FUJI AC SERVO SYSTEM

USER’S MANUAL

MEH395
 SAFETY INSTRUCTIONS

In all stages of the installation, operation, maintenance and check of this equipment, reference
must be made to this manual and other related documents.
The correct understanding of the equipment, information about safety and other related
instructions are essential for this system.
Cautionary indications DANGER and CAUTION are used in this manual to point out particular
hazards and to highlight some unusual information which must be specially noted.

n DANGER

Cautionary indication

DANGER
Description of Indicates that death or severe personal injury will result if proper
cautionary indication
precautions are not taken.

n CAUTION

Cautionary indication
CAUTION
Description of Indicates that personal injury or property damage alone will result if
cautionary indication proper precautions are not taken.

Alert symbols are used as necessary.

Alert symbol Description Alert symbol Description

Unspecified precaution Hot

Electrical shock hazard Ground

warning

Do not disassemble
 Warning label

The warning label in Fig. B is located at the arrow in Fig. A.

Fig. A

Warning display

Fig. B

Fig. B shows the following contents:

n There is a risk of electric shock.
Do not touch the amplifier when a commercial power is applied and for at least five
minutes after de-energization.

Be sure to ground (3rd class grounding) the terminal marked “ ”

 DANGER
n Prior to inspection, turn off power and wait for at least five minutes.
Otherwise, there is a risk of electric shock.
n Do not touch the amplifier when the commercial power is supplied.
Otherwise, there is a risk of electric shock.

CAUTION
n Do not disassemble the motor.
Otherwise, the operation may be abnormal, thereby damaging the coupled machine.
n Do not hit the motor with hammer or any other instruments.
The integrated (built-in) encoder may break, causing the motor to run at an excessive
speed.
n Do not connect a commercial power supply directly to the motor. Otherwise, it may break.
n Supplying power other than 200 [V] to the amplifier may break it.
n Do not turn on and off the commercial power repeatedly.
Otherwise, the amplifier rectifier may break.
n The motor must be firmly tightened to the mounting base or the driven machine.
If rapid acceleration or deceleration is attempted without this firm tightening, the motor may
become dislocated, causing injury.
n Withstand voltage and insulation test with megger must not be conducted.
Otherwise the amplifier and encoder will break.
Descriptions given in this manual may be different from those of the product as a result of
improvements of the product. Descriptions in this manual are subject to change without
notice.
Values are indicated in SI units (third stage) in this manual. The units may be different from
those indicated on the product (nameplate).
Illustration given in this manual may show the servo amplifier or servomotor of a specific
capacity. Accordingly they may be different from the appearance of the product you have
purchased.

Products introduced in this manual have not been designed or manufactured for such
applications in a system or equipment that will affect human bodies or lives. Customers, who
want to use the products introduced in this manual for special systems or devices such as for
atomic-energy control, aerospace use, medical use, and traffic control, are requested to
consult Fuji.
Customers are requested to prepare safety measures when they apply the products
introduced in this manual to such systems or facilities that will affect human lives or cause
severe damage to property if the products become faulty.
 Introduction

This manual is the User’s Manual for Fuji’s FALDIC-β Series AC Servo System. The User’s
Manual comes in one volume and covers all handling procedures of the product.

The following document is included in the package of each device.

Device Name of document Document No.

User’s Manual
Servo amplifier Fuji FALDIC-β Series AC INR SI470714
Servo Amplifier (RYBoooSo-VBC)

User’s Manual
Servomotor ING-YH347
Fuji GY Series AC Servomotor

The type designation of the product covered in this manual is shown below.

Device Applicable type

Servo amplifier RYBoooS3-VBC
GYCoooDC1-C*-****
Servomotor
GYSoooDC1-C*-****
GYNoooSAG-Goo * “o” in the type designation indicates a decimal point or number.
Gear head * “*” in the type designation indicates an alphabetic character or no
GYNoooCAG-Goo mark.

For any uncertainties in the description of this manual or in the product itself, contact your
dealer or Fuji’s sales outlet shown at the end of the manual.
 CONTENTS

1 OUTLINE 5 PARAMETERS
1-1) Outline ････････････････････････ 1- 2 5-1) Parameter configuration ･･･････････5- 2
1-2) Items to be confirmed ･･･････････ 1- 6 5-2) List of parameters ････････････････5- 4
1-3) Servomotor ････････････････････ 1- 7 5-3) Basic settings ････････････････････5- 6
1-4) Servo amplifier ･････････････････ 1- 8 5-4) System settings ･････････････････ 5-16
1-5) Type designation ･･･････････････ 1- 9 5-5) Control system settings･･･････････ 5-44
5-6) For adjustment by manufacturer ･･･ 5-54
2 INSTALLATION
2-1) Servomotor ････････････････････ 2- 2 6 ADJUSTMENT OF SERVO
2-2) Servo amplifier ･････････････････ 2- 8 6-1) Basic adjustment ･････････････････6- 2
6-2) Application adjustment ････････････6- 4
3 WIRING 6-3) Adjustment requiring high
3-1) Construction ････････････････････ 3- 2 speed response ･･････････････････6- 7
3-2) Servo amplifier ･･････････････････ 3- 4
3-3) Servomotor ･････････････････････ 3-10 7 SPECIAL ADJUSTMENT
3-4) Encoder ････････････････････････ 3-12 7-1) Vibration control ･･････････････････7- 2
3-5) Standard connection diagrams･････ 3-15 7-1-1) What is vibration control?･･･････7- 2
3-6) Connection examples ････････････ 3-21 7-1-2) Parameter setting method ･･････7- 4
7-2) Command follow-up control ･･･････ 7-12
4 TEST OPERATION 7-2-1) What is command
4-1) Test operation in two stages･･･････ 4- 2 follow-up control? ････････････ 7-12
4-2) First stage ･･････････････････････ 4- 3 7-2-2) Parameter setting method ･････ 7-13
4-3) Second stage ･･･････････････････ 4- 5 7-3) Position gain and limit added
when setting ････････････････････ 7-14
8 KEYPAD PANEL 11 SPECIFICATIONS
8-1) Display ･･･････････････････････ 8- 2 11-1) List of servomotor
8-2) Function list ･･･････････････････ 8- 4 specifications ････････････････ 11- 2
8-3) State display mode･････････････ 8- 5 11-2) List of servo amplifier
8-4) Monitor mode ･････････････････ 8- 8 specifications ････････････････ 11- 6
8-5) Parameter setting mode ････････8-12 11-3) Speed-torque characteristics ･･･ 11- 8
8-6) Test running mode ･････････････8-15 11-4) Dimensional drawing ･･････････ 11-15

9 INSPECTION AND MAINTENANCE APPENDIXES

9-1) Inspection ････････････････････ 9- 2 n Inertia moment calculation ････････････ 2
9-2) Memory back-up･･･････････････ 9- 3 n Load torque ･････････････････････････ 4
9-3) Fault display ･･････････････････ 9- 4 n Timing chart･････････････････････････ 5
9-4) Maintenance and discharge ･････9-20 n Option list ･････････････････････････10
n Parameter list ･････････････････････11
10 PERIPHERAL DEVICE
10-1) Cable size ･･･････････････････ 10- 4
10-2) FAB/ELB ････････････････････ 10- 6
10-3) Electromagnetic contactor ･････ 10- 7
10-4) Surge absorber･･･････････････ 10- 8
10-5) Power filter ･･････････････････10-10
10-6) AC reactor ･･･････････････････10-12
10-7) External regenerative resistor ･･･10-14
10-8) Option･･･････････････････････10-16
OUTLINE
1-1) Outline

1-2) Items to be confirmed

1-3) Servomotor

1-4) Servo amplifier

1-5) Type designation

1 Outline
1-1) Outline
Requirements for functions and performance are sophisticated

Fuji’s original vibration control function and notch filter are adopted for substantial suppression of mechanical

vibration and a positioning setting time shorter than 1 ms is achieved in FALDIC-β Series in the pursuit of high

performance and high precision. The compact main body in which functions are integrated allows flexible

installation. Requirements for functions and performance are sophisticated to meet various needs at higher levels.

They are best for machines requiring short cycle time and high-speed positioning.

n Mechanical vibration suppressed to an ultimate level

n Pursuit of high performance and high precision
n Epoch-making compact size
n Simple operation for reduced set-up time
n Standard compliance with overseas standards
(UL/cUL, CE mark)

Semiconductor Electronic parts Unloading Wire harness

production and processing equipment robots fabricator
inspection equipment

Best for machines requiring short cycle time and high-speed positioning

1-2
 Outline 1
Advanced functions and performance of Fuji’s AC servo system
Performance

n 50 to 750 W (rated speed: 3000 r/min) n 50 W to 5 kW (rated speed: 3000 r/min)

n Slim or cubic motor n Slim or cubic motor
n 16-bit incremental encoder n 16-bit absolute/incremental encoder
n Exclusively used for pulse string input n Pulse string/analog input, DI/DO, SX bus,
n Simple operation T-link, RS 485, and various interface
n New function: PC loader (option) n Built-in positioning controller (L/R type)
n PC loader (option)

(Catalog No.: MH544)

n 50 W to 3.7 kW (rated speed: 2000 r/min)

n Compatible with general-purpose motor
n 1000 P/R encoder
n Pulse string/analog input
n Special loader (option)

(Catalog No.: MH541)

* Contact us for FALDIC-α Series and ES Series. Function

Application examples

Semiconductor
Packing Food
production and
machines processing
inspection equipment

Electronic parts Printing Wood

processing equipment machines processing

Injection
Unloading robots Conveyance molding

Metal
Wire harness cutting and
fabricator Fibers
machine
tools

1-3
1 Outline
Feature. 1

Suppresses mechanical vibrations to the maximum extent.

n Equipped with a “Damping Control Function” which is an effective

countermeasure for vibration of the tips of robot arms, etc.
Fuji’s original damping control function (Patent pending)
In high tact operation of mechanisms with low rigidity, such as the tips of robot arms, suppression of arm tip
vibration is a major factor in shortening tact time. In the FALDIC-β series, Fuji’s original “Damping Control
Function” is standard equipment. It reduces vibration in machines with low rigidity and realizes high machine tact.

Without the damping control function With the damping control function

Direction of Direction of
movement movement

Vibration waveform measured Vibration waveform measured

by laser displacement gauge by laser displacement gauge

2mm/div 2mm/div
Arm Arm
500r/min/div vibration 500r/min/div vibration
Actual Actual
speed speed

n Equipped with a notch filter and servo analysis function.

Notch Filter
This function is for the purpose of reducing machine resonance. By setting the
data on the resonance point, which differs in each machine, as a parameter in the
servo amplifier, the machine resonance occurring in that point can be reduced.

Servo Analysis Function (Option)

In order to utilize the “Damping Control Function” and “Notch Filter,” etc.
effectively, it is necessary to analyze the “resonance frequencies” that are inherent
in each machine. If the “Servo Analysis Function” offered in the optional personal
computer loader is used, it can analyze the data for the machine system simply,
eliminating the needs for complicated calculations and adjustments which are
dependent on intuition.

Feature. 2

Designed for high performance and high precision.

n Instruction following servo

(positional deviation ≈ zero). Positional deviation

Position time is 1 ms or less.

Through the newly developed feed forward control which compensates for servo Instruction seed

delay, operation even during acceleration and deceleration can be done with 1 ms or
less
positional deviation almost zero. A positioning completed signal can be output
Positioning completed signal
virtually simultaneously with the end of the instruction pulse (within 1 ms) . ON ON
OFF

n 16-bit High Resolution Encoder

A 65536 pulse/revolution serial encoder (exclusive INC) is standard equipment.
It can also be used for machines where high performance and highly accurate
positioning is required.

1-4
 Outline 1
Feature. 3

Servo amplifiers
Feature. 3 which are the
smallest in the industry, and can
be installed side by side without 200V type, 200W actual size

clearance.
n Innovative compact body
200V type, 200W: 35 (W) x 130 (H) x 130 (D)
n Side by side installation supports miniaturization
of the control panel.
These units can be installed side by side horizontally, and through standardization of
the height and depth dimensions, even if multiple units are used, they can be housed
in an extremely compact cabinet, enabling miniaturization of control panels.

Capacity (W) W (mm) H (mm) D (mm)

50 35 130 130
100 35 130 130
200 35 130 130
400 50 130 130

130mm
750 70 130 130

n Panel space is reduced by side by side

installation.
(Example: 200W x 3 axes + 400 W x 2 axes.
130mm

35mm 35mm 35mm 50mm 50mm

205mm 35mm

* The operating environment varies if the unit is installed close to another.

Feature.※密着取り付け時は動作環境が異なります。
4

Simple Operation and Short setup time

n Uses a new type auto tuning function. n Setup parameters are designed to
Feature. 4 facility operability
The previous auto tuning function has been further refined so By setting only 7 different parameters in the basic settings,
that adjustments of even “heavy perpetual loads,” which are operation with the industry’s top level performance can be
considered to be difficult in ordinary tuning, can be done accomplished. In addition, by using the “personal computer
easily. loader” (option) for setting each type of system, setup can
be accomplished in a short time.

Feature. 5

The standard configuration conforms to

international standards. (UL/cUL, CE Marks)
The standard specifications of the FALDIC-β Series support the “UL/cUL”
and “CE Mark,” so it can be used not only within Japan but anywhere
overseas. This makes it a global servo with leading edge performance,
dimensions and operability that can be utilized anywhere.
* Application filed for acquisition of UL/cUL, CE marking.

1-5
1 Outline
1-2) Items to be confirmed

When the product (FALDIC-β Series) is delivered to you, unpack and check the following.

Items to be confirmed Checking method Check mark

Is the delivered FALDIC-β

Check the “type” field in the motor and amplifier
Series what you have
nameplates shown in the following pages.
ordered?

Is there any damage around Observe the appearance to check for broken
the product? parts.

Turn by hand. If the shaft rotates smoothly,

Check if the servomotor shaft there is no problem. However, the shaft does
rotates smoothly. not turn with servomotors equipped with a
brake.

Are any screws dislocated or

Use a screwdriver to check screws.
loose?

If any defects are found, contact your dealer or Fuji’s sales outlet (shown on the back cover of
this manual) immediately.

1-6
 Outline 1
1-3) Servomotor

n Appearance of product

Frame Encoder
The frame supports the
A 16-bit serial encoder is
output shaft of the
housed on the side of the
servomotor. The frame is
servomotor opposite to the
molded of resin.
load.

Output shaft
The output shaft of the
servomotor rotates.

Power cable
Connect to the servo amplifier using
the optional cable or connector kit. Encoder cable
Connect to CN2 of the servo
The wiring from the power cable up to amplifier using the optional
the servo amplifier is called “power cable or connector kit.
wiring.”
The wiring from the encoder
cable up to the servo
amplifier is called “encoder
wiring.”

Flange
The servomotor is installed to the
machine on this side.

* The figure shows type GYC751DC1-C. The appearance

varies according to the motor capacity.

n How the nameplate looks

Type designation MODEL : GYC751DC1-CA

Serial No. SER No. :************************ Made in Japan

1-7
1 Outline
1-4) Servo amplifier

n Appearance of product

Type designation display

Connector for connection

of loader
Connect the PC loader.

Keypad panel
CN1 The keypad panel is provided
Connect the sequence with a two-digit seven-
input/output signal. segment LED display and
four operation keys.

Charge LED Main circuit terminals

The LED is lit when power is Connect the power supply,
supplied to the servo amplifier. external regenerative
resistance (option) and power
cable of the servomotor.
CN2
Connect the encoder cable of
the servomotor. Grounding terminals
Connect the grounding cable of the
servomotor and grounding terminal.

n How the nameplate looks

Type designation
TYPE : RYB201S3-VBC
of amplifier →
INPUT OUTPUT
Voltage → Voltage 200 to 230V 91V
Number of phases → Phase 1∅ / 3∅ 3∅
Max. current → F.L.C 2.5A / 1.2A 1.5A
Frequency → Freq. 50 or 60Hz 0 to 333.3Hz
Capacity → Power 200W
Fuji Electric Co.,Ltd. Made in JAPAN

Rated input Rated output

1-8
 Outline 1
1-5) Type designation
<Servo amplifier>
RYB 201 S 3 V B C 6

[Basic type designation]

RYB: Standard type
[Voltage]
No indication : 3-phase 200V
[Capacity] 6 : Single-phase 100V
201 : 20 X 10１ = 200W
500 : 50 X 10０ = 50W
[Encoder]
[Series] C: Standard
S: Standard 16-bit, exclusively used for
incremental operation

[Development generation] [Host I/F]

B: DI/DO
(Exclusively used for pulse string)
[Major function]
V: Pulse string/speed control

<Servomotor>
GYS 201 D C 1 C 6 B B
[Basic type designation] [Brake]
GYS : Slim No indication : None
GYC : Cubic B : Installed
[Capacity] [Oil seal/shaft]
201 : 20 X 10１ = 200W A : No oil seal with straight key
500 : 50 X 10０ = 50W B : No oil seal without straight key

[Rated speed]
D : 3000 [r/min] [Voltage]
No indication : 3-phase 200V
[Installation method] 6 : Single-phase 100V
C: Flange 8 : Common between single-phase
100V and 3-phase 200V
[Encoder]
[Development generation] H : 20-bit absolute/incremental
C : 16-bit, exclusively for incremental

<Gear head>
GYN 201 S A G G09
[Basic type designation]
GYN:Standard type
[Gear ratio]
[Capacity] G09 : 1/9
201 : 20 X 10１ = 200W G25 : 1/25
500 : 50 X 10０ = 50W
[Installation method]
[Motor type] G : Flange
S : Slim
C : Cubic [Development generation]

1-9
1 Outline

- MEMO -

1-10
INSTALLATION
2-1) Servomotor

2-2) Servo amplifier

2 INSTALLATION
2-1) Servomotor

(1) Storage temperature

Store the servomotor in the following environment when leaving it without energization.
Storage temperature : -20 to 60 °C
Storage humidity : 10 to 90% RH (no condensation allowed)

(2) Operating environment

Operate the servomotor in the following environment.
Operating temperature : -10 to 40 °C
Operating humidity : 10 to 90% RH (no condensation allowed)
*Use the gear head in the following operating environment.
Operating temperature : 0 to 40 °C
Operating humidity : 10 to 90% RH (no condensation allowed)

(3) Mounting
The servomotor can be mounted horizontally, downward or upward. The same rule applies to the
gear head and the servomotor equipped with a brake.

Flange-mounted
ＩＭ　Ｂ５（Ｌ５１） ＩＭ　Ｖ１（Ｌ５２） ＩＭ　Ｖ３（Ｌ５３）

The symbol in the figure indicates the mounting method coded by JEM. Description in parentheses ( )
indicates the former JEM code.

2-2
 INSTALLATION 2

(4) Handling
The servomotor is equipped with a built-in encoder. Do not hammer the output shaft of the
servomotor because the encoder is a precision device.
Do not support the encoder to lift the servomotor during installation.
The encoder built in the servomotor has been aligned with the servomotor. If it is disassembled, the
rated performance will not be obtained.

Encoder

CAUTION
n Do not disassemble the servomotor.
If the servomotor is disassembled, the performance will deteriorate and the
mechanical system may be broken.
n Never give shocks to the servomotor by hitting with a hammer etc.
Otherwise the encoder will be broken, causing the servomotor to run away.

(5) Power supply to servomotor

Do not connect commercial power supply to the servomotor. Otherwise the internal magnet will be
de-energized to cause a failure of servomotor rotation.
For the connection method between the servomotor and servo amplifier, see chapter 3.

2-3
2 INSTALLATION

(6) Cable stress

Do not apply bending or tensile stress to the cable.

n Precautions for applications with moving servomotor

- Design a system of an application with a moving servomotor so that the cables are free from
forcible stress.
- Route the encoder cable and power cable in Cableveyor.
- Fix the encoder cable and power cable from the servomotor using cable clamps.
- Design the bending radius as large as possible.
- Do not allow bending stress or the weight of the cable itself to be exerted at cable connections.

(7) Protection against water and oil

Measures taken to the motor are useful for protection against moderate amount of splashes.
However, the shaft is not water-proof or oil resistant, and so take appropriate measures on the
machine side to avoid entry of water and oil into the servomotor.

In environment with much water or oil drops or oil mist, install a cover or the like on the machine
and connect lead wires and connector downward.

(8) Dimensional tolerances

The servomotor is assembled to the following accuracy.
Unit: mm
Center deviation Perpendicularity of
Type of servomotor Run-out at shaft end
(Flange) flange face (Flange)
GYCoooDC1 ≤ 0.02 ≤ 0.06 ≤ 0.08
GYSoooDC1 ≤ 0.02 ≤ 0.06 ≤ 0.08

Perpendicularity of
Run-out at shaft end Parallelism of shaft Center deviation
flange face

Leg mount

Flange mount

2-4
 INSTALLATION 2

(9) Load
The radial load and thrust load exerted on the shaft end of the servomotor are as follows.

Radial load: Load exerted at right angles to motor shaft

Thrust load: Load exerted in parallel to motor shaft

n Servomotor

Allowable radial load Allowable thrust load LR

Type of servomotor
Fr [N] Fs [N] [mm]
Fr
GYS 500DC1-C8B 127 19 25
101DC1-CB 127 19 25
201DC1-CA 264 58 30 Fs
401DC1-CA 264 58 30
751DC1-CA 676 147 40
GYC 101DC1-CA 107 19 25
LR
201DC1-CA 235 39 30
401DC1-CA 235 39 30
751DC1-CA 460 88 40

n 1/9 gear head

Allowable radial load Allowable thrust load LR
Motor type Type of gear head Fr
Fr [N] Fs [N] [mm]

GYN 500SAG-G09 294 147 11

101SAG-G09 294 147 11 Fs
Slim
(GYS) 201SAG-G09 441 196 17
LR
401SAG-G09 589 245 17
751SAG-G09 736 294 22.5
GYN 101CAG-G09 548.8 372.4 11
Cubic 201CAG-G09 1019 666.4 17
(GYC) 401CAG-G09 1019 666.4 17
751CAG-G09 1381.8 882 22.5

n 1/25 gear head

Allowable radial load Allowable thrust load LR
Motor type Type of gear head
Fr [N] Fs [N] [mm]

GYN 500SAG-G25 441 147 11

101SAG-G25 441 147 11
Slim
(GYS) 201SAG-G25 687 196 17
401SAG-G25 883 245 17
751SAG-G25 1019 294 22.5
GYN 101CAG-G25 764.4 588 11
Cubic 201CAG-G25 1430 1058 17
(GYC) 401CAG-G25 1430 1058 17
751CAG-G25 1940 1372 22.5

2-5
2 INSTALLATION

n Assembling the GYN gear head

Follow the procedure below to assemble the GYN gear head. The procedure is similar for the GRN gear
head.

(1) Applying grease

Before assembling the GYC/GYS motor to the gear head, apply grease on the output shaft of the
servomotor. (This is for prevention of seizure of the output shaft of the servomotor.)

Apply grease.

(2) Preparation for assembly

1) Remove the rubber cap in the depth of the flange face (of the gear head) installing the servomotor.

Rubber cap

Hexagon socket head set screw

2) Align the position of the key in the input shaft of the gear head with the rubber cap hole.
Loosen the hexagon socket head cap screw in the rubber cap.
(The hexagon socket head cap screw is located at the input shaft of the gear head.)

2-6
 INSTALLATION 2

(3) Assembling the motor

While aligning the input shaft of the gear head with the key, insert the output shaft of the servomotor.
Tighten the screws of the gear head to fix the flange face of the motor to the flange face of the gear
input shaft.

Screw size (For GYS)

Size of accessory
Type of gear head Tightening torque
screw (quantity)
GYN500SAG-G09, -G25
GYN101SAG-G09, -G25
M4 x 12 (4 pcs.) _ 0.21 [N . m]
1.8 +
GYN201SAG-G09, -G25
GYN401SAG-G09, -G25
GYN751SAG-G09, -G25 M5 x 12 (4 pcs.) + 0.42 [N . m]
3.5 _

Screw size (For GYC)

Size of accessory
Type of gear head Tightening torque
screw (quantity)
GYN101CAG-G09, -G25
GYN201CAG-G09, -G25 M4 x 12 (4 pcs.) _ 0.21 [N . m]
1.8 +
GYN401CAG-G09, -G25
GYN751CAG-G09, -G25 M5 x 12 (4 pcs.) _ 0.42 [N . m]
3.5 +

After fixing the screws, tighten the hexagon socket head cap screw.

Hexagon socket head cap screw

Type of gear head Size of accessory screw Tightening torque
GYN500SAG-G09, -G25
GYN101SAG-G09, -G25
GYN201SAG-G09, -G25
GYN401SAG-G09, -G25
GYN751SAG-G09, -G25 M4 x 4 _ 0.21 [N . m]
1.8 +
GYN101CAG-G09, -G25
GYN201CAG-G09, -G25
GYN401CAG-G09, -G25
GYN751CAG-G09, -G25

Plug the rubber cap in the original position as the last step.

2-7
2 INSTALLATION
2-2) Servo amplifier
(1) Storage temperature
Store the servo amplifier in the following environment when leaving it without energization.
Storage temperature : -20 to 85 °C
Storage humidity : 10 to 90% RH (no condensation allowed)

(2) Operating environment

Operate the servomotor in the following environment.
The servo amplifier is not drip-proof and dust resistant.
Operating temperature : -10 to 50 °C
Operating humidity : 10 to 90% RH (no condensation allowed)

(3) Mounting
1) Mount the servo amplifier in the upright direction so that the “FALDIC” characters on the keypad
panel of the servo amplifier look horizontally.

2-8
 INSTALLATION 2

2) The servo amplifier has the part that generates heat during operation.
To mount multiple servo amplifiers in the same panel, observe the following precautions.
- Mount side by side in principle. The RYB servo amplifier can be mounted closely. Use the
amplifiers at 80% ED rating* if they are installed in contact with each other. There is no
limitation in the operation frequency when amplifiers are mounted at 5 mm or larger intervals.
- Reserve 40 mm or a larger distance at the bottom of the servo amplifier.
- 50 mm or a larger distance is necessary above the servo amplifier for heat radiation.
* Servo amplifiers can be operated at 100% ED at ambient temperatures below 45°C.

i) Top: 50 mm or more

iii) Casing iv) Interval between

About 10 mm amplifiers
The value About 5 mm
assumes various The value
errors. The assumes various
distance can be errors. The
reduced to 0 distance can be
mm. reduced to 0 mm.

ii) Bottom: 40 mm or more

2-9
2 INSTALLATION

(4) Handling
The servo amplifier consists of electronic parts including microprocessors. Do not operate in the
following environment.

- Location near oil, steam or corrosive gas

- Location with much dust
Mount the servo amplifier in an airtight panel equipped with a forced ventilation fan when using it
at places with much dust.
Natural convection, Forced duct
air tight structure Air purge Heat exchanger
ventilation
(enclosure)
Servo
amplifier
Exhaust
air Exhaust
air
Servo
amplifier Servo Servo
amplifier amplifier

Air
Air Air intake
intake intake

- Location where strong electrostatic or magnetic field exists

- Accommodation in the same panel together with high voltage (3 kV, 6 kV) equipment
- Sharing of the same power supply with the equipment which generates large noise
- Under standing vibration
- In vacuum
- In explosive atmosphere

(5) Power supply to servo amplifier

Supply electric power to the servo amplifier in the specification range.
l Single-phase 100 V: 100 to 115 [VAC] (fluctuation: -15 to +10%)
l Three-phase 200 V: 200 to 230 [VAC] (fluctuation: -15 to +10%)
* Single-phase power supply can be used for three-phase 200V servo amplifiers with 400W
or smaller outputs.

2-10
 INSTALLATION 2

(6) Depth of amplifier

Allow 70 mm or more distance for a servo amplifier connected with a sequence input/output cable.

Servo amplifier

Sequence input/output cable

Wall

Power cable

70 130 (Common among all types)

2-11
2 INSTALLATION

-MEMO-

2-12
WIRING
3-1) Construction

3-2) Servo amplifier

3-3) Servomotor

3-4) Encoder

3-5) Standard connection

diagrams

3-6) Connection examples

3 WIRING
3-1) Configuration

The configuration of FALDIC-β Series is as follows.

(1) Servomotor (without brake)

FAB/ELB
FAB or ELB is installed in the
primary circuit of the servo
amplifier to avoid losses caused by
shutdown or power-on or short- FAB/ELB
circuit current. The electromagnetic
contactor may be installed between
the circuit breaker and AC reactor.

AC reactor
The AC reactor is installed for large
power supply capacity or to
suppress disproportion in the
source voltage or harmonics. AC reactor

Power filter
The power filter is installed to
Power filter
protect the servo amplifier from
harmonics and fluctuation in the
source voltage.
External
regenerative
resistance
Servo amplifier (option)
The servo amplifier houses
command follow-up control and
dumping control functions and it
is exclusively for pulse string
inputs. Power cable

Power cable

Encoder cable

External
regenerative
resistance cable
Motor cable
Motor cable Servomotor

* The illustration shows RYB201S3-VBC.

The appearance varies according to the capacity.

3-2
 WIRING 3

General-purpose PC
PC Loader for FALDIC-β is
(2) Servomotor (with brake) prepared (option).

FAB/ELB

Controller
Various controllers of the pulse
string output type can be used.
AC reactor
ONL
ONL 00 11 22 33 44 55 66 77 ONL
ONL 00 11 22 33 44 55 66 77 ONL
ONL 00 11 22 33 44 55 66 77 ONL CH1
APS30
APS30 SCPU32
SCPU32 SCPU32
SCPU32 ONL
EMG
CH1
ONL
ONL ONL
ONL +OT -OT
EMG +OT -OT

ＳＸ
RUN
RUN ERR
ERR RUN
RUN ERR
ERR ERR
ERR 88 99 101112131415
101112131415 ERR
ERR 88 99 101112131415
101112131415 ERR
ERR 88 99 101112131415
101112131415 ERR CH2
ERR CH2
TERM
TERM TERM
TERM
RUN
RUN RUN
RUN
PWR
PWR SLV
SLV
ALM
ALM
SLV
SLV
ALM
ALM
STOP
STOP BAT
BAT STOP
STOP BAT
BAT
ALM
ALM
CPU
CPU CPU
CPU
No.
No. No.
No.

20
20

LOADER
LOADER LOADER
LOADER

11
B/A
B/A

MP2
MP2

Power filter

Power supply for brake

About 24VDC, 0.4A

Power cable
Control relay
HH52P or other types are installed
externally.

* The illustration shows RYB201S3-VBC.

Encoder cable The appearance varies according to the capacity.

Motor cable

CAUTION
Do not use the same power supply for the brake (24VDC, 0.4A) and sequence input/output.
Prepare separate power supplies.

3-3
3 WIRING
3-2) Servo amplifier

Supply commercial power shown in Chapter 11 to the amplifier.

Do not supply commercial power to the servomotor. If attempted, the motor will be broken.

(1) Commercial power supply

n 3-phase 200V series

Supply 200V commercial power to the servo amplifier. Connect the power cables to the L1, L2 and
L3 terminals.
Voltage: 200 / 200 to 230 V, -15 to +10%
Frequency: 50/60Hz
No. of phases: 3 (Single-phase 200V can be supplied to servo amplifiers with 400W or smaller
capacities.)
Use a step-down transformer to supply power from the 400V system. If the voltage is supplied
directly, the servo amplifier will be broken.

n Single-phase 100V series

Supply 100V commercial power to the servo amplifier. Connect the power cables to the L1 and L2
terminals.
Voltage: 100 to 115V, -15 to +10%
Frequency: 50/60Hz
No. of phases: Single
Use a step-down transformer to supply power from the 200V system. If the voltage is supplied
directly, the servo amplifier will be broken.

3-4
 WIRING 3
(2) Power supply capacity
The power supply capacity required for each servo amplifier is as follows. The same power supply
capacity applies to the step-up or step-down transformer.
The specified power supply capacity is for the designated cable size and a wiring length of 20m. If the
power supply capacity is 500 kVA or more, an AC reactor specified in section 10-6 should be provided.
(Otherwise the contact of the electromagnetic contactor or the like may melt.)

Applicable motor
Input power supply Type of servo amplifier Power supply capacity
example (slim type)
RYB500S3-VBC GYS500DC1-C8B 0.15kVA
RYB101S3-VBC GYS101DC1-CB 0.3kVA
3-phase 200V RYB201S3-VBC GYS201DC1-CA 0.6kVA
series
RYB401S3-VBC GYS401DC1-CA 1.2kVA
RYB751S3-VBC GYS751DC1-CA 2.1kVA
RYB500S3-VBC6 GYS500DC1-C8B 0.15kVA
Single-phase 100V
RYB101S3-VBC6 GYS101DC1-C6B 0.6kVA
series
RYB201S3-VBC6 GYS201DC1-C6B 1.2kVA

The RYB Series servo amplifier (3-phase 200V type 3.7 kW or less) is applicable to the harmonics
suppression guideline for electric appliances and general-purpose equipment (enacted in 1994 and
revised in September 1997) issued by the Ministry of International Trade and Industry of Japanese
government. Regulation levels are determined by the Japan Electrical Manufacturers’ Association
according to this guideline.
You must connect a reactor for harmonics suppression to the servo amplifier to comply with this
guideline. Refer to “AC reactor” in the manual for the reactor.
When you prepare the other reactor, consult us for its detailed specifications.

3-5
3 WIRING
(3) Main circuit terminals
The power cable for the servo amplifier, external regenerative resistor (option) and servomotor power
cable are connected at the main circuit terminals.
The main circuit terminals accept connectors. The connector is not included in the accessories of the
servo amplifier. Purchase connector kits or wiring cables.

Ｌ１ Ｐ Ｕ

Ｌ２
Ｌ１ Ｌ１
－ Ｌ１
Ｖ

Ｌ３ ＤＢ Ｗ
MODE
ESC

SHIFT
ENT

External
Power cables regenerative Motor power
(from top) resistance cable

(from top) (from top)

L1 P U
L2 - V
L3 DB Ｗ

Terminal
Pin No. Name Function and meaning
symbol
L1 1 Power cable Supplies commercial power supply.
L2 2 Single-phase power cables can be connected to 400W or
L3 3 smaller capacities of 3-phase 200V type. There is no phase
sequence.
With single-phase 100V, connect the power cables to the L1 and
L2 terminals.
P 1 External Used to connect an external regenerative resistance. The
DB 3 regenerative external regenerative resistance is optional.
resistance Connect across the P and DB terminals.
(option) Leave pin 2 unconnected.
U 1 Motor power Used to connect the power cable of the servomotor.
V 2 cable The grounding (E) terminal of the servomotor is provided in the
W 3 depth on the bottom of the servo amplifier.
The specified phase sequence of the servomotor cannot be
changed. Connect the identical cables of the servomotor.

3-6
 WIRING 3
(4) Sequence input/output terminal
Connect the signal cable of a host controller to connector 1 (CN1) of the servo amplifier.

26 M5 13 M5
25 FZ 12 *FFB
24 *FFZ 11 FFB
23 FFZ 10 *FFA
22 NC 9 FFA
21 *CB 8 *CA
20 CB 7 CA
19 PPI 6 CONT5
18 PSET 5 CONT4
17 RDY 4 CONT3
16 OUT 3 CONT2 Compatible connector on cable side
15 OUT1 2 CONT1
14 M24 1 P24 Soldered plug: 10126-3000V

Shell kit : 10326-52A0-008

n List of sequence functions

Terminal
Pin No. Name Function and meaning
symbol
P24 1 Power supply for Power supply input for sequence input/output signals
M24 14 sequence input/output (+24VDC, 0.3A)
CONT1 2 Sequence input Sequence input signals. The following signals are
CONT2 3 allocated by the factory settings.
CONT3 4 (+24VDC, 10 mA)
CONT4 5 CONT 1: Operation command (RUN)
CONT5 6 CONT 2: Reset (RST)
CONT 3: (Not specified)
CONT 4: (Not specified)
CONT 5: (Not specified)
OUT1 15 Sequence output Sequence output signals. The following signals are
OUT2 16 allocated by the factory settings.
RDY 17 (Max. +30VDC / 50mA)
PSET 18 OUT 1: Alarm detection, a-contact
OUT 2: (Not specified)
RDY: Active when ready to turn
PSET: Active upon completion of positioning
PPI 19 Pulse string input PPI: Power supply input for open collector (24 VDC +/-5%)
CA 7 - Differential input
*CA 8 CA, *CA, CB, *CB (max. input frequency: 1 MHz)
CB 20 - Open collector input
*CB 21 *CA, *CB (max. input frequency: 200 kHz)
The pulse string form can be chosen from command pulse
and sign, forward/reverse rotation pulse, and two signals
having 90-degree phase difference.
FFA 9 Frequency dividing Frequency dividing output terminals. Two signals having
*FFA 10 output 90-degree phase difference in proportion to the rotation of
FFB 11 the servomotor are output. (Differential output)
*FFB 12 The FZ terminal is an open-collector output.
FFZ 23 (Max. +30VDC, 50mA)
*FFZ 24 M5: Reference potential
FZ 25
M5 26 ,13
NC 22 No connection Do not connect this terminal.
* Terminals having the same name (M5) are connected internally. They are not connected with terminal M24.

3-7
3 WIRING
n Interface circuit diagram

Signal name Specification Circuit

P24

DC24V
2.2k
24VDC, 10mA
Sequence input
(For each point)
M24

Servo amplifier

+30VDC, 50mA
Sequence output
(Max.) DC24V

Servo amplifier

PPI
1.5k
CA(CB) 62

Pulse string input

Differential input
(Differential output) *CA(*CB) 62

Servo amplifier

PPI
1.5k
CA(CB) 62

Pulse string input

24 VDC (12 VDC*)
(Open collector)
*CA(*CB) 62

Servo amplifier

FFA
AM26LS31
(FFB)
(FFZ)

Pulse string output

Differential output *FFA
(Differential output) (*FFB)
(*FFZ)

M5 M5
Servo amplifier

2SC2712
FZ
Pulse string output +30VDC, 50mA
(Open collector) (Max.) M5

Servo amplifier

3-8
 WIRING 3
* The pulse train input can be a 12 VDC input. In this case, the wiring method varies. Refer to
the drawing in item (3) below.

n Examples of recommended wiring for command pulse

(1) Differential output devices
Shielding wire

7 CA

VIN
8 *CA
Line driver IC;
AM26LS31 or
equivalent 20 CB

VIN
21 *CB

Ground at
both ends. FG
Pulse generator Servo amplifier
of host unit RYB□□□S3-VBC
Connect to the
connector shell.

VIN: The voltage amplitude between CA and *CA (between CB and *CB) must be between 2.8 and
3.7V. (The servo amplifier may not accept the input pulse in other than the specified range.)
(2) Open collector output devices (24 VDC input)
24 VDC Shielding wire
power supply

19 PPI
7 CA
Output transistors
8 *CA
20 CB

21 *CB

Ground at
both ends.
FG
Servo amplifier
Pulse generator Connect to the
connector shell. RYB□□□S3-VBC
of host unit

24 VDC power supply: Contain the source voltage within the 24 VDC +/-5% range.
This circuit consumes a maximum 40 mA current. Prepare a power supply having a sufficient margin.
(3) Open collector output devices (12 VDC input)
12 VDC Shielding wire
power supply

1/2W 19 PPI
560Ω 7 CA
Output transistors
8 *CA
20 CB

1/2W
560Ω 21 *CB

Ground at
both ends
FG
Servo amplifier
Pulse generator Connect to the
connector shell. RYB□□□S3-VBC
of host unit

12 VDC power supply: Contain the source voltage within the 12 VDC +/-5% range.
This circuit consumes a maximum 40 mA current. Prepare a power supply having a sufficient margin.

3-9
3 WIRING
3-3) Servomotor

(1) Servomotor
Connect the power cable of the servomotor to the U, V and W terminals of the servo amplifier while
identifying the symbols.
Do not supply commercial power directly to the servomotor. If attempted, the magnet inside the motor
will be de-magnetized and the servomotor will not rotate.

Do not supply commercial power to the servomotor.

CAUTION If attempted, the internal magnet will be de-magnetized and the
servomotor will not rotate.

The direction of rotation of the servomotor cannot be changed by changing the sequence of the
servomotor terminals. Change the parameter 4 setting to achieve this.

U U
V V
W W

The wiring length between the servo amplifier and servomotor should be within 50 m long.
It is not permitted to perform ON/OFF of the wiring between the servo amplifier and servomotor using
magnetic contactors. It is not permitted to turning ON/OFF multiple servomotors with a single servo
amplifier.
Furthermore, it is not permitted to connect the following equipment along the wiring between the servo
amplifier and servomotor:

Phase advancing capacitor, various reactors, noise filter, surge absorber

3-10
 WIRING 3

n Connector for GYC/GYS type

Without brake Motor power cable on motor side
(Viewed from contact inserting side)

1 cap housing
Projection 350780-1 type (Japan AMP)

U
4 contactors (socket)
350750-3 or
1

1 Ｕ 350689-3 type (Japan AMP)

V
2

2 Ｖ
3 Ｗ
W
3 4

　
Motor power cable on motor side
Projection (Viewed from contact inserting side)
With brake

1 cap housing
350781-1 type (Japan AMP)
U
4 contactors (socket)
4

Brake V 4 1 U 350750-3 or
2 3
56

W 5 Br 2 V 350-689-3 type (Japan AMP)

Brake
6 Br 3 W

CAUTION
Do not use the same power supply for the brake (24VDC, 0.4A) and sequence input/output.
Prepare separate power supplies.

3-11
3 WIRING
3-4) Encoder

The servomotor is equipped with a 16-bit serial encoder (exclusively for incremental mode). Connect
the encoder wiring to CN2 of the servo amplifier.
The wiring connector is not included in accessories.
An optional cable with connectors at both ends is prepared.
The maximum wiring length of the encoder is 50 m with limitations from the cable size.

n Connector for GYC/GYS type

Encoder wiring
Wiring on servo amplifier side (Viewed from wiring side)

Housing :54180-0611
Shell body clamp :58299-0600
Shell body cover :58300-0600
Mold cover :54181-0615
5 Mold cover :54182-0605
Cable clamp :58303-0000
Clamp screw :59832-0009
(M2 x 4)
6
* All parts are made by Molex.
5 SIG+ 3 - 1 P5
6 SIG- 4 - 2 M5

Wiring on servomotor side Encoder wiring

(Viewed from wiring side)

Housing :53988-0611
Shell body clamp :58302-0600
Mold cover :53989-0605
Mold cover :53990-0650
Cable clamp :58303-0000
Clamp screw :53982-0009
(M2 x 4)
* All parts are made by Molex.

6 SIG- 4 - 2 M5
5 SIG+ 3 - 1 P5

3-12
 WIRING 3

- Wiring cable
Use the following cables if the optional encoder cable is not used.

n Cross-link polyethylene insulated, vinyl sheath cable for robot travel (DAIDEN Co., Ltd.)
RMCV-SB (UL2464) AWG# 25/2P + AWG# 23/2C (twisted-pair cable)
(Cable length: within 10m)
Twisted 2P (pairs), 2C (core) composite cable of different cable sizes
Note: Use the core with larger sectional area for power supply.

n Cross-link polyethylene insulated, vinyl sheath cable for robot travel (DAIDEN Co., Ltd.)
RMCV-SB (UL2464) AWG# 25/2P + AWG# 23/2C (twisted-pair cable)
(Cable length: within 50m)
Note: Use the core with larger sectional area for power supply.

- Connection
It is not allowed to extend the wiring distance by connecting two or more cables of short wiring length.

CAUTION
Do not extend the wiring distance by connecting two or more short cables.
Otherwise the servomotor will be stopped due to poor contact.

- Cable size
See the following table for conversion between AWG and mm sizes.
Gauge Diameter Sectional area
A.W.G mm.G mil mm Circular mil mm2
1.4 55.12 1.400 3038 1.539
16 50.82 1.291 2583 1.309
1.2 47.24 1.200 2232 1.131
23 22.57 0.5773 509.4 0.2581
.55 21.65 0.5500 468.7 0.2376
24 20.10 0.5106 404.0 0.2047
.50 19.69 0.5000 387.7 0.1963
25 17.90 0.4547 320.4 0.1623
.45 17.72 0.4500 314.0 0.1590

3-13
3 WIRING

-MEMO-

3-14
 WIRING 3
3-5) Standard connection diagrams

Connection diagrams of the servo amplifier are shown here.

n 3-phase 200V (without brake)

n 3-phase 200V (with brake)
n Single-phase 100V (without brake)
n Single-phase 100V (with brake)

3-15
3 WIRING
n Three-phase 200 V (without brake)

External regenerative
resistor (option)

P DB
U 1 U
Commercial power supply V 2 V
3-phase 200V
W 3 W
Ｍ
L1 4 E
L2
L3 CN2

P5 1 　1　P5
CN1 M5 2 　2　M5 ＰＧ
SIG+　5 　5　SIG+
Power input for pulse string open-collector input 19　PPI SIG- 6 　6　SIG-

Pulse train input 7　CA *1 *1

(differential) 8　*CA Servomotor
20　CB *1 (Without brake)
21　*CB

*1 FFA 9 Phase-A pulse output (differential)

*2 *FFA 10
P24 1　P24 FFB 11
Phase-B pulse output (differential)
*FFB 12
2　CONT1 FFZ 23
Phase-Z pulse output (differential)
3　CONT2 *FFZ 24
ＤＣ２４Ｖ
4　CONT3 M5 13
FZ 25 Phase-Z pulse output (open collector)
5 CONT4
M5 26
6 CONT5

14　M24 OUT1 15 P24

OUT2 16
RDY 17
PSET 18
Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG (ground)
terminal on the pulse generator side.

- The external regenerative resistor is not built in. The external regenerative resistor is prepared as
optional equipment.
- For 500 kVA or larger power supply capacities, connect the power supply coordination reactor.
- Arbitrary signals can be allocated to CONT and OUT terminals.
The factory settings are as follows.

Terminal symbol Factory setting Terminal symbol Factory setting

CONT 1 Operation command [RUN] OUT1 Alarm detection: a-contact
CONT 2 Reset [RST] OUT 2 (Not specified)
CONT 3 (Not specified)
CONT 4 (Not specified)
CONT 5 (Not specified)

3-16
 WIRING 3
n Three-phase 200 V (with brake)

External regenerative
resistor (option)

P DB
U 1 U
Commercial power supply
V 2 V
3-phase 200V
W 3 W
Ｍ
L1 4 E
L2
5 Br
L3 CN2 Power supply
6 Br
for brake 24 VDC

P5 1 　1　P5
CN1 M5 2 　2　M5 ＰＧ
SIG+　5 　5　SIG+
Power input for pulse string open-collector input 19　PPI SIG- 6 　6　SIG-
7　CA
Pulse train input 8　*CA *1 *1
(differential) 20　CB Servomotor
21　*CB *1 (With brake)

*1
*2 FFA 9
Phase-A pulse output (differential)
P24 1　P24 *FFA 10
FFB 11
Phase-B pulse output (differential)
2　CONT1 *FFB 12
3　CONT2 FFZ 23
Phase-Z pulse output (differential)
4　CONT3 *FFZ 24
ＤＣ２４Ｖ
5 CONT4 M5 13
6 CONT5 FZ 25
Phase-Z pulse output (open collector)
M5 26
14　M24
OUT1 15 P24
OUT2 16
RDY 17
PSET 18
Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG (ground) terminal
on the pulse generator side.

- The distance between the servomotor and servo amplifier can be extended up to 20 m when optional
cable is used. The distance can be extended up to about 50 m if the cable size is increased.
For the cable size of the encoder, refer to section 3-4 “Encoder.”

CAUTION
Do not use the same power supply for the brake (24VDC, 0.4A) and sequence input/output.
Prepare separate power supplies.

3-17
3 WIRING
n Single-phase 100 V (without brake)
External regenerative resistor
(option)

P DB
U 1 U
Commercial power supply
V 2 V
Single-phase 100 V
W 3 W
Ｍ
L1 4 E
L2
CN2

P5 1 　1　P5
CN1 M5 2 　2　M5 ＰＧ
SIG+　5 　5　SIG+
Power input for pulse string open-collector input 19　PPI SIG- 6 　6　SIG-

7　CA
*1 *1
Pulse train input 8　*CA
20　CB Servomotor
(differential)
*1 (Without brake)
21　*CB

*1 FFA 9
*2
Phase-A pulse output (differential)
P24 1　P24 *FFA 10
FFB 11
Phase-B pulse output (differential)
2　CONT1 *FFB 12
3　CONT2 FFZ 23
Phase-Z pulse output (differential)
4　CONT3 *FFZ 24
ＤＣ２４Ｖ
5 CONT4 M5 13
6 CONT5 FZ 25
Phase-Z pulse output (open collector)
M5 26
14　M24
OUT1 15 P24
OUT2 16
RDY 17
PSET 18
Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding
terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG
(ground) terminal on the pulse generator side.

- The external regenerative resistor is not built in. The external regenerative resistor is prepared as
optional equipment.
- For 500 kVA or larger power supply capacities, connect the power supply coordination reactor.
- Arbitrary signals can be allocated to CONT and OUT terminals.
The factory settings are as follows.

Terminal symbol Factory setting Terminal symbol Factory setting

CONT 1 Operation command [RUN] OUT1 Alarm detection: a-contact
CONT 2 Reset [RST] OUT 2 (Not specified)
CONT 3 (Not specified)
CONT 4 (Not specified)
CONT 5 (Not specified)

3-18
 WIRING 3
n Single-phase 100 V (with brake)

External regenerative resistor

(option)

P DB
U 1 U
Commercial power supply
V 2 V
Single-phase 100V
W 3 W Ｍ
L1 4 E
L2 5 Br
CN2 Power supply
for brake 24 VDC 6 Br

P5 1 　1　P5
CN1 M5 2 　2　M5 ＰＧ
SIG+　5 　5　SIG+
Power input for pulse string open-collector input 19　PPI SIG- 6 　6　SIG-

7　CA
*1 *1
Pulse train input 8　*CA
(differential) 20　CB Servomotor
21　*CB *1 (With brake)

*1 FFA 9
*2
Phase-A pulse output (differential)
P24 1　P24 *FFA 10
FFB 11
Phase-B pulse output (differential)
2　CONT1 *FFB 12
3　CONT2 FFZ 23
Phase-Z pulse output (differential)
4　CONT3 *FFZ 24
ＤＣ２４Ｖ
5 CONT4 M5 13
FZ 25
6 CONT5 Phase-Z pulse output (open collector)
M5 26
14　M24
OUT1 15 P24
OUT2 16
RDY 17
PSET 18

Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding
terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG
(ground) terminal on the pulse generator side.

- The distance between the servomotor and servo amplifier can be extended up to 20 m when optional
cable is used. The distance can be extended up to about 50 m if the cable size is increased.
For the cable size of the encoder, refer to section 3-4 “Encoder.”

CAUTION
Do not use the same power supply for the brake (24VDC, 0.4A) and sequence input/output.
Prepare separate power supplies.

3-19
3 WIRING

-MEMO-

3-20
 WIRING 3
3-6) Connection examples

Connection diagrams for combination examples of the servo amplifier with relevant devices are shown.
For products not specified in this manual, be sure to refer to the operation manual or user’s manual of the
corresponding equipment. The connection diagrams shown in this chapter are for reference only.

n Programmable controller (NWOP40o-o)

n Positioning module (NP1F-MP2)
n Positioning module (NC1F-VP1)
n Positioning unit (AD75 type)
n Position control unit (NC113)

3-21
 3 WIRING
Controller side

n Programmable controller (NWOP40o-o)

For one-axis control of SPB (programmable controller) through pulse string outputs
Axis control can be made with the basic unit.
The form of the output pulse is command pulse and command sign.
For the programmable logic controller, refer to the operation manual or user’s manual.

Input common ⑤
Input common P24
⑥
Output common M24

DC24V
①
Pulse output Y20 ②
Output common ③
Sign Y21 ④
Output common Connect the shielding wire
at both ends.

Nearly origin signal X0

End of positioning X1
Stop command X2
Origin return command X3
Manual forward command X4
Manual reverse command X5 ⑥
Positioning start command X6 M24

SPB
Basic unit: 40 points

3-22
 WIRING 3
Servo side
n Programmable controller (NWOP40o-o)

External regenerative
resistor (Option)

P DB
U 1 U
Commercial power
V 2 V
supply 3-phase 200 V
W 3 W
Ｍ
L1 4 E
L2
L3 CN2

P5 1 　1　P5
CN1 M5 2 　2　M5
*1 ＰＧ
SIG+　5 　5　SIG+
19　PPI SIG- 6 　6　SIG-
① 7　CA
② 8　*CA
③ 20　CB *1 *1
④ 21　*CB Servomotor
(Without brake)

FFA 9
⑤
P24 1　P24 *FFA 10
FFB 11
2　CONT1 *FFB 12
3　CONT2 FFZ 23
DC24V 4　CONT3 *FFZ 24
5 CONT4 M5 13
6 CONT5 FZ 25
⑥ M5 26
M24 14　M24
OUT1 15 P24
OUT2 16
RDY 17
PSET 18

Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG (ground) terminal
on the pulse generator side.

3-23
 3 WIRING
Controller side

n Positioning module (NP1F-MP2)

Example of connection with MICREX-SX series pulse-string output two-axis positioning module.
The control type is semi-closed loop with 500kHz maximum input frequency.
For the programmable logic controller, refer to the operation manual or user’s manual.

Manual pulse generator, phase A A2

Manual pulse generator, phase
*A A1
Manual pulse generator, phase B B2
Manual pulse generator, phase
*B B1 DC24V
Manual pulse generator, ground B3
Manual pulse generator, ground B4
①
Forward rotation pulse output A9 ②
Pulse output common A8 ③
Reverse rotation pulse output B9 ④
Pulse output common B8

Feedback pulse, phase A A7 ⑤

Feedback pulse, phase *A A6 ⑥
※３
Feedback pulse, phase B B7 ⑦
Feedback pulse, phase *B B6 ⑧
Feedback pulse, phase Z A4 ⑨
Feedback pulse, phase *Z A3 ⑩
Feedback pulse, ground A5
Feedback pulse, ground B5 Ground the shielding
wire at both ends.
P24
24 VDC for output A13 ⑪
24 VDC for output B13
Input common A14
Input common B14
M24
Output common A11 ⑫
Output common B11
24 V A20
P24
24 V B20 ⑪
M24
0V A19 ⑫
0V B19

DO1 A12
DO2 B12

Interrupt input A15

Origin LS A16

EMG A17

-OT input B16

+OT input B17

Pulse train output positioning module (2-axis specification)

[NP1F-MP2]
*3: Operation can be made even if these terminals are left open.

3-24
 WIRING 3
Servo side
n Positioning module (NP1F-MP2)

External regenerative resistor

(Option)

P DB
U 1 U
Commercial power
V 2 V
supply 3-phase 200V
W 3 W
Ｍ
L1
4 E
L2
L3 CN2

P5 1 　1　P5
CN1 M5 2 　2　M5
*1 ＰＧ
SIG+　5 　5　SIG+
19　PPI SIG- 6 　6　SIG-
① 7　CA
② 8　*CA *1 *1
③ 20　CB Servomotor
④ 21　*CB (Without brake)
*1

⑪
FFA 9 ⑤
P24 1　P24 *FFA 10 ⑥
*3
FFB 11 ⑦
2　CONT1 *FFB 12 ⑧
3　CONT2 FFZ 23 ⑨
DC24V *FFZ 24 ⑩
4　CONT3
5 CONT4 M5 13
6 CONT5 FZ 25
⑫ M5 26
M24 14　M24
OUT1 15 P24
OUT2 16
RDY 17
PSET 18
Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG (ground) termin
on the pulse generator side.
*3: Operation can be made even if these terminals are left open.

3-25
 3 WIRING
Controller side

n Positioning module (NC1F-VP1)

Example of connection with positioning module for MICREX-F series F70. Linear positioning can be
executed.
- The pulse string of NC1F-VP1 is open collector output.
- The output form is forward rotation pulse and reverse rotation pulse in the factory setting.
- The automatic start signal does not become valid if the MON output is left active.
- MOFF in the same scanning cycle as activation of MON is not valid.

+12 to 24 V A6 ⑦
+12 to 24 V A7 P24

⑧
Common B7 M24
+5V A10
+5V B10

End of positioning A9
Ready A8
Common B8
DC24V
①
Forward rotation pulse A11 ②
Common B11 ③
Reverse rotation pulse A12 ④
Common B12
B4 ⑤
External mark B9 ⑥
Common Connect the shielding
wire at both ends.
Origin LS A4
External interrupt B3
Emergency stop A3
+ OT A2
⑧
- OT B2 M24

⑦
+12 to 24 V A1 P24
+12 to 24 V B1

Positioning module
[NC1F-VP1]

3-26
 WIRING 3
Servo side
n Positioning module (NC1F-VP1)

External regenerative
resistor (Option)

P DB
U 1 U
Commercial power V 2 V
supply 3-phase 200V
W 3 W
Ｍ
L1 4 E
L2
L3 CN2

P5 1 　1　P5
CN1 M5 2 　2　M5
*1 ＰＧ
SIG+　5 　5　SIG+
19　PPI SIG- 6 　6　SIG-
① 7　CA
② 8　*CA *1 *1
③ 20　CB Servomotor
④ 21　*CB (Without brake)
*1

⑦ FFA 9
P24 1　P24 *FFA 10
FFB 11
2　CONT1 *FFB 12
3　CONT2 FFZ 23
4　CONT3 *FFZ 24
DC24V M5 13
5 CONT4
6 CONT5 FZ 25 ⑤
⑧ M5 26 ⑥
M24 14　M24
OUT1 15 P24
OUT2 16
RDY 17
PSET 18
Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG (ground) termin
on the pulse generator side.

3-27
 3 WIRING
Controller side

n Positioning unit (AD75 type)

Example of connection with AD75 type positioning unit made by Mitsubishi Electric Co., Ltd.
Only connections between the AD75 positioning unit and servo amplifier are shown.
For the programmable logic controller, refer to the operation manual or user’s manual of the
equipment.
The connection diagram shown in this chapter is only for reference.

PULSE F+ 3 ①
PULSE F- 21 ②
PULSE R+ 4 ③
PULSE R- 22 ④
PGO(5V) 24 ⑤
PGO COM 25 ⑥

Ground the shielding

wire at both ends. ⑦
READY 7
INPS 8 ⑧
COM 26 P24 ⑨
COM 35
COM 36

PULSER A+ 9
PULSER A- 27
PULSER B+ 10
PULSER B- 28
DOG 11
FLS 12
RLS 13 M24 ⑩

STOP 14
CHG 15
STAT 16

Positioning unit
（AD75P1-S3）

3-28
 WIRING 3
Servo side

n Positioning unit (AD75 type)

<Setting example>
l AD75 positioning unit
The pulse output mode is used to output CW/CCW pulses.

External regenerative
resistor (Option)

P DB
U 1 U
Commercial power
V 2 V
supply 3-phase 200V
W 3 W
Ｍ
L1 4 E
L2
L3 CN2

P5 1 　1　P5
CN1 M5 2 　2　M5
*1 ＰＧ
SIG+　5 　5　SIG+
19　PPI SIG- 6 　6　SIG-
① 7　CA
② 8　*CA *1 *1
③ 20　CB Servomotor
④ 21　*CB (Without brake)
*1

FFA 9
⑨ P24 1　P24 *FFA 10
FFB 11
2　CONT1 *FFB 12
FFZ 23 ⑤
3　CONT2
4　CONT3 *FFZ 24 ⑥
DC24V M5 13
5 CONT4
6 CONT5 FZ 25 ※１
M5 26
⑩ M24 14　M24
OUT1 15
OUT2 16
RDY 17 ⑦
PSET 18 ⑧
Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG (ground) termina
on the pulse generator side.

3-29
 3 WIRING
Controller side

n Position control unit (C200HW-NC113 type)

Example of connection with C200HW-NC113 position control unit made by Omron Corp.
Only connections between the C200HW-NC113 position control unit and servo amplifier are shown.
For the programmable logic controller, refer to the operation manual or user’s manual of the
equipment.
The connection diagram shown in this chapter is only for reference.

①
CW pulse output A5 ②
③
CCW pulse output A7 ④
DC
24V
24 V ground for output A2
Origin input signal (5V) A16 ⑤
Origin common A24 ⑥

Ground the shielding wire

at both ends.
A12 ⑦
End of positioning signal
⑧
Input common A24 P24
24 V power supply for A1
output

Nearly origin input signal A21

CCW limit input signal A23

CW limit input signal A22
⑨
Immediate stop input A20 M24
signal

NC unit
(NC113)

3-30
 WIRING 3
Servo side
n Position control unit (C200HW-NC113 type)

<Setting example>
l C200HW-NC113 position control unit
The pulse output mode is used to output CW and CCW pulses.

External regenerative
resistor (Option)

P DB
U 1 U
Commercial power
V 2 V
supply 3-phase 200V
W 3 W
Ｍ
L1 4 E
L2
L3 CN2

P5 1 　1　P5
CN1 M5 2 　2　M5
*1 ＰＧ
SIG+　5 　5　SIG+
19　PPI SIG- 6 　6　SIG-
① 7　CA
② 8　*CA
③ 20　CB *1 *1
Servomotor
④ 21　*CB
*1 (Without brake)

⑧ FFA 9
P24 1　P24 *FFA 10
FFB 11
2　CONT1 *FFB 12
3　CONT2 FFZ 23 ⑤
4　CONT3 *FFZ 24 ⑥
DC24V M5 13
5 CONT4
6 CONT5 FZ 25
⑨ M5 26
M24 14　M24
OUT1 15
OUT2 16
RDY 17
PSET 18 ⑦
Servo amplifier

*1: Connect the shielding wires to the connector shell of CN1 and CN2. The connector shell is connected with the grounding terminal.
*2: Ground the shielding wire at both ends. (Connect it to the connector shell on the amplifier side, and connect it to the FG (ground) termina
on the pulse generator side.

3-31
3 WIRING

-MEMO-

3-32
TEST OPERATION
4-1) Test operation in two
stages

4-2) First stage

4-3) Second stage

4 TEST OPERATION

4-1) Test operation in two stages

Perform test operation in the following two stages.

n First stage

Check wiring and product or parameters.

Use only the servomotor and servo amplifier without connection of the servomotor to the machine,
and perform test operation.

n Second stage

Check the parameters of the servo amplifier.

Mount the servo amplifier to the host controller and the machine to perform test operation.

4-2
 TEST OPERATION 4
4-2) First stage

Connect the servo amplifier and servomotor to perform test operation. Refer to Chapter 3 for the wiring
method.
Do not connect the servomotor to the mechanical system when performing test operation.

Check the following items in the first stage.

<Items to be checked>
1. Check the power supply wiring of the servo amplifier (L1, L2 and L3).
2. Check the servomotor power cables (U, V and W) and encoder cable.
3. Check if the servo amplifier and servomotor function correctly.
4. Check parameter #4 (switching direction of rotation).

n Test operation procedure

(1) Fix the servomotor so that it will not fall.

Mount nothing on the motor shaft.

Fix securely.

(2) Referring to Chapter 3, connect cables to the servo amplifier and the servomotor.

(3) Turn the power on.

Check the charge LED (i) and keypad panel indication (ii).

ii) Check the touch panel indication.

i) Check the charge LED.

Red LED lights up in the normal When correct

state.
A value between 1
When faulty and 19 blinks.
(Alarm detection)

* If an alarm is detected, turn the power off, check wiring, and refer to Chapter 9.

4-3
4 TEST OPERATION

(4) Perform test operation at the keypad panel.

Use the keypad panel to turn the servomotor. Check that the servomotor turns in the correct direction.

Basic setting parameter #04

Initial
No. Name Setting range Change
value
0: Forward rotation (CCW)
04 Direction of rotation switch 0 Power
1: Reverse rotation (CW)

Forward rotation (CCW)

If no fault is found in the first stage, go to the second stage.

Test operation at keypad panel

Use the MODE key to start the test operation mode.

The servomotor rotates while the key on the keypad panel is held down. The servomotor rotates at
the speed specified at parameter #29 with the acceleration and deceleration time specified at
parameter #30.
ENT (1 sec. or more)

ESC
ESC ENT

Off-line ∨ Rotation in
forward direction

* The servomotor rotates while the ∧ or ∨ key is held down. Rotation in

reverse direction

System setting parameters #29 and #30

No. Name Setting range Initial value Change
Speed setting 1 to 5000 [r/min]
29 100 Always
(for test operation) (in 1 increments)
Acceleration / deceleration time 0.000 to 9.999 sec.
30 0.100 Always
(for test operation) (in 0.001 increments)

4-4
 TEST OPERATION 4
4-3) Second stage

Mount the servo amplifier to the host controller and mount the servomotor to the machine to perform
test operation. The test operation should be conducted in the final operation state.

Check the following items in the second stage.

<Items to be checked>
1. Wiring between servo amplifier and host controller
2.Installation of servomotor to mechanical system
3.Check of parameters #1 through #4
Initial
No. Name Setting range Change
value
01 Command pulse correction α 1 to 32767 (in 1 increments) 8 Always
02 Command pulse correction β 1 to 32767 (in 1 increments) 1 Always
0: Command pulse and
command sign
1: Forward or reverse rotation
03 Pulse string input form 1 Power
pulse
2: Two signals with 90-degree
phase difference
0: Forward rotation (CCW)
04 Direction of rotation switch 0 Power
1: Reverse rotation (CW)

n Test operation procedure

(1) Referring to section 2-1 “Servomotor,” mount the servomotor to the machine securely. (Mount
securely without play or deflection.)

(2) Adjust the host controller and servo amplifier. (Check parameters #1 through #4. Refer to section
5-3 “Basic settings.”)

(3) According to description in Chapter 6 “Adjustment of servo,” adjust the parameters of the servo
amplifier.

If no fault is found in the second stage, the test operation is complete.

4-5
4 TEST OPERATION

-MEMO-

4-6
PARAMETERS
5-1) Parameter configuration

5-2) List of parameters

5-3) Basic settings

5-4) System settings

5-5) Control system settings

5-6) For adjustment by

manufacturer
5 PARAMETERS
5-1) Parameter configuration

Various parameters are used to set up the mechanical system and adjust the characteristics and accuracy
of servo.
The parameters of FALDIC-β Series are divided into the four major groups (basic setting, system setting,
control system setting and adjustment by manufacturer) shown in the table below.

Parameter configuration
Parameter
Type Outline Page
No.
The pulse string input method and the direction
01 to 04 5- 6
Basic settings of rotation are specified.
05 to 07 The tuning method is selected. 5-11
10 to 16 The sequence input/output signals are specified. 5-16
17 and 18 The output pulse is specified. 5-32
19 to 22 The positioning completion signal is specified. 5-34
The torque limit and undervoltage alarm
23 and 24 5-37
detection method are specified.
System settings
These parameters are used for connection of
25 and 26 5-39
optional items.
The parameter write-protection mode and
27 and 28 5-41
keypad panel display details are specified.
29 and 30 Minutes of test operation are specified. 5-42
The servo gain and time constants of various
40 to 56 5-46
filters are specified.
Control system
The notch filter for suppressing resolution of the
settings 57 to 60 5-52
mechanical system is specified.
61 to 64 These are parameters for dumping control. 5-53
For adjustments
80 to 83 For adjustment by manufacturer. Do not change. 5-54
by manufacturer

The parameters are saved in the electrically erasable programmable read-only memory (EEPROM) and
are not lost even when the power is turned off.

Parameters marked “Power” in the “Change” field in the parameter list become valid after the power
supply is turned off and on again. (Check that the keypad panel (7-segment LED display) is unlit when
the power is turned off.)

5-2
 PARAMETERS 5

n Parameter editing method

There are two parameter editing methods: through keypad panel operation and through PC loader
operation.

(1) Parameter editing through keypad panel operation

MODE
Press the ESC key to select the parameter editing mode and press the or key to
select the desired parameter number.

Power-on

Status display mode

MODE
ESC

Monitor mode

MODE
ESC
SHIFT
ENT
SHIFT
ENT
Data editing
Parameter setting mode (More than 1 sec.) (More than 1 sec.)
SHIFT
While holding down the ENT key, press
the MODE
ESC key to shift the digit to the right.
MODE MODE
ESC ESC
SHIFT MODE
MODE ENT ＋ ESC

ESC

Test operation mode

Using the and keys, edit
data.

MODE
ESC

(2) Parameter editing through PC loader

Use the optional PC loader to edit
parameters.

5-3
5 PARAMETERS
5-2) List of parameters

n List of parameters of FALDIC-β (1)

No. Name Setting range Initial value Change Page
Basic settings
01 Command pulse correction α 1 to 32767 (in 1 increments) 8 Always 5-6
02 Command pulse correction β 1 to 32767 (in 1 increments) 1 Always 5-6
0: Command pulse/command sign,
1: Forward/reverse rotation pulse,
03 Pulse string input form 1 Power 5-8
2: Two signals with 90-degree phase
difference
0: Positive direction: Forward rotation
04 Direction of rotation switch (CCW), 0 Power 5-10
1: Positive direction: Reverse rotation (CW)
0: Auto tuning,
05 Tuning mode 1: Semi-auto tuning, 0 Always 5-11
2: Manual tuning
06 Load inertia ratio 0.0 to 100.0 times (in 0.1 increments) 5. 0 Always 5-12
07 Auto tuning gain 1 to 20 (in 1 increments) 10 Always 5-13
08
and Not used - 0 - 5-14
09
System settings
10 CONT 1 signal allocation 0 to 10 (in 1 increments) 1 [RUN] Power
0: Not specified 1: Operation command [RUN]
11 CONT 2 signal allocation 2: Reset [RST] 3: + overtravel 2 [RST] Power
4: - overtravel 5: Emergency stop [EMG]
12 CONT 3 signal allocation 6: P-action 7: Deviation clearance 0 Power 5-16
8: External regenerative 9: Anti-resonance frequency
13 CONT 4 signal allocation resistor overheat selection 0 0 Power
10: Anti-resonance
14 CONT 5 signal allocation frequency selection 1 0 Power
0 to 5 (in 1 increments) 1
15 OUT 1 signal allocation Alarm detect: Power
0: Not specified
2: Alarm detection: b-contact
1: Alarm detection: a-contact
3: Dynamic brake a-contact 5-16
4: Overtravel detection 5: Forced stop detection
16 OUT 2 signal allocation 0 Power
17 Output pulse count 16 to 16384 [pulse] (in 1 increments) 2048 Power 5-32
18 Phase-Z offset 0 to 65535 [pulse] (in 1 increments) 0 Power 5-33
19 Zero deviation width 1 to 10000 [pulse] (in 1 increments) 200 Always 5-34
20 Deviation limit width 10 to 65535 [x 100 pulse] (in 1 increments) 10000 Always 5-35
21 Zero speed width 10 to 5000 [r/min] (in 1 increments) 50 Always 5-36
22 Positioning end judgment time 0.000 to 1.000. sec. (in 0.001 increments) 0.000 Always 5-37
23 Max. current limit 0 to 300 % (in 1 increments) 300 Always 5-37
24 Undervoltage alarm detection 0: No detection, 1: Detection 1 Power 5-38
0: Invalid,
Regenerative resistor electronic
25 1: Valid (optional regenerative resistor (thin 0 *1 Power 5-39
thermal calculation
type))
Dynamic brake on overtravel 0: Invalid,
26 0 Power 5-40
detection valid/invalid 1: Valid
27 Parameter write-protection 0: Write-enable, 1: Write-protected 0 Always 5-41
28 Keypad panel initial display 0 to 11 (in 1 increments) 0 Power 5-41
29 Speed setting (for test operation) 1 to 5000 [r/min] (in 1 increments) 100 Always 5-42
Acceleration / deceleration time
30 0.000 to 9.999 sec. (in 0.001 increments) 0.100 Always 5-42
(for test operation)
31
to Not used - 0 - 5-43
39

*1. Set to “1” when thin external regenerative resistor is connected.

5-4
 PARAMETERS 5

n List of parameters of FALDIC-β (2)

No. Name Setting range Initial value Change Page
Control system settings
40 Position controller gain 1 1 to 1000 [rad/sec] (in 1 increments) 77*2 Always
41 Speed response 1 1 to 1000 [Hz] (in 1 increments) 57*2 Always
5-46
Speed controller integration
42 1.0 to 1000.0 [msec] (in 0.1 increments) 25.9*2 Always
time 1
43 S-curve time constant 0.0 to 100.0 [msec] (in 0.1 increments) 2.0 Always
5-48
44 Feed forward gain 0.000 to 1.500 (in 0.001 increments) 0.000 Always
Feed forward filter time
45 0.0 to 250.0 [msec] (in 0.1 increments) 12.9*2 Always
constant 5-46
46 Torque filter time constant 0.00 to 20.00 [msec] (in 0.01 increments) 0.31*2 Always
47 Speed setting filter 0.00 to 20.00 [msec] (in 0.01 increments) 0.00 Always 5-49
0: Position deviation (x 10), 1: Feedback
48 Gain switching factor speed, 1 Always
2: Command speed
49 Gain switching level 1 to 1000 (in 1 increments) 50 Always
50 Gain switching time constant 0 to 100 [msec] (in 1 increments) 10 Always 5-50
51 Position controller gain 2 30 to 200 % (in 1 increments) 100 Always
52 Speed response 2 30 to 200 % (in 1 increments) 100 Always
Speed controller integration
53 30 to 200 % (in 1 increments) 100 Always
time 2
Position gain added when
54 0 to 1000 [rad/sec] (in 1 increments) 0 Always
setting
55 Addition limit when setting 0 to 200 [r/min] (in 1 increments) 0 Always
5-51
0: None, 1: Command follow-up control,
Command follow-up control
56 2: Command follow-up control 0 Power
selection
(with correction on stop)
57 Notch filter 1 frequency 10 to 200 [x 10Hz] (in 1 increments) 200 Always
58 Notch filter 1 damping amount 0 to 40 [dB] (in 1 increments) 0 Always
5-52
59 Notch filter 2 frequency 10 to 200 [x 10Hz] (in 1 increments) 200 Always
60 Notch filter 2 damping amount 0 to 40 [dB] (in 1 increments) 0 Always
61 Anti-resonance frequency 0 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
62 Anti-resonance frequency 1 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
5-53
63 Anti-resonance frequency 2 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
64 Anti-resonance frequency 3 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
65
to Not used - 0 - 5-53
79
For adjustments by manufacturer
For adjustment by Adjusted
80 - -
manufacturer 1 value
For adjustment by Adjusted
81 - -
manufacturer 2 value
5-54
For adjustment by Adjusted
82 - -
manufacturer 3 value
For adjustment by Adjusted
83 - -
manufacturer 4 value
84
to Not used - 0 - 5-54
99

*2. Indicates the value immediately after parameter initialization is executed. The value is
automatically updated if “auto tuning” or “semi-auto tuning” is selected with basic setting
parameter #5.

5-5
5 PARAMETERS
5-3) Basic settings
The basic setting parameters are described in the order of the parameter number.

Basic setting parameter #01 and #02

No. Name Setting range Initial value Change
01 Command pulse correction α 1 to 32767 (in 1 increments) 8 Always
02 Command pulse correction β 1 to 32767 (in 1 increments) 1 Always

These parameters are used to convert the travel distance per each command pulse into a unit quantity that
is used by the electronic gear.
Calculate in the following equation.

n Calculation formula for command pulse correction α and β

(Mechanical system travel distance per revolution of servomotor) (Command pulse correction α)
× ＝　(Unit quantity)*
(65536 pulses/rotation) (Command pulse correction β)

* "Unit quantity" is a value such as "1," "0.1," "0.01," and "0.001."

(Command pulse correction α) (65536 pulses/rotation)

＝ x (Unit quantity)
(Command pulse correction β) (Mechanical system travel distance per revolution of servomotor)

Reduce the fraction so that command pulse correction α and β become integers within 32767.

n Setting from PC loader (option)

Use the “α and β setting from mechanical configuration” button in the parameter editing screen of the
PC loader to automatically specify command pulse correction values α and β.
<α / β setting screen>

Data are automatically set by

simply entering the machine
specifications.
Because settings are given
for each component of the
machine, entry is simply.

5-6
 PARAMETERS 5

To couple 10-mm-lead screw to the output shaft of the servomotor with a setting unit of 1/100

(Mechanical system travel distance per revolution

(Command pulse correction α )
of servomotor)
× ＝　(Unit quantity)
(65536 pulses/rotation) (Command pulse correction β )

10 mm (Command pulse correction α )

× ＝　1/100
(65536 pulses/rotation) (Command pulse correction β )

Hence command pulse correction α becomes “8192” and command pulse correction β becomes “125.”
With the above settings, the mechanical system travel distance per each pulse in the pulse string
becomes 0.01 mm.
0.01 mm with each pulse

10 mm with 1000 pulses

(one full revolution of motor)

NOTE

The pi (π) included in the mechanical system travel distance per each revolution of the servomotor can
be approximated with “355 / 113.”

The number of output pulses has nothing to do with command pulse correction. According to the
setting of system setting parameter #17, two signals with phase-B-advanced 90-degree phase difference
are output when the motor shaft rotates in the forward direction.

5-7
5 PARAMETERS

Basic setting parameter #03

No. Name Setting range Initial value Change
0: Command pulse / command sign,
Pulse string input 1: Forward / reverse rotation pulse,
03 1 Power
form 2: Two signals with 90-degree phase
difference
The form of the signal added to the pulse string input terminal can be selected.

The form of pulse strings added to the [CA], [*CA], [CB] and [*CB] pulse string input terminals of the
servo amplifier can be specified. The maximum input frequency is 1.0MHz.

n Command pulse/command sign (Setting of basic setting parameter 03: 0)

The rotation amount is indicated with the command pulse while the direction of rotation is indicated
with the command sign.
- Differential input
Forward rotation command Reverse rotation command
t1 t3 t2

90%

CA 10% t1≦100[nsec]
t4
t2≦100[nsec]
*CA t6 t7
t3≧480[nsec］
t4≧480[nsec］
90%
10%
t6≧500[nsec]
CB t8 t7≧500[nsec]
t8≦100[nsec]
*CB
The arrow " ↑↓
　　 " shown in the figure above is triggered at each pulse count timing.

- Open collector input

Forward rotation command Reverse rotation command
t4
*CA t1≦0.2[μsec]
90%
10% ON ON ON ON ON ON t2≦0.2[μsec]
t6 t7
t1 t3 t2 t3≧2[μsec］
t8
*CB 90% t4≧2[μsec］
10% ON t6≧2.5[μsec]
t7≧2.5[μsec]
"ON" shown in the figure above indicates the active transistor and low signal level. t8≦0.2[μsec]
The arrow "↓" shown in the figure above is triggered at each pulse count timing.

5-8
 PARAMETERS 5
n Forward / reverse rotation pulse (Setting of basic setting parameter 03: 1)
The forward rotation pulse indicates the rotation amount in the positive direction, while the reverse
pulse indicates that in the reverse direction.
- Differential input
Forward rotation command Reverse rotation command
t1 t3 t2 t5

90%
10%
CA t4
t1≦100[nsec]
*CA t2≦100[nsec]
t3≧480[nsec］
t4≧480[nsec］
CB t5≧500[nsec]

*CB
The arrows " ↑↓ 　 " shown in the figure above are triggered at each pulse count timing.
- Open collector input

- Open collector input

Forward rotation command Reverse rotation command
t4 t5
*CA 90%
10% ON ON ON t1≦0.2[μsec]
t1 t3 t2 t2≦0.2[μsec]
*CB t3≧2[μsec］
ON ON ON t4≧2[μsec］
t5≧2.5[μsec]
"ON" shown in the figure above indicates the active transistor and low signal level.
The arrow "↓" shown in the figure above is triggered at each pulse count timing.

n Two signals with 90-degree phase difference (Setting of basic setting parameter 03: 2)
The phase-A and phase-B signals indicate the direction of rotation and rotation amount, respectively.
Each edge in the phase-A or phase-B signal corresponds to one pulse.
- Differential input
Forward rotation command Reverse rotation command
t1 t3 t2

90%
10%
CA t4 t1≦100[nsec]
t2≦100[nsec]
*CA t3≧480[nsec]
t9 t10
90%
t4≧480[nsec]
CB 10% t9≧500[nsec］
t10≧500[nsec］
*CB
The arrows "↑↓ " shown in the figure above are triggered at each pulse count timing.

- Open collector input

Forward rotation command Reverse rotation command
t4
*CA 90% t1≦0.2[μsec]
10% ON ON ON ON
t1 t3 t2
t2≦0.2[μsec]
t9 t10 t3≧2[μsec］
*CB 90% t4≧2[μsec］
10% ON ON ON ON
t9≧2.5[μsec]
"ON" shown in the figure above indicates the active transistor and low signal level. t10≧2.5[μsec]
The arrow "↓" shown in the figure above is triggered at each pulse count timing.

5-9
5 PARAMETERS

Basic setting parameter #04

No. Name Setting range Initial value Change
Direction of rotation 0: Positive direction: Forward rotation (CCW),
04 0 Power
switch 1: Positive direction: Reverse rotation (CW)

Use this parameter to keep consistency between the direction of rotation of the servomotor and
mechanical travel direction.

The direction of rotation is positive when a forward rotation pulse or a pulse string of two signals with
level H or phase-B-advanced 90-degree phase difference signals is input.

n Forward/reverse rotation
The counterclockwise rotation when viewed from the output shaft of the servomotor is forward
rotation. The clockwise rotation is reverse.

Forward rotation

5-10
 PARAMETERS 5

Basic setting parameter #05

No. Name Setting range Initial value Change
0: Auto tuning,
05 Tuning mode 1: Semi-auto tuning, 0 Always
2: Manual tuning
Select the tuning method of the servo amplifier.

n Auto tuning (Setting of basic setting parameter 05: 0)

This is the factory setting of the servo amplifier.
The inertia ratio of the machine is always assumed inside the amplifier in this mode to automatically
set the optimum gain.

n Semi-auto tuning (Setting of basic setting parameter 05: 1)

Use this mode when the inertia ratio of the machine cannot be assumed correctly inside the amplifier.

n Manual tuning (Setting of basic setting parameter 05: 2)

Use this option when adjustment fails in the auto tuning and semi-auto tuning modes.

Parameters that must be set or those automatically adjusted in each tuning mode are as follows.
Tuning mode
No. Name
0: Auto 1: Semi-auto 2: Manual
06 Load inertia ratio - ¡ ¡
07 Auto tuning gain ¡ ¡ H
Position controller gain
40 - - ¡
1
41 Speed response 1 - - ¡
Speed controller
42 - - ¡
integration time 1
Feed forward filter time
45 - - ¡
constant
Torque filter time
46 - - ¡
constant
*¡: Parameter that must be set

- : Parameter that may not be set (The value is automatically calculated inside the amplifier and the

result is reflected on the parameter.)

x : The parameter has no effect even if it is set.

Refer to Chapter 6 for detailed description of tuning.

5-11
5 PARAMETERS

Basic setting parameter #06

No. Name Setting range Initial value Change
06 Load inertia ratio 0.0 to 100.0 times (in 0.1 increments) 5.0 Always

Specify the moment of inertia of the load (moment of inertia of load converted to motor shaft) exerted on
the motor shaft in the mechanical system, in the ratio to the moment of inertia of the motor.

(Moment of inertia of load converted to motor shaft)

Load inertial ratio =
(Moment of inertia of motor)

This parameter must be specified in some tuning modes (basic parameter 05).

Tuning mode
No. Name
0: Auto 1: Semi-auto 2: Manual
Automatically
06 Load inertia ratio refreshed at every 10 ¡ ¡
minutes
¡: Parameter that must be set

n How to specify the load inertia ratio

There are the following two setting methods.

1) Setting the value monitored at the keypad panel

Use monitor mode 09 at the keypad panel to monitor.
Use the monitored value as a setting.
* If the value fluctuates, set the average value.
If fluctuation is considerable and the maximum-to-minimum ratio exceeds two, use the setting
method described below.

2) Setting the calculated value

Calculate the load inertial moment and specify the result.
The calculation formula for obtaining the moment of inertia is described in appendix.
* Capacity selection software can be used for automatic calculation.
The capacity selection software can be downloaded free of charge from Fuji Electric’s home page.
http://web1.fujielectric.co.jp/kiki-info/User/index.html

5-12
 PARAMETERS 5

Basic setting parameter #07

No. Name Setting range Initial value Change
07 Auto tuning gain 1 to 20 (in 1 increments) 10 Always
Specify the response of the servomotor used in the auto tuning or semi-auto tuning mode.
Specify a larger value to reduce the command follow-up time and positioning setting time, but too large a
value cause the motor to vibrate.
* There is no need to set the parameter in the manual tuning mode.

n Setting method
There are two setting methods
1) Setting parameter using PC loader and keypad panel (parameter setting mode)
After the parameter is established, the setting content is updated.

2) Setting through auto tuning gain setting from keypad panel (in test operation mode)
The setting is updated at real time when the value is changed.
MODE SHIFT SHIFT
ESC ×３ ×１ ENT ENT

Press the or key to update the setting at real time.

n Approximate measure for setting
Configuration of machine Auto tuning gain (approximate)
Large transfer machine 1 to 6

Arm robot 5 to 10

Belt drive 7 to 13

Ball screw mechanism 10 to 15

Inserting, mounting or bonding machine 13 to 20

* If the gain cannot be increased up to the value specified as an approximate measure, there may be
mechanical resonance. Use a notch filter to suppress mechanical resonance. à Refer to page 5-52.

5-13
5 PARAMETERS

Basic setting parameter #08 and #09

No. Name Setting range Initial value Change
08
and Not used - 0 -
09

These parameters are not used.

5-14
 PARAMETERS 5

-MEMO-

5-15
5 PARAMETERS
5-4) System settings
System setting parameters are described in the order of the parameter number.

System setting parameters #10 through #14

No. Name Setting range Initial value Change
CONT 1 signal 0 to 10 (in 1 increments)
10 1 [RUN] Power
allocation
CONT 2 signal 0: Not specified 1: Operation command [RUN]
11 2: Reset [RST] 3: + overtravel 2 [RST] Power
allocation
4: - overtravel 5: Emergency stop [EMG]
CONT 3 signal 6: P-action 7: Deviation clearance
12 0 Power
allocation 8: External regenerative 9: Anti-resonance frequency
CONT 4 signal resistor overheat selection 0
13 0 Power
allocation 10: Anti-resonance
CONT 5 signal frequency selection 1
14 0 Power
allocation

System setting parameters #15 and #16

No. Name Setting range Initial value Change
0 to 5 (in 1 increments) 1 Alarm
OUT 1 signal
15 0: Not specified 1: Alarm detection: a-contact detect: Power
allocation 2: Alarm detection: 3: Dynamic brake a-contact
OUT 2 signal b-contact
16 4: Overtravel detection 5: Forced stop detection 0 Power
allocation

The following functions can be assigned to sequence input/output terminals.

n CONT signal allocation number n OUT signal allocation number

Setting Name Page Setting Name Page
0 Not specified - 0 Not specified -
1 Operation command [RUN] 5-18 1 Alarm detection: a-contact
5-28
2 Reset [RST] 5-19 2 Alarm detection: b-contact
3 + overtravel [+OT] 3 Dynamic brake 5-29
5-20
4 - overtravel [-OT] 4 Overtravel detection 5-20
5 Forced stop [EMG] 5-22 5 Forced stop detection 5-22
6 P-action 5-24
7 Deviation clearance 5-25
External regenerative resistor
8 5-26
overheat
Anti-resonance frequency
9
selection 0
5-27
Anti-resonance frequency
10
selection 1

5-16
 PARAMETERS 5

n Each sequence input/output signal can be monitored in the trace screen of the PC loader.
The ready [RDY] and positioning end [PSET] signals among sequence output signals are fixed at the
OUT terminals.
O: Terminal allocation and waveform trace are possible.
CONT OUT
Sequence input signal PC loader Sequence output signal PC loader
allocation allocation
Operation command [RUN] ¡ ¡ Alarm detection: a-contact ¡ ¡
Reset [RST] ¡ ¡ Alarm detection: b-contact ¡ ¡
+ overtravel [+OT] ¡ ¡ Dynamic brake ¡ ¡
- overtravel [-OT] ¡ ¡ Overtravel detection ¡ ¡
Forced stop [EMG] ¡ ¡ Forced stop detection ¡ ¡
P-action ¡ ¡ Ready [RDY] x (Fixed) ¡
Deviation clearance ¡ ¡ Positioning end [PSET] x (Fixed) ¡
External regenerative Zero deviation* H ¡
¡ ¡
resistor overheat Zero speed* H ¡
Anti-resonance frequency Torque limit detection* H ¡
¡ ¡
selection 0 CPU ready* H ¡
Anti-resonance frequency
¡ ¡
selection 1
Manual forward rotation ¡
H
[FWD]* (For test op.)
Manual reverse rotation ¡
H
[REV]* (For test op.)

* Only waveform at the PC loader can be traced.

Terminals cannot be allocated.

Terminal allocation of connector 1 (CN1) of servo amplifier and trace screen of PC loader

CN1

Servo amplifier

19　PPI
7 CA
8　*CA
20　CB
21 *CB FFA 9
*FFA 10
FFB 11
*FFB 12
1　P24 FFZ 23
*FFZ 24
2 CONT1 M5 13
3　CONT2 FZ 25
4　CONT3 M5 26
5 CONT4
6 CONT5
OUT1 15
14　M24 OUT2 16
RDY 17
PSET 18

5-17
5 PARAMETERS
(1) Operation command [RUN]

This signal makes the servomotor ready to rotate.

Sequence input signal Operation command [RUN].. Assigned to CONT 1 with factory setting

n Function
The servomotor is ready to rotate while the operation command [RUN] signal remains active.
The servomotor does not rotate if motor power is supplied but the operation command signal is turned
off.
If the signal is turned off during rotation, the servomotor decelerates at its maximum performance and,
after the stopping point (with rotation speed being within the zero speed width specified at parameter
#21), the servomotor coasts to stop.
There is no retaining torque after the servomotor is stopped.
When the operation command [RUN] remains inactive, all rotation commands are ignored.
The servomotor is ready to rotate when the operation command [RUN] is active without alarm
detection with active + overtravel, - overtravel and forced stop [EMG] signals.

If the operation command [RUN] signal is active and other signals are turned off, the servomotor is
stopped.

n Parameter setting
To assign the operation command [RUN] signal to a sequence input terminal, specify the
corresponding value (“1”) to the system setting parameter.
If the signal is not assigned to sequence input terminals, the signal is assumed to be active at any time.

n Reference
For the forced stop signal, refer to page 5-22.

5-18
 PARAMETERS 5
(2) Reset [RST]

Alarm detection of the servo amplifier is reset.

Sequence input signal Reset [RST] ... Assigned to CONT 2 with factory setting

n Function
The sequence input signal resets the alarm detected at the servo amplifier.
Alarm detection is reset upon the activating edge of the reset [RST] signal.

n Alarms that can be reset n Alarms that cannot be reset

Indication Description Indication Description
01 Overcurrent 1 05 Encoder trouble
02 Overcurrent 2 06 Control power alarm 1
03 Overspeed 07 Control power alarm 2
04 Overvoltage 08 Memory alarm
10 Regenerative transistor overheat 09 Motor combination alarm
11 Encoder communication alarm 12 CONT duplication
13 Overload 19 Initial error
14 Undervoltage
15 Regenerative resistance overheat
16 Deviation limit
17 Amplifier overheat
18 Encoder overheat

n Parameter setting
To assign the reset [RST] signal to a sequence input terminal, specify the corresponding value (“2”) to
the system setting parameter.
If this signal is not assigned to the sequence input terminals, the signal is assumed to be inactive at any
time.

n Reference
Alarm detection can be reset in any of the following methods.
1) Activating edge of reset [RST] sequence input signal
2) ENT key operation upon alarm reset [“F2”] in test operation mode
3) Simultaneous depression of ∧ and ∨ keys upon alarm detection [“52”] (for more than 1 second)
4) Simultaneous depression of ∧ and ∨ keys upon alarm history [“53”] (for more than 1 second)
5) Power off and on
The alarm history can be initialized through ENT key operation at alarm history initialization [“F3”] in
the test operation mode.

5-19
5 PARAMETERS
(3) Overtravel and overtravel detection

Movement of the machine can be forcibly stopped upon a signal from a limit switch or the like.

Sequence input/output signal Overtravel / overtravel detection

n Function
+OT (3)/-OT (4)
These are input signals from limit switches for the prevention of overtravel (OT) at the end of the
moving stroke of the machine.
When the input signal is turned off, the servomotor decelerates to stop at its maximum performance
while ignoring the rotation command in the detected direction. Only pulse string inputs in the direction
opposite to the detecting direction and manual feed (forward/reverse rotation command) in the test
operation mode are executed. (b-contact)
When overtravel is detected, deviation is reset.

n Parameter setting
To assign the +OT signal to a sequence input terminal, specify the corresponding value (“3”) to the
system setting parameter. For -OT signal, specify “4.”
These signals are assumed to be active at any time if they are not assigned to the sequence input
terminals.
To assign OT detection to a sequence output terminal, specify the corresponding value (“4”) to the
system setting parameter.

n Reference
(1) Detecting direction
The +OT signal is detected while the servomotor rotates in the positive direction. The positive
direction is the direction specified in basic setting parameter #4. The servomotor is not stopped
even if the +OT signal is detected during rotation in the negative direction.
(2) OT detection (4)
This sequence output signal is turned on when +OT (3) or -OT (4) sequence input is turned off.

5-20
 PARAMETERS 5

ONL
ONL 00 11 22 33 44 55 66 77 ONL ONL
ONL 00 11 22 33 44 55 66 77 ONL CH1
APS30
APS30 SCPU32
SCPU32 SCPU32
SCPU32 ONL ONL
EMG
CH1
EMG +OT
+OT -OT
-OT
ONL
ONL ONL
ONL

ＳＸ
RUN
RUN RUN
RUN ERR
ERR 88 99 101112131415
101112131415 ERR
ERR ERR
ERR 88 99 101112131415
101112131415 ERR CH2
ERR
ERR ERR
ERR ERR CH2
TERM
TERM TERM
TERM
RUN
RUN RUN
RUN
PWR
PWR SLV
SLV ALM
ALM
SLV
SLV ALM
ALM
STOP
STOP BAT
BAT STOP
STOP BAT
BAT CH
CH
ALM No.
No.
ALM
CPU
CPU CPU
CPU
No.
No. No.
No.
PH
PH
20
PL
PL 20

OT detection (4)
LOADER
LOADER LOADER
LOADER DA
DA

11
B/A
B/A

PE1
PE1 HP2
HP2

+OT (3)

-OT (4)

5-21
5 PARAMETERS
(4) Forced stop and forced stop detection

This signal supplied at the sequence input terminal stops the servomotor forcibly.

Sequence input/output signal Forced stop/forced stop detection

n Function
(1) Forced stop
The servomotor is forcibly stopped (with a b-contact) while the forced stop (5) signal is turned off.
This signal is valid in all control states and it is executed at the highest priority. Because safety and
detection speeds are generally important for forced stop (5), the signal is directly connected to the
servo amplifier.
Usually a self-locking pushbutton switch (command switch) on the operation panel is connected.
When forced stop is detected, deviation is reset.
(2) Forced stop detection
When the forced stop (5) signal is turned off, the forced stop detection (5) signal is turned on to
notify external devices of the event.

n Parameter setting
To assign forced stop to a sequence input terminal, specify the corresponding value (“5”) to the system
setting parameter.
If this signal is not assigned to the sequence input terminals, the signal is assumed to be active at any
time.
Specify “5” for forced stop detection.

n Reference
(1) Ready [RDY]
Assign the forced stop (5) signal to a sequence input terminal to turn on the ready [RDY] signal
upon activation of the operation command [RUN] and forced stop signals, readying the output
shaft of the servomotor to rotate.

5-22
 PARAMETERS 5

(2) State of forced stop

If forced stop (5) is inactive and operation command [RUN] is active, the servomotor is stopped
with the zero speed command state. The zero speed state is valid in all control forms.
Activate forced stop to ready the servomotor for operation.
Deactivate the operation command [RUN] signal to coast to stop.

(3) Rotation command

While the forced stop signal remains inactive, all rotation commands are ignored.

5-23
5 PARAMETERS
(5) P-action

Proportional band control is adopted as a control method of the servo amplifier.

Sequence input signal P-action

n Function
Activate this signal while the operation command [RUN] signal is active with the motor shaft being
mechanically locked.
If P-action is activated during rotation of the servomotor, position control becomes unstable. Do not
activate the signal while the servomotor rotates.

n Parameter setting
To assign P-action to a sequence input terminal, specify the corresponding value (“6”) to the system
setting parameter.
The signal is assumed to be inactive at any time if it is not assigned to the sequence input terminals.

NOTE

If the brake is handled with servo locked, an overload alarm (“13”) is detected.
This is because the servo performs PI control to generate a torque and restore the original position even
upon small deviation. Therefore activate P-action without fail, using an external signal, when the brake
is applied.

5-24
 PARAMETERS 5
(6) Deviation clearance

Difference (deviation) between the command position and feedback position is reduced to zero.

Sequence input signal Deviation clearance

n Function
While this signal remains active, the difference between the command position and feedback position
is reduced to zero. The feedback position is made the command position.

n Parameter setting
To assign deviation clearance to a sequence input terminal, specify the corresponding value (“7”) to
the system setting parameter.

n Reference
While the deviation clearance signal is activated, all rotation commands are ignored.
If the deviation clearance signal is turned on during rotation of the servomotor, pulse command,
manual forward rotation [FWD] of the test operation mode and other commands are ignored, to cause
the servomotor to be stopped.

The feedback position does not change even if deviation clearance is executed.
Deviation accumulated at a stopper can be zeroed to avoid movement caused by the offsetting of
deviation upon a released load.

5-25
5 PARAMETERS
(7) External regenerative resistor overheat

The electronic thermal relay signal of the optional external regenerative resistor is used to forcibly stop
the servomotor.

Sequence input signal External regenerative resistor overheat

n Function
The servomotor is forcibly stopped (with a b-contact) while the external regenerative resistor overheat
signal is inactive.
If this signal is deactivated during rotation, the servomotor decelerates by its maximum performance
to stop (within the zero speed width (parameter #21)), and then it coasts to stop.
No holding torque generates after the servomotor is stopped.

n Parameter setting
To assign external regenerative resistor overheat to a sequence input terminal, specify the
corresponding value (“8”) to the system setting parameter.
The signal is assumed to be active at any time if it is not assigned to the sequence input terminals.

* Because the thin external regenerative resistance is not provided with thermistor output, be sure to
assign “1” (valid) to parameter #25 (regenerative resistor electronic thermal calculation).

CONTn
Thermistor
M24

External regenerative resistor

WSR-
P DB
Commercial power supply,
3-phase 200V
L1
L2 U U
L3 V V
W W
M
E

CN2

P5 1 　1　P5
M5 2 　2　M5 PG
SIG+ 5 　5　SIG+
SIG- 6 　6　SIG-

Servomotor
Servo amplifier Connect the shield to the
RYB□□□S3-VBC shell body and shell cover.

5-26
 PARAMETERS 5
(8) Anti-resonance frequency selection 0/1

Set any of the four anti-resonance frequencies.

Sequence input signal Anti-resonance frequency selection 0/1

n Function
Select any of the four anti-resonance frequencies by setting two ON/OFF bits.
Anti-resonance frequency Anti-resonance frequency
Anti-resonance frequency
selection 1 selection 0
OFF OFF Parameter #61*
OFF ON Parameter #62
ON OFF Parameter #63
ON ON Parameter #64
* The signal is assumed to be inactive at any time if it is not assigned to sequence input
signals.
In this case, parameter #61 (anti-resonance frequency 0) becomes always valid.
To make anti-resonance frequencies invalid, set the anti-resonance frequency at 200.0Hz
(factory shipment value).

n Parameter setting
To assign anti-resonance frequency 0 or 1 to a sequence input terminal, specify the corresponding
value (“9”) or (“10”) to the system setting parameter.

n Reference
For details of the anti-resonance frequency, refer to Chapter 7.

5-27
5 PARAMETERS
(9) Alarm detection: a-contact (b-contact)

The servo amplifier detects the action (alarm) of protection function to activate (desactivate)* the signal.

Alarm detection: a-contact ... Assigned to OUT1 with shipment setting

Sequence output signal
Alarm detection: b-contact

n Function
The signal is activated (deactivated*) and is held at the servo amplifier when the servo amplifier
detects an alarm. After the cause of the alarm is removed, the signal is deactivated (activated*) upon
the activating edge of the reset signal [RST] so that operation is resumed.
The host controller recognizes the alarm detection signal to check for an alarm.
* Description in parentheses ( ) is for b-contact alarm detection.

<Precaution for usage of b-contact alarm detection>

Power supply
OFF ON

Reset [RST]
OFF ON OFF

Alarm detection:
b-contact OFF 1 sec. ON OFF ON

Alarm detection

Make sure that the signal is inactive for about one second after the power is turned on.

n Parameter setting
To assign a- or b-contact alarm detection to the sequence output terminal, specify the corresponding
value (“1” or “2”) to the system setting parameter.

5-28
 PARAMETERS 5
(10) Dynamic brake

The signal is activated when the servo amplifier detects a major fault.

Sequence output signal Dynamic brake

n Function
The signal is activated when the servo amplifier detects a major fault with which the servomotor
cannot be driven, and it is retained until an alarm reset signal is input.
When the dynamic brake is applied, three phases of the synchronous motor are short-circuited to
generate power. After the output shaft of the servomotor is stopped, no braking force generates.

The output terminal of the dynamic brake is +30VDC, 50mA. Because the electromagnetic contact
cannot be driven directly, use a general relay or solid-state contactor (SSC).

n Parameter setting
To assign the dynamic brake to the sequence output terminal, specify the corresponding value (“3”) to
the system setting parameter.

n Reference - Minor fault

- Major fault This type of failure occurs in cases such as for
With this type of failure, the servomotor cannot protection against overheats.
be driven. <Action upon alarm>
<Action upon alarm> The servomotor decelerates at the maximum
Coasting to stop upon detection performance and, after being stopped*, it
coasts to stop.
Detection of minor fault

Detection of major fault

Indication Description Indication Description
01 Overcurrent 1 14 Undervoltage
02 Overcurrent 2 15 Regenerative resistor overheat
03 Overspeed 16 Deviation limit
04 Overvoltage 17 Amplifier overheat
05 Encoder trouble 18 Encoder overheat
06 Control power alarm 1 19 Initial error
07 Control power alarm 2
08 Memory alarm * The rotation speed is reduced to within the zero
09 Motor combination alarm
10 Regenerative transistor overheat speed width (parameter #21).
11 Encoder communication alarm
12 CONT duplication
13 Overload

5-29
5 PARAMETERS
(11) Ready [RDY]

The signal is activated when the motor is ready to rotate.

Sequence output signal Ready [RDY]

n Function
The signal is activated when the following conditions are satisfied:
1) Active operation command [RUN] (1) signal
2) Active forced stop [EMG] (5) signal*
3) Inactive alarm detection: a-contact (1) signal (Or active alarm detection: b-contact (2) signal)
4) Active external regenerative resistor overheat (8) signal*
5) Source voltage above 150V
* Conditions 2) and 4) are ignored if the corresponding signal is not assigned to the CONT terminals.

The host controller recognizes the ready [RDY] signal to check if the servomotor is ready to rotate.

n Parameter setting
The ready [RDY] signal is fixed at the sequence output terminal [RDY].

CN1

Servo amplifier

19 PPI
7 CA
8 *CA
20 CB
21 *CB FFA 9
*FFA 10
FFB 11
*FFB 12
1 P24 FFZ 23
*FFZ 24
2 CONT1 M5 13
3 CONT2 FZ 25
4 CONT3 M5 26
5 CONT4
6 CONT5
OUT1 15
14 M24 OUT2 16
RDY 17
PSET 18

5-30
 PARAMETERS 5
(12) Positioning end [PSET]

Use the signal to check that the positioning action has been completed.

Sequence output signal Positioning end [PSET]

n Function
The signal is active when the following conditions are satisfied.
1) There is no alarm.
2) The rotation speed is within the zero speed width specified at parameter #21.
3) The deviation amount is within zero deviation width specified at parameter #19.
4) The above conditions remain arranged for the positioning end judgment time specified at parameter
#22.

Alarm detection OFF

: a-contact.

Zero speed OFF ON

Zero deviation OFF ON

Positioning end OFF ON

Positioning end judgment time (System setting parameter #22)

n Parameter setting
The positioning end [PSET] signal is fixed at the sequence output terminal [PSET].

5-31
5 PARAMETERS

System setting parameter #17

No. Name Setting range Initial value Change
17 Output pulse count 16 to 16384 [pulse] (in 1 increments) 2048 Power

Specify the number of pulses output per each revolution of the servomotor.

The output form is two signals having 90-degree phase difference.

A phase-B advance signal is output during forward rotation of the output shaft of the servomotor. The
setting does not depend on the direction of rotation setting (system setting parameter #4).
Two 90-degree phase difference signals are issued with reference to the power-on level.

The number of pulses output from the frequency dividing output terminals ([FA], [*FA], [FB], [*FB] and
[*FZ] terminals) of the servo amplifier can be specified.

Phase A [FA]

Phase A [*FA]

Phase B [FB]

Phase B [*FB]

Phase Z [FZ]

Phase Z [*FZ]
Pulse width :t11 > 1µs (Equivalent to 500kHz)
ｔ１１ ｔ１１

The phase-A and phase-B signals are 50% duty.

A single pulse of the phase-Z signal is output in each revolution. The output width depends on the
number of output pulses.
The phase-A and phase-Z signals are synchronized with each other.
Use about 500kHz output frequency. There is no limit in the output frequency of the servo amplifier.
There is no relationship between the position of the output shaft of the servomotor and the phase-Z signal.

Supplement
Number of output pulses during rotation at 5000 [r/min] with an output pulse count setting of 3000

3000 [pulse/rev]
× 5000 [r/min] = 250000 [Hz]
60

The number of output pulses exceeds 1.3 [MHz] with maximum 16384 [pulses/rev] and 5000 [r/min].

5-32
 PARAMETERS 5

System setting parameter #18

No. Name Setting range Initial value Change
18 Phase-Z offset 0 to 65535[pulse] (in 1 increments) 0 Power
Specify the parameter to change the output position of the phase-Z signal.

There is a counterclockwise delay in the output position of the phase-Z signal by the number of pulses
specified in system setting parameter #18.
This parameter has no relations with the direction of rotation switch (parameter #4).

(Phase-Z offset [pulses]) Counterclockwise

＝　 Z [rev]
65536 pulses/rev

There is a counterclockwise delay in the output position of the phase-Z signal by Z revolutions.

n Output position of phase-Z signal

- When the phase-Z offset is “0” - When phase-Z offset is “16384”
16384 pulses 1
＝　 [rev]
65536 pulses/rev 4
Phase-Z position*

Phase-Z position*

Motor Motor
shaft shaft
Phase Z is late
by a quarter
revolution in the
counterclockwise
direction.

*The position of the key is not phase Z. The position of the key is assumed to be phase Z for explanation.

n Reference
Adjustment of the phase-Z position can be made in the test operation mode of the keypad panel so that
the current position becomes the position where the phase-Z signal is issued. à Refer to page 8-17.

Precaution for detection of phase-Z signal for origin returning action

To use this parameter, reserve at least one full revolution of the motor shaft from the origin
return limit switch (origin LS) for origin returning action.
If the origin returning action starts within one revolution, the motor may turn one more
revolution when origin return is completed.

5-33
5 PARAMETERS

System setting parameter #19

No. Name Setting range Initial value Change
19 Zero deviation width 1 to 10000 [pulse] (in 1 increments) 200 Always

Specify the width of the zone where the zero deviation signal is activated* in the number of encoder
pulses.
The unit is equivalent to the number of encoder feedback pulses (not command pulses).

Deviation [pulse]
Zero deviation width (system setting parameter #19)

Time

Zero deviation* ＯＦＦ ＯＮ

* For internal processes of servo amplifier. Cannot be assigned to OUT terminals.

The zero deviation signal can be checked in the

trace screen of the PC loader (option).

If both the zero deviation signal (system setting parameter #19) and zero speed signal (system setting
parameter #21) remain active in the positioning end judgment time specified in system setting parameter
#22, the positioning end signal is activated.

Zero speed OFF ON

Zero deviation OFF ON

Positioning end OFF ON

Positioning end judgment time (system setting parameter #22)

5-34
 PARAMETERS 5

System setting parameter #20

No. Name Setting range Initial value Change
20 Deviation limit width 10 to 65535 [× 100 pulse] (in 1 increments) 10000 Always

Specify the number of pulses for detecting the deviation limit (for alarm detection) in the number of
encoder feedback pulses (not command pulses).
The initial setting is “10000,” so that deviation is detected at 1000000 pulses.
With the initial setting, deviation is detected if the difference between the command position and
feedback position is equivalent to about 15.2 revolutions of the servomotor shaft.
The deviation limit width is provided for alarm detection.

5-35
5 PARAMETERS

System setting parameter #21

No. Name Setting range Initial value Change
21 Zero speed width 10 to 5000 [r/min] (in 1 increments) 50 Always

Use the parameter to judge if the servomotor is stopped. Specify the width where the zero speed signal is
activated*.

Speed

Zero speed width (system setting parameter #21)

Time

Zero speed* OFF ON

* For internal processes of servo amplifier. Cannot be assigned to OUT terminals.

The zero speed signal can be checked in the trace

screen of the PC loader (option).

If the zero deviation signal (system setting parameter #19) and zero speed signal (system setting
parameter #21) remain active in the positioning completion judgment time specified in system setting
parameter #22, the positioning end signal is activated.

Zero speed OFF ＯＮ

Zero deviation OFF ON

Positioning end OFF ON

Positioning end judgment time (system setting parameter #22)

5-36
 PARAMETERS 5

System setting parameter #22

No. Name Setting range Initial value Change
Positioning end
22 0.000 to 1.000 sec. (in 0.001 increments) 0.000 Always
judgment time

Specify the time for judgment of the end of positioning.

If the zero deviation signal (system setting parameter #19) and zero speed signal (system setting
parameter #21) remain active in the positioning end judgment time (system setting parameter #22), the
positioning end signal is activated.

Zero speed OFF ON

Zero deviation OFF ON

Positioning end OFF ON

Positioning end judgment time (system setting parameter #22)

System setting parameter #23

No. Name Setting range Initial value Change
23 Max. current limit 0 to 300 % (in 1 increments) 300 Always

Specify the output torque limit of the servomotor.

This setting is always valid.

5-37
5 PARAMETERS

System setting parameter #24

No. Name Setting range Initial value Change
24 Undervoltage alarm detection 0: No detection, 1: Detection 1 Power

Specify whether or not alarm detection is made upon detection of undervoltage in the power supply
under active operation command [RUN].

System setting parameter #24

Setting range Alarm Deceleration action Stopping action When power is restored
Deceleration at max. Action in the state prior to
0: No detection Not detected Coast to stop
performance detection of undervoltage
Deceleration at max.
1: Detection Detected Coast to stop Alarm stop (coast to stop)
performance

Supplement If a voltage drop (undervoltage) caused by momentary power failure or the like is detected, the
servomotor decelerates at the maximum performance of the servo amplifier. Because the
servomotor functions as a generator during deceleration, the power may be regenerated to
exceed the undervoltage level. If this happens, the servomotor starts to decelerate upon an
undervoltage, the undervoltage alarm is removed, and the servomotor accelerates again.

- Major fault - Minor fault

With this type of failure, the servomotor cannot be driven. This type of failure occurs in cases such as for

protection against overheats.

<Action upon alarm> <Action upon alarm>

Coasting to stop upon detection The servomotor decelerates at the maximum performance

and, after being stopped*, it coasts to stop.

Detection of major fault Detection of minor fault
Indication Description Indication Description
01 Overcurrent 1 14 Undervoltage
02 Overcurrent 2 15 Regenerative resistor overheat
03 Overspeed 16 Deviation limit
04 Overvoltage 17 Amplifier overheat
05 Encoder trouble 18 Encoder overheat
06 Control power alarm 1 19 Initial error
07 Control power alarm 2
08 Memory alarm
09 Motor combination alarm
10 Regenerative transistor overheat * The rotation speed is reduced to within the zero speed
11 Encoder communication alarm
12 CONT duplication width (parameter #21).
13 Overload

5-38
 PARAMETERS 5

System setting parameter #25

No. Name Setting range Initial value Change
Regenerative resistor 0: Invalid,
25 electronic thermal 1: Valid (optional regenerative resistor 0 Power
calculation (thin type))

Specify the parameter when connecting the optional external regenerative resistor (thin type) (WSR-
ooo-T).

System setting parameter #25

Regenerative resistor Setting
None 0: Invalid
External regenerative resistor (thin type) 1: Valid (optional regenerative resistor (thin type))
External regenerative resistor 0: Invalid

n Connection of optional external regenerative resistor (thin type) WSR-ooo-T)

The external regenerative resistor (thin type) must be protected with the electronic thermal relay inside
the servo amplifier because it is provided with no thermistor.

External regenerative resistor (thin type)

WSR-ooo-T
P DB

Servo amplifier
RYBoooS3-VBC

n Connection with optional external regenerative resistor (WSR-ooo)

CONTn * Thermistor
M24

External regenerative resistor

WSR-ooo
P DB

Servo amplifier
RYBoooS3-VBC

* Assign external regenerative resistor overheat (8) to the CONT input terminal.

5-39
5 PARAMETERS

System setting parameter #26

No. Name Setting range Initial value Change
Dynamic brake on overtravel 0: Invalid,
26 0 Power
detection valid/invalid 1: Valid

Specify the parameter for models equipped with the optional dynamic brake unit (will be sold later).

5-40
 PARAMETERS 5

System setting parameter #27

No. Name Setting range Initial value Change
27 Parameter write-protection 0: Write-enable, 1: Write-protected 0 Always

Parameter editing is prohibited.

Even if write-protection is selected with system setting parameter #27, system setting parameter #27 can
be edited.

System setting parameter #28

No. Name Setting range Initial value Change
28 Keypad panel initial display 0 to 11 (in 1 increments) 0 Power

Specify the initial display of the keypad panel immediately after the power is supplied.

System setting parameter #28

Setting Description Display Setting Description Display
0 State display mode 51 3 Feedback speed 01
1 Current alarm 52 4 Effective torque 02
2 Alarm history 53 5 Peak torque 03
6 Pulse string frequency 04
7 Input signals 05
8 Output signals 06
9 OL thermal value 07
Regenerative resistor
10 08
thermal value
11 Load inertia ratio 09

For details of each item, refer to Chapter 8.

5-41
5 PARAMETERS

System setting parameters #29 and #30

No. Name Setting range Initial value Change
Speed setting
29 1 to 5000 [r/min] (in 1 increments) 100 Always
(for test operation)
Acceleration /
30 deceleration time 0.000 to 9.999 sec. (in 0.001 increments) 0.100 Always
(for test operation)

Specify the test operation speed and acceleration and deceleration time.
Specify the acceleration/deceleration in the time for reaching 2000 [r/min].

Speed

3000 [r/min] System setting parameter #29

2000 [r/min]

Time
Acceleration time
(System setting parameter #30)

* Use the test operation mode of the keypad panel or PC loader to start test operation.
Refer to page 8-15.
n Acceleration/deceleration time setting examples
1) To accelerate to 5000 [r/min] in 0.1 second

(2000 [r/min] x (Target acceleration time))

Acceleration time =
(System setting parameter #29)

(2000 [r/min] x 0.1 sec.)

Acceleration time = = 0.04 sec.
5000 [r/min]

2) To accelerate to 100 [r/min] in 0.05 sec.

(2000 [r/min] x (Target acceleration time))
Acceleration time =
(System setting parameter #29)

(2000 [r/min] x 0.05 sec.)

Acceleration time = = 1 sec.
100 [r/min]

5-42
 PARAMETERS 5

System setting parameters #31 through #39

No. Name Setting range Initial value Change
31
to Not used - 0 -
39

These parameters are not used.

5-43
5 PARAMETERS
5-5) Control system settings
Control system setting parameters are described in the order of the parameter number.
n Control block diagram
The control block diagram of FALDIC-β Series is shown.

Command follow-up
control selection
Parameter #56
Command
follow-up
control

d
Feed forward
dt
Parameter #44 Parameter #45*
Pulse string
input Pulse string Command pulse S-curve time Position
CA, *CA input form correction α / β constant controller gain
CB, *CB
Parameters Parameter Parameter #40*
Parameter #3
#1, #2 #43
Control
added when
setting
Parameters #54, #55
Frequency
dividing output
Frequency
terminal
dividing
FA, *FA circuit
FB, *FB
Parameter #17
FZ, *FZ

Turned on upon "0" in parameter #5

Inertia Load inertia
assumption ratio
Auto tuning * Parameters shown in the shaded box
Parameter #6
are automatically adjusted.
Tuning mode

Parameter #5
Auto tuning gain

Parameter #7

5-44
 PARAMETERS 5

Current
PI control Notch filter M
control
Parameters Parameter Parameters #57
Parameter #47
#41, #42* #46* through #60

Position
detection
Speed
PG
detection

* Parameters shown in the shaded box

are automatically adjusted.

5-45
5 PARAMETERS

Control system setting parameters #40 through #42

No. Name Setting range Initial value Change
40 Position controller gain 1 1 to 1000 [rad/sec] (in 1 increments) 77 Always
41 Speed response 1 1 to 1000 [Hz] (in 1 increments) 57 Always
Speed controller
42 1.0 to 1000.0 [msec] (in 0.1 increments) 25.9 Always
integration time 1

Control system setting parameters #45 and #46

No. Name Setting range Initial value Change
Feed forward filter time
45 0.0 to 250.0 [msec] (in 0.1 increments) 12.9 Always
constant
46 Torque filter time constant 0.00 to 20.00 [msec] (in 0.01 increments) 0.31 Always

These parameters are automatically updated when “auto tuning” or “semi-auto tuning” is selected at
basic setting parameter #5.
Specify them when “manual tuning” is selected.

Tuning mode
No. Name
0: Auto 1: Semi-auto 2: Manual
06 Load inertia ratio - ¡ ¡
07 Auto tuning gain ¡ ¡ ×
40 Position controller gain - - ¡
41 Speed response - - ¡
42 Speed controller integration time 1 - - ¡
45 Feed forward filter time constant - - ¡
46 Torque filter time constant - - ¡

*¡ : Parameter which must be set

- : Parameter which may not be set (The value is automatically calculated inside the
amplifier and the result is reflected on the parameter.)
× : The parameter has no effect even if it is set.

5-46
 PARAMETERS 5

n Position controller gain 1 (Control system setting parameter 40)

This parameter determines the response of the position control loop. A larger setting improves the
response to the position command, while too large a setting is likely to generate overshoot.

n Speed response 1 (Control system setting parameter 41)

This parameter determines the response of the speed control loop. A larger setting improves the
response of the servomotor, while too large a setting may cause the mechanical system to vibrate.

n Speed controller integration time 1 (Control system setting parameter 42)

This parameter determines the response of the speed control loop. A smaller setting improves the
response of the servomotor, while too small a setting may cause the mechanical system to vibrate.

n Feed forward filter time constant (Control system setting parameter 45)
This parameter filters feed forward action of the position control loop.
A smaller setting improves the response while it may cause torque shock.

n Torque filter time constant (Control system setting parameter 46)

This parameter filters the torque command.
A larger setting suppresses resonance of the machine while stability in the control may be undermined.

5-47
5 PARAMETERS

Control system setting parameter #43

No. Name Setting range Initial value Change
43 S-curve time constant 0.0 to 100.0 [msec] (in 0.1 increments) 0.0 Always

The servomotor can be accelerated or decelerated moderately in the S-curve pattern.

If the pulse string input is given at a constant frequency, the servomotor accelerates or decelerates at the
time constant of the set time.
The servomotor rotates by the number of input pulse strings.
Smooth acceleration and deceleration are obtained even if the host controller does not allow linear
acceleration.
Pulse string

Speed

Time

* Specify the parameter without fail if the dumping control function (parameters #61 through #64) are
used.
→ Refer to section 7-1 “Vibration control.”

Control system setting parameter #44

No. Name Setting range Initial value Change
44 Feed forward gain 0.000 to 1.500 (in 0.001 increments) 0.000 Always

This parameter functions if parameter #60 (command follow-up control selection) is set at “0 (none).”
Specify the parameter in a poorly rigid machine or a mechanical system having a large load inertia ratio,
to increase the response.
Specify a value between 0.100 and 0.500 to obtain a preferable result. A larger setting reduces deviation
(difference between position command and feedback position), resulting in a better response.

To perform synchronous operation between two axes, set “1.000.”

5-48
 PARAMETERS 5

Control system setting parameter #47

No. Name Setting range Initial value Change
47 Speed setting filter 0.00 to 20.00 [msec] (in 0.01 increments) 0.00 Always

Specify the parameter to filter the speed command.

* No change is necessary in principle.

5-49
5 PARAMETERS

Control system setting parameters #48 through #53

No. Name Setting range Initial value Change
0: Position deviation (x 10),
48 Gain switching factor 1: Feedback speed, 1 Always
2: Command speed
49 Gain switching level 1 to 1000 (in 1 increments) 50 Always
50 Gain switching time constant 0 to 100 [msec] (in 1 increments) 10 Always
51 Position controller gain 2 30 to 200 % (in 1 increments) 100 Always
52 Speed response 2 30 to 200 % (in 1 increments) 100 Always
Speed controller integration
53 30 to 200 % (in 1 increments) 100 Always
time 2

The gain at the time of stopping is switched from the first gain (parameters #40 to #42) to the second
gain (parameters #51 to #53).
Gain switching reduces the noise and vibration at the time of stopping.

Feedback speed

Gain switching level (Parameter #49)

Time

Position controller gain Position controller gain 1 (Parameter #40) Position controller gain 2 (Parameter #51)

Speed response Speed response 1 (Parameter #41) Speed response 2 (Parameter #52)

Speed controller Speed controller integration time 1 (Parameter #42) Speed controller integration time 2 (Parameter #53)
integration time

Gain switching time constant (Parameter #50)

The settings of the second gain (parameters #51 to #53) are given in the ratio (%) to the first gain.

Example: When speed response 1 (parameter #41) is 100Hz

“100%” of speed response 2 (parameter #52) means 100Hz.
“80%” of speed response 2 (parameter #52) means 80Hz.
* The same rule applies to position controller gain 2 (parameter #51) and speed controller gain 2
(parameter #53).

5-50
 PARAMETERS 5

Control system setting parameters #54 and #55

No. Name Setting range Initial value Change
Position gain added when
54 0 to 1000 [rad/sec] (in 1 increments) 0 Always
setting
55 Addition limit when setting 0 to 200 [r/min] (in 1 increments) 0 Always

Increase the position gain at the time of stopping to reduce the setting time or to enhance the rigidity.
Do not use in regular cases.
→ Refer to section 7-3 “Position gain and limit added when setting.”

Control system setting parameter #56

No. Name Setting range Initial value Change
0: None,
Command follow-up control 1: Command follow-up control,
56 0 Power
selection 2: Command follow-up control (with
correction on stop)

Use the parameter to select the command follow-up control mode where the mechanical system follows
the command without delay to the pulse command.
→ Refer to section 7-2 “Command follow-up control.”

5-51
5 PARAMETERS

Control system setting parameters #57 through #60

No. Name Setting range Initial value Change
57 Notch filter 1 frequency 10 to 200 [x 100 Hz] (in 1 increments) 200 Always
58 Notch filter 1 damping amount 0 to 40 [dB] (in 1 increments) 0 Always
59 Notch filter 2 frequency 10 to 200 [x 10Hz] (in 1 increments) 200 Always
60 Notch filter 2 damping amount 0 to 40 [dB] (in 1 increments) 0 Always

Specify to suppress resonance of the mechanical system.

Resonance can be suppressed at up to two points.

n Notch filter setting method

i) Use the servo analysis function of the PC loader (option) to determine the resonance point
of the machine. Resonance point

Gain
[dB] 2 Depth

Frequency [Hz] 1 Resonance frequency

ii) Specify the resonance frequency and damping amount of the resonance point of the
machine in parameters.
1 Resonance frequency → Parameter #57 (Notch filter 1 frequency)
2 Depth → Parameter #58 (Notch filter 1 damping amount)*
* Too deep a damping amount may undermine stability of the control. Avoid setting too large a value.

Use the servo analysis

function again.

Notch filter 1,
damping amount

Notch filter 1,
frequency
The resonance point is eliminated
The notch filter functions at the resonance
due to the notch filter.
point as shown in the figure above.

5-52
 PARAMETERS 5

Control system setting parameters #61 through #64

No. Name Setting range Initial value Change
61 Anti-resonance frequency 0 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
62 Anti-resonance frequency 1 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
63 Anti-resonance frequency 2 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
64 Anti-resonance frequency 3 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always

Use these parameters to specify anti-resonance frequencies and suppress vibration of the workpiece
(dumping control).
The dumping control function becomes invalid with 200.0Hz (factory setting).
→ Refer to section 7-1 “Vibration control.”

Control system setting parameters #65 through #79

No. Name Setting range Initial value Change
65
to Not used - 0 -
79

These parameters are not used.

5-53
5 PARAMETERS
5-6) For adjustments by manufacturer
These parameters are for adjustments by the manufacturer. Do not change them.

Parameters #80 through #83 for adjustment by manufacturer

No. Name Setting range Initial value Change
For adjustment by Adjusted
80 - -
manufacturer 1 value
For adjustment by Adjusted
81 - -
manufacturer 2 value
For adjustment by Adjusted
82 - -
manufacturer 3 value
For adjustment by Adjusted
83 - -
manufacturer 4 value

These are parameters for adjustment by the manufacturer. Do not change them.

Parameters #84 through #99 for adjustment by manufacturer

No. Name Setting range Initial value Change
84
to Not used - 0 -
99

These parameters are not used.

5-54
ADJUSTMENT
OF SERVO
6-1) Basic adjustment

6-2) Application adjustment

6-3) Adjustment requiring

high speed response
6 ADJUSTMENT OF SERVO
6-1) Basic adjustment
The servomotor must be tuned so that it reliably obeys commands sent from the host controller.
The tuning method of FALDIC-β Series includes three types: auto tuning, semi-auto tuning and manual
tuning (parameter #5).
Be sure to operate the servomotor in the auto tuning mode (factory setting) for the first time when
operating it.
The factory setting of FALDIC-β Series is auto tuning.

START
*1. Assume the inertia ratio in monitor mode 09 (load
inertia ratio) at the keypad panel.
If the inertia ratio is not assumed correctly
1. Fluctuation becomes large and the maximum
Auto tuning action value exceeds two times the minimum value.
2. The assumed value does not change from “5.0”
(initial value).

The inertia ratio may not be assumed correctly in the

Yes
OK ? following cases.
1. Load fluctuation is large.
No 2. Friction force is large.
3. Application with thrust force
4. Slow acceleration and deceleration
Gain adjustment of parameter #7

*2. Check monitor mode 03 (peak torque) at the keypad

panel.
If the monitored value is the same as the maximum
Yes current limit (parameter #23), the torque limit is
OK ?
functioning (initial value: 300%).
No

Is the inertia ratio Yes

assumed*1 correctly?
(Is the inertia ratio stable?)

No
Yes
The torque limit functions. *2
Select semi-auto tuning and adjust
parameter #6 (inertia ratio) and
parameter #7 (gain adjustment). No Decrease the acceleration/
deceleration rate of command
pulse (or, extend the acceleration/
deceleration time).
No
OK ?

Yes

To application adjustment
END

6-2
 ADJUSTMENT OF SERVO 6

n Parameters automatically adjusted in the auto or semi-auto tuning mode

Tuning mode
No. Name
0: Auto 1: Semi-auto
06 Load inertia ratio - (Updated every 10 minutes) ¡
07 Auto tuning gain ¡ ¡
Position controller
40 - (Always updated) - (Fixed)
gain
41 Speed response - (Always updated) - (Fixed)
Speed controller
42 - (Always updated) - (Fixed)
integration time 1
Feed forward filter
45 - (Always updated) - (Fixed)
time constant
Torque filter time
46 - (Always updated) - (Fixed)
constant
O : Item specified manually.
- : Item specified automatically.

- Parameters automatically updated in the auto tuning mode are updated at real time.
- In the semi-auto tuning mode, automatically updated parameters are fixed once they are set*.
* Parameters are automatically set when parameter #6 (load inertia ratio) or parameter #7 (auto tuning
gain) is changed.

n Approximate measure for auto tuning gain (parameter #7) setting

Auto tuning gain
Mechanical configuration
(Approximate measure)

Large transportation A larger auto tuning gain

1 to 6
machine reduces the response time
while vibration is likely to be
generated.
Arm robot 5 to 10

Belt drive 7 to 13

Ball screw
10 to 15
mechanism

Inserting, mounting or
13 to 20
bonding machine

6-3
6 ADJUSTMENT OF SERVO
6-2) Application adjustment
Use this adjustment method when adjustment is not satisfactory after the procedure described in section
6-1 “Basic adjustment” or if the servomotor vibrates and the auto tuning gain (parameter #7) cannot be
increased sufficiently.

START
* Decrease the speed response (parameter #52).
The minimum allowable value is 50%.

Parameter #7 cannot No
be increased due
to vibration.

Yes Adjust the second gain*.

Use the servo analysis function to

apply the notch filter.
Yes
Inertia ratio > 100 times?

No

Adjust parameter #7 again.

No
OK ?

Yes
1. Check the 2. Adjust the large
END mechanical system. inertia.

1. Check the mechanical

system.

Check the mechanical system for the following problems.

i) Large backlash
ii) Deflection of belt

6-4
 ADJUSTMENT OF SERVO 6

2. Adjust the large inertia.

Note: The inertia ratio must be no larger than 100 times in principle.

n How to check if the load inertia ratio exceeds 100 times

i) Use capacity selection software to automatically calculate the load inertia.
ii) Use monitor mode 09 (load inertia ratio) at the keypad panel to assume.
(The displayed value is up to 99 times. If “80” or a larger value is displayed, the ratio may
be larger than 100 times.)

2. Adjustment of large inertia

Select the semi-auto tuning

Specify "1" for parameter #5.
mode.

Specify the inertia ratio at 100 Specify "100.0" for parameter

times. #6.

Specify "1" to "3" for the auto Specify "1" to "3" for
tuning gain. parameter #7.

Change to the manual tuning

Specify "2" for parameter #5.
mode.

Increase the speed response 1 Increase the setting of

gradually by one at a time. parameter #41 gradually.

Adjust position controller gain 1 *1

Adjust parameter #40
and speed controller integration
and #42 *2.
time 1. *1 Approximate measure for parameter #40
Make adjustment so that the following equation stands.

100
No (Parameter #40) < (Parameter #41) x
OK ? (Actual inertia ratio)

Yes Increase the reduction

gear ratio or select the *2 Approximate measure for parameter #42
servomotor having Make adjustment so that the following equation stands.
END a larger capacity.
2000
(Parameter #42) =
(Parameter #40)

6-5
6 ADJUSTMENT OF SERVO

n How to set the notch filter (parameters #57 through #60)

i) Use the servo analysis function of the optional PC loader to locate the resonance point of
the machine. Resonance point

Gain
[dB] 2 Depth

Frequency [Hz] 1 Resonance frequency

ii) Set the resonance frequency and damping amount at the resonance point of the machine
in parameters.
1 Resonance frequency à Parameter #57 (Notch filter 1 frequency)
2 Depth à Parameter #58 (Notch filter 1 damping amount)*
* If the damping amount is too large, stability of the control system may be undermined. Avoid
specifying too large a value.

Activate the servo analysis

function again.

Notch filter 1
damping amount

Notch filter 1
frequency
The notch filter functions to offset
The notch filter is applied at the resonance the resonance point.
point as shown in the figure above.

6-6
 ADJUSTMENT OF SERVO 6
6-3) Adjustment requiring high speed response
Use this method to obtain quicker response than that obtained after adjustment specified in section 6-2
“Application adjustment.” (However, do not use the method described here if “adjustment of large
inertia” has been made.)

While measuring the operation time and output timing of the positioning end signal by using historical
trace of the PC loader, make adjustment as follows.

6-2 End of application

adjustment

Select manual tuning. Specify "2" for parameter #5.

Increase position controller

Gradually increase parameter #40.
gain 1.

Decrease speed controller

integration time 1. Gradually decrease parameter #42.
(Decrease by about a half of the auto tuning result.)

Decrease the feed forward filter

Gradually decrease parameter #45.
time constant.

END

Note 1: Adjust the gain so as not to generate mechanical vibration or torque fluctuation.
Note 2: If mechanical rigidity is poor, gradually increase the S-curve filter (parameter #43) to
suppress vibration.

6-7
6 ADJUSTMENT OF SERVO

-MEMO-

6-8
SPECIAL
ADJUSTMENT
7-1) Vibration control

7-2) Command follow-up

control

7-3) Position gain and limit

added when setting
7 SPECIAL ADJUSTMENT
7-1) Vibration control

7-1-1) What is dumping control?

(1) Purpose of dumping control

In a structure such as the robot arm and transfer machine where the structure has a spring
characteristic, vibration occurs at the end of the workpiece during abrupt acceleration or deceleration
of the motor. Vibration control aims at suppression of vibration of the workpiece and a quick
positioning action in such a system.

a) Without dumping control function b) With dumping control function

Rattling Standstill
Laser Laser
displacement displacement
gauge gauge

2mm/div 2mm/div
Target arm Target arm
position position

Actual speed Actual speed

500r/min/div 500r/min/div

With dumping control, vibration is suppressed not only at the end of the machine
but in the entire machine.
- Without dumping control ... The maximum torque generates during acceleration and deceleration of
the motor, so that the entire machine vibrates due to the shocks during
acceleration and deceleration.
- With dumping control ... Because the torque is controlled during acceleration or deceleration of
the motor, shocks during acceleration and deceleration become
moderate and vibration of the entire machine is suppressed even with
those machines having relatively poor rigidity.

7-2
 SPECIAL ADJUSTMENT 7

(2) Principle of dumping control

The amplifier incorporates a machine mode land controls dumping so that the vibration at the
assumed workpiece position of the model is eliminated. The controlled variable thus obtained is
added to the position and speed of the motor as an offset to suppress vibration at the actual workpiece
position.
Amplifier

Position
command
Position and speed control of motor M
Position and
speed offset

Vibration control

Assumed
Machine model Workpiece
workpiece position

(3) Mechanical system where dumping control functions effectively

Applicable machine characteristics
- Vibration occurs at the end of the arm due to shocks during travel and stop of robot arm or the
like.
- The machine itself vibrates due to the shock caused by movement or stopping of a part of the
machine.
- Vibration frequency is between 5 and 50Hz.

Inapplicable machine characteristics

- Vibration generates continuously without relations to movement or stopping.
- Vibration synchronized to the rotation of the motor or machine generates.
- The vibration frequency is smaller than 5Hz or larger than 50Hz.
- The moving time is within the vibration period.
- There is backlash in mechanical connections located up to the vibrating mechanism.

7-3
7 SPECIAL ADJUSTMENT
7-1-2) Parameter setting method

(1) Setting at the keypad panel

n Adjustment flow chart

1 Adjust the gain of the servo.

Check the anti-resonance

2
frequency.

Specify parameters #61

3
through #64.

Specify parameter #43

4
(S-curve time constant).

5 Check the effect.

Finely adjust parameters #61

6
through #64.

1 Adjust the gain of the servo.

To assure smooth stopping action of the servomotor through removal of overshoot and undershoot
while ignoring vibration of the end of the machine, adjust the gain of the servo according to the
adjustment procedure described in Chapter 6.

CAUTION

If parameters related to the gain are adjusted after specifying the anti-resonance frequency,
the anti-resonance frequency must be specified again.
Be sure that the gain must be adjusted first.

7-4
 SPECIAL ADJUSTMENT 7

2 Check the anti-resonance frequency.

There are two checking methods.
If vibration frequency can be measured using a laser displacement gauge or the like, follow checking
method i). In other cases, follow checking method ii).

i) Measure vibration of the end of the arm directly using a laser displacement gauge or the
like.
Vibration period
Vibration (Ts)

Time

1
Anti-resonance frequency = [Hz]
Ts

ii) While reducing the settings of parameters #61 through #64 gradually from 200.0Hz
(maximum value), visually check vibration to find the best value.

7-5
7 SPECIAL ADJUSTMENT

3 Setting parameters #61 through #64

Specify the anti-resonance frequency obtained in step 2, to any of parameters #61 through #64*.

Control system setting parameters #61 through #64

No. Name Setting range Initial value Change
5.0 to 200.0 [Hz]
61 Anti-resonance frequency 0 200.0 Always
(in 0.1 increments)
5.0 to 200.0 [Hz]
62 Anti-resonance frequency 1 200.0 Always
(in 0.1 increments)
5.0 to 200.0 [Hz]
63 Anti-resonance frequency 2 200.0 Always
(in 0.1 increments)
5.0 to 200.0 [Hz]
64 Anti-resonance frequency 3 200.0 Always
(in 0.1 increments)

* Up to four points can be specified.

Up to four points can be specified through combination of anti-resonance frequency selection 0 and
anti-resonance frequency selection 1 of the CONT input signal.
The anti-resonance point may vary according to the arm length and the weight of the load.

(a) (b) (c)

The anti-resonance frequency may vary
according to conditions a, b and c.

In this case, assign this function to the CONT input signal among parameters 10 through 14 and switch
the anti-resonance frequency setting.
Anti-resonance frequency Anti-resonance frequency
Anti-resonance frequency
selection 1 selection 0
OFF OFF Parameter #61*
OFF ON Parameter #62
ON OFF Parameter #63
ON ON Parameter #64

* These signals are assumed to be inactive at any time if they are not assigned to the
sequence input signals.
In this case, parameter #61 (anti-resonance frequency 0) is always valid.
To make anti-resonance frequency invalid, set the anti-resonance frequency at
200.0Hz.

Change the setting during stoppage because otherwise shocks may generate.

7-6
 SPECIAL ADJUSTMENT 7

4 Specify parameter #43 (S-curve time constant).

To achieve the effect of dumping control, specify parameter #43 (S-curve time constant).
The approximate measure of the setting is as follows.

Control system setting parameter #43

No. Name Setting range Initial value Change
43 S-curve time constant 0.0 to 100.0 [msec] (in 0.1 increments) 0.0 Always

Parameter #43
Parameters #61 through #64
(S-curve time constant)
(Anti-resonance frequency)
(Approximate measure)
< 10 Hz 10 msec

10 Hz to 20 Hz 5 msec

> 20 Hz 2 or 3 msec

5 Check the effect.

There are three checking methods.
i) Check the vibration of the end of the arm using a laser displacement gauge or a similar
measuring instrument.
ii) Take the high-speed motion picture of the end of the arm to check for vibration.
iii) Visually check.

6 Finely adjust parameters #61 through #64.

While checking the effect of dumping control, finely adjust the setting (approximate measure: in 0.1
or 0.2 increments).

7-7
7 SPECIAL ADJUSTMENT

(2) Setting at the PC loader

n Adjustment flow chart

1 Adjust the gain of the servo.

Check the anti-resonance

2
frequency.

Specify parameters #61

3
through #64.

Specify parameter #43

4
(S-curve time constant).

5 Check the effect.

Finely adjust parameters #61

6
through #64.

1 Adjust the gain of the servo.

To assure smooth stopping action of the servomotor through removal of overshoot and undershoot
while ignoring vibration of the end of the machine, adjust the gain of the servo according to the
adjustment procedure described in Chapter 6.

CAUTION
If parameters related to the gain are adjusted after specifying the anti-resonance frequency,
the anti-resonance frequency must be specified again.
Be sure that the gain must be adjusted first.

7-8
 SPECIAL ADJUSTMENT 7

2 Check the anti-resonance frequency.

Use the servo analysis function to check the anti-resonance point.

Resonance
Gain point
[dB] (Note 2.)

Anti-
resonance
point
(Note 1)

Frequency
[Hz]

Note 1 : The servo analysis function may fail to detect the anti-resonance point in the following
machine configuration.
1 Machines with much friction
2 Reduction gear, ball screw mechanism and other machines having relatively large
mechanical losses

Note 2 : Use the notch filter for the resonance point. Refer to page 5-52.

Resonance point and anti-resonance point

There are resonance point and anti-resonance point for the vibration of the machine.
The “resonance point” and “anti-resonance point” are machine characteristics viewed from the
motor.
“Resonance point” ... The end of the arm does not vibrate but the motor vibrates at the
frequency.
“Anti-resonance point” ... The motor shaft does not vibrate but the end of the arm vibrates at
the frequency.
Generally speaking the anti-resonance frequency is smaller than the resonance frequency.

7-9
7 SPECIAL ADJUSTMENT

3 Setting parameters #61 through #64

Specify the anti-resonance frequency obtained in step 2, to any of parameters #61 through #64*.

Control system setting parameters #61 through #64

No. Name Setting range Initial value Change
61 Anti-resonance frequency 0 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
62 Anti-resonance frequency 1 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
63 Anti-resonance frequency 2 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always
64 Anti-resonance frequency 3 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0 Always

* Up to four points can be specified.

Up to four points can be specified through combination of anti-resonance frequency selection 0 and
anti-resonance frequency selection 1 of the CONT input signal.
The anti-resonance point may vary according to the arm length and the weight of the load.

(a) (b) (c)

The anti-resonance frequency may vary

according to conditions a, b and c.

In this case, assign this function to the CONT input signal among parameters 10 through 14 and switch
the anti-resonance frequency setting.

Anti-resonance frequency Anti-resonance frequency

Anti-resonance frequency
selection 1 selection 0
OFF OFF Parameter #61*
OFF ON Parameter #62
ON OFF Parameter #63
ON ON Parameter #64

* These signals are assumed to be inactive at any time if they are not assigned to the
sequence input signals.
In this case, parameter #61 (anti-resonance frequency 0) is always valid.
To make anti-resonance frequency invalid, set the anti-resonance frequency at
200.0Hz.

Change the setting during stoppage because otherwise shocks may generate.

7-10
 SPECIAL ADJUSTMENT 7

4 Specify parameter #43 (S-curve time constant).

To achieve the effect of dumping control, specify parameter #43 (S-curve time constant).
The approximate measure of the setting is as follows.

Control system setting parameter #43

No. Name Setting range Initial value Change
43 S-curve time constant 0.0 to 100.0 [msec] (in 0.1 increments) 0.0 Always

Parameter #43
Parameters #61 through #64
(S-curve time constant)
(Anti-resonance frequency)
(Approximate measure)
< 10 Hz 10 msec

10 Hz to 20 Hz 5 msec

> 20 Hz 2 or 3 msec

4 Check the effect.

CAUTION
There are three checking methods.
i) Check the vibration of the end of the arm
using a laser displacement gauge or a The anti-
resonance
similar measuring instrument.
point
ii) Take the high-speed motion picture of the remains.

end of the arm to check for vibration.

The anti-resonance frequency is not reflected on
iii) Visually check.
the servo analysis function even if one is set.

5 Finely adjust parameters #61 through #64.

While checking the effect of dumping control, finely adjust the setting (approximate measure: in 0.1 or
0.2 increments).

7-11
7 SPECIAL ADJUSTMENT
7-2) Command follow-up control

7-2-1) What is command follow-up control?

In the command follow-up control mode, movement follows the command pulse string completely
with almost zero position deviation.

Command The feedback speed

speed follows the command
Speed Feedback Speed
speed completely.
speed

Time Time

Command follow-up
control selection
Parameter #56
Command
follow-up
control

d
Feed forward
dt
Parameter #44 Parameter #45

Position
controller gain

Parameter
#40 or #51

n Mechanical system realizing command follow-up control

Use “command follow-up control” for the mechanical system satisfying all the following conditions.

1. Highly rigid machine

2. Pulse commands sent from the host controller are linear or in an S-curve to assure smooth
acceleration and deceleration.
3. The pulse frequency updating period of the host controller is within several milliseconds.

If command follow-up control is used for a system not satisfying all of the above conditions, mechanical
vibration may generate.

7-12
 SPECIAL ADJUSTMENT 7
7-2-2) Parameter setting method

Control system setting parameter #56

No. Name Setting range Initial value Change
0: None, 1: Command follow-up control,
Command follow-up
56 2: Command follow-up control 0 Power
control selection
(with correction on stop)

The command follow-up control includes two variations: with no correction on stop (setting: 1) and with
correction on stop (setting: 2).
Position deviation generates in both methods when the acceleration changes (at (1), (2), (3), and (4)).
Position deviation

Command speed
(2) (3)

(1)
(4)

In case “with correction on stop (setting: 2),” position deviation caused by the acceleration change when
the mechanical system is stopped is smaller. Deviation of the stopping
mechanism becomes almost
Position deviation zero.

Command speed

Select “no correction on stop (setting: 1)” for operation patterns where changes from forward to reverse
rotation continue.
Speed
Forward
rotation

Reverse Time
rotation

* In the command follow-up control mode, specify “10” or a larger value for the auto tuning gain
(parameter #7).

7-13
7 SPECIAL ADJUSTMENT
7-3) Position gain and limit added when setting

An increased position gain of the stopping mechanism is effective for a shorter setting time and improved
rigidity.
Parameters are #54 and #55.

Control system setting parameters #54 and #55

No. Name Setting range Initial value Change
54 Position gain added when setting 0 to 1000 [rad/esc] (in 1 increments) 0 Always
55 Addition limit when setting 0 to 200 [r/min] (in 1 increments) 0 Always

The specified position gain (parameter #54) is added to the position controller gain (parameter #40 or
#51) at speeds lower than the addition limit (parameter #55).

d
Feed forward
dt
Parameter #44 Parameter #45

Position
adjust gain

Parameter
#40 or #51

Addition
when setting

Parameters #54 and #55

n Approximate measure of setting

- Position gain added when setting (Parameter #54)
0.5 times position controller gain 1 (Parameter #40)

- Addition limit when setting (Parameter #55)

50 [r/min]

7-14
KEYPAD PANEL
8-1) Display

8-2) Function list

8-3) State display mode

8-4) Monitor mode

8-5) Parameter setting mode

8-6) Test running mode

8 KEYPAD PANEL
8-1) Display

The servo amplifier is provided with a keypad panel.

It has a display section of two 7-segment LED digits and four operation
keys.
Figures and letters are displayed on the display section.
(See the left figure.)

Supplement The keypad panel cannot be removed.

(1) Mode
The keypad panel operation can be classified into four modes:

State display mode･･･････ Indicates the servo amplifier status.

Monitor mode ･･･････････ Monitors the servomotor speed and the input/output signal status.
Parameter edit mode ･････ Edits the parameter setting.
Test running mode ･･･････ Operates the servomotor with the keypad operation.

List of 7-segment indications

0 1 2 3 4 5 6 7 8 9 -

A b C d E F G H I J L

n O o P r S t U, V u, v y

8-2
 KEYPAD PANEL 8
(2) Operation key

MODE Changes the mode (MODE). SHIFT Shifts to the less significant digit (SHIFT).
ESC Cancels the selected mode (ESC). ENT Stores the mode and figure (ENT).
Press more than 1 sec to store the data.

Selects the sub-mode. Selects the sub-mode.

Decreases the figure (-1). Increases the figure (+1).

SHIFT MODE
Pressing the ENT key while pressing the ESC key shifts to the less significant digit.

(3) Mode select

Each mode can be selected by the [MODE] key.

Mode select Sub-mode select

Power on

Sequence mode
MODE
ESC

Monitor mode
MODE
ESC

Parameter edit mode

MODE
ESC

Test running mode

MODE
ESC

8-3
8 KEYPAD PANEL
8-2) Function list

Sub-mode
Mode Sub-mode
indication
State display mode 1. Action mode

2. Alarm detection

3. Alarm history

Monitor mode 1. Feedback speed

2. Average torque

3. Peak torque

4. Pulse string input frequency

5. Input signal

6. Output signal

7. OL thermal value

8. Regenerative resistor thermal value

9. Load inertia ratio

Parameter setting mode 1. Parameter

Test running mode 1. Manual operation

2. Alarm reset

3. Alarm history initialization

4. Parameter initialization

5. Phase-Z position adjustment

6. Auto tuning gain setting

8-4
 KEYPAD PANEL 8
8-3) State display mode
In the state display mode, the servo amplifier’s current status and the alarm detection history can be
displayed.
Press the “MODE” key to display [ ] and then press the “ENT” key for more than 1 sec.

Mode Sub-mode Sub-mode indication

State display mode
1. Operation mode

2. Alarm detection

3. Alarm history

(1) Operation mode

Indicates the operation status of the servo amplifier.
ENT (1 sec. or more) Indication Sequence
In base-off condition. The servomotor does not
ESC have driving force and is coasting to stop.
The servomotor can rotate and pulse string
inputs are valid.
The servomotor can rotate and is operated in
the manual operation mode (test running).
The amplifier has detected an overtravel signal
in positive direction and stops.
The amplifier has detected an overtravel signal
in negative direction and stops.
The amplifier has received a forced stop signal
and stops with the speed zero.
Reference

When power is supplied to the servo amplifier, the operation mode of the state display mode is
displayed (with factory shipment setting).
The type of indication at power on can be changed by system parameter 28 setting.
System setting parameter #28
Setting Display content Display Setting Display content Display
0 State display mode 3 Feedback speed
1 Current alarm 4 Actual torque
2 Alarm history 5 Peak torque
6 Pulse string frequency
7 Input signal
8 Output signal
9 OL thermal value
10 DB thermal value
11 Load inertia ratio

8-5
8 KEYPAD PANEL

(2) Alarm detection

The contents of current alarm can be displayed with codes.
When an alarm is detected, the following indication will appear automatically.

ENT (1 sec or more)

Blinks upon an alarm.
ESC

- Major fault - Minor fault

With this type of failure, the servomotor This type of failure occurs in cases such as for
cannot be driven. protection against overheats.
<Action upon alarm>
<Action upon alarm> The servomotor decelerates at the maximum
Coasting to stop upon detection performance and, after being stopped*, it coasts to
stop
Detection of major fault Detection of minor fault
Indication Description Indication Description
Overcurrent 1 Undervoltage
Overcurrent 2 Regenerative resistor overheat
Overspeed Deviation limit
Overvoltage Amplifier overheat
Encoder trouble Encoder overheat
Control power alarm 1 Initial error
Control power alarm 2
Memory alarm
Motor combination alarm
Regenerative transistor overheat
Encoder communication alarm
CONT duplication
Overload

Reference

The alarm codes are indicated automatically.

The reset of alarm detection can be carried out in the test operation mode.
Press the ∧ and ∨ keys simultaneously for one second or more while alarm detection is indicated
to reset the alarm detection.

8-6
 KEYPAD PANEL 8

(3) Alarm history

The latest nine times of alarm detection history can be indicated. The indication can be scrolled by the
∧ and ∨ keys.
ENT (1 sec or more) Press SET.

ESC Release SET.

∧ ∨

Alarm code (See (2).)

Alarm history indication (A)

Detected history number (1: latest, 9: earliest)

Supplement

The alarm history can be deleted in the test operation mode [ ].

8-7
8 KEYPAD PANEL
8-4) Monitor mode

In the monitor mode, the speed, torque and other states of the servomotor can be displayed.
Press the MODE key to display [ ] and press the ENT key (for 1 sec or more) to display the content.

Mode Sub-mode Sub-mode indication

Monitor mode
1. Feedback speed

2. Average torque

3. Peak torque

4. Pulse string input frequency

5. Input signal

6. Output signal

7. OL thermal value

8. Regenerative resistor thermal value

9. Load inertia ratio

CAUTION

Only two figures are displayed in the monitor mode. The SHIFT key does not shift the place.
Therefore the value may not indicate the actual motion.
To monitor detail data, use the PC loader.

8-8
 KEYPAD PANEL 8

(1) Feedback speed

The servomotor’s current speed. Even if the servomotor is driven by the load (mechanical system), the
correct speed will be indicated. The indication is in 100 [r/min]* increments.

ENT (1 sec or more)

The speed is between -1000 and -1099 [r/min].
ESC The lit decimal points indicate the negative sign.

* Speeds smaller than 100 [r/min] are rounded off.

Example: The speed between 0 and 99 [r/min] is indicated .
The speed between 3000 and 3099 [r/min] is indicated .

Reverse rotation (clockwise rotation when viewed from the motor shaft) is indicated with two lit
decimal points.
Example: -3000 [r/min]: .

(2) Actual torque

Current servomotor’s load ratio. The actual torque is displayed in the ratio (%) to the rated torque. The
indication is in × 10 [%]* increments. The negative sign is not added.

ENT (1 sec or more)

The actual torque is between 30 and 39 [%].
ESC

* Values smaller than 10 [%] are rounded off.

Example: 0 to 9 [%]: .
30 to 39 [%]: .

(3) Peak torque

Current servomotor’s load ratio. Peak value is displayed at two-second intervals, assuming the rated
torque as 100%. The indication is in 10 [%]* increments. The negative sign is not added.

ENT (1 sec or more)

The peak torque is between 150 and 159 [%].
ESC

* Values smaller than 10 [%] are rounded off.

Example: 0 to 9 [%]: .
30 to 39 [%]: .

8-9
8 KEYPAD PANEL

(4) Pulse string frequency

The pulse string frequency added to the pulse string input terminal is displayed. The indication is in ×
10 [kHz]* increments. The negative sign is not added.

ENT (1 sec or more)

Pulse string frequency is 100 to 109 [kHz].
ESC

* Values smaller than 10 [kHz] are rounded off.

Example: 0 to 9 [kHz] or 1 [MHz] or over: is indicated.
300 to 309 [kHz]: is indicated.

(5) Input signal

The ON/OFF state of the sequence input signal supplied to the servo amplifier is displayed. When the
input signal is active, the corresponding LED is lit.

[CONT4] [CONT3]
ENT (1 sec or more)

ESC
[CONT5] [CONT2] [CONT1]

(6) Output signal

The ON/OFF state of the sequence output signal supplied to the servo amplifier is displayed. When the
output signal is active, the corresponding LED is lit.

[PSET] [RDY]
ENT (1 sec or more)

ESC
[OUT2] [OUT1]

8-10
 KEYPAD PANEL 8

(7) OL thermal value

The load ratio is indicated, assuming the overload alarm level as 100. When the value reaches “100,”
the overload alarm is issued. The indication is in [%]. 99 is indicated for values larger than 99 [%].

ENT (1 sec or more)

ESC

(8) Regenerative resistance thermal value

The regenerative load ratio is indicated, assuming the regenerative resistance overheat alarm level as
100. When the value reaches 100, a regenerative resistance overheat alarm is issued. The indication is
in [%]. 99 is indicated for values larger than 99 [%].

ENT (1 sec or more)

ESC

(9) Load inertia ratio

The load inertia ratio recognized by the servo amplifier is indicated. The indication is in [times]. 99 is
indicated for values larger than 99 [%].

ENT (1 sec or more)

ESC

8-11
8 KEYPAD PANEL
8-5) Parameter setting mode
In the parameter setting mode, parameters can be edited.
Press the MODE key to display , and press the ENT key for 1 second or more to select the desired
parameter.

After selecting the target parameter, press the ∧ or ∨ key to select the parameter number to be edited first.
Press the ENT key to edit the parameter setting.

(1) Parameter
The parameter includes two types: those for which the change is reflected on the servo amplifier and
servomotor immediately, and those for which the change is reflected after the power is turned off and
on again. SHIFT
ENT
(1 sec or more) ENT (1 sec or more)

ESC
MODE
ESC
ENT (1 sec or more)

ESC

ENT (1 sec or more)

ESC

(2) Indication and editing

The indication and editing methods for parameter are as follows.

- Value indication
The most significant digits that can be edited are indicated first.

Example: Parameter #1 (Setting range: 1 to 32767, Initial value: 8)

Because the number of digits that can be edited is five (32767), is indicated first.

Initial indication The lit decimal point indicates the current

editing position (among the most significant
digits, middle digits and least significant digits).
Most significant Middle Least significant
digits digits digits

To clarify the number of digits of the value, zero is not indicated at places that cannot be edited.
To move among the digits, press the MODE key while holding down the SHIFT key.

8-12
 KEYPAD PANEL 8

* Example of indication of data that includes decimal point in the editing range
Parameter #6 (load inertia ratio) (Setting range: 0.0 to 100.0, Initial value: 5.0)

Initial indication
Note that the decimal point is not indicated.
Indication shown on the left means “5.0.”
Middle digits Least
significant digits

- Editing a value
After reading a parameter, units digit blinks at about one second intervals, prompting you to change
that part.
Press the ∧ or ∨ key changes the value.

To move to another digit, press the MODE key while holding down the SHIFT key.
SHIFT MODE
ENT + ESC
SHIFT
While holding down the ENT key,
press the MODE
ESC key to move to the
less significant digit.

Most Middle digits Least

significant digits significant digits

- Storing the value

Press and hold the ENT key for 1 sec or more to store the value. All digits blink three times
simultaneously. The stored value remains as it is. (The stored value blinks at about 0.5 second
intervals.)

- Value beyond the specified range

Values can be entered within the range from minimum to maximum specified for each parameter.
Values beyond the specified range cannot be entered.

8-13
8 KEYPAD PANEL

- Editing example
Let us change the setting of parameter #2 (command pulse correction β) to “10.”

Keying Indication Remarks

The action mode in the state display mode is displayed.

MODE Returns to mode selection.

ESC

MODE Press the MODE key to select the parameter edit mode.
ESC Twice

SHIFT Hold down the ENT key for at least 1 second to designate
ENT 1 sec or more
the parameter number.

Parameter #2 is read.

SHIFT Press the ENT key to read the setting of parameter #2.
ENT
(The most significant digit of "00001" (initial value) is
displayed.)

SHIFT While holding down the SHIFT key, press the MODE key
ENT MODE
three times to blink the tens digit.
ESC

Change the value to "1."

SHIFT While holding down the SHIFT key, press the MODE key
ENT MODE
to blink the units digit.
ESC

Change the value to "0."

SHIFT Hold down the ENT key for at least 1 second to store the
ENT 1 sec or more
new value.

The stored value remains as it is. Press the ESC key to

select another parameter number.

8-14
 KEYPAD PANEL 8
8-6) Test running mode

In the test running mode, keying on the keypad panel can rotate the servomotor or reset various settings
of the servo amplifier.
Press the MODE key to display [ ] and hold down the ENT key for at least 1 second to execute test
running.

Mode Sub-mode Sub-mode indication Relevant parameters

Test running mode 1. Manual operation Parameters #29 and #30

2. Alarm reset -

3. Alarm history initialization -

4. Parameter initialization Parameter #27

5. Phase-Z position adjustment Parameter #18

6. Auto tuning gain setting Parameter #7

(1) Manual operation

The servomotor rotates while a key on the keypad panel is pressed. The servomotor speed is as per the
setting of parameter #29 and the acceleration/deceleration time is as per the setting of parameter #30.

ENT (1 sec or more)

ESC
ESC ENT

Offline ∨ Rotation in positive direction

* The servomotor rotates while the ∧ or ∨ key is held down. Rotation in negative direction

System setting parameters #29 and #30

No. Name Setting range Initial value Change
29 Speed setting (for test operation) 1 to 5000 [r/min] (in 1 increments) 100 Always
Acceleration / deceleration time 0.000 to 9.999 sec.
30 0.100 Always
(for test operation) (in 0.001 increments)

8-15
8 KEYPAD PANEL

(2) Alarm reset

Resets the alarm detected by the servo amplifier.

ENT (1 sec or more)

ENT

ESC

ESC

End of resetting

(3) Alarm history initialization

Deletes the alarm detection log recorded in the servo amplifier. The alarm detection history (alarm
history) can be monitored in state display mode [ ].
* The alarm history is retained even when the power is turned off.

ENT (1 sec or more)

ENT

ESC

ESC

End of initialization
(4) Parameter initialization
Initializes the parameters.
* After initializing, turn the power off then on again.

ENT (1 sec or more)

ENT

ESC

ESC

End of initialization Cannot be initialized

Cause of parameter initialization failure
1. Write-protection selected at parameter #27 (write-protection of parameters)
--> Change parameter #27 (write-protection of parameters) to “0” (write-enable).
2. Active operation command [RUN]
-->Turn off the operation command [RUN].

System setting parameter #27

No. Name Setting range Initial value Change
27 Parameter write-protection 0: Write-enable, 1: Write-protection 0 Always

8-16
 KEYPAD PANEL 8

(5) Phase-Z position adjustment

Defines the current position as the phase-Z position. The current position and the distance to phase Z
are automatically stored in parameter #18 (phase-Z offset).

ENT (1 sec or more)

ENT

ESC

ESC

End of initialization Cannot be initialized

Caution of phase-Z position adjustment failure

1. Write-protection selected at parameter #27 (write-protection of parameters)
--> Change parameter #27 (write-protection of parameters) to “0” (write-enable).
2. Encoder origin (phase-Z) establishment failure (immediately after power-on)
--> Turn the motor shaft at least twice to establish the phase-Z origin.
System setting parameter #18
No. Name Setting range Initial value Change
18 Phase-Z offset 0 to 65535 [pulse] (in 1 increments) 0 Power

(6) Auto tuning gain setting

Parameter #7 (auto tuning gain) is refreshed at real time.
Unlike the other parameters, an increase or decrease is reflected on the data immediately (parameter #7
is not updated. However, parameter #7 is updated when the SET key is pressed in the data editing
screen).
Data editing screen
ENT (1 sec or more) SET

ESC ESC

1. Press the ∧ or ∨ key to change the data.

2. Press the SET key to update parameter #7.

* Cannot be set

Cause of auto-tuning gain setting failure

- Write-protection selected at parameter #27 (write-protection of parameters)
--> Change parameter #27 (write-protection of parameters) to “0” (write-enable).
Basic setting parameter #07
No. Name Setting range Initial value Change
07 Auto tuning gain 1 to 20 (in 1 increments) 10 Always

8-17
8 KEYPAD PANEL

-MEMO-

8-18
INSPECTION AND
MAINTENANCE
9-1) Inspection

9-2) Memory back-up

9-3) Fault display

9-4) Maintenance and

discharge
9 INSPECTION AND MAINTENANCE
9-1) Inspection

The servo amplifier (RYB type) consists of electronic parts and requires no routine inspection.
The servomotor is of a synchronous type (brushless) and has no part that requires routine maintenance.
Though both the servo amplifier and servomotor are maintenance-free, perform periodic inspection to
avoid possible accidents and keep reliability of the equipment.

DANGER
n Prior to inspection, turn off power and wait for at least five minutes. Otherwise, there is a
risk of electric shock.
n Do not touch the servo amplifier when the commercial power is supplied. If attempted,
there is a risk of electric shock.

Inspection items are as follows.

Inspection item
Device Description
Misalignment of mechanical coupling
Servomotor Direct exposure to water, steam or oil
Abnormal vibration
Loose screws of terminal block and fastening
parts
Excessive accumulation of dust
Servo amplifier
Foreign odor, damage due to heat, breakage
or external deformation Cable-wire
discontinuation

Before checking electrical wirings, turn off the

power and wait for 5 minutes and then check that
the [CHARGE] LED is off on the keypad panel.

CAUTION
n Do not perform megger test on the PC-board or terminal block of servo amplifier. If
attempted, the servo amplifier and the encoder housed in the servomotor may be broken.

9-2
 INSPECTION AND MAINTENANCE 9
9-2) Memory back-up

(1) Memory back-up

An electrically erasable programmable read-only memory (EEPROM) is used for retaining the
parameters and alarm detection history after turning off power supply.
Each area can be initialized by turning off the servo amplifier operation command [RUN] (while motor
is de-energized).

1 Initialization of parameter
To initialize, select the initialization [ ] of parameter in the test running mode and press the
ENT key.

* After the initialization, be sure to turn on power again.

The initialization is not allowed if rewrite is inhibited by parameter #27.
The initialization is impossible while the motor is energized with the [RUN] signal on.

2 Initialization of alarm detection history

The alarm detection history is held at all times. It can be initialized by the initialization [ ] of
history in the test running mode of the keypad panel.

(2) Copying the memory

Use of the PC loader can copy the setting contents of servo amplifier to the loader or, reverse, the
loader contents can be transferred to the servo amplifier.

Mutual copy of memory

9-3
9 INSPECTION AND MAINTENANCE
9-3) Fault display

The fault diagnosis is explained in three sections below.

(1) Initial status

(2) When error (failure) is not displayed
(3) Faults with alarm indication and remedy

(1) Initial status

After turning on commercial power for the servo amplifier, either of 7-segment LEDs on the keypad
panel lights up. The [CHARGE] LED lights on the keypad panel.

7-segment LEDs (2 digits)

Keypad panel

[CHARGE] LED

If turning on power displays nothing, contact us.

9-4
 INSPECTION AND MAINTENANCE 9
(2) When error (failure) is not displayed
This type of failure is described by classification into the following three types:

1 Servomotor does not rotate.

2 Servomotor hunting
3 Positioning accuracy is poor.

If correct operation is not obtained after troubleshooting, contact us.

If an alarm is indicated at the keypad panel of the servo amplifier, refer to item (3).

9-5
9 INSPECTION AND MAINTENANCE

1 Servomotor does not rotate.

Servomotor does not rotate.

Supply commercial power in the specification
No range of the servo amplifier.
The servomotor does not rotate with control
power only.
Supply motor power, too.
Check if the [CHARGE] LED is lit on the
front panel of the servo amplifier.

Yes Connect the servomotor power cables to

identical terminals of the servo amplifier.
No
The direction of rotation does not change even
Check if the servo amplifier is connected if the phases are exchanged.
with the servomotor. Connect the encoder cable to CN2.

Yes
Yes Take remedy according to fault indication and
Check if an alarm is lit on 7-segment LED remedy described in item (3).
of the servo amplifier. If alarm is detected, an alarm code blinks.

No

Check if 24VDC power is supplied across No Unless 24VDC is supplied, all control input
[P24] and [M24] terminals of CN1. signals are invalidated.

Yes

Check the control input signal on CN1. Refer to page 3-7.

<Action mode check>

Check the state of the servo amplifier.

ENT (1 sec or more)

ESC Indication Sequence

Base off. Servomotor has no drive force. Coasting.

The servomotor is ready to rotate. Pulse string input is

effective.
The servomotor is ready to rotate by manual operation
(test running).

Stopped under detection of positive overtravel signal.

Stopped under detection of negative overtravel signal.

Stopped at zero speed upon forced stop signal input.

9-6
 INSPECTION AND MAINTENANCE 9

2 Servomotor hunting
(Servomotor shaft alternates forward and reverse rotation repeatedly at a short interval.)

The servo amplifier incorporates a real-time tuning function that checks the mechanical system at all
times.
For the servo amplifier, the real-time tuning function is made active by factory setting.
The real-time tuning function is valid for almost all mechanical configurations with some exceptions.
If it does not work, notify us of the mechanical configuration where the servomotor drives.

Servomotor hunting

Check if servomotor cables (U, V, W) are connected to

the corresponding terminals of servo amplifier.
Does the motor hunt even after the motor output shaft is
separated from mechanical system? No Changing the phase sequence of servomotor does not
change the direction of rotation but causes hunting.
Yes

Contact us.

9-7
9 INSPECTION AND MAINTENANCE

3 Poor positioning accuracy

Positioning accuracy is poor

No
Check if the grounding wire is correctly connected. Connect the grounding wire correctly.

Yes
Check if the sequence input/output signal cables are No
routed at a sufficient distance from the power supply Allow at least 10 cm.
and motor power cables.

Yes
1. Examine wiring (Allow at least 10 cm from the power
No and motor cables.)
Check if there is an excess or shortage in the number of
2. Check the pulse string frequency.Differential input:
cumulative pulses monitored at the PC loader.
within 1 MHz
Open collector input: within 200 kHz
Yes

Yes Examine mechanical configuration provided with keys.

Check if the coupling or the like is loose. Examine mechanical configuration provided with
Schupan ring or the like.

No

Check if the backlash and other mechanical accuracy of No

Check the mechanical accuracy.
the reduction gear are adequate.

Yes

Contact us.

9-8
 INSPECTION AND MAINTENANCE 9
(3) Faults with alarm indication and remedy
If an alarm is detected, the detected alarm code blinks on the keypad panel of the servo amplifier.
If multiple alarms are detected simultaneously, the alarm code with a higher priority blinks. See the
table below for the priority order. The priority is given according to the order of alarm code.

- Major fault - Minor fault

With this type of failure, the servomotor cannot be driven. This type of failure occurs in cases such as for

protection against overheats.

<Action upon alarm> <Action upon alarm>

Coasting to stop upon detection The servomotor decelerates at the maximum performance

and, after being stopped*, it coasts to stop.

Major fault Minor fault

Indication Description Page Indication Description Page
Overcurrent 1 9-10 Undervoltage 9-16
Overcurrent 2 9-10 Regenerative resistor
9-16
Overspeed 9-11 overheat

Overvoltage 9-11 Deviation limit 9-17

Encoder trouble 9-12 Amplifier overheat 9-17
Control power alarm 1 9-12 Encoder overheat 9-18
Control power alarm 2 9-12 Initial error 9-18
Memory alarm 9-13
Motor combination
9-13
alarm
Regenerative
9-14
transistor overheat
Encoder
9-14
communication alarm
CONT duplication 9-14
Overload 9-15

Supplement An alarm is automatically displayed if detected.

The alarm can be reset at a displayed state using the control input signal (reset).(The
reset signal does not remove all alarms. --> Refer to page 5-19 for details.)
Alarm detection can be reset in the test running mode [ ] also.

9-9
9 INSPECTION AND MAINTENANCE
1. Overcurrent 1
[Indication on 7-segment LED]
[Description of trouble]
The output current of the transistor in the main circuit
exceeds the rating, possibly causing breakage.

2. Overcurrent 2
[Indication on 7-segment LED]
[Description of trouble]
The output current of the servo amplifier exceeds the
maximum rating, possibly causing breakage.

[Cause and remedy] (Common between overcurrent 1 and 2)

Cause and remedy for overcurrent

Check if the grounding wire is connected no Connect the grounding wire correctly.
correctly.
yes
Check if the U, V and W motor power cables Connect the U, V and W motor power cables
are connected correctly. no correctly.
(Check if they are exchanged.)

yes
Disconnect the U, V and W terminals from the
terminal block of the amplifier and measure the
resistance across phases (U-V, V-W and W-U)
together with cable resistance using a multimeter
or the like.
A short-circuit across phases is probable.Determine
Check if the measurements are larger than
no the location of the cause in the cable or in the motor
the resistance listed in the table below.
and replace the defective part.
yes

Measure the resistance across U and ground, V

and ground, and W and ground together with the * Do not perform a megger test.
cable resistance using a multimeter or the like.*

Check if the resistance is larger than A ground fault is probable.Locate the cause of
no
1 MΩ in each phase. trouble and replace the defective part.
yes
Contact us.

Table 1. [Resistance across phases of servomotor]

<200V specification>
Resistance across Resistance across
Motor type Motor type
wires (Ω) *1 wires (Ω) *1
GYS500DC1-C8 9.4 GYC101DC1-C 7.2
GYS101DC1-C 15.5 GYC201DC1-C 4.1
GYS201DC1-C 4.6 GYC401DC1-C 1.8
GYS401DC1-C 2.2 GYC751DC1-C 0.68
GYS751DC1-C 0.72
<100V specification>
Resistance across
Motor type
wires (Ω) *1
GYS500DC1-C8 9.4
GYS101DC1-C6 5.0
GYS201DC1-C6 1.3
*1. Typical value at 20 °C. Not guaranteed.

9-10
 INSPECTION AND MAINTENANCE 9

3. Overspeed
[Description of trouble]
[Indication on 7-segment LED]
The speed of the servomotor exceeds the rating, possibly
causing breakage.
[Cause and remedy]
Cause and remedy for overspeed

Check if an external force functions to rotate.

(Such as in vertical application)
yes Change the structure of the machine.

no
Check if the U, V and W cables are
connected correctly between the servo no Connect U with U, V with V and W with W.
amplifier and servomotor.
yes
Increase the setting of parameter No. 7
(auto tuning gain). Overshoot
Target
value
The setting of the response frequency has been too
Check if the trouble is eliminated. yes
small to cause overshoot, resulting in overspeed.
Actual speed
no
Use the monitor mode at the keypad panel
to monitor the peak torque. Check if the Extend the acceleration time so that the peak torque
peak torque during acceleration is limited to yes is not limited.
the setting of parameter No. 23 (max.
current limit).

no
Contact us.

4. Overvoltage
[Indication on 7-segment LED] [Description of trouble]
The DC voltage inside the servo amplifier exceeds the rating,
possibly causing breakage.

[Cause and remedy]

Cause and remedy for overvoltage

Check if the alarm occurs immediately after Reduce the power supply rating to within the
the power is turned on.
yes specification value (rated voltage -15 to +10%).

no

Check if the power factor improving Examine adoption of power coordination reactor.
equipment is used.
yes Contact us for details.

no
Check if an external regenerative resistor is Connect an external regenerative resistor.
connected.
no

yes
Measure the resistance of the regenerative
A poorly caulked connector or a broken wire in the
resistor.
Check if the measurement is as shown in
no resistor is probable. If a broken wire in the resistor is
the cause, contact us.
table 2.

yes
Table 2. Resistance of regenerative resistor
Internal elements may be broken. Servo amplifier capacity Resistance of regenerative
Contact us. (W) resistor (Ω)
≤ 400 W 68 Ω ±10 %
750 W 40 to 15 Ω ±10 %

9-11
9 INSPECTION AND MAINTENANCE

5. Encoder trouble
[Indication on 7-segment LED] [Description of trouble]

There is trouble in the encoder and it may be broken.

[Cause and remedy]

Cause and remedy for encoder trouble

Turn the power off then on again.

The encoder is broken.

Check if the same alarm persists. yes
Contact us.

no

Continue operation. If the alarm persists,

contact us.

6. Control power alarm 1

[Indication on 7-segment LED]
[Description of trouble]
The internal control power of the servo amplifier is faulty.
The servo amplifier may be broken.
7. Control power alarm 2
[Indication on 7-segment LED] [Description of trouble]
The control circuit is faulty and may be broken.

[Cause and remedy] (Common to control power alarms 1 and 2)

Cause and remedy for control power alarm

Turn the power off then on again.

The servo amplifier is broken.

Check if the same alarm persists. yes
Contact us.
no

Continue operation. If the alarm persists,

contact us.

9-12
 INSPECTION AND MAINTENANCE 9
8. Memory alarm
[Indication on 7-segment LED] [Description of trouble]
The parameter data stored in the EEPROM inside the
servo amplifier is broken.
[Cause and remedy]
Cause and remedy for memory alarm

Check the parameters and record those different from

initial values.

Turn the power off then on again.

Continue operation. If the alarm persists,

Check if the same alarm persists. no
contact us.
yes
Initialize parameters and turn the power off then on again.

Set the recorded parameters and continue

Check if the same alarm persists. no
operation. If the alarm persists, contact us.
yes
The servo amplifier may be broken.
Contact us.

9. Motor combination alarm

[Indication on 7-segment LED] [Description of trouble]
Combination between the servo amplifier and the
servomotor is incorrect.
[Cause and remedy]
Use the servo amplifier and servomotor in the following combinations.
If this alarm is developed even though the combination is one of those listed below, contact us.

Allowable servomotor type

Servo amplifier type
Cubic type Slim type
RYB500S3-VBC - GYS500DC1-C8
RYB101S3-VBC GYC101DC1-C GYS101DC1-C
RYB201S3-VBC GYC201DC1-C GYS201DC1-C
RYB401S3-VBC GYC401DC1-C GYS401DC1-C
RYB751S3-VBC GYC751DC1-C GYS751DC1-C
RYB500S3-VBC6 - GYS500DC1-C8
RYB101S3-VBC6 - GYS101DC1-C6
RYB201S3-VBC6 - GYS201DC1-C6

9-13
9 INSPECTION AND MAINTENANCE

10. Regenerative transistor overheat

[Indication on 7-segment LED] [Description of trouble]
The regenerative transistor inside the servo amplifier is
overloaded, causing overheat.
[Cause and remedy]
Cause and remedy for regenerative transistor overheat

Check if the alarm is developed Restore the power supply rating to within the specification
yes value (rated voltage -15 to +10%).
immediately after the power is turned on.
no
Calculate the regenerative power. If the external regenerative resistor is
Check if regenerative resistor and unnecessary, reset the parameter #25 setting to zero.If a thin type external
regenerative resistor electronic thermal regenerative resistor is necessary, change the setting to "1." If an external
calculation (parameter #25) are set suitably
no regenerative resistor is necessary, reset the setting to zero and connect the
for the regenerative power. thermistor signal to a CONT signal line assigned to external regenerative
resistor overheat.
no
Check if the servomotor is used in the Remedy 1. Reduce the regenerative speed.
continuous or nearly continuous regenerative yes Remedy 2. Use a servo amplifier having a larger capacity.
mode (for applications such as brake). Remedy 3. Increase the reduction gear ratio.

no
Internal elements may be broken. Contact us.

11. Encoder communication alarm

[Indication on 7-segment LED] [Description of trouble]
The communication link with the encoder is faulty.

[Cause and remedy]

Cause and remedy for encoder communication alarm

Check if the encoder communication

connector is connected to the amplifier Connect the connector securely.Use the
securely. no
optional cable or designated cable.
Check if the optional cable or designated
cable is used.
yes
Check the encoder communication
cable for a broken wire using a yes Change the cable.
multimeter.
no
Noise interference is probable.
Remedy 1: Route the encoder cable separately (at least 10 cm distance) from the noise sources
(such as the inverter or servo motor cable or cables connected to an electromagnetic contactor).
Remedy 2: Fit ferrite cores around both the probable noise source cable and encoder cable.

Check if the trouble is eliminated. no Contact us.

12. CONT duplication

[Indication on 7-segment LED] [Description of trouble]

There is duplication in sequence input signal allocation.

[Cause and remedy]
There is duplication in allocation of the sequence input signal (CONT signal).
Check the settings of parameters #10 through #14 and eliminate duplication.
However, duplication is allowed for forcible stop (5).

9-14
 INSPECTION AND MAINTENANCE 9

13. Overload
[Indication on 7-segment LED] [Description of trouble]
The effective value of the output torque (command value)
of the servo amplifier exceeds the allowable limit of the
[Cause and remedy] combined motor.
Cause and remedy for overload

Check if the motor rotates Check if there is

when the alarm is no mechanical entanglement yes Remove the cause of trouble.
developed. or brake application.
no
Check if the motor cable is
connected securely.
Measure the resistance no Correct the broken wire.
across cables together with
yes
cable resistance.
yes
Check if the U, V and W Connect U with U, V with V, and W
cables are connected
no with W terminals between the servo
correctly between the servo
amplifier and motor. amplifier and motor.
Operate while observing the OL
thermal value in the monitor mode yes
of the keypad panel.
Internal elements may be broken.
Contact us.

Check if the alarm is

developed during yes Operate at a low speed.
constant-speed rotation.
The mechanical loss is exclusively
Check if the OL thermal large. Check for structural faults
yes (such as a bent shaft and
value exceeds 90%.
scratched bearing).

no
no
Increase the capacity of the servo system.

no
Check if the OL thermal The capacity must be selected
value varies according to yes according to the maximum speed.
the speed. Contact us.

no

Contact us.

Check if the alarm is The acceleration and deceleration

developed during yes frequencies are too high. Examine the
acceleration or deceleration. operation pattern and cycle time.

Check if the alarm persists.

no yes

If the cycle time does not satisfy the

specification requirement, examine the
following actions.
1. Increase the capacity.
Contact us. 2. Reduce the moment of inertia of the load.
3. Increase the reduction gear ratio.
Contact us for any uncertainties.

9-15
9 INSPECTION AND MAINTENANCE

14. Undervoltage
[Indication on 7-segment LED] [Description of trouble]
The DC voltage inside the servo amplifier is reduced
below the rating.
[Cause and remedy]
Cause and remedy for undervoltage

This check is necessary if "1" is set at parameter #24

(alarm detection on undervoltage).
After the power is turned off, check that the 7-segment
LED on the front panel is completely unlit before turning
the power on.

Check if momentary power failure occurs. yes Examine the power supply environment.

no
Check if the source voltage is too low.
Check if the power supply capacity is no Increase the power supply capacity.
adequate.

yes

Contact us.

15. Regenerative resistor overheat

[Indication on 7-segment LED] [Description of trouble]
The heat generating from the regenerative resistor of the
servo amplifier exceeds the allowable limit.

[Cause and remedy]

Cause and remedy for regenerative resistor overheat

Check if the alarm is developed immediately Reduce the power supply rating to within the
after the power is turned on. yes
specification value (rated voltage -15 to +10%).

no
Calculate the regenerative power. If the external regenerative resistor is
Check if regenerative resistor and unnecessary, reset the parameter #25 setting to zero. If a thin type external
regenerative resistor electronic thermal regenerative resistor is necessary, change the setting to "1." If an external
calculation (parameter #25) are set suitably
no regenerative resistor is necessary, reset the setting to zero and connect the
for the regenerative power. thermistor signal to a CONT signal line assigned to external regenerative
resistor overheat.
yes
Remedy 1. Connect an external regenerative resistor having a large
Check if the servomotor is used in the allowable power.
continuous or nearly continuous regenerative yes Remedy 2. Reduce the regenerative speed.
mode (for applications such as brake). Remedy 3. Use a servo amplifier having a larger capacity.
Remedy 4. Increase the reduction ratio.
no
Remedy 1. Examine the operation pattern and cycle time. Among all,
Check if the acceleration and deceleration
extend the deceleration time.
frequencies are too high. Check if the
acceleration and deceleration time occupies
yes Remedy 2. Change the servo amplifier with one having a larger
capacity.
a large part in the cycle time.
Remedy 3. Increase the reduction gear ratio.
no
Contact us.

Supplement The percentage of the regenerative resistor heat to the overheat detection level can be monitored in
the monitor mode of the keypad panel.

9-16
 INSPECTION AND MAINTENANCE 9

16. Deviation limit

[Indication on 7-segment LED] [Description of trouble]
The position deviation exceeds the deviation limit width
specified at parameter #20.
[Cause and remedy]
Cause and remedy for deviation limit

1. Check for mechanical entanglement.

2. Check if the mechanical brake is applied.
Check if the motor rotates. no
3. Check if the motor power cables (U, V and W
terminals) are connected correctly.
yes

1. Check if P-action is validated.

2. Check if too small a value is set for the 1. Reset the P-action command during rotation of
maximum current limit (parameter #23). the motor.
3. Check if the deviation limit width setting yes 2. Increase the maximum current limit setting.
(parameter #20) is too small. 3. Increase the deviation limit width setting.
4. Check if the acceleration and deceleration 4. Extend the acceleration and deceleration time.
time is too short.

no
Check if the inertia moment of the load is
yes Examine the mechanical configuration.
too large.
no

Lock the servo so that pulse string commands are

blocked, and gradually increase the auto tuning
gain setting (parameter #7) until motor vibration is
almost observed.

Check if the alarm is eliminated. no Contact us.

17. Amplifier overheat

[Indication on 7-segment LED] [Description of trouble]

The temperature of the heat sink of the servo amplifier

exceeds the rating (about 1 00 ℃).
[Cause and
remedy]
Cause and remedy for amplifier overheat

Turn the power off temporarily and, after about

10 minutes, turn the power on again.

Check if the same alarm persists. yes The servo amplifier may be broken. Contact us.

no

Check if the ambient temperature of the Operate the amplifier at ambient temperatures not
servo amplifier is 50 ℃ or lower.
no exceeding 50 ℃. 40 ℃ or lower temperatures are
recommended for operation over extended period.
yes
Continue operation. If the alarm persists,
contact us.

9-17
9 INSPECTION AND MAINTENANCE

18. Encoder overheat

[Indication on 7-segment LED] [Description of trouble]
The temperature of the encoder mounted on the
servomotor exceeds the rating.
[Cause and
remedy]
Cause and remedy of encoder overheat

Turn the power off temporarily and, after about

10 minutes, turn the power on again.

The servo amplifier may be broken.

Check if the same alarm persists. yes Contact us.

no
Check if the ambient temperature of the Operate the motor at ambient temperatures
no not exceeding 40 ℃.
motor is 40 ℃ or lower.

yes

Check if an overload alarm is sometimes

yes Refer to the description for the overload alarm.
developed.

no
Continue operation. If the alarm persists,
contact us.

19. Initial error

[Indication on 7-segment LED] [Description of trouble]
The initial process of the encoder exceeds the
predetermined time.
[Cause and
remedy]
Cause and remedy for initial error

Turn the power on again. The servomotor is broken.

yes
Check if the same alarm persists. Contact us.

no
Continue operation. If the alarm persists,
contact us.

9-18
 INSPECTION AND MAINTENANCE 9

Items to specify when faulty

If an alarm appears, remedy it by referring to Chapter 9.

If the alarm is ignored and reset without knowledge about the cause of the alarm to continue operation,
damage will be caused to the servo amplifier and servomotor.

When contacting us, specify the following items.

(1) Data on rating plate

Type of servo amplifier and servomotor
à Example. RYB201S3-VBC

(2) Device configuration

Connected external resistor
à Example. External regenerative resistor (type: WSR-401)

(3) Outline of mechanical equipment system driven by motor

à Example. Ball-screw feed, vertical drive, reduction speed ratio 1/2

(4) Description of fault

a) Running duration (years). Was the motor operated normally even once?
b) Frequency of alarm occurrence, conditions
à Example. When a certain device operates, the motor stops.
c) Alarm display contents
d) Is the alarm reproducible?
e) When does the alarm occur, during acceleration, during rotation at a constant speed, or during
deceleration?
f) Is there any difference between forward rotation and reverse rotation?
g) Does the alarm occur under particular conditions?
à Example. When [RUN] signal has been turned on.
à Example. When a table has advanced to a particular position.
h) If you have the machine or the servo amplifier with the same specifications, does the alarm
occur even after the amplifier or the machine is replaced?

9-19
9 INSPECTION AND MAINTENANCE
9-4) Maintenance and discharge

(1) Operating conditions

Refer to Chapter 2.

1 Power-on
The servo amplifier can be left turned on.

DANGER
n Do not touch the servo amplifier or wiring when the commercial power is supplied. If
attempted, there is a risk of electric shock.

2 Specifications
The GYC and GYS type servomotors are continuous rating.

3 Power supply
Do not repeatedly turn on and off the power supply to start and stop the servomotor.
If attempted, the parts inside the servo amplifier will be broken.

4 Radio noise
No countermeasure is taken to the servo amplifier and servomotor against radio noise generation.
Therefore, following devices may receive noises.
- AM radios near the servo amplifier or servomotor
- Wired broadcast, etc. near the wiring
- Measuring instruments or household appliances

Refer to Chapter 10 for countermeasures against noise and installation methods.

9-20
 INSPECTION AND MAINTENANCE 9

(2) Expected service life

The servo amplifier and servomotor are susceptible to aging under regular operating conditions.

1 Servomotor
The motor bearings at the output shaft of the servomotor should be replaced, when required. If the
bearings produce unusual noise, contact us.
The motor incorporates (built-in) encoder. Therefore, inquire us for bearing replacement.

2 Brake built in servomotor

The expected service life of the brake is approximately 20,000 operations at rated torque. However,
no service life is set for the application as a holding means of the servomotor shaft.
There is no manual release lever for the servomotor brake.

3 Large capacity capacitor built in servo amplifier

The servo amplifier incorporates large capacity capacitors. Contact us when replacement with new
one is required.

(3) Discharge
1 Servomotor
The servomotor is made from almost iron. It can be discharged as a general industrial waste.

2 Servo amplifier
The servo amplifier contains various electronic parts.
If you have difficulties for discharging, contact us.

9-21
9 INSPECTION AND MAINTENANCE

-MEMO-

9-22
PERIPHERAL
DEVICE
10-1) Cable size

10-2) FAB/ELB

10-3) Electromagnetic
contactor

10-4) Surge adsorber

10-5) Power filter

10-6) AC reactor

10-7) External regenerative

resistance

10-8) Option
10 PERIPHERAL DEVICE
n Configuration of system with peripheral devices

FAB/ELB
→ Refer to page 10-6.

AC reactor
→ Refer to page 10-12.

Power filter
→ Refer to page 10-10.

External regenerative resistor

Connector for loader
→ Refer to page 10-14.

CN1

10-2
 PERIPHERAL DEVICE 10

General-purpose PC
PC loader (option) for FALDIC-β
is prepared.

To loader
connector

Controller
Various controllers of a pulse string output
type can be connected.

ONL
ONL 00 11 22 33 44 55 66 77 ONL
ONL 00 11 22 33 44 55 66 77 ONL
ONL 00 11 22 33 44 55 66 77 ONL
ONL CH1
CH1
APS30 SCPU32 SCPU32 EMG +OT -OT
EMG +OT -OT
ONL
ONL ONL
ONL

ＳＸ
RUN
RUN ERR
ERR RUN
RUN ERR
ERR ERR 88 99 101112131415
ERR 101112131415 ERR 88 99 101112131415
ERR 101112131415 ERR 88 99 101112131415
ERR 101112131415 ERR
ERR CH2
CH2
TERM
TERM TERM
TERM
RUN
RUN RUN
RUN
PWR ALM
ALM ALM
ALM
STOP
STOP BAT
BAT STOP
STOP BAT
BAT
ALM
CPU
CPU CPU
CPU
No.
No. No.
No.

20
20

LOADER LOADER

11
B/A
B/A

MP2

To CN1

Optional cables
Cables for connecting devices.
Connector kit is prepared, too.

No wiring connector comes with the servo amplifier or servomotor.

Order optional cables and connector kits separately.
The connectors are described in section 10-8 “Option.”

* This is a schematic diagram for connections. The relative size of each device (external dimensions) is

not correct.

10-3
10 PERIPHERAL DEVICE

10-1) Cable size

The electric circuits inside the control panel can be divided into the main circuit and control circuit.
Cables used for general circuits except for those of encoder wiring of the servomotor are as follows.

n 600V class, poly-vinyl insulated cable (JIS C 3307: IV)

Used for main circuit. The cable cannot be twisted.

n Poly-vinyl insulated cable for electric appliances (JIS C 3316: KIV)

Can be used for all circuits; superior in flexibility.

n 600V class, cross-link polyethylene insulated cable (JCS 360 (standard of the Japanese
Electric Wire & Cable Maker’s Association): FSCL)
Used for main circuit. The cable size is smaller than the 600V-class poly-vinyl cable and superior in
flexibility.
Example: Furukawa Electric’s Baudrex

n Twisted shielded cable for electronic devices and electric appliances

Used for control circuit. Cables are prone to radio noise and inductive noise even in the panel and
therefore shielded cables should be used.
Example: Furukawa Electric’s Beemex S Shielded Cable XEBV or XEWV

The encoder cable for the servomotor is a composite 2C (cable) 4P (pair) shielded cable housing
cables of different sizes.

n Cross-link polyethylene poly-vinyl insulated cable for robot travel (twisted pair type) (Daito
Co., Ltd.)
RMCV-SV AWG#25 / 4P + AWG#23 / 2C (within 10m)
AWG#25 / 4P + AWG#17 / 2C (within 50m)

10-4
 PERIPHERAL DEVICE 10

(1) Commercial power supply and motor power cables

Use the following cables for commercial power supply and motor power cables.
The cables should be 600V class poly-vinyl insulated cable.
Unit: mm2
Input power supply Servo amplifier type Capacity [W] Motor power supply Brake
RYB500S3-ooo 50
RYB101S3-ooo 100
3-phase 200V
RYB201S3-ooo 200
series
RYB401S3-ooo 400
0.75 0.75
RYB751S3-ooo 750
RYB500S3-ooo6 50
Single-phase 100V
RYB101S3-ooo6 100
series
RYB201S3-ooo6 200

(2) Sequence input/output (CN1)

Digital input/output signals of max. 24VDC, 50mA current flow in the cables.

Cable size (CN1): AWG 26

26-core shielded cable

* Optional cable and connector kit are prepared (refer to section 10-8 “Option”).

(3) Encoder cable (CN2)

4-M bps serial communication is made through the cable. Use the following designated cable or
optional cable (refer to section 10-8 “Option”).
Servo amplifier type Cable size (CN2)
Cross-link polyethylene insulated, poly-vinyl sheath cable for
robot travel (twisted pair cable)
All models in RMCV-SV type made by Daito Co., Ltd.
RYB type AWG #25 / 4P + AWG #23 / 2C (within 10m)
AWG #23 / 4P + AWG #17 / 2C (within 50m)
Maker : DAIDEN

* Optional cable and connector kit are prepared (refer to section 10-8 “Option”).

10-5
10 PERIPHERAL DEVICE

10-2) FAB/ELB (molded case circuit breaker and earth leakage breaker)

FAB (molded case circuit breaker) or ELB (earth leakage breaker) is installed in the primary circuit of
the power supply of the servo amplifier for turning power supply on/off and promptly cutting off a fault
current such as short-circuit current.
The type for a single servo amplifier is described here.
The protective functions against overcurrent in the output circuit are built in the servo amplifier.

Type of molded case circuit breaker

Input power supply Servo amplifier type Capacity [W] MCCB
RYB500S3-ooo 50
SA33B/3
RYB101S3-ooo 100
3-phase 200V
RYB201S3-ooo 200 SA33B/5
series
RYB401S3-ooo 400 SA33B/10
RYB751S3-ooo 750 SA53B/15
RYB500S3-ooo6 50
Single-phase 100V SA33B/3
RYB101S3-ooo6 100
series
RYB201S3-ooo6 200 SA33B/5

Type of earth leakage breaker

Input power supply Servo amplifier type Capacity [W] ELCB
RYB500S3-ooo 50
EG33B/3
RYB101S3-ooo 100
3-phase 200V
RYB201S3-ooo 200 EG33B/5
series
RYB401S3-ooo 400 EG33B/10
RYB751S3-ooo 750 EG53B/15
RYB500S3-ooo6 50
Single-phase 100V EG33B/3
RYB101S3-ooo6 100
series
RYB201S3-ooo6 200 EG33B/5

<Appearance>

ＦＵＪＩｉ　ＡＵＴＯ
ＢＲＥＡＫＥＲ

ＳＡ３３

10-6
 PERIPHERAL DEVICE 10

10-3) Electromagnetic contactor

Connect the electromagnetic contactor to isolate the servo amplifier by means of an external signal or to
turn it on or off from a remote operation panel.
The types specified below turn on or off the primary circuit of a single servo amplifier of 500kVA or
smaller power supply capacity and 20m or more wiring lengths with the designated cable size.
For power supply capacities exceeding 500kVA, connect an AC reactor.

Type of electromagnetic contactor

Input power supply Servo amplifier type Capacity [W] MC
RYB500S3-ooo 50
RYB101S3-ooo 100
3-phase 200V
RYB201S3-ooo 200
series
RYB401S3-ooo 400
SC-5-1(19A)
RYB751S3-ooo 750
RYB500S3-ooo6 50
Single-phase 100V
RYB101S3-ooo6 100
series
RYB201S3-ooo6 200

<Appearance>

ＳＣ－５－１

10-7
10 PERIPHERAL DEVICE

10-4) Surge absorber (surge suppressor, surge killer)

Shown below are recommended surge suppressors (for 250 [V] or less) to be installed on peripheral
devices (magnetic contactor, solenoid value, electromagnetic brake, etc.) of the servo amplifier.
DC equipment should be equipped with a diode for surge voltage suppression.

For control relay, etc.

Type: S1-B-0 (made by Okaya Sangyo)

300 40±1 20±1

27.5

For electromagnetic contactor

Type: S2-A-0 (made by Okaya Sangyo)

300 40±1 30±1

37.5

* A non-inductive capacitor and non-inductive resistance are connected in series and sealed in epoxy
resin.
S1-B-0:200 Ω (1/2 W) + 0.1 µF
S2-A-0:500 Ω (1/2 W) + 0.2 µF

　S1-B-0
　　0.1 uF - 200 Ω
The purpose of the surge killer is
　　AC250
　　 V B

suppression of surge voltage.

200 Ω + 0.1u
Preparatory Series connection Mounting leg
soldering (inflammable structure)

10-8
 PERIPHERAL DEVICE 10

When an inductive load such as clutch and solenoid valve is turned off, several hundreds or thousands of
volts of counter-electromotive force generates. The surge suppressor suppresses these surge voltages.

- Protection in AC circuit Load

C-R circuit
(Can be used for DC circuit.)

- Protection in DC circuit Load

Diode
(Be careful of orientation of the diode.)

10-9
10 PERIPHERAL DEVICE

10-5) Power filter

In the servo amplifier, the pulse width modulation circuit performs high frequency switching similarly to
general-purpose inverters. This causes power line noise, radiation noise from the amplifier and noise
from the motor power cable, and these noises may have an adverse influence over external equipment.
To prevent such an influence, the following methods are available.

Radio
Radiation noise

Power transformer
Servomotor
Power
supply
Servo amplifier Ｍ

Power line noise Electromagnetic

Electrostatic
induced noise induced noise

Measuring
instrument Sensor

Electronic
device

(1) House the servo amplifier in a steel container (control cabinet) and ground the container. Avoid
installation in a place close to the PC or measuring instruments.
(2) If the amplifier affects the equipment of which power is shared with the amplifier, incorporate the
power filter in the primary circuit of the servo amplifier.
If the amplifier affects the equipment which gets its drive from different power source, install the
transformer for radio noise prevention (TRAFY).
(3) Use a metal conduit to house the cable extended from the servo amplifier to the servomotor, and
ground the conduit (grounding at several points is possible).
(4) Use a thick cable for grounding and make the cable as short as possible. Connect the grounding cable
from the individual equipment directly to a copper bar (do not ground via any equipment).
(5) Avoid mutual connection of the following signals.

Grounding terminal 0V of +24VDC power 0V of power supply for

and frame supply for sequence speed command or 0V of
(enclosure) input/output encoder power supply

(6) Avoid binding together the main circuit and control circuit or laying them in parallel.
Main circuit : Commercial power supply, motor power cable between servo amplifier and
servomotor
Control circuit : Analog voltage cable, +24VDC or +15VDC level signal cables, encoder cables of
servomotor
(7) Connect a transformer for radio noise prevention (TRAFY) to separate 100V power system devices
(PLC, general-purpose PC, etc.) from the 200V power system.

10-10
 PERIPHERAL DEVICE 10

TRAFY PLC

② Power Ｅ
filter
Ｅ

Servo Ｅ
amplifier

Copper bar
①

PG M ③

Input power supply Servo amplifier type Capacity [W] FHF

RYB500S3-ooo 50
RYB101S3-ooo 100 FHF-TA/5/250
3-phase 200V
RYB201S3-ooo 200
series
RYB401S3-ooo 400 FHF-TA/10/250
RYB751S3-ooo 750 FHF-TA/20/250
RYB500S3-ooo6 50
Single-phase 100V
RYB101S3-ooo6 100 FHF-TA/5/250
series
RYB201S3-ooo6 200

<Appearance>

The power filter suppresses high-frequency voltage

fluctuation caused by the servo amplifier on the
commercial power supply.
The filter functions both in the primary and
５Ａ ３　Ｐｈａｓｅ
ＡＣ　２５０
Ｖ
secondary circuits, so that it protects the servo
amplifier against high-frequency voltage fluctuation
in the primary power supply.

10-11
10 PERIPHERAL DEVICE

10-6) AC reactor

Connect the AC reactor in the primary circuit of the servo amplifier in the following cases.

(1) Large power supply capacity

When the power supply capacity exceeds 500kVA, the input current of the servo amplifier becomes
large at the time of power on, and there is a possibility where the rectifying diodes of the amplifier are
damaged.
(Cable length of 20m with specified cable diameter size)

(2) Imbalance in power supply voltage

The current gathers in the phase of a higher voltage if there is imbalance among source voltage phases.
Connect an AC reactor if the power supply voltage imbalance rate is 3% or higher.

((Max. voltage [V]) - (Min. voltage [V]))

(Imbalance rate of power supply voltage [%]) = × 100
(3-phase average voltage [V])

Connect the AC reactor to average the input current among phases. It also functions as a guard against
power failure in the source voltage line.

(3) Suppression of harmonics

Higher harmonics current is generated because the servo amplifier is of a capacitor input type. The
AC reactor suppresses voltage distortion in the power supply system to prevent troubles from
occurring in the devices connected to the same power supply system.
An imbalance in the source voltage increases harmonics.
Connect the AC reactor in the primary circuit of the servo amplifier. A smaller rated current capacity
type generates heat, while the effect is small with a larger rated current capacity type.

Input power supply Servo amplifier type Capacity [W] AC reactor Reactance
RYB500S3-ooo 50
RYB101S3-ooo 100 ACR2-0.4A 2.92mH
3-phase 200V series
RYB201S3-ooo 200
[with 3-phase power supply]
RYB401S3-ooo 400 ACR2-0.75A 1.57mH
RYB751S3-ooo 750 ACR2-1.5A 0.939mH
RYB500S3-ooo 50
3-phase 200V series ACR2-0.4A 2.92mH
RYB101S3-ooo 100
[with single-phase power
RYB201S3-ooo 200 ACR2-0.75A 1.57mH
supply]
RYB401S3-ooo 400 ACR2-1.5A 0.939mH
RYB500S3-ooo6 50
ACR2-0.4A 2.92mH
Single-phase 100V series RYB101S3-ooo6 100
RYB201S3-ooo6 200 ACR2-0.75A 1.57mH

10-12
 PERIPHERAL DEVICE 10

n Guideline for harmonics suppression

The servo amplifier is applicable to the guideline for suppression of harmonics.

3-phase 200V power supply types with 4.0kW or smaller outputs are applicable to the following
guideline.
“Guideline for suppression of harmonics for household electric appliances and general-
purpose equipment” (September 1997) issued by Ministry of International Trade and
Industry of Japan

3-phase 200V power supply types with outputs exceeding 4.0kW are applicable to the following
guideline.
“Guideline for suppression of harmonics for consumers contracting high voltage or
special high voltage power” (September 1994) issued by Ministry of International Trade
and Industry of Japan

Connect to the servo amplifier an AC reactor or DC reactor specified in this manual.

If the applicable reactor is connected, the regulation values set forth in the guideline for harmonics
suppression can be satisfied.

Servo amplifier
Commercial power supply AC reactor
3-phase 200V
U X L1
V Y L2
W Z L3

<Appearance>

The AC reactor aims at suppression of harmonics and

Ｕ Ｖ Ｗ ＸＹＷ protection of servo amplifier against imbalance in the
voltage and power failure in the power supply line.

10-13
10 PERIPHERAL DEVICE
10-7) External regenerative resistor (external braking resistor)

The regenerative resistor consumes the power generated at the servomotor.

Though the servo amplifier houses a built-in regenerative resistor, an external regenerative resistor
should be installed if load variation is that of an elevation (hoisting) load or for higher frequency
operation.

Input power Capacity

Servo amplifier type External regenerative resistor
supply [W]
RYB500S3-ooo 50
RYB101S3-ooo 100 WSR-401 (resistance 68 Ω, 17W (continuous))
3-phase RYB201S3-ooo 200 (WSR-401-T (resistance 68 Ω, 12W (continuous))
200V series RYB401S3-ooo 400
Contact us separately.
RYB751S3-ooo 750
(WSR-751-T (resistance 33 Ω, 12W (continuous))
RYB500S3-ooo6 50
Single-phase Contact us separately.
RYB101S3-ooo6 100
100V series (WSR-751-T (resistance 33 Ω, 12W (continuous))
RYB201S3-ooo6 200
* When the regenerative resistor is installed to the side of RYB75153-VBC, the resistance is 25W
(continuous).
Description in parentheses { } indicates the thin type external regenerative resistor.

<Block diagram of main circuit>

ＤＢ
Servo amplifier
Ｐ

Servomotor
U
Ｌ１

Ｌ２ Resistor for V
inrush current
Ｌ３ suppression M
W

PG

Control power

To use an external regenerative resistor, connection and parameter setting are necessary.

10-14
 PERIPHERAL DEVICE 10

System setting parameter #25

No. Name Setting range Initial value Change
Regenerative resistor 0: Invalid,
25 electronic thermal 1: Valid (optional regenerative 0 Power
calculation resistor (thin type))

System setting parameter #25

Regenerative resistor Setting
None 0: Invalid
External regenerative
1: Valid (optional thin type regenerative resistor)
resistor (thin type)
External regenerative
0: Invalid
resistor

n Connection of optional thin type external regenerative resistor (WSR-¨¨¨-T)

Because the thin type external regenerative resistor is provided with no thermistor, use the electronic
thermal relay inside the servo amplifier to protect.

External regenerative resistor (thin type)

P DB WSR-ooo-T

Servo amplifier
RYBoooS3-VBC

n Connection of optional external regenerative resistor (WSR-¨¨¨)

CONT n*
Thermistor
M24

External regenerative resistor

WSR-ooo
P DB

Servo amplifier
RYBoooS3-VBC

* Assign external regenerative resistor overheat (“8”) to the CONT input terminal.

10-15
10 PERIPHERAL DEVICE
10-8) Option

Series : Optional cable for sequence input/output

Type : WSC-D26P03
Applicable to : All models (for CN1)

Unit : [mm]

Mark tube

Ｌ 100＋10
0

n Connector
Connector 1
Plug 10126-3000V
Shell 10326-52A0-008
Made by Sumitomo 3M

n Wire color
Connector 1 1 2 3 4 5 6 7 8 9 10 11 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26
Mark tube 1 2 3 4 5 6 7 8 9 10 11 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26
Color Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White
Wire color

Black

Black

Black

Black

Black

Black

Black

Black

Black

Black

Black

Black

Black
Red

Red

Red

Red

Red

Red

Red

Red

Red

Red

Red

Red

Mark Red

1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3

n Length
Type L [m]
+0.3
WSC-D26P03 3.0 0

* For cables longer than 3m, contact us.

* The manufacturer of the connector is subject to change without notice.

10-16
 PERIPHERAL DEVICE 10

Series : Optional cable for encoder wiring

Type : WSC-P06P05 to WSC-P06P20
Applicable to : All models

molex
molex

Type indication

L
Connector 1 Connector 2

n Connector
Connector 1 Connector 2 (for 5m and 10m)
Housing main body 53988-0611 Housing main body 51145-0601
Socket shell cover 58300-0600 Crimp terminal 50639-8091
Socket mold cover 53989-0605 Plug shell cover 58098-0600
Socket mold cover 53990-0605 Plug shell body 58099-0600
Cable clamp 58303-0000 Cable clamp 54017-0615
Clamp screw 59832-0009 Clamp screw 54018-0605
Made by Nihon Molex
Connector 2 (for 20m)
Plug housing main body 54180-0611
Plug shell cover 58299-0600
Plug shell body 58300-0600
Plug mold cover 54181-0615
Plug mold cover 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Made by Nihon Molex
n Wire color Connector 1 1 2 3 4 5 6
Connector 2 1 2 3 4 5 6
The wire color is either (1) or (2).
Orange /

Sky blue

Sky blue
Orange

/ White
White
Black
Red

(1)

Wire color
Yellow

Brown
White

Black

Blue
Red

(2)

n Length Type L [m]

+0.5
WSC-P06P05 5.0 0
+1.0
WSC-P06P10 10.0 0
+2.0
WSC-P06P20 20.0 0

* The connector 1 and connector 2 types are different from those of the connector kit.
* The manufacturer of the connector is subject to change without notice.
* For cable lengths other than 5, 10 or 20m, contact us.

Do not extend the wiring distance by connecting two or more encoder

wiring cables.
CAUTION
A voltage drop by contact resistance of connector may stop the
operation abruptly.

10-17
10 PERIPHERAL DEVICE

Series : Optional servomotor power cable for servomotors without brake

Type : WSC-M04P05-B to WSC-M04P20-B
Applicable to : Power cable for servomotors without brake

Connector 1 Connector 2
Grounding terminal on servo amplifier side
V1.25-4 (made by J.S.T. Mfg Co., Ltd.) or equivalent

n Connector
Connector 1 Connector 2
Cap housing 350780-1 Cap housing 2-178128-3
Contact 350570-1 Contact 1-175218-5
Made by Nihon AMP Made by Nihon AMP
n Wire color
Round
Connector 1 1 2 3 4 Connector 2 1 2 3
terminal
Mark U V W E Mark U V W E
Green / Yellow

Green / Yellow
White

White
Black

Black
Red

Red

Wire color Wire color

n Length
Type L [m]
+0.5
WSC-M04P05 5.0 0
+1.0
WSC-M04P10 10.0 0
+2.0
WSC-M04P20 20.0 0

* The manufacturer of the connector is subject to change without notice.

* For cable lengths other than 5, 10 or 20m, contact us.

10-18
 PERIPHERAL DEVICE 10

Series : Optional servomotor power cable for servomotors with brake

Type : WSC-M06P05-B to WSC-M06P20-B
Applicable to : Power cable for servomotors with brake

Connector 1 Connector 2
Grounding terminal on servo amplifier side
V1.25-4 (made by J.S.T. Mfg Co., Ltd.) or equivalent

n Connector
Connector 1 Connector 2
Cap housing 350781-1 Cap housing 2-178128-3
Contact 350570-3 Contact 1-175218-5
Made by Nihon AMP Made by Nihon AMP
n Wire color
Round
Connector 1 1 2 3 4 5 6 Connector 2 1 2 3
terminal
Mark U V W E Mark U V W E
Green / Yellow

Green / Yellow
White

White
Black

Black

Black

Black
Red

Red

Red

Red

Wire color Wire color

n Length
Type L [m]
+0.5
WSC-M06P05 5.0 0
+1.0
WSC-M06P10 10.0 0
+2.0
WSC-M06P20 20.0 0

* For cable lengths other than 5, 10 or 20m, contact us.

* The manufacturer of the connector is subject to change without notice.

10-19
10 PERIPHERAL DEVICE

Series : Power cable

Type : WSC-S03P03-B
Applicable to : All models

Connector

n Connector
Connector
Cap housing 1-178128-3
Contact 1-175218-5
Made by Nihon AMP

n Wire color
Connector 1 1 2 3
Mark L1 L2 L3
White

Black
Red

Wire color

n Length
Type L [m]
+0.3
WSC-S03P03-B 3.0 0

10-20
 PERIPHERAL DEVICE 10

Series : Connector kit for sequence input/output

Type : WSK-D26P
Applicable to : All models

41 (Max.) Unit: [mm]

37.2 25.8

Soldering plug 10126-3000VE

Shell kit 10326-52A0-008
Made by Sumitomo 3M

Series : Connector kit for encoder

Type : WSK-P06P-M
Applicable to : All models

42.5 (Max.)
Unit : [mm]

18.8

Housing main body 54180-0611

Shell cover 58299-0600
Shell cover 58300-0600
Mold cover 54181-0615
Mold cover 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Made by Nihon Molex

* The type of the connector kit is different from that of the optional cable.

* The manufacturer of the connector is subject to change without notice.

10-21
10 PERIPHERAL DEVICE

Series : Connector kit for encoder

Type : WSK-P06P-F
Applicable to : All models

43.5 Unit : [mm]

18.8

Housing main body 53988-0611

Shell body clamp side 58302-0600
Mold cover without latch 53989-0605
Mold cover 53990-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Made by Nihon Molex * The type of the connector is different from that of the
optional cable.
* The manufacturer of the connector is subject to change
without notice.

Series : Connector kit for servomotor power cable (on amplifier side)
Type : WSK-M03P-B
Applicable to : All models

Series : Connector kit for power cable (on amplifier side)

Type : WSK-S03P-B
Applicable to : All models

Series : Connector kit for external regenerative resistor (on amplifier side)
Type : WSK-R03P-B
Applicable to : All models
Unit : [mm]

Connector kit for servomotor Housing 2-178128-3

power cable
5.08 Contact 1-175218-5
WSK-M03P-B
7.15 Housing 1-178128-3
29.7 Connector kit for power cable
WSK-S03P-B Contact 1-175218-5
Connector kit for external Housing 1-178128-3
regenerative resistor Contact 1-175218-5
22.8

WSK-R03P-B Keying plug 175855-1

16.3

Made by Nihon AMP

19.24 6.55

10-22
 PERIPHERAL DEVICE 10

Series : Connector kit for servomotor power cable

Type : WSK-M04P
Applicable to : Power cable for servomotors without brake）

Unit : [mm]
27.4

27.7

Cap 350780-1 * The manufacturer of the connector is subject to change

350570-1 or without notice.
Shell body clamp side
350689-3
Made by Nihon AMP

Series : Connector kit for servomotor power cable

Type : WSK-M06P
Applicable to : Power cable for servomotors with brake

Unit : [mm]

25.9

27.4
14

Cap housing 350781-1 * The manufacturer of the connector is subject to change

Socket 350570-1 without notice.
Made by Nihon AMP

10-23
10 PERIPHERAL DEVICE

Series : External regenerative resistor (external braking resistor)

Type : WSR-401
Applicable to : 400 W and below

182.5±1.5 Unit : [mm]

172±1

1000+100
0

20±0.3

* Thickness of mounting plate is 1.2 mm.

Item Specification
Type WSR-401
Resistance 68 [Ω]
Resistor
Allowable power 17 [W] (Continuous)
Operating temperature Open at 135 ± 5 °C
Thermistor Withstand voltage 1.5 kVAC for 1 minute
Contact capacity 30 VDC, 0.1 A

The distance between the servo amplifier and external regenerative resistor must be within 10m.
Do not place flammable objects near the external regenerative resistor because it generates heat.
For connection of the external regenerative resistor, refer to section 10-7 “External regenerative
resistor.”

10-24
 PERIPHERAL DEVICE 10

Series : External regenerative resistor (external braking resistor)

Type : WSR-751
Applicable to : 750 W

230±1.5 Unit : [mm]

220±1

1000+100
0
64+0.5
0

21±0.5
0

* Thickness of the mounting plate is 1.5 mm.

Item Specification
Type WSR-751
Resistance 15 [Ω]
Resistor
Allowable power 25 [W] (Continuous)
Operating temperature Open at 135 ± 5 °C
Thermistor Withstand voltage 2.5 kVAC for 1 minute
Contact capacity 30 VDC, 0.1 A

The distance between the servo amplifier and external regenerative resistor must be within 10m.
Do not place flammable objects near the external regenerative resistor because it generates heat.
For connection of the external regenerative resistor, refer to section 10-7 “External regenerative
resistor.”

10-25
10 PERIPHERAL DEVICE

Series : External regenerative resistor (external braking resistor)

Type : WSR-401-T,WSR-751-T
Applicable to : 400 W or below (WSR-401-T), 750W (WSR-751-T)

Use these two holes to mount on the

right side of the servo amplifier. Unit : [mm]

１３０±２０

Item Specification
Type WSR-401-T WSR-751-T
Resistance 68 [Ω] 33 [Ω]
Resistor
Allowable power 12 [W] (Continuous) 12 [W] (Continuous)

10-26
SPECIFICATIONS
11-1) List of servomotor
specifications

11-2) List of servo amplifier

specifications

11-3) Speed-torque
characteristics

11-4) Dimensional drawing

11 SPECIFICATIONS
11-1) List of servomotor specifications
(1) Slim type servomotor (50 to 750W)
200V series
n Standard motor
Motor type *1 *1
500DC1-C8B 101DC1-CB 201DC1-CA 401DC1-CA 751DC1-CA
GYS -
Series 3-phase 200V
Rated output [W] 50 100 200 400 750
Rated torque [N·m] 0.159 0.318 0.637 1.27 2.39
Rated speed [r/min] 3000
Max. speed [r/min] 5000
Max. torque [N·m] 0.478 0.955 1.91 3.82 7.17
Moment of inertia [kg/m2] 0.0192 × 10-4 0.0371 × 10-4 0.135 × 10-4 0.246 × 10-4 0.853 × 10-4
Rated current [A] 0.85 0.85 1.5 2.7 4.8
Max. current [A] 2.55 2.55 4.5 8.1 14.4
Insulation class Class B
Rating Continuous rating
Protective ventilation Totally enclosed, self-cooling (IP 55) (except for shaft sealing and connectors)
Terminal (Motor) Cable 0.3 m (with connector)
Terminal (Detector) Cable 0.3 m (with connector)
Overheat protection None (Detection with servo amplifier)
Mounting method Flange IMB5 (L51) , IMV1 (L52) , IMV3 (L53)
Shaft extension (*1) Cylindrical shaft, without key Cylindrical shaft, with key
Paint color N1.5
Detector 16-bit serial encoder
Vibration V5 or below
Install location and altitude For indoors, 1000 [m] and below of site altitude
Ambient temperatures and humidity -10 to +40 °C, humidity: 90 % RH max. (free from condensation)
Acceleration vibration, acceptable 49 m/s2 (5 G)
Mass [kg] 0.45 0.55 1.2 1.8 3.4

n Motor with brake (*3)

Motor type *1 *1
500DC1-C8B-B 101DC1-CB-B 201DC1-CA-B 401DC1-CA-B 751DC1-CA-B
GYS - -
Rated output [W] 50 100 200 400 750
Rated torque [N·m] 0.159 0.318 0.637 1.27 2.39
Static friction torque [N·m] 0.3 0.3 1.27 1.27 2.45
Rated voltage DC 24 V ± 10 %
Attraction time [ms] 35 35 40 40 60
Release time [ms] 10 10 20 20 25
Power consumption (at 20 °C) [W] 6.1 6.1 7.3 7.3 8.5
Mass [kg] 0.62 0.72 1.7 2.3 4.2

n Gear head (gear ratio 1/9)

Gear head type
500SAG-G09 101SAG-G09 201SAG-G09 401SAG-G09 751SAG-G09
GYN -
Actual speed reduction ratio 1/9
Rated speed of output shaft [r/min] 333.3
Max. speed of output shaft [r/min] 555.5
Rated torque of output shaft [N·m] 1.23 2.45 4.9 9.8 18.1
Instantaneous max. torque of output shaft [N·m] 3.68 7.36 14.7 29.4 54.3
Direction of rotation of output shaft (*4) CCW
Backlash Within 40 min. Within 30 min.
Lubrication Long-life grease (Sumiplex MP No. 2)
Mass [kg] 0.7 0.7 2.1 2.1 3.8

n Gear head (gear ratio 1/25)

Gear head type
500SAG-G25 101SAG-G25 201SAG-G25 401SAG-G25 751SAG-G25
GYN -
Actual speed reduction ratio 1/25
Rated speed of output shaft [r/min] 120
Max. speed of output shaft [r/min] 200
Rated torque of output shaft [N·m] 3.19 6.38 12.7 25.5 48
Instantaneous max. torque of output shaft [N·m] 9.56 19.1 38.2 76.4 144
Direction of rotation of output shaft (*4) CCW
Backlash Within 40 min. Within 30 min.
Lubrication Long-life grease (Sumiplex MP No. 2)
Mass [kg] 0.7 0.7 2.1 2.1 3.8
(*1) The standard specification for 50W and 100W motors is “without key.” For combination with a gear head, order one with key.
(*2) The 50W motor is common to single-phase 100V and 3-phase 200V.
(*3) The brake is for retaining purpose.
(*4) Direction of rotation of gear output shaft is CCW (counter-clockwise) when the gear head input shaft rotates forward.

11-2
 SPECIFICATIONS 11

200V series
(2) Cubic type servomotor (100 to 750W)
n Standard motor
Motor type
101DC1-CA 201DC1-CA 401DC1-CA 751DC1-CA
GYS -
Series 3-phase 200V
Rated output [W] 100 200 400 750
Rated torque [N·m] 0.318 0.637 1.27 2.39
Rated speed [r/min] 3000
Max. speed [r/min] 5000
Max. torque [N·m] 0.955 1.91 3.82 7.17
Moment of inertia [kg/m2] 0.0577 × 10-4 0.213 × 10-4 0.408 × 10-4 1.21 × 10-4
Rated current [A] 1.0 1.5 2.6 4.8
Max. current [A] 3.0 4.5 7.8 14.4
Insulation class Class B
Rating Continuous rating
Protective ventilation Totally enclosed, self-cooling (IP 55) (except for shaft sealing and connectors)
Terminal (Motor) Cable 0.3 m (with connector)
Terminal (Detector) Cable 0.3 m (with connector)
Overheat protection None (Detection with servo amplifier)
Mounting method Flange IMB5 (L51) , IMV1 (L52) , IMV3 (L53)
Shaft extension Cylindrical shaft, with key
Paint color N1.5
Detector 16-bit serial encoder
Vibration V5 or below
Install location and altitude For indoors, 1000 [m] and below of site altitude
Ambient temperatures and humidity -10 to +40 °C, humidity: 90 % RH max. (free from condensation)
Acceleration vibration, acceptable 49 m/s2 (5 G)
Mass [kg] 0.75 1.3 1.9 3.5

n Motor with brake (*1)

Motor type
101DC1-CA-B 201DC1-CA-B 401DC1-CA-B 751DC1-CA-B
GYC -
Rated output [W] 100 200 400 750
Rated torque [N·m] 0.318 0.637 1.27 2.39
Static friction torque [N·m] 0.318 1.27 1.27 2.39
Rated voltage DC 24 V ± 10 %
Attraction time [ms] 60 80 80 50
Release time [ms] 40 40 40 80
Power consumption (at 20 °C) [W] 6.5 9.0 9.0 8.5
Mass [kg] 1.0 1.9 2.6 4.3

n Gear head (gear ratio 1/9)

Gear head type
101CAG-G09 201CAG-G09 401CAG-G09 751CAG-G09
GYN -
Actual speed reduction ratio 1/9
Rated speed of output shaft [r/min] 333.3
Max. speed of output shaft [r/min] 555.5
Rated torque of output shaft [N·m] 2.45 4.9 9.8 18.1
Instantaneous max. torque of output shaft [N·m] 7.35 14.7 29.4 54.4
Direction of rotation of output shaft (*2) CCW
Backlash Within 40 min. Within 30 min.
Lubrication Long-life grease (Sumiplex MP No. 2)
Mass [kg] 0.72 2.1 2.1 3.8

n Gear head (gear ratio 1/25)

Gear head type
101CAG-G25 201CAG-G25 401CAG-G25 751CAG-G25
GYN -
Actual speed reduction ratio 1/25
Rated speed of output shaft [r/min] 120
Max. speed of output shaft [r/min] 200
Rated torque of output shaft [N·m] 6.37 12.7 25.5 48
Instantaneous max. torque of output shaft [N·m] 19.1 38.2 76.4 144
Direction of rotation of output shaft (*2) CCW
Backlash Within 40 min. Within 30 min.
Lubrication Long-life grease (Sumiplex MP No. 2)
Mass [kg] 0.72 2.1 2.1 3.8

(*1) The brake is for retaining purpose.

(*2) Direction of rotation of gear output shaft is CCW (counter-clockwise) when the gear head input shaft rotates forward.

11-3
11 SPECIFICATIONS

(3) Slim type servomotor (50 to 200W)

100V series
n Standard motor
Motor type *1 *1 *1
500DC1-C8B 101DC1-C6B 201DC1-C6B
GYS -
Series Single-phase 100V
Rated output [W] 50 100 200
Rated torque [N·m] 0.159 0.318 0.637
Rated speed [r/min] 3000
Max. speed [r/min] 5000
Max. torque [N·m] 0.478 0.955 1.91
Moment of inertia [kg/m2] 0.0192 × 10-4 0.0371 × 10-4 0.135 × 10-4
Rated current [A] 0.85 1.5 2.7
Max. current [A] 2.55 4.5 8.1
Insulation class Class B
Rating Continuous rating
Protective ventilation Totally enclosed, self-cooling (IP 55)
Terminal (Motor) Cable 0.3 m (with connector)
Terminal (Detector) Cable 0.3 m (with connector)
Overheat protection None (Detection with servo amplifier)
Mounting method Flange IMB5 (L51) , IMV1 (L52) , IMV3 (L53)
Shaft extension (*1) Cylindrical shaft ,without key / Cylindrical shaft, with key
Paint color N1.5
Detector 16-bit serial encoder
Vibration V5 or below
Install location and altitude For indoors, 1000 [m] and below of site altitude
Ambient temperatures and humidity -10 to +40 °C, humidity: 90 % RH max. (free from condensation)
Acceleration vibration, acceptable 49 m/s2 (5G)
Mass [kg] 0.45 0.55 1.2

n Motor with brake (*3)

Motor type *1 *1 *1
500DC1-C8B-B 101DC1-C6B-B 201DC1-C6B-B
GYS - -
Rated output [W] 50 100 200
Rated torque [N·m] 0.159 0.318 0.637
Static friction torque [N·m] 0.3 0.3 1.27
Rated voltage DC 24 V ± 10 %
Attraction time [ms] 35 35 40
Release time [ms] 10 10 20
Power consumption (at 20 °C) [W] 6.1 6.1 7.3
Mass [kg] 0.62 0.72 1.7

n Gear head (gear ratio 1/9)

Gear head type
500SAG-G09 101SAG-G09 201SAG-G09
GYN -
Actual speed reduction ratio 1/9
Rated speed of output shaft [r/min] 333.3
Max. speed of output shaft [r/min] 555.5
Rated torque of output shaft [N·m] 1.23 2.45 4.9
Instantaneous max. torque of
[N·m] 3.68 7.36 14.7
output shaft
Direction of rotation of output shaft (*4) CCW
Backlash Within 40 min. Within 30 min.
Lubrication Long-life grease (Sumiplex MP No. 2)
Mass [kg] 0.7 0.7 2.1

n Gear head (gear ratio 1/25)

Gear head type
500SAG-G25 101SAG-G25 201SAG-G25
GYN -
Actual speed reduction ratio 1/25
Rated speed of output shaft [r/min] 120
Max. speed of output shaft [r/min] 200
Rated torque of output shaft [N·m] 3.19 6.38 12.7
Instantaneous max. torque of
[N·m] 9.56 19.1 38.2
output shaft
Direction of rotation of output shaft (*4) CCW
Backlash Within 40 min. Within 30 min.
Lubrication Long-life grease (Sumiplex MP No. 2)
Mass [kg] 0.7 0.7 2.1
(*1) The standard specification for 50W, 100W and 200W motors is “without key.” For combination with a gear head, order one with key.
(*2) The 50W motor is common between single-phase 100V and 3-phase 200V.
(*3) The brake is for retaining purpose.
(*4) Direction of rotation of gear output shaft is CCW (counter-clockwise) when the gear head input shaft rotates forward.

11-4
 SPECIFICATIONS 11

We can meet requirements for a geared servomotor equipped with planetary reduction gear of 3 minutes
or shorter lost motion (backlash).
The reduction gear is made by Harmonic Drive Systems Co., Ltd.
Contact us for the specification, delivery term, price and other features of the item.

[Speed reduction ratio: 5]

Motor Fuji Electric
Type of
capacity Item
HPG GYS GYC
[W]
M size [mm] 45
Shape symbol ABD
50 -
Inertia of reduction gear (10-4 kg · m2) 0.0811
Ratio of inertia of reduction gear to that of motor 4.2
14
M size [mm] 45 45
Shape symbol ABJ ACJ These are examples of
100 reduction ratio 5.
Inertia of reduction gear (10-4 kg · m2) 0.0806 0.0800
Ratio of inertia of reduction gear to that of motor 2.2 1.5 Contact us for details.
M size [mm] 52 59
Shape symbol GCJ HDJ
200
Inertia of reduction gear (10-4 kg · m2) 0.6529 0.6529
Ratio of inertia of reduction gear to that of motor 4.6 3.0
M size [mm] 52 59
Shape symbol GHJ HBJ
20 400
Inertia of reduction gear (10-4 kg · m2) 0.6529 0.6529
Ratio of inertia of reduction gear to that of motor 2.6 1.6
M size [mm] 59 59
Shape symbol HBM HDM
750
Inertia of reduction gear (10-4 kg · m2) 0.6475 0.6475
Ratio of inertia of reduction gear to that of motor 0.6 0.6

11-5
11 SPECIFICATIONS
11-2) List of servo amplifier specifications
200V series
(1) Basic specifications (3-phase 200V)
RYB500S3 RYS101S3 RYS201S3 RYS401S3 RYS751S3
Amplifier type
-VBC -VBC -VBC -VBC -VBC
Capacity [W] 50 100 200 400 750
Phase 3-phase (or single phase with 400W or below)
Input

Voltage AC 200 to 230 V –15 % to +10 %

Frequency 50 / 60Hz
Control method Totally digital sinusoidal PWM current control
Overload
Output

300 % for 3 sec.

capability
Braking method Regenerative braking to DC link circuit, optional external regenerative resistor
Carrier frequency 10 kHz
Exclusively incremental 16-bit serial encoder (resolution of each revolution: 16 bits =
Encoder
65536)
Control
Position control through pulse string input
performance
Functions and
performance

Max. pulse
Input: 1.0 MHz (differential), 200 kHz (open collector), output: 500 kHz (differential)
frequency
Position control
216 ( = 65536) in each revolution
resolution
Frequency 600 Hz (Moment of load inertia after conversion into motor shaft extension (JL) =
response moment of inertia of motor rotor (JM))
Moment of load inertia Within 100 times of moment of inertia of motor rotor
Overcurrent (01, 02), overspeed (03), overvoltage (04), encoder trouble (05),
control power alarm (06, 07), memory alarm (08), combination alarm (09),
Protective functions
regenerative transistor overheat (10), encoder communication alarm (11),
(alarms)
CONT duplication (12), overload (13), undervoltage (14), regenerative resistor overheat
(15), deviation limit (16), amplifier overheat (17), encoder overheat (18), initial error (19)
For indoors, 1000m or below of site altitude, under clean atmosphere, no explosive
Installation site hazardous gas and vapor is existing.
environment

In the case of compliance with the European standard: Pollution degree = 2, overvoltage
Operating

category = II
Ambient
temperature and -10 to +50 °C, 10 to 90 % RH (free from condensation)
humidity
Vibration / shock 4.9 m/s2 (0.5 G) , 19.6 m/s2 (2 G)
UL / cUL (compliance with UL508c), European standards (compliance with EN 50178)
Others
(being applied for)
Mass [kg] 0.6 0.7 1.0
* Install an AC reactor for 500kVA or larger power supply capacities.
* Contact us for close installation requirements.

11-6
 SPECIFICATIONS 11

100V series
(2) Basic specifications (Single-phase 100V)
RYB500S3 RYS101S3 RYS201S3
Amplifier type
-VBC6 -VBC6 -VBC6
Capacity [W] 50 100 200
Phase Single-phase
Input

Voltage AC 100 to 115 V –15 % to +10 %

Frequency 50 / 60Hz
Control method Totally digital sinusoidal PWM current control
Output

Overload capability 300 % for 3 sec.

Braking method Regenerative braking to DC link circuit, optional external regenerative resistor
Carrier frequency 10 kHz
Exclusively incremental 16-bit serial encoder (resolution of each revolution: 16 bits =
Encoder
65536)
Control performance Position control through pulse string input
Functions and

Max. pulse
performance

Input: 1.0 MHz (differential), 200 kHz (open collector), output: 500 kHz (differential)
frequency
Position control
216 ( = 65536) in each revolution
resolution
600 Hz (Moment of load inertia after conversion into motor shaft extension (JL) =
Frequency response
moment of inertia of motor rotor (JM))
Moment of load inertia Within 100 times of moment of inertia of motor rotor
Overcurrent (01, 02), overspeed (03), overvoltage (04), encoder trouble (05), control
power alarm (06, 07), memory alarm (08), combination alarm (09), regenerative
Protective functions
transistor overheat (10), encoder communication alarm (11), CONT duplication (12),
(alarms)
overload (13), undervoltage (14), regenerative resistor overheat (15), deviation limit
(16), amplifier overheat (17), encoder overheat (18), initial error (19)
For indoors, 1000m or below of site altitude, under clean atmosphere, no explosive
Installation site hazardous gas and vapor is existing.
environment

In the case of compliance with the European standard: Pollution degree = 2,

Operating

overvoltage category = II
Ambient
temperature and -10 to +50 °C, 10 to 90 % RH (free from condensation)
humidity
Vibration / shock 4.9 m/s2 (0.5 G) , 19.6 m/s2 (2 G)
UL / cUL (compliance with UL508c), European standards (compliance with EN 50178)
Others
(being applied for)
Mass [kg] 0.6 0.7
* Install an AC reactor for 500kVA or larger power supply capacities.
* Contact us for close installation requirements.

(3) Interface specifications (Common between 3-phase 200V and single-phase 100V)

Terminal name Symbol Specification

Max. input frequency: 1.0 MHz (differential), 200 kHz (open collector)
CA, *CA (1) Command pulse / command sign,
Pulse string input CB, *CB (2) Forward rotation pulse / reverse rotation pulse,
(3) Two signals with 90-degree phase difference
PPI Pull-up power input with open collector input (12 to 24 VDC)
Max. output frequency: 500 kHz (differential)
FFA, *FFA
Two signals with 90-degree phase difference
Dividing output FFB, *FFB
16 to 16384 [pulses/rev] (in 1 increments)
FFZ, *FFZ Differential output [1 pulse/rev]
FZ, M5 Open collector output [1 pulse/rev]
Power supply input for
P24, M24 +24 VDC, 300 mA (Supplied externally)
sequence signals
COUNT 1 +24 VDC, 10 mA (1 point) source input, terminal assigned to sequence
Sequence input signal
to COUNT 5 input signal
OUT 1 +30 VDC, 50 mA (max.) sink output, terminal assigned to sequence
Sequence output signal
to OUT 2 output signal

11-7
11 SPECIFICATIONS
11-3) Speed-torque characteristics
Shown below are the torque characteristics with each servomotor and servo amplifier combination.

In the characteristics diagram, the axis of abscissas indicates the speed and the axis of ordinates indicates
the motor output torque, and the servo motor can be continuously operated within the “continuous
operation area” at rated speed or lower.
The rated torque cannot be output continuously above the rated speed.
The servomotor uses the “acceleration/deceleration area” for acceleration/deceleration. Toques above the
rating cannot be output continuously. If torques above the rating is output continuously, the servomotor
trips due to an overload.
The overload detecting time (guidepost) is as follows.

Overload detecting time

Continuous output torque Overload detecting time
100 % (rated torque) (Continuous)
200 % (rated torque) About 35 sec
300 % (rated torque) About 18 sec
400 % (rated torque) About 9 sec
500 % (rated torque) About 3 sec
* The output torque is indicated in percentage to the rated torque (at rated speed or lower).

11-8
 SPECIFICATIONS 11

n Overload alarm [13] detecting time

1) Overload alarm detecting time for operation at 3000 r/min

120.0
Overload alarm detecting time [s]

100.0

80.0

60.0

40.0

20.0

0.0
0 50 100 150 200 250 300
Load ratio [%]

2) Overload alarm detecting time for operation at 5000 r/min

120.0
Overload alarm detecting time [s]

100.0

80.0

60.0

40.0

20.0

0.0
0 50 100 150 200 250 300
Load ratio [%]

11-9
11 SPECIFICATIONS
200V series

n GYS type (slim type / 200V series)

- GYS500DC1-C8B *1 (50 W) - GYS101DC1-CB (100 W)

0.8 1.6

0.7 1.4

0.6 1.2

0.5 0.478 1.0 0.955

Torque Torque
[N･m] 0.4 Acceleration/ [N･m] 0.8 Acceleration/
deceleration area deceleration area
0.3 0.6

0.2 0.4
0.159 0.318

0.1 Continuous 0.2 Continuous

operation area operation area

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

- GYS201DC1-CA (200 W) - GYS401DC1-CA (400 W)

4.0 8.0

3.5 7.0

3.0 6.0

2.5 5.0
Torque Torque
1.91 [N･m] 4.0 3.82
[N･m] 2.0
Acceleration/
Acceleration/
1.5 3.0 deceleration area
deceleration area

1.0 2.0
0.637 1.27

0.5 1.0 Continuous

Continuous
operation area
operation area

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

*1. GYS500DC1-C8B can be powered by 100V or 200V.

11-10
 SPECIFICATIONS 11
200V series

n GYS type (slim type / 200V series)

-GYS751DC1-CA (750 W)
16.0

14.0

12.0

10.0
Torque
[N･m] 8.0 7.17

Acceleration/
6.0
deceleration area

4.0
2.39
2.0
Continuous
operation area

0 1000 2000 3000 4000 5000

Speed [r/min]

11-11
11 SPECIFICATIONS
200V series

n GYC type (cubic type / 200V series)

-GYC101DC1-CA (100 W) -GYC201DC1-CA (200 W)

1.6 4.0

1.4 3.5

1.2 3.0

1.0 0.955 2.5

Torque Torque
[N･m] 0.8 Acceleration/ [N･m] 2.0 1.91
deceleration area
Acceleration/
0.6 1.5
deceleration area

0.4 1.0
0.318
0.637

0.2 Continuous 0.5 Continuous

operation area operation area

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

-GYC401DC1-CA (400 W) -GYC751DC1-CA (750 W)

8.0 16.0

7.0 14.0

6.0 12.0

5.0 10.0
Torque Torque
[N･m] 4.0 3.82 [N･m] 8.0 7.17
Acceleration/
Acceleration/
3.0 deceleration area 6.0
deceleration area

2.0 4.0
1.27 2.39
1.0 Continuous 2.0
Continuous
operation area
operation area

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

11-12
 SPECIFICATIONS 11
100V series

n GYS type (slim type / 100V series)

-GYS500DC1-C8B *1 (50 W) -GYS101DC1-C6B (100 W)

0.8 1.6

0.7 1.4

0.6 1.2

0.5 0.478 1.0 0.955

Torque Torque
[N･m] 0.4 Acceleration/ [N･m] 0.8 Acceleration/
deceleration area deceleration area
0.3 0.6

0.2 0.4
0.159 0.318

0.1 Continuous 0.2 Continuous

operation area operation area

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

-GYS201DC1-C6B (200 W)

4.0

3.5

3.0

2.5
Torque
[N･m] 2.0 1.91

Acceleration/
1.5
deceleration area

1.0
0.637
0.5 Continuous
operation area

0 1000 2000 3000 4000 5000

Speed [r/min]

*1. GYS500DC1-C8B can be powered by 100V or 200V.

11-13
11 SPECIFICATIONS

-MEMO-

11-14
 SPECIFICATIONS 11
11-4) Dimensional drawing

Dimensions are in millimeters [mm].

The dimensions are subject to change without notice. Before placing an order, request us for final
drawings.

1 Shaft extension
The standard output shaft of the servomotor is cylindrical with key.
Servomotor with brake and gear head are similar.
However, the standard output shaft of only the servomotors listed in the table below are cylindrical
without key.
Cylindrical without key (standard)
Motor
Series Servomotor type
capacity
GYS500DC1-C8B 50W Contact us for different shaft
Single-phase
GYS101DC1-C6B 100W
100V extension shapes.
GYS201DC1-C6B 200W
3-phase GYS500DC1-C8B 50W
200V GYS101DC1-CB 100W

2 Mounting
The standard mounting type of the servomotor is flange.
The servomotor with brake and gear head are similar.

3 Wiring
- Motor power cable (Servomotor)
The GYC and GYS servomotors are equipped with 0.3 m cable extension (with connectors).
No wiring connectors come with the servomotor.
Optional cable and connector kit equipped with connectors at both ends are prepared.

n Example of appearance of servomotor

Motor power Encoder cable

- Encoder cable
The GYC and GYS servomotors are equipped with 0.3m cable extension (with connectors).
No wiring connectors come with the servomotor.
Optional cable and connector kit equipped with connectors at both ends are prepared.

11-15
11 SPECIFICATIONS
„ Series : GYS series motor, standard type

- 50W / 100W (Unit : mm)

*For combination with gear

head, order one equipped
with key.
MOTOR
SIGNAL POWER
CABLE CABLE

Shaft extension Dimension

Overall length Mass
Type shape (flange)
φS L LL [kg]
GYS500DC1-C8B* 6h6 103 78 0.45
GYS101DC1-CB 8h6 121 96 0.55
GYS101DC1-C6B 8h6 121 96 0.55
* Common with 100V series.

(Unit : mm)
- 200W / 400W

* For combination with

gear head, order one
equipped with key.
(100V series)
PROTECTIVE TUBE

Overall length Dimension (flange) Mass

Type
L LL [kg]
GYS201DC1-CA 126.5 96.5 1.2
GYS401DC1-CA 154.5 124.5 1.8
GYS201DC1-C6B 126.5 96.5 1.2

(Unit : mm)
- 750W

PROTECTIVE TUBE

Mass : 3.4 [kg]

11-16
 SPECIFICATIONS 11

„ Series : GYS series motor with brake

- 50W / 100W (Unit : mm)

*For combination with

gear head, order one
equipped with key.
SIGNAL MOTOR
CABLE POWER
CABLE

Shaft extension Dimension

Overall length Mass
Type shape (flange)
φS L LL [kg]
GYS500DC1-C8B-B* 6h6 140 115 0.62
GYS101DC1-CB-B 8h6 158 133 0.72
GYS101DC1-C6B-B 8h6 158 133 0.72
* Common with 100V series.

(Unit : mm)

- 200W / 400W

* For combination with

gear head, order one
equipped with key.
(100V series) PROTECTIVE TUBE

Overall length Dimension (flange) Mass

Type
L LL [kg]
GYS201DC1-CA-B 165 135 1.7
GYS401DC1-CA-B 193 163 2.3
GYS201DC1-C6B-B 165 135 1.7

(Unit : mm)
- 750W

PROTECTIVE TUBE

Mass : 3.4 [kg]

11-17
11 SPECIFICATIONS
„ Series : GYC series motor, standard type

- 100W (Unit : mm)

PROTECTIVE TUBE

Mass : 0.75 [kg]

- 200W / 400W (Unit : mm)

PROTECTIVE TUBE

Overall length Dimension (flange) Mass

Type
L LL [kg]
GYC201DC1-CA 112 82 1.3
GYC401DC1-CA 127 97 1.9

- 750W (Unit : mm)

PROTECTIVE TUBE

Mass : 3.5 [kg]

11-18
 SPECIFICATIONS 11

„ Series : GYC series motor with brake

- 100W (Unit : mm)

Mass : 1.0 [kg]

- 200W / 400W (Unit : mm)

PROTECTIVE TUBE

Overall length Dimension (flange) Mass

Type
L LL [kg]
GYC201DC1-CA-B 143.5 113.5 1.9
GYC401DC1-CA-B 158.5 128.5 2.6

- 750W (Unit : mm)

PROTECTIVE TUBE

Mass : 4.3 [kg]

11-19
11 SPECIFICATIONS
„ Series : Gear head (1/9, 1/25) for GYS series motor

- 50W / 100W (Unit : mm)

M4 DEPTH8

Mass : 0.7 [kg]

- 200W / 400W (Unit : mm)

M5 DEPTH13

Mass : 2.1 [kg]

- 750W (Unit : mm)

M6 DEPTH15

Mass : 3.9 [kg]

11-20
 SPECIFICATIONS 11

„ Series : Gear head (1/9, 1/25) for GYC series motor

- 100W (Unit : mm)

M4 DEPTH8

Mass : 0.72 [kg]

- 200W / 400W (Unit : mm)

M5 DEPTH13

Mass : 2.1 [kg]

- 750W (Unit : mm)

M6 DEPTH15

Mass : 3.8 [kg]

11-21
11 SPECIFICATIONS
„ Servo amplifier

(Unit : mm) (Unit : mm)

(Unit : mm)

11-22
APPENDIXES
■ Inertia moment calculation

■ Load torque

■ Timing chart
 APPENDIXES

n Calculation of moment of inertia

- Shape
2
W D
Jz= 8 103
4
πρ L D
=
32 103 103
2 2
W D W L
Jx= Jy= + 12
16 103 103
2
πρ L D
W=
4 103 103

2 2
W D2 D1
Jz= 8 103 + 103
4 4
πρ L D2 D1
= -
32 10 3
103
103
2 2 2
W D2 D1 W L
Jx= Jy= +
16 103 + 103 12 103
2 2
πρ L D2 D1
W= -
4 103 103 103

2 2
W A B
Jz= 16 103 + 103
2 2
W B W L
Jx= 3 +
16 10 12 103
2 2
W A W L
Jy= +
16 103 12 103
πρ A B L
W=
4 103 103 103

2 2
W B L
Jx=
12 103 + 103
2 2
W L A
Jy=
12 103 + 103
2 2
W A B
Jz=
12 103 + 103
ρ A B L
W=
103 103 103

2 2 2 2
W2 B2 L W B1 L
J x = 12 103 + 103
- 121 103 + 103
2 2 2 2
W2 A2 L W A1 L
J y = 12 103 + 103
- 121 103 + 103
2 2 2 2
W2 A2 B2 W A1 B1
J z = 12 103 + 103
- 121 103 + 103
ρ A2 B2 A B L
W=
103 103
- 1013 1013 103
A2 B2 L A1 B1 L
W2 = ρ W1 = ρ
103 103 103 103 103 103

Appendix -2
 APPENDIXES
- Conversion

Ball-screw
2
1 BP
J1 = W × 3
× GL2
2π 10

W : Mass of movable part [kg]

BP : Lead of thread [mm]
GL : Reduction ratio (no unit)

Rack and pinion, conveyor, chain drive

2
1 BP
J1 = W × 3
× GL2
2π 10

W : Total mass of moving parts [kg]

D : Diameter of pinion [mm]
: Diameter of sprocket [mm]
GL : Reduction ratio (no unit)

Feed roll
2
W D
J3 = × GL2
4 103

W : Total mass of moving parts [kg]

D : Diameter of roll [mm]
GL : Reduction ratio (no unit)

Rotor, table drive The moment of inertia can be obtained as a sum of each
shape.Moment of inertia of an object placed at a distance
from rotating shaft (J4)
2
L
J4 = J + W × GL2
103

J : Moment of inertia around CG of body

W : Mass of body [kg]
L : Distance between body and rotating shaft [mm]
GL : Reduction ratio (no unit)

Appendix -3
 APPENDIXES

n Load torque (TL)

Ball-screw
Moving speed Mass of moving part
V W ( µ W + F ) × 9.81 BP
TL = × GL
2πη 103
µ : Coefficient of friction
Reduction ratio
GL BP : Lead of thread [mm]
Lead of thread
W, W 1 : Mass of moving part [kg]
L
W2 : Mass of counter-weight [kg]
GL : Reduction ratio (no unit)
Speed of motor shaft F : Thrust force [kg]
N

TL = ( ( µ + 1 ) W 1 - W 2 ) × 9.81 BP
× GL
- When lifting vertically
2πη 103
( ( µ - 1 ) W 1 - W 2 ) × 9.81 BP
- When lowering vertically TL = × GL
2πη 103
( W 1 - W 2 ) × 9.81 BP
- When stopping vertically TL = × GL
2πη 103

Conveyor, rack and pinion

Mass of moving part
W

( µ W + F ) × 9.81 D
×
1
× GL
TL =
Moving speed η 2 103
V

Reduction ratio µ : Coefficient of friction

GL
D : Diameter [mm]
W, W 1 : Mass of moving part [kg]
Speed of motor shaft
N W2 : Mass of counter-weight [kg]
Diameter of pinion
D GL : Reduction ratio (no unit)

(( µ + 1 ) W 1 - W 2 ) × 9.81 D 1
- When lifting vertically TL = × × GL
η 2 103

- When lowering vertically (( µ - 1 ) W 1 - W 2 ) × 9.81 D 1

TL = × × GL
η 2 103
( W 1 - W 2 ) × 9.81 D 1
- When stopping vertically TL = × × GL
η 2 103

Appendix -4
 APPENDIXES
n Timing chart

Power-on timing chart

Internal control power

700 ms
No energization Energization

Main power supply

No energization Energization

Amplifier initialization About 1 sec.

RUN OFF ON
About 4 ms

RDY OFF ON

Pulse string command Not supplied Supplied

* Avoid turning on and off repeatedly.

Wait at least one minute before turning the power on again after turning it off.

Appendix -5
 APPENDIXES

2) Timing chart of brake

Issue an excitation or release signal of the brake from the host controller directly.
The servo amplifier does not have a function (brake timing output) to apply or release the brake
automatically.

(1) For horizontal or vertical application with a small load (self-weight)

Apply the brake when the servomotor is stopped (with an end-of-positioning signal turned on).

Operation command (RUN) ＯＦＦ ＯＮ

End of positioning (PSET) ＯＮ ＯＦＦ ＯＮ

1 or 2 msec

Servo lock (Reference) ＯＦＦ ＯＮ

Brake signal
Applied Released *1 Released Applied *2
(issued by host controller)

Releasing time *3 Sucking time *4

Actual braking Applied Released

Alarm detection: a-contact ＯＦＦ

More than releasing time

Pulse string command Not supplied Supplied

Rotation speed

*1: When the active brake is released, it takes the releasing time until the brake is released.
*2: When the released brake is applied, it takes the sucking time until the brake is applied.
*3: The releasing time is specified in the specification list of the brake-incorporated motor.
*4: The sucking time is specified in the specification list of the brake-incorporated motor.

Appendix -6
 APPENDIXES

(2) For vertical application with a large load (self-weight)

Build a program at the host controller to apply the brake before the operation command (RUN) is
turned off (about 80 ms).
Apply the brake after the servo motor is stopped (with the end-of-positioning signal turned on).

Operation command (RUN) ＯＦＦ ＯＮ

End of positioning (PSET) ＯＮ ＯＦＦ ＯＮ

1 or 2 msec

Servo lock (Reference) ＯＦＦ ＯＮ

About 80 msec
Brake Applied Released *1 Released Applied *2

Releasing time *3 Sucking time *4

Actual braking Applied Released

Alarm detection: a-contact ＯＦＦ

More than releasing time

Pulse string command Not supplied Supplied

Rotation speed

*1: When the active brake is released, it takes the releasing time until the brake is released.
*2: When the released brake is applied, it takes the sucking time until the brake is applied.
*3: The releasing time is specified in the specification list of the brake-incorporated motor.
*4: The sucking time is specified in the specification list of the brake-incorporated motor.

Appendix -7
 APPENDIXES

(3) Timing chart of alarm detection

When an alarm is detected, the motor coasts to stop.

Therefore apply the brake as soon as an alarm is detected.
Build the program so that the brake is released when alarm detection is canceled.
The brake is for retention purpose. Because application of the brake during rotation reduces the life,
avoid repetitive application.

Operation command
ＯＦＦ ＯＮ
(RUN)

Alarm detection: a-contact ＯＦＦ ＯＮ

Reset ＯＦＦ ＯＮ

Brake Applied Released Applied Released Applied

Reference
- Major fault - Minor fault
With this type of fault, the servomotor cannot This type of fault occurs in cases such as for
be driven. protection against overheat.

<Action upon alarm> <Action upon alarm>

Coasting to stop upon detection The servomotor decelerates at the maximum
performance and, after being stopped*, it coasts to
stop.
Detection of major fault Detection of minor fault
Indication Description Indication Description
Overcurrent 1 Undervoltage
Overcurrent 2 Regenerative resistor overheat

Overspeed Deviation limit

Overvoltage Amplifier overheat
Encoder trouble Encoder overheat
Control power alarm 1 Initial error
Control power alarm 2
Memory alarm
Motor combination alarm
Regenerative transistor overheat
* The rotation speed is reduced to within the zero speed
Encoder communication alarm

CONT duplication width (parameter #21).

Overload

Appendix -8
 APPENDIXES

(4) Timing chart upon overheat of external regenerative resistor

Upon overheat of the external regenerative resistor, the motor decelerates at the maximum
performance and, after being stopped, it coasts to stop.
Therefore apply the brake when overheat of the external regenerative resistor is detected.
Build the program so that the brake is released when overheat is removed from the external
regenerative resistor.
The brake is for retention purpose. Because application of the brake during rotation reduces the life,
avoid repetitive application.

Operation command
ＯＦＦ ＯＮ
(RUN)

Overheat of external
ＯＮ ＯＦＦ ＯＮ
regenerative resistor

Brake Applied Released Applied Released Applied

Appendix -9
 APPENDIXES

n Option list
1) Various cables (Cable with connectors)

4. External regenerative resistor (thin type)

5. External regenerative resistor
(separate installation)
1. Control input/output cable
Model Length[m]

ＷＳＣ－Ｄ２６Ｐ０３ ３ 1. Control input/output cable

2. Motor power supply cable ④ 4. External regenerative resistor

Model Length[m] (thin type)
ＷＳＣ－Ｓ０３Ｐ０３－Ｂ ３ 2. Motor power supply cable
Model Capacity
ＷＳＲ－４０１－Ｔ 400W or less
ＷＳＲ－７５１－Ｔ 750W

① 5. External regenerative resistor

3. Encoder cable 3. Encoder cable (separate installation) *
Model Length[m] Model Capacity
ＷＳＣ－Ｐ０６Ｐ０５ ５ ＷＳＲ－４０１ 400W or less
ＷＳＣ－Ｐ０６Ｐ１０ １０ ③ ＷＳＲ－７５１ 750W
ＷＳＣ－Ｐ０６Ｐ２０ ２０ ⑥ ⑤

② 6. Motor power supply cable

Model Length[m] Brake
6. Motor power supply cable ＷＳＣ－Ｍ０４Ｐ０５－Ｂ ５
ＷＳＣ－Ｍ０４Ｐ１０－Ｂ １０ None
ＷＳＣ－Ｍ０４Ｐ２０－Ｂ ２０
ＷＳＣ－Ｍ０６Ｐ０５－Ｂ ５

⑦ ＷＳＣ－Ｍ０６Ｐ１０－Ｂ １０ Installed
ＷＳＣ－Ｍ０６Ｐ２０－Ｂ ２０

* The external regenerative resistor (separate installation type) is not equipped with the connector for connection with the amplifier. The external
regenerative resistor connector (WSK-R03P-B) is necessary.

2) Various connectors (For cables prepared by customer)

Control input/output wiring Encoder wiring connector Encoder wiring connector Motor power supply wiring
Series Main circuit connector
connector (amplifier side) (on motor side) connector
For power supply
wiring ①
④ ⑤ ⑥ ⑦

Appearance
For external
regenerative resistor
②
For motor power supply ③

For power supply wiring

ＷＳＫ－Ｓ０３Ｐ－Ｂ Without brake
ＷＳＫ－Ｍ０４Ｐ
For external regenerative
Model resistor ＷＳＫ－Ｄ２６Ｐ ＷＳＫ－Ｐ０６Ｐ－Ｍ ＷＳＫ－Ｐ０６Ｐ－Ｆ
ＷＳＫ－Ｒ０３Ｐ－Ｂ
With brake
For motor power supply ＷＳＫ－Ｍ０６Ｐ
ＷＳＫ－Ｍ０３Ｐ－Ｂ

For power supply wiring

０．７５ｍｍ２ * Cross-linked polyethylene cable with vinyl sheath for
robot travel (twisted pair type) For motor power supply
Cable size For external regenerative ＡＷＧ２６ ＲＭＣＶ－ＳＶ ＡＷＧ＃２５／４Ｐ＋ＡＷＧ＃２３／２Ｃ ０．７５ｍｍ２ *
(common for resistor 26-element batch shielded (10 m or less)
*
all models) ０．７５ｍｍ２ cable ＡＷＧ＃２３／４Ｐ＋ＡＷＧ＃１７／２Ｃ For brake
(50 m or less) ０．７５ｍｍ２ *
For motor power supply Made by Daiden Co., Ltd.
０．７５ｍｍ２ *

*: The cable is based on the 600V cable with vinyl sheath.

Appendix -10
 APPENDIXES
n Parameter list
Use these pages for reminder of parameter settings.

n FALDIC-β parameter list (1)

No. Name Setting range Initial value Setting
Basic setting
01 Command pulse correction α 1 to 32767 (in 1 increments) 8
02 Command pulse correction β 1 to 32767 (in 1 increments) 1
0: Command pulse/command sign,
03 Pulse train input form 1: Forward/reverse rotation pulse, 1
2: Two signals with 90-degree phase difference
0: Positive direction: Forward rotation (CCW),
04 Direction of rotation switch 0
1: Positive direction: Reverse rotation (CW)
0: Auto tuning,
05 Tuning mode 1: Semi-auto tuning, 0
2: Manual tuning
06 Load inertia ratio 0.0 to 100.0 times (in 0.1 increments) 5.0
07 Auto tuning gain 1 to 20 (in 1 increments) 10
08
and Not used - 0
09
System setting
10 CONT 1 signal allocation 0 to 10 (in 1 increments) 1 [RUN]
0: Not specified 1: Operation command [RUN]
11 CONT 2 signal allocation 2: Reset [RST] 3: + overtravel 2 [RST]
4: - overtravel 5: Emergency stop [EMG]
12 CONT 3 signal allocation 6: P-action 7: Deviation clearance
0
13 CONT 4 signal allocation 8: External regenerative 9: Anti-resonance 0
resistor overload frequency selection 0
14 CONT 5 signal allocation 10: Anti-resonance frequency selection 1 0
0 to 5 (in 1 increments) 1
15 OUT 1 signal allocation 0: Not specified 1: Alarm detection: a-contact Alarm detect:
a-contact
2: Alarm detection: b-contact 3: Dynamic brake
16 OUT 2 signal allocation 4: Overtravel detection 5: Forced stop detection 0
17 Output pulse count 16 to 16384 [pulse] (in 1 increments) 2048
18 Phase-Z offset 0 to 65535 [pulse] (in 1 increments) 0
19 Zero deviation width 1 to 10000 [pulse] (in 1 increments) 200
20 Deviation limit width 10 to 65535 [x 100 pulse] (in 1 increments) 10000
21 Zero speed width 10 to 5000 [r/min] (in 1 increments) 50
22 Positioning end judgment time 0.000 to 1.000 sec. (in 0.001 increments) 0.000
23 Max. current limit 0 to 300 % (in 1 increments) 300
0: No detection,
24 Undervoltage alarm detection 1
1: Detection
0: Invalid,
Regenerative resistor electronic
25 1: Valid (optional regenerative resistor (thin 0 *1
thermal calculation
type))
Dynamic brake on overtravel 0: Invalid,
26 0
detection valid/invalid 1: Valid
0: Write-enable,
27 Parameter write-protection 0
1: Write-protected
28 Keypad panel initial display 0 to 11 (in 1 increments) 0
29 Speed setting (for test operation) 1 to 5000 [r/min] (in 1 increments) 100
Acceleration / deceleration time
30 0.000 to 9.999 sec. (in 0.001 increments) 0.100
(for test operation)
31
to Not used - 0
39

Appendix -11
APPENDIXES

n FALDIC-β parameter list (2)

No. Name Setting range Initial value Setting
Control system setting
40 Position adjustor gain 1 1 to 1000 [red/sec] (in 1 increments) 77 *2
41 Speed response 1 1 to 1000 [Hz] (in 1 increments) 57 *2
Speed adjustor integration time
42 1.0 to 1000.0 [msec] (in 0.1 increments) 25.9 *2
1
43 S-curve time constant 0.0 to 100.0 [msec] (in 0.1 increments) 2.0
44 Feed forward gain 0.000 to 1.500 (in 0.001 increments) 0.000
45 Feed forward filter time constant 0.0 to 250.0 [msec] (in 0.1 increments) 12.9 *2
46 Torque filter time constant 0.00 to 20.00 [msec] (in 0.01 increments) 0.31 *2
47 Speed setting filter 0.00 to 20.00 [msec] (in 0.01 increments) 0.00
0: Position deviation (x 10),
48 Gain switching factor 1: Feedback speed, 1
2: Command speed
49 Gain switching level 1 to 1000 (in 1 increments) 50
50 Gain switching time constant 0 to 100 [msec] (in 1 increments) 10
51 Position adjustor gain 2 30 to 200 % (in 1 increments) 100
52 Speed response 2 30 to 200 % (in 1 increments) 100
Speed adjustor integration time
53 30 to 200 % (in 1 increments) 100
2
Position gain added when
54 0 to 100 [red/sec] (in 1 increments) 0
setting
55 Addition limit when setting 0 to 200 [r/min] (in 1 increments) 0
0: None,
Command follow-up control 1: Command follow-up control,
56 0
selection 2: Command follow-up control (with correction
on stop)
57 Notch filter 1 frequency 10 to 200 [x 10Hz] (in 1 increments) 200
58 Notch filter 1 damping amount 0 to 40 [dB] (in 1 increments) 0
59 Notch filter 2 frequency 10 to 200 [x 10 Hz] (in 1 increments) 200
60 Notch filter 2 damping amount 0 to 40 [dB] (in 1 increments) 0
61 Anti-resonance frequency 0 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0
62 Anti-resonance frequency 1 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0
63 Anti-resonance frequency 2 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0
64 Anti-resonance frequency 3 5.0 to 200.0 [Hz] (in 0.1 increments) 200.0
65
to Not used - 0
79
For adjustment by manufacturer
For adjustment by manufacturer Adjusted
80 -
1 value
For adjustment by manufacturer Adjusted
81 -
2 value
For adjustment by manufacturer Adjusted
82 -
3 value
For adjustment by manufacturer Adjusted
83 -
4 value
84
to Not used - 0
99

Appendix -12
 APPENDIXES

Alphabetical index
A
AC reactor ･････････････････････････ 10-12 Auto tuning gain ･･････････････････････ 5-13
Actual torque ･････････････････････････ 8-9 Auto tuning gain setting ････････････････ 8-17
Addition limit when setting ･････････････ 7-14
Adjust the large inertia. ････････････････ 6-5 C
Alarm detection ･･･････････････････････ 8-6 Cable size ･･･････････････････････････ 10-4
Alarm detection: a-contact (b-contact)･･･ 5-28 Cable stress ･･････････････････････････ 2-4
Alarm history ･････････････････････････ 8-7 Close mounting････････････････････････ 2-9
Alarm history initialization ･････････････ 8-16 Command follow-up control ････････････ 7-12
Alarm indication Command pulse/command sign･･････････ 5-8
[01] (Overcurrent 1) ････････････････ 9-10 Commercial power supply･･･････････････ 3-4
[02] (Overcurrent 2) ････････････････ 9-10 Control block diagram ･････････････････ 5-44
[03] (Overspeed)･･･････････････････ 9-11 CONT signal allocation ････････････････ 5-16
[04] (Overvoltage)･･････････････････ 9-11
[05] (Encoder trouble) ･･････････････ 9-12 D
[06] (Control power alarm 1) ･････････ 9-12 Depth of amplifier ･････････････････････ 2-11
[07] (Control power alarm 2) ･････････ 9-12 Deviation clearance ･･･････････････････ 5-25
[08] (Memory alarm)････････････････ 9-13 Deviation limit width ･･･････････････････ 5-35
[09] (Motor combination alarm)･･･････ 9-13 Dimensional drawing ･････････････････ 11-15
[10] (Regenerative transistor overheat) 9-14 Dimensional tolerances ･････････････････ 2-4
[11] (Encoder communication alarm)･･ 9-14 Discharge････････････････････････････ 9-21
[12] (CONT duplication) ･････････････ 9-14 Dynamic brake ･･･････････････････････････
[13] (Overload) ････････････････････ 9-15 ････････････････････････････････ 5-29,5-40
[14] (Undervoltage)･････････････････ 9-16
[15] (Regenerative resistor overheat) ･ 9-16 E
[16] (Deviation limit) ････････････････ 9-17 Editing a value ･･･････････････････････ 8-13
[17] (Amplifier overheat) ････････････ 9-17 ELB ･････････････････････････････････ 10-6
[18] (Encoder overheat) ･････････････ 9-18 Electromagnetic contactor･･････････････ 10-7
[19] (Initial error) ･･･････････････････ 9-18 Electronic gear ････････････････････････ 5-6
Alarm reset･･････････････････････････ 8-16 Encoder
Anti-resonance frequency ･････････････ 5-53 Wiring cable ･･･････････････････････ 3-13
Anti-resonance frequency selection･････ 5-27 Connection ････････････････････････ 3-13
Appearance of product Cable size ･････････････････････････ 3-13
Servo amplifier ･････････････････････ 1-8 Expected service life ･･････････････････ 9-21
Servomotor ････････････････････････ 1-7 External regenerative resistor･･････････ 10-14
Assembling the GYN gear head ･････････ 2-6 External regenerative resistor overheat ･･ 5-26
Auto tuning･･････････････････････････ 5-11

Appendix -13
 APPENDIXES

F
FAB ････････････････････････････････ 10-6 Manual operation ････････････････････ 8-15
Feedback speed ･･････････････････････ 8-9 Manual tuning ･･･････････････････････ 5-11
Feed forward filter time constant ･･･････ 5-46 Max. current limit ････････････････････ 5-37
Feed forward gain････････････････････ 5-48 Memory back-up･･････････････････････ 9-3
Forced stop ･････････････････････････ 5-22 Minor fault ･･････････････････････････ 5-29
Forced stop detection･････････････････ 5-22 Mounting
Forward/reverse rotation pulse ･･････････ 5-8 Servo amplifier ･････････････････････ 2-0
Servomotor ････････････････････････ 2-2
G
Gain switching factor ･････････････････ 5-50 N
Gain switching level ･･････････････････ 5-50 Notch filter ･･････････････････････････ 5-52
Gain switching time constant ･･････････ 5-50 Number of pulses output per each revolution ･ 5-32
Guideline for harmonics suppression ･･ 10-12
O
H OL thermal value ････････････････････ 8-11
Handling Operating environment
Servo amplifier ･････････････････････ 2-10 Servo amplifier ･････････････････････ 2-8
Servomotor ･････････････････････････ 2-3 Servo motor････････････････････････ 2-2
How the nameplate looks Operation command [RUN]････････････ 5-18
Servo amplifier ･･････････････････････ 1-8 Operation mode ･･････････････････････ 8-5
Servomotor ･････････････････････････ 1-7 Output signal ････････････････････････ 8-10
OUT signal allocation･････････････････ 5-16
I Overtravel ･･････････････････････････ 5-20
Initial display of the keypad panel ･･････ 5-41 Overtravel detection ･･････････････････ 5-20
Initial status ･･････････････････････････ 9-4
Input signal･･････････････････････････ 8-10 P
Interface circuit diagram ･･･････････････ 3-8 P-action ････････････････････････････ 5-24
Parameter configuration ･･･････････････ 5-2
L Parameter editing method･･････････････ 5-3
List of servomotor specifications ･･･････ 11-2 Parameter initialization ･･･････････････ 8-16
List of servo amplifier specifications ････ 11-6 Parameter write-protection ････････････ 5-41
Load ････････････････････････････････ 2-5 Peak torque ･･････････････････････････ 8-9
Load inertia ratio ･････････････････････････ Phase-Z offset･･･････････････････････ 5-33
････････････････････････････････5-12,8-11 Phase-Z position adjustment ･･････････ 8-17
Poor positioning accuracy ･･････････････ 9-8
M Position controller gain 1 ･･････････････ 5-46
Main circuit terminals ･･････････････････ 3-6 Position controller gain 2 ･･････････････ 5-50
Major fault ･･････････････････････････ 5-29 Position gain added when setting ･･････ 7-14

Appendix -14
 APPENDIXES
T
Positioning end judgment time ･････････ 5-37 Thrust load･･･････････････････････････ 2-5
Positioning end [PSET] ･･･････････････ 5-31 Torque filter time constant･････････････ 5-46
Positive direction: Forward rotation (CCW)･･･ 5-10 Two signals with 90-degree phase difference ･ 5-8
Power filter ･････････････････････････ 10-10
Power supply V
Servo amplifier ････････････････････ 2-10 Value indication ･････････････････････ 8-12
Servomotor ････････････････････････ 2-3 Value beyond specified range ･････････ 8-13
Power supply capacity ･････････････････ 3-5 Vibration control ･･････････････････････ 7-2
Power supply for brake ････････････････ 3-3
Pulse string frequency ････････････････ 8-10 Z
Zero deviation ･･･････････････････････ 5-34
R Zero speed width ････････････････････ 5-36
Radial load ･･･････････････････････････ 2-5
Ready [RDY] ････････････････････････ 5-30
Regenerative resistance thermal value ･･ 8-11
Regenerative resistor electronic
thermal calculation ･･･････････････････ 5-39
Reset [RST] ･････････････････････････ 5-18

S
S-curve time constant ････････････････ 5-48
Semi-auto tuning･････････････････････ 5-11
Sequence input/output terminal ･････････ 3-7
Servomotor does not rotate. ････････････ 9-6
Servomotor hunting ･･･････････････････ 9-7
7-segment indication ･･････････････････ 8-2
Speed controller integration time 1 ･････ 5-46
Speed controller integration time 2 ･････ 5-50
Speed response 1････････････････････ 5-46
Speed response 2････････････････････ 5-50
Speed setting filter ･･･････････････････ 5-49
Speed-torque characteristics ･･････････ 11-8
Storage temperature
Servo amplifier ･････････････････････ 2-8
Servomotor ････････････････････････ 2-2
Storing the value ･････････････････････ 8-13
Surge absorber ･･････････････････････ 10-8

Appendix -15
 APPENDIXES

-MEMO-

Appendix -16
 APPENDIXES

-MEMO-

Appendix -17
Fuji Electric Co., Ltd.
ED & C · Drive Systems Company
Gate City Ohsaki, East Tower, 11-2, Osaki 1-chome
Shinagawa-ku, Tokyo 141-0032, Japan
Phone: +81-3-5435-7139 Fax: +81-3-5435-7460
Printed on recycled paper

Information in this manual is subject to change without notice. 2002-4 CM