ac servo motor & driver minas...

* This product image is 200W type of A5-series.

Operating Instructions (Overall)

AC Servo Motor & Driver

MINAS A5-series

�Thank you for purchasing this Panasonic product.

�Before operating this product, please read the instructions carefully, and save this manual for future use.

2

Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This

instruction manual contains information necessary to correctly and safely use the MINAS

A5-series motor and driver. By reading this instruction manual, you will learn how to

identify the model of the motor and driver that will be best suitable your application, how

to wire and set up them, how to set parameters, and how to locate possible cause of

symptom and to take corrective action.

Caution 1) Any part or whole of this document shall not be reproduced without written permis-

sion from us.

2) Contents of this document are subject to change without notice.

3

1. Before Using the ProductsCheck of the Driver Model ... Installation

Describes how to identify and select the desired product and components, how to

read the speci�cations, and how to install the equipment.

2. PreparationOperating requirements and procedure

Shows the timing chart and the list of parameters, and describes how to make

wiring and to use the front panel.

3. ConnectionWiring ... I/O settings

Shows block diagrams for each control mode and connection diagrams to the host

controllor, I/O settings.

4. SetupDescribes parameters ... JOG running

Shows describes parameters and procedure of test operation.

5. AdjustmentGain adjustment ... Auto tuning

Describes various adjusting method including auto tuning and manual gain tuning.

6. When in Trouble

Read this section when you encounter trouble or error.

7. Supplement

Contains S-T characteristic diagram, dimensional outline drawing, supplemental

description on communications and operation.

Organization of this manual 1

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Contents

Organization of this manual ............................................................................................ 3

Safety Precautions ............................................................................................................. 6

Conformance to international standards ................................................................... 10

Maintenance and Inspections ....................................................................................... 11

Guideline for Parts Replacement ................................................................................. 12

1. Before Using the Products ...................................................................1-1

1. Introduction ...............................................................................................................1-2

2. Driver ........................................................................................................................1-3

3. Motor .......................................................................................................................1-10

4. Check of the Combination of the Driver and the Motor ...........................................1-13

6. Installation ...............................................................................................................1-16

7. Permissible Load at Output Shaft ...........................................................................1-23

2. Preparation .........................................................................................................2-1

1. Conformance to international standards ...................................................................2-2

2. System Con�guration and Wiring .............................................................................2-6

3. Wiring to the Connector, X1 ....................................................................................2-20







10. Timing Chart ..........................................................................................................2-30

11. Built-in Holding Brake ............................................................................................2-34

12. Dynamic Brake.......................................................................................................2-36

13. Setup of Parameter and Mode ..............................................................................2-42

14. Division Ratio for Parameters ...............................................................................2-52

16. How to Use the Front Panel ..................................................................................2-54

3. Connection .........................................................................................................3-1

1. Outline of mode .........................................................................................................3-2

2. Control Block Diagram ............................................................................................3-14


4. Inputs and outputs on connector X4 .......................................................................3-30

page

5

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4. Setup ........................................................................................................................4-1

1. Describes parameters ...............................................................................................4-2

2. JOG running ............................................................................................................4-58

5. Adjustment ..........................................................................................................5-1

1. Gain Adjustment ........................................................................................................5-2

2. Real-Time Auto-Gain Tuning .....................................................................................5-4

3. Adaptive Filter .........................................................................................................5-10

4. Manual Auto-Gain Tuning (Basic) ............................................................................5-13

5. Manual Auto-Gain Tuning (Application) ...................................................................5-24

6. About Homing Operation .........................................................................................5-39

6. When in Trouble .............................................................................................6-1

1. When in Trouble ........................................................................................................6-2

2. Setup of gain pre-adjustment protection .................................................................6-15

3. Troubleshooting ......................................................................................................6-17

7. Supplement ........................................................................................................7-1

1. Safety function ..........................................................................................................7-2

2. Absolute System .....................................................................................................7-10

3. Setup Support Software, PANATERM .....................................................................7-26

4. Communication .......................................................................................................7-27

5. Motor Characteristics (S-T Characteristics) ............................................................7-56

6. Dimensions .............................................................................................................7-63

7. Options ....................................................................................................................7-72

Warranty .............................................................................................................................7-96

Cautions for Proper Use .....................................................................................................7-97

After-Sale Service .................................................................................................... Back cover

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The following explanations are for things that must be observed in order to prevent harm to

people and damage to property.

�Misuses that could result in harm or damage are shown as follows, classi�ed according to the degree of potential harm or damage.

Danger Indicates great possibility of death or serious injury.

Caution Indicates the possibility of injury or property damage.

�The following indications show things that must be observed.

Indicates something that must not be done.

Indicates something that must be done.

Danger

Do not subject the Product to water, corrosive or

�� Failure to observe this instruc-

tion could result in �re.Do not place combustibles near by the motor,

driver and regenerative resistor.

Don't use the motor in a place subject to exces-

sive vibration or shock.

Failure to observe this instruc-

tion could result in electrical

shock, injury or �re.

Don't use cables soaked in water or oil.



shocks, damages and break-

downs.

Do not place the console close to a heating unit

such as a heater or a large wire wound resistor.Failure to observe this instruc-

tion could result in �re and breakdowns.

Never connect the motor directly to the commer-

cial power supply.

Don't attempt to carry out wiring or manual opera-

tion with wet hand.



shock, injury or �re.

Do not put your hands in the servo driver.


tion could result in burn and

electrical shocks.

Safety Precautions Please observe safety precautions fully.

7

In the case of the motor with shaft end keyway, do

not touch the keyway with bare hands.Failure to observe this instruc-

tion could result in personal

injury.Do not touch the rotating portion of the motor

while it is running.

Do not touch the motor, servo driver, heat sink

and regenerative resistor, since they become very

hot.


tion could result in burns.

Do not drive the motor with external power.Failure to observe this instruc-

tion could result in �re.

Do not subject the cables to excessive force,

heavy object, or pinching force, nor damage the

cables.



shocks, damages and break-

downs.

Installation area should be free from excessive

dust, and from splashing water and oil.

Failure to heed this precaution

will result in electric shock, per-

sonal injury, �re, malfunction or damage.

Mount the motor, driver and regenerative resistor

on incombustible material such as metal.

Installation on a �ammable ma-

terial may cause �re.

�� authorized specialist.

Allowing a person with no ex-

pertise to carry out wiring will

result in electrical shocks.

Correctly run and arrange wiring.

Incorrect wiring will result in

short circuit, electric shock, per-

sonal injury, etc.

After correctly connecting cables, insulate the live

parts with insulator.

Incorrect wiring will result short

circuit, electric shock, �re or malfunction.

Ground the earth terminal of the motor and driver

without fail.

Floating ground circuit will

cause electric shock.

Install and mount the Product and machinery

�� incurred by earthquake.

Failure to heed this requirement will result in electric shock, per-

sonal injury, �re, malfunction or damage.

Install an emergency stop circuit externally so that

you can stop the operation and shut off the power

immediately.

Install an overcurrent protection, earth leakage

breaker, over-temperature protection and emer-

gency stop apparatus without fail.Failure to heed these require-

ments will result in electric

shock, personal injury or �re.�� after the earthquake.

Before transporting, wiring and inspecting the

driver, turn off power and wait for a time longer

�� panel of the product; and make sure that there is

no risk of electrical shock.

Energized circuit will cause

electric shock.

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Caution

Do not hold the motor cable or motor shaft during

the transportation.


tion could result in injuries.

Don't drop or cause topple over of something dur-

ing transportation or installation.


tion could result in injuries and

breakdowns.

Do not step on the Product nor place the heavy

object on them.



shocks, injuries, breakdowns

and damages.

Don't use the equipment under direct sunshine.

Failure to heed these instruc-

tions will cause personal injury

or �re.

Do not block the heat dissipating holes or put the

foreign particles into them.



shocks and �re.

Do not give strong impact shock to the Product.Failure to observe this instruc-

tion could result in breakdowns.

Do not give strong impact shock to the motor

shaft.


tion could result in a failure of

the detector etc.

Do not turn on and off the main power of the driv-

er repeatedly. Failure to observe this instruc-

tion could result in breakdowns.Never run or stop the motor with the electro-mag-

netic contactor installed in the main power side.

Do not make an extreme gain adjustment or

change of the drive.

Do not keep the machine running/operating unsta-

bly.



Do not use the built-in brake as a "Braking" to

stop the moving load.


tion could result in injuries and

breakdowns.

Do not approach to the machine since it may sud-

denly restart after the power resumption.

Design the machine to secure the safety for the

operator even at a sudden restart.



�� or repair.

Failure to heed this instruction

will result in �re, electric shock, personal injury or malfunction.

Make an appropriate mounting of the Product

matching to its wight and output rating.

Failure to heed these require-

ments will result in personal

injury or malfunction.

Safety Precautions Please observe safety precautions fully.

9

�� -rection.

Failure to heed these require-



Use the eye bolt of the motor for transportation of

the motor only, and never use this for transporta-

tion of the machine.

Using it for transportation of the

machine will cause personal


Don't place any obstacle object around the motor

and peripheral, which blocks air passage.

Temperature rise will cause

burn injury or �re.

Adjust the motor and driver ambient environmen-

tal condition to match the motor operating tem-

perature and humidity.Failure to heed these require-


injury or malfunction.�� !�� and the control panel inner surface or other de-

vices.

��

Operation from a voltage out-

side the rated voltage will cause

electric shock, personal injury

or �re.

Connect the brake control relay to the relay which

is to shut off at emergency stop in series.

Missing of one of these devices

will result in personal injury or

malfunction.

Provide protection device against idling of electro-

magnetic brake or gear head, or grease leakage

from gear head.

No protection will cause per-

sonal injury, damage, pollution

or �re.

"�� -

bination.

Not using the motor and the

driver in the speci�ed combina-

tion will result in �re.

#��$��%� ��!�� to verify normal operation, and then connect it to

the mechanical system.

Operation using a wrong model

or wrong wiring connection will

result in personal injury.

When any error occurs, remove the cause and

release the error after securing the safety, then

restart.

Not removing the cause of the

error will result in personal in-

jury.

If the driver fails, shut off the power on the power

supply side of the driver.

Allowing a large current to con-

tinue to pass will result in �re.

Maintenance must be performed by an experi-

enced personnel.

Wrong wiring will cause person-

al injury or electric shock.

Always keep power disconnected when the power

is not necessary for a long time.

Improper operation will cause

personal injury.

When you dispose the batteries, observe any applicable regulations or laws after

insulating them with tape.

This Product shall be treated as Industrial Waste when you dispose.

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10

Conformed Standards

Driver Motor

EC Direc-

tives

EMC

Directives

EN55011

EN61000-6-2

EN61800-3

–

Low-

Voltage

Directives

EN61800-5-1EN60034-1

EN60034-5

Functional

safety

EN954-1 (Cat. 3)

ISO13849-1 (PL d)

EN61508 (SIL 2)

EN62061 (SIL 2)

EN61800-5-2 (STO)

IEC61326-3-1

–

UL Standards UL508C (E164620)UL1004-1 (E327868: Small type)

UL1004 (E166557: Large type)

CSA Standards C22.2 No.14 C22.2 No.100

IEC : International Electrotechnical Commission

EN : Europaischen Normen

EMC : Electromagnetic Compatibility

UL : Underwriters Laboratories

CSA : Canadian Standards Association

Pursuant to the directive 2004/108/EC, article 9(2)

Panasonic Testing Centre

Panasonic Service Europe, a division of

Panasonic Marketing Europe GmbH

Winsbergring 15, 22525 Hamburg, F.R. Germany

Note For details on compatibility with international standard, refer to P.2-2 Conformance to

international standards.

Conformance to international standards

11

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 measurement) to the driver, otherwise it could result in breakdown of the

driver.

4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can

discolor or damage the exterior case.

Inspection Items and Cycles

General and normal running condition

&�� '�()*��+��,�� -).��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

Daily

inspectionDaily

��

��

��

��

��

��

��! � ��

�� "��

machine or equipment ��#��

Motor

with Gear

Reducer

Annual

��

��$� ��

��! � ��

��

Note Inspection cycle may change when the running conditions of the above change.

Maintenance and Inspections 1

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Related page ��#%'*+;�<= �� >

Guideline for Parts Replacement

Use the table below for a reference. Parts replacement cycle varies depending on the ac-

tual operating conditions. Defective parts should be replaced or repaired when any error

have occurred.

Prohibited

Disassembling for inspection and repair should be

carried out only by authorized dealers or service

company.

Product ComponentStandard replacement

cycles (hour)Note

Driver

Smoothing condenser Approx. 5 years

These hours or cycles are

reference.

When you experience any

error, replacement is required even before this standard

replacement cycle.

Cooling fan2 to 3 years

(10,000 to 30,000 hours)

Aluminum electrolytic

capacitor (on PCB)Approx. 5 years

Rush current

preventive relay

Approx. 100,000 times

(depending on working

condition)

Rush current

preventive resistor

Approx. 20,000 times

(depending on working

condition)

Motor

Bearing3 to 5 years

(20,000 to 30,000 hours)

Oil seal 5000 hours

Encoder3 to 5 years

(20,000 to 30,000 hours)

Battery

for absolute encoder

Life time varies depending

on working conditions.

Refer to the Operating

Instructions attached to the

battery for absolute

encoder.

Maintenance and Inspections

1-1

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1. Before Using the Products

1. Introduction

Outline .........................................................................................................1-2

On Opening the Product Package...............................................................1-2

2. Driver

Check of the Model......................................................................................1-3

Parts Description (A to E-frame)..................................................................1-4

Parts Description (F-frame) .........................................................................1-5

Specifications...............................................................................................1-6

Block Diagram .............................................................................................1-8

3. Motor

Check of the Model....................................................................................1-10

Parts Description .......................................................................................1-12

4. Check of the Combination of the Driver and the Motor

Incremental Specifications, 20-bit..............................................................1-13

Absolute Specifications, 17-bit...................................................................1-14

Junction cable for motor ...........................................................................1-15

5. Installation

Driver .........................................................................................................1-16

Motor..........................................................................................................1-20

6. Permissible Load at Output Shaft

Motor..........................................................................................................1-23

1-2

The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all

demands from a variety of machines which require high speed, high precision and high performance or which require simpli�ed settings.

Compared with the preceding A4-series, product of A5-series offers superior performance

while requiring simple setup and adjustment by the user.

Newly designed motors have wide range of outputs from 50 W to 5.0 kW, associated with

20-bit incremental encoder and reduced cogging torque.

They are compatible with 2 closed controls (serial communication type and A-/B-phase

output type) and provided with various automatic adjusting functions such as real time

auto tuning with many automatic setting parameters to make complex tuning easy.

These motors assure higher stability with low stiffness machine and high-speed, high

accurate operation with high stiffness machine. They can be used in combination with a

wide variety of machines.

This manual is written as a complete guide for you so that you can fully and correctly

make use of all functions available from MINAS A5.

1Before Using

the Products

1. IntroductionOn 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 Operating Instructions (safety) are included or not.

�� Check if the power connector, motor connectors, connector for external regenerative

resistor connection (only E-frame) and safety by-pass plug are included or not.

(Neither the power connector nor motor connector are included to F-frame.)

��

1Before Using

the Products

1. IntroductionOutline

1-3

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1Before Using

the Products

2. DriverCheck of the Model

Contents of Name Plate

Model number

Input/output voltage

Rated output ofapplicable motor

Rated input/output current

Input/output frequency

Number of phase

Serial Numbere.g.) : P09 04 0001N

Lot number Month of production

Year of production(Lower 2 digits of AD year)

Manufacture datee.g.) : 2009 04 01

Manufacture dateManufacture yearManufacture month

Model Designation

M A D H T 1 5 0 5

Special specifications

(letters and numbers)

Current detector rating

Power supply

Max. current rating of power deviceFrame-size symbol

MADH

MBDH

MCDH

MDDH

MEDH

MFDH

FrameSymbol

A5-series, A-frame

A5-series, B-frame

A5-series, C-frame

A5-series, D-frame

A5-series, E-frame

A5-series, F-frame

T1

T2

T3

T5

T7

TA

TB

Current ratingSymbol

Specifications

10A

15A

30A

50A

70A

100A

150A

Symbol

1

3

5

Single phase, 100V

3-phase, 200V

Single/3-phase,

200V

05

07

10

20

30

40

64

90

A2

Current ratingSymbol

5A

7.5A

10A

20A

30A

40A

64A

90A

120A

1 to 4 75 to 6 10 to 128 to 9

Related page ��#%?*?4�<�� !�� >

1-4

A to D-frame

F-frame

Charge lamp

1C2C

123

B1B3B2

V

Connector A

for main power connection

05 FAT-SA F ( ST)

Connector B

for motor connection

06 FAT-SA F ( ST)

Terminals for external

regenerative resistor

( ormally short-circuit

B3 to B2)

Connector 6

for encoder

connection

Connector 4 Parallel / connector

Connector 3 Safety function connector

Connector 2 for Serial bus

Connector 1 SB connector

Connector 5

for feedbac scale

connection

Connector 7 Monitor connector

Front panel

ED cover

Safety by-pass prug

Screws for earth (x2)

Main power

input terminals

Control power

input terminals

Terminals for motor

connection

1Before Using

the Products

2. DriverParts Description

Note Connector X1 and X2 are attached in A to D-frame driver.

Connector XA, XB and XC are attached in E-frame driver.

Screws for earth( 2)

harge lamp

L1L2

L1L2L

1

2N

onnector A: for main power connection0 A SA SA L ( S )

onnector : onnector for e ternal

regenerative resistor0 A SA SA L ( S )

onnector : for motor connection04 A SA SA L ( S )

erminals for e ternalregenerative resistor(Normally short circuit

to 2)

erminals for motor connection

ontrol powerinput terminals

Main power input terminals

onnector :for encoder connection

onnector 4: Parallel I/ connector

onnector : Safety function connector

onnector 2: for Serial bus

onnector 1: S connector

onnector :for feedbac scaleconnection

onnector : Monitor connector

ront panel

L D cover

Safety by pass prug

1-5

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2. DriverParts Description

E-frame

ontrol power input terminals

L1L2L

L1L2

1

2N

Main power input terminals

erminals for motorconnection

Screws for earth ( 2)

erminals for e ternal regenerative resistor(Normally short circuit

to 2)

harge lamp

erminal coverL D cover

onnector :for encoder connection

onnector 4: Parallel I/ connector

onnector : Safety function connectoronnector 2: for Serial busonnector 1: S connector

onnector :for feedbac scaleconnection

onnector : Monitor connector

ront panel

Safety by pass prug

Related page ��#%?*?4�<�� !�� >

��#%?*?;�<@� �� >

• P.2-6 “Driver and List of Applicable Peripheral Equipments”

1

1Before Usingthe Products

2. DriverSpecifications

Basic S

peci�cations

Input power

100Main circuit Single phase, 100 to 120V

100/ 01

Control circuit Single phase, 100 to 120V 10

0/ 01

200V

Main circuit

A to D-frame Single/3-phase, 200 to 240V

100/ 01

E to F-frame 3-phase, 200 to 230V

100/ 01

Control circuit

A to D-frame Single phase, 200 to 240V

100/ 01

E to F-frame Single phase, 200 to 230V

100/ 01

Withstand voltage Primary to earth: withstand 1500 VAC, 1 min,(sensed current: 20 mA)

Environment

temperatureAmbient temperature: 0�C to 55�C (free from freezing)Storage temperature: –20�C to 65�C (Max.temperature guarantee: 80�C for 72 hours)

humidity Both operating and storage : 20 to 85%RH or less (free from condensation)

Altitude Lower than 1000m

Vibration 5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency)

Control method IGBT PWM Sinusoidal wave drive

Encoder feedback17-bit (131072 resolution) absolute encoder, 7-wire serial20-bit (1048576 resolution) incremental encoder, 5-wire serial

Feedback scale feedback

A/B phase, initialization signal defferential input.Manufacturers that support serial communication scale: Mitsutoyo Corp. Sony Manufacturing Systems Corp.

Control signal

InputGeneral purpose 10 inputs The function of general-purpose input is selected by parameters.

OutputGeneral purpose 6 outputsThe function of general-purpose input is selected by parameters.

Analog /Digitalsignal

Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)

Output 3 outputs (Analog monitor: 2 output, Digital monitor: 1 output)

Pulse signal

Input2 inputs (Photo-coupler input, Line receiver input)Photocoupler input is compatible with both line driver I/F and open collector I/F.Line receiver input is compatible with line driver I/F.

Output4 outputs ( Line driver: 3 output, open collector: 1 output)Feed out the encoder pulse (A, B and Z-phase) or feedback scale pulse (EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector.

Communicationfunction

S Connection with PC etc.

RS232 1 : 1 communication to a host.

RS485 1 : n communication up to 31 axes to a host.

Safety function Used for IEC61800-5-2: STO.

Front panel(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)(3) Analog monitor output (2ch) (4) Digital monitor output (1ch)

RegenerationA, B-frame: no built-in regenerative resistor (external resistor only) C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)

Dynamic brake Built-in

Control modeSwitching among the following 7 mode is enabled, (1) Position control (2) Velocity control (3) Toque control (4) Position/Velocity control (5) Position/Torque control (6) Velocity/Torque control (7) Full-closed control

Related page • P.1-16 “Installation of Driver”• P.1-20 “Installation of Motor”

1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

unction

Position control

ontrol input (1) Deviation counter clear (2) ommand pulse inhibition ( ) ommand dividing gradual increase switching (4) Damping control switching etc.

ontrol output Positioning complete (In position) etc.

Pulseinput

Ma . command pulse frequency

clusive interface for Photo coupler: 00 ppsclusive interface for line driver : 4Mpps

Input pulse signal format

Differential input. Selectable with parameter. ((1) Positive and Negative direction (2) A and phase ( ) ommand and direction)

lectronic gear (Division/Multiplication of command pulse)

Process command pulse frequency electronic gear ratio ( 1 to 2 0

1 to 2 0 ) as positional command input. se electronic gear ratio in the range 1/1000 to 1000 times.

Smoothing �lter Primary delay �lter or FIR type �lter is adaptable to the command inputAnaloginput

orque limit command input Individual torque limit for both positive and negative direction is enabled.

Instantaneous Speed bserver Available

Damping ontrol Available

elocity control

ontrol input (1) Selection of internal velocity setup 1 (2) Selection of internal velocity setup 2( ) Selection of internal velocity setup (4) Speed ero clamp etc.

ontrol output Speed arrival etc.

Analoginput

elocitycommand input

Speed command input can be provided by means of analog voltage.Parameters are used for scale setting and command polarity. (6V/Rated rotational speed Default)


Internal velocity command Switching the internal speed is enabled by command input.

Soft start/down function Individual setup of acceleration and deceleration is enabled with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration is also enabled.

ero speed clamp 0 clamp of internal velocity command with speed ero clamp input is enabled.Instantaneous Speed

bserver Available

Velocity Control �lter Available

orque control

ontrol input Speed ero clamp orque command sign input etc.ontrol output Speed arrival etc.

Analoginput

orque command input

Speed command input can be provided by means of analog voltage.Parameters are used for scale setting and command polarity. ( /rated torque Default)

Speed limit function Speed limit value with parameter t is enabled.ullclosed control

ontrol input (1) Deviation counter clear (2) ommand pulse inhibition ( ) ommand dividing gradual increase switching (4) Damping control switching etc.

ontrol output ull closed positioning complete etc.

Pulseinput

Ma . command pulse frequency

clusive interface for Photo coupler: 00 ppsclusive interface for line driver : 4Mpps

Input pulse signal format

Differential input. Selectable with parameter. ((1) Positive and Negative direction (2) A and phase ( ) ommand and direction)

lectronic gear (Division/Multiplication of command pulse)

Process command pulse frequency electronic gear ratio ( 1 to 2 0

1 to 2 0 ) as positional command input. se electronic gear ratio in the range 1/1000 to 1000 times.

Smoothing �lter Primary delay �lter or FIR type �lter is adaptable to the command inputAnaloginput


Setup range of division/multiplication of feedbac scale

1/40 to 1 0 times he ratio of encoder pulse (numerator) to e ternal scale pulse (denominator) can be set

to 1 to 220 (numerator) to 1 to 220 (denominator) but should be set to a ratio within the range shown above.

omm

on

Auto tuning

he load inertia is identified in real time by the driving state of the motor operating according to the command given by the controlling device and set up support software “PANATERM”.

he gain is set automatically in accordance with the rigidity setting.Division of encoder feedbac pulse Set up of any value is enabled (encoder pulses count is the ma .).

Protectivefunction

ard error ver voltage under voltage over speed over load over heat over current and encoder error etc.

Soft error Excess position deviation, command pulse division error, EEPROM error etc.raceability of alarm data he alarm data history can be referred to.

2. DriverSpecifications

1-8

A, B-frame

L 1L 2L

1

N

P

+use

抵抗

use

use

rrordetection

oltagedetection

Sequence control

2

L1

L2

eedbac scale signalprocessing limit

eedbac scale unit

D /D

1

2

M

R

4

±12

PS for gate driveate drive

PS for R

ront panel

Alarmsignal

S

Serial

Pulse traincommand

Pusleoutput

Analogvelocity

command

ontrolinput

Division/mulitiplication

A/D

A/D

1 bit

Position

Speed

elocity

orqueInternal

ternal

Deviationcounter

Internal speedcommand

Speeddetection

Divisionprocessing

Positiondeviation amp.

Displayoperation

controlParameter control Protective

curcuitPR M

Speeddeviation

amp. orquelimit

urrentcontrol

P Mcircuit

ncoder signalprocessing

limit

ontroloutput

Safety function

C, D-frame

L 1L 2L

1

N

P

+use

抵抗

use

rrordetection

oltagedetection

Sequence control

2

L1

L2

Divisionprocessing


D /D

M

R±12

PS for gate driveate drive

PS for R

Alarmsignal

Pulse traincommand

Pusleoutput

Analogvelocity

command

ontrolinput


A/D

A/D

1 bit

Position

Speed

elocity

orqueInternal

ternal

Deviationcounter


Speeddetection

Positiondeviation amp.

Displayoperation

controlParameter control Protective

curcuitPR M

Speeddeviation

amp. orquelimit

urrentcontrol

P Mcircuit


limit

ontroloutput

usean (D frame only)

ront panel

eedbac scale unit

1

2

4

S

Serial

Safety function

1Before Using

the Products

2. DriverBlock Diagram

1-9

1

Be

fore

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ing

the

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du

cts

2

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pa

ratio

n

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tion

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nt

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en

in T

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lem

en

t

E-frame

L 1L 2L

1

N

P

+use

抵抗

use

rrordetection

oltagedetection

Sequence control

2

L1

L2

Divisionprocessing

D /D

M

R±12

PS for gate drivePS for R

use

Parameter control PR M

an

ront panel

Displayoperation

controlProtective

curcuit

Alarmsignal

Pulse traincommand

Pusleoutput

Analogvelocity

command

ontrolinput

ontroloutput


A/D

A/D

1 bit

Position

Speed

elocity

orqueInternal

ternal

Deviationcounter


Speeddetection

Positiondeviation amp. Speed

deviation amp. orque

limiturrent

controlP Mcircuit


limit

ate drive


eedbac scale unit

1

2

4

S

Serial

Safety function

F-frame

L 1L 2L

1

N

P

+use

抵抗

use

rrordetection

oltagedetection

Sequence control

2

L1

L2

Divisionprocessing

D /D

M

R±12

PS for gate drivePS for R

use

Parameter control PR M

an

ront panel

Displayoperation

controlProtective

curcuit

Alarmsignal

Pulse traincommand

Pusleoutput

Analogvelocity

command

ontrolinput

ontroloutput


A/D

A/D

1 bit

Position

Speed

elocity

orqueInternal

ternal

Deviationcounter


Speeddetection

Positiondeviation amp. Speed

deviation amp. orque

limiturrent

controlP Mcircuit


limit

ate drive


eedbac scale unit

1

2

4

S

Serial

Safety function

2. DriverBlock Diagram

1-10

1Before Using

the Products

3. MotorCheck of the Model

Contents of Name Plate

Serial Numbere.g.) : 09 04 0001N

Lot numberMonth of production

Year of production(Lower 2 digits of AD year)

Manufacture datee.g.) : 2009 04 01

Manufacture dateManufacture yearManufacture month

Model

Rated output

Rated input voltage/current

Rated frequency

Ratedrotational speed

1-11

1

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Model Designation

M S M A S 1 S1 to 4 to 11 to 129 10

Special specifications

Motor structure

Design order 1: Standard

Rotary encoder specifications

oltage specifications

SpecificationsypeS ol

Low inertia( 0 to .0 )Middle inertia(1.0 to .0 )Middle inertia(900 to .0 )

igh inertia(1.0 to .0 )

SIncremental

Absolute

SpecificationsS ol

or at Pulse count

utputMotor rated output S ol

SpecificationsS ol

Resolutionwirewire

ire count

Motor structureMSM ( 0 to 0 )

*1 he product with oil seal is a special order product. *2 ey way with center tapProducts are standard stoc items or manufactured by order. or details inquire the dealer.

A

S

Shaft olding ra e il sealithout ithRound e a ithout ith

S ol

MSM (1.0 to .0 ) MDM M M M M

D

Shaft olding ra e il sealithout ithRound e a ithout ith

S ol*1

*2

*2

MSM

MDM

M M

M M

A010204009101200

400

0100200400

09001.01.2.0.0

4.0.0

12

100200100/200 common( 0 only)

20bit1 bit

1 041 1 0 2

3. MotorCheck of the Model

Note

Related page

For details of speci�c model, refer to the Dimensions of Supplement.

��#%?*?4�<�� !�� > ��#%'*;;�<!��>

1-12

1Before Using

the Products

3. MotorParts Description

Motor frame

lange

onnector for motor

onnector for encoder

onnector for motor

onnector for bra e


with ra e

Motor frame

lange

Mounting holes ( 4)

Mounting holes ( 4)

onnector for motoronnector for encoder

il seal

Motor frame

lange

Mounting holes ( 4)

Note For details of speci�c model, refer to the Dimensions of Supplement. (P.7-66)

��K�Q 50W to 750W

��K�Q 1.0kW to 5.0kW

��!�Q 1.0kW to 5.0kW

��Y�� 0.9kW to 3.0kW

��Z�Q 1.0kW to 5.0kW

e.g.) : Low inertia type (MSME series, 50W)

e.g.) : Middle inertia type (MDME series, 1.0kW)

1-13

1

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1Before Using

the Products

4. Check of the Combination of the Driver and the MotorIncremental Specifications, 20-bit

This driver is designed to be used in a combination with the motor which are speci�ed by us. Check the series name of the motor, rated output torque, voltage speci�cations and encoder speci�cations.

Remarks Do not use in other combinations than those listed below.

Motor Driver

Powersupply

TypeRated rotational

speedModel

Ratedoutput

Model Frame

Single

phase,

100V

MSME

Low inertia3000r/min

MSME5AZG1* 50W MADHT1105A-frame

MSME011G1* 100W MADHT1107

MSME021G1* 200W MBDHT2110 B-frame

MSME041G1* 400W MCDHT3120 C-frame

Single/

3-phase,

200V

MSME5AZG1* 50WMADHT1505

A-frameMSME012G1* 100W

MSME022G1* 200W MADHT1507

MSME042G1* 400W MBDHT2510 B-frame

MSME082G1* 750W MCDHT3520 C-frame

MSME102G1* 1.0kWMDDHT5540 D-frame

MSME152G1* 1.5kW

3-phase,

200V

MSME202G1* 2.0kW MEDHT7364 E-frame

MSME302G1* 3.0kW MFDHTA390

F-frameMSME402G1* 4.0kWMFDHTB3A2

MSME502G1* 5.0kW

Single/

3-phase,

200VMDME

Middle inertia2000r/min

MDME102G1* 1.0kW MDDHT3530

D-frameMDME152G1* 1.5kW MDDHT5540

3-phase,

200V

MDME202G1* 2.0kW MEDHT7364 E-frame

MDME302G1* 3.0kW MFDHTA390

F-frameMDME402G1* 4.0kWMFDHTB3A2

MDME502G1* 5.0kW

Single/

3-phase,

200VMGME


MGME092G1* 0.9kW MDDHT5540 D-frame

3-phase,

200V

MGME202G1* 2.0kW MFDHTA390F-frame

MGME302G1* 3.0kW MFDHTB3A2

Single/

3-phase,

200VMHME

High inertia2000r/min

MHME102G1* 1.0kW MDDHT3530

D-frameMHME152G1* 1.5kW MDDHT5540

3-phase,

200V

MHME202G1* 2.0kW MEDHT7364 E-frame

MHME302G1* 3.0kW MFDHTA390

F-frameMHME402G1* 4.0kWMFDHTB3A2

MHME502G1* 5.0kW

Note Suf�x of " * " in the applicable motor model represents the motor structure.

1-14

1Before Using

the Products

4. Check of the Combination of the Driver and the MotorAbsolute Specifications, 17-bit

This driver is designed to be used in a combination with the motor which are speci�ed by us. Check the series name of the motor, rated output torque, voltage speci�cations and encoder speci�cations.

Remarks Do not use in other combinations than those listed below.

Motor Driver

Powersupply

TypeRated rotational

speedModel

Ratedoutput

Model Frame

Single

phase,

100V

MSME

Low inertia3000r/min

MSME5AZS1* 50W MADHT1105A-frame

MSME011S1* 100W MADHT1107

MSME021S1* 200W MBDHT2110 B-frame

MSME041S1* 400W MCDHT3120 C-frame

Single/

3-phase,

200V

MSME5AZS1* 50WMADHT1505

A-frameMSME012S1* 100W

MSME022S1* 200W MADHT1507

MSME042S1* 400W MBDHT2510 B-frame

MSME082S1* 750W MCDHT3520 C-frame

MSME102S1* 1.0kWMDDHT5540 D-frame

MSME152S1* 1.5kW

3-phase,

200V

MSME202S1* 2.0kW MEDHT7364 E-frame

MSME302S1* 3.0kW MFDHTA390

F-frameMSME402S1* 4.0kWMFDHTB3A2

MSME502S1* 5.0kW

Single/

3-phase,

200VMDME


MDME102S1* 1.0kW MDDHT3530

D-frameMDME152S1* 1.5kW MDDHT5540

3-phase,

200V

MDME202S1* 2.0kW MEDHT7364 E-frame

MDME302S1* 3.0kW MFDHTA390

F-frameMDME402S1* 4.0kWMFDHTB3A2

MDME502S1* 5.0kW

Single/

3-phase,

200VMGME


MGME092S1* 0.9kW MDDHT5540 D-frame

3-phase,

200V

MGME202S1* 2.0kW MFDHTA390F-frame

MGME302S1* 3.0kW MFDHTB3A2

Single/

3-phase,

200VMHME

High inertia2000r/min

MHME102S1* 1.0kW MDDHT3530

D-frameMHME152S1* 1.5kW MDDHT5540

3-phase,

200V

MHME202S1* 2.0kW MEDHT7364 E-frame

MHME302S1* 3.0kW MFDHTA390

F-frameMHME402S1* 4.0kWMFDHTB3A2

MHME502S1* 5.0kW

Note 1) Suf�x of " * " in the applicable motor model represents the motor structure. 2) Default of the driver is set for the incremental encoder speci�cations.

When you use in absolute, make the following operations.

a) Install a battery for absolute encoder.

b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".

1-15

1

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fore

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Encoder cable

Motor series /��0��1)$�� Note)1 Absolute Specifications, 17-bit Note)1 Detailpage

MSME 50W to 750W MFECA0**0MJD MFECA0**0MJE 7-76

MSME 1.0kW to 5.0kW MFECA0**0ETD MFECA0**0ETE

7-77

MDME 1.0kW to 5.0kW MFECA0**0ETD MFECA0**0ETE

MGME 0.9kW to 3.0kW MFECA0**0ETD MFECA0**0ETE

MHME 1.0kW to 5.0kW MFECA0**0ETD MFECA0**0ETE

\��]?��<�** ” represents the cable length.

Motor cable/ Brake cable

Motor seriesMotor cable Note)1

Brake cable Note)1 Detailpagewith Brake

MSME 50W to 750W MFMCA0**0NJD — MFMCB0**0PJT7-78

7-82

MSME 1.0kW to 2.0kW MFMCD0**2ECD MFMCA0**2FCD—

7-78

…

7-81

MSME 3.0kW to 5.0kW MFMCA0**3ECT MFMCA0**3FCT

MDME 1.0kW to 2.0kW MFMCD0**2ECD MFMCA0**2FCD—

MDME 3.0kW to 5.0kW MFMCA0**3ECT MFMCA0**3FCT

MGME 0.9kW MFMCD0**2ECD MFMCA0**2FCD—

MGME 2.0kW to 3.0kW MFMCA0**3ECT MFMCA0**3FCT

MHME 1.0kW to 1.5kW MFMCD0**2ECD MFMCA0**2FCD

—MHME 2.0kW MFMCE0**3ECD MFMCE0**3FCD

MHME 3.0kW to 5.0kW MFMCA0**3ECT MFMCA0**3FCT

\��]?��<�** ” represents the cable length.

1Before Using

the Products

4. Check of the Combination of the Driver and the MotorJunction cable for motor

Related page ��^�� #%'*'_�<��>

1-16

1Before Using

the Products

5. InstallationDriver

Install the driver properly to avoid a breakdown or an accident.

Installation Place

1) Install the driver in a control panel enclosed in noncombustible material and placed in-

door where the product is not subjected to rain or direct sunlight. The products are not

waterproof.

2) Where the products are not subjected to corrosive atmospheres such as hydrogen sul-

�de, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of in�ammable gas.

3) Where the motor is free from grinding oil, oil mist, iron powder or chips.

4) Well-ventilated and low humidity and dust-free place.

5) Vibration-free place.

6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can

discolor or damage the exterior case.

Environmental Conditions

Item Conditions

Ambient temperature 0�C to 55�C (free from freezing)

Ambient humidity 20% to 85% RH (free from condensation)

Storage temperature*1 –20�C to 65�C (Max.temperature guarantee: 80�C for 72 hours)

Storage humidity 20% to 85% RH (free from condensation)

Vibration Lower than 5.88m/s2 (0.6G), 10 to 60Hz


*1 Extreme temperatures are permissible only for short period such as during transportation.

How to Install

1) Rack-mount type. Install in vertical position, and reserve enough space around the

servo driver for ventilation.

2) Base mount (rear mount) is standard for A/B/C/D-frame driver.

3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting

�xture. For choosing the correct optional mounting �xture, refer to P.7-90 “Mounting q� ��>%

A to D frame frameasemount (Standard)

Rear mountrontmountse mounting fi ture

ront or asemountse mounting fi ture

Mounting fi ture(optional parts)

Mounting fi ture(Attachment)

astening torque of earth screws (M4) to be 0. to 0. N m.

astening torque of earth screws (M ) to be 1.4 to 1. N m.

1-17

1

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Related page • P.1-6 “Speci�cations” • P.1-20 “Installation of motor”��#%'*;3�<!��> • P.7-90 “Mounting �xture”

Mounting Direction and Spacing

�� Reserve enough surrounding space for effective cooling.

�� Install fans to provide uniform distribution of temperature in the control panel.

�� D/E/F frame is provided with a cooling fan at the bottom.

�� Observe the environmental conditions of the control panel described in the previous page.

Note It is recommended to use the conductive paint when you make your own mounting �x-

ture, or repaint after peeling off the paint on the machine for installing the products, in

order to make noise countermeasure.

Caution on Installation

Caution �� 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 pow-

er, wiring and components may result in unexpected action. It is highly recommended that

you make a fail-safe design and secure the safety in the operative range.

�� If stranded wires are used as the cable, bunch the conductors of the cable using a rod termi-

nals or a round terminals. If stranded wires are used as they are, unexpected accidents such

as an electric shock and short circuit or injury may result.

�� 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.

�� Be sure to ground the protective earth terminal.

If the product is grounded insuf�ciently, not only the driver may not deliver its perfor-mance suf�ciently, but also safety hazards such as a malfunction due to a electri�cation or a disturbance may be caused.

�� If electric wires are bound and run through metal duct, they cannot carry the rated cur-

rent due to temperature rise. If they are forced to carry the rated current, they may burn.

When determining size of the wire.

an an 100mmor more

100mmor more

40mmor

more

40mmor

more

10mmor

more10mm

ormore

10mmor

more

Direction of air flowing from the internalcooling fan (D/ / frame)

ontrol panel


1-18

Recommended Electric Wires for Driver

��For the main circuit, use electric wire that withstands at least 600 VAC with tempera-

ture rating 75� or higher.��When using bundled wires running through metallic conduit, the amounts of current

determined according to the reduction rate must be subtracted from the nominal allow-

able current.

��Electric wires

<In high ambient temperature>

Use heat resistant wire.

Common polyvinyl chloride wires will deteriorate by heat at a higher rate.

<In low ambient temperature>

The surface of vinyl chloride insulation becomes hardened and brittle at low tempera-

ture and needs speci�c protective measure when used in cold region. • Bend radius of the cable must be 10 times or more its �nish outside diameter.��

such application.

Relationship between Wire Diameter and Permissible Current

��=�� "��"�� *

tween cable speci�cation and current carrying capacity.

Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30°C

Determine the fundamental permissible current according

to the cable conductor material (example: stranded cop-

per wire).

(For the purpose of this example, the ampere indicated by

is selected from the table right.)

Next, determine the number of conductors.

(In this example, the cable contains 4 conductors (3 +

ground).)

Determine the applicable permissible current using the

following formula.

Applicable permissible current

= fundamental permissible current x current reduction coef�cient x current correction coef�cient = 37 x 0.7 x 1.414

.=. 36.6 (A)

This permissible value is larger than 35 A to be carried though the cable. Therefore,

according to the list of recommended eco-cables, the cable to be selected for the cable

with nominal cross section 3.5 mm2 is a polyethylene-insulated heat-resistant 4-con-

ductor power cable having 13.5 mm �nish O.D. (approx. 14.5 mm with shield).

2

491

111 9

2 to . (e cl.). to . e cl.

. to (e cl.) to 14 (e cl.)

14 to 22 (e cl.)11 to 0 (e cl.)0 to (e cl.)

Strandedconductor

no inal cross section 2

opperire

unit

unda ental per issi le current


1-19

1

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1 02

04

011001 00

2 0022 0020001 001 001 00

1 0011 001 00200020002 00

9.42..40

2.1. 4

0. 490.491

12.01 .1 .01 .019.022

1.1.1.1.1.1.1.

0..

1.01.01.01.21.2

1.2..0.

4.4..

/0..

/1.0/1.2

2..

1422

onductorStructure

orshape

(wires/mm2)

utsidedia eter

(mm)

nsulationthic ness

(mm)

Sheaththic ness

(mm)

Referenceinish .D.

(mm)

a .conductorresistance

2( / m)

estvoltage

( /1 min.)

ini uinsulationresistance(M m)

Referenceppro .

ass( g/ m)

o inalcross

section(mm2)

ircularcompression

ircularcompression

ircularcompression

Caution

Note

�� Recommended eco-cableWire category: 4-conductor polyethylene-insulated power cable with heat-resistant

polyethylene sheath (Standard: EM JIS C 3605)

Maximum permissible temperature: 90°C

Shield will increase �nish outside diameter by approx. 1 mm.

• Appropriate cable should be selected to have suf�cient allowance for parameters such as operating ambient temperature and current.

• Current reduction coef�cient, fundamental permissible current, etc., stated on this page are subject to change due to e.g. standard revision. Consult cable manufacturers for

the latest information.

.0.0.0.490.40. 90. 4

Up to 4

or to 1

1 to 4041 to 01 or more

o. of ires in a tu e oefficient

urrent reduction coefficient


Related page ��#%?*?}�<~�� >

<Supplement>

• The current correction coef�cient is determined using the following formula:

(Ma . permissible temp. ambient temp.) 0

The current correction coef�cient is determined according to the cable. Check the speci�-

cation of the cable used.

�� The current reduction coefficient is provided for the

case where the cable (4-conductor cable in the case of

example), is housed in plastic race/sheath, plastic tube,

metal race/sheath, metal tube or �exible conduit.Because the neutral conductor is not counted as a wire, the

current reduction coef�cient for “3 or less” is applied as indi-cated by ( ) in the table right.

Caution

Caution

1-20

Install the motor properly to avoid a breakdown or an accident.

Installation Place

Since the conditions of location affect a lot to the motor life, select a place which

meets the conditions below.

1) Indoors, where the products are not subjected to rain or direct sun beam. The products

are not waterproof.

2) Where the products are not subjected to corrosive atmospheres such as hydrogen sul-

�de, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of in�ammable gas.

3) Where the motor is free from grinding oil, oil mist, iron powder or chips.

4) Well-ventilated and humid and dust-free place, far apart from the heat source such as

a furnace.

5) Easy-to-access place for inspection and cleaning

6) Vibration-free place.

7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.

Environmental Conditions

Item Conditions

Ambient temperature*1 0�C to 40�C (free from freezing) Ambient humidity 20% to 85% RH (free from condensation)

Storage temperature*2 –20�C to 65�C (Max.temperature guarantee: 80�C for 72 hours)Storage humidity 20% to 85% RH (free from condensation)

Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall

Impact Motor only Lower than 98m/s2 (10G)

Enclosure

rating

Motor only

(Connector type)

IP67 (except rotating portion of output shaft and connecting pin

part of the motor connector and the encoder connector)*3*4


*1 Ambient temperature to be measured at 5cm away from the motor.

*2 Permissible temperature for short duration such as transportation.

*3 These motors conform to the test conditions speci�ed 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.*4 This condition is applied when the connector mounting screw in case of motor 750W

or less are tightened to the recommended tightening torque (Refer to 1-16, 2-18, 2-00). Be sure to use mounting screw supplied with the connector.

How to Install

You can mount the motor either horizontally or vertically as long as you observe the followings.

1) Horizontal mounting

��"�� "" ��" �� %

2)Vertical mounting

�� Use the motor with oil seal (make-to-order in case of motor 750W or less) when

mounting the motor with gear reducer to prevent the reducer oil/grease from entering

to the motor.

1Before Using

the Products

5. InstallationMotor

1-21

1

Be

fore

Us

ing

the

Pro

du

cts

2

Pre

pa

ratio

n

3

Co

nn

ec

tion

4

Se

tup

5

Ad

jus

tme

nt

6

Wh

en

in T

rou

ble

7

Su

pp

lem

en

t

Oil/Water Protection

1) Don't submerge the motor cable to water or oil.

2) Install the motor with the cable outlet facing downward.

3) Avoid a place where the motor is always subject-

ed to oil or water.

4) Use the motor with an oil seal when used with the

gear reducer, so that the oil may not enter to the

motor through shaft.

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, �x the 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

Note

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

speci�ed to each model.2) Pay an extra attention when you use a rigid coupling. (Excess bending load may dam-

age the shaft or deteriorate the bearing life.)

3) Use a �exible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permis-

sible value.

For permissible load of each model, refer to P.1-23��<#�� K� �>%

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 veri�cation by customer is required.

able Motor

il / ater

Motor

Related page ��#%?*?}�<~�� >��#%?*?;�<@� �� >

��#%?*_3�<#�� K� �>��#%'*;3�<!��>


1-22

Wiring Precautions on Movable Section

When wiring cable bear, take the following precautions:

�� Cable bear wiringThe bend radius of the cable must be 10 times or more its �nish outside diameter.The minimum radius: R>=20 mm.

For �nish outside diameter, refer to P.1-18 How to Install, “Relationship between Wire !� �� #��>� �� %

Do not �x or bundle wires in the cable bear.When securing the cable, �x it only at non-movable ends of the cable bear where the cable is free from any stress (e.g. tension). (Avoid tight lock.)

[Recommended cable bear wiring]

Caution Do not keep the cable loosened (too long) or under tension (too short).

Otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other

cable, etc., causing unpredictable troubles.

� Cable distortionKeep the cable free from twists or kinks.

Distorted cable will cause loose connection, lowering performance and reliability.

�� Lamination factor of cable in cable bear Place cables on a �at surface in parallel without bringing them into contact with each

other and measure the dimension necessary to cover these cables. Then select a ca-

ble bear which is wider than the measured dimension.

The lamination factor of cables should be lower than 60% (recommended factor is 30%

or below).

Do not run smaller and larger size cables in the same cable bear. Thin cables may

break under the pressure of thick cables. If it is necessary to mix cables of different

size, isolate them by using suitable separating material such as partition.

[Wiring arrangement in cable bear – example]

ableR 20mm

able bear

able end

able able PartitionPartition

hic cable hin cable


1-23

1

Be

fore

Us

ing

the

Pro

du

cts

2

Pre

pa

ratio

n

3

Co

nn

ec

tion

4

Se

tup

5

Ad

jus

tme

nt

6

Wh

en

in T

rou

ble

7

Su

pp

lem

en

t

1Before Using

the Products

6. Permissible Load at Output ShaftMotor

L

L/2P

A

M

Radial load (P) direction hrust load (A and ) direction

Unit : N (1kgf=9.8N)

Motor

seriesMotor output

At assembly During running

Radial thrust

Thrust load

Radial thrust

Thrust load A

and

B-directionA-direction B-direction

MSME

50W, 100W 147 88 117.6 68.6 58.8

200W, 400W 392 147 196 245 98

750W 686 294 392 392 147

1.0kW, 1.5kW,

2.0kW, 3.0kW 980 588 686490 196

4.0kW, 5.0kW 784 343

MDME

1.0kW to 2.0kW980 588 686

490 196

3.0kW

784 3434.0kW1666 784 980

5.0kW

MHME1.0kW to 1.5kW 980 588 686 490 196

2.0kW to 5.0kW 1666 784 980 784 343

MGME

0.9kW 980 588 686 686 196

2.0kW 1666 784 980 1176490

3.0kW 2058 980 1176 1470

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 �ange based on the formula of the right ta-

ble, and make it smaller than the calculated result.

LP

Motor

series

Motor

outputFormula of Load and

load point relationMotor

series

Motor

outputFormula of Load and

load point relation

MSME

50W P =3533

L+39

MDME

1.0kW to 2.0kW P = 20580

L+14.5

100W P =4905

L+593.0kW P =

36848

L+14.5

200W P =14945

L+46

4.0kW

5.0kWP =

42336

L+19

400W P =19723

L+65.5

MGME

0.9kW P =33957

L+14.5

750W P =37044

L+772.0kW P =

69384

L+19

1.0kW to 3.0kW P = 20090

L+13.53.0kW P =

86730

L+19

4.0kW

5.0kWP =

36848

L+14.5MHME

1.0kW to 1.5kW P = 24255

L+14.5

2.0kW to 5.0kW P =46256

L+19

1-24

MEMO

2 1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

2. Preparation1. onfor ance to international standards

Directives .............................................................................................2 2omposition of Peripheral quipments......................................................2 4

2. S ste onfiguration and iringDriver and List of Applicable Peripheral quipments.................................2

verall iring ( onnector type).................................................................2iring of the Main ircuit ( onnector type) .............................................2 10iring Diagram ( onnector type).............................................................2 12verall iring ( erminal bloc type) ........................................................2 14iring of the Main ircuit ( erminal bloc type) ......................................2 1iring Diagram ( erminal bloc type)......................................................2 1

Specifications of Motor connector ............................................................2 1iring method to connector .....................................................................2 19

. iring to the connector 1onnecting host computer.............................................................................. 2 20

. iring to the connector 2onnecting communication connector ........................................................... 2 20

. iring to the connectorSafety function connector.........................................................................2 22

. iring to the connectoronnection to ost ontroller ..................................................................2 2

. iring to the connectoronnect on to ternal Scale...................................................................2 24

. iring to the connectoronnection to ncoder.............................................................................2 2

. iring to the connectorMonitor output ..........................................................................................2 29

1 . i ing hartiming on power up .................................................................................2 0

Alarm........................................................................................................2 1Servo Loc ...............................................................................................2 2Servo N/ .........................................................................................2

11. Built in olding Bra eutline......................................................................................................2 4

Specifications...........................................................................................2

12. D na ic Bra eutline......................................................................................................2ondition setting chart.................................................................................... 2

1 . Setup of Para eter and odeutline / Setup / onnection ....................................................................2 9omposition and List of Parameters........................................................2 40

List of Parameters....................................................................................2 41Setup of orque Limit...............................................................................2 49

1 . Setup of co and division and ultiplication ratioelectronic gear ratioRelation between lectronic ear and Position Resolution or raveling Speed...2 0

1 . o to Use the ront PanelSetup........................................................................................................2 2Structure of ach Mode ...........................................................................2 4Setup of front panel loc ..........................................................................2Monitor Mode (S L I N display) .......................................................2Monitor Mode ( I N display).......................................................2Parameter Setup Mode............................................................................2 2

PR M riting .....................................................................................2Au iliary unction Mode (S L I N display).......................................2 4Au iliary unction Mode ( I N display) ......................................2

2 2

2Preparation

1. onfor ance to international standardsDirectives

Directives

The EC Directives apply to all such electronic products as those having speci�c functions and have been e ported to and directly sold to general consumers. hose products are required to conform to the EU uni�ed standards and to furnish the CE marking on the products.

owever our A servos meet the relevant Directives for Low oltage quipment so that the machine or equipment comprising our A servos can meet Directives.

Directives

MINAS Servo System conforms to relevant standard under M Directives setting up certain model (condition) with certain locating distance and wiring of the servo motor and the driver. And actual wor ing condition often differs from this model condition especially in wiring and grounding. herefore in order for the machine to conform to the M Directives especially for noise emission and noise terminal voltage it is necessary to eamine the machine incorporating our servos.

onfor it to U Standards

Re ar s

ote

bserve the following conditions of (1) and (2) to ma e the system conform to L 0 ( 1 4 20).(1) se the driver in an environment of Pollution Degree 2 or 1 prescribed in I 0 4 1.

(e.g. Install in the control bo with IP 4 enclosure.)(2) Ma e sure to install a circuit brea er or fuse which are L recogni ed (Listed

marked) between the power supply and the noise �lter.

Use a copper cable with temperature rating of 75�C or higher.

or rated current of circuit brea er and fuse refer to P.2 Driver and List of Applicable Peripheral quipments .

( ) ver load protection levelver load protective function will be activated when the effective current e ceeds

11 or more than the rated current based on the time characteristics (see the ne t page). Con�rm that the effective current of the driver does not exceed the rated current. Set up the pea permissible current with Pr0.1 (Setup of 1st torque limit) and Pr .22 (Setup 2nd torque limit).

ote or verload protection time characterstics refer to P. 1 .

2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

onfor ed Standards

Driver otor

Directives

MDirectives

N 011N 1000 2N 1 00

Lowoltage

DirectivesN 1 00 1 N 00 4 1

N 00 4

unctionalsafety

N9 4 1 ( at. )IS 1 49 1 (PL d)

N 1 0 (SIL 2)N 20 1 (SIL 2)N 1 00 2 (S )

I 1 2 1

L Standards L 0 ( 1 4 20)L1004 1 ( 2 : Small type)L1004 ( 1 : Large type)

SA Standards 22.2 No.14 22.2 No.100

I : International lectrotechnical ommissionN : uropaischen NormenM : lectromagnetic ompatibilityL : nderwriters LaboratoriesSA : anadian Standards Association

Pursuant to the directive 2004/10 / article 9(2)Panasonic esting entre

Panasonic Service urope a division ofPanasonic Mar eting urope mbinsbergring 1 22 2 amburg .R. ermany

nstallation nviron ent

se the servo driver in the environment of Pollution Degree 1 or 2 prescribed in I 0 4 1 (e.g. Install the driver in control panel with IP 4 protection structure.)

ontrol bo

ontroller

Insulated power supply for interface

Safetycontroller

Powersupply

ircuitbrea er

Residualcurrent device

(R D)

Surgeabsorber

Noise filter Reactor

Noise filter for signal lines

Protective earth (P )

L1

4

A

M

R

L2L

L1L2

Noise filter for signal lines

Driver

Motor

aution se options correctly after reading perating Instructions of the options to better understand the precautions.a e care not to apply e cessive stress to each optional part.

1. onfor ance to international standardsDirectives

2 4

Po er Suppl

100 type : Single phase 100 10 to 120 10 0/ 0(A to frame)

1 1

200 type : Single/ phase 200 10 to 240 10 0/ 0(A to D frame)

1 1

200 type : phase 200 10 to 2 0 10 0/ 0( frame)400 type : phase 0 10 to 4 0 10 0/ 0

1 1

(1) his product is designed to be used in over voltage category (installation category) III of N 1 00 1:200 .

(2) se an insulated power supply of D 12 to 24 which has mar ing or complies with N 09 0.

ircuit Brea er

Install a circuit brea er which complies with I Standards and L recogni ed (Listed and marked) between power supply and noise �lter.

he short circuit protection circuit on the product is not for protection of branch circuit. he branch circuit should be protected in accordance with N and the applicable local

regulations in your area.

oise ilter

Re ar s

ption part o. 2��for driver

anufacturer spart o.

pplica ledriver fra e anufacturer

D 0P41 0 Single phase 100 /200 S P R A and frame

aya lectric Ind.

D 0PM20042phase 200

S P 10 RA frame

Single phase 100 /200phase 200 frame

D 0P4220 Single/ phase 200 S P 0 R D frame

D 0PM2004 phase 200 S P 0 R frame

D 0P 410 phase 200 S P L 0 R frame

Reco ended co ponents

odel o. 2��for driver

pplica le driverfra e anufacturer

R N 010

phase 200

A frame

D Lambda orp.R N 0 0 D frame

R N 0 0 frame

• Select a noise �lter whose capacity is commensurate with the power source capacity (in consideration of the load condition).For the detailed speci�cations of each noise �lter, contact the manufacturer.

2Preparation

1. onfor ance to international standardso position of Peripheral uip ents

Re ar s

Related page

hen performing withstand voltage test of machine and equipment be sure to remove the surge absorber otherwise it will be damaged. P.2 Driver and List of Applicable Peripheral quipments P. ption

2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

1. onfor ance to international standardso position of Peripheral uip ents

Surge sor er

ption part o. 2��for driver

anufacturer spart o. anufacturer

D 0P14 0 phase 200 RA 1 4 aya lectric Ind.

D 0P4190 Single phase 100 /200 RA 1 4 aya lectric Ind.

oise ilter for Signal ines

ption part o. anufacturer spart o. anufacturer

D 0P14 0 A 0 1 0 D orp.

Residual current device

Install a type Residual current device (R D) at primary side of the power supply.

rounding

(1) onnect the protective earth terminal ( ) of the driver and the protective earth terminal (P ) of the control bo without fail to prevent electrical shoc s.

(2) Do not ma e a oint connection to the protective earth terminals ( ). 2 terminals are provided for protective earth.

ote or driver and applicable peripheral equipments refer to P.2 Driver and List of Applicable Peripheral quipments .

2

2Preparation

2. 0�� Driver and ist of pplica le Peripheral uip ents

Driver pplica leotor oltage Rated

output

Re uiredPo er

at the rated load

ircuitrea errated

current

oise��

Surgea sor er

oise��signal

agneticcontactor

a ledia eter

aincircuit

a ledia etercontrolcircuit

onnection

MAD MSM

Singlephase100

0 to100

appro .0.4 A

10A

D 0P41 0 D 0P4190

D 0P14 0

20A( P 1a)

0. mm2/A 1

to2.0mm2/A 14

0. mm2/A 1

onnection to eclusive connector

Single/phase200

0 to200

appro .0. A

D 0P41 0

D 0PM20042

D 0P4190

D 0P14 0

M D MSM

Singlephase100

200 appro .0. A D 0P41 0 D 0P4190

Single/phase200

400 appro .0.9 A

D 0P41 0

D 0PM20042

D 0P4190

D 0P14 0

M D MSM

Singlephase100

400 appro .0.9 A

D 0PM20042

D 0P4190

Single/phase200

0 appro .1. A

1 A

D 0P4190

D 0P14 0MDD

MDM

Single/phase200

1.0 appro .1. A

D 0P4220 0A( P 1a)

2.0mm2/A 14

M M

M M 900 appro .1. A

20AMSM 1.0 appro .

1. A

M M

1. appro .2. AMDM

MSM

M D

MDMphase200 2.0 appro .

. A 0A D 0PM2004

D 0P14 0

0A( P 1a)

MSM

M M

M D

M M

phase200

2.0 appro .. A

0A D 0P 410

. mm2/A 12

11mm orsmaller

.

erminalblocM

MDM

.0 appro .4. A

M M

MSM

M M

MDM

4.0 appro .A

100A( P 1a)

M M

MSM

MDM

.0 appro .. A

. mm2/A 10M M

MSM

2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

Re ar s

aution

• Select peripheral equipments for single/3phase common speci�cation according to the power source.

or details of peripheral equipments Noise �lter......................... P. 2

Surge absover .................. P. 4 Noise �lter for signal lines. P.

About circuit brea er and magnetic contactor o co pl to Directives install a circuit rea er et een the po er and the

noise filter ithout fail and the circuit rea er should confor to Standardsand U recogni ed isted and ar ed .Suitable for use on a circuit capable of delivering not more than 000 rms symmetrical amperes below the ma imum input voltage of the product.If the short circuit current of the power supply e ceeds this value install a current limit device (current limiting fuse current limiting circuit brea er transformer etc.) to limit the short circuit current.

• Select a circuit breaker and noise �lter which match to the capacity of power supply (including a load condition).

erminal bloc and protective earth terminalsUse a copper conductor cables with temperature rating of 75�C or higher.

he screws of protective earth terminals for rame A to D are M4 and M for rame .astening torque of earth screws. refer to P.1 1 .ighten the terminal bloc screw on frame with a torque between 1.0 and 2.0 N m.

Application of overtorque (more than 2.0 N m) will cause damage to terminal bloc . Ma imum allowable torque to the screw securing terminal bloc cover is 0.19 to 0.21 N m.he cable diameter of an earth cable.

se an earth cable with the same diameter or larger as that of the main circuit cable.If the diameter of the main circuit cable is 1. mm2 or less use an earth cable with a diameter of 2.0mm2 (A 14).

se the attached e clusive connector for A to frame and maintain the peeled off length of to 9mm. (Refer to P.2 19)

ighten the screws of the connector onnector 4 for the host controller with the torque of 0. to 0. N m. Larger torque than 0. N m may damage the connector at the driver side.

Do not turn on power without tightening all terminal bloc screws properly otherwise loose contacts may generate heat (smoking, �ring).

2. 0�� Driver and ist of pplica le Peripheral uip ents

2

onnection to input poweriring to onnector P.2 10

onnection to e ternal components

Regenerative resistor optional

hen you use an e ternal regenerative resistor install an e ternal protective apparatus such as thermal fuse without fail. hermal fuse and thermostat are built in to the regenerative resistor ( ption). If the thermal fuse is activated it will not resume. Mount the regenerative resistor on incombustible material such as metal.

Re ar sote

iring of ain onnector

iring of otor onnector B

ircuit Brea er Bo protect power supply line from

overloading install a wiring circuit brea er rated to the capacity of the power supply.

oise ilter Removes e ternal noise from the power lines. And reduces an effect of the noise generated by the servo driver.

agnetic ontactor urns on/off the main power of the

servo driver.se coil surge suppression units

together with this.ever start nor stop the servo otor ith this agnetic on

tactor.

ReactorReduces harmonic current of the main power.

Pin B1 pin B2 pin andB pin 2 and to be ept shorted for normal operation. hen you connect an e ternal regenerative resistor disconnect a short circuit wire between 2 and

then connect the e ternal regenerative resistor between 1 and 2 set up Pr0.1 to 1 or 2.

Note that no regenerative resistor is equipped in rame A and type.

MainsResidual

current device

iring to onnector B P.2 10

1 (Pin )

2 (Pin 4)

L1 (Pin )

L2 (Pin 4)

L (Pin )

L1 (Pin 2)

L2 (Pin 1)

onnecting a ple of to D fra e

ote

Related page

This overall wiring diagram is a typical one. The pages that follow show wiring for speci�c application. P.2 14 verall wiring (terminal bloc type) P. 2 ptions

2Preparation

2. 0�� verall iring onnector t pe

2 9

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

: igh voltage

Protective earthterminals

unction cable for bra e

D Power supply for bra eD 24(to be supplied by customer)

phase(red)phase(white)phase(blac )

hese colors are used for optional cable.

P (to be supplied by customer)

Setup support software PANA RMPlease download from our web site.

harg lamp(Red L D) 1

round(earth)

andle leverse this for connec

tor connection. Store this after connection for other occasions. (Refer to P.2 19 for connection.)

unction cable for encoderunction cable for motor

Monitor output

onnection to P or host controller

onnection to RS2 2 RS4 or host controller

onnection to Safety by pass plug

onnection to encoder

onnection to feedbac scale

onnection to host controller

1 Do not ma e displacement wiring or inspection while the L D is lit cause of electric shoc .

iring to onnector P.2 29

onnection to motor driving phase and ground

iring to onnector B P.2 10





iring to onnector 2 P.2 20


Short circuit wire( 2 )

Related page • P.2-10 “Wiring of the Main Circuit (Connector type)” • P.2-18 “Speci�cations of Motor connector”

otor o pan s BsiteUR http industrial.panasonic.co p i fa otor.ht l

2. 0�� verall iring onnector t pe

2 10

to D fra e 1 2 t pe

iring should be performed by a specialist or an authori ed personnel. Do not turn on the power until the wiring is completed.

ips on iring1) ire connector ( A and ).2) onnect the wired connector to the driver.

Motor

aristor

D 24

MPowersupply N M L

use ( A)

hec the name plate of the driver for power specifications. Provide a residual current device. he residual current device to be the one designed for Inverter and is equipped with countermeasures for harmonics. Provide a circuit brea er. Ma e sure to provide a noise filter. Provide coil surge suppression units to the coil of the Magnetic ontactor recommended by manufacturer.

ever start stop the otor ith this agnetic ontactor.

Provide an A Reactor.onnect 1 and 1 and and 2 at single

phase use 1 and 2 and don t use 2.

Match the colors of the option cables to those of the corresponding motor output terminals ( ). Don t disconnect the shorting cable between 2 and ( and D frame type). Shorting cable is not required for A and frame. Disconnect this only when the e ternal regenerative register is used.

void shorting and grounding. Don t connect the ain po er.

arth ground this. Ma e sure to connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel to prevent electrical shoc . Don t co clamp the earth wires to the protective earth terminal ( ) . wo terminals are provided.Don t connect the earth ca le to other inserting slot nor a e the touch.

ompose a duple ra e ontrol ircuit so that the bra e can also be activated by an e ternal immediate stop signal. he lectromagnetic ra e has no polarity. or the capacity of the electromagnetic bra e and how to use it refer to P.2 4 Specifications of uilt in

olding ra e . Provide a varistor.

onnect a A fuse in series with the varistor.

Ground resistance: 100 � max.or applicable wire refer to P.2 .

L1

L

L2

L1

L2

1

2

A

21

21

D power supply for bra e

Red

lac

reen orreen/yellow

hite

R D

ternal regenerative resistor


Related page • P.2-18 “Speci�cations of Motor connector” P.2 19 iring method to connector P. onnector it for A P. onnector it for

2Preparation

2. 0�� iring of the ain ircuit onnector t pe

2 11

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

fra e 2 t pe


ips on iring1) ire connector ( A and ).2) onnect the wired connector to the driver.

Motor

aristor

D 24

use ( A)

hec the name plate of the driver for power specifications. Provide a residual current device. he residual current device to be the one designed for Inverter and is equipped with

countermeasures for harmonics. Provide a circuit brea er. Ma e sure to provide a noise filter. Provide coil surge suppression units to the coil of the Magnetic ontactor recommended by manufacturer.

ever start stop the otor ith this agnetic ontactor.

Provide an A Reactor.onnect 1 and 1 and and 2 at

single phase use 1 and 2 and don t use 2.

Don t disconnect the shorting cable between 2 and . Disconnect this only when the e ternal

regenerative register is used. Do not connect anything to N .

Match the colors of the motor lead wires to those of the corresponding motor output terminals ( ).


arth ground this. Ma e sure to connect the protective earth terminal

( ) of the driver and the protective earth (earth plate) of the control panel to prevent electrical shoc .Don t co clamp the earth wires to the protective earth terminal ( ) . wo terminals are provided.Don t connect the earth ca le to other inserting slot nor a e the touch.

ompose a duple ra e ontrol ircuit so that the bra e can also be activated by an e ternal immediate stop signal. he lectromagnetic ra e has no polarity. or the capacity of the electromagnetic bra e and how to use it refer to P.2 4 Specifications of

uilt in olding ra e . Provide a varistor.

onnect a A fuse in series with the varistor.


L1

L

L2

L1

L2

1

N

A

21

2

122

1

D power supply for bra e

Red

lac

reen

hite

MPowersupply N M LR D



Related page • P.2-18 “Speci�cations of Motor connector” P.2 19 iring method to connector P. onnector it for A P. onnector it for

2. 0�� iring of the ain ircuit onnector t pe

2 12

ompose the circuit so that the main circuit power will be shut off when an error occurs.

n ase of Single Phase to D fra e 1 2 t pe

Noi

se fi

lter

Noi

se fi

lter

Motor

ALM

L2L

L1L2

1

M

M

2

L1

ALM�


Remove the short wire when you connectthe e ternal regenerative resistor.( D rame)


L

N

D 12 to 24( )

Motor

ALM

L2L

L1L2

1

M

M

ALM

2

L1

oil surge suppression units

uilt in thermostat ofan e ternal regenerative resistor (light yellow)

uilt in thermostat ofan e ternal regenerative resistor (light yellow)

ALM�

Redhitelac

reen or reen/Yellow

Redhitelac

reen or reen/Yellow

A

4

L

N M

D 12 to 24( )

ALM

ALMM

ALM

Main powersupply

ontrol powersupply

Motorconnection

Main powersupply

ontrol powersupply

Motorconnection

Power supply Single phase 100 to 120101

101 Single phase 200 to 24010

1101

Power supply phase 200 to 240101

101

Use a reactor forphase

A

4

hen you use single phase connect the main power between L1 and L terminals.


Re ar s

Remove the short wire when you connectthe e ternal regenerative resistor.( D rame)



n ase of Phase to D fra e 2 t pe

2Preparation

2. 0�� iring Diagra onnector t pe

Related page • P.2-18 “Speci�cations of Motor connector”

2 1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

Motor

ALM

L2L

L1L2

M

ML1

ALM�

A

4

L

N

D 12 to 24( )

ALM

1

2N

ALM

uilt in thermostat of an e ternalregenerative resistor (light yellow)

M


Remove the short wire when you connect the e ternal regenerative resistor.

Redhitelac

reen

Main powersupply

ontrol powersupply

Motorconnection

Power supply phase 200 to 2 0101

101

Noi

se fi

lter



n ase of Phase fra e 2 t pe

Related page P.2 1 Speci�cations of Motor connector”P.2 1 or wiring the motor connector

• P.2-18 “Speci�cations of Motor connector”

2. 0�� iring Diagra onnector t pe

2 14

1

2

LL2L1

L2L1

Regenerative resistor optional

hen you use an e ternal regenerative resistor install an e ternal protective apparatus such as thermal fuse without fail. hermal fuse and thermostat are built in to the regenerative resistor ( ption). If the thermal fuse is activated it will not resume. Mount the regenerative resistor on incombustible material such as metal.

Re ar s

iring of ainircuit Brea er Bo protect power supply line from

overloading install a wiring circuit brea er rated to the capacity of the power supply.

oise ilter Removes e ternal noise from the power lines. And reduces an effect of the noise generated by the servo driver.

agnetic ontactor urns on/off the main power of the

servo driver.se coil surge suppression units

together with this.ever start nor stop the servo otor ith this agnetic on

tactor.

ReactorReduces harmonic current of the main power.

MainsResidual

current device

iring of the ain ircuitPin B1 B2 and B 1 and 2 to be ept shorted for normal operation. hen you connect an e ternal regenerative resistor disconnect a short bar between 1 and 2 then connect the e ternal regenerative resistor between P and

2 set up Pr0.1 to 1 or 2.Pin Do not connect anything.

onnection ith input po er suppl

onnection to e ternal co ponents

P.2 1

P.2 1

onnecting a ple of fra e

2Preparation

2. 0�� verall iring er inal loc t pe

ote

Related page

This overall wiring diagram is a typical one. The pages that follow show wiring for speci�c application. P.2 verall wiring (connector type) P. 2 ptions

2 1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

P.2 1

Short circuit wire( 2 )

round(earth)

Protectiveearthterminals

harg lamp(Red L D) 1

unction cable for bra e

D Power supply for bra eD 24(to be supplied by customer)

unction cable for motor

unction cable for encoder

: igh voltage

phase(red)phase(white)phase(blac )

1 Do not ma e displacement wiring or inspection while the L D is lit cause of electric shoc .

Monitor outputiring to onnector P.2 29

P (to be supplied by customer)

Setup support software PANA RMPlease download from our web site.

onnection to P or host controller

onnection to RS2 2 RS4 or host controller

onnection to Safety by pass plug

onnection to encoder

onnection to feedbac scale

onnection to host controller







onnection to otor driving phase and ground


2. 0�� verall iring er inal loc t pe

Related page • P.2-16 “Wiring of the Main Circuit (Terminal block type)” • P.2-18 “Speci�cations of Motor connector”

otor o pan s BsiteUR http industrial.panasonic.co p i fa otor.ht l

2 1

fra e 2 t pe


ips on iring1) Take off the cover �xing screws, and detach the terminal cover.2) Ma e wiring

se clamp type terminals of round shape with insulation cover for wiring to the terminal bloc . or cable diameter and si e reter to Driver and List of Applicable Peripheral

quipments (P.2 ). ighten the terminal bloc screw with a torque between 1.0 and 2.0 N m.

3) Attach the terminal cover, and �x with screws.ighten the screw securing the cover with a torque between 0.1 and 0.2 N m.

Motor

aristor

D 24

L1

L2

L

L1

L2

1

2

N

hec the name plate of the driver for power specifications. Provide a residual current device. he residual current device to be the one designed for Inverter and is equipped with countermeasures for harmonics. Provide a circuit brea er. Ma e sure to provide a noise filter. Provide coil surge suppression units to the coil of the Magnetic ontactor recommended by manufacturer. everstart stop the otor ith this agnetic ontactor. Provide an A Reactor.

Don t disconnect the short bar between 1 and 2. Disconnect this only when an e ternal regenerative register is used. Do not connect anything to N . Match the colors of the motor lead wires to those of the corresponding motor output terminals ( ).


arth ground this. Ma e sure to connect the protective earth terminal

( ) of the driver and the protective earth (earth plate) of the control panel to prevent electrical shoc . Don t co clamp the earth wires to the protective earth terminal ( ) . wo terminals are provided.Don t connect the earth ca le to other inserting slot nor a e the touch.

ompose a duple ra e ontrol ircuit so that the bra e can also be activated by an e ternal immediate stop signal. he lectromagnetic ra e has no polarity. or the capacity of the electromagnetic bra e and how to use it refer to P.2 4 Specifications of uilt in olding

ra e . Provide a varistor. onnect a A fuse in series with the varistor.


D powersupplyfor bra e

use ( A)

Red

lac

reen

hite

MPowersupply N M LR D



2Preparation

2. 0�� iring of the ain ircuit er inal loc t pe

Related page • P.2-18 “Speci�cations of Motor connector”

2 1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

Motor

ALM

L2L

L1L2

M

ML1

ALM�

4

erminal blocL

N

D 12 to 24( )

ALM

1

2N

ALM

uilt in thermostat of an e ternal regenerative resistor (light yellow)M

Noi

se fi

lter


(Remove the short wire when you connect the e ternal regenerative resistor.)

Main powersupply

ontrol powersupply

Motorconnection

Power supply phase 200 to 2 0101

101

Redhitelac

reen



ompose the circuit so that the main circuit power will be shut off when an error occurs.

n ase of Phase fra e 2 t pe

Related page P.2 1 Speci�cations of Motor connector”P.2 1 or wiring the motor connector

• P.2-18 “Speci�cations of Motor connector”

2Preparation

2. 0�� iring Diagra er inal loc t pe

2 1

L04 2 20 4P R

L04 2 22 22P R

N R0 PM2

L04 2 20 1 P R L04 2 24 11P R

20 bit Incremental 1 bit Absolute

20 bit Incremental 1 bit Absolute

12

4

910

0NPS

NNPSN(S I LD)N

PIN No. Application

Do not connect anything to N .

hen the otors of S to are used the are connected as sho n elo . onnector: Made by apan Aviation lectronics Industry Ltd. ( he figures below show connectors for the motor.)

hen the otors of S 1. to . D are used the are connected as sho n elo . onnector: Made by apan Aviation lectronics Industry Ltd. ( he figures below show connectors for the motor.)

with ra e without ra e

N A 04N 1

P

2

1

1

2

N4A 02P M R

12

4

MSM 1.0 to 2.0MDM 1.0 to 2.0M M 0.9M M 1.0 to 1.

MSM .0 to .0MDM .0 to .0M M 2.0 to .0M M 2.0 to .0

D AI

D

A

D

I

A

N2AS10ML R

1 2

9 104


Motor with bra e


onnector for otor

onnector for otor

ightening torque ofthe screw (M2) 0.0 to 0.09 N m (screwed to plastic)

e sure to use only the screw supplied with the connector to avoid damage.

onnector for ra e

ightening torque of the screw (M2) 0.19 to 0.21 N m

e sure to use only the screw supplied with the connector to avoid damage.

ighteningtorque of the screw (M2) 0.19 to 0.21 N m

e sure to use only the screw supplied with theconnector to avoid damage.

12

4

(S I LD)

0PS

PS

PIN No. Application12

4

(S I LD)BAT�

0PSA

PS

PIN No. Application

12

4

910

0NPS

A �APSN(S I LD)N

PIN No. ApplicationMSM 1.0 to 2.0MDM 1.0 to 2.0M M 0.9M M 1.0 to 1.

MSM .0 to .0MDM .0 to .0M M 2.0 to .0M M 2.0 to .0

A phasephasephaseround

PIN No.

D

Application

A

I

D

ra era eNphasephasephaseroundroundN

PIN No. ApplicationA ra e

ra eNphasephasephaseroundroundN

PIN No.

D

I

Application

Re ar s

1 phasephasephaseround

PIN No.

2

P

Application

12

ra era e

PIN No. Application

lectromagnetic bra e is a nonpolar device.

2Preparation

2. 0�� Specifications of otor connector

2 19

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

ollow the procedures below for the wiring connection to the onnector A and .

o to connect

aution

1. Peel off the insulation cover of the cable. • For single wire (Please obey the length in �gure.)

or stranded wires (ferrules must be used as illustrated below).ample: errules with plastic insulating sleeve (AI

series Phoeni ontact Ltd.)1) Peel off the sheath so that the conductor portion of

the cable will protrude from the tip of the ferrule. (It should protrude 1 mm or more from the ferrule.)

2) Insert the cable into the ferrule and crimp it with an appropriate crimping tool.

) After crimping cut off the cable conductor portion protruding from the ferrule. ( he allowable protruding length after cutting should be 0 to 0. mm.)

Part No. of the crimping tool: RIMP D (12044 )

Available from Phoeni ontact Ltd.

hen peeling off the sheath of the cable ta e care not to damage other portions. • When crimping the ferrule, suf�ciently check the status of the ferrule and cable. If the con

ductors of the cable stic out from the insulation cover or protrude e cessively from the tip of the ferrule, accidents such as an electric shock and �re from a short circuit may result.

2. Insert the cable to the connector in the following 2 methods.(a) Insert the cable using the supplied handle lever.

(b) Insert the cable using a �at-blade screwdriver (Edge width: 3.0 to 3.5 mm).

Attach the handle lever to the handling slot on the upper portion. Press down the lever to push down the spring.

Insert the peeled cable while pressing down the lever until it hits the insertion slot (round hole).

Release the lever.

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.

a Using handle lever Using scre driver

* You can pull out the cable by pushing down the spring as the above.

1

2

1

2

to 9 mm

(1)

(2)

( )

AA＞B

1mm or more

B

aution a e off the connector from the Servo Driver before ma ing connection. Insert only one cable into each one of cable insertion slot. Pay attention to in ury by screw driver.

2Preparation

2. 0�� iring ethod to connector

2 20

2Preparation

. iring to the connector 1onnecting host co puter

aution

his is used for S connection to a personal computer. It is possible to change the parameter setting and perform monitoring.

pplication S ol onnectorPin o. ontents

S signal terminal

S 1se for communication with personal

computer.D� 2

D

4 Do not connect.

ND onnected to ground of control circuit.

se commercially available S mini connector for the driver.

2Preparation

. iring to the connector 2onnecting co unication connector

his is used for connection to the host controller when two or more units are used. RS2 2 and RS4 interfaces are supplied.


Signal ground ND 1 onnected to ground of control circuit.

N 2 Do not connect.

RS2 2 signalD RS2 2

he transmission / reception method.R D 4

RS4 signal

485�

RS4he transmission / reception method.

4

485�

4

rame ground Shellonnected with protective earth terminal in

the servo driver.

onnector (plug): 204000 1 (optional available from yco lectronics AMP)onnector pin assignment

( iewed from cable)4 2

1

2 21

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

his servo driver features 2 inds of communication function RS2 2 and RS4 and you can use in connecting methods.

o co unicate ith a single driver through RS2 2

onnect the host (P or controller) to an driver through RS2 2.

o to connect

o co unicate ith ultiple drivers through RS2 2 and RS

y connecting the host (P and host controller) and one driver via RS2 2 and connecting other drivers via RS4 each other you can connect multiple drivers.

ote You can connect up to 2 drivers with the host. or details refer to P. 2 ommunication of Supplement.

o co unicate ith ultiple drivers onl through RS

ommunications between the host (P or controller) and multiple drivers can be made through RS4 .

ote You can connect up to 1 drivers with the host. or details refer to P. 2 ommunication of Supplement.

onnector 2 onnector

Shut off both powers of the P andthe driver before inserting/pulling out the connector.

able prepared by the user

RS4RS4

RS2 2

ost controller(P controller)onnector 2 onnector 2 onnector 2

Set the a is number (Pr . 1) of driver to be connected through RS4 to a value in the range 1 to 1.

Set the a is number (Pr . 1) of driver to be connected to the host through RS2 2 to 0.

. iring to the connector 2onnecting host co puter

RS4RS4

RS2 2

ost controller(P controller)onnector 2 onnector 2 onnector 2

Set the a is number (Pr . 1) of driver to be connected through RS4 to a value in the range 1 to 1.

2 22

A safety by pass plug is supplied as standard equipment. Do not disconnect it in normal times.

hen controlling the safety function from the connected host controller accessory connector cannot be used. Prepare and wire the connector (option) as speci�ed below.Since the standard connector cannot be used when controlling the safety function from the host controller purchase the optional connector and ma e connection as shown below.


N1

Do not connect.2

Safety input 1S 1�

hese are two independent circuits that turn off the operation signal to the power module to shut off the motor current.

S 1 4

Safety input 2S 2�

S 2

DM outputDM� his is an output for monitoring the failure

of the safety function.DM


the servo driver.

onnector (plug): 201 9 1 (optional available from yco lectronics AMP)

4 21

onnector pin assignment

( iewed from cable)

2Preparation

. iring to the connectorSafet function connector

aution Disconnecting this connector during operation results in immediate stop.

2 2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

ips on iring

ontroller

mor shorter

0cm or longerPowersupply

Motor

M

ND

1

onnector 4

M

D

2

Peripheral apparatus such as host controller should be located within m.

Separate the main circuit at least 0cm away.Don t pass them in the same duct nor bind them together.

Power supply for control signals ( ) between M and M ( D ) should be prepared by customer.

se shield twisted pair for the wiring of command pulse input and encoder signal output.

Don t apply more than 24 to the control signal output terminals nor run 0mA or more to them.

hen the relay is directly driven by the control output signals install a diode in parallel with a relay and in the direction as the ig. shows. he driver might be damaged without a diode installment or by reverse direction.

rame ground ( ) is connected to the earth terminal inside of the driver.

Related page or details refer to P. 1 iring Diagram to the connector 4 .

�3�0��45

onnector atdriver side

onnecter to e prepared custo eranufacturer

Part na e Part o.

29 0 1

onnecter (soldering type) 4 0 019Mole Inc.

onnector cover 4 1 0 01

or

onnecter (soldering type) 101 0 000Sumitomo M

onnector cover 10 0 2A0 00

ote

Re ar s

or details refer to P. ptions of Supplement.

ightening torque of the screws for connector ( 4) for the connection to the host to be 0. to 0. N m. Larger tightening torque than these may damage the connector at the driver side.

2Preparation

. iring to the connectoronnection to ost ontroller

2 24

Provide a power supply for the e ternal scale on your part or use the following power output (2 0mA or less).


Power supply output

1Supply the power of e ternal scale or A

phase encoder.

0 2 onnected to ground of control circuit.

I/ of e ternal scale signals

PS Serial signalhe transmission / reception method./ PS 4

A phase ndoder signal

input

A

Parallel signalreception

/ A

/

9

/ 10


the servo driver.

onnector (plug) sirial e ternal signal: M P 10 (by .S. . Mfg. o. Ltd.)aution

1) he manufacturers applicable e ternal scales for this product are as follows. Mitutoyo orp. Sony Manufacturing Systems orp.or the details of the e ternal scale product contact each company.

2) 6�� %��789)�:�;%��:�7<)

If you set up the e ternal scale ratio to smaller value than 0/position loop gain (Pr1.00 and Pr.1.0 ) you may not be able to control per 1 pulse unit even if within the range as described above. Setup of larger scale ratio may result in larger noise.

2Preparation

. iring to the connectoronnect on to ternal Scale

Related page P.4 12 4 1 Details of Parameter P. 4 onnector it

2 2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

iring Diagra of

ternal scaleside

ternal scale unit

Detection head

unction cable

Servo driver

0PSPSAA

0PSPSAA

onnector12 0

4

910

Regulator

Shell of ( )

M P 10( .S. . Mfg. o. Ltd.)

wisted pair

. iring to the connectoronnect on to eed ac Scale

o to iring

ire the signals from the e ternal scale to the e ternal scale connector .1) able for the e ternal scale to be the twisted pair with bundle shielding and to hav

ing the twisted core wire with diameter of 0.1 mm2.2) able length to be ma . 20m. Double wiring for power supply is recommended

when the wiring length is long to reduce the voltage drop effect.3) Connect the outer �lm of the shield wire of the external scale to the shield of the

junction cable. Also connect the outer �lm of the shield wire to the shell (FG) of connector of the driver without fail.

4) Separate the wiring to from the power line (L1 L2 L 1 2 . )as much as possible ( 0cm or more). Do not pass these wires in the same duct nor bundle together.

) Do not connect anything to the vacant pins of .

nput circuit

B input circuit

A

A

20 �2 �

2 � 20 �

120�P LS

2 2

ips on iring

Motor ncoder 0cm or more

20m ma .

Ma imum cable length between the driver and the motor to be 20m. onsult with a dealer or distributor if you want to use the longer cable than 20m. (Refer to the bac cover.)

eep this wiring away from the main circuit by 0 cm or more. Don t guide this wiring through the same duct with the main nor bind them together.

hen you ma e your own encoder unction cable (for connectors refer to P. ptions ( onnector it for Motor and ncoder connection) of Supplement.1) Refer to the iring Diagram below.2) able to be : Shielded twisted pair cable with core diameter

of 0.1 mm2 or larger (A 24) and with higher bending resistance.

) se twisted pair cable for corresponding signal/power wiring.

4) Shielding treatment Shield wall of the driver side : onnect to Pin 20 ( ) of

onnector . Shield wall of the motor side :

manufactured by A Small type motor ( 0 0 ) :connect to pins Large type motor (1.0 .0 ) : connect to 9 pins ) onnect nothing to the empty terminals of each connector.

Powersupply

ncoderunction cable

ncoder sideconnector

Driver sideonnector

0

PSPS

PSPS

0

2Preparation

. iring to the connectoronnection to ncoder

2 2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

iring Diagra

n case of 2 it incre ental encoder

S to

S 1. to .D 1. to .

1. to . . to .

ighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N m. o avoid damage be sure to use only the screw supplied with the connector.


21

4

Shell ( )

012

4

41

wisted pair

ncoder cable

able connector: N2DS10SL1 R(by apan Aviation lectronics Ind.)

Motor Driver

0

PSPS

9

PSPS

0

Reg

ulat

orR

egul

ator

Shell ( )

012

4

4

wisted pair

ncoder cable

able connector: N R0 SM1(by apan Aviation lectronics Ind.)

Motor Driver

0

PSPS

1

PSPS

0

( iewed from cable)


2 2

n case of 1 it a solute encoder

S to

S 1. to .D 1. to .

1. to . . to .

ighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N m. o avoid damage be sure to use only the screw supplied with the connector.


21

4

( iewed from cable)

Shell ( )

012

4

41

wisted pair

ncoder cable

able connector: N2DS10SL1 R(by apan Aviation lectronics Ind.)

Motor Driver

0

PSPS

9

PSA �A

PS

0

Shell ( )

012

42

4

wisted pair

ncoder cable

able connector: N R0 SM1(by apan Aviation lectronics Ind.)

Motor Driver

0

PSPS

1

PSA �A

PS

0battery

battery Reg

ulat

orR

egul

ator


2 29

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

he connector of the front panel is for monitor output.Analogue output : 2 systemsDigital output : 1 systems

In both cases it is possible to switch the output signal by setting parameters.

onnectorManufacturer s part No.: 0140 10Manufacturer: apan Mole Inc.

1


Analogue monitor output 1

AM1 1utput the analogue signal for moni

tor.Analogue monitor output 2

AM2 2

Signal ground ND onnected to ground of control circuit.

Digital monitor output DM 4 utput the digital signal for monitor.

N Do not connect.

N Do not connect.

Para eter rerated to onitor output.

Para etr o.itle unction

lass o.

4 1ype of analog

monitor 1Select the type of monitor for analog monitor 1.

4 1Analog monitor 1 output gain

Set up the output gain of analog monitor 1.

4 1ype of analog

monitor 2Select the type of monitor for analog monitor 2.

4 19Analog monitor 2 output gain

Set up the output gain of analog monitor 2.

4 20ype of digital

monitorSelect type of the digital monitor.

4 21Analog monitor output setup

Select output format of the analog monitor.

ote or details of parameters refer to P.4 Details of parameter .

2Preparation

. iring to the connectoronitor output

2 0

Servo on signal accept ti ing on po er up

aution

he above chart shows the timing from A power N to command input. Activate the e ternal command input according to the above timing chart.

1. In this term Servo N input (SR N) turns N as a hard ware but operation command can not be received.

2. S RDY output will turn on when both conditions are met initiali ation of micro computer has been completed and the main power has been turned on.

. After Internal control power supply protective functions are active from appro . 1. sec after the start of initiali ing microcomputer. Please set the signals especially for protective function for e ample over travel inhibit input (P N ) or e ternal scale input so as to decide their logic until this term.

he lapse time can be changed with Pr .1 ait time after power up.

Servo Ready output (S RDY)

Servo N input(SR N)

ternal bra e release output( R )

output r output r N

input coupler Ninput coupler

ontrolpower supply(L1 L2 )

Internal control power supply

Action of driver P

Mainpower supply(L1 L2 L )

Dynamicbra e

Motorenergi ation

Position/Speed/orque command

1 s or longer2

1 s or longer2

N

reset (initiali ation) usually operation

N

output r (bra e engaged) N(bra e released)

releasedengaged

not energi ed energi ed

No command entry ommandentry

1 s or longer 1

appro .2s

appro .1 to s

appro .1. s

established

appro . s

appro .2 s

appro . s

s or longer

s or longer

2Preparation

1 . i ing harti ing on po er up

2 1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

hen an rror lar as ccurred at Servo o and

hen an lar as Been leared at Servo o and

aution 1. t1 will be a shorter time of either the setup value of Pr4. Mechanical bra e action at running setup or elapsing time for the motor speed to fall below Pr4. 9 ra e release speed setup .t1 will be 0 when the motor is in stall regardless of the setup pf Pr4. .

2. hen an alarm is generated the dynamic bra e operates according to Pr .10 Sequence at alarm.

normal

released

energi ed

output r N(Alarm)

alarm

engaged 2

non energi ed

output r (not ready)

output r (Alarm)

. to s

t1 1 output r ( rea engage)

engaged ( )

output N( rea release)

Setup value of Pr4. 9

output N( rea release)

motor speed

motor speedt1 1

Setup value of Pr4.

Alarm

Dynamic bra e

Motor energi ation


Servo Alarm output (ALM)


when time to fallbelow value of Pr4. 9 is shorter

output r N (not ready)

value of Pr4.


when setup value of Pr4. is shorter

appro . s

appro .2 s

12 s or longer 1

input coupler Ninput coupler input coupler

engaged released

energi ednot energi ed

output r N( rea engage)

output r ( rea release)

output r N(ready)

output r (alarm) output r N

(not alarm)

no input entry input enabled1 s or longer

appro . s

Dynamic bra e

Motor energi ation


Servo Ready output(S RDY)

Servo Alarm output(ALM)

Alarm clear input(A LR)

Position/Speed/orque command

output r (not ready)

aution 1. he alarm clear input recognition time can be changed in Pr .1 Alarm clear input setup.

2Preparation

1 . i ing hartlar

2 2

Servo ction hile the otor s at Stall Servo oc

Re ar s o turn on off the servo during nor al operation first stop the otor.

aution 1 t1 depends on the setup value of Pr4. Setup of mechanical bra e action at stalling.2 he operation of dynamic bra e during servo off depends on the setup value of

Pr .0 Sequence at servo off.. Servo N will not be activated until the motor speed falls below appro . 0r/min.

Dynamic bra e

Motor energi ation


Servo N input(S N)

appro . s

appro .2 s

appro . s

1 to s

t1 1

output r N( rea release)

input coupler

not energi ed

input coupler N

released

energi ed

output r ( rea engage)

input coupler

engaged 2engaged

not energi ed

output r ( rea engage)

2Preparation

1 . i ing hartServo oc

Related page P.4 40 Details of Parameter

2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

input coupler input couplerinput coupler N

engaged released

not energi ed

engaged

not energi edenergi ed

engaged ( ) released ( N)

engaged ( )released ( N)

No servo N until the motor speed falls below appro . 0r/min.

1 to s

appro . sSetup value of

Pr .

Setup value of Pr .

when setup value of Pr4.

is shorter

appro . s

appro . r in

Dynamic bra e

Motor energi ation

Motor rotational speed

Motor rotational speed

servo validated


Servo N input(S N)

when time to fall below value of

Pr4. 9 is shorter

Motor rotationalspeed


Motor rotationalspeed


at Servo N at Servo

t1 1

t1 1

engaged( )

Servo ction hile the otor s in otion

Re ar s i ing at e ergenc stop or trip. Do not repeat this se uence.

aution 1. t1 will be a shorter time of either the setup value of Pr4. Mechanical bra e action at running setup or elapsing time for the motor speed to fall below Pr4. 9 ra e release speed setup .

2. ven though the SR N signal is turned on again during the motor deceleration Servo N will not be activated until the motor stops.

. or the action of dynamic bra e at alarm occurrence refer to an e planation of Pr .0 Sequence at Servo as well.

4. Servo N will not be activated until the motor speed falls below appro . 0r/min.. or the motor energi ation during deceleration at Servo depends on the setup value

of Pr. .0 Sequence at Servo .

Related page P.2 4 Dynamic bra e

2Preparation

1 . i ing hartServo

2 4

2Preparation

11. Built in olding Bra eutline

In the applications where the motor drives the vertical a is this bra e would be used to hold and prevent the wor (moving load) from falling by gravity while the power to the servo is shut off.

aution Use this uilt in ra e for olding purpose onl that is to holdthe stalling status. ever use this for Bra e purpose to stop theload in otion.

onnecting a ple

he following shows the e ample when the bra e is controlled by using the bra e release output signal ( R ) of the driver.

ote

aution

1. he bra e coil has no polarity.2. Power supply for the bra e to be provided by customer. Do not co use the power sup

ply for the bra e and for the control signals ( D ).. Install a surge absorber as the above ig. shows to suppress surge voltage gener

ated by N/ action of the relay (RY). hen you use a diode note that the time from the bra e release to bra e engagement is slower than that of the case of using a surge absorber.

4. or a surge absorber refer to P. 94 Recommended omponents of Supplement.5. Recommended components are speci�ed 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 (ma . rating : 0 0mA) and terminal voltage may not e ceed the rating.

utput i ing of BR Signal

ote

or the bra e release timing at power on or bra ing timing at Servo /Servo Alarm while the motor is in motion refer to P.2 0 iming hart .

ith the parameter P4. (Setup of mechanical bra e action while the motor is in motion) you can set up a time between when the motor enters to a free run from energi ed status and when R signal turns off (bra e will be engaged) when the Servo or alarm occurs while the motor is in motion.

1. he lining sound of the bra e (chattering and etc.) might be generated while running the motor with built in bra e however this does not affect any functionality.

2. Magnetic �ux might be generated through the motor shaft while the brake coil is energi ed (bra e is open). Pay an e tra attention when magnetic sensors are used nearby the motor.

Driver

Surgeabsorber

Relays to be shut offat emergency stop

Motor

ra e coilR11

10

41

RY

R

D

RY

12 to 24

Power supply for bra eD 24M

onnector 4

use( A)

2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

otorseries

otoroutput

Staticfrictiontor ue

Rotorinertia1 g 2

ngagingti e

s

Releasingti e

s

citingcurrentD

at cool off

Releasingvoltage

Per issi leor per

one ra ing

Per issi letotal or

1

Per issi leangular

accelerationrad s2

MSM

0 100 0.29or more 0.002 or less 20 or less 0.

D 1or more

9.2 4.9

0000200 400 1.2or more 0.01 0

or less 1 or less 0. 1 44.1

0 2.4or more 0.0 0

or less 20 or less 0.42 19 14

1.0 1. 2.0

.or more

0.

0or less 1 or less

(100) 0. 1D 2

or more

92 49010000.0 11.

or more0

or less

4.0 .0 1 .2or more 1. 110

or less0 or less(1 0) 0.9 14 0 2200

MDM

1.0 4.9or more

1.

0or less

0 or less(200) 0. 9

D 2or more

0

100001. 2.0 1 .or more

100or less 0 or less

(1 0)

0. 9 11 1 00

.0 1 .1or more

110or less 0.9 14 0 2200

4.0 .0 24.or more 4. 0

or less2 or less

(200) 1. 1 2 2900 440

M M

1.0 4.9or more

1.

0or less

0 or less(200) 0. 9

D 2or more

010000

1. 1 .or more

100or less

0 or less(1 0) 0. 9 11 1 00

2.0 to .0 24.or more 4. 0

or less2 or less

(200) 1. 1 2 2900 440

M M

900 1 .or more 1. 100

or less0 or less(1 0) 0. 9

D 2or more

11 1 00 10000

2.0 24.or more

4.

0or less

2 or less(200) 1.

1 2 2900 440.0 .

or more1 0

or less0 or less(1 0) 1.4

citation voltage is D 24 10 . Releasing time values represent the ones with D cutoff using a varistor.

alues in ( ) represent those measured by using a diode ( 0 by itachi Ltd.) Above values (e cept static friction torque releasing voltage and e citation current) represent typical

values. • Backlash of the built-in holding brake is kept ±1�or smaller at ex-factory point. Service life of the number of acceleration/deceleration with the above permissible angular accelera

tion is more than 10 million times. (Life end is de�ned as when the brake backlash drastically changes.)

2Preparation

11. Built in olding Bra eSpecifications

2

aution

his driver is equipped with a dynamic bra e for emergency stop.Pay a special attention to the followings.

1. Dynamic bra e is only for emergency stop.

Do not start stop the otor turning on off the Servo signalSR .r it a da age the d na ic ra e circuit of the driver.

he otor ill operate as a generator hen e ternall driven.Short circuit current ill flo during d na ic ra ing regardless ofcondition of po er suppl causing the driver to generates o e or fire if the otor is continuousl driven e ternall .

2. Dynamic bra e is a short duration rating and designed for only emergency stop. Allow appro . minutes pause when the dynamic bra e is activated during high speed running.( ver current protection ( rr.14.0) may be activated when the dynamic bra e circuit inside the F-frame ampli�er has overheated.)

ou can activate the d na ic ra e in the follo ing cases.1) hen the main power is turned off2) At Servo) hen one of the protective function is activated.

4) hen over travel inhibit input (N P ) of connector 4 is activatedIn the above cases from 1) to 4) you can select either activation of the dynamic bra e or ma ing the motor free run during deceleration or after the stop with parameter.Note that when the control power is off the dynamic bra e will be ept activated.

2Preparation

12. D na ic Bra eutline

Related page P. Inputs and outputs on connector 4 P.4 44... Details of Parameter P. Protective unction

2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

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Supple

ent

orque limit value at emergency stop will be that of Pr .11 (Setup of torque at emergency stop)when the setup value is or 9.

orque limit value at emergency stop will be that of Pr .11 (Setup of torque at emergency stop) when the setup value is or 9.

D

D

ree run

ree run

D

D

ree run

ree run

D

ree run

ree run

D

D

lear

lear

lear

lear

old

old

old

old

ree run

ree run

mergency stop learD

mergency stop learree run

D

0

Setup value of Pr .0

1

2

4

9

Sequence at main power off (Pr .0)

Driving conditionDuring deceleration After stalling

ontents of deviationcounter

D

D

ree run

ree run

D

D

ree run

ree run

D

ree run

ree run

D

D

lear

lear

lear

lear

old

old

old

old

ree run

ree run

D

0


1

2

4

Sequence at main Servo (Pr .0 )



mergency stop learD

mergency stop learree run9

1 Setup of driving condition fro deceleration to after stop ain po er off Pr .

2 Setup of driving condition fro deceleration to after stop Servo Pr .

2Preparation

12. D na ic Bra eondition setting chart

2

hen setup value is ithin the range and the protection function that supports i ediate stop acts according to operation and the function that does not support acts according to operation B.

orque limit value during deceleration will be that of Pr .11 (Setup of torque at emergency stop) when the setup value is 2.

hanges will be validated after the control power is turned on.

D old

old

0


1

2

Sequence at over travel inhibit input (Pr .0 )



mergency stop clearorque command to inhibited direction is 0

orque command to inhibited direction is 0



D

D

ree run

ree run

D

ree run

ree run

D

lear

lear

lear

lear

0


1

2

4

Sequence at over travel inhibit input (Pr .10)



old

old

old

old

ngaged A: mergency stopngaged : D

ngaged A: mergency stopngaged : ree run

ngaged A: mergency stopngaged : D

ngaged A: mergency stopngaged : ree run

D

ree run

ree run

D

Setup of driving condition fro deceleration to after stop activation of protective function Pr .1

Setup of driving condition fro deceleration to after stop validation of over travel inhi it input Pr .

12. D na ic Bra eondition setting chart

Related page P.4 42 Details of Parameter P. 2 Setup support software PANA RM

2 9

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

utline of Para eter

his driver is equipped with various parameters to set up its characteristics and functions. his section describes the function and purpose of each parameter. Read and compre

hend very well so that you can ad ust this driver in optimum condition for your running requirements.

Setup of Para eter

ote

You can refer and set up the parameter with either one of the following. 1) front panel of the driver 2) combination of the setup support software PANA RM and P .

ow to control the front panel refer to P.2 2.

Setup ith the P

ote

It is possible to connect your personal computer to connector 1 of MINAS A using a S cable for personal computer connection. Downloading the setup support software

PANA RM from our web site and installing it on your personal computer will allow you to perform the following easily.

ith the P R ou can e ecute the follo ings.1) Setup and storage of parameters and writing to the memory ( PR M).2) Monitoring of I/ pulse input and load factor.) 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.) Normal auto gain tuning) requency characteristic measurement of the machine system.

ecause no production software such as D R M is available download the setup support software from our web site and install it on your personal computer.

o to onnect

USB ca len the driver use commercially available S mini connector.

The connector on the personal computer side should be in accordance with the speci�cations of the P .When the cable does not have noise �lter, attach a signal line noise �lter (DV0P1460) to both ends of the cable.

onnect to 1( S mini )

Setup support software PANA RMPlease download from our web site anduse after install to the P .

2Preparation

1 . Setup of Para eter and odeutline Setup onnection

2 40

#�� =�4�>>�+4'��>>'��,� or the details on the para eters refer to the perating nstructions verall .

Para etr o.lass na e roup page

lass o.

0 00 to 1 asic setting Parameter for asic setting P.2 41

1 00 to 2 ain ad ustment Parameter for ain ad ustment P.2 42

2 00 to 2 Damping control Parameter for Damping control P.2 4

00 to 29 erocity/ orque/ull closed control

Parameter for erocity/ orque/ ull closed control P.2 44

4 00 to 44 I/ monitor setting Parameter for I/ monitor setting P.2 4

00 to nhancing setting Parameter for nhancing setting P.2 4

00 to 9 Special setting Parameter for Special setting P.2 4

he Parameter No. consists of 2 digits.

n this docu ent follo ing s ols represent each ode.

S ol ontrol odeSetup value

of Pr . 1

P Position control 0

S elocity control 1

orque control 2

ull losed control

P/S Position (1st)/ elocity (2nd) control

P/ Position (1st)/ orque (2nd) control 4

S/ elocity (1st)/ orque (2nd) control

hen you select the combination mode of 4 or you can select either 1st or 2nd with control mode switching input ( M D ). hen M D is N : 1st mode selection hen M D is : 2nd mode selection Do not enter the command 10ms before/after the switching.

2Preparation

1 . Setup of Para eter and odeo position and ist of Para eters

2 41

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

lass Basic setting

Para etro. itle Range

DefaultUnit

ttri ute Relatedontrol ode Detail

pagelass o. B

fra e fra eDfra e R P S

0 00 Rotational direction setup 0 to 1 1 � P S4 4

0 01 ontrol mode setup 0 to 0 � P S

0 02 Real time auto gain tuning setup 0 to 1 � P S4

0 0 Selection of machine stiffness at realtime auto gain tuning 0 to 1 1 11 � P S

0 04 Inertia ratio 0 to 10000 2 0 P S4

0 0 Selection of command pulse input 0 to 1 0 � P S

0 0 ommand pulse rotational direction setup 0 to 1 0 � P S

40 0 ommand pulse input mode setup 0 to 1 � P S

0 0 ommand pulse counts per one motor revolution 0 to 220 10000 pulse P S

40 09 1st numerator of electronic gear 0 to 2 0 0 � P S

0 10 Denominator of electronic gear 0 to 2 0 10000 � P S

0 11 utput pulse counts per one motor revolution 1 to 2 2144 2 00 P/r P S 4 9

0 12 Reversal of pulse output logic 0 to 0 � P S

4 100 1 1st torque limit 0 to 00 00*1 P S

0 14 Position deviation e cess setup 0 to 22 100000 ommandunit P S

0 1 Absolute encoder setup 0 to 2 1 � P S

0 1 ternal regenerative resistor setup 0 to 0 � P S4 11

0 1 Load factor of e ternal regenerative resistor selection 0 to 4 0 � P S

* De�nition of symbols under “Attribute” - INI: turning on of power supply is required, RO: read onlyDe�nition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control, F: full closed control1 Default settings depend on the combination of driver and motor. Refer to P. 2 49 orque limit setting .

2Preparation

1 . Setup of Para eter and odeist of Para eters

ote Parameter describes of this page is P.4 4 to P.4 11.

2 42

lass 1 ain ad ust ent


DefaultUnit


pagelass o. B


1 00* 1st gain of position loop 0 to 0000 4 0 20 0.1/s P S

4 12

1 01* 1st gain of velocity loop 1 to 2 2 0 1 0 0.1 P S

1 02* 1st time constant of velocity loop integration 1 to 10000 210 10 0.1ms P S

1 0 1st �lter of speed detection 0 to 0 � P S

1 04 1st time constant of torque �lter 0 to 2 00 4 12 0.01ms P S

1 0 * 2nd gain of position loop 0 to 0000 0 0 0.1/s P S

4 1

1 0 * 2nd gain of velocity loop 1 to 2 2 0 1 0 0.1 P S

1 0 * 2nd time constant of velocity loop integration 1 to 10000 10000 0.1ms P S

1 0 2nd �lter of speed detection 0 to 0 � P S

1 09* 2nd time constant of torque �lter 0 to 2 00 4 12 0.01ms P S

1 10* elocity feed forward gain 0 to 1000 00 0.10 P S

1 11* Velocity feed forward �lter 0 to 400 0 0.01ms P S

1 12* orque feed forward gain 0 to 1000 0 0.10 P S

4 141 1 * Torque feed forward �lter 0 to 400 0 0.01ms P S

1 14 2nd gain setup 0 to 1 1 � P S

1 1 Mode of position control switching 0 to 10 0 � P S 4 1

1 1 * Delay time of position control switching 0 to 10000 0 0.1ms P S

4 11 1 Level of position control switching 0 to 20000 0 � P S

1 1 ysteresis at position control switching 0 to 20000 � P S

1 19* Position gain switching time 0 to 10000 0.1ms P S

1 20 Mode of velocity control switching 0 to 0 � P S

4 11 21* Delay time of velocity control switching 0 to 10000 0 0.1ms P S

1 22 Level of velocity control switching 0 to 20000 0 � P S

1 2 ysteresis at velocity control switching 0 to 20000 0 � P S

1 24 Mode of torque control switching 0 to 0 � P S

4 11 2 * Delay time of torque control switching 0 to 10000 0 0.1ms P S

1 2 Level of torque control switching 0 to 20000 0 � P S

1 2 ysteresis at torque control switching 0 to 20000 0 � P S

* De�nition of symbols under “Attribute” - INI: turning on of power supply is required, RO: read onlyDe�nition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control, F: full closed control


aution

ote

he symbol * attached to a parameter No. indicates that the digits of setting unit will change if the parameter is set by using the setup support software PANA RM.

Parameter describes of this page is P.4 12 to P.4 1 .

2 4

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

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Supple

ent

lass 2 Da ping control


DefaultUnit


pagelass o. B


2 00 Adaptive �lter mode setup 0 to 4 0 � P S

4 19

2 01 1st notch frequency 0 to 000 000 P S

2 02 1st notch width selection 0 to 20 2 � P S

2 0 1st notch depth selection 0 to 99 0 � P S

2 04 2nd notch frequency 0 to 000 000 P S

2 0 2nd notch width selection 0 to 20 2 � P S

2 20

2 0 2nd notch depth selection 0 to 99 0 � P S

2 0 rd notch frequency 0 to 000 000 P S

2 0 rd notch width selection 0 to 20 2 � P S

2 09 rd notch depth selection 0 to 99 0 � P S

2 10 4th notch frequency 0 to 000 000 P S

2 11 4th notch width selection 0 to 20 2 � P S

2 212 12 4th notch depth selection 0 to 99 0 � P S

2 1 Selection of damping �lter switching 0 to 0 � P S

2 14* 1st damping frequency 0 to 2000 0 0.1 P S

2 22

2 1 * 1st damping �lter setup 0 to 1000 0 0.1 P S

2 1 * 2nd damping frequency 0 to 2000 0 0.1 P S

2 1 * 2nd damping �lter setup 0 to 1000 0 0.1 P S

2 1 * rd damping frequency 0 to 2000 0 0.1 P S

2 19* 3rd damping �lter setup 0 to 1000 0 0.1 P S

2 20* 4th damping frequency 0 to 2000 0 0.1 P S

2 21* 4th damping �lter setup 0 to 1000 0 0.1 P S

2 22* Positional command smoothing �lter 0 to 10000 0 0.1ms P S2 2

2 2 * Positional command FIR �lter 0 to 10000 0 0.1ms P S



aution

ote


Parameter describes of this page is P.4 19 to P.4 2 .

2 44

lass erocit or ue ull closed control


DefaultUnit


pagelass o. B


00 Speed setup Internal/ ternal switching 0 to 0 � P S4 24

01 Speed command rotational direction selection 0 to 1 0 � P S

02 Input gain of speed command 10 to 2000 00 (r/min)/ P S4 2

0 Reversal of speed command input 0 to 1 1 � P S

04 1st speed of speed setup �20000 to 20000 0 r/min P S

4 2

0 2nd speed of speed setup �20000 to 20000 0 r/min P S

0 rd speed of speed setup �20000 to 20000 0 r/min P S

0 4th speed of speed setup �20000 to 20000 0 r/min P S

0 th speed of speed setup �20000 to 20000 0 r/min P S




12 Acceleration time setup 0 to 10000 0 ms/(1000r/min) P S

1 Deceleration time setup 0 to 10000 0 ms/(1000r/min) P S

14 Sigmoid acceleration/ deceleration time setup 0 to 1000 0 ms P S

4 21 Speed ero clamp function selection 0 to 0 � P S

1 Speed ero clamp level 10 to 20000 0 r/min P S

1 Selection of torque command 0 to 2 0 � P S

4 21 orque command direction selection 0 to 1 0 � P S

19* Input gain of torque command 10 to 100 0 0.1 /100 P S

20 Input reversal of torque command 0 to 1 0 � P S

21 Speed limit value 1 0 to 20000 0 r/min P S

4 2922 Speed limit value 2 0 to 20000 0 r/min P S

2 ternal scale selection 0 to 2 0 � P S

24 Numerator of e ternal scale division 0 to 220 0 � P S

4 02 Denominator of e ternal scale division 1 to 220 10000 � P S

2 Reversal of direction of e ternal scale 0 to 1 0 � P S

2 ternal scale phase disconnection detection disable 0 to 1 0 � P S

2 ybrid deviation e cess setup 1 to 22 1 000 ommandunit P S

4 129 ybrid deviation clear setup 0 to 100 0 Revolution P S



aution

ote


Parameter describes of this page is P.4 24 to P.4 1.

2 4

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

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Supple

ent

lass onitor setting


DefaultUnit


pagelass o. B


4 00 SI1 input selection 0 to 00 h 090 � P S 4 2

4 01 SI2 input selection 0 to 00 h 4 29 � P S

4

4 02 SI input selection 0 to 00 h 9 9 0 � P S

4 0 SI4 input selection 0 to 00 h 94 � P S

4 04 SI input selection 0 to 00 h 410 � P S

4 0 SI input selection 0 to 00 h 19 9 � P S

4 0 SI input selection 0 to 00 h 4 � P S

4 0 SI input selection 0 to 00 h 2 1 2 � P S

4 0 SI9 input selection 0 to 00 h 2 9 � P S

4 09 SI10 input selection 0 to 00 h 20 � P S

4 10 S 1 output selection 0 to 00 h 19 9 � P S

4 4

4 11 S 2 output selection 0 to 00 h 1 1 � P S

4 12 S output selection 0 to 00 h 9 � P S

4 1 S 4 output selection 0 to 00 h 2 9 4 � P S

4 14 S output selection 0 to 00 h 4 0 1 � P S

4 1 S output selection 0 to 00 h 94 � P S

4 1 ype of analog monitor 1 0 to 21 0 � P S

4

4 1 Analog monitor 1 output gain 0 to 214 4 4 0 � P S

4 1 ype of analog monitor 2 0 to 21 4 � P S

4 19 Analog monitor 2 output gain 0 to 214 4 4 0 � P S

4 20 ype of digital monitor 0 to 0 � P S

4 21 Analog monitor output setup 0 to 2 0 � P S

4

4 22 Analog input 1 (AI1) offset setup �5578 to 5578 0 0. m P S

4 2 * Analog input 1 (AI1) �lter 0 to 400 0 0.01ms P S

4 24* Analog input 1 (AI1) overvoltage setup 0 to 100 0 0.1 P S

4 2 Analog input 2 (AI2) offset setup �342 to 342 0 . m P S

4 2 * Analog input 2 (AI2) �lter 0 to 400 0 0.01ms P S

4 2 * Analog input 2(AI2) overvoltage setup 0 to 100 0 0.1 P S

4 2 Analog input (AI ) offset setup �342 to 342 0 . m P S

44 29* Analog input 3 (AI3) �lter 0 to 400 0 0.01ms P S

4 0* Analog input (AI ) overvoltage setup 0 to 100 0 0.1 P S



aution

ote


Parameter describes of this page is P.4 2 to P.4 .

2 4

Para etro.

itle RangeDefault

Unitttri ute Related

ontrol ode Detailpage

lass o. Bfra e fra e

Dfra e R P S

4 1 Positioning complete (In position) range 0 to 2 2144 10 ommandunit P S

44 2 Positioning complete (In position) output

setup 0 to 0 � P S

4 INP hold time 0 to 0000 0 1ms P S4 9

4 4 ero speed 10 to 20000 0 r/min P S

4 Speed coincidence range 10 to 20000 0 r/min P S4 40

4 At speed (Speed arrival) 10 to 20000 1000 r/min P S

4 Mechanical bra e action at stalling setup 0 to 10000 0 1ms P S

4 414 Mechanical bra e action at running setup 0 to 10000 0 1ms P S

4 9 ra e release speed setup 0 to 000 0 r/min P S

4 40 Selection of alarm output 1 0 to 10 0 � P S

4 424 41 Selection of alarm output 2 0 to 10 0 � P S

4 42 2nd Positioning complete (In position) range 0 to 2 2144 10 ommand

unit P S


lass nhancing setting


DefaultUnit


pagelass o. B


00 2nd numerator of electronic gear 0 to 2 0 0 � P S

4 4

01 rd numerator of electronic gear 0 to 2 0 0 � P S

02 4th numerator of electronic gear 0 to 2 0 0 � P S

0 Denominator of pulse output division 0 to 2 2144 0 � P S

04 ver travel inhibit input setup 0 to 2 1 � P S

0 Sequence at over travel inhibit 0 to 2 0 � P S

0 Sequence at Servo ff 0 to 9 0 � P S4 44

0 Sequence at main power 0 to 9 0 � P S

0 L trip selection at main power 0 to 1 1 � P S

4 409 Detection time of main power off 0 to 2000 0 1ms P S

10 Sequence at alarm 0 to 0 � P S

11 orque setup for emergency stop 0 to 00 0 P S 4 4



ote Parameter describes of this page is P.4 to P.4 4 .

2 4

1Before

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theProducts

2

Preparation

onnectionS

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Para etro.

itle RangeDefault

Unitttri ute Related

ontrol ode Detailpage

lass o. Bfra e fra e

Dfra e R P S

12 ver load level setup 0 to 00 0 P S

4 4

1 ver speed level setup 0 to 20000 0 r/min P S

14* Motor wor ing range setup 0 to 1000 10 0.1revolution P S

1 I/F reading �lter 0 to 0 � P S

1 Alarm clear input setup 0 to 1 0 � P S

1 ounter clear input mode 0 to 4 � P S

4 41 Invalidation of command pulse inhibit

input 0 to 1 1 � P S

19 ommand pulse inhibit input reading setup 0 to 4 0 � P S

20 Position setup unit select 0 to 1 0 � P S

21 Selection of torque limit 0 to 1 � P S

4 4

22 2nd torque limit 0 to 00 00*1 P S

2 orque limit switching setup 1 0 to 4000 0 ms/100 P S

24 orque limit switching setup 2 0 to 4000 0 ms/100 P S

2 ternal input positive direction torque limit 0 to 00 00*1 P S

2 ternal input negative direction torque limit 0 to 00 00*1 P S

4 492 * Input gain of analog torque limit 10 to 100 0 0.1 /100 P S

2 L D initial status 0 to 1 � P S

29 RS2 2 baud rate setup 0 to 2 � P S

0 RS4 baud rate setup 0 to 2 � P S

4 0

1 A is address 0 to 12 1 � P S

2 ommand pulse input ma imum setup 2 0 to 4000 4000 pulse/s P S

Pulse regenerative output limit setup 0 to 1 0 � P S

4 or manufactuer s use � 4 � P S

ront panel loc setup 0 to 1 0 � P S

* De�nition of symbols under “Attribute” - INI: turning on of power supply is required, RO: read onlyDe�nition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control, F: full closed control1 Default settings depend on the combination of driver and motor. Refer to P. 2 49 orque limit setting .


aution

ote


Parameter describes of this page is P.4 4 to P.4 0.

2 4

lass Special setting


DefaultUnit


pagelass o. B


00* Analog torque feed forward conversion gain 0 to 100 0 0.1 /100 P S

4 1

02 elocity deviation e cess setup 0 to 20000 0 r/min P S

04 trial run command speed 0 to 00 00 r/min P S

0 * Position rd gain valid time 0 to 10000 0 0.1ms P S

0 Position rd gain scale factor 0 to 1000 100 P S

0 orque command additional value �100 to 100 0 P S

0 Positive direction torque compensation value �100 to 100 0 P S

4 2

09 Negative direction torque compensation value �100 to 100 0 P S

10 unction e pansion setup 0 to 0 � P S

11 urrent response setup 0 to 100 100 P S

1 urrent response setup 0 to 10000 2 0 P S

14 mergency stop time at alarm 0 to 1000 200 1ms P S

4

1 2nd over speed level setup 0 to 20000 0 r/min P S

1 or manufacturer s use � 0 � P S

1 ront panel parameter writing selection 0 to 1 0 � P S

1 * Power up wait time 0 to 100 0 0.1s P S

19 ncoder phase setup 0 to 2 0 pulse P S

20 phase setup of e ternal scale 0 to 400 0 �s P S

4 4

21 Serial absolute e ternal scale phase setup 0 to 22 0 pulse P S

22 A phase e ternal scale pulse output method selection 0 to 1 0 � P S

2 Disturbance torque compensating gain �100 to 100 0 P S

24* Disturbance observer �lter 10 to 2 00 0.01ms P S

2 Alarm latch time selection 0 to 10 s P S

1 Real time auto tuning estimation speed 0 to 1 � P S4

2 Real time auto tuning custom setup �32768 to 32767 0 � P S

or manufacturer s use � 1000 � P S

4

4* ybrid vibration suppression gain 0 to 0000 0 0.1/s P S

* Hybrid vibration suppression �lter 0 to 400 10 0.01ms P S

* scillation detecting level 0 to 1000 0 0.1 P S

Alarm mas setup �32768 to 32767 4 � P S

9 or manufactuer s use � 0 � P S



aution

ote

The symbol “ * ” attached to a parameter No. indicates that the digits of setting unit will change if the parameter is set by using the setup support software PANA RM.

Parameter describes of this page is P.4 1 to P.4 .

2 49

1Before

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theProducts

2

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onnectionS

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aution

orque limit setup range is 0 to 00 and default is 00 e cept the combinations of the motor and the driver listed in the table below.

he above limit applies to Pr0.1 (1st torque limit) Pr .22 (2nd torque limit) Pr .11 ( orque setup for emergency stop) Pr .2 ( ternal input positive direction torque limit) and Pr .2 ( ternal input negative direction torque limit).

hen you change the motor model above ma . value may change as well. hec and reset the setup values of Pr0.1 Pr .22 Pr .11 Pr .2 and Pr .2 .

autions on Replacing the otor

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. hen the otor tor ue is li itedhen 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)

2. hen ou ant to o tain the a . otor tor ueYou 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.1)

Pr0.1 Setup range : 0 to 00 Setup value : 100 .

before replacing the motor

Rated torque 0. 4N m

Rated torque 0. 2N m

MAD 1 0

MSM 022S1A

Pr0.1 Setup range : hange to 0 to 00 . Setup value : eep 100 .

after replacing the motorMAD 1 0

MSM 012S1A

orque limit value0. 2N m0. 2N m 100 orque limit value

0. 4N m0. 4N m 100

Set up Pr .1 to 2 to a e tor ue li it value

to .. 2 2 .

MAD 1 0 MAD 1 0

MSM 022S1A MSM 012S1A

e.g.2) before replacing the motor after replacing the motor

Pr0.1 Setup range : 0 to 00 Setup value : 00 .

Pr0.1 Setup range : change to 0 to 00 Setup value : eep 00 .

Rated torque0. 2N m

Set up Pr .1 to to o tainthe a . output tor ue.

ra e odel o. pplica le otor a . value oftor ue li it ra e odel o. pplica le otor a . value of

tor ue li it

D

MDD 40M M 092 ** 22

M D A2M M 02 ** 2 0

M M 092S** 22 M M 02S** 2 0

MDD 420M M 094 ** 22

M D 440M M 204 ** 2 0

M M 094S** 22 M M 204S** 2 0

M D A 90M M 202 ** 2 0

M D A4 4M M 04 ** 2 0

M M 202S** 2 0 M M 04S** 2 0

2Preparation

1 . Setup of Para eter and odeSetup of or ue i it

2 0

ote

ere we ta e a ball screw drive as an e ample of machine.A travel distance of a ball screw M mm corresponding to travel command P1 P can be described by the following formula (1) by ma ing the lead of ball screw as L mm

P1 D 1 R .................. 1therefore, position resolution (travel distance M per one command pulse) will be described by the formula (2)� ��?@�A�+B8;,�%�+786,�%�C��+1,modifying the above formula (2) electronic gear ratio can be found in the formula ( ).� ��B�A�+?@�%�;�%�6,�%�C��+(,Actual traveling velocity of ball screw mm/s can be described by the formula (4) and the motor rotational speed N at that time can be described by the formula ( ).

D 1 R .....................D ...............................

modifying the above formula ( ) electronic gear ratio can be found in the formula ( ).D ...........................

1) Make a position resolution, M as approx. 1/5 to 1/10 of the machine positioning accuracy, considering a mechanical error.

2) Set up Pr0.09 and Pr0.10 to any values between 1 to 2 0.) You can set up any values to a numerator and denominator however action by an e

treme division ratio or multiplication ratio cannot be guaranteed. Recommended range is 1/1000 to 1000 times.

4) 2n Decimal 2n Decimal20 1 211 20421 2 212 40922 4 21 1922 214 1 424 1 21 22 2 21

2 4 21 1 10 22 12 21 2 21442 2 219 24229 12 220 104210 1024

Pulse train position command

ravel distance : P1 Praveling speed : PPS

lectronic gear ratio

Driver

D Pr0.09Pr0.10 Motor

ncoder

ear Machine

Rotational speed : N r/min

Reduction ratio : R

ncoder pulse counts : P/r* 1 04 ( 20bit)* 1 1 0 2 ( 1 bit)

ample of ball screw drive by servo motor

2Preparation

1 .Relation et een lectronic ear and Position Resolution or raveling Speed

Setup of co and division andultiplication ratio electronic gear ratio

2 1

1Before

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theProducts

2

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100.000 21 1

10 104

21

1000000

0. 220

0.0000 21 1

200.0000 220 1

20 10 220

2000000242 0

D 1 henceuse 120 bit.

DL

�M R


ravel distance per command pulse (mm) (Position resolution)

D 0

N

D 1 is the condition for minimum resolution.

Pr0.09 0Pr0.10 100000

Pr0.09 242 0Pr0.10 2000000

Pr0.09 2 2144000Pr0.10 0000000

DPr0.10Pr0.09

Motor rotational speed (r/min) N 0D

0 0 022

1

00000 0100001 21

�M LD

21

111

R1

20 0

21

D 00000 0

2000 21

0000000 2000 21

00000002 2144000

22

200

1 0.001 mm0 420

21

1

Lead of ball screw L 10mmear reduction ratio R 1

Position resolution�M =0.005mmncoder 1 bit

( 21 P/r)


Position resolution�M =0.0005mmncoder 1 bit

( 21 P/r)


Position resolution �M = 0.0005mm

Line driver pulse input00 ppsncoder 1 bit

Dittoo ma e it to 2000r/min.

ncoder : 20 bit ( 220 P/r)

DPr0.10Pr0.09

1 . Division Ratio for Para etersRelation et een lectronic ear and Position Resolution or raveling Speed

Related page P.4 Details of Parameter

2 2

Setup ith the ront Panel

Press these to change display and data select parameters and e ecute actions.( hange/Selection/ ecution is valid to the digit which decimal point flashes.)Numerical value increases by pressing decreases by pressing .

Shifting of the digit for datachanging to higher digit.

utput connector for monitor

Displa D digitSwitch to error display screen when error occurs and L D will flash (about 2 ).L D will flash slowly (about 1 ) when warning occurs.

ode s itching utton(valid at S L I N display) Press this to switch 4 inds of mode. 1) Monitor Mode 2) Parameter Set up Mode ) PR M rite Mode 4) Au iliary unction Mode

S Button (valid at any time)Press this to switch S L I N and

I N display.

1

ote

aution

or connector refer to P.2 2 iring to the connector .

2Preparation

1 . o to Use the ront PanelSetup

2

1Before

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theProducts

2

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appro . 2 sec appro . 0. sec appro . 0. sec

Initial display of L D(Determined by the setup of Parameter Pr .2 Initial status of L D .)

appro . 0. sec

Repeatedly(during continuous alarm)

0. sec

nitial Status of the ront Panel Displa Seg ent D

Status

ront panel display shows the following after turning on the power of the driver.

Upon ccurrence of an lar

If a driver alarm is generated the front panel display shows the following repeatedly.

elow shows possible cause of an alarm.

alaro.

lar ontent

A0 verload protection Load factor is or more the protection level.

A1ver regeneration

alarmRegenerative load factor is or more the protection level.

A2 attery alarm attery voltage is .2 or lower.

A an alarm an has stopped for 1 sec.

A4ncoder

communication alarmhe number of successive encoder communication errors

exceeds the speci�ed value.

Ancoder overheat

alarmhe encoder detects overheat alarm.

Ascillation detection

alarmscillation or vibration is detected.

ALifetime detection alarm

he life e pectancy of capacity or fan becomes shorter than the speci�ed time.

Aternal scale error

alarmhe feedbac scale detects the alarm.

A9ternal scale

communication alarmhe number of successive feedbac scale communication

errors exceeds the speci�ed value.

1 . o to Use the ront PanelSetup

2 4

se each button on the touch panel to select the structure and switch the mode.

Initial status of the onsole L D

Monitormode

(Mode switching button)

Parameterset up mode

PR Mwriting mode

Au iliaryfunction mode




(S button) P.2

P.2 4

P.2 2

P.2

S displa

ote

aution

You can change the �ashing decimal point with then shift the digit for data change

n power up the monitor mode e ecuted is displayed according to the setup of Pr .2 L D initial status.

2Preparation

1 . o to Use the ront PanelStructure of ach ode

2

1Before

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theProducts

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......P.2 2 or details of parameters refer to P.4 2 Parameter setup .

......P.2 to 9

......P.2

......P.2 rial run ( )

......P.2 Auto offset ad ustment (AI1 to )

......P.2 Alarm clear

......P.2 9 lear of absolute encoder

......P.2 0 Initiali ation of parameter

(S button)

(S button)

(S button)

(S button)

......P.2 1 Release of front panel loc

U displa

1 . o to Use the ront PanelStructure of ach ode

2

utline

o prevent operational error e.g. unintentional parameter modification the front panel may be loc ed.

nce loc ed operations on the panel are limited as follows:

ode oc ed panel conditions

Monitor Mode No limitation: all monitored data can be chec ed.

Parameter Set up Mode No parameter can be changed but setting can be chec ed.

PR M rite Mode annot be run. (No display)

Au iliary unction Modeannot be run e cept for Release of front panel loc . (No

display)

o to operate

Related para etersPara eter o.

itle unctionlass o.

Setup of front panel locLoc s the operation attempted from the front panel.

Loc and unloc can be made in one of two ways.

Procedure ront panelSetup support soft are

P R

Loc(1) Set Pr . ront panel loc to 1 and writ the setting to PR M.(2) urn on power to the driver.( ) he front panel is loc ed.

nloc

(1) ecute the au iliary function mode front panel loc release function.

(2) urn on power to the driver.( ) he front panel is unloc ed.

(1) Set Pr . ront panel loc to 0 and writ the setting to PR M.

(2) urn on power to the driver.( ) he front panel is unloc ed.

ote or details of front panel loc release refer to P.2 1.

2Preparation

1 . o to Use the ront PanelSetup of front panel loc

2

1Before

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theProducts

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Display shifts toward the arrowed direction by pressing and reversed direction by pressing .

Return to Positional command deviation .

(S button)

(Mode switch button)

Displae a ple Description Pages to

referDisplae a ple Description Pages to

refer

Udispla

S displaPara eter Setup ode

S displaonitor ode

P.2 (1)

P.2 (2)

P.2 (2)

P.2 (2)

P.2 (2)

P.2 9 ( )

P.2 9 ( )

P.2 9 ( )

P.2 9 (4)

P.2 0 ( )

P.2 1 ( )

P.2 2 ( )

P.2 4 ( )

P.2 (9)

P.2 (9)

P.2 (9)

P.2 (10)

P.2 (11)

P.2 (12)

P.2 (1 )

P.2 (14)

P.2 (1 )

P.2 (1 )

P.2 9 (1 )

P.2 9 (1 )

P.2 9 (19)

P.2 9 (20)

P.2 9 (21)

P.2 9 (22)

P.2 0 (2 )

P.2 0 (24)

P.2 0 (2 )

P.2 1 (2 )

Positional command deviation

No. of changes in I/ signals

Absolute encoder data

Absolute e ternal scale position

No. of encoder/ e ternal scale communication errors monitor

ommunicationa is address

ncoder positional deviation ncoder unit

ternal scale deviation ternal scale unit

ybrid deviation ommand unit

oltage across PN

Software version

Driver serial number

Motor serial number

Accumulatedoperation time

Automatic motor recogni ing function

Driver temperature

Safety condition monitor

Motor speed

Positional command speed

elocity control command

orque command

eedbac pulse sum

ommand pulse sum

ternal scale feedbac pulse sum

ontrol mode

I/ signal status

Analog input value

rror factor and reference of history

Alarm Display

Regenerative load factor

ver load factor

Inertia ratio

actor of no motor running

o change the monitor display setting select the display option to be changed from S display and press to change to U display . After completion of changing press to return to the selection display

ote When you turn on the Product for the �rst time, display shows . (at motor stall) o change this display change the setup of Pr .2 (Initial status of L D).

2Preparation

1 . o to Use the ront Panelonitor ode S displa

2

1 Displa of positional co and deviation co and unit

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

......Low order

...... igh order

Positional command deviation

o switch between Low order (L) and igh order ( ) press .

2 Displa of otor speed positional co and speedvelocit control co and and tor ue co and

Displays the motor speed (r/min).

Motor speed (r/min)

Displays positional command speed (r/min).

Positional command speed (r/min)

Displays velocity control command (r/min).

elocity control command (r/min)

Displays torque command ( ).

orque command ( )

2Preparation

1 . o to Use the ront Panelonitor ode U displa

2 9

1Before

Using

theProducts

2

Preparation

onnectionS

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Displa of eed ac Pulse Su o and Pulse Su and ternal Scale eed ac Pulse Su

......Low order

...... igh order

eedbac Pulse Sum

eed ac Pulse Su ncoder pulse

......Low order

...... igh order

ommand Pulse Sum

o and Pulse Su o and Pulse

......Low order

...... igh order

ternal Scale eedbac Pulse Sum

ternal Scale eed ac Pulse Su




Displa of ontrol ode

.....Position control mode

..... elocity control mode

..... orque control mode

..... ull closed control mode


2 0

Displa of Signal Status

Displays the control input and output signal to be connected to connector 4.se this function to chec if the wiring is correct or not.

.....Input signal

..... utput signal

Pin No.

.....Active ( his signal is valid)

.....Inactive ( his signal is invalid)

Select the Pin No. to be monitored by pressing .

Shift the flashing decimal point with .

Select In or ut by pressing or button.

(Right side of decimal point : Pin No. selection)

(Left side of decimal point : Input/ utput Pin No. selection)

(Lowest place Pin No. of output signal)

( ighest place Pin No. of input signal)


ote or detail of input/output signal refer to P 0 Inputs and outputs on connector 4or detail of rror ode refer to P. Protective unction .

2 1

1Before

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theProducts

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Displa of nalog nput alue


(Analog input 1 value unit )

(Analog input 2 value unit )

(Analog input value unit )

Input signal

Input voltage value

Select the signal No. to be monitored by pressings .

Displays the value after offset correction.

aution oltage e ceeding 10 can not be displayed correctly.

2 2


Displa of rror actor and Reference of istor

ist of error code o.rror code

Protective functionttri ute

ain Su istor an ecleared

ediatestop

11 0 ontrol power supply under voltage protection

12 0 ver voltage protection

10 Main power supply under voltage protection (between P to N)

1 Main power supply under voltage protection (A interception detection)

140 ver current protection

1 IPM error protection

1 0 ver heat protection

1 0 ver load protection 1

10 ver regeneration load protection

1 ver regeneration r error protection

210 ncoder communication disconnect error protection

1 ncoder communication error protection

2 0 ncoder communication data error protection

240 Position deviation e cess protection

1 elocity deviation e cess protection

2 0 ybrid deviation e cess error protection

20 ver speed protection

1 2nd over speed protection

20 ommand pulse input frequency error protection

2 ommand pulse multiplier error protection

2 0 Limit of pulse replay error protection

29 0 Deviation counter over�ow protection

0 0 Safety detection

0 I overlaps allocation error 1 protection


2 I input function number error 1 protection

I input function number error 2 protection

4 I output function number error 1 protection

I output function number error 2 protection

CL �tting error protection

INH �tting error protection

........Present error

........ istory 0 (latest error)

........ istory 1 (oldest error)

rror code No. ( appears if no error occurs)

You can refer the last 14 error factors (including present one)

Press to select the factor to be referred.

2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

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ote

aution

istor ... he error will be stored in the error history.an e cleared... o cancel the error use the alarm clear input (A LR).If the alarm clear input is not effective turn off power remove the cause of the error and then turn on power again.

ediate stop...Instantaneous controlled stop upon occurrence of an error.(Setting of Pr. .10 Sequence at alarm is also required.)

1) ertain alarms are not included in the history. or detailed information on alarms e.g. alarm numbers refer to P. .

2) hen one of the errors which are listed in error history occurs this error and history o shows the same error No.


rror codeProtective function

ttri ute

ain Su istor an ecleared

ediatestop

4 0 Software limit protection

0 to 2 PR M parameter error protection

0 to 2 PR M chec code error protection

0 ver travel inhibit input protection

9

0 Analog input1 e cess protection


2 Analog input e cess protection

40 0 Absolute system down error protection

41 0 Absolute counter over error protection

42 0 Absolute over speed error protection

4 0 Initiali ation failure

44 0 Absolute single turn counter error protection

4 0 Absolute multi turn counter error protection

4 0 Absolute status error protection

4 0 ncoder phase error protection

49 0 ncoder S signal error protection

00 ternal scale connection error protection

1 ternal scale communication error protection

1

0 ternal scale status 0 error protection



ternal scale status error protection


ternal scale status error protection

0 A phase connection error protection

1 phase connection error protection


0 ompulsory alarm input protection

9 0 to 4 Motor automatic recognition error protection

ther number ther error

2 4

lar Displa

alaro.

lar ontentatchedti e 1

A0 verload protection Load factor is or more the protection level. 1 to 10s or �

A1ver regeneration

alarmRegenerative load factor is or more the protection level.

10s or �

A2 attery alarm attery voltage is .2 or lower. Fixed at �

A an alarm an has stopped for 1 sec. 1 to 10s or �

A4ncoder communication

alarmhe number of successive encoder communication

errors exceeds the speci�ed value.1 to 10s or �

A ncoder overheat alarm he encoder detects overheat alarm. 1 to 10s or �

Ascillation detection

alarmscillation or vibration is detected. 1 to 10s or �

A Lifetime detection alarm Life e pectancy of capacitor or fan is short. Fixed at �

Aternal scale error

alarmhe feedbac scale detects the alarm. 1 to 10s or �

A9ternal scale

communication alarmhe number of successive feedbac scale

communication errors exceeds the speci�ed value.1 to 10s or �

1 Alarms can be cleared by using the alarm clear. ecause the all e isting alarms are ept cleared while the alarm clear input (A-CLR) is kept ON, be sure to turn it OFF during normal operation. Either 1-10s or � can be selected by using user parameter.

Exception: Battery alarm is �xed at � because it is latched by the encoder. Because the end of life alarm means that the life expectancy cannot be extended, the alarm is set at �.

......No alarm occurred

...... igh priority alarm

Alarm number

o display the alarm occurrence condition press or button.


2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

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Supple

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Displa of Regenerative oad actor ver load actor and nertia Ratio

Regenerative oad actor

ver load actor

nertia Ratio

Display the ratio ( ) against the alarm trigger level of regenerative protection.

his is valid when Pr0.1 ( ternal regenerative resistor setup) is 0 or 1.

Displays the ratio ( ) against the rated load. Refer to P. 1 verload Protection ime haracteristics of

hen in rouble.

Displays the inertia ratio ( ) .alue of Pr0.04 (Inertia Ratio) will be displayed as it is.


ote or alarm function refer to P.4 41 Pr4.40 Pr4.41 .

2


1 Displa of the actor of o otor Running

Displays the factor of no motor running in number.

planation of factor o.

actoro. actor

Relatedontrol ode ontent

P S

�ashingccurrence of

error/alarmP S An error is occurring and an alarm is triggered.

00 No particular factor P SNo factor is detected for No motor run.

he motor runs in normal case.01 Main power shutoff P S he main power of the driver is not turned on.

02 No entry of SR N input

P S he Servo N input (SR N) is not connected to M .

0ver travel

inhibition input is valid

P S

hile Pr .04 is 0 (Run inhibition input is valid) Positive direction over travel inhibition input (P ) is open and speed command is Positive direction.

Negative direction over travel inhibition input (N ) is open and speed command is Negative direction.

04 orque limit setup is small

P Sither one of the valid torque limit setup value of Pr0.1 (1st) or Pr .22

(2nd) is set to or lower than the rating.

0 Analog torque limit input is valid.

P S

hile Pr .21 is 0 (analog torque limit input accepted) Positive direction analog torque limit input (P A L) is negative voltage and speed command is Positive direction.

Negative direction analog torque limit input (N A L) is positive voltage and speed command is Negative direction.

0 IN input is valid. P S Pr .1 is 0 ( ommand pulse inhibition input is valid.) and IN is open.

0ommand pulse

input frequency is low.

P S

he position command per each control cycle is 1 pulse or smaller due to No correct entry of command pulse No correct connection to the input selected with Pr0.0 . No matching to input status selected with Pr0.0 pr Pr0.0 .

0 L input is valid. P Shile Pr .1 is 0 (Deviation counter clear at level) the deviation counter

clear input ( L) is connected to M .

09 R SPD input is valid.

P Shile Pr .1 is 1 (Speed ero clamp is valid.) the speed ero clamp input

( R SPD) is open.

10 ternal speed command is small.

P Shile the analog speed command is selected the analog speed

command is smaller than 0.0 .

11 Internal speed command is 0.

P Shile the internal speed command is selected the internal speed

command is set to lower than 0 r/min

12 orque commandis small.

P She analog torque command input (SPR or P A L) is smaller than

of the rating.

1 Speed limit is small.

P S

hile Pr .1 is 0 (speed is limited by 4th speed of internal speed) Pr .0 (4th speed of speed setup) is set to lower than 0 r/min .

hile Pr .1 is 1 (speed is limited by SPR input) the analog speed limit input (SPR) is smaller than 0.0 .

14 ther factor P S

he motor runs at 20 r/min or lower even though the factors from 1 to 1 are cleared(the command is small the load is heavy the motor loc or hitting driver/motor fault etc.)

.......Position control

....... elocity control

....... orque control

....... ull closed control

ontrol modeactor No.

ote Motor might run even though the other number than 0 is displayed.Refer to .In trouble .

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11 Displa of o. of changes in signals

.....Input signal

..... utput signal

Pin No.

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

Select the No. of pin the number of changes on that pin should be displayed by pressing or button.

he switch of input/output by pressing or button.

(Left side of decimal point : Pin No. selection)

(Right side of decimal point : Input/ utput Pin No. selection)

(Lowest place Pin No. of output signal)

( ighest place Pin No. of input signal)

Shift the flashing decimal point with .

12 Displa of a solute encoder data

ncoder data

...... ne revolution data Low order (L)

Select the data to be displayed by pressing or button.

...... ne revolution data igh order ( )

......Multi revolution data

2


1 Displa of a solute e ternal scale position

Displays the absolute position of serial absolute scale.If a serial incremental scale displays the scale position relative to the power on position which is de�ned as 0.

ternal scale data

......Absolute e ternal scale position Low order

......Absolute e ternal scale position igh order

Select encoder or e ternal scale by pressing or button.

1 Displa of o. of encoder e ternal scale co unication errors onitor

No. of communication errors

Select encoder or e ternal scale by pressing or button.

...... ncoder

...... ternal scale

1 Displa of co unication a is address

Displays the value set to Pr . 1 A is address .

1 Displa of encoder positional deviation ncoder unit

encoder positional deviation ncoder unit

......Low order

...... igh order


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1 Displa of ternal Scale Deviation ternal Scale Unit

ternal Scale Deviation ternal scale unit

......Low order

...... igh order


1 Displa of h rid deviation o and unit

ybrid deviation ommand unit

......Low order

...... igh order


1 Displa of voltage across P

Displays the voltage across PN (only for reference not an instrument)

2 Displa of Soft are ersion

Displays the software version of the driver.( ample of display: er 1.00)

21 Displa of driver serial nu er

Driver serial number

......Driver serial number Low order

......Driver serial number igh order

o switch between Low order (L) and igh order ( ) press or . ( ample of display: Serial number 09010001)

2 0


22 Displa of otor serial nu er

Motor serial number

......Motor serial number Low order

......Motor serial number igh order

o switch between Low order (L) and igh order ( ) press or . ( ample of display: Serial number 09040001)

2 Displa of accu ulated operation ti e

Displays accumulated operation time h .

......Low order

...... igh order


2 uto atic otor Recogni ing unction

......Automatic recognition is valid.

......Automatic recognition is invalid.

2 Displa of driver te perature

Displays the driver temperature [�].

( nly for reference not an instrument)

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2 Displa of safet condition onitor

: Safety condition

: Servo off condition

: Servo on condition

: Alarm condition

Servo ready condition: Dot unlit

N: Dot lit

lashing Normal change is possible

Dot information

Select desired monitor option by pressing or button.

...Input photocoupler ...Input photocoupler N

...Input photocoupler ...Input photocoupler N

... utput photocoupler ... utput photocoupler N

Related page P. 2 safety .

2 2

or parameters which place is displayed with the content changed and written to PR M becomes valid after turning off the power once.

Display the No. of parameter to be changed and press to change to

I N display.

Press and the flashing decimal separator shifts to the high order position allowing the figure at this digit to any other figure.

(S button)

Press or to set up the value of parameter. ( alue increases with decreases with .) Press and the flashing decimal separator shifts to the high order position allowing the figure at this digit to any other figure. Prolonged depression of updates the parameter in the driver. Note that the parameter value selected by or is not reflected until is pressed in this way. o cancel the value selected by or press instead of and the driver internal parameter value is ept unchanged and the display returns to the parameter number display screen.

After changing the parameter value and pressing the content will be reflected in the control. Do not e tremely change the parameter value which change might affect the motor movement very much (especiallyvelocity loop or position loop gains).



Pr0.00

Pr0.00

Pr0.01

Pr .22

Pr0.01

Pr .

Press or to select parameter No. to be set.

Parameter No. ( e adecimal No.) Parameter value

lass

Pr0.11

Pr1.11

You can change the value which digit has a flashing decimal point.

S displaonitor ode


S displaPR riting

U displa

Re ar s

ote

ote After setting up parameters return to S L mode referring to structure of each mode (P.2 4).

ach parameter has a limit in number of places for upper shifting.

2Preparation

1 . o to Use the ront PanelPara eter Setup ode

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(S button)

increases while eep pressing (for

appro . sec) as the right fig. shows.

hen you change the parameters which contents become valid after resetting will be displayed after finishing wiring. urn off the control power once to reset.

eep pressing until the display changes to when you e ecute writing.

Start flashes instantaneously and is difficult to chec visually.

o write the parameter to PR M press to change to I N display.



riting completes

riting error

Starts writing.

S displaPR riting


S displau iliar unction ode

U displa

ote

aution 1. hen writing error occurs ma e writing again. If the writing error repeats many times this might be a failure.

2. Don t turn off the power during PR M writing. Incorrect data might be written. If this happens set up all of parameters again and re write after chec ing the data.

3. When the error de�ned by Err.11.0 “Under voltage protection of control power supply”

occurs is displayed indicating that no writing is made to PR M.

2Preparation

1 . o to Use the ront PanelPR riting

2 4

o select the desired au iliary function press or .

Display the au iliary function to be changed and press to change to

I N display.

(S button)



Pressing .

Alarm lear

A1 Automatic ffset Ad ustment

A2 Automatic ffset Ad ustment

(Alarm lear) P.2 (1)

Alarm clear starts.

Alarm clear completes

A Automatic ffset Ad ustment

rial Run

learing ofAbsolute ncoder

Initiali ation of parameter

(Initiali ation of parameter)

(A1 Automatic ffset Ad ustment)

(A2 Automatic ffset Ad ustment)

(A Automatic ffset Ad ustment)

( rial Run)

( learing ofAbsolute ncoder)

Alarm lear

Release of front panel loc

(Release of front panel loc )

S displau iliar unction ode

S displaPR riting

S displaonitor ode

U displa

Displae a ple Description Pages to

refer

P.2 (2)

P.2 (2)

P.2 (2)

P.2 ( )

P.2 9 (4)

P.2 1 ( )

P.2 0 ( )

2Preparation

1 . o to Use the ront Panelu iliar unction ode S displa

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1 lar lear Screen

his function releases the current alarm status.ertain alarms will persist. If this is the case refer to P. hen in rouble Protective unction .

ote After alarm cleaning return to S L I N display referring to structure of each mode (P2 4).

(S button) eep pressing until the display changes to when you e ecute alarm crear.

Alarm clear completes lear is not finished.Release the error by resetting the power.

Alarm clear starts.

learingfinishes.

S displa U displa

increases while eep pressing (for appro . sec) as the right fig. shows.

Press to call for I N display.

2Preparation

1 . o to Use the ront Panelu iliar unction ode U displa

2

2 nalog inputs 1 to auto atic offset ad ust ent

his function automatically ad usts offset setting of analog input.Analog input 1 (AI1)......Pr4.22 (Analog input 1 (AI1) offset setup)Analog input 2 (AI2)......Pr4.2 (Analog input 2 (AI2) offset setup)Analog input (AI )......Pr4.2 (Analog input 1 (AI ) offset setup)

Re ar s

ote

his function is invalid at position control mode.You cannot write the data only by e ecuting automatic offset ad ustment.Execute a writing to EEPROM when you need to re�ect the result afterward.

After completion of the automatic offset ad ustment return to S L I N display by referring to P.2 4 Structure of ach Mode .

hen you e ecute automatic offset ad ustment ma e command input to 0 then eep pressing until the display changes to .


(S button)

Automatic offset ad ustment finishes.

Automatic offset ad ustment starts.

ample of Analog input1(AI1).

rror occurs.

Ad ustmentfinishes.

( Invalid mode is selected ) or offset value e ceeds the setup range of Pr4.22.


(S button)

S displa U displa


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otor trial run

Re ar s

You can ma e a trial run ( run) without connecting the onnector onnector 4 to the host controller such as PL .

Separate the motor from the load detach the onnector onnector 4 before the trial run.

ring the user parameter setups (especially Pr0.04 and Pr1.01 to 1.04) to defaults to avoid oscillation or other failure.

nspection Before rial Run

Display L D

onnector

ground

Powersupply

MotorMachine

1 nspection on iring Miswiring ( specially power input and motor output) Short or grounded Loose connection

2 onfir ation of po er suppl and voltage Rated voltage

i ing of the servo otor nstable mounting

Separation fro the mechanical system

Release of the ra e

urn to Servo after finishing the trial run pressing .





Release of the ra e



Related page or wiring details refer to P2 9 verall iring .P.4 Pr0.04P.4 12 Pr1.01 to 1.04

2

Procedure for rial Run

aution

ote

efore starting the trial run set the gain related parameters to appropriate values to avoid problems such as oscillation. If the load is removed be sure to set Pr0.04 Inertia Ratio to 0.During the trial run use the velocity control mode. arious settings including parameters should assure safe and positive operation under appropriate velocity control.If SR N becomes valid during trial run the display changes to which is normal run through e ternal command.f such trou le as disconnection of ca le or connector occurs during trial run the

otor a es over run for a i u 1 sec. Pa an e tra attention for securing safet .

After �nished trial running, return to SELECTION display, referring to structure of each mode (P.2 4).

eep pressing (appro . sec) to shift the decimal point toward left as the left fig. shows.

hen eep pressing until the display of L D changes to .

Not a servo ready status.(Shuts off the main when error occurs.)

fter the Servo of preparation step 2 for trial run the motor runs at the preset speed with Pr .04 ( P speed)

to Positive direction direction by pressing Negative direction by pressing .

Preparationstep 1

Preparationstep 2

Not a Servo Ready.r SR N signal is

not entered.


(S button)

S displa U displa


eep pressing until the display changes to when you e ecute Motor trial run.


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learing of solute ncoder

You can clear the multi turn data of the absolute encoder.

learing ofabsolute encoder

completes

rror occurs

( hen non applicable)encoder is connected

learing of absolute encoder starts

learingfinishes


(S button)

S displa U displa


eep pressing until the display changes to when you e ecute learing of Absolute ncoder.

ote After clearing of absolute encoder �nishes, return to SELECTION display, referring to structure of each mode (P.2 4).


2 0

nitiali ation of para eter

Initiali e the parameter.

Initiali ation of parameter completes

rror occurs(Minor error occurs)

Initiali ation of parameter

Initiali ationfinishes


(S button)

S displa U displa


eep pressing until the display changes to when you e ecute Initiali ation of parameter.

aution Parameter cannot be initiali ed when one of the following error occurs: rr11.0 nder voltage protection of control power supply PR M related errors ( rr .0 rr .1

rr .2 rr .0 rr .1 and rr .2) initiali ation will result in rror display.


ote After initialization of parameter �nishes, return to SELECTION display, referring to structure of each mode (P.2 4).

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Release the front panel loc setting.

Release offront panel loc

completes

rror occurs


Releasefinishes


(S button)

S displa U displa


eep pressing until the display changes to when you e ecute Release of front panel loc .


ote After release of front panel lock �nishes, return to SELECTION display, referring to structure of each mode (P.2 4).

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. onnection

1. utline of odePosition ontrol Mode ................................................................................ 2

elocity ontrol Mode .................................................................................

orque ontrol Mode .................................................................................. 9

ull closed ontrol Mode .......................................................................... 12

2. ontrol Bloc DiagraPosition ontrol Mode .............................................................................. 14

elocity ontrol Mode ............................................................................... 1

orque ontrol Mode ................................................................................ 1

ull closed ontrol Mode .......................................................................... 1

. iring Diagra to the connectorExample of control mode speci�c wiring ................................................... 1

Connecting Example to Host Controller .................................................... 19

. nputs and outputs on connectorInterface ircuit (Input) ............................................................................. 2

Interface ircuit ( utput) .......................................................................... 0

Input Signal and Pin No. ........................................................................... 2

Output Signal and Pin No. ........................................................................ 42

2

1. utline of odeonnection Position ontrol ode

utline

You can perform position control based on the positional command (pulse train) from the host controller.

his section describes the fundamental setup to be used for the position control.

unction

aution

ote

1 Process of co and pulse inputThe positional commands of the following 3 types (pulse train) are available. 2 phase pulse

• Positive direction pulse/negative direction pulse• Pulse train + signSet the pulse con�guration and pulse counting method based on the speci�cation and con�guration of installation of the host controller.The input terminals can accommodate the following 2 systems.• Input 1 “PULSH1, PULSH2, SIGNH1, SIGNH2” line receiver input (4 Mpps)• Input 2 “PULS1, PULS2, SIGN1, SIGN2” photocoupler input (500 kpps)

For line driver output, “Input 2” can also be used without changing the allowable input frequency.

Relevant para etersPara eter

o. itle Range unction

Pr0.0 Selection of command pulse input 0 to 1

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

Pr0.0 ommand pulse rotational direction setup 0 to 1 Sets the counting direction when command pulse is

input.

Pr0.0 ommand pulse input mode setup 0 to Sets the counting method when command pulse is

input.

For details of these parameters, refer to P.4-6 and 7 “Details of parameter”.

Related page • P.3-14 “Control Block Diagram”• P.3-18 “Wiring Diagram to the connector, X4”

ommand pulseinput section

Pulse regenerationfunction

Positioning completeoutput (INP) function

lectronicgear section

Positional commandfiltering function

L input

INPoutput

ounter clear functionIN input

Pulse outputommand pulse inhibition (IN ) function

Positionalcommand

(pulse train) Servo driver

ostcontroller

Positioncontrolsection

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1. utline of odePosition ontrol ode

ote

2 lectronic gear functionhis function multiplies the input pulse command from the host controller by the pre

determined dividing or multiplying factor and applies the result to the position control section as the positional command. By using this function, desired motor rotations or movement distance per unit input command pulse can be set; or the command pulse frequency can be increased if the desired motor speed cannot be obtained due to limited pulse output capacity of the host controller.



Pr0.0ommand pulse

counts per one motor revolution

0 to 104

Set the command pulses that causes single turn of the motor shaft.

Pr0.09 1st numerator of electronic gear

0 to 10 41 24

Set the numerator of division/multiplication operation made according to the command pulse input.

Pr0.10 Denominator of electronic gear

1 to 10 41 24

Set the Denominator of division/multiplication operation made according to the command pulse input.

For details of these parameters, refer to P.4-8 “Details of parameter”.

ote

Positional co and filtering functionTo make the positional command divided or multiplied by the electronic gear smooth,

set the command �lter.


o. itle Range Unit unction

Pr2.22 Positional command smoothing �lter

0 to 10000 0.1msSet up the time constant of the 1st delay �lter in response to the positional command.

Pr2.2 Positional command FIR �lter

0 to 10000 0.1msSet up the time constant of the 1st delay �lter in response to the positional command.


4


ote

Pulse regeneration functionThe information on the amount of movement can be sent to the host controller in the

form of A- and B-phase pulses from the servo driver. When the output source is the

encoder, Z-phase signal is output once per motor revolution; or if the feedback scale,

the signal is output at absolute zero position. The output resolution, B-phase logic and

output source (encoder or feedback scale) can be set with parameters.



Pr0.11utput pulse counts

per one motor revolution

1 to 2 2144 P/rYou can set up the output pulse counts per one motor revolution for each OA and OB with the Pr0.11 setup.

Pr0.12 Reversal of pulse output logic

0 to

You can set up the B-phase logic and the output source of the pulse output.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.

Pr .0 Denominator of pulse output division

0 to 2 2144

For application where the number of pulses per revolution is not an integer, this parameter can be set to a value other than 0, and the dividing ratio can be set by setting numerator of division to Pr0.11 and denominator of division to Pr5.03.

Pr . Pulse regenerative output limit setup 0 to 1 Enable/disable detection of Err28.0 Pulse

regenerative limit protection.

Pr .20 Z-phase setup of e ternal scale 0 to 400 �s

Set up the Z phase regenerative width of feedback scale in unit of time.

Pr .21Serial absolute external scale Z phase setup

0 to 2 4 4 pulse

Full-closed control using serial absolute feedback scale. When outputting pulses by using the feedback scale as the source of the output, set the Z phase output interval in units of A phase output pulses of the feedback scale (before multiplied by 4).

Pr .22A, B phase external scale pulse output method selection

0 to 1 Select the pulse regeneration method of A, B and Z parallel feedback scale.

For details of these parameters, refer to P.4-8, 9, 42, 49 and 54 “Details of parameter”.

ote

Deviation counter clear functionThe deviation counter clear input (CL) clears the counts of positional deviation counter

at the position control to 0.



Pr .1 ounter clear input mode 0 to 4 You can set up the clearing conditions of the

counter clear input signal.


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Positioning co plete output P functionThe completion of positioning can be veri�ed by the positioning complete output (INP).

When the absolute value of the positional deviation counter at the position control is

equal to or below the positioning complete range by the parameter, the output is ON.

Presence and absence of positional command can be speci�ed as one of judgment

conditions.



Pr4. 1 Positioning complete (In-position) range

0 to 2 2144 ommandunit

Set up the timing of positional deviation at which the positioning complete signal (INP1) is output.

Pr4. 2Positioning complete (In position) outputsetup

0 to Select the condition to output the positioning complete signal (INP1).

Pr4. INP hold time 0 to 0000 1ms Set up the hold time when Pr4.32 Positioning complete output setup = 13.

Pr4.422nd Positioning complete (In position) range

0 to 2 2144 ommandunit



ote

o and pulse inhi ition functionThe command pulse input counting process can be forcibly terminated by using the

command pulse inhibit input signal (INH). When INH input is ON, the servo driver ig

nores the command pulse, disabling pulse counting function.

The default setting of this inhibition function is disable. To use INH function, change the

setting of Pr5.18 “Invalidation of command pulse prohibition input”.



Pr .1Invalidation of command pulse inhibit input

0 to 1 Select command pulse inhibit input enable/disable.

Pr .19 ommand pulse inhibit input reading setup

0 to 4

Select command pulse inhibit input enable/disable signal reading period. When the status of several signals read during the predetermined reading period are same, update the signal status.


1. utline of odeonnection elocit ontrol ode

utline

You can control the speed according to the analog speed command from the host controller or the speed command set in the servo driver.

unction

ote

1 elocit control analog speed co andThe analog speed command input voltage is converted to equivalent digital speed

command. You can set the �lter to eliminate noise or adjust the offset.



Pr .00 Speed setup, Internal/External switching

0 to This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only.

Pr .01Speed command rotational direction selection

0 to 1 Select the Positive/Negative direction specifying method.

Pr .02 Input gain of speed command 10 to 2000 (r/min)

/V

Based on the voltage applied to the analog speed command (SPR), set up the conversion gain to motor command speed.

Pr .0 Reversal of speed command input 0 to 1 Specify the polarity of the voltage applied

to the analog speed command (SPR).

Pr4.22 Analog input 1 (AI1) offset setup

�5578 to 0. 9m Set up the offset correction value applied to the voltage fed to the analog input 1.

Pr4.2 Analog input 1 (AI1) �lter

0 to 400 0.01msSet up the time constant of 1st delay �lter that determines the lag time behind the voltage applied to the analog input 1.

For details of these parameters, refer to P.4-24, 25 and 37 “Details of parameter”.

Servo driver

ostcontroller

elocitycontrolsection

Process of analogspeed command input

Analogspeed command

( 10 )

R SPD input

A SP D output

IN output

Internal speedcommand settings

Speed ero clamp ( R SPD) function

Attained speed output

Speed coincidence output


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1. utline of odeelocit ontrol ode

ote

2 elocit control internal speed co andYou can control the speed by using the internal speed command set to the parameter.

By using the internal speed command selections 1, 2, 3 (INTSPD1, 2, 3), you can

select best appropriate one among up to 8 internal speed command settings. Default

setting uses the analog speed command. To use the internal speed command, select it

through Pr3.00 “Internal/external speed setup”.



Pr .00 Speed setup, Internal/External switching

0 to This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only.

Pr .01Speed command rotational direction selection

0 to 1 Select the Positive/Negative direction specifying method.

Pr .04 1st speed of speed setup

�20000 to 20000 r/min

Set up internal command speeds, 1st to 1st.

Pr .0 2nd speed of speed setup Set up internal command speeds, 1st to 2nd.

Pr .0 rd speed of speed setup Set up internal command speeds, 1st to 3rd.

Pr .0 4th speed of speed setup Set up internal command speeds, 1st to 4th.

Pr .0 th speed of speed setup Set up internal command speeds, 1st to 5th.




For details of these parameters, refer to P.4-24, 25 and 26 “Details of parameter”.

ote

Speed ero cla p R SPD functionYou can forcibly set the speed command to 0 by using the speed zero clamp input.



Pr .1 Speed zero-clamp function selection 0 to You can set up the function of the speed

zero clamp input.

Pr .1 Speed zero clamp level

0 to 1 r/min

elect the timing at which the position control is activated as the Pr3.15 Speed zero-clamp function selection is set to 2 or

.


ote

ttained speed output SP DThe signal AT-SPEED is output as the motor reaches the speed set to Pr4.36 “Attained

speed”.



Pr4. At speed(Speed arrival)

10 to 20000 r/minSet the detection timing of the speed arrival output (AT-SPEED).


1. utline of odeelocit ontrol ode

ote

Speed coincidence outputThis signal is output when the motor speed is equal to the speed specified by the

speed command. The motor speed is judged to be coincident with the speci�ed speed

when the difference from the speed command before/after acceleration/deceleration is

within the range speci�ed by Pr4.35 “Speed coincident range” .



Pr4. Speed coincidence range

10 to 20000 r/minSet the speed coincidence (V-COIN) output detection timing.


aution

ote

Speed co and acceleration deceleration setting functionThis function controls the speed by adding acceleration or deceleration instruction in

the driver to the input speed command.

Using this function, you can use the soft start when inputting stepwise speed command

or when using internal speed setup. You can also use S shaped acceleration/decelera

tion function to minimize shock due to change in speed.



Pr .12 Acceleration time setup 0 to 10000 ms/

(1000r/min)Set up acceleration processing time in response to the speed command input.

Pr .1 Deceleration time setup 0 to 10000 ms/

(1000r/min)Set up deceleration processing time in response to the speed command input.

Pr .14 Sigmoid acceleration/ deceleration time setup 0 to 1000 ms

Set S-curve time for acceleration/deceleration process when the speed command is applied.

When the position loop is external to the driver, do not use the acceleration/

deceleration time setting. Set these values to 0.


9

1Before

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theProducts

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onnectionS

etupd

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Supple

ent

1. utline of odeonnection or ue ontrol ode

utline

ote

The torque control is performed according to the torque command speci�ed in the form of

analog voltage. For controlling the torque, the speed limit input is required in addition to

the torque command to maintain the motor speed within the speed limit.

With the A5 series, 3 torque control modes are available, each requires different torque

command and speed limit as shown in the table below.

Pr .1 Selection of tor ue co andSetupvalue or ue co and input elocit li it input

0 Selection of torque command 1

Analog input 1 *1

(AI1, 16-bit resolution)Parameter value

(Pr .2 )

1 Selection of torque command 2

Analog input 2(AI2, 12-bit resolution)

Analog input 1(AI1, 16-bit resolution)

2 Selection of torque command

Analog input 1 *1

(AI1, 16-bit resolution)Parameter value(Pr3.25, Pr3.26)

*1 For Pr0.01 Control mode setup = 5 (velocity/torque control), the torque command input is the analog input 2 (AI2, 12-bit resolution).


Selection of tor ue co and 1

Selection of tor ue co and2

Servo driver

ostcontroller

orquecontrolsection

Analogtorque command

(AI1 10 )

R SPD input

A SP D output

IN output

Process of analogtorque command input




Speed limit value(Parameter)

Servo driver

ostcontroller

orquecontrolsection

Process of analogtorque command input

Analogtorque command

(AI2 10 )

Process ofspeed limit input

Speed limit input(AI1 10 )

R SPD input

A SP D output

IN output





10

1. utline of odeor ue ontrol ode

unction

ote

1 Process of analog tor ue co and inputThis process converts the analog torque command input (voltage) to the equivalent

digital torque command having the same effect. You can set the �lter or adjust the off

set to eliminate noise.

Relevant para eters Selection of tor ue co and 1Para eter


Pr .1 orque command direction selection 0 to 1 Select the direction positive/negative

direction of torque command.

Pr .19 Input gain of torque command 10 to 100 0.1

/100%

Based on the voltage (V) applied to the analog torque command (TRQ R), set up the conversion gain to torque command (%).

Pr .20 Input reversal of torque command 0 to 1 Set up the polarity of the voltage applied

to the analog torque command (TRQR).







Pr .1 orque command direction selection 0 to 1 Select the direction positive/negative

direction of torque command.

Pr .19 Input gain of torque command 10 to 100 0.1

/100%


Pr .20 Input reversal of torque command 0 to 1 Set up the polarity of the voltage applied

to the analog torque command (TRQR).

Pr4.2 Analog input 2 (AI2) offset setup �342 to 342 . m Set up the offset correction value applied

to the voltage fed to the analog input 2.




11

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1. utline of odeor ue ontrol ode

aution

ote

2 Speed li it functionThe speed limit is one of protective functions used during torque control.

This function regulates the motor speed so that it does not exceed the speed limit while

the torque is controlled.

While the speed limit is used to control the motor, the torque command applied to the

motor is not directly proportional to the analog torque command. Torque command

should have the following result: the motor speed is equal to the speed limit.



Pr .21 Speed limit value 1 0 to 20000 r/min Set up the speed limit used for torque controlling.Pr .22 Speed limit value 2 0 to 20000 r/min


zero clamp input.



Pr .02 Input gain of speed command 10 to 2000 (r/min)

/V







zero clamp input.

For details of these parameters, refer to P.4-25, 27, 29 and 37 “Details of parameter”.

12

autions on ull losed ontrol(1) Enter the command pulses making the external scale as a reference. If the command pulses do not match to the external scale pulses, use the command division/

multiplication function (Pr0.09 to Pr0.10) and setup so that the command pulses after division/multiplication is based on the e ternal scale reference.

(2) he A series supports the e ternal scale of A and phase output type and serial communication type. Initialize the parameters according to the following procedures and write to EEPROM and turn on power.

(3) When using a scale of A- and B-phase output type, correctly connect it so that the rotating direction of the motor (CW/CCW) and A-phase and B-phase of the external scale have the following relationship.

direction

t1 t1

t2

t1 t1A

t1＞0.25�s　t2＞1.0�s t1＞0.25�s　t2＞1.0�s

t1 t1

t2

t1 t1A

direction

ull closed ontrol ode

In this full-closed control, you can make a position control by using a external scale mounted externally which detects the 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.

ontro

ller Position

command

(Speed detection)

Position detection

ternal scale

e recommend the e ternal scale division ratio of ternal scale division ratio 160140

1. utline of odeonnection ull closed ontrol ode

Related page • P.3-17 “Control Block Diagram” • P.3-19 “Wiring Diagram to the connector, X4”• P.3-30 “Inputs and outputs on connector X4” • P.4-3 “Details of parameter”

o to a e an initial setup of para eters related to e ternal scale1) Turn on the power after checking the wiring.2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the

front panel 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 posi

tive and negative, set up the reversal of external scale direction (Pr3.26) to 1. 5) Set up the external scale division ratio (Pr3.24, Pr3.25) using the formula below,

* If the design value of the external scale division ratio is obtained, set up this value.

External scale division ratio = Total variation of feedback pulse sum = Pr .24

Total variation of external scale feedback pulse sum Pr .2

1

1Before

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6) Set up appropriate value of hybrid deviation excess (Pr3.25) in 16 pulse unit of the external scale resolution, in order to avoid the damage to the machine. * A5-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.

unction

ote

1 Selection of e ternal scale t peSelect the type of e ternal scale to be used.



Pr .2 ternal scale selection 0 to 2 Select the type of e ternal scale.

Pr .2 Reversal of direction of e ternal scale 0 to 1 Reverse the direction of external scale, feedback

counter.


ote

2 Setup of e ternal scale division ratioSet up the division ratio of encoder resolution and external scale resolution.



Pr .24 Numerator of external scale division

0 to 220 Set up the numerator of the external scale dividing setup.

Pr .2 Denominator of external scale division

1 to 220 Set up the Denominator of the external scale dividing setup.


ote

Setup of h rid e cessive deviationThis function detects the positional difference between the motor (encoder) and load (external scale) and enables the hybrid excessive deviation protection if the difference exceeds Pr3.28 “Hybrid excessive deviation setup”.Hybrid excessive deviation is mainly caused by feedback scale error, wrong connection and loose connection between the motor and load.



Pr .2 Hybrid deviation e cess setup 1 to 22

You can setup the permissible gap (hybrid deviation) between the present motor position and the present e ternal scale position.

Pr .29 Hybrid deviation clear setup 0 to 100 As the motor turns the number of revolutions set by

this parameter, the hybrid deviation is cleared to 0.


14

2. ontrol Bloc Diagraonnection Position ontrol ode

Pulse trainP LSSI N

Input setup

Sum of command pulsesommand unit

0.05Inputselection

0.06Directionsetup

0.07Mode

Notch filter

2.011strequency Depth

2.04

2.02

2.052nd

2.10 2.11

2.00

idth2.03

2.06

2.07 2.08rd 2.09

2.124th

Adaptivemode setup

elocity control

1.011st

Proportion

Integration

1.06

1.02

1.072nd

0.04

6.10

Inertia ratio

unctione pansion

6.132nd inertia ratio

Damping control

2.141st

2.13Switchingselection

requency ilter

2.16

2.18

2.20

2.15

2.172nd

2.19

2.21

rd

4th

Smoothingfilter

lectric gear

0.08ne

revolution

0.091stnumerator

0.10Denominator

ain switching

1.142ndsetup

1.15Mode

1.16Delaytime

1.17Level

1.18ysteresis

1.19Switchingtime

6.05rdsetup

6.06Scalefactor

5.002ndnumerator

5.01rdnumerator

2.22

FIR 2.23

Primarydelay

Motor

Load

Mainpowersupply

ncoder

elocityfeed forward

1.10ain

1.11ilter

orquefeed forward

1.12ain

1.13ilter

Position control

1.001st

1.052nd

urrent control

Speed detection

6.11Responsesetup

orque filter

1.041st

1.092nd

Disturbanceobserver

6.23ain

6.24ilter

Speed detection filter

1.031st

1.082nd

6.10Instantaneousspeed

orque limit

5.21Selection

0.131st

5.222nd

Pulseregeneration

Pulsesoutput

ANumerator/

Denominator

0.11nerevolution

0.12Reversal

5.03Denominator

5.024thnumerator

ommand positional deviationommand unit

ncoderpositional deviation

ncoder pulsevelocity control

command r/min

orque command[％]

＋

－

＋

－

＋

＋

＋＋

＋

＋

＋

＋

－

Sum offeedbac pulses

ncoder pulseMotor speed

r/min

Inversion ofelectric gear

rictioncompensation

6.07

6.08

6.09

additionalvaluePositivedirectionNegativedirection

Positional commandspeed r/min

Internal positionalcommand speed r/min

Related page • P.3-18 “Wiring example of position control mode”• P.3-20 “Connecting example to host controller”• P.3-30 “Inputs and outputs on connector X4” • P.4-2 “List of Parameters”

1

1Before

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etupd

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Supple

ent

2. ontrol Bloc Diagraonnection elocit ontrol ode

Analog input

Analoginput 1

1 bit A/DAI1

Al1 input voltageＶ

elocity controlcommand r/min

4.22ffset

4.23ilter

Scaling

3.02ain

3.03Reversal

ain switching

1.14

1.20

1.21

1.22

1.23

Internal velocity setup

3.041st

3.052nd

3.06rd

3.074th

3.10th

3.11th

3.08th

3.09th

elocity commandselection

3.00

3.01

urrent control

elocity detection

6.11

rictioncompensation

6.07

6.08

6.09

Acceleration/Deceleration limit

3.12Acceleration

3.13Deceleration

Internal/ ternalswitchingDirectionselection

3.14Sigmoid

＋

－

＋

＋

＋＋

＋



r/min

1.12

1.13

2ndsetupModeDelaytimeLevel

ysteresis


orquefeed forward

ain

ilter

Notch filter


2.04

2.02

2.052nd

2.10 2.11

2.00

idth2.03

2.06

2.07 2.08rd 2.09

2.124th

Adaptivemode setup

Mainpowersupply

orque filter

1.041st

1.092nd

Disturbanceobserver

6.23ain

6.24ilter

orque limit

5.21Selection

0.131st

5.222nd

orque command[％]

Motor

Load

ncoder Responsesetup

Pulseregeneration

Pulsesoutput

ANumerator/

Denominator

0.11nerevolution

0.12Reversal

5.03Denominator

elocitydetection filter

1.031st

1.082nd


elocity control

1.011st

1.06

1.02

1.072nd

0.04

6.10

Inertia ratio


Proportion

Integration

unctione pansion

Related page • P.3-18 “Wiring example of velocity control mode”

1

2. ontrol Bloc Diagraonnection or ue ontrol ode

ain switching2ndsetupModeDelaytimeLevel

ysteresis

Analog input

Analoginput 2

12bit A/DAI2

Analoginput 1

1 bit A/DAI1


4.25

4.26

Analog input

4.22ffset

4.23ilter

Scaling

3.19

3.20

1.14

1.24

1.25

1.26

1.27

Motor

Load

ncoder

Scaling（ orque command）

3.19ain

3.20Reversal

Scaling（Speed limit）

3.02ain

3.03Reversal

Speed detection

orque commandselection

3.17

3.18

Speed limitr/min


＋

－



r/min

Internalspeed limit

3.21Limitvalue 1

3.22Limitvalue 2

Speed limitselection

3.17ommandselection

Sign

Absolute value

ffset

ilter

ain

Reversal

urrent control

6.11

Mainpowersupply

orque limit

5.21Selection

0.131st

5.222nd

orque command[％]

Responsesetup

Pulseregeneration

Pulsesoutput

ANumerator/

Denominator

0.11nerevolution

0.12Reversal

5.03Denominator

elocitydetection filter

1.031st

1.082nd


elocity control

1.011st

1.06

1.02

1.072nd

0.04

6.10

Inertia ratio


Notch filter


2.04

2.02

2.052nd

2.10 2.11

idth2.03

2.06

2.07 2.08rd 2.09

2.124th

orque filter

1.041st

1.092nd

Internal/ ternalswitchingDirectionselection

Proportion

Integration

unctione pansion

Related page • P.3-19 “Wiring example of torque control mode”

1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

2. ontrol Bloc Diagraonnection ull closed ontrol ode

ternal scalePulse

regeneration

0.11Numerator

5.03Denominator

0.12Reversal

6.20phaseidth

6.21phasesetup

6.22outputmethod

ternal scaledividing

3.24

3.25

Motor

ternal scale

ncoder

Speed detection

Input setup

3.23ype

3.26Reversal

3.27Ｚ phaseinvalid


Internal positionalcommand speed r/min

＋

－

＋

－

＋

＋

＋＋

＋

＋－

＋

＋

＋

－

ybrid deviation

ommand unit

ternal scaleReverse dividing

3.25Numerator

3.24Denominator

ternalscalepulseoutput

A

orque command[％]

urrent control

6.11Responsesetup

velocity controlcommand r/min

Motor speedr/min



Pulse trainP LSSI N

Input setup

0.05Inputselection

0.06Directionsetup

0.07Mode

lectric gear

0.08ne

revolution

0.091stnumerator

0.10Denominator

5.002ndnumerator

5.01rdnumerator

5.024thnumerator

Damping control

2.141st

2.13Switchingselection

requency ilter

2.16

2.18

2.20

2.15

2.172nd

2.19

2.21

rd

4th

Smoothingfilter ain switching

1.142ndsetup

1.15Mode

1.16Delaytime

1.17Level

1.18ysteresis

1.19Switchingtime

6.05rdsetup

6.06Scalefactor

2.22

FIR 2.23

Primarydelay

rictioncompensation

6.07

6.08

6.09


orquefeed forward

1.12ain

1.13ilter

elocityfeed forward

1.10ain

1.11ilter

1.011st

1.06

1.02

1.072nd

0.04

6.10

Inertia ratio


Speed detection filter

1.031st

1.082nd


Pulseregeneration

ncoderPulsesoutput

A

Numerator/Denominator

0.11nerevolution

0.12Reversal

5.03Denominator

Mainpowersupply

orque filter

1.041st

1.092nd

Disturbanceobserver

6.23ain

6.24ilter

orque limit

5.21Selection

0.131st

5.222nd

Notch filter


2.04

2.02

2.052nd

2.10 2.11

2.00

idth2.03

2.06

2.07 2.08rd 2.09

2.124th

Adaptivemode setup

Position control

1.001st

1.052nd

Sum of command pulsesommand unit

ommand positional deviationommand unit


ternal scale pulse

ull closed deviationternal scale pulse

NumeratorDenominator

elocity control

Proportion

Integration

unctione pansion

Related page • P.3-19 “Wiring example of full-close control mode”

1

. iring Diagra to the connectoronnection a ple of control ode specific iring

14

1

1

1

4

1

42

In case of open collector I/

4. �M

P LS2

SI N1

SI N2

ND

A

A

ND

SPR/ R R/SPLND

P A L/ R RND

N A L

SP

IM

4

1

2

1

21

224

24

2

19

492

1 �

1 �

P LS1

P 2

P 1IN

L

SR N

AIN

DI 1

S S L1M D

A LR

P

N

S RDYS RDY

ALM

INP

R

R

L

D

12 to 24

SP

M

SI N 1

SI N 2

P LS 1P LS 2

ND

INP

ALM

0

29

2

2

21

9

4

9

11

10

40

12

41

44

4

1

0

2

phase output(open collector)

P LS1

4P LS2

4

4

4

14 �

10 �

20 �20 �

14 �

10 �

20 �20 �

4 �

4 �4 �

4 �

20 �

20 �

220�

2.2 �

2.2 �

20 �2 �

2 � 20 �

120�

20 �2 �

2 � 20 �

120�

220�

D

R

SI N1

SI N2

220�

2.2 �

2.2 �220�

2.2 �

2.2 �

R

1P 1

4P LS2

220�

24 D

2P 1

SI N2

220�

2.2 �

2.2 �

2.2 �

2.2 �

(1) hen you use the e ternal resistor with 12 and 24 power supply

(2) hen you do not use the e ternal resistor with 24 power supply

Positive direction torque limit input(0 to 10 )

Negative direction torque limit input ( 10 to 10 )

elocity monitor outputorque monitor output

( represents twisted pair.)

ommandpulseinput A( se with00 pps or less.)

Divider

A phaseoutput

phaseoutput

phaseoutput

ommand pulse input ( se with 4Mpps or less.)

e sure to connect.

D

1224

Specificationsof R

1 1/22 1/2

D 1.R 220 10mA.

.

Servo N inputain switching inputlectronic gear

switching input 1

ontrol mode switching input

Damping control switching input 1

Alarm clear inputPositive directionover travel inhibition inputNegative direction over travel inhibition input

Servo Ready output

Servo Alarm output

Positioning complete output

ternal bra e release output

orque in limit output

ero speed detection output

Deviation counter clear input

ommand pulse inhibition input

4. �M

A

A

ND

SPR/ R R/SPLND

P A L/ R R

ND

N A L

SP

IM

21224

24

2

19

492

1 �

1 �

IN SPD1

IN SPD2

SR N

AIN

IN SPD

R SPD

M DA LR

P

N

S RDY

S RDY

ALM

R

R

L

D

12 to 24

SPM

ALM

0

292

21

9

4

9

11

1040

12

41

0

2

14

11

1

1

4

42

2

14 �

10 �

20 �20 �

14 �

10 �

20 �20 �

4 �

4 �4 �

4 �

20 �

20 �

4 ( represents twisted pair.)

A phase output

phase output

phase output

phase output (open collector)

elocity command input (0 to 10 )

Positive direction torque limit input (0 to 10 )


elocity monitor output

orque monitor output

Servo N inputain switching input

Alarm clear input

Speed ero clamp input

Selection 1 input of internal command speed Selection 2 input of internal command speed

Slection input ofinternal command speed


Positive directionover travel inhibition inputNegative direction over travel inhibition input

Servo Ready output

Servo alarm output

At speed output




Divider

A SP D

A SP D

iring a ple of Position ontrol ode

iring a ple of elocit ontrol ode

ote The functions of the following pin can be changed using parameters. (Refer to P.4-32) Input(Position): 8, 9, 26, 27, 28, 29, 31, 32 Input(Velocity): 8, 9, 26, 27, 28, 29, 30, 31, 32, 33 Output: 10-11, 12, 34-35, 36-37, 38-39, 40* Pins in the �gure above represent default parameter values.

19

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

iring a ple of or ue ontrol ode

iring a ple of ull closed ontrol ode

14

1

1

1

4

1

42

In case of open collector I/

4. �M

P LS2

SI N1

SI N2

ND

A

A

ND

SPR/ R R/SPLND

P A L/ R RND

N A L

SP

IM

4

1

2

1

21

224

24

2

19

492

1 �

1 �

P LS1

P 2

P 1IN

L

SR N

AIN

DI 1

S S L1M D

A LR

P

N

S RDYS RDY

ALM

INP

R

R

L

D

12 to 24

SP

M

SI N 1

SI N 2

P LS 1P LS 2

ND

INP

ALM

0

29

2

2

21

9

4

9

11

10

40

12

41

44

4

1

0

2

phase output(open collector)

P LS1

4P LS2

4

4

4

14 �

10 �

20 �20 �

14 �

10 �

20 �20 �

4 �

4 �4 �

4 �

20 �

20 �

220�

2.2 �

2.2 �

20 �2 �

2 � 20 �

120�

20 �2 �

2 � 20 �

120�

220�

D

R

SI N1

SI N2

220�

2.2 �

2.2 �220�

2.2 �

2.2 �

R

1P 1

4P LS2

220�

24 D

2P 1

SI N2

220�

2.2 �

2.2 �

2.2 �

2.2 �

(1) hen you use the e ternal resistor with 12 and 24 power supply

(2) hen you do not use the e ternal resistor with 24 power supply

Positive direction torque limit input(0 to 10 )




ommandpulseinput A( se with

00 pps or less.)

Divider

A phaseoutput

phaseoutput

phaseoutput

ommand pulse input ( se with 4Mpps or less.)

e sure to connect.

D

1224

Specificationsof R

1 1/22 1/2

D 1.R 220 10mA.

.

Servo N inputain switching inputlectronic gear

switching input 1


Damping control switching input 1

Alarm clear inputPositive directionover travel inhibition inputNegative direction over travel inhibition input

Servo Ready output

Servo Alarm output





Deviation counter clear input

ommand pulse inhibition input

4. �M

AA

ND

SPR/ R R/SPLND

P A L/ R R

ND

N A L

SP

IM

21224

24

2

19

14

1

11

4

1

42

492

14 �

10 �

20 �20 �

14 �

10 �

20 �20 �

4 �

4 �4 �

4 �

20 �

20 �

1 �

1 �

IN

L

SR N

AIN

DI 1

R SPD

M DA LR

P

N

S RDY

S RDY

ALM

A SP D

RR

L

D

12 to 24

SPM

A SP D

ALM

0

29

2

22

21

9

4

9

11

1040

12

41

0

phase output (open collector)

4

Divider

A phaseoutput

phaseoutput

phaseoutput


orque command input or velocity limit input (0 to 10 )


iring e ample when control mode Pr0.01 or Pr .1 1

L/ R R

ND

1

1Negative direction torque limit input (0 to 10 )Select with Pr .1 .

Servo N inputain switching input

Alarm clear input

Servo Ready output

Servo Alarm output

At speed output




Speed ero clamp input


Positive directionover travel inhibition inputNegative direction over travel inhibition input

. iring Diagra to the connectora ple of control ode specific iring

ote he functions of the following pin can be changed using parameters. (Refer to P.4 2) Input( orque): 9 2 2 2 29 0 1 2 Input( ull closed): 9 2 2 2 29 1 2 utput: 10 11 12 4 9 40* Pins in the �gure above represent default parameter values.

20

. iring Diagra to the connectoronnection onnecting a ple to ost ontroller

onnection et een S and P2 PP22 P2 Panasonic lectric or s

oteRelated page

represents twisted pair wire.

• P.3-30 “Inputs and outputs on connector X4”

series

50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

＋24VDC

GND

P2 PP22 P2Panasonic lectric or s

fromPL I/ output

toPL I/ input

A1

B1

A2

B2

A4

B3

A7

B7

B4

A5

A6

B6

A20

B20

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω○

○

limit sensor

rigin pro imity sensor

limit sensor

390Ω

3.6kΩ

6.8kΩ

ND 24D 24

Power supply

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input

Inhibit negative direction travel input

Inhibit positive direction travel input

phase output

ommand sign input 2

ain switching input

DriverP

pulse command output


rigin input

Deviation counter reset output

ternal power supply input

rigin pro imity input

Limit e cess ＋

Limit e cess －

Process of shield wire varies with equipment.

21

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. iring Diagra to the connectoronnecting a ple to ost ontroller

oteRelated page



onnection et een S and P PP12 P 2 Panasonic lectric or s

50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

560Ω

6.8kΩ

FG

FG

＋24VDC

GND

toPL I/ input

A1

B1

A2

B2

A4

B3

A7

B7

B4

A5

A19

B19

A20

B20

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ain switching input



rigin input



rigin pro imity input fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

limit sensor


limit sensor

seriesP PP12 P 2Panasonic lectric or s

DriverP

ommand pulseinput 2

ommand sign input 2


22


onnection et een S and P2 PP22 P2 Panasonic lectric or s

oteRelated page



ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

FG

FG

＋24VDC

GND

A1

B1

A2

B2

A4

B3

A7

B7

B4

A5

A19

B19

A20

B20

220Ω

1.6Ω

seriesP2 PP2 P2Panasonic lectric or s

toPL I/ input

limit sensor


limit sensor

fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

DriverP



rigin input





2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent


oteRelated page



onnection et een S and P 2 Panasonic lectric or s

Y0

Y1

X2

COM

＋

Y2

－

COM

X3

X5

X6

5.6kΩ

3kΩ

5.6kΩ

5.6kΩ

○

○

2kΩ

2kΩ

50

1

4

2

6

19

13

25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

OCP1

PULS2

OCP2

SIGN2

CZ

GND

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

seriesP 2Panasonic lectric or s

fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

DriverP

limit sensor


limit sensor



rigin input



limit e cess input

limit e cess input


24

. iring Diagra to the connector onnecting a ple to ost ontroller

onnection et een S and P1 P1 o oga a lectric orp.

oteRelated page


P. 0 Inputs and outputs on connector 4

14a

13a

12a

11a

15a

16a

10a

9a

8b

8a

1a

3a

2a

4a

＋VGND

50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

240Ω

7.4kΩ

7.4kΩ

7.4kΩ

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

NDD

Power supply

limit sensor


limit sensor

seriesP1 P1o oga a lectric orp.

DriverP



rigin line driver input


power supply for pulse output


limit input

limit input


2

1Before U

sing the Products

2

Preparation

onnectionS

etupd

ustent

hen in rou

leS

uppleent

. iring Diagra to the connector onnecting a ple to ost ontroller

oteRelated page


P. 0 Inputs and outputs on connector 4

onnection et een S and 2 o oga a lectric orp.

50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

3a

4a

5a

6a

19a

20a

14a

1a

1b

13a

8a

9a

7a

240Ω

7.4kΩ

7.4kΩ

7.4kΩ

series2o oga a lectric orp.

fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

DriverP

limit sensor


limit sensor

Pulse output A

Pulse output

rigin input


ontact pointinput M

ternal power supply24 D input

ternal power supply24 D input ( ND)

Negative direction limit input

Positive direction limit input

ncoder phaseoutput

ncoder phaseoutput


2


onnection et een S and 1 11 ron orp.

oteRelated page



50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

A6

A8

A16

A14

A1

A2

A10

A24

A20

A21

A23

A22

4.7kΩ

4.7kΩ

4.7kΩ

4.7kΩ

＋VGND

150Ω

1.6kΩ

1.6kΩ

series1 11ron orp.

fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

DriverP

limit sensor


limit sensor




Power supply for output


mergency stop input

rigin pro imityinput

limit e cessinput

limit e cess input


2

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent


oteRelated page



onnection et een S and 1 1 ron orp.

50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

A5

A6

A7

A8

A16

A14

A1

A2

A10

A24

A20

A21

A23

A22

A3

A4

＋VGND

150Ω

＋VGND

4.7kΩ

4.7kΩ

4.7kΩ

4.7kΩ

series1 1ron orp.

DriverP

series1 11ron orp.

fromPL I/ output

toPL I/ input

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

DriverP

ND 24D 24

Power supply

NDD

Power supply

limit sensor


limit sensor





24 power supply for output

mergency stop input


limit over input

limit over input

power supplyfor pulse output


2

onnection et een S and D D1 itsu ishi lectric orp.

oteRelated page



Process of shield wire varies with equipment. 50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7kΩ

300Ω

15

16

17

18

9

10

13

14

12

11

6

7

3

1

24.7kΩ

4.7kΩ

4.3kΩ

seriesD D1itsu ishi lectric orp.

fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

DriverP

limit sensor


limit sensor



ero point signal

Deviation counter clear

ommon

Pro imity signal

pper limit

Lower limit

Drive unit ready


29

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

entoteRelated page



onnection et een S and e ence orp.

50

3

4

5

6

23

24

13,25

7

30

29

27

31

9

8

35

34

37

36

39

38

41

FG

PULS1

PULS2

SIGN1

SIGN2

OZ＋

OZ－

GND

COM＋

CL

SRV-ON

GAIN

A-CLR

POT

NOT

S-RDY＋

S-RDY－

ALM＋

ALM－

INP＋

INP－

COM－

220Ω

220Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

4.7Ω

rigin sensor input

a is limit switch

a is limit switch

a is

s is deviation counter clear

a is

1

3

4

14

15

16

19

26

36

40

2kΩ

2kΩ

4.3kΩ

4.3kΩ

4.3kΩ

1.2kΩ

seriese ence orp.

fromPL I/ output

toPL I/ input

ND 24D 24

Power supply

ommand pulseinput 2

ounter clear input

Servo N input

Servo Ready output

Servo Alarm output


Alarm clear input



phase output

ommand sign input 2

ain switching input

DriverP

limit sensor


limit sensor



0

. nputs and outputs on connectoronnection nterface ircuit nput

nput ircuit

S onnection to se uence input signals Relatedcontrol mode P S

• Connect to contacts of switches and relays, or open collector output transistors.• When you use contact inputs, use the switches and relays for micro current to avoid contact

failure.• Make the lower limit voltage of the power supply (12 to 24V) as 11.4V or more in order to

secure the primary current for photo couplers.

P 1 onnection to se uence input signals Pulse train interface Relatedcontrol mode P S

(1) Line driver I/F (Input pulse frequency : max. 500kpps) • This signal transmission method has better noise immunity. We recommend this to secure the signal transmission.

(2) Open collector I/F (Input pulse frequency : max. 200kpps) • The method which uses an external control signal power supply (VDC) • Current regulating resistor (R) corresponding to VDC is required in this case. • Connect the speci�ed resister as below. • (R) should be placed close to the driver for effective noise reduction.

(3) Open collector I/F (Input pulse frequency : max. 200kpps) • Connecting diagram when a current regulating resistor is not used with 24V power supply.

12 to 24 7 M 4. �

SR N etc.

Relay

7 M 4. �Relay

SR N etc.

D

12 24

Specifications1 �1/22 �1/2

D 1.R 220

.. 10mA

(1)

(2)

( )

P LS1

4 P LS2

220�

D

R

SI N1

SI N2

220�

2.2 �

2.2 �

R

1 P 1

4 P LS2

220�

24 D

2 P 1

SI N2

220�

2.2 �

2.2 �

2.2 �

2.2 �

1 P 1

4 P LS2

220�2 P 1

SI N2

220�

2.2 �

2.2 �

2.2 �

2.2 �

1 1

1

Max.input voltage :

DC24V, Rated current : 10mA

represents twisted pair.

1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent


P 2 onnection to se uence input signalsPulse train interface e clusive to line driver

Relatedcontrol mode P S

Line driver I/F (Input pulse frequency : max. 4Mpps)• This signal transmission method has better noise immunity. We recommend this to secure the signal transmission when line driver I/F is used.

nalog co and input Relatedcontrol mode P S

• The analog command input goes through 3 routes, SPR (Pin-14), P-ATL (Pin-16) and N-ATL (Pin 1 ).

• Max. permissible input voltage to each input is ±10V. For input impedance of each input, refer to the right Fig. • When you compose a simple command circuit using variable resistor(VR) and register R,

connect as the right Fig. shows. When the variable range of each input is made as –10V to +10V, use VR with 2kW, B-characteristics, 1/2W or larger, R with 200W, 1/2W or

larger.• A/D converter resolution of each command input is as follows. (1)ADC1 : 16 bit (SPR/TRQR) (2)ADC2 : 12 bit (P-ATL and N-ATL)

44

4

1

4

4

20 �2 �

2 � 20 �

120�P LS

SI N20 �2 �

2 � 20 �

120�

＋12 SPR

P A L

N A L

R 14

1

1

1

1

R

R

12

14 �

10 �

20 � 20 �＋�

14 �

10 �

20 � 20 �＋�

4 �

4 � 4 �

4 �

20 �

20 �

＋�


. nputs and outputs on connectornterface ircuit nput

2

. nputs and outputs on connectoronnection nterface ircuit utput

utput ircuit

S 1 S 2 Se uence output circuit Relatedcontrol mode P S

• 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, V (SAT) of approx. 1V at transistor-ON, due to the Darlington connection of the output or. Note that normal TTL IC cannot be directly connected since it does not meet IL.

• There are two types of output, one which emitter side of the output transistor is independent and is connectable individually, and the one which is common to – side of the control power supply ( M ).

• If a recommended primary current value of the photo-coupler is 10mA, decide the resistor value using the formula of the right Fig.

P 1 ine driver Differential output output Relatedcontrol mode P S

• Feeds out the divided encoder outputs (A, B and Z-phase) in differential through each line driver.

• At the host side, receive these in line receiver. Install a terminal resistor (approx. 330�) (�gure below (1))between line receiver inputs without fail.

hese outputs are not insulated.

Install toward the direction as the fig. shows without fail.

D

S 1ALM etc.

ALM etc.

M41

SP LS 2

Ma . rating 0 0mA

R �D 2.

10

12 to 24

AM2 LS 2 or equivalentAM2 LS 1 or

equivalent

A22

21AA

4

2

2ND

24

49

onnect signal ground of the host and the driver without fail.

(1)


1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

P 2 pen collector output Relatedcontrol mode P S

• Feeds out the Z-phase signal among the encoder signals in open collector. This output is not insulated.

• Receive this output with high-speed photo couplers at the host side, since the pulse width of the Z-phase signal is narrow.

nalog onitor output Relatedcontrol mode P S

• There are two outputs, the speed monitor signal output (SP) and the torque monitor signal output (IM)

• Output signal width is ±10V.• The output impedance is 1k�. Pay an attention to the input impedance of the measuring instrument or the e ternal circuit to be connected.Resolution

(1)Speed monitor output (SP) With a setup of 6V/3000r/min, the resolution converted to speed is 8r/min/16mV.(2) orque monitor output (IM) With a relation of 3V/rated torque (100%), the resolution converted to torque is

0.4%/12mV.

19

2

Ma . rating 00mA

ND

igh speed photo coupler ( LP 4 by oshiba or equivalent) represents twisted pair.

4 1k�

1k�

SP

IM42

ND1

Measuringinstrument

ore ternalcircuit

. nputs and outputs on connectornterface ircuit utput

4

. nputs and outputs on connectoronnection nput Signal and Pin o.

nput Signals co on and heir unctions

PinNo.

itle of signal Po er suppl for control signal Related

control mode P S

Symbol I/F circuit

• Connect + of the external DC power supply (12 to 24V).• Use the power supply voltage of 12V ± 5% – 24V ± 5%

PinNo. 1

itle of signal Po er suppl for control signal Related

control mode P S

Symbol � @D I/F circuit

• Connect – of the external DC power supply (12 to 24V).• The power capacity varies depending on a composition of I/O circuit. 0.5A or more is

recommended.

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. nputs and outputs on connectornput Signal and Pin o.

nput Signals Pulse rain and heir unctions

You can select appropriate interface out of two kinds, depending on the command pulse speci�cations.

Pulse train interface e clusive for line driver

PinNo.

itle of signal o and pulse input 1 Related

control mode P S

SymbolPin No.44: PU S 1Pin No.45: PU S 2

I/F circuit PI2 1 page

PinNo.

itle of signal o and pulse sign input 1 Related

control mode P S

SymbolPin No.46: S 2Pin No.47: S 2


• Input terminal for position command pulse. You can select by setting up Pr0.05 (Selection of command pulse input) to 1.

• This input becomes invalid at such control mode as velocity control or torque control, where no position command is required.Permissible ma . input frequency is 4Mpps.

• You can select up to 6 command pulse input formats with Pr0.06 (Setup of command pulse rotational direction) and Pr0.0 (Setup of command pulse input mode).

For details, refer to the table next page, "Command pulse input format".

Pulse train interface supports oth line driver and open collector

PinNo.

1itle of

signal o and pulse input 2 Relatedcontrol mode P S

SymbolPin No.1: P 1Pin No.3: PU S1Pin No.4: PU S2


PinNo.

2itle of

signal o and pulse sign input 2 Relatedcontrol mode P S

SymbolPin No.2: P 1Pin No.5: S 1Pin No.6: S 2


• Input terminal for the position command. You can select by setting up Pr0.05 (Selection of command pulse input) to 0.

• This input becomes invalid at such control mode as the velocity control or torque control, where no position command is required.

• Permissible max. input frequency is 500kpps at line driver input and 200kpps at open collector input.

• You can select up to 6 command pulse input formats with Pr0.06 (Setup of command pulse rotational direction) and Pr0.0 (Setup of command pulse input mode).

For details, refer to the table next page, "Command pulse input format".

Related page • P.3-30 “Inputs and outputs on connector X4”• P.4-4 “Details of parameter”

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

t1A phase

phase

t1 t1 t1

t1 t1t1 t1

t2 t2

t2

t

t2

t4

Ltt4

t t t t

t

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

t1A phase

phase

t1t1 t1

t1 t1 t1 t1

t2 t2

t2

t

t2

t4

Ltt4

t t t t

t

Line driver interfacepen collector interface

Pulse train interface e clusive to line driver

Pulse train interface

nput of PU S S signal Per issi le a . input fre uenc

4Mpps00 pps

200 pps

t10.25

2

@��!� ��+E,t2

0.125

12.5

t0.125

12.5

t40.125

12.5

t0.125

12.5

t0.125

12.5

Per issi le a . input fre uenc and in. necessar ti e idth of co and pulse input signal.

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

Pr . setup valueo and pulse

rotationaldirection setup ,

Pr . setup valueo and pulseinput ode

setup , Signaltitle

Positive directionco and

egative directionco and

o andpulse for at

0 or 2

1

0 or 2

1 1

P LSSI N

P LSSI N

P LSSI N

P LSSI N

P LSSI N

P LSSI N

90� phasedifference

2 phase pulse(A phase)

Positive directionpulse train

Negative directionpulse train

pulse train

Signal





pulse train

Signal

nput for at co and pulse

P LS and SIGN represents the outputs of pulse train in put circuit. Refer to the fig. of P.3-30, "Input Circuit".• In case of negative direction pulse train + positive direction pulse train and pulse train + sign, pulse train will

be cap tured at the rising edge.• In case of 2-phase pulse, pulse train will be captured at each edge.


Related page • P.4-7 “Details of Parameter”

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ontrol nput

Control signal having the desired function can be applied to any input pin of I/F connector. The logic can be changed.

Default assign ent

Applicableparameter

Default parameter

setting( ): decimal

notation

Default SetupPosition/ Full-closed control erocity control orque control

Signal Logic *1 Signal Logic *1 Signal Logic *1

PinNo.

itle of signal S 1 input

Pr4.00 00 2 2 2h( 090) NOT b contact NOT b contact NOT b contact

Symbol S 1

PinNo.


Pr4.01 00 1 1 1h( 4 29 ) P b contact P b contact P b contact

Symbol S 2

PinNo. 2

itle of signal S input

Pr4.02 009191 Ah(9 9 0) S S L1 b contact ZEROSPD b contact ZEROSPD b contact

Symbol S

PinNo. 2


Pr4.0 000 0 0 h( 94 ) GAIN a contact GAIN a contact GAIN a contact

Symbol S

PinNo. 2


Pr4.04 0000100 h(410 ) DIV1 b contact INTSPD3 b contact

Symbol S

PinNo. 2


Pr4.0 000 0 0 h(19 9) SRV-ON a contact SRV-ON a contact SRV-ON a contact

Symbol S

PinNo.


Pr4.0 00000f0 h( 4 ) L a contact INTSPD2 a contact

Symbol S

PinNo. 1


Pr4.0 00040404h(2 1 2) A LR a contact A LR a contact A LR a contact

Symbol S

PinNo. 2


Pr4.0 000 0 0 h( 2 9 ) C-MODE a contact C-MODE a contact C-MODE a contact

Symbol S

PinNo.


Pr4.09 00000 h( 20) INH b contact INTSPD1 b contact

Symbol S 1

ote

• The function depends on parameter setup. Refer to P.4-32, 4-33. Refer to the next section “Function assignable to general purpose input”.

*1 Operation of a-contact and b-contact:

a-contact: Input signal disconnected from COM– function disabled (OFF state) Input signal connected to COM– function enabled (ON state) b-contact: Input signal disconnected from COM– function enabled (ON state) Input signal connected to COM function disabled (OFF state)[—]: No function assigned


unction allocata le to control input

itle of signal Servo input Related

control mode P S

Symbol SR Default assignment S I/F circuit SI 0 page

• This signal turns on/off the servo (motor).

itle of signal Positive direction over travel inhi ition input Related

control mode P S

Symbol P Default assignment S 2 I/F circuit SI 0 page

• Positive direction over-travel inhibit input.

• The operation with this input turned ON is set up in Pr5.04 “Setup of over-travel inhibit

input”.

• When using this input, set Pr5.04 “Setup of over-travel inhibit input” to a value other than 1

so that the input is ON when the moving portion of the machine exceeds this signal range

toward positive direction.

itle of signal egative direction over travel inhi ition input Related

control mode P S

Symbol Default assignment S 1 I/F circuit SI 0 page

• Negative direction over-travel inhibit input.

• The operation with this input turned ON is set up in Pr5.04 “Setup of over-travel inhibit

input”.

• When using this function, set Pr5.04 “Setup of over-travel inhibit input” to a value other than

1 so that the input is ON when the moving portion of the machine exceeds this signal range

toward negative direction.

itle of signal Deviation counter clear input Related

control mode P S

Symbol Default assignment S I/F circuit SI 0 page

aution

• Clears the positional deviation counter.

• Default setup clears the counter at the rising edge of the clear input, To change the setup,

modify it in the Pr5.17 “Counter clear input mode”.

Signal idth and clear ti ing

Pr .1 signal idth Deviation clear ti ing1 500 �s or more Continually clear the counter while the deviation counter

clear input is ON. 12 1 ms or more100 �s or more Only once clear the counter at OFF to ON edge of the

deviation counter clear input signal. 14 1 ms or more

*1 Deviation counter clear input ON/OFF = input photocoupler ON/OFF

This function can be assigned to only SI7. Allocation of this function to any other pin will cause an error.

Related page • P.4-42 “Details of Parameter”

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itle of signal lar clear input Related

control mode P S

Symbol R Default assignment S I/F circuit SI 0 page

lears the alarm condition.his input cannot clear some alarms.

• For details, refer to P.6-3 When in Trouble “Protective function”, P.2-63 “(8) Alarm Display”

and P.7-25 “Display of Battery Alarm”.

itle of signal o and pulse inhi ition input Related

control mode P S

Symbol Default assignment S 1 I/F circuit SI 0 page

aution

• Ignores the positional command pulse.• When using this feature, set Pr5.18 “Invalidation of command pulse inhibition input” to 0.

This function can be assigned to only SI10. Allocation of this function to any other pin will cause an error.

itle of signal ontrol ode s itching input Related

control mode P S

Symbol D Default assignment S I/F circuit SI 0 page

aution

Selects a control mode.

This signal is required in all control modes. No setting will cause an error.

itle of signal lectronic gear division ultiplication s itching input 1 Related

control mode P S

Symbol D 1 Default assignment S I/F circuit SI 0 page

itle of signal lectronic gear division ultiplication s itching input 2 Related

control mode P S

Symbol D 2 Default assignment I/F circuit SI 0 page

• Up to 4 numerators can be used for command dividing/multiplying by using DIV1 and DIV2.

D 1 and D 2 vs nu erator deno inator of selected co and dividing ultipl ing process

D 1 D 2Selected co and dividing ultipl ing process

u erator Deno inatorPr0.09 Pr0.10

ON Pr .00 Pr0.10ON Pr .01 Pr0.10

ON ON Pr .02 Pr0.10

itle of signal Da ping control s itching input 1 Related

control mode P S

Symbol S S 1 Default assignment S I/F circuit SI 0 page

itle of signal Da ping control s itching input 2 Related

control mode P S

Symbol S S 2 Default assignment I/F circuit SI 0 page

ote

• Selects applicable frequency for damping control.

Combination of damping control input changeover 1 and 2 (VS-SEL1, VS-SEL2) enables

select of ma . 4 options.

Also refer to P.4-21 “Pr2.13 [Damping �lter switching selection]”.


40


itle of signal ain s itching input Related

control mode P S

Symbol Default assignment S I/F circuit SI 0 page

• Select 1st or 2nd gain.

itle of signal or ue li it s itching input Related

control mode P S

Symbol S Default assignment I/F circuit SI 0 page

Select 1st or 2nd torque limit.

Pr .21or ue li it

s itching inputS

or ue li its itching setup

Pr .2 Pr .2

Positive directionor ue li it

egative directionor ue li it

0 Analog input *1

1 Pr0.1

2 Pr0.1 Pr .22

alidPr0.1

ON Pr .22

4Analog input *1

Pr0.1 Pr .22

ON Pr .2 Pr .2

*1 To specify the torque limit value by an analog input, refer to Pr5.21 “Analog torque limit

function”.

Setup of rate of change after tor ue li it s itchoverWhen applying Pr5.21 “Torque limit selection” = 3, changing rate of torque (slope) after

selecting new torque limit can be changed.

When changing from the 1st torque limit to 2nd torque limit, the changing rate (slope) set at

Pr5.23 “Torque limit selection setup 1” is applied; after changing from the 2nd torque limit

to 1st torque limit, the changing rate (slope) set at Pr5.24 “Torque limit selection setup 2” is

applied. The sign of the changing rate is automatically selected by the driver according to the

difference in value between the 1st and 2nd torque limit.

If Pr5.23 “Torque limit selection setup 1” and Pr5.24 “Torque limit selection setup 2” are set to 0,

switchover is instantaneous.

aution

orque limit selection setup 1 (Pr .2 )

orque limit selection setup 2 (Pr .24)

orque limit selection input( L S L)

1st torque limit (Pr0.1 )

2nd torque limit (Pr .22)

When the 1st torque limit (Pr0.13) and 2nd torque limit (Pr5.22) are changed from the front

panel or through communication, the changing rate setup is ignored and the new torque limit

value is immediately and directly applied. That is, changing rate setting is effective only when

the selection is made by using the torque limit select input (TL-SEL).

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itle of signal Selection 1 input of internal co and speed Related

control mode P S

Symbol SPD1 Default assignment S 1 I/F circuit SI 0 page

itle of signal Selection 2 input of internal co and speed Related

control mode P S

Symbol SPD2 Default assignment S I/F circuit SI 0 page

itle of signal Selection input of internal co and speed Related

control mode P S

Symbol SPD Default assignment S I/F circuit SI 0 page

Select one of internal command speeds.Relationship et een Pr . S itching et een internal and e ternal speed setup

and internal co and speed selection 1 and the speed co and selected .

Pr .Selection 1 of

internal co andspeed SPD1

Selection 2 ofinternal co andspeed SPD2

Selection ofinternal co andspeed SPD

Selection ofspeed co and

1 No effect

1st speed

ON 2nd speed

ON rd speed

ON ON 4th speed

2 No effect

1st speed

ON 2nd speed

ON rd speed

ON ON Analog speed command

The same as Pr3.00=1 1st to 4th speed

ON th speed

ON ON th speed

ON ON th speed

ON ON ON th speed

itle of signal Speed ero cla p input Related

control mode P S

Symbol R SPD Default assignment S I/F circuit SI 0 page

Set the speed command to 0.• When using, set Pr3.15 “Speed zero clamp function selection” to a value other than 0.

itle of signal Speed co and sign input Related

control mode P S


• Specify the sign of speed command input at velocity control.

Refer to P.4-24 “Pr3.01 Speed command rotational direction selection”

itle of signal or ue co and sign input Related

control mode P S


• Specify the sign of torque command input at torque control.

ON Negative direction

Positive direction

Refer to P.4-28 “Pr3.18 Torque command direction selection”

42

itle of signal orced alar input Related

control mode P S

Symbol S P Default assignment I/F circuit SI 0 page

• Generates Err87.0 “Forced alarm input error”.

itle of signal nertia ratio s itching input Related

control mode P S


• Selects 1st inertia ratio or 2nd inertia ratio according to the inertia ratio select input (J-SEL).

nertia ratio s itchinginput S

pplica le inertia ratio

1st Inertia ratio (Pr0.04)

ON 2nd Inertia ratio (Pr .12)

Refer to P.4-52 “Pr6.10 Function expansion setup”

nput Signals nalog o and and heir unctions

PinNo. 1

itle of signal Positive direction or ue li it input Related

control mode P S

Symbol P I/F circuit AI 1 page

PinNo. 1

itle of signal egative direction or ue li it input Related

control mode P S

Symbol I/F circuit AI 1 page

• Specify the torque limit for each direction value by the analog voltage.

Pr .21Positive directionor ue li it input

P

egative directionor ue li it input Positive direction

or ue li itegative direction

or ue li it

0 0 to 10 �10 to 0V P A L N-ATL

1

Set up through parameter. *12

4 0 to 10 0 to 10 P A L N-ATL

0 to 10 No effect P A L

Setup by parameter *1

*1 When specifying the torque limit value through the parameter, refer to P.4-47 “Torque

limit select function”


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PinNo. 1

itle of signal Speed co and input Related

control mode P S

Symbol SPR I/F circuit AI 1 page

• Input the speed command in the form of analog voltage.• The table below shows relationship between the combination of Pr3.00 “Switching between

internal and external speed setup”, Pr3.01 “Speed command direction selection”, Pr3.03 “Speed command input inversion”, analog speed command (SPR) of I/F connector and speed command sign selection (VC-SIGN) and the motor rotational direction; and the conversion graph of analog speed command input voltage to the speed command.

Pr . Pr . 1 Pr . Speed co and inputSPR

Speed co andsign selection

S

otorrotationaldirection

0

0

0Voltage (0 to 10 ) No effect Positive

direction

�Voltage (�10 to 0V) No effect Negative direction

1Voltage (0 to 10 ) No effect Negative

direction

�Voltage (�10 to 0V) No effect Positive direction

1 No effect

Voltage (0 to 10 ) Positive direction�Voltage (�10 to 0V)

Voltage (0 to 10 )ON Negative

direction�Voltage (�10 to 0V)

PinNo.

11

itle of signal or ue co and input Related

control mode P S

Symbol R R I/F circuit AI 1 page

Input the torque command in the form of analog voltage.

When Pr3.19 “Torque command selection” = 0, pin No.14

When Pr3.19 “Torque command selection” = 1, pin No.16

Pr .1 Pr .1 Pr .2 or ue co and inputR R

or ue co andsign selection

S

otorrotationaldirection

0

0

0Voltage (0 to 10 ) No effect Positive

direction

�Voltage (�10 to 0V) No effect Negative direction

1Voltage (0 to 10 ) No effect Negative

direction

�Voltage (�10 to 0V) No effect Positive direction

1 No effect

Voltage (0 to 10 ) Positive direction�Voltage (�10 to 0V)

Voltage (0 to 10 )ON Negative

direction�Voltage (�10 to 0V)

PinNo. 1

itle of signal Speed li it input Related

control mode P S

Symbol SP I/F circuit AI 1 page

• When setting Pr3.17 “Torque command selection” to 1, input the speed limit value in the

form of analog voltage.


44

utput Signals o on and heir unctions

Control output signal of desired function can be assigned to I/F connector. Logic of the output

pin cannot be changed.

Applicableparameter

Default parameter

setting( ): decimal

notation

Default SetupPosition/ Full-closed control erocity control orque control

Signal Signal Signal

PinNo.

111

itle of signal S 1 output

Pr4.10000 0 0 h(19 9)

R R RSymbol

Pin No.10: 0 7DPin No.11: S 1

PinNo.

itle of signal S 2 output

Pr4.1100020202h(1 1 )

S-RDY S-RDY S-RDYSymbol

Pin No.34: 0 1DPin No.35: S 2

PinNo.

itle of signal S output *1

Pr4.1200010101h

( 9 )ALM ALM ALM

SymbolPin No.36: 0 (DPin No.37: S

PinNo.

itle of signal S output

Pr4.1000 0 04h( 2 9 4)

INP AT-SPEED AT-SPEEDSymbol

Pin No.38: 0 9DPin No.39: S

PinNo. 12


Pr4.14000 0 0 h(4 0 1)

ZSP ZSP ZSPSymbol S

PinNo.


Pr4.1000 0 0 h( 94 )

L L LSymbol S

ote

• The function is changed by the setting of parameter.

See “Functions assignable to control output” as shown below.

1 i ed ALM output.[—]: No function assigned

unction allocata le to control input

itle of signal Servo lar output Related

control mode P S

Symbol Default assignment S I/F circuit S 1 2 page

• This signal shows that the driver is in alarm status..

• Output transistor turns ON when the driver is at normal status, and turns OFF at alarm status.

itle of signal Servo Read output Related

control mode P S

Symbol S RD Default assignment S 2 I/F circuit S 1 2 page

• This signal shows that the driver is ready to be activated.

• Output transistor turns ON when both control and main power are ON but not at alarm status.

When in the absolute mode and absolute I/F function is enabled, turns on the output

transistor upon completion of the absolute data transfer provided that the conditions shown

above are met.

. nputs and outputs on connectoronnection utput Signal and Pin o.

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. nputs and outputs on connectorutput Signal and Pin o.

itle of signal ternal ra e release signal Related

control mode P S

Symbol BR Default assignment S 1 I/F circuit S 1 2 page

• Feeds out the timing signal which activates the electromagnetic brake of the motor.

• Turns the output transistor ON at the release timing of the electro-magnetic brake.

itle of signal Positioning co plete Related

control mode P S

Symbol P Default assignment S I/F circuit S 1 2 page

itle of signal Positioning co plete 2 Related

control mode P S

Symbol P2 Default assignment I/F circuit S 1 2 page

• Outputs the positioning complete signal/positioning complete signal 2.

• Turns ON the output transistor upon completion of positioning.

itle of signal Speed arrival output Related

control mode P S

Symbol SPP D Default assignment S I/F circuit S 1 2 page

• Outputs thespeed arrival signal.

• Turns ON the output transistor upon arrive of speed.

itle of signal or ue in li it signal output Related

control mode P S

Symbol Default assignment S I/F circuit S 2 2 page

• Outputs thetorque in-limit signal.

• Turns ON the output transistor upon limit of torque.

itle of signal ero speed detection output signal Related

control mode P S

Symbol SP Default assignment S I/F circuit S 2 2 page

• Outputs the zero-speed detection signal.

• Turns ON the output transistor upon detection of Zero-speed.

itle of signal Speed coincidence output Related

control mode P S

Symbol Default assignment I/F circuit S 1 2 page

• Outputs the speed coincidence signal.

• Turns ON the output transistor upon coincidence of speed.

itle of signal lar output 1 Related

control mode P S

Symbol R 1 Default assignment I/F circuit S 1 2 page

• Outputs the warning output signal set to Pr4.40 “Warning output select 1”.

• Turns ON the output transistor upon occurrence of warning condition.

4


itle of signal lar output 2 Related

control mode P S

Symbol R 2 Default assignment I/F circuit S 1 2 page

• Outputs the warning output signal set to Pr4.41 “Warning output select 2”.

• Turns ON the output transistor upon occurrence of warning condition.

Selection of alar 1 output and 2 output

laro.

lar ontent Pr .2 *1 Pr .Pr . 1 *2

Pr .orresponding

itA0 Overload protection Load factor is 85% or more the protection level. 1 bit

A1 Over-regeneration alarm

Regenerative load factor is 85% or more the protection level.

2 bit

A2 attery alarm Battery voltage is 3.2 V or lower.i ed at no time limit. bit0

A an alarm an has stopped for 1 sec. 4 bit

A4 ncodercommunication alarm

The number of successive encoder communication errors exceeds the speci�ed value.

bit4

A Encoder overheat alarm The encoder detects overheat alarm. bit

A scillation detection alarm Oscillation or vibration is detected. bit9

A Lifetime detection alarm

he life e pectancy of capacity or fan becomes shorter than the speci�ed time.

i ed at no time limit. bit2

A ternal scale error alarm The feedback scale detects the alarm. 9 bit

A9 ternal scale communication alarm

The number of successive feedback scale communication errors exceeds the speci�ed value.

10 bit10

*1 The “circle” means that a time in the range 1 to 10s or no time limit can be selected through Pr6.27 “Warning latching time”. Note that the battery warning and the end of life warning have no time limit.

*2 Select the warning output signal 1 (WARN1) or warning output signal 2 (WARN2) through Pr4.40 “Warning output select 1” or Pr4.41 “Warning output select 2”. When the set value is 0, all warnings are ORed before being output. Do not set to any value other than those specified in the table above.

*3 A warning detection can be masked by Pr6.38 “Warning mask setup” Corresponding bits are shown in the table. Warning is masked with bit = 1.

itle of signal Positional co and output Related

control mode P S

Symbol P D Default assignment I/F circuit S 1 2 page

• Turns on output transistor with positional command applied.

itle of signal Speed in li it output Related

control mode P S

Symbol Default assignment I/F circuit S 1 2 page

• Turns on output transistor when the speed is limited by torque controlling function.

itle of signal lar attri ute output Related

control mode P S

Symbol B Default assignment I/F circuit S 1 2 page

• Turns on output transistor when an alarm that can be cleared generates.

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itle of signal Speed co and output Related

control mode P S

Symbol D Default assignment I/F circuit S 1 2 page

• Turns on output transistor when the speed command is applied while the speed is

controlled.

utput Signals Pulse rain and heir unctions

PinNo.

2122

itle of signal phase output Related

control mode P S

SymbolPin No.21: Pin No.22:

I/F circuit P 1 2 page

PinNo.

itle of signal B phase output Related

control mode P S

SymbolPin No.48: BPin No.49: B


PinNo.

22


control mode P S

SymbolPin No.23: Pin No.24:


• Feeds out the divided encoder signal or feedback scale signal (A, B, Z-phase) in differential. (equivalent to RS422)

• Ground for line driver of output circuit is connected to signal ground (GND) and is not insulated.Ma . output frequency is 4Mpps (after quadrupled)

PinNo. 1


control mode P S

Symbol I/F circuit P 1 2 page

• Open collector output of Z-phase signal• The emitter side of the transistor of the output circuit is connected to the signal ground (GND)

and is not insulated.

ote hen the output source is the encoder

If the encoder resolution Pr0.11Pr .0 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.

A

synchroni ed

A

not synchroni ed

Pr0.11Pr .0

when the encoder resolution ismultiple of 4

Pr0.11Pr .0

when the encoder resolution isnot multiple of 4

• In case of the 5-wire, 20-bit incremental encoder, the signal sequence might not follow the above �g. until the �rst 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.

4

utput Signals nalog and heir unctions

PinNo. 2

itle of signal or ue onitor output Related

control mode P S

Symbol I/F circuit A page

• De�nition of the output signal varies with the output of Pr4.18 (analog monitor 2 type).

• The output signal is identical to the analog monitor 2 on the front monitor.

PinNo.

itle of signal Speed onitor output Related

control mode P S

Symbol SP I/F circuit A page

• De�nition of the output signal varies with the output of Pr4.16 (analog monitor 1 type).

• The output signal is identical to the analog monitor 1 on the front monitor.


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utput Signals thers and heir unctions

PinNo.

1 11 2

itle of signal Signal ground Related

control mode P S

Symbol D I/F circuit

• Signal ground• This output is insulated from the control signal power (COM–) inside of the driver.

PinNo.

itle of signal ra e ground Related

control mode P S

Symbol I/F circuit

• This output is connected to the earth terminal inside of the driver.

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. Setup

. Details of para eterList of Parameters .......................................................................................4 2

lass 0 asic setting ...............................................................................4 4

lass 1 ain ad ustment ........................................................................4 12

lass 2 Damping control ........................................................................4 19

lass erocity/ orque/ ull closed control .........................................4 24

lass 4 I/ monitor setting .....................................................................4 2

lass nhancing setting .....................................................................4 42

lass Special setting ..........................................................................4 1

2. rial Run runInspection efore rial Run ......................................................................4

rial Run by onnecting the onnector N 4 .......................................4

Setup of Motor Rotational Speed and Input Pulse requency .................4 2

4 2

1. Details of para eterSetup ist of Para eters

ote De�nition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control, F: full closed control

Related ontrol ode Para etr o.itle Detail

pageP S lass o.

P S

lass 0

asic setting

00 Rotational direction setup4 4

P S 01 ontrol mode setupP S 02 Real time auto gain tuning setup

4P S 0 Selection of machine stiffness at real

time auto gain tuningP S 04 Inertia ratio

4P S 0 Selection of command pulse input

P S 0 ommand pulse rotational direction setup 4

P S 0 ommand pulse input mode setup

P S 0 ommand pulse counts per one motor revolution

4P S 09 1st numerator of electronic gearP S 10 Denominator of electronic gear

P S 11 utput pulse counts per one motor revolution

4 9

P S 12 Reversal of pulse output logic

4 10P S 1 1st torque limitP S 14 Position deviation excess setupP S 1 Absolute encoder setupP S 1 External regenerative resistor setup

4 11P S 1 Load factor of external regenerative

resistor selectionP S

lass 1

ain adustm

ent

00 1st gain of position loop

4 12

P S 01 1st gain of velocity loop

P S 02 1st time constant of velocity loop integration

P S 0 1st �lter of speed detectionP S 04 1st time constant of torque �lterP S 0 2nd gain of position loop

4 1

P S 0 2nd gain of velocity loop

P S 0 2nd time constant of velocity loop integration

P S 0 2nd �lter of speed detectionP S 09 2nd time constant of torque �lterP S 10 elocity feed forward gainP S 11 Velocity feed forward �lterP S 12 orque feed forward gain

4 14P S 1 Torque feed forward �lterP S 14 2nd gain setupP S 1 Mode of position control switching 4 1

P S 1 Delay time of position control switching

4 1P S 1 Level of position control switchingP S 1 ysteresis at position control switchingP S 19 Position gain switching timeP S 20 Mode of velocity control switching

4 1P S 21 Delay time of velocity control switchingP S 22 Level of velocity control switchingP S 2 Hysteresis at velocity control switchingP S 24 Mode of torque control switching

4 1P S 2 Delay time of torque control switchingP S 2 Level of torque control switchingP S 2 ysteresis at torque control switchingP S

lass 2

00 Adaptive �lter mode setup

4 19

P S 01 1st notch frequencyP S 02 1st notch width selectionP S 0 1st notch depth selectionP S 04 2nd notch frequency


pageP S lass o.

P S

lass 2 D

amping control

0 2nd notch width selection

4 20

P S 0 2nd notch depth selectionP S 0 rd notch frequencyP S 0 rd notch width selectionP S 09 rd notch depth selectionP S 10 4th notch frequencyP S 11 4th notch width selection

4 21P S 12 4th notch depth selectionP S 1 Selection of damping �lter switchingP S 14 1st damping frequency

4 22

P S 1 1st damping �lter setupP S 1 2nd damping frequencyP S 1 2nd damping �lter setupP S 1 rd damping frequencyP S 19 3rd damping �lter setupP S 20 4th damping frequencyP S 21 4th damping �lter setupP S 22 Positional command smoothing �lter

4 2P S 2 Positional command FIR �lter

P S

lass

erocity/ orque/

ullclosed control

00 Speed setup, Internal/External switching

4 24P S 01 Speed command rotational direction

selectionP S 02 Input gain of speed command

4 2P S 0 Reversal of speed command inputP S 04 1st speed of speed setup

4 2

P S 0 2nd speed of speed setupP S 0 rd speed of speed setupP S 0 4th speed of speed setupP S 0 th speed of speed setupP S 09 th speed of speed setupP S 10 th speed of speed setupP S 11 th speed of speed setupP S 12 Acceleration time setupP S 1 Deceleration time setup

P S 14 Sigmoid acceleration/ deceleration time setup

4 2P S 1 Speed ero clamp function selectionP S 1 Speed zero clamp levelP S 1 Selection of torque command

4 2P S 1 orque command direction selectionP S 19 Input gain of torque commandP S 20 Input reversal of torque commandP S 21 Speed limit value 1

4 29P S 22 Speed limit value 2P S 2 External scale selectionP S 24 Numerator of external scale division

4 0P S 2 Denominator of external scale divisionP S 2 Reversal of direction of external scale

P S 2 External scale Z phase disconnection detection disable

P S 2 Hybrid deviation excess setup4 1

P S 29 Hybrid deviation clear setup

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pageP S lass o.

P S

lass 4 I/

monitor setting

00 SI1 input selection 4 2

P S 01 SI2 input selection

4

P S 02 SI input selectionP S 0 SI4 input selectionP S 04 SI input selectionP S 0 SI input selectionP S 0 SI input selectionP S 0 SI input selectionP S 0 SI9 input selectionP S 09 SI10 input selectionP S 10 S 1 output selection

4 4

P S 11 S 2 output selectionP S 12 S output selectionP S 1 S 4 output selectionP S 14 S output selectionP S 1 S output selectionP S 1 ype of analog monitor 1

4

P S 1 Analog monitor 1 output gainP S 1 ype of analog monitor 2P S 19 Analog monitor 2 output gainP S 20 ype of digital monitorP S 21 Analog monitor output setup

4

P S 22 Analog input 1 (AI1) offset setupP S 2 Analog input 1 (AI1) �lterP S 24 Analog input 1 (AI1) overvoltage setupP S 2 Analog input 2 (AI2) offset setupP S 2 Analog input 2 (AI2) �lterP S 2 Analog input 2(AI2) overvoltage setupP S 2 Analog input (AI ) offset setup

4

P S 29 Analog input 3 (AI3) �lterP S 0 Analog input 3 (AI3) overvoltage setupP S 1 Positioning complete (In position) range

P S 2 Positioning complete (In position) output setup

P S INP hold time4 9

P S 4 Zero-speedP S Speed coincidence range

4 40P S At-speed (Speed arrival)

P S Mechanical bra e action at stalling setup

4 41P S Mechanical bra e action at running setup

P S 9 ra e release speed setupP S 40 Selection of alarm output 1

4 42P S 41 Selection of alarm output 2P S 42 2nd Positioning complete (In position) rangeP S

lass

nhancing setting

00 2nd numerator of electronic gear

4 4

P S 01 rd numerator of electronic gearP S 02 4th numerator of electronic gearP S 0 Denominator of pulse output divisionP S 04 Over-travel inhibit input setupP S 0 Sequence at over-travel inhibitP S 0 Sequence at Servo-Off

4 44P S 0 Sequence at main power P S 0 L trip selection at main power

4 4P S 09 Detection time of main power offP S 10 Sequence at alarmP S 11 orque setup for emergency stop

4 4P S 12 Over-load level setup


pageP S lass o.

P S

lass

nhancing setting

1 Over-speed level setup

4 4P S 14 Motor wor ing range setupP S 1 I/F reading �lterP S 1 Alarm clear input setupP S 1 ounter clear input mode

4 4P S 1 Invalidation of command pulse inhibit

input

P S 19 ommand pulse inhibit input reading setup

P S 20 Position setup unit selectP S 21 Selection of torque limit

4 4

P S 22 2nd torque limitP S 2 orque limit switching setup 1P S 24 orque limit switching setup 2

P S 2 External input positive direction torque limit

P S 2 External input negative direction torque limit

4 49P S 2 Input gain of analog torque limitP S 2 L D initial statusP S 29 RS2 2 baud rate setupP S 0 RS4 baud rate setup

4 0

P S 1 Axis addressP S 2 Command pulse input maximum setupP S Pulse regenerative output limit setupP S 4 or manufacturer s useP S ront panel loc setup

P S

lass S

pecial setting

00 Analog torque feed forward conversion gain

4 1

P S 02 Velocity deviation excess setupP S 04 trial run command speedP S 0 Position 3rd gain valid timeP S 0 Position rd gain scale factorP S 0 Torque command additional value

P S 0 Positive direction torque compensation value

4 2P S 09 Negative direction torque compensation

valueP S 10 Function expansion setupP S 11 urrent response setupP S 1 2nd Inertia ratioP S 14 mergency stop time at alarm

4

P S 1 2nd over-speed level setupP S 1 ront panel parameter writing selectionP S 1 Power up wait timeP S 19 Encoder Z phase setupP S 20 Z-phase setup of external scale

P S 21 Serial absolute external scale Z phase setup

4 4P S 22 A, B phase external scale pulse output

method selectionP S 2 Disturbance torque compensating gainP S 24 Disturbance observer �lterP S 2 Alarm latch time selectionP S 1 Real time auto tuning estimation speed

4P S 2 Real time auto tuning custom setupP S 4 Hybrid vibration suppression gain

4

P S Hybrid vibration suppression �lterP S Oscillation detection levelP S Alarm mas setupP S 9 or manufacturer s use

1. Details of para eterist of Para eters

4 4

ote

Related page

or para eters hich o. have a suffi of * , changed contents will be validated when you turn on the control power.

• P.3-30... “Inputs and outputs on connector X4”

1. Details of para eterSetup lass Basic setting

Pr . *itle Rotational direction setup Related

control mode P S

Range to 1 nit Default 1

Setup the relationship between the direction of command and direction of motor rotation.0: Motor turns CW in response to positive direction command (CW when viewed from load

side shaft end)1: Motor turns CCW in response to positive direction command (CCW when viewed from load

side shaft end)

Positive direction( )

Default

Negative direction( )

Setupvalue o and direction otor rotational

directionPositive directiondrive inhi it input

egative directiondrive inhi it input

0Positive direction CW alid

Negative direction CCW alid

1Positive direction CCW alid

Negative direction CW alid

Pr . 1 * itle ontrol ode setup Related

control mode P S

Range to nit Default

You can set up the control mode to be used.

Setupvalue

ontent1st ode 2st odePosition

1 elocity2 orque

*1 Position elocity 4 *1 Position orque

*1 elocity orqueull closed

*1) When you set up the combination mode of 3, 4 or you can select either the 1st or the 2nd with control mode switching input ( M D ).

When C-MODE is open, the 1st mode will be selected.

When C-MODE is shorted, the 2nd mode will be selected.Don t enter commands 10ms before/after switching.

1st 2nd

closeopenM D

10ms or longer 10ms or longer

open

1st

The waveform above shows when logical

setting of C-MODE input is a-contact. When

b-contact is used, open and short is reversed.

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1. Details of para eterlass Basic setting

Pr . 2itle Real ti e auto gain tuning setup Related

control mode P S

Range to nit Default 1

You can set up the action mode of the real time auto gain tuning.

Setupvalue ode ar ing degree of load inertia in otion

0 Invalid Real time auto gain tuning function is disabled.

1 Standardasic mode. Do not use unbalanced load friction compensation or

gain switching.

2 Positioning *1

Main application is positioning. It is recommended to use this mode on equipment without unbalanced horizontal axis, ball screw driving

equipment with low friction etc.

Vertical axis *2

With additional features to the positioning mode - use this mode to

positively and effectively compensate for unbalanced load to the

vertical axis or minimize variations in setting time.

4riction

compensation *

With additional features to the vertical axis mode - use this mode to

positively and effectively reduce positioning setting time when the belt

driving axis has high friction.

Load characteristic measurement

stimate the load characteristics without changing current parameter setting. his mode requires use of the setup support software.

ustomi e *4

unctions of real time auto gain tuning can be customi ed to meet the requirements of the speci�c application by combining desired functions

according to the Pr6.32 “Real-time auto-gain tuning custom setting”.

*1 elocity and torque controls are the same as in the standard mode.*2 orque control is the same as in the standard mode.*3 Velocity control is the same as in the vertical axis mode. Torque control is the same as

in the standard mode.*4 Certain function(s) is not available in a speci�c control mode. Refer to description in

Pr . 2.

Pr .itle Selection of achine stiffness at real

ti e auto gain tuningRelated

control mode P S

Range to 1 nit DefaultA frame 1D frame 11

aution

You can set up the response while the real-time auto-gain tuning is valid.

0 1 11 1 0 1

low machine stiffness highlow servo gain high

low response high

Higher the setup value, higher the velocity response and servo stiffness will be obtained. However, when increasing the value, check the resulting operation to avoid oscillation or vibration.

4

Pr .itle nertia ratio Related

control mode P S

Range to 1 nit Default 2 *

aution

Set 1st inertia ratio.You can set up the ratio of the load inertia against the rotor (of the motor) inertia.

Pr0.04 (load inertia/ rotor inertia) 100

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.

If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia ratio of Pr0.04 is larger than the actual, the setup unit of the velocity loop gain becomes larger and when the inertia ratio of Pr0.04 is smaller than the actual the setup unit of the velocity loop gain becomes smaller.

Pr . * itle Selection of co and pulse input Related

control mode P S

Range to 1 nit Default

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

Setup value ontent

Photo coupler input (P LS1 P LS2 SI N1 SI N2)

1 Exclusive input for line driver (PULSH1, PULSH2, SIGNH1, SIGNH2)


ote • 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 �rst then set, referring to P.5-8, "Release of Automatic Gain Adjusting Function" of Ad ustment.

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Pr . * itle o and pulse rotational direction setup Related

control mode P S


Pr . * itle o and pulse input ode setup Related

control mode P S


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

t1A phase

phase

t1 t1 t1

t1 t1t1 t1

t2 t2

t2

t

t2

t4

Ltt4

t t t t

t

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

t1A phase

phase

t1t1 t1

t1 t1 t1 t1

t2 t2

t2

t

t2

t4

Ltt4

t t t t

t

Line driver interfacepen collector interface

Pulse train interface e clusive to line driver

Pulse train interface

nput of PU S S signal Per issi le a . input fre uenc

4Mpps00 pps

200 pps

t10.25

2

@��!� ��+E,t2

0.125

12.5

t0.125

12.5

t40.125

12.5

t0.125

12.5

t0.125

12.5

Per issi le a . input fre uenc and in. necessar ti e idth of co and pulse input signal.

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

The table below shows combinations of Pr0.06 Command pulse rotational direction setup and Pr0.07 Command pulse input mode setup.Pulses are counted at edges indicated by the arrows as shown in the table.

Pr . setup valueo and pulse

rotationaldirection setup ,

Pr . setup valueo and pulseinput ode

setup , Signaltitle

Positive directionco and

egative directionco and

o andpulse for at

0 or 2

1

0 or 2

1 1

P LSSI N

P LSSI N

P LSSI N

P LSSI N

P LSSI N

P LSSI N





pulse train

Signal





pulse train

Signal

nput for at co and pulse

You can set up the rotational direction against the command pulse input and the command pulse input format.


4

Pr . * itle o and pulse counts per one otor revolution Related

control mode P S

Range to 1 nit pulse Default 1

Set the command pulses that causes single turn of the motor shaft.When this setting is 0, Pr0.09 1st numerator of electronic gear and Pr0.10 Denominator of electronic gear become valid.

Pr .itle 1st nu erator of electronic gear Related

control mode P S


Set the numerator of division/multiplication operation made according to the command pulse input.This setup is enabled when Pr0.08 command pulse counts per one motor revolution = 0.When the setup value is 0, the numerator is replaced by the encoder resolution.

Pr .1itle Deno inator of electronic gear Related

control mode P S

Range 1 to 2 nit Default 1

Set the Denominator of division/multiplication operation made according to the command pulse input.This setup is enabled when Pr0.08 command pulse counts per one motor revolution = 0.

Pr . Pr . Pr .1 o and division ultiplication operation

1 to 1 (Not effect) (Not effect)

ncoder resolution

Pr0.0 setup value

ommandpulse input

Positionalcommand

* Regardless of setup of Pr . and Pr .1this operation is processed according tosetup value of Pr . .

0

to 1 1 2

ncoder resolution

Pr0.10 setup value

ommandpulse input

Positionalcommand

* hen oth Pr . and Pr . are set tothis operation is processed according tosetup value of Pr .1 .

1 to 10 41 24 1 to 1 1 2

Pr0.09 setting

Pr0.10 setting

ommandpulse input

Positionalcommand

* hen setup value of Pr . is and=�)�)FG)�� according to setup value of Pr . andPr .1 .


Related page • P4-62 “Setup of Motor Rotational Speed and Input Pulse Frequency”

4 9

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Pr .11 * itle utput pulse counts per one otor revolution Related

control mode P S

Range 1 to 2 21 nit P r Default 2

You can set up the output pulse counts per one motor revolution for each OA and OB with the Pr0.11 setup. herefore the pulse output resolution after quadruple can be obtained from the formula below.The pulse output resolution per one revolution = Pr0.11 setup value 4

Pr . * itle Deno inator of pulse output division Related

control mode P S

Range to 2 21 nit Default

For an application where the number of output pulses per one motor revolution is not an integer, set this parameter to a value other than 0; and the dividing ratio can be set by using Pr0.11 as the numerator and Pr .0 as the denominator.

herefore the pulse output resolution after quadruple can be obtained from the formula below.

Pulse output resolution per one revolution (Pr0.11 setup value / Pr .0 setup value) ncoder resolution

o ination of Pr .11 utput pulse counts per one otor revolution and Pr .Deno inator of pulse output division

Pr .11 Pr . Pulse reproducing process

1 to 2 21

hen the output source is encoder

Pr0.11 setup value 4

ncoder resolution

ncoder pulse pulse

utput pulsepulse

* When Pr5.03 = 0, the above process is made according to Pr0.11 setup value.

he number of pulses of reproduced pulse output A and are the number of pulses set in Pr0.11. he resolution of

pulse output per one revolution is equal to or less the encoder resolution.

hen the output source is e ternal scale

1

1

ternal scale pulse pulse

utput pulsepulse

* Division ratio is 1:1.

1 to 2 2144

Pr0.11 setup value

Pr .0 setup value

ncoder pulse or e ternal scale pulse pulse

utput pulsepulse

* If Pr5.03 is not equal to 0, then the above process is performed based on setup value of Pr0.11 and Pr5.03. This feature can be used for application where the number of reproduced pulses ( A OB) per one motor revolution is not an integer.

Note that when the number of pulses per one motor revolution is not an integer, Z-phase output is not synchronized with that of A phase reducing pulse width. he pulse output resolution per one revolution cannot become higher than the encoder resolution.


4 10

Pr .12 * itle Reversal of pulse output logic Related

control mode P S


aution

You can set up the B-phase logic and the output source of the pulse output. 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. Encoder or feedback scale can be selected as the output source for full closed control. he encoder is selected as the source if not for fullclosed control.

Reversal of pulse output logic

Pr .12 B phaselogic utput source Positive direction

rotationegative direction

rotation

Nonreversal

ncoderA phase

phase

A phase

phase2 eedbac scale

1

Reversal

ncoderA phase

phase

A phase

phaseeedbac scale

Setup value 2 and 3 are valid only for full-closed control. Setting must be 0 or 1 if not for full-closed control.

Pr .1itle 1st tor ue li it Related

control mode P S


ote

You can set up the limit value of the motor output torque.

For details of torque limit value, refer to P.2-49.

Pr .1itle Position deviation e cess setup Related

control mode P S

Range to 22 nit o andunit Default 1

• Set excess range of positional deviation by the command unit (default).Setup unit can be changed to encoder unit through Pr .20 (position setup unit selection). If the unit is changed set up with the encoder pulse counts at the position control and with the feedbac scale pulse counts at the full closed control. Err24.0 (Error detection of position deviation excess) becomes invalid when you set up this to 0.

Pr .1 * itle solute encoder setup Related

control mode P S


aution

You can set up the using method of 1 bit absolute encoder.

Setup value unction

0 se as an absolute encoder.

1 se as an incremental encoder.

2 Use as an absolute encoder, but ignore the multi-turn counter over.

This parameter will be invalidated when 5-wire, 20-bit incremental encoder is used.


4 11

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Pr .1 * itle ternal regenerative resistor setup Related

control mode P S

Range to nit DefaultA frame

to frame

Re ar s

aution

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 1 and 2 of onnector in case of A to D frame between 1 and 2 of terminal bloc in case of frame).

Setup valueRegenerative

resistorto e used

unction

0( to frame) uilt in resistor

Regenerative processing circuit will be activated and regenerative resistor overload protection will be triggered according to the built-in resistor (approx. 1% duty).

1 External resistorThe driver trips due to regenerative overload protection (Err18.0), when regenerative processing circuit is activated and its active ratio exceeds 10%.

2 External resistorRegenerative processing circuit is activated, but no regenerative over-load protection is triggered.

(A frame) No resistorBoth regenerative processing circuit and regenerative protection are not activated, and built-in capacitor handles all regenerative power.

Install an external protection such as thermal fuse when you use the external regenerative resistor. Otherwise, the regenerative resistor might be heated up abnormally and result in burnout, regardless of validation or invalidation of regenerative over-load protection.

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.

Pr .1 * itle oad factor of e ternal regenerative

resistor selectionRelated

control mode P S


When selecting the external regenerative resistor (Pr0.16 = 1, 2), select the computing method of load factor of regenerative resistor.

Setup value unction

0Regenerative load factor is 100% when duty factor of external regenerative resistor is 10 .

1 to 4 or manufacturer s use (do not setup)


ote

Related page


• P.2-8 “System Con�guration and Wiring” • P.3-30... “Inputs and outputs on connector X4”

4 12

Pr1.itle 1st gain of position loop Related

control mode P S

Range to nit .1 s DefaultA frameD frame 2

You can determine the response of the positional control system.igher the gain of position loop you set faster the positioning time you can obtain.

Note that too high setup may cause oscillation.

Pr1. 1itle 1st gain of velocit loop Related

control mode P S

Range 1 to 2 nit .1 DefaultA frame 2D frame 1

aution

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.

When the inertia ratio of Pr0.04 is set correctly, the setup unit of Pr1.01 becomes (Hz).

Pr1. 2itle 1st ti e constant of velocit loop integration Related

control mode P S

Range 1 to 1 nit .1 s DefaultA frame 21D frame 1

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 "9999".The integration effect will be lost by setting to "10000".

Pr1.itle 1st filter of speed detection Related

control mode P S


You can set up the time constant of the low pass �lter (LPF) after the speed detection, in 6 steps.

igher 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.

Pr1.itle 1st ti e constant of tor ue filter Related

control mode P S

Range to 2 nit . 1 s DefaultA frameD frame 12

You can set up the time constant of the 1st delay �lter inserted in the torque command portion. You might expect suppression of oscillation caused by distortion resonance.

1. Details of para eterSetup lass 1 ain ad ust ent

aution

ote

Related page

To Panasonic MINAS users: A4 and higher series CAUTION: Parameter settings shown in this manual may differ from those applied to your

product (s).or para eters hich o. have a suffi of * , changed contents will be validated when

you turn on the control power.• P.3-30... “Inputs and outputs on connector X4”

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Pr1.itle 2nd gain of position loop Related

control mode P S

Range to nit .1 s DefaultA frameD frame

Pr1.itle 2nd gain of velocit loop Related

control mode P S

Range 1 to 2 nit .1 DefaultA frame 2D frame 1

Pr1.itle 2nd ti e constant of velocit loop integration Related

control mode P S

Range 1 to 1 nit .1 s Default 1

Pr1.itle 2nd filter of speed detection Related

control mode P S


Pr1.itle 2nd ti e constant of tor ue filter Related

control mode P S

Range to 2 nit . 1 s DefaultA frameD frame 12

Related page

Position loop, velocity loop, speed detection �lter and torque command �lter have their 2 pairs of gain or time constant (1st and 2nd).

For details of switching the 1st and the 2nd gain or the time constant, refer to P.5-17 "Gain Switching Function" of Adjustment.

he function and the content of each parameter is as same as that of the 1st gain and time constant.

Pr1.1itle elocit feed for ard gain Related

control mode P S

Range to 1 nit .1 Default

Multiply the velocity control command calculated according to the internal positional command by the ratio of this parameter and add the result to the speed command resulting from the positional control process.

Pr1.11itle elocit feed for ard filter Related

control mode P S

Range to nit . 1 s Default

Set the time constant of 1st delay �lter which affects the input of velocity feed forward.

Usage e a ple of velocit feed for ardThe velocity feed forward will become effective as the velocity feed forward gain is gradually increased with the velocity feed forward filter set at approx. 50 (0.5 ms). The positional deviation during operation at a constant velocity is reduced as shown in the equation below in proportion to the value of velocity feed forward gain.

Positional deviation [unit of command] = command speed [unit of command/s] / positional loop gain [1/s] × (100 - velocity feed forward gain [%]) / 100

1. Details of para eterlass 1 ain ad ust ent

4 14

Pr1.12itle or ue feed for ard gain Related

control mode P S


• Multiply the torque command calculated according to the velocity control command by the ratio of this parameter and add the result to the torque command resulting from the velocity control process.

• Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by increasing the torque forward gain. This means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active.

Pr1.1itle or ue feed for ard filter Related

control mode P S


aution

• Set up the time constant of 1st delay �lter which affects the input of torque feed forward.• The torque feed forward will become effective as the torque feed forward gain is gradually

increased with the torque feed forward �lter is set at approx. 50 (0.5 ms).

Usage e a ple of tor ue feed for ard o use the torque feed forward correctly set the inertia ratio.

Use the value that was determined at the start of the real time auto tuning, or set the inertia ratio that can be calculated from the machine speci�cation to Pr0.04 Inertia ratio.

• The torque feed forward will become effective as the torque feed forward gain is gradually increased with the torque feed forward �lter is set at approx. 50 (0.5 ms).

• Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by increasing the torque forward gain. This means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active .

Zero positional deviation is impossible in actual situation because of disturbance torque.As with the velocity feed forward, large torque feed forward �lter time constant decreases

the operating noise but increases positional deviation at acceleration change point.

Pr1.1itle 2nd gain setup Related

control mode P S


Related page

Arrange this parameter when performing optimum ad ustment by using the gain switching function.

Setup value ain selection s itching

0

1st gain is �xed at a value. By using the gain switching input (GAIN), change the velocity loop operation from PI to P. AIN input photo coupler PI operation AIN input photo coupler N P operation

* The above description applies when the logical setting of GAIN input is a-contact. ON/OFF of photo-coupler is reversed when b-contact.

1nable gain switching of 1st gain (Pr1.00 Pr1.04) and 2nd gain (Pr1.0

Pr1.09).

For switching condition of the 1st and the 2nd, refer to P.5-17 "Gain Switching Function" of Ad ustment.


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Pr1.1itle ode of position control s itching Related

control mode P S


Setupvalue

S itchingcondition ain s itching condition

Fixed to 1st gain Fixed to the 1st gain (Pr1.00 to Pr1.04).

1 Fixed to 2nd gain Fixed to the 2nd gain (Pr1.05 to Pr1.09).

2 With gain switching input

1st gain when the gain switching input ( AIN) is open. 2nd gain when the gain switching input ( AIN) is connected to M .

* If no input signal is allocated to the gain switching input (GAIN), the 1st gain is �xed.

orquecommand is large

• Shift to the 2nd gain when the absolute value of the torque command exceeded (level + hysteresis) (%) previously with the 1st gain.

• Return to the 1st gain when the absolute value of the torque command was kept below (level - hysteresis) (%) previously during delay time with the 2nd gain.

4

ariationof speed command is large

• Valid only during velocity control.• Shift to the 2nd gain when the absolute value of the speed command variations exceeded

(level + hysteresis) (10r/min/s) previously with the 1st gain.• Return to the 1st gain when the absolute value of the speed command variations was kept

below (level - hysteresis) (10r/min/s) during delay time previously with the 2nd gain.* The 1st gain is �xed while the velocity control is not applied.

Speedcommand is large

• Valid for position, velocity and full-closed controls.• Shift to the 2nd gain when the absolute value of the speed command exceeded (level +

hysteresis) (r/min) previously with the 1st gain.• Return to the 1st gain when the absolute value of the speed command was kept below (level

- hysteresis) (r/min) previously during delay time with the 2nd gain.

Positiondeviation is large

alid for position and full closed controls.• Shift to the 2nd gain when the absolute value of the positional deviation exceeded (level +

hysteresis) (pulse) previously with the 1st gain.• Return to the 1st gain when the absolute value of the positional deviation was kept below

(level - hysteresis) (pulse) previously over delay time with the 2nd gain.* Unit of level and hysteresis (pulse) is set as the encoder resolution for positional control

and feedbac scale resolution for full closed control.

Positioncommandexists

alid for position and full closed controls.• Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain.• Return to the 1st gain when the positional command was kept 0 previously during delay

time with the 2nd gain.

Not in positioningcomplete

alid for position and full closed controls.• Shift to the 2nd gain when the positioning was not completed previously with the 1st gain.• Return to the 1st gain when the positioning was kept in completed condition previously

during delay time with the 2nd gain.

9 Actual speed is large

alid for position and full closed controls.• Shift to the 2nd gain when the absolute value of the actual speed exceeded (level +

hysteresis) (r/min) previously with the 1st gain.• Return to the 1st gain when the absolute value of the actual speed was kept below (level -

hysteresis) (r/min) previously during delay time with the 2nd gain.

10

Positioncommandexists +Actual speed

alid for position and full closed controls.• Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain. Return to the 1st gain when the positional command was ept at 0 during the delay time and the absolute value of actual speed was kept below (level - hysteresis ) (r/min) previously with the 2nd gain.

Set up the triggering condition of gain switching for position control.

4 1

Pr1.1itle Dela ti e of position control s itching Related

control mode P S

Range to 1 nit .1 s Default

For position controlling : When shifting from the 2nd gain to the 1st gain with Pr1.15 Position control switching mode set at 9 or 10 set up the delay time from trigger detection to the switching operation.

Pr1.1itle evel of position control s itching Related

control mode P S

Range to 2 nit odedependent Default

aution

For position controlling: Set up triggering level when Pr1.15 Position control gain switching mode is set at 9 or 10.Unit of setting varies with switching mode.

Set the level equal to or higher than the hysteresis.

Pr1.1itle steresis at position control s itching Related

control mode P S


aution

For position controlling: Set up triggering hysteresis when Pr1.15 Position control gain switching mode is set at 9 or 10.Unit of setting varies with switching mode.

When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.

Pr1.1itle Position gain s itching ti e Related

control mode P S


aution

For position controlling: If the difference between Pr1.00 1st gain of position loop and Pr1.05 2nd gain of poison loop is large the increasing rate of position loop gain can be limited by this parameter.The position loop gain will increase over the time set.

Position gain s itching ti eWhen using position control and full-closed control, gain of position loop rapidly changes, causing torque change and vibration. By adjusting Pr1.19 Position gain switching time, increasing rate of the poison loop gain can be decreased and vibration level can be reduced.

Setting of this parameter does not affect the gain switching time when the gain of position loop is switched to lower level (gain is switched immediately).

Example: 1st (Pr1.00) > 2nd (Pr1.05)

2nd 1st1stResult of switching

1st (Pr1.00)

2nd (Pr1.0 )

Position gain switching time (ms)(Pr1.19)


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Pr1.2itle ode of velocit control s itching Related

control mode P S


Related page

For velocity controlling: Set the condition to trigger gain switching.

Setup value S itching condition

Fixed to the 1st gain.

1 Fixed to the 2nd gain.

2 ain switching input

orque command

4 Speed command variation is larger.

ommand speed is larger

For the switching level and timing, refer to P.5-18, "Setup of Gain Switching Condition" of Ad ustment.

Pr1.21itle Dela ti e of velocit control s itching Related

control mode P S


For velocity controlling: When shifting from the 2nd gain to the 1st gain with Pr1.20 Velocity control switching mode set at 4 or set the delay time from trigger detection to the switching operation.

Pr1.22itle evel of velocit control s itching Related

control mode P S


aution

For velocity controlling: Set up triggering level when Pr1.20 Velocity control gain switching mode is set at 4 or . Unit of setting varies with switching mode. Set the level equal to or higher than the hysteresis.

Pr1.2itle steresis at velocit control s itching Related

control mode P S


aution

For velocity controlling: Set up triggering hysteresis when Pr1.20 Velocity control gain switching mode is set at 4 or .

Unit of setting varies with switching mode. When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.


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Pr1.2itle ode of tor ue control s itching Related

control mode P S


For torque controlling: Set the condition to trigger gain switching.

Setup value S itching condition

Fixed to the 1st gain.

1 Fixed to the 2nd gain.


orque command

Pr1.2itle Dela ti e of tor ue control s itching Related

control mode P S


For torque controlling : When shifting from the 2nd gain to the 1st gain with Pr1.24 Torque control switching mode set at set up the delay time from trigger detection to the switching operation.

Pr1.2itle evel of tor ue control s itching Related

control mode P S


aution

For torque controlling: Set up triggering level when Pr1.24 Torque control gain switching mode is set at .Unit varies depending on the setup of mode of control switching.

Set the level equal to or higher than the hysteresis.

Pr1.2itle steresis at tor ue control s itching Related

control mode P S


aution

For torque controlling: Set up triggering hysteresis when Pr1.24 Torque control gain switching mode is set at .

Unit of setting varies with switching mode. When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.


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Pr2.itle daptive filter ode setup Related

control mode P S


Set up the resonance frequency to be estimated by the adaptive filter and specify the operation after estimation.

Setup value ontent

Adaptive �lter: invalid

Parameters related to the 3rd and 4th notch �lter hold the current value.

1Adaptive �lter: 1 �lter is valid

One adaptive �lter is enabled. Parameters related to the 3rd notch �lter will be updated based on adaptive performance.

2Adaptive �lter: 2 �lters are valid

Two adaptive �lters are enabled. Parameters related to the 3rd and 4th notch �lters will be updated based on adaptive performance.

Resonance frequency measurement mode

Measure the resonance frequency. Result of measurement can be chec ed with PANA RM. Parameters related to the 3rd and 4th notch �lter hold the current value.

4lear result of

adaptationParameters related to the 3rd and 4th notch �lter are disabled and results of adaptive operation are cleared.

Pr2. 1itle 1st notch fre uenc Related

control mode P S


aution

Set the center frequency of the 1st notch �lter.

The notch �lter function will be invalidated by setting up this parameter to "5000".

Pr2. 2itle 1st notch idth selection Related

control mode P S


aution

Set the width of notch at the center frequency of the 1st notch �lter.

igher the setup larger the notch width you can obtain. se with default setup in normal operation.

Pr2.itle 1st notch depth selection Related

control mode P S


aution

Set the depth of notch at the center frequency of the 1st notch �lter.

igher the setup shallower the notch depth and smaller the phase delay you can obtain.

Pr2.itle 2nd notch fre uenc Related

control mode P S


aution

Set the center frequency of the 2nd notch �lter.


1. Details of para eterSetup lass 2 Da ping control

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Pr2.itle 2nd notch idth selection Related

control mode P S


aution

Set the width of notch at the center frequency of the 2nd notch �lter.

igher the setup larger the notch width you can obtain. se with default setup in normal operation.

Pr2.itle 2nd notch depth selection Related

control mode P S


aution

Set the depth of notch at the center frequency of the 2nd notch �lter.

igher the setup shallower the notch depth and smaller the phase delay you can obtain.

Pr2.itle rd notch fre uenc Related

control mode P S


aution

Notch frequency is automatically set to the 1st resonance frequency estimated by the adaptive �lter.

In no resonance point is found the frequency is set to 000.

Pr2.itle rd notch idth selection Related

control mode P S


aution

Set the width of notch at the center frequency of the 3rd notch �lter.

igher the setup larger the notch width you can obtain. se with default setup in normal operation.When the applicable �lter function is used, parameter value is automatically set.

Pr2.itle rd notch depth selection Related

control mode P S


aution

Set the depth of notch at the center frequency of the 3rd notch �lter.

igher the setup shallower the notch depth and smaller the phase delay you can obtain. When the applicable �lter function is used, parameter value is automatically set.

Pr2.1itle th notch fre uenc Related

control mode P S


aution

Notch frequency is automatically set to the 2nd resonance frequency estimated by the adaptive �lter.


1. Details of para eterlass 2 Da ping control

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Pr2.11itle th notch idth selection Related

control mode P S


aution

Set the width of notch at the center frequency of the 4th notch �lter.

igher the setup larger the notch width you can obtain. se with default setup in normal operation.When the applicable �lter function is used, parameter value is automatically set.

Pr2.12itle th notch depth selection Related

control mode P S


aution

Set the depth of notch at the center frequency of the 4th notch �lter.

igher the setup shallower the notch depth and smaller the phase delay you can obtain. When the applicable �lter function is used, parameter value is automatically set.

Pr2.1itle Selection of da ping filter s itching Related

control mode P S


Among 4 �lters select the �lters to be used for damping control.• When setup value is 0: Up to 2 �lters can be used simultaneously.

When setup value is 1 or 2: Select the �lter with external input(s) (VS-SEL1 and/or VS-SEL2).

Setupvalue S S 2 S S 1 1st da ping 2nd da ping rd da ping th da ping

1

2

• With setup value 3: Select the �lter with command direction.

Setupvalue

Position co anddirection 1st da ping 2nd da ping rd da ping th da ping

Positive direction

Negative direction

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Pr2.1itle 1st da ping fre uenc Related

control mode P S


Pr2.1itle 2nd da ping fre uenc Related

control mode P S


Pr2.1itle rd da ping fre uenc Related

control mode P S


Pr2.2itle th da ping fre uenc Related

control mode P S


Related page

You can set up the 1st to 4th damping 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 1.0 to 200.0[Hz]. Setup of 0 to 9 becomes invalid. Refer to P.5-20, "Damping control" as well before using this parameter.

Pr2.1itle 1st da ping filter setup Related

control mode P S


Pr2.1itle 2nd da ping filter setup Related

control mode P S


Pr2.1itle rd da ping filter setup Related

control mode P S


Pr2.21itle th da ping filter setup Related

control mode P S


aution

Related page

If torque saturation occurs with damping frequency (1st 4th) enabled decrease the setup value, or if the operation is slow, increase it. Usually set it to 0.The maximum setup value is limited to the applicable damping frequency, and minimum value is limited to a value so that the damping frequency + damping �lter setting is equal to or higher than 100.

The maximum setup value is internally limited to the compatible damping frequency..

Refer to P.5-24, "Damping control" as well before using this parameter.


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Pr2.22itle Positional co and s oothing filter Related

control mode P S


• Set up the time constant of the 1st delay �lter in response to the positional command.• When a square wave command for the target speed Vc is applied, set up the time constant

of the 1st delay �lter as shown in the �gure below.

Speedr/min

c

c 0. 2 *1

c 0. *1

Positional command smoothing filter setup time ms(Pr2.22 0.1 ms)

ime

Positional command before filterPositional command after filter ilter switching

waiting time *2

*1 Actual �lter time constant (setup value × 0.1 ms) has the maximum absolute error of 0.2 ms for a time constant below 100 ms and the maximum relative error of 0.1% for a time constant 20 ms or more.

*2 Switching of Pr2.22 Positional command smoothing �lter is performed on the rising edge of the command with the number of command pulses/0.166 ms is changed from 0 to a value other than 0 while the positioning complete is being output.

If the �lter time constant is decreased and positioning complete range is increased, and a many number of plusses are accumulated in the �lter (the area equivalent of “value of positional command �lter - value of positional command after �lter” integrated over the time), at the time of switching, these pulses are discharged at a higher rate, causing the motor to return to the previous position - the motor runs at a speed higher than the command speed for a short time.

*3 Even if Pr2.22 Positional command smoothing filter is changed, it is not applied immediately. If the switching as described in *2 occurs during this delay time the change of Pr2.22 will be suspended.

Pr2.2itle Positional co and R filter Related

control mode P S


• Set up the time constant of the 1st delay �lter in response to the positional command.• When a square wave command of the target speed Vc is applied, set up the VC arrival

time as shown in the �gure below.

Speedr/min

c

Positional command smoothing filter setup time ms(Pr2.2 0.1 ms)*1

ime

ilter switchingwaiting time *2

Positional command before filterPositional command after filter

*1 The actual average travel time (setup value × 0.1 ms) has the maximum absolute error of 0.1 ms for a time constant below 10 ms and the maximum relative error of 1.6% for a time constant 10 ms or more.

*2 When changing Pr2.23 Positional command FIR �lter, stop the command pulse and wait until the �lter switching wait time has elapsed. The �lter switching wait time is the setup value × 0.1 ms + 0.25 ms when the setup time is 10 ms, and setup value × 0.1 ms × 1.05 when the setup time is 10 ms or more. If Pr2.23 is changed while the command pulse is being input, the change is not re�ected until the command pulse-less state has continued for the �lter switching wait time.

*3 Even if Pr2.23 Positional command FIR �lter is changed, it is not applied immediately. If the switching as described in *2 occurs during this delay time the change of Pr2.2 will be suspended.

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Pr .itle Speed setup nternal ternal s itching Related

control mode P S


This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only.

Setup value Speed setup ethod

Analog speed command (SPR)

1 Internal speed command 1st to 4th speed (Pr .04 to Pr .0 )

2Internal speed command 1st to rd speed (Pr .04 to Pr .0 ) Analog speed command (SPR)

Internal speed command 1st to th speed (Pr .04 to Pr .11)

Relationship et een Pr . nternal e ternal s itching speed setup and theinternal co and speed selection 1 2 and and speed co and to e selected

Setupvalue



Selection ofinternal co andspeed SPD

Selection ofSpeed co and

1 No effect

1st speed

N 2nd speed

N rd speed

N N 4th speed

2 No effect

1st speed

N 2nd speed

N rd speed

N N Analog speed command

he same as Pr .00 1 1st to 4th speed

N th speed

N N th speed

N N th speed

N N N th speed

Pr . 1itle Speed co and rotational direction selection Related

control mode P S


Select the Positive/Negative direction specifying method.

Setup valueSelect speed

co and sign1st to th speed

Speed co anddirection

S

Position co anddirection

+ No effect Positive direction

� No effect Negative direction

1Sign has no effect. Positive direction

Sign has no effect. N Negative direction

1. Details of para eterSetup lass erocit or ue ull closed control

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Pr . 2itle nput gain of speed co and Related

control mode P S

Range 1 to 2 nit r in Default


• You can set up a "slope" of the relation between the command input voltage and the motor speed with Pr .02. Default is set to Pr .02 00 r/minhence input of becomes 000r/min.

aution 1. Do not apply more than 10 to the speed command input (SPR). 2. When you compose a position loop outside of the driver while you use the

driver in velocity control mode, the setup of Pr3.02 gives larger variance to the overall servo system.

Pay an extra attention to oscillation caused by larger setup of Pr3.02.

000

Speed (r/min)

000

Slope at e factory

102 4 10

Positive direction

Negative direction

ommand input voltage ( )

Pr .itle Reversal of speed co and input Related

control mode P S


ote

aution

Specify the polarity of the voltage applied to the analog speed command (SPR).

Setup value otor rotating direction

0 Non-reversal “+Voltage” “Positive direction”, “–Voltage” “Negative direction”

1 Reversal “+Voltage” “Negative direction”, “–Voltage” “Positive direction”

Default of this parameter is 1, and the motor turns to CW with (+) signal, this has compatibility to existing MINAS series driver.

When you compose the servo drive system with this driver set to velocity control mode and external positioning unit, the motor might perform an abnormal action if the polarity of the speed command signal from the unit and the polarity of this parameter setup does not match.

1. Details of para eterlass erocit or ue ull closed control

4 2

Pr .itle 1st speed of speed setup Related

control mode P S

Range D1))))��1)))) nit r in Default

Pr .itle 2nd speed of speed setup Related

control mode P S


Pr .itle rd speed of speed setup Related

control mode P S


Pr .itle th speed of speed setup Related

control mode P S



control mode P S



control mode P S


Pr .1itle th speed of speed setup Related

control mode P S


Pr .11itle th speed of speed setup Related

control mode P S


Set up internal command speeds 1st to th.

Pr .12itle cceleration ti e setup Related

control mode P S

Range to 1 nit s1 r in Default

Pr .1itle Deceleration ti e setup Related

control mode P S

Range to 1 nit s1 r in Default

Set up acceleration/deceleration processing time in response to the speed command input.Set the time required for the speed command (stepwise input) to reach 1000 r/min to Pr .12 Acceleration time setup. Also set the time required for the speed command to reach from 1000 r/min to 0 r/min to Pr .1 Deceleration time setup.Assuming that the target value of the speed command is Vc(r/min), the time required for acceleration/deceleration can be computed from the formula shown below. Acceleration time (ms) c/1000 Pr .12 1 ms Deceleration time (ms) c/1000 Pr .1 1 ms

Speedr/min

1000r/min

Pr .1 1msPr .12 1ms

Speed command after acceleration/decelerationprocess

Stepwise input speed command

ime


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Pr .1itle Sig oid acceleration deceleration ti e setup Related

control mode P S

Range to 1 nit s Default

Set S-curve time for acceleration/deceleration process when the speed command is applied.According to Pr .12 Acceleration time setup and Pr .1 Deceleration time setup set up sigmoid time with time width centering the in�ection point of acceleration/deceleration.

Speedr/min

arget speed ( c)

ts ts

tsts

ta tdime

ta c/1000 Pr .12 1mstd c/1000 Pr .1 1msts Pr .14 1ms* se with the setup of ta/2 ts td/2 ts

Speed command after acceleration/decelerationprocess

Pr .1itle Speed ero cla p function selection Related

control mode P S


You can set up the function of the speed ero clamp input.

Setup value unction of R SPD Pin 2

Invalid: Speed zero-clamp input is ignored.

1Speed command is forced to 0 when the speed zero clamp (ZEROSPD) input signal is turned N.

2

Speed command is forced to 0 when the speed zero clamp (ZEROSPD) input signal is turned N. And when the actual motor speed drops to Pr .1 Speed ero clamp level or below, the position control is selected and servo lock is activated at this point. The fundamental operations except for this function (switching to the position control) are identical to those when setup value is 1.

When the speed zero clamp (ZEROSPD) input signal is ON and speed command is below Pr .1Speed zero clamp level - 10 r/min, then the position control is selected and servo lock is activated at that point.

Pr .1itle Speed ero cla p level Related

control mode P S


Select the timing at which the position control is activated as the Pr3.15 Speed zero-clamp function selection is set to 2 or .If Pr3.15 = 3, then hysteresis of 10 r/min is provided for detection.

4 2

Pr .1itle Selection of tor ue co and Related

control mode P S


You can select the input of the torque command and the speed limit.

Setup value or ue co and input elocit li it input

Analog input 1 *1

(AI1 1 bit resolution)Parameter value

(Pr .2 )

1 Analog input 2(AI2 12 bit resolution)

Analog input 1(AI1 1 bit resolution)

2 Analog input 1 *1

(AI1 1 bit resolution)Parameter value(Pr .2 Pr .2 )

*1 For Pr0.01 Control mode setup = 5 (velocity/torque control), the torque command input is the analog input 2 (AI2 12 bit resolution).

Pr .1itle or ue co and direction selection Related

control mode P S


Select the direction positive/negative direction of torque command.

Setup value Designation

Specify the direction with the sign of torque command.Example: Torque command input (+) for positive direction, (–) for negative direction

1Specify the direction with torque command sign ( SI N).OFF: Positive direction, ON: Negative direction

Pr .1itle nput gain of tor ue co and Related

control mode P S

Range 1 to 1 nit .1 1 Default


• Unit of the setup value is [0.1V/100%]

and set up input voltage necessary to

produce the rated torque.Default setup of 0 represents /100 .

Ratedtorque

torque

Default

command input vo2

2410

100

100

200

00

200

00

4 10

Negative direction

Positive direction

Pr .2itle nput reversal of tor ue co and Related

control mode P S


Set up the polarity of the voltage applied to the analog torque command (TRQR).

Setup value Direction of otor output tor ue

0 Non-reversal “+Voltage” “Positive direction” “–Voltage” “Negative direction”

1 Reversal “+Voltage” “Negative direction” “–Voltage” “Positive direction”


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Pr .21itle Speed li it value 1 Related

control mode P S

Range to 2 nit r in Default

Set up the speed limit used for torque controlling.During the torque controlling, the speed set by the speed limit value cannot be exceeded.When Pr3.17 = 2, the speed limit is applied upon receiving positive direction command.

Pr .22itle Speed li it value 2 Related

control mode P S


Pr .1 Pr .21 Pr .22 Pr .1 Speed ero cla pR SPD

nalog tor ueco and direction Speed li it value

0 0 to 20000 No effect

0 No effect

No effect

Pr3.21 setup value

1 to Pr3.21 setup value

N 0

2

to 2 to 2 No effectPositive direction Pr3.21 setup value

Negative direction Pr3.22 setup value

to 2 0 to 20000 1 to Positive direction Pr3.21 setup value

Negative direction Pr3.22 setup value

to 2 0 to 20000 1 to N No effect 0

Speed limit value of negative direction command when Pr3.17 = 2.

Pr .2 * itle ternal scale selection Related

control mode P S


aution

Select the type of feedbac scale.

Setupvalue eed ac scale t pe o pati le scale o pati le

speed

A phase output type *1 eedbac scale of A phase output type to 4Mpps (after quadrupled)

1Serial communication type (incremental version) *1

Sony Manufacturing Systems orp. SR SR SL 00 SL 10

to 400Mpps

2Serial communication type (absolute version) *1

Mitsutoyo orp. A S 1A S A Sony Manufacturing Systems orp. SR SR

to 400Mpps

*1 onnect the feedbac scale so that it increments the count as the motor shaft turns positive direction, and decrements as the shaft turns negative direction. If this connection arrangement is impossible due to installation condition etc. use the count reverse function of Pr3.26 Reversal of direction of external scale.

When the setup value is 1 or 2 while the A, B phase output type is connected, Err50.0 External scale wiring error protection occurs, and if the setup value is 0 while the serial communication type is connected, Err55.0, 1 or 2 A phase, B phase or Z phase wiring error protection will occur.

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• P.3-30... “Inputs and outputs on connector X4” • P.6-3 “Protective Function”

4 0

Pr .2 * itle u erator of e ternal scale division Related

control mode P S


Set up the numerator of the feedback scale dividing setup.When setup value = 0, encoder resolution is used as numerator of the division.

Pr .2 * itle Deno inator of e ternal scale division Related

control mode P S

Range 1 to 22 nit Default 1

aution

• Check the number of encoder pluses per one motor revolution and the number of feedback scale pulses per one motor revolution, and then set up the numerator of external scale division (Pr3.24) and the denominator of external scale division (Pr3.25) to establish the expression shown below.

• With Pr3.24 set at 0, the encoder resolution is automatically used as numerator.Example: When ball screw pitch is 10 mm, scale 0.1 _m/pulse, encoder resolution 20 bits

(1048.576 pulses);

ncoder resolution per one motor revolution pulseeedbac scale resolution per one motor revolution pulse

Pr .24 104Pr .2 100000

If this ratio is wrong the difference between the position calculated based on the encoder pulses and the position calculated based on the feedback scale pulses becomes large over a long travel distance and will activate the excess hybrid deviation error protection.

Pr .2 * itle Reversal of direction of e ternal scale Related

control mode P S


ote

Reverse the direction of feedback scale, feedback counter.

Setup value ontent

Count value of external scale can be used as it is.

1 Sign (positive/negative) of count value of external scale should be inverted.

or setting method of this parameter refer to P. 12 ull closed control mode.

Pr .2 * itle ternal scale phase disconnection

detection disa leRelated

control mode P S


Enable/disable Z-phase disconnection detection when A, B phase output type feedback scale is used.

Setup value ontent

alid

1 Invalid


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Pr .2 * itle rid deviation e cess setup Related

control mode P S

Range 1 to 22 nit o andunit Default 1

You can setup the permissible gap (hybrid deviation) between the present motor position and the present feedbac scale position.

Pr .2 * itle rid deviation clear setup Related

control mode P S

Range to 1 nit Revolution Default

aution

As the motor turns the number of revolutions set by this parameter, the hybrid deviation is cleared to 0. No clearing is made with setup value 0.

rid deviation clear featureAs the motor reaches the number of revolutions set by Pr3.29 Hybrid deviation clear setup, clear the hybrid deviation to 0. This feature allows the motor to be used in an application where hybrid deviation accumulate due to slippage, etc.

Pr .2( ybrid deviatione cess setup)

Pr .29( ybrid deviation clear setup)

Pr .29( ybrid deviation clear setup)

cess hybrid deviation errorybrid deviation value

(command unit) (absolute value)

No. of motor revolutions rev

Note: Revolution in the hybrid deviation clear setup is counted by using encoder feedbac pulses.

To use the hybrid deviation clear, be sure to set Pr3.29 Hybrid deviation clear setup to the appropriate value. If the setup value is too small with respect to the value of Pr3.28 Hybrid deviation excess setup, abnormal operation due to e.g. feedback scale connection error cannot be protected.Limit sensor should be used to assure safety.


4 2

Pr . * itle S 1 input selection Related

control mode P S

Range to h nit Default 2 2 2h

Assign functions to SI1 inputs.These parameters are presented in hexadecimals. *

Hexadecimal presentation is followed by a speci�c control mode designation.0 0 – – – * * h : position/full-closed control0 0 – – * * – – h : velocity control0 0 * * – – – – h : torque controlReplace * * with the function number.

or the function number see the table below. Logical setup is also a function number.

itle S olSetup value

a contact contactInvalid � 00h Do not setup.Positive direction over-travel inhibition input P 01h 1hNegative direction over-travel inhibition input N 02h 2hServo-ON input *1 SR N 0 h hAlarm clear input A LR 04h Do not setup.

ontrol mode switching input *2 M D 0 h hain switching input AIN 0 h h

Deviation counter clear input * L 0 h Do not setup.ommand pulse inhibition input *4 IN 0 h horque limit switching input L S L 09h 9h

Damping control switching input 1 S S L1 0Ah AhDamping control switching input 2 S S L2 0 h h

lectronic gear switching input 1 DI 1 0 h hlectronic gear switching input 2 DI 2 0Dh Dh

Selection 1 input of internal command speed IN SPD1 0 h hSelection 2 input of internal command speed IN SPD2 0 h hSelection input of internal command speed IN SPD 10h 90hSpeed ero clamp input ZEROSPD 11h 91hSpeed command sign input SI N 12h 92horque command sign input SI N 1 h 9 horced alarm input S P 14h 94h

Inertia ratio switching input S L 1 h 9 h

aution • Do not setup to a value other than that speci�ed in the table.• Do not assign speci�c function to 2 or more signals. Duplicated assignment will cause Err33.0 I/F input

multiple assignment error 1 or rr .1 I/ input multiple assignment error 2.*1 Servo-on input signal (SRV-ON) must be used to enable servo-on.*2 When using control mode switching input (C-MODE), set the signal to all control modes. If the signal is

set to only 1 or 2 control modes rr .2 I/ input function number error 1 or rr . I/ input function number error 2 will be generated.• The control input pin set to invalid state does not affect any operation.• Function (servo-on input, alarm clear, etc.) to be used in multiple control modes must be assigned to

the same pin with correct logical arrangement. Incorrect setting will cause rr .0 I/ input multiple assignment error 1 or rr .1 I/ input multiple assignment error 2.

*3 Deviation counter clear input (CL) can be assigned only to SI7 input. Wrong assignment will cause rr . ounter clear assignment error.

*4 Command pulse inhibit input (INH) can be assigned only to SI10 input. Wrong assignment will cause rr . ommand pulse input inhibit input.

*5 Note that the front panel indicates parameter value in decimal number.

1. Details of para eterSetup lass onitor setting

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Pr . 1 * itle S 2 input selection Related

control mode P S

Range to h nit Default 1 1 1h2

Pr . 2 * itle S input selection Related

control mode P S

Range to h nit Default 1 1 h

Pr . * itle S input selection Related

control mode P S

Range to h nit Default h


control mode P S

Range to h nit Default 1 h1


control mode P S

Range to h nit Default h1


control mode P S

Range to h nit Default f h

aution Deviation counter clear (CL) can be set up only with this parameter. If any other parameter is used for this purpose error code No. . ounter clear assignment error will be issued.


control mode P S

Range to h nit Default h2 1 2


control mode P S


Pr . * itle S 1 input selection Related

control mode P S


aution

Assign functions to SI2 to SI10 inputs.These parameters are presented in hexadecimals. Setup procedure is the same as described for Pr4.00.

ommand pulse inhibition input (IN ) can be setup only with this parameter. If any other parameter is used for this purpose error code No. . IN assignment error will be issued.

1. Details of para eterlass onitor setting

4 4

Pr .1 * itle S 1 output selection Related

control mode P S


aution

Assign functions to S 1 outputs.These parameters are presented in hexadecimals. *1

Hexadecimal presentation is followed by a speci�c control mode designation.0 0 – – – – * * h : position/full-closed control0 0 – – * * – – h : velocity control0 0 * * – – – – h : torque controlReplace * * with the function number.

or the function number see the table below. Logical setup is also a function number.

Setup value itle S ol00h Invalid �02h Servo-Ready output S RDY0 h External brake release signal R04h Positioning complete output INP0 h At speed output A SPP D0 h orque in limit signal output L0 h Zero-speed detection output signal ZSP0 h Speed coincidence output IN09h Alarm output 1 WARN10Ah Alarm output 2 WARN20 h Positional command N/ output P MD0 h Positioning complete 2 INP20Dh Speed in limit output LIMI0 h Alarm attribute output ALM A0 h Speed command N/ output MD

Same function can be assigned to 2 or more output signals.Control output pin set to invalid always has the output transistor turned OFF.Do not change the setup value shown in the table.

*1 Note that the setup values are displayed in decimal on the front panel.

Pr .11 * itle S 2 output selection Related

control mode P S

Range to h nit Default 2 2 2h1 1

Pr .12 * itle S output selection Related

control mode P S

Range to h nit Default 1 1 1h


control mode P S



control mode P S



control mode P S

Range to h nit Default h

Assign functions to S 2 to S outputs.These parameters are presented in hexadecimals. Setup procedure is the same as described for Pr4.10.


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Pr .1itle pe of analog onitor 1 Related

control mode P S


Select the type of monitor for analog monitor 1. *See the table shown on the next page.

Pr .1itle pe of analog onitor 2 Related

control mode P S


Select the type of monitor for analog monitor 2. *See the table shown on the next page.

Pr .1itle nalog onitor 1 output gain Related

control mode P S

Range to 21 nit onitor unitin Pr .1 Default

Set up the output gain of analog monitor 1.For Pr4.16 = 0 Motor speed, 1 V is output at the motor speed [r/min] = Pr4.17 setup value.

Pr .1itle nalog onitor 2 output gain Related

control mode P S

Range to 21 nit onitor unitin Pr .1 Default

Set up the output gain of analog monitor 2.or Pr4.1 orque command 1 is output at the torque command Pr4.1 setup

value.

Pr .2itle pe of digital onitor Related

control mode P S


Select type of the digital monitor.

Setup value pe of onitorDigital signal output

output outputPositioning complete condition Not completed ompleted

1 Positional command Without command With command

2 Alarm Not generated enerated

ain selected 1st gain 2nd gain (including rd gain)


4

Pr .1 Pr .1 pe of onitor Unitutput gain for setting

Pr .1 Pr .10 Motor speed r/min 001 Positional command speed * r/min 002 Internal positional command speed * r/min 00

elocity control command r/min 004 orque command

Command positional deviation *4 pulse ( ommand unit) 000Encoder positional deviation *4 pulse ( ncoder unit) 000

Full-closed deviation *4 pulse (External scale unit) 000Hybrid deviation pulse ( ommand unit) 000

9 oltage across PN 010 Regenerative load factor

11 Overload factor

12 Positive direction torque limit

1 Negative direction torque limit

14 Speed limit value r/min 001 Inertia ratio 001 Analog input 1 *2 11 Analog input 2 *2 11 Analog input *2 119 ncoder temperature * � 1020 Driver temperature � 1021 ncoder single turn data *1 pulse ( ncoder unit) 110000

*1 The encoder rotation data CCW is always positive value regardless of Pr0.00 Rotational direction setup.he direction of other monitor data basically follows Pr0.00 Rotational direction setup.

*2 Analog inputs 1, 2 and 3 always output terminal voltage regardless of usage of analog input function.*3 For the command pulse input, the speed before the command �lter (smoothing, FIR �lter) is de�ned as positional

command speed and speed after �lter is de�ned as internal command speed.

ommanddivision/

multiplicationprocess

Positionalcommand

filterPositioncontrol


ommandpulse input

Internal positioncommand speed r/min

ncoder feedbac /feedbac scale feedbac

*4 Command positional deviation is the deviation with respect to the command pulse input and the encoder positional deviation/ full-closed positional deviation is the deviation at the input section of the positional control, as described in the �gure below.

ommanddivision/

multiplicationommand

pulse input

ncoder feedbac /feedbac scale feedbac

Positional command deviation (command unit)

ncoder positional deviation (encoder unit) / ull closed deviation (feedbac unit)

ommanddivision/multiplicationreverse conversion

Positionalcommand

filterPositional

control

*5 Temperature information from the encoder includes value only when it is a 20-bit incremental encoder. Otherwise, the value is always 0.


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Pr .21itle nalog onitor output setup Related

control mode P S


Select output format of the analog monitor.

Setup value utput for at

Signed data output –10 V to 10 V

1 Absolute value data output 0 V to 10 V

2 Data output with offset 0 to 10 ( at center)

Pr .22itle nalog input 1 1 offset setup Related

control mode P S

Range D55H-��55H- nit . Default

Set up the offset correction value applied to the voltage fed to the analog input 1.

Pr .2itle nalog input 1 1 filter Related

control mode P S


Set up the time constant of 1st delay �lter that determines the lag time behind the voltage applied to the analog input 1.

Pr .2itle nalog input 1 1 overvoltage setup Related

control mode P S


Set up the excessive level of the input voltage of analog input 1 by using the voltage associated with offset.

Pr .2itle nalog input 2 2 offset setup Related

control mode P S

Range D(91��(91 nit . Default


Pr .2itle nalog input 2 2 filter Related

control mode P S


Set up the time constant of 1st delay �lter that determines the lag time behind the voltage applied to the analog input 2.

Pr .2itle nalog input 2 2 overvoltage setup Related

control mode P S



4

Pr .2itle nalog input offset setup Related

control mode P S

Range D(91��(91 nit . Default


Pr .2itle nalog input filter Related

control mode P S


Set up the time constant of 1st delay �lter that determines the lag time behind the voltage applied to the analog input .

Pr .itle nalog input overvoltage setup Related

control mode P S



Pr . 1itle Positioning co plete n position range Related

control mode P S

Range to 2 21 nit o andunit Default 1

aution


he command unit is used as the default unit but can be replaced by the encoder unit by using Pr .20. Positioning unit selection. Note that when the encoder unit is used unit of Pr0.14 Positional deviation excess setup is also changed.

Pr . 2itle Positioning co plete n position output setup Related

control mode P S


Select the condition to output the positioning complete signal (INP1).

Setup value ction of positioning co plete signal

The signal will turn on when the positional deviation is smaller than Pr4.31 (Positioning complete range)

1he signal will turn on when there is no position command and the positional

deviation is smaller than Pr4.31 (Positioning complete range).

2he signal will turn on when there is no position command the ero speed detection signal

is ON and the positional deviation is smaller than Pr4.31 (Positioning complete range).

The signal will turn on when there is no position command and the positional deviationis smaller than Pr4.31 (Positioning complete range). Then holds "ON" status until the next position command is entered.Subsequently, ON state is maintained until Pr4.33 INP hold time has elapsed. After the hold time INP output will be turned N/ according to the coming positional command or condition of the positional deviation.


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Pr .itle P hold ti e Related

control mode P S

Range to nit 1 s Default

Set up the hold time when Pr4. 2 Positioning complete output setup 1 .

Setup value State of positioning co plete signal

The hold time is maintained de�nitely, keeping ON state until the next positional command is received.

1 to 0000N state is maintained for setup time (ms) but switched to state as the positional

command is received during hold time.

Pr .itle ero speed Related

control mode P S


You can set up the timing to feed out the zero-speed detection output signal (ZSP or TCL) in rotational speed r/min .The zero-speed detection signal (ZSP) will be fed out when the motor speed falls below the setup of this parameter Pr4. 4.

utput the speed coincidence ( IN) when the difference between the speed command and the motor speed reduces to a value equal to or below the speed specified by this parameter Pr4. 4.

• The setup of Pr61 is valid for both Positive and Negative direction regardless of the motor rotating direction.

here is hysteresis of 10 r/min .

speed

SP N

(Pr4. 4 10)r/min

(Pr4. 1 10)r/min

Positive direction

Negative direction

4 40

Pr .itle Speed coincidence range Related

control mode P S


Set the speed coincidence ( IN) output detection timing.utput the speed coincidence ( IN) when the difference between the speed command

and the motor speed is equal to or smaller than the speed speci�ed by this parameter.

N N

Motor speed

Pr4. *1

(Speed coincidence range)

ime

Speed command afteracceleration/decelerationprocessSpeed

commandSpeedr/min

Pr4. *1

(Speed coincidencerange)


IN

Pr4. *1

(Speed coincidence range)

*1 ecause the speed coincidence detection is associated with 10 r/min hysteresis actual detection range is as shown below.

Speed coincidence output ON timing (Pr4.35 – 10) r/minSpeed coincidence output N OFF timing (Pr4.35 + 10) r/min

Pr .itle t speed Speed arrival Related

control mode P S

Range 1 to 2 nit r in Default 1

Set the detection timing of the speed arrival output (AT-SPEED).When the motor speed exceeds this setup value, the speed arrival output (AT-SPEED) is output.Detection is associated with 10 r/min hysteresis.

NN

ime

Motor speedSpeedr/min

Pr4. 10Pr4.36�10

�(Pr4.36�10)�(Pr4.36+10)

the speedarrival output A SP D


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Pr .itle echanical ra e action at stalling setup Related

control mode P S

Range to 1 nit 1 s Default

You can set up the time from when the bra e release signal ( R ) 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 (wor ) due to the action delay time (tb) of the bra eAfter setting up Pr6a >= tb

then compose the sequence so as the driver turns to Servo-OFF after the brake is actually activated.

NSR N

R

actual bra e

motorenergi ation

release hold

release

energi ed

hold

nonenergi ed

Pr4.

tb

Pr .itle echanical ra e action at running setup Related

control mode P S

Range to 1 nit 1 s Default

You can set up time from when detecting the off of Servo-ON input signal (SRV-ON) is to when external brake release signal (BRK-OFF) 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 �g. will be a shorter one of either Pr setup time or time lapse till the motor speed falls below 0r/min.

tb

NSR N

R

motorenergi ation

release hold

actualbra e energi ed non

energi ed

0 r/min

Pr .itle Bra e release speed setup Related

control mode P S

Range to nit r in Default

Set up the speed timing of bra e output chec ing during operation.

4 42

Pr .itle Selection of alar output 1 Related

control mode P S


Pr . 1itle Selection of alar output 2 Related

control mode P S


Related page

Select the type of alarm issued as the alarm output 1 or 2.

Setupvalue lar ontent

Red output of all alarms.

1 Overload protection Load factor is 85% or more the protection level.

2 Over-regeneration alarm Regenerative load factor is 85% or more the protection level.

attery alarm Battery voltage is 3.2 V or lower.

4 an alarm an has stopped for 1 sec.

ncoder communication alarm

The number of successive encoder communication errors exceeds the speci�ed value.

Encoder overheat alarm The encoder detects overheat alarm.

scillation detection alarm Oscillation or vibration is detected.

Lifetime detection alarm Life expectancy of capacitor or fan becomes short.

9 External scale error alarm he feedbac scale detects the alarm.

10External scale communication alarm

The number of successive feedback scale communication errors exceeds the speci�ed value.

or detailed description of alarm types refer to P. 4 .

Pr . 2itle 2nd Positioning co plete n position range Related

control mode P S

Range to 2 21 nit o andunit Default 1

aution

The INP2 turns ON whenever the positional deviation is lower than the value set up in this parameter without being affected by Pr4. 2 Positioning complete output setup. (Presence/absence of positional command is not related to this udgment.)

he command unit is used as the default unit but can be replaced by the encoder unit by using Pr .20. Positioning unit selection. Note that when the encoder unit is used unit of Pr0.14 Positional deviation excess setup is also changed.


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Pr .itle 2nd nu erator of electronic gear Related

control mode P S


Pr . 1itle rd nu erator of electronic gear Related

control mode P S


Pr . 2itle th nu erator of electronic gear Related

control mode P S


Set the 2nd to 4th numerator of division/multiplication operation made according to the command pulse input.This setup is enabled when Pr0.08 command pulse counts per one motor revolution = 0.When the setup value is 0, the numerator is replaced by the encoder resolution.

Pr . * itle Deno inator of pulse output division Related

control mode P S

Range 1 to 2 21 nit Default

or details refer to P.4 9 Pr0.11.

Pr . * itle ver travel inhi it input setup Related

control mode P S


Set up the operation of the run inhibition (P N ) inputs.

Setup value peration

0P Inhibit positive direction travelN Inhibit negative direction travel

1 Disable P N

2 POT or NOT input activates Err38.0 Run-inhibition input protection.

Pr . * itle Se uence at over travel inhi it Related

control mode P S


When Pr5.04 Over-travel inhibition = 0, specify the status during deceleration and stop after application of the over-travel inhibition (POT, NOT).

Details of Pr . Se uence at over travel inhi it

Pr . Pr . During deceleration fter stalling Deviation countercontent

0

Dynamic bra eaction

orque command 0towards inhibited direction old

1 orque command 0towards inhibited direction

orque command 0towards inhibited direction old

2 mergency stop orque command 0towards inhibited direction

lears before/after deceleration

1. Details of para eterSetup lass nhancing setting

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Pr .itle Se uence at Servo ff Related

control mode P S


aution

Related page

Specify the status during deceleration and after stop, after servo-off.

Setupvalue During deceleration * fter stalling

Positional deviationfeed ac scale

deviation

Dynamic ra e (D ) action Dynamic ra e (D ) action lear *4

1 ree run (D ) Dynamic ra e (D ) action lear *4

2 Dynamic ra e (D ) action ree run (D ) lear *4

ree run (D ) ree run (D ) lear *4

4 Dynamic ra e (D ) action Dynamic ra e (D ) action old *2

ree run (D ) Dynamic ra e (D ) action old *2

Dynamic ra e (D ) action ree run (D ) old *2

ree run (D ) ree run (D ) old *2

mergency stop *1 Dynamic ra e (D ) action lear *4

9 mergency stop *1 ree run (D ) lear *4

*1 Emergency stop refers to a controlled immediate stop with servo-on. The torque command value is limited during this process by Pr5.11 Emergency stop torque setup.*2 If the positional command is kept applied or the motor is kept running with servo-off condition, positional

deviation is accumulated, causing Err24.0 Excess positional deviation protection to be issued. If the servo is turned ON while the position or feedback scale is signi�cantly deviating, the motor may rapidly operate to reduce the deviation to 0. Remember these requirements if you want to maintain the positional deviation/feedback scale deviation.

* Deceleration period is the time required for the running motor to speed down to 0 r/min. nce the motor speed drops below 0 r/min it is treated as in stop state regardless of its speed.

*4 Positional deviation/feedback scale deviation is always cleared to 0.

If an error occurs during servo-off, follow Pr5.10 Sequence at alarm. If the main power is turned off during servo-off, follow Pr5.07 Sequence during main power interruption.

Refer to P.2-32, "Timing Chart"-Servo-ON/OFF action while the motor is at stall" of Preparation as well.

Pr .itle Se uence at ain po er Related

control mode P S


aution

Specify the status during deceleration after main power interrupt or after stoppage.The relationship between the setup value of Pr5.06 and the operation and process at deviation counters is the same as that for Pr5.07 (sequence at main power OFF).

If an error occurs with the main power supply turned off Pr .10 Sequence at alarm is applied to the operation.When the main power supply is turned off with servo-on state, Err13.1 Main power undervoltage error occurs if Pr5.08 LV trip selection with main power off = 1, and the operation follows Pr .10 Sequence at alarm.

1. Details of para eterlass nhancing setting

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Pr .itle trip selection at ain po er Related

control mode P S


aution

You can select whether or not to activate Err13 (Main power under-voltage protection) function while the main power shutoff continues for the setup of Pr .09 (Main power detection time).

Setup value ction of ain po er lo voltage protection

0When the main power is shut off during Servo-ON, Err13 will not be triggered and the driver turns to Servo-OFF. The driver returns to Servo-ON again after the main power resumption.

1When the main power is shut off during Servo-ON, the driver will trip due to Err13 (Main power low voltage protection).

This parameter is invalid when Pr5.09 (Detection time of main power OFF)=1000. Err13 (Main power under-voltage protection) is triggered when setup of P5.09 is long and P-N voltage of the main converter falls below the speci�ed value before detecting the main power shutoff, regardless of the Pr .0 setup.

Pr . * itle Detection ti e of ain po er off Related

control mode P SRange to 2 nit 1 s Default

You can set up the time to detect the shutoff while the main power is ept shut off continuously.The main power off detection is invalid when you set up this to 2000.

Pr .1itle Se uence at alar Related

control mode P S


Specify the status during deceleration and after stop after occurrence of alarm.

Setupvalue During deceleration * fter stalling

Positional deviationfeed ac scale

deviation

Dynamic ra e (D ) action Dynamic ra e (D ) action lear *1

1 ree run (D ) Dynamic ra e (D ) action lear *1

2 Dynamic ra e (D ) action ree run (D ) lear *1

ree run (D ) ree run (D ) lear *1

4Action A: Emergency stop Action B: DB action *2 Dynamic ra e (D ) action lear *1

Action A: Emergency stop Action B: DB OFF *2 Dynamic ra e (D ) action lear *1

Action A: Emergency stop Action B: DB action *2 ree run (D ) lear *1

Action A: Emergency stop Action B: DB OFF *2 ree run (D ) lear *1

*1 Positional deviation/feedback scale deviation is maintained during alarm condition and will be cleared when the alarm is cancelled.

*2 Action of A/B: When an alarm requiring emergency stop occurs, the action A is selected when the setup value in the table is set within the range 4 to 7, causing emergency stop of operation. When an alarm not requiring emergency stop occurs, it triggers dynamic braking (DB) speci�ed by action

or free running.* Deceleration period is the time required for the running motor to speed down to 0 r/min.

4 4

Pr .11itle or ue setup for e ergenc stop Related

control mode P S


ote

Set up the torque limit at emergency stop.

When setup value is 0, the torque limit for normal operation is applied.

Pr .12itle ver load level setup Related

control mode P S


• 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.

Pr .1itle ver speed level setup Related

control mode P S

Default to 2 nit r in Default

• If the motor speed exceeds this setup value, Err26.0 Over-speed protection occurs.• The over-speed level becomes 1.2 times of the motor max. speed by setting up this to 0.

Pr .1itle otor or ing range setup Related

control mode P S

Range to 1 nit .1revolution Default 1

• 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 Err34.0

will be triggered.

Pr .1 * itle reading filter Related

control mode P S


Select reading period of the control input signal.

Setup value Reading period of the signal.

0.1 ms1 0. ms2 1ms

1. ms

Exclude deviation counter clear input (CL) and command pulse inhibit input (INH).

Pr .1 * itle lar clear input setup Related

control mode P S


Select alarm clear input (A LR) recognition time.

Setup value Recognition ti e

120ms1 To Pr5.15 IF reading �lter


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Pr .1itle ounter clear input ode Related

control mode P S


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You can set up the clearing conditions of the counter clear input signal.

Setup value lear condition

0 Invalid

1 Clear at a level (no reading �lter)

2 Clear at a level (with reading �lter)

Clear at an edge (no reading �lter)

4 Clear at an edge (with reading �lter)

For signal width/timing requiring the deviation counter input, refer to P.3-38.

Pr .1itle nvalidation of co and pulse inhi it input Related

control mode P S


Select command pulse inhibit input enable/disable.

Setup value input

0 alid

1 Invalid

Pr .1 * itle o and pulse inhi it input reading setup Related

control mode P S


aution

Select command pulse inhibit input enable/disable signal reading period. When the status of several signals read during the predetermined reading period are same, update the signal status.

Setup value Signal reading period

0.1 ms

1 0. ms

2 1ms

1. ms

4 0.1 ms (no chec for multiple coincidence)

Longer reading period protects against operation error due to noise but decreases response to input signal.

Pr .2 * itle Position setup unit select Related

control mode P S


Specify the unit to determine the range of positioning complete and excessive positional deviation.

Setup value Unit

ommand unit

1 ncoder unit

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Pr .21itle Selection of tor ue li it Related

control mode P S


You can set up the torque limiting method.

Setup value Positive direction egative direction

0 P A L (0 to 10 ) N-ATL (�10 to 0V)

1 1st torque limit (Pr0.1 )

2 1st torque limit (Pr0.1 ) 2nd torque limit (Pr .22)

L S L 1st torque limit (Pr0.1 )L S L N 2nd torque limit (Pr .22)

4 P A L (0 to 10 ) N A L (0 to 10 )

P A L (0 to 10 )

L S L

1st torque limit (Pr0.1 ) 2nd torque limit (Pr .22)

L S L N

External input positive direction torque limit (Pr .2 )

External input negative direction torque limit (Pr .2 )

Pr .22itle 2nd tor ue li it Related

control mode P S


ote

You can set up the 2nd limit value of the motor output torque.The value of parameter is limited to the maximum torque of the applicable motor.


Pr .2itle or ue li it s itching setup 1 Related

control mode P S

Range to nit s 1 Default

Specify the rate of change (slope) from 1st to 2nd during torque limit switching.

Pr .2itle or ue li it s itching setup 2 Related

control mode P S

Range to nit s 1 Default

Specify the rate of change (slope) from 2nd to 1st during torque limit switching.

Pr .2itle ternal input positive direction tor ue li it Related

control mode P S


ote

Set up positive direction torque limit upon receiving TL-SEL with Pr5.21 Selection of torque limit set at .The value of parameter is limited to the maximum torque of the applicable motor.



ote

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Pr .2itle ternal input negative direction tor ue li it Related

control mode P S


ote

Set up negative direction torque limit upon receiving TL-SEL with Pr5.21 Selection of torque limit set at .The value of parameter is limited to the maximum torque of the applicable motor.


Pr .2itle nput gain of analog tor ue li it Related

control mode P S

Range 1 to 1 nit .1 1 Default

From the voltage [V] applied to the analog torque limit input (P-ATL, N-ATL), set conversion gain to torque limit .

Pr .2 * itle D initial status Related

control mode P S


Po er

Setup valueof Pr 1

lashes (for appro . 2 sec) during initiali ation

Setupvalue ontent Setup

value ontent Setupvalue ontent

0 Positional command deviation 12 rror factor and reference of history 24 Encoder positional deviation [Encoder unit]1 Motor speed 1 Alarm Display 2 External scale deviation [External scale unit]2 Positional command speed 14 Regenerative load factor 2 Hybrid deviation [Command unit]

elocity control command 1 Over-load factor 2 oltage across PN 4 orque command 1 Inertia ratio 2 Software version

eedbac pulse sum 1 actor of no motor running 29 Driver serial numberommand pulse sum 1 No. of changes in I/ signals 0 Motor serial number

External scale feedback pulse sum 20 Absolute encoder data 1 Accumulated operation time9 ontrol mode 21 Absolute external scale position 2 Automatic motor recogni ing function

10 I/ signal status 22 No. of encoder/ external scale communication errors monitor Driver temperature

11 Analog input value 2 Communication axis address Safety condition monitor

Related page

You can select the type of data to be displayed on the front panel L D ( segment) at the initial status after power on.

For details of display, refer to P.2-58 "Setup of Parameter and Mode" of Preparation.

Pr .2 * itle Baud rate setup of RS2 2 co unication Related

control mode P S


ote

You can set up the communication speed of RS2 2.

For baud rate setup value, refer to RS485 setup.

4 0

Pr . * itle Baud rate setup of RS co unication Related

control mode P S


You can set up the communication speed of RS4 .

Setup value Baud rate Setup value Baud rate0 2400bps 4 400bps1 4 00bps 00bps2 9 00bps 11 200bps

19200bps

aud rate error is 0. for 2400 to 400 bps and 2 for 00 to 11 200 bps.

Pr . 1 * itle is address Related

control mode P S


ote

During communication with the host (e.g. P ) to control multiple shafts the shaft being accessed by the host should be identi�ed.

When using RS232/RS485, the maximum valid value is 31.

Pr . 2 * itle o and pulse input a i u setup Related

control mode P S

Range 2 to nit Default

aution

Set the maximum number of pulses to be used as command pulse input. If the number of input pulses is outside the range rr.2 .0 ommand pulse input frequency error protection occurs.

The number of input pulses received by the driver is always checked. If the frequency of the received pulse is higher than the upper limit of the setting, input pulses are not accurately detected.

Pr . * itle Pulse regenerative output li it setup Related

control mode P S


nable/disable detection of rr2 .0 Pulse regenerative limit protection.

Setup value ontentInvalid

1 alid

Pr .itle or anufacturer s use Related

control mode P S

Range nit Default

Fixed to 4.

Pr . * itle ront panel loc setup Related

control mode P S


Loc the operation on the front panel. Setup value ontentNo limit on the front panel operation

1 Loc the operation on the front panel

ote

Related page


• P.2-49 “Setup of Torque Limit” • P.3-30... “Inputs and outputs on connector X4” • P.6-3 “Protective Function”


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Pr .itle nalog tor ue feed for ard conversion gain Related

control mode P S

Range to 1 nit .1 1 Default

Set the input gain of analog torque feed forward. 0 to 9 are invalid.

Usage e a ple of nalog tor ue feed for ard• Setting bit 5 place of Pr6.10 Function expansion setup to 1 enables the analog torque feed

forward. When the analog input 3 is used by another function (e.g. analog torque limit), the function becomes invalid.

• The voltage (V) applied to the analog input 3 is converted to the torque via Pr6.00 Analog torque feed forward conversion gain setup and added to the torque command (%).

• The conversion of analog input 3, input voltage [V], to the torque command [%] to the motor may be expressed mathematically as follows:

Torque command (%) = 100 × input voltage (V) / (Pr6.00 setup value × 0.1)

Pr . 2itle elocit deviation e cess setup Related

control mode P S


When the speed deviation (difference between internal positional command and actual speed) exceeds this value, Err24.1 Speed over deviation protection occurs.This protection is not detected when the setup value is 0.

Pr .itle trial run co and speed Related

control mode P S

Range to nit r in Default

Related page

Set up the command speed used for JOG trial run (velocity control).

efore using refer to P.4 Preparation rial Run.

Pr .itle Position rd gain valid ti e Related

control mode P S


• Set up the time at which 3rd gain becomes valid.• When not using this parameter, set Pr6.05 to 0 and Pr6.06 to 100.• This is valid for only position control/full-closed control.

Pr .itle Position rd gain scale factor Related

control mode P S


• Set up the 3rd gain by a multiplying factor of the 1st gain:rd gain 1st gain Pr .0 /100

Pr .itle or ue co and additional value Related

control mode P S

Range D7))��7)) nit Default

• Set up the offset load compensation value usually added to the torque command in a control mode except for the torque control mode.

• Update this parameter when the vertical axis mode for real time auto-tuning is valid.

1. Details of para eterSetup lass Special setting

4 2

Pr .itle Positive direction tor ue co pensation value Related

control mode P S


• Set up the dynamic friction compensation value to be added to the torque command when forward positional command is fed.Update this parameter when the friction compensation mode for real time auto-tuning is valid.

Pr .itle egative direction tor ue co pensation value Related

control mode P S


• Set up the dynamic friction compensation value to be added to the torque command when negative direction positional command is fed.Update this parameter when the friction compensation mode for real time auto-tuning is valid.

Pr .1itle unction e pansion setup Related

control mode P S


Set up the function in unit of bit.

unctionSetup value

1

bit 0 Speed observer Invalid alid

bit 1 Disturbance observer Invalid alid

bit 2 Disturbance observer operation setup Always validalid only when 1st gain

is selected.

bit Inertia ratio switching Invalid alid

bit 4 Current response improvement Invalid alid

bit Analog torque Invalid alid

* bit 0 LS

Pr .11itle urrent response setup Related

control mode P S


ine tune the current response with respect to default setup (100 ).

Pr .1itle 2nd nertia ratio Related

control mode P S


aution

Set 1st inertia ratio.You can set up the ratio of the load inertia against the rotor (of the motor) inertia.

Pr .1 (load inertia/ rotor inertia) 100

If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia ratio of Pr0.04 is larger than the actual, the setup unit of the velocity loop gain becomes larger and when the inertia ratio of Pr0.04 is smaller than the actual the setup unit of the velocity loop gain becomes smaller.

1. Details of para eterlass Special setting

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Pr .1itle ergenc stop ti e at alar Related

control mode P S

Range to 1 nit 1 s Default 2

Set up the time allowed to complete emergency stop in an alarm condition. Exceeding this time puts the system in alarm state.When setup value is 0, immediate stop is disabled and the immediate alarm stop is enabled.

Pr .1itle 2nd over speed level setup Related

control mode P S


When the motor speed exceeds this setup time during emergency stop sequence in an alarm condition, Err26.1 2nd overspeed protection will be activated. The over-speed level becomes 1.2 times of the motor max. speed by setting up this to 0.

Pr .1 * itle ront panel para eter riting selection Related

control mode P S


Specify the PR M writing procedure when parameter is edited form the front panel.

Setup value riting

Do not write to PR M at the same time

1 Write to EEPROM at the same time

Pr .1 * itle Po er up ait ti e Related

control mode P S

Range to 1 nit .1s Default

Set up the standard initialization time (1.5 s + �) after power-up.

Pr .1 * itle ncoder phase setup Related

control mode P S

Range to 2 nit pulse Default

If the number of output pulses per one motor revolution after division of pulse output is not an integer, �ne adjust the width of encoder Z phase.

Pr .2 * itle phase setup of e ternal scale Related

control mode P S

Range to nit E Default

Set up the Z phase regenerative width of feedback scale in unit of time. Even if the width of Z phase signal cannot be detected because the width equivalent of the travel distance from the feedback scale is too short, the Z phase signal will be output for at least the period set to this parameter.


ote

Related page


• P.2-73 “EEPROM Writing” • P.3-30... “Inputs and outputs on connector X4” • P.6-3 “Protective Function”

4 4

Pr .21 * itle Serial a solute e ternal scale phase setup Related

control mode P S

Range to 22 nit pulse Default

ull closed control using serial absolute feedbac scale. hen outputting pulses by using the feedbac scale as the source of the output set the phase output interval in units of A phase output pulses of the feedbac scale (before multiplied by 4).

Setup value ontent

utput phase only at absolute 0 position of feedbac scale.

1 to 2 4 4

After the power is fed to the driver the phase as it crosses the ero at the absolute position of feedbac scale is output in synchronous with the A phase. Subsequently the phase is output at the A phase output pulse intervals set to this parameter.

Pr .22 * itle B phase e ternal scale pulse output

ethod selectionRelated

control mode P S


Select the pulse regeneration method of A and parallel feedbac scale.

Setup value Regenerating ethod

Directly output the signals from A and parallel feedbac scales.

1 utput A and phase signals recovered from A and parallel feedbac scales.phase is output directly.

Pr .2itle Distur ance tor ue co pensating gain Related

control mode P S


Set up 100 to 100 compensating gain against disturbance torque.After setting up Pr .24 increase Pr .2 .

he disturbance suppressing capability increases by increasing the gain but it is associated with increasing volume of operation noise.

his means that well balanced setup can be obtained by ad usting Pr .24 and Pr .2 .

Pr .2itle Distur ance o server filter Related

control mode P S

Range to 2 nit . 1 s Default

• Filter setup 10-2500, 0.01 ms. Set up the �lter time constant according to the disturbance torque compensation.

irst set up Pr .24 to a larger value and chec the operation with Pr .2 Disturbance torque compensating gain set to a low value and then gradually decrease the setup value of Pr6.24. A low �lter setup value assures disturbance torque estimation with small delay and effectively suppresses effects of disturbance. owever this results in larger operation noise. ell balanced setup is required.

Pr .2 * itle lar latch ti e selection Related

control mode P S


Set up the latch time. Setup value ontent

Latch time: in�nite

1 to 10 Latch time: 1 to 10 s


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Pr . 1itle Real ti e auto tuning esti ation speed Related

control mode P S


Set up the load characteristics estimation speed with the real time auto tuning being valid. A higher setup value assures faster response to a change in load characteristics but increases variations in disturbance estimation. Result of estimation is saved to EEPROM every 30 minutes.

Setup value ode Description

0 No change Stop estimation of load characteristics.

1 Almost constant Response to changes in load characteristics in every minute.

2 Slower change Response to changes in load characteristics in every second.

* aster changebtain best suitable estimation in response to changes in load

characteristics.

* If the automatic oscillation detection is enabled by the support software PANA RM the setup value 3 is used.

Pr . 2itle Real ti e auto tuning custo setup Related

control mode P S

Range D(1H<-��(1H<H nit Default

When the operation mode of real time auto tuning is set to the customize (Pr0.02 = 6), set the automatic ad usting function as shown below.

Bit ontent Description

1 to 0Load charac

teristicsestimation *

nable/disable the load characteristics estimation function.

Setup value unction

Disable

1 nable

* If the load characteristics estimation is disabled the current setup cannot be changed even if the inertia ratio is updated according to the estimated value. When the torque compensation is updated by the estimated value, it is cleared to 0 (invalid).

to 2Inertia ratio

update

Set up update to be made based on result of the load characteristics estimation of Pr0.04 Inertia ratio.

Setup value unction

se the current setup.

1 Update by the estimated value.

(continued)

ote

Related page


he setup support software PANA RM can be downloaded from our web site.• P.3-30... “Inputs and outputs on connector X4”

4

to 4orque

compensation

Set up the update to be made according to the results of load characteristics estimation of Pr .0 orque command additional value, Pr6.08 positive direction torque compensation value and Pr6.09 negative direction torque compensation value.

Setup value unction o pensation setupse current setup Pr .0 Pr .0 Pr .09

1 Disable torque compensation 0 clear 0 clear 0 clear

2 Vertical axis mode pdate 0 clear 0 clearriction compensation

(low) pdate Low Low

4 riction compensation (middle) pdate Middle Middle

riction compensation (high) pdate igh igh

Stiffness setup

nable/disable the basic gain setup to be made according to Pr0.0 Real time auto tuning mechanical stiffness selection.

Setup value unction

Disable

1 nable

Fixed parameter

setup

nable/disable the change of parameter that is normally set at a �xed value.

Setup value unction


1 Set to a �xed value.

10 to 9ain switching

setup

Select the gain switching related parameter to be used when the real time auto tuning is enabled.

Setup value unction


1 Disable gain switching.

2 nable gain switching.

aution This parameter should be setup bit by bit. To prevent setting error, use of the setup support software is recommended when editing parameter.

Setup procedure of it ise para eterWhen setting parameter to a value other than 0, calculate the setup value of Pr6.32 in the following procedure. 1) Identify the LS of the setup. Example: LSB of the torque compensation function is 4.2) Multiply the setup value by power of 2 (LSB).

Example: To set the torque compensation function to friction compensation (middle): 24 4 4.

) Perform steps 1) and 2) for every setups, sum up the values which are to be Pr6.32 setup value.Example: Load characteristics measurement = enable, inertia ratio update = enable,

torque compensation friction compensation (middle) stiffness setup enable �xed parameter = set to a �xed value, gain switching setup = enable, then,

20 × 1 + 22 × 1 + 24 × 4 +27 × 1 + 28 × 1 + 29 × 2 = 1477


4

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Pr .itle rid vi ration suppression gain Related

control mode P S

Range to nit .1 s Default

Set up the hybrid vibration suppression gain for full-closed controlling.First set it to the value identical to that of poison loop gain, and then �ne tune as necessary.

Pr .itle rid vi ration suppression filter Related

control mode P S

Range to nit . 1 s Default 1

Set up the time constant of the hybrid vibration suppression �lter for full-closed controlling.While driving under full-closed control, gradually increase the setup value and check changes in the response.

Pr .itle scillation detecting level Related

control mode P S


Set up the oscillation detecting level.Upon detection of a torque vibration whose level is higher than this setup value, the oscillation detection alarm will be issued.

Pr . * itle lar as setup Related

control mode P S

Range D(1H<-��(1H<H nit Default

Set up the alarm detection mas . Placing 1 to the corresponding bit position disables detection of the alarm condition.

Pr .itle or anufacturer s use Related

control mode P S

Range nit Default

Fixed to 0.

4

2. rial Run runSetup nspection Before rial Run

Display L D

onnector

ground

Powersupply

MotorMachine





Release of the ra e






Release of the ra e


ote Details of wiring, refer to P.2-8 “Overall Wiring”

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2. rial Run runSetup rial Run onnecting the onnector

rial Run run at Position ontrol ode

(1) onnect the onnector 4.(2) Enter the power (DC12 to 24V) to control signal (COM+, COM–)(3) Enter the power to the driver.(4) Con�rm the default values of parameters.( ) Match to the output format of the host controller with Pr0.0 ( ommand pulse input

mode setup).(6) Write to EEPROM and turn off/on the power (of the driver).(7) Connect the Servo-ON input (SRV-ON, Connector X4, Pin-29) and COM– (Connector

X5, Pin-41) to bring the driver to Servo-ON status and energize the motor. ( ) nter low frequency from the host controller to run the motor at low speed.(9) hec the motor rotational speed at monitor mode whether

rotational speed is as per the setup or not and the motor stops by stopping the command (pulse) or not.

(10) If the motor does not run correctly, refer to P.2-64, "Display of Factor for No-Motor

Running" of Preparation.

iring Diagra

Para eterPr o. itle Setup value0.01 ontrol mode setup 0.04 Over-travel inhibit input setup 1

0.0 Selection of command pulse input 0/10.0 ommand pulse input mode setup 1.1 Invalidation of command pulse inhibit input 1.1 ounter clear input mode 2

nput signal statuso. itle of signal onitor displa0 Servo-ON +A

M29

41

4

M

SR N

P LS1

P LS2

SI N1

SI N2

1 �

1 �

In case of open collector input

onnector 4

in case of line receiver input

D12 to 24

D12

4 �2 �

2 � 4 �

220�

SI N 1

SI N 2

ND

P LS 1 P LS/L

P LS 2

44

4

SI N4

4

1

4 �2 �

2 � 4 �

220�

4 0

rial Run run at elocit ontrol ode

1) onnect the onnector 4.2) Enter the power (DC12 to 24V) to control signal (COM+, COM–)3) Enter the power to the driver.4) Con�rm the default values of parameters.5) Connect the Servo-ON input (SRV-ON, Connector X4, Pin-29) and COM– (Connector

X4, Pin-14) to turn to Servo-ON and energize the motor.6) Close the speed zero clamp input (ZEROSPD) and apply DC voltage between velocity

command input SPR ( onnector 4 Pin 14) and ND ( onnector 4 Pin 1 ) and gradually increase from 0V to con�rm the motor runs.

7) Con�rm the motor rotational speed in monitor mode. • Whether the rotational speed is per the setup or not. • Whether the motor stops with zero command or not.8) If the motor does rotate at a micro speed with command voltage of 0.9) When you want to change the rotational speed and direction, set up the following pa

rameters again. Pr3.00: Speed setup, Internal/External switching Pr3.01: Speed command rotational direction selection Pr3.03: Reversal of speed command input10)If the motor does not run correctly, refer to P.2-64, "Display of Factor for No-Motor

Running" of Preparation.

iring Diagra

Para eterPr o. itle Setup value0.01 ontrol mode setup 1.04 Over-travel inhibit input setup 1.1 Speed ero clamp function selection 1.00 Speed setup, Internal/External switching

Set up asrequired

.01 Speed command rotational direction selection

.02 Input gain of speed command

.0 Reversal of speed command input4.22 Analog input 1 (AI1) offset setup4.2 Analog input 1 (AI1) filter


Speed ero clamp

M

SR N

SPR/ R R/SPL

ND

R SPD

M�

29

14

1

2

41

D12 to 24 Run with R SPD switch close

and Stop with open

In case of one directional operationD10

In case of bi directional operation (Positive/Negative) provide a bipolar power supply or use with Pr0 .1 .

Refer to P.4-24, "Parameter Setup" (Parameters for Velocity/ orque ontrol)

2. rial Run runrial Run onnecting the onnector

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rial Run run at or ue ontrol ode

1) onnect the onnector 4.2) Enter the power (DC12-24V) to control signal (COM+, COM–)3) Enter the power to the driver.4) Con�rm the default values of parameters.5) Set a lower value to Pr3.07 (4th speed of speed setup).6) Energize the motor by connecting the Servo-ON input (SRV-ON, Connector X4,

Pin-29) and COM– (Pin-41 of Connector X4) to turn to Servo-ON status. 7) Con�rm that the motor runs as per the setup of Pr3.07 by applying DC voltage (posi

tive/negative) between the torque command input (Pin-14 of Connector X4) and GND (Pin 41 of onnector 4).

8) If you want to change the torque magnitude, direction and velocity limit value against the command voltage, set up the following parameters.

Pr3.19: Input gain of torque command Pr3.20: Input reversal of torque command Pr3.21: Speed limit value 19) If the motor does not run correctly, refer to P.2-64, "Display of factor for No-motor run

ning" of Preparation.

iring Diagra

Para eterPr o. itle Setup value

0.01 ontrol mode setup 2

.04 Over-travel inhibit input setup 1

.1 Speed ero clamp function selection 0

.1 Selection of torque command 0

.19 Input gain of torque command Set up asrequired.20 Input reversal of torque command

.21 Speed limit value 1 lower value


Speed ero clamp

M

SR N

SPR/ R R

ND

M

29

14

1

41

D12 to 24

In case of one way runningD10

or bi directional running (Positive/Negative) provide a bipolar power supply.

2. rial Run runrial Run onnecting the onnector

Refer to P.2-28, 29, "Parameter Setup" (Parameters for elocity/ orque ontrol)

4 2

ote

aution

When setting Pr0.08, and encoder resolution is automatically set up as numerators.

• Max. input pulse frequency varies depending on input terminals.• You can set up any values to numerator and denominator, however, setup of an ex

treme division ratio or multiplication ratio may result in dangerous action. Recommended ratio is 1/1000 to 1000.

*Refer to P.2-50 "Division Ratio for Parameters" of Supplement.

2. rial Run runSetup Setup of otor Rotational Speed and nput Pulse re uenc

220

220

220

21

21

nput pulse fre uenc

pps

2M

00

2 0

100

00

otor rotational

speed r in

000

000

000

000

1 00

1 it 2 it

4000021

40000220

1000021

2000021

20000

10000220

000

2000 2000

000

Pr0.0

2n

20

21

22

224

222229

210

211

212

21

214

21

21

21

21

219

220

Deci alfigures

124

124

122

121024204409

1921 4

2

1 10 22 2144

242104

hen setting the command division and multiplication ratio as numerator/denominator e press it as Pr0.09/Pr0.10 with Pr0.0 0.e.g.) hen you want to rotate the motor by 0 with the load of total reduction ratio of 1 / .

Relation et een the otor rotational speed and input pulse counts

0 Pulley ratio :

ear ratio :

otal reduction ratio : ear

10

12

1

1 bit 20 bitncoder

ommandpulse

ow to determineparameter

1 00

21

1 21

1 00

100001 220

1040

1040

Pr0.10Pr0.09

0040

0040

o rotate the output shaft by 0 enter the command of 192 (21 ) pulses from the

host controller.

o rotate the output shaft by 0 enter the command of

10000 pulses from the host controller.

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. d ust ent

1. ain d ust entutline ........................................................................................................ 2

2. Real i e uto ain uningasic ........................................................................................................... 4

. daptive filterAdaptive �lter ............................................................................................ 10

. anual ain uning Basicutline ...................................................................................................... 1

Adjustment in Position Control Mode ........................................................ 14

Adjustment in Velocity Control Mode ........................................................ 1

Adjustment in Torque Control Mode ......................................................... 1

Adjustment in Full-Closed Control Mode .................................................. 1

ain Switching unction ........................................................................... 1

Suppression of Machine Resonance ........................................................ 20

. anual ain uning pplicationDamping Control ....................................................................................... 24

Feed forward function ............................................................................... 2

Instantaneous Speed Observer ................................................................ 2

Disturbance observer ................................................................................ 0

3rd gain switching function ....................................................................... 2

Friction torque compensation ................................................................... 4

Inertia ratio switching function ..................................................................

Hybrid vibration damping function ............................................................

. out o ing perationCaution on Homing Operation .................................................................. 9

oming with it Stop ............................................................................. 40

Press & Hold Control ................................................................................ 41

2

1. ain d ust entd ust ent utline

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 scre

Procedures

Position loop gain : 20elocity loop gain : 100ime constant ofloop integration : 0

elocity loop feed forward : 0Inertia ratio : 100





2000

2000

0

0.0 2 012 0.0 2 012 0.0 2 012

r/min

ommand SpeedMotor actual speed

ain setup : Low ain setup : igh ain setup : igh feed forward setup

Start ad ustment

Automaticad ustment

Ready forcommand

input

Action . .

Yes

YesNo

NoYes

YesNo

Action . .

YesNo

No

Real timeauto gain tuning

(Default)

Release ofauto ad usting

function

Release ofauto ad usting

function

Manual gain tuning

ain automaticsetup function

inish ad ustment

riting to PR M

onsult to authori ed dealer

(see P. 4)(see P. 1 )

peration by usingthe trial run function

(see P. 24)

se thegain setup of auto

ad ustment

ote For safety operation, first adjust the gain by referring to P.6-15 Setup protective function before gain adjustment.

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Re ar s • Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the main power, or turn to Servo-OFF.

pe

unction planation Pagesto refer

Autom

aticad

ustment

Real-time auto-gain tuningEstimates the load inertia of the machine in real time, and automatically sets up the optimum gain corresponding to this result.

P. 4

Adaptive �lter

Reduces the resonance vibration point by automatically setting up the notch �lter coef�cient which removes the resonance component from the torque command while estimating the resonance frequency from the vibrating component which appears in the motor speed in actual operating condition.

P. 10

Manual adjustm

ent

Manual gain tuning (basic)

Execute the manual adjustment or �ne-tuning when real-time auto-gain tuning cannot be activated due to the limitation of operation or load condition, or when you want to obtain an optimum response and stability under these conditions.

P. 1

Basic procedure

Adjustment of position control mode P. 14

Adjustment of velocity control mode P. 1

Adjustment of torque control mode P. 1

Adjustment of full-closed control mode P. 1

Gain switching functionYou 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.

P. 1

Suppression of machine resonance

When the machine stiffness is low, vibration or noise may be generated due to the distorted axis, hence you cannot set the higher gain. You can suppress the resonance with two kinds of �lter.

P. 20

Manual gain tuning (application)

You can obtain the higher performance while you are not satis�ed with the performance obtained with the basic adjustment, using the following application functions.

Damping controlFunction which reduces vibration by removing the vibration frequency component while the front end of the machine vibrates.

P. 24

Feed forward functionVelocity feed forward function improves responsiveness during position control and full closed control. Torque feed forward improves the response of velocity control system.

P. 2

Instantaneous speed observer

Function which obtains both high response and reduction of vibration at stopping by estimating the motor speed with the load model, and hence improves the accuracy of speed detection.

P. 2

Disturbance observerFunction which uses estimated disturbance torque to reduce effects of the disturbance torque and to reduce vibration.

P. 0

3rd gain switching function

By using this function in addition to the normal gain switching function, the gain can be changed at the moment of stop to further shorten the positioning time.

P. 2

Friction torque compensation

Offset load compensation and dynamic friction compensation are used to reduce effects of mechanical friction.

P. 4

Inertia ratio switching function

This function can be used when selectable 2 inertia ratios are provided.

P.

Hybrid vibration damping function

This function, when used in full closed control mode, prevents vibration resulting from torsion on motor and load.

P.

1. ain d ust entutline

4

2. Real i e uto ain uningd ust ent Basic

utline

The system estimates the load characteristics in real time, and automatically performs basic gain setting and friction compensation by referring to stiffness parameter.

pplica le Range

Real time auto-gain tuning is applicable to all control modes.

Real ti e auto tuning condition

ontrol odeSpeci�c real-time auto-tuning mode is selected according to the currently active control mode. For details, refer to the description of Pr0.02 Real-time auto tuning setup.

thers

• Should be in servo-on condition• Input signals such as the deviation counter clear and command input

inhibit, and parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run smoothly.

aution

Real-time auto-gain tuning may not be executed properly under the conditions described in the table below. Under these conditions, change the load condition or operation pat

tern, or start manual gain tuning (see P.5-24).

onditions hich o struct real ti e auto gain tuning action

oad inertia• The load is too small or large compared to the rotor inertia. (less than 3

times or more than 20 times).• The load inertia changes too quickly.

oad• The machine stiffness is extremely low.• Nonlinear characteristics such as backlash exist.

ctionpattern

• 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.• 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].

Position/elocity

command Position/elocity

control

Servo driver

Load characteristicestimation

Resonant frequencymeasurement

orquecommandeneration

Notchfilter

currentcontrol

asic gain automatic setting

riction torque compensation

Adaptiveprocess

orquecommand Motor

current

Motorspeed

Motor

ncoder

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o to perate

aution

1) Bring the motor to stall (Servo-OFF). 2) Set up Pr0.02 (Setup of real-time auto-gain tuning mode) to 1-7.

Default is set to 1.

Setupvalue Real ti e auto gain tuning

*1 Velocity and torque controls are the same as in the standard mode.

*2 Torque control is the same as in the standard mode.

*3 Velocity control is the same as in the vertical axis mode. Torque control is the same as in the standard mode.

*4 Certain function(s) is not available in a speci�c control mode. Refer to description in Pr6.32.

0 Invalid1 Standard

2 Positioning *1

Vertical axis *2

4 Friction compensation *

Load characteristic measurement

ustomi e *4

Control parameter is automatically set according to Pr0.03 Real-time auto-tuning stiffness setup. For details, see P.5-6 and 5-7.

3) Turn on servo, and start the machine.

Estimation of load characteristics starts.4) When the load characteristics are determined, Pr0.04 Inertia ratio is updated.

In a speci�c mode, the following parameters are changed:Pr6.07 Torque command additional valuePr6.08 Positive direction torque compensation valuePr6.09 Negative direction torque compensation value

5) When value of Pr0.03 Real-time auto-tuning stiffness setup is increased, the motor responsiveness will be improved.Determine the most appropriate stiffness in relation to the positioning setup time and vibration condition.

6) To save the result to memory, write the data to EEPROM.

If power is turned off within 30 minutes after the end of tuning process, the result of the real-time auto-tuning is not saved. If the result is not saved, manually write parameters to EEPROM and then turn off power.

2. Real i e uto ain uningBasic

ote

Related page

• While the auto-tuning is valid, parameters that are to be automatically adjusted cannot be changed.

• P.2-71 “EEPROM Writing” • P.4-5, 4-6, 4-51, 4-52, 4-55, 4-56 “Details of parameter”

Para eters set changed real ti e auto gain tuning

Para eters hich are updatedThe real-time auto-tuning function updates the following parameters according to Pr0.02 Real-time auto-tuning setup and Pr6.32 Real-time auto-tuning custom setup and by using the load characteristic estimate values.

lass o. itle unction

0 04 Inertia ratioUpdates this parameter when the real-time auto-tuning inertia ratio update is enabled.

0Torque command additional value

Update this parameter when the vertical axis mode for real time auto-tuning is valid.

0Positive direction torque compensation value

Update this parameter when the friction compensation mode for real time auto-tuning is valid.

09Negative direction torque compensation value

Update this parameter when the friction compensation mode for real time auto-tuning is valid.

Para eters hich are updated to setup value corresponding to stiffness setupThe real-time auto-tuning function updates the following basic gain setup parameters according to Pr0.03 Real-time auto-tuning stiffness setup.


1 00 1st gain of position loop

When stiffness setup is valid, updates the parameter based on the setup value.Refer to P.5-9 Basic gain parameter setup table.

1 01 1st gain of velocity loop

1 021st time constant of velocity loop integration

1 04 1st time constant of torque �lter

1 0 2nd gain of position loop

1 0 2nd gain of velocity loop

1 02nd time constant of velocity loop integration

1 09 2nd time constant of torque �lter

Para eters hich are set to fi ed valueReal-time auto-tuning function sets the following parameters to the �xed value.

lass o. itleSetup value hen fi ed para eter

setup is valid.

1 0 1st �lter of speed detection0

1 0 2nd �lter of speed detection

1 10 Velocity feed forward gain 300 (30%)

1 11 Velocity feed forward �lter 50 (0.5ms)

1 12 Torque feed forward gain0

1 1 Torque feed forward �lter

Related page • P.4-6 “Pr0.04” • P.4-12... “Pr1.00...” • P.4-52 “Pr6.07...”


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Para eters hich are set in response to gain s itching setupThe real-time auto-tuning function sets the following parameters as the gain is switched.


1 14 2nd gain setupSets to 1 if the current setting is not maintained.

1 1 Mode of position control switchingSets to 10 to enable the gain switching.Sets to 0 to disable the gain switching.

1 1 Delay time of position control switching Sets to 50 if the current setting is not

maintained.1 1 Level of position control switching

1 1 Hysteresis at position control switching Sets to 33 if the current setting is not

maintained.1 19 Position gain switching time

1 20 Mode of velocity control switching

Sets to 0 if the current setting is not maintained.

1 21 Delay time of velocity control switching

1 22 Level of velocity control switching

1 2 Hysteresis at velocity control switching

1 24 Mode of torque control switching

1 2 Delay time of torque control switching

1 2 Level of torque control switching

1 2 Hysteresis at torque control switching

Para eters hich are al a s set to invalid.The following settings are always set to invalid when Pr0.02 Real-time auto-tuning setup is not 0.


10 unction e pansion setup

Instantaneous speed observer function enable bit (bit 0), disturbance observer function enable bit (bit 1) and inertia ratio switching function enable bit (bit 3) are internally disabled.

1 2nd Inertia ratio

Parameter se tup can be changed , bu t disturbance observer is disabled.

2Disturbance torque compensating gain

24 Disturbance observer �lter


Related page • P.4-14... “Pr1.14...” • P.4-52... “Pr6.10...”

aution

(1) Immediately after the �rst servo-on upon start up; or after increasing Pr0.03 Real-time auto-tuning stiffness setup, abnormal sound or oscillation may be gener

ated until the load characteristics estimation is stabilized. If such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures. 1) Lower the setup of Pr0.03 (Selection of machine stiffness at real-time auto-gain

tuning).2) Set Pr0.02 Real-time auto-tuning setup to 0 to disable the real-time auto-tuning.3) Set Pr0.04 Inertial ratio to the calculational value of the equipment and set Pr6.07

Torque command addition value, Pr6.08 Positive direction compensation value and Pr6.09 Negative direction compensation value to 0.

(2) When abnormal noise and oscillation occur, Pr0.04 (Inertia ratio) or Pr6.07 (Torque command additional value), Pr6.08(Positive direction torque compensation value), Pr6.09(Negative direction torque compensation value) 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, Pr0.04 (Inertia ratio) and Pr6.07 (Torque command additional value), Pr6.08(Positive direction torque compensation value), Pr6.09(Negative direction torque compensation value) will be written to EEPROM every 30 minutes. When you turn on the power again, the auto-gain tuning will be e ecuted using the latest data as initial values.

nvalidation of Real i e uto ain uning

aution

You can stop the automatic calculation of Pr0.04 (Inertial ratio) and invalidate the real-time auto-gain tuning by setting up Pr0.02 (Real-time auto-gain tuning setup) to 0.Note that the calculation result of Pr0.04 (Inertia ratio) will be held, and if this parameter becomes abnormal value, use the normal mode auto-gain tuning or set up proper value manually obtained from formula or calculation.

If power is turned off within 30 minutes after the end of tuning process, the result of the real-time auto-tuning is not saved. If the result is not saved, manually write parameters to EEPROM and then turn off power.


9

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ote For details of parameters, refer to P.4-12 “Details of parameter”.• Download the A4 series manual from the web site shown below. http://industrial.panasonic.com/jp/i/25000/motor_fa/motor_fa.html

Basic gain para eter setup ta le

Stiffness

1st gain 2nd gain

SeriesStiffness

setupreference

*1

Pr1. Pr1. 1 Pr1. 2 Pr1. *2 Pr1. Pr1. Pr1. Pr1. *2

ain ofposition

loop.1 s

ain ofvelocit

loop.1

i econstant

of velocitloop

integration.1 s

i econstantof tor ue

filter. 1 s

ain ofposition

loop.1 s

ain ofvelocit

loop.1

i econstant

of velocitloop

integration.1 s

i econstantof tor ue

filter. 1 s

0 20 1 00 1 00 2 1 10000 1 00

1 2 20 2 00 1100 0 20 10000 1100

2 0 2 2200 900 40 2 10000 900

40 0 1900 00 4 0 10000 00

4 4 1 00 00 10000 00

4 1200 00 0 4 10000 00

0 900 400 9 0 10000 400

9 00 00 120 10000 00

11 90 00 00 140 90 10000 00 0

9 140 110 00 200 1 110 10000 200

10 1 140 400 200 220 140 10000 200

11 20 1 0 10 12 0 1 0 10000 12 1

12 90 220 2 0 10 4 0 220 10000 10 2

1 4 0 2 0 210 4 0 2 0 10000 4

14 0 0 1 0 0 0 10000 4

1 20 400 140 40 400 10000

1 900 00 120 4 10 0 00 10000 4

1 10 0 00 110 12 0 00 10000

1 1 0 0 90 0 1 0 0 10000 0

19 1 20 900 0 2 1 0 900 10000 2 9

20 20 0 11 0 0 20 2410 11 0 10000 20 10

21 2 10 1400 0 1 29 0 1400 10000 1 11

22 0 0 1 00 0 1 0 1 00 10000 1 12

2 0 2100 40 11 4400 2100 10000 11 1

24 4490 2 00 40 9 240 2 00 10000 9 14

2 000 2 00 900 2 00 10000

2 00 100 0 00 100 10000 1

2 100 400 0 100 400 10000

2 00 00 2 00 00 10000

29 200 4000 2 400 4000 10000

0 100 4 00 20 9400 4 00 10000

1 9000 000 20 10 00 000 10000

*1 Stiffness setting of A4 series refers to the setup value (0-15) of A4 series parameter Pr22 Real-time auto-tuning machine stiffness selection.

*2 When 17-bit absolute encoder, limited by the minimum value 10.


10

(��& ��d ust ent daptive filter

utline

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 �lter coef�cient automatically, hence reduces the resonance vibration.

pplica le Range

This function works under the following condition.

onditions under hich the daptive filter is activated

ontrol ode • Applies to other control modes than torque control.

thers

• Should be servo-on status.• Elements other than control parameters, such as deviation counter clear

command inhibit and torque limit are appropriately set, enabling the motor to run normally.

aution

In the following condition, normal operation may not be expected - manually set the notch �lter to prevent resonance.

onditions hich o struct adaptive filter action

Resonancepoint

• 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.

oad• Motor speed variation with high harmonic component is generated due to

non-linear factors such as backlash.

o andpattern • Acceleration/deceleration is rapid such as 30000[r/min] per 1[s].

Action command under actual condition

Position/ elocitycommand

Position/elocity control

Servo driver

Real time auto gain tuning

Resonance frequency estimation

Load inertia estimation

Adaptiveilter

currentcontrol

ainauto setup

ilterauto ad ustment orque

command Motorcurrent

Motorspeed

Motor

ncoder

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Enter the action command with Pr2.00 Adaptive �lter mode set to a value other than 0.

If the resonance point affects the motor speed, parameters of 3rd notch �lter and/or 4th notch �lters are automatically set according to the number of adaptive �lters.

et the operation of the adaptive �lter to the following parameter.

lass o. itle Setupvalue unction

2 00Adaptive �lter mode setup

0[Adaptive �lter: invalid]The adaptive �lter is disabled. Parameters related to the 3rd and 4th notch �lter hold the current value.

1

[Adaptive �lter: 1 �lter is valid]One adaptive �lter is enabled. Parameters related to the 3rd notch �lter will be updated based on adaptive performance.

2

[Adaptive �lter: 2 �lters are valid]Two adaptive �lters are enabled. Parameters related to the 3rd and 4th notch �lters will be updated based on adaptive performance.

[Resonance frequency measurement mode]Measure the resonance frequency. Result of measurement can be checked with PANATERM. Parameters related to the 3rd and 4th notch �lter hold the current value.

4

[Clear result of adaptation]Parameters related to the 3rd and 4th notch �lter are disabled and results of adaptive operation are cleared.

At the same time, the following parameters are automatically set.


2 0 3rd notch frequencyIn no resonance point is found, the frequency is set to 000.

2 0 3rd notch width selectionAutomatically set when the adaptive filter is active.

2 09 3rd notch depth selection

2 10 4th notch frequency

Notch frequency is automatically set to the 2nd resonance frequency estimated by the adaptive �lter.In no resonance point is found, the frequency is set to 000.

2 11 4th notch width selectionAutomatically set when 2 adaptive filters are active.

2 12 4th notch depth selection

(��& ��daptive filter

Related page • P.4-19... “Details of parameter”

12

(��& ��daptive filter

aution

(1) Immediately after the �rst servo-on at start up; or after increasing stiffness setting with the real-time auto-tuning enabled, abnormal sound or oscillation may be generated until the adaptive �lter stabilizes. If such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures. 1) Write the parameters which have given the normal operation into EEPROM.2) Lower the setup of Pr0.03 (Selection of machine stiffness at real-time auto-gain

tuning).3) Invalidate the adaptive �lter by setting up Pr2.00 (Setup of adaptive �lter mode) to

0. (Reset of inertia calculation and adaptive action)4) Set up the notch �lter manually.

(2) Abnormal sound or oscillation may excessively change the setup value of 3rd and 4th notch �lters. If such change occurs, disable the adaptive �lter as described in step 3) above, change setup value of Pr2.07 3rd notch frequency and Pr2.10 4th notch frequency to 5000 (disable), and then enable the adaptive �lter again.

(3) The 3rd �lters (Pr2.07-Pr2.09) and 4th notch �lters (Pr2.10-Pr2.12) are written to EEPROM every 30 minutes. Upon power up, these data are used as default values during adaptive process.


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As explained previously, MINAS-A4 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 limitation 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 a ing a anual d ust ent

By monitoring waveforms using the waveform graphic function of the setup support software PANATERM installed on the PC or by measuring the analog voltage waveform with the help of the monitor function, accurate adjustment can be positively, quickly and easily done when compared with that performed on the front panel.1. nalog onitor 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 Pr4.16 (Selection of speed monitor) and Pr4.21 (Selection of torque monitor).

2. avefor graphic function of the P RYou 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.7-26, "Outline of the Setup Support Software, PANATERM" of Supplement.

. anual ain uning Basicd ust ent utline

ront panel

onnector it for analog monitor signalD 0PM200 1

1

S miniconnection cable

* autiononnect to 1

aution

Related page

Please download the Setup support software “PANATERM”from our web site anduse after install to the P .• P.4-35, 4-36... “Details of parameter” • P.7-26 “Outline of Setup support software “PANATERM”

14

Position control of MINAS-A5 series is described in Block diagram of P.3-40.Make adjustment in position control per the following procedures.

(1) Set up the following parameters to the values of the table below.

Para etero.

Pr

Para etero.

Pr1.00

1.01

1.02

1.0

1.04

1.10

1.11

1.0

1.0

1.0

1.0

1.09

2.01

2.02

Standardvalue

itle of para eter

1st gain of position loop 1st gain of velocity loop 1st time constant of velocity loop integration1st filter of velocity detection 1st time constant of torque filter time

elocity feed forwardime constant of feed forward filter

2nd gain of position loop2nd gain of velocity loop2nd time constant of velocity loop integration2nd filter of speed detection2nd time constant of torque filter Selection of 1st notch frequencySelection of 1st notch width

0.04

0.02

2.00

2.14

2.1

2.1

2.1

1.14

1.1

1.1

1.1

1.1

1.19

2.22

2.2

Standardvalue

100

0

0

0

0

0

0

0

0

0

0

0

0

1

0

itle of para eter

Inertia ratioSetup of real time auto gain tuning modeAdaptive filter setup mode1st damping frequencySetup of 1st damping filter2nd damping frequencySetup of 2nd damping filter2nd gain setupMode of position control switchingDelay time of position control switching delayLevel of position control switching

ysteresis at position control switchingPosition gain switching timeSetup of smoothing filterSetup of IR filter

2 0

1 0

0

0

1 2

0

0

2 0

1 0

0

0

1 2

000

2

(2) Enter the inertia ratio of Pr20. Measure the ratio or setup the calculated value.(3) Make adjustment using the standard values below.

rder

1

2

4

Standardvalue

00

0

00

2 0

00

itlePara eter

o.Pr

Pr11

Pr14

Pr10

Pr12

Pr1

1st gain of velocity loop

1st time constant of torque filter

1st gain of position loop

1st time constant of velocity loop integration

elocity feed forward

o to ad ust

Increase the value within the range where no abnormal noise and no vibration occur. If they occur lower the value.

hen vibration occurs by changing Pr11 change this value.Setup so as to ma e Pr11 Pr14 becomes smaller than 10000. If you want to suppress vibration at stopping setup larger value to Pr14 and smaller value to Pr11. If you e perience too large vibration right before stopping lower than value of Pr14.Ad ust this observing the positioning time. Larger the setup faster the positioning time you can obtain but too large setup may cause oscillation.Setup this value within the range where no problem occurs. If you setup smaller value you can obtain a shorter positioning time but too small value may cause oscillation. If you setup too large value deviation pulses do not converge and will be remained.Increase the value within the range where no abnormal noise occurs.oo large setup may result in overshoot or chattering of position

complete signal hence does not shorten the settling time. If the command pulse is not even you can improve by setting up Pr1 ( eed forward filter) to larger value.

. anual ain uning Basicd ust ent d ust ent in Position ontrol ode

Related page • P.4-5... “Details of parameter” • P.3-14... “Control Block Diagram”

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. anual ain uning Basicd ust ent d ust ent in elocit ontrol ode

Velocity control of MINAS-A5 series is described in Block Diagram of P.3-15 of Velocity Control Mode.Adjustment in velocity control is almost same as that in position control described in "Adjustment in Position Control Mode", and make adjustments of parameters per the procedures except the gain setup of position loop and the setup of velocity feed forward.

Torque control of MINAS-A5 series is described in P.3-16, "Block Diagram" of Torque Control Mode.This torque control is based on velocity control while making Pr3.21 [Speed limit value 1], Pr3.22 [Speed limit value 2] or SPR input as a speed limit. Here we explain the setup of speed limiting value.

Setup of speed li iting value

he tor ue co and selection Pr .1 specifies the setup ethod.Pr .1 Set up using speed li it value 1 Pr .21Pr .1 1 Set up using analog input SPPr .1 2 or positive direction set up using the speed li it value 1

Pr .21or negative direction set up using the speed li it value 2

Pr .22

• When the motor speed approaches to the speed limiting value, torque control following the analog torque command shifts to velocity control based on the speed limiting value.

• In order to stabilize the movement under the speed limiting, you are required to set up the parameters according to the above-mentioned "Adjustment in Velocity Control Mode".

• When the speed limiting value is too low or the velocity loop gain is too low, or when the time constant of the velocity loop integration is 10000 (invalid), the input to the torque limiting portion of the above �g. becomes small and the output torque may not be generated as the analog torque command.

. anual ain uning Basicd ust ent d ust ent in or ue ontrol ode

Related page • P.3-43 “Inputs and outputs on connector X4”

1

Full-closed control of MINAS-A5 series is described in Block diagram of P.3-17 of Full-Closed Control.Adjustment in full-closed control is almost same as that in position control described in P.3-12 “Adjustment in Position Control Mode”, and make adjustments of parameters per the procedures except cautions of P.5-14, “Outline of Full-Closed Control” (difference of command unit and difference of electronic gear).Here we explain the setup of feedback scale ratio and hybrid deviation excess of full-closed control.

1 Setup of e ternal scale ratio

Setup the e ternal scale ratio using the nu erator of e ternal scale divisionPr .2 and deno inator of e ternal scale division Pr .2 .

• 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 (Pr3.24), and denominator of external scale division (Pr3.25) so that the following formula can be established.

• 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 (Err25.0) will be triggered when the work or load travels a long distance.

• When you set up Pr3.24 to 0, the encoder pulse counts will be automatically set up.

2 Setup of h rid deviation e cess

Set up the ini u value of h rid deviation e cess Pr .2 ithin therange here the gap et een the otor encoder position and the loadfeed ac scale position ill e considered to e an e cess.

• Note that the hybrid deviation excess (Err25.0) 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.

aution

(1) Enter the command pulses based on the feedback scale reference.(2) The feedback scales to used for full-closed control are as follows. When A- and B-phase parallel, or serial scale, • ABS ST770A, ST770AL, AT573A series by Mitsutoyo Corp. • SR77, SR87, SL700, SL710 by Sony Manufacturing Systems Corp.(3) To prevent the runaway and damage of the machine due to the setup of the feedback

scale, setup the hybrid deviation excess (Pr3.28) to the appropriate value, in the unit of feedback scale resolution.

(4) e reco end the e ternal scale as 1 : e ternal scale ratio : 1 .

Even within this range, if you setup the external scale ratio to smaller value than 50/position loop gain (Pr1.00 and 1.05), 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.

. anual ain uning Basicd ust ent d ust ent in ull losed ontrol ode

Pr .24

Pr .2

Number of encoder pulses per motor rotationNumber of e ternal scale pulses per motor rotation

Related page • P.3-30 “Inputs and outputs on connector X4” • P.6-3 “Protective Function”

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. anual ain uning Basicd ust ent ain S itching unction

By selecting appropriate gain based on internal data or external signal, the following effects can be obtained.• Decrease the gain at the time of stoppage (servo lock) to reduce vibration.• Increase the gain at the time of stoppage (setting) to shorten the settling time.• Increase the gain during operation to improve command compliance.• Based on condition of the equipment, change the gain with external signal.

a pleFollowing 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 basic gain parameter setup table (P.5-9) as well.

1st gain of position loop1st gain of velocity loop1st time constant of velocity integration1st filter of velocity detection 1st time constant of torque filter

elocity feed forwardilter of velocity feed forward

2nd gain of position loop2nd gain of velocity loop2nd time constant of velocity integration2nd filter of velocity detection 2nd time constant of torque filter timeAction setup of 2nd gain1st mode of control switching1st delay time of control switching1st level of control switching1st hysteresis of control switchingSwitching time of position gain

Inertia ration

ecute manual gain tuning without gain

switching

Set up the samevalue as Pr1.0 to 1.09 (1st gain) to Pr1.00 to 1.04

(2nd gain)

Set up Pr1.0 to 1.09

( ain switching condition)

Ad ust Pr1.01 and 1.04 at

stopping(1st gain)itle of parameter

1.001.011.021.01.041.101.111.01.01.01.01.091.141.11.11.11.11.19

00

1 00

000

0

00

1 00

1

0000

2 0

4

0.04

nter the nown value from load calculation Measure the inertia ratio by e ecuting nor

mal auto gain tuning Default is 2 0

ParameterNo.

(Pr )

Suppress the vibration by lowering the gain.

Stop(Servo Loc )

Low gain(1st gain)

Low gain(1st gain)

igh gain(2nd gain)

1ms 2ms

Stop(Servo Loc )Run ime

ommand speedAction

Status

ain


1

Setup of ain S itching ondition

Positing control ode ull closed control ode orresponding para eter is valid invalid

Setup of gain s itching condition Setup para eters at position control full closed control

Dela ti e *1 evel steresis *2

Pr1.1 S itching condition to2nd gain ig. Pr1.1 Pr1.1 Pr1.1

0 i ed to 1st gain

1 i ed to 2nd gain


Torque command A [%] [%]

4 Invalid (Fixed to 1st gain)

Speed command [r/min] [r/min]

Position deviation D [pulse] [pulse]

Position command e ists.

Not in positioning complete

9 Speed [r/min] [r/min]

10 ommand e ists velocity [r/min] * [r/min] *

elocit control ode

Setup of gain s itching condition Setup para eters at velocit control ode


Pr1.2 S itching condition to2nd gain ig. Pr1.1 1.21 Pr1.1 1.22 Pr1.1 1.2

0 i ed to 1st gain

1 i ed to 2nd gain


Torque command A [%] [%]

4 Variation of speed command is large.

*4 [10(r/min)/s] *4 [10(r/min)/s]

Speed command [r/min] [r/min]

or ue control ode

Setup of gain s itching condition Setup para eters at tor ue control ode


Pr1.2 S itching condition to2nd gain ig. Pr1.1 1.2 Pr1.1 1.2 Pr1.1 1.2

0 i ed to 1st gain

1 i ed to 2nd gain

2 Gain switching input, AIN N

Variation of torque command is large.

A [%] [%]

. anual ain uning Basicain S itching unction

ysteresis(Pr1.1 1.2 1.2 )

LevelPr1.1Pr1.22( Pr1.2 )

0

L

*1 Delay time (Pr1.16, 1.12 and 1.25) will be valid only when returning from 2nd to 1st gain.

*2 Hysteresis (Pr1.18, 1.23 and 1.27) is de�ned as the �g. below shows.*3 Designate with either the encoder resolution or the external scale resolution depend

ing on the control mode.*4 When you make it a condition that there

is speed variation of 10r/min in 1s, set up the value to 1.

*5 When Pr1.15=10, the meanings of delay time, level and hysteresis are different from the normal. (refer to Fig. G)

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ig. ig. B

ig. ig. D

ig.

ig.

ig.

motor speed or commandedspeed

level

delay2nd gain1st 1st

speed N

delay2nd gain1st

IN

1st

�S

commandspeed S

level

delay1st gain2nd1st 2nd 1st

speed N

deviation pulse

level


at stall

no command pulse Pr1.1 delay time

actual speedPr1.1 level

actual speed (Pr1.1 level Pr1.1 hysteresis)

actual speed (Pr1.1 level Pr1.1 hysteresis)

1st gain

in action

2nd gain

at settling

2nd gain

pro imity of stall2nd gain for velocity integrating only and 1st gain for others


commandspeed S

command pulse e ists.

speed N

level

1st gain2nd1st 2nd 1st

switching levelswitching level

aution Above Fig. does not re�ect a timing lag of gain switching due to hysteresis (Pr1.18, 1.23 and 1.27).

. anual ain uning Basicain S itching unction

20

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. By suppressing the resonance peak at the notch �lter, higher gain can be obtained or the level of vibration can be lowered.

7��#�� +=�7�)9�� =�7�)F, Sets up the �lter time constant so as to damp the frequency at vicinity of resonance

frequency. You can obtain the cut off frequency of the torque command �lter in the following formula.

Cut off frequency (Hz) fc = 1 / (2� x parameter setup value x 0.00001)

1��+=�1�))��1�)H��=�1�71,3�& �� MINASA-5 series feature the adaptive �lter. With this �lter you can control vibra

tion of the load which resonance points vary by machine by machine and normal notch �lter or torque �lter cannot respond. The adaptive �lter is validated by setting up Pr23 (Adaptive �lter mode setup) to 1. Enter the action command with Pr2.00 Adaptive �lter mode set to a value other than 0.If the resonance point affects the motor speed, parameters of 3rd notch �lter and/or 4th notch �lters are automatically set according to the number of adaptive �lters.

Pr2. Adaptive �lter mode 1: Adaptive �lter is valid

Pr2. 3rd notch frequencyIn no resonance point is found, the frequency is set to

000.Pr2. 3rd notch width selection

Automatically set when the adaptive filter is active.Pr2. 3rd notch depth selection

Pr2.1 4th notch frequency

Notch frequency is automatically set to the 2nd resonance frequency estimated by the adaptive �lter.In no resonance point is found, the frequency is set to

000.Pr2.11 4th notch width selection

Automatically set when 2 adaptive filters are active.Pr2.12 4th notch depth selection

3��+=�1�)7��1�71, MINASA-5 series feature 4 normal notch filters. You can adjust frequency and

width and depth.Pr2. 1 1st notch frequency Set the center frequency of the 1st notch �lter. *1

Pr2. 2 1st notch width selectionSet the width of notch at the center frequency of the 1st notch �lter.

Pr2. 1st notch depth selectionSet the depth of notch at the center frequency of the 1st notch �lter.

Pr2. 2nd notch frequency Set the center frequency of the 2nd notch �lter. *1

Pr2. 2nd notch width selectionSet the width of notch at the center frequency of the 2nd notch �lter.

Pr2. 2nd notch depth selectionSet the depth of notch at the center frequency of the 2nd notch �lter.

Pr2. 3rd notch frequency Set the center frequency of the 3rd notch �lter. *1

Pr2. 3rd notch width selectionSet the width of notch at the center frequency of the 3rd notch �lter.

Pr2. 3rd notch depth selectionSet the depth of notch at the center frequency of the 3rd notch �lter.

Pr2.1 4th notch frequency Set the center frequency of the 4th notch �lter. *1

Pr2.11 4th notch width selectionSet the width of notch at the center frequency of the 4th notch �lter.

Pr2.12 4th notch depth selectionSet the depth of notch at the center frequency of the 4th notch �lter.

*1 The notch �lter function will be invalidated by setting up this parameter to "5000".

. anual ain uning Basicd ust ent Suppression of achine Resonance

21

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torquecommand

daptive filter

daptive filter ena led daptive filter andnotch filter ena led

Depth ad ust ent ena led

frequency automatic following frequency frequency

Depth

width

1st notch filter 2nd to th notch filter

torquecommandafter filtering

width

opying of the setup from the adaptive filter to 1st notch filter is enabled.

Ad ustment of frequency width and depth is enabled. (refer to P. 22)

Suppress resonance point instantaneously.

ain

frequency

velocity response

Machine which resonance point varies by each machine or by aging

ain

frequency

ain

frequency

Machine which has small pea nearby velocity response

Machine which has multiple resonance points

a ple of application achine

. anual ain uning BasicSuppression of achine Resonance

Notch

Notch filter characteristics

Machine characteristics at resonance

gain

gain

frequency

frequency

Resonance

Anti resonance

Related page • P.4-12... , P.4-19... “Details of parameter”

22


otch idth and depth

The width of the notch �lter is the ratio of the width of –3dB attenuation frequency band with respect to the notch frequency at its center when depth is 0, and the value is as shown in the table below.The notch �lter depth indicates I:O ratio where the input at the center frequency is completely shut with setup value 0 but fully received with setup value 100. The table below shows this value in dB on the right.

otch idth

Band idth centerfre uenc

otch depth ratio dBseries

reference series

0 0.41 0. 0 0 ��

1 0. 0. 9 1 0.01 �40

2 0. 1 0. 1 2 0.02 �34

0. 0. 4 0.0 �30.5

4 1.01 1 4 0.04 �28

1.19 0.0 �26

1.41 0.0 �24.4

1. 0.0 �23.1

2 0.0 �21.9

9 2. 9 0.09 �20.9

10 2. 10 0.1 �20

11 . 1 0.1 �16.5

12 4 20 0.2 �14

1 4. 2 0.2 �12

14 . 0 0. �10.5

1 . 0. �9.1

1 40 0.4 �8

1 9. 1 4 0.4 �6.9

1 11. 1 0 0. �6

19 1 .4 0 0. �4.4

20 1 0 0. �3.1

0 0. �1.9

90 0.9 �0.9

100 1 0

otch filter fre uenc characteristics

� 0

�2

�20

�1

�10

�

0

10

ain

d

10 100 1000

requency

Depth 0 width 4Depth 0 width 4Depth 0 width

�3[dB]

2

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ote

Related page

Please download the Setup support software “PANATERM”from our web site anduse after install to the P . http industrial.panasonic.co p i fa otor.ht l

• P.7-26 “Outline of Setup support software “PANATERM”

o to hec the Resonance re uenc of the achine

Re ar s

ote

(1) Start up the Setup Support Software, "PANATERM" and bring the frequency characteristics measurement screen.

(2) Set up the parameters and measurement conditions. (Following values are standard.) • Set up Pr1.01 (1st gain of velocity loop) 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 measurement error in the vicinity of speed-zero) • Polarity is made positive direction with "+" and negative direction with "–". • Setup the sampling rate to 0. (setup range to be 0 to 7.)

(3) Execute the frequency characteristic analysis.

• Make sure that the revolution does not exceed the travel limit before the measurement. Standard revolutions are, Offset (r/min) × 0.017 × (sampling rate +1) Larger the offset, better measurement result you can obtain, however, revolutions may

be increased. • Set up Pr2.00 (Setup of adaptive �lter mode) to 0 while you make measurement.

• 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 ain d ust ent and achine Stiffness

In order to enhance the machine stiffness,(1) Install the base of the machine �rmly, 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).


24

. anual ain uning pplicationd ust ent Da ping ontrol

utline

This function reduces the vibration at the top or on whole of the equipment by removing the vibration frequency components speci�ed by the positional command. Up to 2 among 4 frequency settings can be used at the same time.

pplica le Range

This function can only be applicable when the following conditions are satis�ed.

onditions under hich the da ping control is activated

ontrol ode

• Control mode to be either or both position control or/and full-closed control.

Pr02 = 0 : Position control Pr02 = 3 : 1st control mode of position and velocity control Pr02 = 4 : 1st control mode of position control and torque control Pr02 = 6 : Full-closed control

aution

This function does not work properly or no effect is obtained under the following conditions.

onditions hich o struct the da ping control effect

oad

• Vibration is tr iggered 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 10.0-200.0 [Hz].

Servo driver

Motor position

Motor

oupling allscrewor

travel

Driver

PL

Setup of front edge vibration frequency

Motor

ncoder

Load

Positioncommand Damping

filterPosition/ elocity

control

orquecommand

urrentcontrol

Machinebase

ront edge vibrates. ibrationmeasurementwithdisplacementsensor

Motorcurrent

Related page • P.4-4 “Details of parameter” • P.7-26 “Outline of Setup support software “PANATERM”

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o to Use

1 Setup of da ping fre uenc 1st Pr2.1 2nd Pr2.1 rd Pr2.1 th Pr2.2Measure 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 frequency from the measured waveform and enter it.

2 Setup of da ping filter 1st Pr2.1 2nd Pr2.1 rd Pr2.1 th Pr2.21First, set up 0. You can reduce the settling time by setting up larger value, however, the torque ripple increases at the command changing point as the right �g. shows. Setup within the range where no torque saturation occurs under the actual condition. If torque saturation occurs, damping control effect will be lost.

Setup of da ping filter s itching selection Pr2.1You can switch the 1st or the 2nd damping �lter depending on the vibration condition of the machine.

Pr2.1 S S 2 S S 1 1st da ping 2nd da ping rd da ping th da ping

1N

2N

NN N

Pr2.1 Position co anddirection 1st da ping 2nd da ping rd da ping th da ping

Positive direction

Negative direction

ommandspeed

Position deviation

alculation of vibration frequency

orquecommand

orque saturation

Damping filter setup is too large.

Damping filter setup is appropriate.

. anual ain uning pplicationDa ping ontrol

2

. anual ain uning pplicationd ust ent eed for ard function

utline

When position control or full closed control is used, positional deviation can be further reduced when compared with deviation where control is made only by feedback, and response is also improved, by calculating the velocity control command necessary for operation based on the internal positional command, and by adding velocity feed forward to the speed command calculated by comparison with position feedback.The response time of the velocity control system is also improved by calculating torque command necessary for operation based on the velocity control command and by adding torque feed forward calculated by comparison with velocity feedback to the torque command.

Related Para eter

For A 5 series, the velocity feed forward and torque feed forward can be used.


1 10 Velocity feed forward gain

Multiply the velocity control command calculated according to the internal positional command by the ratio of this parameter and add the result to the speed command resulting from the positional control process.

1 11 Velocity feed forward �lter

Set the time constant of 1st delay �lter which affects the input of velocity feed forward.

1 12 Torque feed forward gain

Multiply the torque command calculated according to the velocity control command by the ratio of this parameter and add the result to the torque command resulting from the velocity control process.

1 1 Torque feed forward �lter

Set up the time constant of 1st delay �lter which affects the input of torque feed forward.

0Analog torque feed forward conversion gain

Set the input gain of analog torque feed forward.0 to 9 are invalid.

10 unction e pansion setup

Set up the function in unit of bit. bit5 0: Analog torque feed forward is invalid. 1: Analog torque feed forward is Valid.* bit 0 = LSB

Usage e a ple of velocit feed for ard

The velocity feed forward will become effective as the velocity feed forward gain is gradually increased with the velocity feed forward �lter set at approx. 50 (0.5 ms). The positional deviation during operation at a constant velocity is reduced as shown in the equation below in proportion to the value of velocity feed forward gain.

Positional deviation [unit of command] = command speed [unit of command/s] / positional loop gain [1/s] × (100 - velocity feed forward gain [%]) / 100

ommand speed

Motor speed

Positional deviation elocity feed forward gain

0

0

0ime

Positional deviation within the constant speed range will reduce as the velocity forward gain is increased.

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. anual ain uning pplicationeed for ard function

With the gain set at 100%, calculatory positional deviation is 0, but signi�cant overshoot occurs during acceleration/deceleration.If the updating cycle of the positional command input is longer than the driver control cycle, or the pulse frequency varies, the operating noise may increase while the velocity feed forward is active. If this is the case, use positional command �lter (1st delay or FIR smoothing), or increase the velocity forward �lter setup value.

Usage e a ple of tor ue feed for ard

• To use the torque feed forward, correctly set the inertia ratio. Use the value that was determined at the start of the real time auto tuning, or set the inertia ratio that can be calculated from the machine speci�cation to Pr0.04 Inertia ratio.

• The torque feed forward will become effective as the torque feed forward gain is gradually increased with the torque feed forward �lter is set at approx. 50 (0.5 ms).

• Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by increasing the torque forward gain. This means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active .

Zero positional deviation is impossible in actual situation because of disturbance torque.As with the velocity feed forward, large torque feed forward �lter time constant decreases the operating noise but increases positional deviation at acceleration change point.

Usage e a ple of analog tor ue feed for ard

• Setting bit 5 place of Pr6.10 Function expansion setup to 1 enables the analog torque feed forward. When the analog input 3 is used by another function (e.g. analog torque limit), the function becomes invalid.

• The voltage (V) applied to the analog input 3 is converted to the torque via Pr6.00 Analog torque feed forward conversion gain setup and added to the torque command (%).

• The voltage (V) applied to the analog input 3 is converted to the motor torque command (%) through the process as shown in the graph below.

• The slope represents when Pr6.00 = 30. The slope changes as the setup value changes.

Torque command (%) = 100 × input voltage (V) / (Pr6.00 setup value × 0.1)

ommand speedPositional deviation

0

0

100

ime

Motor speed

orque feed forward gain

elocity feed forward gain i ed 100

Positional deviation in the region where acceleration is constant can be reduced by torque feed forward.

orque command

200

10� �10

�200

�

Input voltage


2

. anual ain uning pplicationd ust ent nstantaneous Speed server

utline

This function enables both realization of high response and reduction of vibration at stopping, by estimating the motor speed using a load model, hence improving the accuracy of the speed detection.

pplica le Range

This function can be applicable only when the following conditions are satis�ed.

onditions under hich the instantaneous speed o server is activated

ontrol ode• Control mode to be either or both position control or/and velocity control. Pr0.01 = 0 : Position control Pr0.01 = 1 : Velocity control

thers



• Real-time auto-tuning should be disabled. (Pr0.02=0)

aution

This function does not work properly or no effect is obtained under the following conditions.

onditions hich o struct instantaneous speed o server action

oad

• 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. Non-linear factor such as large backlash exists.• Load inertia varies.• Disturbance torque with harmonic component is applied.

thers • Settling range is very small.

urrentcontrol

orquecommand Motor

currentMotor

Servo driver

Load

ncoder

elocitycontrol

elocitycommand

Load model

stimatedvelocityvalue

Position controlMotorposition

( otal inertia)

Instantaneousspeed observer

Related page • P.4-52 “Details of parameter”

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Related Para eter


10unction e pansion

setup

Speed observer enable bit (bit 0) valid/invalid the function. bit0 0: Invalid 1: Valid * bit 0 = LSB

o to Use

1 Setup of inertia ratio Pr .

Set up as e act inertia ratio as possi le.

• When the inertia ratio (Pr20) is already obtained through real-time auto-gain tuning and is applicable at normal position control, use this value as Pr20 setup value.

• 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 d ust ent at nor al position control • Adjust the position loop gain, velocity loop gain, etc.

Setup of instantaneous velocit o server Pr .1 • By enabling instantaneous speed observer function through function expansion

setup (Pr6.10), the speed detection method changes to the instantaneous speed observer.

• When you experience a large variation of the torque waveform or noise, return this to 0, and recon�rm 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 �ne adjustment of Pr0.04 (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 (Pr0.04) might have been changed, and you need to make a �ne adjustment again.

. anual ain uning pplicationnstantaneous Speed server

0

. anual ain uning pplicationd ust ent Distur ance o server

utline

This function uses the disturbance torque determined by the disturbance observer to reduce effect of disturbance torque and vibration.

pplica le Range


onditions under hich the distur ance o server is activated

ontrol ode• Control mode to be either or both position control or/and velocity control. Pr0.01 = 0 : Position control Pr0.01 = 1 : Velocity control

thers



• Real-time auto-tuning should be disabled. (Pr0.02=0)• Instantaneous speed observer should be disabled. (Pr6.10=0)• Gain switchover should be enabled.

aution

Effect may not be expected in the following condition.

onditions hich o struct distur ance o server action

oad• Resonant frequency is lower than the cutoff frequency estimated by the

disturbance observer.• Disturbance torque contains many high frequency components.

Disturbance observer

stimated disturbance torque value

Motor speed

Added in the direction to cancel the disturbance

Motor load

Load model

Disturbance torque

orque command

orque command

ain

ilterSet in Pr .2 Set in Pr .24

Related page • P.4-4... , P.4-52 “Details of parameter”

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Related Para eter


10unction

e pansion setup

Sets bits related to disturbance observer. bit1 0: Invalid 1: Valid bit2 0: Always valid 1: alid only when 1st gain is selected.* bit 0 = LSBExample)To use the disturbance observer in the enabled mode only when 1st gain is selected: Setup value = 6To use the disturbance observer always in the enabled mode: Setup value = 2

2Disturbance torque compensating gain

Set up compensating gain against disturbance torque.

24Disturbance observer �lter

Set up the �lter time constant according to the disturbance torque compensation.

o to Use

1) With Pr6.10 Function enhancement setup, set observer enable/disable and operation mode (always enable/enable only when 1st gain is selected).

2 Setup of Pr .2 Distur ance o server filterFirst, set up Pr6.24 to a larger value and check the operation with Pr6.23 Disturbance

torque compensating gain set to a low value, and then gradually decrease the setup value of Pr6.24. A low �lter setup value assures disturbance torque estimation with small delay and effectively suppresses effects of disturbance. However, this results in larger operation noise. Well balanced setup is required.

Setup of Pr .2 Distur ance tor ue co pensating gainAfter setting up Pr6.24, increase Pr6.23.

The disturbance suppressing capability increases by increasing the gain, but it is associated with increasing volume of operation noise.

This means that well balanced setup can be obtained by adjusting Pr6.24 and Pr6.23.

. anual ain uning pplicationDistur ance o server

2

. anual ain uning pplicationd ust ent rd gain s itching function

utline

In addition to the normal gain switching function described on P.5-17, 3rd gain switching function can be set to increase the gain just before stopping. The higher gain shortens positioning ad usting time.

pplica le Range


onditions under hich the rd gain s itching function is activated

ontrol ode

• Control mode to be either or both position control or/and full-closed control.

Pr0.01 = 0 : Position control Pr0.01 = 6 : Full-closed control

thers



Related Para eter


Position 3rd gain valid time

Set up the time at which 3rd gain becomes valid.

Position 3rd gain scale factor

Set up the 3rd gain by a multiplying factor of the 1st gain:3rd gain = 1st gain × Pr6.06/100

Related page • P.4-4... , P.4-51 “Details of parameter”

1Before

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Position speed command r/min

Pr .0 0.1ms

2nd gain rd gain 1st gainPr1.0 to 1.09 Pr1.00 to 1.04

rd gain periodPosition loop gain Pr1.00 Pr .0 /100Speed proportional gain Pr1.01 Pr .0 /100

ime constant of velocity integration speed detection filter and torque filter directly use the 1st gain value.

. anual ain uning pplicationrd gain s itching function

o to Use

aution

While in the condition under which the normal gain switching functions, set the 3rd gain application time to Pr6.05 Position 3rd gain enable time, and set the 3rd gain (scale factor with reference to 1st gain) to Pr6.06 Position 3rd gain magni�cation ratio. • If 3rd gain is not used, set Pr6.05 to 0 and Pr6.06 to 100.• The 3rd gain is enabled only for position control or full closed control.• During the 3rd gain period, only position loop gain/speed proportional gain becomes 3rd gain, during other periods, 1st gain setting is used.

• When the 2nd gain switching condition is established during 3rd gain period, 2nd gain is used.

• During transition from 2nd gain to 3rd gain, Pr1.19 Position gain switching time is applied.

When the gain is switched from 2nd to 1st by the change in parameter, the 3rd gain period appears.

Example) Pr1.15 Position control switching mode = 7 switching condition: with positional command:

4

. anual ain uning pplicationd ust ent riction tor ue co pensation

utline

To reduce effect of friction represented by mechanical system, 2 types of friction torque compensation can be applied: offset load compensation that cancels constant offset torque and the dynamic friction compensation that varies direction as the operating direction varies.

pplica le Range


onditions under hich the riction tor ue co pensation is activated

ontrol ode• Specific to individual functions. Refer to "Related parameters" shown

below.

thers



Related Para eter

Combine the following 3 parameters to setup appropriate friction torque compensation.


Torque commandadditional value

Set up the offset load compensation value usually added to the torque command in a control mode except for the torque control mode.

Positivedirection torque compensationvalue

Set up the dynamic friction compensation value to be added to the torque command when forward positional command is fed.

9

Negativedirection torque compensationvalue

Set up the dynamic friction compensation value to be added to the torque command when negative direction positional command is fed.

Related page • P.4-51, P.4-52 “Details of parameter”

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ommand speed

ime

Positive direction

Negative direction

Pr .0 Positive direction torquecompensation value

Pr .09Negative direction torque compensation value

Pr .0orque command

additional value

Motorde energi ed

Motorde energi edMotor energi ed

he friction compensation torque is the sum of the offset load compensation value which is set according to the torque command additional value (always constant) and the dynamic friction compensation torque which is set according to positive/negative direction torque compensation value.

he command speed direction is reset upon power up or when the motor is de energi ed.

. anual ain uning pplicationriction tor ue co pensation

o to Use

The friction torque compensation will be added in response to the entered positional command direction as shown below.

aution

Pr6.07 [Torque command additional value] reduces variations in positioning operation (performance is affected by direction of movement). These variations occur when constant offset torque resulting from weight on vertical axis is applied to the motor.Certain loads such as belt driven shaft requires high dynamic friction torque, which lengthens positioning setting time or varies positioning accuracy. These problems can be minimized by setting the friction torque of every rotating direction into individual parameters. Pr6.08 [Positive direction torque compensation value] and Pr6.09 [Negative direction torque compensation value] can be used for this purpose.

The offset load compensation and dynamic friction compensation can be used individually or in combination. However, some control modes impose limit on application. For torque control: Offset load compensation and dynamic friction compensation are set at 0 regardless of parameter setting.For velocity control with servo-off: Offset load compensation per Pr6.07 is enabled. Dynamic friction compensation is set at 0 regardless of parameter setting.For position control or full closed control with servo-on: Previous offset load compensation and dynamic friction compensation values are maintained until the �rst positional command is applied where the offset load compensation value is updated according to Pr6.07. The dynamic friction compensation value is updated to parameters Pr.6.08 and Pr6.09 depending on command direction.

. anual ain uning pplicationd ust ent nertia ratio s itching function

utline

Inertia ratio can be switched between No.1 and No.2 by the switching input (J-SEL). This feature is useful in application where the load inertia changes in two steps.

pplica le Range


onditions under hich the nertia ratio s itching function is activated

ontrol ode

• Can be used in all control modes. Pr0.01 = 0 : Position control Pr0.01 = 1 : Velocity control Pr0.01 = 2 : Torque control Pr0.01 = 3 : Position/Velocity control Pr0.01 = 4 : Position/Torque control Pr0.01 = 5 : Velocity/Torque control Pr0.01 = 6 : Full-closed control

thers



• Real-time auto-tuning should be disabled. (Pr0.02=0)• Adaptive �lter should be disabled. (Pr2.00=0)• Instantaneous speed observer should be disabled. (Pr6.10=0)• Disturbance observer should be disabled. (Pr6.24=0 bit1=0)

aution

• Be sure to change the inertia ratio while the motor is in stop state. Otherwise, vibration or oscillation will occur.

• If the difference between the 1st inertial ratio and 2nd inertia ratio is large, vibration, etc., may occur even in stop mode. These potential problems should be identi�ed on the actual model.

Related page • P.3-30 “Inputs and outputs on connector X4” • P.4-4... , P.4-52, 53 “Details of parameter”

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. anual ain uning pplicationnertia ratio s itching function

Related Para eter

Combine the following 3 parameters to setup appropriate inertia ratio switching function.


10 unctione pansion setup

Sets bits related to inertia ratio switching function. bit1 0: Invalid 1: Valid bit2 0: Always valid 1: alid only when 1st gain is selected.* bit 0 = LSBExample) To enable inertial ratio switchingSetup value = 8

0 04 Inertia ratioSet 1st inertia ratio.You can set up the ratio of the load inertia against the rotor (of the motor) inertia.

1 2nd Inertia ratioSet 1st inertia ratio.You can set up the ratio of the load inertia against the rotor (of the motor) inertia.

o to Use

• Selects 1st inertia ratio or 2nd inertia ratio according to the inertia ratio select input (J-SEL).

nertia ratio s itchinginput S

pplica le inertia ratio

1st Inertia ratio (Pr0.04)

N 2nd Inertia ratio (Pr6.12)

. anual ain uning pplicationd ust ent rid vi ration da ping function

utline

This function suppresses vibration due to amount of twist between the motor and load in the full closed control mode. This function enables high gain setting.

utline


onditions under hich the rid vi ration da ping function is activated

ontrol ode • Full-closed control mode

thers



aution

The effect of this function will be proportional to the amount of twist between the motor and load.

Related Para eter


4Hybrid vibration suppression gain

Set up the hybrid vibration suppression gain for full-closed controlling.First set it to the value identical to that of poison loop gain, and then �ne tune as necessary.

Hybrid vibration suppression �lter

Set up the time constant of the hybrid vibration suppression �lter for full-closed controlling.

o to Use

[1] Set Pr6.34 Hybrid vibration suppression gain to the value equal to that of positional loop gain.

[2] Driving under full closed control, gradually increase the setup value of Pr6.35 Hybrid vibration suppression filter while checking response change. When the response is improved, adjust Pr6.34 and Pr6.35 to determine the combination

that provides the best response.

Related page • P.4-57 “Details of parameter”

9

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. out o ing perationd ust ent aution on o ing peration

• In homing action by using the host controller, stop position might not be stabilized if the origin input (Z-phase of the encoder) is entered while the motor is not decelerated enough after the proximity input is turned on. Set up the ON-positions of proximity input and the position of origin point, considering the necessary pulse counts for deceleration. Take the positioning action and homing action into account when you set put acceleration/deceleration time with parameter, since this affect these action as well.

or the details of ho ing o serve the instruction anual of the host controller.

a ple of o ing ctionProximity dog on... .Decelerates at an entry of the proximity input, and stops at an entry of the �rst origin input (Z-phase)

Proximity dog off... .Decelerates at an entry of the proximity input, and stops at an entry of the �rst origin input (Z-phase) after the input is tuned off

pro imity input

origin input

pro imity dog

encoder phase

speed

pro imity input

origin input

pro imity dog

speed

encoder phase

40

. out o ing perationd ust ent o ing ith it Stop

You can set up the homing position with "Hit & Stop" where it is not easy to install a sensor due to environment.

Re ar s Make the Pin-27 H (Off=Open) after the Hit & Stop Homing is completed.

1st

originorigin

2nd torque limit 2nd torque limit1st

Pin 40 L( orque in limit)

Pin 2( AIN/ L S L)

orque

ounterclear

command

0

Motorspeed

Pin 40 L( orque in limit)

Pin 2( AIN/ L S L)

orque

ounterclear

command

Motorspeed

phase

N

N

N

N

N

N

Para eter o..22

0.14.1.21

hitshits

(1) (2) (1)

(1)(1)

(2)

(2)(2)

( )

( )

itleSetup of 2nd torque limit

cess setup of position deviationSetup of over speed levelSelection of torque limit

Setup e a ple0 (Set up to less than 100 )

2 0000 ( 000r/min)

(1) when you ma e a point where the wor (load) hits as an origin

(2) when you stop the wor (load) using phase after ma ing a hitting point

as a starting point then ma e that stopping point as an origin.


41

1Before

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. out o ing perationd ust ent Press old ontrol

(1) (2) ( ) (4) ( )

olds the non traveled portion with deviation counter

A

Search speed(low speed)A

Setup value of 2nd torque limit

Pin 2 ( AIN/ L S L) : orque limit switching input

Pin 40 ( L ) : orque in limit output

orque

ommand

Motor speed

(1) (2) ( ) (4) ( )

Press fitmachine

Application e ample

N

N

( )

( )

( )

( )

( )

( )

.210.1

.220.14

.1

Setup of 2nd torque limitSetup of 1st torque limitSetup of 2nd torque limit

cess setup of position deviationSetup of over speed level

2000

2 0000

Para etero. itle Setup

e a ple

1

1Before

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. hen in rou le

1. hen in rou lehat to hec ......................................................................................... 2

Protective unction ( hat is rror ode ) ................................................

Protective function (Detail of error code) .................................................... 4

2. Setup of gain pre ad ust ent protection ................................ 1

. rou leshootingMotor Does Not Run ................................................................................. 1

nstable Rotation (Not Smooth)

Motor Runs Slowly ven with Speed ero at elocity ontrol Mode ....... 19

Positioning Accuracy Is Poor .................................................................... 20

rigin Point Slips ...................................................................................... 21

Abnormal Motor Noise or ibration ........................................................... 21

vershoot/ ndershoot

verheating of the Motor (Motor urn ut) .............................................. 22

Motor Speed Does Not Reach to the Setup

Motor Revolutions ( ravel) Is oo Large or Small ..................................... 22

Parameter Returns to Previous Setup ...................................................... 2

2

1. hen in rou lehen in rou le hat to hec

arious protective functions are equipped in the driver. hen these are triggered the motor will stall due to error the driver will turn the Servo Alarm output (ALM) to off (open).

rror status and their measures During the error status the error code No. will be displayed on the front panel L D

and you cannot turn Servo N. You can clear the error status by Alarm clear input(A LR) in 120ms or longer. hen overload protection is triggered you can clear it by Alarm clear input(A LR)

in 10sec or longer after the error occurs. You can clear the verload protection time characteristics (refer to P. 1 ) by turning off the control power supply of the driver.You can clear the above error by operating the front panel eys and setup support softwear PANA RM .

e sure to clear the alarm during stop after securing safety.

1. hen in rou lehen in rou le Protective unction hat is rror ode

ostcontroller

Aren t the parameter setups wrong

Motor does not run.

hec the cause by referring to P.2 4 Display of actor of No Motor Running of

Preparation and then ta e necessary measure.

Is the wiring to onnector4 correct r aren t any wires pulled

off

Is the wiring to onnector in case of full closed control correct

r aren t any wires pulled off

Is the wiring to onnectorcorrect

r aren t any wires pulled off

Isn t error code No. is displayed

round

otor

ternal scale

achine

Is the connecting portiondisconnected( ro e wire contact)Is the wiring correct Isn t the connector pulled off Isn t the short wire pulled off

Doesn t the power voltage vary Is the power turned on Any loose connection

Is abnormal noise generated from the motor

Isn t the electro magneticbra e engaged

Isn t the connection loose

Related page P.2 2 ... ow to se the ront Panel P. 0 Inputs and outputs on connector 4 P. 2 utline of Setup support software PANA RM

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ote istory... he error will be stored in the error history.an be cleared... o cancel the error use the alarm clear input (A LR).If the alarm clear input is not effective turn off power remove the cause of the error and then turn on power again.

Immediate stop...Instantaneous controlled stop upon occurrence of an error.(Setting of Pr. .10 Sequence at alarm is also required.)

ist of error code o.rror code

Protective functionttri ute

Detailpageain Su istor an e

clearedediate

stop

11 0 ontrol power supply under voltage protection

4

12 0 ver voltage protection

1

0Main power supply undervoltage protection (between P to N)

1Main power supply undervoltage protection (A interception detection)

140 ver current protection1 IPM error protection

1 0 ver heat protection1 0 ver load protection

10 ver regeneration load protec

tion

1 ver regeneration r error protection

210 ncoder communication dis

connect error protection

1 ncoder communication error protection

2 0 ncoder communication data error protection

240 Position deviation e cess pro

tection

1 elocity deviation e cess protection

2 0 ybrid deviation e cess error protection

20 ver speed protection1 2nd over speed protection

20 ommand pulse input frequen

cy error protection

2 ommand pulse multiplier error protection

2 0 Limit of pulse replay error protection

29 0 Deviation counter over�ow protection

0 0 Safety detection



2 I input function number error 1 protectionI input function number error 2 protection

4 I output function number error 1 protection

9I output function number error 2 protectionCL �tting error protectionINH �tting error protection

4 0 Software limit protection

1. hen in rou leProtective unction hat is rror ode

rror codeProtective function

ttri uteDetailpageain Su istor an e

clearedediate

stop

0 to 2

PR M parameter error protection

90 to 2

PR M chec code error protection

0 ver travel inhibit input protection

9


10


2 Analog input e cess protection

40 0 Absolute system down error protection

41 0 Absolute counter over error protection

42 0 Absolute over speed error protection

4 0 Initiali ation failure

44 0 Absolute single turn counter error protection

4 0 Absolute multi turn counter error protection

4 0 Absolute status error protection

11

4 0 ncoder phase error protection

49 0 ncoder S signal error protection

00 eedbac scale connection er

ror protection

1 eedbac scale communication error protection

1

0 eedbac scale status 0 error protection



eedbac scale status error protection


12

eedbac scale status error protection

0 A phase connection error protection



0 ompulsory alarm input protection

9 0 to 4 Motor automatic recognition error protection

thernumber ther error

Protectivefunction

rror code o.auses easures

ain Su

4

ontrolpo ersupplundervoltageprotection

11 oltage between P and N of the converter portion of the control power supply has fallen below the speci�ed value.1) Power supply voltage is low.

Instantaneous power failure has occurred

2) Lac of power capacity...Power supply voltage has fallen down due to inrush current at the main power on.

) ailure of servo driver (failure of the circuit)

Measure the voltage between lines of connector and terminal bloc (L1 L2 ) .

1) Increase the power capacity. hange the power supply.

2) Increase the power capacity.

) Replace the driver with a new one.

ver voltageprotection

12 oltage between P and N of the converter portion of the control power supply has exceeded the speci�ed value1) Power supply voltage has e ceeded

the permissible input voltage. oltagesurge due to the phase advancing capacitor or PS ( ninterruptible Power Supply) have occurred.

2) Disconnection of the regeneration discharge resistor

) ternal regeneration discharge resistor is not appropriate and could not absorb the regeneration energy.

4) ailure of servo driver (failure of the circuit)

Measure the voltage between lines of connector (L1 L2 and L ).

1) nter correct voltage. Remove a phaseadvancing capacitor.

2) Measure the resistance of the e ternal resistor connected between terminal Pand of the driver. Replace the e ternal resistor if the value is �.

3) Change to the one with speci�ed resistance and wattage.

4) Replace the driver with a new one.

ain po ersupplundervoltageprotectionP

1 Instantaneous power failure has occurred between L1 and L for longer period than the preset time with Pr D (Main power off detecting time) while Pr (L trip selection at the main power off) is set to 1. r the voltage between P and N of the converter portion of the main power supply has fallen below the speci�ed value during Servo N.1) Power supply voltage is low.

Instantaneous power failure has occurred

2) Instantaneous power failure has occurred.

) Lac of power capacity...Power supply voltage has fallen down due to inrush current at the main power on.

4) Phase lac ... phase input driver has been operated with single phase input.

) ailure of servo driver (failure of the circuit)

Measure the voltage between lines of connector (L1 L2 and L ).

1) Increase the power capacity. hange 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 Pr .09 (Main power off detecting time). Set up each phase of the power correctly.

) Increase the power capacity. or the capacity refer to P.2 Driver and List of Applicable Peripheral quipments of Preparation.

4) onnect each phase of the power supply (L1 L2 and L ) correctly. or single phase 100 and 200 driver use L1 and L .

) Replace the driver with a new one.

ain po ersupplundervoltageprotection

1

1. hen in rou lehen in rou le Protective function Detail of error code

Protectivefunction


ain Su

1. hen in rou leProtective function Detail of error code

1Before

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*ver current

protection

1 urrent through the converter portion has exceeded the speci�ed value.1) ailure of servo driver (failure of the

circuit I or other components)

2) Short of the motor wire ( and )

) arth fault of the motor wire

4) urnout of the motor

) Poor contact of the motor wire.

) iming of pulse input is same as or earlier than Servo N.

1) urn to Servo N while disconnecting the motor. If error occurs immediately replace with a new driver.

2) hec that the motor wire ( and ) is not shorted and chec the branched out wire out of the connector. Ma e a correct wiring connection.

) Measure the insulation resistance between motor wires and and earth wire. In case of poor insulation replace the motor.

4) hec the balance of resister between each motor line and if unbalance is found replace the motor.

) hec the loose connectors. If they are or pulled out, �x them securely.

) nter the pulses 100ms or longer after Servo N.

*P error

protection

1

*ver heat

protection

1 emperature of the heat sin or power device has been risen over the speci�ed temperature.1) Ambient temperature has risen over

the speci�ed temperature.2) ver load

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.

ver loadprotection

1 orque command value has e ceeded the over load level set with Pr .12 (Setup of over load level) and resulted in overload protection according to the time characteristics (described later)1) Load was heavy and actual torque has

e ceeded the rated torque and ept running for a long time.

2) scillation and hunching action due to poor ad ustment.Motor vibration abnormal noise.Inertia ratio (Pr0.04) setup error.

) Miswiring disconnection of the motor.

4) Machine has collided or the load has gotten heavy. Machine has been distorted.

) lectromagnetic bra e has been ept engaged.

) hile wiring multiple a es miswiring has occurred by connecting the motor cable to other a is.

he over load protection time characteristics are described on P. 1 .

aution nce this error occurs it cannot be cleared at least for 10 sec.

hec that the torque (current) does not oscillates nor �uctuate up an down very much on the graphic screen of the PANA RM.

hec the over load alarm display and load factor with the PANA RM.1) Increase the capacity of the driver

and motor. Set up longer acceleration/deceleration time. Lower the load.

2) Ma e a re ad ustment.

) Ma e a wiring as per the wiring diagram. Replace the cables.

4) Remove the cause of distortion. Lower the load.

) Measure the voltage between bra e terminals. Release the bra e

) Ma e a correct wiring by matching the correct motor and encoder wires.

ote

Related page

hen protective function mar ed with * in the protective function table is activated it cannot be disabled by the alarm clear input (A LR). o return to the normal operation turn off power remove the cause and then turn on power again.

• P.2-8 “System Con�guration and Wiring” • P.4-44 “Details of parameter”

Protectivefunction


ain Su


*ver

regenerationloadprotection

1 Regenerative energy has e ceeded the capacity of regenerative resistor.

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 lac of capacity of absorbing this energy of the regeneration discharge resistor.

2) Regenerative energy has not been absorbed in the speci�ed time due to a high motor rotational speed.

) Active limit of the e ternal regenerative resistor has been limited to 10 duty.

aution Install an e ternal protection such as thermal fuse without fail when you set up Pr0.1 to 2. therwise regenerative resistor loses the protection and it may be heated up e tremely and may burn out.

hec the load factor of the regenerative resistor from the front panel or via communication.Do not use in the continuous regenerative bra e application.1) hec the running pattern (velocity

monitor). hec the load factor of the regenerative resistor and over regeneration warning display. Increase the capacity of the driver and the motor and loosen the deceleration time. se the e ternal regenerative resistor.

2) hec the running pattern (speed monitor). hec the load factor of the regenerative

resistor. Increase the capacity of the driver and the motor and loosen the deceleration time. Lower the motor rotational speed.

se an e ternal regenerative resistor. ) Set up Pr0.1 to 2.

*Regenerativetransistorerrorprotection

1 1 Regenerative driver transistor on the servo driver is defective.

Replace the driver.

*ncoder

co unication disconnection errorprotection

21 ommunication between the encoder and the driver has been interrupted in certain times and disconnection detecting function has been triggered.

Ma e a wiring connection of the encoder as per the wiring diagram. orrect the miswiring of the connector pins.

*ncoder

co unication errorprotection

1 ommunication error has occurred in data from the encoder. Mainly data error due to noise. ncoder cables are connected but communication data has some errors.

Secure the power supply for the encoder of D (4. to .2 )...pay an attention especially when the encoder cables are long.Separate the encoder cable and the motor cable if they are bound together.

onnect the shield to .*Positiondeviatione cessprotection

2 Data communication between the encoder is normal but contents of data are not correct.Mainly data error due to noise. ncoder cables are connected but communication data has some errors.

ote

Related page


P.4 ... Details of parameter

Protectivefunction


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Positiondeviatione cessprotection

2 Deviation pulses have e ceeded the setup of Pr0.14. 1) he motor movement has not followed

the command.

2) Setup value of Pr0.14 (Position deviation e cess setup) is small.

1) hec that the motor follows to the position command pulses. hec that the output toque has not saturated in torque monitor. Ma e a gain ad ustment. Set up ma imum value to Pr0.1 and Pr .22. Ma e a encoder wiring as per the wiring diagram. Set up the longer acceleration/deceleration time. Lower the load and speed.

2) Set up a larger value to Pr0.14.

elocitdeviatione cessprotection

1 he difference between the internal positional command speed and actual speed (speed deviation) e ceeds the setup vale of Pr .02.Note) If the internal positional command speed is forcibly set to 0 due to instantaneous stop caused by the command pulse inhibit input (IN ) or

/ over travel inhibit input the speed deviation rapidly increases at this moment. Pr .02 setup value should have suf�cient margin because the speed deviation also largely increases on the rising edge of the internal positional command speed.

Increase the setup value of Pr .02.Lengthen the acceleration/deceleration time of internal positional command speed or improve the follow up characteristic by ad usting the gain.Disable the e cess speed deviation detection (Pr .02 0).

*rid

deviatione cess errorprotection

2 Position of load by the e ternal scale and position of the motor by the encoder slips larger than the setup pulses with Pr (Setup of hybrid deviation e cess) at fullclosed control.

hec the connection between the motor and the load.

hec the connection between the e ternal scale and the driver.

hec that the variation of the motor position (encoder feedbac value) and the load position (e ternal scale feedbac value) is the same sign when you move the load.

hec that the numerator and denominator of the e ternal scale division (Pr .24 and .2 ) and reversal of e ternal scale direction

(Pr .2 ) are correctly set.

ver speedprotection

2 he motor rotational speed has e ceeded the setup value of Pr .1 .

Do not give an e cessive speed command. hec the command pulse input frequency and division/multiplication ratio.

Ma e a gain ad ustment when an overshoot has occurred due to a poor gain ad ustment.

Ma e a wiring connection of the encoder as per the wiring diagram.

2nd verspeedprotection

1 he motor rotational speed has e ceeded the setup value of Pr .1 .

Protectivefunction


ain Su


o andpulse inputfre uencerrorprotection

2 he frequency of command pulse input is more than 1.2 times the setting in Pr . 2.

hec the command pulse input for frequency.

lectronicgear errorprotection

2 Division and multiplication ratio which are set up with the command pulse counts per single turn and the1st and the 4th numerator/denominator of the electronic gear are not appropriate.

hec the setup value of electronic gear.

Pulseregenerationli itprotection

2 he output frequency of pulse regeneration has e ceeded the limit.

hec the setup values of Pr0.11 and .0 . o disable the detection set Pr . to 0.

Deviationcounter��!�protection

2 Positional deviation of encoder pulse reference has e ceeded 229 ( 0912).

hec that the motor runs as per the position command pulses.

hec that the output toque has not saturated in torque monitor.

Ma e a gain ad ustment. Set up ma imum value to Pr0.1 and Pr .22.

Ma e a wiring connection of the encoder as per the wiring diagram.

Safet inputprotection

Input photocoupler of both or one of safety input 1 and 2 is .

hec wiring of safety input 1 and 2.

*input

duplicatedallocationerror 1protection

Input signals (SI1 SI2 SI SI4 SI ) are assigned with two functions.

Allocate correct function to each connector pin.

*input

duplicatedallocationerror 2protection

1 Input signals (SI SI SI SI9 SI10) are assigned with two functions.

*input

functionnu er error1 protection

2 Input signals (SI1 SI2 SI SI4 SI ) are assigned with unde�ned number.

*input


Input signals (SI SI SI SI9 SI10) are assigned with unde�ned number.

Protectivefunction


ain Su

9


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*output


utput signals (SI1 SI2 SI ) are assigned with unde�ned number.

Allocate correct function to each connector pin.

*output


utput signals (SI4) are assigned with unde�ned number.

*

assign enterror

ounter clear function is assigned to a signal number other than SI .

*

assign enterror

ommand pulse inhibit input function is assigned to a signal number other than SI10.

otoror ing

rangesetup errorprotection

hen a position command within the speci�ed input range is given, the motor operates outside its wor ing range speci�ed in Pr5.14.1) ain is not appropriate.

2) Pr .14 setup value is low.

1) hec the gain (balance between position loop gain and speed loop gain) and inertia ratio.

2) Increase the setup value of Pr .14. rSet Pr .14 to 0 to disable the protective function.

*PR

para etererrorprotection

Data in parameter storage area has been damaged when reading the data from

PR M at power on.

Set up all parameters again. If the error persists replace the driver (it may be a failure.) Return the product to the dealer or manufacturer.

1

2

*PR

chec codeerrorprotection

Data for writing con�rmation to EEPROM has been damaged when reading the data from PR M at power on.

Replace the driver. (it may be a failure). Return the product to a dealer or manufacturer.1

2

*ver travel

inhi itinputprotection

ith Pr .04 over travel inhibit input setup 0 both positive and negative over travel inhibit inputs (P /N ) have been N.

ith Pr .04 0 positive or negative over travel inhibit input has turned N.

hec that there are not any errors in switches wires or power supply which are connected to positive direction/ negative direction over travel inhibit input. hec that the rising time of the control power supply (D 12 to 24 ) is not slow.

ote hen protective function mar ed with * in the protective function table is activated it cannot be disabled by the alarm clear input (A LR). o return to the normal operation turn off power remove the cause and then turn on power again.

Protectivefunction


ain Su

10


naloginput 1 1e cessprotection

igher voltage has been applied to the analog input 1 than the value that has been set by Pr4.24.

Set up Pr4.24 correctly. hec the connecting condition of the connector 4.

Set up Pr4.24 to 0 and invalidate the protective function.

naloginput 2 2e cessprotection

1 igher voltage has been applied to the analog input 1 than the value that has been set by Pr4.2 .

Set up Pr4.2 correctly. hec the connecting condition of the connector 4.

Set up Pr4.2 to 0 and invalidate the protective function.

naloginpute cessprotection

2 igher voltage has been applied to the analog input 1 than the value that has been set by Pr4. 0.

Set up Pr4. 0 correctly. hec the connecting condition of the connector 4.

Set up Pr4. 0 to 0 and invalidate the protective function.

solutes stedo n errorprotection

oltage of the built in capacitor has fallen below the speci�ed value because the power supply or battery for the 1 bit absolute encoder has been down.

aution nce this error occurs the alarm cannot be cleared until the absolute encoder is reset.

After connecting the power supply for the battery clear the absolute encoder.

*solute

counterover errorprotection

1 Multi turn counter of the 1 bit absolute encoder has exceeded the speci�ed value.

Set Pr0.1 to 2 to ignore the multi turn counter over.

Limit the travel from the machine origin within 2 revolutions.

soluteoverspeed errorprotection

2 he motor speed has e ceeded the speci�ed value when only the supply from the battery has been supplied to 1 bit encoder during the power failure.

aution nce this error occurs the alarm cannot be cleared until the absolute encoder is reset.

hec the supply voltage at the encoder side ( )

hec the connecting condition of the connector N 2.

*ncoder

initiali ationerrorprotection 1

ncoder initiali ation error was detected. Replace the motor.

*solute

single turncounter errorprotection 1

Single turn counter error of encoder has been detected.

Replace the motor.

*solute

ulti turncounter errorprotection 1

Multi turn counter error of encoder has been detected.

Replace the motor.

Protectivefunction


ain Su

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*solute

status errorprotection 1

ncoder has been running at faster speed than the speci�ed value at power-on.

Arrange so as the motor does not run at power on.

*ncoderphase

errorprotection 1

Missing pulse of phase of serial incremental encoder has been detected.

he encoder might be a failure.

Replace the motor.

*ncoder S

signal errorprotection 1

S signal logic error of serial incremental encoder has been detected.

he encoder might be a failure.

Replace the motor.

*eed ac

scaleiring error

protection

ommunication between the e ternal scale and the driver has been interrupted in certain times and disconnection detecting function has been triggered.

Ma e a wiring connection of the e ternal scale as per the wiring diagram.

orrect the miswiring of the connector pins.

*ternal

co unication dataerrorprotection

1 ommunication error has occurred in data from the e ternal scale. Mainly data error due to noise. ternal scale cables are connected but communication date has some error.

Secure the power supply for the e ternal scale of D (4. to .2 )...pay attention especially when the e ternal scale cables are long.

Separate the e ternal scale cable and the motor cable if they are bound together.

onnect the shield to ...refer to wiring diagram.

*ternal

scale statuserror

protection 1

1 it 0 of the e ternal scale error code (ALM ) has been turned to 1.Check the speci�cations of the external scale.

Remove the causes of the error then clear the e ternal scale error from the front panel.And then shut off the power to reset.

*ternal

scale status1 errorprotection 1


*ternal

scale status2 errorprotection 1


*ternal

scale statuserror

protection 1

it of the e ternal scale error code (ALM ) has been turned to 1.Check the speci�cations of the external scale.

ote

Related page


P.4. ... Details of parameter

Protectivefunction


ain Su

12


*ternal

scale statuserror

protection 1


Remove the causes of the error then clear the e ternal scale error from the front panel.And then shut off the power to reset.

*ternal

scale statuserror

protection 1

it of the e ternal scale error code (ALM ) has been turned to 1.Check the speci�cations of the external scale.

*phase

iring errorprotection

A phase wiring in the e ternal scale is defective e.g. discontinued.

hec the A phase wiring connection.

*B phase

iring errorprotection

1 phase wiring in the e ternal scale is defective e.g. discontinued.

hec the phase wiring connection.

*phaseiring error

protection

2 phase wiring in the e ternal scale is defective e.g. discontinued.

hec the phase wiring connection.

orcedalar inputprotection

orced alarm input ( S P) is applied. hec the wiring of forced alarm input ( S P).

*otor

auto aticrecognitionerrorprotection

to he motor and the driver has not been matched.

Replace the motor which matches to the driver.

*ther error

thero.

ontrol circuit has malfunctioned due to e cess noise or other causes.Some error has occurred inside of the driver while triggering self diagnosis function of the driver.

urn 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.

ote hen protective function mar ed with * in the protective function table is activated it cannot be disabled by the alarm clear input (A LR). o return to the normal operation turn off power remove the cause and then turn on power again.

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i e characteristics of rror code o.1 . verload protection

verload protection ti e characteristics

ime sMSM 0

MSM 100 （100 ）

MSM 100 （200 ）

MSM 200MSM 400

MSM 0

MSM 1.0 ～ .0MDM 1.0 ～ .0M M 1.0 ～ .0M M 900 ～ .0

10011

0.1

1

10

100

200 00 400 00orque

Soft are i it unction rror code o. .

1 utlineYou can ma e an alarm stop of the motor with software limit protection ( rror code No. 4) when the motor travels e ceeding the movable range which is set up with Pr .14 (Set up of software limit) against the position command input range.You can prevent the wor from colliding to the machine end caused by motor oscillation.

2 pplica le rangehis function wor s under the following conditions.

onditions under hich the soft are li it or s

ontrol ode Position control ull closed control

thers

Should be in servo on conditionInput signals such as the deviation counter clear and command input inhibit and parameters e cept for controls such as torque limit setup are correctly set assuring that the motor can run smoothly.

autions his function is not a protection against the abnormal position command. hen this software limit protection is activated the motor decelerates and stops ac

cording to Pr .14 (Sequence at alarm).he wor (load) may collide to the machine end and be damaged depending on the

load during this deceleration hence set up the range of Pr .14 including the deceleration movement.

his software limit protection will be invalidated during the trial run and frequency characteristics functioning of the PANA RM.

Related page P.4 44 4 4 Details of parameter

aution se the motor so that actual torque stays in the continuous running range shown in S characteristic of the motor. or the S characteristics see P. Motor characteristics (S characteristics).

14


a ple of ove ent1 hen no position co and is entered Servo status

he motor movable range will be the travel range which is set at both sides of the motor with Pr2 since no position command is entered. hen the load enters to the rr 4 occurrence range (oblique line range) software limit protection will be activated.

2 hen the load oves to the right at Servohen the position command to the right direction is entered the motor movable

range will be e panded by entered position command and the movable range will be the position command input range Pr2 setups in both sides.

hen the load oves to the left at Servohen the position command to the left direction the motor movable range will be

e panded further.

ondition under hich the position co and input range is clearedhe position command input range will be 0 cleared under the following conditions.

when the power is turned on. while the position deviation is being cleared (Deviation counter clear is valid Pr

(Sequence at over travel inhibition) is 2 and over travel inhibition input is valid.) At the beginning and ending of trial run via communication.

Motor Load

Motor movable range

Position commandinput rangePr .14 Pr .14

rror occurrence range rror occurrence range

Motor Load

Motor movable range

Position commandinput range

rror occurrence range rror occurrence range

Pr .14 Pr .14

Motor Load

Motormovable

rangerror occurrence range rror occurrence range

Pr .14 Pr .14

Related page P.4 42... Details of parameter

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2. Setup of gain pre ad ust ent protectionhen in rou le

Related page

Related page

Related page

efore starting gain ad ustment set the following parameters based on the conditions of use to assure safe operation.

1 Setup of over travel inhi it inputy inputting the limit sensor signal to the driver the bumping against mechanical end

can be prevented. Refer to interface specification positive/negative direction overtravel inhibit input (P /N ). Set the following parameters which are related to overtravel inhibit input. Pr .04 Setup of over travel inhibit input Pr .0 Sequence at over travel inhibit

P. (P /N ) P.4 42 (Pr .04 Pr .0 )

2 Setup of tor ue li ity limiting motor ma imum torque damage caused by failure or disturbance such as

bite of the machine and collision will be minimi ed. o apply standardi ed limit through parameters set Pr0.1 he 1st torque limit.If the torque limit setup is lower than the value required during the actual application the following two protective features will be triggered: over speed protection when overshoot occurs and e cess positional deviation protection when response to the command delays.By allocating the torque in-limit output (TLC) of interface speci�cation to the output signal torque limit condition can be detected e ternally.

P. 4 ( L ) P.4 10 (Pr0.1 ) P.4 4 (Pr .21)

Setup of over speed protectionenerates rr2 .0 ver speed protection when the motor speed is e cessively high.

Default setting is the applicable motor ma imum speed r/min 1.2.If your application operates below the motor ma imum speed set Pr .1 Setup of over speed level by using the formula below.

Pr .1 Setup of over speed level ma (1.2 to 1. )ma : motor ma imum speed r/min in operating conditionactor in ( ) is margin to prevent frequent activation of over speed protection.

hen running the motor at a low speed during initial ad ustment stage setup the overspeed protection by multiplying the ad usting speed by a certain margin to protect the motor against possible oscillation.

P.4 4 (Pr .1 )

( ontinued ...)

1

Related page

Setup of the e cess positional deviation protection

During the position control or full closed control this function detects potential e cessive difference between the positional command and motor position and issues rr24.0

cess positional deviation protection.cess positional deviation level can be set to Pr0.14 Setup of positional deviation

e cess. he deviation can be detected through command positional deviation pulse (command unit) and encoder positional deviation pulse (encoder unit) and one of which can be selected by Pr .20 Position setup unit select. (See the control bloc diagram.)Default setting is 100000 pulse (command unit) .

ecause the positional deviation during normal operation depends on the operating speed and gain setting, �ll the equation below based on your operating condition and input the resulting value to Pr0.14.

hen Pr .2 detection through co and positional deviation

Pr0.14 Setup of positional deviation e cess c/ p (1.2 to 2.0)c: ma imum frequency of positional command pulse pulse (command unit)/sp: position loop gain 1/sactor in ( ) is margin to prevent frequent activation of e cess positional deviation

protection.

Note 1) hen switching position loop gain p select the smallest value for calculation.Note 2) hen using the positional command filter and damping control add the

following values.Positional command smoothing filter: c filter time constant sPositional command IR filter: c filter time constant s /2Damping control: c/(� damping frequency )

hen Pr .2 1 detection through encoder positional deviationfull closed positional deviation

Pr0.14 Setup of positional deviation e cess e/ p (1.2 to 2.0)e: ma imum operation frequency pulse/s in encoder unit or full closed unitp: position loop gain 1/s

Note ) hen switching position loop gain p select the smallest value for calculation.Note 4) hen Pr .20 1 setups of positional command filter and damping control have

no effect.

P.4 10 (Pr0.14) P4 4 (Pr .20)

Related page

Setup of otor or ing range

During the position control or full closed control this function detects the motor position which e ceeds the revolutions set to Pr .14 Motor wor ing range setup and issues rr 4.0 Motor wor ing range protection.

P.4 1 (Pr .14)

2. Setup of gain pre ad ust ent protection

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Related page

Setup of h rid deviation e cess error protection

At the initial operation with full closed control operation failure may occur due to reverse connection of e ternal scale or wrong e ternal scale division ratio.o indicate this type of defect rr2 .0 ybrid deviation e cess error protection is is

sued when the deviation of motor position (encoder unit) and load position (e ternal scale unit) e ceed Pr .2 Setup of hybrid deviation e cess.Default setting is 1 000 pulse (command unit). ecause the deviation in normal operation varies with the operation speed and gain setup. Add a margin to this setting according to your operating condition.

P.4 1 (Pr .2 )

2. Setup of gain pre ad ust ent protection

1

. rou leshootinghen in rou le otor Does ot Run

hen the motor does not run refer to P.2 4 Display of actor of No Motor Running of Preparation as well.

�� auses easures

Para eter Setup of the control mode is not correct

hec that the present control mode is correct with monitor mode of the front panel.

1) Set up Pr0.01 again.2) hec that the input to control mode switching

( M D ) of the nnector 4 is correct when Pr0.01 is set to to .

Selection of torque limit is not correct

hec that the e ternal analog input (N A L/P A L) is not used for the torque limit.

1) Set up Pr0 .21 to 0 and apply 9 to N A L and 9 to P A L when you use the e ternal input.

2) Set up Pr0 .21 to 1 and set up the ma . value to Pr0.1 when you use the parameter value.

Setup of electronic gear is not correct. (Position/ ullclosed)

hec that the motor moves by e pected revolution against the command pulses.

1) hec the setups of Pr0.09 Pr0.01 and Pr .00 to Pr .02 again.

2) onnect the electronic gear switching input (DI ) of onnector 4 to M or invalidate the division/

multiplication switching by setting up the same value to Pr0.09 and Pr .00.

iring Servo N input of onnector

4 (SR N) is open.

In the front panel monitor mode is the Pin No. corresponding to SR

N in state

hec and ma e a wiring so as to connect the SRN input to M .

Positive/negativedirection overtravel inhibit input of onnector 4 (N /P ) is open.

In the front panel monitor mode is the Pin No. corresponding to N /P in A state

1) hec and ma e a wiring so as to connect both N /P inputs to M .

2) Set up Pr .04 to 1 (invalid) and reset the power.

ommand pulse input setup is incorrect. (Position/ ullclosed)

hec that the input pulse counts and variation of command pulse sum does not slips with monitor mode of the front panel.

1) hec that the command pulses are entered correctly to the direction selected with Pr0.0 .

2) hec that the command pulses are entered correctly in the format selected with Pr0.0 .

ommandpulse input inhibition (IN ) of

onnector 4 is open. (Position/

ull closed)

In the front panel monitor mode is the Pin No. corresponding to IN in

A state

1) hec and ma e a wiring so as to connect the IN input to M .

2) Set up Pr .1 to 1 (invalid).

ounter clear input ( L) of

onnector 4 is connected to

M . (Position/ull closed)

In the front panel monitor mode is the Pin No. corresponding to L in A state

1) hec and ma e wiring so as to open the L input 2) Set up Pr .1 to 2 (invalid).

Related page P.2 2 ... ow to se the ront Panel P. 0 Inputs and outputs on connector 4 P.4 4... Details of parameter

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hen the motor does not run refer to P.2 4 Display of actor of No Motor Running of Preparation as well.


iring Speed command is invalid ( elocity)

hec that the velocity command input method (e ternal analog command/internalvelocity command) is correct.

1) hec the setups of Pr .02 to Pr .0 again by setting up Pr .00 to 0 when you use the e ternal analog command.

2) Set up Pr .04 to Pr .0 and Pr .0 to Pr .11 by setting up Pr .00 to either one of 1 2 or when you use the internal speed command.

Speed ero clamp input ( R SPD) of

onnecter 4 is open.( elocity/ orque)

In the front panel monitor mode is the Pin No. corresponding to

R SPD in A state

1) hec and ma e wiring so as to connect speed ero clamp input to M .

2) Set up Pr .1 .

orque command is invalid ( orque)

hec that the torque command input method (SPR/ R R input P A L/ R R input) is correct.

1) hec that the input voltage is applied correctly by setting up Pr .1 to 0 when you use SPR/ R R input.

2) hec that the input voltage is applied correctly by setting up Pr .1 to 1 when you use the P A L/

R R input.

elocity control is invalid ( orque)

hec that the velocity limit input method (parameter velocity SPR/

R R/SPL input) is correct.

1) Set up the desired value to Pr .21 by setting up Pr .1 to 0 when you use the parameter speed.

2) hec that the input voltage is applied correctly by setting up Pr .1 to 1 when you use the SPR/

R R/SPL input.

nstallation Main power is shut off.

In the front panel monitor mode is the Pin No. corresponding to S RDY in state

hec the wiring/voltage of main power of the driver (L1 L2 and L ).

he motor shaft drags the motor does not run.

1) hec that you can turn the motor shaft after turning off the power and separate it from the machine.

2) hec that you can turn the motor shaft while applying D 24 to the bra e in case of the motor with electromagnetic bra e.

If you cannot turn the motor shaft consult with the dealer for repair.

. rou leshootingotor Does ot Run

Related page P.4 24... Details of parameter P. 0 Inputs and outputs on connector 4

20


Para eter Setup of the control mode is not correct.

If you set up Pr0.01 to 1( elocity control mode) by mista e at position control mode the motor runs slowly at servo N due to speed command offset. hange the setup of Pr0.01 to 0.

d ust ent ain ad ustment is not proper. Increase the setup of Pr1.01 1st velocity loop gain. nter torque �lter of Pr1.04 and increase the setup of Pr1.01 again.

elocity and position command are not stable.

hec the motor movement with chec pin of the front panel or the waveform graphic function of the PANA RM. Review the wiring connector contact failure and controller.

iring ach input signal of onnector 4 is chattering.

1) Servo N signal

2) Positive/Negative direction torque limit input signal

) Deviation counter input signal

4) Speed ero clamp signal

) ommand pulse inhibition input

1) hec the wiring and connection between Pin29 and 41 of the onnector 4 using the display function of I/ signal status. orrect the wiring and connection so that the Servo N signal

can be turned on normally. Review the controller. 2) hec the wiring and connection between Pin 1 and 1 1 and

1 of the onnector 4 using tester or oscilloscope. orrect the wiring and connection so that Positive/Negative direction torque limit input can be entered normally.

) hec the wiring and connection between Pin 0 and 41 1 and 1 of the onnector 4 using display function of I/ signal status. orrect the wiring and connection so that the deviation counter input can be turned on normally. Review the controller.

4) hec the wiring and connection between Pin 2 and 41of the onnector 4 using Display function of I/ signal status. orrect

the wiring and connection so that the speed ero clamp input can be entered normally. Review the controller.

) hec the wiring and connection between Pin and 41of the onnector 4 using display function of I/ signal status. orrect

the wiring and connection so that the command pulse inhibition input can be entered normally. Review the controller.

Noise is on the velocity command.

se a shield cable for connecting cable to the onnector 4. Separate the power line and signal line ( 0cm or longer) in the separate duct.

Slip of offset hec the voltage between Pin 14 and 1 (speed command input) using a tester or an oscilloscope. Ad ust the Pr 2 value so that the motor stops.

Noise is on the position command.

se a shield cable for connecting cable to the onnector 4. Separate the power line and signal line ( 0cm or longer) in the separate duct.

. rou leshootinghen in rou le Unsta le Rotation ot S ooth

otor Runs Slo l ven ith Speed ero at elocit ontrol ode

Related page P.4 42... Details of parameter P. 0 Inputs and outputs on connector 4 P. 2 utline of Setup support software PANA RM

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. rou leshootinghen in rou le Positioning ccurac s Poor


S ste Position command is not correct. ount the feedbac pulses with a monitor function of the PANA RM or feedbac pulse monitor mode of the console while repeating the movement of the same distance. If the value does not return to the same value review the controller. Ma e a noise measure to command pulse.

aptures the positioning complete signal at the edge.

Monitor the deviation at positioning complete signal reception with the onnector or the waveform graphic function of the PANA RM.Ma e the controller capture the signal not at the edge but with some time allowance.

Shape or width of the command pulse is not per the speci�cations.

If the shape of the command pulse is bro en or narrowed review the pulse generating circuit. Ma e a noise measure.

Noise is superposed on deviation counter clear input L ( onnector 4 Pin ).

Ma e a noise measure to e ternal D power supply and ma e no wiring of the unused signal lines.

d ust ent Position loop gain is small. hec the position deviation with the monitor function of the PANA RM or at the monitor mode of the console.Increase the setup of Pr1.00 within the range where no oscillation occurs.

Para eter Setup of the positioning complete range is large.

Lower the setup of Pr4. 1 within the range where no chattering of complete signal occurs.

ommand pulse frequency have e ceeded 00 pps or 4Mpps.

Lower the command pulse frequency. hange the division/multiplication ratio of 1st and 2nd numerator of command division/multiplication Pr0.09 and Pr0.10. se a pulse line interface e clusive to line driver when pulse line interface is used.

Setup of the division/multiplication is not correct.

hec if the repetition accuracy is same or not. If it does not change use a larger capacity motor and driver.

elocity loop gain is proportion action at motor in stall.

Set up Pr1.02 and Pr1.0 of time constant of velocity loop integration to 9999 or smaller.

Review the wiring and connection so that the connection between Pin 2 and 41 of the gain switching input connector onnector

4 becomes off while you set up Pr1.14 of 2nd gain setup to 1.

iring ach input signal of onnector 4 is chattering.

1) Servo N signal

2) Deviation counter clear input signal

) Positive/Negative direction torque limit input signal

4) ommand pulse inhibition input

1) hec the wiring and connection between Pin29 and 41 of the connector onnector 4 using the display function of I/ signal status. orrect the wiring and connection so that the servo n signal can be turned on normally. Review the controller.

2) hec the wiring and connection between Pin 0 and 41 1 and 1 of the connector onnector 4 using display function of I/ signal status. orrect the wiring and connection so that the deviation counter clear input can be turned on normally. Review the controller.

hec the wiring and connection between Pin 1 and 1 1 and 1 of the connector onnector 4 using tester or oscilloscope.

orrect the wiring and connection so that Positive/Negative direction torque limit input can be entered normally.

4) hec the wiring and connection between Pin and 41of the connector onnector 4 using display function of I/ signal status. orrect the wiring and connection so that the command pulse inhibition input can be entered normally. Review the controller.

nstallation Load inertia is large. hec the overshoot at stopping with graphic function of the PANA RM. If no improvement is obtained increase the driver and motor capacity.

Related page P.4 4 Details of parameter P. 0 Inputs and outputs on connector 4 P. 2 utline of Setup support software PANA RM

22

. rou leshootinghen in rou le rigin Point Slips


S ste phase is not detected. hec that the phase matches to the center of pro imity dog. ecute the homing matching to the controller correctly.

oming creep speed is fast. Lower the homing speed at origin pro imity. r widen the origin sensor.

iring hattering of pro imity sensor (pro imity dog sensor) output .

hec the dog sensor input signal of the controller with oscilloscope.Review the wiring near to pro imity dog and ma e a noise measure or reduce noise.

Noise is on the encoder line. Reduce noise (installation of noise �lter or ferrite core), shield treatment of I/ cables use of a twisted pair or separation of power and signal lines.

No phase signal output. hec the phase signal with oscilloscope. hec that the Pin 1 of the connector N is connected to the earth of the controller.

onnect the earth of the controller because the open collector interface is not insulated. Replace the motor and driver. Request for repair.

Miswiring of phase output. hec the wiring to see only one side of the line driver is connected or not. se a output (open collector if the controller is not differential input.

. rou leshootinghen in rou le nor al otor oise or i ration


iring Noise is on the speed command. Measure the speed command inputs of Pin 14 and 1 of the connector onnector 4 with an oscilloscope. Reduce noise (installation of noise �lter or ferrite core), shield treatment of I/F cables use of a twisted pair separation of power and signal lines.

d ust ent ain setup is large. Lower the gain by setting up lower values to Pr1.01 and 1.09 of velocity loop gain and Pr1.00 and Pr1.0 of position loop gain.

nstallation Resonance of the machine and the motor.

Re-adjust Pr1.04 and 1.09 (Torque �lter). Check if the machine resonance e ists or not with frequency characteristics analy ing function of the PANA RM. Set up the notch frequency to Pr2.01 Pr2.04 Pr2.0 or Pr2.10 if resonance e ists.

Motor bearing hec the noise and vibration near the bearing of the motor while running the motor with no load. Replace the motor to chec . Request for repair.

lectro magnetic sound gear noise rubbing noise at bra e engagement hub noise or rubbing noise of encoder.

hec the noise of the motor while running the motor with no load. Replace the motor to chec . Request for repair.

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. rou leshootinghen in rou le vershoot Undershoot

verheating of the otor otor Burn ut


d ust ent ain ad ustment is not proper. hec with graphic function of PANA RM or velocity monitor (SP) or torque monitor (IM). Ma e a correct gain ad ustment. Refer to Ad ustment .

nstallation Load inertia is large. hec with graphic function of PANA RM or monitor ( onnector ). Ma e an appropriate ad ustment. Increase the motor and

driver capacity and lower the inertia ratio. se a gear reducer.

Looseness or slip of the machine.

Review the mounting to the machine.

Ambient temperature environment.

Lower the temperature with cooling fan if the ambient temperature e ceeds the predications.

Stall of cooling fan dirt of fan ventilation duct.

hec the cooling fans of the driver and the machine. Replace the driver fan or request for repair.

Mismatching of the driver and the motor.

hec the name plates of the driver and the motor. Select a correct combination of them referring to the instruction manual or catalogue.

ailure of motor bearing. hec 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.

lectromagnetic bra e is ept engaged (left un released).

hec the voltage at bra e terminals. Apply the power (D 24 ) to release the bra e.

Motor failure (oil water or others)

Avoid the installation place where the motor is sub ect to high temperature humidity oil dust or iron particles.

Motor has been turned by e ternal force while dynamic bra e has been engaged.

hec the running pattern wor ing condition and operating status and inhibit the operation under the condition of the left.

. rou leshootinghen in rou le otor Speed Does ot Reach to the Setup

otor Revolutions ravel s oo arge or S all


Para eter elocity command input gain is not correct.

hec that the setup of Pr .02 speed command input gain is made so as to ma e the setup of 00 ma es 000 r/min.

d ust ent Position loop gain is low. Set up Pr1.00and Pr1.0 position loop gain to appro . 1000.

Division/Multiplication is not proper.

Set up correct values to Pr0.09 1st numerator of electronic gear Pr0.11 numerator multiplier of electronic gear and Pr0.10 denominator of electronic gear. Refer to parameter setup at each mode.

Related page P.4 4 Details of parameter P. 2 utline of Setup support software PANA RM

24

. rou leshootinghen in rou le Para eter Returns to Previous Setup


Para eter No writing to PR M has been carried out before turning off the power.

Refer to P.2 1 ow to perate PR M riting of Preparation.

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1. Safet functionutline ........................................................................................................ 2

Input output signals .................................................................................Safety ircuit loc Diagram ......................................................................

iming hart ...............................................................................................ample of connection ...............................................................................

2. solute s steutline ...................................................................................................... 10

Con�guration ............................................................................................ 11attery (for ac up) Installation ................................................................ 12

Setup (Initiali ation) of Absolute ncoder ................................................. 1ransferring absolute data ........................................................................ 1ransferring e ternal scale absolute data ................................................. 21

Display of attery Alarm ........................................................................... 2

. utline of Setup Support Soft are P RSetup on the P ....................................................................................... 2

. o unicationutline ...................................................................................................... 2

Speci�cations ............................................................................................ 2List of ommunication ommand ............................................................. 9Details of ommunication ommand ....................................................... 40

. otor haracteristics S haracteristicsMotor .........................................................................................................

. Di ensionsDriver A frame frame .........................................................................

frame D frame ........................................................................ 4frame frame .........................................................................

Motor .........................................................................................................

. ptionsNoise ilter ................................................................................................ 2Surge Absorber ......................................................................................... 4Noise ilter for Signal Lines ......................................................................unction able for ncoder ......................................................................unction able for Motor ( ithout bra e) .................................................unction able for Motor ( ith bra e) ...................................................... 0unction able for ra e .......................................................................... 2onnector it ............................................................................................attery or Absolute ncoder ................................................................... 9

Mounting rac et ...................................................................................... 90Reactor ..................................................................................................... 91

ternal Regenerative Resistor ................................................................ 9Recommended components(Surge absorber for motor bra e) ................ 94List of Peripheral quipments ................................................................... 9

2

1. Safet functionSupple ent utline

utline description of safe tor ue off S

he safe torque off (S ) function is a safety function that shuts the motor current and turns off motor output torque by forcibly turning off the driving signal of the servo driver internal power transistor. or this purpose the S uses safety input signal and hardware (circuit).

hen S function operates the servo driver turns off the servo ready output signal (S RDY) and enters safety state.

his is an alarm condition and the seg L D on the front panel displays the error code number.

Safet precautions

hen using the S function be sure to perform equipment ris assessment to ensure that the system conforms to the safety requirements.

ven while the S function is wor ing the following potential safety ha ards e ist. hec safety in ris assessment.

he motor may move when eternal force (e.g. gravity force on vertical a is) is e erted on it. Provide an e ternal bra e etc. as necessary to secure the motor. Note that the purpose of motor with bra e is holding and it cannot be used for bra ing application.

hen parameter Pr .10 Sequence at alarm is set to free run (disable dynamic bra e) the motor is free run state and requires longer stop distance even if no e ternal force is applied. Ma e sure that this does not cause any problem.

hen power transistor etc. becomes defective the motor will move to the e tent equivalent of 1 0 electrical angle (ma .). Ma e sure that this does not cause any problem.

he S turns off the current to the motor but does not turn off power to the servo driver and does not isolate it. hen starting maintenance service on the servo driver turn off the driver by using a different disconnecting device.ternal device monitor (hereafter DM) output signal is not a safety signal. Do not use

it for an application other than failure monitoring.Dynamic bra e and e ternal bra e release signal output are not related to safety function. hen designing the system ma e sure that the failure of e ternal bra e release during S condition does not result in danger condition.

hen using S function connect equipment conforming to the safety standards.

Related page P.2 2 onformance to international standards P.2 2 ow to se the ront Panel P. 0 Inputs and outputs on connector 4

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Safet input output signal

aution

or list of connector pin numbers refer to P.2 22

Signal S ol Pin o. ontents ontrolode

Safetyinput 1

S 1 4 Input 1 that triggers S function. his input turns off the upper arm drive signal of power transistor.

hen using the function connect this pin in a way so that the photocoupler of this input circuit turns off to activate S function. ompatible

all control mode

SF1�

Safetyinput 2

S 2 Input 2 that triggers S function. his input turns off the lower arm drive signal of power transistor.

hen using the function connect this pin in a way so that the photocoupler of this input circuit turns off to activate S function.SF2�

Safety input 1 or 2 enables S to operate within ms causing motor output torque to turn off.

Safet e uip ent self diagnosis pulseSafety output signal from the safety controller and safety sensor may include L pulse for self diagnosis.o prevent the L pulse from mis triggering S function the safety input circuit has

built-in �lter that removes the self-diagnosis L pulse.herefore if the off period of safety input signal less than 1 ms the safety input circuit

does not detect this off event.o validate this off period turn off the input signal for more than ms.

Safety input signal

Servo driverperate

L pulse for self diagnosis

1 ms or shorter ms or shorter

ms or more

S state

1. Safet functionSupple ent nput output signals

4

ternal device onitor D output signal

he monitor output signal is used by the e ternal device to monitor the state of the safety input signal. onnect the monitor output to the e ternal device monitor terminal of the safety devices such as safety controller and safety sensor.

Signal S ol Pin o. ontents ontrolode

DMoutput

DM utputs monitor signal that is used to chec the safety function.

aution his output signal is not a safety output.

ompatibleall control mode

EDM�

ogical relationship et een safet input signal and D output signal

ote

hen both safety input 1 and 2 are off i.e. when S function of 2 safety input channels are active the photocoupler in DM output circuit turns on.

Signal S ol Photocoupler logic

Safety inputS 1 N N

S 2 N N

DM output DM N

y monitoring the logics (all 4 states) of photocoupler shown in the table above the e ternal device can determine the status (normal or abnormal) of safety input circuit and

DM output circuit.

Ma imum delay time from input of safety 1 and 2 signals to output of DM signal is ms.

1. Safet functionnput output signals

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1. Safet functionSupple ent Safet ircuit Bloc Diagra

Power

LP ( ms)

ontrolircuit

Motor

M

ASI

P

P

I S 1

IL M

I S 2

DM

EDM�

DM

SF2�

S 2

S 1

SF1�

Pow

er s

ectio

n in

terfa

ce

4

in out

.level

shifter N

analoginput

analoginput

port

PSoltage

Monitor

IL RR1

1. Safet functionSupple ent i ing hart

perating ti ing for safet status

*1 t1 is the value set to Pr4. Setup of mechanical bra e action at running or the time at which the motor revolution speed drops below the time set to Pr4. 9 ra e release speed setup whichever comes first.

*2 Dynamic bra e operates to the setting of Pr .10 Sequence at alarm.* hen safety input 1 or 2 turns off the state changes to S condition.

input coupler (Servo command)input coupler N

(Servo N command)

output coupler (not ready)output coupler N

(ready)

output coupler (Alarm)output coupler N

(not Alarm)

output coupler ( rea engage)output coupler N

( rea release)

output coupler ( rea engage)output coupler N

( rea release)

input coupler N

output coupler

energi ed not energi ed

released engaged

Servo N input(S N)

Motor energi ation

Dynamic bra e *2




when time to fallbelow value of Pr4. 9 is shorter

when setup value of Pr4. is shorter

t1*1

t1*1

input coupler (S )

output coupler N

Safety input 1Safety input 2 *

DM output

ma ms

ma ms

0. to ms

Setup value of Pr4.

Setup value of Pr4.

motor speed


motor speed


Related page P.4 41 Pr4. Pr4. 9 P.4 4 Pr .10

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1. Safet functioni ing hart

Return ti ing fro safet state

*1 Photocouplers for safety input 1 and 2 should be turned on again with servo on input turned off. therwise alarm occurs and should be cleared.Alarm clear should be performed after the safety input 1 and 2 have been turned bac to on.

therwise alarm occurs.*2 his is an alarm condition and the dynamic bra e operates according to Pr .10 Se

quence at alarm.* his is normal servo off condition and the dynamic bra e operates according to

Pr .0 Sequence at servo off.

input coupler (Servo command) input coupler N

(Servo N command)

output coupler (not ready) output coupler N

(ready)

output coupler (Alarm) output coupler N

(not Alarm)

input coupler input coupler N

output coupler ( rea engage)

input coupler Ninput coupler

output coupler N

generated alarm Servo

output coupler

not energi ed

Servo N input(S N) *1

Safety input 1Safety input 2

Motor energi ation

DM output

Dynamic bra e


Servo lear intput (ALM) *1



ma ms

released/engaged *2 released/engaged *

nce the servo on command is input the operationproceeds in synchronouswith normal servo on/off timing.(Refer to P.2 0

iming hart )

Related page P.4 44 Pr .0 P.4 4 Pr .10

a ple of connection to safet s itch

1. Safet functionSupple ent a ple of connection

a ple of connection to safet controller

a ple of connection to safet sensor

0

Safety input

DM output

Safety input

Safetyswitch

24

Sefety output(source)


Safety sensor

Safetycontroller

ontact output

Servo driver

S 1

SF1�

S 2

SF2�

DM

DM�

M

Safety input

DM output

DM output

Safety input

Servo driver

S 1ontrol output 1

ontrol output 2

0

24

DM input

SF1�

S 2

SF2�

DM

DM�

M

Safety input

ontact output

Servo driver

S 1

SF1�

S 2

SF2�

0

A2

1

S24S14 DM

DM�

M

9

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1. Safet functiona ple of connection

a ple of connection hen using ultiple a es

M

M

M


DMoutput

DM output

Servo driver

S 1

ontrol output 1

ontrol output 2

0

24

DM input

SF1�

S 2

SF2�

DM

DM�

Servo driver

S 1

SF1�

S 2

SF2�

DM

DM�

DMoutput

Servo driver

S 1

SF1�

S 2

SF2�

DM

DM�

Safety sensor

apacity requirement per safety output (source) channel: 0 No. of connected a es (mA)24 D supply allowable voltage: 24 1Ma imum No. of connectable a es:

10

2. solute s steSupple ent utline

utline of solute S ste

hen you compose an absolute system using an absolute encoder you are not required to carry out homing operation at the power on and this function suits very well to such an application as a robot.

Connect the host controller with the Minas A5 with absolute speci�cations. (motor with absolute encoder and driver with absolute spec) and set up the parameter Pr0.1 to 0 or 2 then connect the battery for absolute encoder to compose an absolute system with which you can capture the e act present position information after the power N.

Shift the system to origin once after installing the battery and clear the multi turn data by clearing the absolute encoder then you can detect the absolute position without carrying out homing operation.

ia RS2 2 or RS4 communication the host controller can connect up to 2 MINAS A and capture the present position information as serial data to obtain the absolute position of each a is by processing. each data.

pplica le ode

You can use all of MINAS A5 series driver in absolute speci�cations by setting up parameter. Use the motor which 8th place (designated for rotary encoder speci�cations) is “S” ( wire type).

&��0��

here are connecting methods of the host controller and MINAS A driver as described below and select a method depending on the interface of the host controller specs or number of a is to be connected. Designate a module ID to Pr . 1 of each MINAS A driver when you connect multiple MINAS A in communication to one host controller as shown below.

Para eter Pr . 1hen you connect each MINAS A to the host separately with RS2 2 and switch the

communication individually designate 0 to 1 to each MINAS A . (Ma . 1 a is are connectable.)

hen you connect one MINAS A to the host with RS2 2 and connect each MINAS A with RS4 designate 0 to the MINAS A connected with the host and designate 1 to 1 to other MINAS A . (Ma 2 a is are connectable.)

hen you connect MINAS A to the host with RS4 the host is given module ID of 0 and designate 1 to 1 to MINAS A . (Ma 1 a is are connectable.)

M M Sth place

Rotary encoder specifications

11

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2. solute s steSupple ent onfiguration

ote * attery for absolute encoder is required to store the multi turn data into the encoder. onnect the battery between A and A of the motor.

No connection to when no e ternal scale is used.

ost controllerRS2 2

interface SN 1 01 or equivalent

MotorRelay

connector

Positioningcontroller

DR D

ND

4

1

Servo driver

R DD

ND

RS4RS4 �

RS4RS4 �

2

RS4 can be connecter to either terminal pair.4 Detection

head

Linear scale unit

Relayconnector

SN 1 01 or equivalent

MotorRelay

connector

4

1

R DD

ND

RS4RS4 �

RS4RS4 �

2

4 Detectionhead

Linear scale unit

Relayconnector

RS4 can be connecter to either terminal pair.

��601(1��

��609-5��

Related page P. 2 onnection of ommunication Line

Related page P. 29 onnection of ommunication Line


MotorRelay

connector

4 Detectionhead

Linear scale unit

Relayconnector

RS4interface ADM4 or equivalent

RS4RS4

ND

Servo driver

2

RS4

1 RS4ND

RS4RS4

ost controller


12

2. solute s steSupple ent Batter for Bac up nstallation

irst nstallation of the Batter

After installing and connecting the bac up battery to the motor e ecute an absolute encoder setup. Refer to P. 1 Setup (initiali ation) of Absolute ncoder .It is recommended to perform N/ 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.

aution se the following battery for absolute encoder.attery .............Part No. : D 0P2990 ( . 2000mAh)attery bo ......Part No. : D 0P44 0

Replace ent of the Batter

aution

It is necessary to replace the battery for absolute encoder when battery alarm occurs.Replace hile turning on the control po er. Data stored in the encoder ight elost hen ou replace the atter hile the control po er of the driver is off.After replacing the battery clear the battery alarm. Refer to P. 2 ow to lear the

attery Alarm .

hen you e ecute the absolute encoder with the front panel (refer to P.2 9 of Preparation) or via communication (refer to P. 4) all of error and multi turn data will be cleared together with alarm and you are required to e ecute Setup (Initiali ation) of absolute encoder (refer to P. 1 ).

o to Replace the Batter

N 01Pull out after min.connection Raise the latch and

ta e off the cover.

1 Refresh the ne atter .onnector with lead wire of the

battery to N 01 and leave of min. Pull out the connector from N 01 min after.

2 a e off the cover of the atter o .

Related page P. 9 attery or Absolute ncoder

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aution

aution

e absolutely sure to follow the precautions below since improper use of the battery can cause electrolyte to lea 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 lea age and other trouble. or 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.) he electrolyte inside the battery is highly corrosive and if it should lea out it will not

only corrode the surrounding parts but also give rise to the danger of short circuiting since it is electrically conductive. or this reason ensure that the battery is replaced periodically.

3) Do not disassemble the battery or throw it into a �re. • Do not disassemble the battery since fragments of the interior parts may �y into your

eyes, which is extremely dangerous. It is also dangerous to throw a battery into a �re or apply heat to it as doing to may cause it to rupture.

4) Do not cause the battery to be short circuited. nder no circumstances must the battery tube be peeled off. It is dangerous for metal items to ma e contact with the and electrodes of the

battery since such objects may cause a high current to �ow all at once, which will not only reduce the battery performance but also generate considerable heat possibly leading to the rupture of the battery.

) his battery is not rechargeable. nder no circumstances must any attempt be made to recharge it.

he disposal of used atteries after the have een replaced a e su ect torestrictions i posed local governing authorities. n such cases ensurethat their disposal is in accordance ith these restrictions.

onnectthe connector.

Place the battery with facing downward.

lose the cover not to pinch the connector cable.

nstall the atter to the atter o .

lose the cover of the atter o .

2. solute s steBatter for Bac up nstallation

14

ife of the atter

aution

ollowing e ample shows the life calculation of the bac 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.

he values below were calculated with only the current consumption factored in. he calculations do not factor in electrolyte lea age and other forms of battery deterioration.Life time may be shortened depending on ambient condition.

1 2 c cles da

Annual consumption capacity (10h a 0.0014h b 2h c) 2 1 days 24h c 2 days 29 . mAh )

attery life 2000 mAh /29 . mAh . ( . 1 9) year

2 1 c cle da(2nd cycle of the above 1) is for rest.

Annual consumption capacity (10h a 0.0014h b 14h c) 1 days 24h c 2 days 40. mAh )attery life 2000 mAh / 0. mAh .1 ( .1 1 ) year

a : urrent consumption in normal mode . �Ab : urrent consumption at power failure timer mode 2 0 �A

* Power failure timer mode...Action mode in time period when the motor can respond to ma . speed even the power is off ( sec).

c : urrent consumption at power failure mode 110 �A

Mon. to Sat. 1 days/ day Sun. 2 days/ days

24h

10h 2h 10h 2hN

Powersupply

24h

acb cba c


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unction connector forencoder cable

( ptional connector it)

Pin number when a connector (small motor) is usedPin number when a connector (large motor) is used onnector N

( ptional connector it)

2

1

2

1

onnector R 2(by .S. .)

onnector for absolute encoder connection( o be provided by customer)

*1 attery for absolute encoder ( ption): D 0P2990

attery bo for absolute encoder:D 0P2990

2

1

2

4

1

(4)

(1)

( )

( )

( )

( )

(9)

0

A

A

A

APS

A

A

PS

0

PS

PS

( ase)

wistedpair

itleonnector

onnector pinlamping ig

Part o.MR 2

SMM 00 P0.YRS 00

anufacturer.S. ..S. ..S. .

attery *1

iring Diagra

Related page P. 9 attery or Absolute ncoder


hen ou a e our o n ca le for 1 it a solute encoder

aution

hen you ma e your own cable for 1 bit absolute encoder connect the optional battery for absolute encoder D 0P20 0 or D 0P2990 as per the wiring diagram below. onnector of the battery for absolute encoder shall be provided by customer as well.

Install and �x the battery securely. If the installation and �xing of the battery is not appropriate it may cause the wire brea down or damage of the battery.Refer to the instruction manual of the battery for handling the battery.

nstallation Place1) Indoors where the products are not sub ected to rain or direct sun beam. 2) here the products are not sub ected to corrosive atmospheres such as hydrogen

sul�de, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of in�ammable gas, grinding oil, oil mist iron powder or chips and etc.

) ell ventilated and humid and dust free place.4) ibration free place

1

2. solute s steSupple ent Setup nitiali ation of solute ncoder

Absolute multi turn data will be maintained by the absolute encoder battery.When operating the machine for the �rst time after installing the battery to the absolute encoder clear the encoder data (multi turn data) to 0 at the origin by following the procedure described below.

lear the absolute encoder from the front panel (see P.2 9) or PANA RM. urn off power and then on again.

2. solute s steSupple ent ransferring a solute data

ransfer the absolute data (absolute data of e ternal scale) from the servo driver to the host controller: turn on power and wait until the servo ready output (S RDY) is turned on and then start transfer.

Setup of serial co unication interface on host controller

RS2 2

Baud rate 2400 4 00 9 00 19200 400 00 11 200bpsData bitParit noneStart it 1 bitStop it 1 bit

he baud rate is set according to Pr .29 aud rate setup of RS2 2 communication.

3�609-5

Baud rate 2400 4 00 9 00 19200 400 00 11 200bpsData bitParit noneStart it 1 bitStop it 1 bit

he baud rate is set according to Pr . 0 aud rate setup of RS4 communication.

Related page P. 0 Inputs and outputs on connector 4 P.4 49 Details of parameter

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RS2 2 o unication Protocol

Refer to the instruction manual of the host for the transmission/reception method of command.

ransmission starts

N

N

N

N

Y

Y

Y

transmission finishes

0 h transmission

ost requests for absolute data to driver

ost receives absolute data from driver

04h transmission

0 h transmission 1 h transmission

Reception of absolute data

(1 characters)

04h reception

0 h reception

0 h reception

hec sum ed reception

01h transmission00h transmission

2Dh transmission

*1

*2D2h transmission

nter the Pr . 1 value of the driver to which you want to communicate from the host to a is (*1 data) of the command bloc and transmit the command according to the RS2 2 communication protocol. or details of communication refer to P. 2 ommunication .

aution llo s or longer interval for a is s itching hen ou ant tocapture ultiple a es data. t is reco ended for ou to repeat the a ove co unication orethan 2 ti es to confir the a solute data coincide in order to avoid

is operation due to une pected noise.

2. solute s steransferring a solute data

Data of *1 and *2 are determined by the setupof Pr . 1 A is address of the front panel.

is addresse a ple Data of *1 Data of *2

0 00h 2 h1 01h 2Dh2 02h 2 h

0 h 2 h4 04h 2Ah

0 h 29h0 h 2 h0 h 2 h0 h 2 h

9 09h 2 h10 0Ah 24h11 0 h 2 h12 0 h 22h1 0Dh 21h14 0 h 20h1 0 h 1 h1 10h 1 h1 11h 1Dh1 12h 1 h19 1 h 1 h20 14h 1Ah21 1 h 19h22 1 h 1 h2 1 h 1 h24 1 h 1 h2 19h 1 h2 1Ah 14h2 1 h 1 h2 1 h 12h29 1Dh 11h

0 1 h 10h1 1 h 0 h

hec sum becomes ed when the lower bit of the sum of the received absolute data

(1 characters) is 0.

1

609-5��=��

Refer to the instruction manual of the host for the transmission/reception method of command. ollowing shows the communication e ample of the driver to Pr . 1 A is address

1 .


(1 characters)

N

N

N

N

Y

Y

Y

Y



ransmission starts





1h transmission0 h transmission

2Dh transmission

*2

1

*1

*D2h transmission

0h reception0 h reception


1h reception04h reception

0 h reception

ommand from the host will be transmitted to the desired driver based on RS4 transmission protocol. or details of communication refer to P. 2 ommunication .

aution llo s or longer interval for a is s itching hen ou ant to capture ultiple a es data. t is reco ended for ou to repeat the a ove co unication ore��1� ��



Data of *1 *2 and * are determined by the setup of Pr . 1 A is address of the front panel.

isaddresse a ple

Data of *1 Data of *2 Data of *

0 not usable with RS4 communication1 1h 01h 2Dh2 2h 02h 2 h

h 0 h 2 h4 4h 04h 2Ah

h 0 h 29hh 0 h 2 hh 0 h 2 hh 0 h 2 h

9 9h 09h 2 h10 Ah 0Ah 24h11 h 0 h 2 h12 h 0 h 22h1 Dh 0Dh 21h14 h 0 h 20h1 h 0 h 1 h1 90h 10h 1 h1 91h 11h 1Dh1 92h 12h 1 h19 9 h 1 h 1 h20 94h 14h 1Ah21 9 h 1 h 19h22 9 h 1 h 1 h2 9 h 1 h 1 h24 9 h 1 h 1 h2 99h 19h 1 h2 9Ah 1Ah 14h2 9 h 1 h 1 h2 9 h 1 h 12h29 9Dh 1Dh 11h

0 9 h 1 h 10h1 9 h 1 h 0 h

hec sum becomes ed when the lower bit of the sum of the received absolute data (1 characters) is 0.

19

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o position of solute Data

Absolute data consists of singe turn data which shows the absolute position per one revolution and multi turn data which counts the number of revolution of the motor after clearing the encoder.

Single turn data and multi turn data are composed by using 1 character data (he adecimal binary code) which are received via RS2 2 or RS4 .

Single turn data

origin

1 0 0 1 1 2

1 10 1 0 1 2 1 10 1 0 1 2 1 10 1 0 1

Multi turn data

Motor rotational direction

Details of ulti turn data

0

rrorAbsolute counter over error protection Normal rror

Mul

titu

rn d

ata

0 hA is address

D2h0 h11h

ncoder status (L)

Setup value of Pr . 1 A is address .

ncoder status ( )Single turn data (L)Single turn data (M)Single turn data ( )Multi turn data (L)Multi turn data ( )

00hrror codehec sum

ecomes to 0 when the communication iscarried out normally. If not 0 capture theabsolute data from the driver again

Receivedabsolute data (1 characters)

Re ar s If the multi-turn data of the above �g. is between 32768 to 65535, convert it to signed date after deducting .


Single turn data Single turn data ( ) 10000h Single turn data (M) 100h Single turn data (L)multi turn data multi turn data ( ) 100h multi turn data (L)

20

Re ar s For detail of the Encoder status, refer to the Encoder speci�cation.

Re ar s rans it the a solute data hile fi ing the otor ith ra e turning to Servo ff.

(1) ver speed rr42 (Absolute over speed error protection)

( ) Multi turn error

( ) attery error( ) attery alarm

(2) ull absolute status rr4 (Absolute status error protection)

rr44 (Absolute single turn counter error protection)rr41 (Absolute counter over error protection)

( ) ounter error(4) ounter overflow

rr4 (Absolute multi turn counter error protection)

rr40 (Absolute system down error protection)

attery alarm

ncoder status 1 represents error occurrence.

ncoder status 1 represents error occurrence.

ncoder status (L) bit bit bit bit4 bit bit2 bit1 bit0

0

(1) (2) ( ) (4) ( ) ( ) ( )

ncoder status ( ) bit bit bit bit4 bit bit2 bit1 bit0

00 0 0 0 0

attery error

ne of the following has occurred.attery alarm multi turn error counter overflow

counter error full absolute status ounter overflowmulti turn error battery error or battery alarm

Related page P. 4 Protective unction P. 2 Display of attery Alarm


21

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ternal scale RS2 2 co unication procedure


1 .

ransmission starts

N

N

N

N

Y

Y

Y


0 h transmission



04h transmission



(1 characters)

04h reception

0 h reception

0 h reception



Dh transmission

*1

*22h transmission

nter the Pr . 1 value of the driver to which you want to communicate from the host to a is (*1 data) of the command bloc and transmit the command according to the RS2 2 communication protocol. or details of communication refer to P. 2 ommunication .

aution llo s or longer interval for a is s itching hen ou ant tocapture ultiple a es data. t is reco ended for ou to repeat the a ove co unication orethan 2 ti es to confir the a solute data coincide in order to avoid


Data of *1 and *2 are determined by the setupof Pr . 1 A is address of the front panel.

is addresse a ple Data of *1 Data of *2

h h1 1h Dh2 2h h

h Bhh hh hh (-�h h

- )-� hh h

1 h h11 Bh h12 h 2h1 Dh 1h1 h h1 h 2 h1 1 h 2 h1 11h 2Dh7- 12h 2 h1 1 h 2Bh2 1 h 2 h21 1 h 2 h22 1 h 1-�2 1 h 2 h2 7-� 2 h2 1 h 2 h2 1 h 2 h2 1Bh 2 h1- 1 h 22h2 1Dh 21h

1 h 2 h1 1 h 1 h

hec sum becomes ed when the lower bit of the sum of the received absolute data

(1 characters) is 0.

2. solute s steSupple ent ransferring e ternal scale a solute data

22

;%��609-5��


1 .


(1 characters)

N

N

N

N

Y

Y

Y

Y



ransmission starts





1h transmission0 h transmission

Dh transmission

*2

*1

*1

*2h transmission

0h reception0 h reception


1h reception04h reception

0 h reception

2. solute s steransferring e ternal scale a solute data

Data of *1 *2 and * are determined by the setup of Pr . 1 A is address of the front panel.

isaddresse a ple

Data of *1 Data of *2 Data of *

Details of para eter1 -7� 1h Dh2 -1� 2h h

-(� h Bh-9� h h-5� h h-<� h (-�

-H� h h- --� )-� h

-F� h h1 -&� h h11 -I� Bh h12 -�� h 2h1 -B� Dh 1h1 -;� h h1 -J� h 2 h1 h 1 h 2 h1 1h 11h 2Dh7- 2h 12h 2 h1 h 1 h 2Bh2 h 1 h 2 h21 h 1 h 2 h22 h 1 h 1-�

2 h 1 h 2 h2 F-� 7-� 2 h2 h 1 h 2 h2 h 1 h 2 h2 Bh 1Bh 2 h1- h 1 h 22h2 Dh 1Dh 21h

h 1 h 2 h1 h 1 h 1 h

hec sum becomes ed when the lower bit of the sum of the received absolute data (1 characters) is 0.

ommand from the host will be transmitted to the desired driver based on RS4 transmission protocol. or details of communication refer to P. 2 ommunication .

aution llo s or longer interval for a is s itching hen ou ant to capture ultiple a es data. t is reco ended for ou to repeat the a ove co unication ore��1� ��


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o position of e ternal scale a solute data

sing 1 character data received through RS2 2/RS4 organi e 1 turn data and multiturn data.

Re ar s If the multi-turn data of the above �g. is between 32768 to 65535, convert it to signed date after deducting .


0 h

A is address

2h

h *1

1h *2

ternal scale status (L)

Setup value of Pr . 1 A is address .1 ndefined2 Depends on e ternal scale.1h: Mitsutoyo made

A2h: Mitsutoyo made

S 1A S A41h: Sony Manufacturing Systems madeSR SRternal scale status ( )

Absolute data (1)

Absolute data (2)

Absolute data ( )

Absolute data (4)

Absolute data ( )

Absolute data ( )

rror code

hec sum

ecomes to 0 when the communication iscarried out normally. If not 0 capture theabsolute data from the driver again

Receivedabsolute data (1 characters)

ternal scale absolute data Absolute data ( ) 10000000000h

Absolute data ( ) 100000000hAbsolute data (4) 1000000hAbsolute data ( ) 10000hAbsolute data (2) 100hAbsolute data (1)

Absolute data of e ternal scale is represented as 4 bit number (negative value is represented as two s complement).

24


(1) Alarm No. A ternal scale error alarm

( ) rr 1.0 ternal scale status error protection

( ) rr 1.0 ternal scale status 2 error protection



(2) Alarm No. A ternal scale error alarm

( ) rr 1.0 ternal scale status error protection

(4) rr 1.0 ternal scale status 4 error protection

(1) (2) ( ) (4) ( ) ( ) ( ) ( )

Logical sum of bit and bit of e ternal scale status (L)

Logical sum of bit0 to bit of e ternal scale status (L)

ternal scale status 1 represents error occurrence.

ternal scale status 1 represents error occurrence.

ternal scale status (L) bit bit bit bit4 bit bit2 bit1 bit0

0

ternal scale status ( ) bit bit bit bit4 bit bit2 bit1 bit0

00 0 0 0 0

Re ar s For detail of the external scale status, refer to the external scale speci�cation.

Re ar s rans it the ternal scale a solute data hile fi ing the otor ithra e turning to Servo ff.

Related page P. 4 Protective unction Ne t page Display of attery Alarm

2

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ollowing alarm will be displayed when ma ing the front panel to alarm e ecution mode of monitor mode.

2. solute s steSupple ent Displa of Batter lar

o to lear the Batter lar

Replace the battery for absolute encoder when battery alarm occurs according to P.2 ow to Replace the attery . After replacement clear the battery alarm in the following

methods.

(a) onnector 4 onnecting Alarm clear input (A LR) to M for more than 120ms. (b) ecuting the alarm clear function in au iliary function mode by using the front panel. (c) lic the attery warning lear button after select the Absolute encoder tab in the

monitor display window by using the PANA RM (option).

....... No alarm condition

...... ighest priority alarm

Alarm number

Press to scroll alarm conditions.

Related page P.2 Alarm lear Screen P. 0 Inputs and outputs on connector 4 P. 2 utline of Setup Support Software PANA RM

inds of alar

alaro.

lar ontentatchedti e *1

A0 verload protection Load factor is or more the protection level. 1 to 10s or �

A1 ver regeneration alarmRegenerative load factor is or more the protection level.

10s or �

A2 attery alarm attery voltage is .2 or lower. Fixed at �

A an alarm an has stopped for 1 sec. 1 to 10s or �

A4ncoder communication

alarmhe number of successive encoder communication

errors exceeds the speci�ed value.1 to 10s or �

A ncoder overheat alarm he encoder detects overheat alarm. 1 to 10s or �

A scillation detection alarm scillation or vibration is detected. 1 to 10s or �

A Lifetime detection alarmhe life e pectancy of capacity or fan becomes

shorter than the speci�ed time.Fixed at �

A ternal scale error alarm he feedbac scale detects the alarm. 1 to 10s or �

A9ternal scale

communication alarmhe number of successive feedbac scale

communication errors exceeds the speci�ed value.1 to 10s or �

*1 Alarms can be cleared by using the alarm clear. ecause the all e isting alarms are ept cleared while the alarm clear input (A LR) is ept N be sure to turn it during normal operation. ither 1 10s orK can be selected by using user parameter.

Exception: Battery alarm is �xed at � because it is latched by the encoder. Because the end of life alarm means that the life expectancy cannot be extended, the alarm is set at �.

2

. utline of Setup Support Soft are P RSupple ent Setup on the P

onnector 1 of MINAS A can be connected to your P through S cable for computer. nce you download the setup support software PANA RM from our web site and install it

to your P the following tas s can be easily performed.

utline of P R

ote

ith the PANA RM you can e ecute the followings.(1) Setup and storage of parameters and writing to the memory ( PR M).(2) Monitoring of I/ and pulse input and load factor.( ) 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.( ) Normal auto gain tuning( ) requency characteristic measurement of the machine system.

Distribution media such as D R M for this software are not prepared.Download the software from our web site and install it to your P .

o to onnect

onnect to connector 1.( S mini )

Download setup support software PANA RM from our web site and install it to your P .

USB ca lehe connection cable should be provided with S mini connector at the driver side

and the P compatible connector on the other end.If the cable has no noise �lter, install a signal noise �lter (DVOP1460) to both ends of the cable.

S ste re uired for P R

o use PANA RM the following system components are required.P

S

indows P SP ( 2 bit er.)indows IS A SP1 ( 2 bit er.)

( apanese nglish or hinese version)Note: indows ( 4) ( 4 bit er.) is not supported.

PU Pentium III 12 M or bettere or 2 M or more ( 12 M recommended)ard dis 12 M or more free space

Serial co unication S port

Displa Resolution 1024 pi el or moreo. of colors 24 bit color ( rue olor) or better

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You can connect up to 2 MINAS A series with your computer or N via serial communication based on RS2 2 and RS4 4 and can e ecute the following functions.

1 hange over of the para eters2 Referring and clearing of alar data status and histor

onitoring of control conditions such as status and .Referring of the a solute dataSaving and loading of the para eter data

erits You can write parameters from the host to the driver in batch when you start up the

machine. You can display the running condition of machine to improve serviceability. You can compose multi a is absolute system with simple wiring.

. o unicationSupple ent utline

Related page P.2 20 iring to the onnector 1 P. 10 Absolute system P. 2 utline of Setup Support Software PANA RM

2

onnection of o unication ine

MINAS A series provide 2 types of communications ports of RS2 2 and RS4 and support the following types of connection with the host.

RS2 2 co unicationonnect the host and the driver in one to one with RS2 2 and communicate accord

ing to RS2 2 transmission protocol.

Set up the module ID of MINAS A to RS of the front panel. In the above case you can set any value of 0 to 12 . You can set the same module ID as long as the host has no dif�culty in control.

3�601(1�� 609-5��hen you connect one host to multiple MINAS A s connect the host to connec

tor 2 of one driver with RS2 2 communication and connect each MINAS A with RS4 communication. Set up the Pr . 1 of the driver to 0 which is connected to the host and set up 1 to 12 to other drivers each.

. o unicationSupple ent Specifications

RS2 2

ost

Pr . 1 1 Pr . 1 1 Pr . 1 1 Pr . 1 1

2 2 2 2

Selector etc.

RS2 2

2

RS4

... Ma . 2 a is

2

RS42 2

RS4

ost

Pr . 1 0 Pr . 1 1 Pr . 1 2 Pr . 1

29

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. o unicationSpecifications

3�609-5��onnect the host to multiple MINAS A s with RS4 communication set up the

Pr . 1 of each front panel of MINAS A to 1 to 12 .

llo s or longer interval for s itching the a es hile capturing data of ultiple a es.

2

RS42

RS42 2

RS4RS4

Pr . 1 1 Pr . 1 2 Pr . 1 Pr . 1 4

... Ma . 1 a is

Module ID 0ost

0

nterface of o unication onnector

onnection to the host ith RS2 2

3��!��609-5



ost controllerRS2 2

interface SN 1 01 or equivalent

MotorRelay

connector


DR D

ND

4

1

Servo driver

R DD

ND

RS4RS4 �

RS4RS4 �

2

RS4 can be connecter to either terminal pair.4 Detection

head

Linear scale unit

Relayconnector

SN 1 01 or equivalent

MotorRelay

connector

4

1

R DD

ND

RS4RS4 �

RS4RS4 �

2

4 Detectionhead

Linear scale unit

Relayconnector

RS4 can be connecter to either terminal pair.


MotorRelay

connector

4 Detectionhead

Linear scale unit

Relayconnector

RS4interface ADM4 or equivalent

RS4RS4

ND

Servo driver

2

RS4

1 RS4ND

RS4RS4

ost controller


o unication ethod

Set up the RS2 2 communication baud rate with Pr .29 and RS4 communication baud rate with Pr . 0. he change of these parameters will be validated after the control power entry. or details refer to the following list of parameters related to communication.

RS2 2ull duple asynchronous

2400 4 00 9 00 19200400 00 11 20bps

bitnone1 bit1 bit

ommunicationbaud rateDataParityStart bitStop bit

RSalf duple asynchronous

2400 4 00 9 00 19200400 00 11 200bps

bitnone1 bit1 bit

1

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ist of User Para eters for o unication

lass o. itle Setupvalue unction

1 A is address0 to 12

Set the a is number for serial communication.his parameter setup value has no effect on servo operation.

29aud rate

setup of RS2 2 communication

0 to Set up the communication speed of RS2 2 communication.0 : 2400 bpps 1 : 4 00 bps 2 : 9 00 bps : 19200 bps 4 : 400 bps : 00 bps : 11 200 bps

pdated setup of is validated upon turning on of control power.

0aud rate

setup of RS4 communication

0 to Set up the communication speed of RS4 communication.0 : 2400 bpps 1 : 4 00 bps 2 : 9 00 bps : 19200 bps 4 : 400 bps : 00 bps : 11 200 bps

pdated setup of is validated upon turning on of control power.

Required time for data transmission per 1 byte is calculated in the following formula in case of 9 00 bps .

1000 / 9 00 (1 1 ) 1.04 ms/byte Start bit Stop bit Data

Note that the time for processing the received command and time for switching the line and transmission/reception control will added to the actual communication time.

aution

andsha e codeollowing codes are used for line control.

itle ode unctionN 0 h (Module recognition byte of the transmitted) nquire for transmission

04h (Module recognition byte of the transmitted) Ready for receivingA 0 h Ac nowledgementNA 1 h Negative ac nowledgement

N ..... he module (host or driver) sends out N when it has a bloc to send...... he module (host or driver) sends out when it is ready to receive a

bloc . he line enters to a transmission mode when N is transmitted and is received.

A ..... hen the received bloc is udged normal the module (host or driver) will send out A .

NA ..... hen the received bloc is udged abnormal NA will be sent. A udgment is based on chec sum and timeout.

1 byte of module recognition is added to N and at RS4 communication. Module recognition byte... Ma e the Pr . 1 value of the front panel as a module ID and data which ma es its bit as 1 becomes a module recognition byte.

bit bit bit bit4 bit bit2 bit1 bit01 0 0 0 Module ID

Module ID :he module ID of the host side will be 0 in case of RS4 communication therefore

set up Pr . 1 of MINAS A to 1 12 .

2

rans ission Se uence

rans ission protocoln case of RS2 2

3�/��609-5

ine controlDecides the direction of transmission and solves the contention.Reception mode... rom when the module (host or driver) returns after receiving N .

ransmission mode... rom when the module (host or driver) receives after transmitting N .At contention of transmission and reception... Slave side will enter to reception mode when it receives N while waiting for after transmitting N by giving priority to N (of master side).rans ission controln entering to transmission mode the module transmits the command bloc continu

ously and then waits for A reception. ransmission completes at reception of A .. A may not be returned at transmission failure of command byte counts. If no A is received within 2 period or other code than NA or A is received sequence will be retried. Retry will start from N .Reception control

n entering to reception mode the module receives the transmitted bloc continuously. It will receive the command byte counts from the �rst byte, and continuously receive e tra bytes. It will return A when the received data sum becomes 0 by ta ing this status as normal. In case of a chec sum error or a timeout between characters it will return NA .

ost S

Receivingdata

ransmittingdata

1) N (0 h)2) (04h)

) Data bloc4) A (0 h)

(or NA (1 h))

) N (0 h)) (04h)) Data bloc) A (0 h)

(or NA (1 h))

Receivingdata

ransmittingdata

ostModule ID : 0 Module ID : 11) 1h N (0 h)

2) 1h (04h)) Data bloc

4) A (0 h)(or NA (1 h))

) 0h N (0 h)) 0h (04h)) Data bloc) A (0 h)(or NA (1 h))

S


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Data Bloc o positionelow shows the composition of data bloc which is transmitted in physical phase.

N : ommand byte counts (0 to 240) Shows the number of parameters which are required by command.

a is : Sets up the value of Pr . 1.(0 to 12 ) command : ontrol command (0 to 1 )mode : ommand e ecution mode (0 to 1 )

ontents vary depending on the mode.chec sum : 2 s complement of the total number of bytes ranging from the top to the

end of the bloc

Protocol Para eterollowing parameters are used to control the bloc transmission. You can set any

value with the INI command (described later).

1: Permissible time interval for this driver to receive the consecutive character cods which e ists between the module recognition bytes and N / or in the transmission/reception data bloc . ime out error occurs and the driver returns NA to the transmitter when the actual reception time has e ceeded this setup time.

2: Permissible time interval for the driver to transmit N and to receive . If the actual reception time e ceeds this setup this represents that the receiver is not ready to receive or it has failed to receive N code in some reason and the driver will re transmit N code to the receiver. (retry times)

Permissible time interval for the driver to transmit and to receive the reception of the 1st character code. The driver will return NAK and �nishes the reception mode if the actual reception has e ceeded this setup time.

Permissible time interval for the module to transmit the chec sum bytes and to receive A . he module will re transmit N code to the receiver in the same way as the NA reception if

the actual reception time e ceeds this setup time.: Permissible time interval for the driver to receive N and to transmit Permissible time

interval for the driver to receive the chec sum bytes and to transmit A and Permissible time interval for the driver to receive and to transmit the 1st character.

R Y: Ma imum value of retry times. ransmission error occurs if the actual retry has e ceeds this setup value.

M/S: Switching of master and slave. hen contention of N has occurred the module decides which is to be given priority.

Priority is given to the transmitter which is set up as a master. (0: Slave mode 1 : Master mode)

Na is

Parameter(N byte)

chec sum

(1 byte)

commandmode

itle

1

2

R Y

M/S

nitial value

(0. sec)

1 (0.1 sec)

(0. sec)

1 (0.1 sec)

0 (0ms)

( ms)

1 (once)

0 (Slave)

Setup range

1 to 2

1 to 2

0 to 2

2 to 2

1

0 1 (Master)

Unit

0.1 sec

1 sec

1 ms

nce

unction

ime out between characters

Protocol time out

Driver response time

Retry limit

Master/Slave

RS2 2

RS4

RS2 2

RS4

RS2 2

RS4


4

a ple of Data o unication

e.g. Reference of solute Datahen you connect the host to one driver with RS2 2 communication and connect

multiple MINAS-A5s with RS485 communication. Following �ow chart describes the actual �ow of the communication data when you want to capture the absolute data of the module ID 1.

e.g. of s ste co position

e.g. of capturing the a solute dataollowing shows the communication data in time series when you want to capture the

absolute data. Data is presented in he adecimals.

aution See the below for the captured data. Refer to P. 4 Read out of Absolute ncoder of details of communication command for the data composition.

Multi turn data : 0000h 0Single turn data : 01 D h 1 10 2

llo s or longer interval for s itching the a is hile capturing data of ultiple a es.

2

RS42

RS42 2

RS4

RS2 2

Pr . 1 0 Pr . 1 1 Pr . 1 2 Pr . 1

ost

04 0 0 0 01 D2( ) (A ) ( N )

0( N )

00 01 D2 2D 04( )

0 11 00 00 D 01 00 00 00 00

0(A )

MINAS A (0)

1 04 0 0 0(A ) ( N )( )

1 0 00 01 D2 2D 0 04( N ) ( )

MINAS A (1)

MINAS A (0)

0 01 D2 0 11 00 00 D 01 00 00MINAS A (1)

MINAS A (0)

00 00

0(A )

MINAS A (1)

ost

MINAS A (0)

ost

MINAS A (0)

RS2 2 communication

RS4 communication

btain data with RS4(see the below)


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a ple of Para eter hangeollowing shows the communication data in time series when you change parameters. ommunication in general will be carried out in sequence of (1) Request for captur

ing of e ecution right (2) riting of individual parameter and ( ) riting to PR M when saving of data is required and (4) Release of e ecution right. ere the hardware connection shows the case that the driver (user ID 1) is directly connected to the host with RS2 2. Date is presented in he adecimals.

aution or details of command refer to P. 40 Details of ommunication ommand .

ost

04 0 0 01 01 1

( ) (A ) ( N )

0

1) apture of e ecution right

( N )

01 01 1 01 04

( )

MINAS A (1)

2) riting of individual parameter

) riting of parameter to PR M

4) Release of e ecution right

ost

00 D 04 0

( ) (A )

0 0 0 01 1 00 02 00 0

(A ) ( N )

(A ) ( N )

00 00 00

MINAS A (1)

ost

0 01 01 1 00 04

( N ) ( )

04 0 0 00 01 2

( ) (A ) ( N )

MINAS A (1)

ost

0 0 01 01 2 00 D

D 04 0

( ) (A )

MINAS A (1)

ost

04 0 0 01 01 1

( ) (A ) ( N )

0

( N )

01 01 1 00 D 04

( )

MINAS A (1)

ost

00 D

0

(A )

MINAS A (1)


Status ransition hart

RS2 2 o unication

Receiver

rans itter

Ready for

loc transmission

Ready for A /NA

Reception of remained bloc

Ready for finish of receiving data

Ready for command byte counts

dling t aits for the reception of and or it is dealing ith reception.

Reception of Si e ommand bytes

2 stop

nquiry for transmission andretry times are within setup

ransmission ofN 2 start

nquiry for transmission butretry times are over.Reset of retry times

lear of transmission enquiry

2 time outne count of retry times2 stop lear of

transmission buffer

Si e becomes 0 2 S AR

Reception of other than A or 2 time out

ount once of retry times2 stoplearance of transmission

buffer

Reception of AReset of retry times

2 stoplear of transmission

enquiry

ransmission of one characterSi e ommand bytes 1

Reception of N and at slaveReturn N to receptionbuffer(reception processing)

Nransmission

of2 start

2 time outransmission of NA 2 stop

Reception of command byte countsSi e command byte counts Sum command byte counts

1 start 2 stop

1 time outransmission of NA1 stop

Success of reception( hec sum ed when si e becomes o.)

ransmission of A 1 stop

ailure of reception.( hec sum ed when si e becomes o.)

ransmission of A1 stop

Reception of one characterSi e Si e 1Sum Sum received character

1 start

Reception of one character

1 start

1 time outransmission

of NA 1 stop


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3�609-5��

dling t aits for the reception of odule D and or it is dealing ith reception.

Receiver

rans itter

loc transmission

Ready for A /NA

Module identification byte of transmitter is the module ID 0h of the counterpart.

Ready for ID Ready for

Ready for N or

Ready for command byte counts

Ready for finish of receiving data

Reception of remained bloc

nquiry for transmissionand retry timesare within setupModulerecognition byte

ransmissionof N 2 start

Module ID of opponent1 start

ID reception of other thanopponent and at slaveReturn N to reception buffer(receipt processing)

nquiry for transmission butretry times are over.Reset of retry times

lear of transmission enquiry

Reception of Si e ommand bytes

2 stop

2 time outne count of

retry times2 stoplearance of

transmissionbuffering

1 time outne count of


transmissionbuffering

Reception of A or2 time outount once of


transmission buffer

Reception of AReset of retry times

2 stoplearance of

transmission enquiry

Si e becomes 02 S AR

ransmission of one characterSi e Si e 1

Reception of modulerecognitionbytes

1 start

Reception ofof

2 start

1 time out1 stop

Moduleidentification byte isnot module ID and N reception or

1 timeout1 stop in

Success of reception( hec sum ed and module recognition byte is module ID when si e becomes o.)

ransmission of A1 stop

2 time outransmission of NA

when module identification byte ismodule ID and

2 stop inother case

Module recognition byte is module ID and reception of NModule recognition byte

ransmission of N 2 start

Reception of command byte countsSi e command byte counts Sum command byte counts

1 start 2 stopReception of one characterSi e Si e 1Sum Sum received character

1 start

Reception of one character

1 start

ailure of reception.( hec sum error when si e becomes o.)

1 start

ransmission to other a is (module recognitionbyte is not module ID when si e becomes 0)

1 stop

1 time outransmission of NA and1 stop when module

recognition byte is module ID.

1 stop in other casethan the above.

1 time outransmission

of NA 1 stop


i ing of Data o unication

3�/��609-5�+601(1��!,

aution Above time represents a period from the rising edge of the stop bit.

0 to 2ms

0 to 2ms 0 to 2ms0 to 2ms 0 to 2ms

0 to 2ms0 to 2ms 0 to 2ms

4

nquiry for transmission

Permission for transmission

A /NA

Data bloc

nquiry for transmission

Permission for transmission

A /NA

Data bloc

4

4

ost to driver

Driver to host

RS us occupation

ost to driver

Driver to host

RS us occupation

S ol

4

itle

ontinuous inter character time

Response time of driver

Response time of host

ini u

Stop bit length

Protocol parameter

2ms

a i u

Protocol parameter 1




9

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. o unicationSupple ent ist of o unication o and

se the above commands only. If you use other commands action of the driver cannot be guaranteed.

hen the reception data counts are not correct in the above command transmission byte1 ( rror code only) will be returned regardless of communication command.

co and

0

1

2

9

ode

1

9

0124

9A

D

012

02

4

ontentN PRead out of P version Read out of driver modelRead out of motor modelINI

apture and release of e ecution right Setup of RS2 2 protocol parameter Setup of RS4 protocol parameter P S S A S I/Read out of status Read out of command pulse counter Read out of feedbac pulse counter Read out of present speed Read out of present torque outputRead out of present deviation counter Read out of input signal Read out of output signal Read out of present speed torque and deviation counter Read out of status input signal and output signal Read out of e ternal scaleRead out of absolute encoder Read out of e ternal scale deviation and sum of pulses PARAM RIndividual read out of parameter Individual writing of parameter

riting of parameter to PR M Individual read out of user parameterRead out of two or more user parameter

riting of two or more user parameterALARMRead out of present alarm data

atch read out of alarm history lear of user alarm history

Alarm clear Absolute clear

40

. o unicationSupple ent Details of o unication o and

0Dha is

Model of motor (upper)

Model of motor (lower)rror code

chec sum

command0

mode1 Read out of PU version

Reception data0

a is

chec sum01

rror code

rans ission data

ersion information will be returned in upper data and lower data. (Decimal point will be returned by ma ing the lower 4 bit of the upper dataas 0.) ersion will be displayed in figures from 0 to 9. (e.g. ersion .1 will be upper data 0h lower data 1 h.)

bit0 : Normal1 : rror

ommand error4

RS4 error2 1 0

a is

ersion (upper)ersion (lower)

rror codechec sum

01

command0

mode Read out of driver odeReception data

0a is

chec sum0

rror code

rans ission data

Driver model consist of 12 characters and will be transmitted in AS II code. (e.g.) MAD 110


ommand error4

RS4 error2 1 0

0Dha is

Model of driver (upper)

Model of driver (lower)rror code

chec sum

0

command0

mode Read out of otor odel

0a is

chec sum0

rror code

rans ission data

Motor model consist of 12 characters and will be transmitted in AS II code. (e.g.) MSM 012S1


ommand error4

RS4 error2 1 0

0Dha is

Model of motor (upper)

Model of motor (lower)rror code

chec sum

0

Reception data

41

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

command1

mode Setup of RS2 2 protocol para eter Reception data

4a is

12

chec sum

1

R Y0

rror code

rans ission data

ntil this command completes previous set up protocol parameter will be processed. After this command has been e ecuted this parameter setup will be valid from the ne t command. R Y is 4 bit. nit... 1 : 0.1s 2 : 0.1s : 1ms


error4

RS4 error R Yerror2

2error1

1error0

1a is

rror codechec sum

1

command1

mode apture and release of e ecution right Reception data

1a is

modechec sum

1

rror code

rans ission data

apture the e ecution right to prevent the conflict of the operation via communication and that with the front panel. nquires for the capture of the e ecution right at parameter writing and PR M writing and release the e ecution right after the action finishes.

mode 1 : nquires for the capture of the e ecution right mode 0 : nquires for the release of the e ecution right You cannot operate with the front panel at other than monitor mode while the e ecution right is captured via communication.

hen the module fails to capture the e ecution right it will transmit the error code of in use.


4mode error

2 1 0in use

1a is

rror codechec sum

1

ommand error RS4 error

command1

mode9 Setup of RS protocol para eter

Reception data4

a is

12

chec sum

19

rror code

rans ission data

ntil this command completes previously set up protocol parameter will be processed. After this command has been e ecuted this parameter setup will be valid from the ne t command. R Y is 4 bit. nit... 1 : 0.1s 2 : 0.1s : 1ms


4 2 1 0

R Y0

1a is

rror codechec sum

19

error RS4 error R Yerror 2error 1error

. o unicationDetails of o unication o and

42

Read out of co and pulse counter

ontrol modes are defined as follows.Position control mode

elocity control modeorque control modeull closed control mode

command2

mode1

Reception data0

a is

chec sum21

rror code

rans ission data

Module returns the present position in absolute coordinates from the starting point. ( otal sum of accumulated command pulses)

ounter value in 2 bit. ounter value will be for negative direction and for positive direction.


ommand error4

RS4 error2 1 0

a is

counter value L

error codechec sum

21

command2

mode0 Read out of status

Reception data0

a is

chec sum20

rror code

rans ission data

positive direction/negative direction running : his becomes 1 when motor speed (after converted to r/min) is positive (positive direction) or negative (negative direction).

Slower than D permission : his becomes 1 when motor speed (after converted to r/min) is below 0r/min. orque in limit : his becomes 1 when torque command is limited by analog input or parameter.


ommand error4

RS4 error2 1 0

statusbit 4

Positive directionrunning

2Negative directionrunning

1Slower than D permission

0 orque in limit

a is

control modestatus

error codechec sum

20

012


4

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

command2

mode4 Read out of present speed

Reception data0

a is

chec sum24

rror code

rans ission data

Reads out the present speed. ( nit : r/min ) utput value in 1 bit Speed will be for negative direction and for positive direction.


4 2 1 0

a is

Data (present speed) L

error codechec sum

24

command2

mode Read out of present tor ue outputReception data

0a is

chec sum2

rror code

rans ission data

Reads out the present torque output. ( nit : onverted with Rated motor torque 2000) utput value in 1 bit orque command will be value for negative direction and value for positive direction.


4 2 1 0

a is

Data (present torque) L

error codechec sum

2

command2

mode2 Read out of feed ac pulse counter

Reception data0

a is

chec sum22

rror code

rans ission data

Module returns the present position of feedbac pulse counter in absolute coordinates from the staring point. ounter value will be for negative direction and for positive direction. eedbac pulse counter is the total pulse counts of the encoder and represents the actual motor position traveled


ommand error4

RS4 error



2 1 0

a is

counter value L

error codechec sum

22


44

Read out of input signal

Read out of present deviation counter

Internal speed commandselection 1

ain switching ommand pulse input inhibition

Damping control switching 1

command2

mode

Reception data0

a is

chec sum2

rror code

rans ission data

Logic of input signal is based on assignment set in the parameter.ecause of the internal logical data after conversion of input it does not directly correspond to the input signal from the

connector . over travel inhibit input and over travel inhibit input will change according to the input logic even if they have

been disabled by the parameter


4 2 1 0

a is

data L

datarror code

chec sum

2

command2

mode

Reception data0

a is

chec sum2

rror code

rans ission data

Reads out the present deviation counter value. ( nit : pulse utput value in 2 bit ecomes when the encoder is located at negative direction against position command and when it is located at positive direction.


ommand error4

RS4 error


Data

2 1 0

a is

data (deviation) L

rror codechec sum

2

bitor

manufacturer s useSwitching of electronic gear 1

Speed ero clamp

4ontrol mode

switching over travel

inhibit over travel

inhibit

2 1Alarm clear

0Servo N

bit1or

manufacturer s use

14or

manufacturer s use

1Internal speed commandselection 2

12 11or

manufacturer s use

10ounter clear

9

Switching of electronic gear 2

22Damping control switching 2

21orque limit

switching

20Internal speed commandselection

19 1or

manufacturer s use

1or

manufacturer s use

1or

manufacturer s use

bit2

bit 1or

manufacturer s use

1or

manufacturer s use

29or

manufacturer s use

2Safety input 1

2Safety input 2

2or

manufacturer s use

2orque

command sign

24Speedcommand sign


4

1Before

Using

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Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

Read out of output signal

In speed orque in limit Mechanicalbra e released

Positioningcomplete(In position)

Servo Alarm Servo Ready

ull closedpositioningcomplete

Speedcommand

N/

2nd positioning complete(In position)

Positionalcommand

N/

ncodercommunicationalarm

ternal scalecommunicationalarm

command2

mode

Reception data0

a is

chec sum2

rans ission data

he table below shows the relation of the signals and actions.

2

error codebit

0 : Normal1 : rror

4 2 1 0ommand error RS4 error

Data

alar data

bitor

manufacturer s use

4ero speed

detection

2 1 0

bit1cite motor

14ontrol power

latch

1Dynamic bra e engagement

12ontrol inrush

suppression relay

11ontrol

regeneration bra e

10 9At speed or

manufacturer s use

Safety DM22 21

Alarm attribute output

20Speed in limit output

19 1 1Alarm output 2

1Alarm output 1

bit2

bit 1or

manufacturer s use

1or

manufacturer s use

29or

manufacturer s use

2or

manufacturer s use

2or

manufacturer s use

2or

manufacturer s use

2or

manufacturer s use

24or

manufacturer s use

verloadprotection

analarm

ver regenerationalarm

4ncoder overheat

alarm

2Lifetimedetection alarm

1or

manufacturer s use

0attery

alarm

bit

bit1or

manufacturer s use

14or

manufacturer s use

1or

manufacturer s use

12 11 10 9scillation

detectionalarm

ternal scale error alarm

a is

data L

dataalarm data L

error codechec sum

Signal titleServo ReadyServo Alarm

Positioning completedMechanical bra e released

ero speed detectionorque in limit

At speed (Speed arrival)In speed (Speed coincidence)ull closed positioning complete

ontrol regeneration bra eontrol inrush suppression relayDynamic bra e engagement

ontrol power latchcite motor

0Servo Not Ready

NormalPositioning not completed

Mechanical bra e engagedero speed not detected

orque not in limitNot at speed(Speed not arrived)

Not in speed(Speed not coincided)ull closed positioning not completed

urn off regeneration rRelease inrush suppression relay

Dynamic bra e releasedRelease power latch

nergi e motor

1At Servo ReadyAt Servo Alarm

Positioning in completeMechanical bra e released

ero speed detectedorque in limit

Speed arrivingIn speed (Speed coincided)

ull closed positioning completedurn on regeneration r

perate inrush suppression relayDynamic bra e engagedPower abnormal latching

Servo free

ecause of the internal logical data before output conversion it does not directly correspond to the output signal to the connector .

Names and functions shown above are for MINAS A (general purpose model). Some of input signals will have different meaning for different series.


4

command2

modeA Read out of status input signal and output signal

Reception data0

a is

chec sum2A

rror cod

rans ission data

Meaning of each bit of control mode status input signal output signal and alarm data is as same as that of command No. 20 (command 2 mode 0) 2 (mode ) and 2 (mode ).


ommand error4

RS4 error2 1 0

1 (0Dh)a is

control modestatus

input signal L

input signaloutput signal L

output signalalarm data Lalarm data

error codechec sum

2A

command2

mode9 Read out of present speed tor ue and deviation counter

Reception data

29

rror cod

rans ission data

utput value of speed and torque are in 1 bit and deviation in 2 bit. nit and sign of the output data is as same as that of command No. 24 (command 2 mode 4) 2 (mode )

and 2 (mode ).


ommand error4

RS4 error2 1 0

0a is

chec sum29

9a is

data L(speed)

data L(torque)

data L

(deviation)error codechec sum


4

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

command2

mode Read out of feed ac scaleReception data

0a is

chec sum2

Status series

Status

bit : Logical sum of bit0 to bit of status (L) 4 bit4 : logical sum of bit and bit of status (L)

rans ission data

Absolute position data 4 bit ( 00000000000 to h)

bithermal alarm 0 ommunication

error

4P memory

errorapacity and

photoelectricerror

2ncoder

non matchingerror

1Initiali ationerror

0ver speed

bit0 0 ncoder

error

4ncoder

alarm 40

20

10

00

Status

ncoder D

S 1

Status

1 bit : Logical sum of bit0 to bit of status (L) 2 bit4 : logical sum of bit and bit of status (L)

bithermal alarm Signal intensity

alarmSignal intensity error

4ransducer

errorA S detection error

2ardware

error

1Initiali ationerror

0ver speed

bit0 0 ncoder

error 1

4ncoder

error 20

20

10

00

rror codebit

0 : Normal1 : rror

ommand error4

RS4 error2 1 0

ommand error occurs at other control modes than full closed control.

2

S 1 Address 0 data of PR M 2hncoder ID (L) ncoder ID ( )

A 00series Address 0 data of PR M 1h

11 (0 h)a is

encoder ID (L) ( )

status (L) ( ) (L)

absolute position data (4 bit)

( )error codechec sum


4

command2

modeD Read out of a solute encoder

Reception data0

a is

chec sum2D

Status

Status

rans ission data

bit4 : System down bit : attery alarm multi turn error counter overflow count error full absolute status and logical sum of over speed

ommand error will occur when you use the above encoder or absolute encoder as an incremental encoder. Single turn data 1 bit (000000h to 01 h) Multi turn data 1 bit (0000h to h)

bitattery alarm System down Multi turn error

40 ounter

overflow

2ount error

1ull absolute

status

0ver speed

rror codebit

0 : Normal1 : rror

ommand error4

RS4 error2 1 0

11 (0 h)a is

encoder ID (L) ( )status (L) ( ) (L)single turn data ( )

multi turn data (L) ( )

0rror code

chec sum

2D

1 bit absolute 11hncoder ID (L) ncoder ID ( )

command2

mode Read out of e ternal scale deviation and su of pulses Reception data

2

rror code

rans ission data

ternal scale pulse sum will return the present position of the e ternal scale counter in absolute coordinates from the starting point.

ternal scale pulse sum will be for negative direction and for positive direction. ternal scale deviation becomes when the e ternal scale is positioned at negative direction against position command and when it is positioned at positive direction.


4RS4 errorommand error

2 1 0

0a is

chec sum2

9a is

(L)e ternal scale

pulse sum ( ) (L)

e ternal scale deviation



49

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

ndividual riting of para eter

riting of para eter to PR

ontrol L

ndividual read out of para eter

command mode1

Reception data

rror code

rans ission data

If the parameter type or the parameter No. is outside the range returns No. error. his command change parameters only temporarily. If you want to write into PR M e ecute the parameter writing to PR M (mode 2).

Set up parameters not in use to 0 without fail or it leads to data error. Data error also occurs when the parameter value e ceeds the setup range.Parameter value should be sign e tended to 2 bits before being transmitted.

If the parameter type or the parameter No. is outside the range returns No. error.Parameter value is sign e tended to 2 bits and returned.


Data rror ommand error4

RS4 error

Data rror ommand error RS4 error

No. rror2 1 0

command mode2

Reception data0

a is

chec sum2

rror code

rans ission data

rites the preset parameters to PR M. ransmission data will be returned after PR M writing completes. It may ta e ma . sec for PR M writing (when all parameters have been changed.)

Data error will occur when writing fails. hen under voltage occurs error code of control L will be returned instead of e ecuting writing.


4 2 1 0

1a is

error codechec sum

2

command mode0

Reception data

rror code

rans ission data


ommand error4

RS4 error No. rror2 1 0

2a is

parameter type parameter No.

chec sum

0a is

(L)parameter value


0

a is

parameter type parameter No.

(L)parameter value

( )chec sum

1

1a is

error codechec sum

1


0


command mode ndividual read out of user para eterReception data

Propert

rans ission data

bitParameternot in use

Display inhibited (for special customer)

4hange at

initiali ationSystem related

2 1 0

bit1 14 1 12 11 10 9Read only

ront operation protect

rror codebit

0 : Normal1 : rror

4 2 1 0ommand error No. rrorRS4 error

If the parameter type or the parameter No. is outside the range returns No. error.Parameter value MIN value and MA value should be sign e tended to 2 bits before being transmitted.

2a is

parameter typeparameter No.

chec sum

1 (11h)a is

parameter typeparameter No.

(L)parameter value

( ) (L)

MIN value

( ) (L)

MA value

( )Property L

rror codechec sum

1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent


command mode Read out of t o or ore user para eterReception data rans ission data

If the parameter type or the parameter No. is outside the range returns No. error.Parameter value MIN value and MA value should be sign e tended to 2 bits before being transmitted.

Propertbit

Parameternot in use

Displayinhibited

(for special customer)

4hange at

initiali ationSystem related

2 1 0

bit1 14 1 12 11 10 9Read only

ront operation protect

rror codebit

0 : Normal1 : rror

4 2 1 0ommand error No. rrorRS4 error

10h (1 )a is

(1) parameter type(1) parameter No. (2) parameter type(2) parameter No.

( ) parameter type( ) parameter No.

chec sum

129 ( 1h)a is

(1) parameter type(1) parameter No.

(L)(1) parameter value

( ) (L)

(1) MIN value

( ) (L)

(1) MA value

( )(1) Property (L)

( )


( ) Property (L) ( )

error codechec sum

2


command mode riting of t o or ore user para eterReception data rans ission data

1 (11h)a is

(1) parameter type(1) parameter No. (2) parameter type(2) parameter No.


rror codechec sum

0h(4 )a is

(1) parameter type(1) parameter No.

(L) (1) parameter value

( )


(L) ( ) parameter value

( )chec sum

command9

mode0 Read out of present alar data

Reception data0

a is

chec sum90

rror code

rans ission data

If no alarm occurs alarm No. becomes 0. ( or alarm No. refer to P. Protective function ( hat is alarm code ) of hen in rouble.


4 2 1 0

a is

alarm No. (Main)alarm No. (Sub)

error codechec sum

90


rror code

Set 0 to unused parameter. therwise data error occurs. hen data outside the specified setting range is sent data error occurs.

If the parameter type or the parameter No. is outside the range returns No. error.


4 2 1 0Data rror ommand error No. rrorRS4 error

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent


command9

mode lar clear Reception data

0a is

chec sum94

rror code

rans ission data

lears the present alarm. (only those you can clear)


4 2 1 0

1a is

rror codechec sum

94

command9

mode Batch read out of alar histor Reception data

0a is

chec sum9

rror code

rans ission data

lears the alarm data history. Data error will occur when you fail to clear.

hen under voltage of control power supply occurs error code of control L will be returned instead of e ecuting writing.


4 2 1 0

1a is

rror codechec sum

9

Data rror ommand error RS4 error


ontrol L

command9

mode2 ndividual read out of user alar histor

Reception data

rror code

rans ission data

You can read out last 14 error events.


4 2 1 0ommand error ommand error

1st. latest

2nd. latest

14th. latest

0a is

chec sum92

29 (1Dh)a is

alarm No. (Main)alarm No. (Sub)alarm No. (Main)alarm No. (Sub)

alarm No. (Main)alarm No. (Sub)

error codechec sum

92

4


command9

mode solute clear Reception data

0a is

chec sum9

rror code

rans ission data

lears absolute encoder error and multi turn data ommand error will be returned when you use other encoder than 1 bit absolute encoder.


4 2 1 0

1a is

rror codechec sum

9


1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. otor haracteristics Sharacteristics

Supple ent S series to 1

S series to 1

* hese are sub ect to change. ontact 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.

ithout oil seal ith oil seal

S * 1 * Input voltage to driver: AC100V/200V (Dotted line represents torque at 10% less voltage.)

S * 1 * Input voltage to driver: AC100V/200V (Dotted line represents torque at 10% less voltage.)

S 11 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.)




ontinuous torque vs. ambient temp. ontinuous torque vs. ambient temp.



• Note that the motor characteristics may vary due to the existence of oil seal or brake. ontinuous torque vs. ambient temperature characteristics have been measured with an aluminum flange attached to the motor (approx. twice as large as the motor flange).

with brake

withoutbrake

with brake

with brake

withoutbrake

withoutbrake

Peak running rangePeak running range

Peak running range

Peak running rangePeak running range

ratio vs. rated torque[%]

ambient temp. [°C]

0

100

100 20 0 40


ambient temp. [°C]

00

100

0

100 20 0 40

torque[N·m]

torque[N·m]


speed [r/min] ambient temp. [°C]

0

100

100 20 0 40

speed [r/min]


ambient temp. [°C]

00

100

100 20 0 40

torque[N·m]


speed [r/min] ambient temp. [°C]

0

100

100 20 0 40

torque[N·m]

speed [r/min]


ambient temp. [°C]

00

100

100 20 0 40

torque[N·m]

speed [r/min]

torque[N·m]

speed [r/min]

ontinuous running range

1.0

(0.56)

(0.4)

(0.16)

(4300)(3700)

0.

0 1000 2000 000 4000 000 000


1.0

(0.56)

(0.4)

(0.16)

(4300)(3700)

0.

0 1000 2000 000 4000 000 000

Peak running range


1.0(0.9)

(0.16)

0.

0 1000 2000 000 4000 000 000


1.0(0.9)

(0.16)

0.

0 1000 2000 000 4000 000 000


0.

(0.3)

(0.08)

0.25

0 1000 2000 000 4000 000 000


0.

(0.3)

(0.08)

0.25

0 1000 2000 000 4000 000 000

1Before U

sing the Products

2

Preparation

onnectionS

etupd

ustent

hen in rou

leS

uppleent


Supple ent S series 2

withoutbra e

withoutbra e



S series 2 to

* hese are sub ect to change. ontact us when you use these values for your machine design.

S 21 * 1 * Input voltage to driver: A 100 (Dotted line represents torque at 10 less voltage.)





torqueN m

ratio vs. rated torque

speed r/min ambient temp.

0

100

torqueN m

speed r/min

100 20 0 40


with bra e

ambient temp.

0

0

1000

100 20 0 40

torqueN m



0

100

torqueN m

speed r/min

100 20 0 40


with bra e

ambient temp.

0

0

1000

100 20 0 40

Pea running range


2.0

(0. )

(0. 2)

(2 00) ( 100)

1.0

0 1000 2000 000 4000 000 000

Pea running range


2.0

(0. )

(0. 2)

(2 00) ( 100)

1.0

0 1000 2000 000 4000 000 000

(0. 2)

Pea running range


2.0

(1. )(1.1)

(4 00)

1.0

0 1000 2000 000 4000 000 000

(0. 2)

Pea running range


2.0

(1. )(1.1)

(4 00)

1.0

0 1000 2000 000 4000 000 000

hen you lower the torque limit setup (P0.1 and .22) running range at high speed might be lowered as well.

torque

speed


Running range ( orque limit setup : 00 )Running range ( orque limit setup : 200 )

Running range ( orque limit setup : 100 )


Supple ent S series to




S series 2 to









torqueN m



0

10090

torqueN m

speed r/min

100 20 0 40


ambient temp.

0

100

100 20 0 40


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m



0

100

torqueN m

speed r/min

100 20 0 40


ambient temp.

0

100

100 20 0 40

Pea running range


4.0

(1. )

(0. 2)(2 00) ( 100)

2.0

0 1000 2000 000 4000 000 000

Pea running range


4.0

(1. )

(0. 2)(2 00) ( 100)

2.0

0 1000 2000 000 4000 000 000

Pea running range


4.0

(1. )

(0. 4)

( 100)( 00)

2.0

0 1000 2000 000 4000 000 000

Pea running range


4.0

(1. )

(0. 4)

( 100)( 00)

2.0

0 1000 2000 000 4000 000 000

Pea running range


.0

( .4)( .0)

(0. )( 200)( 00)

4.0

0 1000 2000 000 4000 000 000

Pea running range


.0

( .4)( .0)

(0. )( 200)( 00)

4.0

0 1000 2000 000 4000 000 000

9

1Before U

sing the Products

2

Preparation

onnectionS

etupd

ustent

hen in rou

leS

uppleent


Supple ent S series 1. to .

S 2 2 * 1 * Input voltage to driver: A 200 (Dotted line represents torque at 10 less voltage.)





S series 1. to .

ith oil seal



with bra e



hese are sub ect to change. ontact us when you use these values for your machine design.

withoutbra e

withoutbra e

withoutbra e

withoutbra e

with bra ewith bra e

with bra e

torqueN m



0

100

100 20 0 40


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min

0


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min

90


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min

90


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min

0

Pea running range


10

0 1000 2000 000 4000 000

(4.0)

(1.9)

( .0)

(4200)( 00)

Pea running range


( 00)( 200)0 1000 2000 000 4000 000

1

.

(4.0)

Pea running range


0 1000 2000 000 4000 000

20

10( .0)

(2.0)( 00)( 00)

Pea running range


0 1000 2000 000 4000 000

0

1(12)

( .0)( . )

( 400)( 100)

Pea running range


0 1000 2000 000 4000 000

40

20

(10)

( 100)(2 00)

Pea running range


0 1000 2000 000 4000 000

0

2

(1 )

( 200)(2 00)


torque

speed




0


Supple ent D series 1. to .

withoutbra e

Pea running rangePea running range

Pea running range


Pea running range



D 1 2 * 1 * Input voltage to driver: A 200 (Dotted line represents torque at 10 less voltage.)



D series 1. to .

ith oil seal

D 2 * 1 * Input voltage to driver: A 200 (Dotted line represents torque at 10 less voltage.)






withbra e

Pea running rangePea running range


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

10090

100 20 0 40

torqueN m

speed r/min


0 1000 2000 000

1

10

(2200)

( .0)

(4.0)( .2)

(2 00)


0 1000 2000 000

20

10( .0)(4. )


0 1000 2000 000

0

1

(2200)

(11)

( .4) ontinuous running range

0 1000 2000 000

0

2(2 )

(20)

(9. )

(2200)(2400)

0 1000 2000 000

0

2

(1 )

(1900)(2100) 0 1000 2000 000

0

(20)

( )(1900)(2100)

1

1Before U

sing the Products

2

Preparation

onnectionS

etupd

ustent

hen in rou

leS

uppleent


Supple ent series 1. to .


ith oil sealseries 1. to .

1 2 * 1 * Input voltage to driver: A 200 (Dotted line represents torque at 10 less voltage.)


2 * 1 * Input voltage to driver: A 200 (Dotted line represents torque at 10 less voltage.)







withoutbra e

with bra e


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

10090

100 20 0 40

torqueN m

speed r/min

Pea running range


0 1000 2000 000

1

10

(2200)

( .2)(4.0)

( .0)

Pea running range


0 1000 2000 000

20

10

( .0)(4. )

(2 00)

Pea running range


0 1000 2000 000

0

1

(2200)

( .4)

Pea running range


0 1000 2000 000

0

2

(9. )

(20)

(2400)

Pea running range


0 1000 2000 000

0

2

(1 )

(2100)(1900)

Pea running range


0 1000 2000 000

0

(20)

( )

(2100)(1900)


torque

speed




2


Supple ent series . to .





ith oil sealseries . to .


ontinuous torque vs. ambient temp.


torque

speed





ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


ambient temp.

0

100

100 20 0 40

torqueN m

speed r/min


0 1000 2000 000

0

2(1 )

(9. )

(2 )

(1400)(1 00)

Pea running range


0 1000 2000 000

0

(20)(14)

(40)

(1400)(1 00)

Pea running range


0 1000 2000 000

20

10( )

(4. )

(14)

(1 00)(1 00)

Pea running range

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

fra e

. Di ensionsSupple ent Driver

Name plate

40

40

1 2.9

22.4

2.

.

2.

.2

2.2

10

10

10

.2

.2

10

140

ase mount type(Standard : ac end mounting)

Mounting brac et( ption)


Rac mount type ( ption : ront end mounting)

B fra e

4

1 2.9

22.4

2.

2.

.2

4.2

10

10

10

.2

.2

10

140

Name plate





.

Related page P.1 Driver P.1 1 Driver and List of Applicable Peripheral quipments P.2 Driver and List of Applicable Peripheral quipments

Mass: 0. g

Mass: 1.0 g

4

( )

01 2.

22.2 4

2.

2.

.2

0 .

4010

4010

.2.2

10

10

10

.2.2

.2

R2.

10

140





R2.R2.

Name plate

401 2.9

22.4 4

2.

2.

.2

0 .

20

2040

.2

10

10

10

.2

.2

10

140





Name plate

. Di ensionsDriver

fra e

D fra e

Mass: 1. g

Mass: 1. g

Related page P.1 Driver P.1 1 hec of the ombination of the Driver and the Motor P.2 Driver and List of Applicable Peripheral quipments

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

19 .9

.1

2.

2.

.

01 .42.

.2

( )

1911

Mounting brac et(to shipping specification)

Mounting brac et(deviation from shipping specification)



.2

.2 .2.2

42.

01 .

Name plate

1001214

42.

2.

2.

.2 .2

1 0

20

240

220

.2

.2 .2.2

1001

Name plate





fra e

fra e

. Di ensionsDriver

Mass: 2. g

Mass: 4. g

S onnector t pe to

. Di ensionsSupple ent otor

* Dimensions are sub ect to change without notice. ontact us or a dealer for the latest information.

S series o inertiaMotor output 0 100 200 400 0

Motor model S A * * 1 * P 01 * * 1 * P 02 * * 1 * P 04 * * 1 * P 0 * * 1 * P

LLithout bra e 2 92 9. 99 112ith bra e 102 122 11 1 . 14 .2

LR 2 0S 11 14 19LA 4 0 90L 0 0 0L 0 0LL .L 4 . 2. 1.

LMithout bra e 4 . .2ith bra e 9 9 112. 122.2

LN 2 4L 24 2 2L .4 4.

ey way

dimensions

L 14 20 2 2L 12. 1 22. 22

h9 4h9 h9 h94

R .2 . 11 1 .P M depth M4 depth M depth 10

Mass ( g)ithout bra e 0. 2 0.4 0. 2 1.2 2.ith bra e 0. 0. 1. 1. .1

Connector speci�cations Refer to P.2-18 “Speci�cations of Motor connector”

autionRelated page

Reduce the moment of inertia ratio if high speed response operation is required.

P.1 10 hec of the Model P.1 1 hec of the ombination of the Driver and the Motor P. S haracteristics

LR

LL

�S

h�

Lh

�LA

L

P

R

L

( ey way dimensions

( ey way dimensions

ith bra e

4 �L

�LA

4 �L L

P

R

L

ncoder connector

ncoder connector ra e connector

Motor connector

Motor connector

LN

LLLML

LR

LL

�S

h�

LhLN

LLLML

L

L

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. Di ensionsotor

S 1. to .


S series o inertiaMotor output 1.0 1. 2.0 .0 4.0 .0

Motor model S 10 * * 1 * 1 * * 1 * 20 * * 1 * 0 * * 1 * 40 * * 1 * 0 * * 1 *

LLithout bra e 141 1 9. 1 . 190 20 24ith bra e 1 1 . 20 . 21 2 2

LRS 19 22 24LA 11 14L 9 110L 100 120 1 0LD 1 1 2 1LL 10 12L 0L 101 11 11

LMithout bra e 9 11 . 1 4. 14 1 4 199ith bra e 124 142. 1 1. 1 1 1 9 224

L 9

ey way

dimensions

L 4L 42 41 1

h9 h9

R 1 . 1 20

Mass ( g)ithout bra e . 4.4 . . 11.0 14.0ith bra e 4. .4 . 9.4 12. 1 .0


autionRelated page



�LA

�LD

( ey way dimensions)

MSM 1.0 to 2.0

MSM .0 to .0 All si es are identical to those of MSM 1.0 to 2.0 versions e cept for L .

LL

R

L

LLLLM44

LR

L L

L

�S

h

�L

h

Motor/ ra econnector

ncoderconnector

4 �L M through

L

D 1. to .

. Di ensionsotor


D series iddle inertiaMotor output 1.0 1. 2.0 .0 4.0 .0

Motor model D 10 * * 1 * 1 * * 1 * 20 * * 1 * 0 * * 1 * 40 * * 1 * 0 * * 1 *

LLithout bra e 1 1 . 1 20 1 19

ith bra e 1 1 0. 19 2 202 221

LR 0

S 22

LA 14 200

L 110 114.

L 1 0 1

LD 1 2

L .2

L 12 1

L 0

L 11 11 140

LMithout bra e 94 111. 129 1 4 1 1 2

ith bra e 119 1 . 1 4 1 9 1 1

L 9 1 .

ey way

dimensions

L 4

L 41 1 0

h9 10h9

R 1 20 0

Mass ( g)ithout bra e .2 . .0 11.0 1 . 1 .

ith bra e . .2 9. 12. 1 . 21.


autionRelated page



LL LR

L L

L

�S

h

ncoder connectorMotor/ ra e connector

�L

h

�LA�LD


LL

R

L

4 �L

LM44

M through

L

9

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. Di ensionsotor

to .


series iddle inertiaMotor output 900 2.0 .0

Motor model 09 * * 1 * 20 * * 1 * 0 * * 1 *

LLithout bra e 1 . 1 . 209.

ith bra e 1 0. 1 . 2 4.

LR 0 0

S 22

LA 14 200

L 110 114.

L 1 0 1

LD 1 2

L .2

L 12 1

L 0

L 11 140

LMithout bra e 111. 119. 1 .

ith bra e 1 . 144. 190.

L 9 1 .

ey way

dimensions

L 4

L 41 0

h9 10h9

R 1 0

Mass ( g)ithout bra e . 14.0 20.0

ith bra e .2 1 . 2 .


autionRelated page



LL LR

L L

L

�S

h


�L

h

�LA�LD


LL

R

L

4 �L

LM44

M through

L

0

1. to .

. Di ensionsotor


series igh inertiaMotor output 1.0 1. 2.0 .0 4.0 .0

Motor model 10 * * 1 * 1 * * 1 * 20 * * 1 * 0 * * 1 * 40 * * 1 * 0 * * 1 *

LLithout bra e 1 190. 1 19 209. 2 .

ith bra e 19 21 . 202 221 2 4. 2 .

LR 0 0

S 22

LA 14 200

L 110 114.

L 1 0 1

LD 1 2

L .2

L 12 1

L 0

L 11 140

LMithout bra e 129 14 . 1 1 2 1 . 194.

ith bra e 1 4 1 1. 1 1 190. 219.

L 9 1 .

ey way

dimensions

L 4

L 41 0

h9 10h9

R 1 0

Mass ( g)ithout bra e . . 12.2 1 .0 1 . 2 .0

ith bra e .1 10.1 1 . 19.2 21. 2 .2


autionRelated page



LL LR

L L

L

�S

h


�L

h

�LA�LD


LL

R

L

4 �LM through

LM44L

1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

2

. ptionsSupple ent oise ilter

When you install one noise �lter at the power supply for multi-axes application, contact to a manufacture of the noise �lter. If noise margin is required, connect 2 �lters in series to emphasi e effectiveness.

ptions

ptionpart o.

oltagespecifications

for driver



D 0P41 0 Single phase100 200 S P R A and frame aya lectric Ind.

ptionpart o.


for driver



D 0PM20042

phase 200

S P 10 R

A and frame

aya lectric Ind.

Single phase100 200phase 200

frame

D 0P4220 Single/ phase200 S P 0 R D frame

D 0PM2004 phase 200 S P 0 R frame

nit: mm

Label

erminal cover (transparent)

2 4.

Ry

L L

y

2 4. .

.1 1.0

100.0 2.0.0.0 .0

12.0

10.0

0.0

0.0

.0

2.0

(11. )(1 .0)

M4

2

1

4

ircuit diagramIN

A D11D 0PM20042

D 0PM20042 D 0P4220 D 0PM2004

10 9 0 4 10 2 .14D 0P4220 1 12 0 0 10 2 .1D 0PM2004 1 1 90 0 40 4 .

Label

A

10D

arth terminalM4

M4

Screw for coverM

over

ody

41

2

ircuit diagram

L1

1

IN

R 1

y1

Si e nit: mm

Label

A

M

D

arth terminalM4

Screw for coverM

over

ody

Related page P.2 2 onformance to international standards P.2 Driver and List of Applicable Peripheral quipments

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

aution Use options correctl after reading operation anuals of the options to etter understand the precautions.a e care not to appl e cessive stress to each optional part.

nit: mm

ircuit diagramIN

2 .0

1 02 . 2 .

M

2 02 1.0

240

120

901.

0(1

)(1

)Label

1

2

4

ptionpart o.


for driver



D 0P 410 phase 200 S P L 0 R frame aya lectric Ind.

. ptionsoise ilter

Re ar s

Reco ended co ponents

part o.oltage

specificationsfor driver

urrent rating anufacturer

R N 010

phase 200

10

D Lambda orp.

R N 020 20

R N 0 0 0

R N 040 40

R N 0 0 0

• Select a noise �lter of capacity that exceeds the capacity of the power source (also chec for load condition).

• For detailed speci�cation of the �lter, contact the manufacturer.

4

ircuit diagram

ircuit diagram

1

�4.2 0.2

41 1

L 101 A 1

21

.1

111

2.

1

4.0.

200

00

2

�4.2 0.2

41 1

L 101 A 1

21

.1

111

2.

1

4.0.

200

00

1 2

(1) (1) ( )

(1) (2)

nit: mm

nit: mm

. ptionsSupple ent Surge sor er

Provide a surge absorber for the primary side of noise �lter.

ptionpart o.


for driver


D 0P14 0 phase 200 RA 1 4 aya lectric Ind.

ptionpart o.


for driver


D 0P4190 Single phase100 200 RA 1 4 aya lectric Ind.

Re ar s a e off the surge absorber when you e ecute a dielectric test to the machine or equipment or it may damage the surge absorber.

Related page P.2 2 onformance to international standards P.2 Driver and List of Applicable Peripheral quipments

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsSupple ent oise ilter for Signal ines

Re ar s

Install noise �lters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable)

ptionpart o.


D 0P14 0 A 0 1 0 D orp.

Fix the signal line noise �lter in place to eliminate excessive stress to the cables.

nit: mm

9 1

4 1

01

11

Mass: 2. g

. ptionsSupple ent unction a le for ncoder

Related page P.1 1 hec of the ombination of the Driver and the Motor • P.2-18 “Speci�cations of Motor connector”

Part o. * * D o pati leotor output 0 to 0

Specifications or 20 bit incremental encoder ( ithout battery bo )

L

()

itle Part o. anufacturer Part o.

onnector 100 0 0 Mole Inc M A00 0M D

onnector N R0 SM1 apan Aviationlectronics Ind.

M A00 0M D

onnector pin LY10 1 A1 10000 10 M A0100M D

able A 24 4P A 22 2P itachi able Ltd. 20 M A0200M D

Part o. * * o pati leotor output 0 to 0

Specifications or 1 bit absolute encoder ( ith battery bo )

L

110 00(

)


onnector 100 0 0 Mole Inc M A00 0M

onnector SMM 00 P0..S. Mfg. o. Ltd.

M A00 0M

onnector pin MR 02 10 M A0100M

onnector N R0 SM1 apan Aviationlectronics Ind.

20 M A0200M

onnector pin LY10 1 A1 10000

able A 24 4P A 22 2P itachi able Ltd.

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsunction a le for ncoder

Part o. * * D o pati leotor output 0.9 to .0

Specifications or 20 bit incremental encoder ( ithout battery bo )

L

()


onnector 100 0 0 Mole Inc M A00 0 D

onnector N2DS10SL1 R apan Aviationlectronics Ind.

M A00 0 D

onnector pin N1 22 22S P 100 10 M A0100 D

able 0.2mm2 P i lectric able o. Ltd. 20 M A0200 D

Part o. * * o pati leotor output 0.9 to .0

Specifications or 1 bit absolute encoder ( ith battery bo )

L

110 00(

)


onnector 100 0 0 Mole Inc M A00 0

onnector MR 02.S. Mfg. o. Ltd.

M A00 0

onnector pin SMM 00 P0. 10 M A0100

onnector N2DS10SL1 R apan Aviationlectronics Ind.

20 M A0200

onnector pin N1 22 22S P 100

able 0.2mm2 P i lectric able o. Ltd.

. ptionsSupple ent unction a le for otor ithout ra e


R B P �7)5*��<))2�3 B= R P is a trade mark of Daiden Co.,Ltd.

Part o. * * )�LB pplica leodel MSM 0 to 0

L ( 0)(2 . )


onnector N 04S 1 apan AviationElectronics Ind.

M M A00 0N D

onnector pin S M S 1 00 M M A00 0N D

Rod terminal AI0.75-8GY Phoeni ontact 10 M M A0100N D

Nylon insulatedround terminal

N1.2 M4 J.S.T Mfg. Co., Ltd. 20 M M A0200N D

able AWG18×4P Hitachi Cable, Ltd.

Part o. @J@�B) * * 1;�B pplica leodel

MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kWMHME 1.0kW to 1.5kW, MGME 900W

( 0)L

.

(�12

.)


onnector JL04V-6A20-4SE-EB-R apan AviationElectronics Ind.

M M D00 2 D

able clamp JL04-2022CK(14)-R M M D00 2 D

Rod terminal AI2.5-8BU Phoeni ontact 10 M M D0102 D


N2 M4 J.S.T Mfg. Co., Ltd. 20 M M D0202 D

able ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd.

9

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

Part o. * * 2 D pplica leodel M M 2.0


Straight plug L04 A22 22S R apan Aviationlectronics Ind.

M M 00 2 D

able clamp L04 2022 (14) R M M 00 2 D

Rod terminal AI2. Phoeni ontact 10 M M 0102 D


N2 M4 .S. Mfg. o. Ltd. 20 M M 0202 D

able R P 00 2.0mm2 Daiden o. Ltd.

Part o. * * pplica leodel

MSM .0 to .0 MDM .0 to .0M M .0 to .0 M M 2.0 to .0

( 0)L

40.

(�14

)



M M A00

able clamp L04 2022 (14) R M M A00


N . .S. Mfg. o. Ltd. 10 M M A010

able R P 00 . mm2 Daiden o. Ltd. 20 M M A020

. ptionsunction a le for otor ithout ra e

( 0)L

00.0

0

. ptionsSupple ent unction a le for otor ith ra e


R B P �7)5*��<))2�3 B= R P is a trade mar of Daiden o. Ltd.

Part o. * * 2 D pplica leodel

MSM 1.0 to 2.0 MDM 1.0 to 2.0M M 1.0 to 1. M M 900

L ( 0)

L

( 0)

(12

.)

(9.

)


Straight plug L04 A20 1 S R apan Aviationlectronics Ind.

M M A00 2 D

able clamp L04 2022 (14) R M M A00 2 D

Rod terminal AI2. Phoeni ontact 10 M M A0102 D


arth N2 M4.S. Mfg. o. Ltd.

20 M M A0202 D

ra e N1.2 M4

able R P 00 0. mm2 andR P 00 2.0mm2 Daiden o. Ltd.

* his cable does not conform to IP .

Part o. * * 2 D pplica leodel M M 2.0

( 0)L

( 0)

L



M M 00 2 D

able clamp L04 242 (1 ) R M M 00 2 D

Rod terminal AI2. Phoeni ontact 10 M M 0102 D


arth N2 M4.S. Mfg. o. Ltd.

20 M M 0202 D

ra e N1.2 M4

able R P 00 0. mm2 andR P 00 2.0mm2 Daiden o. Ltd.

1

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsunction a le for otor ith ra e

Part o. * * pplica leodel

MSM .0 to .0 MDM .0 to .0M M .0 to .0 M M 2.0 to .0

L ( 0)

L

( 0)

4.

(14

)

(9.

)



M M A00

able clamp L04 242 (1 ) R M M A00


arth N ..S. Mfg. o. Ltd.

10 M M A010

ra e N1.2 M4 20 M M A020

able R P 00 0. mm2 andR P 00 . mm2 Daiden o. Ltd.

* his cable does not conform to IP .

2

. ptionsSupple ent unction a le for Bra e

R B P �7)5*��<))2�3 B= R P is a trade mar of Daiden o. Ltd.

Part o. B * * P pplica leodel MSM 0 to 0

L ( 0)(2 . )


onnector N4 02S MR apan Aviationlectronics Ind.

M M 00 0P

onnector pin S M S 1 00 M M 00 0P


N1.2 M4 .S. Mfg. o. Ltd. 10 M M 0100P

able A 22 itachi able Ltd. 20 M M 0200P


1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsSupple ent onnector it

onnector it for nterface

Part o. D P

o ponents

itle Part o. u er anufacturer ote

onnector 4 0 019 1Mole Inc or onnector 4

( 0 pins)onnector cover 4 1 0 01 1

Pin disposition ( 0 pins) (viewed from the soldering side)

1) hec the stamped pin No. on the connector body while ma ing a wiring. 2) or the function of each signal title or its symbol refer to the wiring e ample of the connector 4. ) Do not connect anything to N pins in the above table.

2SI

2SI

0SI

2SI9

4S 2 S S 4

40S

42IM

44P LS 1

4SI N 1

4

2SI4

29SI

1SI SI10 S 2 S

9S 4

41M

4SP

4P LS 2

4SI N 2

49

1P 1 P LS1 SI N1 M

9SI2

11S 1

1ND

1ND

1ND

19 21A

2

2P 2

4P LS2 SI N2 SI1

10S 1

12S

14SPR/SPL / R R

1P A L

1N A L

20N

22A

24

0

2ND

nterface a le

Part o. D P

able for wiringhis 2 m connector cable contains A 2 conductors.

12 0

2

(2.

)

2000 2000

0 100

( 9) 12.

Re ar solor designation of the cable

e.g.) Pin 1 able color : range (Red1) : ne red dot on the cable

(.0

)

12

4

910

Pin o. color111211411111920

range ( lac 2)

Yellow ( lac 1)

ray (Red2)

ray ( lac 2)

hite (Red2)

Yellow (Red2)

Yel ( l 2)/Pin ( l 2)

Pin (Red2)

hite ( lac 2)

range (Red1)

range ( lac 1)

ray (Red1)

ray ( lac 1)

hite (Red1)

hite ( lac 1)

Yellow (Red1)

Pin (Red1)

Pin ( lac 1)

range (Red2)

Pin o. color21222242222290

range (Red )

range ( lac )

ray (Red )

ray ( lac )

hite (Red )

hite ( lac )

Yellow (Red )

Yellow ( lac )

Pin (Red )

Pin ( lac )

Pin o. color12

4

940

range (Red4)

range ( lac 4)

ray (Red4)

hite (Red4)

hite ( lac 4)

Yellow (Red4)

Yellow ( lac 4)

Pin (Red4)

Pin ( lac 4)

ray ( lac 4)

Pin o. color4142444444449

0

range (Red )

range ( lac )

ray (Red )

hite (Red )

hite ( lac )

Yellow (Red )

Yellow ( lac )

Pin (Red )

Pin ( lac )

ray ( lac )

Pin o. color

4

��M��+��609-5��601(1,

Part o. D P 2 2

o ponents

itle Part o. anufacturer ote

onnector 204000 1 yco lectronics AMP or onnector 2 ( pins)

Pin disposition of connector connector 2 Dimensions

( iewed from cable)

Shell:

NDD

NR D

485�

4

485�

4

4 21

( ) (11)

.2.

(.

)

1110.

(1.

)

onnector it for Safet

Part o. D P 2 2

o ponents


onnector 201 9 1 yco lectronics AMP or onnector ( pins)

Pin disposition of connector connector Dimensions

4 21

NSF1�

NS 1

SF2�

S 2

EDM�

DM

( iewed from cable)

Shell:

( ) (11)

.2.

(.

)

1110.

(1.

)

onnector it for ternal Scale

Part o. D P 2 2

o ponents


onnector M P 10 .S. Mfg. o. Ltd. or onnector

Dimensions

(10. ) ( 2)

1.

1.

10.4

11.9

.1

. ptionsonnector it

Re ar s onnector 1: use with commercially available cable.Con�guration of connector X1: USB mini-B

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsonnector it

onnector it for ncoder

Part o. D P 2 1

o ponents


onnector 100 0 0 Mole Inc or onnector

onnector it for nalog onitor Signal

Part o. D P 2 1

o ponents


onnector 10040 00 1Mole Inc or onnector ( pins)

onnector pin 0011 100

Pin disposition of connector connector Dimensions

1 M

1 AM12 AM2

ND

NN

4 DM 14 0.

12.9 0. . 0.

0.

.0.

onnector it for Po er Suppl nput

Part o. D P 2 2 ( or A to D frame: Single row type)

o ponents


onnector 0 A SA 1.S. Mfg. o. Ltd. or onnector A

andle lever A 2

Part o. D P 2 ( or A to D frame: double row type)

o ponents


onnector 0 A SA SA 1.S. Mfg. o. Ltd. or onnector A

andle lever A 2

Part o. D P 2 ( or frame)

o ponents


onnector 0 A SA SA L 1.S. Mfg. o. Ltd. or onnector A ( frame)

andle lever A L 2

. ptionsonnector it

onnector it for Regenerative Resistor onnection fra e

Part o. D P 2

o ponents


onnector 04 A SA SA L 1.S. Mfg. o. Ltd. or onnector

andle lever A L 2

onnector it for otor onnection

Part o. D P 2 ( or A to D frame)

o ponents


onnector 0 A SA 1.S. Mfg. o. Ltd. or onnector

onnector pin A 2

Part o. D P 2 ( or frame)

o ponents


onnector 0 A SA SA L 1.S. Mfg. o. Ltd. or onnector ( frame)

andle lever A L 2

onnector it for otor ncoder onnection

Part o. D P 2 pplica leodel MSM 0 to 0

o ponents


onnector 100 0 0 1 Mole Inc or onnector ( pins)

ncoder plug connector N R0 SM1 1 apan Aviationlectronics Ind.

or unction cable to encoder ( pins)Soc et contact LY10 1 A1 10000

Motor plug connector N 04S 1 1 apan Aviationlectronics Ind.

or unction cable tomotor power (4 pins)Soc et contact S M S 1 00 4

Pin disposition of connector Pin disposition of unction cable Pin disposition of unction cable connector for motor power for encoder

PSPS

2 01

4 0

( ase)

4 PS1

2

P 1

2 A

0

A

PS

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsonnector it

Part o. D P 2 pplica leodel

MSM 1.0 to 2.0 MDM 1.0 to 2.0M M 1.0 to 1. M M 0.9

ithoutbra e

o ponents



ncoder connector N2DS10SL1 R 1 apan Aviationlectronics Ind.

or unction cable to encoderonnector pin N1 22 22S P 100

Motor connector L04 A 20 4S R 1 apan Aviationlectronics Ind.

or unction cable tomotor powerable clamp L04 2022 (14) R 1


MSM .0 to .0 MDM .0 to .0M M 2.0 to .0 M M 2.0 to .0

ithoutbra e

o ponents





Motor connector L04 A22 22S R 1 apan Aviationlectronics Ind.


Part o. B2)=@1))(- pplica leodel

MSM 1.0 to 2.0 MDM 1.0 to 2.0M M 1.0 to 1. M M 0.9

ithbra e

o ponents





Motor connector L04 A20 1 S R 1 apan Aviationlectronics Ind.



MSM .0 to .0 MDM .0 to .0M M 2.0 to .0 M M 2.0 to .0

ithbra e

o ponents





Motor connector L04 A24 11S R 1 apan Aviationlectronics Ind.

or unction cable tomotor powerable clamp L04 242 (1 ) R 1

. ptionsonnector it

onnector it for otor Bra e onnection

Part o. D P 2

o ponents


onnector N4 02S M R 1 apan Aviationlectronics Ind.andle lever S M S 1 00 2

9

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsSupple ent Batter or solute ncoder

Batter or solute ncoder

Part o. D P2

Lithium battery: . 2000mAh

D 0P29900 0 0 9 0 0 0 1

4

1

Paper insulator

Lead wire length 0mm

R 2( .S. Mfg. o. Ltd.)

1A

14.

2A

aution his battery is categori ed as ha ardous substance and you may be required to present an application of ha ardous substance when you transport by air (both passenger and cargo airlines).

Batter Bo or solute ncoder

Part o. D P

o ponents

D 0P44 0P04090001

R

(112)(110)

(1)

(2)

Related page P. 10 Absolute system

90

. ptionsSupple ent ounting Brac et

aution

Related page

or and frame you con ma e a front end and bac end mounting by changing the mounting direction of L shape brac et (attachment). P. 10 Dimensions of driver

Part o. D P 2 2 ra e s ol ofapplica le driver A frame ounting scre M4 L Pan head 4pcs

Di

ensions

Upper

side

2 M4 Pan head

1

9.

1 10

24

40

2R2 R2

11 0.2

2.

2.

.2

R1 or le

ss

Botto

side

2 M4 Pan head

11 0.2.2

40

1

9.

R2

2 R1

1 10

R2

2.

2.

2

R1 or le

ss

Part o. B2)=@1))1- ra e s ol ofapplica le driver frame ounting scre M4 L Pan head 4pcs

Di

ensions

Upper

side

4

1 10

R2

2.

2.

2 M4 Pan head

24 1 0.2

.2

2

1

9.

R2

R1 or le

ss

Botto

side

440

1

9.2.

2.1 10

R2

1 0.2

2 M4 Pan head

2

.2

R2

2 R1

R1 or le

ss

Part o. D P 2 2 ra e s ol ofapplica le driver frame ounting scre M4 L Pan head 4pcs

Di

ensions

Upper

side

0 0.2

1 10

R2

2.

2.

2 M4 Pan head

2

1

9.

4020

.2R2

R1 or le

ss

Botto

side

1

9.

2.

2.1 10

R2

0 0.2

2 M4 Pan head

2

4020

.2

R2

2 R1

R1 or le

ss

Part o. D P 2 ra e s ol ofapplica le driver D frame ounting scre M4 L Pan head 4pcs

Di

ensions

Upper

side

0.2

1 10

R2

2.

10 40 0.20

2.

2 M4 Pan head

2

1

9.

2.2

R2

R1 or le

ss

Botto

side

1

9.

2.

R1 or le

ss

2.

10 40 0.20

0.219

1 10

R2

2 M4 Pan head

2

4 R1.2

R2

.2

91

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsSupple ent Reactor

A(Mounting pitch)

A

A

D

I

R S

NP

Y

D

2 I

4

4

ig.1

ig.2

(Mounting pitch): enter to center distance

on outer circular arc

: enter to center distance on slotted hole(Mounting pitch)

A(Mounting pitch)

Part o. B D anductance Rated

current

ig.1

D P22 1 12 1 (9 ) 1 Ma 1 70+3/�0 2 4-7�×12 M4 . 1D P221 0 1 1 0 1 (11 ) 1 Ma 1 0 60+3/�0 2 4-7�×12 M4 4.02D P222 0 1 1 0 1 (11 ) 1 Ma 140 70+3/�0 2 4-7�×12 M4 2D P22 0 1 1 0 1 (11 ) 1 Ma 1 0 79+3/�0 9 2 4-7�×12 M4 1. 9 11D P22 0 1 1 0 1 (11 ) 1 0Ma 1 84+3/�0 100 2 4-7�×12 M 0. 4 1D P22 0 1 1 0 1 (11 ) 1 0Ma 1 0 100+3/�0 11 2 4-7�×12 M 0. 2

ig.2D P22 0. 0 1 . 1 110Ma 90 41 2 2 4-5�×10 M4 4.02B2)=11- 0. 0 1 . 1 110Ma 9 4 2 0 2 4-5�×10 M4 2

ig. D P 2 0. 0 1 . 1 110Ma 10 2 0 2 4-5�×10 M4 1. 9 11

otorseries Po er suppl Rated output Part o. otor

series Po er suppl Rated output Part o.

MSM Single phase 100

0 to 100

D 0P22

MSM

phase 200

2.0 D 0P22200 to 400 MDM

MSM Single phase 200

0 to 200 M M

400 to 0 M MMSMMDMM M

Single phase 200

1.0 D 0P22 MSM

.0 D 0P2241. D 0PM2004 MDM

M M Single phase 200 0.9 D 0P22 M M

MSM

phase 200

0 D 0P220 M M

M M 0.9 D 0P221 MSM

4.0 D 0P22MSM1.01. D 0P222

MDM

MDM M M

M M

92

ar onic restraint

n September 1994 uidelines for harmonic restraint on heavy consumers who receive power through high voltage system or e tra high voltage system and uidelines for harmonic restraint on household electrical appliances and general purpose articles established by the Agency for Natural Resources and nergy of the Ministry of conomy

rade and Industry (the e Ministry of International rade and Industry). According to those guidelines the apan lectrical Manufacturers Association ( MA) have prepared technical documents (procedure to e ecute harmonic restraint: M R 19 M R 199 and M R 201) and have been requesting the users to understand the restraint and to cooperate with us. n anuary 2004 it has been decided to e clude the generalpurpose inverter and servo driver from the uidelines for harmonic restraint on household electrical appliances and general purpose articles . After that the uidelines for harmonic restraint on household electrical appliances and general purpose articles was abolished on September 2004.

e are pleased to inform you that the procedure to e ecute the harmonic restraint on general-purpose inverter and servo driver was modi�ed as follows.

1. All types of the general-purpose inverters and servo drivers used by speci�c users are under the control of the uidelines for harmonic restraint on heavy consumers who receive power through high voltage system or e tra high voltage system . he users who are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must ta e appropriate countermeasures if the harmonic current exceeds a limit value speci�ed in a contract demand. (Refer to

M R 210 and M R 22 .)2. he uidelines for harmonic restraint on household electrical appliances and general

purpose articles was abolished on September 2004. owever based on conventional guidelines MA applies the technical documents M R 22 and M R 227 to any users who do not �t into the “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or e tra high voltage system from a perspective on enlightenment on general harmonic restraint. he purpose of these guidelines is the e ecution of harmonic restraint at every device by a user as usual to the utmost e tent.

. ptionsReactor

9

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsSupple ent ternal Regenerative Resistor

Re ar s her al fuse is installed for safet . o pose the circuit so that the po er ille turned off hen the ther ostat is activated. he ther al fuse a lo

due to heat dissipating condition or ing te perature suppl voltage or loadfluctuation.@��%�� 7))*��the orst running conditions ith the achine hich rings large regenerationsuch case as high suppl voltage load inertia is large or deceleration ti e is

short nstall a fan for a forced cooling if necessar .

aution Regenerative resistor gets ver hot.

a e preventive easures for fire and urns.void the installation near infla a le

o ects and easil accessi le place hand.

D P 2 D P 2 1 D P 2 2 D P 2

D P 2 D P 2


D P 2 2D P 2D P 2

Part o.

R 1 0R 1 0R 240R 4 0

200

Specificationsctivation

te perature ofuilt in ther ostat

D P 2D P 2 1

R 0MR 0M

0 101011402

2200

1001 0

0.10.10.40.20.1.2

�1.27

A 1stranded( wire )

100

D P 2 20

Manufacturer : Iwa i Musen en yusho

ResistanceRated po er reference *

140 5�Ccontact

Open/Close capacity(resistance load)4A 125VAC 10000 times2.5A 250VAC 10000 times

00

1201 0

44

1 0200

ree airN

ca le coreoutside

dia eterass

gith fan

1 s 2 s s

2-�4.5

0

0

1

21

11

1

1.

10M

A2

00

4 0

Drawing process

thermostat(light yellow 2)

(2mm MAX)

2..

10M

A

2.

10

21 0 1

1 0 0.

20.

0.14

.

24

1

00 0

4 0

6-�4.5

00

10M

A

9MA

11

00

100

2

10 1 10

14

0

( )

4.

2902 0

4 0

00

�4.5

4-�4.5

4 0

4 0

00

0

2010

0

11114

0

2

10

2

thermostat(light yellow 2)thermostat

(light yellow 2)

thermostat(light yellow x2)

* Power with which the driver can be used without activating the built-in thermostat.

ra e

A

CD

Po er suppl

Single phase 2phase 2

D 0P42 1

D 0P42

D 0P42 4D 0P42

Single phase 1

D 0P42 0

D 0P42D 0P42 2

Arrange 2D 0P42in a parallel

94

. ptionsSupple ent Reco ended co ponents

Surge a sor er for otor ra e

otor Part o. anufacturer

MSM 0 to 0 1 D2 1 Ishi u a lectronics o.

M M 2.0 to .0

1 D1 1 Ishi u a lectronics o.

M M 0.9 to 2.0

MSM 1.0 to .0

MDM 4.0 to .0

M M .0

MDM 1.0 to .0ND09 20 00AAA0 Nippon hemi on o.

M M 1.0 to 1.

9

1Before

Using

theProducts

2

Preparation

onnectionS

etupd

ustent

henin

roule

Supple

ent

. ptionsSupple ent ist of Peripheral uip ents

ote ontact information shown above is as of August 2009.his list is for reference only and sub ect to change without notice.

anufacturer el o. o e Page Peripheral co ponents

Automation ontrols ompany Panasonic lectric or s o. Ltd

1 90 11 1http://panasonic den o.co. p/ac

ircuit brea erSurge absorber

Iwa i Musen en yusho o. Ltd.1 44 4 11

http://www.iwa imusen.co. p/Regenerative resistor

Nippon hemi on o.1 4 11

http://www.chemi con.co. p/ Surge absorber for holding bra e

Ishi u a lectronics orp.1 21 2 0

http://www.semitec.co. p/

D orp.1 201 229

http://www.td .co. p/Noise �lter for signal lines

aya lectric Industries o. Ltd.1 4 44 040

http://www.o ayatec.co. p/ Surge absorberNoise �lter

apan Aviation lectronics Industry Ltd.1 0 2 1

http://www. ae.co. p

onnector

Sumitomo M 1 1 290

http://www.mmmco. p

yco lectronics AMP .1 44 44 111

http://www.tycoelectronics.com/apan/amp

apan Mole Inc.1 4 2 2 1

http://www.mole .co. p

.S. . Mfg. o. Ltd.1 4 4 12 1

http://www. st mfg.com/inde i.html

Daiden o. Ltd.1 0 0

http://www.dyden.co. p/able

Mitutoyo orp.1 44 1 2

http://www.mitutoyo.co. pternal scale

Sony Manufacturing Systems orp.1 490 920

http://www.sonysms.co. p/

9

arrant period

he warranty period is one year from the date of purchase or 1 months from the month of manufacture in our plant.

or a motor with bra e the a is accelerated and decelerated more times than the speci�ed limit is not covered by warranty.

arrant infor ation

Should any defect develop during warranty period under standard service conditions as described in the manual the company agrees to ma e repairs free of charge.

ven during warranty period the company ma es fee based repair on product containing:1 ailure or damage due to misuse improper repair or alteration.2 ailure or damage due to falling or damage during transportation after the original

delivery[3] Defects resulting from neglect of the speci�cation in use of the product.[4] Failure or damage due to unregulated voltage and �re, and act of natural disasters

such as earthquake, lightning, wind, �ood and salt pollution.Defects resulting from invasion of foreign materials such as water oil and metal pieces.

he company shall not be liable for any indirect incidental or consequential damage or loss of any nature that may arise in connection with the product.

arranty

9

his 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.

Installation wiring operation maintenance etc. of the equipment should be done by quali�ed and experienced personnel.

Apply adequate tightening torque to the product mounting screw by ta ing into consideration strength of the screw and the characteristics of material to which the product is installed. vertightening can damage the screw and/or material undertightening can result in loosening.

ample) Steel screw into steel section: M4 1. to 1. N m.

M 2. to . N m. M 4. to . 2 N m. M 11.2 to 1 . N m. M10 22.0 to 2 .9 N m. M11 . to 4 .2 N m.

Install a safety equipments or apparatus in your application when a serious accident or loss of property is e pected due to the failure of this product.

onsult 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.

e have been ma ing the best effort to ensure the highest quality of the products however application of e ceptionally larger e ternal noise disturbance and static electricity or failure in input power wiring and components may result in une pected action. It is highly recommended that you ma e 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 veri�cation by customer is required.

ailure of this product depending on its content may generate smo e of about one cigarette. a e 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 sulfur or sulfric gases as sulfuration can lead to disconnection from the chip resistor or a poor contact connection.

a e care to avoid inputting a supply voltage which significantly e ceeds the rated range to the power supply of this product. ailure to heed this caution may result in damage to the internal parts, causing smoking and/or a �re and other trouble.

he user is responsible for matching between machine and components in terms of con�guration, dimensions, life expectancy, characteristics, when installing the machine or changing speci�cation of the machine. The user is also responsible for complying with applicable laws and regulations.

ar eteing roup otor o pan Panasonic orporation

o yo: yobashi MID ldg 2 1 10 yobashi huo u o yo 104 00 1 L (0 ) 29 1A (0 ) 29 4

sa a: 1 1 Morofu u chome Daito sa a 4 0044 L (0 2) 0 0A (0 2) 0 1 1

autions for Proper se

Repair

onsult to a dealer from whom you have purchased the product for details of repair.hen the product is incorporated to the machine or equipment you have purchased

consult to the manufacturer or the dealer of the machine or equipment.

echnical infor ation

echnical information of this product ( perating Instructions AD data) can be downloaded from the following web site.

http://industrial.panasonic.com/ww/i e/2 000/motor fa e/motor fa e.html

IM 10A1009 0

fter Sale Service Repair

or your records:he model number and serial number of this product can be found on either the bac or the bottom of the unit.

Please note them in the space provided and eep for future reference.

odel o.D

Serial o.

Date ofpurchase

Dealer

Name

Address

Phone ( )

1 1 Morofu u Daito sa a 4 0044 apan Phone : 1 2 1 1212 Panasonic orporation 2009

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