder output pulse.  
4C, 4D  
53 to 5D You can set up the logic of input signals and the number of point input.  
5E to 5F You can set up a torque limit of torque command.  
60, 64, 65, You can set up detecting conditions of output signals, such as  
67 to 6E positioning-completion.  
You can also set up a deceleration/stop action at  
main power-off, at alarm output and at servo-off,  
and clear condition of the deviation counter.  
70, 72, 73 You can set up actions of protective functions.  
78 to 7C You can set up dividing of external scale.  
Full-Closed Control  
• 16-bit positioning parameter  
16-bit positioning  
Outline  
Group  
parameter No.  
16-bit  
positioning  
parameter  
Motor speed  
Acceleration and  
Deceleration  
Homing  
00 to 0F You can set speed data of step operation.  
10 to 1F You can set acceleration and deceleration data of step operation.  
30 to 3B You can set data for homing.  
Jog operation  
Others  
40 to 45 You can set data for jog operation.  
48 to 54 You can set data for teaching or operation direction and so on.  
• 32-bit positioning parameter  
32-bit positioning  
Outline  
Group  
parameter No.  
32-bit positioning parameter  
00 to 03 You can set data for offset or maximum movement.  
• Step parameter  
Group  
Outline  
Step  
Operation mode  
Specifying the positioning procedure.  
parameter  
ABS (absolute position), INC (relative position),  
Rotary (rotation coordinates), and Dwell time (standby time)  
Inputting the coordinate data for positioning.  
Position/waiting time  
Speed  
When dwell time is selected in operation mode, set the standby time.  
Selecting a speed selection number in positioning.  
Setting the speed by 16-bit positioning parameter.  
Selecting an acceleration speed selecting number in positioning.  
Setting the speed by 16-bit positioning parameter.  
Selecting a deceleration speed selecting number in positioning.  
Setting the speed by 16-bit positioning parameter.  
Choosing either single operation or block operation.  
Acceleration  
Deceleration  
Block  
• In this document, following symbols represent each mode.  
Setup value of  
servo parameter No.02  
Symbol  
Control mode  
P
F
Position control  
0
6
Full-Closed control  
57  
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Parameter Setup  
List of Servo Parameter  
Parameters for Functional Selection  
Standard default : < >  
Servo  
PrNo.  
01  
Setup  
range  
Title  
Function/Content  
0 to 15 You can select the type of data to be displayed on the console LED (7 segment) at  
7-segment LED  
status for console,  
initial condition  
display  
<1>  
the initial status after power-on.  
*
Setup  
value  
Content  
Positional deviation  
0
Power -ON  
<1> Motor rotational speed  
2
3
Torque output  
Control mode  
4
I/O signal status  
5
Error factor/history  
Software version  
6
Flashes  
(for approx. 2 sec)  
during initialization  
7
Alarm  
8
Regenerative load factor  
Over-load factor  
9
10  
11  
12  
13  
14  
15  
Inertia ratio  
Setup value of Pr01  
Sum of feedback pulses  
Sum of command pulses  
External scale deviation  
Sum of external scale feedback pulses  
Motor automatic recognizing function  
For details of display, refer to the  
technical reference or instruction  
manual of the console.  
02  
Control mode  
0, 6  
You can set up the control mode to be used.  
<0>  
Setup value of  
Control mode  
SV.Pr.02  
*
Symbol  
<0>  
6
Position  
P
F
Full-closed  
03  
07  
Torque limit  
selection  
0 to 3  
<1>  
You can set up the torque limiting method for CCW/CW direction.  
Setup value  
0, <1>  
CCW  
Pr5E is a limit value for both CCW and CW direction  
Set with SV.Pr5E Set with SV.Pr5F  
CW  
2, 3  
Speed monitor  
(SP) selection  
0 to 9  
<3>  
You can set up the content of analog speed monitor signal output (SP : CN X5,  
Pin43) and the relation between the output voltage level and the speed.  
Setup value Signal of SP Relation between the output voltage level and the speed  
0
1
6V / 47 r/min  
6V / 188 r/min  
6V / 750 r/min  
6V / 3000 r/min  
1.5V / 3000 r/min  
6V / 47 r/min  
Motor actual  
speed  
2
<3>  
4
5
6
6V / 188 r/min  
6V / 750 r/min  
6V / 3000 r/min  
1.5V / 3000 r/min  
Command  
speed  
7
8
9
<Notes>  
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on  
the control power.  
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain  
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to  
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.  
58  
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[Setting]  
Standard default : < >  
Servo  
PrNo.  
Setup  
range  
Title  
Function/Content  
08  
Torque monitor  
(IM) selection  
0 to 12 You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin-  
<0>  
42), and the relation between the output voltage level and torque or deviation pulse counts.  
Setup value Signal of IM  
Relation between the output voltage level and torque or deviation pulse counts  
3V/rated (100%) torque  
3V / 31Pulse  
<0>  
1
Torque command  
2
3V / 125Pulse  
Position  
3
3V / 500Pulse  
deviation  
4
3V / 2000Pulse  
5
3V / 8000Pulse  
6
3V / 31Pulse  
7
3V / 125Pulse  
Full-closed  
deviation  
8
3V / 500Pulse  
9
3V / 2000Pulse  
10  
11  
12  
3V / 8000Pulse  
Torque  
3V / 200% torque  
3V / 400% torque  
command  
0B  
Absolute encoder  
set up  
0 to 2  
<1>  
You can set up the using method of 17-bit absolute encoder.  
*
Setup value  
Content  
Use as an absolute encoder.  
0
<1>  
2
Use as an incremental encoder.  
Use as an absolute encoder, but ignore the multi-turn counter over.  
<Caution>  
This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used.  
0C  
Baud rate of  
RS232  
0 to 5  
<2>  
You can set up the communication speed of RS232.  
• Error of baud rate is ±0.5%.  
*
Baud rate  
2400bps  
4800bps  
9600bps  
Baud rate  
19200bps  
38400bps  
57600bps  
Setup value  
Setup value  
0
1
3
4
5
<2>  
<Caution>  
If the console is used specify the set value 2 (9600 bps).  
Shows the axis number set by a rotary switch at the front panel of the driver. The  
0F  
Node address  
(display only) axis number cannot be changed.  
Parameters for Adjustment of Time Constants of Gains and Filters  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
10  
1st position loop  
gain  
0 to 3000  
A to C-frame:<63>*  
D to F-frame:<32>*  
1 to 3500  
A to C-frame:<35>*  
D to F-frame:<18>*  
1/s  
You can determine the response of the positional control system.  
Higher the gain of position loop you set, faster the positioning time you  
can obtain. Note that too high setup may cause oscillation.  
You can determine the response of the velocity loop.  
In order to increase the response of overall servo system by setting high  
position loop gain, you need higher setup of this velocity loop gain as well.  
However, too high setup may cause oscillation.  
11  
1st velocity loop  
gain  
Hz  
<Caution>  
When the inertia ratio of SV.Pr20 is set correctly, the setup unit of  
SV.Pr11 becomes (Hz).  
12  
1st velocity loop  
integration time  
constant  
1 to 1000  
A to C-frame:<16>*  
D to F-frame:<31>*  
ms  
You can set up the integration time constant of velocity loop.  
Smaller the setup, faster you can dog-in deviation at stall to 0.  
The integration will be maintained by setting to "999".  
The integration effect will be lost by setting to "1000".  
59  
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Parameter Setup  
Standard default : < >  
Setup  
range  
0 to 5  
<0>*  
Servo  
PrNo.  
13  
Title  
1st speed  
detection filter  
Unit  
Function/Content  
You can set up the time constant of the low pass filter (LPF) after the  
speed detection, in 6 steps. Higher the setup, larger the time constant you  
can obtain so that you can decrease the motor noise, however, response  
becomes slow. Use with a default value of 0 in normal operation.  
This setting is invalid if SV.Pr27 (Velocity observer) is enabled.  
14  
15  
1st torque filter time 0 – 2500 0.01ms You can set up the time constant of the 1st delay filter inserted in the  
constant  
A to C-frame:<65>*  
D to F-frame:<126>*  
torque command portion. You might expect suppression of oscillation  
caused by distortion resonance.  
Velocity feed  
forward  
–2000  
0.1%  
You can set up the velocity feed forward volume at position control.  
Use when high-speed response is required.  
to 2000  
<300>*  
16  
18  
Feed forward filter 0 to 6400 0.01ms You can set up the time constant of 1st delay filter inserted in velocity feed  
time constant  
<50>*  
forward portion.  
2nd position loop  
gain  
0 to 3000  
A to C-frame:<73>*  
D to F-frame:<38>*  
1 to 3500  
A to C-frame:<35>*  
D to F-frame:<18>*  
1 to 1000  
<1000>*  
1/s  
Hz  
ms  
Set when performing optimum tuning using the gain switching function.  
Set the second loop gain for position control.  
19  
1A  
1B  
2nd velocity loop  
gain  
Set when performing optimum tuning using the gain switching function.  
When SV.Pr20 (Inertia ratio) has been set correctly, the set time is “Hz”.  
2nd velocity loop  
integration time  
constant  
Set when performing optimum tuning using the gain switching function.  
When using in a vertical axis, to keep the integration value, set “999”.  
To disable the integration, set “1000”.  
2nd speed  
0 to 5  
<0>*  
Set when performing optimum tuning using the gain switching function.  
If you increase the value, the motor noise reduces.  
This setting is disabled if the instantaneous speed observer is enabled  
(SV.Pr27 = 1).  
detection filter  
1C  
1D  
2nd torque filter  
time constant  
0 to 2500 0.01ms Set when performing optimum tuning using the gain switching function.  
A to C-frame:<65>*  
D to F-frame:<126>*  
100 to 1500  
<1500>  
Set the time constant of 1st delay filter of the torque command.  
1st notch  
frequency  
Hz  
Specify the frequency of the 1st resonance suppressing notch filter. Use it  
according to the machine resonance frequency.  
If this parameter is set to “1500”, the notch filter function is disabled.  
<Note>  
This parameter may be changed depending on the adaptive filter settings.  
1E  
1st notch width  
selection  
0 to 4  
<2>  
You can set up the notch filter width of the 1st resonance suppressing  
filter in 5 steps.  
Higher the setup, larger the notch width you can obtain.  
<Note>  
This parameter may be changed depending on the adaptive filter  
operation. If it is combined with the adaptive filter, use the 2nd notch filter.  
27  
Velocity observer  
0 to 1  
<0>*  
With a high stiffness machine, you can achieve both high response and  
reduction of vibration at stall, by using this instantaneous speed observer.  
(P)  
Setup value  
Instantaneous speed observer setup  
<0>*  
1
Invalid  
Valid  
You need to set up the inertia ratio of SV.Pr20 correctly to use this function.  
If you set up SV.Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), SV.Pr27 becomes 0 (invalid).  
28  
2nd notch  
frequency  
100 to 1500  
<1500>  
Hz  
You can set up the 2nd notch width of the resonance suppressing filter in  
5 steps. The notch filter function is invalidated by setting up this parame-  
ter to "1500".  
60  
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[Setting]  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
29  
2A  
2B  
2nd notch width  
selection  
0 to 4  
<2>  
You can set up the notch width of 2nd resonance suppressing filter in 5  
steps. Higher the setup, larger the notch width you can obtain.  
Use with default setup in normal operation.  
2nd notch depth  
selection  
0 to 99  
<0>  
You can set up the 2nd notch depth of the resonance suppressing filter.  
Higher the setup, shallower the notch depth and smaller the phase delay  
you can obtain.  
1st vibration  
suppression  
frequency  
0 to 2000 0.1Hz  
<0>  
You can set up the 1st vibration suppression frequency of the damping  
control which suppress vibration at the load edge.  
The driver measures vibration at load edge. Setup unit is 0.1[ Hz] .  
The setup frequency is 10.0 to 200.0[ Hz] . Setup of 0 to 99 becomes invalid.  
Refer to P.161, "Damping control" as well before using this parameter.  
2C  
2D  
2E  
1st vibration  
–200 to 2000 0.1Hz  
While you set up SV.Pr2B (1st vibration suppression frequency), set this  
up to smaller value when torque saturation occurs, and to larger value  
when you need faster action.Use with the setup of 0 in normal operation.  
Refer to P.161, "Damping control" of Adjustment .  
suppression filter  
<0>  
<Caution>  
<
<
Setup is also limited by 10.0[ Hz] – SV.Pr2B SV.Pr2C SV.Pr2B  
=
=
2nd vibration  
suppression  
frequency  
0 to 2000 0.1Hz  
<0>  
You can set up the 2nd vibration suppression frequency of the damping  
control which suppress vibration at the load edge.  
The driver measures vibration at the load edge. Setup unit is 0.1 [ Hz] .  
Setup frequency is 10.0 to 200.0 [ Hz] . Setup of 0-99 becomes invalid.  
Refer to P.161, "Damping control" of Adjustment as well before using this  
parameter.  
2nd vibration  
–200 to 2000 0.1Hz  
While you set up SV.Pr2D (2nd vibration suppression frequency), set this  
up to smaller value when torque saturation occurs, and to larger value  
when you need faster action.  
suppression filter  
<0>  
Use with the setup of 0 in normal operation. Refer to P.161, "Damping  
control" of Adjustment .  
<Caution>  
<
<
Setup is also limited by 10.0[ Hz] – SV.Pr2D SV.Pr2E SV.Pr2D  
=
=
Parameters for Auto-Gain Tuning  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.  
SV.Pr20 = (load inertia/rotor inertia) X 100 [ %]  
20  
Inertia ratio  
0 to 10000  
<250>*  
%
When you execute the normal auto-gain tuning, the load inertial will be  
automatically estimated after the preset action, and this result will be  
reflected in this parameter.  
The inertia ratio will be estimated at all time while the real-time auto-gain  
tuning is valid, and its result will be saved to EEPROM every 30 min.  
<Caution>  
If the inertia ratio is correctly set, the setup unit of SV.Pr11 and SV.Pr19  
becomes (Hz). When the inertia ratio of SV.Pr20 is larger than the actual,  
the setup unit of the velocity loop gain becomes larger, and when the  
inertia ratio of SV.Pr20 is smaller than the actual, the setup unit of the  
velocity loop gain becomes smaller.  
<Notes>  
• Anything marked with “(P)” on the servo parameter number (Servo PrNo.) can be used only for the “posi-  
tion control”.  
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain  
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to  
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.  
61  
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Parameter Setup  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
You can set up the action mode of the real-time auto-gain tuning.  
With higher setup such as 3 or 6, the driver respond quickly to the change  
of the inertia during operation, however it might cause an unstable  
operation. Use 1 or 4 for normal operation.For the vertical axis application,  
use with the setup of 4 to 6.  
21  
Real time auto  
tuning set up  
0 to 7  
<1>  
When vibration occurs at gain switching, set up this to "7".  
Real-time  
auto-gain tuning  
Invalid  
Varying degree of  
load inertia in motion  
Setup value  
0
<1>  
2
Little change  
Normal mode  
Gradual change  
Rapid change  
Little change  
3
4
5
Vertical axis mode  
No gain switching  
Gradual change  
Rapid change  
Little change  
6
7
You can set up the machine stiffness in 16 steps while the real-time auto-  
gain tuning is valid.  
22  
Machine stiffness  
at auto tuning  
0 to 15  
A to C-frame:  
<4>  
low machine stiffness high  
D to F-frame:  
<1>  
low  
0, 1- - - - - - - - - - - - 14, 15  
low response high  
servo gain  
high  
SV.Pr22  
<Caution>  
When you change the setup value rapidly, the gain changes rapidly as  
well, and this may give impact to the machine. Increase the setup  
gradually watching the movement of the machine.  
You can set up the action of the adaptive filter.  
23  
24  
Adaptive filter  
mode  
0 to 2  
<1>  
Setup value  
Content  
0
<1>  
2
Invalid  
Valid  
Hold (holds the adaptive filter frequency when this setup is changed to 2.)  
You can select the switching method when you use the vibration  
suppression filter.  
Vibration  
0 to 2  
<0>  
suppression filter  
switching selection  
Content  
Setup value  
No switching (both of 1st and 2nd are valid.)  
You can switch with the position command direction.  
CCW : 1st damping filter selection (SV.Pr2B, 2C).  
CW : 2nd damping filter selection (SV.Pr2D, 2E).  
<0>, 1  
2
25  
Normal auto tuning  
motion setup  
0 to 7  
<0>  
You can set up the action pattern at the normal mode auto-gain tuning.  
Setup value Number of revolution  
Rotational direction  
CCW CW  
CW CCW  
CCW CCW  
CW CW  
<0>  
1
2 [ revolution]  
2
3
4
CCW CW  
CW CCW  
CCW CCW  
CW CW  
5
1 [ revolution]  
6
7
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2  
revolutions to CW.  
62  
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[Setting]  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
You can set up the movable range of the motor against the position  
command input range. When the motor movement exceeds the setup  
value, software limit protection of Err.34 will be triggered. This parameter  
is invalid with setup value of 0.  
26  
Software limit set  
up  
0 to 1000  
0.1  
<10> revolution  
Displays the table No. corresponding to the adaptive filter frequency.  
(Refer to P.147 of Adjustment.) This parameter will be automatically set  
and cannot be changed while the adaptive filter is valid. (when SV.Pr23  
(Adaptive filter mode) is other than 0.)  
2F  
Adaptive filter  
frequency  
0 to 64  
<0>  
Setup value  
<0> to 4  
5 to 48  
Filter mode  
Filter is invalid.  
Filter is valid.  
49 to 64  
Filter validity changes according to SV.Pr22.  
This parameter will be saved to EEPROM every 30 minutes while the  
adaptive filter is valid, and when the adaptive filter is valid at the next  
power-on, the adaptive action starts taking the saved data in EEPROM as  
an initial value.  
<Caution>  
When you need to clear this parameter to reset the adaptive action while  
the action is not normal, invalidate the adaptive filter (SV.Pr23, "Adaptive  
filter mode" to 0) once, then validate again.  
Refer to P.151, "Release of Automatic Gain Adjusting Function" of  
Adjustment as well.  
Parameters for Adjustment (2nd Gain Switching Function)  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
30  
Title  
Unit  
Function/Content  
Set when performing optimum tuning using the gain switching function.  
2nd gain action set  
up  
0
to  
1
<1>*  
Setup value  
Gain selection/switching  
1st gain (SV.Pr10 to 14)  
1st (SV.Pr10 to 14) / 2nd gain (SV.Pr18 to 1C)  
0
<1>*  
31  
1st control  
0
to 10  
Set a trigger to switch a gain.  
Setup value  
switching mode  
<10>*  
Gain switching condition  
0
Fixed to the 1st gain.  
Fixed to the 2nd gain.  
1
2
Unavailable  
3
Toque command variation  
Speed command variation  
Speed command  
*1  
*1  
*1  
*1  
*1  
*1  
*1  
*1  
4
5
6
Positional deviation  
Positional command  
Positioning is not completed  
Speed  
7
8
9
<10>*  
Position command + speed  
*1 For the switching level and the timing, refer to P.155, "Gain Switching  
Function" of Adjustment.  
32  
33  
1st control  
switching delay  
time  
0 to 10000 x 166µs Set a time from the detection of trigger to actual gain switching when the  
<30>*  
2nd gain is switched into the 1st gain, if SV.Pr31 (1st control switching  
mode) is between 3 and 10.  
1st control  
switching level  
0 to 20000  
<50>*  
You can set up the switching (judging) level of the 1st and the 2nd gains,  
while SV.Pr31 is set to 3, 5, 6. 9 and 10.  
Unit varies depending on the setup of SV.Pr31 (1st control switching mode)  
<Notes>  
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain  
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to  
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.  
63  
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Parameter Setup  
Standard default : < >  
Setup  
range  
0 to 20000  
<33>*  
Servo  
PrNo.  
34  
Title  
1st control  
Unit  
Function/Content  
You can set up hysteresis width to be  
implemented above/below the judging  
level which is set up with SV.Pr33. Unit  
varies depending on the setup of  
SV.Pr31 (1st control switching mode).  
Definitions of SV.Pr32 (Delay), SV.Pr33  
(Level) and SV.Pr34 (Hysteresis) are  
explained in the fig. below.  
switching  
hysteresis  
SV.Pr33  
0
SV.Pr34  
1st gain 2nd gain  
1st gain  
SV.Pr32  
<Caution>  
The setup of SV.Pr33 (Level) and SV.Pr34 (Hysteresis) are valid as  
absolute values (positive/negative).  
35  
Position loop gain 0 – 10000 (setup  
switching time  
You can setup the  
e.g.)  
Kp1(SV.Pr10)>Kp2(SV.Pr18)  
166 166µs  
<20>* value +1) step-by-step switching  
166  
166  
Kp1  
x 166µs time to the position  
loop gain only at gain  
switching while the 1st  
and the 2nd gain  
switching is valid.  
bold line  
thin line  
0
1
2
3
(SV.Pr10)  
3
2
SV.Pr35=  
0
1
Kp2  
(SV.Pr18)  
1st gain  
2nd gain  
1st gain  
<Caution>  
The switching time is  
only valid when switching from small position gain to large position gain.  
Parameters for Position Control  
Standard default : < >  
Servo  
PrNo.  
44  
Setup  
range  
1 to 32767  
Title  
Function/Content  
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-  
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).  
Numerator of  
output pulse ratio  
<10000>  
*
• In the case that the encoder pulse is output (When the control mode is  
the position control mode and SV.Pr46 = 0, 1).  
45  
Denominator of  
0 to 32767  
<10000>  
• SV.Pr45=0 :  
output pulse ratio  
*
You can set up the output pulse counts per one motor revolution for each OA  
and OB with the SV.Pr44 setup. Therefore the pulse output resolution after  
quadruple can be obtained from the formula below.  
The pulse output resolution per one revolution =  
SV.Pr44 (Numerator of output pulse ratio) X 4  
• SV.Pr450 :  
The pulse output resolution per one revolution can be divided by any ration  
according to the formula below.  
SV.Pr44  
(Numerator of output pulse ratio)  
Pulse output resolution per one revolution  
x Encoder resolution  
SV.Pr45  
(Denominator of output pulse ratio)  
<Cautions>  
• The encoder resolution is 131072 [ P/r] for the 17-bit absolute encoder, and  
10000 [ P/r] for the 5-wire 2500P/r incremental encoder.  
• The pulse output resolution per one revolution cannot be greater than the  
encoder resolution.  
(In the above setup, the pulse output resolution equals to the encoder resolution.)  
• Z-phase is fed out once per one revolution of the motor.  
When the pulse output resolution obtained from the above formula is multiple of 4,  
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to  
output with the encoder resolution, and becomes narrower than A-phase, hence  
does not synchronize with A-phase.  
(Continue to the next page.)  
64  
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[Setting]  
Standard default : < >  
Servo  
PrNo.  
Setup  
range  
Title  
Function/Content  
44  
Numerator of  
1 to 32767  
SV.Pr44  
SV.Pr45  
SV.Pr44  
output pulse ratio  
<10000>  
when encoder resolution x  
is multiple of 4 when encoder resolution x  
is not multiple of 4  
SV.Pr45  
*
45  
Denominator of  
0 to 32767  
<10000>  
A
B
Z
A
B
Z
output pulse ratio  
*
Synchronized  
Not-synchronized  
• In the case the external scale pulse is output (When the control mode is  
the full-closed control mode and SV.Pr46 = 2, 3).  
• SV.Pr45=0 :  
No division will be executed.  
• SV.Pr450 :  
The pulse output resolution per one revolution can be divided by any ration  
according to the formula below.  
SV.Pr45  
The pulse of external  
scale output resolution  
one resolution  
Pulse output resolution  
per one revolution  
(Denominator of output pulse ratio)  
=
x
SV.Pr44  
(Numerator of output pulse ratio)  
<Cautions>  
• The setting of SV.Pr44>SV.Pr45 is invalid. (For the setting above, no division will  
be executed.)  
• Z-phase of the external scale is not reproduced.  
46  
Pulse output logic  
inversion  
0 to 3  
<0>  
You can set up the B-phase logic and the output source of the pulse output (X5 OB+  
: Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation  
between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.  
*
at motor CCW rotation  
at motor CW rotation  
Setup  
value  
A-phase  
(OA)  
B-phase(OB)  
non-reversal  
B-phase(OB)  
reversal  
<0>, 2  
1, 3  
SV.Pr46  
<0>  
B-phase logic  
Output source  
Encoder position  
Non-reversal  
Reversal  
1
Encoder position  
2 *1  
3 *1  
Non-reversal  
Reversal  
External scale position  
External scale position  
*1 The output source of SV.Pr46=2, 3 is valid only at full-closed control.  
<Notes>  
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on  
the control power.  
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain  
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to  
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.  
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Parameter Setup  
Standard default : < >  
Servo  
PrNo.  
Setup  
range  
Title  
Function/Content  
4C  
Smoothing filter  
0 to 7  
You can set the time constant of  
Setup value  
Time constant  
<1>  
the primary delay firter covering  
the internal command pulse in 8  
steps.  
0
No filter function  
<1>  
Time constant small  
7
Time constant large  
4D  
FIR filter set up  
0 to 31 You can set up the moving average times of the FIR filter covering the internal  
<0>  
command pulse. (Setup value + 1) become average travel times.  
*
Parameters for Input Signals  
Standard default : < >  
Servo  
PrNo.  
Setup  
range  
Title  
Function/Content  
53  
54  
55  
Over-travel inhibit  
input valid  
0 to 1  
Specify whether to enable or disable the CW/CCW over-travel inhibit input (CWL:  
CN X5 Pin 20, CCWL: CN X5 Pin 19).  
<1>  
Setup value  
Description  
Disable  
0
<1>  
Enable  
Over-travel inhibit  
input logic  
0 to 1  
<0>  
Set the logic of the CW/CCW over-travel inhibit input (CWL: CN X5 Pin 20, CCWL:  
CN X5 Pin 19).  
Setup value  
Description  
<0>  
1
Over-travel is inhibited by opening the connection to COM–.  
Over-travel is inhibited by closing the connection to COM–.  
Over-travel inhibit  
input operation  
setting  
0 to3  
<1>  
Select an operation when the CW/CCW over-travel inhibit input (CWL: CN X5 Pin  
20, CCWL: CN X5 Pin 19) has been made. An operation is not tripped before  
homing has completed, even if “0” or “1” is selected.  
Setup value  
Description  
0
<1>  
2
An operation decelerates, stops and trips after the stop.  
An operation stops in deceleration time “0” and trips after the stop.  
An operation decelerates and stops, but it does not trip after the stop.  
An operation stops in deceleration time “0”, but it does not trip after the stop.  
3
56  
Home sensor  
input logic  
0 to 1  
<1>  
Set the logic of the Home sensor input (Z-LS: CN X5 Pin 21).  
Setup value  
Description  
0
Home sensor input is enabled by opening the connection to COM–.  
Home sensor input is enabled by closing the connection to COM–.  
<1>  
57  
Selecting  
0 to 3  
<2>  
Select the number of point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7  
and 8). The number of present position outputs (P1OUT to P32OUT: CN X5 Pin 29,  
30, 31, 32, 33 and 34) also becomes the same as that of selected point specifying  
input.  
the number of  
input points  
*
Description  
Setup value  
P1IN to P4IN: CN X5 Pin 3, 4 and 5, and P1OUT to P4OUT: CN X5 Pin 29, 30 and 31 only are enabled.  
The number of positioning points is 4 and a maximum number of points is 7.  
0
3 bits  
4 bits  
5 bits  
6 bits  
P1IN to P8IN: CN X5 Pin 3, 4, 5 and 6, and P1OUT to P8OUT: CN X5 Pin 29, 30, 31 and 32 only are enabled.  
The number of positioning points is 12 and a maximum number of points is 15.  
1
<2>  
3
P1IN to P16IN: CN X5 Pin 3, 4, 5, 6 and 7, and P1OUT to P16OUT: CN X5 Pin 29, 30, 31, 32 and 33 only are enabled.  
The number of positioning points is 28 and a maximum number of points is 31.  
P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8, and P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34 only are enabled.  
The number of positioning points is 60 and a maximum number of points is 63.  
<Notes>  
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on  
the control power.  
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[Setting]  
Standard default : < >  
Servo  
PrNo.  
Setup  
range  
Title  
Function/Content  
58  
Point specifying  
0 to 1  
Set the logic of the point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).  
input logic setting  
<1>  
Setup value  
Description  
0
Point specifying inputs are enabled by opening the connection to COM.  
<1>  
Point specifying inputs are enabled by closing the connection to COM.  
59  
Multi-function  
0 to 1  
<1>  
Set the logic of the multi function input 1 (EX-IN1: CN X5 Pin 22).  
input 1 Signal logic  
Setup value  
Description  
0
Input is enabled by opening the connection to COM.  
<1>  
Input is enabled by closing the connection to COM.  
5A  
Multi-function  
input 1 Signal  
selection  
0 to 6  
<0>  
Set the function of the multi function input 1 (EX-IN2: CN X5 Pin 22).  
*
Description  
Setup value  
Disabled (regardless of the logic setting in SV.Pr59).  
Immediate stop  
<0>  
1
Temporary stop  
2
Deceleration and stop  
3
High-speed normal rotation jog  
High-speed reverse rotation jog  
Alarm is cleared.  
4
5
6
5B  
Multi-function  
0 to 1  
<1>  
Set the logic of the multi function input 2 (EX-IN2: CN X5 Pin 25).  
input 2 Signal logic  
Setup value  
Description  
0
Input is enabled by opening the connection to COM.  
<1>  
Input is enabled by closing the connection to COM.  
5C  
Multi-function  
input 2 Signal  
selection  
0 to 6  
<0>  
Set the function of the multi function input 2 (EX-IN2: CN X5 Pin 25).  
*
Description  
Setup value  
Disabled (regardless of the logic setting in SV.Pr5B).  
Immediate stop  
<0>  
1
Temporary stop  
2
Deceleration and stop  
3
High-speed normal rotation jog  
High-speed reverse rotation jog  
Alarm is cleared.  
4
5
6
<Note>  
The setting of the multi function input 1 and that of the multi function input 2 must be  
different from each other. Moreover, if high-speed normal rotation jog and high-  
speed reverse rotation jog are assigned to the input 1 and input 2, respectively, the  
motor does not work when those turn on simultaneously.  
5D  
Servo-ON input  
valid  
0 to 1  
<1>  
Specify whether to enable or disable the servo-on input (SRV-ON: CN X5 Pin 23).  
Description  
Setup value  
Disable:  
A servo turns on after the power supply turns on, regardless of the state  
of servo-on input (SRV-ON: CN X5 Pin 23).  
Enable:  
0
A servo turns on when the servo-on input (SRV-ON: CN X5 Pin 23) has  
been input after the power supply turns on.  
<1>  
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Parameter Setup  
Parameters for Velocity and Torque Limit  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
You can set up the limit value of the motor output torque (SV.Pr5E : 1st  
torque, SV.Pr5F : 2nd torque). For the torque limit selection, refer to  
SV.Pr03 (Torque limit selection).  
5E  
1st torque limit  
0 to 500  
<500>  
*2  
%
This torque limit function limits the max. motor torque inside of the  
driver with parameter setup.  
In normal operation, this driver permits approx. 3 times larger torque  
than the rated torque instantaneously. If this 3 times bigger torque  
causes any trouble to the load (machine) strength, you can use this  
function to limit the max. torque.  
5F  
2nd torque limit  
0 to 500  
<500>  
*2  
%
torque [ %]  
300(Max.)  
CCW  
• Setup value is to be given in  
% against the rated torque.  
• Right fig. shows example of  
150% setup with SV.Pr03=1.  
• SV.Pr5E limits the max.  
torque for both CCW and CW  
directions.  
when  
SV.Pr5E=150  
200  
100  
(Rated)  
speed  
(Rating) (Max.)  
100  
200  
300  
CW  
<Caution>  
You cannot set up a larger value to this parameter than the default setup  
value of "Max. output torque setup" of System parameter (which you  
cannot change through operation with PANATERM® or panel). Default  
value varies depending on the combination of the motor and the driver.  
For details, refer to P.78, "Setup of Torque Limit " of Preparation.  
<Note>  
• For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver  
and the motor.  
Parameters for Sequence  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
60  
In-position range  
0 to  
Pulse  
You can set up the timing to feed out the positioning complete signal  
(COIN : CN X5, Pin-27).  
The positioning complete signal (COIN) will be fed out when the deviation  
counter pulse counts fall within ± (the setup value), after the position  
command entry is completed.  
32767  
<131>  
The setup unit should be the encoder pulse counts at the position control  
and the external scale pulse counts at the full-closed control.  
• Basic unit of deviation pulse is encoder "resolution", and varies per  
the encoder as below.  
(1) 17-bit encoder : 217 = 131072  
(2) 2500P/r encoder : 4 X 2500 = 10000  
<Cautions>  
1. If you set up too small value  
to SV.Pr60, the time until the  
deviation  
pulses  
Pr60  
COIN signal is fed might  
become longer, or cause  
chattering at output.  
2. The setup of "Positioning  
complete range" does not  
give any effect to the final  
positioning accuracy.  
ON  
Pr60  
COIN  
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[Setting]  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
64  
Output signal  
selection  
0 to 1  
<0>  
Set the function of the positioning completion output/in-deceleration  
output pin (COIN/DCLON: CN X5 Pin 27).  
Description  
Setup value  
COIN (Positioning completion output)  
DCLON (In-deceleration output)  
<0>  
1
65  
Undervoltage error  
response at main  
power-off  
0 to 1  
<1>  
You can select whether or not to activate Err13 (Main power supply  
under-voltage protection) function while the main power shutoff continues  
for the setup of Pr6D (Main power-off detection time).  
Action of main power low voltage protection  
Turns the servo off according to SV.Pr67 (Error response  
at main power-off).  
Setup value  
0
When the main power is shut off during Servo-ON, the  
driver will trip due to Err13 (Main power supply under-  
voltage protection).  
<1>  
<Caution>  
This parameter is invalid when SV.Pr6D (Main power-off detection  
time)=1000. Err13 (Main power supply under-voltage protection) is  
triggered when setup of SV.Pr6D is long and P-N voltage of the main  
converter falls below the specified value before detecting the main power  
shutoff, regardless of the SV.Pr65 setup.  
67  
Error response at  
main power-off  
0 to 9  
<0>  
When SV.Pr65 (Undervoltage error response at main power-off) is 0, you  
can set up,  
1) the action during deceleration and after stalling  
2) the clearing of deviation counter content  
after the main power is shut off.  
Setup  
Action  
During deceleration  
Deviation counter  
content  
Clear  
value  
After stalling  
DB  
<0>  
1
DB  
Free-run  
DB  
DB  
Clear  
2
Free-run  
Free-run  
DB  
Clear  
3
Free-run  
DB  
Clear  
4
Hold  
5
Free-run  
DB  
DB  
Hold  
6
Free-run  
Free-run  
DB  
Hold  
7
Free-run  
Emergency stop  
Emergency stop  
Hold  
8
Clear  
9
Free-run  
Clear  
(DB: Dynamic Brake action)  
<Caution>  
In case of the setup value of 8 or 9, torque limit during deceleration will be  
limited by the setup value of SV.Pr6E (Emergency stop torque set up).  
You can set up the action during deceleration or after stalling when some  
error occurs while either one of the protective functions of the driver is  
triggered.  
68  
Error response  
action  
0 to 3  
<0>  
Setup  
Action  
During deceleration  
Deviation counter  
value  
After stalling  
DB  
content  
Hold  
<0>  
1
DB  
Free-run  
DB  
DB  
Hold  
2
Free-run  
Free-run  
Hold  
3
Free-run  
Hold  
(DB: Dynamic Brake action)  
<Caution>  
The content of the deviation counter will be cleared when clearing the  
alarm.  
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Parameter Setup  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
69  
Sequence at  
Servo-OFF  
0 to 9  
<0>  
You can set up,  
1) the running condition during deceleration and after stalling  
2) the clear treatment of deviation counter is set up.  
After the servo-ON signal input is turned off (SRV-ON : CN X5, Pin-23  
shifting from ON to OFF).  
The relation between the setup value of SV.Pr69 and the action/deviation  
counter clearance is same as that of SV.Pr67 (Error response at main  
power-off).  
Refer to P.135, "Timing Chart"-Servo-ON/OFF action while the motor is at  
stall" of Operation Setting as well.  
6A  
Mechanical brake  
delay at motor  
standstill  
0 to 100  
<0>  
2ms  
You can set up the time from when the brake release signal (BRK-OFF :  
CN X5, Pin-10 and 11) turns off to when the motor is de-energized  
(Servo-free), when the motor turns to Servo-OFF while the motor is at  
stall.  
• Set up to prevent a micro-travel/  
drop of the motor (work) due to the  
action delay time (tb) of the brake  
SRV-ON  
OFF  
hold  
hold  
ON  
BRK-OFF  
release  
tb  
>
• After setting up SV.Pr6a tb ,  
=
actual brake  
then compose the sequence so as  
the driver turns to Servo-OFF after  
the brake is actually activated.  
release  
motor  
energization  
non-  
energized  
energized  
Pr6A  
Refer to P.135, "Timing Chart"-Servo-ON/OFF Action While the Motor Is  
at Stall" of Operation Setting as well.  
6B  
Mechanical brake  
delay at motor in  
motion  
0 to 100  
<0>  
2ms  
You can set up time from when detecting the off of Servo-ON input signal  
(SRV-ON : CN X5, Pin-29) is to when external brake release signal  
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to  
servo off during the motor in motion.  
• Set up to prevent the brake  
deterioration due to the motor  
running.  
• At Servo-OFF during the motor is  
running, tb of the right fig. will be  
a shorter one of either SV.Pr6B  
setup time, or time lapse till the  
motor speed falls below 30r/min.  
SRV-ON  
ON  
OFF  
hold  
BRK-OFF  
release  
tb  
actual  
brake  
energized  
non-  
energized  
30 r/min  
motor  
energization  
Refer to P.135, "Timing Chart"-Servo-ON/OFF action while the motor is in  
motion" of Operation Setting as well.  
<Notes>  
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on  
the control power.  
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[Setting]  
Standard default : < >  
Setup  
range  
0 to 3  
for  
Servo  
PrNo.  
6C  
Title  
External  
Unit  
Function/Content  
With this parameter, you can select either to use the built-in regenerative  
resistor of the driver, or to separate this built-in regenerative resistor and  
externally install the regenerative resistor (between RB1 and RB2 of  
Connector CN X2 in case of A to D-frame, between P and B2 of terminal  
block in case of E, F-frame).  
regenerative  
*
resistor set up  
A, B-frame  
<3>  
for  
Regenerative resistor  
Regenerative processing and  
regenerative resistor overload  
Setup value  
<0>  
to be used  
C to F-frame  
<0>  
Regenerative processing circuit will be  
activated and regenerative resistor overload  
protection will be triggered according to the  
built-in resistor (approx. 1% duty).  
(C, D, E and  
F-frame)  
Built-in resistor  
The driver trips due to regenerative overload  
protection (Err18), when regenerative  
processing circuit is activated and its active  
ratio exceeds 10%,  
Regenerative processing circuit is activated,  
but no regenerative over-load protection is  
triggered.  
Both regenerative processing circuit and  
regenerative protection are not activated, and  
built-in capacitor handles all regenerative  
power.  
1
2
External resistor  
External resistor  
No resistor  
<3>  
(A, B-frame)  
<Remarks>  
Install an external protection such as thermal fuse when you use the  
external regenerative resistor.  
Otherwise, the regenerative resistor might be heated up abnormally and  
result in burnout, regardless of validation or invalidation of regenerative  
over-road protection.  
<Caution>  
When you use the built-in regenerative resistor, never to set up other  
value than 0. Don't touch the external regenerative resistor.  
External regenerative resistor gets very hot, and might cause burning.  
6D  
Main power-off  
detection time  
35 to 1000  
<35>  
2ms  
%
You can set up the time to detect the shutoff while the main power is kept  
shut off continuously.  
*
The main power off detection is invalid when you set up this to 1000.  
6E  
Emergency stop  
torque set up  
0 to 500  
<0>  
You can set up the torque limit in case of emergency stop as below.  
• During deceleration with the setup of 8 or 9 of SV.Pr67 (Error response  
at main power-off)  
• During deceleration with the setup of 8 or 9 of SV.Pr69 (Sequence at  
Servo-OFF)  
Normal torque limit is used by setting this to 0.  
<Caution>  
The stop is not due to the emergency stop input (EMG-STP: CN X5 Pin 2).  
Parameters for Protective function  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
70  
Position deviation 0 to 32767 256 x  
• You can set up the excess range of position deviation.  
• Set up with the encoder pulse counts at the position control and with the  
external scale pulse counts at the full-closed control.  
• Err24 (Position deviation excess protection) becomes invalid when you  
set up this to 0.  
error level  
<25000> pulse  
72  
Overload level  
0 to 500  
<0>  
%
• You can set up the over-load level. The overload level becomes 115 [ %]  
by setting up this to 0.  
• Use this with 0 setup in normal operation. Set up other value only when  
you need to lower the over-load level.  
The setup value of this parameter is limited by 115[ %] of the motor rating.  
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Parameter Setup  
Standard default : < >  
Setup  
range  
0 to 20000 r/min  
<0>  
Servo  
PrNo.  
73  
Title  
Setup of  
over-speed level  
Unit  
Function/Content  
• You can set up the over-speed level. The over-speed level becomes 1.2  
times of the motor max. speed by setting up this to 0.  
• Use this with 0 setup in normal operation. Set up other value only when  
you need to lower the over-speed level.  
• The setup value of this parameter is limited by 1.2 times of the motor  
max. speed.  
<Caution>  
The detection error against the setup value is ±3 [ r/min] in case of the 7-wire  
absolute encoder, and ±36 [ r/min] in case of the 5-wire incremental encoder.  
Parameters for Full-Closed Control  
Standard default : < >  
Setup  
range  
Servo  
PrNo.  
Title  
Unit  
Function/Content  
78  
Numerator of  
external scale  
ratio  
0 to 32767  
<10000>  
You can setup the ratio between the encoder resolution and the external  
scale resolution at full-closed control.  
*
(F)  
Encoder resolution per one motor revolution  
SV.Pr78 X 2SV.Pr79  
SV.Pr7A  
=
External scale resolution per one motor revolution  
• SV.Pr78= 0  
79  
Multiplier of  
numerator of  
external scale  
ratio  
0 to 17  
<0>  
Numerator equals to encoder resolution, and you can setup  
the external scale resolution per one motor revolution with SV.Pr7A.  
• SV.Pr78 0,  
Setup the ratio between the external scale resolution and the encoder  
resolution per one motor revolution according to the above formula.  
*
(F)  
<Caution>  
7A  
Denominator of  
external scale  
ratio  
1 to 32767  
<10000>  
• Upper limit of numerator value after calculation is 131072. Setup  
exceeding this value will be invalidated, and 131702 will be the actual  
numerator.  
*
(F)  
• The actual calculation of numerator is “numerator of external scale  
division (SV.Pr78) x 2 to the nth power (a set value of SV.Pr79)”.  
7B  
Hybrid deviation  
error level  
1 to 10000  
16 x  
• You can setup the permissible gap (hybrid deviation) between the  
present motor position and the present external scale position.  
<100> external  
scale  
*
(F)  
pulse  
7C  
External scale  
direction  
0 to 1  
<0>  
You can set up the logic of the absolute data of the external scale.  
*
Content  
Setup value  
(F)  
Serial data will increase when the detection head travels  
0
to the right viewed from the mounting side. (+ count)  
Serial data will decrease when the detection head travels  
1
to the right viewed from the mounting side. (– count)  
<Caution>  
Unlike 16.Pr50 (setup of operating direction), this parameter depends on  
the mounting direction of external scale. Please note that the full-closed  
control cannot be executed appropriately in a reverse setting.  
<Notes>  
• Anything marked with “(F)” on the servo parameter number (Servo PrNo.) can be used only for the “Full-  
Closed Control”.  
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on  
the control power.  
72  
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[Setting]  
List of 16-bit Positioning Parameters  
Parameters for Motor speed  
Standard default : < >  
16-bit  
Setup  
positioning  
Title  
Unit  
Function/Content  
range  
0 to 6000  
<0>  
PrNo.  
00  
1st speed  
r/min  
Specify a speed when Speed Selection 1 has been selected.  
Specify a speed when Speed Selection 2 has been selected.  
Specify a speed when Speed Selection 3 has been selected.  
Specify a speed when Speed Selection 4 has been selected.  
Specify a speed when Speed Selection 5 has been selected.  
Specify a speed when Speed Selection 6 has been selected.  
Specify a speed when Speed Selection 7 has been selected.  
Specify a speed when Speed Selection 8 has been selected.  
Specify a speed when Speed Selection 9 has been selected.  
Specify a speed when Speed Selection 10 has been selected.  
Specify a speed when Speed Selection 11 has been selected.  
Specify a speed when Speed Selection 12 has been selected.  
Specify a speed when Speed Selection 13 has been selected.  
Specify a speed when Speed Selection 14 has been selected.  
Specify a speed when Speed Selection 15 has been selected.  
Specify a speed when Speed Selection 16 has been selected.  
01  
02  
03  
04  
05  
06  
07  
08  
09  
0A  
0B  
0C  
0D  
0E  
0F  
2nd speed  
3rd speed  
4th speed  
5th speed  
6th speed  
7th speed  
8th speed  
9th speed  
10th speed  
11th speed  
12th speed  
13th speed  
14th speed  
15th speed  
16th speed  
0 to 6000  
<0>  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
r/min  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
0 to 6000  
<0>  
Parameters for Acceleration and Deceleration  
Standard default : < >  
16-bit  
Setup  
positioning  
Title  
Unit  
Function/Content  
range  
0 to 10000  
<0>  
PrNo.  
Specify acceleration when Acceleration Selection 1 has been selected.  
Specify an acceleration time in a range between 0 to 3000 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual acceleration time.  
10  
1st acceleration  
ms  
Specify S-shaped acceleration when Acceleration Selection 1 has been  
selected. Specify the S-shaped acceleration during acceleration time. For  
details, refer to page 131.  
11  
12  
13  
14  
1st S-shaped  
acceleration  
0 to 1000  
<0>  
ms  
ms  
ms  
ms  
If “0” is specified, the linear acceleration time is enabled.  
Specify deceleration when Deceleration Selection 1 has been selected.  
Specify a deceleration time in a range between 3000 to 0 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual deceleration time.  
Specify S-shaped deceleration when Deceleration Selection 1 has been  
selected. Specify the S-shaped deceleration during deceleration time. For  
details, refer to page 131.  
1st deceleration  
0 to 10000  
<0>  
1st S-shaped  
deceleration  
0 to 1000  
<0>  
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.  
Specify acceleration when Acceleration Selection 2 has been selected.  
Specify an acceleration time in a range between 0 to 3000 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual acceleration time.  
2 nd acceleration  
0 to 10000  
<0>  
73  
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Parameter Setup  
Standard default : < >  
16-bit  
Setup  
positioning  
Title  
Unit  
Function/Content  
range  
0 to 1000  
<0>  
PrNo.  
Specify S-shaped acceleration when Acceleration Selection 2 has been  
selected. Specify the S-shaped acceleration during acceleration time. For  
details, refer to page 131.  
15  
2nd S-shaped  
acceleration  
ms  
ms  
ms  
ms  
ms  
ms  
ms  
ms  
ms  
ms  
ms  
If “0” is specified, the linear acceleration time is enabled.  
Specify deceleration when Deceleration Selection 2 has been selected.  
Specify a deceleration time in a range between 3000 to 0 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual deceleration time.  
16  
17  
18  
19  
1A  
1B  
1C  
1D  
1E  
1F  
2nd deceleration  
0 to 10000  
<0>  
Specify S-shaped deceleration when Deceleration Selection 2 has been  
selected. Specify the S-shaped deceleration during deceleration time. For  
details, refer to page 131.  
2nd S-shaped  
deceleration  
0 to 1000  
<0>  
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.  
Specify acceleration when Acceleration Selection 3 has been selected.  
Specify an acceleration time in a range between 0 to 3000 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual acceleration time.  
3rd acceleration  
0 to 10000  
<0>  
Specify S-shaped acceleration when Acceleration Selection 3 has been  
selected. Specify the S-shaped acceleration during acceleration time. For  
details, refer to page 131.  
3rd S-shaped  
acceleration  
0 to 1000  
<0>  
If “0” is specified, the linear acceleration time is enabled.  
Specify deceleration when Deceleration Selection 3 has been selected.  
Specify a deceleration time in a range between 3000 to 0 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual deceleration time.  
3rd deceleration  
0 to 10000  
<0>  
Specify S-shaped deceleration when Deceleration Selection 3 has been  
selected. Specify the S-shaped deceleration during deceleration time. For  
details, refer to page 131.  
3rd S-shaped  
deceleration  
0 to 1000  
<0>  
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.  
Specify acceleration when Acceleration Selection 4 has been selected.  
Specify an acceleration time in a range between 0 to 3000 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual acceleration time.  
4th acceleration  
0 to 10000  
<0>  
Specify S-shaped acceleration when Acceleration Selection 4 has been  
selected. Specify the S-shaped acceleration during acceleration time. For  
details, refer to page 131.  
4th S-shaped  
acceleration  
0 to 1000  
<0>  
If “0” is specified, the linear acceleration time is enabled.  
Specify deceleration when Deceleration Selection 4 has been selected.  
Specify a deceleration time in a range between 3000 to 0 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual deceleration time.  
4th deceleration  
0 to 10000  
<0>  
Specify S-shaped deceleration when Deceleration Selection 4 has been  
selected. Specify the S-shaped deceleration during deceleration time. For  
details, refer to page 131.  
4th S-shaped  
deceleration  
0 to 1000  
<0>  
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.  
Parameters for Homing  
Standard default : < >  
Function/Content  
16-bit  
Setup  
positioning  
PrNo.  
Title  
Unit  
range  
0 to 6000  
<0>  
30  
31  
32  
33  
Homing speed  
(fast)  
r/min  
Specify a high operation speed for the homing.  
Homing speed  
(slow)  
0 to 6000  
<0>  
r/min  
r/min  
ms  
Specify a low operation speed for the homing.  
Homing offset  
speed  
0 to 6000  
<0>  
Specify a speed used for an offset operation for the homing.  
Specify acceleration for the homing.  
Homing  
0 to 10000  
<0>  
Specify an acceleration time in a range between 0 to 3000 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual acceleration time.  
acceleration  
Specify deceleration for the homing.  
34  
Homing  
0 to 10000  
<0>  
ms  
Specify a deceleration time in a range between 3000 to 0 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual deceleration time.  
deceleration  
<Notes>  
• For 16-bit positioning parameters which No. have a suffix of "*", changed contents will be validated when  
you turn on the control power.  
74  
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[Setting]  
Standard default : < >  
16-bit  
positioning  
PrNo.  
Setup  
range  
0 to 1  
<0>  
Title  
Unit  
Function/Content  
Specify an operating direction of homing.  
35  
Homing direction  
Setup value  
Description  
<0>  
1
Detects a home position in a positive direction.  
Detects a home position in a negative direction.  
36  
Homing type  
0 to 7  
<0>  
Select how to perform the homing.  
Description  
Setup value  
Home sensor + Z phase (based on the front end)  
Home sensor (based on the front end)  
Home sensor + Z phase (based on the rear end)  
Limit sensor + Z phase  
<0>  
1
2
3
Limit sensor  
4
Z phase homing  
5
Bumping homing  
6
Data set  
7
37  
Home complete  
type  
0 to 1  
<0>  
Select an operation when homing has completed.  
Description  
Setup value  
Set a current position to “- home offset” when the machine  
has returned to its home position.  
<0>  
The machine moves according to the home offset when  
homing has completed.  
1
If “1” is specified, a step operation can be performed without homing. In  
this case, a position when the power supply has turned on is defined as a  
38  
Homing skip  
0 to 1  
<0>  
*
home position.  
Setup value  
<0>  
Description  
Homing required  
Homing not required  
1
<Note>  
If the absolute mode (17-bit absolute encoder is used and SV.Pr08 (abso-  
lute encoder setting) is 0.2) is enabled, “Homing not required” is specified  
regardless of this parameter.  
39  
3A  
3B  
Bumping detection 0 to 10000  
ms  
%
Specify home position recognition time for bumping homing.  
time  
<0>  
0 to 100  
<0>  
Torque limit for  
bumping homing  
Homing Z-phase  
count setting  
Specify a homing torque limit for bumping homing.  
0 to 100  
<0>  
Specify a Z phase at which the machine stops if the machine stops at the Z  
phase when returning to its home position. If “0” is specified, the machine  
stops at the first Z phase. (The same operation when “1” is specified.)  
Parameters for Jog operation  
Standard default : < >  
16-bit  
Setup  
positioning  
Title  
Unit  
Function/Content  
range  
0 to 6000  
<0>  
PrNo.  
40  
Jog speed (low)  
r/min  
Specify a speed for a low-speed jog operation.  
<Note>  
A low-speed jog can be started only from the console.  
For a jog operation with a specified point, a set value for a high-speed jog  
is used.  
41  
42  
Jog speed (high)  
0 to 6000  
<0>  
r/min  
ms  
Specify a speed for a high-speed jog operation.  
Specify acceleration for a jog operation.  
Acceleration  
setting in jog  
operation  
0 to 10000  
<0>  
Specify an acceleration time in a range between 0 to 3000 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual acceleration time.  
Specify S-shaped acceleration for a jog operation.  
Specify the S-shaped control time during acceleration time. For details, refer  
to page 131.  
43  
Setting of S-shaped 0 to 1000  
ms  
acceleration in jog  
operation  
<0>  
If “0” is specified, the linear acceleration control is enabled.  
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Parameter Setup  
Standard default : < >  
16-bit  
Setup  
positioning  
Title  
Unit  
Function/Content  
range  
0 to 10000  
<0>  
PrNo.  
Specify deceleration for a jog operation.  
44  
Setting of  
ms  
Specify a deceleration time in a range between 3000 to 0 [ r/min] .  
* There is a maximum of 10% difference between a calculation value in the  
setup and the actual deceleration time.  
deceleration  
in jog operation  
Specify S-shaped deceleration for a jog operation.  
Specify the S-shaped control time during deceleration time. For details, refer  
to page 131.  
45  
Setting of S-shaped 0 to 1000  
ms  
deceleration in jog  
operation  
<0>  
If “0” is specified, the linear deceleration control is enabled.  
Other Parameters  
Standard default : < >  
16-bit  
Setup  
range  
positioning  
Title  
Unit  
Function/Content  
PrNo.  
48  
49  
Teaching movement 0 to 32767 Pulse  
amount setting <0>  
Instantaneous stop 0 to 10000  
Specify the number of pulses for movement at every pressing an opera-  
tion key when teaching a position data using the console.  
Specify a deceleration time when an immediate stop command assigned  
to the multi function input pin has been input. Specify a deceleration time  
in a range between 3000 to 0 [ r/min] .  
ms  
deceleration time  
<0>  
For “0”, the speed command changes into a step shape.  
* There is a maximum of 10% difference between a calculation value in  
the setup and the actual deceleration time.  
50  
Operation direction  
setting  
0 to 1  
<1>  
Specify a relation between a positive/negative direction of point position  
data and command position monitor and a CW/CCW rotation direction.  
*
Setup value  
Description  
0
CCW is a negative direction and CW is a positive direction.  
CCW is a positive direction and CW is a negative direction.  
<1>  
If “0” is specified, a sign of the command pulse sum shown on the monitor  
screen of the console or “PANATERM®” is reversed. However, for a value  
of the feedback pulse sum, CCW is a positive direction always.  
Select an operation when a current position has overflowed.  
51  
Wrap around  
permission  
0 to 1  
<0>  
Setup value  
Description  
*
<0>  
1
An alarm is given and a trip is caused (Error code No. 70).  
No alarm is given and an operation continues.  
<Note>  
If “1” is specified to this parameter, although an error does not occur when  
wrap around happens, an absolute position cannot be guaranteed. If wrap  
around is disabled, use the system in a relative position only.  
52  
Sequential  
0 to 1  
<0>  
Specify whether to enable or disable a sequential operation.  
For the details of sequential operation, refer to page 130.  
operation setting  
*
Setup value  
Description  
<0>  
1
Disable a sequential operation.  
Enable a sequential operation.  
53  
Sequential opera-  
tion maximum  
point number  
0 to 60  
<0>  
Specify a maximum point number for a sequential operation.  
This is enabled only when a sequential operation is enabled (16.Pr52 = 1).  
If “0” is specified, this is the same with “1”  
54  
Block operation  
type  
0 to 1  
<0>  
Specify a type of block operation.  
For the details of block operation, refer to page 125.  
*
Setup value  
Description  
<0>  
1
Continuous block operation.  
Combined block operation.  
<Note>  
If “1” is specified, the S-shaped acceleration/deceleration becomes unavailable.  
<Notes>  
• For 16-bit positioning parameters which No. have a suffix of "*", changed contents will be validated when  
you turn on the control power.  
76  
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[Setting]  
List of 32-bit Positioning Parameters  
Standard default : < >  
32-bit  
Setup  
positioning  
Title  
Unit  
Function/Content  
range  
–2147483647 to  
2147483647  
<0>  
PrNo.  
00  
Home offset  
Pulse  
Specify the home offset when homing has completed.  
For details, refer to page 124.  
*
Specify a maximum travel in a positive direction.  
If “0” is specified, a positive direction error code No. 72 (maxi-  
mum travel limit error protection) is disabled.  
The error code No. 72 is shown when a command position has  
become larger than this parameter value during a step opera-  
tion or jog operation after homing has completed.  
<Note>  
When homing has not yet completed or 16.Pr51 (wraparound  
accepted) is “1”, the error code No. 72 is disabled. Also, the er-  
ror code No. 72 is not detected when an operation stops.  
01  
Setting of  
0 to 2147483647  
<0>  
Pulse  
Pulse  
Pulse  
maximum  
*
movement in plus  
direction  
Specify a maximum travel in a negative direction.  
If “0” is specified, a negative direction error code No. 72 (maxi-  
mum travel limit error protection) is disabled.  
The error code No. 72 is shown when a command position has  
become smaller than this parameter value during a step opera-  
tion or jog operation after homing has completed.  
<Note>  
When homing has not yet completed or 16.Pr51 (wraparound  
accepted) is “1”, the error code No. 72 is disabled. Also, the er-  
ror code No. 72 is not detected when an operation stops.  
02  
Setting of  
–2147483648 to 0  
<0>  
maximum  
*
movement in mi-  
nus direction  
03  
Movement per  
rotation in rotation  
coordinates  
0 to 2147483647  
<0>  
Specify a travel (the number of pulses) per rotation in a step opera-  
tion when a rotary axis is specified (operation mode: Rotary).  
An available range is between 2 and 1073741824. If any value  
out of this range is specified, an error code No. 69 (undefined  
data error protection) is shown when an operation starts.  
*
List of Step Parameters  
Standard default : < >  
Setup range  
PANATERM display Console display  
Step  
Title  
Unit  
Function/Content  
Specify how to position.  
PrNo.  
01H to Operation mode  
3CH  
ABS/INC/Rotary/  
AbS/inc/rot/d_t  
Dwelltime  
<inc>  
Absolute operation (ABS, Abs), incremental  
operation (INC, Inc), rotary axis operation  
(Rotary, rot), dwell timer operation (Dwell  
time, d_t).  
<INC>  
Position/waiting  
time  
–2147483648 to  
2147483647  
<0>  
–2147483648 to  
2147483647  
<0>  
Pulse Input a coordinate data for positioning.  
/10ms If “Dwelltime” is selected as an operation  
mode, specify a waiting time.  
Speed  
V1 to V16  
<V1>  
VEL1 to VEL16  
<VEL1>  
Select a speed selection number for positioning.  
Specify a speed by 16-bit positioning parameter.  
Select a acceleration selection number for posi-  
tioning.  
Acceleration  
A1 to A4  
<A1>  
Acc1 to Acc4  
<Acc1>  
Specify a speed by 16-bit positioning parameter.  
Select a deceleration selection number for posi-  
tioning.  
Deceleration  
Block  
D1 to D4  
<D1>  
dEc1 to dEc4  
<dEc1>  
Specify a speed by 16-bit positioning parameter.  
Select a single operation or block operation.  
Single/Block  
<Single>  
SinGLE/BLoc  
<SinGLE>  
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Parameter Setup  
Setup of Torque Limit  
Torque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver  
listed in the table below.  
Max. value of  
SV.Pr5E,5F  
Max. value of  
SV.Pr5E,5F  
Frame  
Model No.  
Applicable motor  
Frame  
Model No.  
Applicable motor  
A-  
frame  
MADDCT1105P  
MSMD5AZP1*  
MSMD5AZS1*  
MSMD011P1*  
MSMD011S1*  
MQMA011P1*  
MQMA011S1*  
MSMD5AZP1*  
MSMD5AZS1*  
MSMD012P1*  
MSMD012S1*  
MQMA012P1*  
MQMA012S1*  
MSMD022P1*  
MSMD022S1*  
MAMA012P1*  
MAMA012S1*  
MQMA022P1*  
MQMA022S1*  
MSMD021P1*  
MSMD021S1*  
MQMA021P1*  
MQMA021S1*  
MSMD042P1*  
MSMD042S1*  
MAMA022P1*  
MAMA022S1*  
MQMA042P1*  
MQMA042S1*  
MSMD041P1*  
MSMD041S1*  
MQMA041P1*  
MQMA041S1*  
MSMD082P1*  
MSMD082S1*  
MAMA042P1*  
MAMA042S1*  
MFMA042P1*  
MFMA042S1*  
MHMA052P1*  
MHMA052S1*  
MDMA102P1*  
MDMA102S1*  
MHMA102P1*  
MHMA102S1*  
MGMA092P1*  
MGMA092S1*  
300  
300  
300  
300  
300  
300  
300  
300  
300  
300  
300  
300  
300  
300  
500  
500  
300  
300  
300  
300  
300  
300  
300  
300  
500  
500  
300  
300  
300  
300  
300  
300  
300  
300  
500  
500  
300  
300  
255  
255  
300  
300  
300  
300  
225  
225  
D-  
frame  
MDDDT5540P  
MSMA102P1*  
MSMA102S1*  
MHMA152P1*  
MHMA152S1*  
MDMA152P1*  
MDMA152S1*  
MSMA152P1*  
MSMA152S1*  
MFMA152P1*  
MFMA152S1*  
MAMA082P1*  
MAMA082S1*  
MDMA202P1*  
MDMA202S1*  
MSMA202P1*  
MSMA202S1*  
MHMA202P1*  
MHMA202S1*  
MFMA252P1*  
MFMA252S1*  
MGMA202P1*  
MGMA202S1*  
MDMA302P1*  
MDMA302S1*  
MHMA302P1*  
MHMA302S1*  
MSMA302P1*  
MSMA302S1*  
MGMA302P1*  
MGMA302S1*  
MDMA402P1*  
MDMA402S1*  
MHMA402P1*  
MHMA402S1*  
MSMA402P1*  
MSMA402S1*  
MFMA452P1*  
MFMA452S1*  
MGMA452P1*  
MGMA452S1*  
MDMA502P1*  
MDMA502S1*  
MHMA502P1*  
MHMA502S1*  
MSMA502P1*  
MSMA502S1*  
300  
300  
300  
300  
300  
300  
300  
300  
300  
300  
500  
500  
300  
300  
300  
300  
300  
300  
300  
300  
230  
230  
300  
300  
300  
300  
300  
300  
235  
235  
300  
300  
300  
300  
300  
300  
300  
300  
255  
255  
300  
300  
300  
300  
300  
300  
MADDT1107P  
MADDT1205P  
MADDT1207P  
E-  
frame  
MEDDT7364P  
MFDDTA390P  
MFDDTB3A2P  
B-  
frame  
MBDDT2110P  
MBDDT2210P  
F-  
frame  
C-  
frame  
MCDDT3120P  
MCDDT3520P  
MDDDT3530P  
D-  
frame  
MDDDT5540P  
• The above limit applies to SV.Pr5E, 1st torque limit setup, SV.Pr5F, 2nd torque limit setup and SV.Pr6E,  
Torque setup at emergency stop.  
<Caution>  
When you change the motor model, above max. value may change as well. Check and reset the setup  
values of SV.Pr5E, SV.Pr5F and SV.Pr6E.  
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[Setting]  
Cautions on Replacing the Motor  
As stated above, torque limit setup range might change when you replace the combination of the motor and  
the driver. Pay attention to the followings.  
1.When the motor torque is limited,  
When you replace the motor series or to the different wattage motor, you need to reset the torque limit  
setup because the rated toque of the motor is different from the previous motor. (see e.g.1)  
e.g.1)  
before replacing the motor  
after replacing the motor  
MADDT1207P  
MADDT1207P  
MSMD022P1A  
Rated torque  
MAMA012P1A  
Rated torque  
0.64N m  
0.19N m  
Set up Pr5E to 337 to  
Pr5E Setup range : 0 to 300%  
Setup value : 100%.  
Torque limit value  
Pr5E Setup range : Change to 0 to 500%.  
Setup value : Keep 100%.  
Torque limit value  
make torque limit value  
to 0.64N m  
0.64N m x 100% =  
0.19N m x 100% =  
(0.19N m x 337% = 0.64N m)  
0.64N m  
0.19N m  
2.When you want to obtain the max. motor torque,  
You need to reset the torque limiting setup to the upper limit, because the upper limit value might be  
different from the previous motor. (see e.g.2)  
e.g.2)  
before replacing the motor  
after replacing the motor  
MADDT1207P  
MADDT1207P  
MSMD022P1A  
MAMA012P1A  
Rated torque  
0.19N m  
Set up Pr5E to 500 to obtain  
the max. output torque.  
Pr5E Setup range : 0 to 300%  
Setup value : 300%.  
Pr5E Setup range : change to 0 to 500%  
Setup value : Keep 300%.  
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How to Use the Console  
Setup with the Console  
Composition of Display/Touch panel  
Display LED (6-digit)  
All of LED will flash when error occurs, and switch to error display  
screen.  
Display LED (in 2 digits)  
Parameter No. is displayed at parameter setup mode. Point No. is  
displayed at teaching mode.  
SHIFT Button  
Press this to shift the digit for data change.  
Button  
Press these to change data or execute selected action of parameter.  
Numerical value increases by pressing ,  
,
decreases by pressing  
.
SET Button  
Press this to shift each mode which is selected by mode switching  
button to EXECUTION display.  
Mode Switching Button Press this to switch 7 kinds of mode.  
1) Monitor mode  
2) Teaching mode  
5) Normal auto-gain tuning mode  
6) Auxiliary function mode  
Target position settings established  
by teaching  
• Alarm clear  
• Absolute encoder clear  
Test operation  
7) Copy mode  
3) Parameter setup mode  
4) EEPROM write mode  
• Copying of parameters from the driver to the console.  
• Copying of parameters from the console to the driver.  
Initial Status of the Console Display (7 Segment LED)  
Turn on the power of the driver while inserting the console connector to the driver main body, or inserting the  
console connector to CN X4 connector.  
0.6 sec  
0.6 sec  
0.6 sec  
[ flashes for approx. 0.6 sec each for initialization of the console]  
• In case of communication with RS232 only  
Displays version No. of micro computer of the console.  
(Displayed figures vary depending on the version)  
1 sec  
Initial display of LED  
(Determined by the setup of SV.Pr01, "Initial Status of LED".)  
Release of RS232 communication error  
When RS232 communication error occurs as the Fig, below shows,  
release it by pressing  
and  
at the same time.  
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[Setting]  
Mode Change  
The modes below are available in this console. To switch a mode, press  
once in the initial state to enter  
SELECTION display  
the  
screen and press  
.
Initial state *1  
Monitor mode (refer to page82)  
Press  
.
Press  
Press  
Press  
Press  
Press  
Press  
Press  
.
.....Teaching mode  
(refer to page87)  
.
.....Parameter setup mode  
(refer to page91)  
.
.....EEPROM write mode  
(refer to page96)  
.
.....Normal auto-gain tuning mode  
(refer to page97)  
.
.....Auxiliary function mode  
(refer to page98)  
.
.....Copy mode  
(refer to page101)  
.
Show a target mode to be executed, select it by the  
button and press  
to enter  
EXECUTION display  
the  
screen.  
<Note>  
*1: Depends on the settings of the initial LED state of SV.Pr01.  
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How to Use the Console  
Monitor Mode  
SELECTION display  
EXECUTION display  
Description  
Display shifts toward the arrowed direction by  
Display  
example  
Pages to  
refer  
pressing  
and reversed direction by pressing  
.
Positional deviation  
Motor rotational speed  
Torque output  
(5 deviation pulses)  
(1000r/min)  
P.83  
P.83  
(Torque output 100%)  
(Position control mode)  
Control mode  
I/O signal status  
Error factor, history  
For manufacturer's use  
Alarm  
(Input signal No.0 : Active) P.83  
(No error currently)  
P.85  
(No alarm)  
P.85  
P.86  
P.86  
P.86  
P.86  
P.86  
P.86  
P.86  
P.86  
P.86  
SET  
button  
(
)
Regenerative  
load factor  
(30% of permissible  
regenerative power)  
Overload factor  
(28% of overload factor)  
(Inertia ratio 100%)  
Inertia ratio  
(Feedback pulse sum is  
50 pulses.)  
Feedback pulse sum  
Command pulse sum  
(Command pulse sum is  
10 pulses.)  
External scale  
deviation  
(External scale deviation is  
0 pulses.)  
External scale  
feedback pulse sum  
External scale feedback  
pulse sum is 0 pulses.  
Automatic motor  
recognizing function  
(Automatic motor recognizing  
function is validated.)  
Selection of  
communication  
(RS232 communication)  
(Mode switch button)  
Teaching Mode  
P.87  
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[Setting]  
Display of Position Deviation, Motor Rotational Speed and Torque Output  
Data  
..........Positional deviation (cumulative pulse counts of deviation counter)  
• – display : generates rotational torque of CW direction (viewed from shaft end)  
no display : generates rotational torque of CCW direction (viewed from shaft end)  
..........Rotational speed of the motor unit [r/min]  
• – display : CW rotation, no display : CCW rotation  
..........Torque command unit [%] (100 for rated torque)  
• – display : CW rotation, no display : CCW rotation  
<Note>  
is not displayed on LED, but only  
+
-
appears.  
Display of Control Mode  
.....Position control mode  
.....Full-closed control mode  
Display of I/O Signal Status  
Displays the control input and output signal to be connected to CN X5 connector.  
Select the signal No. to be monitored by pressing  
.
(Lowest place  
No. of input  
signal)  
.....Active  
(This signal is valid)  
.....Inactive  
(Highest place  
No. of input  
signal)  
(Lowest place  
No. of output  
signal)  
(This signal is invalid)  
Transition when  
Signal No.  
(Hexadecimal number, 0 to 1F)  
pressing  
.
.....Input signal  
(Highest place  
No. of output  
signal)  
.....Output signal  
<Note>  
• Shift the flashing decimal point with  
• The other way to change signal No. at I/O  
selection mode Signal selection mode.  
.
(Right side of decimal point :  
Signal selection mode)  
(Left side of decimal point :  
Input/Output selection mode)  
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How to Use the Console  
Signal No. and its title  
Input signal  
Output signal  
Title  
(For manufacturer's use)  
Signal No.  
00  
Title  
Symbol  
SRV-ON  
Signal No.  
00  
Symbol  
ALM  
COIN/DCLON  
BRK-OFF  
Servo-ON  
(For manufacturer's use)  
CW over-travel inhibit input  
CCW over-travel inhibit input  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Multi-function input 1  
Servo alarm output  
Positioning completion output/Output during deceleration  
Brake release output  
01  
02  
03  
04  
05  
06  
07  
08  
01  
02  
03  
04  
05  
06  
07  
08  
CWL  
CCWL  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Motor operation condition output  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Present position output  
Present position output  
Present position output  
Present position output  
Present position output  
Present position output  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
EX-IN1  
EX-IN2  
BUSY  
Multi-function input 2  
(For manufacturer's use)  
(For manufacturer's use)  
Home sensor input  
09  
09  
0A  
0B  
0C  
0D  
0E  
0F  
10  
11  
12  
13  
14  
0A  
0B  
0C  
0D  
0E  
0F  
10  
11  
12  
13  
14  
Z-LS  
(For manufacturer's use)  
(For manufacturer's use)  
Emergency stop input  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Point specifying input  
Point specifying input  
Point specifying input  
Point specifying input  
Point specifying input  
Point specifying input  
Strobe signal input  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
EMG-STP  
P1OUT  
P2OUT  
P4OUT  
P8OUT  
P16OUT  
P32OUT  
15  
16  
17  
18  
15  
16  
17  
18  
P1IN  
P2IN  
P4IN  
P8IN  
P16IN  
P32IN  
STB-IN  
19  
19  
1A  
1B  
1C  
1D  
1E  
1F  
1A  
1B  
1C  
1D  
1E  
1F  
*For details of Signal, refer to P.42 to 47.  
• Point Number Conversion Table  
The console shows the point numbers in the specified point input (No. 16 to 1B) and the current position  
output (No. 10 to 15) for the of I/O signal state. The point number is expressed in a six-digit binary number.  
Convert the point number from the I/O signal state referring to the table below.  
The console shows [ A] or [ -] below when SV.Pr58 is “1”. If SV.Pr58 is “0”, interchange [ A] and [ -] with each other.  
Input signal No.  
Output signal No.  
1B  
15  
P32  
1A  
14  
P16  
19  
13  
P8  
18  
12  
P4  
17  
11  
P2  
16  
10  
P1  
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
Input signal No.  
Output signal No.  
1B  
15  
P32  
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
1A  
14  
P16  
19  
13  
P8  
18  
12  
P4  
17  
11  
P2  
16  
10  
P1  
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
Point No.  
0
Point No.  
32  
33  
34  
35  
36  
37  
38  
39  
40  
41  
42  
43  
44  
45  
46  
47  
48  
49  
50  
51  
52  
53  
54  
55  
56  
57  
58  
59  
60  
61  
62  
63  
1
2
3
4
5
6
7
8
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
9
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
20  
21  
22  
23  
24  
25  
26  
27  
28  
29  
30  
31  
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
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[Setting]  
<Notice>  
• [ -] shows the OPEN state and [ A] shows the CLOSED state.  
• The number of point inputs can be specified in SV.Pr57.  
• The logic of point input can be changed in SV.Pr58.  
The table above shows the case of “1: Point input is enabled by closing the connection to COM–”.  
[ A] and [ -] are interchanged with each other in the case of “0: Point input is enabled by opening the  
connection to COM–”.  
• A point of “High-speed jog operation (negative direction)”, “High-speed jog operation (positive direction)”  
and “Homing command” depends on the settings of SV.Pr57.  
Reference of Error Factor and History  
<Note>  
• Following errors are not included in the history.  
11: Control power supply under-voltage protection  
Error code No.  
appears if  
no error occurs)  
13: Main power supply under-voltage protection  
36: EEPROM parameter error protection  
37: EEPROM check code error protection  
(
........Present error  
39: Emergency stop input error protection  
93: External scale auto recognition error protection  
95: Motor auto recognition error protection  
• When one of the errors which are listed in error history  
occurs, this error and history o shows the same error No.  
• When error occurs, the display flashes.  
........History 0 (latest error)  
........History 13 (oldest error)  
You can refer the last 14 error factors  
(including present one).  
Press  
to select the factor to  
be referred.  
<Notice>  
For the relation between an error code number and an error, refer to “Protective Function” in [When in  
Trouble] on page 164.  
Alarm Display  
.......  
no alarm  
.......  
Alarm occurrence  
• Over-load alarm :  
Turns on when the load reaches 85% or more of alarm trigger level of over-load  
protection.  
• Over-regeneration alarm :  
Turns on when regenerative load reaches more than 85% of alarm trigger level  
of regenerative load protection. Alarm trigger level is defined as 10% of  
regenerative resister working ratio, when Pr6C "Selection of external  
regenerative resister " is 1.  
• Battery alarm  
• Fun-lock alarm  
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How to Use the Console  
Display of Regenerative Load Factor  
Shows regenerative resistance load factor in percentage assuming that  
an operation level of regenerative protection is 100%.  
This is valid when SV.Pr6C is 0 or 1.  
Display of Over-load Factor  
Displays the ratio (%) against the rated load.  
Refer to P.170, "Overload Protection Time Characteristics" of When in Trouble.  
Display of Inertia Ratio  
Displays the inertia ratio (%) .  
Value of SV.Pr20 (Inertia ratio) will be displayed as it is.  
Display of Feedback Pulse Sum, Command Pulse Sum  
lowest  
Total sum of pulses after control power-ON.  
(
)
order  
The display range is from –2147483647 to 2147483647.  
An overflow occurs if the result is outside the display range.  
Sum of pulses shown can be reset to “ 0” by pressing  
for approximately 5 seconds or more.  
Press  
.
highest  
(
)
order  
Display of External Scale Deviation, External Scale Feedback Pulse Sum  
* Not available to the models that do not  
support external scale.  
Press  
Press  
.
.
lowest  
(
)
order  
Press  
.
highest  
(
)
order  
Automatic Motor Recognizing Function  
Automatic recognition is valid. (This is always shown.)  
Switching of the Driver to be Communicated  
RS232 communication  
.....“1” is always shown.  
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[Setting]  
Teaching Mode  
Overview of Teaching Mode  
In the teaching mode, you can operate the motor actually using this console, set a target position and  
execute a test operation, e.g., step operation, jog operation, etc.  
Operation at SELECTION display  
Press  
once and  
once in the initial LED state  
for the teaching mode.  
to show  
To change the mode,  
press or  
.
Press  
.
...Step operation (refer to page 89).  
Test mode  
Moving to a selected point number.  
Press  
.
...Jog operation (refer to page 90).  
The motor rotates while pressing  
after pressing  
.
...Homing operation  
(refer to page 90).  
Returning to a home position.  
<Note>  
• When operating the motor, check the safety, e.g., whether the wiring is correct, whether  
the servo motor is fixed, etc.  
• When a trouble, e.g., cable breakage, has occurred during a motor operation, the servo  
driver overruns a maximum of approximately 1s. Check the safety fully.  
Teaching Mode Setup  
Operate the motor and set a target position.  
Operation at EXECUTION display  
EXECUTION display  
Teaching mode display  
Show  
and press  
.
Then, a current position is shown  
(lowest order).  
Press  
.
A current position (highest order)  
* The data is shown on the two screens because of  
a large number of displayed digits.  
* If “Error” is shown, it may be caused by any of the factors below.  
• Homing is not completed. • The servo turns off. • Operation by I/O etc.  
• 16.Pr51 (wrap around permission) is set to “1”.  
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How to Use the Console  
When you press  
When you press  
, the motor rotates by specified travel in a positive direction.  
, the motor rotates by specified travel in a negative direction.  
The travel can be set by 16.Pr48 (teaching travel setting).  
The rotation speed can be set by16.Pr40 (jog speed [ low] ).  
When you press  
during movement, the motor decelerates and stops.  
When you keep on pressing  
When you keep on pressing  
, the motor rotates continuously in a positive direction while pressing it.  
, the motor rotates continuously in a negative direction while pressing it.  
The rotation speed can be set by16.Pr40 (jog speed [ low] ).  
When you press  
during rotation, the rotation speed changes to a jog speed (high speed).  
When you keep on pressing  
When you keep on pressing  
+
+
, the motor rotates continuously in a positive direction while pressing it.  
, the motor rotates continuously in a negative direction while pressing it.  
The rotation speed can be set by16.Pr41 (jog speed [ high] ).  
When you press  
during rotation, the rotation speed changes to a jog speed (low speed).  
Definition of positive or negative direction of rotation depends on the setting of 16.Pr50 (operating direction setting).  
“Error” is shown when execution is made during an operation by I/O etc.  
When you press  
, teaching is completed and you will be moved to the parameter number selection.  
after finishing teaching.  
If you do not want to store a current position in a parameter, press  
Press  
.
• Parameter number selection  
To store a current position, set  
a relevant point number using  
.....Current position (low order)  
.....Point number  
Keep on pressing  
,
and/or  
.
.
• Target position setting  
Select a point number and keep  
A dot moves to the left.  
on pressing  
position is set in a selected  
. A current  
.....Point number  
parameter and you will be moved  
to the speed number selection.  
• Step parameter setting  
For the setting of the speed number  
selection – block selection,  
refer to “Step Parameters” on  
page 92.  
.....Speed number selection  
.....Block selection  
.
Press  
* When you press  
during parameter setting, any parameter in process is not changed and is  
shown again.  
* When you set a target position by teaching, an operation mode fixed to the absolute value mode.  
* If you set a target position manually when the servo turns off or main power supply turns off, set  
SV.Pr67 and SV.Pr69 to “Deviation counter clear”.  
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply  
off before writing the parameters into EEPROM, those parameters are cleared.  
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[Setting]  
Test Mode  
• Step operation  
An operation is performed at a position of a selected point number.  
* Execute homing completely before performing a step operation.  
An example of an operation to move to the point No. 2 is shown below.  
Press  
Press  
.
.
.....Point No. 1  
Keep on pressing  
at a desired point number.  
.....Point No. 2  
Select a point number using  
and/or  
.
A dot ( ) moves and  
then the motor rotates.  
.....Point No. 60  
.....Point No. 1  
A current position is shown  
during moving to a point.  
An error has occurred.  
An error occurs if SV.Pr02 is not set.  
If you press  
movement, the motor stops.  
during  
Point number  
Movement completed  
To move to the next process, press  
.
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How to Use the Console  
• Jog operation  
The motor can be operated by the jog operation.  
...A current position is shown during an operation.  
Press  
.
When you keep on pressing  
When you keep on pressing  
, the motor rotates continuously in a positive direction while pressing it.  
, the motor rotates continuously in a negative direction while pressing it.  
The rotation speed can be set by 16.Pr40 (jog speed [ low] ).  
When you press  
during rotation, the rotation speed changes to a jog speed (low).  
When you keep on pressing  
When you keep on pressing  
+
+
, the motor rotates continuously in a positive direction while pressing it.  
, the motor rotates continuously in a negative direction while pressing it.  
The rotation speed can be set by 16.Pr41 (jog speed [ high] ).  
When you press  
during rotation, the rotation speed changes to a jog speed (high).  
* Definition of positive or negative direction of rotation depends on the setting of 16.Pr50  
(operating direction setting).  
* If “Error” is shown, it may be caused by any of the factors below.  
• The servo turns off.  
• Operation by I/O etc.  
• Homing  
Homing is performed as follows.  
Press  
.
.
Press  
Keep on pressing  
.
A dot ( ) moves to the left.  
Homing  
Error occurred  
An error occurs if any  
parameter related to  
homing is not set.  
Movement completed.  
To move to the next process, press  
.
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[Setting]  
Parameter setup mode  
Set the servo driver parameters.  
The parameters are classified as follows:  
• Step parameter (ST.Pr)  
• 16-bit positioning parameter (16.Pr)  
• 32-bit positioning parameter (32.Pr)  
• Servo parameter (SV.Pr)  
Structure of Parameter Setup Mode  
When you press  
once and  
twice in the initial LED state,  
.
the step parameter display shows  
Select a target parameter using  
and/or  
.
Press  
Press  
.
.
Step parameter  
(refer to page92)  
Press  
Press  
.
.
16-bit positioning  
parameter  
(refer to page93)  
Press  
Press  
.
.
32-bit positioning  
parameter  
(refer to page94)  
Press  
Press  
.
.
Servo parameter  
(refer to page95)  
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How to Use the Console  
Step Parameter  
Step parameter can be set.  
* An example to set in ST.Pr1 is shown below.  
Step data  
(low order)  
Step data  
(high order)  
Press  
.
Press  
.
.....ST.Pr01  
A selected parameter  
is shown.  
* The data is shown on the  
two screens because of a  
large number of displayed  
digits.  
Press  
Press  
Press  
Press  
Press  
Press  
.
.....Speed number selection  
.....ST.Pr02  
.
.....Acceleration number selection  
.
.....ST.Pr60  
.....ST.Pr01  
.....Deceleration number selection  
.
.....Operation mode selection  
.
.....Block selection  
.
<Notice>  
Select an input digit (a dot blinks) by the [ SHIFT] key and a parameter by the [ UP] /[ DOWN] key.  
The step data is shown on the two screens because of a large number of displayed digits.  
If the parameter is a negative value, a dot lights.  
When you press the [ SET] key, the parameter is modified.  
* When you press  
during parameter setting, any parameter in process is not changed and “No.”  
display is shown again.  
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply  
off before writing the parameters into EEPROM, those parameters are cleared.  
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[Setting]  
16-Bit Positioning Parameter  
16-bit positioning parameter can be set.  
Press  
.
.....16.Pr00  
.....16.Pr01  
Selected 16.PrNo.  
.....16.Pr63  
A parameter that “ ” is displayed on this position is enabled  
after writing a set value in EEPROM and resetting the system.  
<Notice>  
Select an input digit (a dot blinks) by the [ SHIFT] key and a parameter by the [ UP] /[ DOWN] key.  
When you press the [ SET] key, the parameter is modified.  
* When you press  
during parameter setting, any parameter in process is not changed and “No.”  
display is shown again.  
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply  
off before writing the parameters into EEPROM, those parameters are cleared.  
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How to Use the Console  
32-Bit Positioning Parameter  
32-bit positioning parameter can be set.  
Press  
.
Press  
.
.....32.Pr00  
Selected 32.PrNo.  
* The data is shown on the  
two screens because of  
a large number of displayed  
digits.  
.....32.Pr01  
.....32.Pr05  
<Notice>  
Select an input digit (a dot blinks) by the [ SHIFT] key and a parameter by the [ UP] /[ DOWN] key.  
The 32-bit positioning parameter is shown on the two screens because of a large number of displayed  
digits.  
If the parameter is a negative value, a dot lights.  
When you press the [ SET] key, the parameter is modified.  
* When you press  
during parameter setting, any parameter in process is not changed and “No.”  
display is shown again.  
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply  
off before writing the parameters into EEPROM, those parameters are cleared.  
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[Setting]  
Servo Parameter  
Servo parameter can be set. For the details of parameter, refer to “Parameter Setup” on page 56.  
Press  
.
.....SV.Pr00  
<Notice>  
A parameter that “ ” is displayed on this  
position is enabled after writing a set value in  
EEPROM and resetting the system.  
Selected  
SV.PrNo.  
How to set a parameter value  
.....SV.Pr01  
(1) Select a digit by  
a decimal point.  
to change  
(2) Press  
and/or  
to set a parameter  
value.  
increases a value and  
Select a target parameter  
number, which is to be referred  
decreases.  
to and set, by  
and/or  
.
A digit next to the blinking decimal point can be modified.  
Press  
value.  
to set a parameter  
<Notice>  
Movement to a high order position is limited per  
parameter.  
.....SV.Pr7F  
When you have set the parameters, press  
to return  
SELECTION display  
to  
.
<Remarks>  
When you change a parameter value and press  
, the change is reflected in the control. Modify  
gradually a value of parameter (especially, velocity loop gain, position loop gain, etc.) which exerts an  
influence on the motor operation, not changing it extremely at a time.  
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply  
off before writing the parameters into EEPROM, those parameters are cleared.  
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How to Use the Console  
EEPROM Write Mode  
EEPROM Writing  
Operation at SELECTION display  
Starting from the initial LED status,  
press  
three time after pressing  
,
then brings the display of  
EEPROM Writing Mode,  
Operation at EXECUTION display  
Press  
to make  
EXECUTION DISPLAY to  
Keep pressing  
until the display changes to  
when you execute writing.  
” increases while  
keep pressing  
(for approx. 5sec) as  
the right fig. shows.  
Starts writing.  
Finishes writing  
Writing completes  
To move to the next process, press  
Writing error  
.
• When you change the parameters which contents become valid after resetting,  
displayed after finishing wiring. Turn off the control power once to reset.  
will be  
Note 1) When writing error occurs, make writing again. If the writing error repeats many times,  
this might be a failure.  
Note 2) Don't turn off the power during EEPROM writing. Incorrect data might be written.  
If this happens, set up all of parameters again, and re-write after checking the data.  
Note 3) Between  
and  
, take care not to pull out a console connector from a servo  
driver main unit. If the connector is pulled out accidentally, insert the connector again and retry  
from the beginning.  
<Notice>  
When you have set the parameters, write the parameters into EEPROM. If you turn the power supply  
off before writing the parameters into EEPROM, those parameters are cleared.  
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[Setting]  
Auto-Gain Tuning Mode  
Normal Mode Auto-Gain Tuning Screen  
<Remarks>  
• For details of normal auto-gain tuning, refer to P.148, "Normal Auto-Gain Tuning" of Adjustment. Pay a  
special attention to applicable range and cautions.  
• The motor will be driven in a preset pattern by the driver in normal auto-gain tuning mode.You can change  
this pattern with SV.Pr25 (Normal auto tuning motion setup), however, shift the load to where the operation  
in this pattern may not cause any trouble, then execute this tuning.  
• Depending on the load, oscillation may occur after the tuning. In order to secure the safety, use the  
protective functions of SV.Pr26 (Software limit set up), SV.Pr70 (Position deviation error level) or SV.Pr73  
(Overspeed level).  
Operation at SELECTION display  
Starting from the initial LED status, press  
four time after pressing  
,
then brings the display of normal auto-gain tuning,  
<Note>  
then press  
stiffness No.  
to select the machine  
For machine  
stiffness No.,  
refer to P.148.  
machine stiffness No.  
(1 to 9, A (10) to F (15))  
Operation at EXECUTION display  
Press  
EXECUTION DISPLAY to  
After inhibiting command input, and during Servo-On status,keep pressing  
to make  
until  
Console (LED) display changes to  
.
” increases by pressing  
(approx. 5sec)  
as the left fig. shows.  
<Note>  
Starting of the motor  
Tuning finishes.  
To prevent the loss of  
gain value due to the  
power shutdown, write  
into EEPROM.  
Tuning completes  
Tuning error  
When you have finished the tuning, press  
to return to SELECTION display  
.
<Remarks>  
Don' t disconnect the console from the driver between  
and  
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.  
<Note> If the following status occurs during the tuning action, the tuning error occurs.  
(1) During the tuning action, 1) when an error occurs, 2) when turned to Servo-OFF,  
3) even the deviation counter is cleared and 4) when the tuning is actuated close to the limit switch.  
(2) When the output torque is saturated because the inertia or load is too large.  
(3) When the tuning can not be executed well causing oscillation.  
If the tuning error occurs, value of each gain returns to the previous value before the tuning. The  
driver does not trip except error occurrence. Depending on the load, the driver might oscillate without  
becoming tuning error. (not showing  
) Extra attention should be paid to secure the safety.  
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How to Use the Console  
Auxiliary Function Mode  
The console has two auxiliary functions.  
(1) Alarm Clear  
A protection function works and a motor stop (motor trip) can be canceled.  
(2) Absolute encoder clear  
A value of absolute encoder is cleared.  
Structure of Auxiliary Function Mode  
Operation at SELECTION display  
Starting from the initial LED status, Press  
five time after pressing  
,
then brings the display of Auxiliary Function Mode,  
(A4P series cannot be used.)  
EXECUTION display  
Press  
Press  
.
.
Select a desired function  
...Clearing of  
Absolute Encoder  
(refer to page100)  
using  
press  
and/or  
and  
to change into  
[ EXECUTION] display.  
...Alarm Clear Screen  
(refer to page99)  
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[Setting]  
Alarm Clear Screen  
Protective function will be activated and release the motor stall status (error status).  
Operation at SELECTION display  
Starting from the initial LED status,  
Press  
five time after pressing  
,
then press  
to make a display to  
Operation at EXECUTION display  
Press  
to call for  
EXECUTION display of  
Keep pressing  
changes to  
until the console (LED)  
increases by pressing  
(approx. 5sec) as the right fig. shows.  
Alarm clear starts.  
Clearing finishes.  
Alarm clear completes  
Clear is not finished.  
Release the error by resetting  
the power.  
When you have set the alarm clear, press  
to return to  
.
SELECTION display  
<Remarks>  
Don't disconnect the console from the driver between  
and  
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.  
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How to Use the Console  
Clearing of Absolute Encoder  
Only applicable to the system which uses absolute encoder.You can clear the alarm and multi-turn data of  
the absolute encoder.  
Operation at SELECTION display  
Press  
five time after pressing  
, make a display to  
, to setup auxiliary function mode,  
then with  
Operation at EXECUTION display  
Press  
to call for  
EXECUTION DISPLAY of  
Then keep pressing  
changes to  
until the display of Console (LED)  
” increases by  
pressing (approx. 5sec)  
as the left fig. shows.  
Clearing of absolute encoder starts  
Clearing finishes  
Clearing of absolute encoder Error occurs  
completes  
When non-applicable encoder is  
connected  
(
)
A incremental encoder or any  
unsupported encoder other than an  
absolute encoder may be connected.  
Reset the power supply and clear the  
error.  
When you have cleared the absolute encoder, press  
to return to  
.
SELECTION display  
<Remarks>  
Don' t disconnect the console from the driver between  
to  
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.  
<Notice>  
If an error code No. 40 is shown on the console immediately after purchase, clear the absolute encoder  
through the console.  
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[Setting]  
Copying Function (Console Only)  
Copying of Parameters from the Driver to the Console  
Operation at SELECTION display  
Starting from initial LED status, Press  
to make a display to  
six time after pressing  
, then press  
,
Operation at EXECUTION display  
Press  
to call for  
EXECUTION DISPLAY of  
” increases by  
Keep pressing  
until  
pressing  
(approx. 3sec)  
the console display (LED)  
as the left fig. shows.  
changes to  
.
Initialization of EEPROM  
of the console starts.  
The positioning parameter is copied  
from the servo driver into the  
console and the positioning  
parameter is written into EEPROM  
(console).  
The servo parameter and driver  
type code are copied from the servo  
driver into the console and the  
driver type code of the servo  
parameter is written into EEPROM  
(console).  
Error display  
<Remarks>  
If error is displayed, repeat  
the procedures from the  
beginning.  
Press  
for releasing error.  
Copying completes normally.  
To move to the next process, press  
.
When you have finished the copy, press  
to return to  
.
SELECTION display  
<Remarks>  
Don' t disconnect the console from the driver between  
to  
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.  
<Note>  
If the error display repeats frequently, check the broken cable, disconnection of the connector,  
misoperation due to noise or failure of console.  
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How to Use the Console  
Copying of Parameters from the Console to the Driver  
Operation at SELECTION display  
Starting from initial LED status,Press  
to make a display to  
six time after pressing  
, then press  
Operation at EXECUTION display  
Press  
to call for  
EXECUTION DISPLAY of  
” increases by  
Keep pressing  
until  
pressing  
(approx. 3sec)  
the console display (LED)  
change.  
as the left fig. shows.  
If a type code stored in EEPROM (console)  
and another type code of servo driver are  
different from each other.  
Press  
When you keep on pressing  
a dot ( ) moves to the left.  
.
,
Check whether or not to  
transfer the read parameter  
to the servo driver.  
The positioning parameter is  
copied from the console into the  
servo driver.  
The servo parameter is copied  
from the console into the servo  
driver and the driver type code of  
the servo parameter is written into  
EEPROM (console).  
Error display  
<Remarks>  
If error is displayed,  
repeat the procedures  
from the beginning.  
Copying completes normally.  
To move to the next process, press  
.
When you have finished the copy, press  
to return to  
.
SELECTION display  
<Remarks>  
Don' t disconnect the console from the driver between  
to  
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.  
<Note>  
If the error display repeats frequently, check the broken cable, disconnection of the connector,  
misoperation due to noise or failure of console.  
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Outline of Setup Support Software, "PANATERM®"  
[Setting]  
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.  
How to Connect  
• Connecting cable  
DV0P1960  
(DOS/V)  
RS232  
Connect to CN X4.  
Setup support software  
Setup disc of "PANATERM®"  
DV0P4460 (English/Japanese version)  
Supporting OS : Windows® 98, Windows® 2000,  
Windows® Me, Windows® XP  
Install the "PANATERM®" to Hard Disc  
<Cautions/Notes>  
1. 15MB capacity of hard disc is required. OS to be Window® 98, Windows® 2000, Windows® Me or Win-  
dows® XP.  
2. Install the "PANATERM®" to a hard disc, using the setup disc according to the procedures below to log on.  
Procedure of install  
1) Turn on the power of the computer to log on the supporting OS. (Exit the existing logged on software.)  
2) Insert the setup disc of the "PANATERM®" to CD-ROM drive.  
3) When a window has opened automatically, click a name of file required.  
* If a window has not opened automatically, execute the target setup file through the Explorer.  
4) Operate according to the guidance of the setup program file.  
O K  
5) Click  
on the installation verification window to start the setup.  
6) Exit all applications and log on Windows® again.  
"PANATERM®" will be added on program menu when you log on again.  
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Outline of Setup Support Software, "PANATERM®"  
Log on of the "PANATERM®" .  
<Cautions/Notes>  
1. Once the "PANATERM®" is installed in the hard disc, you do not need to install every time you log on.  
2. Connect the driver to a power supply, the motor and encoder before you log on.  
Refer to the instruction manual of supporting OS for start.  
Procedure of log on  
1) Turn on the power of the computer and log on the supporting OS.  
2) Turn on the power of the driver.  
3) Click the start bottom of the supporting OS.  
(Refer to the instruction manual of supporting OS for start.)  
4) Select the "PANATERM®" with program  
and click.  
5) The screen turns to "PANATERM®" after showing opening splash for approx. 2sec.  
For more detailed information for operation and functions of the "PANATERM®", refer to the instruction  
manual of the Setup Support Software, "PANATERM®".  
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[Operation Setting]  
page  
Overview of Operation Setting.............................106  
Step Operation ......................................................107  
Example of Incremental Operation Setting ............................... 108  
Example of Absolute Operation Setting .................................... 109  
Example of Rotary Axis Operation Setting .................................110  
Example of Dwell Timer Operation Setting ................................ 111  
Jog Operation........................................................ 112  
Homing Operation ................................................. 114  
Home Sensor + Z Phase (based on the front end) ....................116  
Home Sensor (based on the front end)...................................... 117  
Home sensor + Z phase (based on the rear end) ......................118  
Limit Sensor + Z phase ............................................................. 120  
Limit Sensor .............................................................................. 121  
Z Phase Homing........................................................................ 122  
Bumping Homing ....................................................................... 122  
Data Set .................................................................................... 123  
Homing Offset Operation........................................................... 124  
Emergency Stop Operation/Deceleration-and-Stop Operation....... 125  
Temporary Stop Operation ...................................126  
Block Operation ....................................................127  
Continuous Block Operation ..................................................... 127  
Combined Block Operation ....................................................... 128  
Sequential Operation ............................................130  
S-shaped Acceleration/Deceleration Function...131  
Timing Chart ..........................................................132  
Operation Timing after Power-ON ............................................. 132  
When an Error (Alarm) Has Occurred (at Servo-ON Command)......... 133  
When an Alarm Has Been Cleared (at Servo-ON Command) .. 134  
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ..... 135  
Servo-ON/OFF Action While the Motor Is in Motion ................. 135  
Absolute System ...................................................136  
Outline of Full-Closed Control .............................140  
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Overview of Operation Setting  
In MINAS A4P, the following operations can be performed.  
Step operation  
The most basic operation.  
Specify a point number set in advance when performing the operation.  
The four types of modes are available, i.e., an incremental operation,  
.....P.107 absolute operation, rotary axis operation and dwell timer (waiting time).  
Jog operation  
The motor can be moved in a positive direction or negative direction  
independently.  
.....P.112 This is useful for teaching or adjustment.  
Homing operation  
An operation to detect a home position which is the base of operation.  
The eight types of homing operations can be performed in A4P.  
Homing must be completed before performing the step operation etc.  
.....P.114 Also, homing can be disabled by setting a certain parameter.  
Emergency stop/  
An active operation can be interrupted and canceled.  
deceleration-and-stop  
operation  
Emergency stop: An operation stops in a deceleration time specified by a  
special parameter.  
Deceleration-and-stop: An operation stops in a deceleration time specified  
.....P.125 in an operation mode before the start of deceleration.  
Temporary stop operation Active operation can be stopped temporarily and restarted.  
.....P.126  
Block operation  
Several step operations can be performed at a time. The two types of block  
operations below can be executed.  
Continuous block operation: Several step operations can be performed  
continuously. Once an operation starts, the operation continues to a  
specified point number.  
Combined block operation: A step operation is performed according to  
combined several point numbers. This is useful when you want to change  
.....P.127 the speed during a step operation.  
Sequential operation  
A point number increments by 1 automatically whenever an operation  
command is given.  
A step operation can be performed easily only by turning the STB signal  
.....P.130 on/off.  
S-shaped acceleration/  
deceleration operation  
.....P.131  
An operation can be performed smoothly by executing the start and end of  
acceleration/deceleration gradually.  
<Notice>  
• For how to set a step data or parameters, “Hot To Use Console” on page 80.  
• When setting the step parameters using “PANATERM®”, speed = V1 to V6, deceleration = A1 to A4 and  
deceleration = D1 to D4 are shown. This instruction manual describes speed = VEL1 to VEL16, decelera-  
tion = ACC1 to ACC4 and deceleration = DEC1 to DEC4.  
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[Operation Setting]  
Step Operation  
Step Operation  
Positioning can be performed to a specified point by the step operation.  
The four types of modes are available, i.e., an incremental operation, absolute operation, rotary axis opera-  
tion and dwell timer (waiting time).  
Command  
Speed  
Actual motion  
Point specifying input  
(P1IN to P32IN)  
Destination  
point number  
MIN 10ms  
Strobe signal input  
(STB)  
Open  
Close  
Open  
Transistor OFF  
MAX 10ms  
Transistor ON  
Transistor ON  
In-operation signal output  
(BUSY)  
Transistor OFF  
Transistor ON  
Transistor ON Transistor OFF  
In-deceleration output  
(DCLON)  
Positioning completion output  
(COIN)  
Transistor OFF  
Transistor ON  
MAX 10ms  
Previous  
point number  
Destination  
point number  
Current position output  
(P1OUT to P32OUT)  
Procedure  
Description  
Set the step parameters referring to the example of each operation setting since page 108.  
Setting of step  
parameters  
(1)  
(2)  
(3)  
(4)  
Perform the homing referring to “Homing Operation” on page 114. Any step operation is  
unacceptable if homing is not completed.  
Execution of  
homing  
This operation is not required if the absolute mode and homing are disabled.  
Specify an operation point number in the point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5,  
6, 7 and 8).  
Designation of operation  
point number  
By connecting (closing) the open strobe signal input (STB: CN X5 Pin 24) to COM- when 10 ms  
has passed after inputting the point specifying input (P1IN to P32IN), an operation starts  
according to a set value of a point number specified in procedure (3).  
Start of step  
operation  
Check whether a driver is executed by an operation command. If the driver is executed, open the  
strobe signal input (STB) again. If a transistor of the in-operation signal output (BUSY: CN X5 Pin  
28) turns OFF, an operation is in the execution. Even if an operation completes when the strobe  
signal (STB) does not return to the OPEN state, the in-operation signal output (BUSY) remains  
turning OFF.  
Check of operation  
command execution  
(5)  
Check the completion of operation command execution with the in-operation signal output (BUSY).  
If a transistor of the signal returns from OFF to ON, the operation is completed.  
Check of completion  
(6) of operation  
command execution  
Check an operation point number executed by the current position output (P1OUT to P32OUT: CN  
X5 Pin 29, 30, 31, 32, 33 and 34) after checking the operation command execution. The current  
position output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-operation  
signal output (BUSY) turns ON.  
Check of current  
position output  
(7)  
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)  
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning  
the transistor ON/OFF, refer to the diagram above.  
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Step Operation  
Caution  
1) If a set value of speed, acceleration or deceleration at a specified point is “0”, an operation trips due to unde-  
fined data error protection (error code No. 69) and stops according to an operation at alarm occurrence.  
2) If the current position (–2147483647 to 2147483647) overflows when absolute movement is performed  
continuously in the same direction, an operation trips due to current position overflow error protection  
(error code No. 70) and stops according to an operation at alarm occurrence. This error can be disabled  
by 16.Pr51 (Wrap around permission). In this case, however, an absolute position cannot be guaranteed.  
If you disable the wrap around, use the incremental operation only.  
3) If the over-travel inhibit input is enabled in an operating direction during a step operation, an operation  
trips due to over-travel inhibit detection error protection (error code No. 71) and stops according to an  
operation at alarm occurrence. In SV.Pr55 (Over-travel inhibit input operation setting), you can specify  
whether or not to trip an operation.  
4) When the motor has exceeded a maximum travel specified by 32.Pr01 (Setting of maximum movement in  
plus direction) and 32.Pr02 (Setting of maximum movement in minus direction) during a step operation,  
an operation stops due to maximum travel limit error protection (error code No. 72) and stops according to  
an operation at alarm occurrence.  
5) When the servo driver has tripped, a step operation cannot be executed again unless you input an Alarm  
Clear command once and then execute the homing. However, the absolute mode and homing are dis-  
abled, the step operation can be executed without performing the homing operation.  
6) If a motor operation completes although the strobe signal input (STB: CN X5 Pin 24) does not return to the  
OPEN state after the in-operation signal output (BUSY: CN X5 Pin 28) turns OFF, the in-operation signal  
output (BUSY) is still in the OFF state. When the in-operation signal output (BUSY) has turned OFF, be  
sure to return the strobe signal input (STB) to the OPEN state.  
7) Any step operation is unacceptable when the in-operation signal output (BUSY) turns OFF (a previous  
command is being executed).  
Step Operation Mode  
For a positioning operation in this servo driver, you can select any of the four types of operation modes. For  
the details of each operation mode, refer to the relevant page.  
Operation mode  
Description  
Relevant page  
P.108  
Incremental operation (Incremental)  
Absolute operation (Absolute)  
Rotary axis operation (Rotary)  
Dwell timer operation (Dwell time)  
Operates regarding a set value as relative travel from a current position.  
Operates regarding a set value as an absolute position of a target.  
Operates regarding a set value as an absolute position per rotation.  
Operates regarding a set value as a waiting time.  
P.109  
P.110  
P.111  
* A step data can be set in the point numbers 1 (01h) to 60 (3Ch). For details, refer to the table in “Overview  
of Point specifying Input” on page 45.  
* Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremental)  
or absolute operation (Absolute). Wrap around according to the command position and the number of  
pulses per rotation at the current position cannot be performed appropriately.  
Example of Incremental Operation Setting  
In the incremental operation, the motor operates regarding a set value as relative travel from a current  
position.  
Speed  
Speed = VEL1  
Acceleration =  
ACC1  
Deceleration = DEC1  
Travel = Point 1 set value  
(1000000)  
Time  
Origin = 0 Start position = X  
End position = X + 1000000  
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[Operation Setting]  
• Setting of 16-bit positioning parameter  
16.Pr* *  
00  
Parameter name  
VEL1  
ACC1  
DEC1  
Positioning setting first speed  
10  
Positioning acceleration setting 1st  
Positioning deceleration setting 1st  
12  
1. Set the 16-bit positioning parameter in the table above to any value and specify the step parameter  
as shown below.  
2. Perform homing. (Refer to “Homing” on page 114.)  
3. Specify the point 1 when the servo turns on and connect the strobe signal input (STB: CN X5 Pin 24)  
to COM–. Then, an operation starts.  
• Setting of step parameter  
No.  
Operation mode  
Position/Waiting time  
Speed  
Acceleration Deceleration  
ACC1 DEC1  
Block  
01  
Incremental operation (Incremental)  
1000000  
VEL1  
Single  
Example of Absolute Operation Setting  
In the absolute operation, the motor operates regarding a set value as absolute position based on origin = “0”.  
The chart below shows an example to specify the point 1 to the absolute operation for movement.  
Speed  
Speed = VEL1  
Acceleration =  
ACC1  
Deceleration = DEC1  
Time  
Origin = 0 Start position = X  
End position = Point 1 set value  
(+1000000)  
• Setting of 16-bit positioning parameter  
16.Pr* *  
00  
Parameter name  
VEL1  
ACC1  
DEC1  
Positioning setting first speed  
10  
Positioning acceleration setting 1st  
Positioning deceleration setting 1st  
12  
1. Set the 16-bit positioning parameter in the table above and specify the step parameter as shown  
below.  
2. Perform homing. (Refer to “Homing” on page 114.)  
3. Specify the point 1 when the servo turns on and connect the strobe signal input (STB: CN X5 Pin 24)  
to COM–. Then, an operation starts.  
• Setting of step parameter  
No.  
Operation mode  
Position/Waiting time  
Speed  
Acceleration Deceleration  
ACC1 DEC1  
Block  
01  
Absolute operation (Absolute)  
1000000  
VEL1  
Single  
Caution  
1) Wrap around  
If 16.Pr51 (wrap around accepted) is set to “1”, although an error does not occur when wrap around  
happens, an absolute position cannot be guaranteed. If you will combine the absolute operation mode  
and incremental operation mode with each other, take care not to cause the wrap around or do not use the  
absolute operation.  
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Step Operation  
Example of Rotary Axis Operation Setting  
If the rotary axis operation is specified, the shaft moves in a direction nearest from the current position to a  
target position of a step parameter that the rotary axis operation (rotary) has been specified regarding  
32.Pr03 (Movement per rotation in rotation coordinates) as 360 degrees.  
A current position of running motor is automatically limited in a range between 0 and [ travel per rotation at a  
rotary coordinate –1] as shown below.  
Origin = 0  
• If travel per rotation at a rotary  
coordinate is set to “10000”  
... , 2, 1  
9999, 9998, ...  
Point 1 = 1250  
Point 7 = 8750  
Point 2 = 2500  
Point 6 = 7500  
Point 3 = 3750  
Point 5 = 6250  
Point 4 = 5000  
• Setting of 32-bit positioning parameter  
32.Pr* *  
Parameter name  
Input value  
03  
Movement per rotation in rotation coordinates  
10000  
• Setting of step parameter  
No.  
01  
02  
03  
04  
05  
06  
07  
Operation mode  
Position/Waiting time  
Speed  
Acceleration Deceleration  
Block  
Single  
Single  
Single  
Single  
Single  
Single  
Single  
Rotary axis operation (Rotary)  
Rotary axis operation (Rotary)  
Rotary axis operation (Rotary)  
Rotary axis operation (Rotary)  
Rotary axis operation (Rotary)  
Rotary axis operation (Rotary)  
Rotary axis operation (Rotary)  
1250  
2500  
3750  
5000  
6250  
7500  
8750  
VEL1  
VEL1  
VEL1  
VEL1  
VEL1  
VEL1  
VEL1  
ACC1  
ACC1  
ACC1  
ACC1  
ACC1  
ACC1  
ACC1  
DEC1  
DEC1  
DEC1  
DEC1  
DEC1  
DEC1  
DEC1  
Caution  
1) Control mode  
The rotary axis operation is enabled only for the position control (SV.Pr02 = 0). If the rotary axis operation  
is specified for the full-closed control (SV.Pr02 = 6), an error code No. 69 (undefined data error protection)  
is shown.  
2) Restrictions on parameter  
If the rotary axis operation is used, the restrictions below are imposed to the parameters not to exceed the  
limitation of the current position.  
PrNo.  
Name  
Set value  
Description  
The rotary axis operation requires homing. If “0” or “2” is  
set, an error code No. 69 (undefined data error protection)  
is shown when the rotary shaft operation starts.  
Be sure to set “1” if you use the home offset function.  
The rotary axis operation requires homing.  
The combined block operation cannot be used.  
For 16.Pr37 = 0, set “0”. For 16.Pr37 = 0, set a value in a  
range between 0 and [ movement per rotation at a rotary  
coordinate - 1] .  
SV.Pr0B Absolute encoder set up  
1
16.Pr37 Home complete type  
16.Pr38 Homing skip  
16.Pr54 Block operation type  
1
0
0
32.Pr00 Home offset  
For any invalid value out of specified range, an error code  
No. 69 (undefined data error protection) is shown when  
the positioning operation starts.  
Setting of maximum movement in plus  
direction  
2 to  
1073741824  
32.Pr03  
32.Pr01 Setting of maximum movement in minus direction  
32.Pr02 Movement per rotation in rotation coordinates  
0
A maximum travel limitation error protection cannot be  
used for the rotary axis operation.  
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[Operation Setting]  
3) Setting of step data  
• Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremen-  
tal) or absolute operation (Absolute).  
• If a step data set value specified for the rotary axis operation is out of a range between 0 and [ movement per  
rotation at a rotary coordinate –1] , an error code No. 69 (undefined data error protection) is shown.  
4) Jog operation  
If you use the motor in the rotary axis operation, do not perform the jog operation after homing completes.  
The motor may exceed limitation of the current position. If you perform the jog operation by mistake,  
execute the homing again.  
5) Servo off  
Also if the servo has turned off when the motor is used in the rotary axis operation, the motor may exceed  
limitation of the current position. Be sure to execute the homing again after the servo turns on.  
Example of Dwell Timer Operation Setting  
In the dwell timer operation, the motor operates regarding a set value as waiting time.The dwell time operation is  
not used independently. This operation is used as waiting time between the points in the block operation.  
The chart below shows an example to set the point 1 in the dwell timer after the absolute operation at the  
point 2 and perform the relative travel at the point 3 after a specified time has passed.  
Speed  
DEC1  
ACC2  
DEC2  
Speed = VEL1  
Speed = VEL2  
Travel = Point 3 set value  
(+500000)  
Waiting time = Point 1 set value  
(500 x 10[ ms] = 5[ s] )  
ACC1  
Time  
End position = X + 1500000  
Origin = 0 Start position = X  
End position = Point 2 set value (+1000000)  
• Setting of 16-bit positioning parameter  
16.Pr* *  
00, 01  
10, 14  
12, 16  
Parameter name  
VEL1, VEL2  
ACC1, ACC2  
DEC1, DEC2  
Positioning setting first speed, second speed  
Positioning acceleration setting 1st, 2nd  
Positioning deceleration setting 1st, 2nd  
1. Set the 16-bit positioning parameter in the table above to any value and specify the step parameter  
as shown below.  
2. Perform homing. (Refer to “Homing Operation” on page 114.)  
3. Specify the point 1 after the point 2 operation has completed and connect the strobe signal input  
(STB: CN X5 Pin 24) to COM–. Then, a waiting time operation starts. When a waiting time has  
passed, the in-operation signal output (BUSY: CN X5 Pin 28) turns on and the next point 3 operation  
can be specified.  
• Setting of step parameter  
No.  
01  
Operation mode  
Position/Waiting time  
Speed  
VEL1  
VEL1  
VEL2  
Acceleration Deceleration  
Block  
Single  
Single  
Single  
Dwell timer operation (Dwell time)  
Absolute operation (Absolute)  
Incremental operation (Incremental)  
500  
ACC1  
ACC1  
ACC2  
DEC1  
DEC1  
DEC2  
02  
1000000  
500000  
03  
Caution  
1) If a waiting time set value (unit: 10 ms) is larger than 214748364, the waiting time is a maximum of  
214748364 x 10 ms.  
2) To interrupt the dwell timer operation, input emergency stop or deceleration-and-stop signal assigned by  
the multi function input (EX-IN1 and EX-IN2: CN X5 Pin 22 and 25).  
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Jog Operation  
Jog Operation  
The motor can be moved in a positive direction or negative direction independently.  
Command  
Speed  
Actual movement  
Point specifying input  
(P1IN to P32IN)  
or  
A maximum point number – 1 (normal rotation)  
A maximum point number – 2 (reverse rotation)  
multifunction 1, 2  
(EX-IN1, EX-IN2)  
Open  
Close  
MIN 10ms  
Strobe signal input  
(STB)  
Open  
Close  
Open  
MAX 10ms  
In-operation signal output  
(BUSY)  
Transistor OFF  
Transistor ON  
Transistor ON  
MAX 10ms  
In-deceleration output  
(DCLON)  
Transistor OFF  
Transistor OFF  
Transistor ON Transistor ON  
Transistor ON  
Transistor ON  
MAX 10ms  
Positioning completion output  
(COIN)  
A maximum  
point number – 1  
(normal rotation)  
A maximum  
point number – 2  
(reverse rotation)  
Current position output  
(P1OUT to P32OUT)  
Previous  
point number  
Procedure  
Description  
Specify the parameters 16.Pr No. 40 to No. 45 related to the jog operation. For details, refer to “List  
of Parameters Related to Jog Operation” on page 113.  
Setting of parameters  
related to jog operation  
(1)  
There are two ways of starting the jog operation.  
1) Point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8)  
To start the operation, specify a maximum point - 1 for high-speed normal rotation jog or a  
maximum point -2 for high-speed reverse rotation jog and, after 10 ms has passed, connect the  
strobe signal input (STB: CN X5 Pin 24) to COM- (i.e., close the opened connection).  
*
The maximum point number depends on a set value of SV.Pr57 (selection of number of input points).  
(2) Start of jog operation  
2) Multi function input 1 and 2 (EX-IN1 and EX-IN2: CN X5 Pin 22 and 25)  
To start the operation, specify the high-speed normal rotation jog or high-speed reverse rotation  
jog by SV.Pr5A (multi function input 1 signal selection) or SV.Pr5C (multi function input 2 signal  
selection), input the multi function input 1 or 2 and, after 10 ms has passed, connect the strobe  
signal input (STB: CN X5 Pin 24) to COM– (i.e., close the opened connection).  
When the in-operation signal output (BUSY: CN X5 Pin 28) turns OFF, an operation becomes ready  
to be executed.  
Check of command  
(3)  
execution  
When you make the strobe signal input (STB) open, an operation decelerates and stops. While the  
contact of the strobe signal input is closed, the jog operation continues.  
Stop of jog operation  
(4)  
Check the completion of operation command execution through the in-operation signal output  
(BUSY). When a transistor of the signal has returned from OFF into ON, this means that the  
operation has completed.  
Check of completion  
(5) of operation  
command execution  
Check an operation point executed by the current position output (P1OUT to P32OUT: CN X5 Pin  
29, 30, 31, 32, 33 and 34) after checking the operation command execution. The current position  
output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-operation signal  
output (BUSY) has returned to ON.  
Check of current  
(6)  
position output  
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)  
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning  
the transistor ON/OFF, refer to the diagram above.  
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[Operation Setting]  
• Parameters related to jog operation  
Set the parameters below when performing the jog operation.  
16.Pr* *  
Description  
Specify the speed of low-speed jog operation (0 to 6000 r/min). Use this parameter only when  
performing the jog operation from the console (optional). For details, refer to page 90.  
Specify the speed of high-speed jog operation (0 to 6000 r/min). For the jog operation by point  
specifying or multi function input (refer to procedure (2) on page 112), specify the jog speed using this  
parameter.  
40  
41  
Specify the acceleration for the jog operation. Available acceleration time is in a range between 0 and  
3000 r/min.  
42  
43  
44  
45  
Specify the S-shaped acceleration for the jog operation. Specify the S-shaped control time during  
acceleration time (0 to 1000 r/min). For details, refer to page 131.  
Specify the deceleration for the jog operation. Available acceleration time is in a range between 3000  
and 0 r/min.  
Specify the S-shaped deceleration for the jog operation. Specify the S-shaped control time during  
deceleration time (0 to 1000 r/min). For details, refer to page 131.  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to undefined data error  
protection (error code No. 69) and stops according to an operation at alarm occurrence.  
• 16.Pr40 (Jog speed (low))  
• 16.Pr41 (Jog speed (high))  
• 16.Pr42 (Jog operation acceleration setting)  
• 16.Pr44 (Jog operation deceleration setting)  
2) If the current position (–2147483647 to 2147483647) overflows when the jog operation is performed  
continuously in the same direction, an operation trips due to current position overflow error protection  
(error code No. 70) and stops according to an operation at alarm occurrence. This error can be disabled  
by 16.Pr51 (wrap around permission). In this case, however, an absolute position cannot be guaranteed.  
If you disable the wrap around, use the incremental operation only.  
3) If the over-travel inhibit input is enabled in an operating direction during the jog operation after homing has  
completed, an operation trips due to over-travel inhibit detection error protection (error code No. 71) and  
stops according to an operation at alarm occurrence. In the SV.Pr55 (Over-travel inhibit input operation  
setting), you can specify whether or not to trip the deceleration operation. However, if the over-travel  
inhibit input in the operating direction is enabled during the jog operation before homing completes, an  
error does not occur although the motor complies with the deceleration pattern of SV.Pr55.  
4) When the motor has exceeded a maximum travel specified by 32.Pr01 (Setting of maximum movement in  
plus direction) and 32.Pr02 (Setting of maximum movement in minus direction) during the jog operation  
after homing has completed, an operation stops due to maximum travel limit error protection (error code  
No. 72) and stops according to an operation at alarm occurrence. However, the maximum travel limit error  
protection does not work during the jog operation before homing completes.  
5) For the jog operation by an external signal, high-speed normal rotation jog operation and high-speed  
reverse rotation jog operation only can be executed. (If the console is used, low-speed normal rotation jog  
operation and low-speed reverse rotation jog operation also can be performed.)  
6) Even if you specify the high-speed normal rotation jog and high-speed reverse rotation jog in the multi  
function input (EX-IN1 and EX-IN2) and turn ON the strobe signal input (STB) when both of EX-IN1 and  
EX-IN2 turns ON, the motor does not work.  
7) If the jog operation is stopped by a stop command (emergency stop, deceleration-and-stop or temporary  
stop), the current position output (P1OUT to P3OUT) is not updated.  
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Homing Operation  
Homing Operation  
To start a step operation after turning the power supply on, you need to execute the homing to detect a home  
position as the base. Homing must be completed in advance. According to your intended purpose, select  
one mode in the “Homing Mode List” below and execute it.  
For A) below, homing is not required because the homing is completed when the power supply turns on.  
A) Homing is completed when the power supply turns on  
• “0” or “2” is set to SV.Pr0B (absolute encoder setting) using an absolute encoder or absolute external scale.  
When homing is executed for this setting, an absolute position corresponding to the hone position is  
stored in EEPROM of the driver. If the absolute position when homing has been executed last is set to  
the hone position, no homing is required.  
For details, refer to “Absolute System” on page 136.  
• If “1” (homing not required) is set to 16.Pr38 (Homing skip)  
For this setting, set a motor position when the power supply turn on to “32.Pr00 (Home offset) set value”.  
B) Homing is not completed  
• After the power supply turns on, excluding the case A) above  
Execute the homing. Then, the homing is completed.  
• When an alarm is given, excluding the case A) above  
If the setting (the case A) above) that the homing is required when the power supply turns on is not  
satisfied, the homing has not yet been completed when an alarm has been given.  
In this case, eliminate the cause of the alarm, clear the alarm and execute the homing. Then, the  
homing can be completed.  
• When the homing starts  
The homing is not completed even if the homing starts. When the homing finishes normally, the homing  
is completed. If the homing is interrupted due to input of an operation stop (emergency stop, temporary  
stop or deceleration-and-stop), servo off, trip, etc., the homing is not completed. Retry the homing from  
the beginning.  
• When the normal auto-tuning or frequency characteristics measurement is executed  
Even if the normal auto-tuning is executed by a console or “PANATERM®” or the frequency characteris-  
tics measurement is executed by “PANATERM®”, the homing is not completed. Execute the homing  
again. Otherwise, for the setting A) above, the homing can be completed by turning the power supply on  
again.  
Homing Mode List  
The table below lists the available homing modes selected by combining 16.Pr36 (Homing type) and control  
mode (SV.Pr02) with each other. For the details of each mode, refer to the relevant page (page 116 to page  
123).  
16-bit positioning parameter No. 36 Positioning Full-closed Relevant  
Operation  
(Homing type setting)  
control  
control  
page  
P.116  
P.117  
P.118  
P.120  
P.121  
P.122  
P.122  
P.123  
Home sensor + Z phase (based on the front end)  
Home sensor (based on the front end)  
Home sensor + Z phase (based on the rear end)  
Limit sensor + Z phase  
0
1
2
3
4
5
6
7
Limit sensor  
Z phase homing  
Bumping homing  
Data set  
Caution  
In the table above, “ ” means “Available” and “ ” means “Unavailable (error code No. 68 (homing error  
protection) is shown)”.  
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[Operation Setting]  
A chart of I/O signal timing during homing and an operating procedure are shown as an example of the case  
that 16.Pr36 (Homing type) is “0” (Home sensor + Z phase (based on the front end)).The same procedure is  
performed also in any other homing mode.  
Homing speed (high-speed)  
Homing speed (low-speed)  
Command  
Actual motion  
Speed  
Point specifying input  
(P1IN to P32IN)  
A maximum point number (homing)  
MIN 10ms  
Strobe signal input  
(STB)  
Open  
Close  
MAX 10ms  
Open  
Home sensor input  
(Z-LS)  
Open  
Close  
Open  
Close  
Transistor ON  
In-operation signal output  
(BUSY)  
Transistor OFF  
Transistor ON  
Transistor ON  
In-deceleration output  
(DCLON)  
Transistor OFF  
Transistor OFF  
Transistor OFF  
Transistor ON  
Transistor ON  
Transistor OFF  
MAX 10ms  
Transistor ON  
Positioning completion output  
(COIN)  
Transistor OFF  
Transistor ON Transistor ON  
MAX 10ms  
Current position output  
(P1OUT to P32OUT)  
ALL OFF (Homing is not completed)  
ALL ON (Homing is not completed)  
Procedure  
Description  
Setting of parameters Specify 16.Pr30 (homing speed (high-speed)), 16.Pr31 (homing speed (low-speed)), 16.Pr33  
(1) related to homing  
operation  
(homing acceleration setting), 16.Pr34 (homing deceleration setting) and 16.Pr35 (homing direction  
setting).  
Designation of point  
Specify a maximum point number depending on SV.Pr57 (selection of number of input points),  
using the point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).  
By connecting (closing) the open strobe signal input (STB: CN X5 Pin 24) to COM– when 10 ms  
has passed after inputting the point specifying input (P1IN to P32IN), an operation starts  
according to a set value of a point number specified in procedure (3).  
(2)  
number  
Start of homing  
(3)  
operation  
Check whether a driver is executed by an operation command. If the driver is executed, open the  
strobe signal input (STB) again. If a transistor of the in-operation signal output (BUSY: CN X5 Pin  
28) turns OFF, an operation is in the execution. Even if an operation completes when the strobe  
signal (STB) does not return to the OPEN state, the in-operation signal output (BUSY) remains OFF.  
Check the completion of operation command execution with the in-operation signal output (BUSY).  
If a transistor of the signal returns from OFF to ON, the operation is completed.  
Check of operation  
(4)  
command execution  
Check of completion  
(5) of operation  
command execution  
Check that the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) is  
“ALL ON” (homing has been completed) after checking the operation command execution. The  
current position output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-  
operation signal output (BUSY) turns ON.  
Check of current  
(6)  
position output  
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)  
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning  
the transistor ON/OFF, refer to the diagram above.  
Caution  
Because a command position and current position are preset at the instant when a home position has been  
detected, COIN turns ON momentarily and the motor overruns a little and returns. Then, COIN turns OFF/  
ON according to the positional deviation.  
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Homing Operation  
Home Sensor + Z Phase (based on the front end)  
Example: Z phase count = 3 at an operation in a positive direction  
Direction of homing  
Positive direction  
limit sensor  
Negative direction  
limit sensor  
Home sensor  
L-SPD  
Z phase  
(1) A starting point is between the  
home sensor and negative  
H-SPD  
direction limit sensor (also on  
the negative direction limit sensor)  
L-SPD  
(2) A starting point is on  
the home sensor  
H-SPD  
L-SPD  
H-SPD  
(3) A starting point is between the  
positive direction limit sensor  
and home sensor  
H-SPD  
L-SPD  
(4) A starting point is on the  
positive direction limit sensor  
H-SPD  
Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get out  
of the home sensor area once and detect the home sensor (at the front end) by 16.Pr31 (Homing speed  
(low)) again. After that, count the Z phase specified times by 16.Pr3B (Homing Z-phase count setting) and  
define that point as a home position.  
• Parameters related to this operation  
Parameter number  
Description  
30  
31  
Specify the high speed for the homing operation (0 to 6000 r/min).  
Specify the low speed for the homing operation (0 to 6000 r/min).  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
33  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.  
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)  
Specify a type of homing. ([ 0] : Home sensor + Z phase (based on the front end))  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset  
operation, refer to page 124.  
16.Pr**  
34  
35  
36  
37  
3B  
01  
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)  
Specify the home offset (–2147483647 to 2147483647 pulses).  
32.Pr**  
If the home offset is not required, specify “0”.  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection  
(error code No. 68) and stops according to an operation at alarm occurrence.  
• 16.Pr30 (Homing speed (high))  
• 16.Pr31 (Homing speed (low))  
• 16.Pr33 (Homing acceleration setting)  
• 16.Pr34 (Homing deceleration setting)  
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[Operation Setting]  
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below  
during homing, an operation trips due to homing error protection (error code No. 68) and stops according  
to an operation at alarm occurrence.  
• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home  
sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction  
of homing, has been detected.  
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase  
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel  
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,  
stop in the deceleration time “0”.)  
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)  
when the motor is decelerating after it detects the home sensor or limit sensor.  
4) We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase  
detection start position (L-SPD in the home sensor area in a figure shown at the previous page). The  
number of Z phase counts may vary. A position where the Z phase is counted specified times is defined as  
the home position, even if the position is out of the home sensor area during Z phase count.  
Home Sensor (based on the front end)  
Direction of homing  
Positive direction  
limit sensor  
Negative direction  
limit sensor  
Home sensor  
H-SPD  
L-SPD  
(1) A starting point is between the  
home sensor and negative  
direction limit sensor (also on  
the negative direction limit sensor)  
L-SPD  
L-SPD  
L-SPD  
(2) A starting point is on  
the home sensor  
H-SPD  
H-SPD  
H-SPD  
(3) A starting point is between the  
positive direction limit sensor  
and home sensor  
(4) A starting point is on the  
positive direction limit sensor  
H-SPD  
Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get out  
of the home sensor area once, detect the home sensor (at the front end) by 16.Pr31 (Homing speed (low))  
again and define that point as a home position.  
• Parameters related to this operation  
Parameter number  
Description  
Specify the high speed for the homing operation (0 to 6000 r/min).  
30  
31  
Specify the low speed for the homing operation (0 to 6000 r/min).  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.  
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)  
Specify a type of homing. ([ 1] : Home sensor (based on the front end))  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform)  
For the home offset operation, refer to page 124.  
33  
16.Pr**  
32.Pr**  
34  
35  
36  
37  
01  
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.  
117  
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Homing Operation  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection  
(error code No. 68) and stops according to an operation at alarm occurrence.  
• 16.Pr30 (Homing speed (high))  
• 16.Pr31 (Homing speed (low))  
• 16.Pr33 (Homing acceleration setting)  
• 16.Pr34 (Homing deceleration setting)  
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below  
during homing, an operation trips due to homing error protection (error code No. 68) and stops according  
to an operation at alarm occurrence.  
• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home  
sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction  
of homing, has been detected.  
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel  
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,  
stop in the deceleration time “0”.)  
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)  
when the motor is decelerating after it detects the home sensor or limit sensor.  
4) In this system, delay time of a maximum of 2 ms is caused when detecting the home sensor (front end) at  
the part and, therefore, the home position varies to the extent of a maximum of homing speed (low)  
multiplied by 2 (ms).  
Home sensor + Z phase (based on the rear end)  
Example: Z phase count = 3 at an operation in a positive direction  
Direction of homing  
Positive direction  
limit sensor  
Negative direction  
limit sensor  
Home sensor  
L-SPD  
H-SPD  
(1) A starting point is between the  
home sensor and negative  
direction limit sensor (also on  
the negative direction limit sensor)  
(2) A starting point is on  
the home sensor  
L-SPD  
L-SPD  
H-SPD  
(3) A starting point is between the  
positive direction limit sensor  
and home sensor  
H-SPD  
L-SPD  
(4) A starting point is on the  
positive direction limit sensor  
H-SPD  
Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), decel-  
erate to 16.Pr31 (Homing speed (low)), detect the home sensor (at the rear end) turning off, count the Z  
phase specified times by 16.Pr3B (Homing Z phase count setting) and define that point as a home position.  
118  
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[Operation Setting]  
• Parameters related to this operation  
Parameter number  
Description  
30  
31  
Specify the high speed for the homing operation (0 to 6000 r/min).  
Specify the low speed for the homing operation (0 to 6000 r/min).  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
33  
34  
35  
36  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.  
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)  
Specify a type of homing. ([ 2] : Home sensor + Z phase (based on the rear end))  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset  
operation, refer to page 124.  
16.Pr**  
37  
3B  
01  
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)  
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.  
32.Pr**  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection  
(error code No. 68) and stops according to an operation at alarm occurrence.  
• 16.Pr30 (Homing speed (high))  
• 16.Pr31 (Homing speed (low))  
• 16.Pr33 (Homing acceleration setting)  
• 16.Pr34 (Homing deceleration setting)  
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below  
during homing, an operation trips due to homing error protection (error code No. 68) and stops according  
to an operation at alarm occurrence.  
• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home  
sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction  
of homing, has been detected.  
• A limit sensor in a traveling direction has been detected during detection of the home sensor at the rear end  
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase  
How to decelerate at the detection of a limit sensor depends on the settings of the servo parameter No. 55  
(over-travel inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set  
value = 1 or 3, stop in the deceleration time “0”.)  
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)  
when the motor is decelerating after it detects the home sensor or limit sensor.  
4) We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase  
detection start position (L-SPD out of the home sensor area in a figure shown above). The number of Z  
phase counts may vary. A position where the Z phase is counted specified times is defined as the home  
position, even if the position is out of the home sensor area during Z phase count.  
119  
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Homing Operation  
Limit Sensor + Z phase  
Example: Z phase count = 3 at an operation in a positive direction  
Direction of homing  
Positive direction  
limit sensor  
Negative direction  
limit sensor  
Z phase  
L-SPD  
L-SPD  
(1) A starting point is at any place  
other than on the negative limit  
sensor  
H-SPD  
(2) A starting point is on the negative  
limit sensor  
Detect the home sensor and the limit sensor in a reverse direction, not in a direction of homing, by 16.Pr30  
(Homing speed (high)), decelerate, and stop. After that, detect the limit sensor turning off in a direction of  
homing by 16.Pr31 (Homing speed (low)), count the Z phase specified times by 16.Pr3B (homing Z phase  
count setting) and define that point as a home position.  
• Parameters related to this operation  
Parameter number  
Description  
30  
31  
Specify the high speed for the homing operation (0 to 6000 r/min).  
Specify the low speed for the homing operation (0 to 6000 r/min).  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
33  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.  
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)  
Specify a type of homing. ([ 3] : Limit sensor + Z phase)  
16.Pr**  
34  
35  
36  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset  
operation, refer to page 124.  
37  
3B  
01  
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)  
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.  
32.Pr**  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection  
(error code No. 68) and stops according to an operation at alarm occurrence.  
• 16.Pr30 (Homing speed (high))  
• 16.Pr31 (Homing speed (low))  
• 16.Pr33 (Homing acceleration setting)  
• 16.Pr34 (Homing deceleration setting)  
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below  
during homing, an operation trips due to homing error protection (error code No. 68) and stops according  
to an operation at alarm occurrence.  
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase  
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel  
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,  
stop in the deceleration time “0”.)  
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)  
when the motor is decelerating after it detects the limit sensor.  
4) We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase  
detection start position (L-SPD out of the negative limit sensor area in a figure shown above).The number  
of Z phase counts may vary.  
120  
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[Operation Setting]  
Limit Sensor  
Example: An operation in a positive direction  
Direction of homing  
H-SPD  
Positive direction  
limit sensor  
Negative direction  
limit sensor  
L-SPD  
L-SPD  
(1) A starting point is at any place  
other than on the positive limit  
sensor  
(2) A starting point is on the positive  
limit sensor  
H-SPD  
Detect the limit sensor in a direction of homing by 16.Pr30 (Homing speed (high)), decelerate and stop. After  
that, get out of the limit sensor area once, detect the limit sensor turning off by 16.Pr31 (Homing speed (low))  
and define that point as a home position.  
• Parameters related to this operation  
Parameter number  
Description  
30  
31  
Specify the high speed for the homing operation (0 to 6000 r/min).  
Specify the low speed for the homing operation (0 to 6000 r/min).  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
33  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.  
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)  
Specify a type of homing. ([ 4] : Limit sensor)  
16.Pr**  
34  
35  
36  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset  
operation, refer to page 124.  
37  
32.Pr**  
01  
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection  
(error code No. 68) and stops according to an operation at alarm occurrence.  
• 16.Pr30 (Homing speed (high))  
• 16.Pr31 (Homing speed (low))  
• 16.Pr33 (Homing acceleration setting)  
• 16.Pr34 (Homing deceleration setting)  
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below  
during homing, an operation trips due to homing error protection (error code No. 68) and stops according  
to an operation at alarm occurrence.  
• After the reversal due to detection of a limit sensor in a direction of homing, a limit sensor in the reverse  
direction, not in a direction of homing, has been detected.  
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel  
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,  
stop in the deceleration time “0”.)  
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)  
when the motor is decelerating after it detects the limit sensor.  
4) In this system, delay time of a maximum of 2 ms is caused when detecting the limit sensor at the part  
and, therefore, the home position varies to the extent of a maximum of homing speed (low) multiplied by  
2 (ms).  
121  
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Homing Operation  
Z Phase Homing  
Example: Z phase count = 3 at an operation in a positive direction  
Direction of homing  
Count the Z phase specified times by 16.Pr3B (homing  
Z phase count setting) while moving in a direction of  
homing according to 16.Pr31 (Homing speed (low)) and  
define that point as a home position.  
L-SPD  
• Parameters related to this operation  
Parameter number  
Description  
31  
Specify the low speed for the homing operation (0 to 6000 r/min).  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
33  
34  
35  
36  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.  
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)  
Specify a type of homing. ([ 5] : Z phase homing)  
16.Pr**  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset  
operation, refer to page 124.  
37  
3B  
01  
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)  
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.  
32.Pr**  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection  
(error code No. 68) and stops according to an operation at alarm occurrence.  
• 16.Pr31 (Homing speed (low))  
• 16.Pr33 (Homing acceleration setting)  
• 16.Pr34 (Homing deceleration setting)  
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below  
during homing, an operation trips due to homing error protection (error code No. 68) and stops according  
to an operation at alarm occurrence.  
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase  
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel  
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,  
stop in the deceleration time “0”.)  
3) If a start position of homing is near the Z phase output position, the number of Z phase counts may vary.  
Bumping Homing  
Example: An operation in a positive direction  
The motor moves in a direction of homing accord-  
Direction of homing  
ing to 16.Pr30 (Homing speed (high)). During the  
H-SPD  
homing, the motor output torque limit becomes  
16.Pr3A (Torque limit for bumping homing). When  
the state the motor output torque is limited by the  
hit & stop torque limit has been kept for a period  
Stopper etc.  
specified by 16.Pr39 (Bumping detection time), de-  
fine that point as a home position  
122  
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[Operation Setting]  
• Parameters related to this operation  
Parameter number  
Description  
Specify the high speed for the homing operation (0 to 6000 r/min).  
30  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
33  
34  
35  
36  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.  
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)  
Specify a type of homing. ([ 6] : Bumping Homing)  
16.Pr**  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset  
operation, refer to page 124.  
37  
39  
3A  
01  
Specify the bumping detection time (0 to 10000 ms).  
Specify the torque limit for the bumping homing (0 to 100%).  
32.Pr**  
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.  
Caution  
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection  
(error code No. 68) and stops according to an operation at alarm occurrence.  
• 16.Pr30 (Homing speed (high))  
• 16.Pr33 (Homing acceleration setting)  
• 16.Pr34 (Homing deceleration setting)  
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below  
during homing, an operation trips due to homing error protection (error code No. 68) and stops according  
to an operation at alarm occurrence.  
• A limit sensor has turned on at the startup.  
• A limit sensor in a traveling direction has been detected during detection of bumping.  
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel  
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,  
stop in the deceleration time “0”.)  
3) If a set value of 16.Pr39 (Bumping detection time) and 16.Pr3A (Torque limit for bumping homing) is small,  
the bumping may not be detected exactly.  
Data Set  
Example:  
A current position is defined as a home position. If  
the motor is moved to any position by JOG and hom-  
Direction of homing  
ing of data set system is executed, that place is  
defined as a home position and the homing is com-  
pleted.  
Home position = current position  
• Parameters related to this operation  
Parameter number  
Description  
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home  
offset operation, refer to page 124.  
32  
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min. (This is required only  
when performing an offset operation.)  
33  
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min. (This is required only  
when performing an offset operation.)  
34  
16.Pr**  
36  
37  
Specify a type of homing. ([ 7] : Data set)  
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset  
operation, refer to page 124.  
32.Pr**  
01  
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.  
123  
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Homing Operation  
Homing Offset Operation  
The home offset at the completion of homing can be specified by 32.Pr00 (Home offset). Specify the travel  
from a machine home position (homing completion position) to the “0” position as the home offset.  
• 16.Pr37 (Home complete type) is set to “0”  
The motor stops at the machine home position when the homing has completed and, at the same time, a  
command position is set to [ - home offset] .  
• 16.Pr37 (Home complete type) is set to “1”  
After the motor stops at a machine home position, preset a command position = [ - home offset] . Then,  
perform a step operation for the home offset at a speed specified by 16.Pr32 (Homing offset speed). In this  
case, the command position after the home offset operation completes becomes “0”  
Caution  
1) If 16.Pr32 (Homing offset speed), 16.Pr33 (Homing acceleration setting) and 16.Pr34 (Homing decelera-  
tion setting) are “0”, an operation trips due to the error code No. 69 (undefined data error protection) and  
stops according to an operation at alarm occurrence.  
2) Do not set [ - home offset] out of a maximum travel limit range.The error code No. 72 (maximum travel limit  
error protection) may be shown.  
3) Set the home offset appropriately so that a position of [ command position = 0] is not in the over-travel  
inhibit input range. The home offset may not be completed.  
* Example of homing offset  
• Homing offset is set to “ +5000”  
(Homing offset operation)  
(Homing)  
Negative  
direction  
Positive  
direction  
Machine homing  
= – homing offset  
= –5000  
Command position = 0  
Homing offset travel  
= homing offset  
= +5000  
• Timing chart  
Completion of homing operation Start of homing offset operation  
Command  
Speed  
Actual motion  
In-operation signal output  
(BUSY)  
Transistor OFF  
Transistor OFF  
Transistor OFF  
Transistor ON  
Transistor OFF  
In-deceleration output  
(DCLON)  
Transistor ON  
Positioning completion output  
(COIN)  
Transistor ON  
Current position output  
(P1OUT to P32OUT)  
Point 0  
Maximum point number (homing completed)  
124  
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[Operation Setting]  
Emergency Stop Operation/Deceleration-and-Stop Operation  
Emergency Stop Operation/Deceleration-and-Stop Operation  
An active operation can be interrupted and canceled.  
Emergency stop  
: An operation stops in a deceleration time specified by a special parameter.  
Deceleration-and-stop : An operation stops in a deceleration time specified in an operation mode before the  
start of deceleration.  
For emergency stop:  
Decelerates according to 16.Pr No. 49  
(deceleration time at emergency stop).  
For deceleration-and-stop:  
Decelerates according to the decelera-  
Command  
Actual motion  
MAX 10ms  
tion time specified in an operation  
mode before deceleration starts.  
Speed  
Multifunction input 1, 2  
(EX-IN1, EX-IN2)  
Close  
Open  
Open  
In-operation signal output  
(BUSY)  
Transistor OFF  
Transistor ON  
Transistor OFF  
Transistor ON  
Transistor OFF  
In-deceleration output  
(DCLON)  
Transistor ON  
Positioning completion output  
(COIN)  
Transistor OFF  
Transistor ON  
Transistor ON  
Current position output  
(P1OUT to P32OUT)  
Does not change  
Procedure  
Description  
Assign the emergency stop or deceleration-and-stop to the multifunction input 1 (EX-IN1: CN X5  
Pin 22) or multifunction input 2 (EX-IN2: CN X5 Pin 25) by SV.Pr5A (multi function input 1 signal  
selection) or SV.Pr5C (multi function input 2 signal selection).  
By connecting (closing) the open multi function input 1/2, to which the emergency stop or  
deceleration-and-stop is assigned, into COM– when the motor is running, an active operation is  
canceled and a stop operation starts. The signal logic can be changed by SV.Pr59 (multi function  
input 1 signal logic) or SV.Pr5B (multi function input 2 signal logic).  
• For emergency stop: An operation decelerates according to 16.Pr49 (deceleration time at  
emergency stop). If a set value is “0”, an operation stop in the deceleration time “0”.  
• For deceleration-and-stop: An operation stops in a deceleration time specified in an operation  
mode at the start of deceleration.  
Assignment of emergency  
stop/deceleration-and-stop  
(1)  
(2)  
Start of emergency  
stop/deceleration-  
and-stop  
When a stop operation has completed, a transistor of the in-operation signal output (BUSY: CN X5  
Pin 28) turns ON again. Then, the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30,  
31, 32, 33 and 34) keeps the state before the deceleration.  
(3) Stop confirmation  
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)  
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of turning  
the transistor ON/OFF, refer to the diagram above.  
Caution  
1) Even if the multifunction input 1/2 (EX-IN1/EX-IN2) is returned to the OPEN state, the deceleration is not  
canceled and the stop operation continues. Return the multi function input to the previous state after the  
emergency stop or deceleration-and-stop, specify a point just like as a normal step operation and connect  
(close) the open strobe signal input (STB: CN X5 Pin 24) to COM–. Then, movement to the point starts.  
2) When you input a stop signal during a homing operation, retry the homing operation from the beginning.  
3) If the emergency stop and deceleration-and-stop are assigned to the multifunction input 1 and 2 (EX-IN1  
and EX-IN2), respectively, and those are input simultaneously, the higher priority is given to the emer-  
gency stop.  
4) If the emergency stop is input during deceleration by the deceleration-and-stop, an operation stops in the  
deceleration time “0”.  
5) When the emergency stop or deceleration-and-stop is input, the start of step operation, jog operation and  
homing operation (strobe signal input (STB) ON) is ignored.  
125  
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Temporary Stop Operation  
Temporary Stop Operation  
An active operation can be stopped temporarily and restarted.  
Command  
Actual motion  
Speed  
MAX 10ms  
MAX 10ms  
Open  
Multifunction input 1, 2  
(EX-IN1, EX-IN2)  
Close  
Open  
In-operation signal output  
(BUSY)  
Transistor OFF  
Transistor ON  
Transistor OFF  
Transistor ON  
Transistor ON  
Transistor OFF  
Transistor ON  
In-deceleration output  
(DCLON)  
Transistor OFF  
Transistor ON  
Transistor ON  
Positioning completion output  
(COIN)  
Transistor OFF  
Transistor OFF  
MAX 10ms  
Transistor ON  
Current position output  
(P1OUT to P32OUT)  
Procedure  
Description  
Assign the temporary stop to the multi function input 1 (EX-IN1: CN X5 Pin 22) or multi function  
input 2 (EX-IN2: CN X5 Pin 25) by SV.Pr5A (multi function input 1 signal selection) or SV.Pr5C  
(multi function input 2 signal selection).  
By connecting (closing) the open multi function input 1 or multi function input 2, to which the  
temporary stop is assigned, into COM- when the motor is running, an active operation is stopped  
temporarily. Then, the deceleration operation complies with the settings specified in an operation  
mode at the start of deceleration.  
Even if the stop operation is completed, a transistor of the in-operation signal output (BUSY: CN X5  
Pin 28) remains OFF. Therefore, if the stop must be checked, check it with the positioning  
completion output (COIN: CN X5 Pin 27).  
Assignment of  
temporary stop  
(1)  
(2)  
(3)  
Start of temporary  
stop  
Check of stop by  
temporary stop  
An operation can be restarted by opening again the multi function input 1 or multi function input 2 to  
which the temporary stop is assigned. After the restart, check the completion of operation etc. in the  
same procedure as a step operation.  
Cancellation of  
(4) temporary stop and  
restart of operation  
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)  
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning  
the transistor ON/OFF, refer to the diagram above.  
Caution  
1) The temporary stop operation is enabled only for the step operation. The temporary stop operation works  
like the deceleration-and-stop for the jog operation and homing operation and any operation before the  
temporary operation is canceled.  
2) When you input a temporary stop signal during a homing operation, retry the homing operation from the  
beginning.  
3) If the emergency stop or deceleration-and-stop is input during the temporary stop, the temporary stop is  
terminated forcibly. An operation cannot be restarted even if the input of the temporary stop is canceled.  
4) If the emergency stop is input during deceleration by the temporary stop, an operation stops in the decel-  
eration time “0”.  
5) If the temporary stop is input and the temporary stop is canceled during the motor deceleration, an opera-  
tion stops once and then restarts.  
6) If the temporary stop is input at the start of step operation command, the step operation is held although  
the command is accepted. After that, the step operation which was held starts when the temporary stop  
has been canceled. The start (strobe signal input (STB) ON) of the jog operation/homing operation in  
temporary stop is ignored.  
126  
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[Operation Setting]  
Block Operation  
Overview of Block Operation  
This servo driver can perform the two types of block operations, i.e., continuous block operation and com-  
bined block operation. These operations can be switched by 16.Pr54 (block operation type setting).  
Continuous block operation :Several step operations can be performed continuously. Once an operation  
starts, the operation continues to a specified point number.  
Combined block operation : A step operation is performed according to combined several point numbers.  
This is useful when you want to change the speed during a step operation.  
16.Pr54  
Description  
(block operation type setting)  
0
1
Continuous block operation  
Combined block operation  
Continuous Block Operation  
If 16.Pr54 (block operation type setting) is “0” (continuous block operation) and the block setting of the point  
number specified by point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8) is “Block”, the step  
operation is performed continuously in order from the specified point number to the block number of “Single”  
block setting.  
Acceleration = ACC1  
Speed = VEL1  
Deceleration = DEC1  
Moving to the absolute position “0”  
Speed  
[ 01]  
[ 02]  
Moving to the absolute  
position “500000”  
Waiting time  
5 seconds  
[ 03]  
Deceleration  
= DEC2  
Acceleration  
= ACC2  
Speed  
= VEL2  
Point specifying input  
(P1IN to P32IN)  
1 (01H)  
MIN10ms  
Close  
Strobe signal input  
(STB)  
Open  
Open  
Transistor OFF  
Transistor ON  
Transistor ON  
In-operation signal output  
(BUSY)  
In-deceleration output  
(DCLON)  
Transistor OFF  
Transistor ON  
Transistor ON  
Transistor OFF  
Transistor OFF  
Transistor OFF  
MAX 10ms  
Positioning completion output  
(COIN)  
MAX 10ms  
MAX 10ms  
3 (03H)  
Point output  
(P1OUT to P32OUT)  
1 (01H)  
2 (02H)  
Continuous block operation procedure (example)  
1. Set a 16-bit positioning parameter and step parameter. (Refer to “Parameters Used in this Operation  
Example” on page 128.)  
2. Execute the homing. (Refer to “Homing Operation” on page 114.)  
3. Specify the point 1 when the servo turns on and input the strobe signal input (STB: CN X5 Pin 24). Then,  
an operation is performed continuously, e.g., [ 01] > [ 0>2][ 03] .  
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Block Operation  
• Parameters Used in this Operation Example  
16-bit positioning parameter  
16.Pr**  
54  
Symbol in diagram  
Description  
Specify a type of block operation. ([ 0] for the continuous block operation)  
Specify the first speed (0 to 6000 r/min)  
01  
VEL1  
VEL2  
02  
Specify the second speed (0 to 6000 r/min)  
Specify the first acceleration speed (0 to 10000 ms)  
10  
ACC1  
ACC2  
DEC1  
DEC2  
Specify in the acceleration speed in a range between 0 and 3000 r/min.  
Specify the second acceleration speed (0 to 10000 ms)  
Specify in the acceleration speed in a range between 0 and 3000 r/min.  
Specify the first deceleration speed (0 to 10000 ms)  
14  
12  
Specify in the deceleration speed in a range between 3000 and 0 r/min.  
Specify the second deceleration speed (0 to 10000 ms)  
Specify in the deceleration speed in a range between 3000 and 0 r/min.  
16  
Step parameter  
ST.Pr**  
01  
Operation mode  
Position/Waiting time  
Speed  
VEL1  
VEL1  
VEL2  
Acceleration Deceleration  
Block  
Block  
Block  
Single  
Absolute operation (Absolute)  
Dwell timer operation (Dwell time)  
Absolute operation (Absolute)  
500000  
500  
ACC1  
ACC1  
ACC2  
DEC1  
DEC1  
DEC2  
02  
03  
0
Caution  
1) A maximum point number (specified by the settings of SV.Pr57 (selection of number of input points)) is  
treated as the “Single” operation, regardless of the block setting.  
2) The change into the last point number (point “10” in this example) of the in-operation signal output (BUSY:  
CN X5 Pin 28) and the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34)  
is made only when the last step operation of the continuous block operation has completed and the strobe  
signal input (STB: CN X5 Pin 24) is in the OPEN state. Be sure to make the strobe signal input (STB) open  
after the in-operation signal output (BUSY) turns OFF.  
Combined Block Operation  
If the block setting of a point number specified by the point specifying input (P1IN to P32IN: CN X5 Pin 3, 4,  
5, 6, 7 and 8) is “Block” when 16.Pr54 (block operation type setting) is “1” (combined block operation), the  
operation which consists of combined step operations from a specified point number to the “Single” point  
number specified by the block setting.  
Speed = VEL1  
MAX = ACC1  
An operation does not stop and the  
speed changes from VEL1 into VEL2.  
Deceleration  
= DEC1  
Speed = VEL2  
Speed  
[ 01]  
Deceleration = DEC2  
[ 02]  
Travel: 1000 + 5000 = 15000 pulses  
1 (01H)  
Point specifying input  
(P1IN to P32IN)  
MIN10ms  
Close  
Strobe signal input  
(STB)  
Open  
Open  
In-operation signal output  
(BUSY)  
Transistor OFF  
Transistor ON  
Transistor OFF  
Transistor ON  
Transistor ON  
Transistor OFF  
In-deceleration output  
(DCLON)  
Transistor OFF  
Transistor OFF  
Transistor ON  
Transistor ON  
Positioning completion output  
(COIN)  
Transistor ON  
MAX 10ms  
MAX 10ms  
Point output  
(P1OUT to P32OUT)  
1 (01H)  
2 (02H)  
128  
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[Operation Setting]  
Combined block operation procedure (example)  
1. Set a 16-bit positioning parameter and step parameter. (Refer to “Parameters Used in this Operation  
Example” below.)  
2. Execute the homing. (Refer to “Homing Operation” on page 114.)  
3. Specify the point 1 when the servo turns on and input the strobe signal input (STB: CN X5 Pin 24). Then,  
an operation is performed without stopping, e.g., [ 01] >[ 02] .  
• Parameters Used in this Operation Example  
16-bit positioning parameter  
16.Pr**  
54  
Symbol in diagram  
Description  
Specify a type of block operation. ([ 1] for the combined block operation)  
Specify the first speed. (0 to 6000 r/min)  
01  
VEL1  
VEL2  
02  
Specify the second speed. (0 to 6000 r/min)  
Specify the acceleration speed. (0 to 10000 ms)  
10  
ACC1  
DEC1  
Specify in the acceleration speed in a range between 0 and 3000 r/min.  
The acceleration speed at the combined points must be all the same.  
Specify the deceleration speed. (0 to 10000 ms)  
12  
Specify in the deceleration speed in a range between 3000 and 0 r/min.  
The deceleration speed at the combined points must be all the same.  
Step parameter  
ST.Pr**  
01  
Operation mode  
Position/Waiting time  
10000  
Speed  
VEL1  
VEL2  
Acceleration Deceleration  
Block  
Block  
Single  
Incremental operation (Incremental)  
Incremental operation (Incremental)  
ACC1  
ACC1  
DEC1  
DEC1  
02  
5000  
Caution  
1) A combined operation up to a maximum point number (specified by the settings of SV.Pr57 (selection of  
number of input points)) available as a step operation can be performed. However, the maximum point  
number is treated as the “Single” operation, regardless of the block setting.  
2) If the block setting of the next point number is “Dwell time”, an operation works like the continuous block  
operation (refer to page 127).  
3) Do not specify “Rotary” as an operation mode. The combined block operation is unavailable in the rotary  
axis operation.  
4) During the combined block operation, the linear acceleration/deceleration only is enabled and the S-  
shaped acceleration/deceleration is ignored. The deceleration speed at the combined points must be all  
the same.  
5) If a step operation in a reverse traveling direction is defined as a combined block operation by the “Block”  
designation, the motor moves to the first point by step, stops once, moves back and then starts an opera-  
tion to the next point.  
6) The change into the last point number (point “10” in this example) of the in-operation signal output (BUSY:  
CN X5 Pin 28) and the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34)  
is made only when the last step operation of the combined block operation has completed and the strobe  
signal input (STB: CN X5 Pin 24) is in the OPEN state. Be sure to make the strobe signal input (STB) open  
after the in-operation signal output (BUSY) turns OFF.  
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Sequential Operation  
Sequential Operation  
The sequential operation can be performed by setting 16.Pr52 (sequential operation setting) to “1”. When  
the sequential operation is set, execute a step operation by incrementing a point number by 1 at every  
inputting the strobe signal input (STB: CN X5 Pin 24) when the servo turns on, not using the point specifying  
input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).  
• Homing operation at sequential operation  
1) 16.Pr38 (homing disabling setting) is “0” (homing required) and an operation mode is not the absolute  
mode (SV.Pr0B (absolute encoder setting) is “1”).  
=> Homing is executed by the first strobe signal input (STB) after the power supply turns on.  
A sequential operation is performed beginning with the point 1 after the next strobe signal.  
2) 16.Pr38 (homing disabling setting) is “1” (homing not required) and an operation mode is the absolute  
mode (SV.Pr0B (absolute encoder setting) is “0” or “2”).  
=> A sequential operation is performed beginning with the point 1 when the first strobe signal is input,  
because homing is not required.  
A maximum point number of the sequential operation can be set by 16.Pr53 (a maximum point number of  
sequential operation). After a step operation of the maximum point number is executed, the operation re-  
turns to the point 1. In the sequential operation, the maximum point number can be specified in a range  
between 1 and 60, because the setting of SV.Pr57 (selection of number of input points) is disabled.  
Example of Operation  
16.Pr52 (sequential operation setting) = 1 (enabled)  
16.Pr53 (a maximum point number of sequential operation) = 3  
Point 2  
Homing  
operation  
Point 1  
Point 1  
Power supply  
turns on  
Open  
Close  
Point 3  
STB  
1st time  
= homing  
operation  
2nd time  
= Operation  
at point 1  
3rd time  
= Operation  
at point 2  
4th time  
= Operation at point 3  
5th time  
= Operation at point 4  
Procedure  
Description  
Set 16.Pr52 (sequential operation setting) to “1” and necessary positioning parameters to 16.Pr53  
(a maximum point number of sequential operation), “homing operation” and “step operation”.  
Turn the servo on after the power supply turns on again.  
(1) Setting of parameter  
(2) Power reset  
Close the first open strobe signal input (STB). Then, homing is executed.  
Execution of homing  
operation  
(3)  
After that, an operation is performed in order at every inputting the strobe signal input (STB), e.g.,  
point 1 > point 2 > point 3 > point 1 > point 2 > ...  
Designation of  
(4) operation point  
number  
Caution  
1) When setting the sequential operation, an operation command (step operation, homing, jog operation or  
Alarm Clear) cannot be executed by the point specifying input (P1IN to P32IN). However, the Alarm Clear  
can be specified by assignment of the multifunction input 1/2 (EX-IN1/EX-IN2: CN X5 Pin 22/25).  
2) A block operation is unavailable when the sequential operation is set.  
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[Operation Setting]  
S-shaped Acceleration/Deceleration Function  
S-shaped Acceleration/Deceleration Function  
This servo driver can perform the S-shaped acceleration/deceleration at the acceleration/deceleration.  
Set the S-shaped acceleration/deceleration in the time to reach the acceleration at the linear acceleration/  
deceleration in 16-bit positioning parameter “Positioning S-shaped acceleration/deceleration setting 1st to  
4th” and “S-shaped acceleration/deceleration at jog operation”.  
16-bit positioning parameter “Positioning S-  
shaped acceleration/deceleration setting 1st to  
4th” is for input of a value of acceleration time  
in a range between 0 and 3000 r/min. So,  
V1  
specify as shown below.  
<Note>  
The examples 1 to 3 below explain the  
acceleration and apply also to the  
V1 = Set speed (16.Pr00)  
t1 = Acceleration time  
t
2
t2  
t2 = S-shaped acceleration time (16.Pr11) deceleration.  
t1  
Example 1:  
Linear acceleration (t2 = 0)  
Example 2:  
S-shaped section less than 50% (t2 <  
Example 3:  
S-shaped section 50% (t2 =  
t
2
1
t
2
1
)
)
V1  
V1  
V1  
t2  
t2  
t2  
t2  
t1  
t
1
t1  
V
1
= 2000r/min  
= 100ms  
V
1
= 2000r/min  
= 100ms  
= 30ms  
V
1
= 2000r/min  
= 100ms  
= 50ms  
3000  
V1  
In order to set:  
t1  
t
t
1
2
t
t
1
2
In order to set:  
16.Pr10 = (t1 –  
In order to set:  
16.Pr10 = (t1 –  
3000  
16.Pr10 = t1  
x
3000  
V
1
t
2) x  
t
2) x  
V1  
3000  
2000  
= 100ms x  
= 150ms  
3000  
2000  
3000  
2000  
= 70ms x  
= 105ms  
= 50ms x  
= 75ms  
16.Pr00 1st speed  
16.Pr10 1st acceleration  
2000  
150  
0
16.Pr00 1st speed  
2000  
105  
30  
16.Pr00 1st speed  
2000  
75  
16.Pr10 1st acceleration  
16.Pr10 1st acceleration  
16.Pr11 1st S-shaped acceleration  
16.Pr11 1st S-shaped acceleration  
16.Pr11 1st S-shaped acceleration  
50  
Caution  
1) Change during a motor step operation applies at the next step operation.  
2) When a combined block operation is used (16.Pr54 (Block operation type) = 1), all the operations are per-  
formed in the linear acceleration/deceleration, regardless of the S-shaped acceleration/deceleration setting.  
3) If the S-shaped acceleration/deceleration setting is “0”, the linear acceleration/deceleration applies.  
4) Also if a value of the S-shaped acceleration/deceleration setting is out of an available range, the linear  
acceleration/deceleration applies.  
5) If a deceleration command or travel during the S-shaped acceleration/deceleration is small, smooth S-  
shaped characteristics may not be obtained.  
6) The calculation above shows a theoretical value. Actual S-shaped acceleration/deceleration may cause  
an error in the setting.  
• Available set range of S-shaped acceleration/deceleration (decimals omitted)  
2500 p/r encoder S-shaped acceleration/deceleration setting [ ms]  
(12795÷0 acceleration/deceleration setting [ ms] ) – 1  
77066.24 ÷ acceleration/deceleration setting [ ms – 1  
17-bit encoder S-shaped acceleration/deceleration setting [ ms] 16  
(
)]  
Example of calculation: 2500 p/r encoder  
For acceleration/deceleration setting = 1000 [ ms] , an available set range of S-shaped acceleration/deceleration is:  
<
<
S-shaped acceleration/deceleration setting [ ms] (127950 ÷ 1000) – 1 126.950 [ ms]  
=
=
Therefore, for the S-shaped acceleration/deceleration setting of 127 [ ms] or more, the linear acceleration/  
deceleration is enabled.  
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Timing Chart  
Operation Timing after Power-ON  
Control  
power supply  
(L1C,L2C)  
OFF  
ON  
Approx. 100 to 300ms  
Approx. 2s  
Internal control  
power supply  
Activated  
OFF  
Approx. 1.5s  
*3  
Microcomputer  
Initialize  
Reset  
ON  
0s or more  
OFF  
Main power supply  
(L1, L2, L3)  
ON  
*2  
Approx. 10ms  
or more  
Servo alarm output  
(X5 Pin 15)  
OFF  
ON  
Approx. 10ms  
or more  
*2  
0ms or more  
ON  
Servo-ON input  
(X5 Pin 23)  
OFF  
Approx. 2ms  
OFF  
Dynamic brake  
Motor energized  
ON  
Approx.  
40ms  
Not energized  
Energized  
Approx. 2ms  
BRK-OFF output  
(X5 Pin 36)  
OFF (Brake engaged)  
ON  
(Brake released)  
Point specifying input  
(P1IN - P32IN)  
Point setting  
MIN 10ms  
Strobe signal  
(STB)  
OFF  
ON  
Approx. 100ms or more *1  
<Notes>  
• The above chart shows the timing from AC power-ON to command input.  
• Activate the external command input according to the above timing chart.  
Caution  
*1. In this term Servo-ON input (CN X5 SRV-ON:pin23) turns ON as a hard ware, but operation command  
can not be received.  
*2. Servo alarm output (CN X5 ALM:pin15) turns ON when the microcomputer's initialization is completed,  
and the condition of no error is occurring. Servo-ON input turns ON after Servo alarm turns ON and the  
main power supply is activated sufficiently.  
* 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 (CWL,CCWL) or emergency stop input (EMG-STP), so as to de-  
cide their logic until this term.  
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[Operation Setting]  
When an Error (Alarm) Has Occurred (at Servo-ON Command)  
Alarm  
normal  
alarm  
0.5 to 5 ms  
Dynamic brake  
Motor energization  
released  
energized  
engaged *2  
non-energized  
Servo-Ready output  
(S-RDY)  
alarm  
not alarm  
Setup value of  
SV.Pr6B  
Break release output  
(BRK-OFF)  
released (ON)  
engaged (OFF)  
t1 * 1  
when setup  
motor speed  
value of SV.Pr6B  
is shorter,  
approx.30r/min  
Setup value of  
SV.Pr6B  
released (ON)  
engaged (OFF)  
t1 * 1  
when time to fall  
below 30r/min  
is shorter,  
motor speed  
approx.30r/min  
Current position output *3  
(P1OUT to P32OUT)  
EX.) Point 2  
all OFF (Point 0)  
Caution  
*1. t1 will be a shorter time of either the setup value of SV.Pr6B or elapsing time for the motor speed to fall  
below 30r/min.  
t1 will be 0 when the motor is in stall regardless of the setup pf SV.Pr6A.  
*2. For the action of dynamic brake at alarm occurrence, refer to an explanation of SV.Pr68, "Sequence at  
alarm ("Parameter setup" at each control mode) as well.  
*3. When an alarm has been given, the homing is not completed. So, all the transistors of the current posi-  
tion output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) turn OFF (point “0”).  
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Timing Chart  
When an Alarm Has Been Cleared (at Servo-ON Command)  
120ms or longer  
Alarm-clear input  
clear  
(Refer to the following  
for the input method.)  
engaged  
Dynamic brake  
approx.2ms  
released  
approx.40ms  
not-energized  
Motor energization  
energized  
Brake release output  
(BRK-OFF)  
engaged (OFF)  
released (ON)  
approx.2ms  
Servo-Alarm output  
(ALM)  
not ready  
ready  
100ms or longer  
Homing command  
(Input ON strobe signal,  
after point specifying.)  
start to engage  
homing  
not input  
completed  
maximum  
point number  
Current position output  
(P1OUT to P32OUT)  
all OFF (Point 0)  
1) Alarm Clear can be input in the two ways below.  
1. Point input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8)  
Specify the point “0” and, when 10 ms or more has passed, enable the strobe signal (STB: CN X5 Pin 24).  
Alarm Clear is started when the disabled strobe signal input has been enabled.  
2. Multi function input (EX-IN1/EX-IN2: CN X5 Pin 22/25)  
Assign the Alarm Clear to the multi function input 1 (EX-IN1: CN X5 Pin 22) or multi function input 2 (EX-  
IN2: CN X5 Pin 25) by SV.Pr5A (multi function input 1 signal selection) or SV.Pr5C (multi function input  
2 signal selection) to enable the Alarm Clear.  
Alarm Clear is started when the disabled strobe signal input has been enabled.  
The signal logic of multi function input can be changed by SV.Pr59 (multi function input 1 signal logic) or  
SV.Pr5B (multi function input 2 signal logic).  
2) The servo driver power supply turns on again after an alarm is cleared.  
A step operation can be performed by executing the homing.  
When the homing has been completed, a transistor of the current position output (P1OUT to P32OUT: CN  
X5 Pin 29, 30, 31, 32, 33 and 34) becomes a maximum point number decided by SV.Pr57 (selection of  
number of input points).  
However, in the absolute mode or if the homing is not required, a transistor of the current position output  
(P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) becomes a maximum point number decided by  
SV.Pr57 (selection of number of input points) immediately after Alarm Clear and the step operation can be  
performed.  
134  
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[Operation Setting]  
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)  
Servo-ON input  
(SEV-ON)  
OFF  
ON  
approx.2ms  
OFF  
1 to 5ms  
t1 * 1  
engaged * 3  
released  
engaged * 2  
Dynamic brake  
not-energized  
energized  
not-energized  
Motor energization  
approx.40ms  
engaged (OFF)  
approx.2ms  
released (ON)  
Brake release output  
(BRK-OFF)  
engaged (OFF)  
Caution  
*1. t1 will be determined by SV.Pr6A setup value.  
*2. For the dynamic brake action at Servo-OFF, refer to an explanation of SV.Pr69, "Sequence at Servo-  
OFF ("Parameter setup" at each control mode) as well.  
*3. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.  
*4. Once the servo turns off, the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33  
and 34) is held to be unchanged until the next point operation is completed.  
Servo-ON/OFF Action While the Motor Is in Motion  
(Timing at emergency stop or trip. Do not repeat this sequence. During the normal operation, stop the motor,  
then make Servo-ON/OFF action.)  
Servo-ON input  
(SEV-ON)  
OFF  
OFF  
ON  
* 4  
approx.1 to 5ms  
Dynamic brake  
Motor energization  
engaged * 2  
released  
engaged * 2  
not-energized  
energized  
not-energized * 4  
approx.40ms  
Setup value of  
SV.Pr6B  
approx.2ms  
released (ON)  
engaged  
(OFF)  
engaged  
(OFF)  
Brake release output  
(BRK-OFF)  
Motor rotational  
speed  
approx.30r/min  
t1 * 1  
Motor rotational speed  
Setup value of  
SV.Pr6B  
when setup  
value of SV.Pr6B  
is shorter,  
approx.30r/min  
Motor rotational  
speed  
servo validated  
released (ON)  
engaged (OFF)  
t1 * 1  
when setup  
value of SV.Pr6B  
is shorter,  
No servo-ON until the motor speed  
falls below approx. 30r/min.  
Motor rotational  
speed  
approx.30r/min  
Caution  
*1. t1 will be a shorter time of either the setup value of SV.Pr6B or elapsing time for the motor speed to fall  
below 30r/min.  
*2. For a dynamic brake operation during servo off and a motor operation state during deceleration, refer to  
the explanation of SV.Pr69 (sequence at servo off) also.  
*3. For the action of dynamic brake at alarm occurrence, refer to an explanation of Pt69, "Sequence at  
Servo-OFF ("Parameter setup" at each control mode) as well.  
*4. Once the servo turns off, the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33  
and 34) is held to be unchanged until the next point operation is completed.  
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Absolute System  
Overview of Absolute System  
In a motor of the absolute encoder specifications or absolute/incremental specifications, an absolute system  
can be constructed by connecting a battery for an absolute encoder and changing the setting of SV.Pr0B  
(absolute encoder setting) from “1” (default setting) into “0” or “2”. In the absolute system, homing is not  
required after turning the power supply on.  
Configuration of Absolute System  
The data of an absolute encoder consists of single-turn data, which output an absolute position always  
within single turn, and multi-turn data which counts the number of turns. When a battery for the absolute  
encoder is connected, the multi-turn data can be held even if the power supply turns off. This allow to hold a  
home position set once, even after the  
power supply is reset. For the home po-  
131071, 0,1,2 ...... 131071, 0,1,2 ......131071, 0,1,  
Single-turn data  
– 1 0  
CW  
0 1  
1 2  
sition setting, “Setup (Initialization) of Ab-  
solute Encoder” on page 138.  
Multi-turn data  
Motor rotating direction  
CCW  
Battery (for Backup) Installation  
First Installation of the Battery  
After installing and connecting the back-up battery to the motor, execute an absolute encoder setup. Refer  
to P.138, "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.  
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.99, "How to Clear the Battery Alarm".  
<Caution>  
When you execute the absolute encoder with the console (refer to P.100 of Setting), all of error and multi-  
turn data will be cleared together with alarm, and you are required to execute “Setup (Initialization) of abso-  
lute encoder” (refer to P.138).  
How to Replace the Battery  
1) Refresh the new battery.  
Connector with lead wire of  
the battery to CN601 and  
leave of 5 min. Pull out the  
connector from CN601 5 min  
after.  
2) Take off the cover  
of the battery box.  
3) Install the battery to  
the battery box.  
Connect  
the connector.  
CN601  
Raise the latch and  
take off the cover.  
Pull out after 5 min.  
connection  
Place the battery with  
+ facing downward.  
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[Operation Setting]  
4) Close the cover of the battery box.  
<Caution>  
Use the following battery for absolute encoder.  
Part No. : DV0P2990 (Lithium battery by Toshiba Battery Co.,  
Ltd. ER6V, 3.6V 2000mAh)  
Close the cover  
not to pinch the  
connector cable.  
<Cautions>  
• Be absolutely sure to follow the precautions below since improper use of the battery can cause electrolyte to  
leak from the battery, giving rise to trouble where the product may become corroded, and/or the battery itself  
may rupture.  
1) Insert the battery with its “+” and “–” electrodes oriented correctly.  
2) Leaving a battery which has been used for a long period of time or a battery which is no longer usable sitting inside  
the product can cause electrolyte leakage and other trouble. For this reason, ensure that such a battery is replaced  
at an early date. (As a general guideline, it is recommended that the battery be replaced every two years.)  
• The electrolyte inside the battery is highly corrosive, and if it should leak out, it will not 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.  
3) Do not disassemble the battery or throw it into a fire.  
• Do not disassemble the battery since fragments of the interior parts may fly into your eyes, which is  
extremely dangerous. It is also dangerous to throw a battery into a fire or apply heat to it as doing so may  
cause it to rupture.  
4) Do not cause the battery to be short-circuited. Under no circumstances must the battery tube be peeled off.  
• It is dangerous for metal items to make contact with the “+” and “–” electrodes of the battery since such  
objects may cause a high current to flow all at once, which will not only reduce the battery performance but  
also generate considerable heat, possibly leading to the rupture of the battery.  
5) This battery is not rechargeable. Under no circumstances must any attempt be made to recharge it.  
• The disposal of used batteries after they have been replaced may be subject to restrictions imposed by local  
governing authorities. In such cases, ensure that their disposal is in accordance with these restrictions.  
<Reference>  
Following example shows the life calculation of the back-up battery used in assumed robot operation.  
2000[ mAh] of battery capacity is used for calculation. Note that the following value is not a guaranteed value, but  
only represents a calculated value. The values below were calculated with only the current consumption fac-  
tored in.The calculations do not factor in electrolyte leakage and other forms of battery deterioration.  
Life time may be shortened depending on ambient condition.  
1) 2 cycles/day  
Mon. to Sat. 313 days/365 day  
Sun. 52 days/365 days  
24h  
a : Current consumption in normal mode 3.6[µA]  
b : Current consumption at power failure timer mode  
280[µA]  
24h  
10h 2h  
10h 2h  
ON  
* Power failure timer mode...Action mode in time  
period when the motor can respond to max.  
speed even the power is off (5sec).  
Power  
supply  
OFF  
c : Current consumption at power failure mode 110[µA]  
a
b c  
a
b c  
c
Annual consumption capacity = (10h x a + 0.0014h x b + 2h x c) x 2 x 313 days + 24h x c x 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 x a + 0.0014h x b + 14h x c) x 313 days + 24h x c x 52 days = 640.6[ mAh] )  
Battery life = 2000[ mAh] /630.6[ mAh] = 3.1 (3.1715) [ year]  
137  
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Absolute System  
When you make your own cable for 17-bit absolute encoder  
When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute  
encoder, DV0P2060 or DV0P2990 as per the wiring diagram below. Connector of the battery for absolute  
encoder shall be provided by customer as well.  
<Cautions>  
Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, 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 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 mist, iron powder or chips and etc.  
3) Well-ventilated and humid and dust-free place.  
4) Vibration-free place  
Wiring Diagram  
Pin number when a connector is used  
Pin number when a cannon plug is used  
Junction connector for  
encoder cable  
Twisted  
pair  
Connector, CN X6  
(Optional connector kit)  
1
(Optional connector kit)  
7 (H)  
8 (G)  
E5V  
E0V  
E5V  
2
E0V  
Battery  
1 (T)  
2 (S)  
4 (K)  
5 (L)  
3 (J)  
1
2
1
2
5
BAT+  
BAT–  
PS  
PS  
BAT+  
BAT–  
BAT+  
BAT–  
6
PS  
Connector, ZHR-2  
(by J.S.T.)  
FG (Case)  
PS  
Part No. DV0P2060  
Lithium battery by Toshiba Battery Co., Ltd.  
ER6V 3.6V 2000mAh  
Battery for absolute encoder (Option)  
DV0P2060 or DV0P2990  
FG  
50  
Lead wire  
Title  
Connector  
Part No.  
ZMR-2  
Manufacturer  
J.S.T.  
Connector pin SMM-003T-P0.5  
Clamping Jig YRS-800  
J.S.T.  
J.S.T.  
Connector for absolute encoder connection  
(To be provided by customer)  
Setup (Initialization) of Absolute Encoder  
Execute the setup of absolute encoder in the following cases.  
• Initial setup of the machine  
• When absolute system down error protection (alarm No. 40) occurs  
• When the encoder cable is pulled out  
*For a normal operation, calculate the travel using a value  
A home position can be set in the two ways  
below.  
that the home position is subtracted from the motor position.  
Servo Driver  
• Normal homing  
Battery for  
Absolute  
Encoder  
Step  
EEPROM  
Operation  
(Refer to “Homing Operation” on page 114.)  
Execute one of the eight types of homing op-  
erations and store that position in EEPROM  
as the position. Positioning is performed  
based on the stored position as the home  
position even after the power supply reset.  
(
Home position)  
Jog  
Operation  
Servo Motor  
Single-turn data  
Multi-turn data  
Encoder  
Motor  
Position  
Absolute  
Homing  
Operation  
(
)
position  
CN X6  
*The motor position is stored in EEPROM when homing has been completed.  
• Define “ 0” position of absolute encoder as a home position  
Clear an absolute encoder so that a machine home position and the “0” position of absolute encoder can  
match with each other. By using a data of the absolute encoder after the power supply reset, positioning is  
performed based on the “0” position of absolute encoder as the home position.  
The absolute encoder is cleared through a console or “PANATERM®”. A multi-turn data only is cleared by  
clearing the absolute encoder.  
138  
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[Operation Setting]  
Clearing Absolute Encoder  
• Using a console  
(1) Turn the power supply on and mount it to the machine when you find a position where a machine home  
position and single-turn data of the absolute encoder become “0”. (A position of single-turn data = “0” is  
a position where the Z phase is output, only when the pulse output division ratio is “1:1”.)  
(2) After mounting it, turn it one quarter or one half turn counterclockwise. (If you perform clearing at a  
position where the Z phase is output, the home position may turn completely in the worst case. Turn it  
counterclockwise slightly from the Z phase output position when performing clearing.)  
(3) Put the console in the auxiliary function mode and enable the EXECUTION display for “Absolute en-  
coder clear mode”. (Refer to “Absolute Encoder Clearing Function” in “Settings” on page 100.)  
(Auxiliary function mode)  
SELECTION  
EXECUTION  
Automatic offset adjustment mode  
Motor trial operation mode  
Alarm clearing mode  
Absolute encoder clearing mode  
(4) Operate the key as shown below in the EXECUTION display.  
When you keep on pressing  
(approximately 3 seconds),  
” increases.  
Absolute encoder clearing starts.  
Clearing completes instantly.  
Note: For the incremental encoder,  
clearing is executed.  
display appears when absolute encoder  
(5) Turn the power supply off once and turn it on again.  
®
• Using the setup support software “ PANATERM ”  
Basically, the step (3) and (4) only are different from the procedure by the console. The absolute encoder  
is cleared when you open the monitor window, select the [ Absolute encoder] tab and press the [ Clear]  
button for the multi-turn data and encoder error. A digital value of single-turn data is shown on the same  
monitor window. So, you do not need to check the Z phase as stated in 1).  
139  
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Outline of Full-Closed Control  
What Is Full-Closed Control ?  
In this full-closed control, you can make a position control by using a external scale mounted externally  
which detects the machine position directly and feeds it back.. With this control, you can control without  
being affected by the positional variation due to the ball screw error or temperature and you can expect to  
achieve a very high precision positioning in sub-micron order.  
(Speed detection)  
Position  
command  
Position detection  
External scale  
Preparation for full-closed control  
1) Wire the external scale referring to “Wiring to CN X7” in “System Configuration and Wiring” on page 40.  
2) Set SV.Pr02 (control mode setting) to “6” (full-closed control). (Change becomes enabled after turning the  
power supply on again.)  
3) Specify each parameter according to “Cautions on Full-Closed Control” below.  
Cautions on Full-Closed Control  
A4P-series supports the external scale of a communication type. Execute the initial setup of parameters per  
the following procedures, then write into EEPROM and turn on the power again before using this function.  
<How to make an initial setup of parameters related to external scale >  
1) Turn on the power after checking the wiring.  
2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the  
console or with the setup support software, PANATERM®.  
3) Move the work and check the travel from the initial values of the above 2).  
4) If the travel of the feedback sum and the external scale feedback pulse sum are reversed in positive  
and negative, set up the reversal of external scale direction (SV.Pr7C) to 1.  
5) Set up the external scale division ratio (SV.Pr78-7A) using the formula below,  
Total variation of external scale feedback pulse sum  
External scale division ratio =  
Total variation of feedback pulse sum  
SV.Pr78 x 2 SV.Pr79  
=
SV.Pr7A  
<
<
We recommend 1/20 external scale division ratio 20.  
=
=
If the external scale division ratio is set to a value smaller than 50/position loop gain (SV.Pr10,  
18), control per pulse may not be performed. If the external scale division ratio is set to a larger  
value, an operating noise may become large.  
* If the design value of the external scale division ratio is obtained, set up this value.  
6) Set up appropriate value of hybrid deviation excess (SV.Pr7B) in 16 pulse unit of the external scale  
resolution, in order to avoid the damage to the machine.  
* A4P-series driver calculates the difference between the encoder position and the external scale  
position as hybrid deviation, and is used to prevent the machine runaway or damage in case of  
the external scale breakdown or when the motor and the load is disconnected.  
If the hybrid deviation excess range is too wide, detection of the breakdown or the disconnection  
will be delayed and error detection effect will be lost. If this is too narrow, it may detect the normal  
distortion between the motor and the machine under normal operation as an error.  
* When the external scale division ration is not correct, hybrid deviation excess error (Err25) may  
occur especially when the work travels long distance, even though the external scale and the  
motor position matches.  
In this case, widen the hybrid deviation excess range by matching the external scale division ratio  
to the closest value.  
140  
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[Adjustment]  
page  
Gain Adjustment....................................................142  
Real-Time Auto-Gain Tuning Mode......................144  
Adaptive Filter ........................................................................... 147  
Normal Mode Auto-Gain Tuning ..........................148  
Release of Automatic Gain Adjusting Function .151  
Manual Gain Tuning (Basic) .................................152  
Adjustment in Position Control Mode ........................................ 153  
Adjustment in Full-Closed Control Mode................................... 154  
Gain Switching Function............................................................ 155  
Suppression of Machine Resonance ........................................ 158  
Manual Gain Tuning (Application) .......................160  
Instantaneous Speed Observer ................................................ 160  
Damping Control ....................................................................... 161  
141  
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Gain Adjustment  
Purpose  
It is required for the servo driver to run the motor in least time delay and as faithful as possible against the  
commands from the host controller. You can make a gain adjustment so that you can run the motor as  
closely as possible to the commands and obtain the optimum performance of the machine.  
<e.g. : Ball screw>  
Gain setup : Low  
Gain setup : High  
Gain setup : High + feed forward setup  
[ r/min]  
+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  
Velocity loop gain  
Time constant of  
V-loop integration  
Velocity loop feed forward :  
Inertia ratio  
:
20  
Position loop gain  
Velocity loop gain  
Time constant of  
V-loop integration  
Velocity loop feed forward :  
Inertia ratio  
: 100  
Position loop gain  
Velocity loop gain  
Time constant of  
V-loop integration  
Velocity loop feed forward : 500  
Inertia ratio : 100  
: 100  
: 100  
:
50  
50  
0
:
50  
:
50  
:
:
50  
0
: 100  
: 100  
Procedures  
Start adjustment  
Automatic  
adjustment ?  
No  
No  
Yes  
(see P.151)  
Ready for  
command  
input ?  
Release of  
auto-adjusting  
function  
Yes  
(Default)  
(see P.148)  
(see P.144)  
Real time  
Normal mode  
auto-gain tuning  
auto-gain tuning  
Action O.K.?  
Yes  
No  
Action O.K.?  
Yes  
No  
No  
Load  
characteristics  
vary?  
(see P.152)  
(see P.151)  
Yes  
Release of  
auto-adjusting  
function  
Manual gain tuning  
Action O.K.?  
Yes  
No  
Writing to EEPROM  
Finish adjustment  
Consult to authorized dealer  
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[Adjustment]  
Type  
Pages  
to  
refer  
Function  
Explanation  
Estimates the load inertia of the machine in real time, and auto-  
matically sets up the optimum gain corresponding to this result.  
Reduces the resonance vibration point by automatically setting  
up the notch filter coefficient which removes the resonance  
component from the torque command while estimating the res-  
onance frequency from the vibrating component which appears  
n the motor speed in actual operating condition.  
Real-time auto-gain tuning  
P.144  
Adaptive filter  
P.147  
Sets up the appropriate gain automatically by calculating the  
load inertia from the torque required to run the motor in the  
command pattern automatically created in the driver.  
Describes the cautions when you invalidate the real-time auto-  
gain tuning or adaptive filter which are defaults.  
Normal mode auto-gain tuning  
P.148  
P.151  
Release of automatic gain  
adjusting function  
Execute the manual adjustment when real-time auto-gain tun-  
ing cannot be executed due to the limitation of control mode  
and load condition, or when you want to obtain an optimum re-  
sponse depending on each load.  
Manual gain tuning (basic)  
P.152  
Adjustment of position control mode  
P.153  
P.154  
Basic procedure  
Adjustment of full-closed control mode  
You can expect to reduce vibration at stopping and settling  
time and to improve command compliance by switching the  
gains by internal data or external signals.  
Gain switching function  
P.155  
P.158  
P.160  
When the machine stiffness is low, vibration or noise may be gen-  
erated due to the distorted axis, hence you cannot set the higher  
gain. You can suppress the resonance with two kinds of filter.  
You can obtain the higher performance while you are not satis-  
fied with the performance obtained with the basic adjustment,  
using the following application functions.  
Suppression of machine  
resonance  
Manual gain tuning (application)  
Function which obtains both high response and reduction of vi-  
bration at stopping by estimating the motor speed with the load  
model, and hence improves the accuracy of speed detection.  
Function which reduces vibration by removing the vibration fre-  
quency component while the front end of the machine vibrates.  
Instantaneous speed observer  
Damping control  
P.160  
P.161  
<Remarks>  
• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the main  
power, or turn to Servo-OFF.  
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Real-Time Auto-GainTuning Mode  
Outline  
Gain  
Filter  
Motor  
Position/Velocity  
command  
auto-setup auto-adjustment  
Torque  
command  
current  
Estimates the load inertia of the  
machine in real time and sets  
up the optimum gain automati-  
cally responding to the result.  
Also, an adaptive filter can  
cope with any load caused by  
the resonance.  
current  
control  
Position/Velocity  
control  
Adaptive  
Filter  
Motor  
Action command under  
actual condition  
Resonance frequency  
estimation  
Load inertia estimation  
Real time  
auto-gain tuning  
Motor  
speed  
Encoder  
Servo driver  
Applicable Range  
Conditions under which the real-time auto-gain tuning is activated  
• Real time auto-gain tuning is applicable to all control modes.  
However, the load inertia estimation will be disabled when a motor trial operation function  
is executed and a frequency characteristics measurement function of “PANATERM®” is  
used.  
Control mode  
Others  
• The servo turns on.  
• Any factors, including Deviation Counter Clear command input inhibition and torque limit,  
other than control parameter are set appropriately and the motor can rotate normally  
without any problem.  
Caution  
Real-time auto-gain tuning may not be executed properly under the conditions described in the table below.  
In these cases, use the normal mode auto-gain tuning (refer to P.148), or execute the manual auto-gain  
tuning (refer to P.152).  
Conditions which obstruct real-time auto-gain tuning action  
The load is too small or large compared to the rotor inertia. (less than 3 times or more than 20 times)  
Load inertia  
Load  
• The load inertia changes too quickly (10 [ s] or less)  
The machine stiffness is extremely low.  
A chattering such as backlash exists.  
• The motor is running continuously at low speed of (100 [ r/min] or lower.  
Acceleration/deceleration is slow (2000 [ r/min] per 1[ s] or low).  
Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque.  
Action pattern  
When the speed condition of 100 [ r/min] or more and acceleration/deceleration condition  
of 2000 [ r/min] per 1 [ s] are not maintained for 80 [ ms] .  
How to Operate  
1) Bring the motor to stall (Servo-OFF).  
2) Set up SV.Pr21 (Real time auto tuning set up) to 1-7.  
Real time auto-gain tuning  
Varying degree of load inertia in motion  
Setup value  
(not in use)  
0
[1]  
2
no change  
slow change  
rapid change  
no change  
slow change  
rapid change  
no change  
normal mode  
3
4
vertical axis mode  
5
6
no gain switching mode  
7
When the changing degree of load inertia is large, set up 3 or 6.  
When the motor is used for vertical axis, set up 4 to 6.  
When vibration occurs during gain switching, set up 7.  
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[Adjustment]  
3) Set up SV.Pr22 (Machine stiffness at auto tuning) to 0 or smaller value.  
4) Turn to Servo-ON to run the machine normally.  
5) Gradually increase SV.Pr22 (Machine stiffness at auto tuning) when you want to obtain a better response.  
Lower the value (0 to 3) when you experience abnormal noise or oscillation.  
6) Write the result to EEPROM when you want to save it.  
Insert the console connector to  
CN X6 of the driver, then turn  
on the driver power.  
Setup of parameter, Pr21  
Press  
Press  
.
.
Match to the parameter No.  
to be set up with . (Here match to Pr21.)  
Press  
Change the setup with  
Press  
Setup of parameter, Pr22  
Match to Pr22 with  
Press  
.
.
.
.
.
(default values)  
Numeral increases with  
and decreases with  
,
.
Press  
.
Writing to EEPROM  
Press  
Press  
.
.
Bars increase as the right fig. shows  
by keep pressing (approx. 5sec).  
Writing starts (temporary display).  
Finish  
Writing completes  
, after writing finishes.  
Writing error  
occurs  
Press  
to return to  
SELECTION display  
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Real-Time Auto-GainTuning Mode  
Parameters Which Are Automatically Set  
Following parameters are automatically adjusted. Also following parameters are automatically set up.  
Setup  
SV.PrNo.  
Title  
SV.PrNo.  
Title  
value  
300  
50  
0
10  
11  
12  
13  
14  
18  
19  
1A  
1B  
1C  
20  
1st position loop gain  
15  
16  
27  
30  
31  
32  
33  
34  
35  
Velocity feed forward  
1st velocity loop gain  
Feed forward filter time constant  
Velocity observer  
1st velocity loop integration time constant  
1st speed detection filter  
1st torque filter time constant  
2nd position loop gain  
2nd gain action set up  
1
1st control switching mode  
1st control switching delay time  
1st control switching level  
1st control switching hysteresis  
Position loop gain switching time  
10  
30  
50  
33  
20  
2nd velocity loop gain  
2nd velocity loop integration time constant  
2nd speed detection filter  
2nd torque filter time constant  
Inertia ratio  
<Notes>  
• When the real-time auto-gain tuning is valid, you cannot change the parameters which are automati-  
cally adjusted.  
• SV.Pr31 becomes 10 at position or full closed control and when SV.Pr21 (Real time auto tuning set up)  
is 1 to 6, and becomes 0 in other cases.  
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[Adjustment]  
Adaptive Filter  
Invalidation of Adaptive Filter  
Estimates the resonance frequency out of vibration component presented in the motor speed in motion, then  
removes the resonance component from the torque command by setting up the notch filter coefficient auto-  
matically, hence reduces the resonance vibration.  
The adaptive filter is enabled by setting SV.Pr23 (Adaptive filter mode) to any value other than “0”.  
The adaptive filter may not work properly under the following conditions. In these cases, take measures to  
resonance according to the manual adjustment procedures, using the 1st notch filter (SV.Pr1D and 1E) and  
the 2nd notch filter (SV.Pr28 to 2A).  
Conditions which obstruct adaptive filter action  
• Resonance frequency is lower than 300[ Hz] .  
• Resonance peak is low, or control gain is low where the motor speed is not affected by this.  
• Multiple resonance points exist.  
Resonance point  
• Motor speed variation with high harmonic component is generated due to non-linear factors such as  
backlash.  
Load  
Command pattern  
• Acceleration/deceleration is rapid such as 30000[ r/min] per 1[ s] .  
<Notes>  
The adaptive filter may be disabled also if SV.Pr23 is set to any value other than “0”. Refer to “Invalidation of  
Adaptive Filter” on page 151.  
How to Operate  
1) Validate the adaptive filter by setting up SV.Pr23 (Adaptive  
filter mode) to 1.  
Setup value Adaptive filter  
Adaptive action  
0
[1]  
2
Invalid  
Yes  
Adaptive filter automatically estimates the resonance fre-  
quency out of vibration component presented in the motor  
speed in motion, then removes the resonance components  
from the torque command by setting up the notch filter co-  
efficient automatically, hence reduces the resonance vibration.  
2) Write the result to EEPROM when you want to save it.  
Valid  
No (Hold)  
When adaptation finishes (SV.Pr2F does not  
change), and resonance point seems not change,  
set up the value to 2.  
Caution  
(1) After the start-up, you may experience abnormal noise and oscillation right after the first operation or  
when you increase the setup of SV.Pr22 (Machine stiffness at auto tuning), until load inertia is identified  
(estimated) or adaptive filter is stabilized. These are not failures as long as they disappear immediately.  
If they persist over 3 reciprocating operations, take the following measures in possible order.  
1) Write the parameters which have given the normal operation into EEPROM.  
2) Lower the setup of SV.Pr22 (Machine stiffness at auto tuning).  
3) Invalidate the adaptive filter by setting up SV.Pr23 (Adaptive filter mode) to 0.  
(Reset of inertia calculation and adaptive action)  
4) Set up the notch filter manually.  
(2) When abnormal noise and oscillation occur, SV.Pr2F (Adaptive filter frequency) might have changed to  
extreme values. Take the same measures as the above in these cases.  
(3) Among the results of real-time auto-gain tuning, SV.Pr20 (Inertia ratio) will be written into EEPROM at  
every 30 minutes. When you turn the power supply on again, auto-gain tuning will be executed using this  
data as initial values.  
(4) When you enable the real-time auto-gain tuning, SV.Pr27 (Velocity observer) will be disabled automati-  
cally.  
(5) During the trial run and frequency characteristics measurement of “PANATERM®”, the load inertia esti-  
mation will be disabled.  
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Normal Mode Auto-GainTuning  
Position command  
Position command  
Outline  
Normal mode  
auto-gain tuning  
The motor will be driven per the command with a pat-  
tern generated by the driver automatically.The driver  
estimates the load inertia from the necessary torque,  
Load inertia  
calculation  
Motor  
Gain  
current  
auto-  
Torque  
adjust  
command  
Generation  
and sets up an appropriate gain automatically.  
Current  
control  
Position/Velocity  
Control  
Motor  
of  
internal  
positional  
command  
Motor torque  
Servo driver  
Motor  
speed  
Encoder  
Applicable Range  
This function works under the following condition.  
Conditions under which the normal mode auto-gain tuning is activated  
Applies to all control modes.  
• Servo-ON status  
Control mode  
Others  
<Remarks>  
Set up the torque limit selection (SV.Pr03) to 1.  
When you set up other than 1, driver may not act correctly.  
Caution  
Normal mode auto-gain tuning may not be work properly under the following conditions. In these cases, set  
up in manual gain tuning  
Conditions which obstruct normal auto-gain tuning  
Too small or too big compared to the rotor inertia  
Load inertia  
Load  
(smaller than 3 times or larger than 20 times)  
• Load inertia varies.  
• Machine stiffness is extremely low.  
• Chattering such as backlash exists.  
Tuning error will be triggered when an error, Servo-OFF, the main power shutdown, validation of over-  
travel inhibition, or deviation counter clear occurs during the normal mode auto-gain tuning.  
• If the load inertia cannot be calculated even though the normal mode auto-gain tuning is executed, gain  
value will not change and be kept as same as that of before the execution.  
• The motor output torque during the normal auto-gain tuning is permitted to the max. torque set with SV.Pr5E  
(Setup of torque limit).  
• Please note that each signal of the CW over-travel inhibit input, CCW over-travel inhibit input, emergency  
stop, deceleration-and-stop and temporary stop is ignored.  
Pay an extra attention to the safety. When oscillation occurs, shut off the main power or turn to Servo-  
OFF immediately. Bring back the gain to default with parameter setup. Refer to cautions of P.95,  
"Auto-Gain Tuning Mode" of Setting as well.  
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[Adjustment]  
Auto-Gain Tuning Action  
(1) In the normal mode auto-gain tuning, you can set up the response with machine stiffness No..  
Machine stiffness No.  
Represents the degree of machine stiffness of the customer's machine and have values from o to 15.  
You can set a higher No. to the high stiffness machine and set up a higher gain.  
• Usually start setting up with a lower value and increase gradually to repeat auto-gain tuning in the  
range where no oscillation, no abnormal noise, nor vibration occurs.  
(2) This tuning repeats max. 5 cycles of the action pattern set with SV.Pr25 (Normal auto tuning motion  
setup). Action acceleration will be doubled every one cycle after third cycle. Tuning may finish, or action  
acceleration does not vary before 5th cycle depending on the load, however, this is nor an error.  
How to Operate  
(1) Set up the action pattern with SV.Pr25.  
(2) Shift the load to the position where no hazard is expected even though the action pattern which is set  
with SV.Pr25 is executed.  
(3) Prohibit the command entry. (Do not enter the action command during the normal mode auto-gain tuning.)  
(4) Turn to Servo-ON.  
(5) Start up the auto-gain tuning. Use the "PANATERM®".  
(6) Adjust the machine stiffness to the level at which no vibration occurs and obtain the required response.  
(7) Write the result to EEPROM, if it is satisfactory.  
Parameters Which Are Automatically Set  
Table of auto-gain tuning  
Pr  
Stiffness value  
Title  
No.  
0
[1]  
12 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557  
18 22 27 35 40 50 60 75 90 115 140 170 210 250 310  
2
3
[4]  
5
6
7
8
9
10 11 12 13 14 15  
10 1st position loop gain  
11 1st velocity loop gain  
9
12 1st velocity loop integration time constant 62 31 25 21 16 14 12 11  
9
0
8
0
7
0
6
0
5
0
4
0
4
0
3
0
13 1st speed detection filter  
14 1st torque filter time constant *2  
15 Velocity feed forward  
0
0
0
0
0
0
0
0
253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10  
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300  
50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50  
19 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649  
16 Feed forward filter time constant  
18 2nd position loop gain  
19 2nd velocity loop gain  
9
18 22 27 35 40 50 60 75 90 115 140 170 210 250 310  
1A 2nd velocity loop integration time constant 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999  
1B 2nd speed detection filter  
1C 2nd torque filter time constant *2  
20 Inertia ratio  
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10  
Estimated load inertia ratio  
27 Velocity observer  
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
30 2nd gain action set up  
31 1st control switching mode  
32 1st control switching delay time  
33 1st control switching level  
34 1st control switching hysteresis  
35 Position loop gain switching time  
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10  
30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30  
50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50  
33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33  
20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20  
represents parameters with fixed value. Default for A to C-frame is 4, and 1 for D to F-frame.  
*2 Lower limit for stiffness value is 10 for 17-bit encoder, and 25 for 2500P/r encoder.  
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Normal Mode Auto-GainTuning  
How to Operate from the Console  
Display of rotational speed  
of the motor (initial display)  
(1) Turn to the normal auto-gain tuning  
mode from the monitor mode, by  
pressing the SET button, then press  
the mode switching button three times.  
For details, refer to P.81, "Structure  
of Each Mode" of Preparation.  
Machine stiffness No.  
(2) Enter the machine stiffness No. by pressing  
.
Machine stiffness No. (High)  
Value changes toward the direction as  
Drive method  
Ball screw direct connection  
Ball screw + timing belt  
Timing belt  
Machine stiffness No.  
8 to 14  
6 to 12  
4 to 10  
2 to 8  
an arrow shows by pressing and  
changes toward the reversed direction  
by pressing  
Gear, Rack & Pinion  
Others, low stiffness machine  
.
0 to 8  
Machine stiffness No. (Low)  
(3) Shift to MONITOR/EXECUTION mode  
by pressing  
.
(4) Operation at MONITOR/EXECUTION mode  
Keep pressing  
until the display  
changes to  
.
• Pin-29 of the connector, CN X5 to be  
Servo-ON status.  
Keep pressing  
for approx.3sec,  
then bar increase as the right fig. shows.  
The motor starts rotating.  
For approx. 15 sec, the motor repeats  
max. 5 cycles of CCW/CW rotation,  
2 revolutions each direction per one cycle.  
Tuning may finish before 5th cycles,  
however, this is not an error.  
(5) Write the gain value to EEPROM to prevent  
them from being lost due to the power shut off.  
Tuning finishes  
normally  
Tuning error  
<Caution>  
Do not use the normal mode auto-gain tuning with the motor and driver alone. SV.Pr20 (Inertia ratio)  
becomes to 0.  
<Notes>  
Content  
Cause  
Measure  
Display of error.  
One of alarm, Servo-OFF or • Avoid an operation near the limit switch or home sensor switch.  
deviation counter clear has  
occurred.  
• Turn to Servo-ON.  
• Release the deviation counter clear  
Value of parameter  
Load inertia cannot be identi- • Lower SV.Pr10 to 10 and SV.Pr11 to 50, then execute the  
related to gain (such as  
SV/Pr10) is kept as same  
as before the execution.  
fied.  
tuning.  
• Adjust the gain manually. (Calculate the load inertia, and then  
enter.)  
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[Adjustment]  
Release of Automatic Gain Adjusting Function  
Outline  
Cautions are described when you want to invalidate the real time auto-gain tuning of default or the adaptive filter.  
Caution  
Execute the release of the automatic adjusting functions while all action stop (Servo-OFF)  
Invalidation of Real-Time Auto-Gain Tuning  
You can stop the automatic calculation of SV.Pr20 (Inertial ratio) and invalidate the real-time auto-gain  
tuning by setting up SV.Pr21 (Real time auto tuning set up) to 0.  
Note that the calculation result of SV.Pr20 (Inertia ratio) will be held, and if this parameter becomes abnor-  
mal value, use the normal mode auto-gain tuning or set up proper value manually obtained from formula or  
calculation.  
Invalidation of Adaptive Filter  
When you set up SV.Pr23 (Adaptive filter mode) to 0, adaptive filter function which automatically follows the  
load resonance will be invalidated.  
If you invalidate the adaptive filter which have been working correctly, noise and vibration may occur due to  
the effect of resonance which have been suppressed.  
Therefore, execute the copying function of the setup of adaptive filter (SV.Pr2F) to the 1st notch frequency  
(SV.Pr1D), or set up SV.Pr1D (1st notch frequency) manually by using the table below, then invalidate this  
filter.  
SV.Pr2F 1st notch frequency [Hz]  
SV.Pr2F 1st notch frequency [Hz]  
SV.Pr2F 1st notch frequency [Hz]  
0
1
(invalid)  
(invalid)  
(invalid)  
(invalid)  
(invalid)  
1482  
1426  
1372  
1319  
1269  
1221  
1174  
1130  
1087  
1045  
1005  
967  
22  
23  
24  
25  
26  
27  
28  
29  
30  
31  
32  
33  
34  
35  
36  
37  
38  
39  
40  
41  
42  
43  
766  
737  
709  
682  
656  
631  
607  
584  
562  
540  
520  
500  
481  
462  
445  
428  
412  
396  
381  
366  
352  
339  
44  
45  
46  
47  
48  
49  
50  
51  
52  
53  
54  
55  
56  
57  
58  
59  
60  
61  
62  
63  
64  
326  
314  
302  
290  
279  
2
3
4
>
5
269 (invalid when Pr22 15)  
=
>
6
258 (invalid when Pr22 15)  
=
>
7
248 (invalid when Pr22 15)  
=
>
8
239 (invalid when Pr22 15)  
=
>
9
230 (invalid when Pr22 15)  
=
>
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
20  
21  
221 (invalid when Pr22 14)  
=
>
213 (invalid when Pr22 14)  
=
>
205 (invalid when Pr22 14)  
=
>
197 (invalid when Pr22 14)  
=
>
189 (invalid when Pr22 14)  
=
>
182 (invalid when Pr22 13)  
=
(invalid)  
(invalid)  
(invalid)  
(invalid)  
(invalid)  
930  
895  
861  
828  
796  
*Set up 1500 to SV.Pr1D (1st notch frequency) in case of invalid of the above table.  
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Manual Gain Tuning (Basic)  
As explained previously, MINAS-A4P series features the automatic gain tuning function, however, there  
might be some cases where this automatic gain tuning cannot be adjusted properly depending on the limita-  
tion on load conditions. Or you might need to readjust the tuning to obtain the optimum response or stability  
corresponding to each load.  
Here we explain this manual gain tuning method by each control mode and function.  
Before Making a Manual Adjustment  
 
You can adjust with the sound or motor (machine) movement by using the console, however, you can adjust  
more securely by using wave graphic function of the setup support software, PANATERM®, or by measuring  
the analog voltage waveform using a monitoring function.  
1. Analog monitor output  
You can measure the actual motor speed, commanded speed, torque and deviation pulses by analog  
voltage level by using an oscilloscope. Set up the types of the signals or the output voltage level with  
SV.Pr07 (Speed monitor (SP) selection) and SV.Pr08 (Torque monitor (IM) selection).  
For details, refer to P.49, "Wiring to the Connector, CN X5" of Preparation, and P.56, "Parameter Setup" of  
Setting.  
1k  
IM  
1kΩ  
SP  
2. Waveform graphic function of the PANATERM®  
You can display the command to the motor, motor movement (speed, torque command and deviation  
pulses) as a waveform graphic on PC display. Refer to P.103, "Outline of the Setup Support Software,  
PANATERM®".  
RS232  
connection cable  
Connect to CN X4  
Setup support software  
Setup disc of "PANATERM®"  
DV0P4460 (English/Japanese version)  
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[Adjustment]  
Adjustment in Position Control Mode  
Position control of MINAS-A4P series is described in Block diagram of P.224.  
Make adjustment in position control per the following procedures.  
(1) Set up the following parameters to the values of the table below.  
Servo  
Parameter  
No.  
Servo  
Parameter  
No.  
Standard  
value  
Standard  
value  
Title of parameter  
1st position loop gain  
Title of parameter  
Inertia ratio  
(SV.Pr* * )  
(SV.Pr* * )  
10  
11  
12  
13  
14  
15  
16  
18  
19  
1A  
1B  
1C  
1D  
1E  
27  
15  
37  
0
20  
21  
23  
2B  
2C  
2D  
2E  
30  
31  
32  
33  
34  
35  
4C  
4D  
100  
0
1st velocity loop gain  
Real time auto tuning set up  
Adaptive filter mode  
1st velocity loop integration time constant  
1st speed detection filter  
0
1st vibration suppression frequency  
1st vibration suppression filter  
2nd vibration suppression frequency  
2nd vibration suppression filter  
2nd gain action set up  
0
0
0
0
0
0
0
0
0
0
1
0
1st torque filter time constant  
Velocity feed forward  
152  
0
Feed forward filter time constant  
2nd position loop gain  
0
27  
15  
37  
0
2nd velocity loop gain  
1st control switching mode  
1st control switching delay time  
1st control switching level  
1st control switching hysteresis  
Position loop gain switching time  
Smoothing filter  
2nd velocity loop integration time constant  
2nd speed detection filter  
2nd torque filter time constant  
1st notch frequency  
152  
1500  
2
1st notch width selection  
FIR filter set up  
(2) Enter the inertia ratio of SV.Pr20. Measure the ratio or setup the calculated value.  
(3) Make adjustment using the standard values below.  
Servo  
Parameter  
No.  
Standard  
value  
Order  
Title of parameter  
How to adjust  
(SV.Pr* * )  
Increase the value within the range where no abnormal noise and no vibration  
occur. If they occur, lower the value.  
1
SV.Pr11 1st velocity loop gain  
30  
When vibration occurs by changing SV.Pr11, change this value.  
Setup so as to make SV.Pr11 x SV.Pr14 becomes smaller than 10000. If you  
want to suppress vibration at stopping, setup larger value to SV.Pr14 and  
smaller value to SV.Pr11. If you experience too large vibration right before  
stopping, lower than value of SV.Pr14.  
1st torque filter time  
2
SV.Pr14  
constant  
50  
Adjust this observing the positioning time. Larger the setup, faster the  
positioning time you can obtain, but too large setup may cause oscillation.  
Setup this value within the range where no problem occurs. If you setup  
smaller value, you can obtain a shorter positioning time, but too small value  
may cause oscillation. If you setup too large value, deviation pulses do not  
converge and will be remained.  
3
4
SV.Pr10 1st position loop gain  
50  
25  
1st velocity loop  
SV.Pr12 integration time  
constant  
Increase the value within the range where no abnormal noise occurs.  
Too large setup may result in overshoot or chattering of position complete  
signal, hence does not shorten the settling time. You can improve by setting up  
SV.Pr16 (Feed forward filter time constant) to larger value.  
5
SV.Pr15 Velocity feed forward  
300  
153  
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Manual Gain Tuning (Basic)  
Adjustment in Full-Closed Control Mode  
Full-closed control of MINAS-A4P series is described in Block diagram of P.225 of Full-Closed Control.  
Adjustment in full-closed control is almost same as that in position control described in P.153 “Adjustment in  
Position Control Mode”, and make adjustments of parameters per the procedures except cautions of P.140,  
“Outline of Full-Closed Control”.  
Here we explain the setup of external scale ratio, hybrid deviation excess and hybrid control at initial setup  
of full-closed control.  
1) Setup of external scale ratio  
Setup the external scale ratio using the numerator of external scale division (SV.Pr78), the multiplier  
for numerator of external scale division (SV.Pr79) and denominator of external scale division (SV.Pr7A).  
• Check the encoder pulse counts per one motor revolution and the external scale pulse counts per one  
motor revolution, then set up the numerator of external scale division (SV.Pr78), the multiplier for nu-  
merator of external scale division (SV.Pr79) and denominator of external scale division so that the fol-  
lowing formula can be established.  
SV.Pr78 1 x 2 SV.Pr79 17  
SV.Pr7A 5000  
Number of encoder pulses per motor rotation  
Number of external scale pulses per motor rotation  
=
• If this ratio is incorrect, a gap between the position calculated from the encoder pulse counts and that of  
calculated from the external scale pulse counts will be enlarged and hybrid deviation excess (Err.25) will  
be triggered when the work or load travels a long distance.  
• When you set up SV.Pr78 to 0, the encoder pulse counts will be automatically set up.  
2) Setup of hybrid deviation excess  
Set up the minimum value of hybrid deviation excess (SV.Pr78) within the range where the gap between  
the motor (encoder) position and the load (external scale) position will be considered to be an excess.  
• Note that the hybrid deviation excess (Error code No.25) may be generated under other conditions than the  
above 1), such as reversed connection of the external scale or loose connection of the motor and the load.  
Caution  
(1) Enter the position command based on the external scale reference.  
(2) The external scales to used for full-closed control are as follows.  
AT500 series by Mitutoyo (Resolution 0.05[µm] , max. speed 2[ m/s] )  
• ST771 by Mitutoyo (Resolution 0.5[µm] , max. speed 2[ m/s] )  
(3) To prevent the runaway and damage of the machine due to the setup of the external scale, setup the  
hybrid deviation excess (SV.Pr7B) to the appropriate value, in the unit of external scale resolution.  
<
<
(4) We recommend the external scale as 1/20 external scale ratio 20.  
=
=
If you setup the external scale ratio to smaller value than 50/position loop gain (SV.Pr10 and 18), you  
may not be able to control by one pulse unit. If you set up too large external scale ratio, you may expect  
larger noise in movement.  
154  
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[Adjustment]  
Gain Switching Function  
At manual gain tuning, you can set 2nd gain  
manually in addition to 1st gain and you can  
switch the gain depending on the various re-  
quirements of the action such cases as,  
• you want to increase the response by increas-  
ing the gain in motion  
Action  
Command speed  
Stop  
(Servo-Lock)  
Stop  
Time  
Run  
(Servo-Lock)  
Status  
Gain  
Low gain  
(1st gain)  
Low gain  
(1st gain)  
High gain  
(2nd gain)  
• you want to increase the servo-lock stiffness  
by increasing the gain at stopping  
1ms  
2ms  
Suppress the vibration by lowering the gain.  
• switch to the optimum gain according to the  
action mode  
• lower the gain to suppress the vibration at stopping.  
<Example>  
Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up to  
lower gain after the motor stops.  
• Make adjustment referring to the auto-gain tuning table (P.149) as well.  
Set up the same  
value as SV.Pr10-  
14 (1st gain)  
to SV.Pr18-1C  
(2nd gain)  
Execute manual  
gain-tuning  
without gain  
switching  
Set up  
SV.Pr30-35  
(Gain switching  
condition)  
Adjust SV.Pr11  
and 14 at  
Servo  
Parameter  
No.  
Title of parameter  
stopping  
(1st gain)  
(SV.Pr**)  
10  
11  
12  
13  
14  
15  
16  
18  
19  
1A  
1B  
1C  
30  
31  
32  
33  
34  
35  
1st position loop gain  
63  
35  
16  
0
1st velocity loop gain  
27  
84  
1st velocity loop integration time constant  
1st speed detection filter  
1st torque filter time constant  
Velocity feed forward  
65  
300  
50  
Feed forward filter time constant  
2nd position loop gain  
63  
35  
16  
0
2nd velocity loop gain  
2nd velocity loop integration time constant  
2nd speed detection filter  
2nd torque filter time constant  
2nd gain action set up  
65  
0
1
7
1st control switching mode  
1st control switching delay time  
1st control switching level  
1st control switching hysteresis  
Position loop gain switching time  
30  
0
0
0
Enter the known value  
from load calculation  
• Measure the inertia  
ratio by executing nor  
mal auto-gain tuning  
• Default is 250  
20  
Inertia ration  
155  
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Manual Gain Tuning (Basic)  
Setup of Gain Switching Condition  
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)  
Setup parameters at position control, full-closed control  
Setup of gain switching condition  
Delay time * 1  
Level  
Hysteresis * 2  
SV.Pr31 Switching condition to 2nd gain Fig.  
SV.Pr32  
SV.Pr33  
SV.Pr34  
0
1
2
3
4
5
Fixed to 1st gain  
Fixed to 2nd gain  
Gain switching input, GAIN ON  
Variation of torque command is large.  
Fixed to 1st gain  
A
*3[ 0.05%/166µs]  
*3[ 0.05%/166µs]  
Speed command is large.  
Position deviation/Full-closed  
position deviation is large  
Position command exists.  
Not in positioning complete nor in  
full-closed positioning complete  
Speed  
C
D
E
F
[ r/min]  
[ r/min]  
6
7
8
9
*4[ pulse]  
*4[ pulse]  
C
G
[ r/min]  
[ r/min]  
10 Command exists + velocity  
[ r/min] *6  
[ r/min] *6  
*1 Delay time (SV.Pr32 and 37) will be valid only when returning from 2nd to 1st gain.  
*2 Hysteresis is defined as the fig. below shows.  
*3 When you make it a condition that there is 10% torque variation during 166µs, set up the value to 200.  
10%/166µs = Setup value 200 x [ 0.05%/16µ6s]  
*4 Designate with either the encoder resolution or the external scale resolution depending on the control  
mode.  
*5 When you make it a condition that there is speed variation of 10r/min in 1s, set up the value to 1.  
*6 When SV.Pr31=10, the meanings of delay time, level and hysteresis are different from the normal.  
(refer to Fig. G)  
Hysteresis  
H
(SV.Pr34)  
Level  
(SV.Pr33)  
L
0
156  
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[Adjustment]  
motor speed or  
commanded  
speed  
Fig.A  
Fig. C  
Fig. E  
speed N  
torque T  
command  
speed S  
level  
delay  
2nd gain  
delay  
2nd gain  
1st  
1st  
1st  
1st  
Fig. D  
Fig. F  
T  
speed N  
speed N  
level  
deviation pulse  
level  
delay  
1
2
2
1st gain  
2
2
1
COIN  
1st  
1
1
delay  
2nd gain  
delay  
1st  
1st  
2nd gain  
1st  
Fig. B  
command  
speed S  
Fig. G  
no position command  
x SV.Pr32,delay time  
|
actual speed  
|
<
position command  
exists.  
SV.Pr33 level  
at stall  
1st gain  
in action  
2nd gain  
at settling  
2nd gain  
proximity of stall  
S  
2nd gain for velocity integrating  
only and 1st gain for others  
level  
|
actual speed  
|
<
(SV.Pr33 level – SV.Pr34 hysteresis)  
(SV.Pr33 level – SV.Pr34 hysteresis)  
delay  
1st gain  
1st  
2nd  
2nd  
1st  
|
actual speed  
|
<
<Caution>  
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (SV.Pr34).  
157  
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Manual Gain Tuning (Basic)  
Suppression of Machine Resonance  
In case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due to  
oscillation caused by axis distortion or other causes. You can suppress the resonance using two types of  
filter in these cases.  
1. Torque command filter (SV.Pr14 and SV.Pr1C)  
Sets up the filter time constant so as to damp the frequency at vicinity of resonance frequency  
You can obtain the cut off frequency of the torque command filter in the following formula.  
Cut off frequency (Hz) fc = 1 / (2π x parameter setup value x 0.00001)  
2. Notch filter  
• Adaptive filter (SV.Pr23, SV.Pr2F)  
MINASA-A4P series feature the adaptive filter. With this filter you can control vibration of the load  
which resonance points vary by machine by machine and normal notch filter or torque filter cannot  
respond. The adaptive filter is validated by setting up SV.Pr23 (Adaptive filter mode) to 1.  
SV.Pr23 Adaptive filter mode  
1 : Adaptive filter is valid.  
SV.Pr2F Adaptive filter frequency  
Displays the table No, corresponding to adaptive filter frequency (not changeable)  
• 1st and 2nd notch filter (SV.Pr1D, 2E, 28, 29 and 2A)  
MINASA-A4P series feature 2 normal notch filters.You can adjust frequency and width with the 1st  
filter, and frequency, width and depth with the 2nd filter.  
Set up lower a frequency by 10% from the  
measured one through frequency  
characteristics analysis of the PANATERM®  
Set up according to the resonance  
characteristics.  
Machine characteristics at resonance  
Resonance  
SV.Pr1D 1st notch frequency  
.
gain  
1st notch  
SV.Pr1E  
width selection  
Anti-resonance  
Set up lower a frequency by 10% from the  
frequency  
Notch filter  
characteristics  
SV.Pr28 2nd notch frequency measured one through frequency  
characteristics analysis of the PANATERM®  
.
SV.Pr29 2nd notch width selection  
SV.Pr2A 2nd notch depth selection  
Set up according to the resonance  
characteristics.  
gain  
Notch  
frequency  
width  
width  
torque  
command  
after filtering  
torque  
command  
Depth  
frequency automatic following  
frequency  
frequency  
Adaptive filter  
1st notch filter  
2nd notch filter  
Copying of the setup from the  
adaptive filter to 1st notch filter  
is enabled. (refer to P.151)  
Suppress resonance point  
instantaneously.  
Adjustment of frequency,  
width and depth is enabled.  
(
)
(
) (  
)
Example of application machine  
Gain  
Gain  
Gain  
frequency  
frequency  
frequency  
velocity response  
Machine which resonance point  
varies by each machine or by aging  
Machine which has  
multiple resonance points  
Machine which has small peak  
nearby velocity response  
158  
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[Adjustment]  
How to Check the Resonance Frequency of the Machine  
(1) Start up the Setup Support Software, "PANATERM® " and bring the frequency characteristics measure-  
ment screen.  
(2) Set up the parameters and measurement conditions. (Following values are standard.)  
• Set up SV.Pr11 (1st velocity loop gain) to 25 or so. (to lower the gain and make it easy to identify the  
resonance frequency)  
• Set up the amplitude to 50 (r/min) or so. (not to saturate the torque)  
• Make the offset to 100 (r/min) or so. (to increase the speed detecting data and to avoid the measure-  
ment error in the vicinity of speed-zero)  
• Polarity is made CCW with "+" and CW with "–".  
• Setup the sampling rate to 0. (setup range to be 0 to 7.)  
(3) Execute the frequency characteristic analysis.  
<Remarks>  
• Make sure that the revolution does not exceed the travel limit before the measurement.  
Standard revolutions are,  
Offset (r/min) x 0.017 x (sampling rate +1)  
Larger the offset, better measurement result you can obtain, however, revolutions may be increased.  
• Set up SV.Pr23 (Adaptive filter mode) to 0 while you make measurement.  
<Notes>  
• When you set a larger value of offset than the amplitude setup and make the motor run to the one direction  
at all time, you can obtain a better measurement result.  
• Set up a smaller sampling rate when you measure a high frequency band, and a larger sampling rate when  
you measure a low frequency band in order to obtain a better measurement result.  
• When you set a larger amplitude, you can obtain a better measurement result, but noise will be larger.  
Start a measurement from 50 [ r/min] and gradually increase it.  
Relation of Gain Adjustment and Machine Stiffness  
In order to enhance the machine stiffness,  
(1) Install the base of the machine firmly, and assemble them without looseness.  
(2) Use a coupling designed exclusively for servo application with high stiffness.  
(3) Use a wider timing belt. Belt tension to be within the permissible load to the motor shaft.  
(4) Use a gear reducer with small backlash.  
• Inherent vibration (resonance frequency) of the machine system has a large effect to the gain adjustment  
of the servo.  
You cannot setup a higher response of the servo system to the machine with a low resonance frequency  
(machine stiffness is low).  
159  
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Manual GainTuning (Application)  
Instantaneous Speed Observer  
Torque  
Outline  
Velocity  
command  
command  
Motor  
current  
Velocity  
control  
Current  
Motor  
Load  
This function enables both realization of high response  
control  
Estimated  
and reduction of vibration at stopping, by estimating  
the motor speed using a load model, hence improv-  
ing the accuracy of the speed detection.  
velocity  
value  
Instantaneous  
speed observer  
(Total inertia)  
Load model  
Motor  
position  
Position control  
Encoder  
Servo driver  
Applicable Range  
This function can be applicable only when the following conditions are satisfied.  
Conditions under which the instantaneous speed observer is activated  
• Control mode to be position control. (SV.Pr02 = 0)  
• 7-wire absolute encoder  
Control mode  
Encoder  
Caution  
This function does not work properly or no effect is obtained under the following conditions.  
Conditions which obstruct the instantaneous speed observer effect  
• Gap between the estimated total load inertia (motor + load) and actual machine is large.  
e.g.) Large resonance point exists in frequency band of 300[ Hz] or below.  
Load  
Non-linear factor such as large backlash exists.  
• Load inertia varies.  
• Disturbance torque with harmonic component is applied.  
• Settling range is very small.  
Others  
How to Use  
(1) Setup of inertia ratio (SV.Pr20)  
Set up as exact inertia ratio as possible.  
• When the inertia ratio (SV.Pr20) is already obtained through real-time auto-gain tuning and is appli-  
cable at normal position control, use this value as SV.Pr20 setup value.  
• When the inertia ratio is already known through calculation, enter this calculated value.  
• When the inertia ration is not known, execute the normal mode auto-gain tuning and measure the  
inertia ratio.  
(2) Adjustment at normal position control  
Refer to P.153, "Adjustment at Position Control Mode".  
(3) Setup of instantaneous velocity observer (SV.Pr27)  
You can switch the velocity detecting method to instantaneous velocity observer by setting up SV.Pr27  
(Velocity observer) to 1.  
• When you experience a large variation of the torque waveform or noise, return this to 0, and reconfirm  
the above cautions and (1).  
• When you obtain the effect such as a reduction of the variation of the torque waveform and noise,  
search an optimum setup by making a fine adjustment of SV.Pr20 (Inertia ratio) while observing the  
position deviation waveform and actual speed waveform to obtained the least variation. If you change  
the position loop gain and velocity loop gain, the optimum value of the inertia ratio (SV.Pr20) might  
have been changed, and you need to make a fine adjustment again.  
160  
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[Adjustment]  
Damping Control  
Outline  
Front edge vibrates.  
Vibration  
measurement  
with  
displacement  
sensor  
Setup of front edge vibration  
frequency  
This function reduces the vibration by removing  
the vibration frequency component from the com-  
mand when the load end of the machine vibrates.  
Driver  
Motor  
travel  
Ball  
Coupling  
PLC  
Work  
screw  
Machine  
base  
Torque  
Position  
command  
command  
Motor  
current  
Damping  
filter  
Position/Velocity  
control  
Current  
control  
Motor  
Load  
Motor position  
Encoder  
Servo driver  
Applicable Range  
This function can only be applicable when the following conditions are satisfied.  
Conditions under which the damping control is activated  
• Control mode to be either or both position control or/and full-closed control.  
SV.Pr02 = 0 : Position control  
Control mode  
SV.Pr02 = 6 : Full-closed control  
Caution  
When you change the parameter setup or switch with VS-SEL, stop the action first then execute.  
This function does not work properly or no effect is obtained under the following conditions.  
Conditions which obstruct the damping control effect  
• Vibration is triggered by other factors than command (such as disturbance).  
• Ratio of resonance frequency and anti-resonance frequency is large.  
• Vibration frequency is out of the range of 10.0 to 200.0 [ Hz] .  
Load  
How to Use  
Position deviation  
(1) Setup of damping frequency (1st : SV.Pr2B, 2nd : SV.Pr2D)  
Measure the vibration frequency of the front edge of the machine.  
When you use such instrument as laser displacement meter, and can  
directly measure the load end vibration, read out the vibration fre-  
quency from the measured waveform and enter it to SV.Pr2B or  
SV.Pr2D (2nd vibration suppression frequency).  
Command  
speed  
Calculation of  
vibration frequency  
(2) Setup of damping filter (1st : SV.Pr2C, 2nd : SV.Pr2E)  
First, set up 0.  
You can reduce the settling time by setting up larger  
Damping filter setup is  
appropriate.  
Damping filter setup is  
too large.  
Torque saturation  
value, however, the torque ripple increases at the  
command changing point as the right fig. shows.  
Setup within the range where no torque saturation  
occurs under the actual condition. If torque satura-  
tion occurs, damping control effect will be lost.  
Torque  
command  
<Remark>  
Limit the damping filter setup with the following formula.  
<
SV.Pr24  
Switching mode  
10.0 [ Hz] – Damping frequency Damping filter setup  
=
0, 1  
No switching ( Both of 2 are valid.)  
Switch with command direction.  
CCW : 1st damping filter  
<
Damping frequency  
=
2
(3) Setup of damping filter switching selection  
(SV.Pr24)  
CW : 2nd damping filter  
You can switch the 1st or the 2nd damping filter depending on the vibration condition of the machine.  
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M E M O  
162  
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[When in Trouble]  
page  
When in Trouble ....................................................164  
What to Check ? ........................................................................ 164  
Protective Function (What is Error Code ?) .............................. 164  
Protective Function (Detail of Error Code) ................................ 165  
Troubleshooting ....................................................172  
Motor Does Not Run / Motor Stops During an Operation ......... 172  
Point Deviates / Positioning Accuracy is Poor .......................... 173  
Home Position Slips .................................................................. 173  
Abnormal Motor Noise or Vibration ........................................... 173  
Overshoot/Undershoot /  
Overheating of the Motor (Motor Burn-Out) .............................. 174  
Parameter Returns to Previous Setup ...................................... 174  
Display of "Communication port or driver cannot be detected"  
Appears on the Screen While Using the PANATERM®. ............ 174  
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When in Trouble  
What to Check ?  
Isn't error code No. is displayed ?  
Doesn't the power voltage vary ?  
Is the power turned on ?  
Any loose connection ?  
Motor does not run.  
SP  
IM  
Is the connecting portion  
disconnected ?  
X4  
G
(Broke wire, contact)  
A
X3  
Is the wiring correct ?  
Isn't the connector pulled off ?  
Isn't the short wire pulled off ?  
B
X3  
Host  
controller  
Is abnormal noise generated  
from the motor ?  
X5  
Is the wiring to CN X5 correct ?  
Or aren't any wires pulled off ?  
Isn't the electro-  
magnetic brake  
engaged ?  
Is the wiring to CN X6 correct ?  
Or aren't any wires pulled off ?  
X6  
X7  
Motor  
Machine  
Is the wiring to CN X7 in case  
of full-closed control correct ?  
Or aren't any wires pulled off ?  
Ground  
Isn't the connection  
loose ?  
External scale  
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, according to P.133, "Timing Chart (When error occurs)"of Operation Setting, and the driver will  
turn the Servo-Alarm output (ALM) to off (open).  
• Error status ands their measures  
• During the error status, the error code No. will be displayed on the front panel LED, and you cannot turn  
Servo-ON.  
You can clear the error status by turning on the alarm clear input for 120ms or longer.  
• When overload protection is triggered, you can clear it by turning on the alarm clear signal 10 sec or  
longer after the error occurs. You can clear the time characteristics by turning off the connection be-  
tween L1C and L2C or r and t of the control power supply of the driver.  
You can clear the above error by operating the console.  
(Refer to P.99, "Alarm Clear Mode" of Setting.)  
You can also clear the above error by operating the "PANATERM®".  
<Remarks>  
• When the protective function with a prefix of "*" in the protective function table is triggered, you cannot  
clear with alarm clear input. For resumption, shut off the power to remove the cause of the error and re-  
enter the power.  
• Following errors will not be stored in the error history.  
Control power supply under-voltage protection (Error code No. 11)  
Main power supply under-voltage protection  
EEPROM parameter error protection  
EEPROM check code error protection  
Emergency stop input error protection  
(Error code No. 13)  
(Error code No. 36)  
(Error code No. 37)  
(Error code No. 39)  
External scale auto recognition error protection (Error code No. 93)  
Motor auto recognition error protection (Error code No. 95)  
164  
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[When in Trouble]  
Warning Function  
• In MINAS-A4P Series, a warning is given before a protection function works and you can check the ma-  
chine status such as overload in advance.  
When a warning has been given, a warning code below blinks slowly on the 7-segment LED at the front panel.  
Warning  
code number  
Warning name  
Description  
The load has been 85% or more of the overload protection level.  
16  
Overload warning  
Over-regeneration  
load warning  
The load has been 85% or more of the over-regenerative load protection level.  
18  
Voltage of a battery for absolute encoder has been approximately 3.2 V or less.  
A fan has stopped for 1s or more.  
40  
88  
Battery warning  
Fan lock warning  
An external scale temperature has been 65C or more or signal intensity is insufficient  
(mounting must be adjusted). This is enabled only for the full-closed control.  
89  
External scale alarm  
• When an overload warning or over-regeneration load warning has been given, referring to the counter-  
measures taken by relevant protection function.  
• When a battery warning has been given, replace the battery for absolute encoder with a new one. When  
the battery has been replaced, perform Alarm Clear to the servo driver once to clear the battery alarm.  
Protective Function (Detail of Error Code)  
Protective Error  
Causes  
Measures  
function  
code No.  
Voltage between P and N of the converter portion of the  
control power supply has fallen below the specified value. and L2C) and terminal block (r and t).  
Measure the voltage between lines of connector (L1C  
Control  
power  
supply  
under-  
voltage  
protection  
11  
1)Power supply voltage is low. Instantaneous power  
failure has occurred  
2)Lack of power capacity...Power supply voltage has  
fallen down due to inrush current at the main power-on.  
3)Failure of servo driver (failure of the circuit)  
1)Increase the power capacity. Change the power  
supply.  
2)Increase the power capacity.  
3)Replace the driver with a new one.  
Voltage between P and N of the converter portion of the Measure the voltage between lines of connector (L1,  
control power supply has exceeded the specified value L2 and L3).  
1)Power supply voltage has exceeded the permissible 1)Enter correct voltage. Remove a phase-advancing  
Over-  
voltage  
protection  
12  
input voltage. Voltage surge due to the phase-  
advancing capacitor or UPS (Uninterruptible Power  
Supply) have occurred.  
capacitor.  
2)Disconnection of the regeneration discharge resistor 2)Measure the resistance of the external resistor  
connected between terminal P and B of the driver.  
Replace the external resistor if the value is .  
3)External regeneration discharge resistor is not appro- 3)Change to the one with specified resistance and  
priate and could not absorb the regeneration energy.  
4)Failure of servo driver (failure of the circuit)  
wattage.  
4)Replace the driver with a new one.  
Instantaneous power failure has occurred between L1 and Measure the voltage between lines of connector (L1,  
Main power  
supply  
under-  
voltage  
protection  
13  
L3 for longer period than the preset time with SV.Pr6D  
(Main power-off detection time) while SV.Pr65  
(Undervoltage error response at main power-off) is set to  
1. Or the voltage between P and N of the converter  
portion of the main power supply has fallen below the  
specified value during Servo-ON.  
L2 and L3).  
1)Power supply voltage is low. Instantaneous power  
failure has occurred  
1)Increase the power capacity. Change the power supply.  
Remove the causes of the shutdown of the magnetic  
contactor or the main power supply, then re-enter the power.  
2)Set up the longer time to SV.Pr6D (Main power off  
detecting time). Set up each phase of the power correctly.  
3)Increase the power capacity. For the capacity, refer  
to P.32, "Driver and List of Applicable Peripheral  
Equipments" of Preparation.  
2)Instantaneous power failure has occurred.  
3)Lack of power capacity...Power supply voltage has  
fallen down due to inrush current at the main power-  
on.  
4)Phase lack...3-phase input driver has been operated 4)Connect each phase of the power supply (L1, L2 and  
with single phase input.  
L3) correctly. For single phase, 100V and 200V  
driver, use L1 and L3.  
5)Failure of servo driver (failure of the circuit)  
5)Replace the driver with a new one.  
165  
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When in Trouble  
Protective Error  
Causes  
Measures  
function  
code No.  
Current through the converter portion has exceeded  
the specified value.  
1)Failure of servo driver (failure of the circuit, IGBT or  
other components)  
* Over-  
current  
protection  
14  
1)Turn to Servo-ON, while disconnecting the motor. If  
error occurs immediately, replace with a new driver.  
2)Check that the motor wire (U, V and W) is not  
shorted, and check the branched out wire out of the  
connector. Make a correct wiring connection.  
3)Measure the insulation resistance between motor  
wires, U, V and W and earth wire. In case of poor  
insulation, replace the motor.  
2)Short of the motor wire (U, V and W)  
3)Earth fault of the motor wire  
4)Burnout of the motor  
4)Check the balance of resister between each motor  
line, and if unbalance is found, replace the motor.  
5)Check the loose connectors. If they are, or pulled  
out, fix them securely.  
5)Poor contact of the motor wire.  
6)Melting of the relays for dynamic brake due to  
frequent Servo-ON/OFF operation  
6)Replace the driver. Prohibit the run/stop operation  
with Servo-ON/OFF.  
7)The motor is not applicable to the driver.  
7)Check the name plate and capacity of the motor and  
driver, and replace with motor applicable to the driver.  
Temperature of the heat sink or power device has been  
risen over the specified temperature.  
1)Ambient temperature has risen over the specified  
temperature.  
* Over-heat  
protection  
15  
16  
1)Improve the ambient temperature and cooling  
condition.  
2)Increase the capacity of the driver and motor.  
Set up longer acceleration/deceleration time.  
Lower the load.  
2)Over-load  
Torque command value has exceeded the over-load  
level set with SV.Pr72 (Overload level) and resulted in fluctuate up an down very much on the graphic screen  
overload protection according to the time  
characteristics (described later)  
Check that the torque (current) does not oscillates nor  
Over-load  
protection  
of the PANATERM®. Check the over-load alarm display  
and load factor with the PANATERM®.  
1)Load was heavy and actual torque has exceeded the 1)Increase the capacity of the driver and motor. Set up  
rated torque and kept running for a long time.  
2)Oscillation and hunching action due to poor  
adjustment. Motor vibration, abnormal noise. Inertia  
ratio (SV.Pr20) setup error.  
longer acceleration/deceleration time. Lower the load.  
2)Make a re-adjustment.  
3)Miswiring, disconnection of the motor.  
3)Make a wiring as per the wiring diagram. Replace the  
cables. Connect the black (W phase),  
white (V phase) and red (U phase) cables in  
sequence from the bottom at the CN X2 connector.  
4)Remove the cause of distortion. Lower the load.  
4)Machine has collided or the load has gotten heavy.  
Machine has been distorted.  
5)Electromagnetic brake has been kept engaged.  
5)Measure the voltage between brake terminals.  
Release the brake  
6)While wiring multiple axes, miswiring has occurred by 6)Make a correct wiring by matching the correct motor  
connecting the motor cable to other axis.  
7)SV.Pr72 setup has been low.  
and encoder wires.  
7)Set up SV.Pr72 to 0. (Set up to max. value of 115%  
of the driver)  
Regenerative energy has exceeded the capacity of  
regenerative resistor.  
Check the load factor of the regenerative resistor on  
the monitor screen of the PANATERM®. Do not use in  
the continuous regenerative brake application.  
1) Improve the regenerative processing capability, e.g.,  
increase the motor and driver capacity, put external  
regenerative resistor, etc.  
* Over-  
regeneration  
load  
18  
1)Due to the regenerative energy during deceleration caused  
by a large load inertia, converter voltage has risen, and the  
voltage is risen further due to the lack of capacity of  
protection  
absorbing this energy of the regeneration discharge resistor.  
2)Regenerative energy has not been absorbed in the  
specified time due to a high motor rotational speed.  
2) Reduce the regenerative energy at deceleration,  
e.g., lower the motor rotation speed, make the  
deceleration time longer, etc.  
3)Active limit of the external regenerative resistor has  
been limited to 10% duty.  
3) If SV.Pr6C (External regenerative resistor set up) is  
“0” and an internal regenerative resistor is used, and  
if SV.Pr6C is “3” and an external regenerative  
resistor is not used, use the external regenerative  
resistor and try to set SV.Pr6C to “1”.  
<Remarks>  
If the external regenerative resistor is used and  
SV.Pr6C is set to “1”, secure any external over-  
regeneration load protection measures and try to set  
SV.Pr6C to “2”.  
Install an external protection such as thermal fuse without fail when you  
set up SV.Pr6C to 2. Otherwise, regenerative resistor loses the protection  
and it may be heated up extremely and may burn out.  
166  
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[When in Trouble]  
Protective Error  
Causes  
Measures  
function  
code No.  
• Make a wiring connection of the encoder as per the  
wiring diagram. Correct the miswiring of the  
connector pins. Note that the encoder cable to be  
connected to CN X6. (Check that the encoder cable  
is not connected to the connector CN X7 for external  
scale connection by mistake.)  
Secure the power supply for the encoder of DC5V±5%  
(4.75 to 5.25V)...pay an attention especially when the  
encoder cables are long.  
• Separate the encoder cable and the motor cable if  
they are bound together.  
• Connect the shield to FG...Refer to P.38, "Wiring to  
the Connector, CN X6" of Preparation.  
Communication between the encoder and the driver  
has been interrupted in certain times, and  
disconnection detecting function has been triggered.  
* Encoder  
communi-  
cation error  
protection  
21  
Communication error has occurred in data from the  
encoder. Mainly data error due to noise. Encoder  
cables are connected, but communication data has  
some errors.  
* Encoder  
communi-  
cation  
data error  
protection  
23  
24  
Deviation pulses have exceeded the setup of SV.Pr70  
(Position deviation error level).  
Position  
deviation  
excess  
1)The motor movement has not followed the command. 1)Check that the motor follows to the position  
command. Check that the output toque has not  
saturated in torque monitor. Make a gain adjustment.  
Set up maximum value to SV.Pr5E (1st torque limit)  
and SV.Pr5F (2nd torque limit). Make a encoder  
wiring as per the wiring diagram. Set up the longer  
acceleration/deceleration time. Lower the load and  
speed.  
protection  
2)Setup value of SV.Pr70 (Position deviation error  
level) is small.  
2)Set up a larger value to SV.Pr70, or set up 0  
(invalid).  
Check the connection between the motor and the load.  
Check the looseness, slippage and backlash.  
Position of load by the external scale and position of  
the motor by the encoder slips larger than the setup  
pulses with SV.Pr7B (Setup of hybrid deviation excess)  
at full-closed control.  
* Hybrid  
deviation  
excess  
error  
protection  
25  
• Check the connection between the external scale and  
the driver.  
• Check that the variation of the motor 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 (SV.Pr78, 79 and 7A) and reversal of  
external scale direction (SV.Pr7C) are correctly set.  
• Do not give an excessive speed command.  
• Make a gain adjustment when an overshoot has  
occurred due to a poor gain adjustment.  
The motor rotational speed has exceeded the setup  
value of SV.Pr73 (Over-speed level setup)  
Over-speed  
protection  
26  
28  
• Separate the encoder cable and the motor cable if  
they are bound together.  
• Connect the shield to FG...refer to wiring diagram.  
Communication error has occurred in data from the  
encoder. The data could be received normally, but an  
error occurred in the data due to noise.  
* External  
scale com-  
munication  
data error  
protection  
Deviation counter value has exceeded 227 (134217728).  
• Check that the motor runs as per the position com-  
mand.  
• Check that the output toque has not saturated in  
torque monitor.  
• Make a gain adjustment.  
• Set up longer acceleration/deceleration time. Lower  
the load and speed.  
Deviation  
counter  
overflow  
protection  
29  
34  
The motor exceeded an allowable motor operation  
range specified by SV.Pr26 (software limit setup)  
against the position command input range.  
1)Gain has not matched up.  
Refer to P.170,"Software Limit Function" before using  
this.  
Software  
limit  
protection  
1)Check the gain (balance of position loop gain and ve-  
locity loop gain) and the inertia ratio.  
2)Setup value of SV.Pr26 (Software limit setup) is small. 2)Setup a larger value to SV.Pr26. Otherwise, set  
SV.Pr26 to “0” and disable the software limit protection.  
<Remarks>  
When the protective function with a prefix of "*" in the protective function table is triggered, you cannot clear  
with alarm clear input.  
167  
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When in Trouble  
Protective Error  
Causes  
Measures  
function  
code No.  
Communication between the external scale and the • Make a wiring connection of the external scale as per  
driver has been interrupted in certain times, and the wiring diagram.  
* External  
scale com-  
munication  
error  
35  
disconnection detecting function has been triggered.  
• Correct the miswiring of the connector pins.  
Secure the power supply voltage DC 5 V±5% (4.75 to  
5.25 V) for the external scale ... pay attention especially  
when the external scale connection cables are long.  
protection  
Data in parameter storage area has been damaged  
when reading the data from EEPROM at power-on.  
• Set up all parameters again.  
* EEPROM  
parameter  
error  
36  
37  
39  
• If the error persists, replace the driver (it may be a  
failure.) Return the product to the dealer or  
manufacturer.  
protection  
Data for writing confirmation to EEPROM has been  
damaged when reading the data from EEPROM at  
power-on.  
Replace the driver. (it may be a failure). Return the  
product to a dealer or manufacturer.  
* EEPROM  
check code  
error  
protection  
When the emergency stop input (EMG-STP: CN X5 Pin Check the switch power supply and cable connected to  
2) has turned off, the system trips regarding it as an  
error.  
Emergency  
stop input  
error  
the emergency stop input for error.  
Check that the emergency stop input (CN X5 Pin 2)  
turns on.  
Check that the rising time of the control signal cable (DC  
12 to 24 V) at the power supply on is not slower than  
that of the servo driver.  
protection  
Voltage of the built-in capacitor has fallen below the  
specified value because the power supply or battery  
for the 17-bit absolute encoder has been down.  
After connecting the power supply for the battery, clear  
the absolute encoder. (Refer to P.138, "Setup  
(Initialization) of Absolute Encoder" of Operation  
Setting.) You cannot clear the alarm unless you clear  
the absolute encoder.  
Absolute  
system  
down error  
protection  
40  
Multi-turn counter of the 17-bit absolute encoder has  
exceeded the specified value.  
• Set up an appropriate value to SV.Pr0B (Absolute  
encoder set up) .  
• Limit the travel from the machine home position within  
32767 revolutions.  
* Absolute  
counter  
over error  
protection  
41  
42  
The motor speed has exceeded the specified value  
when only the supply from the battery has been  
supplied to 17-bit encoder during the power failure.  
• Check the supply voltage at the encoder side  
(5V±5%)  
Absolute  
over-speed  
error  
Check the connecting condition of the connector, CN X6.  
• You cannot clear the alarm unless you clear the  
absolute encoder.  
protection  
Single turn counter error of 17-bit absolute encoder  
has been detected.  
Single turn counter error of 2500[ P/r] , 5-wire serial  
encoder has been detected.  
Replace the motor.  
* Absolute  
single turn  
counter  
error  
protection  
44  
45  
Multi turn counter error of 17-bit absolute encoder has Replace the motor.  
been detected.  
Multi turn counter error of 2500[ P/r] , 5-wire serial  
encoder has been detected.  
* Absolute  
multi-turn  
counter  
error  
protection  
17-bit absolute encoder has been running at faster  
speed than the specified value at power-on.  
Arrange so as the motor does not run at power-on.  
Absolute  
status error  
protection  
47  
48  
Missing pulse of Z-phase of 2500[ P/r] , 5-wire serial  
encoder has been detected  
The encoder might be a failure. Replace the motor.  
* Encoder  
Z-phase  
error  
protection  
CS signal logic error of 2500[ P/r] , 5-wire serial encoderThe encoder might be a failure. Replace the motor.  
has been detected  
* Encoder  
CS signal  
error  
49  
protection  
<Remarks>  
When the protective function with a prefix of "*" in the protective function table is triggered, you cannot clear  
with alarm clear input.  
168  
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[When in Trouble]  
Protective Error  
Causes  
Measures  
function  
code No.  
*
External scale  
Bit 0 of the external scale error code (ALMC) has been Remove the causes of the error, then shut off the  
50  
status 0 error  
protection  
turned to 1.  
power to reset.  
Check the specifications of the external scale.  
*
External scale  
Bit 1 of the external scale error code (ALMC) has been  
turned to 1.  
Check the specifications of the external scale.  
51  
52  
53  
54  
55  
68  
status 1 error  
protection  
*
External scale  
Bit 2 of the external scale error code (ALMC) has been  
turned to 1.  
Check the specifications of the external scale.  
status 2 error  
protection  
*
External scale  
Bit 3 of the external scale error code (ALMC) has been  
turned to 1.  
Check the specifications of the external scale.  
status 3 error  
protection  
*
External scale  
Bit 4 of the external scale error code (ALMC) has been  
turned to 1.  
Check the specifications of the external scale.  
status 4 error  
protection  
*
External scale  
Bit 5 of the external scale error code (ALMC) has been  
turned to 1.  
Check the specifications of the external scale.  
status 5 error  
protection  
• Check the switch, limit sensor, cable and power  
supply connected to the over-travel inhibit input  
(CCWL/CWL: CN X5 Pin 19/20) for error.  
• Check the parameter settings for homing.  
• For details, refer to “Homing Operation” in “Operation  
Setting” on page 114.  
An error occurred during homing.  
Homing  
error  
protection  
An invalid over-travel inhibit input signal was input.  
A parameters necessary for homing operation is not  
set or an invalid value is set.  
A parameters necessary for an instructed step  
operation and jog operation is not set or an invalid  
value is set.  
Check the settings of positioning parameter and step para-  
meter. For details, refer to “Step Operation” in “Operation  
Setting” on page 107 and “Jog Operation” on page 112.  
Undefined  
data error  
protection  
69  
70  
* Present  
position  
overflow  
error  
A current position (–2147483647 to 2147483647)  
overflowed when 16.Pr51 (wraparound accepted) is  
“0”.  
Do not give an unsuitable operation command to make  
the current position exceed “–2147483647 to  
2147483647”.  
Especially, pay attention to an incremental operation,  
jog operation and home offset operation.  
protection  
Over-travel inhibit input in an operating direction was  
detected in a step operation and jog operation after  
homing completes.  
Both of CCW over-travel inhibit input (CCWL: CN X5  
Pin 19) and CW over-travel inhibit input (CWL: CN X5  
Pin 20) were in the OPEN state.  
• Check the switch, limit sensor, cable and power  
supply connected to the over-travel inhibit input  
(CCWL/CWL) for error.  
• Check the operation command and the mount of limit  
sensor.  
Drive  
71  
72  
prohibition  
detection  
error  
protection  
• Check that a direction of home offset operation is not  
the same as that of over-travel inhibit input.  
A motor command position exceeded a maximum  
travel limit range in a step operation and jog operation  
after homing completes.  
• Do not give an unsuitable operation command to  
make the command position exceed the maximum  
travel limit range. Especially, pay attention to an  
incremental operation, jog operation and home offset  
operation.  
* Maximum  
movement  
limit error  
protection  
• Check a set value of 32.Pr01 (setting of maximum  
travel in positive direction) and 32.Pr02 (setting of  
maximum travel in negative direction)  
* ID setting  
error  
The ID set value exceeds a range between 0 and 31.  
An unsupported external scale is connected.  
Check the setting of the rotary switch on the front  
panel.  
82  
93  
protection  
* External  
scale auto  
recognition  
error pro-  
tection  
Replace it with a supported external scale.  
* Motor auto  
recognition  
error  
The motor and the driver has not been matched.  
Replace the motor which matches to the driver.  
95  
protection  
Other  
No.  
Control circuit has malfunctioned due to excess noise  
or other causes.  
Some error has occurred inside of the driver while  
triggering self-diagnosis function of the driver.  
• Turn off the power once, then re-enter.  
• If error repeats, this might be a failure.  
Stop using the products, and replace the motor and  
the driver. Return the products to the dealer or  
manufacturer.  
* Other error  
169  
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When in Trouble  
• Time characteristics of Err16 (Overload protection)  
time [ sec]  
Overload protection time characteristics (Motor type M* MA)  
100  
10  
1
MAMA 100W  
MQMA 100W to 400W  
MAMA 200W to 750W  
MSMA 1kW to 5kW  
MDMA 1kW to 5kW  
MHMA 1kW to 5kW  
MFMA 400W to 4.5kW  
MGMA 900W to 4.5kW  
0.1  
115  
100  
150  
200  
250  
300  
350  
400  
450  
500 torque [ 100%]  
time [ sec]  
100  
Overload protection time characteristics (Motor type M* MD)  
MSMD 50W  
MSMD 100W (100V)  
MSMD 100W (200V)  
MSMD 200W  
MSMD 400W  
MSMD 750W  
10  
1
0.1  
115  
100  
150  
200  
250  
300  
350  
400  
450  
500 torque [ 100%]  
• Software Limit Function  
1)Outline  
You can make an alarm stop of the motor with software limit protection (Error code No.34) when the  
motor travels exceeding the movable range which is set up with SV.Pr26 (Software limit set up) against  
the position command input range.  
You can prevent the work from colliding to the machine end caused by motor oscillation.  
2) Applicable range  
This function works under the following conditions.  
Conditions under which the software limit works  
• Either at position control mode or full-closed control mode  
SV.Pr02 = 0 : Position control  
SV.Pr02 = 6 : Full-closed control  
Control mode  
(1) operating Normal auto tuning  
(2) After the last clearance of the position command input range (0 clearance), the movable range  
of the motor is within 2147483647 for both CCW and CW direction.  
(3) at Servo-ON  
(2) when SV.Pr26 (Software limit setup) is other than 0.  
Others  
Once the motor gets out of the (2) condition, the software limit protection will be invalidated  
until the later mentioned "5) Condition under which the position command input range is  
cleared" is satisfied. The position command input range will be 0-cleared when the motor gets  
out of the conditions of (3) and (4).  
170  
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[When in Trouble]  
3) Cautions  
• This function is not a protection against the abnormal position command.  
• When this software limit protection is activated, the motor decelerates and stops according to SV.Pr68  
(Error response action).  
The work (load) may collide to the machine end and be damaged depending on the load during this  
deceleration, hence set up the range of SV.Pr26 including the deceleration movement.  
• This software limit protection will be invalidated during the trial run and frequency characteristics func-  
tioning of the PANATERM®.  
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 SV.Pr26  
since no position command is entered. When the load enters to the Err34 occurrence range (oblique  
line range), software limit protection will be activated.  
Motor  
Load  
SV. SV.  
Pr26 Pr26  
Motor  
movable  
range  
Err34 occurrence range  
Err34 occurrence 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 ex-  
panded by entered position command, and the movable range will be the position command input  
range + SV.Pr26 setups in both sides.  
Motor  
Load  
SV.  
Pr26  
Position command  
input range  
SV.  
Pr26  
Err34 occurrence range  
Err34 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  
input range  
SV.  
Pr26  
SV.  
Pr26  
Err34 occurrence range  
Err34 occurrence range  
Motor movable range  
5) Condition under which the position command input range is cleared  
The position command input range will be 0-cleared under the following conditions.  
• When the power is turned on.  
• When the homing is completed.  
• At the starting and the finishing of the normal auto-gain tuning.  
171  
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Troubleshooting  
Motor Does Not Run  
Motor Stops During an Operation  
Classification  
Causes  
Countermeasures  
Parameter Error in control mode  
setting  
The setting of the control mode in the console or the  
monitor mode of “PANATERM ” may be wrong.  
Set SV.Pr02 (Control mode) again.  
®
Error in torque limit  
setting  
The torque limit may be smaller than correct torque  
necessary for an operation.  
Check the setting of SV.Pr5E (1st torque  
limit) and SV.Pr5F (2nd torque limit)  
.
Error in operation  
parameter setting  
A parameter necessary for an operation may not be set. Check the parameters of travel, speed  
(If any parameter is not set, the error code No. 68 or 69 acceleration/deceleration time necessary  
is shown.)  
for homing operation or step operation in  
16.Pr.  
Setting out of a  
An operation command may exceed the maximum  
Check the set value of 32.Pr01/02.  
maximum travel range travel range in a positive direction and/or negative  
of target position  
direction.  
Error in a parameter  
used by a manufacturer. be changed from a default setting.  
The setting of parameter used by a manufacturer may  
Initialize all the parameters once and set  
them again.  
Wiring  
Main power supply  
(L1, L2 and/or L3) of  
CN X1 and/or control  
power supply (L1C  
and/or L2C) does not  
turn on. Otherwise, a  
voltage value is wrong.  
Voltage of the main power supply and/or control power Check the wiring and voltage of the main  
supply may not be correct.  
power supply (L1, L2 and/or L3) of CN  
X1 and/or the control power supply (L1C  
and/or L2C).  
The error code No. 11, 12 and/or 13 may occur.  
Servo-on input (SRV- The 7-segment LED on the front panel may show [ --] . Check and wire the input signal so that  
ON) of CN X5 is  
opened.  
The servo-on signal may be in the [ --] state in the  
monitor mode of the console or “PANATERM ”.  
the SRV-ON input can be connected to  
COM–.  
®
CW/CCW over-travel  
inhibit input (CWL/  
CCWL) of CN X5 is in logic are set by SV.Pr53/54.)  
the ON state. The CW/CCW over-travel inhibit input may be in the [ --]  
The CW/CCW over-travel inhibit input (CWL/CCWL) of Check the wiring of CW/CCW over-travel  
CN X5 may be in the ON state. (“Enable/disable” and  
inhibit input and check the set value in  
SV.Pr53/54.  
®
state in the monitor mode of the console or “PANATERM ”.  
Strobe input (STB) of The strobe input (STB) of CN X5 may remain opened.  
Check and wire the input signal so that  
the strobe input can be connected to  
COM–.  
CN X5 is opened.  
The strobe input signal may be in the [ --] state in the  
®
monitor mode of the console or “PANATERM ”.  
Emergency stop input The emergency stop input (EMG-STP) of CN X5 may  
(EMG-STP) of CN X5 be opened. (The error code No. 39 is shown.)  
is opened.  
Check and wire the input signal so that  
EMG-STP can be connected to COM–.  
Error in the point  
The point specifying input (P1IN to P32IN) of CN X5 may Check the wiring of P1IN to P32IN.  
specifying input (P1IN not be input correctly. (Logic can be set by SV.Pr58.)  
to P32IN) of CN X5.  
The state of P1IN to P32IN may not be displayed  
correctly in the monitor mode of the console or  
®
Error in input timing of “PANATERM ”.  
the strobe input (STB) Waiting time from the input of the point specifying input Insert waiting time of 10 ms or more.  
and the point specify- (P1IN to P32IN) of CN X5 to the input of the strobe input  
ing input (P1IN to  
P32IN) of CN X5.  
A stop instruction is  
input by the multi  
(STB) of CN X5 may not be 10 ms or more. (If the  
waiting time is less than 10 ms, a target point may be  
unstable.)  
The deceleration-and-stop, emergency stop and tempo- Check the setting and wiring of the multi  
function input 1/2 (EX- rary stop, which are assigned to the multi function input function input 1/2.  
IN1/EX-IN2) of CN X5. 1/2 (EX-IN1/EX-IN2) of CN X5, may turn on.  
Homing not completed (Function selection and logic can be set by SV.Pr5A/5C  
and SV.Pr59/5B, respectively.)  
Others  
Homing may not be completed.  
Complete the homing.  
During the execution  
of an operation com-  
The point output may be “0” in the monitor mode of the Refer to page 114.  
console or “PANATERM ”.  
®
mand, the next opera- During the execution of an operation command (a  
tion command starts. transistor of the motor operation state output BUSY of  
The motor shaft drags. CN X5 turns OFF), you may start the next operation  
Check that the transistor of the motor  
operation state output turns ON and then  
start the next operation command.  
The motor does not  
run.  
command.  
The motor shaft drags. The motor does not run.  
1)After turning the power supply off and separating it  
from the machine, the motor shaft may not be rotated  
manually.  
If the motor shaft cannot be rotated, ask  
the local shop to repair the motor.  
2)For the motor equipped with electromagnetic brake,  
the motor shaft may not be rotated manually if DC 24  
V is applied to the brake.  
172  
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[When in Trouble]  
Point Deviates  
Positioning Accuracy is Poor  
Classification  
Causes  
Countermeasures  
Parameter  
The setting of the parameter for positioning  
operation is wrong.  
The setting of positioning completion range is  
large.  
Adjust the target position parameter at each point.  
Check the setting of an operation mode (relative travel/absolute travel).  
Decrease the set value of the positioning completion range (SV.Pr60)  
to the extent that chattering does not occur.  
Position loop gain is small.  
Check the position deviation in the monitor mode of the console or  
“PANATERM®”.  
Increase the set value of SV.Pr10 to the extent that oscillation does not  
occur and check it.  
Wiring  
Each input signal of CN X5 is chattering.  
1)Servo-ON signal  
Check the wiring and connection between each signal of the connector  
CN X5 and COM–.  
2)CW/CCW over-travel inhibit input  
3)Multi function input 1/2  
(when a stop command is set)  
4)Strobe signal input  
5)Point specifying input  
Installation  
Load inertia is large.  
Check the overshoot when stopping with a graphic function of  
“PANATERM®”. If this problem is not resolved by gain adjustment,  
increase the motor and driver capacity.  
Home Position Slips  
Classification  
Causes  
Countermeasures  
Parameter The homing speed is slow, if any of the homing Review the set value of the homing speed (16.Pr30/31).  
types below is used.  
16.Pr36 =  
1:Home sensor (based on the front end)  
4: Limit sensor  
Wiring  
Chattering of home sensor (Z-LS) input.  
Noise is on the encoder line.  
Check home sensor input signal of the controller with oscilloscope.  
Review the wiring near to proximity dog and make a noise measure or  
reduce noise.  
Reduce noise (installation of noise filter or ferrite core), shield  
treatment of I/F cables, use of a twisted pair or separation of power  
and signal lines.  
Abnormal Motor Noise or Vibration  
Classification  
Causes  
Countermeasures  
Adjustment Gain setup is large.  
Lower the gain by setting up lower values to SV.Pr11 and 19, of  
velocity loop gain and SV.Pr10 and 18 of position loop gain.  
Re-adjust SV.Pr14 and 1C (Torque filter). Check if the machine  
resonance exists or not with frequency characteristics analyzing  
function of the PANATERM®. Set up the notch frequency to SV.Pr1D  
or SV.Pr28 if resonance exists.  
Installation Resonance of the machine and  
the motor.  
Motor bearing  
Check the noise and vibration near the bearing of the motor while  
running the motor with no load. Replace the motor to check. Request  
for repair.  
Electro-magnetic sound, gear noise, rubbing  
noise at brake engagement, hub noise or rub-  
bing noise of encoder  
Check the noise of the motor while running the motor with no load.  
Replace the motor to check. Request for repair.  
173  
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Troubleshooting  
Overshoot/Undershoot  
Overheating of the Motor (Motor Burn-Out)  
Classification  
Causes  
Countermeasures  
Adjustment Gain adjustment is not proper.  
Check with graphic function of PANATERM® or velocity monitor (SP)  
or torque monitor (IM). Make a correct gain adjustment. Refer to P.142  
of Adjustment.  
Installation Load inertia is large.  
Check with graphic function of PANATERM® or velocity monitor (SP)  
or torque monitor (IM). Make an appropriate adjustment. Increase the  
motor and driver capacity and lower the inertia ratio. Use a gear reducer.  
Review the mounting to the machine.  
Looseness or slip of the machine  
Ambient temperature, environment  
Stall of cooling fan, dirt of fan ventilation duct  
Mismatching of the driver and the motor  
Failure of motor bearing  
Lower the temperature with cooling fan if the ambient temperature  
exceeds the predications.  
Check the cooling fans of the driver and the machine. Replace the  
driver fan or request for repair.  
Check the name plates of the driver and the motor. Select a correct  
combination of them referring to the instruction manual or catalogue.  
Check that the motor does not generate rumbling noise while turning it  
by hand after shutting off the power. Replace the motor and request for  
repair if the noise is heard.  
Electromagnetic brake is kept engaged (left un- Check the voltage at brake terminals. Apply the power (DC24V) to  
released).  
release the brake.  
Motor failure (oil, water or others)  
Avoid the installation place where the motor is subject to high  
temperature, humidity, oil, dust or iron particles.  
Check the running pattern, working condition and operating status, and  
inhibit the operation under the condition of the left.  
Motor has been turned by external force while  
dynamic brake has been engaged.  
Parameter Returns to Previous Setup  
Classification  
Causes  
Countermeasures  
Parameter No writing to EEPROM has been carried out  
Refer to P.96, "How to Operate-EEPROM Writing" of Preparation.  
before turning off the power.  
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the PANATERM®.  
Classification  
Causes  
Countermeasures  
Wiring  
Communication cable (for RS232C) is  
connected to the connector, CN X3.  
Connect the communication cable (for RS232C) to connector, CN X4.  
174  
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[Supplement]  
page  
Conformity to EC Directives and UL Standards..... 176  
Options...................................................................180  
Recommended components ................................191  
Dimensions (Driver) ..............................................192  
Dimensions (Motor) ..............................................195  
Permissible Load at Output Shaft .......................210  
Motor Characteristics (S-T Characteristics) ....... 211  
Motor with Gear Reducer .....................................217  
Dimensions/Motor with Gear Reducer ................218  
Permissible Load at Output Shaft/Motor with Gear Reducer....... 220  
Characteristics of Motor with Gear Reducer ......221  
Block Diagram of Driver ......................................222  
Block Diagram by Control Mode..........................224  
Specifications (Driver) ..........................................226  
Default Parameters  
(for all the models of A4P Series) ........................228  
175  
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Conformity to EC Directives and UL Standards  
EC Directives  
The EC Directives apply to all such electronic products as those having specific functions and have been  
exported to EU and directly sold to general consumers. Those products are required to conform to the EU  
unified standards and to furnish the CE marking on the 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 (condi-  
tion) with certain locating distance and wiring of the servo motor and the driver. And actual working condition  
often differs from this model condition especially in wiring and grounding.Therefore, in order for the machine  
to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to  
examine the machine incorporating our servos.  
Conformed Standards  
Subject  
Motor  
Conformed Standard  
IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100  
EN50178 UL508C  
Conforms to Low-  
Voltage Directives  
Radio Disturbance Characteristics of Industrial, Scientific  
and Medical (ISM) Radio-Frequency Equipment  
Immunity for Industrial Environments  
EN55011  
EN61000-6-2  
IEC61000-4-2  
IEC61000-4-3  
IEC61000-4-4  
IEC61000-4-5  
IEC61000-4-6  
Motor/  
Motor  
and  
Standards  
referenced by  
EMC Directives  
Electrostatic Discharge Immunity Test  
Radio Frequency Electromagnetic Field Immunity Test  
Electric High-Speed Transition Phenomenon/Burst Immunity Test  
Lightening Surge Immunity Test  
driver  
High Frequency Conduction Immunity Test  
IEC61000-4-11 Instantaneous Outage Immunity Test  
IEC : International Electrotechnical Commission  
EN : Europaischen Normen  
EMC : Electromagnetic Compatibility  
UL : Underwriters Laboratories  
CSA : Canadian Standards Association  
<Precautions in using options>  
Use options correctly after reading operation manuals of the options to better understand the precautions.  
Take care not to apply excessive stress to each optional part.  
Composition of Peripheral Equipments  
Control box  
Installation Environment  
Use the servo driver in the envi-  
Controller  
ronment of Pollution Degree 1 or  
2 prescribed in IEC-60664-1 (e.g.  
Install the driver in control panel  
with IP54 protection structure.)  
Insulated power supply  
for interface  
CN X5  
Driver  
Noise filters for  
signal lines  
Noise filters  
for  
signal lines  
Power  
supply  
CN X1  
L1  
L2  
L3  
Ground-fault  
breaker (RCD)  
Circuit  
breaker  
Noise filter  
CN X2  
Motor  
M
U
V
W
L1C  
L2C  
RE  
Surge  
absorber  
CN X6  
Protective earth (PE)  
176  
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[Supplement]  
Power Supply  
+10%  
–15%  
+10%  
–15%  
100V type : Single phase,  
(A, B and C-frame)  
200V type : Single phase,  
(B, C-frame)  
100V  
200V  
200V  
200V  
to 115V  
to 240V  
to 240V  
to 230V  
50/60Hz  
50/60Hz  
50/60Hz  
50/60Hz  
+10%  
–15%  
+10%  
–15%  
+10%  
–15%  
+10%  
–15%  
200V type : Single/3-phase,  
(C, D-frame)  
+10%  
–15%  
+10%  
–15%  
200V type : 3-phase,  
(E, F-frame)  
(1) This product is designed to be used at over-voltage category (Installation category) II of EN 50178:1997.  
If you want to use this product un over-voltage category (Installation category) III, install a surge ab-  
sorber which complies with EN61634-11:2002 or other relevant standards at the power input portion.  
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies with EN60950  
Circuit Breaker  
Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed and  
between power supply and noise filter.  
marked)  
Noise Filter  
When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of  
the noise filter.  
Voltage specifications  
for driver  
Option part No.  
Manufacturer' s part No.Applicable driver (frame)  
Manufacturer  
DV0P4170 Single phase 100V/200V  
SUP-EK5-ER-6  
A and B-frame  
Okaya Electric Ind.  
100.0 ± 2.0  
Terminal cover  
(transparent)  
88.0  
75.0  
7.0  
2.0  
5.0  
53.1±1.0  
Circuit diagram  
IN  
OUT  
L
L
1
3
Cy  
Label  
R
Cx  
Cx  
Cy  
2
4
(11.6)  
6 – M4  
2 – ø4.5 x 6.75  
2 – ø4.5  
(13.0  
)
Voltage specifications  
for driver  
Option part No.  
DV0P4180  
Manufacturer' s part No.Applicable driver (frame) Manufacturer  
3SUP-HQ10-ER-6  
3SUP-HU30-ER-6  
C-frame  
3-phase 200V  
Okaya Electric Ind.  
DV0P4220  
D and E-frame  
A
B
Circuit diagram  
C
H
IN  
OUT  
Earth terminal  
L1  
1
4
M4  
2
5
6
Label  
Screw for cover  
3
M3  
R
Cx1  
Cx1  
M4  
Cy1  
A
B
C
D
E
F
G
H
K
L
Cover  
DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4  
DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4  
Body  
177  
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Conformity to EC Directives and UL Standards  
Voltage specifications  
Option part No.  
Manufacturer' s part No.Applicable driver (frame)  
Manufacturer  
for driver  
DV0P3410  
3-phase 200V  
3SUP-HL50-ER-6B  
F-frame  
Okaya Electric Ind.  
286±3.0  
Circuit diagram  
270  
255±1.0  
240  
IN  
OUT  
2-ø5.5  
2-ø5.5 x 7  
150  
1
2
3
4
5
6
6-6M  
Label  
Surge Absorber  
Provide a surge absorber for the primary side of noise filter.  
Voltage specifications  
for driver  
Option part No.  
Manufacturer' s part No. Manufacturer  
DV0P1450  
3-phase 200V  
R . A .V-781BXZ-4  
Okaya Electric Ind.  
ø4.2±0.2  
Circuit diagram  
(1) (2) (3)  
UL-1015 AWG16  
1
2
3
41±1  
Voltage specifications  
for driver  
Option part No.  
Manufacturer' s part No. Manufacturer  
Single phase 100/200V R . A .V-781BWZ-4 Okaya Electric Ind.  
DV0P4190  
ø4.2±0.2  
Circuit diagram  
(1) (2)  
UL-1015 AWG16  
1
2
41±1  
<Remarks>  
Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may  
damage the surge absorber.  
178  
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[Supplement]  
Noise Filter for Signal Lines *  
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable)  
* In case of D-frame, install 3 noise filters at power line.  
Option part No. Manufacturer' s part No. Manufacturer  
DV0P1460  
ZCAT3035-1330  
TDK Corp.  
39±1  
<Caution>  
34±1  
Mass: 62.8g  
Fix the signal line noise filter in place to  
eliminate excessive stress to the cables.  
Grounding  
(1) Connect the protective earth terminal (  
) of the driver and the protective earth terminal (PE) of the  
control box without fail to prevent electrical shocks.  
(2) Do not make a joint connection to the protective earth terminals (  
protective earth.  
). 2 terminals are provided for  
Ground-Fault Breaker  
Install a type B ground fault breaker (RCD) at primary side of the power supply.  
<Note>  
For driver and applicable peripheral equipments, refer to P.32 "Driver and List of Applicable Peripheral  
Equipments" of Preparation.  
Driver and List of Applicable Peripheral Equipments (EC Directives)  
Refer to P.32 "Driver and List of Applicable Peripheral Equipments" of Preparation.  
Conformity to UL Standards  
Observe the following conditions of (1) and (2) to make the system conform to UL508C (File No. 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) Install a circuit breaker or fuse which are UL recognized (LISTED  
and the noise filter without fail.  
marked) between the power supply  
For the rated current of the circuit breaker or fuse, refer to P.32, "Driver and List of Applicable Peripheral  
Equipments" of Preparation.  
Use a copper cable with temperature rating of 60˚C or higher.  
Tightening torque of more than the max. values (M4:1.2N m, M5: 2.0N m) may break the terminal block.  
(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. Confirm that the effective current of the driver does not  
exceed the rated current. Set up the peak permissible current with SV.Pr5E (1st torque limit) and SV.Pr5F  
(2nd torque limit ).  
179  
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Options  
Specifications of for Motor Connector  
• Pin disposition for encoder connector  
• Pin disposition for motor/brake connector (with brake)  
MSMA  
MDMA  
MFMA  
MHMA  
MGMA  
MSMA  
MDMA  
MFMA  
MHMA  
MGMA  
MSMA 1kW, 1.5kW, 2kW  
MDMA 1kW, 1.5kW, 2kW  
MFMA 400W, 1.5kW  
MHMA 500W, 1kW, 1.5kW  
MGMA 900W  
MSMA 3kW, 4kW, 5kW  
MDMA 3kW, 4kW, 5kW  
MFMA 2.5kW, 4.5kW  
MHMA 2kW,3kW,4kW,5kW  
MGMA 2kW, 3kW, 4.5kW  
G
E
H
I
A
C
A
B
E
C
I
A
N
A
N
B
P
B
P
M
T
M
T
C
C
L
L
B
F
D
F
D
D
K
K
D
G
H
S
R
S
R
J
E
J
E
H
F
H
F
G
G
N/MS3102A20-29P  
• Specifications of 2500P/r  
incremental encoder  
N/MS3102A20-29P  
• Specifications of 17bit  
absolute/incremental  
encoder  
JL04V-2E20-18PE-B-R  
(by Japan Aviation  
Electronics or equivalent)  
JL04V-2E24-11PE-B-R  
(by Japan Aviation  
Electronics or equivalent)  
Content  
Brake  
Brake  
NC  
U-phase  
V-phase  
W-phase  
Earth  
Content  
Brake  
Brake  
NC  
U-phase  
V-phase  
W-phase  
Earth  
Pin No.  
Pin No.  
Pin No. Content Pin No. Content  
Pin No. Content Pin No. Content  
G
H
A
F
I
B
E
D
C
A
B
C
D
E
F
G
H
I
PS  
PS  
A
B
C
D
E
F
G
H
J
NC  
NC  
NC  
NC  
NC  
K
L
A
B
C
D
E
F
G
H
J
NC  
NC  
NC  
NC  
NC  
K
L
PS  
NC  
NC  
NC  
PS  
NC  
NC  
NC  
M
N
P
R
S
T
M
N
P
R
S
T
NC  
NC  
NC  
NC  
NC  
NC  
BAT–*  
BAT+*  
EOV  
E5V  
Frame  
GND  
EOV  
E5V  
Frame  
GND  
Earth  
NC  
Earth  
NC  
*
Connection to Pin-S and T are not  
required when used in incremental.  
• Pin disposition for motor/brake connector (without brake)  
MSMA 1kW, 1.5kW, 2kW  
MDMA 1kW, 1.5kW, 2kW  
MHMA 500W, 1kW, 1.5kW  
MGMA 900W  
MSMA 3kW, 4kW, 5kW  
MDMA 3kW, 4kW, 5kW  
MHMA 2kW,3kW,4kW,5kW  
MGMA 2kW, 3kW, 4.5kW  
MFMA 400W, 1.5kW  
MFMA 2.5kW, 4.5kW  
G
E
H
I
A
C
A
B
E
C
I
B
F
D
F
D
C
A
B
D
C
A
B
D
G
H
JL04V-2E20-4PE-B-R  
(by Japan Aviation  
JL04V-2E22-22PE-B-R  
(by Japan Aviation  
JL04V-2E20-18PE-B-R  
(by Japan Aviation  
JL04V-2E24-11PE-B-R  
(by Japan Aviation  
Electronics or equivalent)  
Electronics or equivalent)  
Electronics or equivalent)  
Electronics or equivalent)  
Content  
U-phase  
V-phase  
W-phase  
Earth  
Content  
U-phase  
V-phase  
W-phase  
Earth  
Content  
NC  
NC  
Content  
NC  
NC  
PIN No.  
PIN No.  
PIN No.  
PIN No.  
A
B
C
D
A
B
C
D
G
H
A
F
I
B
E
D
C
A
B
C
D
E
F
G
H
I
NC  
NC  
U-phase  
V-phase  
W-phase  
Earth  
Earth  
NC  
U-phase  
V-phase  
W-phase  
Earth  
Earth  
NC  
Do not connect anything to NC pins.  
180  
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[Supplement]  
Table for junction cable by model of MINAS A4P series  
Motor type  
MAMA 100W to 750W Encoder  
MSMD 50W to 750W  
MQMA 100W to 400W  
Motor  
Type of junction cable  
Part No of junction cable Fig.No.  
17bit, 7-wire With battery holder for absolute encoder  
MFECA0**0EAE  
Fig.2-1  
Without battery holder for absolute encoder MFECA0**0EAD Fig.2-2  
MFECA0**0EAM Fig.2-3  
2500P/r, 5-wire  
MFMCA0**0EED Fig.3-1  
Brake  
MFMCB0**0GET Fig.5-1  
MSMA 1.0kW, 1.5kW  
MDMA 1.0kW, 1.5kW  
MHMA 0.5kW to 1.5kW  
MGMA 900W  
Encoder  
17bit, 7-wire With battery holder for absolute encoder  
MFECA0**0ESE  
Fig.2-4  
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5  
MFECA0**0ESD Fig.2-5  
2500P/r, 5-wire  
without Brake  
Brake  
Motor  
MFMCD0**2ECD Fig.3-2  
MFMCA0**2FCD Fig.4-1  
MSMA 2.0kW  
MDMA 2.0kW  
Encoder  
17bit, 7-wire With battery holder for absolute encoder  
MFECA0**0ESE  
Fig.2-4  
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5  
MFECA0**0ESD Fig.2-5  
2500P/r, 5-wire  
without Brake  
Brake  
Motor  
MFMCD0**2ECT Fig.3-3  
MFMCA0**2FCT Fig.4-2  
MSMA 3.0kW to 5.0kW Encoder  
MDMA 3.0kW to 5.0kW  
17bit, 7-wire With battery holder for absolute encoder  
MFECA0**0ESE  
Fig.2-4  
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5  
MFECA0**0ESD Fig.2-5  
MHMA 2.0kW to 5.0kW  
2500P/r, 5-wire  
without Brake  
Brake  
MGMA 2.0kW to 4.5kW Motor  
MFMCA0**3ECT Fig.3-4  
MFMCA0**3FCT Fig.4-3  
MFMA 0.4kW, 1.5kW  
MFMA 2.5kW, 4.5kW  
Encoder  
17bit, 7-wire With battery holder for absolute encoder  
MFECA0**0ESE  
Fig.2-4  
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5  
MFECA0**0ESD Fig.2-5  
2500P/r, 5-wire  
without Brake  
Brake  
Motor  
MFMCA0**2ECD Fig.3-5  
MFMCA0**2FCD Fig.4-1  
Encoder  
17bit, 7-wire With battery holder for absolute encoder  
MFECA0**0ESE  
Fig.2-4  
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5  
MFECA0**0ESD Fig.2-5  
2500P/r, 5-wire  
without Brake  
Brake  
Motor  
MFMCD0**3ECT Fig.3-6  
MFMCA0**3FCT Fig.4-3  
181  
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Options  
Junction Cable for Encoder  
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W  
17-bit absolute encoder with battery holder  
MFECA0**0EAE  
Fig. 2-1  
Title  
Part No.  
Manufacturer  
L(m)  
Part No.  
L
551055100-0600 or  
55100-0670 (lead-free)  
172161-1  
3
5
MFECA0030EAE  
MFECA0050EAE  
Connector  
Molex Inc.  
110  
300  
Connector  
Connector pin  
10 MFECA0100EAE  
20 MFECA0200EAE  
Tyco  
Electronics AMP  
170365-1  
Oki  
Cable  
0.20mm2 x 4P  
(4) (14) (4)  
Electric Cable Co.  
Note) Battery for absolute encoder is an option.  
MSMD 50W to 750W, MQMA100W to 400W, MAMA 100W to 750W  
17-bit incremental encoder without battery holder  
MFECA0**0EAD  
Fig. 2-2  
L
Title  
Part No.  
55100-0600 or  
55100-0670 (lead-free)  
172161-1  
Manufacturer  
L(m)  
Part No.  
3
5
MFECA0030EAD  
MFECA0050EAD  
Connector  
Molex Inc.  
Connector  
10 MFECA0100EAD  
20 MFECA0200EAD  
Tyco  
(4)  
(14)  
(4)  
Connector pin  
170365-1  
Electronics AMP  
Oki  
Cable  
0.20mm2 x 3P  
Electric Cable Co.  
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W  
2500P/r encoder  
MFECA0**0EAM  
Fig. 2-3  
L
Title  
Part No.  
55100-0600 or  
55100-0670 (lead-free)  
172160-1  
Manufacturer  
L(m)  
Part No.  
3
5
MFECA0030EAM  
MFECA0050EAM  
Connector  
Molex Inc.  
Connector  
10 MFECA0100EAM  
20 MFECA0200EAM  
Tyco  
Connector pin  
170365-1  
Electronics AMP  
(4)  
(14)  
(4)  
Oki  
Cable  
0.20mm2 x 3P  
Electric Cable Co.  
MSMA, MDMA, MHMA, MGMA, MFMA  
17-bit absolute encoder with battery holder  
MFECA0**0ESE  
Fig. 2-4  
Title  
Part No.  
55100-0600 or  
55100-0670 (lead-free)  
Manufacturer  
L(m)  
Part No.  
L
3
5
MFECA0030ESE  
MFECA0050ESE  
Connector  
Molex Inc.  
110  
300  
Straight plug N/MS3106B20-29S Japan Aviation  
10 MFECA0100ESE  
20 MFECA0200ESE  
Cable clamp  
N/MS3057-12A  
Electronics Ind.  
Oki  
Cable  
0.20mm2 x 4P  
Electric Cable Co.  
Note) Battery for absolute encoder is an option.  
MSMA, MDMA, MHMA, MGMA, MFMA  
17-bit incremental encoder without battery holder, 2500P/r encoder  
MFECA0**0ESD  
Fig. 2-5  
L
Title  
Part No.  
55100-0600 or  
Manufacturer  
L(m)  
3
5
10  
20  
Part No.  
MFECA0030ESD  
MFECA0050ESD  
MFECA0100ESD  
MFECA0200ESD  
Connector  
Molex Inc.  
55100-0670 (lead-free)  
Straight plug N/MS3106B20-29S Japan Aviation  
Cable clamp  
N/MS3057-12A  
Electronics Ind.  
2
Oki  
Cable  
0.20mm x 3P  
Electric Cable Co.  
182  
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[Supplement]  
®
Junction Cable for Motor (ROBO-TOP 105˚C 600V DP)  
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.  
MFMCA0**0EED  
Fig. 3-1  
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W  
Title  
Part No.  
172159-1  
170366-1  
Manufacturer  
(50)  
(50)  
L
Connector  
Connector pin  
Tyco  
Electronics AMP  
L(m)  
Part No.  
3
5
MFMCA0030EED  
MFMCA0050EED  
Rod terminal AI0.75-8GY  
Phoenix  
Nylon insulated  
N1.25-M4  
round terminal  
J.S.T Mfg. Co.,  
Ltd.  
Daiden Co.,Ltd.  
10 MFMCA0100EED  
20 MFMCA0200EED  
(4) (10.0) (4)  
2
Cable  
ROBO-TOP 600V 0.75mm  
MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW  
MHMA 500W to 1.5kW, MGMA 900W  
MFMCD0**2ECD  
Fig. 3-2  
Title  
Part No.  
Straight plug JL04V-6A20-4SE-EB-R  
Cable clamp JL04-2022CK(14)-R  
Manufacturer  
Japan Aviation  
Electronics Ind.  
Phoenix  
(50)  
L(m)  
Part No.  
L
3
5
MFMCD0032ECD  
MFMCD0052ECD  
Rod terminal  
AI2.5-8BU  
Nylon insulated  
round terminal  
J.S.T Mfg. Co.,  
Ltd.  
Daiden Co.,Ltd.  
10 MFMCD0102ECD  
20 MFMCD0202ECD  
N2-M4  
ROBO-TOP 600V 2.0mm2  
Cable  
MFMCD0**2ECT  
Fig. 3-3  
MSMA 2.0kW, MDMA 2.0kW  
(50)  
L
Title  
Part No.  
Manufacturer  
L(m)  
Part No.  
Straight plug JL04V-6A20-4SE-EB-R Japan Aviation  
Cable clamp JL04-2022CK(14)-R Electronics Ind.  
Nylon insulated  
3
5
MFMCD0032ECT  
MFMCD0052ECT  
10 MFMCD0102ECT  
20 MFMCD0202ECT  
N2-5  
J.S.T Mfg. Co., Ltd.  
round terminal  
Cable  
ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd.  
MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW  
MHMA 2.0kW to 5.0kW, MGMA 2.0kW to 4.5kW  
MFECA0**3ECT  
Fig. 3-4  
(50)  
L
Title  
Part No.  
JL04V-6A22-22SE-EB-R  
JL04-2022CK(14)-R  
Manufacturer  
Japan Aviation  
Electronics Ind.  
L(m)  
3
5
Part No.  
MFMCA0033ECT  
MFMCA0053ECT  
Straight plug  
Cable clamp  
10 MFMCA0103ECT  
20 MFMCA0203ECT  
Nylon insulated  
round terminal  
N5.5-5  
J.S.T Mfg. Co., Ltd.  
Cable  
ROBO-TOP 600V 3.5mm2 Daiden Co.,Ltd.  
MFMA 400W to 1.5kW  
(50)  
MFMCA0**2ECD  
Fig. 3-5  
Title  
Part No.  
Manufacturer  
Japan Aviation  
Electronics Ind.  
Phoenix  
L
Straight plug  
Cable clamp  
Rod terminal  
JL04V-6A20-18SE-EB-R  
JL04-2022CK(14)-R  
AI2.5-8BU  
L(m)  
3
5
Part No.  
MFMCA0032ECD  
MFMCA0052ECD  
Nylon insulated  
round terminal  
J.S.T Mfg. Co.,  
Ltd.  
Daiden Co.,Ltd.  
10 MFMCA0102ECD  
20 MFMCA0202ECD  
N2-M4  
ROBO-TOP 600V 2.0mm2  
Cable  
MFMA 2.5kW to 4.5kW  
(50)  
MFMCD0**3ECT  
Fig. 3-6  
Title  
Straight plug  
Cable clamp  
Part No.  
JL04V-6A24-11SE-EB-R Japan Aviation  
JL04-2428CK(17)-R Electronics Ind.  
Manufacturer  
L(m)  
3
5
10  
20  
Part No.  
L
MFMCD0033ECT  
MFMCD0053ECT  
MFMCD0103ECT  
MFMCD0203ECT  
Nylon insulated  
round terminal  
N5.5-5  
J.S.T Mfg. Co., Ltd.  
Cable  
ROBO-TOP 600V 3.5mm2 Daiden Co.,Ltd.  
183  
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Options  
®
Junction Cable for Motor with Brake (ROBO-TOP 105˚C 600V DP)  
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.  
MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW  
MHMA 500W to 1.5kW, MFMA 400W to 1.5kW  
MGMA 900W  
MFMCA0**2FCD  
Fig. 4-1  
(50)  
L
Manufacturer  
Japan Aviation  
Electronics Ind.  
Phoenix  
Title  
Part No.  
JL04V-6A20-18SE-EB-R  
JL04-2022CK(14)-R  
AI2.5-8BU  
Straight plug  
Cable clamp  
Rod terminal  
Earth  
J.S.T Mfg. Co., Ltd.  
N2-M4  
N1.25-M4  
ROBO-TOP 600V 0.75mm2  
Nylon insulated  
round terminal  
L(m)  
3
5
Part No.  
MFMCA0032FCD  
MFMCA0052FCD  
Brake  
Daiden Co.,Ltd.  
Cable  
and  
10 MFMCA0102FCD  
20 MFMCA0202FCD  
ROBO-TOP 600V 2.0mm2  
MFMCA0**2FCT  
Fig. 4-2  
MSMA 2.0kW, MDMA 2.0kW  
(50)  
L
Title  
Part No.  
Manufacturer  
Japan Aviation  
Straight plug JL04V-6A20-18SE-EB-R  
JL04-2022CK(14)-R Electronics Ind.  
Cable clamp  
Earth  
N2-5  
Nylon insulated  
round terminal  
L(m)  
3
5
Part No.  
MFMCA0032FCT  
MFMCA0052FCT  
J.S.T Mfg. Co., Ltd.  
N1.25-M4  
Brake  
ROBO-TOP 600V 0.75mm2  
Cable  
Daiden Co.,Ltd.  
and  
10 MFMCA0102FCT  
20 MFMCA0202FCT  
ROBO-TOP 600V 2.0mm2  
MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW  
MHMA 2.0kW to 5.0kW, MFMA 2.5kW to 4.5kW  
MGMA 2.0kW to 4.5kW  
MFMCA0**3FCT  
Fig. 4-3  
(50)  
L
Title  
Part No.  
Manufacturer  
Japan Aviation  
Electronics Ind.  
Straight plug JL04V-6A24-11SE-EB-R  
Cable clamp JL04-2428CK(17)-R  
Earth  
Brake  
N5.5-5  
N1.25-M4  
ROBO-TOP 600V 0.75mm2  
Nylon insulated  
round terminal  
L(m)  
3
5
Part No.  
MFMCA0033FCT  
MFMCA0053FCT  
J.S.T Mfg. Co., Ltd.  
Cable  
Daiden Co.,Ltd.  
and  
10 MFMCA0103FCT  
20 MFMCA0203FCT  
ROBO-TOP 600V 3.5mm2  
®
Junction Cable for Brake (ROBO-TOP 105˚C 600V DP)  
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.  
MSMD 50W to 750W  
MFMCB0**0GET  
MQMA 100W to 400W  
Fig. 5-1  
MAMA 100W to 750W  
(40)  
(50)  
L
Title  
Connector  
Connector pin  
Part No.  
172157-1  
170366-1,170362-1  
Manufacturer  
L(m)  
3
5
Part No.  
MFMCB0030GET  
MFMCB0050GET  
Tyco  
Electronics AMP  
10 MFMCB0100GET  
20 MFMCB0200GET  
Nylon insulated  
round terminal  
J.S.T Mfg. Co., Ltd.  
N1.25-M4  
(5.6)  
ROBO-TOP 600V 0.75mm2  
Cable  
Daiden Co.,Ltd.  
184  
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[Supplement]  
Connector Kit for External Peripheral Equipments  
1) Par No. DV0P4350  
Title  
Part No.  
Quantity  
Manufacturer  
Note  
2) Components  
54306-3611 or  
Connector  
1
1
For CN X5  
(36-pins)  
(lead-free)  
54306-3619  
Molex Inc.  
Connector cover  
54331-0361  
3) Pin disposition (36 pins) (viewed from the soldering side)  
<Cautions>  
19  
21  
23  
25  
27  
29  
31  
33  
35  
1) Check the stamped pin-No. on the  
connector body while making a wiring.  
2) For the function of each signal title or  
its symbol, refer to the wiring example  
of the connector CN I/F.  
CCWL  
Z-LS  
SRV-ON EX-IN2  
COIN/  
DCLON  
P1OUT  
P4OUT  
P16OUT (NC)  
20  
CWL  
22  
24  
STB  
26  
GND  
28  
BUSY  
30  
P2OUT  
32  
P8OUT  
34  
36  
EX-IN1  
P32OUT BRK-OFF  
1
3
P1IN  
5
P4IN  
7
9
OZ  
11  
OA  
13  
DB  
15  
ALM  
17  
COM  
COM  
P16IN  
2
4
6
8
10  
12  
14  
16  
18  
EMG-  
STP  
P2IN  
P8IN  
P32IN  
OZ  
OA  
DB  
CZ  
FG  
3) Check the stamped pin-No. on the  
connector body while making a wiring.  
Interface Cable  
Cable of 2m is connected.  
1) Par No. DV0P4510  
3) Table for wiring  
Pin No.  
color  
Pin No.  
13  
color  
Gray (Red2)  
Pin No.  
25  
color  
2) Dimensions  
1
2
Orange (Red1)  
Orange (Black1)  
Gray (Red1)  
White (Red3)  
White (Black3)  
Yellow (Red3)  
Yellow (Black3)  
Pink (Red3)  
2000 +0200  
12.7  
14  
Gray (Black2)  
White (Red2)  
White (Black2)  
Yellow (Red2)  
Yellow (Black2)  
Pink (Red2)  
26  
(39)  
3
15  
27  
50+010  
4
White (Red1)  
White (Black1)  
Gray (Black1)  
Yellow (Red1)  
Yellow (Black1)  
Pink (Red1)  
16  
28  
5
17  
29  
6
18  
30  
Pink (Black3)  
Orange (Red4)  
Orange (Black4)  
Gray (Red4)  
7
19  
31  
8
20  
Pink (Black2)  
Orange (Red3)  
Orange (Black3)  
Gray (Red3)  
32  
<Remarks>  
Color designation of the cable  
e.g.) Pin-1 Cable color : Orange  
(Red1) : One red dot on the cable  
9
21  
33  
10  
11  
12  
Pink (Black1)  
Orange (Red2)  
Orange (Black2)  
22  
34  
Gray (Black4)  
White (Red4)  
White (Black4)  
23  
35  
24  
Gray (Black3)  
36  
Communication Cable (for connection to PC)  
1) Par No. DV0P1960 (DOS/V machine)  
2000  
33  
18  
Mini-DIN 8P  
D-sub connector 9P  
MD connector  
Setup Support Software “PANATERM®”  
1) Part No. DV0P4460 (English/Japanese version)  
2) Supply media : CD-ROM  
<Caution>  
For setup circumstance, refer to the Instruction Manual of [PANATERM®].  
185  
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Options  
Connector Kit for Motor/Encoder Connection  
These are required when you make your own encoder and motor cables.  
• Applicable motor models :  
MSMD 50W to 750W  
MQMA 100W to 400W  
MAMA 100W to 750W  
For brake, purchase our  
optional brake cable.  
17-bit absolute  
1) Part No. DV0P4290  
2) Components  
Title  
Part No.  
Number  
Manufacturer  
Note  
55100-0600 or  
55100-0670 (lead-free)  
Connector  
1
Molex Inc.  
For CN X6 (6-pins)  
Connector  
1
9
1
4
For junction cable to  
encoder (9-pins)  
172161-1  
170365-1  
172159-1  
Tyco Electronics AMP  
Tyco Electronics AMP  
Connector pin  
Connector  
For junction cable to  
motor (4-pins)  
Connector pin  
170366-1  
3) Pin disposition of connector, CN X6 4) Pin disposition of junction cable 5) Pin disposition of junction cable  
for encoder for motor power  
1 E5V  
3 E5V  
5 PS  
2 E0V  
4 E0V  
6 PS  
1
2
3
1
2
BAT+ BAT– FG  
4
U
3
V
4
5
6
PS  
7
PS  
8
NC  
9
W
E
E5V E0V  
NC  
Case  
FG  
(
)
*When you connect the battery for absolute encoder, refer to P.138,  
"When you make your own cable for 17-bit absolute encoder"  
• Applicable motor models :  
MSMD 50W to 750W  
MQMA 100W to 400W  
MAMA 100W to 750W  
For brake, purchase our  
optional brake cable.  
2500P/r incremental  
encoder  
1) Part No. DV0P4380  
2) Components  
Title  
Part No.  
Number  
Manufacturer  
Note  
55100-0600 or  
55100-0670 (lead-free)  
1
Connector  
For CN X6 (6-pins)  
Molex Inc.  
Connector  
172160-1  
170365-1  
172159-1  
170366-1  
1
6
1
4
For junction cable to  
encoder (6-pins)  
Tyco Electronics AMP  
Tyco Electronics AMP  
Connector pin  
Connector  
For junction cable to  
encoder (4-pins)  
Connector pin  
3) Pin disposition of connector, CN X6 4) Pin disposition of junction  
cablefor encoder  
5) Pin disposition of junction  
cable for motor power  
1 E5V  
3 E5V  
5 PS  
2 E0V  
4 E0V  
6 PS  
1
2
3
1
2
NC  
4
PS  
5
PS  
6
U
3
V
4
E5V E0V  
FG  
W
E
Case  
FG  
(
)
For DVOP2490, DV0P3480,  
• recommended manual  
crimp tool  
Title  
Part No.  
Manufacturer  
For junction cable to encoder  
For junction cable to motor  
755330 - 1  
755331 - 1  
Tyco Electronics AMP  
(to be prepared by customer)  
186  
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[Supplement]  
• Applicable motor models :  
MSMA 1.0kW to 2.0kW  
MDMA 1.0kW to 2.0kW  
MHMA 500W to 1.5kW  
MGMA 900W  
17-bit absolute incremental encoder,  
2500P/r incremental encoder  
Without brake  
1) Part No. DV0P4310  
2) Components  
Title  
Part No.  
55100-0600 or 55100-0670  
(lead-free)  
Number Manufacturer  
Note  
1
Connector  
Molex Inc.  
For CN X6 (6-pins)  
Straight plug  
Cable clamp  
Straight plug  
Cable clamp  
N/MS3106B20-29S  
N/MS3057-12A  
N/MS3106B20-4S  
N/MS3057-12A  
1
1
1
1
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
encoder  
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
motor power  
• Applicable motor models :  
MSMA 3.0kW to 5.0kW  
MDMA 3.0kW to 5.0kW  
MHMA 2.0kW to 5.0kW  
MGMA 2.0kW to 4.5kW  
17-bit absolute incremental encoder,  
2500P/r incremental encoder  
Without brake  
1) Part No. DV0P4320  
2) Components  
Title  
Part No.  
55100-0600 or 55100-0670  
(lead-free)  
Number Manufacturer  
Note  
1
Connector  
Molex Inc.  
For CN X6 (6-pins)  
Straight plug  
Cable clamp  
Straight plug  
Cable clamp  
N/MS3106B-20-29S  
N/MS3057-12A  
N/MS3106B22-22S  
N/MS3057-12A  
1
1
1
1
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
encoder  
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
motor power  
• Applicable motor models :  
MSMA 1.0kW to 2.0kW  
MDMA 1.0kW to 2.0kW  
MHMA 0.5kW to 1.5kW  
MGMA 900W  
17-bit absolute incremental encoder,  
2500P/r incremental encoder  
With brake  
17-bit absolute incremental encoder, Without brake  
MFMA 0.4kW to 1.5kW  
2500P/r incremental encoder  
With brake  
1) Part No. DV0P4330  
2) Components  
Title  
Part No.  
55100-0600 or 55100-0670  
(lead-free)  
Number Manufacturer  
Note  
1
Connector  
Molex Inc.  
For CN X6 (6-pins)  
Straight plug  
Cable clamp  
Straight plug  
Cable clamp  
N/MS3106B20-29S  
N/MS3057-12A  
N/MS3106B20-18S  
N/MS3057-12A  
1
1
1
1
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
encoder  
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
motor power  
• Applicable motor models :  
MSMA 3.0kW to 5.0kW  
MDMA 3.0kW to 5.0kW  
MHMA 2.0kW to 5.0kW  
MGMA 2.0kW to 4.5kW  
17-bit absolute incremental encoder,  
2500P/r incremental encoder  
With brake  
17-bit absolute incremental encoder, Without brake  
MFMA 2.5kW to 4.5kW  
2500P/r incremental encoder  
With brake  
1) Part No. DV0P4340  
Title  
Part No.  
55100-0600 or 55100-0670  
(lead-free)  
Number Manufacturer  
Note  
2) Components  
1
Connector  
Molex Inc.  
For CN X6 (6-pins)  
Straight plug  
Cable clamp  
Straight plug  
Cable clamp  
N/MS3106B20-29S  
N/MS3057-12A  
N/MS3106B24-11S  
N/MS3057-16A  
1
1
1
1
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
encoder  
Japan Aviation Electronics For junction cable to  
Industry Ltd.  
motor power  
187  
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Options  
Mounting Bracket  
Frame symbol  
of applicable  
driver  
Dimensions  
Mounting  
screw  
part No.  
Upper side  
2-M4, Pan head  
Bottom side  
2-M4, Pan head  
11 ±0.2  
M4 x L6  
Pan head  
4pcs  
11  
±0.2  
DV0P  
4271  
2.6  
2.6  
A-frame  
5.2  
7
7
21  
21  
2-M4, Pan head  
2.6  
2-M4, Pan head  
18 ±0.2  
M4 x L6  
Pan head  
4pcs  
18 ±0.2  
DV0P  
4272  
5.2  
2.6  
B-frame  
7
7
28  
28  
2-M4, Pan head  
2-M4, Pan head  
30 ±0.2  
30 ±0.2  
5.2  
M4 x L6  
Pan head  
4pcs  
DV0P  
4273  
2.6  
2.6  
C-frame  
20  
20  
40  
40  
2-M4, Pan head  
2-M4, Pan head  
19  
36 ±0.2  
5
36 ±0.2  
M4 x L6  
Pan head  
4pcs  
DV0P  
4274  
2.6  
5.2  
5.2  
2.6  
D-frame  
10  
40  
60  
10  
40 ±0.2  
60  
<Caution>  
For E and F-frame, you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).  
Console  
(24)  
(62)  
Part No. DV0P4420  
M3 L5  
Tightening torque for the insert screw  
shall be 0.5N m or less.  
Name plate  
(15)  
MD connector  
Mini DIN-8P  
(1500)  
188  
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[Supplement]  
Reactor  
Fig.1  
Rated  
Inductance  
(mH)  
current  
(A)  
Part No.  
A
B
C
D
E
F
G
H
I
X
Y
Z
DV0P220 65 125 83 118 145 70 85 7(w) x 12(L) M4  
DV0P221 60 150 113 137 120 60 75 7(w) x 12(L) M4  
DV0P222 60 150 113 137 130 70 95 7(w) x 12(L) M4  
DV0P223 60 150 113 137 140 79 95 7(w) x 12(L) M4  
DV0P224 60 150 113 137 145 84 100 7(w) x 12(L) M4 0.848  
DV0P225 60 150 113 137 160 100 115 7(w) x 12(L) M5 0.557  
6.81  
4.02  
2
3
5
8
11  
16  
25  
3
5
8
11  
NP  
R
S
T
1.39  
6-1  
E
DV0P226 55 80 68 90 90 41 55  
DV0P227 55 80 68 90 90 41 55  
DV0P228 55 80 68 90 95 46 60  
DV0P229 55 80 68 90 105 56 70  
ø7.0  
ø7.0  
ø7.0  
ø7.0  
M4  
M4  
M4  
M4  
6.81  
4.02  
2
1.39  
Motor Power  
series supply  
Rated  
Motor Power  
series supply  
Rated  
A
F
Part No.  
Part No.  
4-H  
output  
output  
(Mounting pitch)  
(Mounting pitch)  
B
G
MSMD  
Single  
MQMA  
phase,  
MSMD  
50W to 100W  
100W  
MGMA  
MSMA  
MDMA  
MHMA  
MFMA  
MSMA  
900W  
DV0P227  
1.0kW  
1.5kW  
DV0P222  
Fig.2  
100V 200W to 400W DV0P228  
50W to 200W  
2-1  
MQMA  
MSMD  
MQMA  
MAMA  
MFMA  
MHMA  
MSMD  
MQMA  
MAMA  
MAMA  
MFMA  
MHMA  
MSMD  
MAMA  
E
1.5kW  
2.0kW  
2.5kW  
3.0kW  
100W to 200W  
DV0P220 MDMA  
DV0P223  
Single  
3-phase,  
200V  
400W  
MHMA  
MGMA  
MFMA  
phase,  
500W  
200V  
400W to 750W  
400W  
400W to 750W  
A
F
DV0P221 MSMA  
MDMA  
MHMA  
DV0P220 MGMA  
MSMA  
4-H  
(Mounting pitch)  
(Mounting pitch)  
DV0P224  
DV0P225  
G
B
400W  
500W  
750W  
3-phase,  
200V  
MDMA  
MHMA  
4.0kW  
DV0P221  
Harmonic restraint  
On September, 1994, “Guidelines for harmonic restraint on heavy consumers who receive power through  
high voltage system or extra high voltage system” and “Guidelines for harmonic restraint on household  
electrical appliances and general-purpose articles” established by the Agency for Natural Resources and  
Energy of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and Industry).  
According to those guidelines, the Japan Electrical Manufacturers’ Association (JEMA) have prepared tech-  
nical documents (procedure to execute harmonic restraint: JEM-TR 198, JEM-TR 199 and JEM-TR 201)  
and have been requesting the users to understand the restraint and to cooperate with us. On January, 2004,  
it has been decided to exclude the general-purpose inverter and servo driver from the “Guidelines for har-  
monic restraint on household electrical appliances and general-purpose articles”. After that, the “Guidelines  
for harmonic restraint on household electrical appliances and general-purpose articles” was abolished on  
September 6, 2004.  
We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose  
inverter and servo driver was modified as follows.  
1.All types of the general-purpose inverters and servo drivers used by specific users are under the control of  
the “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage sys-  
tem or extra high voltage system”. The users who are required to apply the guidelines must calculate the  
equivalent capacity and harmonic current according to the guidelines and must take appropriate counter-  
measures if the harmonic current exceeds a limit value specified in a contract demand. (Refer to JEM-TR  
210 and JEM-TR 225.)  
2.The “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”  
was abolished on September 6, 2004. However, based on conventional guidelines, JEMA applies the  
technical documents JEM-TR 226 and JEM-TR 227 to any users who do not fit into the “Guidelines for  
harmonic restraint on heavy consumers who receive power through high voltage system or extra high  
voltage system” from a perspective on enlightenment on general harmonic restraint.The purpose of these  
guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent.  
189  
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Options  
External Regenerative Resistor  
Specifications  
Activation  
temperature of  
built-in thermostat  
Rated power (reference) *  
with fan [W]  
Manufacturer's  
Part No.  
Resistance  
part No.  
Free air  
[W]  
10  
1m/s  
25  
2m/s  
35  
3m/s  
45  
DV0P4280  
DV0P4281  
DV0P4282  
DV0P4283  
DV0P4284  
DV0P4285  
RF70M  
RF70M  
RF18B  
RF18B  
RF240  
RH450F  
50  
100  
25  
50  
30  
20  
140±5˚C  
B-contact  
10  
25  
35  
45  
Open/Close capacity  
(resistance load)  
4A 125VAC 10000 times  
2.5A 250VAC 10000 times  
17  
50  
60  
75  
17  
50  
60  
75  
40  
100  
130  
120  
160  
150  
200  
52  
* Power with which the driver can be used without activating  
the built-in thermostat.  
Manufacturer : Iwaki Musen Kenkyusho  
DV0P4280, DV0P4281  
DV0P4282,DV0P4283  
Power supply  
300  
65  
57  
170±1  
Single phase, 200V  
Frame  
thermostat  
(light yellow x2)  
Single phase, 100V  
5
5
2-Ø4.5  
160±0.5  
3-phase, 200V  
6-Ø4.5  
24  
DV0P4281  
DV0P4280  
A
21  
450  
DV0P4283  
DV0P4282  
DV0P4283  
B
C
D
E
10  
300±30  
450  
DV0P4284  
DV0P4285  
Arrange 2  
DV0P4285  
in a parallel  
30  
thermostat  
(light yellow x2)  
Drawing process  
(2mm MAX)  
F
DV0P4284  
DV0P4285  
300  
278  
300  
290  
280  
(5)  
4-Ø4.5  
450  
thermostat  
(light yellow x2)  
thermostat  
300  
(light yellow x2)  
450  
450  
300  
53  
10  
71  
10  
288  
<Remarks>  
<Caution>  
Thermal fuse is installed for safety. Compose the circuit so that the power  
will be turned off when the thermostat is activated. The thermal fuse may  
blow due to heat dissipating condition, working temperature, supply voltage  
or load fluctuation.  
Make it sure that the surface temperature of the resistor may not exceed  
100˚C at the worst running conditions with the machine, which brings large  
regeneration (such case as high supply voltage, load inertia is large or decel-  
eration time is short) Install a fan for a forced cooling if necessary.  
Regenerative resistor gets very hot.  
Take preventive measures for fire and  
burns.  
Avoid the installation near inflammable  
objects, and easily accessible place by  
hand.  
Battery For Absolute Encoder  
Battery  
84  
Lead wire length 50mm  
DV0P2990  
0 0 0 9 0 0 0 1  
(1) Part No. DV0P2990  
(2) Lithium battery by Toshiba Battery Co.  
ER6V, 3.6V 2000mAh  
ZHR-2  
(J.S.T Mfg. Co., Ltd.)  
14.5  
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).  
190  
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[Supplement]  
Recommended components  
Surge Absorber for Motor Brake  
Motor  
Surge absorber for motor brake  
MSMD  
50W to 1.0kW  
MAMA 100W to 750W  
MHMA 2.0kW to 5.0kW  
MGMA 900W to 2.0kW  
MSMA 1.5kW to 5.0kW  
MDMA 4.0kW to 5.0kW  
MFMA 1.5kW  
• C-5A2 or Z15D151  
Ishizuka Electronics Co.  
• C-5A3 or Z15D151  
Ishizuka Electronics Co.  
MGMA 3.0kW to 4.5kW  
MDMA 1.0kW to 3.0kW  
MFMA 400W  
• TNR9V820K  
Nippon Chemi_Con Co.  
MFMA 2.5kW to 4.5kW  
MHMA 500W to 1.5kW  
List of Peripheral Equipments  
(reference only)  
As of Nov.2004  
Manufacturer  
Tel No./URL  
Peripheral components  
Non-fuse breaker  
Magnetic contactor  
Surge absorber  
Automation Controls Company  
Matsushita Electric Works, Ltd.  
81-6-6908-1131  
http://www.mew.co.jp  
81-44-833-4311  
Iwaki Musen Kenkyusho Co., Ltd.  
Nippon Chemi_Con Corp.  
Ishizuka Electronics Corp.  
Renesas Technology Corp.  
TDK Corp.  
Regenerative resistor  
Surge absorber for holding brake  
Noise filter for signal lines  
http://www.iwakimusen.co.jp/  
81-3-5436-7608  
http://www.chemi_con.co.jp/  
81-3-3621-2703  
http://www.semitec.co.jp/  
81-6-6233-9511  
http://www.renesas.com/jpn/  
81-3-5201-7229  
http://www.tdk.co.jp/  
Surge absorber  
Noise filter  
81-3-3424-8120  
Okaya Electric Industries Co. Ltd.  
Japan Aviation Electronics Industry, Ltd.  
Sumitomo 3M  
http://www.okayatec.co.jp/  
81-3-3780-2717  
http://www.jae.co.jp  
81-3-5716-7290  
http://www.mmmco.jp  
81-44-844-8111  
Tyco Electronics AMP k.k,  
Japan Molex Inc.  
http://www.tycoelectronics.com/japan/amp  
Connector  
81-462-65-2313  
http://www.molex.co.jp  
81-3-3492-2161  
Hirose Electric Co., Ltd.  
J.S.T Mfg. Co., Ltd.  
http://www.hirose.co.jp/  
81-45-543-1271  
http://www.jst-mfg.com/  
81-3-5805-5880  
http://www.dyden.co.jp/  
Daiden Co., Ltd.  
Cable  
81-44-813-5410  
http://www.mitutoyo.co.jp  
Mitutoyo Corp.  
External scale  
* The above list is for reference only. We may change the manufacturer without notice.  
191  
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Dimensions (Driver)  
40  
132  
A-frame  
Mounting bracket  
(Option)  
21  
24  
7
41  
Mounting bracket  
(Option)  
Main power  
input terminals  
CN X1  
RS232  
communication  
terminal, CN X4  
Control power  
input terminals  
CN X1  
Name plate  
For  
manufacturer's  
use  
X1  
X1  
Regenerative  
resistor  
Control signal  
terminals,  
CN X5  
connecting  
terminals  
X2  
X2  
CN X2  
(Do not use RB3.)  
Encoder  
terminals,  
CN X6  
X6  
X6  
Motor  
connecting  
terminals  
CN X2  
X7  
X7  
External scale  
terminals,  
CN X7  
5.2  
(75)  
5.2  
28  
7
Mounting bracket  
(Option)  
Mounting bracket  
(Option)  
6
Base mount type  
(Standard : Back-end mounting)  
Rack mount type  
(Option : Front-end mounting)  
Mass 0.8kg  
Connector at driver side  
Connector sign  
CNX7  
Connector type  
53460-0629 (or equivalent)  
53460-0629 (or equivalent)  
529863679 (or equivalent)  
Manufacturer  
Molex Inc.  
Molex Inc.  
Molex Inc.  
Connector at Power Supply and motor side  
(which comes with the driver)  
CNX6  
CNX5  
CNX4  
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign  
Connector type  
Manufacturer  
CNX3B  
CNX3A  
CNX2  
855050013 (or equivalent)  
855050013 (or equivalent)  
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
S04B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
Molex Inc.  
Molex Inc.  
CNX2  
CNX1  
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
04JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
* Refer to P.188, "Mounting bracket for driver"of Options,  
when you use the optional mounting bracket.  
CNX1  
55  
132  
B-frame  
28  
Mounting bracket  
(Option)  
24  
7
Mounting bracket  
(Option)  
Main power  
input terminals  
CN X1  
RS232  
communication  
Control power  
input terminals  
CN X1  
terminal, CN X4  
For  
Name plate  
manufacturer's  
use  
X1  
X1  
Regenerative  
resistor  
Control signal  
terminals,  
CN X5  
connecting  
terminals  
X2  
X2  
CN X2  
(Do not use RB3.)  
Encoder  
terminals,  
CN X6  
X6  
X6  
Motor  
X7  
X7  
connecting  
terminals  
CN X2  
External scale  
terminals,  
CN X7  
5.2  
(75)  
5.2  
7
Mounting bracket  
(Option)  
Mounting bracket  
(Option)  
43  
6
Base mount type  
(Standard : Back-end mounting)  
Rack mount type  
(Option : Front-end mounting)  
Connector at driver side  
Connector sign  
CNX7  
Connector type  
53460-0629 (or equivalent)  
53460-0629 (or equivalent)  
529863679 (or equivalent)  
Manufacturer  
Mass 1.1kg  
Molex Inc.  
Molex Inc.  
Molex Inc.  
Connector at Power Supply and motor side  
(which comes with the driver)  
CNX6  
CNX5  
CNX4  
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign  
Connector type  
Manufacturer  
CNX3B  
CNX3A  
CNX2  
855050013 (or equivalent)  
855050013 (or equivalent)  
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
S04B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
Molex Inc.  
Molex Inc.  
CNX2  
CNX1  
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
04JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
* Refer to P.188, "Mounting bracket for driver"of Options,  
when you use the optional mounting bracket.  
CNX1  
192  
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[Supplement]  
C-frame  
65  
172  
40  
Mounting bracket  
(Option)  
20  
24  
Mounting bracket  
(Option)  
Main power  
input terminals  
CN X1  
RS232  
communication  
terminal, CN X4  
Control power  
input terminals  
CN X1  
Name plate  
For  
X1  
manufacturer's  
use  
X1  
Regenerative  
resistor  
Control signal  
terminals,  
CN X5  
connecting  
terminals  
X2  
X2  
CN X2  
(Do not use RB3.)  
Encoder  
terminals,  
CN X6  
X6  
X7  
X6  
X7  
Motor  
External scale  
terminals,  
CN X7  
connecting  
terminals  
CN X2  
5.2  
(75)  
5.2  
20  
Mounting bracket  
(Option)  
Mounting bracket  
(Option)  
50  
7.5  
40  
Base mount type  
(Standard :  
Back-end mounting)  
Rack mount type  
(Option : Front-end mounting)  
Connector at driver side  
Mass 1.5kg  
Connector sign  
CNX7  
Connector type  
53460-0629 (or equivalent)  
Manufacturer  
Molex Inc.  
Molex Inc.  
Molex Inc.  
Connector at Power Supply and motor side  
(which comes with the driver)  
CNX6  
CNX5  
53460-0629 (or equivalent)  
529863679 (or equivalent)  
CNX4  
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign  
Connector type  
Manufacturer  
CNX3B  
CNX3A  
CNX2  
855050013 (or equivalent)  
855050013 (or equivalent)  
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
S05B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
Molex Inc.  
Molex Inc.  
CNX2  
CNX1  
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
05JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
* Refer to P.188, "Mounting bracket for driver"of Options,  
when you use the optional mounting bracket.  
CNX1  
Air movement  
(inside out)  
D-frame  
85  
172  
60  
40  
Mounting bracket  
(Option)  
10  
24  
Mounting bracket  
(Option)  
Main power  
input terminals  
CN X1  
RS232  
communication  
terminal, CN X4  
Control power  
input terminals  
CN X1  
For  
Name plate  
manufacturer's  
use  
X1  
X1  
Control signal  
terminals,  
CN X5  
Regenerative  
resistor  
connecting  
terminals  
X2  
X2  
CN X2  
(Do not use RB3.)  
Encoder  
terminals,  
CN X6  
X6  
X7  
X6  
X7  
Motor  
External scale  
terminals,  
CN X7  
connecting  
terminals  
CN X2  
5.2  
40  
5.2  
5.2  
(75)  
10  
70  
7.5  
Mounting bracket  
(Option)  
Mounting bracket  
(Option)  
Air movement  
(inside out)  
Base mount type  
(Standard :  
Back-end mounting)  
Rack mount type  
(Option : Front-end mounting)  
Connector at driver side  
Connector sign  
CNX7  
Connector type  
53460-0629 (or equivalent)  
53460-0629 (or equivalent)  
529863679 (or equivalent)  
Manufacturer  
Mass 1.7kg  
Molex Inc.  
Molex Inc.  
Molex Inc.  
Connector at Power Supply and motor side  
(which comes with the driver)  
CNX6  
CNX5  
CNX4  
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign  
Connector type  
Manufacturer  
CNX3B  
CNX3A  
CNX2  
855050013 (or equivalent)  
855050013 (or equivalent)  
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
S05B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.  
Molex Inc.  
Molex Inc.  
CNX2  
CNX1  
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
05JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.  
* Refer to P.188, "Mounting bracket for driver"of Options,  
when you use the optional mounting bracket.  
CNX1  
193  
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Dimensions (Driver)  
E-frame  
Connector at driver side  
Connector sign  
CNX7  
Connector type  
Manufacturer  
Molex Inc.  
Molex Inc.  
Molex Inc.  
53460-0629 (or equivalent)  
53460-0629 (or equivalent)  
529863679 (or equivalent)  
CNX6  
CNX5  
CNX4  
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd.  
CNX3B  
CNX3A  
855050013 (or equivalent)  
855050013 (or equivalent)  
Molex Inc.  
Molex Inc.  
Air movement (inside out)  
(88)  
85  
50  
42.5  
3.5  
200  
17.5  
32.1  
Mounting bracket  
(Standard)  
5.2  
2.6  
5.2  
Mounting bracket  
(install the standard to back end)  
Main power  
RS232  
L1  
input terminals  
communication  
terminal, CN X4  
L2  
L3  
r
Name plate  
For  
Control power  
input terminals  
manufacturer's  
use  
t
Regenerative  
resistor  
connecting  
terminals  
(Short between B1  
and B2 in normal  
operation)  
Control signal  
terminals,  
CN X5  
P
B1  
B2  
U
X5  
X5  
Encoder  
terminals,  
CN X6  
X6  
X7  
X6  
X7  
V
W
External scale  
terminals,  
CN X7  
Motor  
connecting  
terminals  
Earth terminals  
5.2  
5.2  
(75)  
42.5  
17.5  
50  
Mass 3.2kg  
Air movement (inside out)  
F-frame  
Connector at driver side  
Connector sign  
CNX7  
Connector type  
Manufacturer  
Molex Inc.  
Molex Inc.  
Molex Inc.  
53460-0629 (or equivalent)  
53460-0629 (or equivalent)  
529863679 (or equivalent)  
CNX6  
CNX5  
CNX4  
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd.  
CNX3B  
CNX3A  
855050013 (or equivalent)  
855050013 (or equivalent)  
Molex Inc.  
Molex Inc.  
130  
100  
3.5  
200  
15  
32.3  
65  
Mounting bracket  
(Standard)  
2.6  
5.2  
5.2  
Mounting bracket  
(install the standard to back end)  
Main power  
RS232  
input terminals  
communication  
terminal, CN X4  
L1  
L2  
L3  
r
Control power  
input terminals  
Name plate  
For  
manufacturer's  
use  
Regenerative  
resistor  
connecting  
terminals  
(Short between B1  
and B2 in normal  
operation)  
t
P
Control signal  
terminals,  
CN X5  
B1  
B2  
U
X5  
X5  
X6  
X6  
Encoder  
terminals,  
CN X6  
V
X7  
X7  
Air movement  
(from front to back)  
W
Motor  
connecting  
terminals  
External scale  
terminals,  
CN X7  
Earth terminals  
5.2  
65  
(75)  
5.2  
15  
100  
Mass 6.0kg  
194  
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[Supplement]  
Dimensions (Motor)  
MAMA 100W to 750W  
Motor connector  
Brake connector  
LR  
Encoder  
connector  
LL  
LF  
LE  
Motor  
cable  
LC  
(Key way dimensions)  
4-ØLZ  
LW  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Ultra low inertia)  
MAMA series  
Motor output  
Motor model  
100W  
200W  
400W  
750W  
012P1 *  
012S1 *  
022P1 *  
022S1 *  
042P1 *  
042S1 *  
082P1 *  
082S1 *  
MAMA  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
Rotary encoder specifications  
Without brake  
L L  
110.5  
138  
127  
111  
139  
126  
154  
139  
167  
154  
182  
160  
175  
With brake  
154.5  
192.5  
207.5  
L R  
S
24  
30  
30  
35  
8
11  
70  
50  
60  
14  
70  
50  
60  
19  
90  
70  
80  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
48  
22  
42  
2
7
3
7
3
7
3
8
34  
3.4  
14  
43  
4.5  
20  
43  
4.5  
25  
53  
6
25  
22  
6h9  
6
12.5  
3h9  
3
18  
22.5  
5h9  
5
4h9  
4
6.2  
8.5  
11  
15.5  
Without brake  
Mass (kg)  
0.65  
0.85  
0.71  
0.91  
1.1  
1.5  
1.2  
1.6  
1.5  
1.9  
1.6  
2.0  
3.3  
4.0  
3.4  
4.1  
With brake  
Connector/Plug specifications  
Refer to P.186, "Options".  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
195  
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Dimensions (Motor)  
MSMD 50W to 100W  
Brake connector  
Encoder  
Motor connector  
connector  
LL  
LR  
LE  
LF  
(Key way dimensions)  
4-ØLZ  
LW  
LC  
LK  
KW  
TP  
LN  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(low inertia)  
MSMD series  
Motor output  
Motor model  
50W  
100W  
5A * P1 *  
5A * S1 *  
01 * P1 *  
01 * S1 *  
MSMD  
17-bit Absolute/  
Incremental  
17-bit Absolute/  
Incremental  
2500P/r Incremental  
Rotary encoder specifications  
2500P/r Incremental  
Without brake  
L L  
72  
92  
122  
25  
8
With brake  
102  
25  
8
L R  
S
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L N  
L Z  
L W  
L K  
K W  
K H  
R H  
T P  
45  
30  
38  
45  
30  
38  
3
6
3
6
32  
26.5  
3.4  
14  
32  
46.5  
3.4  
14  
12.5  
3h9  
3
12.5  
3h9  
3
6.2  
6.2  
M3 x 6 (depth)  
0.32  
M3 x 6 (depth)  
0.47  
Without brake  
Mass (kg)  
With brake  
0.53  
0.68  
Refer to P.186, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
196  
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[Supplement]  
MSMD 200W to 750W  
(Key way dimensions)  
LW  
LK  
Brake connector  
Motor connector  
Encoder  
connector  
KW  
LL  
LR  
LE  
LF  
TP  
4-ØLZ  
LC  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(low inertia)  
04 * S1 *  
MSMD series  
200W  
400W  
750W  
Motor output  
Motor model  
02 * P1 *  
02 * S1 *  
04 * P1 *  
08 * P1 *  
2500P/r  
08 * S1 *  
MSMD  
17-bit  
17-bit  
Absolute/  
Incremental  
17-bit  
2500P/r  
2500P/r  
Incremental  
Rotary encoder specifications  
Absolute/  
Incremental  
Absolute/  
Incremental  
Incremental  
Incremental  
79  
98.5  
112  
149  
35  
Without brake  
L L  
115.5  
30  
135  
30  
14  
70  
50  
60  
With brake  
L R  
S
11  
19  
70  
90  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L N  
L Z  
L W  
L K  
K W  
K H  
R H  
T P  
50  
70  
60  
80  
3
3
3
8
6.5  
6.5  
43  
43  
53  
4.5  
4.5  
6
25  
22  
6h9  
6
20  
25  
18  
22.5  
4h9  
5h9  
4
8.5  
5
11  
15.5  
M4 x8 (depth)  
0.82  
M5 x 10 (depth)  
M5 x 10 (depth)  
Without brake  
Mass (kg)  
1.2  
1.7  
2.3  
3.1  
With brake  
1.3  
Refer to P.186, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
197  
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Dimensions (Motor)  
MQMA 100W to 400W  
Encoder  
connector  
Motor connector  
LL  
LR  
Brake connector  
LF  
LC  
LE  
(7)  
(7)  
(Key way dimensions)  
4-ØLZ  
LW  
LK  
KW  
TP  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(low inertia)  
MQMA series  
100W  
200W  
400W  
Motor output  
Motor model  
01 * P1 *  
01 * S1 *  
02 * P1 *  
02 * S1 *  
17-bit  
04 * P1 *  
04 * S1 *  
MQMA  
17-bit  
17-bit  
2500P/r  
2500P/r  
2500P/r  
Rotary encoder specifications  
Absolute/  
Incremental  
Absolute/  
Absolute/  
Incremental  
Incremental  
Incremental  
Incremental  
Incremental  
60  
84  
87  
67  
94  
82  
109  
Without brake  
L L  
111  
99.5  
126.5  
114.5  
141.5  
With brake  
25  
8
30  
11  
90  
70  
80  
30  
14  
90  
70  
80  
L R  
S
70  
50  
60  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
T P  
3
7
5
8
5
8
43  
4.5  
14  
53  
5.5  
20  
53  
5.5  
25  
12.5  
18  
22.5  
3h9  
4h9  
4
5h9  
3
6.2  
5
11  
8.5  
M3 x 6(depth)  
M4 x 8(depth)  
M5 x 10(depth)  
Without brake  
Mass (kg)  
0.65  
0.90  
0.75  
1.00  
1.3  
2.0  
1.4  
2.1  
1.8  
2.5  
1.9  
2.6  
With brake  
Refer to P.186, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
198  
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[Supplement]  
MSMA 1.0kW to 2.0kW  
Motor/Brake  
connector  
LC  
LL  
LR  
LE  
Encoder  
connector  
(Key way dimensions)  
LF  
4-ØLZ  
LW  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(low inertia)  
15 * S1 *  
MSMA series  
1.0kW  
1.5kW  
2.0kW  
Motor output  
Motor model  
10 * P1 *  
10 * S1 *  
15 * P1 *  
20 * P1 *  
20 * S1 *  
MSMA  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
Rotary encoder specifications  
175  
200  
175  
200  
180  
205  
180  
205  
205  
230  
205  
230  
Without brake  
L L  
With brake  
L R  
S
55  
19  
100  
80  
90  
120  
3
55  
19  
115  
95  
100  
135  
3
55  
19  
115  
95  
100  
135  
3
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
7
10  
84  
103  
9
10  
84  
103  
9
84  
98  
6.6  
45  
42  
6h9  
6
45  
42  
6h9  
6
45  
42  
6h9  
6
15.5  
15.5  
15.5  
Without brake  
Mass (kg)  
4.5  
5.1  
4.5  
5.1  
5.1  
6.5  
5.1  
6.5  
6.5  
7.9  
6.5  
7.9  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
199  
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Dimensions (Motor)  
MSMA 3.0kW to 5.0kW  
Motor/Brake  
connector  
LC  
LL  
LR  
LE  
Encoder  
connector  
(Key way dimensions)  
LF  
4-ØLZ  
LW  
LK  
KW  
LC  
Ø
135  
Ø
145  
LZ  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(low inertia)  
MSMA series  
Motor output  
Motor model  
3.0kW  
4.0kW  
5.0kW  
30 * P1 *  
30 * S1 *  
40 * P1 *  
40 * S1 *  
50 * P1 *  
50 * S1 *  
MSMA  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
Rotary encoder specifications  
Without brake  
L L  
217  
242  
217  
242  
240  
265  
240  
265  
280  
305  
280  
305  
With brake  
L R  
S
55  
22  
65  
24  
65  
24  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
130/145 (slot)  
145  
110  
130  
165  
6
145  
110  
130  
165  
6
110  
120  
162  
3
12  
84  
111  
9
12  
12  
84  
84  
118  
9
118  
9
45  
41  
8h9  
7
55  
55  
51  
51  
8h9  
7
8h9  
7
18  
20  
20  
Without brake  
Mass (kg)  
09.3  
11.0  
9.3  
12.9  
14.8  
12.9  
14.8  
17.3  
19.2  
17.3  
19.2  
With brake  
11.0  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
200  
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[Supplement]  
MDMA 1.0kW to 1.5kW  
Motor/Brake  
connector  
LL  
LR  
LC  
Encoder  
connector  
(Key way dimensions)  
LW  
LF  
LE  
4-ØLZ  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Middle inertia)  
15 * P1 *  
MDMA series  
1.0kW  
Motor output  
Motor model  
1.5kW  
10 * P1 *  
10 * S1 *  
15 * S1 *  
MDMA  
17-bit  
Absolute/Incremental  
17-bit  
Absolute/Incremental  
Rotary encoder specifications  
2500P/r Incremental  
2500P/r Incremental  
150  
175  
150  
175  
175  
200  
175  
200  
Without brake  
L L  
With brake  
L R  
S
55  
22  
55  
22  
145  
110  
130  
165  
6
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
145  
110  
130  
165  
6
12  
12  
84  
84  
118  
9
118  
9
45  
45  
41  
41  
8h9  
7
8h9  
7
18  
18  
Without brake  
Mass (kg)  
6.8  
8.7  
6.8  
8.7  
8.5  
8.5  
With brake  
10.1  
10.1  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
201  
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Dimensions (Motor)  
MDMA 2.0kW to 3.0kW  
Motor/Brake  
connector  
LL  
LR  
LC  
Encoder  
connector  
(Key way dimensions)  
LW  
LF  
LE  
4-ØLZ  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Middle inertia)  
30 * P1 *  
MDMA series  
2.0kW  
Motor output  
Motor model  
3.0kW  
20 * P1 *  
20 * S1 *  
30 * S1 *  
MDMA  
17-bit  
Absolute/Incremental  
17-bit  
Absolute/Incremental  
Rotary encoder specifications  
2500P/r Incremental  
2500P/r Incremental  
Without brake  
L L  
200  
225  
200  
225  
250  
275  
250  
275  
With brake  
L R  
S
55  
22  
65  
24  
145  
110  
130  
165  
6
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
145  
110  
130  
165  
6
12  
12  
84  
84  
118  
9
118  
9
45  
55  
41  
51  
8h9  
7
8h9  
7
18  
20  
Without brake  
Mass (kg)  
10.6  
12.5  
10.6  
12.5  
14.6  
16.5  
14.6  
16.5  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
202  
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[Supplement]  
MDMA 4.0kW to 5.0kW  
Motor/Brake  
connector  
LL  
LR  
LC  
Encoder  
connector  
(Key way dimensions)  
LW  
LF  
LE  
4-ØLZ  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Middle inertia)  
50 * P1 *  
MDMA series  
4.0kW  
Motor output  
Motor model  
5.0kW  
40 * P1 *  
40 * S1 *  
50 * S1 *  
MDMA  
17-bit  
Absolute/Incremental  
17-bit  
Absolute/Incremental  
Rotary encoder specifications  
2500P/r Incremental  
2500P/r Incremental  
242  
267  
242  
267  
225  
250  
225  
250  
Without brake  
L L  
With brake  
L R  
S
65  
28  
70  
35  
200  
114.3  
176  
233  
3.2  
18  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
165  
130  
150  
190  
3.2  
18  
84  
84  
128  
11  
143  
13.5  
55  
55  
51  
50  
8h9  
7
10h9  
8
24  
30  
Without brake  
Mass (kg)  
18.8  
21.3  
18.8  
21.3  
25.0  
28.5  
25.0  
28.5  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
203  
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Dimensions (Motor)  
MGMA 900W to 2.0kW  
MGMA 900W to 2.0kW  
Encoder connector  
Motor/Brake connector  
LL  
LR  
LC  
(Key way dimensions)  
LF LE  
4-ØLZ  
LW  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Middle inertia)  
MGMA series  
Motor output  
Motor model  
900W  
2.0kW  
09 * P1 *  
09 * S1 *  
20 * P1 *  
20 * S1 *  
MGMA  
17-bit  
Absolute/Incremental  
17-bit  
Absolute/Incremental  
Rotary encoder specifications  
2500P/r Incremental  
2500P/r Incremental  
Without brake  
L L  
175  
200  
175  
200  
182  
207  
182  
207  
With brake  
L R  
S
70  
22  
80  
35  
200  
114.3  
176  
233  
3.2  
18  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
145  
110  
130  
165  
6
12  
84  
84  
118  
9
143  
13.5  
55  
45  
41  
50  
8h9  
7
10h9  
8
18  
30  
Without brake  
Mass (kg)  
8.5  
8.5  
17.5  
21.0  
17.5  
21.0  
With brake  
10.0  
10.0  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
204  
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[Supplement]  
MGMA 3.0kW to 4.5kW  
MGMA 3.0kW  
LL  
LR  
Motor/Brake connector  
Encoder connector  
LC  
4-ØLZ  
LF LE  
(Key way dimensions)  
MGMA 4.5kW  
LW  
LK  
LL  
LR  
Motor/Brake connector  
Encoder connector  
LC  
Eye bole (Thread 10)  
LF  
LE  
4-ØLZ  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Middle inertia)  
45 * P1 *  
MGMA series  
3.0kW  
Motor output  
Motor model  
4.5kW  
30 * P1 *  
30 * S1 *  
45 * S1 *  
17-bit  
MGMA  
17-bit  
Absolute/Incremental  
Rotary encoder specifications  
2500P/r Incremental  
2500P/r Incremental  
Absolute/Incremental  
Without brake  
L L  
222  
271  
222  
271  
300.5  
337.5  
300.5  
337.5  
With brake  
L R  
S
80  
35  
113  
42  
200  
114.3  
176  
233  
3.2  
24  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
200  
114.3  
176  
233  
3.2  
18  
84  
84  
143  
13.5  
55  
143  
13.5  
96  
50  
90  
10h9  
8
12h9  
8
30  
37  
Without brake  
Mass (kg)  
25.0  
28.5  
25.0  
28.5  
34.0  
39.5  
34.0  
39.5  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
205  
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Dimensions (Motor)  
MFMA 400W to 1.5kW  
Encoder connector  
4-ØLZ  
Motor/Brake connector  
LC  
LR  
LE  
LL  
LF  
(Key way dimensions)  
LW  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Middle inertia)  
MFMA series  
Motor output  
Motor model  
400W  
1.5kW  
04 * P1 *  
04 * S1 *  
15 * P1 *  
15 * S1 *  
MFMA  
17-bit  
Absolute/Incremental  
17-bit  
Absolute/Incremental  
Rotary encoder specifications  
2500P/r Incremental  
2500P/r Incremental  
120  
145  
120  
145  
145  
170  
145  
170  
Without brake  
L L  
With brake  
L R  
S
55  
65  
19  
145  
110  
130  
165  
6
35  
200  
114.3  
176  
233  
3.2  
18  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
12  
84  
84  
118  
9
143  
13.5  
55  
45  
42  
50  
6h9  
6
10h9  
8
15.5  
30  
Without brake  
Mass (kg)  
4.7  
6.7  
4.7  
6.7  
11.0  
14.0  
11.0  
14.0  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
206  
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[Supplement]  
MFMA 2.5kW to 4.5kW  
Encoder connector  
4-ØLZ  
Motor/Brake connector  
LC  
LR  
LE  
LL  
LF  
(Key way dimensions)  
LW  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(Middle inertia)  
45 * P1 *  
MFMA series  
2.5kW  
Motor output  
Motor model  
4.5kW  
25 * P1 *  
25 * S1 *  
45 * S1 *  
MFMA  
17-bit  
Absolute/Incremental  
17-bit  
Absolute/Incremental  
Rotary encoder specifications  
2500P/r Incremental  
2500P/r Incremental  
Without brake  
L L  
139  
166  
139  
166  
163  
194  
163  
194  
With brake  
L R  
S
65  
35  
70  
35  
235  
200  
220  
268  
4
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
235  
200  
220  
268  
4
16  
16  
84  
84  
164  
13.5  
55  
164  
13.5  
55  
50  
50  
10h9  
8
10h9  
8
30  
30  
Without brake  
Mass (kg)  
14.8  
17.5  
14.8  
17.5  
19.9  
24.3  
19.9  
24.3  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
207  
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Dimensions (Motor)  
MHMA 500W to 1.5kW  
Encoder connector  
Motor/Brake connector  
LL  
LR  
LC  
(Key way dimensions)  
LW  
LF  
LE  
4-ØLZ  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(High inertia)  
MHMA series  
Motor output  
Motor model  
500W  
1.0kW  
1.5kW  
05 * P1 *  
05 * S1 *  
10 * P1 *  
10 * S1 *  
15 * P1 *  
15 * S1 *  
MHMA  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
Rotary encoder specifications  
Without brake  
L L  
150  
175  
175  
200  
175  
200  
200  
225  
200  
225  
150  
175  
With brake  
L R  
S
70  
22  
70  
22  
70  
22  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
145  
110  
130  
165  
6
145  
110  
130  
165  
6
145  
110  
130  
165  
6
12  
12  
12  
84  
84  
84  
118  
9
118  
9
118  
9
45  
45  
45  
41  
41  
41  
8h9  
7
8h9  
7
8h9  
7
18  
18  
18  
Without brake  
Mass (kg)  
5.3  
6.9  
5.3  
6.9  
8.9  
9.5  
8.9  
9.5  
10.0  
11.6  
10.0  
11.6  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
208  
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[Supplement]  
MHMA 2.0kW to 5.0kW  
Encoder connector  
Motor/Brake connector  
LC  
LL  
LR  
(Key way dimensions)  
LF  
LE  
4-ØLZ  
LW  
LK  
KW  
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.  
(High inertia)  
MHMA series  
Motor output  
Motor model  
2.0kW  
3.0kW  
4.0kW  
5.0kW  
20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *  
MHMA  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
17-bit  
Absolute/  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
2500P/r  
Incremental  
Rotary encoder specifications  
Without brake  
L L  
190  
215  
190  
215  
205  
230  
205  
230  
230  
255  
230  
255  
255  
280  
255  
280  
With brake  
L R  
S
80  
80  
80  
80  
35  
200  
114.3  
176  
233  
3.2  
18  
35  
200  
114.3  
176  
233  
3.2  
18  
35  
200  
114.3  
176  
233  
3.2  
18  
35  
200  
114.3  
176  
233  
3.2  
18  
L A  
L B  
L C  
L D  
L E  
L F  
L G  
L H  
L Z  
L W  
L K  
K W  
K H  
R H  
84  
84  
84  
84  
143  
13.5  
55  
143  
13.5  
55  
143  
13.5  
55  
143  
13.5  
55  
50  
50  
50  
50  
10h9  
8
10h9  
8
10h9  
8
10h9  
8
30  
30  
30  
30  
Without brake  
Mass (kg)  
16.0  
19.5  
16.0  
19.5  
18.2  
21.7  
18.2  
21.7  
22.0  
25.5  
22.0  
25.5  
26.7  
30.2  
26.7  
30.2  
With brake  
Refer to P.180, "Options".  
Connector/Plug specifications  
<Cautions>  
Reduce the moment of inertia ratio if high speed response operation is required.  
209  
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Permissible Load at Output Shaft  
Radial load (P) direction  
Thrust load (A and B) direction  
L
A
M
B
L/2  
P
Unit : N (1kgf=9.8N)  
During running  
Thrust load A  
At assembly  
Thrust load  
Motor  
series  
Motor output  
Radial thrust  
Radial thrust  
and B-direction  
A-direction B-direction  
50W, 100W  
200W, 400W  
750W  
147  
88  
117.6  
196  
68.6  
245  
392  
392  
490  
784  
68.6  
245  
490  
58.8  
98  
MSMD  
392  
686  
686  
147  
294  
392  
392  
147  
147  
196  
343  
58.8  
98  
1kW  
490  
MSMA  
MQMA  
1.5kW to 3.0kW  
4.0kW to 5.0kW  
100W  
980  
588  
686  
147  
392  
88  
117.6  
196  
200W, 400W  
1.0kW to 2.0kW  
3.0kW  
147  
196  
980  
588  
784  
686  
980  
MDMA  
4.0kW  
784  
343  
1666  
5.0kW  
500W to 1.5kW  
2.0kW to 5.0kW  
400W  
980  
588  
784  
686  
980  
490  
784  
392  
490  
784  
686  
1176  
1470  
196  
343  
147  
196  
294  
196  
MHMA  
MFMA  
1666  
980  
588  
1.5kW  
686  
2.5kW, 4.5kW  
900W  
1862  
980  
686  
588  
784  
980  
MGMA  
2.0kW  
1666  
2058  
980  
490  
3.0kW, 4.5kW  
1176  
<Note>  
When the load point varies, calculate the permissible radial  
load, P (N) from the distance of the load point, L (mm) from  
the mounting flange based on the formula of the right table,  
and make it smaller than the calculated result.  
Motor  
series  
Motor  
output  
Formula of Load and  
load point relation  
3533  
P =  
50W  
100W  
200W  
400W  
750W  
L+39  
4905  
P =  
L+59  
14945  
P =  
MSMD  
L+46  
19723  
P =  
L+65.5  
L
37044  
P =  
P
L+77  
210  
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[Supplement]  
Motor Characteristics (S-T Characteristics)  
• Note that the motor characteristics may vary due to the existence of oil seal or brake.  
• Continuous torque vs. ambient temperature characteristics have been measured with an aluminum  
flange attached to the motor (approx. twice as large as the motor flange).  
MQMA series (100W to 400W)  
With and without oil seal  
• MQMA011 * 1 *  
• MQMA012 * 1 *  
Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.)  
Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
* Continuous torque vs.  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
ambient temp.  
1.0  
(0.95)  
1.0  
100  
50  
100  
50  
(0.95)  
Peak running range  
Peak running range  
0.5  
(0.32)  
0.5  
(0.32)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
40  
ambient temp. [˚C]  
0
10  
20  
30  
40  
0
10  
20  
30  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
ambient temp. [˚C]  
• MQMA021 * 1 *  
Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.)  
• MQMA022 * 1 *  
Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
2.0  
(1.91)  
2.0  
(1.91)  
100  
50  
100  
50  
Peak running range  
Peak running range  
1.0  
1.0  
(0.64)  
(0.64)  
Continuous running range  
Continuous running range  
C
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MQMA041 * 1 *  
Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.)  
• MQMA042 * 1 *  
Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
4.0  
(3.82)  
4.0  
(3.82)  
100  
50  
100  
50  
Peak running range  
Peak running range  
2.0  
2.0  
(1.3)  
(1.3)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 4500  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
MAMA series (100W to 750W)  
without oil seal  
• MAMA012 * 1 *  
• MAMA022 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
1.0  
(0.95)  
2.0  
(1.91)  
torque  
[ Nm]  
100  
50  
100  
50  
Peak running range  
Peak running range  
0.5  
1.0  
(0.19)  
(0.38)  
Continuous running range  
Continuous running range  
(5000)  
(5000)  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
4000  
6000  
4000  
6000  
0
2000  
0
2000  
speed [ r/min]  
ambient temp. [˚C]  
speed [ r/min]  
ambient temp. [˚C]  
• MAMA042 * 1 *  
• MAMA082 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
8.0  
4.0  
(3.82)  
100  
50  
100  
50  
(7.16)  
[ Nm]  
Peak running range  
Peak running range  
2.0  
4.0  
(0.76)  
(1.43)  
Continuous running range  
Continuous running range  
(5000)  
4000  
(5000)  
4000  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
6000  
6000  
0
2000  
0
2000  
speed [ r/min]  
ambient temp. [˚C]  
speed [ r/min]  
ambient temp. [˚C]  
* These are subject to change. Contact  
us when you use these values for your  
machine design.  
* Ratio to the rated torque at ambient  
temperature of 40˚C is 100% in case  
of without oil seal, without brake.  
torque  
• When you lower the  
torque limit setup (Pr5E  
and 5F), running range  
at high speed might be  
lowered as well.  
Running range (Torque limit setup : 300%)  
Running range (Torque limit setup : 200%)  
Running range (Torque limit setup : 100%)  
Continuous running range  
speed  
211  
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Motor Characteristics (S-T Characteristics)  
MSMD series (50W to 100W)  
without oil seal  
with oil seal  
• MSMD5AZ * 1 *  
• MSMD5AZ * 1 *  
Input voltage to driver: AC100V/200V  
Input voltage to driver: AC100V/200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
[ Nm]  
without brake  
with brake  
with brake  
100  
95  
0.5  
(0.48)  
0.5  
100  
(0.48)  
70  
60  
50  
Peak running range  
Peak running range  
0.25  
0.25  
50  
(0.16)  
(0.16)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMD011 * 1 *  
• MSMD011 * 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.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
[ Nm]  
without brake  
with brake  
with brake  
100  
95  
1.0  
(0.95)  
100  
75  
70  
1.0  
(0.95)  
Peak running range  
Peak running range  
0.5  
0.5  
50  
50  
(0.32)  
(0.32)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMD012 * 1 *  
Input voltage to driver: AC200V  
• MSMD012 * 1 *  
Input voltage to driver: AC200V  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
[ Nm]  
without brake  
with brake  
with brake  
100  
95  
1.0  
1.0  
100  
(0.95)  
(0.95)  
75  
70  
Peak running range  
Peak running range  
0.5  
0.5  
50  
50  
(0.32)  
(0.32)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
* These are subject to change. Contact us when you use these values for your machine design.  
* Ratio to the rated torque at ambient temperature of 40˚C is 100% in case of without oil seal, without brake.  
• When you lower the torque limit setup (Pr5E and 5F),  
running range at high speed might be lowered as well.  
torque  
Running range (Torque limit setup : 300%)  
Running range (Torque limit setup : 200%)  
Running range (Torque limit setup : 100%)  
Continuous running range  
speed  
212  
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[Supplement]  
MSMD series (200W to 750W)  
without oil seal  
With oil seal  
• 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.)  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
without brake  
with brake  
2.0  
(1.91)  
100  
50  
100  
2.0  
(1.91)  
80  
70  
Peak running range  
Peak running range  
1.0  
(0.64)  
1.0  
(0.64)  
50  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMD022 * 1 *  
• MSMD022 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
without brake  
100  
50  
2.0  
(1.91)  
100  
80  
70  
2.0  
(1.91)  
with brake  
Peak running range  
Peak running range  
1.0  
1.0  
(0.64)  
(0.64)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMD041 * 1 *  
• MSMD041 * 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.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
[ Nm]  
100  
75  
50  
4.0  
100  
4.0  
90  
(3.8)  
(3.8)  
Peak running range  
Peak running range  
Continuous running range  
2.0  
(1.3)  
2.0  
(1.3)  
50  
Continuous running range  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMD042 * 1 *  
• MSMD042 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
100  
90  
100  
75  
50  
4.0  
(3.8)  
4.0  
(3.8)  
Peak running range  
Peak running range  
Continuous running range  
2.0  
(1.3)  
2.0  
(1.3)  
50  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMD082 * 1 *  
• MSMD082 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
8.0  
(7.1)  
100  
50  
8.0  
(7.1)  
100  
Peak running range  
Peak running range  
4.0  
4.0  
50  
(2.4)  
(2.4)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
* These are subject to change. Contact us when you use these values for your machine design.  
213  
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Motor Characteristics (S-T Characteristics)  
MSMA series (1.0kW to 5.0kW)  
With oil seal  
• MSMA102 * 1 *  
• MSMA152 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
without  
brake  
with  
brake  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
15  
(14.3)  
10  
(9.5)  
100  
100  
85  
Peak running range  
Peak running range  
50  
7.5  
(4.77)  
50  
5
(3.18)  
Continuous running range  
Continuous running range  
(3500)  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMA202 * 1 *  
• MSMA302 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
without  
without  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
brake  
torque  
[ Nm]  
brake  
with  
brake  
with  
brake  
20  
(19.1)  
30  
(28.6)  
100  
85  
70  
100  
90  
85  
Peak running range  
Peak running range  
10  
50  
15  
(9.54)  
50  
(6.36)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
ambient temp. [˚C]  
ambient temp. [˚C]  
• MSMA402 * 1 *  
• MSMA502 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
without  
brake  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
[ Nm]  
with  
brake  
40  
(37.9)  
50  
(47.6)  
100  
100  
90  
85  
50  
70  
50  
Peak running range  
Peak running range  
20  
25  
(15.8)  
(12.6)  
Continuous running range  
Continuous running range  
0
1000 2000 3000 4000 5000  
speed [ r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
0
10  
20  
30  
40  
ambient temp. [˚C]  
speed [ r/min]  
ambient temp. [˚C]  
MDMA series (1.0kW to 2.0kW)  
With oil seal  
• MDMA152 * 1 *  
• MDMA102 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
(21.5)  
20  
15  
(14.4)  
100  
100  
Peak running range  
Continuous running range  
Peak running range  
Continuous running range  
10  
10  
(7.15)  
50  
50  
5
(4.8)  
(2200)  
2000  
40  
0
10  
20  
30  
40  
0
10  
20  
30  
0
1000  
2000  
3000  
0
1000  
3000  
ambient temp. [˚C]  
speed [ r/min]  
speed [ r/min]  
ambient temp. [˚C]  
• MDMA202 * 1 *  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
100  
30  
(28.5)  
Peak running range  
Continuous running range  
15  
(9.54)  
50  
(2200)  
2000  
0
10  
20  
30  
40  
0
1000  
3000  
speed [ r/min]  
ambient temp. [˚C]  
* These are subject to change. Contact us when you use these values for your machine design.  
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[Supplement]  
MDMA series (3.0kW to 5.0kW)  
With oil seal  
• MDMA302 * 1 *  
• MDMA402 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
* Continuous torque vs. without  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
brake  
with  
brake  
ambient temp.  
(56.4)  
50  
50  
(42.9)  
100  
100  
85  
Peak running range  
Continuous running range  
70  
Peak running range  
Continuous running range  
25  
(14.3)  
25  
50  
50  
(18.8)  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
ambient temp. [˚C]  
speed [ r/min]  
speed [ r/min]  
ambient temp. [˚C]  
• MDMA502 * 1 *  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
without  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
brake  
with  
brake  
(71.4)  
100  
90  
70  
85  
Peak running range  
Continuous running range  
35  
(23.8)  
50  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
speed [ r/min]  
ambient temp. [˚C]  
MFMA series (400W to 4.5kW)  
With oil seal  
• MFMA042 * 1 *  
• MFMA152 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
(5.3)  
5
(21.5)  
20  
100  
100  
50  
Peak running range  
Peak running range  
10  
(7.15)  
2.5  
(1.9)  
50  
Continuous running range  
Continuous running range  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
ambient temp. [˚C]  
speed [ r/min]  
speed [ r/min]  
ambient temp. [˚C]  
• MFMA252 * 1 *  
• MFMA452 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
torque  
[ Nm]  
torque  
[ Nm]  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
(30.4)  
(54.9)  
50  
30  
100  
100  
50  
Peak running range  
Peak running range  
15  
(11.8)  
25  
(21.5)  
50  
Continuous running range  
Continuous running range  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
speed [ r/min]  
ambient temp. [˚C]  
speed [ r/min]  
ambient temp. [˚C]  
* These are subject to change. Contact us when you use these values for your machine design.  
• When you lower the torque limit setup (Pr5E and 5F),  
running range at high speed might be lowered as well.  
torque  
Running range (Torque limit setup : 300%)  
Running range (Torque limit setup : 200%)  
Running range (Torque limit setup : 100%)  
Continuous running range  
speed  
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Motor Characteristics (S-T Characteristics)  
MHMA series (500W to 5.0kW)  
With oil seal  
• MHMA052 * 1 *  
• MHMA102 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
(6.0)  
5.0  
torque  
[ Nm]  
torque  
15  
100  
50  
100  
50  
[ Nm]  
(14.4)  
Peak running range  
Peak running range  
10  
2.5  
(2.38)  
5
(4.8)  
Continuous running range  
Continuous running range  
(2200)  
2000  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
0
1000  
3000  
speed [ r/min]  
ambient temp. [˚C]  
speed [ r/min]  
ambient temp. [˚C]  
• MHMA152 * 1 *  
• MHMA202 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
torque  
[ Nm]  
(21.5)  
20  
[ Nm]  
100  
50  
100  
50  
30  
(28.5)  
Peak running range  
Continuous running range  
Peak running range  
Continuous running range  
10  
(7.15)  
15  
(9.54)  
(2200)  
2000  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
0
1000  
3000  
ambient temp. [˚C]  
speed [ r/min]  
ambient temp. [˚C]  
speed [ r/min]  
• MHMA302 * 1 *  
• MHMA402 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
(56.4)  
50  
[ Nm]  
50  
100  
50  
100  
85  
(42.9)  
Peak running range  
Continuous running range  
Peak running range  
Continuous running range  
25  
(14.3)  
25  
(18.8)  
50  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
ambient temp. [˚C]  
speed [ r/min]  
speed [ r/min]  
ambient temp. [˚C]  
• MHMA502 * 1 *  
• When you lower the torque limit setup (Pr5E and 5F),  
running range at high speed might be lowered as well.  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
torque  
torque  
Running range (Torque limit setup : 300%)  
[ Nm]  
(71.4)  
70  
100  
85  
Running range (Torque limit setup : 200%)  
Running range (Torque limit setup : 100%)  
Peak running range  
Continuous running range  
35  
(23.8)  
50  
Continuous running range  
speed  
0
1000  
2000  
3000  
0
10  
20  
30  
40  
speed [ r/min]  
ambient temp. [˚C]  
MGMA series (900W to 4.5kW)  
With oil seal  
• MGMA092 * 1 *  
• MGMA202 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm]  
torque  
[ Nm]  
100  
50  
100  
50  
20  
(19.3)  
50  
(44)  
Peak running range  
Continuous running range  
Peak running range  
10  
(8.62)  
25  
(19.1)  
Continuous running range  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
0
1000  
2000  
0
1000  
2000  
ambient temp. [˚C]  
speed [ r/min]  
ambient temp. [˚C]  
speed [ r/min]  
• MGMA302 * 1 *  
• MGMA452 * 1 *  
Input voltage to driver: AC200V  
Input voltage to driver: AC200V  
(Dotted line represents torque at 10% less voltage.)  
(Dotted line represents torque at 10% less voltage.)  
* Continuous torque vs.  
ambient temp.  
* Continuous torque vs.  
ambient temp.  
torque  
[ Nm] 100  
(107)  
torque  
[ Nm]  
100  
50  
100  
50  
70  
(63.7)  
Peak running range  
Continuous running range  
Peak running range  
35  
(28.4)  
50  
(42.9)  
Continuous running range  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
0
1000  
2000  
0
1000  
2000  
ambient temp. [˚C]  
speed [ r/min]  
speed [ r/min]  
ambient temp. [˚C]  
* These are subject to change. Contact us when you use these values for your machine design.  
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[Supplement]  
Motor with Gear Reducer  
Model No. of Motor with Gear Reduce  
Model Designation  
M S M D 0 1 1 P 3 1 N  
1~4  
5~6  
7
8
9
10  
Symbol  
Type  
Reduction ratio  
Low inertia  
MSMD  
Symbol Reduction  
ratio  
Motor rated output  
1N  
2N  
3N  
4N  
1/5  
1/9  
1/15  
1/25  
Voltage  
specifications  
Symbol Output  
01  
02  
04  
08  
100W  
200W  
400W  
750W  
Symbol Specifications  
1
2
100V  
200V  
Rotary encoder specifications  
Motor structure  
Specifications  
Pulse count Resolution Wire count  
Holding brake Shaft  
Without With Key way  
Symbol  
Symbol  
Format  
P
S
Incremental  
Absolute/Incremental common  
2500P/r  
17bit  
10,000  
131,072  
5-wire  
7-wire  
3
4
Combination of Driver and Motor with Gear Reducer  
This driver is designed to be used in the combination with the specified motor model.  
Check the series name, rated output and voltage specifications and the encoder specifications of the applicable motor.  
Incremental Specifications, 2500P/r  
<Remark>  
Do not use the driver and the motor with gear reducer in other combinations than the one in the following table.  
• Incremental specifications, 2500P/r  
Applicable motor with gear reducer  
Applicable driver  
Rated  
output  
of motor  
Power  
supply  
Reduction ratio Reduction ratio Reduction ratio Reduction ratio  
Model No.  
of driver  
Frame  
of driver  
of 1/5  
of 1/9  
of 1/15  
of 1/25  
100W MSMD011P * 1N MSMD011P * 2N MSMD011P * 3N MSMD011P * 4N MADDT1107P A-frame  
200W MSMD021P * 1N MSMD021P * 2N MSMD021P * 3N MSMD021P * 3N MBDDT2110P B-frame  
400W MSMD041P * 1N MSMD041P * 2N MSMD041P * 3N MSMD041P * 4N MCDDT3120P C-frame  
Single phase,  
100V  
100W MSMD012P * 1N MSMD012P * 2N MSMD012P * 3N MSMD012P * 4N MADDT1205P  
A-frame  
Single phase, 200W MSMD022P * 1N MSMD022P * 2N MSMD022P * 3N MSMD022P * 3N MADDT1207P  
200V  
400W MSMD042P * 1N MSMD042P * 2N MSMD042P * 3N MSMD042P * 4N MBDDT2210P B-frame  
750W MSMD082P * 1N MSMD082P * 2N MSMD082P * 3N MSMD082P * 4N MCDDT3520P C-frame  
3-phase, 200V 750W MSMD082P * 1N MSMD082P * 2N MSMD082P * 3N MSMD082P * 4N MCDDT3520P C-frame  
• Absolute/Incremental specifications, 17bit  
Applicable motor with gear reducer  
Applicable driver  
Rated  
output  
of motor  
Power  
supply  
Reduction ratio Reduction ratio Reduction ratio Reduction ratio  
Model No.  
of driver  
Frame  
of driver  
of 1/5  
of 1/9  
of 1/15  
of 1/25  
100W MSMD011S * 1N MSMD011S * 2N MSMD011S * 3N MSMD011S * 4N MADDT1107P A-frame  
200W MSMD021S * 1N MSMD021S * 2N MSMD021S * 3N MSMD021S * 3N MBDDT2110P B-frame  
400W MSMD041S * 1N MSMD041S * 2N MSMD041S * 3N MSMD041S * 4N MCDDT3120P C-frame  
Single phase,  
100V  
100W MSMD012S * 1N MSMD012S * 2N MSMD012S * 3N MSMD012S * 4N MADDT1205P  
A-frame  
Single phase, 200W MSMD022S * 1N MSMD022S * 2N MSMD022S * 3N MSMD022S * 3N MADDT1207P  
200V  
400W MSMD042S * 1N MSMD042S * 2N MSMD042S * 3N MSMD042S * 4N MBDDT2210P B-frame  
750W MSMD082S * 1N MSMD082S * 2N MSMD082S * 3N MSMD082S * 4N MCDDT3520P C-frame  
3-phase, 200V 750W MSMD082S * 1N MSMD082S * 2N MSMD082S * 3N MSMD082S * 4N MCDDT3520P C-frame  
<Note>  
• "*" of the model No. represents the structure of the motor.  
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Dimensions/Motor with Gear Reducer  
Motor with Gear Reducer  
L
(LG)  
LR  
LL  
LQ  
LT  
LM  
KB1  
LF  
Motor  
lead wire  
LH  
LE  
Rotary encoder lead wire  
LK  
(unit : mm)  
Motor  
Reduction  
Model  
L
LL  
LM  
LT KB1 LF LR LQ LB  
S
LP LH  
J
(LG) LE (G)  
output  
rati0  
MSMD01 * P31N  
MSMD01 * P32N  
MSMD01 * P33N  
MSMD01 * P34N  
MSMD02 * P31N  
MSMD02 * P32N  
MSMD02 * P33N  
MSMD02 * P34N  
MSMD04 * P31N  
MSMD04 * P32N  
MSMD04 * P33N  
MSMD04 * P34N  
MSMD082P31N  
MSMD082P32N  
MSMD082P33N  
MSMD082P34N  
MSMD01 * P41N  
MSMD01 * P42N  
MSMD01 * P43N  
MSMD01 * P44N  
MSMD02 * P41N  
MSMD02 * P42N  
MSMD02 * P43N  
MSMD02 * P44N  
MSMD04 * P41N  
MSMD04 * P42N  
MSMD04 * P43N  
MSMD04 * P44N  
MSMD082P41N  
MSMD082P42N  
MSMD082P43N  
MSMD082P44N  
1/5  
191.5  
20 50 12 45 10 14 67.5  
1/9  
32  
6
100W  
200W  
400W  
750W  
100W  
200W  
400W  
750W  
92  
79  
68  
25  
34  
25  
34  
24 40.8  
1/15 202  
1/25 234  
1/5 183.5  
1/9 218.5  
78  
50 30 70 19 62 17 22 92  
32 20 50 12 45 10 14 72.5  
89.5  
3
6.5  
56.5  
76  
22.5  
22.5  
1/15  
229  
100  
50 30 70 19 62 17 22  
89.5  
1/25  
1/5  
238  
1/9  
98.5  
42  
1/15 248.5  
1/25 263.5  
1/5 255.5  
1/9 270.5  
100  
61 40 90 24 75 18 28 104  
50 30 70 19 62 17 22 93.5  
97.5  
5
3
8
6
112 86.5  
25.5 52.2  
24 40.8  
1/15  
283  
61 40 90 24 75 18 28  
110  
5
1/25  
1/5  
221.5  
1/9  
67.5  
32 20 50 12 45 10 14  
122  
98  
1/15 232  
1/25 264  
78  
50 30 70 19 62 17 22 92  
32 20 50 12 45 10 14 72.5  
89.5  
1/5  
1/9  
220  
255  
3
6.5  
115.5 93  
135 112.5  
149 123.5  
22.5  
22.5  
1/15  
1/25  
1/5  
265.5  
274.5  
100  
50 30 70 19 62 17 22  
89.5  
1/9  
42  
1/15 285  
1/25 300  
1/5 292.5  
1/9 307.5  
100  
61 40 90 24 75 18 28 104  
50 30 70 19 62 17 22 93.5  
97.5  
5
3
8
25.5 52.2  
1/15  
320  
61 40 90 24 75 18 28  
110  
5
1/25  
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[Supplement]  
T
H
LC  
4-LZ Depth L  
(unit : mm)  
Kew way dimensions  
(B x H x LK)  
–4  
2
LC  
LA  
LZ  
LD  
T
LN Mass (kg) Moment of inertia (x 10 kg m )  
0.0910  
1.02  
0.0853  
32  
52  
60  
M5  
2.5  
12  
4 x 4 x 16  
1.17  
2.17  
1.54  
0.0860  
0.0885  
0.258  
0.408  
0.440  
0.428  
0.623  
0.528  
0.560  
0.560  
1.583  
1.520  
1.570  
1.520  
0.0940  
0.0883  
0.0890  
0.0915  
0.278  
0.428  
0.460  
0.448  
0.643  
0.548  
0.580  
0.580  
1.683  
1.620  
1.670  
1.620  
78  
52  
90  
60  
M6  
M5  
3.5  
2.5  
20  
12  
6 x 6 x 22  
4 x 4 x 16  
2.52  
78  
90  
M6  
3.5  
43  
6 x 6 x 22  
2.9  
3.3  
4.4  
5.7  
6.1  
20  
98  
78  
115  
90  
M8  
M6  
4
8 x 7 x 30  
6 x 6 x 22  
3.5  
53  
32  
98  
52  
115  
60  
M8  
M5  
4
8 x 7 x 30  
4 x 4 x 16  
1.23  
2.5  
12  
1.38  
2.38  
2.02  
78  
52  
90  
60  
M6  
M5  
3.5  
2.5  
20  
12  
6 x 6 x 22  
4 x 4 x 16  
3.00  
78  
90  
M6  
3.5  
43  
53  
6 x 6 x 22  
3.4  
20  
3.8  
4.9  
5.2  
6.5  
98  
78  
115  
90  
M8  
M6  
4
8 x 7 x 30  
6 x 6 x 22  
3.5  
98  
115  
M8  
4
8 x 7 x 30  
6.9  
Moment of inertia is combined value of the motor and the gear reducer, and converted to that of the motor shaft .  
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Permissible Load at Output Shaft  
Radial load (P) direction  
Thrust load (A and B) direction  
LR  
A
B
GH  
GH  
M
LR/2  
P
Unit : N (1kgf=9.8N)  
Permissible load at shaft  
Motor output Motor output  
Thrust load A  
Radial thrust  
and B-direction  
1/5  
490  
588  
245  
294  
392  
833  
245  
588  
735  
833  
490  
588  
735  
1030  
490  
735  
882  
1320  
1/9  
100W  
1/15  
784  
1/25  
1/5  
1670  
490  
1/9  
1180  
1470  
1670  
980  
200W  
1/15  
1/25  
1/5  
1/9  
1180  
1470  
2060  
980  
400W  
1/15  
1/25  
1/5  
1/9  
1470  
1760  
2650  
750W  
1/15  
1/25  
Remarks on installation  
(1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to it. Or it may cause  
an abnormal noise.  
(2) Apply the load of the pulley or the sprocket to as close to the base of the output shaft as possible.  
(3) Check the mounting accuracy and strenght of the stiff joint, when you use it.  
(4) The encoder is built in to the motor. If an excessive impact is applied to the motor while assembling it to  
the machine, the encoder might be damaged. Pay an extrta attention at assembly.  
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[Supplement]  
Characteristics of Motor with Gear Reducer  
Reduction  
Supply  
voltage  
to driver  
ratio  
1/5  
1/9  
1/15  
1/25  
Motor  
output  
MSMD011 * * 1N  
MSMD011 * * 2N  
MSMD011 * * 3N  
MSMD011 * * 4N  
torque 4.0  
torque  
8.0  
torque16.0  
torque 20.0  
(19.0)  
[N m] (3.72)  
[N m]  
[N m]  
[N m]  
(6.86)  
(11.4)  
Peak running  
Peak running  
range  
Peak running  
range  
range  
Peak running  
8.0  
range  
(3.72)  
100W  
2.0  
4.0  
10.0  
(1.18)  
(2.25)  
(6.72)  
Continuous  
Continuous  
Continuous  
Continuous  
running range  
running range  
running range  
running range  
0
500 600  
1000  
0
333 400 555  
0
333  
0
200  
200  
100 120  
speed [r/min]  
speed [r/min]  
speed [r/min]  
speed [r/min]  
MSMD021 * * 1N  
MSMD021 * * 2N  
MSMD021 * * 3N  
MSMD021 * * 4N  
torque(8.04)  
torque 16.0  
torque 20.0  
torque40.0  
8.0  
(18.8)  
[N m]  
[N m]  
[N m]  
[N m]  
(33.3)  
Peak running  
(11.3)  
Peak running  
range  
Peak running  
range  
range  
100V  
200W  
400W  
100W  
200W  
400W  
750W  
4.0  
8.0  
20.0  
10.0  
Peak running  
range  
(2.65)  
(11.1)  
(6.27)  
(3.72)  
Continuous  
Continuous  
Continuous  
Continuous  
running range  
running range  
running range  
running range  
0
500 600  
1000  
0
333 400 555  
0
333  
0
200  
200  
100 120  
speed [r/min]  
speed [r/min]  
speed [r/min]  
speed [r/min]  
MSMD041 * * 1N  
MSMD041 * * 2N  
MSMD041 * * 3N  
MSMD041 * * 4N  
torque20.0  
torque 40.0  
torque 60.0  
torque80.0  
[N m](79.2)  
[N m]  
[N m]  
[N m]  
(16.2)  
(47.5)  
(28.5)  
Peak running  
range  
Peak running  
range  
Peak running  
30.0  
10.0  
20.0 Peak running  
range  
40.0  
range  
(26.4)  
(5.39)  
(15.8)  
(9.51)  
Continuous  
Continuous  
running range  
Continuous  
Continuous  
running range  
running range  
running range  
0
500 600  
1000  
0
333 400 555  
0
333  
0
200  
200  
100 120  
speed [r/min]  
speed [r/min]  
speed [r/min]  
speed [r/min]  
MSMD012 * * 1N  
MSMD012 * * 2N  
MSMD012 * * 3N  
MSMD012 * * 4N  
torque4.0  
[N m](3.72)  
torque 8.0  
torque16.0  
torque 20.0  
[N m] (19.0)  
[N m] (6.86)  
[N m]  
(11.4)  
Peak running  
range  
Peak running  
range  
Peak running  
range  
Peak running  
range  
10.0  
2.0  
4.0  
8.0  
(1.18)  
(2.25)  
(3.72)  
(6.27)  
Continuous  
Continuous  
Continuous  
Continuous  
running range  
running range  
running range  
running range  
0
500 600  
1000  
0
333 400 555  
0
333  
0
200  
200  
100 120  
speed [r/min]  
speed [r/min]  
speed [r/min]  
speed [r/min]  
MSMD022 * * 1N  
MSMD022 * * 2N  
MSMD022 * * 3N  
MSMD022 * * 4N  
torque  
torque 16.0  
torque20.0  
[N m](18.8)  
torque40.0  
(8.04)  
8.0  
[N m]  
[N m]  
[N m]  
(33.3)  
Peak running  
range  
(11.3)  
Peak running  
range  
Peak running  
range  
8.0  
20.0  
10.0  
4.0  
Peak running  
range  
(2.65)  
(6.27)  
(11.1)  
(3.72)  
Continuous  
Continuous  
Continuous  
Continuous  
running range  
running range  
running range  
running range  
0
500 600  
1000  
0
333 400 555  
0
333  
0
200  
200  
100 120  
speed [r/min]  
speed [r/min]  
speed [r/min]  
speed [r/min]  
200V  
MSMD042 * * 1N  
MSMD042 * * 2N  
MSMD042 * * 3N  
MSMD042 * * 4N  
torque20.0  
torque40.0  
torque60.0  
torque 80.0  
(79.2)  
[N m]  
[N m]  
[N m]  
[N m]  
(16.2)  
(15.8)  
(28.5)  
Peak running  
range  
Peak running  
range  
Peak running  
range  
10.0  
20.0 Peak running  
range  
40.0  
30.0  
(5.39)  
(26.4)  
(47.5)  
(9.51)  
Continuous  
Continuous  
Continuous  
Continuous  
running range  
running range  
running range  
running range  
0
500 600  
1000  
0
333 400 555  
0
333  
0
200  
200  
100 120  
speed [r/min]  
speed [r/min]  
speed [r/min]  
speed [r/min]  
MSMD082 * * 1N  
MSMD082 * * 2N  
MSMD082 * * 3N  
MSMD082 * * 4N  
torque 40.0  
torque 80.0  
torque 120.0  
torque160.0  
[N m](152.0)  
[N m]  
[N m]  
[N m]  
(32.1)  
(91.2)  
(54.7)  
Peak running  
range  
Peak running  
range  
Peak running  
range  
Peak running  
40.0  
20.0  
80.0  
60.0  
range  
(50.7)  
(10.7)  
(30.4)  
(18.2)  
Continuous  
Continuous  
Continuous  
Continuous  
running range  
running range  
running range  
running range  
0
500 600  
900  
0
333 400 500  
0
300  
0
180  
200  
100 120  
speed [r/min]  
speed [r/min]  
speed [r/min]  
speed [r/min]  
Dotted line represents the torque at 10% less supply voltage.  
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Block Diagram of Driver  
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[Supplement]  
223  
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Block Diagram by Control Mode  
Position Control Mode  
• when Pr02 (Setup of control mode) is 0  
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[Supplement]  
Full-closed Control Mode  
• when Pr02 (Setup of control mode) is 6  
225  
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Specifications (Driver)  
+10%  
–15%  
Main circuit  
power  
Single phase, 100 – 115V  
50/60Hz  
50/60Hz  
50/60Hz  
50/60Hz  
50/60Hz  
50/60Hz  
50/60Hz  
100V-  
line  
Control circuit  
power  
+10%  
–15%  
Single phase, 100 – 115V  
Single phase, 200 – 240V  
Single/3-phase, 200 – 240V  
3-phase, 200 – 230V  
Type  
A, B  
+10%  
–15%  
Main  
Type  
circuit  
C, D  
+10%  
–15%  
power  
200V-  
line  
+10%  
–15%  
Type  
E, F  
+10%  
–15%  
Type  
Control A to D  
circuit  
Single phase, 200 – 240V  
Single phase, 200 – 230V  
+10%  
–15%  
Type  
E, F  
power  
Temperature  
Humidity  
Operation temperature: 0 to 55 degrees Storage temperature: –20 to 80 degrees  
Operation/storage humidity 90%RH or less (no condensation)  
Height above the sea level: 1000 m or less  
Operation  
conditions  
Height above the sea  
Vibration  
5.88 m/s2 or less, 10 to 60 Hz (Continuous operation at resonance point is not allowed)  
IGBT PWM method, sinusoidal drive  
Control method  
Control mode  
Select Position control or Full-closed control by parameter.  
17 Bit (resolution: 131072) 7-serial absolute encoder  
Encoder feedback  
2500 p/r (resolution: 10000) 5-serial incremental encoder  
Compatible with ST771 and AT500 made by Mitutoyo Corporation  
CW over-travel inhibit, CCW over-travel inhibit, Home sensor, Emergency stop, Point specifying x6  
Servo-ON, Strobe, Multi- function input x2  
External scale feedback  
Input  
(14 inputs )  
Control  
signal  
Output  
Servo alarm, Brake release signal, Present position output x6,  
Positioning completion / Output during deceleration, Motor operation condition,  
Encoder pulse (A/B/Z-phase) or external scale pulse (EXA/EXB-phase)is output by the line driver.  
For encoder Z-phase pulse, an open collector output is also available.  
Setup with Panaterm® or a console is available.  
(10 outputs )  
Pulse  
Input  
(4 inputs )  
signal  
Setup  
(Panaterm® and a console are sold separately)  
[ 1] 7-segment LED 2-digit  
Front panel  
[ 2] Analogue monitor pin (velocity monitor and torque monitor)  
Type A-B : No internal regenerative resist (external only)  
Type C-F : internal regenerative resist (external is also available)  
Built in  
Regeneration  
Dynamic brake  
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[Supplement]  
A function to reduce vibration by removing the vibration frequency component  
Damping Control  
when the front end of the machine vibrates.  
External scale division  
gradual increase  
setting range  
Ratio between the encoder pulse (numerator) and the external scale pulse (denominator)  
can be set within the setting range : (1 to 10000 x 2(0–17))/(1 to 10000)  
The number of points  
maximum 60 points  
Eight types of homing operations  
[ home sensor + Z phase (based on the front end), home sensor (based on the front end),  
home sensor + Z phase (based on the rear end), limit sensor + Z phase, limit sensor,  
Z phase homing, Bumping homing, and data set]  
Homing  
operation  
The motor can be moved in a positive direction or negative direction independently.  
This is useful for teaching or adjustment.  
Jog operation  
Step operation  
The most basic operation. Specify a point number set in advance when performing the operation.  
The four types of modes [ incremental operation, absolute operation,  
rotary axis operation and dwell timer (waiting time)]  
Continuous block  
operation  
Several step operations can be performed continuously.  
Once an operation starts, the operation continues to a specified point number.  
Block operation  
A step operation is performed according to combined several point numbers.  
This is useful when you want to change the speed during a step operation.  
Combined block  
operation  
A point number increments by 1 automatically whenever an operation command is given.  
A step operation can be performed easily only by turning the STB signal on/off.  
Sequential  
Operation  
Teaching  
(Console (option)  
is necessary)  
You can operate the motor actually using this console,  
set a target position and execute some test operations.  
Load inertia is determined at real time in the state of actual operation  
and gain corresponding to the rigidity is set automatically.  
Real time  
Load inertia is determined by driving the equipment with operation command  
within the driver and gain corresponding to the rigidity is set automatically.  
Normal mode  
Available only for position control.  
A function to improve the speed detection accuracy,  
achieve the quick response and, at the same time,  
Instantaneous  
speed observer  
reduce the vibration at the stop by estimating the motor speed using a load model.  
The following control input signal can be masked:  
CW over-travel inhibit, CCW over-travel inhibit, multi function input1 and 2 ,  
point specifying input(P8-IN,P16-IN,P32-IN), Servo-ON  
Unnecessary wiring  
mask function  
Division function of  
encoder feedback pulse  
The number of pulses can be set up arbitrarily. (at the maximum encoder pulse)  
Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.  
Large positional deviation, Undefined data error , EEPROM error, etc.  
Traceable up to 14 alarm data including present alarm data.  
Hardware error  
Protection  
function  
Software error  
Alarm data trace back function  
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Default Parameters (for all the models of A4P Series)  
• Servo parameter (SV.Pr)  
Parameter  
(For manufacturer's use)  
Default  
Default  
SV.Pr* *  
00  
01  
02  
03  
04  
05  
06  
07  
08  
09  
0A  
0B  
0C  
0D  
0E  
0F  
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
1A  
1B  
1C  
1D  
1E  
1F  
20  
21  
22  
23  
24  
25  
26  
27  
28  
29  
2A  
2B  
2C  
2D  
2E  
2F  
30  
31  
32  
33  
34  
35  
36  
37  
38  
39  
3A  
3B  
3C  
3D  
3E  
3F  
SV.Pr* *  
40  
41  
42  
43  
44  
45  
46  
47  
48  
49  
4A  
4B  
4C  
4D  
4E  
4F  
50  
51  
52  
53  
54  
55  
56  
57  
58  
59  
5A  
5B  
5C  
5D  
5E  
5F  
60  
61  
62  
63  
64  
65  
66  
67  
68  
69  
6A  
6B  
6C  
6D  
6E  
6F  
70  
71  
72  
73  
74  
75  
76  
77  
78  
79  
7A  
7B  
7C  
7D  
7E  
7F  
Parameter  
(For manufacturer's use)  
1
5
7-segment LED status for console, initial condition display  
Control mode  
Torque limit selection  
1
0
1
1
0
0
3
0
0
1
1
2
5
0
0
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Numerator of output pulse ratio  
Denominator of output pulse ratio  
Pulse output logic inversion  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Smoothing filter  
FIR filter set up  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
500  
0
0
10000  
10000  
0
0
10000  
0
0
10000  
1
0
2
0
0
0
2
1
0
1
1
2
1
1
0
1
0
1
500  
500  
131  
50  
1000  
0
0
1
0
0
0
0
0
0
0/3  
35  
0
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Speed monitor (SP) selection  
Torque monitor (IM) selection  
(For manufacturer's use)  
(For manufacturer's use)  
Absolute encoder set up  
Baud rate of RS232  
(For manufacturer's use)  
(For manufacturer's use)  
Node address  
1st position loop gain (*2)  
1st velocity loop gain (*2)  
(63/32)  
(35/18)  
1st velocity loop integration time constant (*2) (16/31)  
1st speed detection filter  
1st torque filter time constant (*2)  
Velocity feed forward  
(For manufacturer's use)  
(0)  
(65/126)  
(300)  
(50)  
Over-travel inhibit input valid  
Over-travel inhibit input logic  
Over-travel inhibit input operation setting  
Home sensor input logic  
Selecting the number of input points  
Point specifying input logic setting  
Multi-function input 1 Signal logic  
Multi-function input 1 Signal selection  
Multi-function input 2 Signal logic  
Multi-function input 2 Selection logic  
Servo-ON input valid  
Feed forward filter time constant  
(For manufacturer's use)  
2nd position loop gain (*2)  
2nd velocity loop gain (*2)  
2nd velocity loop integration time constant  
2nd speed detection filter  
2nd torque filter time constant (*2)  
1st notch frequency  
1st notch width selection  
(For manufacturer's use)  
Inertia ratio  
Real time auto tuning set up  
Machine stiffness at auto tuning (*2)  
Adaptive filter mode  
Vibration suppression filter switching selection  
Normal auto tuning motion setup  
Software limit set up  
Velocity observer  
2nd notch frequency  
2nd notch width selection  
2nd notch depth selection  
1st vibration suppression frequency  
1st vibration suppression filter  
2nd vibration suppression frequency  
2nd vibration suppression filter  
Adaptive filter frequency  
0
(73/38)  
(35/18)  
(1000)  
(0)  
(65/126)  
1500  
2
1st torque limit  
2nd torque limit  
(*1)  
(*1)  
0
(250)  
1
4/1  
1
0
0
10  
(0)  
1500  
2
0
0
0
0
0
0
(1)  
(10)  
(30)  
(50)  
(33)  
(20)  
(0)  
0
In-position range  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Output signal selection  
Undervoltage error response at main power-off  
(For manufacturer's use)  
Error response at main power-off  
Error response action  
Sequence at Servo-OFF  
Mechanical brake delay at motor standstill  
Mechanical brake delay at motor in motion  
External regenerative resistor set up  
Main power-off detection time  
Emergency stop torque set up  
(For manufacturer's use)  
Position deviation error level  
(For manufacturer's use)  
Overload level  
(*2)  
0
2nd gain action set up  
25000  
0
0
0
0
0
0
0
10000  
0
10000  
100  
0
0
0
0
1st control switching mode  
1st control switching delay time  
1st control switching level  
1st control switching hysteresis  
Position loop gain switching time  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Overspeed level  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Numerator of external scale ratio  
Multiplier of numerator of external scale ratio  
Denominator of external scale ratio  
Hybrid deviation error level  
External scale direction  
0
0
0
0
0
300  
0
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
0
*1) A maximum value of SV.Pr5E (torque limit setting) varies depending on an applicable motor. Refer to page 78.  
*2) Default parameters of SV.Pr10 to 12, 14, 18, 19, 1C, 22 and 6C vary depending on a driver.  
*3) The parameters with parenthesized set value are specified automatically when real-time auto-gain tuning or normal-mode  
auto-gain tuning has been executed.  
228  
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[Supplement]  
• 16-bit positioning parameter (16.Pr)  
Default  
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Default  
16.Pr* *  
00  
01  
02  
03  
04  
05  
06  
07  
08  
09  
0A  
0B  
0C  
0D  
0E  
0F  
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
1A  
1B  
1C  
1D  
1E  
1F  
20  
21  
22  
23  
24  
25  
26  
27  
28  
29  
2A  
2B  
2C  
2D  
2E  
2F  
30  
31  
32  
33  
Parameter  
16.Pr* *  
34  
35  
36  
37  
38  
39  
3A  
3B  
3C  
3D  
3E  
3F  
40  
41  
42  
43  
44  
45  
46  
47  
48  
49  
4A  
4B  
4C  
4D  
4E  
4F  
50  
51  
52  
53  
54  
55  
56  
57  
58  
59  
5A  
5B  
5C  
5D  
5E  
5F  
60  
61  
62  
63  
64  
65  
66  
67  
Parameter  
Homing deceleration  
Homing direction  
Homing type  
Home complete type  
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1st speed  
2nd speed  
3rd speed  
4th speed  
5th speed  
6th speed  
7th speed  
8th speed  
9th speed  
10th speed  
11th speed  
12th speed  
13th speed  
14th speed  
15th speed  
16th speed  
1st acceleration  
Homing skip  
Bumping detection time  
Torque limit for bumping homing  
Homing Z-phase count setting  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Jog speed (low)  
Jog speed (high)  
Acceleration setting in jog operation  
Setting of S-shaped acceleration in jog operation  
Setting of deceleration in jog operation  
Setting of S-shaped deceleration in jog operation  
(For manufacturer's use)  
(For manufacturer's use)  
Teaching movement amount setting  
Instantaneous stop deceleration time  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Operation direction setting  
Wrap around permission  
Sequential operation setting  
Sequential operation maximum point number  
Block operation type  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
1st S-shaped acceleration  
1st deceleration  
1st S-shaped deceleration  
2nd acceleration  
2nd S-shaped acceleration  
2nd deceleration  
2nd S-shaped deceleration  
3rd acceleration  
3rd S-shaped acceleration  
3rd deceleration  
3rd S-shaped deceleration  
4th acceleration  
4th S-shaped acceleration  
4th deceleration  
4th S-shaped deceleration  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Homing speed (fast)  
Homing speed (slow)  
Homing offset speed  
Homing acceleration  
• 32-bit positioning parameter (32.Pr)  
• Step parameter  
32.Pr* *  
Parameter  
Default  
32.Pr* *  
Parameter  
Default  
Incremental  
0
0
1
2
3
4
5
6
7
Home offset  
0
0
0
0
0
0
0
0
Operation mode  
Setting of maximum movement in plus direction  
Setting of maximum movement in minus direction  
Movement per rotation in rotation coordinates  
(For manufacturer's use)  
(For manufacturer's use)  
(For manufacturer's use)  
Position/waiting time  
Speed  
01H  
to  
3CH  
VEL1  
ACC1  
DEC1  
Single  
Acceleration  
Deceleration  
Block  
(For manufacturer's use)  
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M E M O  
230  
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Motor Company, Matsushita Electric Industrial Co.,Ltd.Marketeing Group  
Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03)3538-2961  
FAX (03)3538-2964  
Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044  
TEL (072)870-3065  
FAX (072)870-3151  
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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 manufacture  
or the dealer of the machine or equipment.  
Cautions for Proper Use  
This product is intended to be used with a general industrial product, but not designed or manufactured to be  
used in a machine or system that may cause personal death when it is failed.  
Install a safety equipments or apparatus in your application, when a serious accident or loss of property is  
expected due to the failure of this product.  
Consult us if the application of this product is under such special conditions and environments as nuclear  
energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which  
require a lesser air contamination.  
We have been making the best effort to ensure the highest quality of the products, however, application of  
exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and com-  
ponents may result in unexpected action. It is highly recommended that you make a fail-safe design and  
secure the safety in the operative range.  
If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending  
on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking  
and verification by customer is required.  
Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into  
consideration when the application of the machine is clean room related.  
Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as  
sulphuration can lead to disconnection from the chip resistor or a poor contact connection.  
Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply  
of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or  
a fire and other trouble.  
Technical information  
Electric data of this product (Instruction Manual, CAD data) can be downloaded from the following web site.  
http://industrial.panasonic.com/ww/i_ e/25000/motor_ fa_ e/motor_ fa_ e.html  
MEMO (Fill in the blanks for reference in case of inquiry or repair.)  
M
M
M
DD  
MD  
MA  
Date of  
purchase  
Model No.  
Dealer  
Tel : (  
)
-
Motor Company  
Matsushita Electric Industrial Co., Ltd.  
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan  
Tel : (81)-72-871-1212  
IMD16  
© 2006 Matsushita Electric Industrial Co., Ltd. All Rights Reserved.  
S0406-0  
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