Panasonic AC Servo Driver Technical Reference

No.
SR-DSV09521
MESSRS.
TECHNICAL REFERENCE
MODEL
Product name: AC Servo Driver
Product number: MINAS A4
(Limited Model for Pulse Input Use)
Issued on October 7, 2005
(Revised on )
Received by:
Date:
Motor Company., Matsushita Electric Industrial Co., Ltd.

7-1-1, Morofuku, Daito, Osaka, Japan 574-0044
Dept.
Checked Checked Designed
manager
No. SR-DSV09521
REVISIONS
Date Page Sym REVISION Signed
A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

No. SR-DSV09521
Contents
1. Model Designation Code ...................................................................................................................................... 1
2. Outer dimensions .................................................................................................................................................. 1
3. Appearance and Part Names ................................................................................................................................. 2
4. Configuration of Connectors and Terminal Block
4-1 Power Connectors X1 , X2 , and Terminal Block.................................................................................. 5
4-2 Encoder Connector X6 .......................................................................................................................... 6
4-3 Interface Connector X5 ......................................................................................................................... 7
4-4 RS232C Communication Connector X4 ............................................................................................. 18
4-5 RS485 Communication Connector X3 ................................................................................................ 18
4-6 External Code Connector X7 .............................................................................................................. 18
5. Wiring
5-1 Cable Specifications and Maximum Cable Length .................................................................................... 19
5-2 I/O Connector, Encoder Connector and External Scale Connector ............................................................ 19
5-3 Precautions for Wiring................................................................................................................................ 20
6. Parameters .......................................................................................................................................................... 34
7. Operation Timing
7-1 Operation Timing after Power-ON ............................................................................................................. 49
7-2 Servo-ON/OFF Operation Timing during Motor Stop (Servo Lock) ....................................................... 50
7-3 Servo-ON/OFF Operation Timing during Motor Run................................................................................ 50
7-4 Operation timing chart at the time of errors (alarm) (with the Servo-ON command activated)................. 51
7-5 Operation timing chart at the time of the clearance of an alarm (with the Servo-ON
command activated) ................................................................................................................................... 52
8. Functions
8-1 Protective Functions ................................................................................................................................... 53
8-2 Trial Run..................................................................................................................................................... 58
8-3 Automatic Offset Adjustment..................................................................................................................... 58
8-4 Warning function........................................................................................................................................ 58
8-5 Software limit function............................................................................................................................... 59
9. Operations
9-1 Front Panel Key Operations and Display ................................................................................................... 61
10. Absolute Encoder and External Scale

10-1 Absolute Encoder ....................................................................................................................................... 79
10-2 External Scale............................................................................................................................................. 81
10-3 Mounting the Absolute Data Battery.......................................................................................................... 81
10-4 Absolute Encoder Clear.............................................................................................................................. 81
10-5 Absolute Data Transmission....................................................................................................................... 81

No. SR-DSV09521
11. Tuning
11-1 Real time Auto Gain Tuning....................................................................................................................... 86
11-2 Normal Mode Auto Gain Tuning................................................................................................................ 90
11-3 Fit Gain Function ....................................................................................................................................... 93
11-4 Disabling of Auto Tuning Function............................................................................................................ 96
11-5 Gain Auto Setting Function ........................................................................................................................ 97
11-6 Manual Gain Tuning................................................................................................................................... 97
12. Control Block Diagrams ................................................................................................................................... 110

13. Conformity with EC Directive / UL Standard
13-1 EC Directive............................................................................................................................................. 111
13-2 Configuration of Peripheral Equipment ................................................................................................... 112
13-3 List of Servo Drivers and Compatible Peripheral Equipment .................................................................. 116
13-4 Conformity with the UL Standard ............................................................................................................ 117
14. SEMI Compliance with F47 momentary power failure standard .................................................................. 117

No. SR-DSV09521 (117-1)
1. Model Designation Code

Notation of the machine designation code is as follows:
1 2 3 4 5 6 7 8 9 10 11 12
M A D D T 1 2 0 5 0 0 3
Type Custom specification

Pulse Input Use
A: A4 Series Type A
B: A4 Series Type B
C: A4 Series Type C Maximum continuous
D: A4 Series Type D output current
E: A4 Series Type E 05: 5A
F: A4 Series Type F 07: 7.5A
10: 10A
20: 20A
30: 30A
AC servo driver 40: 40A
D: A4 Series 64: 64A
90: 90A
A2: 120A
Maximum instantaneous
output current Power supply voltage
T1: 10A 1: Single-phase 100 V
T2: 15A 2: Single-phase 200 V
T3: 30A 3: 3-phase 200 V
T5: 50A 5: Single-phase/3-phase
T7: 75A 200 V
TA: 100A
TB: 150A
2. Outer dimensions
Refer to "Delivery Specifications" (SR-DSV09520).
Attention
For the purpose of this specification, the direction of motor revolution is defined as CW for clockwise
motion and CCW for anti-clockwise motion in relation to the end of the load-side axis.

No. SR-DSV09521 - 2 -
3. Appearance and Part Names
A4 Series Type A, B
ID: Rotary Switch Name Label
IM: Torque Monitor

SP: Velocity Monitor
G: signal ground
X1: Power Input Connection

X3: RS485 Interface
Connection
X4: RS232 Interface

Connection
X2: Motor Connection
X5: Parallel I/O Connection

529865079
(MOLEX)
(MOLEX)
Earth
★ X6: Rotary Encoder Connection
Terminal
53460-0629
(MOLEX)
X7: External scale connector
You cannot use.
(MOLEX)
Front panel
Main power supply

input terminal X1 Power supply input
Control power supply

input terminal
Regenerative discharge
resistor connection terminal X2 Motor output
(RB3 is unused.)
Motor connection
terminal

No. SR-DSV09521 - 3 -
A4 Series Type C, D
Name Label
ID: Rotary Switch
IM: Torque Monitor

G: signal ground
X1: Power Input Connection

X3: RS485 Interface
Connection
X4: RS232 Interface Connection

X2: Motor Connection
529865079
(MOLEX)
(MOLEX)
X6: Rotary Encoder Connection
Earth
Terminal ★ 53460-0629
(MOLEX)
(MOLEX)
X7: External scale connector
You cannot use.

(MOLEX)
Front panel
Main power supply X1 Power supply input

input terminal

input terminal
resistor connection terminal X2 Motor output
(RB3 is unused.)
Motor connection
terminal

No. SR-DSV09521 - 4 -
A4 Series Type E, F
ID: Rotary Switch
IM: Torque Monitor Name Label

G: signal ground

529865079
[MOLEX]
X6: Rotary Encoder Connection

53460-0629
[MOLEX]
★
X7: External scale connection
You cannot use.

[MOLEX]
Front panel
Main power supply input

terminal

input terminal
resistor connection terminal
(Normally, B1 and B2 are
short-circuited.)
Motor connection
terminal
Earth Terminal

No. SR-DSV09521 -5-
4. Configuration of Connectors and Terminal Block

4-1 Power Connectors X1 , X2 , and Terminal Block
① Type A & B of 100V and 200V
Terminal
Connectors Name Description
Block
+10%
4 L1 Main power 100 V Single-phase 100 to 115 V , 50/60 Hz input
-15%
supply input
terminal +10%
3 L3 200 V Single-phase 200 to 240 V , 50/60 Hz input
-15%
X1
+10%
2 L1C Control power 100 V Single-phase 100 to 115 V , 50/60 Hz input
-15%
supply input
terminal +10%
1 L2C 200 V Single-phase 200 to 240 V , 50/60 Hz input
-15%
Normally,RB3 and RB2 need not to be short-circuited,
6 RB1
Regenerative since Type A & B are only intended to connect an external regenerative
discharge discharge resistor. If the circuit trips due to the regenerative discharge resistor
5 RB3 resistor overload protection error (No.18), connect an external regenerative discharge
connection resistor between RB1 and RB2. When an external regenerative discharge
X2 terminal resister is used, parameter No.6C (External regenerative resistor set up)
4 RB2
(the parameter number shall be hereinafter referred to as Pr.) to other than 0.
3 U
Motor connection Connect each phase of the motor winding.
2 V
terminal U: U phase V: V phase W: W phase
1 W
Ground
Connected to the motor's earth terminal for grounding.
terminal
② Type C of 100V and 200V ,& Type D of 200V
Terminal
Block
+10%
5 L1 100 V Single-phase 100 to 115 V , 50/60 Hz input
Main power -15%
supply input +10%
4 L2 Single-phase/3-phase 240 to 300 V , 50/60 Hz input
terminal 200 V -15%
X1 3 L3 Single-phase input should be connected to the L1 and L3 terminals.
+10%
2 L1C Control power 100 V Single-phase 100 to 115 V , 50/60 Hz input
-15%
supply input
terminal +10%
1 L2C 200 V Single-phase 200 to 240 V , 50/60 Hz input
-15%
Normally, short-circuit RB3 and RB2.
6 RB1
Regenerative If the circuit trips due to the regenerative discharge resistor overload protection
discharge error (No. 18), open RB3 and RB2, and connect an external
5 RB3 resistor regenerative discharge resistor (prepared by the user) between RB1 and RB2.
connection When an external regenerative discharge resister is used,
X2
terminal parameter No.6C (External regenerative resistor set up)
4 RB2 ( the parameter number shall be hereinafter referred to as Pr.) to other than 0.
3 U Motor connection Connect each phase of the motor winding.
2 V terminal U: U phase V: V phase W: W phase
1 W
Ground
terminal

No. SR-DSV09521 -6-
③ Type E & F of 200V
Terminal
Block
1 L1 Main power
+10%
2 L2 supply input 3-phase 200 to 230V , 50/60 Hz input
-15%
3 L3 terminal
4 r Control power
+10%
supply input Single-phase 200 to 230 V -15%
, 50/60 Hz input
5 t
terminal
Normally, short-circuit B2 and B1.
Terminal Block
6 P If the circuit trips due to the regenerative discharge resistor overload protection
Regenerative
error (No. 18), open B2 and B1, and connect an external
discharge
regenerative discharge resistor (prepared by the user) between P and B2.
7 B1 resistor
When an external regenerative discharge resister is used,
connection
parameter No.6C (External regenerative resistor set up)
terminal
8 B2 ( the parameter number shall be hereinafter referred to as Pr.) to
other than 0.
9 U
Motor connection Connect each phase of the motor winding.
10 V
terminal U: U phase V: V phase W: W phase
11 W
Ground
terminal
4-2 Encoder Connector X6 (Molex 53460-0629)

Connector
Application Function
pin No.
1 E5V
Encoder power supply output
2 E0V (NOTE 1)
Not yet determined 3 Do not connect
Not yet determined 4 Do not connect
Encoder signal I/O 5 PS
(Serial signal) 6 PS
Frame ground Shell FG
NOTE 1) The EV0 of the encoder power supply output is connected with the control circuit ground linked to the
connector X5 .

No. SR-DSV09521 -7-
4-3 Interface Connector X5 (Molex 529865079)

Common input signals and their functions
Connector I/O signal
Application Code pin No.
Function
interface
- Connected to the [+] terminal of an external DC power supply (12
COM+ 7 to 24 V) -
- Use a 12 V (±5%) to 24 V (±5%) power supply.
Control signal power
supply - Connected to the [-] terminal of an external DC power supply
(12 to 24 V).
COM− 41 -
- The power supply capacity varies depending on the configuration
of the I/O circuits. 0.5 A or higher capacity is recommended.
- Connecting this signal to COM- provides the Servo-ON status
(motor is energized).
- After transition to the Servo-ON status, wait for at least 100 ms
until pulse command input.
- If the connection to COM- is opened, the system goes to the
Servo-OFF status. (Power to the motor is interrupted.)
- The dynamic brake action and the clearance operation of the
deviation counter in the Servo-OFF status can be selected by Pr. 69
Servo-ON input SRV-ON 29 i-1
(sequence at Servo-OFF) .
<CAUTION>
1. The Servo-ON input becomes valid approx. 2 seconds after
power-on. (See the timing chart.)
2. Do not start or stop the motor by using the Servo-ON/OFF
signal.
3. Do not input the pulse command for at least 100ms after
Servo-ON.
- CW overtravel inhibit input (CWL).
- Connect so as to open COM-connection when movable part of the
equipment exceeds the movable range in CW direction.
- When this input is open, torque in CW direction is not generated.
CW overtravel - When Pr.04 (overtravel input inhibit) is set to 1, CWL input is
CWL 8 disabled. Setting value before shipment: Disabled (1) i-1
inhibit input
- Pr.66 (error response at overtravel limit) can be used to select the
operation when CWL input is enabled. The default value at the
time of delivery is set to the quick stop by means of the dynamic
brake (Pr.66 is 0).

No. SR-DSV09521 -8-

Function
interface
- CCW overtravel inhibit input (CCWL).
- Connect so as to open COM-connection when movable part of the
equipment exceeds the movable range in CCW direction.
- When this input is open, torque in CCW direction is not generated.
CCW overtravel - When Pr.04 (overtravel input inhibit) is set to 1, CCWL is disabled.
CCWL 9 Setting value before shipment: Disabled (1) i-1
inhibit input
- Pr.66 (error response at overtravel limit) can be used to select the
operation when CCWL input is enabled. The standard value
before shipment is set to the quick stop by means of the dynamic
brake (Pr.66 is 0).
- Function varies depending on the control mode.
- Deviation counter and full-closed deviation
counter are cleared (CL).
- By connecting with "COM-", the deviation
counter and full-closed deviation counter are
cleared
- Clear mode can be selected via Pr.4E (counter
clear input).
Pr.4E Function
While CL is connected to
COM-, the deviation
Deviation counter Position control 0 counter and full-closed
clear deviation counter are
CL cleared.
When the connection of
or CL is changed from
30 i-1
1[standard value Open to COM-, the
before shipment] deviation counter and
Internal command
INTSPD2 full-closed deviation
speed selection 2 counter are cleared only
input once.
2 CL is disabled.
- Internal command speed selection 2 input

(INTSPD2).
- Internal 8-step speed can be set in
Speed control combination with INH/INTSPD1 input and
DIV/INTSPD3 input. Refer to Internal speed
selection for setting procedure.
Torque control - Disabled

- Command pulse input inhibit (INH).
- By disconnecting from "COM-", position
command pulse is ignored.
- By setting to "Pr.43" (command pulse inhibit
Command pulse Position control input invalidation), it is disabled.
input inhibit input INH Pr.43 Function
0 INH is enabled
or 1 [standard value before
INH is disabled
33 shipment] i-1
Internal command - Internal command speed selection 1 input
speed selection 1 INTSPD1 (INTSPD1).
input - Internal 8-step speed can be set in
Speed control combination with CL/INTSPD2 input and
DIV/INTSPD3 input. Refer to Internal speed
selection for setting procedure.
Torque control - Disabled

No. SR-DSV09521 -9-

Function
interface
- The zero speed clamp input (ZEROSPD) is on.
Connection
Pr.06 Function
with COM-
ZEROSPD input does not
0 X
operate.
Open Speed command is 0.
1
Speed zero clamp Connected Normal operation
Speed control Speed command
input Open
ZEROSPD direction is CCW.
2
Speed command
Connected
or direction is CW.
26 i-1
- In the case of torque control, ZEROSPD does
Vibration not operate when Pr.06 is 2.
suppression - The vibration suppression control switching input
VS-SEL
switching control (VS-SEL) is on.
input - In case Pr.24 (vibration suppression filter
switching selection) is 1, the 1st vibration
Position control suppression filters (Pr.2B, Pr.2C) become
enabled when this input is open, and the second
vibration suppression filters (Pr.2D, Pr.2E)
become enabled when this input is connected to
COM-.
- Pr.03 (torque limit selection) and Pr.30 (2nd gain action set up) are
used to change the function.
Connection
Pr. 03 Pr. 30 Function
to COM-
Speed loop: PI (proportional/integral)
Opened
0 action
Gain switching Connected Speed loop: P (proportional) action
input GAIN When Pr. 31, Pr. 36 is set to "2":
1st gain selection
0-2 Opened
or 27 (Pr. 10, 11, 12, 13, 14) i-1
1 2nd gain selection
Connected
Torque limit TL-SEL (Pr. 18, 19, 1A, 1B, 1C)
switching input When Pr. 31, Pr. 36 is not set to "2":
Disabled
- Torque limit switching input is on.
- Pr.5E (1st torque limit) becomes enabled when this
3 ×
input is open, and Pr.5F (2nd torque limit) becomes
enabled when the input is connected to COM-.
- For details of the 2nd gain switching function, refer to Section 11.
- Connecting this signal to COM - at 120 ms or longer intervals cancels
the alarm condition.
Alarm clear input A-CLR 31 - The deviation counter is cleared when the alarm is cleared. i-1
- Some alarms cannot be cancelled with this input. For details, refer to
Section 8.
Function varies depending on the control mode.
- The input of internal command speed selection 3
(INTSPD3) is on.
- The internal speed can be set at 8 different speeds in
Speed control combination with INH/INTSPD1 input and
CL/INTSPD2 input. For details, refer to the internal
Command scaling
speed selection.
switching input Torque control - Disabled
DIV
- Numerator of the command pulse ratio can be
or switched.
28 - By connecting with "COM-", the command division i-1
gradual increase numerator is switched from Pr.48 (1st
Input of internal Position control numerator of command pulse ratio) to Pr.49 (2nd
INTSPD3
command speed numerator of command pulse ratio).
selection 3 As for selecting the command division
- Gradual increase 2, refer to Selecting numerator of
command pulse ratio.
<Caution>
Do not input any command pulse for 10 ms before/after switching.

No. SR-DSV09521 - 10 -
Selecting numerator of command pulse ratio
- Position control
X5
Pin 28: Command pulse ratio setup
DIV
Multiplier of numerator of
Numerator of 1st command pulse ratio (Pr. 48) × 2 command pulse ratio (Pr. 4A) or Encoder resolution *
Opened Denominator of command pulse ratio (Pr. 4B) Number of command pulses per revolution (Pr.4B)
*Automatically set by setting Pr.48 to 0.
Multiplier of numerator of
Short- Numerator of 2nd command pulse ratio (Pr. 49) × 2 command pulse ratio (Pr. 4A) or Encoder resolution *
circuited Denominator of command pulse ratio (Pr. 4B) Number of command pulses per revolution (Pr.4B)
*Automatically set by setting Pr.49 to 0.
Internal speed selection

X5 connector pin No. Pr. 05 (Internal/speed switching)
Pin 33 Pin 28
Pin 30
INTSPD1 INTSPD3 0 ★ 1 2 ★ 3
INTSPD2 (CL)
(INH) (DIV)
1st internal speed 1st internal speed
Opened Opened Opened
(Pr. 53) (Pr. 53)
2nd internal speed 2nd internal speed
Short-circuited Opened Opened
(Pr. 54) (Pr.54)
3rd internal speed 3rd internal speed
Opened Short-circuited Opened
(Pr. 55) (Pr.55)
Do not set Pr.05 4th internal speed Do not set Pr.05 4th internal speed
Short-circuited Short-circuited Opened
to “0”. (Pr. 56) to “2”. (Pr.56)
1st internal speed 5th internal speed
Opened Opened Short-circuited
(Pr.53) (Pr.74)
2nd internal speed 6th internal speed
Short-circuited Opened Short-circuited
(Pr.54) (Pr.75)
3rd internal speed 7th internal speed
Opened Short-circuited Short-circuited
(Pr.55) (Pr.76)
4th internal speed 8th internal speed
Short-circuited Short-circuited Short-circuited
(Pr.56) (Pr.77)

No. SR-DSV09521 - 11 -
Input signals (pulse train commands) and their functions
The most suitable interface can be chosen from 2 different interfaces in the specification of a command pulse.
A. Pulse train interface dedicated to line driver

Function
interface
PULSH1 44 - Means an input terminal for the position command pulse. It can be
Command pulse selected by setting Pr.40 (command pulse input selection) to 1.
input 1 - Becomes disabled in the control modes, for which no position
PULSH2 45 command is required, such as the speed control.
- The maximum allowable input frequency is 2 Mpps.
SIGNH1 46 - Pr.41 (command pulse direction of rotation set up) and Pr.42
Di-2
(command pulse input mode) can be used to select 6 different
input modes for a command pulse. For details, refer to the
Command sign
command pulse input mode stated below.
input 1
SIGNH2 47 1) 2-phase (A-phase/B-phase) input
2) CW (PULS)/CCW (SIGN) pulse input
3) Command pulse (PULS)/Sign (SIGN) input
B. Pulse train interface

Function
interface
- Means an input terminal for the position command pulse. It can be
OPC1 1 selected by setting Pr.40 (command pulse input selection) to 1.
- Becomes disabled in the control modes, for which no position
Command pulse command is required, such as the speed control.
PULS1 3
input 2 - The maximum allowable input frequency is 500kpps at the time of
the line driver input, and 200kpps at the time of the open collector
PULS2 4 input. Di-1
- Pr.41 (command pulse direction of rotation set up) and Pr.42
(command pulse input mode) can be used to select 6 different
OPC2 2 input modes for a command pulse. For details, refer to the
command pulse input mode stated below.
Command sign 1) 2-phase (A-phase/B-phase) input
SIGN1 5
input 2 2) CW (PULS)/CCW (SIGN) pulse input
3) Command pulse (PULS)/Sign (SIGN) input
SIGN2 6

No. SR-DSV09521 - 12 -
Command pulse input mode

Pr.41 Pr.42
(command (Comman
pulse d pulse Command pulse Signal
direction input CCW command CW command
mode name
setup) mode )
set value set value
t1 t1 t1 t1
Phase A
“0” 2-phase pulse with PULS
or 90° phase difference
(Phase A + Phase B)
“2” SIGN Phase B
t1 t1 t1 t1
Phase B precedes Phase A by 90°. Phase B delays from Phase A by 90°.
PULS
CW pulse train + t3 t2 t2
“0” “1” CCW pulse train
SIGN
t2 t2
Pulse train PULS

t4 t5 t4 t5
“3” +
Sign ‘L’
SIGN ‘H’
t6 t6 t6 t6
t1 t1 t1 t1
“0” Phase A
2-phase pulse with PULS
or 90° phase difference
(Phase A + Phase B)
“2” SIGN Phase B
t1 t1 t1 t1
Phase B delays from Phase A by 90°. Phase B precedes Phase A by 90°.
PULS
CW pulse train + t2 t2 t3
“1” “1” CCW pulse train
SIGN
t2 t2
Pulse train PULS

t4 t5 t4 t5
“3” +
Sign ‘L’ ‘H’
SIGN
t6 t6 t6 t6
Pulse train is taken in by the rising edge when Pr.42 is 1 or 3.

Pulse train is taken in by the every edge when Pr.42 is 0 or 2.
* As for the polarity of PULS and SIGN, also refer to the Pulse Train Command in item 5-3, Precautions for
Wiring.
A. Pulse train interface B. Pulse train interface
dedicated to line driver Line driver interface Open-collector interface
t1 500 ns or more 2 µs or more 5 µs or more
t2 250 ns or more 1 µs or more 2.5 µs or more

No. SR-DSV09521 - 13 -
Common output signals and their functions

Function
interface
ALM+ 37
Servo alarm output The output transistor turns OFF at occurrence of an alarm. o-1
ALM- 36
S-RDY+ 35 This output turns ON when the control/main power supply is activated
Servo ready output o-1
S-RDY- 34 and no alarm occurs.
- Defines the timing to activate the electromagnetic brake for the
motor.
- When the electromagnetic brake is released, the output transistor
BRK-OFF
11 turns ON.
Brake release signal + o-1
10 - Output timing of this signal can be set by Pr.6A (mechanical break
BRK-OFF-
delay at motor standstill) and pr.6B (Mechanical break delay at
motor in motion).
For details, see the timing chart.
- Select the output signal by setting Pr. 0A (ZSP output selection).
Zero speed detected ZSP 12 - The standard default setting is "1". (The zero speed detection signal is
o-2
signal (COM-) (41) output.)
- See TLC, ZSP output selection.
- Select the output signal by setting Pr. 09 (TLC output selection).
Torque limited signal TLC 40 - The standard default setting is "0". (The torque limit control signal is
o-2
output (COM-) (41) output.)
- See TLC, ZSP output selection.
Function varies depending on the control mode.
- Positioning completion output (COIN).

In-position COIN+ - When the absolute value of the position
deviation pulse is less than a set value of Pr.60
COIN- Position control
39 (in-position range), output transistor turns ON.
or - Pr.63 (in-position output set up) can be used to o-1
38
AT-SPEED+ select an input method.
At-speed output AT-SPEED- - Achieved speed output (AT-SPEED).
Internal speed - When actual speed of motor exceeds a set
control value of Pr.62 (at-speed), output transistor
turns ON.

No. SR-DSV09521 - 14 -
TLC, ZSP output selection

Value of
X5 TLC: output of 40-pin X5 ZSP: output of 12-pin
Pr.09,Pr.0A
Torque limited output (Standard value before shipment: X5 TLC Pr.09)
0
The output transistor is turned on when the torque limit restricts a torque command at servo-on.
Zero speed detection output (Standard value before shipment: X5 ZSP Pr. 0A)
1
The output transistor is turned on when a motor speed is lowered to a value less than that set by Pr.61.
Alarm signal output
2 When any over regeneration alarm, overload alarm, battery alarm, fan lock alarm or external scale alarm
is raised, the output transistor is turned on.
Over regeneration alarm
3 The output transistor is turned on when an over regeneration load reaches 85% or more of the protective
alarm level.
Overload alarm
4
The output transistor is turned on when an overload reaches 85% or more of the alarm level.
Battery alarm
5 The output transistor is turned on when the voltage of an absolute encoder battery reaches about 3.2V or
less.
Fan lock alarm
6
The output transistor is turned on when the fan stops for 1 second or more.
7 ★ Do not set Pr.09 and Pr.0A to “7”.
Speed conformance output (V-COIN)

The output transistor is turned on when the difference between a speed command before acceleration or
8
slowdown and the speed of a motor falls within the set value of Pr.61. It is enabled at the time of the
speed control only.
Output signal (pulse train) and function

Application Code pin No. Function
interface
- Division-processed encoder signal or external scale signal (A/B/Z-phase) is
OA+ 21 output in differential mode. (RS422)
A-phase output - Pr.44 (numerator of output pulse ratio) and Pr.45 (denominator of output
OA- 22 pulse ratio) can be used to set the division ratio.
- Pr.46 (pulse output logic inversion) can be used to select the logic relation of
OB+ 48 phase B with regard to the pulse of phase A, and its output source.
B-phase output - When using an external scale signal as its output source, Pr.47 (Z-phase of Do-1
OB- 49 external scale setup) can be used to set the interval periods of outputs for
phase Z pulse.
OZ+ 23 - Ground of line driver of the output circuit is connected to signal ground
Z-phase output (GND); not insulated.
OZ- 24 - The maximum output frequency is 4 Mpps (after being multiplied by 4).
- Open collector output of Z-phase signal.

Z-phase output CZ 19 - Emitter side of the transistor of the output circuit is connected to signal Do-2
ground (GND); not insulated.
Pr .44
- Phase Z is output in synchronization with phase A when encoder resolution multiplied by Pr .45 is in
multiples of 4, but otherwise, the width of phase Z is narrower than that of phase A as it is output based on
encoder resolution, and does not synchronize with phase A.
When encoder resolution
Pr.44 multiplied by When encoder resolution
Pr.44 multiplied by
ｴﾝｺｰﾀﾞ分解能×
Pr .44 が 4 の倍数ｴﾝｺｰﾀﾞ分解能×
Pr .44 が 4 の倍数でない
is in multiples
Pr.45of 4 is not in multiples
Pr.45 of 4
Pr .45 Pr .45
A A
B B
Z Synchronized
同期 Z Out of synchronization
非同期
Note) In the case of 5-core 2500P/r incremental encoder, the pulse position may be displaced until the first
phase Z is output. When using phase Z as a control signal, use the second signal or others available
thereafter.

No. SR-DSV09521 - 15 -
Output signal (analogue) and function

Application Code pin No. Function
interface
Meaning of the output signal varies depending on Pr.07 (speed monitor
(SP）selection) .
Meaning of
Pr.07 Function
signal
- Voltage proportional to the rotation speed
of the motor is output with polarity.
Motor rotation
0-4 +: rotate in CCW direction
Speed monitor speed
SP 43 -: rotate in CW direction Ao-1
Signal output - Scaling can be set via a value of Pr.07.
- Voltage proportional to the rotation
speed of the motor is output with
polarity.
5-9 Command speed +: rotate in CCW direction
-: rotate in CW direction
- Scaling can be set via a value of Pr.07.
Meaning of the output signal varies depending on Pr.08 (torque monitor

(IM) selection).
Meaning of
Pr.08 Function
signal
- Voltage proportional to the torque generated by
the motor or position deviation is output with
polarity.
0, 11, Torque
+: torque is generated in CCW direction.
12 command
-: torque is generated in CW direction.
- The value of Pr.08 can be used to set the
scaling.
Torque monitor - Voltage proportional to the number of position
IM 42 deviation pulses is output with polarity. Ao-1
Signal output
+: position command is in CCW direction of
Position
1-5 the motor position.
deviation
-: position command is in CW direction of the
motor position.
- Scaling can be set via a value of Pr.08.
6 – 10 Full-closed
Do not set Pr.08 to 6-10.
★ deviation
Others

Function
interface
Frame ground FG 50 - Internally connected to the ground terminal. -----
13, 15, - Signal ground
Signal ground GND -----
17, 25 - Internally insulated from the control signal power supply (COM-).

No. SR-DSV09521 - 16 -
I/O signal interface
i–1 o–1
4.7K
7 Ｒ＋
VDC VDC 50 mA or less
12-24V 12-24V -
Or
+: Pins 37, 35, 39 and 11 −: Pins 36, 34, 38 and 10
NOTE) To activate the relay directly, connect a diode
VDC
in parallel with the relay, in the direction shown
12-24V 7 above.
4.7K
o–2
Ai – 1 Ｒ＋
VDC 50 mA or less
±10V MAX
20K 12-24V 41
SPR/TRQR
14 -
+
GND +: Pins 40 and 12
15
NOTE) To activate the relay directly, connect a diode in
parallel with the relay, in the direction shown
above.
Ai – 2 Ao – 1
±10V MAX
-
10K
+
1K -
+
3.83K
GND GND
17 25
The maximum of output signal amplitude is ±10V.
Di – 1 Do – 1
AM26LS31or equivalent
＜Line driver＞ 3.5 ＋
H/L
H/L
220
4.6 −
PULS
GND SIGN GND
13 13
＜Open-collector＞ +: Pins 21, 48 and 23 −: Pins 22, 49 and 24

① 12V to 24v power supply with external resistors
Vp-1.5
Do – 2
≈ 10mA
R+220 2.2k
1.2
3.5 L/H
R 220
Vp
ON/OFF
4.6 VDD 30V MAX
12-24V 10mA PULS
GND SIGN
13
CZ
50mA MAX
19
② 24v power supply without an external resistors
GND
17
2.2k
1.2
3.5 L/H
220
ON/OFF
4.6
24V
PULS
GND SIGN
13

No. SR-DSV09521 - 17 -
Di – 2
AM26C32 相当品
AN26C32 or equivalent
2K 43K
H/L 44 H/L
46
220
2K
45
PULS
47
Twisted ﾂｲｽﾄﾍﾟｱ
pair cable 43K SIGN
GND
13

No. SR-DSV09521 - 18 -
4-4 RS232C Communication Connector X4 (JST MD-S8000-10 or equivalent)
4-5 RS485 Communication Connector X3 (JST MD-S8000-10 or equivalent)
Parameter setting/alteration, control status monitoring, error status/record reference and

parameter saving/loading etc. are available by means of a serial communication with a PC or
upper NC via RS232C /RS485 or equivalent.
Also, setup support software PANATERM and communication cable are available.
As for information on operation of the setup support software PANATERM, refer to the
user's manual of the PANATERM.
- PANATERM (WIN98/NT/2000/XP) DVOP4230 (Japanese)

DVOP4240 (English)
- PC connection cable (for DOS/V) DVOP1960
- PC connection cable (for PC98) DVOP1160
★ 4-6 External scale connector X7

You cannot use the connector X7 .

No. SR-DSV09521 - 19 -
5. Wiring
5-1 Cables Specifications and Maximum Cable Length
Maximum
Name Code Specifications
cable length
Conforms to "Specifications by Model" on
Main power supply L1, L2, L3 -----
separate sheets.
Control power supply L1C, L2C/r, t ----- HVSF 0.75mm2
Motor connection cable U, V, W 20 m
separate sheets. (NOTE)
Ground cable 1m
separate sheets.
Encoder connection cable X6 20 m
Shielded twisted pair cable
Core wire: 0.18 mm2 or more
I/O cable X5 3m
NOTE) To use the connector (172167-1 or 172159-1) manufactured by Tyco Electronics AMP as a motor
intermediate connector, the maximum cable size is 1.3 mm2.
5-2 I/O Connector, Encoder Connector and External scale connector
Connector code Part name Part No. Manufacturer
55100 – 0600
X6 Connector or
55100 – 0670
54306 – 5011 Molex

Solder plug
or
(Solder-mounting type)
X5 54306 – 5019
Shell kit 54331 – 0501
Use the above or equivalent parts.

No. SR-DSV09521 - 20 -
5-3 Precautions for Wiring

(1) Connecting cables to the power connectors and the terminal block
Type A to Type B
Built-in thermal protector of

external regenerative
discharge resistor
ON OFF ALM
MC
MC
Surge absorber
Noise filter
NFB MC L
X1
L1
Single-phase 主電源power
Main
L3
supply
L1C
L2C Control
制御電源
power supply
External regenerative
discharge resistor
X2
RB1
RB3
Red 1 1 RB2
White U
2 2 Motor
モータ接続
V
Black 3 3 connections
W
Green 4 4
172159-1
Manufactured by Tyco
Electronics AMP
172167-1
Electronics AMP
ALM X5
37
ALM+
DC12 - 24V(±10%)
36 ALM-

No. SR-DSV09521 - 21 -
Type C to Type D

external regenerative discharge resistor
Single-phase ON OFF ALM
MC
- To use a single-phase power supply, MC

be sure to connect the power supply
between the L1 and L3 terminals. Surge absorber
NFB MC L
X1
Noise filter
L1
3-phase L2 Main power
L3 supply
L1C
Control power
L2C
supply
外付回生抵抗
discharge resistor
通常接続
Normally connected
X2
RB1
RB3
Red 1 1 RB2
White 2 2
U
Black V Motor
3 3 W connections
Green 4 4
172159-1
Electronics AMP
172167-1
Electronics AMP
ALM
X5
37
ALM+
DC12 - 24V(±10%)
36 ALM-
* To use with servo motor other than MSMD, MAMA and MQMA refer to the table below.
モータ部
Motor connectors
ＧＨＡＡＢＣ
ＤＡ
ＦＩＢＤＥＦ
ＣＢ
ＥＤＣＧＨＩ
JL04V-2E20-4PE-B
JL04HV-2E22-22PE-B JL04V-2E20-18PE-B JL04V-2E24-11PE-B
PIN 用途 PIN 用途 PIN 用途

PIN Usage PIN Usage PIN Usage
ＡＵ相ＧブレーキＡブレーキ
A U-phase G Brake A Brake
ＢＶ相ＨブレーキＢブレーキ
B V-phase H Brake B Brake
ＣＷ相ＡＮＣＣＮＣ
C W-phase A NC C NC
ＤアースＦＵ相ＤＵ相
D Ground ＩF U-phase
Ｖ相ＥD U-phase
Ｖ相
ＢI V-phase
Ｗ相ＦE V-phase
Ｗ相
ＥB アース
W-phase Ｇ F アース
W-phase
ＤE アース
Ground ＨG アース
Ground
ＣD ＮＣ
Ground ＩH ＮＣ
Ground
C NC I NC

No. SR-DSV09521 - 22 -
Type E to Type F

external regenerative ON OFF ALM
discharge resistor MC
MC
Surge absorber
NFB MC L
L1
Main power
Noise
filter
3-phase L2 supply
L3
ｒ Control
ｔ power
supply
Normally connected Ｐ
B1
discharge resistor
B2
Red Ｕ
White Ｖ
Motor
connect-
Black
Ｗ ions
Green
ALM
37
ALM+
VDC
12∼24V 36
ALM-
Built-in thermostat of external

regenerative discharge resistor.
Motor connectors
ＧＨＡＡＢＣ
ＤＡ
ＦＩＢＤＥＦ
ＣＢ
ＥＤＣＧＨＩ
JL04V-2E20-4PE-B
JL04HV-2E22-22PE-B JL04V-2E20-18PE-B JL04V-2E24-11PE-B
PIN
PIN 用途
Usage PIN
PIN 用途
Usage PIN
PIN 用途
Usage
ＡA Ｕ相
U-phase Ｇ G ブレーキ
Brake Ａ
A ブレーキ
Brake
ＢB Ｖ相
V-phase Ｈ H ブレーキ
Brake Ｂ
B ブレーキ
Brake
ＣC Ｗ相
W-phase Ａ A ＮＣ
NC Ｃ
C ＮＣ
NC
ＤD アース
Ground Ｆ F Ｕ相
U-phase Ｄ
D Ｕ相
U-phase
ＩI Ｖ相
V-phase Ｅ
E Ｖ相
V-phase
Ｂ B Ｗ相
W-phase Ｆ
F Ｗ相
W-phase
Ｅ E アース
Ground Ｇ
G アース
Ground
Ｄ D アース
Ground Ｈ
H アース
Ground
Ｃ C ＮＣ
NC Ｉ
I ＮＣ
NC

No. SR-DSV09521 - 23 -
1) When using the servo driver in type C and D by using a single phase power input, connect it with L1 and L3
of the main power input terminal. Do not make any connection with L2 terminal.
2) To connect a cable to each terminal on the terminal block, be sure to use crimp terminals with insulation
shield.
3) The terminal block cover is screw-mounted. To connect cables to the terminal block, remove the screws,
and open the cover.
4) If an external regenerative discharge resistor is not used, short-circuit the RB2 (B1) and RB3 (B2) terminals.
If the circuit trips due to the regenerative discharge resistor overload protection error (Err. 18), an external
regenerative discharge resistor must be connected. To connect an external regenerative discharge resistor,
remove the cable between the RB2 (B1) and RB3 (B2) terminals, and connect an external regenerative
discharge resistor between the RB1 (P) and RB2 (B2) terminals. Normally with A4 Series Type A and Type
B, RB3 and RB2 need not to be short-circuited, since Type A and Type B are only intended to connect an
external regenerative discharge resistor. However, if the circuit trips due to the above error, connect an
external regenerative discharge resistor between RB1 and RB2. To use an external regenerative discharge
resistor, set the Pr.6C(External regenerative resistor set up) to other than 0.
5) A voltage indicated on the identification plate should be applied to the power supply.
6) Do not connect the power supply input terminals (L1, L2 and L3) and the motor output terminals (U, V and
W) in reverse.
7) Do not ground or short-circuit the motor output terminals (U, V and W).
8) Never touch the power connectors X1 , X2 and terminal block, because a high voltage is applied to
these connectors. Otherwise, you may get an electric shock.
9) Suitable for use on a circuit capable delivering no more than 5000A rms symmetrical amperes, 240 volts
maximum for models of 750W or more, when protected by a circuit breaker with a maximum rating of 20A.
10) The AC servo motor's rotating direction cannot be changed by exchanging its three phases like induction
motors. Be sure to match the servo driver's motor output terminals (U, V and W) with its cable colors (or
pin numbers, if cannon plugs are provided).
11) Connect the motor's ground terminal with the servo driver's ground terminal securely to provide one-point
grounding together with the noise filer's ground terminal. Also, the machine body must be grounded.
Ensure Class 3 grounding (ground resistance: 100Ω or less). (To avoid electrolytic corrosion, make sure
that aluminum and copper are not in contact with each other.)
12) To prevent noise interference, insert a surge absorber circuit into the electromagnetic contactor, relay
contacts, coils and brake wiring of the motor with brake located around the servo driver.
13) Be sure to provide a non-fuse breaker to interrupt the power outside the servo driver in emergency.
If an earth leakage breaker is used, select a breaker that withstands microwave noise.
14) To reduce a noise voltage on each terminal, provide a noise filter.
15) The brake power supply for the motor with brake should be prepared by the user.
16) After completion of the wiring, apply a voltage to the power supply.
(*) As for external regenerative resist, it is recommended to use the following resist.
Input power voltage
Single-phase 200 V
type Single-phase 100V
/three-phase 200 V
A DV0P4280 DV0P4281
B DV0P4283 DV0P4281
C DV0P4282 DV0P4283
D DV0P424
DV0P4284:2(parallel)
E ―― or
DV0P4285
F DV0P4285:2(parallel)
Manufacturer: Iwaki Radio Laboratory Co., Ltd.

No. SR-DSV09521 - 24 -
Specifications Built-in Built-in

Option Manufacturer Rated power(reference) Thermal protector temperature
part code model Resist Free Temperature of operation fuse
Fan use[W]
value air Temperature of operation
Ω W 1m/s 2m/s 3m/s
DV0P4280 RF70M 50 10 25 35 45 140±5℃
DV0P4281 RF70M 100 10 25 35 45 B-contact
DV0P4282 RF180B 25 17 50 60 75 Open/close capacity 219±3℃
DV0P4283 RF180B 50 17 50 60 75 (Resistive load)
DV0P4284 RF240 30 40 100 120 150 4A 125VAC 10,000times
2.5A 250VAC
DV0P4285 RH450F 20 52 130 160 200
10,000times
For safety reasons, the external regenerative resistor has a built-in temperature fuse and a thermal protector.
The built-in temperature fuse may be disconnected depending on heat dissipation conditions, range of use
temperatures, supply voltage, and load variations. Please set the driver on the machine and be sure to check
the operations in the bad conditions (high power supply voltage, high load inertia, or short slowdown time)
that it is easy to regenerate so that the surface temperature of the regenrative resistor becomes 100℃ or less.
Compose such a power supply as to turn the power off when the thermal protector is off.

No. SR-DSV09521 - 25 -
<Connecting cables to the terminal block>

Connect cables to the power connectors X1 and X2 according to the following the procedure.
Wiring procedure
1. Unsheathe the cable to be used.
8 - 9 mm
2. Plug the cable in the connector. To plug the cable, the following two methods are available:
(a) Insert the cable by using the supplied operation lever.
(b) Insert the cable by using either a flat-blade screwdriver (blade tip width: 3.0 - 3.5 mm) or the
dedicated screwdriver (210-120J, 210-350/01, 270-258J, manufactured by WAGO JAPAN).
(a) When using the operation lever
1) Push the operation lever 2) While pressing the operation 3) Releasing the lever
located in the upper lever, insert the cable into the completes the cable
operation slot with your cable insertion hole (round connection.
finger to lower the hole) until it reaches the
spring. innermost of the hole.
(b) When using a screwdriver (II)
1) Put the dedicated 2) Insert the 3) Releasing the lever

screwdriver in the upper properly-unsheathed cable completes the cable
operation slot, and push into the cable insertion hole connection.
it to lower the spring. (round hole) until it reaches
the innermost of the hole.
* The cable can be disconnected from the connector in the same manner as the above procedure.
CAUTION
- Unsheathe the cable exactly by the specified length.
- Before connecting a cable into the connector, remove the connector from the servo driver.
- Only one cable can be inserted into one insertion hole of the connector.
- Be careful of injury when using a screw driver.

No. SR-DSV09521 - 26 -
(2) Connecting cables to connector X5

1) The 12 to 24 V DC control signal power supply connected between the COM+ and COM- terminals
should be prepared by the user.
2) Place the servo driver and peripheral equipment at the shortest distance as possible (3 m or less), to
minimize the connection cable length.
3) Place the control signal cables away from the power cables (L1, L2, L3, L1C(r), L2C(t), U, V, W and
Ground) as far as possible (at 30 cm or longer distance). Do not place the control signal cables in the
same conduit as the power cables, or bundle these cables together.
Control input
COM+
7
4.7k
INH
33
4.7k
CL
30
4.7k
SRV-ON
29
4.7k
GAIN
27
4.7k
DIV
28
4.7k
VDC ZEROSPD
26
12-24V
4.7k
C-MODE
32
4.7k
A-CLR
31
4.7k
CCWL
9
4.7k
CWL
8
Servo driver side
CN X5

No. SR-DSV09521 - 27 -
Control output
4) Be careful of the polarity of the control signal power supply. Connecting the power supply with
reverse polarities will damage the servo driver. (See the figure above).
5) To activate the relay directly with each output signal, be sure to connect a diode in parallel with the
relay, in the direction shown below. If the diode is not connected or connected in the reverse direction,
the servo driver will be damaged.
6) If each output signal is received by a logic circuit such as a gate, pay attention to prevent noise
interference.
7) Make sure that the current of each output signal does not exceed 50 mA.
MAX 50mA S-RDY+

35
S-RDY
S-RDY- 34
MAX 50mA ALM+ 37

ALM
ALM- 36
MAX 50mA COIN+ 39

COIN
COIN- 38
MAX 50mA BRK-OFF+

11
BRK-OFF
BRK-OFF- 10
MAX 50mA TLC 40

TLC
(Standard default setting)
MAX 50mA ZSP 12

VDC
12∼24V
12 - 24 V ZSP
(Standard default setting)
COM- 41
Servo driver side
CN X5

No. SR-DSV09521 - 28 -
Pulse train command
A. Pulse train interface dedicated to line driver
43K 43K
H/L PULSH1 2K H/L
44
PULS
220
PULSH2
45
2K
SIGNH1 2K
46
SIGN
220
SIGNH2
47
2K
43K 43K
ツイストペア
Twisted pair cable
13
サーボアンプ側
Servo driver side
B. Pulse train interface
The pulse train command input is applicable to both the line driver interface and the open-collector
interface. However, we recommend that the input signal should be connected to the line driver
interface, to increase the signal transmission reliability.
Note that the cable connections to the servo driver are different depending on whether the line driver or
open-collector interface is used.
• Line driver interface
H/L PULS1 H/L

3
PULS
PULS2
4
220
SIGN1
5
SIGN
SIGN2
6
220
ツイストペア
Twisted pair cable
13
Servo driver side
CN X5

No. SR-DSV09521 - 29 -
• Open-collector interface
Vp-1.5
R+220 ≈10mA
3 PULS
L/H
R
ON/OFF
4 220
Vp
12∼24V 5 SIGN
R
6 L/H
ON/OFF 220
13
Servo driver side
CN X5
1 PULS
2.2k L/H
4
ON/OFF 220
Vp
24V 2 SIGN
2.2k
6 L/H
ON/OFF 220
13
Servo driver side

CN X5 サーボアンプ側
NOTE) Precautions for connecting command pulse input to the open-collector interface
- Set the cable length as short as possible (1 m or less).

- With the open-collector interface, the maximum input pulse frequency is 200 kpps, which is smaller
than the pulse frequency for the line driver interface (500 kpps).

No. SR-DSV09521 - 30 -
Rotary encoder feedback pulse
AM26C32 or equivalent AM26C31 or equivalent

OA+
OA
21
A
OA-
22
Scaling circuit
OB+
48
OB B
OB-
49
OZ+
23
OZ Z
OZ-
24
46
47
GND
25
Twisted pair cable
CZ
19
CN X5 Servo driver side
NOTE)
1) Only the Z-phase signal will be output through the line driver interface, and also output from Pin 19
(CZ) of the open-collector interface. To use the CZ signal, pay attention to prevent noise interference.
2) To receive output pulses, use the line receiver (AM26C32 or equivalent). To do so, provide a proper
termination resistor (approx. 330Ω) between the line receiver's input terminals.
3) Note that the logic of the Z-phase signal of the line driver output (OZ) is reverse to that of the
open-collector output (CZ).
4) Set the maximum output frequency to 4Mpps or less (after being multiplied by 4).

No. SR-DSV09521 - 31 -
(3) Connecting cables to connector X6

1) For the encoder cable, use a shielded twisted pair cable with strand core size of 0.18 mm2 or more.
2) The allowable cable length is 20 m max. To use a long cable for the 5 V power supply, double-wiring
is recommended to reduce the influence of a voltage drop.
3) Connect the sheath of the shielded cable in the motor side to the shield terminal for the shielded cable
from the encoder. Be sure to connect the sheath of the shielded cable in the servo driver side to the
shell of X6 (FG).
4) If the cannon plug is provided, connect the encoder's shielded cable in the motor side to the J terminal.
5) Place the encoder cables away from the power cables (L1, L2, L3, L1C(r), L2C(t), U, V, W and
Ground) as far as possible (at 30 cm or longer distance). Do not place the encoder cables in the same
conduit as the power cables, or bundle these cables together.
6) Do not connect a cable to the unused pins of X6 .
7-core absolute encoder
White 7 1 +5V
Regulator
E5V
Black 8 2 0V
E0V
3
4
1 電池
Battery
Red 5 PS
Pink 2 6 PS
Light blue 4
Purple 5
Yellow/Green 3
Twisted pair
172169-1 172161-1 cable
Manufactured by Tyco Manufactured by Tyco
Electronics AMP Electronics AMP
Servo motor
Intermediate cable
Motor side Servo driver side
Connect the absolute encoder battery (Recommended item: 3.6V ER6V made by Toshiba Battery) between
1P and 2P of the relay connector. Users shall prepare the battery holder and the cables shown in the
connection chart.
Cannon plug Pin No.
H 1 +5V
Regulator
E5V
G 2 0V
E0V
3
4
T 電池
Battery
5
PS
S 6 PS
K
L
J
Straight plug MS3106B20 29S

Cable clamp MS3057-12A Twisted pair
Manufactured by Nihon AMP cable
Servo motor
Intermediate cable
Connect the absolute encoder battery (recommended item: 3.6V ER6V made by Toshiba Battery) between T
and S of Cannon plug.
Users shall prepare the battery holder and connection cables.

No. SR-DSV09521 - 32 -
5-core incremental encoder
1 +5V
Regulator
E5V
2 0V
E0V
White
4 3
Black 5 4
5 PS
Light blue 6 PS
2
Purple 3
6
Shielded cable Twisted pair

172168-1 172160-1 cable
Manufactured by Tyco Manufactured by Tyco
Electronics AMP Electronics AMP
Servo motor
Intermediate cable
Cannon plug Pin No.
H 1 E5V +5V Regulator

G 2 0V
E0V
3
4
K 5
PS
L 6
PS
Straight plug MS3106B20-29S

Cable clamp MS3057-12A Twisted pair
Manufactured by Nihon AMP cable
Servo motor
Intermediate cable

No. SR-DSV09521 - 33 -
<Battery replacement procedure>
The data read by the absolute encoder include the single-revolution data that indicate the motor position per
revolution, and the multi-revolution data that indicate a pulse count per revolution. Since the
multi-revolution data are electrically counted, they will be backed up with a battery.
Leave the control power supply on during battery replacement.
[Precautions for using the absolute encoder backup battery]

A battery voltage drop results in the absolute encoder error. Battery voltage drop is caused by exhausted
service life of the battery, and voltage delay.
1) The battery's service life will be reduced depending on the ambient condition. We recommend that the
battery should be replaced annually.
2) Since the voltage delay phenomenon occurs with the lithium battery due to the minimum transient
voltage, a temporary voltage drop may occur when the battery starts discharging. Therefore, the
battery must be refreshed before use.
Before using the battery unit for the first time

Connect the upper lead wire of the battery unit to its connector. After leaving it for 30 minutes, mount
the battery unit to the servo driver.
After mounting the battery unit

We recommend that the control power supply should be turned ON/OFF about once a day.
(*) We recommended that the battery is refreshed if an external battery is used.

Consult the battery maker regarding the method of refreshing the battery.
<Caution>
[1] Air transportation
It is necessary to file an application for air transportation of dangerous items. (UN package is required
in both passenger planes and cargo planes).
Transport companies are requested to submit necessary documents (parameter sheet, MSDS, etc.) for
air transportation of dangerous materials. These documents should be requested from the dealer.
[2] UN package
Inquire at a transport company for detailed information.
[3] When disposing of a removed battery unit, make sure to insulate its terminal with a tape, etc. and follow
the ordinance by local governments.

No. SR-DSV09521 - 34 -
6. Parameters
Parameter Related Setting
Parameter Name Function/Description
No. control mode range
Defines the RSW (ID) value on the front panel at power-on of the control power
00
Axis address All 0 - 15 supply. This value is used as the axis address for serial communication.
*
The set value of this parameter has no influence on the servo operation.
In the initial condition after turning ON the control power, the following data
displayed on the 7-segment LED can be selected.
0: Positional deviation
1: Motor revolving speed
2: Torque output
3: Control mode
4: I/O signal status
5: Error cause/record
6: Software version
LED display at 7: Warning
01 0 – 12
power up All 8: Regenerative load ratio
* 15,17
★ 9: Overload load ratio
10: Inertia ratio
11: Feedback pulse total
12: Command pulse total
13: You cannot set.
14: You cannot set.
15: Motor auto recognition
16: You cannot set.
17: Causes of no revolution
Refer to sect.9-12 for detailed information of the display.
Select the control mode of the servo driver.
Altered data is enabled when the control power is turned ON.
Pr.02
setting Control mode Code
02 Control mode value
All 0-1 0 Position control P
* ★
1 Speed control S
2-6 You cannot set. -
Note 1) As for item having parameter No. marked with (*), altered data is enabled after resetting of the
control power.
Note 2) As for item having parameter No. marked with (RT), data is altered automatically during executing
real time auto gain tuning. When altering data manually, set Pr.21 (real time auto tuning set up) to
0 to disable the real time auto gain tuning, and then enter new data.

No. SR-DSV09521 - 35 -
Parameter Parameter Related control Setting

Function/Description
No. Name mode range
Defines whether to enable or disable the CW/CCW torque limit input (X5 CWTL: Pin
18, CCWTL: Pin 16).
Set value CCW CW
Torque limit 0 You cannot set.
1 Pr.5E is se to the limit value in CCW and CW directions.
03 Selection P, S 1-3
2 Set by Pr.5E. Set by Pr.5F.
★ When GAIN/TL-SEL input is open: set by Pr.5E.
3
When GAIN/TL-SEL input is short-circuited, set by Pr.5F.
Defines whether to enable or disable the CW/CCW overtravel input inhibit (X5 CWL: Pin 8,
CCWL: Pin 9).
0: In the case of the overtravel input inhibit, will become the sequence set by Pr.66 (Error
04 Overtravel response at overtravel limit).
All 0-2
* input nhibit 1: The overtravel input inhibit is disabled.
2: When the connection of either CW or CCW input inhibit with COM- becomes open, Err38
(overtravel input inhibit protection) occurs.
The changes become enabled when the control power is turned on.
Select the speed command for the speed control mode.
Internal/ 0: You cannot set.
external speed 1: Speed setting (1st to 4th speed) (Pr. 53 to Pr. 56)
05 switching S 1,3
2: You cannot set.
★ 3: Setting of 1st through eighth speed (Pr.53 to 56 and Pr.74 to 77)
To use this parameter, refer to Section 4.
Select the function of the speed zero clamp input (X5 ZEROSPD: Pin 26).
0: Inactivated
ZEROSPD 1: Speed zero clamp
06 S 0-2
input selection 2: Speed command code
Refer to the item 4 before use.
In torque control, the set value 2 means no activation.
Select the output of the analog speed monitor (X5 SP: Pin 43, Front panel).
Speed monitor The value given in ( ) indicates the monitor value at approx. 6 V.
07 All 0-9
(SP) selection 0 to 4: Actual motor speed (0:47, 1:188, 2:750, 3:3000, 4:12000[r/min])
5 to 9: Command speed (5:47, 6:188, 7:750, 8:3000, 9:12000[r/min])
Select the output of the analog torque monitor (X5 IM: Pin 42, Front panel).
Torque monitor The value given in ( ) indicates the monitor value at approx. 3 V.
(IM) selection 0 – 5,11, 0: Torque command (100[%])
08 All
12 1 to 5: Position deviation (1:31, 2:125, 3:500, 4:2000, 5:8000[pulse])
★
6 to 10: You cannot set.
11: Torque command (200[%]) 12: Torque command (400%)
Select the output of the torque limit control signal (X5 TLC: Pin 40).
TLC output 0: Torque limit control 1: Zero speed detection
selection 2: Any warning 3: Regenerative discharge overload warning
09 All 0 – 6,8
4: Overload warning 5: Battery warning
★
6: Fan lock warning 7: You cannot set.
8: Speed conformance output
Select the output of the zero speed detection signal (X5 ZSP: Pin 12).
ZSP output 0: Torque limit control 1: Zero speed detection
selection 2: Any warning 3: Over regenerative discharge warning
0A All 0 – 6,8
4: Overload warning 5: Battery warning
★
6: Fan lock warning 7: You cannot set.
8: Speed conformance output
Select how to use the absolute encoder.
0B Absolute 0: Used as absolute encoder 1: Used as incremental encoder
All 0-2
* encoder set up 2: Used as absolute encoder regardless of overcount error
A change of this parameter becomes enabled at power-on of the control power supply.
Defines the RS232C communication speed.
0: 2400[bps] 1: 4800[bps] 2: 9600[bps]
0C Baud rate of
All 0 - 5 3: 19200[bps] 4: 38400[bps] 5: 57600[bps]
* RS232C
The baud rate error is ±0.5%.
Defines the RS485 communication speed.
0: 2400[bps] 1: 4800[bps] 2: 9600[bps]
0D Baud rate of
All 0 - 5 3: 19200[bps] 4: 38400[bps] 5: 57600[bps]
* RS485
The baud rate error is ±0.5%.
Limiting the front panel operation to the monitor mode may prevent an operation error
such as the unexpected change of parameters, etc.
0: All enabled. 1: Limited to monitor mode
0E Front panel
All 0 - 1 Even if this parameter is 1, parameter changes made by the communication function is
* lock set up
enabled.
To reset this parameter to 0, use PANATERM or the console.
The changes become enabled when the control power is turned on.
For manufacturer
0F
use

No. SR-DSV09521 - 36 -

No. Name mode range
Defines the position loop gain. The unit is [1/s].
10 1st position
P 0 - 3000 As the gain is increased, the servo stiffness in the position control mode is increased.
(RT) loop gain However, if the gain setting is too high, oscillation occurs.
Defines the speed loop gain.
11 1st velocity
All 1 - 3500 When Pr. 20 (Inertia ratio) is properly set up, the unit of this parameter is [Hz].
(RT) loop gain As the gain is increased, the response speed in the speed control mode is increased.
1st velocity Lowering the parameter setting speeds up the integral action. The unit is [ms].
12
loop integration All 1 - 1000 To retain the integrated value, set it to 999.
(RT) To disable the integral action, set this parameter to "1000".
time constant
Select the type of the speed detection filter.
13 1st speed 0 to 5: Increasing the parameter setting reduces the motor noise.
All 0-5
(RT) detection filter When the momentary speed observer is enabled (Pr.27 = 1), this parameter is enabled.
Defines the time constant of the primary delay filter for torque command. The unit is
14 1st torque filter
All 0 - 2500 [10µs].
(RT) time constant The machine vibration may be reduced depending on the torque filter setting.
Defines the speed feed forward value. The unit is [0.1%].
15 Velocity feed -2000 Use this function when particularly high speed response is required.
P
(RT) forward - 2000
Feed forward Defines the time constant of the primary delay filter for speed feed forward.
16
filter time P 0 - 6400 The unit is [10µs].
(RT)
constant
For
17 manufacturer
use
Set up this parameter only when the gain switching function is used for the optimum
18 2nd position tuning.
P 0 - 3000
(RT) loop gain Defines the second position loop gain in the position control mode.
The unit is [1/s]. To use this parameter, refer to Section 11-6.
19 2nd velocity tuning.
All 1 – 3500
(RT) loop gain When Pr. 20 (Inertia ratio) is properly set up, the unit of this parameter is [Hz].
To use this parameter, refer to Section 11-6.
tuning.
2nd velocity
1A The unit is [ms].
loop integration All 1 - 1000
(RT) When using it in the vertical axis, set it to 999 to retain the integrated value.
time constant
To disable the integral action, set this parameter to "1000".
tuning.
1B 2nd speed
All 0 - 5 Increasing the parameter setting reduces the motor noise.
(RT) detection filter
When the momentary speed observer is enabled (Pr.27 = 1), this parameter is disabled.
tuning.
1C 2nd torque filter
All 0 - 2500 This parameter defines the time constant of the primary delay filter for torque command.
(RT) time constant
The unit is [10µs].
Notch frequency of the 1st resonance-suppress notch filter is set. Unit: [Hz].
It is used so as to coincide with the resonance frequency of the equipment.
1st notch 100 -
1D All 100 - 1499: Filter enabled 1500: Filter disabled
frequency 1500
Note) This parameter may be altered depending on the setting of the adaptive filter.
When a combination with applied filter is adopted, use the 2nd notch filter.
Notch width of the 1st resonance suppress notch filter is selected. The larger value
1st notch width provides the wider notch width.
1E All 0-4
selection Note) This parameter may be altered depending on the setting of the adaptive filter.
When a combination with adaptive filter is adopted, use the 2nd notch filter.
For
1F manufacturer
use

No. SR-DSV09521 - 37 -

No. Name mode range
Defines the ratio of load inertia to the motor's rotor inertia. The unit is [%].
20 Set value [%] = (Load inertia/ rotor inertia) × 100
Inertia ratio All 0 - 10000
(RT) The estimated inertia ratio during real-time auto tuning will be stored in the EEPROM every
30 minutes.
Defines the operation mode of real-time auto tuning. Increasing the set value (3, 6,...)
provides higher response to the inertia change during operation. However, operation may
become unstable depending on the operation pattern. Normally, set this parameter to "1" or
"4".
When it is used in vertical axis mode, set this parameter to “4 - 6”.
The gain switching function is valid in the position control mode and the full-closed mode
when this parameter is 1-6. Set this parameter to 7 when any influence of gain switching is
considered.
The gain switching function is invalid in the speed control mode and the torque control mode
when this parameter is 1-6. In this case, the set value 1 and 7 become the same mode.
Real time auto
21 All 0-6
tuning set up
Set value Real-time auto tuning Degree of inertia change during operation
0 Disabled ― ― ―
1 No change
2 Normal mode Slowly changes
3 Rapidly changes
4 No change
5 Vertical axis mode Slowly changes
6 Rapidly changes
7 Gain switching invalid mode No change
Defines the machine stiffness during execution of real-time auto tuning. Increasing
Machine
the set value provides higher response. If the parameter value is rapidly changed, the
22 stiffness at auto All 0 - 15
gain significantly changes, applying a shock to the machine. Be sure to set a small
tuning
value first, and increase it gradually, while monitoring the operating condition.
Set the operation of the adaptive filter.
Adaptive filter
23 P, S 0-2 0: Disabled 1: Enabled 2: Retaining (the adaptive filter frequency when the set value is
mode
changed to 2 is retained.)
To switch vibration suppression filters, select its switching method.
0: No switching (1st and 2nd filters are both enabled.)
1: Choose either 1st or 2nd filter by using the vibration-suppression control switching
Vibration input (VS-SEL).
suppression When VS-SEL is open: choose 1st vibration suppression frequency (Pr.2B, Pr.2C).
24 P 0-2
filter switching When VS-SEL is short-circuited, choose 2nd vibration suppression frequency (Pr.2D,
selection Pr.2E).
2: May be switched in commanded directions.
In the direction of CCW: choose 1st vibration suppression frequency (Pr.2B, Pr.2C).
In the direction of CW: choose 2nd vibration suppression frequency (Pr.2D, Pr.2E).
Defines the operation pattern of the normal mode auto tuning.
Set value Number of Revolving direction
revolutions
0 CCW → CW
1 2[revolution] CW → CCW
Normal auto 2 CCW → CCW
25 tuning motion All 0-7 3 CW → CW
setup 4 CCW → CW
5 1[revolution] CW → CCW
6 CCW → CCW
7 CW → CW
Example) Setting this parameter to "0" provides two CCW revolutions and two CW revolutions.
Defines the value of allowable over-rotation against the position command pulse in
the full-closed control mode.
Software
26 P 0 - 1000 The unit is [0.1 rev].
limit set up
when the set value is 0, the software limit error becomes invalid.
For details, refer to 8-5.
The improvement of precision in speed detection by using the momentary speed
observer enables successful combination of the high response and the reduction of
vibrations at the time of stopping.
0: Momentary speed observer disabled.
27 Velocity
P, S 0-1 1: Momentary speed observer enabled.
(RT) observer
It is required to set Pr.20 inertia ratio to as precise as possible value before use.
For details, refer to the item 11-6.
When the momentary speed observer is enabled, the 1st speed detection filter (Pr.13) and the
2nd speed detection filter (Pr.1B) are disabled.

No. SR-DSV09521 - 38 -

Defines the notch frequency of the second resonance suppression notch filter.
2nd notch
28 All 100 - 1500 The unit is [Hz]. Match the notch frequency with the machine's resonance frequency.
frequency
100 to 1499: Filter enabled 1500: Filter disabled
2nd notch width Select the notch width of the second resonance suppression notch filter.
29 All 0-4
selection Increasing the set value enlarges the notch width.
2nd notch depth Select the notch depth of the second resonance suppression notch filter.
2A All 0 - 99
selection Increasing the set value reduces the notch depth and the phase delay.
Vibration suppression frequency of the vibration suppression for suppressing
vibration at the front end of a load is set.
1st vibration Measures the vibration frequency at the front end of a load, and sets it in
2B suppression P 0 - 2000 increments of 0.1[Hz].
frequency The frequency is set in the range from 10.0 to 200.0[Hz]. The value set in the range
from 0 to 99 is disabled.
Refer to the item 11-6 before use.
When setting Pr.2B (1st vibration suppression frequency), if torque saturation occurs,
set a smaller value; if a faster operation is required, set a larger value.
1st vibration Normally, it is set to 0. Unit: 0.1 [Hz]
2C P -200 - 2000
suppression filter The maximum value of this parameter is limited to Pr.2B.
The minimum value of this parameter is limited to (Pr.2B+Pr.2C≧100).
Before using this function, refer to section11-6.
Sets the vibration suppression frequency of the vibration suppression control to
suppress vibrations at the front end of a load.
2nd vibration Measures the vibration frequency at the front end of a load, and sets it in increments
2D suppression P 0 - 2000 of 0.1[Hz].
frequency The minimum setting frequency is 10[Hz]. The frequency set in the range of 0 to 99
is disabled.
When setting Pr.2D (2nd vibration suppression frequency), set a smaller value if
torque suppression occurs, and set a larger value if faster operation is required.
2nd vibration Normally use it at 0. The setting shall be in increments of 0.1[Hz].
2E P -200 - 2000
suppression filter The maximum value of this parameter is limited to Pr.2D.
The minimum value of this parameter is limited to (Pr.2D +Pr.2E≧100).
Table No. corresponding to the frequency of the adaptive filter is displayed.
This parameter is set automatically and cannot be changed manually when the
adaptive filter is enabled (when Pr.23 (adaptive filter mode) is not 0).
0 - 4: Filter disabled 5 - 48: Filter enabled
49 – 64: Whether the filter is enabled or disabled depends on Pr.22.
Adaptive filter
2F P, S 0 - 64 Before using this function, refer to section11-1.
frequency
When the adaptive filter is enabled, the parameter is stored in the EEPROM every
30 minutes. And when the adaptive filter is enabled at the next power ON, the
data stored in the EEPROM is used as the initial value to adapt the operation.
When desiring to clear and reset this parameter, set the adaptive filter to “disabled”
first, and then reset it “enabled”.

No. SR-DSV09521 - 39 -

Set up this parameter when the gain switching function is used for the optimum tuning.
0: Uses the first gain (Pr. 10 - Pr. 14). (PI/P changeable)
30 2nd gain action set 1: Switches between the first gain (Pr. 10 - Pr. 14) and the second gain (Pr. 18 - Pr. 1C).
All 0-1
(RT) up To use this parameter, refer to Section 11-6.
For PI/P operation switching, use the gain switching input (X5 GAIN: Pin 27).
When Pr.30 is 0 and Pr.03 (torque limit selection) is 3, however, PI is fixed.
Defines the trigger for switching gains in the 1st control-switching mode.
0: Fixed to 1st gain, 1: Fixed to 2nd gain, 2: Gain switching input (X5 GAIN: Pin 27)
3: Torque command change value, 4: Magnitude of speed command change,
31 1st control 5: Speed command, 6: Position deviation, 7: Position command input, 8: Not in position,
All 0 - 10
(RT) switching mode 9: Speed, 10: Position command input + speed
When Pr.31 is 2 and Pr.03 (torque limit selection) is 3, the 1st gain is fixed.
Trigger contents may vary depending on the control mode.
Defines the time duration from trigger detection to actual gain switching from the 2nd
1st control
32 gain to the 1st gain when Pr. 31 (1st control switching mode) is set to 3 - 10. The unit is
switching delay All 0 - 10000
(RT) [166µs].
time
Defines the trigger level when Pr. 31 (1st control switching mode) is set to 3 to 6,9, or 10.
33 1st control
All 0 - 20000 The unit varies depending on the setting of Pr. 31 (1st control switching mode).
(RT) switching level
Defines the hysteresis for trigger judgment when Pr. 31 (1st control switching mode) is set
1st control
34 to 3 to 6, 9 or 10.
switching All 0 - 20000
(RT) The unit varies depending on the setting of Pr. 31 (1st control switching mode).
hysteresis
Used to suppress a rapid increase in the position loop gain when there is a large difference
between the first and second position loop gains.
35 Position loop gain
P 0 - 10000 When the position loop gain increases, the change occurs in (the set value + 1) x
(RT) switching time
166[µs].
For manufacturer Do not change it from shipment setting.
36
use
(RT)
★
37 use
★
38 use
★
39 use
★
For manufacturer
3A
use
For manufacturer
3B
use
For manufacturer
3C
use
Defines a JOG speed.

3D JOG speed All 0 - 500 The unit is [r/min].
Refer to the Section 8-2 (trial run) before use.
For manufacturer
3E
use
For manufacturer
3F
use

No. SR-DSV09521 - 40 -
Related
Parameter Parameter Setting
control Function/Description
No. Name range
mode
Decides whether using the input dedicated to the line driver for the input of a command
pulse.
40 Command pulse 0: Photo coupler input (X5 PULS1: Pin 3, PULS2: Pin 4, SIGN1: Pin 5 and SIGN2: Pin 6)
P 0-1
* input selection 1: Input dedicated to line driver (X5 PULSH1: Pin 44, PULSH2: Pin 45, SIGNH1: Pin 46
and SIGNH2: Pin 47)
The change becomes enabled when power is turned on.
Defines a revolving direction and input mode for the command pulse.
Pr.41
Pr.42
(command
(command
pulse direction Command Signal
pulse input CCW command CW command
of rotation set pulse mode name
mode)
up)
set value
set value
90°phase
difference
“0” Dual phase PULS Ａ相
Phase A
or pulse
“2” (Phase A SIGN
and phase Ｂ相
Phase B
B) Phase B runs behind phase A
Phase B runs ahead of phase A by 90
by 90 degrees.
Command pulse degrees.
41
direction of P 0-1
*
rotation set up CW pulse
train PULS
“0” “1” +
CCW pulse SIGN
train
Pulse train PULS

“3” +
Code SIGN ‘L’
‘H’
90°phase
difference Ａ相
Phase A
“0” Dual phase PULS
or pulse
“2” (Phase A SIGN Phase
Ｂ相 B
and phase
B) Phase B runs ahead of phase A by 90 Phase B runs behind phase A
degrees. Ｂ相はＡ相より９０°遅れＢ相はＡ相より９０°進み
by 90 degrees.
CW pulse
train PULS
“1” “1” +
CCW pulse SIGN
train
42 Command pulse
P 0-3
* input mode
Pulse train PULS

“3” +
Code SIGN ‘L’
‘H’
The change becomes enabled when the control power is turned on.

No. SR-DSV09521 - 41 -
Parameter Parameter Related Setting

No. Name control range
Command If this parameter is set to "1", the command pulse inhibit input (X5 INH: Pin 33) is
pulse inhibit ignored.
43 P 0-1
input
invalidation
Defines the number of pulses from the pulse output (X5 OA+: Pin 21, OA-: Pin 22, OB+:
Pin 48 and OB-: Pin 49).
■ In the case of the output of encoder pulses (When the control mode is P, S or T, or Pr.46
is 0 or 1):
Pr.45=0: Pr.44 can be used to set the number of output pulses per motor revolution for OA
Numerator of and OB.
44
output pulse All 1 – 32767 Pulse output resolution per revolution = Pr.44 (numerator of output pulse ratio) x 4
*
ratio
Pr.45≠0: the pulse output resolution per revolution is divided at any ratio according to the
following expression.
Pr.44 (numerator of output pulse ratio)
Pulse output resolution per revolution = Pr.45 (denominator of output pulse ratio) × Encoder resolution
Note)
- The encoder resolution is 131072[P/r] in the case of 17-bit absolute encoder, and
10000[P/r] in the case of 2500 P/r 5-core incremental encoder.
- The pulse output resolution per revolution cannot exceed the resolution of an encoder.
(In the case of the above setting, the pulse output resolution per revolution is same as
the resolution of an encoder.)
- Phase Z is output once every motor revolution.
When pulse output resolution per revolution calculated by the above expression is
multiples of 4, phase Z is output in synchronization with phase A. Otherwise, as it is
output based on the resolution of an encoder, phase Z is not synchronized with phase A
and its width becomes narrower than that of phase A.
When encoder resolution multiplied by When encoder resolution

Pr.44 Pr.44 multiplied by
Pr .44 Pr .44
is in multiples of 4が 4 の倍数
ｴﾝｺｰﾀﾞ分解能× ｴﾝｺｰﾀﾞ分解能×
is not in multiplesが 4 の倍数でない
Pr .45 Pr.45 Pr.45 of 4
Pr .45
A A
B B
Z Z
Synchronized Out of synchronization
Denominator of ■ In the case of the output of external scale pulses (When the control mode is F and Pr.46
45 is 2 or 3),
output pulse All 0 - 32767
*
ratio
Pr.45=0: No division
Pr.45≠0: the travel distance per output pulse is divided at any ratio according to the
following expression.
Note)
- The travel distance per external scale pulse is 0.05[μm] for AT500 series, and 0.5[μ
m] for ST771 series.
- The setting of Pr44＞Pr.45 is disabled.
(In the case of the above setting, there is no division.)
- Phase Z is output in synchronization with phase A only when having crossed the
absolute position 0 of an external scale after the control power of the driver has been
turned on.
Thereafter, it is output at the intervals of phase A output pulses, which are set by Pr.47
(Z-phase of external scale set up).
Travel distance per

=
Pr.45 (denominator of output pulse ratio)
× Travel distance per
output pulse Pr.45 (numerator of output pulse ratio) external scale pulse

No. SR-DSV09521 - 42 -
Related
No. Name range
mode
Defines the phase B logic and output source of the pulse output (X5 OB+: Pin 48 and
OB+: Pin 49).
0: phase B output logic not inversed. 1: phase B output logic inversed (encoder).
2: phase B output logic not inversed. 3: phase B output logic inversed (external scale and
full-closed only).
The positioning of phase B with regard to phase A can be inversed by inversing the phase
B pulse logic by using this parameter.
At the CCW revolution of a motor At the CW revolution of a motor

Set
value Phase A
(OA)
46 Pulse output Phase B
All 0–3
* logic inversion (OB)
0,2
not
inversed
Phase B
1,3 (OB)
inversed
Pr.46 Phase B logic Output source

0 Not inversed Encoder position
1 Inversed Encoder position
2 *) Not inversed External scale position
3 *) Inversed External scale position
* The output source of Pr.46=2, 3 is enabled at the time of full-closed control only.
For Do not change it from shipment setting.
47 manufacturer
0
* use
★

No. SR-DSV09521 - 43 -
Related
No. Name range
mode
1st numerator - Defines the division gradual increase ratio to command pulses.
48 of command P 0 - 10000 - The division gradual increase ratio is set according to the following expression.
pulse ratio
Multiplier of numerator
2nd numerator of command pulse ratio
(Pr.4A)
49 of command P 0 - 10000 Numerator of command pulse ratio (Pr.48, Pr.49) × 2
pulse ratio Denominator of command pulse ratio (Pr.4B)
Multiplier of Or
numerator of Encoder resolution
4A P 0 - 17 The number of command pulses per revolution (Pr.4B)
command pulse
ratio
In the case of Numerator=0: The numerator ((Pr.48, Pr.49) × 2 Pr.4A) equals the encoder
resolution, and Pr.4B can be used to set the number of
pulses per revolution.
In the case of Numerator≠0: The division gradual increase is performed according to
the above expression. Therefore, the number of command
pulses per revolution is as shown in the following
expression.
Denominator of Number of
Pr.4B
4B command pulse P 1 - 10000 command pulse per = Encoder resolution ×
ratio (Pr.48, Pr.49) × 2Pr.4A
revolution
Note)
- The maximum limit of the calculated value of the actual numerator ((Pr.48, Pr.49) ×
2Pr.4A) is 4194304 / (Pr.4D set value + 1).
Refer to the item 4-3 and the “Command pulse division gradual increase function” stated
below before use.
Select the primary delay filter for command pulse.
Increasing the set value further smoothes the command pulse, but delays the response to
4C Smoothing filter P 0-7
the command pulse.
0: Filter disabled, 1 to 7: Filter enabled
Select the FIR filter for command pulse.
4D
FIR filter set up P 0 - 31 The filter is a moving average filter (the number of averaging: Set value + 1).
*
The change is enabled when the control power is turned on.
Defines the function of the counter clear input (X5 CL: Pin 30).
0: Clears the deviation counter and full-closed deviation counter in the level mode
Counter clear (short-circuited for 100 µs or more).
4E P 0-2
input 1: Clears the deviation counter and full-closed deviation counter at the rising edge (open
→ short-circuited for 100 µs or more).
2: Disabled.
For
4F manufacturer
use

No. SR-DSV09521 - 44 -

50 use 10
★
51 use 1
★
52 use 0
★
Defines the first speed for the internal speed command.
-20000
53 1st internal speed S The unit is [r/min]. Limited by Pr.73 (Overspeed level).
- 20000
Defines the second speed for the internal speed command.
-20000
54 2nd internal speed S The unit is [r/min]. Limited by Pr.73 (Overspeed level).
- 20000
Defines the third speed for the internal speed command.
-20000
55 3rd internal speed S The unit is [r/min]. Limited by Pr.73 (Overspeed level).
- 20000
Defines the fourth speed for the internal speed command.
4th internal speed -20000
56 S The unit is [r/min]. Limited by Pr.73 (Overspeed level).
★ - 20000
57 use 0
★
Defines the acceleration time in the speed control mode.
Set value = Time [s] of acceleration from 0 [r/min] to 1000 [r/min] × 500
58 Acceleration time S 0 - 5000
Defines the deceleration time in the speed control mode.

59 Deceleration time S 0 - 5000 Set value = Time [s] of deceleration from 1000 [r/min] to 0 [r/min] × 500
S-shaped Defines the time of the sigmoid curve to be added to acceleration/ deceleration in the
5A acceleration/ S 0 - 500 speed control mode.
deceleration time The unit is [2 ms].
5B use 0
★
5C use 100
★
5D use 0
★
Defines the 1st limit value of the motor output torque.
5E 1st torque limit All 0 - 500 The unit is [%].
For the selection of the torque limit, refer to Pr.03 (torque limit selection).
Defines the 2nd limit value of the motor output torque.
5F 2nd torque limit P,S 0 - 500 The unit is [%].
For the selection of the torque limit, refer to Pr.03 (torque limit selection).

No. SR-DSV09521 - 45 -

Number of allowable pulses for in-position range is set.
In-position range
60 P 0 - 32767 When the positional deviation is less than a set value, COIN output is turned ON.
★
Use the number of encoder pulses to control the position.
Sets the threshold level of the zero speed detection signal (X5 ZSP: Pin 12 or TLC:
Pin 40).
In the case of the speed conformance output, sets the allowable speed with regard to
61 Zero speed All 10 - 20000 the speed command.
The unit is [r/min].
Note) The zero speed detection and speed conformance detection has a hysteresis of
10[r/min].
Threshold level of at-speed output signal (X5 COIN+: Pin 39, COIN-: Pin 38) is
set.
62 At-speed S 10 - 20000
Unit: [r/min]
Note) The reached speed detection has a hysteresis of 10[r/min].
Sets the operation of the positioning completion signal.
0: Turned on when the position deviation is within the completed poisoning range.
1: Turned on when there is no position command and the position deviation is
within the completed positioning range.
In-position output
63 P 0-3 2: Turned on when there is no position command, the zero speed detection signal is
set up
on, and the position deviation falls within the completed positioning range.
3: Turned on when there is no position command and the position deviation falls
within the completed positioning range.
Thereafter, it remains turned on until the next command arrives.
For manufacturer
64
use
Sets the operation required when the main power remains shut off for the time
period set by Pr.6D (main power-off detection time) during the servo-on.
0: Servo is turned OFF in accordance with the setting of Pr.67 (error response at
main power-off).
Undervoltage
1: Servo trips when main power undervoltage error (Err13).
65 error response at All 0-1
When Pr.6D (main power-off detection time) is 1000, this parameter is disabled.
main power-off
When the voltage between P and N of the main power converter drops lower than
the specified value before detecting the main power shut-off due to the reason that
the Pr.6D set time is too long, a voltage error is caused by the shortage of main
power (Err13).
Sets the driving condition at the time of slowdown operation initiated after the
overtravel input inhibit (CCWL: CN X5 Pin 9 or CWL: CN X5 Pin 8) has been
activated and become enabled.
During Error counter

Set value After stopping
deceleration status
Torque command in
0 DB overtravel inhibit Retained
direction = 0
Torque command
Torque command in
66 Error response at in overtravel
All 0-2 1 overtravel inhibit Retained
* overtravel limit inhibit direction =
direction = 0
0
Position command
Cleared before or
2 Emergency stop in overtravel inhibit
after deceleration
direction = 0
(DB: Dynamic brake operation)
When the set value is 2, the torque limit during the deceleration operation is the set
value of Pr.6E (emergency stop torque set up).

No. SR-DSV09521 - 46 -

When Pr.65 (Undervoltage error response at main-power off) is 0, sets the
followings after the main power is turned off:
(1) The driving condition during the deceleration operation and after stopping, and
(2) The clearance procedure of deviation counter contents.
Driving condition Error counter

Set value
During deceleration After stopping contents
0 DB DB Cleared
1 Free run DB Cleared
2 DB Free Cleared
Error response at 3 Free run Free Cleared
67 All 0-9
main power-off 4 DB DB Retained
5 Free run DB Retained
6 DB Free Retained
7 Free run Free Retained
8 Emergency stop DB Cleared
9 Emergency stop Free Cleared

When the set value is 8 or 9, the torque limit during the deceleration is the set value of
Pr.6E (emergency stop torque set up)
Sets the driving condition during the deceleration or after stopping due to the alarm raised
by any protective function of the driver.
Driving condition Error counter

Set value
During deceleration After stopping contents
0 DB DB Cleared
Error response
68 All 0-3 1 Free run DB Cleared
action
2 DB Free Cleared
3 Free run Free Cleared

The error counter contents are cleared at the of the clearance of an alarm.
Sets the followings after servo-off (SRV-ON signal: CN X5 Pin 29 is turned off):
(1) The driving condition during the deceleration or after stopping, and
Sequence at
69 All 0-9 (2) The clearance procedure of the deviation counter.
Servo-OFF The relation between the set value and the driving condition/error counter handling
condition of Pr.69 is same as that of Pr.67 (error response at main power-off.)
Mechanical brake Defines the time duration from turn-OFF of the external brake release signal (X5
BRK-OFF: Pins 10 and 11) to motor shutdown, in transition to Servo-OFF during
6A delay at motor All 0 - 100 the halt of the motor (servo lock condition).
standstill The unit is [2 ms]. To use this parameter, refer to Section 7-2.
Sets the time required until the external brake release signal (X5 BRK-OFF: Pins 10 and
Mechanical brake 11) is turned off after it is detected that the servo-on input signal (X5 SRV-ON: Pin 29) has
6B delay at motor in All 0 - 100 been turned off at the time of servo-off during the motor revolution. The unit is [2 ms].
motion If the motor speed falls below approx. 30 [r/min] before the preset time is reached, the
BRK-OFF signal turns OFF. To use this parameter, refer to Section 7-3.
Sets the operation of the regeneration resistor and the regenerative overload
protection (Err18).
0: Defines the regenerative discharge resistor overload protection according to the
built-in regenerative discharge resistor.
External 1: Trip occurs due to the regenerative discharge resistor overload error (Err. 18)
6C
regenerative All 0-3 when the regenerative discharge resistor's operating ratio exceeds 10%.
* 2: Inactivates the regenerative discharge resistor overload protection.
resistor set up
3: Inactivate the regenerative discharge circuit, and processes all regenerative power
through built-in capacitors.
Refer to the item 4 before use.
Defines the time duration before detection of main power interruption after the main
6D Main power-off power is turned OFF.
All 35 – 1000 The unit is [2 ms]. When the set value is 1000, the detection of main power off is
* detection time disabled.
Sets the torque limit of the following time:
1. With Pr.66 (error response at overtravel limit) set to 2, when the deceleration
operation is initiated due to drive prohibition,
Emergency stop 2. With Pr.67 (error response at main power-off) set to 8 or 9, when the deceleration
6E All 0 - 500 operation is initiated, or
torque set up
3. With Pr.69 (sequence at Servo-OFF) set to 8 or 9, when the deceleration operation
is initiated.
When the set value is 0, the normal torque limit is used.
For
6F Manufacturer
use

No. SR-DSV09521 - 47 -

Sets a position deviation excess range.
The unit is [256 x resolution].
Position deviation
70 P 0 - 32767 To set it, use the number of encoder pulses for the position control, and the number of
error level
external scales pulses for the full-closed control.
When this parameter is 0, the position deviation excess detection is disabled.
71 use 0
★
Sets the overload level. When the set value is 0, the overload level is set to 115[%].
Set it to 0 normally.
72 Overload level All 0 - 500
The set value of this parameter is limited to 115[%] of the motor rating.
When using any lower overload level, set a desired level before use. The unit is [%].
Sets the overspeed level. When the set value is 0, the overspeed level is set to the
maximum number of motor revolutions x 1.2. Set it to 0 normally.
The set value of this parameter is limited to the minimum number of motor
revolutions × 1.2.
73 Overspeed level All 0 - 20000
When using any lower overspeed level, set a desired level before use.
The unit is [r/min].
(Note) The detection error of the set value is ±3[r/min] for the 7-core absolute
encoder, and ±36[r/min] for the 5-core incremental encoder.
Sets the 5th speed of the internal speed command setup.
-20000 - The unit is [r/min].
74 5th internal speed S
20000 Pr.73 will set the limit of this parameter (overspeed level).
Refer to the section 4-3 before use.
78
use 0
*
★
79
use 0
*
★
7A
use 10000
*
★
7B
use 100
*
★
7C
use 0
*
★
For manufacturer
7D
use
For manufacturer
7E
use
For manufacturer
7F
use

No. SR-DSV09521 - 48 -
[Command pulse scaling function]
- Purpose of use
1) To define the motor revolution and movement per the unit input command pulse.
2) To increase the apparent command pulse frequency with the × m multiplication function, in a
case where a required motor speed cannot be obtained because the host device's pulse oscillation
capacity (allowable maximum output frequency) is limited.
- Note that the upper limit of the actual numerator calculation is 4194304/(Pr.4D+1). If the calculated
value exceeds this limit, it becomes invalid, and the actual numerator is set to the upper limit value.
Select the numerator of the first or second command pulse ratio with the command pulse scale
switching input. For details, refer to Selecting numerator of command pulse ratio in Sec. 4-3 .
<Example of setting>
- When encoder’s resolution (10000 or 217 =131072) is F [pulse] and command input to move
distance corresponding to one revolution is f [pulse], Pr.48/Pr.49 numerator of command pulse ratio,
Pr.4A multiplier of numerator of command pulse ratio and Pr.4B denominator of command pulse
ratio must be set to fulfill the formula below.
(Pr.48, Pr.49) × 2Pr.4A

F=f×
Pr.4B
- When Pr.48 and Pr.49 is set to 0, (Pr.48 and Pr.49) × 2(Pr.4A) is automatically set to the encoder
resolution.
Encoder's resolution 217 (131072) 10000 (2500P/r × 4)
Example 1 Pr.4A Pr.4A

Command input (f) = 17 0
5000 pulses (per motor Pr.48 1 ×2 Pr.48 10000 ×2
revolution) Pr.4B 5000 Pr.4B 5000
Example 2 Pr.4A Pr.4A

Command input (f) = 15 0
Pr.48 1 ×2 Pr.48 2500 ×2
40000 pulses (per motor
revolution) Pr.4B 10000 Pr.4B 10000

No. SR-DSV09521 - 49 -
7. Operation Timing
7-1 Operation Timing after Power-ON
OFF ON
(L1C, L2C)
Approx.100 to 300 ms
Activated
Internal control
power supply Approx. 2 s
Approx. 1.5 s
ON
(Initialize) *3
reset
Microcomputer
0 s or more
OFF ON
Main power supply *2
(L1, L2, L3)
10 ms or more
S-RDY output
(X5 Pins 35 and 34) OFF ON
10 ms or more
*2
0 s or more
Servo-ON input
OFF
(X5 Pin 29) ON
Approx. 2ms
Dynamic brake
engaged released
Approx. 40 ms
Motor energized
Not energized Energized
BRK-OFF output
(X5 Pins 10 and 11)
Approx. 100 ms or more *1
No command input
Position/ Speed command
- The above chart shows the timing from AC power-ON to command input.
- Activate the Servo-ON signal and external command input according to the above timing chart.
*1. During this period, the SRV-ON signal is mechanically input, but not accepted actually.
*2. The S-RDY output turns ON when the microcomputer's initialization is completed, and the main power
supply is activated.
*3 After internal control power supply is activated, protective functions start operation approx. 1.5 s
after the microcomputer's initialization starts. Design the I/O signal connected with the driver
(especially CW/CCW overtravel inhibit input that can trigger protective functions)
is set before protective functions starts operation.

No. SR-DSV09521 - 50 -
7-2 Servo-ON/OFF Operation Timing during Motor Stop (Servo Lock)

(During normal operation, perform the Servo-ON/OFF operation after the motor stops.)
Servo-ON input OFF ON OFF

(SRV-ON)
Approx. 2 ms
1 to 5 ms *2
Dynamic brake Engaged
*3
Engaged
Released
*1
t1
Motor energized Not energized Energized Not energized

Approx. 40 ms
Approx. 2 ms
Brake release output Brake engaged Brake released (ON) Brake engaged
(BRK-OFF) (OFF) (OFF)
*1. "t1" depends on the setting of Pr. 6A.

*2. For the operation of the dynamic brake in the Servo-OFF status, refer to the description on Pr. 69
(Sequence at servo-off) in Chapter 6 "Parameters".
*3. The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.
7-3 Servo-ON/OFF Operation Timing during Motor Run

(The following chart shows the timing in emergency stop or trip. The Servo-ON/OFF cannot be
repeatedly used.)
Servo-ON input
(SRV-ON) OFF ON OFF
*4 Approx.
1 to 5 ms
Dynamic brake *3
Engaged *3 Released Engaged
Motor energized
Not energized Energized Not energized
Approx. 40 ms
Approx. 2 ms
Pr. 6B set value
Brake release output
(BRK-OFF) Brake engaged Brake released (ON) Brake engaged
(OFF) (OFF)
*1
t1 The time
Motor speed
Motor rpm defined by Pr.
Approx. 30 r/min 6B is reached
Approx. 30 r/min
Pr. 6B set earlier.
Motor speed
value
Servo enabled Brake released
(ON) Brake engaged
(OFF)
The Servo-ON input does not
*1
become active until the motor speed t1
falls below approx. 30 r/min. Motor speed The motor
Approx. 30 r/min speed falls
below 30 r/min
earlier.
*1. "t1" is the time defined by Pr. 6B or the time required to decrease the motor speed to approx. 30 r/min,
whichever is earlier.
*2. Even if the SRV-ON signal turns ON again during motor deceleration, the SRV-ON input does not
become active until the motor stops.
*3. For the operation of the dynamic brake in the Servo-OFF status, refer to the description on Pr. 69
(sequence at Servo-OFF) in Chapter 6 "Parameters".
*4 The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.
*5 As for the current-carrying status of a motor during the deceleration operation at servo-off, also refer to
the instructions (6. parameters) of Pr.69 (sequence at Servo-OFF).

No. SR-DSV09521 - 51 -
7-4. Operation timing chart at the time of errors (alarm) (with the Servo-ON command activated)
Presence or Normal Error

absence of errors
0.5 - 5ms
*2
Dynamic brake Released Operation
Motor energized Energized Not energized
Servo-ready Ready Not ready

output (S-RDY)
Servo-alarm Not alarmed Alarm

output (ALM)
Set value of
Pr.6B
Brake-release Release (ON) Operation (OFF)
output (BRK-OFF)
t1 *1
Motor speed
Approx. When Pr.6B is set
30r/min to a fast speed
Set value of
Pr.6B
Release (ON) Operation (OFF)
t1*1
Motor speed
Approx. 30r/min When coming down to
a speed of 30r/min or
less quickly
*1. t1 will be the set value of Pr.6B or the time required for the motor revolution speed to come down to
30r/min or less, whichever comes earlier.
*2. As for the operation of the dynamic brake when an alarm is raised, refer to the description of Pr.68 (error
response action).

No. SR-DSV09521 - 52 -
7-5. Operation timing chart at the time of the clearance of an alarm (with the Servo-ON command activated)
120ms or more
Alarm clearance Cleared

input (A-CLR)
About
Dynamic brake Operation 2ms Release
Motor energized Not energized Energized

About
40ms
Brake-release output Operation (OFF) Release (ON)
(BRK-OFF) About
2ms
Servo-ready Not ready Ready

output (S-RDY)
Servo-alarm Alarm Not alarmed

output (ALM)
Position/speed/ Input inhibit 100ms or more Input allowed

torque command

No. SR-DSV09521 - 53 -
8. Functions
8-1 Protective Functions
This servo driver incorporates various protective functions. When any of the protective functions is activated,
the servo driver turns OFF the alarm output signal (ALM) to trip. The 7-segment LEDs on the front panel
indicates the relevant error code No.
Protective Error
Cause Countermeasure
function code No.
The voltage between the P and N terminals of the control Measure the voltages between the connectors (L1C and
power supply converter is lower than the specified value. L2C), and between the terminal blocks (r and t).
1) The power supply voltage is too low. Instantaneous 1) Increase the power supply voltage. Replace the
Control power
11 power failure occurred. power supply.
undervoltage
2) Power supply capacity is too low. The power supply 2) Increase the power supply capacity.
voltage dropped due to the in-rush current at power-on.
3) The servo driver (circuit) is defective. 3) Replace the defective driver with a new servo driver.
The power supply voltage is higher than the allowable Measure the voltages between the connectors (L1, L2,
input voltage range. L3). Apply a proper voltage to the power supply.
The voltage between the P and N terminals of the Remove the advancing capacitor.
converter is higher than the specified value. The power
supply voltage is too high. A voltage rise attributable to
an advancing capacitor or UPS (uninterruptible power
supply) occurred.
Overvoltage 12 1) The regenerative discharge resistor is disconnected. 1) Measure the resistance of the external resistor between the
P and B terminals of the servo driver by using a tester. If
the reading is "∞", the external resistor is disconnected.
Replace the external resistor.
2) The external regenerative discharge resistor is not 2) Replace the external regenerative discharge resistor
suitable, disabling regenerative energy absorption. with a resistor providing the specified resistance value
and W value.
3) The servo driver (circuit) is defective. 3) Replace the defective servo driver with a new one.
When Pr.65 (Undervoltage error response at main Measure the voltages between the connectors (L1, L2 and
power-off) is 1, momentary power failure occurred L3).
between L1 and L3 at least for the duration set by Pr. 6D 1) Increase the power supply voltage. Replace the
(main power-off detection time), or the P-N voltage of the power supply. After removing the cause of the
main power converter dropped down to the specified electromagnetic relay trip in the main power supply,
value or less during the servo-on. turn ON the power supply again.
1) The power supply voltage is too low. Instantaneous 2) Check the set value of Pr.6D (main power off detection
Main power
13 power failure occurred. time). Set each power phase correctly.
undervoltage
2) Occurrence of momentary power failure 3) Increase the power supply capacity. For the power
3) Power supply capacity is too low. The power supply supply capacity, refer to "Servo Driver and Compatible
voltage dropped due to the in-rush current at Peripheral Equipment List".
power-on. 4) Properly connect each phase (L1, L2 and L3) of the power
4) Missing phase: The servo driver intended for 3-phase supply. To use a single-phase 100 V and single-phase
input was driven by a single-phase power supply. 200 V power supply, connect it between L1 and L3.
5) The servo driver (circuit) is defective. 5) Replace the defective servo driver with a new one.
The current flowing into the converter is higher than the
specified value.
1) The servo driver is defective. (The internal circuit, 1) Disconnect the motor cables, and activate the
IGBT or other part is defective.) Servo-On signal. If this error occurs immediately
after that, replace the servo driver with a new one (that
works normally).
2) The motor cables (U, V and W) are short-circuited. 2) Check the connector leads to make sure that the motor
cables (U, V and W) are not short-circuited. Connect
the motor cables properly.
3) The motor cables (U, V and W) are grounded. 3) Check the insulation resistance between the motor
cables (U, V and W) and the ground cable. In case of
insulation failure, replace the motor.
Overcurrent and 14 4) The motor has burned out. 4) Check the balance of the resistance between the motor
ground fault * cables. If the resistance values are unbalanced,
replace the motor.
5) Motor cable contact failure 5) Check the motor connectors (U, V and W) for a
disconnected pin. If a connector pin is loose or
disconnected, fix it securely.
6) The relay for the dynamic brake was melted and stuck 6) Replace the servo driver. Do not start or stop the
due to frequent Servo-ON/OFF. motor by using the Servo-ON/OFF signal.
7) The motor is not compatible with the servo driver. 7) Check the servo driver's part number (capacity)
indicated on the identification plate, and replace the
motor with a motor compatible with the servo driver.
8) Activate the pulse input after waiting for at least 100
8) The pulse input was activated simultaneously with, or ms after Servo-ON.
earlier than Servo-ON.

No. SR-DSV09521 - 54 -
Protective Error
function code No.
The temperature of the servo driver's radiator or power
elements is higher than the specified value.
1) The servo driver's ambient temperature is higher than 1) Improve the servo driver's ambient temperature and
Motor and/or 15
the specified value. cooling conditions.
Drive overtemp. *
2) The servo driver is overloaded. 2) Increase the capacity of the servo driver and the
motor. Prolong the acceleration/deceleration time.
Reduce the load.
When the actual value of the torque command exceeds the Check the PANATERM graphic waveform screen for
overload level set by Pr.72 (Overload level), the overload oscillation or surging of the torque (current) waveform.
protection is activated according to time characteristics. Check the overload warning indication and load ratio on
the PANATERM screen.
1) Since the motor was kept running for a long period 1) Increase the capacity of the servo driver and the
under heavy load, the effective torque exceeded the motor. Prolong the acceleration/deceleration time.
rated torque. Reduce the load.
2) Improper gain adjustment raised oscillation or hunting. 2) Re-adjust the gain.
Motor vibration or abnormal sound occurred. The
setting of Pr. 20 (Inertia ratio) is improper.
3) The motor cables are improperly connected or 3) Connect the motor cables according to the wiring
disconnected. diagram.
4) The machine was hit against an object, or became 4) Remove tangles from the machine. Reduce the load.
heavy in operation. The machine is entangled.
5) The electromagnetic brake remains ON. 5) Measure the voltage between the brake terminals.
Overload 16 Open the brake terminals.
6) In wiring of several motors, some motor cables were 6) Connect the motor and encoder cables to the proper
connected to improper axes. axes.
■ There is the overload protection time – limiting characteristics at the end of this clause.
The regenerative energy is higher than the capacity of the Check the regenerative discharge resistor's load ratio on
regenerative discharge resistor. the PANATERM monitor screen. The regenerative
discharge resistor is not applicable to continuous
regenerative braking.
1) The converter voltage was raised by the regenerative 1) Check the operation pattern (on the speed monitor).
energy generated during deceleration because of large Check the regenerative discharge resistor's load ratio
load inertia, and the voltage further increased because and overload warning indication. Increase the
the regenerative discharge resistor could not capacity of the motor and the servo driver. Prolong
insufficiently absorb the regenerative energy. the deceleration time. Use an external regenerative
discharge resistor.
Regenerative 2) Because of a high motor speed, the regenerative 2) Check the operation pattern (on the speed monitor).
18 energy cannot be absorbed within the specified Check the regenerative discharge resistor's load ratio
resistor
* deceleration time. and overload warning indication. Increase the
overload
capacity of the motor and the servo driver. Prolong
the deceleration time. Lower the motor rpm. Use
an external regenerative discharge resistor.
3) The duty ratio of the external resistor is limited to 10%. 3) Set Pr. 6C to "2".
<NOTE> To set Pr. 6C to "2", be sure to provide an external protection device such as a thermal fuse.
If the protective function is removed, the regenerative discharge resistor may overheat, resulting in
motor burnout.

No. SR-DSV09521 - 55 -
Protective Error
function code No.
Because of an interruption of the communication between Connect the encoder cable according to the wiring
Encoder
21 the encoder and the servo driver, the encoder cable diagram. Correct the wiring of the encoder connector
communication
* disconnection detecting function was activated. pins. Take note that the encoder cable shall be connected
error
to X6.
Data cannot be sent from the encoder, mainly because of a • Make sure that the encoder power supply voltage is 5
data error due to noise. The encoder cable is connected, VDC ±5% (4.75 to 5.25 V). When using a long
Encoder but the communication data are defective. encoder cable, particular attention is required.
23
communication • If the motor cable and encoder cable are bundled
*
data error together, separate them.
• Connect the shield cable to the FG terminals. (See the
encoder connection diagram.)
The position deviation pulse count is larger than the
setting of Pr. 70 (Position deviation error level).
1) The motor does not run according to the command 1) Make sure that the motor runs according to the
pulse. command pulse. Check the torque monitor to make
sure that the output torque is not saturated. Adjust
Position the gain. Set Pr.5E (1st torque limit) and Pr.5F (2nd
24
deviation error torque limit) to the maximum value. Connect the
encoder cable according to the wiring diagram.
Prolong the acceleration/deceleration time. Reduce
the load, and lower the speed.
2) The setting of Pr. 70 (Position deviation error level) is 2) Increase the setting of Pr. 70.
too low.
The speed of motor revolutions exceeded the set value of • Do not apply an excessive speed command.
Pr.73 (Overspeed level). • Check the command pulse input frequency and scale
ratio.
Overspeed 26 • If overshoot occurred due to improper gain adjustment,
adjust the gain properly.
• Connect the encoder cable according to the wiring
diagram.
The scale ratio defined by Pr. 48 to Pr. 4B (numerators and • Check the settings of Pr. 48 to Pr. 4B.
denominators of the first and second command pulse • Set their scale ratios so that the command pulse
Command
27 ratios) are improper. frequencies after the pulse scaling become the
scaling error
maximum input pulses of not more than 2Mpps and
500kpps in the input section of the deviation counter.
The deviation counter's reading is higher than 227 • Make sure that the motor runs according to the
(134217728). command pulse.
• Check the torque monitor to make sure that the output
Deviation torque is not saturated.
counter 29 • Adjust the gain.
overflow • Set Pr.5E (1st torque limit) and Pr.5F (2nd torque limit)
to the maximum value.
• Connect the encoder cable according to the wiring
diagram.
The motor operation exceeds the motor operational range (1)Check the gain (the balance between the position loop
Set in Pr.26(Software limit set up) for the position gain) and the inertia ratio.
Software limit
34 command range. (2)Increase the set value in Pr.26.
error
(1)The gain is not appropriate. Set Pr.26 to “0” in order to disable the protection
(2)The value set in Pr.26 is too small. function.
External scale The value set in Pr.02 is “6”. Set Pr.02 to “0” or “1”.
35
communication
*
error ★
When data were read from the EEPROM at power-on, the • Define all parameters again.
data stored in the parameter memory area had been • If this error repeatedly occurs, the servo driver may be
EEPROM 36
broken. defective. Replace the servo driver. Return the
parameter error *
defective driver to the distributor, and ask them for
inspection (repair).
When data were read from the EEPROM at power-on, the The servo driver may be defective. Replace the servo
EEPROM check 37
EEPROM writing check data had been broken. driver. Return the defective driver to the distributor,
code error *
and ask them for inspection (repair).
When Pr.04 (overtravel input inhibit) was 0, the • Check the switches, cables and power supply connected
Overtravel connections of both CW and CCW overtravel inhibit to the CW and CCW overtravel inputs. In particular,
inhibit input 38 inputs (CWL 8-pin/CCW 9-pin) with COM- were opened. check the control signal power supply (12 to 24 VDC)
error When Pr.04 was 2, either CW or CCW overtravel inhibit to make sure that the signal turns ON without delay.
input connection with COM- was opened.

No. SR-DSV09521 - 56 -
Protective Error
function code No.
The encoder power supply turned OFF. After connecting the battery, clear the absolute encoder.
Absolute
40 (See Section 10-1-4)
encoder system
* The alarm cannot be cleared unless the absolute encoder is
down error
cleared.
Absolute The count value on the encoder's multi-revolution counter • Set up Pr. 0B (Absolute encoder set up) properly.
41
encoder counter exceeded the specified value. • Adjust the setting of movement from the origin so that
*
overflow the number of pulses does not exceed 32767.
The revolution of the encoder with only the battery power • Check the power supply voltage in the encoder side
Absolute supply exceeded the specified value. (5 V ± 5%).
42
encoder • Check the X6 connector for abnormal connection.
*
overspeed The alarm cannot be cleared unless the absolute encoder is
cleared.
Absolute The encoder detected an error of the single-revolution Replace the motor.
encoder 44 counter.
single-rotation *
counter error
Absolute The encoder detected an error of the multi-revolution Replace the motor.
encoder 45 counter.
multi-rotation *
counter error
Absolute At power-ON, the encoder's revolution exceeded the Inactivate the motor at power-ON.
encoder status 47 specified value.
error
Encoder 48 Lack of the encoder Z-phase pulse was detected. The Replace the motor.
Z-phase error * encoder is defective.
Encoder The logic of the encoder CS signal is abnormal. The Replace the motor.
49
communication encoder is defective.
*
signal error
CCWTL input The value set in Pr.03 is “0”. Set Pr.03 to “1” - “3”.
overvoltage 65
★
CWTL input The value set in Pr.03 is “0”. Set Pr.03 to “1” - “3”.
overvoltage 66
★
Motor auto The motor is not compatible with the servo driver. Replace the motor with a compatible motor.
95
recognition
*
error
The control circuit malfunctioned due to excessive noise. •Turn OFF the power supply once, and then turn it ON
The servo driver's self-diagnosis function was activated again.
Other due to an internal error. •If the error persists and the error code is retained, the
Other errors numbers servo driver may be defective. Stop using the machine,
* and replace the motor and the servo driver. Return the
defective driver to the distributor, and ask them for
inspection (repair).
★This driver can be used only as position control (Pr.02=0).

So the functions when control mode is speed control or torque are invalid.

No. SR-DSV09521 - 57 -
- To clear the protective functions, activate the alarm clear input (X5 A-CLR: Pin 31), or operate the front panel.
(For the alarm clear procedure using the front panel, refer to Section 9-1-8 "Alarm clear".)
- The protective functions applicable to the error code numbers marked with * cannot be cleared by the alarm
clearance input. Turn the control power off and reset it after removing the cause of an error.
- Once the overload (error code no.16) is activated, it takes about 10 seconds for clearance.
- If the servo driver's internal control circuit malfunctions due to excessive noise, the following error display may
appear.
  
If this error display appears, turn OFF the power supply immediately.
- The alarms for the control power undervoltage (error code No. 11), main power undervoltage (error code No.
13), EEPROM parameter error (error code No. 36), EEPROM check code error (error code No. 37), overtravel
inhibit input error (error code No. 38) and motor auto recognition error (error code No. 95) will not be stored in
the alarm history.
Time
時間[s](s) Overload Protection Tine limiting
オーバーロード保護時限特性 characteristic
（モータタイプ (Motor type : M□MA)
M□MA）
100
MAMA 100W
MQMA 100W∼400W
MAMA 200W∼750W
MSMA 1kW∼5kW
MDMA 1kW∼5kW
MHMA 1kW∼5kW
MFMA 400W∼4.5kW
10 MGMA 900W∼4.5kW
0.1
100115 150 200 250 300 350 400 450 500
トルク[%]
Torque (%)
Time (s)
時間[s]
Overload Protection Tine limiting
オーバーロード保護時限特性 characteristic
（モータタイプ (Motor type : M□MD)
M□MD）
100
MSMD 50W
MSMD 100W(100V)
MSMD 100W(200V)
MSMD 200W
MSMD 400W
10 MSMD 750W
0.1
100 115 150 200 250 300 350 400 450 500
Torque (%)
トルク[%]

No. SR-DSV09521 - 58 -
8-2 Trial Run

The motor can be run on trial, without connection of the X5 connector.
For details, refer to Section 9-1-8 (3) "Motor trial run".
★ 8-3 Automatic Offset Adjustment

This function is invalid.
8-4 Warning function

The MINAS-A4 Series outputs a warning signal before its protective function is activated, enabling you to check
the overload and other error conditions in advance.
8-4-1 Warning on interface connector X5

The servo driver can output a warning signal from the interface connector, according to the settings of Pr. 09 (TLC
output selection) and Pr. 0A (ZSP output selection). The warning signal is retained for at least 1 second.
Set value of
X5 TLC: Pin 40 Output X5 ZSP: Pin 12 Output
Pr. 09/Pr. 0A
0 Torque limit control output
1 Zero speed detection output

Warning signal output
2
(Regenerative overload warning or overload warning)
Regenerative overload warning
3 The regenerative load ratio is 85% or higher level of the regenerative overload
protection alarm level.
Overload warning
4
The load ratio is 85% or higher level of the overload protection alarm level.
Battery warning
5
The voltage of the absolute encoder battery is approx. 3.2 V or less.
Fan lock alarm
6
The fan stopped for 1 second or more.
7 ★ You cannot set.
8 Speed conformance output
- If the regenerative overload or overload warning is output, take an appropriate action according to Section 8-1.
- If the battery warning is output, replace the absolute encoder battery according to Section 10-3. After
replacing the battery, perform the servo driver alarm clear procedure to clear the battery warning.
8-4-2 Warning indication on the front panel

Refer to Section 9-1-4.

No. SR-DSV09521 - 59 -
8-5 Software limit function

(1) Outline
If the motor operation exceeds the motor operational range set in Pr.26 (software limit set up) for the position
command range, then the alarm can be stopped with the software limit protection (error code No.34).
Using this function prevents the load from colliding with the edges of the machine due to the oscillation
of the motor.
(2) Scope
This function can operate under the following conditions:
Conditions under which the software limit functions

Control -Position control mode is selected.
Mode Pr.02=0 : Position control
★
(1) Servo must be turned ON.
(2) Pr.26 (software limit setting) must be set to a value other than “0”
(3) The motor’s operational range must be within 2147483647 for both CCW and CW
since the position command parameter rage was reset to “0”.
Others
(4) Normal mode auto gain tuning is performing.
Once the condition in (3) has been breached, then the software limit protection for which the (5)
position command parameter range is cleared is met.
If condition (1) or (2) is not met, then the position command parameter range will be cleared to “0”.
(3) Cautions
- This function is not a protection against the abnormal position command.
- When this software limit protection is activated, the motor decelerates and stops according to Pr.68
(Sequence at alarm).
The work (load) may collide to the machine end and be damaged depending on the load during this
deceleration, hence set up the range of Pr.26 including the deceleration movement.
- This software limit protection will be invalidated during the trial run and frequency characteristics
functioning of the PANATERM.

No. SR-DSV09521 - 60 -
(4) Example of movement
1) When no position command is entered (Servo-ON status),

The motor movable range will be the travel range which is set at both sides of the motor with Pr.26 since no
position command is entered. When the motor enters to the Err.34 occurrence range (oblique line range),
software limit protection will be activated.
motor motor
load
Pr.26 Pr.26
Motor movable
Err34 occurrence range range Err34 occurrence range
2) When the motor moves to the right (at Servo-ON),

When the position command to the right direction is entered, the motor movable range will be
expanded by entered position command, and the movable range will be the position command input
range + Pr.26 setups in both sides.
motor load
motor
Position command
Pr.26 Input range Pr.26
Err34 occurrence range Motor movable range Err34 occurrence range
3) When the motor moves to the left (at Servo-ON),

When the position command to the left direction is entered, the motor movable range will be expanded
further.
motor load
motor
Position command
Pr.26 Input range Pr.26
Err34 occurrence range Motor movable range Err34 occurrence range
(5) Condition under which the position command input range is cleared
The position command input range will be 0-cleared under the following conditions.
- When the power is turned on.
- While the position deviation is being cleared (Deviation counter clear is valid, Pr.66 (Sequence at
overtravel inhibition) is 2 and overtravel inhibition input is valid).
- At the starting and the finishing of the normal auto-gain tuning.

No. SR-DSV09521 - 61 -
9. Operations
9-1 Front Panel Key Operations and Display
9-1-1 Configuration of the operation and display panel
9-1-2 Functions of the Key Switches

Switch Active condition Function
Used to shift between the following five modes:
1) Monitor mode
Active on the selection 2) Parameter setup mode
MODE display 3) EEPROM write mode
4) Auto tuning mode
5) Auxiliary function mode
NOTE)
SET Always active Used to switch between the selection display and
execution display.
Used to change the display in each mode, change data,
Active for the digit select parameters and execute operations.
with a blinking decimal
point Used to move the changeable digit to the higher-order
digit.
NOTE) The above five modes provide "selection display" and "execution display" individually.
For details on these displays, refer to Section 9-1-3.

No. SR-DSV09521 - 62 -
9-1-3 Operating procedure
After power-ON, any of the following execution displays appears in the monitor mode,
according to the setting of Pr. 01 (LED initial condition).
Selection display Execution display
Monitor mode [Selection display] Monitor mode [Execution display]
Example Meaning Reference

section
. Positional deviation   (Deviation 5 pulse) 9-1-4 (1)
. Motor speed   (1000 r/min) 9-1-4 (1)
. Torque output   (Torque output 100%) 9-1-4 (1)
. Control mode  (Position control mode) 9-1-4 (2)

SET key
 . I/O signal status (Input signal No. 0 active) 9-1-4 (3)
 . 
. Cause & History of error

.  (No error) 9-1-4 (4)
 . Software version

  (Software version 1.00) 9-1-4 (5)
 . Warning

 (No warning) 9-1-4 (6)
 . Regenerative load ratio

  (30% of allowable 9-1-4 (7)
regenerative power)
 . Overload ratio
  (Overload ratio 28%) 9-1-4 (8)
. Inertial ratio

  (Inertia ratio 100%) 9-1-4 (9)
. Feedback pulse total

 (Feedback pulse total 50) 9-1-4 (10)
. Command pulse total
 (Command pulse total 10) 9-1-4 (10)
. Invalid ★
. Invalid ★
(Motor auto recognition 9-1-4 (12)

. Motor auto recognition function   enabled)
. Invalid ★
  (No servo-on input)

 . Causes of no revolution 9-1-4 (14)
Pressing the key shifts the display in the direction indicated by arrow.
Pressing the key shifts the display in the opposite direction.
To next page
MODE key

No. SR-DSV09521 - 63 -
From previous page
Parameter setup mode [Selection display] Parameter setup mode [Execution display]

section
(Parameter value: 1000) 9-1-5 (1)
SET key Set up the parameter by using the , or key.

The digit with a blinking decimal point can be set up or changed.
NOTE A change of the parameter with the " "mark displayed
before the parameter No. becomes enabled after the power
supply is reset.
MODE key
EEPROM write mode [Selection display] EEPROM write mode [Execution display]

section
(Writing parameter into

EEPROM) 9-1-6 (1)
Keep pressing the key.

SET key
To write a parameter into the EEPROM, press the SET
Writing starts.
key to go to the execution display.
Writing is completed.
MODE key
Auto gain tuning mode [Selection display] Auto gain tuning mode [Execution display]

section
(Auto gain tuning) 9-1-7 (1)

……………. …Machine stiffness No. 0 (low)
:
SET key Tuning starts.
:
:
………………. Machine stiffness No. 15 (high) Tuning is completed.
Adaptive filter enabled, 9-1-7(2)

………………... Fit gain window
Real time auto tuning stiffness 4
After difining the mechanical stiffness, press the SET key to go to
the execution display.
NOTE For “mechanical stiffness”, refer to Section 11-1
MODE key
To next page

No. SR-DSV09521 - 64 -
From previous page
Auxiliary function mode [Selection display] Auxiliary function mode [Execution display]

section
(Alarm clear) 9-1-8 (1)
 Alarm clear
Alarm clear starts.
Alarm clear is completed.
SET key
 Invalid ★
(Motor trial run) 9-1-8 (3)
 Motor trial run
(Absolute encoder clear) 9-1-8 (4)

 Absolute encoder clear
Clear the error of an external  . (Clear the error of an external scale.)

scale. 9-1-8 (5)
Pressing the key shifts the display in the direction

indicated by arrow. Pressing the key shifts the display
in the opposite direction.
MODE key
• The display flashes slowly when the alarm is on.

• When an error occurs, the display flashes, and the display screen showing the causes of an error appears.

No. SR-DSV09521 - 65 -
9-1-4 Details of the execution display in the monitor mode

(1) Position error, motor speed and torque output display
Data
Position error (Pulse count accumulated in the error counter) Limit to ±99999.
- Polarity (+): CCW torque (viewed from the axis end)
(−): CW torque (viewed from the axis end)
Motor speed (Unit: r/min)

- Polarity (+): CCW, (−): CW
Torque output
- Polarity (+): CCW, (−): CW
(2) Control mode display
      … Position control mode
      … Speed control mode

No. SR-DSV09521 - 66 -
(3) I/O signal status display
Active (The signal is active.)

Inactive (The signal is inactive.)
Signal No. (0 to 1F)
Input signal
Output signal
• Press the or key to select the signal No. to be monitored.
(Least-significant input signal No.)
Pressing the key

(Most-significant input signal No.)
shifts the display in
this order.
(Least-significant output signal No.)
(Most-significant output signal No.)

No. SR-DSV09521 - 67 -
• Relation between signal No. and signal name
Input signal Output signal

Signal Signal
Signal name Code Pin No. Signal name Code Pin No.
No. No.
00 Servo-ON SRV-ON 29 0 Servo ready S-RDY 35/34
01 Alarm clear A-CLR 31 1 Servo alarm ALM 37/36
02 CW overtravel inhibit CWL 8 2 In-position COIN 39/38
03 CCW overtravel inhibit CCWL 9 3 Brake release BRK-OFF 11/10
05 Zero speed clamp ZEROSPD 26 4 Zero speed detected ZSP 12
06 Command scaling switching DIV 28 5 Torque limited TLC 40
08 Command pulse input inhibit INH 33 6 Within speed window V-COIN 12/40
09 Gain switching GAIN 27 9 At-speed COIN 39/38
0A Deviation counter clear CL 30
0C Internal command speed selection 1 INTSPD1 33
0D Internal command speed selection 2 INTSPD2 30
Vibration suppression control
13 VS-SEL 26
switching input
14 Internal command speed selection 3 INTSPD3 28
15 Torque limit switching input TL-SEL 27
(4) Cause of error and history reference
Error code No.

(- - indicates occurrence of no error.)
Current error
History 0
History 13
• Causes of up to 14 errors in the past (including the current error) can be seen.
Select the history No. to be seen by pressing the or key.
NOTE 1) The following errors are not stored in the history.

11: Control power undervoltage
13: Main power undervoltage
36: EEPROM parameter error
37: EEPROM check code error
38: Overtravel inhibit input error
95: Motor auto recognition error
NOTE 2) During occurrence of an error to be stored in the history, the current error and History 0 indicate the
same error code No.

No. SR-DSV09521 - 68 -
Relation between error code No. and contents ★

Error Error
Contents Contents
code No. code No.
11 Control power undervoltage 36 EEPROM parameter error
12 Overvoltage 37 EEPROM check code error
13 Main power undervoltage 38 Overtravel inhibit input error
14 Overcurrent and ground fault 40 Absolute encoder system down error
15 Motor and/or Drive Overtemp. 41 Absolute encoder counter overflow
16 Overload 42 Absolute encoder overspeed
18 Regenerative resistor overload 44 Absolute encoder single-rotation counter error
21 Encoder communication error 45 Absolute encoder multi-rotation counter error
23 Encoder communication data error 47 Absolute encoder status error
24 Position deviation error 48 Encoder Z-phase error
26 Overspeed 49 Encoder communication signal error
27 Command scaling error 65 CCWTL input over voltage
29 Deviation counter overflow 66 CWTL input over voltage
34 Software limit error 95 Motor auto recognition error
35 External scale communication error Other Other errors
(5) Software version
   ．   Indicates an ｄriver software version.
(6) Warning indication ★
     No warning Occurrence of warning
Regenerative overload warning:

Indicates that the regenerative load ratio is 85% or more of the regenerative overload
When Pr.6C (external regenerative discharge resistor set up) is 1, regenerative discharge
resister’s duty ratio 10% shall be defined as the alarm level.
Overload warning: Indicates that the load ratio is 85% or more of the overload
Battery warning: Indicates that the voltage of the absolute encoder battery is the
warning level (approx. 3.2 V) or lower.
Fan lock alarm: The fan stopped for 1 second or more.
(7) Indication of regenerative load ratio
Indicates the ratio (%) of the regenerative load to the regenerative overload
(8) Indication of overload ratio
Indicates the ratio (%) of the actual load to the rated load.
(9) Indication of inertia ratio

No. SR-DSV09521 - 69 -
(10) Indicates feedback pulse total, command pulse total and external scale feedback pulse total.
Indicates the total pulse count after power-on of the control power supply. The pulse count overflows as
shown below.
99999 99999 99999
0 0 0
(When the control power is turned on)
CW CCW
The data of feedback total, command pulse total, and external scale feedback pulse total can be cleared to zero
at the same time by continuously pressing on any pulse total display screen for 3 seconds.
This function cannot be used to clear each datum of PANATERM and console.
[Process indication]
 
Keep pressing ,
and the mark “•” shifts
as shown in the right  
drawing.
.  
Note 1) As the accumulation of command pulses are not processed when the command pulse input inhibit is
enabled, the normal mode automatic gain tuning is on, or the measurement function of the
PANATERM frequency characteristics is used, the number of actual pulse inputs and the indicated
value of the command pulse total are different.
(11) Motor automatic recognition function
Automatic recognition enabled
Automatic recognition disabled
(12) Indication of the cause of no revolution ★

Indicates the cause of no motor revolution in numbers.
   
Control mode Cause number

 Position control
 Speed control

No. SR-DSV09521 - 70 -
Descriptions of cause numbers ★
Related
Number Item control Contents
mode
An alarm is raised.
Flashing Alarm raised All
Warning is raised.
Any cause of no revolution cannot be detected.
0 No cause All
Normally revolving.
Main power turned
1 All The main power of an driver has not been turned on.
off
SRV-ON input not
2 All The Servo-ON input has not been connected to COM-.
turned on
With Pr.04 set to 0 (overtravel input inhibit enabled),
• the CCW overtravel inhibit input (CCWL) is open, and the speed
Overtravel inhibit
3 All command has been set to the CCW direction.
input enabled
• the CW overtravel inhibit input (CWL) is open, and the speed
command has been set to the CW direction.
The set value of the torque limit for either Pr.5E (1st torque limit) or
Torque limit setup
4 All Pr.5F (2nd torque limit), whichever is enabled, is not more than 5% of the
too small
rated value.
With Pr.03 set to 0 (analog torque limit input allowed),
• the CCW analog torque limit input (CCWTL) has negative voltage, and
Analog torque limit
5 P, S the speed command has been set to the CCW direction.
enabled
• the analog torque limit input (CWTL) has positive voltage, and the
speed command has been set to the CW direction.
6 INH input enabled P With Pr.43 (command pulse inhibit input enabled) set to 0, INH is open.
• The command pulse has not been input correctly.
Frequency of
• Not correctly connected to the input selected by Pr.40.
7 command pulse P
• The input mode selected by Pr.41 or Pr.42 is not correct.
input too low
And the position command per control cycle is not more than 1 pulse.
With Pr.4E set to 0 (clear deviation counter by level), the deviation
8 CL input enabled P
counter clearance input (CL) has been connected to COM-.
ZEROSPD input With Pr.06 set to 1(zero speed clamp enabled), the zero speed clamp input
9 S
enabled (ZEROSPD) is open.
External speed
10 S Pr.05 is set to 0 or 2.
command too small
Internal speed With the internal speed command selected, the internal speed command
11 S
command 0 has been set to a value of not more than 30[r/min].
Although the causes 1 thru 13 are met, the motor only revolves at
20[r/min] or less.
14 Other causes All
(Too small commanded value, too heavy load, locking, crashing,
driver/motor failure, etc.)
Even if any number other than 0 is indicated, a motor may revolve.

No. SR-DSV09521 - 71 -
9-1-5 Details of the execution display in the parameter setup mode

(1) Parameter setup
The digit with a blinking decimal point can be changed.
Parameter value
• Define the parameter value by pressing the or key (Pressing the key increases the set
value, and pressing the key decreases it.)
• Every time the key is pressed, the blinking decimal point shifts to the higher-order digit. The digit
with the blinking decimal point can be changed.
NOTE) When a parameter value is changed, the updated setting will be immediately reflected on the control.
The parameters that have significant influence on the motor's operating condition must not be
changed gradually. Do not change the parameter value by a large step.
9-1-6 Details of the execution display in the EEPROM writing mode

(1) Writing parameter into EEPROM
• To execute the writing, keep pressing the key until the display is switched to " ".
Keep pressing the

key for approx. 5 seconds.
A bar is added as shown
on the right.
Writing starts.
Writing ends.
Writing is completed. Writing error occurred.
• If you change the setting of the parameter that will become enabled after reset, " "
will be displayed after completion of the writing. In this case, turn OFF the control power supply once,
and reset it.
NOTE 1) When a writing error occurs, re-write the same data into the EEPROM. If the same writing error
occurs repeatedly, the servo driver may be defective.
NOTE 2) Do not turn OFF the power supply while writing data into the EEPROM. Otherwise, incorrect
data may be written into the EEPROM. If this trouble occurs, re-set up all parameters, and
perform re-writing after checking the parameter settings thoroughly.

No. SR-DSV09521 - 72 -
9-1-7 Details of the execution display in the auto gain tuning mode
(1) Normal mode auto gain tuning
Regarding whether this function is available or not, refer to "Specifications by Model" on separate sheets.
NOTE 1) For details of the auto gain tuning function, refer to Section 11.
In particular, before using the auto gain tuning function, read the scope of application and
precautions.
NOTE 2) In the normal mode auto gain tuning mode, the driver moves motor automatically according to the
specific pattern. This motion pattern can be changed with Pr.25 (normal auto tuning motion set
up). Care shall be taken to carry out normal mode auto gain tuning after the load is shifted to the
position where the load does not interfere the motion in the pattern without fail.
NOTE 3) Vibrations may occur after tuning depending on a load. Make sure to pay attention to the safety
when using the protective functions, such as Pr.70 (position deviation error level), Pr.73 (overspeed
level), etc.
[Selection display]
Machine stiffness No.
• Select machine stiffness No. by pressing the or key.

(For machine stiffness No., refer to Section 11-2.)
[Execution display]
• Press the key to show the execution display .
To execute the auto gain tuning function, inhibit a command input first, and then activate the SER-ON
signal. Then, keep pressing the key until the display is switched to .
Keep pressing the

on the right.
Motor starts.
End
Tuning is completed. Error occurred.

No. SR-DSV09521 - 73 -
NOTE) A tuning error occurs in the following cases during the tuning operation.
1) During the tuning operation: - When an error occurs
- When the servo is turned off
- When the deviation counter is cleared
- When the main power is turned off
- When the overtravel inhibit is enabled
2) When the output torque has been saturated due to excessive inertia, load, etc., and the tuning
cannot be conducted due to vibrations, etc.
When a tuning error occurs, each gain returns to the value, which was available before tuning. Except at the time
of an error, since no trip occurs and, depending on a load, vibrations may happen even without any tuning error
(without indication), make sure to pay attention to the safety.

No. SR-DSV09521 - 74 -
(2) Fit gain window

[Selection display]
Fit gain window
[Execution display]
- Press the SET to display the execution window.
[6][5][4][3][2][1]
- Position the decimal point to [1], [2] or [4] using the key. The fit gain function can be started or real
time auto gain tuning/adaptive filter can be altered or stored using the ▲ ▼ keys.
- Meaning of the display
[1]Setting of the real time auto gain tuning stiffness/fit gain starting up
Display Meaning Extension function
Stiffness 15 Fit gain function starts by positioning the decimal point to 0

Can be
changed and pressing the ▼ for approx. 3 seconds. (Refer to sect. 11)
with Stiffness 1
▲ ▼
Stiffness 0
[2]Real time auto gain tuning operation setting

6 Vertical axis mode: Load inertia changes rapidly.
Can be Real time auto tuning disabled
changed 5 Vertical axis mode: Load inertia changes slowly.
with 4 In a state of (0), press the ▼ for
. 3 Vertical axis mode: Load inertia does not change. approx. 3 seconds.
▲ ▼
2 Normal mode: Load inertia changes rapidly.
Gain auto setting corresponding to the
1 Normal mode: Load inertia changes slowly. stiffness is carried out. (Refer to sect.11)
0 Normal mode: Load inertia does not change.
Disabled:
[3]Real time auto gain tuning status (display only)

: Disabled
: Enabled
or : Load inertia estimating

No. SR-DSV09521 - 75 -
[4]Adaptive filter operation switching

Can be
changed
with  Retained In a state of adaptive filter enabled (2), press ▲ for approx. 3 seconds
▲ ▼ Present adaptive filter setting is copied to the first notch frequency
 Enabled (Pr.1D, Pr.1E).
 Disabled In a state of adaptive filter disabled (0), press ▲ for approx. 3 seconds.
The setting of the 1st notch frequency (Pr.1D, Pr.1E) is cleared.
[5] Adaptive filter operation status (display only)

: Disabled
: Enabled
or : Operation tuning
[6] Writing of EEPROM
 is valid: Press ▼ for about 3 seconds, and the present set value is written into EEPROM.

No. SR-DSV09521 - 76 -
9-1-8 Details of the execution display in the auxiliary function mode

(1) Alarm clear
This function is used to cancel a trip condition.
[Selection display]
     
[Execution display]
To execute the alarm clear function, keep pressing the key until the display is switched to
.
Keep pressing the

on the right.
Alarm clear starts.
End
Alarm clear is completed. Alarm cannot be cleared.

Reset the power supply.

No. SR-DSV09521 - 77 -
(2) Motor trial run
The motor can be run on trial, without connection of the X5 connector.
[Selection display]
[Execution display]
To execute the motor trial run, keep pressing the key until the display is switched to
.
Keep pressing the

on the right.
Preparatory step 1      ．
When the servo is not ready yet

(An alarm raised or the main power is
turned off.)
• Then, keep pressing the key until the display is switched to .
Keep pressing the

A period is moved as
shown on the right.
(Servo-ON)
Preparatory step 2
     ．
The servo is not ready yet or SRV-ON

is enabled
• After Servo-ON, pressing the key runs the motor CCW, and pressing the key runs the motor
CW at a speed defined by Pr. 3D (JOG speed).
NOTE 1) Before starting a trial run, be sure to remove a load from the motor, and disconnect the X5 connector.
NOTE 2) To execute a trial run, reset Pr. 10 (1st position loop gain) and Pr. 11 (1st velocity loop gain) to the
initial values to avoid troubles such as oscillation.
NOTE 3) Set the torque limit selection (Pr.03) to 1, the overtravel input inhibit (Pr.04) to 1 and the ZEROSPD
input selection (Pr.06) to 0.
NOTE 4) When the SRV-ON becomes enabled during the trial run, the indication turns out to be
     ． , the trial run is discontinued and the normal operation by an external
command begins.

No. SR-DSV09521 - 78 -
(3) Absolute encoder clear
This function is used to clear the absolute encoder's multi-revolution data and error data.
[Selection display]
[Execution display]
To execute the motor trial run, keep pressing the key until the display is switched to
.
Keep pressing the
on the right.
Absolute encoder
clear starts.
End
Absolute encoder clear Error
Error occurred.
occurred.
(When an incompatible encoder is
connected.)

No. SR-DSV09521 - 79 -
10. Absolute encoder

With the motors intended to use an absolute encoder or absolute/incremental encoder, you can configure the
absolute system that does not need origin return operation after power-on, by connecting the absolute encoder
battery, and changing the setting of Pr. 0B (Absolute encoder set up) from "1" (initial value) to "0".
The absolute data will be sent to the host controller through the servo driver's communication interface (RS232C
or RS485).
10-1 Configuration of the Absolute System

Configuration of the absolute system using the RS232C interface
Host controller
上位コントローラ Servo
サーボアンプdriver
Ｘ４ SN751701 or
RS232C ｲﾝﾀｰﾌｪｲｽ
RS232C interface SN751701 相当品
equivalent
5
TXD RXD
3
RXD TXD
4
GND GND
Ｘ５
位置決め
Positioning
controller
ｺﾝﾄﾛｰﾗＸ６
Relay
中継ｺﾈｸﾀ
connector Motor
ﾓｰﾀ
Battery
ﾊﾞｯﾃﾘ
With the RS232C interface, a multi-axis absolute system (with up to 16 axes) can be configured.

No. SR-DSV09521 - 80 -
Configuration of the absolute system using the RS485 interface
Host controller Servo driver
Ｘ３ ADM485 or
RS485 interface equivalent
7
TXD RS485+
8
RXD RS485-
4
GND GND
Ｘ４
7 RS485+
8
RS485-
4 GND
Positioning
controller
Ｘ５
Ｘ６
Positioning
controller Motor
Battery
To use the RS485 interface, set RSW (ID) on the servo driver front panel to "1" to "F".

No. SR-DSV09521 - 81 -
10-2 Absolute Data

Absolute data include the single-revolution data that indicate the absolute position per motor revolution, and the
multi-revolution data that counts motor revolutions after encoder clear.
Single-revolution 131071, 0,1,2, …… 131071, 0,1,2, …… 131071, 0,1,

data
-1 0 01 12
Multi-revolution
data
Direction of motor
revolution CW CCW
10-3 Mounting the Absolute Data Battery

Refer to Section 5-3 (3) "Connecting cables to connector X6 ".
10-4 Absolute Encoder Clear

The absolute encoder's multi-revolution data are retained with the absolute encoder battery.
Therefore, at the first start-up of the machine after the absolute encoder battery is mounted, clear the encoder at
the origin to reset the multi-revolution data to "0".
To execute the encoder clear, operate the front panel (See Section 9-1-8 (4) "Absolute encoder clear"), or
PANATERM.
After clearing the absolute encoder, turn OFF the control power supply, and then turn it ON again.
10-5 Absolute Data Transmission

Send absolute data from the servo driver to the host controller, according to the following procedure.
Before sending absolute data, turn ON the power supply, and make sure that the servo ready output (X5 Pins 34
and 35) are ON.
(1) Host controller serial communication interface setup

RS232C
Baud rate 2400, 4800, 9600, 19200, 38400, 57600 bps
Data length 8 bits
Parity None
Start bit 1 bit
Stop bit 1 bit
The baud rate is defined by Pr. 0C (baud rate of RS232C ).
RS485
Baud rate 2400, 4800, 9600, 19200, 38400, 57600 bps
Data length 8 bits
Parity None
Start bit 1 bit
Stop bit 1 bit
The baud rate is defined by Pr. 0D (baud rate of RS485 ).

No. SR-DSV09521 - 82 -
(2) Absolute data transmission procedure

RS232C
Transmission
starts
05h
Transmission
04h N
Reception
Data Y
transmission
request to
servo 00h Transmission
amplifier 01h Transmission *1 The data marked with * 1 and * 2 are defined by
D2h Transmission setting RSW (ID) on the servo ｄriver front panel.
2Dh Transmission *2
RSW(ID) Data *1 Data *2

0 00h 2Eh
06h N 1 01h 2Dh
Reception
2 02h 2Ch
Y
3 03h 2Bh
05h N 4 04h 2Ah
Reception 5 05h 29h
Y 6 06h 28h
Absolute 7 07h 27h
data 04h
reception Transmission 8 08h 26h
from servo 9 09h 25h
amplifier A 0Ah 24h
B 0Bh 23h
Receiving
absolute data C 0Ch 22h
(15 characters) D 0Dh 21h
E 0Eh 20h
F 0Fh 1Fh
Check sum N If the low-order 8 bits of the sum of the received

OK
absolute data (15 characters) are "0", the check sum is
Y
judged acceptable.
06h 15h
Transmission Transmission
Transmission
ends
* To avoid any operation error due to incidental noises, etc., it is recommended to repeat the above
communication at least twice, and to make sure of the conformance of absolute data.

No. SR-DSV09521 - 83 -
RS485
Transmission
starts
*1
81h Transmission
05h Transmission
*1
81h Reception N
04h Reception
Data Y
transmission
request to
servo 00h Transmission The data marked with * 1, * 2 and * 3 are defined by
amplifier 01h Transmission *2 setting RSW (ID) on the servo driver front panel.
D2h Transmission
2Dh Transmission *3
RSW(ID) Data *1 Data *2 Data *3
0 The RS485 interface cannot be used.
1 81h 01h 2Dh
06h N 2 82h 02h 2Ch
Reception
3 83h 03h 2Bh
Y
4 84h 04h 2Ah
5 85h 05h 29h
80h Reception N 6 86h 06h 28h
05h Reception 7 87h 07h 27h
8 88h 08h 26h
Y
Absolute data
9 89h 09h 25h
reception from 80h Transmission A 8Ah 0Ah 24h
servo amplifier 04h Transmission B 8Bh 0Bh 23h
C 8Ch 0Ch 22h
D 8Dh 0Dh 21h
E 8Eh 0Eh 20h
Receiving
absolute data F 8Fh 0Fh 1Fh
(15 characters)
If the low-order 8 bits of the sum of the received absolute

data (15 characters) are "0", the check sum is judged
acceptable.
N
Check sum
OK
Y
06h 15h
Transmission Transmission
Transmission
ends
* To avoid any operation error due to incidental noises, etc., it is recommended to repeat the above
communication at least twice, and to make sure of the conformance of absolute data.

No. SR-DSV09521 - 84 -
11. Tuning
(1) Outline
Gain tuning of the MINAS-A4 series is performed as shown in the flow char below.
11-1 Real time auto gain tuning

In the setting before shipment of the MINAS-A4 series, the real time auto gain tuning is enabled.
Drive the machine under the actual operation conditions to tune the machine with Pr.22 (Machine
stiffness at auto tuning).
11-2 Normal mode auto gain tuning

When it is difficult to input command of the optimum conditions, the normal mode auto gain tuning,
in which the tuning is performed using a command internally generated in the driver can be used.
11-3 Fit gain function

When carrying out position control, fit gain function that performs from auto setting of stiffness to
fine-tuning that makes the positioning setting time the shortest automatically, is available.
11-4 Disabling of auto tuning function

When the above functions are not used, or satisfactory tuning result can not obtained, check the
contents of the item and release the auto tuning function.
11-5 Gain auto setting function

Gain auto setting function performs batch setting of the gains corresponding to the stiffness
parameter as the initial setting of manual gain tuning.
11-6 Manual gain tuning

The gain can be tuned manually in accordance with equipment.

No. SR-DSV09521 - 85 -
Tuning start
Is auto tuning
executed? No
Yes
Refer to Sect.11-4
Is command input Auto tuning function

(in Sect.11-1) possible? No release
Yes
(Default setting) Refer to Sect.11-1 Refer to Sect.11-2
Real time auto Normal mode auto

gain tuning gain tuning
Start from auto
tuning setting? No
Yes Refer to Sect.11-5
Are conditions in
Gain auto setting
Sect.11-3 satisfied?
function
Refer to Sect.11-3
Fit gain
function
Is operation OK?
No
Yes
Is operation OK?
No
Yes
Refer to Sect.11-6
Does load Manual gain

characteristics
No tuning
fluctuate?
Refer to Sect.11-4
Yes
Auto tuning function
release
Is operation OK?
No
Yes
Refer to Sect.9-1-6, 9-1-7
Write to EEPROM
Tuning Make contact with Matsushita.

completion

No. SR-DSV09521 - 86 -
11-1 Real time auto gain tuning

(1) Outline
Load inertia of the machine is estimated at real time, and the optimum gain is set up
automatically based on the estimated result. A load, which has a resonance, also can be
handled owing to the adaptive filter.
Gain auto Filter auto

Position/speed setting tuning Torque Motor
command command current
Position/speed Adaptive Current
control control Motor
filter
Operation command under
actual operation conditions
Resonant frequency estimate
Load inertia estimate

Real time auto
gain tuning
Motor
speed
Encoder
Servo driver
(2) Application range

- This function is applicable to the following conditions.
Conditions under which the real time auto gain tuning functions
Can be used in any control mode.
Control mode When using the trial run function of a motor or using the frequency characteristics
measuring function of PANATERM, the load inertia estimation is disabled.
- Servo-ON
- Any factors other than control parameters such as the deviation counter clearance
Others
command input prohibition, torque limit, etc., and there shall be no problem in the normal
motor revolution.

No. SR-DSV09521 - 87 -
(3) Caution
- Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning or manual gain tuning.
Conditions under which the real time auto gain tuning is prevented from functioning
- When the load inertia is smaller/larger than the rotor inertia
Load inertia (less than 3 times; or 20 times or more)
- When the load inertia fluctuates
- When the machine stiffness is extremely low
Load
- When any unsecured part resides in such as backlash, etc.
- In case of a continuous low speed operation under 100 [r/min].
- In case of soft acceleration/deceleration not more than 2000 [r/min] per 1 [s].
- When conditions such as the speed of 100 [r/min] or more speed and the acceleration of
Operation pattern
2000 [r/min] or more per second does not continue for 50 [ms] or more.
- When acceleration/deceleration torque is smaller than unbalanced load/viscous
friction torque.
(4) How to use

[1] Stop the motor (Servo-OFF).
[2] Set up Pr.21 (Real-time auto tuning set-up) to 1-7.
Set up value before shipment is1.
Setting Real-time auto Changing degree of load
value tuning inertia during operation
0 Not used ―――――
1 No change
2 Normal mode Change slowly
3 Change shaply
4 No change
5 Vertical axis mode Change slowly
6 Change shaply
When the changing degree of the load inertia is too large, set Pr.21 to 3 or 6.
When using it in the vertical axis, use 4 thru 6.
When any influence of resonance is considered, make Pr.23 (adaptive filter mode) enabled.
[3] Set up Pr.22 (Machine stiffness at auto tuning) to 0 or a lower value.
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr.22 (Machine stiffness at auto
tuning). When any noise or vibration is found, decrease the Pr.22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.

No. SR-DSV09521 - 88 -
(5) Parameters, which are set up automatically.

The following parameters are tuned automatically.
Parameter No. Name
Pr.10 1st position loop gain
Pr.11 1st velocity loop gain
Pr.12 1st velocity loop integration time constant
Pr.13 1st speed detection filter
Pr.14 1st torque filter time constant
Pr.18 2nd position loop gain
Pr.19 2nd velocity loop gain
Pr.1A 2nd velocity loop integration time constant
Pr.1B 2nd speed detection filter
Pr.1C 2nd torque filter time constant
Pr.20 Inertia ratio
The following parameters are also set up to the following fixed values automatically.
Parameter No. Name Set value
Pr.15 Velocity feed forward 300
Pr.16 Feed forward filter time constant 50
Pr.27 Velocity observer 0
Pr.30 2ndgain action set up 1
Pr.31 1st control switching mode 10 *1
Pr.32 1st control switching delay time 30
Pr.33 1st control switching level 50
Pr.34 1st control switching hysteresis 33
Pr.35 Position loop gain switching time 20
Pr.36 2nd control switching mode 0
*1) The set value will become 10 in the case of the position control and full-closed control, and 0 in the case of the
speed control and torque control.

No. SR-DSV09521 - 89 -
(6) Description of the adaptive filter

If Pr.23 (adaptive filter mode) is set to a value other than 0, the adaptive filter becomes enabled.
In an actual operation state, resonance frequency is estimated based on the vibration component,
which appears in motor speed, and resonance point vibration is reduced by removing resonance
component from the torque command by the adaptive filter.
The adaptive filter may not function normally under the following conditions. In such a case, take
anti-resonance measures using the 1st notch filter (Pr.1D and 1E) or second notch filter (Pr.28-2A)
in accordance with the manual tuning procedure.
Conditions under which the adaptive filter is prevented from functioning
・When the resonance frequency is 300 [Hz] or less
・When resonance peak is low, or control gain is low; and its influence does not
Resonance point
appear on the motor speed
・When plural resonance points reside in
・When a motor speed fluctuation having a high frequency component is caused due
Load
to a non-linear element such as backlash etc.
Command pattern ・When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]
When Pr.2F (adaptive filter frequency) is 4 or less, the adaptive filter becomes disabled.
When Pr.2F (adaptive filter frequency) is 4 or less, the adaptive filter may be disabled even if Pr.23 is set to a
value other than 0.
Refer to the nullification of adaptive filters shown in the item (3) of 16-4.
(7) Caution 2
[1] Immediately after the first turning the servo ON at start up, or when Pr.22 (Machine stiffness at
auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is
determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there
is no problem. But, when such problem as vibration or noise continues during a period of 3
reciprocal operations, etc. occurs frequently, take the following measures.
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr.22 (Machine stiffness at auto tuning).
3) Set Pr.23 (adaptive filter mode) to 0, and make the adaptive filter disabled.
4) Set up the notch filter manually.
[2] After a noise or vibration has occurred, Pr.20 (Inertia ratio) and/or Pr.2F (Adaptive filter
frequency) may have been changed into an extreme value. In such a case also, take the above
measures.
[3] In the results of the real time auto gain tuning, Pr.20 (Inertia ratio) and Pr.2F (Adaptive filter
frequency) are written into the EEPROM every 30 minutes. And auto tuning is carried out
using the data as the initial value when power is on again.
[4] When the real time auto gain tuning is set to “Enabled”, Pr.27 (velocity observer) becomes disabled (0)
automatically.
[5] An adaptive filter is normally disabled at the time of torque control. However, when Pr.02 (control
mode) is 4 or 5 and the torque control is selected, the adaptive filter frequency in the control mode
before switching is retained.

No. SR-DSV09521 - 90 -
11-2 Normal mode auto gain tuning
(1) Outline
The motor is operated using a command pattern, which is automatically generated by the
driver to estimate the load inertia based on the required torque, and proper gain is set up
automatically.
Position command Motor acceleration
Normal mode auto

gain tuning
Gain auto
setting Torque Motor
Internal position current
Position/speed command Current
command generation Motor
control control
Motor torque
Motor
speed
Encoder
Servo driver
(2) Applicable range

- This function is applicable to the following conditions.
Conditions that normal mode automatic gain tuning operates
Control mode - Can be used in any control mode.
- Servo-ON status
Others
- Deviation counter clear signal is not inputted.
Note) Set the torque limit selection (Pr.03) to 1 and the overtravel input inhibit setup (Pr.04) also to 1.
No operation at any other set value.

No. SR-DSV09521 - 91 -
(3) Cautions
- Under the following conditions, normal mode auto gain tuning may not function normally.
In such case, set up the data in manual gain tuning mode.
Conditions under which normal mode auto gain tuning is prevented from functioning.
- Load inertia is smaller/larger than the rotor inertia
Load inertia (Less than 3 times, or 20 times or more)
- Load inertia fluctuates
- Extremely low machine stiffness
Load
- Unsecured part such as backlash etc resides in
- When an error, Servo-OFF or deviation counter clear has occurred during auto gain tuning
operation, it results in a tuning error.
- Even when the auto gain tuning has carried out, when it has failed in estimating the load
inertia value, the gain value is not changed and the previous data remains as it was.
- Motor output torque during auto gain tuning operation is permitted up to the maximum
output torque that has been set up by Pr.5E (1st torque limit), and CW/CCW overtravel
inhibit input is ignored.
Be very careful of the safety. IF vibration occurs, turn OFF the power or the servo
promptly, and return the gain to the set value before shipment with the parameter.
(4) Auto gain tuning operation

[1] In the normal mode auto tuning, the response performance is set up by means of machine stiffness
number.
Machine stiffness numbers
- Machine stiffness numbers are for setting the degree of machine stiffness of the user
machine. Setting range is 0-15.
A machine, which has higher machine stiffness, allows setting a larger value to obtain a
higher gain.
- Ordinarily, auto gain tuning is begun with a lower stiffness number to a larger number in
order. And repeat the steps until a strange noise or vibration occurs.
[2] Operation pattern set by Pr.25 (normal auto tuning motion set up) is repeated up to 5 cycles.
Operation acceleration increases by 2 times per 1 cycle from the third cycle. Depending on the
load status, the operation may be terminated without performing 5 cycles, or the operation
acceleration may not change. It is not an error.

No. SR-DSV09521 - 92 -
(5) How to operate

[1] Set the operation pattern to Pr.25.
[2] Move the load to a position where is safe even when the motor performs a operation pattern set
up by Pr.25.
[3] Prepare the condition that no command pulse input comes in.
[4] Turn the servo ON.
[5] Start the auto gain tuning operation.
Start the operation using the front panel or PANATERM.
Refer to sect.9-1-7(1) Auto gain tuning for how to operate the front panel.
[6] Adjust the machine stiffness number so that a desired response is obtained within a level in
which any vibration does not occur.
[7] When no problem is found in the result, write the data into the EEPROM.

Parameter No. Name
Pr.20 Inertia ratio
Pr.30 2nd gain action set up 1
Pr.31 1st control switching mode 10 *1
*1) The set value will become 10 in the case of the position control, and 0 in the case of the internal speed control.

No. SR-DSV09521 - 93 -
11-3 Fit gain function

(1) Outline
For the purpose of increasing the accuracy of the real time auto gain tuning during position control, fit
gain function in which the gain is set up automatically so that stabilizing time is the shortest is available.
Position command
(Trapezoid speed waveform Position Torque Motor
reciprocate command) ＋ deviation Position/speed Adaptive
command
Current
current
control filter control Motor
Resonant frequency estimate

Real time
auto gain tuning Motor
speed
Encoder
(Tuning time) Stiffness/gain table (Vibration detection)

auto setting
Fit gain function
Servo driver

- In addition to the applicable conditions, the following conditions has to be fulfilled to apply the
fit gain function.
Conditions under which the fit gain function works
Real time auto Real time auto gain tuning works normally.
gain tuning
operation
- The adaptive filter shall be enabled.
Adaptive filter
Pr.23 = 1: Enabled
- Position control mode is selected.
Control mode
No.02＝0: Position control
- Position command that performs reciprocate operation.
- Period of one position command is 50 [ms] or more.
Operation pattern
- Minimum frequency of the position command is 1 [kpps] or more.
(It is necessary for determining the start/end of the command)

No. SR-DSV09521 - 94 -
(3) Cautions
- In addition to the cautions, the real time auto gain tuning operation may not function normally
under the following conditions. In such a case, use the ordinary real time auto gain tuning.
Conditions under which the fit gain function is prevented from functioning
- First position command is too short like less than 2 rotations.
- When the positioning does not complete until the next position command starts after
Operation pattern
a position command has completed.
- Acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s].
Opti.
accel/decel
Command waveform
ON 50 [ms] or more
Positioning completion
OFF 0 [S] or more
(4) How to use

Refer to sect.9-1-7 (2); "9. Operation"
[1] Set up Pr.60 (In-position range) as the judgment criteria of the positioning setting time.
(Preset value before shipment is Pr.60＝131 pulses. For 17-bit encoder, set up a value of
20 pulses or more; for 2500-pulse encoder, set up a value of 10 pulses or more.)
[2] Check that the real time auto gain tuning is enabled through the fit gain window of the
front panel, and then, start the fit gain function.
[3] Front panel display changes to 0 0 0 0 0 0 . Right 3 digits indicate the present setting
under fitting; left 3 digits indicate the fitting result.
[4] After giving a position command that fulfills the above conditions, operate the machine
ordinarily.
[5] As the fitting operation proceeds, the display on the front panel changes.
[6] When the gain search has completed successfully, Finish is displayed; when it
completed erroneously, Error is displayed. (This display can be cleared by pressing
any key)
[7] To store the fit gain result, write the data into the EEPROM.

No. SR-DSV09521 - 95 -
(5) Cautions 2
[1] Although there may be a case that some noise or vibration is generated during the fit gain
operation, ordinarily, since the gain is reduced automatically, there is no problem.
However, if the noise or vibration continues, press any key on the front panel to terminate
the fit gain operation.

Parameter No. Name
Pr.20 Inertia ratio
Pr.22 Machine stiffness at auto tuning
Pr.30 2nd gain action set-up 1
Pr.31 1st control switching mode 10

No. SR-DSV09521 - 96 -
11-4 Disabling of auto tuning function

(1) Outline
Precautions for disabling the real time auto gain tuning, which has been preset before shipping, or the
adaptive filter will be described below.
(2) Caution
Before disabling the auto tuning function, terminate the operation.
(3) Disabling of the real time auto gain tuning

When Pr.21 (real time auto gain tuning set up) is set to 0, the automatic estimation of Pr.20 (inertia ratio) stops,
and the real time auto gain tuning becomes disabled.
In case that the parameter get an apparently incorrect value compared with the remaining estimate
result of Pr.20 (Inertia ratio), set up an appropriate value manually using the normal mode auto tuning
or calculating the value.
(4) Disabling of the adaptive filter

When setting Pr.23 (adaptive filter mode) to 0, the adaptive filter function for automatic compliance with load
resonance stops.
If the adaptive filter is disabled during operating properly, influence of the suppressed resonance may
appear resulting in a noise or vibration etc.
Accordingly, before disabling the adaptive filter, copy the adaptive filter frequency (Pr.2F) to 1st notch
frequency (Pr.1D) through the fit gain window (Sect.9-1-7(2)) or set manually Pr.1D (1st notch
frequency) by the value of Pr.2F (adaptive filter frequency) as the table below. And then, disable the
adaptive filter.
Pr.2F Actual notch frequency［Hz］ Pr.2F Actual notch frequency［Hz］

0 (Disabled) 33 500
1 (Disabled) 34 481
2 (Disabled) 35 462
3 (Disabled) 36 445
4 (Disabled) 37 428
5 1482 38 412
6 1426 39 396
7 1372 40 381
8 1319 41 366
9 1269 42 352
10 1221 43 339
11 1174 44 326
12 1130 45 314
13 1087 46 302
14 1045 47 290
15 1005 48 279
16 967 49 269 (disabled by Pr.22 ≥ 15)
17 930 50 258 (disabled by Pr.22 ≥ 15)
18 895 51 248 (disabled by Pr.22 ≥ 15)
19 861 52 239 (disabled by Pr.22 ≥ 15)
20 828 53 230 (disabled by Pr.22 ≥ 15)
21 796 54 221 (disabled by Pr.22 ≥ 14)
22 766 55 213 (disabled by Pr.22 ≥ 14)
23 737 56 205 (disabled by Pr.22 ≥ 14)
24 709 57 197 (disabled by Pr.22 ≥ 14)
25 682 58 189 (disabled by Pr.22 ≥ 14)
26 656 59 182 (disabled by Pr.22 ≥ 13)
27 631 60 (Disabled)
32 520
* For the items decided as disabled in the above table, set Pr.1D (1st notch frequency) to 1500.

No. SR-DSV09521 - 97 -
11-5 Gain auto setting function

(1) Outline
Gain auto setting function is for initializing the control parameter/gain switching parameter to
a gain setting of the auto tuning corresponding to the stiffness before carrying out manual
tuning.
(2) Caution
Before executing the gain auto setting function, terminate the operation.
(3) How to use

Refer to sect.9-1-7 (2); "9. Operation"
[1] Terminate the operation.
[2] Start up the gain auto setting function through the fit gain window on the front panel.
[3] When the gain setting has completed successfully, Finish is displayed; when it
completed erroneously, Error is displayed. (This display can be cleared by pressing
any key)
[4] To store the fit gain result, write the data into the EEPROM.

Parameter No. Name
Pr.30 2nd gain action set-up 1
Pr.31 1st control switching mode 10
11-6 Manual gain tuning
Outline
MINAS-A4 series provides the above described auto gain tuning function. However, there may
be a case that fine tuning is required when it is failed to obtain a desired gain after carrying out
the auto gain tuning due to the load conditions etc.; or in a case that the optimum response
performance or stability is required in accordance with the respective loads, and so on.
In this section, the steps of manual gain tuning will be described on each control mode and
function.

No. SR-DSV09521 - 98 -
11-6-1 Tuning of position control mode

Position control system of the MINAS-A4 series is as shown in the following block diagram.
In this section, the basic tuning procedure circled with double frame, in which parameter is
used but gain switching is not used, will be described.
Pulse Input setting FIR Speed feed

train Input smoothing forword
selection Pr.40 Vibration
suppression control Gain
PULS Inverse
Number of Pr.15 Torque
SIGN Pr.41 times in
moving Pr.4D 1st frequency
Pr.2B
average Filter command
Mode Pr.16 monitor
Pr.42 1st filter
Pr.2C
2nd frequency
Pr.2D
Position control
＋ Speed control Notch filter Torque filter
2nd filter
Pr.2E
Pulse ratio Primary delay ＋ 1st ＋＋ 1st ratio
Pr.11
1st
smoothing Pr.10 1st frequency 1st time constant
numerator Pr.48 1st
Pr.1D Pr.14 Motor
−
2nd
Pr.18 − integration Pr.12
2nd Selection 1st width 2nd time
numerator Pr.49 Pr.4C 2nd ratio
Pr.1E constant Pr.1C
Pr.19
Multiplir of 2nd frequency 1st limit
numerator Pr.4A 2nd
Pr.28 Pr.5E
integration Pr.1A
Denominator 2nd width 2nd limit
Pr.4B Position Inertia ratio
Pr.29 Pr.5F
Pr.20
deviation 2nd depth
monitor Pr.2A
Speed
Command Adaptation
detection filter Pr.2F
speed
monitor 1st
Pr.13
2nd Encoder
Pr.1B
Actual speed
monitor
Division
Speed detection
Numerator
Pr.44 Serial
communication
Encoder receive data
Feedback pulse Denominator
Pr.45 processing
OA／OB／OZ
Selection
Pr.46
Position control block diagram
[1] Initial setting of parameter

Return the parameter to the preset value before
shipment.
- In case that vibration occurs with the preset value before shipment, reduce the 1st velocity
loop gain (Pr.11) and the 1st position loop gain (Pr.10) by the same value.
[2] Setting of inertia ratio

Set up the inertia ratio (Pr.20).
- When the inertia ratio (Pr.20) has been obtained by the real time auto gain tuning, use the
Pr.20 set value as it is.
- When the inertia ratio is known by means of calculation etc, input the calculated value.
- When the inertia ratio is unknown, execute the normal mode auto gain tuning to measure
the inertia. After the measurement, since the control gain also has been altered, return to
the step [1] and carry out initial setting of the parameter.
[3] Upper limit search of speed loop gain

Increase the 1st velocity loop gain (Pr.11) by 10-increment.
- At this time, increase the 1st position loop gain (Pr.10) also to the same value as the 1st
velocity loop gain (Pr.11).
- When vibration begins to be generated, proceed to step [4] Setting of notch filter.
- When vibration occurs, decrease the 1st velocity loop gain (Pr.11) promptly, and then
decrease the 1st position loop gain (Pr.10) to the same value as Pr.11, and proceed to step
[4].

No. SR-DSV09521 - 99 -
[4] Setting of notch filter

Measure the vibration frequency of the torque command using the waveform graphic
function or frequency characteristics measurement function etc. of the monitor output/set
up support software PANATERM.
- Based on the measured vibration frequency, carry out one of the steps (A)-(C).
- After the step above, since the upper limit of the 1st velocity loop gain (Pr.11) may have
been changed, carry out the step [3] again to check the upper limit.
Compare the values before and after the above step, continue the tuning using the setting by
which the 1st velocity loop gain (Pr.11) increases more largely.
(A) When the vibration frequency is 1.5 kHz or more

Set up a larger 1st torque filter time constant (Pr.14)
- For the absolute encoder (7-core 17-bit) , set up Pr.14 to approx. 25; for the
incremental encoder (5-core 2500P/r), set up Pr.14 to approx. 63 as a reference target,
increase the value until the vibration falls in allowable range.
- When the 1st torque filter time constant (Pr.14) is set up too large, vibration of lower
frequency may become large. In this case, reduce the value of the 1st velocity loop
gain (Pr.11).
(B) When the vibration frequency is 600 Hz – 1500 Hz

Set up the 1st notch frequency (Pr.1D) to the value of vibration frequency.
- When the vibration is not reduced, slightly change the value of Pr.1D and 1E.
- Resonance peak can be measured using the frequency characteristics function of the
set up support software PANATERM. Set up the notch filter so as to reduce the
resonance peak.
- When vibration of 600Hz or more is still generated, set up the 1st torque filter time
constant (Pr.14) to a larger value.
(C) When the vibration frequency is 400-600Hz

- Measure the resonance frequency using the frequency characteristics function etc. of
the set up support software PANATERM.
Set up the 1st notch frequency (Pr.1D) to the value of resonance frequency.
- Measure the frequency characteristics again and check that the resonance peak is
reduced.
- When the resonance peak is not reduced, adjust the 1st notch width selection (Pr.1E)
and the 1st notch frequency (Pr.1D) so that the resonance peak is reduced.
- As for vibration of which resonance peak is in low frequency and is lower than the
anti- resonance frequency, set the 1st velocity loop gain (Pr.11) to a smaller value.
- When the resonance frequency falls in approx. 350 – 450 Hz, increase the value of
the 1st velocity loop gain (Pr.11) and set the notch filter at a point that vibration begins
to generate. The vibration may be reduced.
- When the vibration is not reduced, disable the notch filter. Determine the value of the
first speed loop gain as the upper limit value.
[5] Setting of torque filter time constant

When any operation noise is heard, gradually increase the value of the 1st torque filter time
constant (Pr.14).
To increase the response, gradually reduce the value of the 1st torque filter time constant
(Pr.14) and increase the value of the 1st velocity loop gain (Pr.11).
- As a reference value of the minimum value, it is recommended to set the value, for the
absolute encoder (7-core 17-bit), to10; for the incremental encoder (5-core 2500P/r), to 25.

No. SR-DSV09521 - 100 -
[6] Setting of 1st speed detection filter (Pr.13)

To increase the response, gradually reduce the value of the 1st speed detection filter (Pr.13)
and increase the value of the 1st velocity loop gain (Pr.11).
In the case that high frequency noise is generated when the value of the 1st speed detection
filter (Pr.13) is reduced, measure the resonance frequency using the waveform graphic
function etc. of the Matsushita set up support software PANATERM and adjust the notch
filter in step [4] or the torque filter in step [5].
[7] Setting of 1st position loop gain (Pr.10)

Input a value of approx. the value of the 1st velocity loop gain (Pr.11)×1.5 to the 1st
position loop gain (Pr.10). Then, roughly set up the value of Pr.10 so that the positioning
setting time is shortened at a certain degree.
- To change the parameter, execute it at a timing of which positional deviation is small.
[8] Setting of 1st velocity loop integration time constant (Pr.12)

Set the 1st velocity loop integration time constant (Pr.12) to a value in which Pr.12＝
(4000-2000)/(2π×Pr.11).
- By setting the first speed loop integration time constant to a smaller value, although it is
possible to make the deviation at the positioning closer to 0, the time to reach to the
stabilization range may become slower.
- In such a case, by setting the value of the 2nd velocity loop integration time constant
(Pr.1A) during operation to 1000 (disabled) using the gain switching function, it may be
increased.
[9] Setting of velocity feed forward (Pr.15)

Set the velocity feed forward (Pr.15)to 500 (300-700).
- When the value of the velocity feed forward (Pr.15), although the positional deviation
during operation is reduced and the positional deviation after completion of command output
is converged sooner, overshoot or vibration occurs frequently.
- When the operation noise has become larger after setting this parameter, set the feed
forward filter time constant (Pr.16) and the smoothing filter (Pr.4C) to a larger value
respectively.

No. SR-DSV09521 - 101 -
11-6-2 Tuning of internal speed control mode ★

Speed control system of the MINAS-A4 series is as shown in the following block diagram.
The tuning steps in speed control is almost the same as that of the position control mode in
sect.11-6-1. Excluding the setting of [7] position loop gain and [9] speed feed forward,
follow the steps [1] – [6] and [8] in sect.11-6-1 to carry out the tuning.
Command Torque
speed monitor command
monitor
Command
selection
Accel./decel. limit ＋ Speed control Notch filter Torque filter
Acceleration Pr.58 1st ratio Pr.11 Motor

−
1st time
Selection Pr.05 1st
1st frequency Pr.1D constant Pr.14
Deceleration Pr.59 integration Pr.12
2nd time
2nd ratio
1st width Pr.1E constant Pr.1C
S-shape Pr.5A Pr.19
2nd frequency
2nd
Pr.28 1st limit Pr.5E
integration Pr.1A
2nd width Pr.29 2nd limit Pr.5F
Inertia ratio Pr.20
Internal speed setting Speed 2nd depth Pr.2A
5th speed detection filter
1st speed Pr.53 Pr.74
Adaptation Pr.2F
2nd speed 6th speed 1st Pr.13
Pr.54 Pr.75
Encoder
7th speed 2nd Pr.1B
3rd speed Pr.55 Pr.76
4th speed 8th speed
Pr.56 Pr.77 Actual speed
monitor
Division
Speed detection
Serial
Numerator Pr.44 communication
Feedback pulse Encoder data
Denominator Pr.45 receive
OA／OB／OZ processing
Selectio Pr.46
Internal speed control block diagram Speed control block diagram

No. SR-DSV09521 - 102 -
11-6-3 Manual gain tuning using gain switching function
(1) Outline
By carrying out the gain switching via internal data or external signal, the following effects
are obtained.
- During a stop, gain of the (servo lock) is decreased to suppress the vibration.
- During a stop, gain of the (setting) is increased to shorten the setting time.
- Gain during operation is increased to increase the command follow-up performance.
- Gain can be switched via external signal in accordance with the equipment, etc.
(2) Example of application

Here, the setting procedure to increase the response performance of the position control mode
using the gain switching function will be described. In positioning operation, generally, the
gain is increased by turning the speed integration OFF during operation to increase the
response performance; while after a stop, the gain is lowered to suppress the vibration
Operation Command speed
Stop Driven Stop Time

Status
(Servo-Lock) (Servo-Lock)
Low gain High gain Low gain
Gain (1st gain) (2nd gain) (1st gain)
1ms 2ms
Suppresses oscillation by reducing the gain.
Set
Setting parameter Contents
value
Pr.30 (2nd gain action set up) 1 Uses the 2nd gain.
Pr.31 (1st control switching mode) 7 Switched to the 2nd gain by position command input.
Switched to the 1st gain after the command pulse OFF
Pr. 32 (1st control switching delay time) 12
status continues for 2 ms (command pulse "0" for 166µs).
Defines ramp response of 1 ms (calculated by (5 + 1) x 166
Pr. 35 (Position loop gain switching
5 µs), when the position loop gain is switched from low gain
time)
to high gain.
Pr. 10 (1st position loop gain)
Pr. 11 (1st velocity loop gain)
Pr. 12 (1st velocity loop integration time
- Defines the gain for the stop status.
constant)
Pr. 13 (1st speed detection filter)
Pr. 14 (1st torque filter time constant)
Pr. 18 (2nd position loop gain)
Pr. 19 (2nd velocity loop gain)
Pr. 1A (2nd velocity loop integration
- Defines the gain for the driven status.
time constant)
Pr. 1B (2nd speed detection filter)
Pr. 1C (2nd torque filter time constant)

No. SR-DSV09521 - 103 -
(3) Setup procedure ★

Assume that the servo driver's internal status changes as shown below, when the load moves from Position A
to Position B. To use the gain switching function in this condition, set up the relevant parameters according
to the procedure described below.
[1] Set up the gain switching conditions with the following parameters.
Pr. 31 (1st control switching mode)
A B
High
Pr. 31
Position control set value
Position 7
command
Position 6
error
ON OFF ON
In-position 8
Internal speed control Speed control

Speed Pr.31 9,10
set value
Speed
5 5
command
Change of speed
4
command
The 1st gain is selected regardless of the status.

The 2nd gain is selected regardless of the status.
The gain is switched by the gain switching input (X5 Pin 27: GAIN).
Open: 1st gain, Short-circuited: 2nd gain
0,3 0,3,4
1 1
2 2

No. SR-DSV09521 - 104 -
[2] Define the switching level and hysteresis according to the switching condition.
1st gain 2nd gain 1st gain
Hysteresis
Switching level
The parameters used to define the switching level and hysteresis vary depending on the control mode.
1st control mode

Switching level Pr.33
Hysteresis Pr.34
The unit of the parameter settings varies depending on the switching condition.
Switching condition
Unit of Pr.33, and Pr.34, 38 settings
(Pr. 31)
0 Fixed to 1st gain
1 Fixed to 2nd gain
Need not to be defined.
Gain switching input
2
(X5 GAIN: Pin 27)
[0.05％/166µs]
Change of torque command:
3 200 (when 10% torque fluctuation in 166µs is defined as the switching
Large
condition)
Change of speed command:
4 [10(r/min)/s]
Large *1
5 Speed command [r/min]
6 Position deviation value *2 [pulse] (Encoder resolution)
Position command input
7 Command pulse in 166µs: 1 or more
*2
The value on the position deviation counter is higher than the Pr. 60
8 Not in position *2
(In-position range) setting.
9 Speed *2 [r/min]
Switching to the 2nd gain with Position command input.
Position command input + Switching to the 1st gain after the command pulse OFF status
10
Speed *2 continues for Pr.32[x 166µs] and the speed becomes Pr.33 -
Pr.34[r/min] or less.
*1 In the case of the position control, the 1st gain is fixed.
*2 In the case of the speed control, the 1st gain is fixed.

No. SR-DSV09521 - 105 -
[3] Define the switching delay time.

The switching delay time defines the time for switching the 2nd gain (Pr. 18, 19, 1A, 1B and 1C) to the
1st gain (Pr. 10, 11, 12, 13 and 14).
To switch from the 2nd gain to the 1st gain, the specified switching condition must be satisfied
continuously during the switching delay time.
Hysteresis Cancelled due to inconformity

with the switching condition.
Switching delay time

Switching level
1st gain 2nd gain 1st gain
[4] Define the position gain switching time.

When the gain is switched, the speed loop gain, speed integration time constant, speed detection filter and
torque filter time constant will be instantaneously switched. However, you can change the position loop
gain gradually, to avoid a trouble caused by a rapid increase in gain.
When Pr. 35 (Position loop gain switching time) is "0":
High gain
Low gain
When Pr. 35 (Position loop gain switching time) is "5":
High gain
Low gain
166µs

No. SR-DSV09521 - 106 -
11-6-6 Velocity observer
(1) Outline
Instantaneous speed observer is a function in which the speed detection accuracy is
increased by estimating motor speed using a load model to increase the response
performance and to reduce the vibration after a stop.
Speed Torque Motor

command command current
Speed Current
control control Motor Load
Speed estimate Velocity

value observer
(Total inertia)
Load model
To position Motor
control position
Encoder
Servo driver

- This function is applicable under the following condition.
Conditions under which the velocity observer functions
Control mode - In the case of the position control or speed control only
Pr.02=0: Position control
Pr.02=1: Speed control
Encoder - In the case of 7-core absolute encoder only

No. SR-DSV09521 - 107 -
(3) Cautions
- Under the following conditions, the function may not work normally, or the intended
effect may not be obtained.
Conditions under which the effect of the velocity observer is prevented
- Compared to the inertia load including the motor and load as a unit, error is too
different from that of the actual equipment .
- Example) A large resonance point resides in the frequency zone of 300 [Hz] or
Load less; A non-linear factor such as large backlash etc. resides in, and so
on.
- Load inertia changes
- An external disturbance torque of large high frequency component is applied
Other - Positioning setting range is too narrow.
(4) How to use

[1] Setting of inertia ratio (Pr.20)
Set up an inertia ratio as precise as possible.
- When an applicable inertia ratio (Pr.20) has been already obtained through the real time auto
gain tuning during an ordinary position control etc., use it as the setting value of Pr.20 as it is.
- When the inertia ratio is known via calculation etc., input the calculated value.
- If no inertia ratio is confirmed yet, make its measurement by using the normal mode automatic gain
tuning.
[2] Tuning in ordinary position control

- Refer to sect.11-6-1.
[3] Setting of velocity observer (Pr.27)

- When the velocity observer (Pr.27) is set to 1, the means of speed detection is switched to the
velocity observer.
- When changes in torque waveform or a operation noise is found, immediately reset to the
previous setting and determine the cause and check the setting of inertia ratio (Pr.20) [1].
- In case that the performance is increased when the torque waveform changes or operation
noise becomes smaller, while observing the position deviation waveform and actual speed
waveform, search the setting value in which the changes become minimum by fine tuning the
inertia ratio (Pr.20). When the position loop gain or speed loop gain is changed, since the
optimum value of the inertia ratio (Pr.20) also may be changed, carry out fine-tuning again.

No. SR-DSV09521 - 108 -
11-6-7 Vibration suppression control
(1) Outline
A function to reduce vibrations by removing vibration frequency elements from a command
when the front end of equipment vibrates.
Vibration at the front end
Vibration is measured by
displacement sensor.
Vibration frequency at the front end is set.

Driver 薄い鉄の板
Motor
Shift
Coupling Ball screw Machine

Movable part
Sequencer
table
Torque
Position command Motor
command Vibration current
suppression Position/ speed Current
filter control control Motor Load
Motor
position
Encoder
Servo driver

- This function is applicable to the following condition.
Condition that vibration suppression control is activated
- In the case of the position control only
Control mode
Pr.02=0: Position control

No. SR-DSV09521 - 109 -
(3) Caution
Make sure to stop the operation before the change of parameters and switching in VS-SEL.
- Under the following conditions, the function may not work normally, or the intended effect
may not be obtained.
Conditions that the effect of vibration suppression control is inhibited
・When vibrations are raised due to causes other than a command (external force, etc.)
Load ・When the ratio between the resonance frequency and anti-resonance frequency is great.
・When the resonance frequency is out of the range from 10.0 to 200.0 [Hz].
(4) How to use

[1] Setting of vibration suppression frequency (1st: Pr.2B, 2nd: Pr.2D)
Measures vibration frequencies at the front end of equipment. When the front-end vibration
can be directly measured by a laser displacement meter, etc., read vibration frequencies [Hz]
from its measured waveform, and input them to the vibration suppression frequency (Pr.2B,
Pr.2D).
If there is no measurement equipment, however, read the frequency of residual vibrations
from the position deviation waveform as shown in the following drawing by using the
waveform graphic function of our setup support software, PANATERM.
Position deviation
Command
speed
Vibration frequency
is calculated
[2] Setting of vibration suppression filter (1st: Pr.2C, 2nd: Pr.2E)

Set it to 0 first.
When larger values are used, the setting time can be shortened. However, torque ripples are
increased at the point of command change as indicated in the following drawing. Set it in the
actual conditions of use, but within the range where no torque saturation may occur. If torque
saturation occurs, the vibration suppression effect is damaged.
Vibration suppression
Vibration suppression filter setting is too large
filter setting is optimum.
Torque saturation
Torque command
[3] Setting of vibration suppression filter switching selection (Pr.24)

Vibration filters can be switched according to an equipment vibration status.
Pr.24 Switching mode

0 No switching (Both are enabled)
Switching by VS-SEL input
1 Opened: 1st vibration suppression frequency
Short-circuited: 2nd vibration suppression frequency
Switching by command direction
2 CCW direction: 1st vibration suppression frequency
CW direction: 2nd vibration suppression frequency

No. SR-DSV09521 - 110 -
12. Control block diagram
12-1. Position control block diagram

When control mode Pr.02 is 0
Pulse Input setting FIR Speed feed

train Input smoothing forword
PULS selection Pr.40 Vibration
suppression control
SIGN Number of Gain Pr.15
Inverse Pr.41 times in
moving Pr.4D 1st frequency Pr.2B
average Torque command
Filter Pr.16
Mode Pr.42 1st filter Pr.2C monitor
2nd frequency
Pr.2D
Position control
＋ Speed control Notch filter Torque filter
2nd filter Pr.2E
Pulse ratio Primary delay ＋＋＋ 1st ratio Pr.11
1st smoothing 1st Pr.10
1st time
numerator Pr.48 1st
1st frequency Pr.1D constant Pr.14 Motor
− 2nd Pr.18 − integration Pr.12
2nd 2nd time
numerator Pr.49 Selection Pr.4C 2nd ratio
Pr.19
Multiplier of 2nd frequency
numerator Pr.4A 2nd
Pr.28 1st limit Pr.5E
integration Pr.1A
Denominator Pr.4B Position
2nd width Pr.29 2nd limit Pr.5F
Inertia ratio Pr.20
deviation monitor
2nd depth Pr.2A
Command Speed
detection filter Adaptation Pr.2F
speed monitor
1st Pr.13
Encoder
2nd Pr.1B
Actual speed
monitor
Division
Speed detection
Serial
Numerator Pr.44 communication
Feedback
pulse Encoder receive data
Denominator Pr.45
Selectio Pr.46
12-2. Speed control block diagram ★

When control mode Pr.02 is 1
Command speed Torque command

monitor monitor
Command Accel./decel. limit ＋ Speed control Notch filter Torque filter

selection
Acceleration Pr.58 1st ratio Pr.11 Motor
Selection Pr.05
Deceleration Pr.59
− 1st
integration Pr.12
1st frequency Pr.1D 1st time
constant Pr.14
2nd time
2nd ratio
S-shape Pr.5A Pr.19
2nd frequency
2nd
Pr.28 First limit Pr.5E
integration Pr.1A
2nd width Pr.29 Second limit Pr.5F
Inertia ratio Pr.20
Internal speed setting Speed 2nd depth Pr.2A
1st speed Pr.53 5th speed Pr.74 detection filter
Adaptation Pr.2F
2nd speed 1st Pr.13
Pr.54 6th speed Pr.75
Encoder
7th speed 2nd Pr.1B
3rd speed Pr.55 Pr.76
4th speed 8th speed
Pr.56 Pr.77 Actual speed
monitor
Division
Speed detection
Serial
Numerator Pr.44
Feedback communication
pulse Encoder receive data
Denominator Pr.45
Selection Pr.46

No. SR-DSV09521 - 111 -
13. Conformity with EC Directive / UL Standard

13-1 EC Directive
The EC Directive is applied to all electronic products that provide proper functions and are exported to EU
(European Union) for direct sales for general consumers. These products must conform to the EU-uniformed
safety standards, and the CE marking that indicates the conformity with the standards must be affixed to the
products.
To facilitate the conformity of the machinery or equipment that incorporates the AC servo to the EC Directive,
Matsushita Electric Industrial Co., Ltd. realizes conformity with the relevant standards of the Low Voltage
Directive.
13-1-1 Conformity with the EMC Directive

For our servo systems, we define the models (conditions) of the servo driver - servo motor installation
distance and wiring, and provides the conformity of the models with the relevant standards of the EMC
directive. Therefore, when the servo system is actually incorporated in machinery or equipment, its wiring
and grounding conditions may be different from the model. For this reason, the machinery or equipment
that incorporates the servo driver and servo motor must undergo the final examination to verify the
conformity with the EMC Directive (especially for electromagnetic interference and conducted emission).
13-1-2 Conformable standards
Target Conformable standards

Conforms to the
Motor IEC60034-1, IEC60034-5 relevant
standards of the
Motor /
Low Voltage
Servo driver EN50178
Directive.
EN55011 Radio Interference Wave Characteristics for Industrial,
Scientific and Medical High-frequency Equipment
IEC61000-4-2 Electrostatic Discharge Immunity Test
IEC61000-4-3 Radio Frequency Radiation Electromagnetic Field Conforms to the
Immunity Test relevant
IEC61000-4-4 Electrical High-speed Transient Phenomena / Burst standards of the
Immunity Test EMC Directive.
IEC61000-4-5 Lightning Surge Immunity Test
IEC61000-4-6 High-frequency Conduction Immunity Test
IEC61000-4-11 Momentary Power Failure Immunity Test
IEC: International Electrotechnical Commission

EN: Europaischen Norman
EMC: Electromagnetic Compatibility
UL: Underwriters Laboratories
CSA: Canadian Standards Association

No. SR-DSV09521 - 112 -
13-2 Configuration of Peripheral Equipment

13-2-1 Installation environment
Use the servo driver in an environment corresponding to Pollution Degree 1 or 2 prescribed in IEC60664-1.
(Example: Install the servo driver in a control panel with IP54 protection structure.)
Control panel
Controller
Insulated
interface power
supply CN-X5
Noise filter
Noise filter for AC servo for signal line
signal line driver AC servo
Power supply motor
L1
Circuit Noise filter
L2 U
breaker
L3 V
W
M
L1C(r)
L2C(t) RE
Surge
absorber
CN-X4
Protective earth
13-2-2 Power supply
100 V: Single-phase 100 to 115 V , 50/60 Hz

200 V (Types A to D): Single-phase/3-phase 200 to 240 V , 50/60 Hz
200 V (Types E to F): 3-phase 200 to 230 V , 50/60 Hz
(1) Use the power supply in an environment corresponding to Overvoltage Category II prescribed in
IEC60664-1.
(2) For the interface, use a 12 to 24 VDC insulated power supply conforming to the CE Marking or EN
standard (EN60950).
13-2-3 Circuit breaker
Be sure to connect a circuit breaker conforming to the IEC and UL standards (LISTED / mark applied)
between the power supply and the noise filter.

No. SR-DSV09521 - 113 -
13-2-4 Noise filter

To provide a noise filter for the power supply when several servo drivers are connected, consult the noise
filter manufacturer.
Driver voltage
Option item number specification Manufacturer item number Application Manufacturer name
DV0P4170 100V,200V single-phase SUP-EK5-ER-6 Type A & B Okaya Electric Industries Co., Ltd.
Driver voltage
DV0P4180 3SUP-HQ10-ER-6 Type C Okaya Electric Industries Co., Ltd.

200V 3-phase
DV0P4220 3SUP-HU30-ER-3 Type D & E Okaya Electric Industries Co., Ltd.
Driver voltage
DV0P3410 200V 3-phase 3SUP-HL50-ER-6B Type F Okaya Electric Industries Co., Ltd.

No. SR-DSV09521 - 114 -
13-2-5 Surge absorber

Connect a surge absorber in the noise filter's primary side.
(NOTE) To conduct a withstand voltage test for a machine or equipment, be sure to remove the surge
absorber. Otherwise, the surge absorber may be damaged.
Option item number Driver voltage Manufacturer item number Manufacturer name
specification
200V 3-phase Okaya Electric Industries Co., Ltd.
Circuit diagram
Option item number Driver voltage Manufacturer item number Manufacturer name
specification
100V, 200V single-phase Okaya Electric Industries Co., Ltd.
Circuit diagram

No. SR-DSV09521 - 115 -
13-2-6 Noise filter for signal line

Attach noise filter for signal line to every cable (power cable, motor cable, encoder cable, interface cable).
For frame-D, attach three noise filters to the power line.
Option item number Manufacturer item number Manufacturer name

TDK Corporation
Mass: 62.8g
13-2-7 Grounding
(1) To prevent an electric shock, be sure to connect the servo driver's protective earth terminal ( ) with
the control panel's protective earth terminal (PE).
(2) The servo driver provides two protective earth terminals. Do not connect these terminals together.

No. SR-DSV09521 - 116 -
13-3 List of Servo Drivers and Compatible Peripheral Equipment

Power Circuit Control
Noise filter Main Teminals
Compatible Voltage Rated Capacity Breaker Noise Surge Electromagnetic Power
Servo driver for signal circuit cable on the
motor Spec. output (Rated (Rated filter absorber contactor Cable
line diameter feminalblock
Current) current) diameter
MADD MSMD 100V, single- 50W Approx.0.4kVA DVOP4170 DVOP4190 DVOP1460 BMFT61041N
phase 100W (3P+1a)
MQMA 100W Approx.0.4kVA
MSMD 200V, single- 50W∼ Approx.0.5kVA BMFT61542N
phase 200W 10A (3P+1a) Connect to the
MQMA 100W Approx.0.3kVA exclusive
200W Approx.0.5kVA connectors.
MAMA 100W Approx.0.3kVA
MBDD MSMD 100V, single- 200W Approx.0.5kVA BMFT61041N
MQMA phase (3P+1a)
MSMD 200V, single- 400W Approx.0.9kVA BMFT61542N
MQMA phase (3P+1a)
MAMA 200W Approx.0.5kVA 0.75mm2
MCDD MQMA 100V, single- 400W Approx.0.9kVA DVOP4180 BMFT61541N AWG18
phase (3P+1a) 0.75-2.0mm2
MSMD 200V, single- 750W Approx.1.3kVA DVOP1450 BMFT61542N AWG14-18
phase/3 phase (3P+1a)
MAMA 400W Approx.0.9kVA
MFMA 15A
MHMA 500W Approx.1.1kVA
MDDD MAMA 200V, single- 750W Approx.1.6kVA DVOP4220 BMFT61842N
MDMA phase/3 phase 1.0kW Approx.1.8kVA (3P+1a)
MHMA
MGMA 900W Approx.1.8kVA 2.0mm2
MSMA 1.0kW Approx.1.8kVA AWG14
MHMA 1.5kW Approx.2.3kVA 20A
MDMA
MSMA
MFMA
MEDD MDMA 200V, 3 phase 2.0kW Approx.3.3kVA 30A BMF6352N 2.0mm2
MSMA (3P+2a2b) AWG14 Terminal stand
MHMA M5
MFMA 2.5kW Approx.3.8kVA 3.5mm2
AWG11
MFDD MGMA 200V, 3 phase 2.0kW Approx.3.8kVA 50A DVOP3410 DVOP1450 DVOP1460
MDMA 3.0kW Approx4.5kVA BMF6352N
MHMA (3P+2a2b) 3.5mm2
MSMA AWG11 Terminal stand
MGMA M5
2
MDMA 4.0kW Approx6kVA 0.75mm
MHMA AWG18
MSMA
MFMA 4.5kW Approx.6.8kVA BMF6652N
MGMA Approx.7.5kVA (3P+2a2b) 5.3mm2
MDMA 5.0kW Approx.7.5kVA AWG10
MHMA
MSMA
●Choose 200V single-phase/three phase compatible specification depending on a power source to be used.
●Manufacturer of circuit breaker and electromagnetic contactor : Matsushita Electric Works Co., Ltd.
To comply with EC Directive, make sure to connect an IEC and UL(with a listed mark) compatible circuit
breaker between the power source and a noise filter.
●As for the details of a noise filter, refer to page 133.
<Attention>
・Select a circuit breaker and noise filter compatible with power capacity (considering a load condition).
・Terminal block and earth terminal
As for wiring, use copper conductor cables with not less than 60-degree C temperature rating.
Protective earth terminals shall be M4 for type A through type D and M5 for type E and type F.
If the screw tightning torque exceeds the maximum limit(M4:1.2N・m, M5:2.0N・m), the terminal block may be
damaged.
・For the outputs of 50W through 2.0kW, use earth cables of more than 2.0mm2 (AWG 14).
For the outputs of 2.5kW through 4.0kW, use earth cables of more than 3.5mm2 (AWG 11).
For the outputs of 4.5kW through 5.0kW, use earth cables of more than 5.3mm2 (AWG 10).
・As type A through type D uses supplied exclusive connectors, make sure that the length of the peeled portion of a
cable is within the range of 8 through 9mm.
・The screw tightning torque of the interface connector (CN X5) must be 0.3 through 0.35N・m.
If the screw tightning torque exceeds the maximum limit 0.35 N・m, the connector of the driver may be
damaged.

No. SR-DSV09521 - 117 -
Option P/N Manufacturer's P/N Manufacturer

Okaya Electric
DVOP1450 R･A･V-781BXZ-4
Industries Co., Ltd.
Surge absorber
Okaya Electric
DVOP4190 R･A･V-781BWZ-4
Noise filter for signal line DVOP1460 ZCAT3035-1330 TDK Corporation
DVOP4170 SUP-EK5-ER-6
Okaya Electric
Noise filter DVOP4180 3SUP-HQ10-ER-6
DVOP4220 3SUP-HU30-ER-6
DVOP3410 3SUP-HL50-ER-6B
13-4 Conformity with the UL Standard

When the following 1) and 2) installation conditions are satisfied, the conformity with UL508C (File No.
E164620) is certified.
1) Use the servo driver in an environment corresponding to Pollution Degree 1 or 2 prescribed in
IEC60664-1. (Example: Install the servo driver in a control panel with IP54 protection structure.)
2) Be sure to connect a circuit breaker or fuse conforming to the UL standard (LISTED / mark applied)
between the power supply and the noise filter.
For the rated current of the circuit breaker or fuse, refer to Section 13-3 "List of Servo Drivers and
Compatible Peripheral Equipment".
For wiring, use copper conductor cables with 60°C or higher temperature rating.
If the screw tightening torque exceeds the maximum limit (M4: 1.2 N-m, M5: 2.0 N-m), the terminal
block may be damaged.
3) Overload protection level
The overload protective function of driver is activated when the effective current of the Driver is 115%
or more of the rated current. Make sure that the effective current of the driver dose not exceed the rated
current. The maximum allowable instantaneous current of the driver is the current set by Pr.5E (1st
torque limit) and Pr.5F (2nd torque limit).
14. SEMI Compliance with F47 momentary power failure standard

- A function to comply with the standard of F47 momentary power failure at the time of no load or light load
specified in SEMI standard.
- This function is useful when it is used for semiconductor manufacturing equipment.
(Note)
(1) This function is not applicable to a 100V single-phase driver.
(2) Make sure to mount the driver on the actual equipment, and validate its Compliance with the F47
momentary power failure standard.

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No.

Motor Company., Matsushita Electric Industrial Co., Ltd.

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

10. Absolute Encoder and External Scale

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

12. Control Block Diagrams ................................................................................................................................... 110

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

1. Model Designation Code

Type Custom specification

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

3. Appearance and Part Names

ID: Rotary Switch Name Label

IM: Torque Monitor

X1: Power Input Connection

X4: RS232 Interface

X2: Motor Connection

X5: Parallel I/O Connection

Main power supply

Control power supply

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

IM: Torque Monitor

X1: Power Input Connection

X4: RS232 Interface Connection

You cannot use.

Main power supply X1 Power supply input

Control power supply

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

ID: Rotary Switch

IM: Torque Monitor Name Label

X4: RS232 Interface Connection

X5: Parallel I/O Connection

X6: Rotary Encoder Connection

You cannot use.

Main power supply input

Control power supply

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

4. Configuration of Connectors and Terminal Block

② Type C of 100V and 200V ,& Type D of 200V

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

③ Type E & F of 200V

4-2 Encoder Connector X6 (Molex 53460-0629)

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

4-3 Interface Connector X5 (Molex 529865079)

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

Connector I/O signal

- Internal command speed selection 2 input

- Function varies depending on the control mode.

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

Connector I/O signal

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

Selecting numerator of command pulse ratio

Internal speed selection

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

Input signals (pulse train commands) and their functions

A. Pulse train interface dedicated to line driver

B. Pulse train interface

Connector I/O signal

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

Command pulse input mode

Pulse train PULS