M0009143C

TYPE F (DC48V)
Pulse Input Type
For Rotary Motor
Details of revision history

The third edition (C)

■ Chapter 2 and 4
● A precaution to use battery for main circuit added.

■ Chapter 2
● A precaution on control power supply added.
● Terminal layout on connector for battery added.

■ Chapter 5
● A precaution on parameters for Backup Type Absolute Encoder Function Selection added.
● Maximum number of repetitions of turning-on/off of servo amplifier added.
● A precaution during parameter-writing to servo amplifier added.
● A precaution on resetting alarm added.
● A formula for converting between “effective torque monitor” and “motor utilization monitor” added.
● A precaution on parameters for Model Following Control added.
● A precaution on parameters for Torque Limit Function added.
● A precaution on parameters for Analog Monitor added.
● A precaution on parameters for Dynamic Brake Operation added.

■ Chapter 10
● Outline dimensional drawing of lithium battery added.
Safety precautions Please fully follow
Carefully review this operating manual and the supporting documentations to use the product
properly before perfoming installation, operation, and maintenance.
Use this product after you fully understand sufficient knowledges on all the equipments and safety
information, and precautions.
This manual classifies safety precautions as follows:
• “DANGER”
• “WARNING”
• “CAUTION”

■ Signs of WARNING
When handled incorrectly, excessive dangerous circumstances
may occur to the extent that risk of death or suffering serious
DANGER injuries are envisioned.

When handled incorrectly, dangerous circumstances may occur to

the extent that risk of death or suffering serious injuries are
WARNING envisioned.

When handled incorrectly, dangerous circumstances may occur to

the extent that risk of moderate injuries, minor injuries, or physical
CAUTION damages only are envisoend.

Please be advised that even items in the scope of CAUTION may have serious
consequences depending on circumstances. Fully observe every item that has important details.

■ Signs of PROHIBITION and MANDATORY

Indicates PROHIBITIONs (actions that must not be done).

Indicates MANDATORY actions (that must be performed without

fail).

i
Safety precautions Please fully follow

■ Operating precautions

WARNING
Fully observe the following warnings because of risk of electrical shock and injury.
‹ Do not operate the product in explosive atmospheres, because of risk of injuries and fire.
‹ Do not perform wiring and maintenance with applying current. These must be done over 10
minutes after breaking main power supply and after confirmation main power supply
capacitor discharged, because of risk of electrical shock and damages.
‹ Surely ground earth terminal of servo amplifier (protective grounding terminal) to equipment
or control board. Connect earth terminal of servo motor to earth terminal of servo amplifier
without fail, because of risk of electrical shock.
‹ Never touch the inside of servo amplifier, because of risk of electrical.
‹ Do not scratch cables, apply excessive stresses, put heavy things, and tuck down any
things, because of risk of electrical.
‹ Do not touch rotating area of servo motor while operating, because of injuries.

CAUTION
‹ Use designated combination of servo amplifier and motor, failure to observe this causes fire
and failure.
‹ Person with expertise shall perform transfer, installation, wiring, operation, and
maintenance, because of risk of electrical shock, injuries, and fire.
‹ Never install in water existed area, corrosive and flammable gas atmosphere, and near
combustible materials, failure to observe this causes fire and failure.
‹ Read operating manual and observe the instructions prior to installation, operation, and
maintenance, because of risk of electrical shock, injuries, and fire.
‹ Do not use servo amplifier and motor outside the scope of the specifications, because of
risk of electrical shock, injuries, and fire.
‹ When wiring of main power supply and motor power line are relatively long, motor torque
decreases due to impedance of wiring. Set acceleration and deceleration torque with
sufficient margin when selecting motor, and verify them on actual equipment.

CAUTION
‹ Be careful of peripheral equipments of servo amplifier and motor that are subjected to high
temperature, because of risk of burn injuries.
‹ Do not touch heat sink fin of servo amplifier and servo motor are at high temperature when
applying current or for a while after breaking power supply, because of risk of burn injuries.

ii
Safety precautions Please fully follow

■ Storage

PROHIBITION
‹ Do not storage the product in water, hazardous gas, and liquid existed area, failure to
observe this causes failure.

MANDATORY
‹ Storage the product within the specified temperature and himidity range ”-20°C thorugh
+65°C, 90%RH” or less (no condensation) and by avoiding direct sunlight. Failure to
observe this causes failure.
‹ Please contact us if storage period of servo amplifier has been long-term (for over 3 years),
as long-term storage causes decrease capacity of electrolytic capacitor. Failure to observe
this causes failure.
‹ Please contact us if storage period of servomotor has been long-term (for over 3 years)，
verification of bearing and brake are required.

■ Transportation

CAUTION
‹ When transporting the product, do not pick cables, motor shafts, and detecting devices,
because of risk of failure and injuries.
‹ When transporting the product，be aware of dangers of falling and rolling over, because of
risk of injuries.

MANDATORY
‹ Products overloading causes collapsing, so observe the instructions on the outer case,
because of risk of injuries.
‹ Use eyebolt of servo motor to carry servo motor only, not any equipments, because of risk
of injuries and failure.

iii
Safety precautions Please fully follow

■ Installation

CAUTION
‹ Do not put heavy things or get on top of the product, because of risk of injuries.
‹ Fully observe installation direction, failure to observe this causes fire and failure.
‹ Do not let fall and apply high impacts on the products. Failure to observe this causes
failure.
‹ Do not shut or let foreign materials into the port, because of risk of fire.
‹ Keep proper distances for lay out in servo amplifier control board as instructed in operating
manual, failure to observe this causes fire and failure.
‹ Unpack after confirming top and bottom of the case, because of risk of injuries.
‹ Confirm no discrepancies between delivered product and ordered item. Failure to observe
this causes injuries and damages.
‹ Be aware of risk of falling and rolling over when installing. Use eyebolt if supplied with
servo motor, because of risk of injuries.
‹ Install the product in incombustible materials like metal, because of risk of fire.

■ Wiring

CAUTION
‹ Perform wiring surely and correctly, because of risk of injuries.
‹ Perform wiring in accordance with instructions in wiring diagram or operating manual,
because of risk of electrical shock and fire.
‹ Perform wiring in accordance with electrical facility technical standard and wiring
regulation, because of risk of burnout and fire.
‹ Do not connect commercial power supply to U, V, and W terminal of servo motor, because
of risk of fire and failure.
‹ Place safety device like braker in case of short circuit of external wiring, because of risk of
fire.
‹ Do not band power conduit cables, I/O signal cables, and encoder cables together, or pass
them through the same duct. Failure to observe this causes malfunction.
‹ Do not connect DC90V or AC power supply to DC24V brake of servo motor. Do not
connect AC400V power supply to AC200V fan of servo motor, because of risk of burnout
and fire.
‹ Do not use thin cables for wiring, or avoid excessive long wiring for power input cables and
motor power coduit cables, as these may cause control circuit inoperative or failure of
specification-compliant operation due to torque decrease. Set acceleration and
deceleration torque with sufficient margin when selecting motor.

iv
Safety precautions Please fully follow

■ Operation

CAUTION
‹ Never make excessive adjustment change as the operation becomes unstable, and there is
risk of injuries.
‹ Fix servo motor apart from mechanical equipments to perform test operation and install in
the machine after operation check, because of risk of injuries.
‹ Holding brake is not a stopping device to secure machine safety. Place a stop device to
secure safety on the side of machine, because of risk of injuries.
‹ When alarm activated, eliminate the causes, ensure the safety, and reset alarm to restart
operation, because of risk of injuries.
‹ Confirm input power supply voltage is within the scope of the specification. Failure to
observe this causes failure.
‹ Do not get close to machine as the machine may restart without notice after recovery from
momentary stoppage. (Design machines so as to secure safety in case of restart.)
There are risks of injuries.
‹ Do not use broken, damaged, and burnout servo amplifier and motor, because of risk of
injuries and fire.
‹ In the event of malfunction, stop the operation immediately, because of risk of injuries,
electrical shock, and fire.
‹ When using servo motor on the vertical axis, place safety device so as not to let works fall
when alarm activated, Because of risk of injuries and damages.

PROHIBITION
‹ Holding brake supplied with servo motor is designed to hold only, so do not use this brake
for normal braking. If used for braking, this brake is damaged. Failure to observe this
causes failure.
‹ Do not apply static electricity and high voltage to cables for servo motor encoder. Failure to
observe this causes failure.
‹ Do not continuously and externally rotate servomotor in combination with servo amplifier
with standard dynamic brake resistance when servo is off, as dynamic brake resistance
produces heat, because of risk of fire and burn injuries.
‹ Do not disconnect connectors when applying current, because of risk of damages.

v
Safety precautions Please fully follow

MANDATORY
‹ Externally place emergency stop circuit so as to immediately stop operation and disconnect
power supply. Incorporate safeguard circuit into the outside of servo amplifier so as to
disconnect main circuit power when alarm activated, because of risk of going out of control,
injuries, burnout, fire, and secondary damages.
‹ Any protective devices are not supplied with servo motor, so protect the motor with
overcurrent protective device, earth leakage breaker, overtemperature preventive device,
and emergency stop device, because of risk of injuries and fire.
‹ Operate within the scope of specified temperature and humidity.
Servo amplifier
Temperature: 0°C thorugh 40°C
Humidity: 90% RH or less (No condensation)
Servo motor
Temperature: 0°C thorugh 40°C
Humidity: 20 through 90%RH (No condensation, as this causes burnout and failure.)

■ Maintenance

CAUTION
‹ Some servo amplifier component parts (electrolytic capacitor and lithium battery for
encoder) aged-deterioration. For preventive maintenance, replace the parts by referring
standard cycle of replace, and contact us when replacing. Failure to observe this causes
failure.
‹ Never get close to or touch terminals and connectors when applying current, because of
risk of electrical shock.
‹ Do not disconnect connectors when applying current, because of risk of damages.
‹ Be aware of high temperature of servo amplifier flame when performing maintenance,
because of risk of burn injuries.
‹ Please contact us when you would like to repair, as overhaul causes product inoperative.
Failure to observe this may causes failure.

PROHIBITION
‹ Do not perform overhaul.
Overhaul causes fire and electrical shock.
‹ Do not measure insulation resistance and dielectric strength voltage, because of risk of
damage.
‹ When applying current, never remove terminals and connectors (except for insertable and
removable ones), because of risk of electrical shock and damages.
‹ Do not remove nameplate

■ Disposal

MANDATORY
‹ Dispose servo amplifier or motor as industrial waste.

vi
Table of contents

Table of contents
1. Preface
1.1 Introduction ······························································································································································· 1-1
1) Changes and additions to AC Servo amplifier SANMOTION R (previous model) ··················································· 1-1
1.2 Instruction Manual ···················································································································································· 1-2
1) Contents·································································································································································· 1-2
2) Precautions on this manual····································································································································· 1-2
1.3 Illustration of System Components ··························································································································· 1-3
1.4 Model number structure ············································································································································ 1-4
1) Model number of servo motor ································································································································· 1-4
2) Model numbers of servo amplifier (abbreviated model numbers) ··········································································· 1-5
1.5 Part names ······························································································································································· 1-6
1) Servo amplifier ························································································································································ 1-6
2) Servo motor ···························································································································································· 1-7

2. Specification
2.1 Servo motor ························································································································································· 2-1
1) Common specification ······································································································································ 2-1
2) Servo motor external dimension, specification, and weight ·············································································· 2-1
3) Mechanical specification, strength, and engineering precision········································································· 2-1
4) Oil seal type······················································································································································ 2-2
5) Holding brake ··················································································································································· 2-3
6) Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake······························· 2-3
2.2 Motor encoder······················································································································································ 2-4
1) Serial encoder ·················································································································································· 2-4
2) Pulse encoder ·················································································································································· 2-4
3) Battery specification ········································································································································· 2-5
2.3 Servo amplifier ····················································································································································· 2-6
1) Common specification ······································································································································ 2-6
2) Input command, position output signal, general-purpose input signal, and general-purpose output signal ··· 2-7
2.4 Power supply and amount of heat generation······································································································ 2-9
1) Input current of main circuit power supply and control power supply ······························································· 2-9
2) Inrush current and leakage current··················································································································· 2-9
3) Amount of heat generation ······························································································································· 2-9
2.5 Cautions on load ················································································································································ 2-10
1) Restrictions on acceleration time, deceleration time，and effective torque····················································· 2-10
2) Negative load ················································································································································· 2-10
3) Load inertia moment······································································································································· 2-10
2.6 Position signal output ········································································································································· 2-11
1) Positions signals by serial signals ·················································································································· 2-11
2) Binary code output format and transfer period ······························································································· 2-12
3) ASCII decimal code output format and transfer period ··················································································· 2-13
4) Position signal output from pulse signal ········································································································· 2-14
2.7 Specifications for analog monitor ······················································································································· 2-15
2.8 Specifications for dynamic brake························································································································ 2-16
1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake ··········· 2-16

3. Installation
3.1 Installation································································································································································· 3-1
1) Servo amplifier ························································································································································ 3-1
2) Unpacking ······························································································································································· 3-2
3) Installation direction and position ···························································································································· 3-3
4) Conditions on layout in control cabinet···················································································································· 3-3
5) Cooling conditions··················································································································································· 3-4
3.2 Servo motor ······························································································································································ 3-5
1) Precautions ····························································································································································· 3-5
2) Unpacking ······························································································································································· 3-5
3) Installation······························································································································································· 3-5
4) Installation······························································································································································· 3-6
5) Water and dust proofing ·········································································································································· 3-6
6) Protective cover placement····································································································································· 3-7
7) Gear installation and co-assembly with mating machine························································································· 3-7
8) Allowable load for bearing ······································································································································· 3-9
9) Cable installation and its related cautions ············································································································· 3-10

vii
4. Wiring
4.1 Wiring of main circuit power supply, control power supply, servomotor, and protective grounding. ·························· 4-1
1) Name and function ·················································································································································· 4-1
2) Electrical wire·························································································································································· 4-1
3) Wire diameter - allowable current ··························································································································· 4-1
4) Terminal layout of connector CNA and CNB ··········································································································· 4-2
5) Recommended wire diameter and cable length ······································································································ 4-3
6) Example of wiring···················································································································································· 4-4
4.2 Wiring connection diagram to host equipment ·········································································································· 4-5
1) Name and pin number of signal CN1A and CN1B (wiring connection to host equipment) ······································ 4-5
2) Layout of connector CN1-A····································································································································· 4-6
3) Name and its function of signal CN1-A ··················································································································· 4-6
4) Connection circuit of terminal CN1-A ······················································································································ 4-7
5) Layout of connector CN1-B····································································································································· 4-9
6) Signal name and its function ··································································································································· 4-9
7) Terminal connection circuit ···································································································································· 4-10
4.3 Wiring of motor encoder ········································································································································· 4-12
1) Name and function of connector CN2 ··················································································································· 4-12
2) Terminal number on servo amplifier side··············································································································· 4-13
3) Recommended specification of encoder cable······································································································ 4-14
4) Encoder cable length ············································································································································ 4-14
5) Layout of terminal of connector for battery············································································································ 4-14

5. Operation
5.1 How to change servo motor to be combined ·········································································································· 5-1
1) Change and verify servo motor with use of setup software ·················································································· 5-1
5.2 System parameters ················································································································································ 5-2
1) Specification confirmation····································································································································· 5-2
2) System parameters list ········································································································································· 5-4
3) Confirmation and settings of system parameters·································································································· 5-4
4) Change and verify system parameters (settings for motor encoder specification)················································ 5-6
5) Default set values at factory ································································································································· 5-9
5.3 Test operation······················································································································································· 5-10
1) Confirmation of installation and wiring ················································································································ 5-10
2) Confirmation of movement ································································································································· 5-10
3) Confirmation of input-output signal ····················································································································· 5-11
4) Confirmation of device operation ························································································································ 5-12
5.4 Servo amplifier status display······························································································································· 5-13
1) Default display ···················································································································································· 5-13
2) Alarm display······················································································································································ 5-13
3) Control power input display ································································································································ 5-13
5.5 Operation sequence ············································································································································· 5-14
1) Operational sequence from power-on through power-off in standard setting at factory······································ 5-14
2) Stop sequence when alarm activated ················································································································· 5-16
3) Sequence when alarm reset······························································································································· 5-19
4) Sequence when power is turned OFF during operation (during servo ON) ························································ 5-20
5.6 Monitor function···················································································································································· 5-21
1) Monitor function ·················································································································································· 5-21
2) Description of monitor········································································································································· 5-22
5.7 Analog monitor and digital monitor ······················································································································· 5-26
5.8 Setting of parameters ··········································································································································· 5-27
1) Parameters list ··················································································································································· 5-27
5.9 Parameter functions ············································································································································· 5-33
5.10 Control block diagram ········································································································································ 5-87

6. Adjustment
6.1 Servo tuning functions and basic adjustment procedure ·························································································· 6-1
1) Servo tuning functions············································································································································· 6-1
2) Selection of tuning method······································································································································ 6-2
6.2 Automatic Tuning ······················································································································································ 6-3
1) Parameters for use in automatic tuning.·················································································································· 6-3
2) Parameters automatically adjusted during automatic tuning ··················································································· 6-6
3) Adjustable parameters when auto-tuning in progress ····························································································· 6-6
4) Unstable functions during auto-tuning····················································································································· 6-7
5) Auto-Tuning Characteristic selection flowchart········································································································ 6-8
6) Adjustment method for auto-tuning ························································································································· 6-9
 7) Monitoring servo gain adjustment parameters ······································································································ 6-10
8) Manual tuning method using auto-tuning results··································································································· 6-10
6.3 Automatic tuning of notch filter································································································································ 6-11
1) Operation method··········································································································································· 6-11
2) Parameters to be set ······································································································································ 6-11
6.4 Automatic tuning of FF vibration suppression frequency ························································································ 6-12
1) Operation method··········································································································································· 6-12
2) Parameters to be set ······································································································································ 6-12
6.5 Use of manual tuning ·············································································································································· 6-13
1) Servo system configuration and servo adjustment parameter ·············································································· 6-13
2) Basic manual tuning method for velocity control ··································································································· 6-15
3) Basic manual tuning method for position control··································································································· 6-15
6.6 Model-following control ··········································································································································· 6-16
1) Automatic tuning method of model-following control ····························································································· 6-16
2) Manual tuning method of model-following control ································································································· 6-17
6.7 Tuning to suppress vibration ··································································································································· 6-18
1) FF vibration suppression control ··························································································································· 6-18
2) Model-following and vibration suppression control································································································ 6-18
3) Tuning method ······················································································································································ 6-20
6.8 Use of disturbance observer functions···················································································································· 6-21

7. Maintenance
7.1 Troubleshooting ························································································································································ 7-1
7.2 Warning and alarm list ·············································································································································· 7-3
1) Warning list ····························································································································································· 7-3
2) Alarm List ································································································································································ 7-4
7.3 Troubleshooting when alarm activated ····················································································································· 7-7
7.4 Encoder-clear and alarm-reset procedure ·············································································································· 7-22
1) Motor encoder model ············································································································································ 7-22
2) Alarm code activated············································································································································· 7-22
7.5 Inspection ······························································································································································· 7-24
1) Items to be checked and corrective actions for operation error············································································· 7-24
7.6 Service parts··························································································································································· 7-25
1) Parts to be inspected······································································································································ 7-25
2) Motor encoder battery replacement ······················································································································ 7-25

8. Fully-closed control
8.1 Illustration of system configuration···························································································································· 8-1
8.2 Internal block diagram ·············································································································································· 8-2
8.3 Wiring 8-4
1) Connector name and its function····························································································································· 8-4
2) Terminal numbers on servo amplifier side··············································································································· 8-6
8.4 Fully closed control-related parameters ···················································································································· 8-7
1) System parameter setting ······································································································································· 8-7
2) Servo motor rotation direction setting······················································································································ 8-8
3) External encoder resolution setting ························································································································· 8-9
4) Digital filter setting··················································································································································· 8-9
5) Encoder output pulse signal···································································································································· 8-9
8.5 Remarks ································································································································································· 8-10
1) Timing to power-on external pulse encoder ·········································································································· 8-10
2) Operation of external pulse encoder ····················································································································· 8-10

9 Selection
9.1 Servo motor volume selection 9-1
1) Servo motor capacity selection flowchart ················································································································ 9-1
2) Create operation pattern. ········································································································································ 9-2
3) Calculate motor axis-converted load inertia moment (JL). ······················································································ 9-2
4) Calculate motor axis-converted load torque (TL). ··································································································· 9-3
5) Calculate acceleration torque (Ta).·························································································································· 9-5
6) Calculate deceleration torque (Tb). ························································································································· 9-5
7) Calculate effective torque (Trms). ··························································································································· 9-5
8) Judgment condition (determination condition)········································································································· 9-5
9.2 Remarks on regeneration ········································································································································· 9-6
1) Calculation of regenerative energy EM ··················································································································· 9-6
2) Coping process for regenerative energy ················································································································· 9-8
 9.3 Specification for regenerative unit··························································································································· 9-10
1) Specification·························································································································································· 9-10
2) Internal block diagram··········································································································································· 9-10
3) Regenerative unit front view·································································································································· 9-11
4) Connection diagram of regenerative unit ·············································································································· 9-12
5) Calculation of regenerative effective electrical power ··························································································· 9-14

10. Appendix
10.1 Conformance to standards···································································································································· 10-1
1) Conformance to standards ···································································································································· 10-1
2) Overvoltage category, Ingress Protection code, and degree of contamination······················································ 10-1
3) Connection and installation ··································································································································· 10-2
4) UL-file number ······················································································································································ 10-2
10.2 Conformance to EU Directive ······························································································································· 10-3
1) Conformity verification test···································································································································· 10-3
2) EMC installation requirements ······························································································································ 10-4
10.3 Outline dimensional drawing of servo motor ········································································································· 10-5
10.4 Servo motor data sheet········································································································································· 10-6
1) Characteristics ······················································································································································ 10-6
2) Velocity-torque characteristic ································································································································ 10-7
3) Rating decrease rate of motor with oil seal ··········································································································· 10-7
4) Overload characteristics········································································································································ 10-8
10.5 Outline dimensional drawing of servo amplifier····································································································· 10-9
10.6 Optional items····················································································································································· 10-10
1) Regenerative unit, RF1BB (A) 00························································································································ 10-10
2) Analog monitor box ············································································································································· 10-11
3) Connecting cable ················································································································································ 10-12
4) External regenerative resistor ····························································································································· 10-15
5) Lithium battery ···················································································································································· 10-16
No Text on This Page.
1
1. Preface
1.1 Introduction ................................................................................................................................................................ 1-1
1) Changes and additions to AC Servo amplifier SANMOTION R (previous model) ...................................................... 1-1
1.2 Instruction Manual ..................................................................................................................................................... 1-2
1) Contents ..................................................................................................................................................................... 1-2
2) Precautions on this manual ........................................................................................................................................ 1-2

1.3 Illustration of System Components .......................................................................................................................... 1-3

1.4 Model number structure ............................................................................................................................................ 1-4
1) Model number of servo motor..................................................................................................................................... 1-4
2) Model numbers of servo amplifier (abbreviated model numbers) ............................................................................... 1-5

1.5 Part names .................................................................................................................................................................. 1-6

1) Servo amplifier............................................................................................................................................................ 1-6
2) Servo motor ................................................................................................................................................................ 1-7

1
1. Preface Introduction

1.1 Introduction
AC servo amplifier “SANMOTION R ADVANCED MODEL low voltage-input type” is a small and one
axis servo amplifier with 2 kinds of capacities, to which main circuit power DC48V<24Ｖ> and control
power DC5V are input as external power supply. This model corresponds to rotary motor “series R,”
and both serial encoder and pulse encoder are available. Also, this can correspond to external pulse
encoder for fully closed system. Batteries for motor encoder can be installed in encoder cables. We
achieved decrease in volume having great advantage over AC-input servo amplifier by decreasing
voltage and down sizing of main circuit part, this can achieve down sizing in servo system

1) Changes and additions to AC Servo amplifier SANMOTION R (previous model)

The followings are differences between this model and the other SANYO DENKI products, such as
“SANMOTION series R (AC100/200V-input).”
■ DC-power input and down-sized
Down-sized and DC-power input type (main circuit DC48V <24Ｖ>, control circuit DC5V)servo
amplifier.
■ Placement of input power supply unit and overcurrent protection device
Input power supply for main power (DC48V <24Ｖ>) and control power (DC5V) of the servo
amplifier is designed to use AC/DC power (switching power supply). No fuses are built in input
sections of main and control power supply of the servo amplifier, so please place fuses or
breakers in power supply system from AC power down to servo amplifier input sections for the
purpose of overcurrent protection. (This servo amplifier is UL-approved under the condition
that fuses are placed in input sections. Refer to section 10 for global standards.)
■ Regenerative unit (optional)
Main circuit voltage may increase due to regenerative energies, depending on combined motor,
operation conditions, servo amplifier connection conditions. Regenerative circuit is not built in
servo amplifier. We can offer an optional regenerative unit for absorbing voltage.
■ Only available on pulse input mode
Control mode is position control mode only. Command is pulse input position command only.
Please note that analog velocity command, torque command, and torque limit command is not
available.
■ Analog monitor
Analog monitoring function to monitor servo amplifier & motor operation is not built in this servo
amplifier. You can monitor by connecting external monitor box.
■ Digital operator
Digital operator is not built in this model, such as built in our AC servo amplifier “SANMOTION
R” and “SANMOTION R ADVANCED MODEL.”
■ Safe torque-off function
Safe torque-off function is not built in this model.
■ Setup software
Setup software of “SANMOTION R ADVANCED MODEL” can be used as it is. (Except for
multiple-drop function to monitor multiple axes servo amplifier status.) Make sure not to
disconnect the control power supply, when writing parameters via setup software.
■ Cautions on wiring length
Main circuit power and control power supply are intended to be input from commonly used
AC/DC converter.
When wiring length from power supply to servo amplifier is relatively long, the voltage might
drop due to cable impedance, and this may cause motor torque decrease and control circuit
error. Please perform wiring with use of thick cable and minimal-length as much as possible, so
as not to let any voltage drops occur.

1-1
1. Preface How to use operating manual

1.2 Instruction Manual

This manual describes specification, installation, wiring, operation, functions, maintenance of AC servo
amplifier “SANMOTION R ADVANCED MODEL, low voltage-input type” as in the following order:
The figures in parentheses for main circuit voltage described in this manual are the values when the
voltage is DC24V.

1) Contents
■ “Section 1, Preface”
Describes product outline, model number structure, and each part name.
■ “Section 2, Specification”
Describes detailed specifications for “servo motor,” “motor encoder,” and “servo amplifier.”
■ “Section 3, Installation”
Describes installation method of product.
■ “Section 4, Wiring”
Describes wiring method of product.
■ “Section 5, Operation”
Describes operating sequence, test operation method, parameters.
■ “Section 6, Adjustment”
Describes automatic tuning and manual servo tuning.
■ “Section 7, Maintenance”
Describes probable causes and1.2 Instruction
corrective actions when alarm activated, and maintenances.
■ Manual
“Section 8, Fully closed control”
Describes fully closed control and its usage.
■ “Section 9, Selection”
Describes selecting method of servo motor capacity, regenerative energy and its coping
measures.
■ “Section 10, Appendix”
Describes overseas standard, servo motor data sheet, and outline dimensional drawing.

2) Precautions on this manual

Thoroughly read this manual prior to use the product to fulfill and correctly use functions of the product.
After thoroughly reading this manual, keep it handy for reference when needed. Fully observe safety
instructions described in this manual. Please note that we cannot guarantee the safety when you use
the product in any usages other than the specified usages in this operating manual. Figures in this
manual are partially schematic illustrations or abstractions. Contents of this manual are subject to
change without notice depending on product version upgrade or any additions. Any changes shall be
made only by revising this manual. We make assurance doubly sure on the contents of this manual,
however, in the event that any suspicions, errors, or erroneous omissions, please contact our sales
branch near you or head office indicated in the back of this manual.

1-2
 1. Preface System configuration

1.3 Illustration of System Components

The folowing shows an example of system configulation.

SANMOTION R ADVANCED MODEL

(Low voltage-input type)
Direct current DC5V

Power input

Direct current DC48V <24V>

Install this for the possibility

of regenerative energies Host equipment
and DC voltage increase,
depending on driving motor
and operating conditions.

Setup software

Regenerative unit
(An option)
This can set parameters
and monitor by
communicating with PC.

Motor input

Power supply to
release brake

Use this for servo motor

with brake. Please be
advised the power supply is Motor encoder
user-prepared item.

Servo motor

1-3
1. Preface Model number of servo motor

1.4 Model number structure

1) Model number of servo motor

R 2 GA 04 003 F X P 00

Series R Specification identification

00･･･Standard
01･･･With oil seal

Servo motor type

Encoder type
2･･･Medium
H･･･Absolute encoder for incremental system
P･･･Battery backup method absolute encoder
Power-supply W･･･Battery less absolute encoder
voltage
GA･･･DC48V-motor
Holding brake
X･･･Without brake
Flange size
04･･･40mm B･･･With brake (90V)
06･･･60mm C･･･With brake (24V)

Rated output Maximum rev velocity

003･･･30W 005･･･50W 008･･･80W F････6000min-1
010･･･100W 020･･･200W D････5000min-1
-1
(4500min )

Decreasing rating may be needed for the model with oil seal and brake.
Refer to “Section 2.1.6, Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake.”

■ Motor encoder

◆ Serial encoder
Resolution within 1 Resolution within
Model Name Transmission format
rotation multiple rotations
Absolute Half-duplex
encoder for start/stop
PA035S 131072(17bit) -
incremental synchronization
system 2.5Mbps (standard)
Half-duplex
Battery backup
start/stop
PA035C 131072(17bit) 65536(16bit) method absolute
synchronization
encoder
2.5Mbps (standard)
Half-duplex
Battery less
start/stop
RA035C 131072(17bit) 65536(16bit) absolute
synchronization
encoder
2.5Mbps (standard)

◆ Pulse Encoder
Motor flange
Model Resolution within 1 rotation Name
angle
1000/2000/2048/4096/5000/6000/8 Wire-saving incremental
PP031 40mm or over
192/10000 (P/R) encoder
✔ Please contact us on combinations with servo motors.

1-4
1. Preface Model number of servo amplifier

2) Model numbers of servo amplifier (abbreviated model numbers)

RF2 G 21 A 0 A 00

Series RF2 Separate

specification
00･･･Standard
Input voltage current 01･･･no DB
G･･･DC48V
H･･･DC24V

Servo amplifier size

11･･･Small-sized
21･･･Large-sized

Servo motor type Interface type

A･･･Rotary motor A･･･Pulse input, NPN (sink) output

Motor encoder type

0･･･Serial encoder
8･･･Pulse encoder

✔ Set value for servo amplifier is set to “standard set value” at factory.
✔ User needs to changes “combination setting of servo amplifier and motor,” “system
parameters,” and “general parameters” that shall be tailored to user equipment.
✔ Please be advised that user shall perform settings as tailored to system you use by referring
to the following sections.

◆ “Section 5-1, Setting change of servomotor combination”

◆ “Section 5-2, System parameters”
◆ “Section 5-2, Standard set value at factory”
◆ “Section 5-8, Parameter setting”

✔ Standard model servo amplifier is not available for “fully-closed system.” Please contact us
when you consider using.
✔ RF2 servo amplifier does not support “safe torque off function.”
✔ Output circuit of RF2 servo amplifier is exclusive for NPN (sink) output, not available for PNP
(source) output.

1-5
1. Preface Part names of servo amplifier

1.5 Part names

1) Servo amplifier
Front view

POW: LED for indication control

Connector for inputting power supply power established
CNA: Plug-side model number ALM：LED for alarm
Housing：VHR-5N STA：LED for status
Contact：SVH-21T-P1.1 or
Connector A for I/O signal for host equipment
SVH-41T-P1.1
(J.S.T. Mfg. Co., Ltd product) CN1A: Plug-side model number
Housing: PADP-14V-1-S
Contact：SPH-002GW-P0.5S
(J.S.T. Mfg. Co., Ltd product)

Connector B for I/O signal for host equipment

CN1B: Plug-side model number
Housing：PADP-20V-1-S
Contact：SPH-002GW-P0.5S
(J.S.T. Mfg. Co., Ltd product)

Connector for encoder signal

CN2: Plug-side model number
Connector for servo motor Housing：PADP-10V-1-S
CNB: Plug-side model number Contact：SPH-002GW-P0.5S
Housing：VHR-4N (J.S.T. Mfg. Co., Ltd product)
Contact：SVH-21T-P1.1 or
SVH-41T-P1.1 Connector for communicating with
(J.S.T. Mfg. Co., Ltd product) setup software

Bottom view

Connector for batteries

Connector for analog monitor box

Connector for inputting external encoder

■ Use gold-plated contacts for CN1A，CN1B，and CN2.

1-6
1. Preface Part names of servo motor

2) Servo motor

■ Lead type

R2□A04○○○△□◇
R2□A06○○○△□◇

Frame Encoder

Shaft

Flange

Encoder cable
Servo motor power cable
Brake cable

1-7
2
2. Specification
2.1 Servo motor ........................................................................................................................................................... 2-1
1) Common specification.......................................................................................................................................... 2-1
2) Servo motor external dimension, specification, and weight.................................................................................. 2-1
3) Mechanical specification, strength, and engineering precision ............................................................................ 2-1
4) Oil seal type ......................................................................................................................................................... 2-2
5) Holding brake....................................................................................................................................................... 2-3
6) Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake .................................. 2-3
2.2 Motor encoder........................................................................................................................................................ 2-4
1) Serial encoder...................................................................................................................................................... 2-4
2) Pulse encoder ...................................................................................................................................................... 2-4
3) Battery specification ............................................................................................................................................. 2-5
2.3 Servo amplifier....................................................................................................................................................... 2-6
1) Common specification.......................................................................................................................................... 2-6
2) Input command, position output signal, general-purpose input signal, and general-purpose output signal ....... 2-7
2.4 Power supply and amount of heat generation .................................................................................................... 2-9
1) Input current of main circuit power supply and control power supply ................................................................... 2-9
2) Inrush current and leakage current ...................................................................................................................... 2-9
3) Amount of heat generation................................................................................................................................... 2-9
2.5 Cautions on load ................................................................................................................................................. 2-10
1) Restrictions on acceleration time, deceleration time，and effective torque ....................................................... 2-10
2) Negative load ..................................................................................................................................................... 2-10
3) Load inertia moment .......................................................................................................................................... 2-10
2.6 Position signal output ......................................................................................................................................... 2-11
1) Positions signals by serial signals ...................................................................................................................... 2-11
2) Binary code output format and transfer period ................................................................................................... 2-12
3) ASCII decimal code output format and transfer period ...................................................................................... 2-13
4) Position signal output from pulse signal ............................................................................................................. 2-14
2.7 Specifications for analog monitor...................................................................................................................... 2-15
2.8 Specifications for dynamic brake....................................................................................................................... 2-16
1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake............... 2-16

2
2. Specification Servo motor

2.1 Servo motor

1) Common specification

Series Servo motor series R2

Time rating Continuous
Insulation
Class F
classification
Dielectric strength
AC1500V for 1minute
voltage
Dielectric resistance DC500V, over 10MΩ
Fully closed, self-cooled
Protection method Motor flange angle shall be 80 or less: IP67
(Except for motor passed-through part and cable tip.)
Motor flange angle shall be 80 or less: none (Except for
Oil sealing
options available.)
Ambient
0 through +40 degrees Celsius
temperature
Storage temperature -20 through +65 degrees Celsius
Ambient humidity 20 through 90% (No condensation)
Vibration
V15
classification
Excitation method Permanent magnet
Mounting method Flange

2) Servo motor external dimension, specification, and weight

Refer to 10-3, Servo motor outline dimensional drawing.
Refer to 10-4, Servo motor data sheet.

3) Mechanical specification, strength, and engineering precision

■ Vibration tolerance
Install the servo motor axis horizontally as illustrated below so that the servo motor shall be
tolerant of 24.5m/s2 of vibration acceleration in three directions (vertical, horizontal, and
longitudinal) when being vibrated.

Vertical direction

Lateral direction
Longitudinal

Horizontal direction

■ Vibration classification
Vibration classification of servo motor is V15 or less at maximum velocity of revolution when
measuring servomotor alone as shown in the figure below.
Vibration measurement position

2-1
2. Specification Servo motor

■ Shock resistance
Servo motor shaft shall be installed in the horizontal direction as indicated in the figure below so
that the shaft is tolerant of 98m/s2 of impact acceleration when being applied a vertical impact
twice. Note that the servo motor comes with precise motor encoder on the opposite side of the
flange, so any impacts on the shaft may cause a damage to motor encoder. Do not apply any
impacts on the shaft.

Vertical direction

Horizontal
direction

■ Mechanical strength
Servo motor shaft strength is tolerant of maximum momentary torque.

■ Engineering precision
The following table shows precisions (Total Indicator Reading) of servo motor output shaft and its
peripheral mounting points.

Item T．I．R． Reference drawing

Vibration of output shaft

0.02
terminal: α β
Vibration of output shaft 0.06 (80 or less)
terminal: β 0.08 (130 or more) α
0.07 (80 or less)

Perpendicularity of flange face M

to output shaft M: γ 0.08(130 or over)
γ

✔ The values in parentheses are motor flange angles.

4) Oil seal type

Oil seals for servo motor output shaft are optional extras.
So please contact us when you replace oil seal.

Servo motor model Oil seal type

Standard: No oil seal
R2□A04○○○□
Option: type G
Standard: No oil seal
R2□A06○○○□
Option: type S

2-2
2. Specification Servo motor

5) Holding brake
An optional holding brake is supplied with the servo motor. This brake shall not be used as braking
except in emergency as this is designed to hold. Use “the timing signal output for holding brake” to
turn on/off the brake excitation. To use this signal, set the command to 0min-1 in the servo amplifier
only for the brake open time. To control the holding brake externally, the following operating delay
time should occur. To use the motor with braking, set the sequence on the basis of the above
operating delay time.

Static friction Braking delay time (ms)

Servo motor model Release time
torque
number (ms) Varistor Diode
N･m
R2GA04003F 0.32
R2GA04005F 0.32 25 15 100
R2GA04008D 0.32
R2GA06010D 0.36
30 20 120
R2GA06020D 1.37

■ Brake operating time is measured in the following circuit:

◆ Circuit using varistor

100VAC
60Hz
EDC Brake

◆ Circuit using diode

100VAC
60Hz
EDC Brake

EDC
Exciting voltage
Ib
Exciting current
100% 100%
Holding torque
Brake release time Braking delay time

✔ Brake release time and Braking delay time refers to those times mentioned in the above table.
The Brake release time is the same for both the varistor and diode.

6) Degree of decrease rating for R2AA Motor, depending on with or without oil
seal/brake
In terms of servomotors with oil-seal and/or brake, the following derating ratio have to be applied to
the torque characteristic in the continuous velocity range.
Oil seal
Without oil seal With oil seal
Brake
With no brake - Degree of decrease rating 2
With brake Degree of decrease rating 1 Degree of decrease rating 2

R2GA04005F R2GA04008D
Degree of decrease rating 1 - 90%
Degree of decrease rating 2 90% 85%
Æ The above figures are provisional.

2-3
2. Specification Motor encoder

2.2 Motor encoder

1) Serial encoder
■ Absolute Encoder for Incremental System
Model Resolution Synchronization Transmission Transmission
scheme scheme rate

PA035S Divided into 131072 Start/stop Half duplex serial 2.5Mbps

(17bit) synchronization communication

■ Battery Backup Method Absolute Encoder

Model Resolution Multiple Synchronization Transmissio Transmission
rotations scheme n scheme rate

Divided into 131072 65536 (16bit) Start/stop Half duplex 2.5Mbps

(17bit) synchronization serial
PA035C
Divided into 131072 65536 (16bit) Start/stop Half duplex 4.0Mbps
(17bit) synchronization serial

■ Battery-less Absolute Encoder

Model Resolution Multiple Synchronization Transmission Transmission
rotations scheme scheme rate

RA035C Divided into 65536 (16bit) Start/stop Half duplex serial 2.5Mbps
131072 (17bit) synchronization communication

2) Pulse encoder
■ Wire-saving incremental encoder
Applicable motor
Model Resolution
flange angle
PP031 1000/2000/2048/4096/5000/6000/8192/10000 P/R 40mmor over

✔ Not all the pulse encoders are applicable depending on motor types. Please contact us when
you are planning to purchase.

2-4
2. Specification Motor encoder and battery
■ Servo motor rotation direction and encoder signal pulses of pulse encoder
Motor rotation direction and motor encoder signal phases are related as follows:

Servo motor rotation

direction-Normal Phase A pulse
90°
Phase B pulse

Phase Z t
Phase B is ahead of Phase A 90°

Servo motor rotation

direction- Reverse Phase A pulse
90°

Phase B pulse

Phase Z t
Phase B is behind Phase A 90°

✔ When Phase Z is at high level, both phases A and B cross the low level once every rotation.

■ Serial Encoder
Servo motor rotation direction (Normal rotation) Position signal output (PS data): Increase

Servo motor rotation direction (Reverse rotation) Position signal output (PS data): Decrease

✔ Forward: the servo motor rotates in a counterclockwise direction from the load side
✔ PS data can be confirmed by ”Monitor ID16,17 ABSPS”

3) Battery specification
Model: ER3VLY (Consumer Marketing Corporation product)
Voltage：3.6V

2-5
2. Specification Servo amplifier

2.3 Servo amplifier

1) Common specification
■ General specification
Control function Position control
Control system MOS-FET：PWM control, sine wave drive
Main circuit power DC48V<24Ｖ>±10%
supply
Control power supply DC5V±5%
Operating ambient temperature 0 through 40 degree Celsius
Operating storage temperature -20 through +65 degree Celsius
Operating and storage humidity 90% RH or less (No condensation)
Height above sea level 1000m or less
Environment
Vibration 4.9m/s2
Frequency range: 10 through 55Hz in X, Y,
and Z direction each, within 2H
2
Impact (shock) 19.6m/s
Configuration Tray shape, external power supply
External dimension
116×30×70mm
(H×W×D)
Mass 0.23kg±20%

✔ Input power voltage shall be within the scope of this specification.

✔ Main circuit power depression decrease torque in the motor momentary range. Select motor
with sufficient margin.
✔ Encode also comes with control power supply. Pay attentions to input voltage as encoder
may not operate when being input voltage lower that 5V.
✔ Fuses are not built in servo amplifier. Place over current protection (such as fuse) on the line
toward DC input part of servo amplifier from AC power through DC power (user to prepare).
(Please confirm that fuse is built in the DC power supply you purchase before use.)
✔ To use battery for main circuit DC power supply, make sure to install electrolytic capacitor in
parallel to protect the servo amplifier. (2,000μF or more-sized capacitor is recommended)

■ Performance
Velocity control range 1：5000
Frequency characteristic 1200Hz
✔ Internal velocity command
✔ In case of high-velocity sampling mode

■ Built-in functions
Over current, Current detection error, Overload, Amplifier overheating,
External overheating, Over voltage, Main circuit power low voltage, Control
Protection functions power supply low voltage, Encoder error, Over velocity, Velocity control error,
Velocity feedback error, Excessive position, Position command pulse error,
Built-in memory error, Parameter error
Display Status display, Alarm display, Power-supplied-state display
Built-in *Some model numbers have no dynamic brake circuit depending on
Dynamic brake circuit
specifications.

■ Options
Install when direct current of main circuit rise due to regenerative power,
Regenerative unit
depending on combined motors or operating patterns.
You can monitor operating status (velocity or torque) with oscilloscope
Monitor box
by connecting this monitor box.
✔ Refer to section 10 for details of options.

2-6
2. Specification Input command

2) Input command, position output signal, general-purpose input signal, and

general-purpose output signal
■ Input command
5M PPS
Maximum input
(reverse rotation + normal rotation pulse and code + pulse)
pulse frequency
1.25M PPS (90°-phase-difference, two-phase pulse)
Normal rotation + reverse rotation command pulse，code +
Position Input pulse
command configuration pulse train command, or 90° phase-difference, two-phase
pulse train command.
N/D
Electronic gear (N=1 through 2097152, D=1 through 2097152)
Except that 1/2097152≦N/D≦2097152

■ Timing of position command

Normal rotation pulse train + reverse rotation pulse train

F-PC
t1 t2 t3
ts1
T
R-PC

Rise time (t1)： ≦0.1µs Fall time (t2)：≦0.1µs

Duty [(t3/T)×100]： 50% Pulse switching time: ts1> T

90° phase-difference pulse train

T
t3
F-PC t1 t2
t6 t7
R-PC
t4 t5

Rise time (t1)：≦0.1µs Fall time (t2)：≦0.1µs

Duty [(t3/T)×100]： 50%
Minimum phase difference between pulse edges (t4，t5，t6，and t7)：>250nsec

Code + pulse train

F-PC T
ts1
t1 ts2 t2 ts3

R-PC
t1 t2 t3

Rise time (t1)： ≦0.1µs Fall time (t2)： ≦0.1µs

Duty [(t3/T)×100]： 50% Pulse switching time: ts1，ts2，and ts3 > T

2-7
2. Specification General-purpose input and output

■ Position output signal

Encoder output
N/32768 (N=1 through 32767)，1/N(N=1 through 64) or 2/N(N=2 through 64)
Pulse frequency dividing

■ General-purpose input signal

Interactive photo coupler (sink, source connection):×8-input
Externally supplied power：DC5V±5%/DC12V through DC24V±10%，more
than 100mA (DC24V)
Sequence input signal Servo-on, alarm reset, torque limit, encoder-clear, forward rotation prohibit,
reverse rotation prohibit, command prohibit, external trip, forced discharge,
emergency stop, gain switching, internal velocity setting, etc.
Refer to section 5-70, “Group9, Functions enabling condition settings,” for all
the functions.

■ General-purpose output signal [NPN-output]

Open collector output：×8-output
External power supply (OUT-PWR): DC5V±5%/ DC12V-DC24V±10%，more
than 20mA
Circuit power for output signal: DC5V±5%/ Maximum current value:10mA
(per 1 output)
Circuit power for output signal：DC12V through DC15V±10%/ Maximum
current value: 30mA (per 1 output)
Sequence output signal Circuit power for output signal：DC24V through DC15V±10%/ Maximum
current value: 50mA (per 1 output)
Servo-ready, power-on, servo-on, holding brake timing, torque and velocity
limited state, low velocity, velocity attainment, velocity-matching,
zero-velocity, command acceptable, status of gain switch, velocity loop
proportional control state, control mode switching state, forward OT, reverse
OT, warning, alarm code (3bits), etc.
Refer to “Group A Multi-purpose outputting conditions (5-73),” for all the
signal names.

2-8
2. Specification Power supply and amount of heat generation

2.4 Power supply and amount of heat generation

1) Input current of main circuit power supply and control power supply
Input current of Input current of
Rated output main circuit power control power
Servo amplifier Servo motor model
(W) supply supply
(A) (A)
R2GA04003F 30 2.5
RF2G and the R2GA04005F 50 5.3
Subsequent R2GA04008D 80 6.6 0.5
models R2GA06010D 100 6.9
R2GA06020D 200 8.0

✔ Input current value of main circuit power is effective value in the case of rated revolution
velocity and rated torque. Two to three times of the current value shown in the table may be
momentarily curried depending on operating patterns such as start-up or stop.
✔ The input current of control power supply above is the mean value. The value may vary
depending on operating conditions or the encoder connected to your motor, so select the
power supply with a margin of more than 1.5 times.

2) Inrush current and leakage current

■ Inrush current
Large-capacitance capacitors are not contained in main circuit power and control power input part of
this series, so high inrush current is not curried at power-on.

■ Leakage current
Servo amplifier Leakage current per motor
RF2G and the Subsequent models 0.8 mA

✔ When using two motors or more, add leakage current per motor.
✔ This is the value in the case of using 2m-length tough rubber sheath cable as a power line.
Leakage current increases and decreases depending on cable length, so refer to the value in
the above table only as a guide of selection.
✔ Grounding of control board is mandatory to prevent occurrence of dangerous level voltage on
operating panel in the unlikely event of ground leakage. (Grounding resistance value shall be
100Ω or less.)
✔ Leakage current value is the value by measuring filter 700Hz with leak-checker. Use earth
leakage breaker supporting inverter loads, which is taken as a measure against the possibility
that high-frequency earth leakage current is carried and then this causes error on
ground-fault circuit interrupter and earth leakage protective relay placed on power supply
conducting path, that are caused by floating earth capacitance of servo motor winding, power
cable, and servo amplifier.

3) Amount of heat generation

Servo amplifier
Servo motor
Servo amplifier Total amount of
model NO.
heat generation (W)
R2GA04003F 9
RF2G and the R2GA04005F 15
Subsequent R2GA04008D 20
models R2GA06010D 22
R2GA06020D 26

✔ These are rated revolution velocity and rated torque.

2-9
2. Specification Cautions on load

2.5 Cautions on load

1) Restrictions on acceleration time, deceleration time，and effective torque

Motor acceleration time and deceleration time shall be subject to the restriction of momentary range
of torque-rev characteristic of motor being operated together.
Repetitions of motor operation and stop, and load torque are subject to the restriction of rated torque.
Refer to section 9, “Selection”, for the details.

2) Negative load
Servo amplifier cannot courteously operate (for more than 1 second) to the extent that negative loads
occur. Please contact us when you use this unit with negative load.

[e.g.]
◆ Downward driving force of motor (without counter weight)
◆ Generator-like application such as a winding off shaft of winder.

3) Load inertia moment

Rough reference value of ”allowable load inertia moment” shall be 10 times of “rotor inertia moment”
of servo motor being operated together. Even when ”allowable load inertia moment” is ten times of
“rotor inertia moment,” coping processes may be needed to deal with regenerative energies occurred
at the time of stoppage.
Refer to section 9.2, “precautions on regeneration”, for coping process. The following steps are
required to deal the loads under the condition that “load inertia moment” are more that 10 times.

◆ Set limit on normal and reverse rotation internal torque, and then decrease motor torque under
the condition that the torque limitations are effective at all times to use.
◆ Lengthen commanded acceleration time and deceleration time.
◆ Slow down revolution to use.

The above case needs to contact us.

2-10
2. Specification Position signal output

2.6 Position signal output

The amplifier outputs two (2) kinds of position signals: Serial signals and Pulse signals

1) Positions signals by serial signals

■ The following serial encoders output absolute position data (encoder signal output -PS-) from the
absolute encoder of the servo amplifier using serial signals.

Resolution within Resolution within

Model Encoder name
1 rotation multiple rotations

PA035S Absolute encoder for incremental system 131072 (17bit) -

PA035C Absolute encoder with battery backup method 131072 (17bit) 65536 (16bit)

RA035C Absolute encoder- battery less 131072 (17bit) 65536 (16bit)

✔ Output signals (encoder signal output -PS-) are emitted from (CNA1-8 pin, 9 pin).

■ Encoder signal output –PS- format can be selected from among the 2 values.
Select from the general parameters (Group ID07: Encoder Signal Output (PS) Format [PSOFORM]).

01: ASCII Decimal Code

Selection value 00: Binary Code Output
Output
Transmission method Start/stop synchronization Start/stop synchronization
Baud rate 9600bps 9600bps
Format 11bits 10bits
Transmission error 1bit 1bit
check Even number parity Even number parity
Transfer time 9.2ms (Typ) 16.7ms (Typ)
Transfer period Approximately 11ms Approximately 40ms
Increase during forward Increase during forward
Increase method
operation operation
✔ Forward rotation is counter-clockwise rotation from the motor shaft axis. When absolute value
increases to maximum, it becomes minimum value (0).
✔ Pulse encoder outputs “Actual position monitor value” through binary code regardless of the
setting of (Group ID07: Encoder Signal Output (PS) Format [PSOFORM]).

2-11
2. Specification Position signal output

2) Binary code output format and transfer period

■ Format
◆ Data format
11bits
11bit

1bit 5bit 3bit 1bit 1bit

Start bit Data bit Address bit Parity bit Stop bit

◆ Transfer format

Start bit Data bit Address bit Parity bit Stop bit

･Data 1 0 D0 D1 D2 D3 D4 0 0 0 0/1 1
(LSB)
･Data 2 0 D5 D6 D7 D8 D9 1 0 0 0/1 1
･Data 3 0 D10 D11 D12 D13 D14 0 1 0 0/1 1
･Data 4 0 D15 D16 0/D17 0/D18 0/D19 1 1 0 0/1 1
･Data 5 0 0/D20 0/D21 0/D22 0/D23 0/D24 0 0 1 0/1 1
･Data 6 0 0/D25 0/D26 0/D27 0/D28 0/D29 1 0 1 0/1 1
･Data 7 0 0/D30 0/D31 0/D32 0 0 0 1 1 0/1 1
(MSB)
･Data 8 0 0 0 0 0 0 1 1 1 0/1 1

◆ Data positions of absolute data for motor encoder

Motor encoder mode Data within 1 rotation Data within multiple
rotations
PA035S “D0 through D16” -
PA035C “D0 through D16” “D17 through D32”
RA035C “D0 through D16” “D17 through D32”

■ Transfer period

Max2s Approx.11ms
Power supply control ON

Encoder output signal (PS) Indefinite H 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8

Data

Approx. 1.1ms

Approx. 9.2ms

✔ The signal is indefinite for about 2 seconds after booting power and communication may not
always begin from the first frame, even after 2 seconds.

2-12
2. Specification Position signal output

3) ASCII decimal code output format and transfer period

■ Format
◆ Data format
10bit

1bit 7bit 1bit 1bit

Start bit Data bit Parity bit Stop bit
◆ Transfer format
Data number Start bit D0 D1 D2 D3 D4 D5 D6 Parity bit Stop bit

Data 1 0 Show position data ”P” 0/1 1

↓
Data 2 0 Show multiple rotation data ”+” 0/1 1
↓
th
Data 3 0 Multiple rotation data ”5 digit” 0/1 1
Data 4 0 Multiple rotation data “4th digit” 0/1 1
Data 5 0 Multiple rotation data “3rd digit” 0/1 1
Data 6 0 Multiple rotation data “2nd digit” 0/1 1
Data 7 0 Multiple rotation data ”1st digit” 0/1 1
↓
Data 8 0 Show comma “,” 0/1 1
↓
th
Data 9 0 1 rotation data “7 digit” 0/1 1
Data 10 0 1 rotation data ”6thdigit” 0/1 1
Data 11 0 1 rotation data ”5thdigit” 0/1 1
Data 12 0 1 rotation data ”4thdigit” 0/1 1
Data 13 0 1 rotation data ”3rddigit” 0/1 1
Data 14 0 1 rotation data ”2nddigit” 0/1 1
Data 15 0 1 rotation data ”1st digit” 0/1 1
↓
Data 16 0 Carriage return “CR” 0/1 1

◆ Absolute data of motor encoder

Motor encoder model Absolute value within 1 rotation Absolute value within multiple rotations
PA035S 00000 to 131071 -
PA035C 00000 to 131071 00000 to 65535
RA035C 00000 to 131071 00000 to 65535

■ Transfer period

Max2s Approx. 40ms

Power supply control ON
Encoder output signal (PS) Indefinite H 1 2 3 ････ 14 15 16 1 2 3 ････ 14 15 16
Data
Approx. 1.04ms
Approx. 16.7ms

✔ The signal is indefinite for about 2 seconds after booting power and communication may not
always begin from the first frame, even after 2 seconds.

2-13
2. Specification Position signal output

4) Position signal output from pulse signal

■ Servo amplifier outputs “90°-phase difference two-phase pulse (phase A, phase B) and original phase
(phase Z)”. Pulse output can change the division ratio by parameter.
Set the general parameter “Group C ID04 Encoder Output Pulse Division [ENRAT]”
― ―
✔ Output signal “A phase pulse output (AO/AO) “outputs from “CNA-1 pin, 3 pin”
― ―
✔ Output signal “B phase pulse output (BO/BO) “outputs from “CNA-4 pin, 5 pin”
― ―
✔ Output signal “Z phase output (ZO/ZO) “outputs from “CNA-6 pin, 7 pin”

■ Output signal under forward rotation

Power control ON Phase B is 90 ° ahead of phase A.

Phase A pulse

Phase B pulse

Phase Z
t
Max2s The signal is indefinite for 2 sec after booting.

✔ Serial encoder “positions signal output” delays about 224μs.

✔ Serial encoder Phase Z output is once in 1-rotation (at every change of multiple rotations)
based on loading or training edge of Phase A or Phase B with the width of one pulse of Phase
A. (does not determine the position relation of Phase Z or Phases A&B.
✔ When value other than 1/1 is set as “encoder output pulse division,” ”A-phase pulse and
B-phase pulse“ are output as divided signal, however ”Z-phase” is output in original pulse
width instead of as divided signal. In this case, phase relationship between Z-phase and
A-phase pulse/B-phase pulse is not established (fixed).

2-14
2. Specification Analog monitor

2.7 Specifications for analog monitor

■ Analog monitor box (an option)
Analog monitor can monitor by connecting analog monitor box to connector for analog monitor
on the bottom of servo amplifier.
Analog monitor box needs power supply of ±12V separately. Please be advised that this is user
prepared item.

■ Electrical specifications

◆ Output voltage range: DC±8V

◆ Output resistance: 1kΩ
◆ Load: less than 2mA
✔ Monitor output is indefinite at the time of power ON/OFF and may output DC12V+/- around
10%.

■ Velocity command, Velocity monitor

Velocity command, velocity monitor output
Output Output Output
voltage voltage voltage

2V
2V 2V
Forward Forward
Reverse 1000min-1 Reverse
-1000min-1 rotation 0 rotation
rotation rotation
Reverse 0 1000min-1 -1000min-1 Forward -1000min-1 0 1000min-1
rotation rotation
-2V -2V

■ Torque command, torque monitor

Torque command, torque monitor output
Output Output Output
voltage voltage voltage

2V
2V 2V
Forward Reverse Reverse Forward
-TR rotation rotation 0 TR rotation
rotation
Reverse 0 TR -TR -TR 0 TR
rotation Forward
(Rate torque) rotation
-2V -2V

■ Position deviation monitor

Position deviation monitor output
Output Output Output
voltage voltage voltage
20mV
20mV 20mV
Forward Forward
Reverse Reverse rotation
-1 rotation 0 1 Pulse
rotation rotation
Reverse 0 1 Pulse -1 -1 0 1 Pulse
rotation
20mV -20mV

2-15
2. Specification Dynamic brake

2.8 Specifications for dynamic brake

1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the
dynamic brake
■ Allowable frequency of the dynamic brake (main circuit power ON/OFF)
Less than 10 times per hour and 50 times per day at maximum velocity within the applied load
inertia moment.
■ Operation intervals
In basic terms, operation of the dynamic brake in six (6) minute intervals is acceptable. If the
brake is to be operated more frequently, the motor velocity must be reduced sufficiently. Refer to
the following expression to find a standard of operation:

6minutes

(Rated rotation velocity/maximum rotation velocity in use) 2

■ Staging down the rotation angle using the dynamic brake is show as follows:

I=I1+I2

2πN×tD
= + (JM＋JL)×(αN＋+βN3)
60

◆ JM : Inertia moment of servo motor (kg・m2) N

◆ JL : Load inertia moment (motor axis conversion)(kg・m2)
◆ N : Servo motor rotation velocity (min-1) I1
◆ I1 : Stage down rotation angle (rad) using
amplifier internal process tD I2
◆ I2 : Stage down rotation angle (rad) using dynamic
brake operation
◆ tD : 10 × 10-3(s) tD

■ α/β:
Servo amplifier Servo motor
α β JM(kg･m2)
capacity model number
－6
R2GA04003F 185 5.14×10 0.0247×10-4
R2GA04005F 93.9 3.82×10-6 0.0376×10-4
After RF2G R2GA04008D 32.5 2.00×10-6 0.0627×10-4
R2GA06010D 21.9 7.53×10-6 0.117×10-4
R2GA06020D 7.4 4.88×10-6 0.219×10-4

✔ The values for α and β are reached based on an assumed resistance value of the power line
being 0Ω. Contact us when the combination with an amplifier is different than those shown
above (invariably values are different).
✔ Dynamic brake cannot work for servo amplifiers with no dynamic brake circuit.

2-16
No Text on This Page.
3
3. Installation
3.1 Installation .................................................................................................................................................................. 3-1
1) Servo amplifier............................................................................................................................................................ 3-1
2) Unpacking................................................................................................................................................................... 3-2
3) Installation direction and position................................................................................................................................ 3-3
4) Conditions on layout in control cabinet ....................................................................................................................... 3-3
5) Cooling conditions ...................................................................................................................................................... 3-4
3.2 Servo motor ................................................................................................................................................................ 3-5
1) Precautions................................................................................................................................................................. 3-5
2) Unpacking................................................................................................................................................................... 3-5
3) Installation .................................................................................................................................................................. 3-5
4) Installation .................................................................................................................................................................. 3-6
5) Water and dust proofing ............................................................................................................................................. 3-6
6) Protective cover placement ........................................................................................................................................ 3-7
7) Gear installation and co-assembly with mating machine ............................................................................................ 3-7
8) Allowable load for bearing .......................................................................................................................................... 3-9
9) Cable installation and its related cautions................................................................................................................. 3-10

3
3. Installation Servo amplifier

3.1 Installation
1) Servo amplifier
Fully observe the following precautions to perform installation.

■ Precautions
Installation in flammable material or its vicinity causes fire.
Do not put heavy things and get on top of servo amplifier.
Operate within the scope of specified ambient conditions.
Do not let fall and apply high impacts on servo amplifier.
Do not let electrically conductive materials like screw or metal tip, and flammable materials into servo
amplifier.
Do not shut the ports. Fully observe installation direction.
Please contact us if storage period of servo amplifier has been long-term (for over 3 years), as long-term
storage causes decrease capacity of electrolytic capacitor.
Please return the product to us to repair immediately when any damages found on product.

■ When storing servo amplifier in a box.

Temperature in a box can become higher than ambient temperature outside, depending on box size and
power loss of equipment to be stored.
Make sure that surrounding temperature of servo amplifier is at 40°C or less, taking box size, cooling,
and layout into consideration.

■ When vibration source is near servo amplifier.

Install servo amplifier in the base via shock absorber, so as not to let vibration transmit directly to servo
amplifier.

■ When heating element is near servo amplifier.

Make sure that servo amplifier’s vicinity is at 40°C or less, even when temperature increase is likely to
occur due to convective or radiation.

■ When corrosive gas exists.

Long period of operation causes bad electrical contacts on connectors or other parts having contact
points.
Never operate servo amplifier in the area corrosive gas exists.

■ When explosive and flammable gas exist.

Never operate servo amplifier in the area explosive and flammable gas exist.
Failure to observe this may catch a fire and induce fire or explosive accident, as parts like relays,
contactors, and regenerative resistor that generate arc (spark) in a box may become a source of ignition.

■ When dust and oil mist exist.

Servo amplifier cannot operate in the area dust and oil-mist exist.
Dust and oil mist attached to servo amplifier and their accumulation cause insulation failure and leakage
between electrically conductive parts, and then induce damages on servo amplifier.

■ When major noise source exists.

This causes malfunction as noise can contaminate input signal and power supply circuit.
When any possibility of noise contamination, review line wiring and take actions on noise generation
prevention.
Place noise filter on the front stair of servo amplifier.

■ When connecting and disconnecting connectors.

Do not connect and disconnect connectors when applying current. This cause failure. (Except for PC
operating setup software.)
Disconnect power supply as well as servo amplifier to connect and disconnect relay connectors when
transmitting signals with use of relay connectors.

3-1
3. Installation Servo amplifier

2) Unpacking
The following items shall be checked when the product delivered. In the event that any abnormal
items are found, please contact us.

■ Check servo amplifier model number to see if any discrepancies between ordered item and
delivered item. Model number is marked after each product nameplate “MODEL.”
■ Check servo amplifier exterior to see if any problems.
■ Check servo amplifier screws to see if any loosening.

Servo amplifier
Example of servo amplifier nameplate

MODEL RF2G21A0A00
INPUT DC48V 8A
DC5V 0.5A Model number
OUTPUT 3φ 0-48 6A

SER.No. 0110130561

Serial number

Serial number structure

Month (2-digit) + the dominical year (2-digit) + date (2-digit) + serial (4-digit) + revision (”A”-omitted)

✔ Main nameplate may be changed according to overseas standard.

3-2
 3. Installation Servo amplifier

3) Installation direction and position

M4

M4

4) Conditions on layout in control cabinet

■ Make space of over 50mm above and under servo amplifier not to prevent airflow from the
interior of heat sink and servo amplifier. Create flow with cooling fan if heat remains in the
vicinity of servo amplifier.
■ Make sure that ambient temperature around servo amplifier shall be 40°C or less.
■ Make space of over 10mm on both side of servo amplifier not to prevent heat radiation from
side heat sink and airflow from interior of servo amplifier.

Ventilation Ventilation

10mm or over
50mm or over 50mm or over
10mm or over

Ventilation
50mm or over 50mm or over Ventilation

FAN

3-3
3. Installation Servo amplifier

5) Cooling conditions

Surely perform forced air-cooling for heat sink of servo amplifier, when operating conditions (load
conditions) of servo motor is as follows:

■ Verification of effective output current by calculation

Check effective torque “Trms“, which is determined by actual operating pattern and load
conditions, in accordance with “Section 9.1, Capacity selection of servo motor.”

Check rated torque “TR“ and rated current “IR“ of servo motor which is actually combined with
servo amplifier, in accordance with “Section 10.4, Servo motor data sheet.”

Obtain effective value “Irms” of actual electrical current in the motor, according to the following
equation.

Irms = IR× Trms [A]

TR

TR: Rated torque of servo motor (value on the catalog) [N･m]

IR: Rated current of servo motor (value on the catalog) [A]
Trms: Effective torque calculated according to operating pattern and load condition [N･m]
Irms: Effective current calculated according to the above equation [A]

When “Irms” calculated by the above equation is Irms>3.3[A], perform forced air-cooling for servo
amplifier.

■ Verification on actual machine.

Perform continuous running (heat-running) on actual system. When temperature in the center
of heat sink is over 65°C, perform forced air-cooling for servo amplifier.

✔ Perform measuring with the operating pattern requiring the strictest load condition.
✔ Recommended FAN motors are as follows:
Manufactured by Sanyo Denki Co., Ltd.： DC San series Ace, square type: 60mm, 80mm
(General model)
Manufactured by Sanyo Denki Co., Ltd.： San Ace series L, square type: 60mm, 80mm
(Long-life model)
Please contact our sales department if you use FAN motor.

3-4
3. Installation Servo motor

3.2 Servo motor

1) Precautions

■ Precautions
Installation in flammable material or its vicinity causes fire.
Do not put heavy things and get on top of servo amplifier.
Operate within the scope of specified ambient conditions.
Fully observe installation method.
Please return the product to us to repair immediately when any damages found on product.

2) Unpacking
The following items shall be checked when the product delivered. In the event that any abnormal
items are found, please contact us.

■ Check servo motor model number to see if any discrepancies between ordered item and
delivered item. Model number is marked after each product nameplate “MODEL.”
■ Check servo motor exterior to see if any problems.
■ Check servo motor screws to see if any loosening.

Servo motor Example of servo motor nameplate

AC SERVO SYSTEMS R

MODEL R2GA06020DXH00
60W AC200V 0.53A Model number
3000min-1 3φ－・ CI.F
IP40
SER No.090206001 2002
SANYO DENKI MADE IN JAPAN
00482921-01
Serial number

3) Installation
The following items shall be checked on installation location and method.

Servo motor is designed to be used indoors. Install servo motor indoors.

Do not use servo amplifier for the purpose that oil seal lip constantly exposures to oil, major amounts of
water/oil drop, and cutting fluid. Minor droplets are permissible as a procedure on motor can protect
from at least to minor droplets.
Ambient temperature：0 through 40°C No corrosive and explosive gas, and well ventilated.
Storage temperature：-20 through 65°C No dust and dirt.
Ambient humidity：20 through 90% Easily checked and cleaned.

3-5
3. Installation Servo motor

4) Installation

■ Installation in horizontal direction, on the axis ends, and downward is available.

■ Horizontal or downward placement is recommended, for reducer with lubricant agent like oil or
grease applied onto its output shaft, or output shaft exposing to liquid. Even in the case of
models with oil seal (optional extras) attached on the output shaft side, oil may invade internal
motor and this causes malfunction, due to worn oil seal and respiratory operation under the
circumstance oil seal lip constantly exposures to oil when shaft installed upward. For solution to
this case, we recommend to place oil seal on the load side. Please contact us when you use
motor in this condition.

■ Place motor connector and cable outlet port downward as much as possible.

■ When installing vertically, place cable trap so that oil water does not run to the motor.

Cable trap

Wires

5) Water and dust proofing

■ Protection method for single body of motor conforms to IEC standards (IEC34-5). However,
this is intended for short-term use only. Leak protection is needed for actual use. Be careful not
to scratch connector insulators (coating surface), because of the risk of loosing waterproof
property.

■ Be aware of the possibility that liquid can invade the inside of the motor due to motor
respiration if the motor is always wet, even if protection against liquid is class IPX 7.

■ Place protective cover to prevent corrosion on coating and sealing material, depending on the
types of coolant. (Especially applicable to water-soluble types).

■ Use waterproof plug for canon plug type motor.

3-6
3. Installation Servo motor

6) Protective cover placement

■ Place protective cover as indicated in the figure below in the environment that motor constantly
exposure to liquid.

■ Direct connector (lead outlet) downward at the range of angle indicated in the figure below.

■ Install cover in the direction to which water and oil scatter.

■ Slope cover so as not to let water and oil gather.

■ Avoid cables exposing to water and oil.

■ Slack cables so as not to let water and oil in motor, even cables are outside of cover.

■ When you cannot install connector (lead outlet) downward by any means, slack cables to
prevent invasion of water and oil.

Seal here with shield packing.

Cover

Loosening

50 ° 50 °

Water (oil) pool

7) Gear installation and co-assembly with mating machine

■ Make sure that gearbox oil level is lower than oil seal lip to the extent that oil seal lip exposures
to minor oil droplets.

■ Make drainage hole as water and oil can invade inside of motor through oil seal when gearbox
internal pressure increased.

■ If you use motor axis upward, oil seal placement on the mating side is recommended. Moreover,
make drainage to let out water and oil passed through this oil seal.

Gear

Outer diameter of axis

Servo motor

Oil seal lip

Oil level

3-7
3. Installation Servo motor
■ Perform final centering for motor shaft and mating machine as indicated in the figure below
correctly. Be aware of risk of damages to output shaft due to minor misalignment of shaft, when
using rigid boy coupling.

The difference between maximum and

minimum value shall be 3/100mm or
less, by measuring 4 points on the whole
circumference.
(Coupling shall be driven together.)

■ Do not apply any impacts on servo motor shaft as precise motor encoder is directly joined to
motor shaft. If you need to hammer servo motor for positioning (alignment), hammer front
flange part with use of rubber or plastic hammer.

■ When installing the motor in machine, process mounting hole with the accuracy that servo
motor flange rabbet easily joined. Ensure flatness for the mounting surface, because of the
possibility of damages to shaft and bearing.

■ Utilize screw of shat end to install gear，pulley, and coupling, so as not to apply any impacts
onto the motor.
Bolt

Pulley Supporting Pulley

plate

■ Tapered servo motor shaft transmits torque via the tapered surface, so make sure key fits
without hammering. Process the hole so that tapered contacting surface shall be 70% or over.

3-8
3. Installation Servo motor
■ Use exclusive removal jig to remove gear or pulley.

Tapered
Removal jig

8) Allowable load for bearing

■ Allowable load for servo motor is as indicated in the table below. Do not apply excessive thrust
or radial load to servo motor. When performing belt drive, make sure axis conversion value of
belt tension shall not exceed the allowable values in the table below. Thrust and radial loads in
the table below are the allowable loads when each load is applied to shaft separately.
LR

Allowable radial load is the maximum LR/3

load that can be applied to the 1/3
point of output shaft length measured Thrust load
from output shaft end.
Direction F
Direction F1

Radial load FR

For assembling For operation

Servo motor Radial load (N) Thrust load (N) Radial load (N) Thrust load (N)
Series
model number Direction Direction Direction Direction
FR FR
F F1 F F1
R2□A04003F 98 78 78 49 29 29
R2□A04005F 150 98 98 98 29 29
R2 R2□A04008D 150 98 98 98 29 29
R2□A06010D 150 98 98 98 29 29
R2□A06020D 390 200 200 200 68 68

3-9
3. Installation Servo motor

9) Cable installation and its related cautions

■ Be careful not to apply excessive stress and damages onto cables.

■ When installing cables in the place servo motor can move, take sufficient inflective radius so as
not to apply excessive stress onto cables.

■ Pass cables through the areas where cable insulators shall not be scratched by sharp cutting
debris. Do not pass cables through the areas having possibility that machine corner scrapes
against cables, or personnel/machines may tread on cables.

■ Take measures such as clamping machines so as not to apply flexion stress and own weight
stress onto each connecting point of cables. When motor and cables need to be transferred
with cableveyor (cable carrier), bending radius of cable shall be determined by referring
required flexion life and wire type.

■ Periodic replaceable structure for movable part of cable is recommended. Please contact us
when you would like to use recommended cables for movable parts.

3-10
No Text on This Page.
4
4. Wiring
4.1 Wiring of main circuit power supply, control power supply, servomotor, and protective grounding................. 4-1
1) Name and function ..................................................................................................................................................... 4-1
2) Electrical wire ............................................................................................................................................................. 4-1
3) Wire diameter - allowable current ............................................................................................................................... 4-1
4) Terminal layout of connector CNA and CNB ............................................................................................................... 4-2
5) Recommended wire diameter and cable length.......................................................................................................... 4-3
6) Example of wiring ....................................................................................................................................................... 4-4
4.2 Wiring connection diagram to host equipment ....................................................................................................... 4-5
1) Name and pin number of signal CN1A and CN1B (wiring connection to host equipment).......................................... 4-5
2) Layout of connector CN1-A ........................................................................................................................................ 4-6
3) Name and its function of signal CN1-A ....................................................................................................................... 4-6
4) Connection circuit of terminal CN1-A.......................................................................................................................... 4-7
5) Layout of connector CN1-B ........................................................................................................................................ 4-9
6) Signal name and its function....................................................................................................................................... 4-9
7) Terminal connection circuit ....................................................................................................................................... 4-10
4.3 Wiring of motor encoder.......................................................................................................................................... 4-12
1) Name and function of connector CN2....................................................................................................................... 4-12
2) Terminal number on servo amplifier side .................................................................................................................. 4-13
3) Recommended specification of encoder cable ......................................................................................................... 4-14
4) Encoder cable length................................................................................................................................................ 4-14
5) Layout of terminal of connector for battery ............................................................................................................... 4-14

4
4. Wiring Electrical wires

4.1 Wiring of main circuit power supply, control power supply,

servomotor, and protective grounding.

1) Name and function

Name Connector and pin number Remarks

Main circuit power Pin 4 and 5 of CNA Inputs main circuit power apply (DC48V<24Ｖ>±10%)
Control power Pin 2 and 3 of CNA Inputs control power supply (DC5V±5%)
Servo motor input Pin 1, 2, and 3 of CNB Connected to servomotor.
Protective grounding -
Pin 1 of CNA
(For power supply)
Protective grounding
Pin 4 of CNB -
(For motor)

2) Electrical wire
Electrical wires for use in servo amplifier main circuit (to turn on power) and inputting from servo
motor are shown in the table below.

■ Wire type
Wire type Allowable temperature for
Code Name conductor [°C]
PVC Typical vinyl covered wire -
IV 600V-vinyl covered wire 60
Special heat-resistant vinyl
HIV 75
covered wire
✔ The above values are provided under condition that ambient temperature is 40°C and rated
current is applied to 3 lead bands.
✔ Consider wire allowable current reduction rate, when you band wires and then insert them
into duct such as cured vinyl tube or metal tube.
✔ If ambient temperature is relatively high, the lifetime is shortened due to heat deterioration. In
this case special heat-resistant vinyl covered wire (HIV) is recommended.

3) Wire diameter - allowable current

Nominal Conductor Allowable current
AWG size sectional area resistance for ambient temperature [A]
2
[mm ] [Ω/km] 30°C 40°C 55°C
20 0.5 39.5 6.6 5.6 4.2
19 0.75 26.0 8.8 7.0 5.4
18 0.9 24.4 9.0 7.7 5.8
16 1.25 15.6 12.0 11.0 8.3
14 2.0 9.53 23.0 20.0 15.0
12 3.5 5.41 33.0 29.0 21.8
10 5.5 3.47 43.0 38.0 28.5
✔ The above are reference values in the case of special heat-resistance vinyl covered wire
(HIV).
✔ The above table shows wire diameter and allowable current in the case of 3 wires banded.
✔ Use the above wires within allowable current.

4-1
4. Wiring Terminal layout of connector CAN and CNB

4) Terminal layout of connector CNA and CNB

■ Terminal layout of CNA

Terminal NO. Signal Description

1 FG ( ) Frame ground (earth)
2 5V Control power DC5V
3 5G Control power common
1 2 3 4 5 4 P Main power DC48V<24V>
5 N Main power common

CNA Model number Applicable wire size Manufacturer

Housing VHR-5N -
SVH-21T-P1.1 AWG22 to AWG18
J.S.T. Mfg. Co., Ltd
Contact Or
AWG20 to AWG16
SVH-41T-P1.1

■ Terminal layout of CNB

Terminal Signal Description

NO.
1 U Motor inputting line U
2 V Motor inputting line V
1 2 3 4 3 W Motor inputting line W
4 FG ( ) Frame ground (earth)

CNA Model number Applicable wire size Manufacturer

Housing VHR-5N -
SVH-21T-P1.1 AWG22 to AWG18
J.S.T. Mfg. Co., Ltd
Contact Or
AWG20 to AWG16
SVH-41T-P1.1

4-2
4. Wiring Recommended wire diameter and cable length

5) Recommended wire diameter and cable length

■ Recommended wire diameters for use in servo amplifier and motor are shown in the table
below.

Motor input Main circuit power Control power

Servo motor (U・V・W・ ) Servo amplifier (P・N) (5V,5G)
model NO. 2 AWG combined 2 AWG No 2 AWG
mm mm mm
No No
R2GA04003F
R2GA04005F
#16 #16 #16
R2GA04008D 1.25 After RF2G 1.25 1.25
#18 #18 #18
R2GA06010D
R2GA06020D

✔ The above values are provided under condition that ambient temperature is 40°C and rated
current is applied to 3 lead bands.
✔ Consider wire allowable current reduction rate, when you band wires and then insert them
into duct such as cured vinyl tube or metal tube.
✔ If ambient temperature is relatively high, the lifetime is shortened due to heat deterioration. In
this case special heat-resistant vinyl covered wire (HIV) is recommended.

■ Caution on cable length

◆ Control power (5V, 5G)

When control power input part is relatively long, 5V-voltage can drop due to cable
impedance. Attention necessary especially when multiple servo amplifiers are supplied
power from one power supply. Control power input shall be directly applied to encoder, so
if the voltage is out of the scope of 5V±5%-specification (for servo amplifier and encoder)
due to voltage drop, servo amplifier and encoder cannot operate. Please consider to
shorten and thicken the wiring between power and servo amplifier as much as possible, or
use wire corresponding to variable output voltage power supply and remote sensing, when
wiring.

◆ Main circuit power (P, N)

When control power input part is relatively long, 48V<24V> can drop due to cable
impedance. Attention necessary especially when multiple servo amplifiers are supplied
power from one power supply.
Please be ware that if main circuit power drops, motor generated torque shall drop
(momentary range of high-velocity revolution).

◆ Motor input (U, V, and W)

When motor input line is relatively long, the voltage can drop due to cable impedance, and
then motor generated torque can decrease. (Momentary range of high-velocity revolution.)
To solve this problem, we recommend selecting motor with sufficient margin for
acceleration and deceleration torque calculation.

4-3
4. Wiring Example of wiring

6) Example of wiring
The following shows an example of external wiring.

■ Example of layout

AC 5V U
Power DC Servo motor
input Power V
5G
MC
W
AC P
Power DC FG
input Power
N

FG

Operation Operation
ON OFF
MC
MC
Emergency
stop
Alarm

+E

RY CN1B
12 - 18, 20
(OUT1 - OUT8)
19
DC5V, DC12V-24V COM
11

✔ Use one output from “12 through 18, and 20 (OUT1 through OUT8)” of CN1B so that
“parameter group A” is selected to set, and then set either ”In ALM-state _output ON” or ”In
ALM-state_ output OFF.”

✔ Place electrolytic capacitor between 5V and 5G, or P and N on amplifier side as required,
when wiring from DC power to servo amplifier is relatively long.
In this case, inrush current runs into electrolytic capacitor on power-on, so DC power needs to
respond the inrush current.

✔ To use battery for main circuit DC power supply, make sure to install electrolytic capacitor in
parallel to protect the servo amplifier. (2,000μF or more-sized capacitor is recommended)

4-4
4. Wiring Wiring connection to host equipment

4.2 Wiring connection diagram to host equipment

1) Name and pin number of signal CN1A and CN1B (wiring connection to host equipment)

■ Terminal layout of connector interfacing with host equipment

CN1-A CN1-A
F-PC 11 1
AO
― ―

AO
―― ― ―
F-PC 12 3

4
BO
― ―

R-PC 13 5 BO
― ― ― ―
R-PC 14 6
ZO
― ―

SG 7 ZO
10
Servo amplifier
8
PS
+5V SG
― ―

9 PS

CN1-B 2
FG

IN-COM 1
CN1-B
CONT1 3
11 OUT-PWR
CONT2 4
12
OUT1
CONT3 5

CONT4 13
OUT2
6

CONT5 14
OUT3
7

CONT6 15
OUT4
8

CONT7 16
OUT5
9

17
OUT6

CONT8 10 18 OUT7

20 OUT8
FG 2
19 OUT-COM

✔ Use twisted-pair cable for use in host equipment-amplifier connection.

✔ Host equipment-amplifier cable length shall be 3m or less.

4-5
4. Wiring Wiring connection to host equipment

2) Layout of connector CN1-A

■ CN1-A PADP-14V-1-S (cable-crimped side)

1 3 5 7 9 11 13

2 4 6 8 10 12 14

CN1-A Model NO. Applicable wire size Manufacturer

Housing PADP-14V-1-S -
JST Mfg. Co., Ltd.
Contact SPH-002GW-P0.5S AWG24 - AWG28

3) Name and its function of signal CN1-A

Terminal NO. Signal Description

1 AO Phase A pulse output

2 FG Frame ground
― ―
3 AO Phase /A pulse output
4 BO Phase B pulse output
― ―
5 BO Phase /B pulse output
6 ZO Phase Z pulse output
――
7 ZO Phase /Z pulse output
8 PS Encoder signal output
――
9 PS / Encoder signal output
10 SG Common for pin 1 –14
11 F-PC Command pulse input
12
―― ― ―
Command pulse input
F - PC
13 R-PC Command pulse input

14
――― ―
Command pulse input
R - PC

4-6
4. Wiring Wiring connection to host equipment

4) Connection circuit of terminal CN1-A

Terminal
Mark Name Description
NO.
2 FG Frame ground Connects shielded wire of cables between host controller of
CN1-A and servo amplifier.

1 A0 Phase A pulse output Outputs (RS422-compliant) signal of phase A pulse, B pulse,

3 ――
Phase /A pulse output and original phase Z pulse of motor encoder.
A0
Connect to RS422-compliant line receiver.
4 BO Phase B pulse output
5 ― ―
BO Phase /B pulse output
6 ZO Phase Z pulse output Twisted-pair Host equipment
Servo amplifier
7 ――
ZO Phase /Z pulse output HD26C31 or HD26C32 or
equivalent A equivalent
―
1
A
3
B
―
4
B
5
Z
―
6
Z
7
SG
10

Surely connect SG.

8 PS Encoder signal output This is absolute position data output (RS422-compliant) of

9 ――
Encoder signal output serial encoder.
PS
Connect to RS422-compliant line receiver.

Servo amplifier Twisted-pair Host equipment

HD26C31 HD26C32
or equivalent PS or equivalent
8
――
PS
9
SG
10

Surely connect SG.

4-7
4. Wiring Wiring connection to host equipment

Terminal
Mark Name Description
NO.
11 F-PC Command pulse output Command pulse input is position command input
―― ― ―
12 Command pulse output (RS422-compliant).
F - PC
Command input pulse method shall be selected from 3 types.
13 R-PC Command pulse output
――― ―
14 R - PC Command pulse output
[Clockwise pulse + counterclockwise pulse]
10 SG Signal ground Maximum 5M pps
[Code + pulse train]
Maximum 5M pps
[90°-phase difference and two-phase pulse train]
Maximum 1.25M pps

Connection of differential output signal

Host equipment Servo amplifier

HD26C31 or Twisted-pair
equivalent 1.0kΩ 1.5kΩ

11 F-PC
1.0kΩ

150Ω 1.0kΩ
12 ―― ― ―
F - PC 1.0kΩ

SG
Twisted-pair 1.5kΩ
1.0kΩ
R-PC 1.0kΩ
13
150Ω 1.0kΩ
14 ――― ―
R - PC 1.0kΩ

10 SG SG

HD26C32 or equivalent

Surely connect SG.

Connection of open collector signal output

Host equipment Servo amplifier

Twisted-pair
1.5kΩ
1.0kΩ
F-PC 1.0kΩ
11
―― ― ―

12
F - PC 150Ω 1.0kΩ

1.0kΩ

10 SG SG

Twisted-pair
1.0kΩ 1.5kΩ
R-PC 1.0kΩ
13
――― ― 150Ω
14 R - PC
1.0kΩ

1.0kΩ

10 SG SG

HD26C32 or equivalent

4-8
4. Wiring Wiring connection to host equipment

5) Layout of connector CN1-B

■ CN1-B PADP-20V-1-S (cable-crimped side)

1 3 5 7 9 11 13 15 17 19

2 4 6 8 10 12 14 16 18 20

CN1-B Model NO. Applicable wire size Manufacturer

Housing PADP-20V-1-S -
JST Mfg. Co., Ltd.
Contact SPH-002GW-P0.5S AWG24 - AWG28

6) Signal name and its function

Terminal
Signal Description
NO.
1 IN-COM Common for pin 3 -10
2 FG Frame ground
3 CONT1 General-purpose input
4 CONT2 General-purpose input
5 CONT3 General-purpose input
6 CONT4 General-purpose input
7 CONT5 General-purpose input
8 CONT6 General-purpose input
9 CONT7 General-purpose input
10 CONT8 General-purpose input
11 OUT-PWR For General-purpose output power supply
12 OUT1 General-purpose output
13 OUT2 General-purpose output
14 OUT3 General-purpose output
15 OUT4 General-purpose output
16 OUT5 General-purpose output
17 OUT6 General-purpose output
18 OUT7 General-purpose output
19 OUT-COM General-purpose output common
20 OUT8 General-purpose output

4-9
4. Wiring Wiring connection to host equipment
7) Terminal connection circuit

Terminal
Mark Name Description
NO.
2 FG Frame ground Connects shielded wire of cables between host controller of
CN1-A and servo amplifier.

1 CONT-COM General-purpose input General-purpose input circuit shall connect to relay or

power supply Open collector transistor circuit.
3 CONT1 General-purpose input
4 CONT2 General-purpose input Specification for external power supply
5 CONT3 General-purpose input Power-supply voltage range：DC5V±5%/ DC12V through
6 CONT4 General-purpose input DC24V±10%
7 CONT5 General-purpose input Allowable current for host equipment：
8 CONT6 General-purpose input Ensure 100mA (DC24V) or over.
9 CONT7 General-purpose input
10 CONT8 General-purpose input [Example of sink circuit]

Host equipment Servo amplifier

2.2kΩ
CONT-COM
1
CONT1 4.7kΩ
3
CONT2
4

CONT3
5

CONT4
6

CONT5
7

CONT6
8

CONT7
9

CONT8
10

Sink circuit type Source circuit type

4-10
4. Wiring Wiring connection to host equipment

Terminal
Mark Name Description
NO.
11 OUT-PWR For general-purpose General-purpose circuit is connected to photo coupler and relay
output power circuit.
12 OUT1 General-purpose [NPN-output (sink output)]
output OUT-PWR (external power supply) specification
13 OUT2 General-purpose Power-supply voltage range：DC5V ±5%，DC12Vthrough24V
output ±10%
14 OUT3 General-purpose Current capacity：20mA or over
output
15 OUT4 General-purpose OUT-1 through OUT-8 (output circuit)
output Specification for power supply
16 OUT5 General-purpose
output Power-supply voltage range：DC5V ±5%
17 OUT6 General-purpose Power-supply voltage range：DC12V through 15V ±10%
output Power-supply voltage range：DC24V ±10%
18 OUT7 General-purpose Maximum current value：DC5V･･････････10mA
output Maximum current value：DC12V through 15V････30mA
20 OUT8 General-purpose Maximum current value：DC24V･････････50mA
output
19 OUT-COM General-purpose
output -common
Servo amplifier Host equipment

OUT-PWR
11
OUT1
12

OUT2
13

14 OUT3

OUT4
15

16 OUT5

OUT6
17

OUT7
18

OUT8
20

OUT-COM
19

4-11
4. Wiring Wiring of motor encoder

4.3 Wiring of motor encoder

1) Name and function of connector CN2

■ Battery backup absolute encoder

Servo amplifier
Servo motor
CN2 Signal Description Note)
lead color for
Terminal NO.
1 Red 5V Power supply Twisted pair
2 Black SG Power supply common
3 Brown ES+
Serial data signal Twisted pair
4 Blue ES-
5 Pink BAT+
Battery Twisted pair
6 Purple BAT-
7 - N.C.
Unconnected -
8 - N.C.
9 Shield FG (earth)
Shield -
10 Shield FG (earth)
✔ Use twisted-pair cable with shield inserted under jacket.
✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo
amplifier connector CN2.

■ Absolute encoder for incremental system

Servo amplifier
Servo motor
CN2 Signal Description Note)
lead color for
Terminal NO.
1 Red 5V Power supply
Twisted pair
2 Black SG Power supply common
3 Brown ES+
Serial data signal Twisted pair
4 Blue ES-
5 - N.C.
Unconnected -
6 - N.C.
7 - N.C.
Unconnected -
8 - N.C.
9 Shield FG (earth)
Shield -
10 Shield FG (earth)
✔ Use twisted-pair cable with shield under jacket
✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo
amplifier connector CN2.

4-12
4. Wiring Wiring of motor encoder

■ Battery-less absolute encoder

Servo amplifier
Servo motor
CN2 Signal Description Note1)
lead color for
Terminal NO.
1 Red 5V Power supply
Twisted pair
2 Black SG Power supply common
3 Brown ES+
Serial data signal Twisted pair
4 Blue ES-
5 - N.C.
Unconnected -
6 - N.C.
7 - N.C.
Unconnected -
8 - N.C.
9 Shield FG (earth)
Shield -
10 Shield FG (earth)
✔ Use twisted-pair cable with shield under jacket
✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo
amplifier connector CN2.

■ Pulse encoder
Servo amplifier
Servo motor
CN2 Signal Description Note1)
lead color for
Terminal NO.
1 Red 5V Power supply
Twisted pair
2 Black SG Power supply common
3 Blue A
Pulse A output Twisted pair
4 Brown /A
5 Green B
Pulse B output Twisted pair
6 Purple /B
7 White Z
Pulse C output Twisted pair
8 Yellow /Z
9 Shield FG (earth)
Shield -
10 Shield FG (earth)
✔ Use twisted-pair cable with shield under jacket
✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo
amplifier connector CN2.

2) Terminal number on servo amplifier side

1 3 5 7 9

2 4 6 8 10

✔ Wiring varies depending on encoder types connected, so make sure to confirm the wiring
method.

CN2 Model NO. Applicable wire size Manufacturer

Housing PADP-10V-1-S -
JST Mfg. Co., Ltd.
Contact SPH-002GW-P0.5S AWG24-AWG28

4-13
4. Wiring Wiring of motor encoder

3) Recommended specification of encoder cable

Shielded many-to cable (AWG24 or equivalent)

Cable rating 80°C 30V

4) Encoder cable length

Maximum cable length according to conductor size of power (5V, SG) wire
Battery-back up absolute encoder
Conductor Absolute encoder for incremental Battery-less absolute encoder
Conductor size resistance system
Ω/km (20°C) Pulse encoder
Length (m) Length (m)
26 150 or less 4 6
24 100 or less 6 10
AWG 22 60 or less 10 16
20 40 or less 15 25
18 25 or less 25 41
0.15 150 or less 4 6
0.2 100 or less 6 10
SQ
2 0.3 65 or less 10 16
(mm )
0.5 40 or less 15 25
0.75 28 or less 25 41

✔ The above conductor resistance values are for reference. Cable lengths are calculated
according to the above conductor lengths. Please consult manufacturers, as actual
conductor resistance values shall be varied by cable specifications.
✔ The lengths are calculated under the condition that encoder is connected with an
appropriate conductor resistance cable, and the voltage at 5V-5G (control power input to
servo amplifier) is 5V.
✔ CNA control power input at 5V-5G shall be directly output to encoder.
When this input voltage itself is low, the voltage can drop on the cable and then encoder
cannot operate correctly, even the cable length is within the range shown in the table
above.
(Encoder operating voltage specification is 5V±5%.)
✔ When encoder cable is relatively long, place relay connector on wiring between servo
amplifier and encoder so as to ground wires in parallel, or use thicker wire
diameter-conducting wire sized cable.

5) Layout of terminal of connector for battery

Terminal NO. Signal Description

1 2 1 BAT- Battery-negative
2 BAT+ Battery-positive

1 JAE

Connector for battery Model number Applicable wire size Manufacturer

Housing IL-2S-S3L-(N) - Japan Aviation
Electronics Industry,
Contact IL-C2-1-10000 AWG28 to AWG22 Limited

4-14
No Text on This Page.
5
5. Operation
5.1 How to change servo motor to be combined.......................................................................................................... 5-1
1) Change and verify servo motor with use of setup software ....................................................................................... 5-1
5.2 System parameters ................................................................................................................................................... 5-2
1) Specification confirmation.......................................................................................................................................... 5-2
2) System parameters list .............................................................................................................................................. 5-4
3) Confirmation and settings of system parameters....................................................................................................... 5-4
4) Change and verify system parameters (settings for motor encoder specification)..................................................... 5-6
5) Default set values at factory ...................................................................................................................................... 5-9
5.3 Test operation.......................................................................................................................................................... 5-10
1) Confirmation of installation and wiring ..................................................................................................................... 5-10
2) Confirmation of movement ...................................................................................................................................... 5-10
3) Confirmation of input-output signal .......................................................................................................................... 5-11
4) Confirmation of device operation ............................................................................................................................. 5-12

5.4 Servo amplifier status display................................................................................................................................ 5-13

1) Default display ......................................................................................................................................................... 5-13
2) Alarm display ........................................................................................................................................................... 5-13
3) Control power input display ..................................................................................................................................... 5-13

5.5 Operation sequence................................................................................................................................................ 5-14

1) Operational sequence from power-on through power-off in standard setting at factory........................................... 5-14
2) Stop sequence when alarm activated ...................................................................................................................... 5-16
3) Sequence when alarm reset .................................................................................................................................... 5-19
4) Sequence when power is turned OFF during operation (during servo ON) ............................................................. 5-20
5.6 Monitor function ...................................................................................................................................................... 5-21
1) Monitor function ....................................................................................................................................................... 5-21
2) Description of monitor.............................................................................................................................................. 5-22

5.7 Analog monitor and digital monitor....................................................................................................................... 5-26

5.8 Setting of parameters.............................................................................................................................................. 5-27
1) Parameters list......................................................................................................................................................... 5-27
5.9 Parameter functions................................................................................................................................................ 5-33
5.10 Control block diagram .......................................................................................................................................... 5-87

5
5.Operation How to change servo motor to be combined

5.1 How to change servo motor to be combined

Change and verify servo motor to be combined with servo amplifier you use by using AC servo
system supportive tool, “setup software.” Refer to separate operating manual M0008363 for more
details on setup software operation.

1) Change and verify servo motor with use of setup software

Procedure Item and Contents

Confirmation of the servo motor model number
■ Confirm the servo motor model number to be combined with the servo amplifier.
Confirm that the model number (first 10 digits) of the servo motor to be used is the same
as the model number found in the Combination Motor model number in the Setup
software. If the servo motor model number to be used is the same as the Combination
Motor model number, there is no need to change the settings. If not, change the number
1 to the correct servo motor model number.

■ Input control power (5V) of servo amplifier to start-up setup software. Open the System
Parameters tab of Parameters setting (P) on Menu. The first 10 digits of the servo motor
number appear on the upper left side of the monitor at the Present Setting of the Motor
Combination.

Change servo motor model number

■ The way to change servo motor to be combined with servo amplifier is to use “select from
list” of setup software.

2 ◆ Input control power (5V) of servo amplifier to start-up setup software.

◆ Open the System Parameters tab of Parameters setting (P) on menu, open “select
from list” of motor to be combined located in the upper left portion of the screen, and
then select file name (extension .mt1) of servo motor model number (10 digits from the
first) you use.
3 Re-turning on of control power enables changed settings.

✔ When parameters in servo amplifier are changed via setup software, the changed parameters are to be
written into non-volatile memory inside of the servo amplifier. Do not turn off the 5V-control power
supply of servo amplifier during parameter-writing. If you turn off the control power supply after
performing g parameter-writing via setup software, turn off the 5V-power supply more than 5
seconds surely after completion of parameter-writing.

5-1
5.Operation System parameters / Specification confirmation

5.2 System parameters

1) Specification confirmation

Confirm specification, combination of servo amplifier and motor encoder by using AC servo system
supportive tool “setup software.”
Procedure Item and Contents
Confirmation of servo amplifier specifications
■ Confirm that the specifications of the product purchased are the same as that of the
machine being used. Also, confirm the following four (4) items with statements or codes.

◆ Motor structure
◆ Main circuit power supply voltage
◆ Amplifier capacity code
◆ Control board code

1 ■ Confirm the statement contents and codes with the AC servo system supportive tool
“setup software.”

◆ Turn the Control Power ON and start the Setup software. Open the System
Parameters tab at Parameters (P) from the Menu and the items mentioned above will
be displayed on the upper right of the monitor at System Information. Confirm them
using Procedure 2 and the procedures that follow it. See separate volume,
M0008363, for Setup software operation.

Motor structure

Code Motor structure

2 00 Rotary

■ Confirm that rotary is displayed at motor structure.

5-2
5.Operation System parameters / Specification confirmation
Procedure Item and Contents
Main circuit power supply voltage

Code Main circuit power supply voltage display

03 (04) 48V <24V>
3

■ Confirm that the main circuit power supply voltage of the connector CNA is displayed.

Amplifier capacity

Code Amplifier capacity Servo amplifier model number

2F 25A RF2G (H) 01A####
(Small capacity)
4 2E 40A RF2G (H) 02A####
(Large capacity)

■ Confirm that amplifier capacity for servo amplifier model number you use is displayed.

Control board code

Motor encoder model External encoder

Code
connected to EN1 connected to EN2
#0 PA035S, PA035C, RA035C Do not use
#2 PA035S, PA035C, RA035C Pulse encoder
#8 PP031, PP062 Do not use
#A PP031, PP062 Pulse encoder

5 ■ Confirm the corresponding code from the motor encoder of the servo motor to be
used (EN1 and EN2) is displayed.

Model Name
PA035S Absolute Encoder for Incremental System
PA035C Battery Backup Method Absolute Encoder
RA035C Battery-less Absolute Encoder
PP031, PP062 Pulse Encoder

5-3
5.Operation System Parameters List, Confirmation and Settings (Servo Amplifier)
2) System parameters list
The following is system parameters list. Settings vary depending on system you use.
So please confirm 3) and 4) and later to surely and properly set.
ID Contents
00 Control Cycle
01 Main Circuit Power Input Type
02 Reserve
04 Serial Encoder Function Selection
05 Serial Encoder Resolution
06 Backup Type Absolute Encoder Function Selection
07 Pulse Encoder Function Selection
08 Pulse Encoder Resolution
09 Control Mode Selection
0A Position Control Selection
0B Position Loop Control, Position Loop Encoder Selection
0C External Pulse Encoder Resolution

3) Confirmation and settings of system parameters

Use AC servo system supportive tool, setup software, to set specification for and combination of
servo amplifier and motor encoder. Refer to separate operating manual “M0008363 for details on
operation of setup software.

System parameters (Settings for servo amplifier)

ID Contents
Control Cycle
■ Select the control cycle for Velocity control/ Torque control.
“High Frequency Sampling” enables increasing the frequency response of the velocity
control system. Please set at “00: Standard_Sampling” for normal use.

Selection Contents
00 Standard_Sampling Standard Sampling
01 High-freq_Sampling High Frequency Sampling

■ “High frequency sampling mode” is not available for the following conditions:
00
◆ System Parameters ID0A setting value of the “Position Control Selection”
Present setting value Contents
01:Model1 Model Following Control
or
Present setting value Contents
02:Model2 Model Following Vibration Suppressor Control

◆ System Parameters ID0B setting value of the “Position Loop Control, Position Loop
Encoder Selection”
Present setting value Contents
01: External_Enc Fully closed control/ External Encoder
Main Circuit Power Input Type
■ Set the input mode for the main circuit power supply to the servo amplifier CNA.

01
Selection Description
02:DC DC power is supplied to the main circuit

5-4
5.Operation Confirmation and Settings (Servo Amplifier)

ID Contents
Control Mode Selection
■ Set the control mode of the servo amplifier used as follows:

09 Selection Description
02 Position Position Control Mode

Position Control Selection

■ Select the function Position Control Mode.

Selection Description
00 Standard Standard
01 Model1 Model Following Control
Model Following Vibration Suppress
02 Model2
Control

■ Under the following parameter settings, ‘Model Following Control” and “Model Following
Vibration Suppressor Control” are not valid.

◆ System parameter ID00 “Control Cycle” is set as follows:

Present setting value Description
0A 01: High-freq_Sampling High Frequency Sampling

◆ System parameter ID09 “Control Mode Selection” is not set as follows:

Present setting value Description
02:Position Position Control Mode

■ If the parameter is set as below, the “Model Following Vibration Suppressor Control” is not
valid.

◆ System parameter ID0B “Position Loop Control, Position Loop Encoder Selection” is
set as below:
Present setting value Description
01: External_Enc Fully closed control/ External Encoder

Position Loop Control, Position Loop Encoder Selection

■ Select the encoder for “Position loop control system” and “Position loop control” for the servo
amplifier under “Fully closed control”.

Selection Description
00 Motor_Enc Semi-closed Control/ Motor Encoder
0B 01 External_Enc Fully closed control/ External Encoder

■ “Fully closed control” is not chosen, no need to change. Confirm that the setting is as
follows:
Present setting value Description
00:Motor_Enc Semi-closed control/ Motor Encoder

External Pulse Encoder Resolution

■ Sets resolution of the external pulse encoder under Fully closed control. Sets the number of
converted pulses for each rotation of the motor shaft.
0C
Setting range Unit
500 - 99999(multiply by 1) P/R

5-5
5.Operation Confirmation and Settings (Motor Encoder)

4) Change and verify system parameters (settings for motor encoder specification)
Set motor encoder you use. Items to be set vary depending on encoder you use. Parameters you
need to set are listed below. Please set values for each motor encoder after checking the list in the
following pages.

ID Contents
Serial Encoder Function Selection
■ Select the serial encoder function

Selection Description
00 PA_S_2.5M Absolute Encoder for Incremental System 2.5Mbps
04 01 PA_S_4M Absolute Encoder for Incremental System 4.0Mbps
02 PA_C_2.5M Battery Backup Method Absolute Encoder 2.5Mbps
03 PA_C_4M Battery Backup Method Absolute Encoder 4.0Mbps
04 RA_C_2.5M Battery-less Absolute Encoder 2.5Mbps
05 RA_C_4M Battery-less Absolute Encoder 4.0Mbps

Serial Encoder Resolution

■ Set the divisions per single (1) shaft rotation

Selection Description Selection Description

00 2048_FMT 2048 divisions 06 131072_FMT 131072 divisions
05 01 4096_FMT 4096 divisions 07 262144_FMT 262144 divisions
02 8192_FMT 8192 divisions 08 524288_FMT 524288 divisions
03 16384_FMT 16384 divisions 09 1048576_FMT 1048576 divisions
04 32768_FMT 32768 divisions 0A 2097152_FMT 2097152 divisions
05 65536_FMT 65536 divisions

Backup Type Absolute Encoder Function Selection

■ Select the proper setting for the system

Selection Description
00 Absolute_System Absolute System
01 Incremental_System Incremental System
06

✔ This is an exclusive setting for operation with battery-backup type absolute encoder
connected. (Effective when either 02 or 03 is selected in the above ID04.)
Selecting 01 performs “encoder clear” at the time the power supply is turned on, and
then clear “encoder status (error, warning)” and multi-turn data.

Pulse Encoder Function Selection

■ Select the pulse encoder to be used

Selection Description
07
00 Standard Wire-saving Incremental Encoder [Standard (4 pairs)]
01 7Pairs_INC-E Incremental Encoder with CS Signal (７ pairs)

Pulse Encoder Resolution

■ Set the pulse number per single (1) shaft rotation

08 Setting range Unit

500 – 65535 (multiplied by 1) P/R

5-6
5.Operation Confirmation and Settings (Motor Encoder)
■ The following shows the setting when you use serial encoder for motor as incremental system.
Motor encoder used for CN2 PA035S: Absolute encoder for incremental system
Resolution per 1 rotation: 131072(17bits)
Motor encoder specification Transmission method: Half-duplex start/stop synchronization
2.5Mbps (standard)
■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

00: PA_S_2.5M Absolute Encoder for Incremental System 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

Motor encoder used for CN2 PA035C: Battery backup method absolute encoder
Resolution per 1 rotation: 131072 (17bits)
Motor Encoder
Specification Transmission method: Half-duplex start/stop synchronization
2.5Mbps (standard)
■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

02: PA_C_2.5M Battery Backup Method Absolute Encoder 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

■ Setting value for system parameter ID06 “Backup Type Absolute Encoder Function Selection”

Setting value Description

01: Incremental_System Incremental System

✔ No need to connect backup battery

✔ Resolution and baud rate may vary depending on the motor encoder you use.

5-7
5.Operation Confirmation and Settings (Motor Encoder)
■ The following shows the setting when you use serial encoder for motor as absolute system.
Motor encoder used for CN2 PA035C: Battery backup method absolute encoder
Resolution per 1 rotation: 131072(17bits)
Motor Encoder Specification Transmission method: Half-duplex start/stop synchronization
2.5Mbps(standard)
■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

02: PA_C_2.5M Battery Backup Method Absolute Encoder 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

■ Setting value for system parameter ID06 “Backup Type Absolute Encoder Function Selection”

Setting value Description

00: Absolute _System Absolute System

Motor encoder used for CN2 RA035C: Battery less absolute encoder
Resolution per 1 rotation: 131072(17bits)
Motor Encoder Specification Transmission method: Half-duplex start/stop synchronization
2.5Mbps (standard)
■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

04: RA_C_2.5M Battery-less Absolute Encoder 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

■ The following shows the setting when you use pulse encoder for motor.
CN2: “PP031, PP062” Connect pulse encoder
■ Setting value for system parameter ID07 “Pulse Encoder Function Selection”

Setting value Description

00: Standard Wire-saving Incremental Encoder [Standard (4 pairs)]

■ Setting value for system parameter ID08 “Pulse Encoder Resolution”

Setting range Unit

500 - 65535(multiply by 1) P/R

✔ Resolution and baud rate may vary depending on the motor encoder you use.

5-8
5.Operation Factory Default Parameter Setting Values
5) Default set values at factory

The following table shows the defaults for parameter settings at factory.

■ Servo amplifier model number : RF2G(H)##A0□#

ID Name Setting value
00 Control Cycle 00: _ Standard_Sampling
01 Main Circuit Power Input Type 02: _DC
04 Serial Encoder Function Selection 00: PA_S_2.5M
05 Serial Encoder Resolution 06: 131072_FMT
06 Backup Type Absolute Encoder Function Selection 00: Absolute_System
09 Control Mode Selection 02: Position
0B Position Loop Control, Position Loop Encoder Selection 00: Motor_Enc.

■ Servo amplifier model number : RF2G(H)##A8□#

ID Name Setting value
00 Control Cycle 00: _ Standard_Sampling
01 Main Circuit Power Input Type 02: _DC
07 Pulse Encoder Function Selection 00: Standard
08 Pulse Encoder Resolution 2000P/R
09 Control Mode Selection 02: Position
0B Position Loop Control, Position Loop Encoder Selection 00: Motor_Enc.

✔ # shall be any given alphanumeric characters.

✔ Performing parameter backup function enables you to store “system parameters,” “general
parameters,” and “motor parameters” in servo amplifier, and then restore the parameters when needed.
✔ Please refer to separate document: M0008363 for operating setup software.

5-9
5.Operation Test Operation (Confirmation of installation and wiring)

5.3 Test operation

1) Confirmation of installation and wiring

Confirm installation and wiring of servo amplifier and motor. The connector of CN1A and CN1B is
described as CN1 to represent the two in the following table.
Procedure Item and contents
Installation
■ Install the servo amplifier and the servo motor by referring to [Installation (3-1)].
Do not connect the servo motor shaft to the machine to maintain the no load status.

1
Do not connect

Wiring, connecting → Turning on the power supply

■ Wire power supply servo motor and host equipment by referring to [Wiring (4)].
Do not connect CN1 to the servo amplifier.

■ Turn on power supply. Confirm that alarm LED (ALM) mounted on upper front of servo
2 amplifier is lighted. When alarm LED (ALM) is lighted, take actions according to”Section
7.3, Troubleshooting when alarm activated.”

■ When status LED (STA) does not flash even though main circuit power is turned on, take
actions according to”Section 7.1, Troubleshooting.”

2) Confirmation of movement

Perform JOG operation by using setup software.

Procedure Item and contents
JOG driving
■ Do not connect the shaft of the servo motor into the machine to keep the status of no
load, and perform JOG operation.

1 ■ Confirm that the servo motor rotates forward direction and backward direction

◆ Select JOG driving from the Test operation menu. For operating instructions,
please see separate volume, M0008363, for Setup software.

5-10
5.Operation Test Operation (Confirmation of input-output signal)
3) Confirmation of input-output signal

Settings for multi-purpose I/O signals (CN1) are defaults at factory.

Procedure Item and contents
Confirmation of I/O signal
■ Select function you use from general parameters Group9 and allocate CONT１ - CONT8.

Default setting value at shipment

Input CN1pin
signal number Signal selected form general Setting value
parameter Group9
CONT1 3 Servo-on function 02:_CONT1_ON
CONT2 4 Velocity loop proportional control 04:_CONT2_ON
1 switching function
CONT3 5 Encoder clear function 06:_CONT3_ON
CONT4 6 Deviation clear function 08:_CONT4_ON
CONT5 7 Negative over travel function 0B:_CONT5_OFF
CONT6 8 Positive over travel function 0D:_CONT6_OFF
CONT7 9 Torque limit function 0E:_CONT7_ON
CONT8 10 Alarm reset function 10:_CONT8_ON

Confirmation of output signals

■ Select the output signal from general parameters GroupA and allocate OUT1 - OUT 8.

Default setting Default setting

Output CN1 Pin Output CN1 Pin
value at shipment value at shipment
signal number signal number
2 Setting value Setting value
OUT1 12 18:_INP_ON OUT5 16 33:_ALM5_OFF
OUT2 13 0C:_TLC_ON OUT6 17 35:_ALM6_OFF
OUT3 14 02:_S-RDY_ON OUT7 18 37:_ALM7_OFF
OUT4 15 0A:_MBR_ON OUT8 20 39:_ALM_OFF

Confirmation of I/O signal

■ Confirm that the I/O signal functions fine at the monitor.
Refer to “Section 5.6, Monitoring function” for monitor explanation.
3
◆ Confirm from the menu monitor.
For operating instructions of Setup software, please see the separate volume
M0008363.

Input servo ON signal

■ Input servo ON signal. Confirm that servo motor is excited and status LED (STA) on
the front of servo amplifier is flashing.
4
■ Setting and changing the over-travel function can be done at the general parameters
Group9 ID00, ID01.

5-11
5.Operation Test Operation (Confirmation of input-output signal)
Procedure Item and contents
Command input
■ Input position command pulse.

■ Confirm that the shaft of the servo motor rotates in the right direction.

■ If the shaft of the servo motor command input from the upper device does not rotate,
confirm that the command is input with the monitor function.

5
ID Symbol Monitor name Present value
Position command pulse Input value to be
13 FMON
frequency monitor indicated.

■ If the servo amplifier does not receive command from host unit, the value displayed
on the monitor does not change.
Incorrect wiring may cause the above. Please re-confirm the wiring

Power shutdown
6
■ Turn OFF the servo-ON signal. Then turn OFF the power supply.

4) Confirmation of device operation

Connect servo motor shaft to the machine and check the operation.
Procedure Item and contents
Connection to the machine
■ Connect the servo motor shaft to the machine.
Connect the servo motor shaft
to the machine

1
■ Input the command (low velocity); check the operation direction, distance,
emergency stop and over-travel (F-OT･R-OT) to make sure they are operating
properly.

■ Be sure to stop in the event of any abnormal operation.

Operation
■ Input the command for the actual operation and start the machine.

2 ■ At the time of shipment, Auto-tuning (auto-adjustment for servo gain and filter, etc.)
has been set and is valid. If there is nothing wrong with operation and the
characteristic, manual tuning is not necessary.
Refer to [Adjustments (6)] for the Servo Tuning.

5-12
5.Operation Servo Amplifier Status Display

5.4 Servo amplifier status display

Servo amplifier status is identified by means of 3 LEDs on the front of amplifier as follows:

1) Default display

[STA] LED
Description Status code
Marking
Control power supply established.
Extinction Control power supply (5V) is established and amplifier (RDY) 0
is ON.
Main circuit power supply established.
Main power supply ｛48V<24V>｝is established, but operation 2
Flashing at preparation completion signal is OFF.
256ms cycle Operation preparation completion signal established.
Main power supply ｛48V<24V>｝is established and operation 4
preparation completion signal is ON.
Flashing at Servo is ON.
8
1.024s cycle

[STA] LED
Description
Marking
Warning status:
Flashing at Battery Warning, position deviation warning, overload warning, amplifier
1.024s cycle temperature warning, positive/negative over travel, now in velocity-limiting, and
now in torque limiting.

2) Alarm display

[STA] LED
Description
Marking
Lighted When an alarm occurs, take corrective actions as instructed in [Maintenance (8)].

3) Control power input display

[STA] LED
Description
Marking
Lighted Shows condition that DC5V is applied to CNA control power input.

5-13
5.Operation Operation Sequence (Power ON)

5.5 Operation sequence

1) Operational sequence from power-on through power-off in standard setting at factory

■ Power ON → Servo ON

Control power supply Control power supply on

2sec (Max)

Power on enabling signal

0msec (Min)

Main circuit power supply Main circuit power supply on

100ms

Power ON signal

S-RDY

Operation setup completion signal S-RDY2

DB relay waiting time = 100msec

Servo ON signal Servo-on

Dynamic brake signal Dynamic brake OFF

Motor velocity

Holding brake excitation signal Holding brake release

Command acceptance permission signal Command acceptance permission

Motor excitation signal Motor excitation

BOFFDLY (300msec) + 28msec

✔ Maximum number of repetitions of turning-on/off of servo amplifier shall be 5 times or less per hour, 30
times or less a day.
* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-14
5.Operation Operation Sequence (Power OFF)
■ Servo OFF → Power OFF

Control power supply Control power supply OFF

0msec (Min)

Main circuit power supply Main circuit power supply OFF

Power ON signal Power ON output OFF

Operation setup completion signal S-RDY S-RDY2

Servo ON signal Servo OFF

Dynamic brake signal Dynamic brake ON

Motor velocity Motor stop

Holding brake excitation signal Holding brake hold

Command acceptance permission signal Command acceptance prohibition

Motor excitation signal Motor free

BONDLY = 300msec

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

✔ Do not turn off the 5V-control power supply of servo amplifier during parameter-writing. If you turn off
the control power supply after performing parameter-writing via setup software, turn off the 5V-power
supply more than 5 seconds surely after completion of parameter-writing.

5-15
5.Operation Operation Sequence (At Alarm)
2) Stop sequence when alarm activated
When an alarm activated, servo motor is stopped by either dynamic brake or servo brake.
The selection of brake to use is depending on the alarm activated. Refer to “Section 7.2 Warning
and alarm list.”

■ Stop by dynamic brake at alarm

Power-ON enabling signal Power-on enablement OFF

Main circuit power supply Main power supply OFF

Operation setup completion signal S-RDY S-RDY2

Servo ON signal Servo ON

Dynamic brake signal Dynamic brake ON

Motor velocity

Alarm signal Alarm status

Holding brake excitation signal Holding brake hold

Command acceptance permission signal Command acceptance prohibition

Motor excitation signal Motor free

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-16
5.Operation Operation Sequence (At Alarm)
■ Stop by servo brake when alarm activated (With safeguard circuit)

Power-on enabling signal Power ON permission OFF

Main circuit power supply Main power supply OFF

Operation setup completion signal S-RDY S-RDY2

Servo ON signal Servo ON

Dynamic brake signal Dynamic brake ON

Motor stop detect

Motor velocity

Alarm signal Alarm status

Holding brake excitation signal Holding brake hold

Command
Command acceptance
acceptance
permission signal prohibition

Motor excitation signal Motor free

BONDLY = 300msec

✔ The above is sequence without safeguard circuit.

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-17
5.Operation Operation Sequence (At Alarm)
■ Stop by servo brake when alarm activated (With safeguard circuit)

Power-on enabling signal Power ON permission OFF

Main circuit power supply Main power supply OFF

Operation setup completion signal S-RDY S-RDY2

Servo ON signal Servo ON

Dynamic brake signal Dynamic brake ON

Motor stop detected

Motor velocity

Alarm signal Alarm status

Holding brake excitation signal Holding brake hold

Command acceptance Command acceptance prohibition

permission signal

Motor excitation signal Motor free

✔ The above is sequence with safeguard circuit.

When safeguard circuit breaks main circuit power, the motor operation switches to dynamic brake stop.
Refer to Section 4.1, 6) Examples of wiring.
* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-18
5.Operation Operation Sequence (Alarm Reset)
3) Sequence when alarm reset

Alarm can be reset by inputting alarm reset signal via general input.

Power-on enabling signal Power ON permission

Main circuit power supply Main power supply ON

100ms
Power ON signal

S-RDY
Operation setup completion signal S-RDY2
DB relay waiting time = 100msec

Servo ON signal Servo ON

Alarm signal Alarm released

Alarm reset signal

Alarm reset input (over 20msec)

✔ Some alarms cannot be reset unless the power is reset (control power is turned OFF and then re-
turned ON), or encoder clear is performed. Refer to Section 7.2 Warning and Alarm List.
✔ Reset alarm after eliminating the alarm cause and ensuring the safety when alarm activated. The alarm
signal cannot be cleared when alarm state continues, therefore, set a timeout period of 20ms or more
to restore.
Make sure to input 20msec or over to input alarm reset signal without checking alarm signal.

5-19
5.Operation Operation Sequence (Power OFF During Operation)
4) Sequence when power is turned OFF during operation (during servo ON)

Control power supply Control power supply OFF

Main circuit power supply Main circuit power supply OFF

Power ON signal Power ON output OFF

Operation setup completion signal S-RDY S-RDY2

Servo ON signal

Dynamic brake signal Dynamic brake ON

Motor velocity Motor stop

Holding brake excitation signal Holding brake hold

Command acceptance permission signal Command acceptance prohibition

Motor excitation signal Motor free

✔ Refer to Section 5.5, 2, Dynamic brake stop when alarm activated for sequence when “Detect main
circuit power voltage decrease alarm” selected in main circuit power voltage decrease detection
selection “GroupB ID18.”

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-20
5.Operation Monitor Function

5.6 Monitor function

1) Monitor function
ID Symbol Name Unit
00 STATUS Servo amplifier status monitor ---
01 WARNING1 Warning status 1 monitor ---
02 WARNING2 Warning status 2 monitor ---
03 CONT8-1 General Purpose Input CONT8 - 1 monitor ---
04 OUT8-1 General Purpose Output OUT8 - 1 monitor ---
05 INC-E MON Pulse encoder signal monitor
-1
06 VMON Velocity monitor min
07 VCMON Velocity command monitor min-1
08 TMON Torque monitor %
09 TCMON Torque command monitor %
0A PMON Position deviation monitor Pulse
0C APMON Actual position monitor (Motor encoder) Pulse
0E EX-APMON External actual position monitor (External encoder) Pulse
10 CPMON Command position monitor Pulse
VC/TC-IN Analog velocity command/Analog torque command input
12 mV
voltage monitor
13 FMON1 Position command pulse frequency monitor k Pulse/s
14 CSU U-phase electric angle monitor deg
16 ABSPS Serial encoder PS data monitor Pulse
1A RegP Regenerative resistor operation percentage monitor %
1B TRMS Effective torque monitor %
1C ETRMS Effective torque monitor (Estimated value) %
1D JRAT MON Load Inertia Moment Ratio monitor %
1E KP MON Position Loop Proportional Gain monitor 1/s
1F TPI MON Position Loop Integral Time Constant monitor ms
20 KVP MON Velocity Loop Proportional Gain monitor Hz
21 TVI MON Velocity Loop Integral Time Constant monitor ms
22 TCFIL MON Torque Command Filter monitor Hz
23 MKP MON Model Control Gain monitor 1/s
24 MTLMON -EST Load Torque monitor (Estimate value) %
25 OPE-TIM Amplifier operation time ×2 hour
30 VBUS Main circuit direct current voltage monitor V

5-21
5.Operation Monitor Function
2) Description of monitor
ID Contents
Servo amplifier status monitor [STATUS]

Code Status
0 Power OFF status (P-OFF)
2 Power ON status (P-ON)
4 Servo ready status (S-RDY)
00
8 Servo ON status (S-ON)
A Emergency stop status (EMR)
10 Alarm status and power OFF (ALARM_P-OFF)
12 Alarm status and power ON (ALARM_P-ON)
1A Alarm status and emergency stop status (ALARM_EMR)

Warning status 1 monitor [WARNING1]

■ Displays warning status. Displays warning status under“1”or “ON”
Bit 3 2 1 0
Function --- Overload --- Temperature inside the amplifier
01

Bit 7 6 5 4
Function Excessive deviation --- Velocity controlled Torque controlled

Warning status 2 monitor [WARNING2]

■ Displays warning status. Valid when“1”or“ON”.
Bit 3 2 1 0
Reverse direction Forward direction Main circuit power
Function -
02 Over-travel Over-travel being charged

Bit 7 6 5 4
Low battery
Function Voltage sag - -
voltage

General Purpose Input CONT8 - 1 monitor [CONT8-1]

■ Displays generic input terminal status. It will be in a photo coupler exciting state by 1 or ON.
Bit 3 2 1 0
Function CONT4 CONT3 CONT2 CONT1
03
Bit 7 6 5 4
Function CONT8 CONT7 CONT6 CONT5

General Purpose Output OUT8 - 1 monitor [OUT8-1]

■ Displays generic output terminal status. It will be in a photo coupler exciting state by 1 or
ON.
Bit 3 2 1 0
04 Function OUT4 OUT3 OUT2 OUT1

Bit 7 6 5 4
Function OUT8 OUT7 OUT6 OUT5

5-22
5.Operation Monitor Function
ID Contents
Pulse encoder signal monitor [INC-E MON]
■ Displays pulse encoder signal status. 1 or ON shows an incoming signal level “H” state.
Bit 3 2 1 0
Motor encoder Motor encoder Motor encoder
Function -
Z phase signal B phase signal A phase signal
05

Bit 7 6 5 4
External encoder External encoder External encoder
Function -
Z phase signal B phase signal A phase signal

Velocity monitor [VMON]

■ Displays the rotation velocity of the servo motor.
06 Display range Unit
-9999 - 9999 min-1

Velocity command monitor [VCMON]

■ Displays the velocity command value.
07 Display range Unit
-9999 - 9999 min-1

Torque monitor [TMON]

■ Displays the output torque.
08 Display range Unit
-499.9 - 499.9 %

5-23
5.Operation Monitor Function
ID Contents
Torque command monitor [TCMON]
■ Displays the torque command value.
09 Display range Unit
-499.9 - 499.9 %

Position deviation monitor [PMON]

■ Displays the position deviation value.
◆ The values are given in decimal on the display of setup software.
0A
Display range Unit
-2147483648 - 2147483647 Pulse

Actual position monitor (Motor encoder) [APMON]

■ Shows current motor encoder position with the origin at the position at control power-on. As
this is free-running counter, if current position exceeds display range, the value becomes the
maximum value of reverse polarity.
0C
Display range Unit
-9223372036854775808 - 9223372036854775807 Pulse

External monitor (External encoder) [EX-APMON]

■ Shows current external encoder position with the origin at the position at control power-on.
As this is free-running counter, if current position exceeds display range, the value becomes
the maximum value of reverse polarity.
0E
Display range Unit
-9223372036854775808 - 9223372036854775807 Pulse

Command position monitor [CPMON]

■ Shows current pulse command position with the origin at the position at control power-on. As
this is free-running counter, if current position exceeds display range, the value becomes the
maximum value of reverse polarity.
10
Display range Unit
-9223372036854775808 - 9223372036854775807 Pulse

5-24
5.Operation Monitor Function
ID Contents
Position command pulse frequency monitor [FMON1]
■ Displays entered command pulse frequency.
13 Display range Unit
-6000 - 6000 kPulse/s

U-phase electric angle monitor [CSU]

■ Displays U-phase electric angle. Always displayed excluding encoder errors.
14 Display range Unit
0 - 359 deg

Serial encoder PS data monitor [ABSPS]

■ Displays position data of serial encoder.
16 Display range Unit
0 - 1099511627775 Pulse
(Actual display range varies depending on the encoder specifications.)

Effective torque monitor [TRMS]

■ Displays effective torque. Depending on the operation pattern, it may take some hours to
become stable.
1B Display range Unit
0 - 499 %

Effective torque monitor (Estimated value) [ETRMS]

■ Displays effective torque estimated value. Estimates from short time operation. This can be
confirmed shortly if the same operation pattern is repeated.
1C Display range Unit
0 - 499 %

5-25
5.Operation Analog Monitor, Digital Monitor
ID Contents
Load Inertia Moment Ratio monitor [JRAT MON]
1D ■ Displays actual Load Inertia Moment Ratio.
Value can be confirmed when changing gain and at Auto-tuning function.
Position Loop Proportional Gain monitor [KP MON]
1E ■ Displays actual Position Loop Proportional Gain.
Value can be confirmed when changing gain and at Auto-tuning function.
Position Loop Integral Time Constant monitor [TPI MON]
1F ■ Displays actual Position Loop Integral Time Constant value.
Value can be confirmed when changing the gain function.
Velocity Loop Proportional Gain monitor [KVP MON]
20 ■ Displays actual Velocity Loop Proportional Gain.
Value can be confirmed when changing gain and at Auto-tuning function.
Velocity Loop Integral Time Constant monitor [TVI MON]
21 ■ Displays actual Velocity Loop Integral Time Constant.
Value can be confirmed when changing gain and at Auto-tuning function.
Torque Command Filter monitor [TCFIL MON]
22 ■ Displays actual Torque Command Filter.
Value can be confirmed when changing gain and at Auto-tuning function.
Model Control Gain monitor [MKP MON]
23 ■ Displays actual Model Control Gain.
Value can be confirmed when changing gain and at Auto-tuning function.
Load Torque monitor (Estimate value) [MTLMON-EST]
■ Displays estimated value of load torque.
24 Display range Unit
-499.9 - 499.9 %

Amplifier operation time [OPE-TIM]

■ Counted during period control power is being turned ON. The time is displayed value x 2
25 hours.
Unit
×2 hour
Main circuit direct current voltage monitor [VBUS]
■ Displays main circuit direct current voltage.
30 Unit
V

✔ Use the following formula for converting from “effective torque monitor (estimated value) value” to
“motor utilization monitor value” that is indicated in RS1 model amplifier.
Motor utilization monitor [%] = (effective torque monitor-indicated value [%]/100)2×00

5.7 Analog monitor and digital monitor

All signals and internal status of servo amplifier can be monitored by using dedicated monitor box
and cables. Refer to “Section 10.6, Optional parts” for details of dedicated monitor and cables.

■ Selection of output signal

Select from the following parameters to change output signal you use.
General parameters GroupA ID10 DMON: Digital Monitor Output Signal Selection
General parameters GroupA ID11 MON1: Analog Monitor Select Output 1
General parameters GroupA ID12 MON2: Analog Monitor Select Output 2

5-26
5.Operation Parameters List

5.8 Setting of parameters

1) Parameters list

The following is parameters list. Parameters are grouped and listed in the order of ID. Store
“system parameters,” “general parameters,” and “motor parameters” in servo amplifier by
performing parameter backup function so that you can restore the parameters when needed. Refer
to separate manual M0008363 for operating setup software.

✔ When parameters in servo amplifier are changed via setup software, the changed parameters are to be
written into non-volatile memory inside of the servo amplifier. Do not turn off the 5V-control power supply of
servo amplifier during parameter-writing. If you turn off the control power supply after performing parameter-
writing via setup software, turn off the 5V-power supply more than 5 seconds surely after completion of
parameter-writing.

■ General parameters group list

Group Classification of the parameters in this group
Group0Auto-tuning settings
Group1Basic control parameter settings
FF (feed forward) vibration suppressor control/ Notch filter/ Disturbance observer
Group2
settings
Group3 Model following control settings
Group4 Gain switching control/ Vibration suppressor frequency switching settings
Group5 High setting control settings
Group8 Control system settings
Group9 Function enabling condition settings
General output terminal output condition/ Monitor output selection/
GroupA
Serial communication settings
GroupB Sequence/alarm related settings
GroupC Encoder related settings
✔ Invalid parameters vary depending on the servo amplifier you use.
✔ Setup software does not display invalid parameter (s).

■ General parameters Group0 “Auto-tuning settings”

ID Symbol Name Standard value Unit Setting range
00 TUNMODE Tuning Mode 00:AutoTun - 00 - 02
01 ATCHA Auto-Tuning Characteristic 00:Positioning1 - 00 - 06
02 ATRES Auto-Tuning Response 5 - 1 - 30
Auto-Notch Filter Tuning
10 ANFILTC 50.0 % 10.0 - 100.0
Torque Command
Auto-FF Vibration Suppressor
20 ASUPTC Frequency Tuning Torque 25.0 % 10.0 - 100.0
Command
Auto-FF Vibration Suppressor
21 ASUPFC Frequency Tuning Friction 5.0 % 0.0 - 50.0
Compensation Value

5-27
5.Operation Parameters List
■ General parameters Group1 “Basic control parameter settings”
Standard
ID Symbol Name Unit Setting range
value
Position Command Smoothing
00 PCSMT 0.0 ms 0.0 - 500.0
Constant
01 PCFIL Position Command Filter 0.0 ms 0.0 - 2000.0
02 KP1 Position Loop Proportional Gain 1 30 1/s 1 - 3000
Position Loop Integral Time
03 TPI1 1000.0 ms 0.3 - 1000.0
Constant 1
Higher Tracking Control Position
04 TRCPGN 0 % 0 - 100
Compensation Gain
05 FFGN Feed Forward Gain 0 % 0 - 100
06 FFFIL Feed Forward Filter 4000 Hz 1 - 4000
10 VCFIL Velocity Command Filter 4000 Hz 1 - 4000
11 VDFIL Velocity Feedback Filter 1500 Hz 1 - 4000
12 KVP1 Velocity Loop Proportional Gain 1 50 Hz 1 - 2000
Velocity Loop Integral Time
13 TVI1 20.0 ms 0.3 - 1000.0
Constant 1
14 JRAT1 Load Inertia Moment Ratio 1 100 % 0 - 15000
Higher Tracking Control Velocity
15 TRCVGN 0 % 0 - 100
Compensation Gain
16 AFBK Acceleration Feedback Gain 0.0 % -100.0 - 100.0
17 AFBFIL Acceleration Feedback Filter 500 Hz 1 - 4000
20 TCFIL1 Torque Command Filter 1 600 Hz 1 - 4000
21 TCFILOR Torque Command Filter Order 2 Order 1-3

■ General parameters Group2 “FF (Feed forward) vibration suppressor control/ Notch filter/
Disturbance observer settings”
Standard
ID Symbol Name Unit Setting range
value
00 SUPFRQ1 FF Vibration Suppressor Frequency 1 500 Hz 5 - 500
FF Vibration Suppressor Level
01 SUPLV 00 - 00 - 03
Selection
10 VCNFIL Velocity Command Notch Filter 1000 Hz 50 - 1000
20 TCNFILA Torque Command Notch Filter A 4000 Hz 100 - 4000
TCNFILA, Low Frequency Phase
21 TCNFPA 00 - 00 - 02
Delay Improvement
22 TCNFILB Torque Command Notch Filter B 4000 Hz 100 - 4000
23 TCNFDB TCNFILB, Depth Selection 00 - 00 - 03
24 TCNFILC Torque Command Notch Filter C 4000 Hz 100 - 4000
25 TCNFDC TCNFILC, Depth Selection 00 - 00 - 03
26 TCNFILD Torque Command Notch Filter D 4000 Hz 100 - 4000
27 TCNFDD TCNFILD, Depth Selection 00 - 00 - 03
30 OBCHA Observer Characteristic 00:Low - 00 - 02
31 OBG Observer Compensation Gain 0 % 0 - 100
32 OBLPF Observer Output Low-pass Filter 50 Hz 1 - 4000
33 OBNFIL Observer Output Notch Filter 4000 Hz 100 - 4000

5-28
5.Operation Parameters List
■ General parameters Group3 “ Model following control settings"
ID Symbol Name Standard value Unit Setting range
00 KM1 Model Control Gain 1 30 1/s 1 - 3000
01 OSSFIL Overshoot Suppressor Filter 1500 Hz 1 - 4000
02 ANRFRQ1 Model Control Antiresonance Frequency 1 80.0 Hz 10.0 - 80.0
03 RESFRQ1 Model Control Resonance Frequency 1 80.0 Hz 10.0 - 80.0

■ General parameters Group4 “Gain switching control/ Vibration suppressor frequency switching
settings”
ID Symbol Name Standard value Unit Setting range
00 KM2 Model Control Gain 2 30 1/s 1 - 3000
01 KP2 Position Loop Proportional Gain 2 30 1/s 1 - 3000
02 TPI2 Position Loop Integral Time Constant 2 1000.0 ms 0.3 - 1000.0
03 KVP2 Velocity Loop Proportional Gain 2 50 Hz 1 - 2000
04 TVI2 Velocity Loop Integral Time Constant 2 20.0 ms 0.3 - 1000.0
05 JRAT2 Load Inertia Moment Ratio 2 100 % 0 - 15000
06 TCFIL2 Torque Command Filter 2 600 Hz 1 - 4000
10 KM3 Model Control Gain 3 30 1/s 1 - 3000
11 KP3 Position Loop Proportional Gain 3 30 1/s 1 - 3000
12 TPI3 Position Loop Integral Time Constant 3 1000.0 ms 0.3 - 1000.0
13 KVP3 Velocity Loop Proportional Gain 3 50 Hz 1 - 2000
14 TVI3 Velocity Loop Integral Time Constant 3 20.0 ms 0.3 - 1000.0
15 JRAT3 Load Inertia Moment Ratio 3 100 % 0 - 15000
16 TCFIL3 Torque Command Filter 3 600 Hz 1 - 4000
20 KM4 Model Control Gain 4 30 1/s 1 - 3000
21 KP4 Position Loop Proportional Gain 4 30 1/s 1 - 3000
22 TPI4 Position Loop Integral Time Constant 4 1000.0 ms 0.3 - 1000.0
23 KVP4 Velocity Loop Proportional Gain 4 50 Hz 1 - 2000
24 TVI4 Velocity Loop Integral Time Constant 4 20.0 ms 0.3 - 1000.0
25 JRAT4 Load Inertia Moment Ratio 4 100 % 0 - 15000
26 TCFIL4 Torque Command Filter 4 600 Hz 1 - 4000
30 GCFIL Gain Switching Filter 0 ms 0 - 100
40 SUPFRQ2 FF Vibration Suppressor Frequency 2 500 Hz 5 - 500
41 SUPFRQ3 FF Vibration Suppressor Frequency 3 500 Hz 5 - 500
42 SUPFRQ4 FF Vibration Suppressor Frequency 4 500 Hz 5 - 500
50 ANRFRQ2 Model Control Antiresonance Frequency 2 80.0 Hz 10.0 - 80.0
51 RESFRQ2 Model Control Resonance Frequency 2 80.0 Hz 10.0 - 80.0
52 ANRFRQ3 Model Control Antiresonance Frequency 3 80.0 Hz 10.0 - 80.0
53 RESFRQ3 Model Control Resonance Frequency 3 80.0 Hz 10.0 - 80.0
54 ANRFRQ4 Model Control Antiresonance Frequency 4 80.0 Hz 10.0 - 80.0
55 RESFRQ4 Model Control Resonance Frequency 4 80.0 Hz 10.0 - 80.0

■ General parameters Group5 “High stabilization control settings”

Standard
ID Symbol Name Unit Setting range
value
00 CVFIL Command Velocity Low-pass Filter 1000 Hz 1 - 4000
01 CVTH Command Velocity Threshold 20 min-1 0 - 65535
02 ACCC0 Acceleration Compensation 0 ×50 Pulse -9999 - 9999
03 DECC0 Deceleration Compensation 0 ×50 Pulse -9999 - 9999

5-29
5.Operation Parameters List
■ General parameters Group8 “Control system settings”
ID Symbol Name Standard value Unit Setting range
Position, Velocity, Torque Command 00:PC+_VC+
00 CMDPOL - 00 - 07
Input Polarity _TC+
00:F-PC_
10 PMOD Position Command Pulse Selection - 00 - 02
R-PC
Position Command Pulse Count
11 PCPPOL 00:Type1 - 00 - 03
Polarity
Position Command Pulse Digital
12 PCPFIL 00:834nsec - 00 - 07
Filter
13 B-GER1 Electronic Gear 1 Numerator 1 - 1 - 2097152
14 A-GER1 Electronic Gear 1 Denominator 1 - 1 - 2097152
15 B-GER2 Electronic Gear 2 Numerator 1 - 1 - 2097152
16 A-GER2 Electronic Gear 2 Denominator 1 - 1 - 2097152
00:Pulse
17 EDGEPOS Positioning Methods - 00 - 01
_Interval
In-Position Signal/ Position 00:After
18 PDEVMON - 00 - 01
Deviation Monitor _Filter
19 CLR Deviation Clear Selection 00:Type1 - 00 - 03
Velocity Compensation Command
27 VCOMSEL 02:V-COMP - 01 - 02
Input Selection
Preset Velocity Compensation
28 V-COMP 0 min-1 -9999 - 9999
Command
2A EX-VCFIL External Velocity Command Filter 4000 Hz 1 - 4000
Velocity Command Acceleration
2B TVCACC 0 ms 0 - 16000
Time Constant
Velocity Command Deceleration
2C TVCDEC 0 ms 0 - 16000
Time Constant
-1
2D VCLM Velocity Limit Command 65535 min 1 - 65535
Torque Compensation Command
30 TCOMSEL 02:T-COMP - 01 - 02
Input Selection
Preset Torque Compensation
31 T-COMP1 0.0 % -500.0 - 500.0
Command 1
Preset Torque Compensation
32 T-COMP2 0.0 % -500.0 - 500.0
Command 2
35 EX-TCFIL External Torque Command Filter 4000 Hz 1 - 4000
36 TLSEL Torque Limit Input Selection 00:TCLM - 00 - 02
Forward Direction Internal Torque
37 TCLM-F 100.0 % 10.0 - 500.0
Limit Value
Reverse Direction Internal Torque
38 TCLM-R 100.0 % 10.0 - 500.0
Limit Value
Sequence Operation Torque Limit
39 SQTCLM 120.0 % 10.0 - 500.0
Value
3B TASEL Torque Attainment select 00 - 00 - 01
3C TA Torque attainment 100.0 % 0.0 - 500.0
1-
40 NEAR Near Range 500 Pulse
2147483647
1-
41 INP In-Position Window 100 Pulse
2147483647
42 ZV Velocity Zero Range 50 min-1 50 - 500
43 LOWV Low Velocity Range 50 min-1 0 - 65535
Velocity Attainment Setting (High -1
44 VA 1000 min 0 - 65535
Velocity Range)
-1
45 VCMPUS Velocity Matching Unit Selection 00:min - 00 - 01
46 VCMP Velocity Matching Range 50 min-1 0 - 65535
47 VCMPR Velocity Matching Range Ratio 5.0 % 0.0 - 100.0

5-30
5.Operation Parameters List
■ General parameters Group9 “Function enabling condition settings”
Setting
ID Symbol Name Standard value
range
00 F-OT Positive Over Travel Function 0D:CONT6_OFF 00 - 27
01 R-OT Negative Over Travel Function 0B:CONT5_OFF 00 - 27
02 AL-RST Alarm Reset Function 10:CONT8_ON 00 - 27
03 ECLR Encoder Clear Function 06:CONT3_ON 00 - 27
04 CLR Deviation Clear Function 08:CONT4_ON 00 - 27
05 S-ON Servo-ON Function 02:CONT1_ON 00 - 27
10 MS Control Mode Switching Function 00:Always_Disable 00 - 27
Position Command Pulse Inhibit
11 INH/Z-STP Function, Velocity Command Zero 00:Always_Disable 00 - 27
Clamp Function
12 GERS Electronic Gear Switching Function 00:Always_Disable 00 - 27
13 GC1 Gain Switching Condition 1 00:Always_Disable 00 - 27
14 GC2 Gain Switching Condition 2 00:Always_Disable 00 - 27
FF Vibration Suppressor Frequency Select
15 SUPFSEL1 00:Always_Disable 00 - 27
Input 1
FF Vibration Suppressor Frequency Select
16 SUPFSEL2 00:Always_Disable 00 - 27
Input 2
Position Loop Proportional Control Switching
17 PLPCON 01:Always_Enable 00 - 27
Function
Model Vibration Suppressor Frequency
18 MDLFSEL1 00:Always_Disable 00 - 27
Select Input 1
Model Vibration Suppressor Frequency
19 MDLFSEL2 00:Always_Disable 00 - 27
Select Input 2
Velocity Loop Proportional Control Switching
27 VLPCON 04:CONT2_ON 00 - 27
Function
28 V-COMPS Velocity Compensation Function 00:Always_Disable 00 - 27
30 T-COMPS1 Torque Compensation Function 1 00:Always_Disable 00 - 27
31 T-COMPS2 Torque Compensation Function 2 00:Always_Disable 00 - 27
32 TL Torque Limit Function 0E:CONT7_ON 00 - 27
33 OBS Disturbance Observer Function 00:Always_Disable 00 - 27
40 EXT-E External Trip Input Function 00:Always_Disable 00 - 27
41 DISCHARG Main Power Discharge Function 01:Always_Enable 00 - 27
42 EMR Emergency Stop Function 00:Always_Disable 00 - 27

■ General parameters GroupA “General output terminal output condition/ Monitor output
selection/ Serial communication settings”
ID Symbol Name Standard value Unit Setting range
00 OUT1 General Purpose Output 1 18:INP_ON - 00 - 5F
01 OUT2 General Purpose Output 2 0C:TLC_ON - 00 - 5F
02 OUT3 General Purpose Output 3 02:S-RDY_ON - 00 - 5F
03 OUT4 General Purpose Output 4 0A:MBR_ON - 00 - 5F
04 OUT5 General Purpose Output 5 33:ALM5_OFF - 00 - 5F
05 OUT6 General Purpose Output 6 35:ALM6_OFF - 00 - 5F
06 OUT7 General Purpose Output 7 37:ALM7_OFF - 00 - 5F
07 OUT8 General Purpose Output 8 39:ALM_OFF - 00 - 5F
Digital Monitor Output Signal
10 DMON 00:Always_OFF - 00 - 5F
Selection
05:VMON_2mV/mi
11 MON1 Analog Monitor Select Output 1 - 00 - 1C,1F
n-1
12 MON2 Analog Monitor Select Output 2 02:TCMON_2V/TR - 00 - 1C,1F
00:MON1+_MON2
13 MONPOL Analog Monitor Output Polarity - 00 - 08
+
20 COMAXIS Serial Communication Axis Number 01:#1 - 01 - 0F
21 COMBAUD Serial Communication Baud Rate 05:38400bps - 03 - 06
Latency to start sending response
22 RSPWAIT 0 ms 0 - 500
message

5-31
5.Operation Parameters List
■ General parameters GroupB “Sequence/Alarms related settings”
ID Symbol Name Standard value Unit Setting range
00 JOGVC JOG Velocity Command 50 min-1 0 - 32767
10 DBOPE Dynamic Brake Operation 04:SB_Free - 00 - 05
00:CMDINH_
11 ACTOT Over-Travel Action - 00 - 06
SB_SON
00:SERVO-
12 ACTEMR Emergency Stop Operation - 00 - 01
BRAKE
Delay Time of Engaging Holding Brake
13 BONDLY 300 ms 0 - 1000
(Holding Brake Holding Delay Time)
Delay Time of Releasing Holding Brake
14 BOFFDLY 300 ms 0 - 1000
(Holding Brake Release Delay Time)
15 BONBGN Brake Operation Beginning Time 10000 ms 0 - 65535
Selects Valid/Invalid of main circuit
18 MPESEL 00 - 00 - 01
under-voltage detection
1-
20 OFWLV Excessive Deviation Warning Level 2147483647 pulse
2147483647
1-
21 OFLV Deviation Counter Overflow Value 5000000 pulse
2147483647
22 OLWLV Overload Warning Level 90 % 20 - 100
Velocity Feedback Alarm (ALM_C3)
23 VFBALM 01:Enabled - 00 - 01
Detection
Velocity Control Alarm (ALM_C2)
24 VCALM 00:Disabled - 00 - 01
Detection

* ID10 Dynamic brake operation: If you select “dynamic brake” on servo amplifier without dynamic brake
function, please note that the operation when motor stopped becomes free-running.

■ General parameters GroupC “Encoder related settings”

ID Symbol Name Standard value Unit Setting range
00 ENFIL Motor Pulse Encoder Digital Filter 01:220nsec - 00 - 07
01 EX-ENFIL External Pulse Encoder Digital Filter 01:220nsec - 00 - 07
External Pulse Encoder Polarity
02 EX-ENPOL 00:Type1 - 00 - 07
Selection
Encoder Output Pulse Divide
03 PULOUTSEL 00:Motor_Enc. - 00 - 01
Selection
04 ENRAT Encoder Output Pulse Division 1/1 - 1/32768 - 1/1
05 PULOUTPOL Encoder Output Pulse Divide Polarity 00:Type1 - 00 - 03
Encoder Output Pulse Divide
06 PULOUTRES 00:32768P/R - 00 - 01
Resolution Selection
07 PSOFORM Encoder Signal Output (PS) Format 00:MOT_Binary - 00 - 01
00:Status_
08 ECLRFUNC Encoder Clear Function Selection - 00 - 01
MultiTurn

5-32
5.Operation Group 0 Auto-tuning settings

5.9 Parameter functions

Each parameter function is explained below.

■ Group0 “Auto-tuning settings”

ID Contents
Tuning Mode Setting range Unit Selection
[TUNMODE] 00 - 02 - 00:AutoTun
■ Set the validity, invalidity of Auto-tuning, and Load inertia moment ratio estimation.

Selection Contents
00 AutoTun Automatic Tuning
01 AutoTun_JRAT-Fix Automatic Tuning (JRAT Manual Setting)
02 ManualTun Manual Tuning

◆ Under the following operating conditions, Load inertia rate is not estimated properly:
00 operation at low velocity, at low acceleration and at low acceleration/deceleration torque.
In these cases, please set “Automatic Tuning (JRAT Manual Setting)” and set proper value
at JRAT 1.

◆ In addition, under the following machine operating conditions, Load inertia rate is not
estimated properly: machine with large disturbance torque, with big backlash and with a
machine in which movable parts vibrate. In these cases, set at “Automatic Tuning
(JRAT Manual Setting)” and set proper value at JRAT1.

✔ Set to “02 manual tuning” if system parameter ID0A Position Control Selection is
set at Model Following Vibration Suppressor Control.

5-33
5.Operation Group 0 Auto-tuning settings
ID Contents
Auto-Tuning Characteristic Setting range Unit Standard value
[ATCHA] 00 - 06 - 00:Positioning1
■ Sets the Auto-Tuning Characteristic best fits to the servo system.

Selection Contents
00 Positioning1 Positioning Control 1 (General Purpose)
01 Positioning2 Positioning Control 2 (High Response)
02 Positioning3 Positioning Control 3 (High Response, FFGN Manual Setting)
03 Positioning4 Positioning Control 4 (High Response, Horizontal Axis Limited)
Positioning Control 5 (High Response, Horizontal Axis
04 Positioning5
Limited, FFGN Manual Setting)
05 Trajectory1 Trajectory Control 1
06 Trajectory2 Trajectory Control 2 (KP，FFGN Manual Setting)

◆ “Positioning Control 1”
z Used for general purpose positioning.
z Can be used for always affected by gravity and external forces.

◆ “Positioning Control 2”
z Used for Position control mode.
z If used for response positioning for shortened positioning time.
z Can be used for always affected by gravity and external forces.

◆ “Positioning Control 3”
z On the basis of “Positioning Control 2” to FFGN adjustment.

◆ “Positioning Control 4”
z Select this control when machine operates in horizontal axis and is not affected by
01 external forces.
z Positioning settling time may be reduced, compared to positioning control 2.
z Use this control in “position control mode.”
z Do not use this mode in gravity axis or axes being affected by external forces. This
selection may cause impacts on machine.

◆ “Positioning Control 5”.

z Select this control when machine operates in horizontal axis and is not affected by
external forces, and you would like to manually adjust FFGN.
z Positioning settling time may be reduced, compared to positioning control 3.
z This selection may cause impacts on machine.

◆ “Trajectory Control 1”
z Used when following position command pulse and cutting behavior.
z Used for Position control mode.
z Can be used for always affected by gravity and external forces.
z Select this mode for single axis use. The response of each axis can be different.
z Used when cooperating with other axes, that used for “Trajectory Control 2”.
z The positioning characteristics will change when the “Position Loop Gain” is altered with
fluctuation of the estimated inertia moment. Please adopt “Trajectory Control 2” or use
manual tuning if you want to avoid this change.

◆ “Trajectory Control 2”
z This setting is used to tune the response of each axis positioning loop in cooperation
with the other axes.
z Used for Position control mode.
z Can be used for always affected by gravity and external forces.

✔ Do not set “ID0A Position Control Selection” to “Model following vibration

suppressor control” to use Trajectory control. Trajectory is out of alignment in
Model following vibration suppressor control.

5-34
5.Operation Group 0 Auto-tuning settings
ID Contents
Auto-Tuning Response Setting range Unit Standard value
[ATRES] 1 - 30 - 5
■ Sets the Auto-Tuning Response.
02 ◆ The larger the set value, the higher the response.
◆ Caution, if the response is set too high, the machine may oscillate.
◆ Make the setting suitable for rigidity of the device.

Auto-Notch Filter Tuning Torque Command Setting range Unit Standard value
[ANFILTC] 10.0 - 100.0 % 50.0
■ Sets the torque value to excite the mechanical system during operation under “Auto-Notch Filter
10 Tuning.”
✔ Larger value makes the tuning more accurate; however, also makes the movement
of the machine greater.

Auto-FF Vibration Suppressor Frequency Tuning Setting range Unit Standard value
Torque Command [ASUPTC] 10.0 - 100.0 % 25.0
■ Sets the torque value to excite the mechanical system during run time “Auto-FF Vibration
20 Suppressor Frequency Tuning.”
✔ Larger value makes the tuning more accurate; however, also makes the movement
of the machine greater.

Auto-FF Vibration Suppressor Frequency Tuning Setting range Unit Standard value
Friction Compensation Value [ASUPFC] 0.0 - 50.0 % 5.0
■ Sets the friction torque compensation added to the motor torque to excite the mechanical
system at the time of Auto-FF Vibration Suppressor Frequency Tuning.
◆ Set this value close to actual friction torque, and vibration suppressor frequency tuning will
21
be more accurate.
✔ Setting low value may cause that the vibration frequency of the mechanical system
cannot be detected, or the wrong value is detected. Increase the value until the
detected value becomes stable.

5-35
5.Operation Group 1 Basic Control Parameter Settings
■ Group1 “Basic control parameter settings”
ID Contents
Position Command Smoothing Constant Setting range Unit Standard value
[PCSMT] 0.0 - 500.0 ms 0.0
■ This moving low-pass filter smoothes the position command pulse.
Sets time constants.
◆ Applies gradient to the step condition positioning pulse.
◆ Applies S curve to the lamp condition position command pulse.
◆ Smoothes the position command pulse when the electronic gear ratio is greater or the
position command pulse is coarse. (This may decrease the operating noise of the servo
motor.)
◆ Sets the value at “0.3ms and higher”.
◆ When the set value is “0.0ms - 0.2ms”, this filter is invalid.
◆ Setting shall be in increments of 0.5ms. (When the increment of setting is “0.4ms and less”,
there may be cases where the set value cannot be reflected to the operation.)

z Position command pulse with step condition applied

Position command
00 pulse

PCSMT [ms]

z Position command pulse with lamp condition applied.

5-36
5.Operation Group 1 Basic Control Parameter Settings
ID Contents
Position Command Filter Setting range Unit Standard value
[PCFIL] 0.0 - 2000.0 ms 0.0
■ This low-pass filter suppresses any sudden change of the position control pulse.
Sets time constants.
◆ This parameter setting is valid when the value of Group1ID04 Higher Tracking Control
Position Compensation Gain is set at 0%.
◆ When Higher Tracking Control Position Compensation Gain is 0%, value is set at 0.0ms,
the filter becomes invalid.
◆ This filter can suppress overshoot caused by the rise of the feed forward compensation gain.

01

63.2% 36.8%

PCFIL [ms] PCFIL [ms]

Position Loop Proportional Gain 1 Setting range Unit Standard value

[KP1] 1 - 3000 1/s 30
■ Proportional gain for position controller.

02 ◆ Automatically saved by Auto-tuning result saving.

◆ When Auto-tuning function is valid, this setting value is not applied.
◆ When Gain switching function is valid, select gain 1 and this setting value is applied.
◆ When Gain switching function is invalid, this setting value is applied.

Position Loop Integral Time Constant 1 Setting range Unit Standard value
[TPI1] 0.3 - 1000.0 ms 1000.0
■ Integral time constant for position controller.
This setting is valid when the Position Loop Proportional Control Switching Function is invalid.
03
◆ Integral time is invalid (proportional control) at the setting value 1000.0ms.
◆ When Auto-tuning function is valid, this setting value not applied.
◆ When Gain switching function is valid, select gain 1 and this setting value is applied.
◆ When Gain switching function is invalid, this setting value is applied.

Higher Tracking Control Position Compensation Setting range Unit Standard value
Gain [TRCPGN] 0 - 100 % 0
■ Adjusts the performance of command tracking of the position control system.
The larger value can raise command-tracking performance.
04
◆ When a value other than 0% is set, Position Command Filter and Feed Forward Gain are
automatically set in the servo amplifier.
◆ When Auto-tuning function is valid, this setting value not applied.

5-37
5.Operation Group 1 Basic Control Parameter Settings
ID Contents
Feed Forward Gain Setting range Unit Standard value
[FFGN] 0 - 100 % 0
■ Sets feed forward compensation gain to position control system.
Model control system compensates for feed forward to Model following system when Position
Control Selection is at Model following control.

◆ Valid when Higher Tracking Control Position Compensation Gain is set at 0%.
05
◆ The setting value is not applied when using the Auto-Tuning Characteristics listed below.
Positioning1 Positioning Control 1 (General Purpose)
Positioning2 Positioning Control 2 (High Response)
Positioning4 Positioning Control 4 (High Response, Horizontal Axis Limited)
Trajectory1 Trajectory Control 1

Feed Forward Filter Setting range Unit Standard value

[FFFIL] 1 - 4000 Hz 4000
■ First low-pass filter to eliminate pulsed ripple caused by the position command pulse included
in the feed forward command. Sets the cutoff frequency.

◆ Depending on the setting of the system parameter ID0A Position Control Selection, the point
06 the filter becomes invalid causes the value to vary.
Position Control Selection Value when the filter is invalid
00 Standard Standard More than 2000Hz
01 Model 1 Model Following Control More than 1000Hz
Model 2 Model Flowing
02 More than 1000Hz
Vibration Suppress Control

Velocity Command Filter Setting range Unit Standard value

[VCFIL] 1 - 4000 Hz 4000
■ First low-pass filter to suppress sudden change of velocity command.
Sets the cutoff frequency.

◆ Setting range varies depending on the setting of the system parameter ID00 Control Cycle.
Control Cycle Setting value Valid/Invalid
10 Standard_Sampling 1 - 1999Hz Valid
00
Standard Sampling 2000 - 4000Hz Filter invalid
High-freq_Sampling 1 - 3999Hz Valid
01
High Frequency Sampling 4000Hz Filter invalid

5-38
5.Operation Group 1 Basic Control Parameter Settings
ID Contents
Velocity Feedback Filter Setting range Unit Standard value
[VDFIL] 1 - 4000 Hz 1500
■ First low-pass filter to eliminate ripples caused by encoder pulse included in the velocity control
system feedback. Sets the cutoff frequency.

◆ When the encoder resolution is low, lowering the setting value and suppressor the ripples can
suppress motor drive noise. In addition, when the encoder resolution is high, raising the
setting value may improve the response of the velocity control system. For general use, set at
11 the Standard value.
◆ Setting range varies depending on the setting of the system parameter ID00 Control Cycle.
Control Cycle Setting value Valid/Invalid
Standard_Sampling 1 - 1999Hz Valid
00
Standard Sampling 2000 - 4000Hz Filter invalid
High-freq_Sampling 1 - 3999Hz Valid
01
High Frequency Sampling 4000Hz Filter invalid

Velocity Loop Proportional Gain 1 Setting range Unit Standard value

[KVP1] 1 - 2000 Hz 50
■ Proportional gain of velocity controller.
When Load Inertia Moment Ratio 1 is same as the actual load inertia moment, this setting
value response is performed.
12
◆ Automatically saved by Auto-tuning result saving.
◆ When Auto-tuning function is valid, this setting value is not applied.
◆ When the Gain switching function is valid, select gain 1 and this setting value is applied.
◆ When Auto-tuning is valid, while system analysis function is active, this value is applied.

Velocity Loop Integral Time Constant 1 Setting range Unit Standard value
[TVI1] 0.3 - 1000.0 ms 20.0
■ Integral time constant of velocity controller.
This setting value is valid when Velocity Loop Proportional Control Switching Function is invalid.

13 ◆ Integral term is invalid (proportional control) with the setting value of 1000.0ms.
◆ Automatically saved by Auto-tuning result saving.
◆ When Auto-tuning function is valid, this setting value is not applied.
◆ When Gain switching function is valid, select gain 1 and this setting value is applied.
◆ When Auto-tuning is valid, while system analysis function is active, this value is applied.

5-39
5.Operation Group 1 Basic Control Parameter Settings
ID Contents
Load Inertia Moment Ratio 1 Setting range Unit Standard value
[JRAT1] 0 - 15000 % 100
■ Sets inertia moment of the loading device to the servo motor inertia moment.

◆ Setting value=JL/JM×100%
JL: Load inertia moment
JM: Motor inertia moment
14 ◆ Automatically saved by Auto-tuning result saving.
◆ If this value matches the actual mechanical system, setting value of KVP is the response
frequency of the velocity control system.
◆ When Auto-tuning function is valid, this setting value not applied.
◆ Use between the range 100~3000% when driven with Model following vibration suppressor
control.
◆ When Gain switching function is valid, select gain 1 and this setting value is applied.
◆ When Auto-tuning is valid, while system analysis function is active, this value is applied.

Higher Tracking Control Velocity Compensation Setting range Unit Standard value
Gain [TRCVGN] 0 - 100 % 0
■ Adjusts command-tracking performance of velocity control system.

◆ The larger value can raise command-tracking performance higher.

15 ◆ When using Velocity Loop Proportional Control Switching Function, set it to 0%.
◆ When synchronizing with other axes, set it to 0%.
◆ When corresponding with Q series servo amplifier, set it to 100%.
◆ When Auto-tuning function is valid, this setting value not applied.
◆ The setting value is invalid with Model following control or Model following vibration
suppressor control.

Acceleration Feedback Gain Setting range Unit Standard value

[AFBK] -100.0 - 100.0 % 0.0
■ Sets acceleration feedback compensation gain to make the velocity loop stable.
16 Multiply this gain with the detected acceleration to compensate torque command.

◆ When Auto-tuning function is valid, this setting value not applied.

◆ If the value is too large, the motor may oscillate. Set within range ±15.0% for general use.

Acceleration Feedback Filter Setting range Unit Standard value

[AFBFIL] 1 - 4000 Hz 500
■ First low-pass filter to eliminate ripples caused by encoder pulse included in acceleration
feedback compensation. Sets the cutoff frequency.

◆ Lower this setting value when the encoder resolution is low.

◆ Setting range varies depending on the setting of the system parameter ID00 Control Cycle.
17
Control Cycle Setting value Valid/Invalid
Standard_Sampling 1 - 1999Hz Valid
00
Standard Sampling 2000 - 4000Hz Filter invalid
High-freq_Sampling 1 - 3999Hz Valid
01
High Frequency Sampling 4000Hz Filter invalid

5-40
5.Operation Group 1 Basic Control Parameter Settings
ID Contents
Torque Command Filter 1 Setting range Unit Standard value
[TCFIL1] 1 - 4000 Hz 600
■ Low-pass filter to eliminate high frequency component included in the torque command.
Sets cutoff frequency.

◆ Automatically saved by Auto-tuning result saving.

◆ When Auto-tuning function is valid, this setting value is not applied.
◆ When Gain switching function is valid, select gain 1 and this setting value is applied.
◆ When Auto-tuning is valid, while system analysis function is active, this value is applied.
◆ Setting range varies depending on the setting of the system parameter ID00 Control Cycle.
20 (Torque command filter cannot be disabled)
Control Cycle Control Cycle Cutoff frequency
Standard_Sampling 1 - 2000Hz Same as the setting value
00
Standard Sampling 2001 - 4000Hz 2000Hz
High-freq_Sampling
01 1 - 4000Hz Same as the setting value
High Frequency Sampling

Use within 1 - 1000Hz with Model following control.

Use within 100 - 1000Hz with Model following vibration suppressor control.

Torque Command Filter Order Setting range Unit Standard value

[TCFILOR] 1-3 Order 2
21 ■ Sets order of the torque command filter.
The order is set within the setting range even if the cut off frequency of torque command filter
is changed by gain switching.

5-41
5.Operation Group 2 “FF (Feed Forward) Vibration Suppressor Control
/ Notch Filter / Disturbance Observer Settings
■ Group2 “FF (Feed Forward) vibration suppressor control/ Notch filter/ Disturbance observer
settings”
ID Contents
FF Vibration Suppressor Frequency 1 Setting range Unit Standard value
[SUPFRQ1] 5 - 500 Hz 500
■ Sets the frequency of the machine vibration to be suppressed by FF vibration suppressor
function.

◆ Change this while the servo motor is OFF.

◆ Do not use while synchronizing with other axis such as controlling XY table trajectory for
cutting operation.
◆ Setting value can be input by 1Hz; inside the servo amplifier, the units listed below are
00
used.
Setting range Unit value inside servo amplifier
5 - 99Hz Valid by 1Hz
100 - 499Hz Valid by 5Hz and drop less than 5
500Hz FF vibration suppressor control is invalid

This parameter is automatically saved by executing FF vibration suppressor frequency tuning.

FF vibration suppressor frequency can be switched 2-4.

FF Vibration Suppressor Level Selection Setting range Unit Standard value

[SUPLV] 00 - 03 - 00
■ Sets FF vibration suppressor control effect level.
01
◆ Change while servo motor is OFF.
◆ The smaller the value, the greater the effect will be.
◆ FF vibration suppressor frequency switching function does not affect this.

Velocity Command Notch Filter Setting range Unit Standard value

[VCNFIL] 50 - 1000 Hz 1000
■ Notch filter to eliminate frequency element arbitrarily set from velocity command.
Sets the resonant frequency.

◆ When sympathetic vibration occurs in velocity control system, the gain is raised
by setting the resonance frequency.
◆ Do not use while synchronizing with other axis such as controlling XY table trajectory
for cutting operation.
◆ Setting value varies depending on the setting of the system parameter ID00 Control Cycle.
Setting value can be input by 1Hz; inside the servo amplifier,
the units listed below are applied.
Control Cycle Setting value Unit value inside servo amplifier
50 - 99Hz Valid by 1Hz
Standard_Sampling
00 100 - 499Hz Valid by 5Hz and drop less than 5
Standard Sampling
500 - 1000Hz Filter invalid
10 50 - 199Hz Valid by 1Hz
High-freq_Sampling
Valid by 10Hz and drop less than
01 High Frequency 200 - 999Hz
10
Sampling
1000Hz Filter invalid
Gain [dB]

-3[dB]

Frequency [Hz]
0.62×fn 1.62×fn
Resonant frequency fn

5-42
5.Operation Group 2 “FF (Feed Forward) Vibration Suppressor Control
/ Notch Filter / Disturbance Observer Settings

ID Contents
Torque Command Notch Filter A Setting range Unit Standard value
[TCNFILA] 100 - 4000 Hz 4000
■ Notch filter to eliminate sympathetic vibration element included in torque command.
Sets the resonant frequency.

◆ Setting value varies depending on the setting of the system parameter ID00 Control Cycle.
Setting value can be input by 1Hz; inside the servo amplifier, the units listed below are
applied.
◆ This parameter is automatically saved by executing Notch filter tuning.
20
Control Cycle Setting value Unit value inside servo amplifier
Standard_Sampling 100 - 1999Hz Valid by 10Hz and drop less than 10
00
Standard Sampling 2000 - 4000Hz Filter invalid
High-freq_Sampling 100 - 3999Hz Valid by 10Hz and drop less than 10
01 High Frequency
4000Hz Filter invalid
Sampling

TCNFILA, Low Frequency Phase Delay Improvement Setting range Unit Standard value
[TCNFPA] 00 - 02 - 00
■ Improves phase delay at lower frequency than resonant frequency of the Torque Command
Notch Filter A.

◆ The larger the value is, the greater the improvement.

◆ Characteristic is the same as the standard notch filter at the setting value 0.
◆ Caution, other than the setting value 0, higher frequencies than the middle frequency will
be amplified.
Improvement

Gain [dB]

No improvement
-3 [dB]

21

Frequency [Hz]

Phase [dB]

No improvement

Improvement
0 [dB] Frequency [Hz]
0.62×fn 1.62×fn

Resonant frequency fn

5-43
5.Operation Group 2 “FF (Feed Forward) Vibration Suppressor Control
/ Notch Filter / Disturbance Observer Settings

ID Contents
Torque Command Notch Filter B Setting range Unit Standard value
22
[TCNFILB] 100 - 4000 Hz 4000
Torque Command Notch Filter C Setting range Unit Standard value
24
[TCNFILC] 100 - 4000 Hz 4000
Torque Command Notch Filter D Setting range Unit Standard value
26
[TCNFILD] 100 - 4000 Hz 4000
■ Notch filter to eliminate sympathetic vibration element included in torque command.
Sets the resonant frequency.

◆ Setting value varies depending on the setting of the system parameter ID00 Control Cycle.
Setting value can be input by 1Hz unit; inside the servo amplifier, the units listed below are
applied.
Control Cycle Setting value Unit value inside servo amplifier
Standard_Sampling 100 - 1999Hz Valid by 10Hz and drop less than 10
00
Standard Sampling 2000 - 4000Hz Filter invalid
High-freq_Sampling 100 - 3999Hz Valid by 10Hz and drop less than 10
01 High Frequency
4000Hz Filter invalid
Sampling

TCNFILB, Depth Selection Setting range Unit Standard value

23
[TCNFDB] 00 - 03 - 00
TCNFILC, Depth Selection Setting range Unit Standard value
25
[TCNFDC] 00 - 03 - 00
TCNFILD, Depth Selection Setting range Unit Standard value
27
[TCNFDD] 00 - 03 - 00
■ Parameters to set the depth of each Torque Command Notch Filter (TCNFILB - D). The larger
the value is, the shallower the depth.

Gain [dB]

-3[dB]

Frequency [Hz]
0.62×fn 1.62×fn

Resonant frequency fn

5-44
5.Operation Group 2 “FF (Feed Forward) Vibration Suppressor Control
/ Notch Filter / Disturbance Observer Settings

ID Contents
Observer Characteristic Setting range Unit Standard value
[OBCHA] 00 - 02 - 00:Low
■ Select frequency characteristic of the disturbance observer

Selection Contents
00 Low For Low Frequency
30 01 Middle For Middle Frequency
02 High For High Frequency

◆ Select “00 Low, Low Frequency Disturbance Observer Suppressor” for Load torque monitor
(estimate value).
◆ Select 02 High, High Frequency Disturbance Observer Suppressor，when the encoder
resolution is over 1048576P/R.

Observer Compensation Gain Setting range Unit Standard value

[OBG] 0 - 100 % 0
■ Compensation gain for Disturbance Observer.
31
The larger the value is, the higher the suppression performance. However, if the value is too
large, oscillation may sometimes occur.

Observer Output Low-pass Filter Setting range Unit Standard value

[OBLPF] 1 - 4000 Hz 50
■ First low-pass filter to eliminate high frequency elements included in the observer
compensation.
Sets the cutoff frequency.

32 ◆ The larger the value is, the faster the response of disturbance observer suppression.
However, it may cause a louder driving sound depending on the ripple components
included in disturbance observer output.
◆ Filter is invalid at the setting value more than 2000Hz.
◆ Filter is invalid when observer characteristic is set to [01 Middle, For Middle Frequency], or
[02 High, For High Frequency].

5-45
5.Operation Group 2 “FF (Feed Forward) Vibration Suppressor Control
/ Notch Filter / Disturbance Observer Settings

ID Contents
Observer Output Notch Filter Setting range Unit Standard value
[OBNFIL] 100 - 4000 Hz 4000
■ Notch filter to eliminate arbitrarily selected frequency from observer compensation.
Sets the resonant frequency.
When resonance appears in disturbance observer output, such as sympathetic vibration with
the mechanical system, this notch filter sometimes suppresses the vibration.

◆ Setting value can be input by 1Hz; inside the servo amplifier, the units listed below are
applied.
Setting value Unit value inside servo amplifier
100 - 1999Hz Valid by 10Hz and drop less than 10
2000 - 4000Hz Filter invalid

33 Gain [dB]

-3[dB]

Frequency [Hz]
0.62×fn 1.62×fn

Resonant frequency
f

5-46
5.Operation Group 3 Model Following Control Settings
■ Group3 “Model following control settings”
ID Contents
Model Control Gain 1 Setting range Unit Standard value
[KM1] 1 - 3000 1/s 30
■ Proportional gain for model position controller.

00 ◆ Set within the range of 15 - 315 (1/s) when operating with Model following vibration
suppressor control.
◆ Automatically saved by Auto-tuning result saving.
◆ When the Gain switching function is valid, select gain 1 and this setting value is applied.
◆ Change value while the servo motor is OFF.

Overshoot Suppressor Filter Setting range Unit Standard value

[OSSFIL] 1 - 4000 Hz 1500
■ Filter to suppress overshoot with Model following control or Model following vibration
suppressor control.
01 Sets cutoff frequency.

◆ Lower the setting value when overshoot occurs on position deviation.

◆ Filter is invalid at the setting value more than 2000Hz.

Model Control Antiresonance Frequency 1 Setting range Unit Standard value

[ANRFRQ1] 10.0 - 80.0 Hz 80.0
■ Sets antiresonance frequency to the mechanical device with Model following vibration
suppressor control.
Sets actual antiresonance frequency value of the mechanical system by using System
02 Analysis function of the Setup software.

◆ Setting value is invalid with following control.

◆ If the sitting value is over the Model Control Resonance Frequency,
vibration suppressor control is invalid.
◆ Change value while the servo motor is OFF.

Model Control Resonance Frequency 1 Setting range Unit Standard value

[RESFRQ1] 10.0 - 80.0 Hz 80.0
■ Sets resonance frequency of the mechanical device with Model following vibration suppressor
control.
Sets actual resonance frequency value of the mechanical system by using System Analysis
03 function of the Setup software.

◆ Setting value is invalid with Model following control.

◆ Vibration suppressor control becomes invalid at the setting value 80.0Hz.
◆ Change value while the servo motor is OFF.

✔ Turn the servo motor OFF when using gain switching function.
✔ Turn the servo motor OFF when using Model vibration suppressor frequency switching function.
✔ If alarm “ALC5 Model following vibration suppressor control abnormal” is activated during operation,
lower the value of KM Model Control Gain, or change the operation pattern so that acceleration and
deceleration become moderate.
✔ Model following vibration suppressor control is invalid in JOG operation.

5-47
5.Operation Group 4 Gain Switching Control/
Vibration Suppressor Frequency Switching Setting
■ Group4 “Gain switching control/ vibration suppressor frequency switching setting”
ID Contents
Model Control Gain 2 Setting range Unit Standard value
00
[KM2] 1 - 3000 1/s 30
Model Control Gain 3 Setting range Unit Standard value
10
[KM3] 1 - 3000 1/s 30
Model Control Gain 4 Setting range Unit Standard value
20
[KM4] 1 - 3000 1/s 30
■ Proportional gain for Model position controller. Select from gain switching function 1 or 2.

◆ This parameter is not covered by Auto-tuning result saving.

◆ Change value while the servo motor is OFF.

Position Loop Proportional Gain 2 Setting range Unit Standard value

01
[KP2] 1 - 3000 1/s 30
Position Loop Proportional Gain 3 Setting range Unit Standard value
11
[KP3] 1 - 3000 1/s 30
Position Loop Proportional Gain 4 Setting range Unit Standard value
21
[KP4] 1 - 3000 1/s 30
■ Proportional gain for position controller. Select from gain switching function 1 or 2.

◆ This parameter is not covered by Auto-tuning result saving.

Position Loop Integral Time Constant 2 Setting range Unit Standard value
02
[TPI2] 0.3 - 1000.0 ms 1000.0
Position Loop Integral Time Constant 3 Setting range Unit Standard value
12
[TPI3] 0.3 - 1000.0 ms 1000.0
Position Loop Integral Time Constant 4 Setting range Unit Standard value
22
[TPI4] 0.3 - 1000.0 ms 1000.0
■ Integral time constant for position controller. Select from gain switching function 1 or 2.

◆ This parameter is not covered by Auto-tuning result saving.

◆ Integral term is valid (Proportional control) at the setting value 1000.0ms.
◆ This setting in valid when the Position Loop Proportional Control Switching Function is
invalid.

Velocity Loop Proportional Gain 2 Setting range Unit Standard value

03
[KVP2] 1 - 2000 Hz 50
Velocity Loop Proportional Gain 3 Setting range Unit Standard value
13
[KVP3] 1 - 2000 Hz 50
Velocity Loop Proportional Gain 4 Setting range Unit Standard value
23
[KVP4] 1 - 2000 Hz 50
■ Proportional gain for velocity controller. Select from Gain Switching Function 1 or 2.

◆ This parameter is not covered by Auto-tuning result saving.

◆ When Load Inertia Moment Ratio (Load Mass Ratio) (JRAT2，JRAT3，JRAT4) are the same
as actual load inertia moment, this setting value response is performed.

5-48
5.Operation Group 4 Gain Switching Control/
Vibration Suppressor Frequency Switching Setting
ID Contents
Velocity Loop Integral Time Constant 2 Setting range Unit Standard value
04
[TVI2] 0.3 - 1000.0 ms 20.0
Velocity Loop Integral Time Constant 3 Setting range Unit Standard value
14
[TVI3] 0.3 - 1000.0 ms 20.0
Velocity Loop Integral Time Constant 4 Setting range Unit Standard value
24
[TVI4] 0.3 - 1000.0 ms 20.0
■ Integral time constant for velocity controller. Select from gain switching function 1 and 2.

◆ This parameter is not covered by Auto-tuning result saving.

◆ This setting is valid when Velocity Loop Proportional Control Switching Function is invalid.
◆ Integral time is invalid (proportional control) with the setting value 1000.0ms.

Load Inertia Moment Ratio 2 Setting range Unit Standard value

05
[JRAT2] 0 - 15000 % 100
Load Inertia Moment Ratio 3 Setting range Unit Standard value
15
[JRAT3] 0 - 15000 % 100
Load Inertia Moment Ratio 4 Setting range Unit Standard value
25
[JRAT4] 0 - 15000 % 100
■ Sets inertia moment of load device to the servo motor inertia moment. Select from Gain
switching function 1 or 2.

◆ If this value matches the actual mechanical system, the setting value corresponding to
Velocity Loop Proportional Gain (KVP2, KVP3, and KVP4) is response frequency of the
velocity control system.
◆ This parameter is not covered by Auto-Tuning Automatic Parameter Saving function.
◆ Setting value=JL/JM×100%
z JL: Load inertia moment
z JM: Motor inertia moment

Torque Command Filter 2 Setting range Unit Standard value

06
[TCFIL2] 1 - 4000 Hz 600
Torque Command Filter 3 Setting range Unit Standard value
16
[TCFIL3] 1 - 4000 % 600
Torque Command Filter 4 Setting range Unit Standard value
26
[TCFIL4] 1 - 4000 % 600
■ Low-pass filter to eliminate high frequency element included in torque command. Select from
gain switching function 1 or 2. Sets cutoff frequency.

◆ This parameter is not covered by Auto-tuning result saving.

◆ Setting range varies depending on the setting of system parameter ID00 Control Cycle.
(Torque command filter cannot be disabled.)
Control Cycle Setting value Cutoff frequency
Standard_Sampling 1 - 2000Hz Setting value
00
Standard Sampling 2001 - 4000Hz 2000Hz
High-freq_Sampling
01 1 - 4000Hz Setting value
High Frequency Sampling

5-49
5.Operation Group 4 Gain Switching Control/
Vibration Suppressor Frequency Switching Setting
ID Contents
Gain Switching Filter Setting range Unit Standard value
[GCFIL] 0 - 100 ms 0
■ Low-pass filter to change gain moderately when switching.
Sets time constant.
30
◆ When the mechanical system is shocked by the change of gain resulted from gain
switching, making a moderate gain change will modify the shock.
◆ The larger the value, the gentler the gain changes.

FF Vibration Suppressor Frequency 2 Setting range Unit Standard value

40
[SUPFRQ2] 5 - 500 Hz 500
FF Vibration Suppressor Frequency 3 Setting range Unit Standard value
41
[SUPFRQ3] 5 - 500 Hz 500
FF Vibration Suppressor Frequency 4 Setting range Unit Standard value
42
[SUPFRQ4] 5 - 500 Hz 500
■ Sets mechanical vibration frequency to be suppressed with this function. Select from FF
vibration suppressor frequency selection 1 or 2.

◆ Change value while the servo motor is OFF.

◆ This parameter is not covered by Auto-tuning result saving.
◆ Setting value can be input by 1Hz; inside the servo amplifier, the units listed below are
applied.
Setting range Unit value inside servo amplifier
5 - 99Hz Valid by 1Hz
100 - 499Hz Valid by 5Hz and drop less than 5
500Hz FF vibration suppressor invalid

Model Control Antiresonance Frequency 2 Setting range Unit Standard value

50
[ANRFRQ2] 10.0 - 80.0 Hz 80.0
Model Control Antiresonance Frequency 3 Setting range Unit Standard value
52
[ANRFRQ3] 10.0 - 80.0 Hz 80.0
Model Control Antiresonance Frequency 4 Setting range Unit Standard value
54
[ANRFRQ4] 10.0 - 80.0 Hz 80.0
■ Sets antiresonance frequency of the mechanical device with Model following vibration
suppressor control. Select from Model Vibration Suppressor Frequency Select Input 1 or 2.

◆ Setting value is invalid with Model following control.

◆ Vibration suppressor is invalid when it is set over the value of Model Control Resonance
Frequency.
◆ Setting by using system analysis function is not available.
◆ Change value while the servo motor is OFF.

Model Control Resonance Frequency 2 Setting range Unit Standard value

51
[RESFRQ2] 10.0 - 80.0 Hz 80.0
Model Control Resonance Frequency 3 Setting range Unit Standard value
53
[RESFRQ3] 10.0 - 80.0 Hz 80.0
Model Control Resonance Frequency 4 Setting range Unit Standard value
55
[RESFRQ4] 10.0 - 80.0 Hz 80.0
■ Sets resonance frequency of the mechanical device with Model following vibration suppressor
control. Select from Model Vibration Suppressor Frequency Select Input 1 or 2.

◆ Setting value is invalid under Model following control.

◆ Vibration suppressor control becomes invalid at the setting value 80.0Hz.
◆ Setting by using system analysis function is not available.
◆ Change value while the servo motor is OFF.

5-50
5.Operation Group 5 High Setting Control Settings
■ Group5 “High setting control settings”
ID Contents
Command Velocity Low-pass Filter Setting range Unit Standard value
[CVFIL] 1 - 4000 Hz 1000
■ First low-pass filter to eliminate high frequency elements such as ripples included in the
velocity (command velocity) calculated from position command pulse inside high setting
00 control. Sets cutoff frequency.

◆ Lower the cutoff frequency when the encoder resolution is low.

◆ Filter is invalid at setting the value more then 2000Hz.

Command Velocity Threshold Setting range Unit Standard value

[CVTH] 0 - 65535 min-1 20
■ Sets velocity threshold value to make high setting control compensation
01 (Acceleration Compensation and Deceleration Compensation) valid.

◆ Acceleration Compensation or Deceleration Compensation is done when velocity

(command velocity) calculated from the position command pulse reaches this value.

Acceleration Compensation Setting range Unit Standard value

[ACCCO] -9999 - 9999 ×50 Pulse 0
■ Sets Acceleration Compensation value with high setting control.

◆ Sets at position deviation pulse unit (encoder resolution unit x4 with pulse encoder)
◆ Compensates to position deviation.
02 ◆ The larger the setting value, the greater the compensation value.
◆ The larger the acceleration value calculated from position command pulse, compensation
value increases.
◆ The larger the Load inertia moment, the greater the compensation value is.
◆ Position deviation decreases with high setting control.
◆ The setting value is invalid with Model following control or Model following vibration
suppressor control.

Deceleration Compensation Setting range Unit Standard value

[DECCO] -9999 - 9999 ×50 Pulse 0
■ Sets Deceleration Compensation value with high setting control.

◆ The setting is in units of position deviation pulse (for pulse encoder, in units of encoder
resolution 4-multiplied).
◆ Compensation is performed for position deviation.
03 ◆ The higher the set value, the larger the compensation amount.
◆ The bigger the acceleration converted from position command pulse, the larger the
compensation amount.
◆ The bigger the load inertia moment, the larger the compensation amount.
◆ Position deviation decreases by high settling.
◆ This setting value is not reflected in “model following control” or “model following vibration
suppression control.”

5-51
5.Operation Group 8 Control System Setting
■ Group8 “Control system settings”
ID Contents
Position, Velocity, Torque Command Input Polarity Setting range Unit Standard value
[CMDPOL] 00 - 07 - 00:PC+_VC+_TC+
■ Select the combination of each command polarity for position command pulse from the list
below.

◆ Rotating direction of the servo motor can be reversed without changing the command
wiring.
◆ Rotating direction with positive (+) polarity command supply according to the setting value
is shown below.

Position Command Pulse

Selection Polarity
(PCMD)
00 PC+_VC+_TC+ + Forward
01 PC+_VC+_TC- + Forward
02 PC+_VC-_TC+ + Forward
03 PC+_VC-_TC- + Forward
04 PC-_VC+_TC+ + Reverse
05 PC-_VC+_TC- + Reverse
06 PC-_VC-_TC+ + Reverse
07 PC-_VC-_TC- + Reverse
00

◆ Command input polarity is at standard setting value ｢00:PC+_VC+_TC+｣

Forward rotation with (+) polarity Reverse rotation with (-) polarity
command (CCW) command (CW)

◆ Command input polarity change ｢07:PC-_VC-_TC-｣

Reverse rotation with (+) polarity Forward rotation with (-) polarity
command (CW) command (CCW)

5-52
5.Operation Group 8 Control System Setting
ID Contents
Position Command Pulse Selection Setting range Unit Standard value
[PMOD] Control power reactivation after setting. 00 - 02 - 00:F-PC_R-PC
■ Set the Position control command pulse type.

◆ Select from below to match with the upper device specifications.

Selection Contents
00 F-PC_R-PC Forward Rotation (Positive) Pulse +
Reverse Rotation (Negative) Pulse
01 PC-A_PC-B Two-phase Pulse Train of 90° Phase Difference
02 SIGN_PULS Code + Pulse Train
10
◆ Connect position command pulse to CN1 pin listed below:
Forward rotation Reverse rotation
Forward pulse (F-PC)：CN1A-11 Reverse pulse (R-PC): CN1A-13
―― ― ― ― ―― ―
Forward pulse (F-PC)：CN1A-12 Reverse pulse (R-PC): CN1A-14
Forward pulse SG：CN1A-10 Reverse pulse SG: CN1A-10

◆ Capable of these output types of the upper devise: Line driver output and Open collector
output.
Be sure to connect SG.

5-53
5.Operation Group 8 Control System Setting
ID Contents
Position Command Pulse Count Polarity Setting range Unit Standard value
[PCPPOL] Control power reactivation after setting. 00 - 03 - 00:Type1
■ Select the Position Command Pulse Count Polarity from the list below:

◆ Select to match with the upper device.

Selection Contents
F-PC: not reversed
00 Type1
11 R-PC: not reversed
F-PC: reversed
01 Type2
R-PC: not reversed
F-PC: not reversed
02 Type3
R-PC: reversed
F-PC: reversed
03 Type4
R-PC: reversed

Position Command Pulse Digital Filter Setting range Unit Standard value
[PCPFIL] 00 - 07 - 00:834nsec
■ Filter to eliminate noise elements included in the Position command pulse.

◆ Select from the following list:

Setting value Contents
00 834nsec Minimum Pulse Width =834nsec
01 250nsec Minimum Pulse Width =250nsec
02 500nsec Minimum Pulse Width =500nsec
03 1.8usec Minimum Pulse Width =1.8μsec
04 3.6usec Minimum Pulse Width =3.6μsec
12 05 7.2usec Minimum Pulse Width =7.2μsec
06 125nsec Minimum Pulse Width =125nsec
07 83.4nsec Minimum Pulse Width =83.4nsec

■ When the Position command pulse width becomes less that the setting values of the Digital
filter, the status becomes Alarm Code D2 (Position command pulse frequency error 1). Set
Digital filter setting value smaller than that of Pulse width at maximum command frequency.

■ Refer to [Input command, Position output signal, General input signal, General output signal
(2-7)] for the specification of the command pulse.

5-54
5.Operation Group 8 Control System Setting
ID Contents
Electronic Gear 1 Numerator Setting range Unit Standard value
13
[B-GER1] 1 - 2097152 - 1
Electronic Gear 1 Denominator Setting range Unit Standard value
14
[A-GER1] 1 - 2097152 - 1
Electronic Gear 2 Numerator Setting range Unit Standard value
15
[B-GER2] 1 - 2097152 - 1
Electronic Gear 2 Denominator Setting range Unit Standard value
16
[A-GER2] 1 - 2097152 - 1
■ Sets the Electronic gear ratio to position command pulse.

◆ Either electronic gear1 or 2 is selectable by setting 2 kinds of electronic gear ratio.

◆ If position command pulses are the same, rotational velocity and travel distance can be
changed by changing gear ratio.

B (1 - 2097152)
f1 f2 (f2 = f1×B/A)
A (1 - 2097152)
1/221≦B/A≦221

■ Example 1. Changing the Position command pulse the unit to the feed shaft with ball screw.

Use serial encoder, 131072[P/R] ，decide the position of the lead 10[mm] ball screw. To
calculate by 1μm unit, use the calculation formula below and calculate the Electronic gear ratio
numerator and denominator:

◆ Encoder position resolution = 131072[P/R]

= 13107200 [P/m]
10×10-3[m]

◆ Position resolution of upper controller = 1000000[P/m]

13107200[P/m] 131072 8192

◆ Electronic gear ratio = = =
1000000[P/m] 10000 625

Thus, Electronic gear numerator = 8192，Electronic gear denominator = 625.

(Setting value of numerator = 131072，denominator = 10000 are fine as they are within the
setting range of Electronic gear.)

5-55
5.Operation Group 8 Control System Setting
■ Example 2. When the encoder resolution is changed by the motor exchange.

To change a servo motor with 2000[P/R] pulse encoder，to a servo motor with 8576[P/R] serial
encoder without changing upper controller position resolution. Use the calculation formula below
and calculate Electronic gear numerator and denominator.

◆ Resolution before the motor exchange = 2000×4[P/R] = 8000[P/R]

(For a pulse encoder, multiply the encoder resolution by 4 for the position control
resolution.)

1048576[P/m] 16384
Electronic gear ratio = =
8000[P/m] 125

Thus, Electronic gear numerator = 16384，Electronic gear denominator = 125.

(Setting value of numerator = 1048576，denominator = 8000 are fine as they are within the
setting range of Electronic gear.)
(If the Electronic gear value is set at the motor exchanging, multiply the value by the Electronic
gear ratio given here.)

■ Example 3. To bypass the frequency constraint of Position command pulse.

-1
In case you operate a servomotor with 131072 [P/R] resolution of serial encoder at 6000 [min ]
using a controller having maximum frequency of 600 [kpps] (600K pps), use the following
formula to get the value of the numerator and the denominator of the electric gearing.

◆ Position command pulse frequency at the encoder resolution

= 131072[P/R]×6000[min-1]/60 = 13107.2[kpps]

Electronic gear ratio = 13107.2[kpps] = 8192

600[kpps] 375

Thus, Electronic gear numerator = 8192，Electronic gear denominator = 375.

(Setting value of numerator = 131072，denominator = 6000 are fine as they are within the
setting range of Electronic gear.)
-1
By setting this Electronic gear numerator, denominator, the motor rotation velocity is 6000[min ]
with the Position command pulse frequency 600[kpps].

5-56
5.Operation Group 8 Control System Setting
ID Contents
Positioning Methods Setting range Unit Standard value
[EDGEPOS] Control power a reactivation after setting. 00 - 01 - 00:Pulse_Interval
■ Select the Encoder pulse positioning.

◆ Positioning accuracy is improved by selecting Edge positioning when the encoder

resolution is coarse. However, this may cause the driving sound of the mechanical system
to increase as this edge is always the center of vibration.
◆ Select standard value for usual operation.

Selection Contents
00 Pulse_Interval Specify Pulse Interval
01 Pulse_Edge Specify Pulse Edge
17
Pulse interval positioning

Phase A

Phase B

Edge positioning

In-Position Signal/ Position Deviation Monitor Setting range Unit Standard value
[PDEVMON] 00 - 01 - 00:After_Filter
■ Select in-position signal (INP) and Position deviation monitor output before and after passing
through the Position Command Filter.

◆ For 00 After_Filter, use the Position deviation value of the Position controller.
◆ For 01 Before_Filter, use the Position deviation value based on Position command before
FF vibration suppressor control.
◆ With system parameter ID0A Position Control Selection at 01 Model 1 Model Following
Control, or 02 Model 2 Model Following Vibration Suppress Control, 01: Before_Filter
always operates no matter the selection.

Selection Contents
Compare Position command value with Feedback value after
00 After_Filter
passing through the filter.
Compare Position command value with Feedback value
01 Before_Filter
before passing through the filter.
18

01:Before_Filter 00: After_Filter

＋
－
Position FF vibration Position Position
Electronic
command suppressor command Model ＋ control
gear
smoothing control filter
－

Position loop
encoder

5-57
5.Operation Group 8 Control System Setting
ID Contents
Deviation Clear Selection Setting range Unit Standard value
[CLR] 00 - 03 - 00:Type1
■ Sets ON/OFF of position deviation clear during servo OFF, and deviation clear signal
treatment.

◆ Selects operation during servo OFF. Deviation clear/ Deviation NOT clear
◆ Selects deviation signal treatment. Level detection /Edge detection
◆ Select proper setting corresponding to above combination from the list below.

Selection Contents
During servo OFF,
When Servo OFF → Clear Deviation clear is always
Deviation executed. While Deviation
00 Type1
Deviation Clear Input = clear input is ON,
19 Level Detection Deviation clear is always
executed.
When Servo OFF → Clear At the edge of OFF→ON of
Deviation Deviation clear input, Deviation
01 Type2
Deviation Clear Input = clear is executed.
Edge Detection
When Servo OFF → NOT Clear During servo OFF, Deviation clear
Deviation is not executed.
02 Type3
Deviation Clear Input = (After servo ON, the motor may
Level Detection operate suddenly.)
When Servo OFF → NOT Clear During servo OFF, Deviation clear
Deviation is not executed.
03 Type4
Deviation Clear Input = (After servo ON, the motor may
Edge Detection operate suddenly.)

5-58
5.Operation Group 8 Control System Setting
ID Contents
Velocity Compensation Command Input Selection Setting range Unit Standard value
[VCOMSEL] 02 - 02:V-COMP
■ Select Velocity compensation command input.
27
Selection Contents
Preset velocity compensation command is used when velocity
02 V-COMP
compensation function is valid.

Preset Velocity Compensation Command Setting range Unit Standard value

[V-COMP] -9999 - 9999 min-1 0
28 ■ Sets the Velocity in a fixed compensation command value with Velocity Compensation
Function.

External Velocity Command Filter Setting range Unit Standard value

[EX-VCFIL] 1 - 4000 Hz 4000
■ This is the first-order low-pass filter of velocity (addition) command.

◆ Sets cutoff frequency.

◆ This filter acts on JOG velocity command and velocity addition command.
◆ Setting range varies depending on the setting of the system parameter ID00 Control Cycle.

Control Cycle Setting Value Filter Valid/invalid

Standard_Sampling 1 - 1999Hz Valid
00
Standard Sampling 2000 - 4000Hz Filter Invalid
High-freq_Sampling 1 - 3999Hz Valid
01
High Frequency Sampling 4000Hz Filter Invalid

2A
■ About Velocity Compensation Function
Velocity Compensation Function is a Feed forward function for the Velocity control system.

◆ Set preset velocity compensation command

Group ID Symbol Contents
8 28 V-COMP Preset Velocity Compensation Command

◆ Select and set the condition to set Velocity Compensation Function valid
Group ID Symbol Contents
9 28 VCOMPS Velocity Compensation Function

5-59
5.Operation Group 8 Control System Setting
ID Contents
Velocity Command Acceleration Time Constant Setting range Unit Standard value
2B
[TVCACC] 0 - 16000 ms 0
Velocity Command Deceleration Time Constant Setting range Unit Standard value
2C
[TVCDEC] 0 - 16000 ms 0
■ These are parameters to limit acceleration and deceleration commands given to internal
velocity addition and JOG operation.

Acceleration: 0 min-1 → forward, reverse rotation

Deceleration: forward, reverse rotation → 0 min-1
Sets acceleration, deceleration per 1000 min-1.

■ With Velocity command acceleration, deceleration time constant, and Step input velocity, the
command can be accelerated or decelerated.

↑ 1000min-1

Forward
or
reverse rotation 0min-1

TVCACC TVCDEC

Velocity Limit Command Setting range Unit Standard value

[VCLM] 1 - 65535 min-1 65535
■ Set this parameter to limit velocity command.

◆ Sets the maximum value of velocity command.

◆ This set value limits velocity command.
◆ At the setting value 50000 or more, velocity command is restricted at maximum velocity of
the combined motor x 1.1.

Set this parameter to limit motor rotational velocity to 1.1 times maximum motor rotational
velocity or less. Use the standard value for normal use.

2D
Abnormal high
velocity value

Velocity limit setting range Input command Velocity command

→

5-60
5.Operation Group 8 Control System Setting
ID Contents
Torque Compensation Command Setting range Unit Standard value
Input Selection
[TCOMSEL] 02 - 02:T-COMP
■ Select Torque compensation command input from the list below:
30
Selection Contents
When Torque compensation function in valid, Preset torque
02 T-COMP
compensation command 1 or 2 is used.

Preset Torque Compensation Command 1 Setting range Unit Standard value

[T-COMP1] -500.0 - ＋500.0 % 0.0
■ Parameter for using Torque Compensation Function 1 (T-COMPS1) at a fixed value.
31
◆ When Torque Compensation Command Input Selection is set at 02: T-COMP, the value is
added to the Torque command.

Preset Torque Compensation Command 2 Setting range Unit Standard value

[T-COMP2] -500.0 - ＋500.0 % 0.0
■ Parameter for using Torque Compensation Function 2 (T-COMPS2) at a fixed value.
32
◆ When Torque Compensation Command Input Selection is set at 02: T-COMP, the value is
added to the Torque command.

External Torque Command Filter Setting range Unit Standard value

[EX-TCFIL] 1 - 4000 Hz 4000
■ This is primary low-pass filter to eliminate noise elements from Analog torque (compensation)
command.

◆ Sets Cutoff frequency.

◆ Setting range varies depending on the setting of the system parameter ID00 Control Cycle.

Control Cycle Setting value Filter Valid/Invalid

Standard_Sampling 1 - 1999Hz Valid
00
Standard Sampling 2000 - 4000Hz Filter invalid
High-freq_Sampling 1 - 3999Hz Valid
01
High Frequency Sampling 4000Hz Filter invalid

35
■ About Torque Compensation Function:
The Torque Compensation Function is a feed forward function for the Torque control system.

◆ Sets Preset Torque Compensation Command Value

Group ID Symbol Contents
8 31 T-COMP1 Preset Torque Compensation Command 1
8 32 T-COMP2 Preset Torque Compensation Command 2

◆ Sets the condition to set Torque Compensation Function Valid

Group ID Symbol Contents
9 30 T-COMPS1 Torque Compensation Function 1
9 31 T-COMPS2 Torque Compensation Function 2

5-61
5.Operation Group 8 Control System Setting
ID Contents
Torque Limit Input Selection Setting range Unit Standard value
[TLSEL] 00 - 02 - 00:TCLM
■ Only internal torque limit in limit value input system can be used when torque command limit
function-enabled.

Selection Contents
36 Forward side (forward direction):
Use internal torque Limited at Forward Direction Internal Torque Limit
limit value Value.
00 TCLM
Forward side/TCLM-F Reverse side (reverse direction):
Reverse side/TCLM-R Limited at Reverse Direction Internal Torque Limit
Value.

5-62
5.Operation Group 8 Control System Setting
ID Contents
Forward Direction Internal Torque Limit Value Setting range Unit Standard value
37
[TCLM-F] 10.0 - 500.0 % 100.0
Reverse Direction Internal Torque Limit Value Setting range Unit Standard value
38
[TCLM-R] 10.0 - 500.0 % 100.0
■ Limits the Torque output at the setting value when Preset torque limit value is valid.

◆ Limits the torque by the ratio for the torque rating (100.0%= torque rating)
◆ When the Torque Limit Function (TL) is valid, the torque output is limited by the Preset
torque limit setting value appropriate to the polarity of the Torque command.
◆ When the value is set exceeding the Maximum Instant Stall Torque (TP) of the combining
servo motor, it is limited by the Maximum Instant Stall Torque (TP) of the combining servo
motor.

■ About torque limit function

z Restricts the maximum output torque by sing preset torque limit.

Group ID Symbol Contents
8 36 TLSEL Torque Limit Input Selection

Setting value Contents

Use preset torque limit value
00 TCLM Forward side/TCLM-F
Reverse side/TCLM-R

z Sets torque limit value.

Group ID Symbol Contents
8 37 TCLM-F Forward Direction Internal Torque Limit Value
8 38 TCLM-R Reverse Direction Internal Torque Limit Value

z Sets torque limit function ON

Group ID Symbol Contents
9 32 TL Torque Limit Function
Selects to set the Torque function valid.
While the Torque limit function is valid, restricts torque.

✔ Set in consideration of acceleration/deceleration time. Setting the value too low

causes insufficient acceleration/deceleration torque, and this disables normal
control.
✔ Set as follows: internal torque limit value > |acceleration/deceleration torque|
✔ Internal torque limit value can be set depending on forward /reverse rotation
respectively.

Sequence Operation Torque Limit Value Setting range Unit Standard value
[SQTCLM] 10.0 - 500.0 % 120.0
■ Limits output torque at sequence operation.

◆ Sets the limiting torque by the ratio of rated output torque. (100.0%=rated torque)
39 ◆ When the value is set exceeding the Maximum instant stall torque (TP) of the combining
servo motor, it is limited by the Maximum instant stall torque (TP) of the combining servo
motor.
◆ During the sequence operation, Torque limit corresponds to JOG Operation, Over-Travel
Action, Holding brake stand-by time, and Servo brake action.

5-63
5.Operation Group 8 Control System Setting

ID Contents
Torque attainment function selection Setting range Unit Standard value
[TASEL] 00 - 01 - 00
■ Selects torque attainment setting method.

3B Selection Contents
Sets percentage to rated torque.
00 TA/TR
(100% for rated torque)
01 TA/TCLM Sets percentage to torque limit value.

Torque attainment setting Setting range Unit Standard value

[TA] 0.0 - 500.0 % 100.0
■ Sets ratio of torque attainment
◆ Data corresponding to the ratio set in this parameter vary depending on torque attainment
function selection (Group8-3B).
◆ [Torque attainment function selection: 00]
Sets ratio to rated torque. [100%]
Torque attainment signal is output when torque command value exceeds the set value.

Torque Attainment Level

Torque Command
0[%]

Torque attainment signal OFF

ON ON

3C ◆ [Torque attainment function selection: 01]

Sets ratio to torque limit value. Torque attainment level is calculated according to the
following formula.
Torque attainment level = Torque limit value x set value / 100.0 [%]

When torque command value exceeds the torque attainment level as calculated by the
above, torque attainment signal is output. When the value exceeding 100.0 [%] is set, this
shall be limited to 100.0[%]. When normal and reverse rotation torque limit value is different,
torque attainment level shall be set according to each torque limit value.

Forward direction torque

limit value = 300.0[%]
Forward direction torque
Attainment level
Torque Command = 300.0 x setting value / 100.0
0[%]

Reverse direction torque

limit value = 200.0[%]
Reverse direction torque
Attainment level
Torque attainment signal OFF ON = 200.0 x setting value / 100.0
ON

5-64
5.Operation Group 8 Control System Setting
ID Contents
Near Range Setting range Unit Standard value
[NEAR] 1 - 2147483647 Pulse 500
■ Sets the output range of near range (near in-position) signal.

◆ Outputs Near range signal when the Position deviation counter is set lower that this set
value.
◆ Sets at the resolution of the encoder pulse at any Electronic gear.
(Not the Position command pulse resolution.)

■ Generally, near range signal is used as auxiliary of In-position signal. For example, by setting
this value larger than the range of In-position, it can receive the NEAR signal before the upper
40 device receives the In-position signal (INP), thus when In-position the necessary action can
smoothly be accomplished.

◆ Sets Near range signal output

Group ID Symbol Contents
A 0* OUT* Generic Purpose output*

Selection Contents
1A NEAR_ON Near Range Status, Output ON
1B NEAR_OFF Near Range Status, Output OFF

In-Position Window Setting range Unit Standard value

[INP] 1 - 2147483647 Pulse 100
■ Sets output range of In-position signal.

◆ Outputs signal when the Deviation counter value is lower than the setting value.
◆ Sets at the resolution of the encoder pulse at any Electronic gear.
(Not the Position command pulse resolution.)
◆ When the Position deviation of the servo motor is lower than the setting value with Position
control mode, the signal is output from the Output terminal where the In-position signal is
41 selected.
◆ Sets In-position signal output
Group ID Symbol Contents
A 0* OUT* Generic Purpose output*

Selection Contents
18 INP_ON In-Position Status，Output ON
19 INP_OFF In-Position Status，Output OFF

5-65
5.Operation Group 8 Control System Setting
ID Contents

Position command pulse

after position directive
smoothing
Near range = 500Pulse
In-Position Window
= 100Pulse
Position deviation monitor

NEAR ON OFF ON

INP ON OFF ON

INPZ ON OFF ON

◆ INPZ is a state signal turned on when the position directive pulse after position directive
smoothing is 0 and a position deviation counter value is below setting of the completion
range of positioning.

5-66
5.Operation Group 8 Control System Setting
ID Contents
Velocity Zero Range Setting range Unit Standard value
[ZV] 50 - 500 min-1 50
42 ■ Setting value for detecting Zero-velocity status (motor stop).

◆ When the velocity becomes lower than this value, Zero-velocity status is out.

Low Velocity Range Setting range Unit Standard value

[LOWV] 0 - 65535 min-1 50
■ Parameter for setting Low velocity output range.

◆ When the velocity is lower than this value, Low velocity range is output.

43
“Low velocity Range” setting value
Velocity

Output LOWV_ON or LOWV_OFF from GroupA OUT*

Velocity Attainment Setting (High Velocity Range) Setting range Unit Standard value
[VA] 0 - 65535 min-1 1000
■ Parameters for setting velocity attainment output range.

◆ When the velocity exceeds this setting value, Velocity attainment is output.

◆ When switched to torque control mode by using control mode switching function, simplified
velocity control is performed by this parameter. (When “control mode switching function
(MS)” is enabled after setting “03:Velo-Torq” or “04: Posi-Torq” in system parameter ID09
“control mode selection.”)
Provided that when motor velocity is over this set value, control at constant velocity is
not available as torque command is forcedly set to zero. Do not operate under these
circumstances continuously.

44

“Velocity Attainment Setting” value

Velocity

Output VA_ON or VA_PFF from GroupA OUT*

5-67
5.Operation Group 8 Control System Setting
ID Contents
Velocity Matching Unit Selection Setting range Unit Standard value
[VCMPUS] 00 - 01 - 00:min-1
■ Selects Velocity Matching Unit setting method.

Selection Contents
45 -1
-1 Sets by unit [min ]
00 min
Uses the setting value of ID46 [VCMP] Velocity Matching Range
Sets the ratio to velocity command by [%] unit
01 Percent Uses the setting value of ID47 [VCMPR] Velocity Matching
Range Ratio
Velocity Matching Range Setting range Unit Standard value
[VCMP] 0 - 65535 min-1 50
-1
■ Sets the range regarded as Velocity matching by the unit [min ].

◆ Use this setting value when ID45 [VCMPUS] Velocity Matching Unit Selection is「00 min-1」.
◆ Velocity matching is output when the Velocity deviation (difference between the velocity
command and actual velocity) is within this setting range.

46

Velocity Velocity command

Within the Velocity Matching Range, VCMP_ON or

VCMP_OFF is output from Group9 OUT*.

Velocity Matching Range Ratio Setting range Unit Standard value

[VCMPR] 0.0 - 100.0 % 5.0
■ Sets the range regarded as Velocity matching ratio to Velocity command by the unit [%].

◆ This setting is used when ID45 ”[VCMPUS] Velocity Matching Unit Selection”
is “01 Percent”
◆ Velocity command multiplied by set value is velocity-matching range.
◆ Velocity matching is outputted when a velocity deviation (difference of commanded velocity
and real one) is in this setting range.
◆ The value that multiplied the velocity command by setting is a Velocity matching range.
When this value is less than 1[min-1], the Velocity matching range is treated as
-1
1[min ].
47

Velocity
Velocity command

Within the Velocity Matching Range, VCMP_ON or

VCMP_OFF is output from Group9 OUT*.

5-68
5.Operation Group 8 Control System Setting
■ By combining with Group9, Condition Settings for Enabling Functions, the functions of Group9
are valid for ID42 - ID47.

Selection Contents
Function is valid during low velocity status (velocity is
12 LOWV_IN
lower than the LOWV Setting Value).
Function is valid during not low velocity status (velocity
13 LOWV_OUT
is lower than the LOWV Setting Value).
Function is valid during velocity attainment status
14 VA_IN
(velocity is higher than the VA Setting Value).
Function is valid during not velocity attainment status
15 VA_OUT
(velocity is higher than the VA Setting Value).
Function is valid during velocity matching status
16 VCMP_IN
(velocity is lower than Velocity Matching Range).
Function is valid during not velocity matching status
17 VCMP_OUT
(velocity is lower than Velocity Matching Range)
Function is valid during zero velocity status (velocity is
18 ZV_IN
lower than the ZV Setting Value)
Function is valid during zero velocity status (velocity is
19 ZV_OUT
lower than the ZV Setting Value)
✔ Range that actual velocity is coincident with the commanded one is based on
setting of “Group8 ID45, ID47.”

◆ Example: The servo amplifier sets the GAIN1 and GAIN2 switching without using input
signal from the host unit.

z Set 15: VA_OUT to Group9 ID13 Gain Switching Condition 1 GC1.

z Set 00: Always_Disable to Group9 ID14 Gain Switching Condition 2 GC2.
-1
z Set 50min (arbitrary value) to Group8 ID44 Velocity Attainment (High Velocity setting)
VA.

-1
VA setting value: 50min
Velocity

VA_OUT VA_IN VA_OUT

GAIN2 is valid while GAIN2 is valid while

[VA] is below the GAIN1 is valid while [VA] is higher than [VA] is below the
setting value. the setting value. setting value.

5-69
5.Operation Group 9 Function Enabling Condition Settings
■ Group9 “Functions enabling condition settings”
Maximum input
Setting
ID Contents Standard value time when
range
function-enabled
00 Positive Over Travel Function [F-OT] 00 - 27 0D:CONT6_OFF 20ms
01 Negative Over Travel Function [R-OT] 00 - 27 0B:CONT5_OFF 20ms
02 Alarm Reset Function [AL-RST] 00 - 27 10:CONT8_ON 20ms
03 Encoder Clear Function [ECLR] 00 - 27 06:CONT3_ON 200ms
04 Deviation Clear Function [CLR] 00 - 27 08:CONT4_ON 1ms
05 Servo-ON Function [S-ON] 00 - 27 02:CONT1_ON 20ms
10 Control Mode Switching Function [MS] 00 - 27 00:Always_Disable 4ms
Position Command Pulse Inhibit Function, 20ms
11 Velocity Command Zero Clamp Function 00 - 27 00:Always_Disable
[INH/Z-STP]
12 Electronic Gear Switching Function [GERS] 00 - 27 00:Always_Disable 20ms
13 Gain Switching Condition 1 [GC1] 00 - 27 00:Always_Disable 1ms
14 Gain Switching Condition 2 [GC2] 00 - 27 00:Always_Disable 1ms
FF Vibration Suppressor Frequency Select 20ms
15 Input 1 00 - 27 00:Always_Disable
[SUPFSEL1]
FF Vibration Suppressor Frequency Select 20ms
16 Input 2 00 - 27 00:Always_Disable
[SUPFSEL2]
Position Loop Proportional Control Switching 20ms
17 Function 00 - 27 01:Always_Enable
[PLPCON]
Model Vibration Suppressor Frequency 20ms
18 Select Input 1 00 - 27 00:Always_Disable
[MDLFSEL1]
Model Vibration Suppressor Frequency 20ms
19 Select Input 2 00 - 27 00:Always_Disable
[MDLFSEL2]
Velocity Loop Proportional Control Switching 1ms
27 Function 00 - 27 04:CONT2_ON
[VLPCON]
Velocity Compensation Function [V- 1ms
28 00 - 27 00:Always_Disable
COMPS]
Torque Compensation Function 1 [T- 1ms
30 00 - 27 00:Always_Disable
COMPS1]
Torque Compensation Function 2 [T- 1ms
31 00 - 27 00:Always_Disable
COMPS2]
32 Torque Limit Function [TL] 00 - 27 0E:CONT7_ON 20ms
33 Disturbance Observer Function [OBS] 00 - 27 00:Always_Disable 20ms
40 External Trip Input Function [EXT-E] 00 - 27 00:Always_Disable 20ms
42 Emergency Stop Function [EMR] 00 - 27 00:Always_Disable 20ms

5-70
5.Operation Group 9 Function Enabling Condition Settings
Group 9 “Function enabling condition list”
■ Keeping the function always valid or invalid

Selection Contents
00 Always_Disable Function is always invalid
01 Always_Enable Function is always valid

■ Using function with the generic input signals

Selection Contents
02 CONT1_ON Function is valid when generic input, CONT1, is ON
03 CONT1_OFF Function is valid when generic input, CONT1, is OFF
04 CONT2_ON Function is valid when generic input, CONT2, is ON
05 CONT2_OFF Function is valid when generic input, CONT2, is OFF
06 CONT3_ON Function is valid when generic input, CONT3, is ON
07 CONT3_OFF Function is valid when generic input, CONT3, is OFF
08 CONT4_ON Function is valid when generic input, CONT4, is ON
09 CONT4_OFF Function is valid when generic input, CONT4, is OFF
0A CONT5_ON Function is valid when generic input, CONT5, is ON
0B CONT5_OFF Function is valid when generic input, CONT5, is OFF
0C CONT6_ON Function is valid when generic input, CONT6, is ON
0D CONT6_OFF Function is valid when generic input, CONT6, is OFF
0E CONT7_ON Function is valid when generic input, CONT7, is ON
0F CONT7_OFF Function is valid when generic input, CONT7, is OFF
10 CONT8_ON Function is valid when generic input, CONT8, is ON
11 CONT8_OFF Function is valid when generic input, CONT8, is OFF

■ Activating the functions conditioning the rotational velocity of servomotor

Selection Contents
Function is valid during low velocity status (velocity is lower
12 LOWV_IN
than the LOWV Setting Value).
Function is valid during not low velocity status (velocity is lower
13 LOWV_OUT
than the LOWV Setting Value).
Function is valid during velocity attainment status (velocity is
14 VA_IN
higher than the VA Setting Value).
Function is valid during not velocity attainment status (velocity
15 VA_OUT
is higher than the VA Setting Value).
Function is valid during velocity matching status (velocity is
16 VCMP_IN
lower than Velocity Matching Range)
Function is valid during not velocity matching status (velocity is
17 VCMP_OUT
lower than Velocity Matching Range)
Function is valid during zero velocity status (velocity is lower
18 ZV_IN
than the ZV Setting Value)
Function is valid during not zero velocity status (velocity is
19 ZV_OUT
lower than the ZV Setting Value)

5-71
5.Operation Group 9 Function Enabling Condition Settings
■ Activating the functions using the positioning signals

Selection Contents
20 NEAR_IN Function is valid during Near status
21 NEAR_OUT Function is valid during not Near status
Function is valid during In-Position status
1A INP_IN
(position deviation < INP)
Function is valid during not In-Position status
1B INP_OUT
(position deviation < INP)
Function is valid during Position command 0 and In-Position
26 INPZ_IN
status (position deviation < INP)
Function is valid during Position command 0 and In-Position
27 INPZ_OUT
status (position deviation < INP)

■ Activating the functions using the torque / velocity limit

Selection Contents
1C TLC_IN Function is valid during torque limit status
1D TLC_OUT Function is valid during not torque limit status
1E VLC_IN Function is valid during velocity limit status
1F VLC_OUT Function is valid during not velocity limit status

■ Activating the functions conditioning the rotating direction of servomotor or zero-velocity state

Selection Contents
Function is valid while rotation direction is forward.
22 VMON_>_+LV
(VMON>+LOWV)
Function is valid while rotation direction is not forward.
23 VMON_<=_+LV
(VMON≦+LOWV)
Function is valid while rotation direction is reverse.
24 VMON_<_-LV
(VMON<-LOWV)
Function is valid while rotation direction is not reverse.
25 VMON_>=_-LV
(VMON≧-LOWV)

5-72
5.Operation Group A General Output terminal Output Condition
/ Monitor Output Selection/ Serial Communication Settings
■ GroupA “General output terminal output condition/ Monitor output selection/ Serial
communication settings”
ID Contents Setting range Unit Standard value
00 General Purpose Output 1 [OUT1] 00 - 5F - 18:INP_ON
01 General Purpose Output 2 [OUT2] 00 - 5F - OC:TLC_ON
02 General Purpose Output 3 [OUT3] 00 - 5F - 02:S-RDY_ON
03 General Purpose Output 4 [OUT4] 00 - 5F - 0A:MBR_ON
04 General Purpose Output 5 [OUT5] 00 - 5F - 33:ALM5_OFF
05 General Purpose Output 6 [OUT6] 00 - 5F - 35:ALM6_OFF
06 General Purpose Output 7 [OUT7] 00 - 5F - 37:ALM7_OFF
07 General Purpose Output 8 [OUT8] 00 - 5F - 39:ALM_OFF
Digital Monitor Output Signal Selection [DMON] 00 - 5F - 00:Always_OFF
■ Select output signal for Output digital monitor
◆ The logic is reversed with the Digital monitor.
◆ Output voltage is approximately 5V when OFF, and 0V when ON.
■ Selection Contents list for General Purpose Output OUT1 - General Purpose Output OUT8
/Digital monitor output selection
◆ Fix Output on either selection.
01:Always_ON 00:Always_OFF
◆ When Generic input signal status it to be Output.
General Input, CONT1 is ON 3A:CONT1_ON 3B:CONT1_OFF
General Input, CONT2 is ON 3C:CONT2_ON 3D:CONT2_OFF
General Input, CONT3 is ON 3E:CONT3_ON 3F:CONT3_OFF
General Input, CONT4 is ON 40:CONT4_ON 41:CONT4_OFF
General Input, CONT5 is ON 42:CONT5_ON 43:CONT5_OFF
General Input, CONT6 is ON 44:CONT6_ON 45:CONT6_OFF
General Input, CONT7 is ON 46:CONT7_ON 47:CONT7_OFF
General Input, CONT8 is ON 48:CONT8_ON 49:CONT8_OFF
◆ When Servo amplifier Preset status is to be output.
02:S-RDY_ON 03:S-RDY_OFF
During Servo Ready Complete
58:S-RDY2_ON 59:S-RDY2_OFF
During Power Supply ON 04:P-ON_ON 05:P-ON_OFF
During Power Supply ON Permission 06:A-RDY_ON 07:A-RDY_OFF
During Motor Excitation 08:S-ON_ON 09:S-ON_OFF
During Holding Brake Excitation
0A:MBR-ON_ON 0B:MBR-ON_OFF
10 Signal Output
During Torque Limiting 0C:TLC_ON 0D:TLC_OFF
During Velocity Limiting 0E:VLC_ON 0F:VLC_OFF
During Low Velocity Status 10:LOWV_ON 11:LOWV_OFF
During Velocity Attainment Status 12:VA_ON 13:VA_OFF
During Velocity Matching Status 14:VCMP_ON 15:VCMP_OFF
During Velocity Zero Status 16:ZV_ON 17:ZV_OFF
During Command Acceptance 1C:CMD- 1D:CMD-
Permission Status ACK_ON ACK_OFF
During Gain Switching Status 1E:GC-ACK_ON 1F:GC-ACK_OFF
During Velocity Loop Proportional 20:PCON- 21:PCON-
Control Switching Status ACK_ON ACK_OFF
During Electronic Gear Switching 22:GERS- 23:GERS-
Status ACK_ON ACK_OFF
During Control Mode Switching
24:MS-ACK_ON 25:MS-ACK_OFF
Status
During Forward Over-Travel Status 26:F-OT_ON 27:F-OT_OFF
During Reverse Over-travel Status 28:R-OT_ON 29:R-OT_OFF
During Main Circuit Power Supply
4A:CHARGE_ON 4B:CHARGE_OFF
Charging
During Dynamic Braking 4C:DB_OFF 4D:DB_ON
In the state of torque attainment 5E:TA_ON 5F:TA_OFF
✔ The display showing main circuit is charging the power is the state main circuit
power is being input.
✔ Dynamic brake cannot work even if the setting became DB_ON output, if it is
servo amplifier without dynamic brake function.

5-73
5.Operation Group A General Output terminal Output Condition
/ Monitor Output Selection/ Serial Communication Settings

◆ When positioning signal is to be output.

During In-Position Status 18:INP_ON 19:INP_OFF
During Near Range Status 1A:NEAR_ON 1B:NEAR_OFF
During In-Position with Position
5A:INPZ_ON 5B:INPZ_OFF
Command 0 Status

◆ When Warning signal is to be output

During Excessive Deviation 2A:WNG- 2B:WNG-
Warning Status OFW_ON OFW_OFF
2C:WNG- 2D:WNG-
During Overload Warning Status
OLW_ON OLW_OFF
During Regenerative Overload 2E:WNG- 2F:WNG-
Warning Status ROLW_ON ROLW_OFF
31:WNG-
During Battery Warning status 30:WNG-BAT_ON
10 BAT_OFF
During Under Voltage Sag Warning
5C:PEWNG_ON 5D:PEWNG_OFF
Status

◆ When Alarm signals are to be output

Alarm Code Bit 5 32:ALM5_ON 33:ALM5_OFF
Alarm Code Bit 6 34:ALM6_ON 35:ALM6_OFF
Alarm Code Bit 7 36:ALM7_ON 37:ALM7_OFF
During Alarm Status 38:ALM_ON 39:ALM_OFF

◆ When PY compatible alarm signals are to be output

PY Compatible Alarm Code 1 50:PYALM1_ON 51:PYALM1_OFF
PY Compatible Alarm Code 2 52:PYALM2_ON 53:PYALM2_OFF
PY Compatible Alarm Code 4 54:PYALM4_ON 55:PYALM4_OFF
PY Compatible Alarm Code 8 56:PYALM8_ON 57:PYALM8_OFF

5-74
5.Operation Group A General Output terminal Output Condition
/ Monitor Output Selection/ Serial Communication Settings
ID Contents Setting range Unit Standard value
11 Analog Monitor Select Output 1 [MON1] 00 - 1C,1F - 05:VMON_2mV/min-1
12 Analog Monitor Select Output 2 [MON2] 00 - 1C,1F - 02:TCMON_2V/TR
■ Select output signals to output to Analog monitor 1 and 2 from the list below:

01:TMON_2V/TR Torque Monitor 2V/rated torque (force)

02:TCMON_2V/TR Torque Command Monitor 2V/rated torque (force)
03:VMON_0.2mV/ min-1 Velocity Monitor 0.2mV/min-1
04:VMON_1mV/ min-1 Velocity Monitor 1mV/min-1
05:VMON_2mV/ min-1 Velocity Monitor 2mV/min-1
06:VMON_3mV/ min-1 Velocity Monitor 3mV/min-1
07:VCMON_0.2mV/ min-1 Velocity Command Monitor 0.2mV/min-1
08:VCMON_1mV/ min-1 Velocity Command Monitor 1mV/min-1
09:VCMON_2mV/ min-1 Velocity Command Monitor 2mV/min-1
0A:VCMON_3mV/ min-1 Velocity Command Monitor 3mV/min-1
0B:PMON_0.01mV/P Position Deviation Counter Monitor 0.01mV/Pulse
0C:PMON_0.1mV/P Position Deviation Counter Monitor 0.1mV/Pulse
0D:PMON_1mV/P Position Deviation Counter Monitor 1mV/Pulse
0E:PMON_10mV/P Position Deviation Counter Monitor 10mV/Pulse
0F:PMON_20mV/P Position Deviation Counter Monitor 20mV/Pulse
10:PMON_50mV/P Position Deviation Counter Monitor 50mV/Pulse
Position Command Pulse Frequency
11:FMON1_2mV/kP/s Monitor 1 (Position Command Pulse 2mV/kPulse/s
Input Frequency
Position Command Pulse Frequency
12:FMON1_10mV/kP/s Monitor 1 (Position Command Pulse 10mV/kPulse/s
Input Frequency)
Position Command Pulse Frequency
13:FMON2_0.05mV/kP/s Monitor 2 (Position Command Pulse 0.05mV/kPulse/s
Frequency for Position Control)
Position Command Pulse Frequency
14:FMON2_0.5mV/kP/s Monitor 2 (Position Command Pulse 0.5mV/kPulse/s
Frequency for Position Control)
Position Command Pulse Frequency
15:FMON2_2mV/kP/s Monitor 2 (Position Command Pulse 2mV/kPulse/s
Frequency for Position Control)
Position Command Pulse Frequency
16:FMON2_10mV/kP/s Monitor 2 (Position Command Pulse 10mV/kPulse/s
Frequency for Position Control)
Load Torque Monitor
17:TLMON_EST_2V/TR 2V/ Rated torque
(Estimated Value)
18:Sine-U U Phase Electronic Angle Sin 8Vpeak
19:ACMON_0.01mV/rad/s
2 Acceleration monitor 0.01mV/rad/s2
1A:ACMON_0.1mV/rad/s2 Acceleration monitor 0.1mV/rad/s2
1B:ACMON_1mV/rad/s2 Acceleration monitor 1mV/rad/s2
1C:ACMON_10mV/rad/s2 Acceleration monitor 10mV/rad/s2
1F:VBUS_1V/DC10V Bus voltage monitor 1V/DC10V

◆ Position command pulse frequency monitor 1 monitors Position command pulse before the
Electronic gear.
◆ Position command pulse frequency monitor 2 monitors Position command pulse after
passing through the Electronic gear and Position command smoothing.

✔ Position command pulse frequency monitor 1, 2 shall be output in pulse-state

when the position command pulse is 10kHz or less. Average them to convert to
position command frequency.
◆ The following low-pass filters are inserted in torque (force) monitor, velocity monitor, and
load torque monitor, respectively.
Torque (force) monitor : 250Hz
velocity monitor : 250Hz
Load torque monitor : 20Hz

5-75
5.Operation Group A General Output terminal Output Condition
/ Monitor Output Selection/ Serial Communication Settings
ID Contents
Analog Monitor Output Polarity Setting range Unit Standard value
[MONPOL] 00 - 08 - 00:MON1+_MON2+
■ Select Output polarity of Analog monitor output, MON1and MON2
◆ For both MON1 and MON2, set from any of the followings:
＋No Polarity Rotation，- Polarity Rotation, ABS Absolute Value Output

Selection Contents
MON1: Output positive voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
00:MON1+_MON2+
MON2: Output positive voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
MON1: Output negative voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
01:MON1-_MON2+
MON2: Output positive voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
MON1: Output positive voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
02:MON1+_MON2-
MON2: Output negative voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
MON1: Output negative voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
13 03:MON1-_MON2-
MON2: Output negative voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
MON1: Output positive voltage at Forward (Positive)
and Reverse (Negative) Rotation.
04:MON1ABS_MON2+ MON2: Output negative voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
MON1: Output positive voltage at Forward (Positive)
and Reverse (Negative) Rotation.
05:MON1ABS_MON2- MON2: Output negative voltage at Forward (Positive)
Rotation.
Output positive/negative voltage.
MON1: Output positive voltage at Forward (Positive)
Rotation.
06:MON1+_MON2ABS Output positive/negative voltage.
MON2: Output positive voltage at Forward (Positive)
and Reverse (Negative) Rotation.
MON1: Output negative voltage at Forward (Positive)
Rotation.
07:MON1-_MON2ABS Output positive/negative voltage.
MON2: Output positive voltage at Forward (Positive)
and Reverse (Negative) Rotation.
MON1: Output positive voltage at Forward (Positive)
and Reverse (Negative) Rotation.
08:MON1ABS_MON2ABS
MON2: Output positive voltage at Forward (Positive)
and Reverse (Negative) Rotation.

5-76
5.Operation Group A General Output terminal Output Condition
/ Monitor Output Selection/ Serial Communication Settings
ID Contents
Serial Communication Axis Number Setting range Unit Standard value
[COMAXIS] Control power reactivation after setting 01 - 0F - 01:#1
■ Select Axis number from below for Serial communication (RS-232C/RS-422A) with PC or
upper controller:

◆ As this number identifies each servo amplifier, assign the different number so that the servo
20 amplifiers connected to PC or upper controllers do not have the same number.

Selection Selection Selection Selection Selection

01 #1 04 #4 07 #7 0A #A 0D #D
02 #2 05 #5 08 #8 0B #B 0E #E
03 #3 06 #6 09 #9 0C #C 0F #F

Serial Communication Baud Rate Setting range Unit Standard value

[COMBAUD] Control power reactivation after setting 03 - 06 - 05:38400bps
■ Select Communication velocity (Baud rate) with PC or upper controller from below:

Selection
21 03 9600bps
04 19200bps
05 38400bps
06 57600bps

Latency to start sending response message Setting range Unit Standard value
[RSPWAIT] “Re-turn on control power supply after
0 - 500 ms 0
setting”
■ Set minimum latency to start sending response message after servo amplifier receives request
message for the communication between controller and servo amplifier via RS-422
communication system.
◆ Actual latency varies to the degree of range 0 to +3m for this set value. Make sure to set to
22 “0” to communicate with setup software.

* This servo amplifier does not support RS-422 communication system, so this function
is not available.

5-77
5.Operation Group B Sequence/Alarm Related Setting
■ GroupB “Sequence/Alarm related settings”
ID Contents
JOG Velocity Command Setting range Unit Standard value
[JOGVC] 0 - 32767 min-1 50
00 ■ Set velocity command value for JOG operation.

◆ This value is set as initial setting value for JOG Velocity Command for Setup software.

Dynamic Brake Operation Setting range Unit Standard value

[DBOPE] 00 - 05 - 04:SB_Free
■ Select Dynamic Brake Operation when shifted from serve ON to servo OFF, and during servo
OFF.

Selection Contents
When Servo OFF, Free-Run Operation
00 Free_Free
After Motor Stop, Motor-Free Operation
When Servo OFF, Free-Run Operation
01 Free_DB
After Motor Stop, Dynamic Brake Operation
When Servo OFF, Dynamic Brake Operation
02 DB_Free
After Motor Stop, Motor-Free Operation
When Servo OFF, Dynamic Brake Operation
03 DB_DB
10 After Motor Stop, Dynamic Brake Operation
When Servo OFF, Servo Brake Operation
04 SB_Free
After Motor Stop, Motor-Free Operation
When Servo OFF, Servo Brake Operation
05 SB_DB
After Motor Stop, Dynamic Brake Operation

✔ When the main circuit power supply is shut-off, the motor stops in a method set in
“GroupB ID12: Emergency Stop Operation [ACTEMER]” and the behavior
becomes dynamic brake operation after the stop.
Note that the motor stops in dynamic brake operation after detecting “Main circuit
voltage drop” or “BONBGN elapsed.”
✔ Selecting “dynamic brake” for operation with servo amplifier without dynamic
brake function makes the motor stop behavior free-running.

5-78
5.Operation Group B Sequence/Alarm Related Setting
ID Contents
Over-Travel Action Setting range Unit Standard value
[ACTOT] 00 - 06 - 00:CMDINH_SB_SON
■ Select operations at over-travel action

Selection Contents
When in Over-travel action, Command input is invalid and
servo brake stops servo motor.
00 CMDINH_SB_SON
After servo motor stops, servo is ON.
(command at OT side = velocity limit command =0)
When in Over-travel action, Command input is invalid and
dynamic brake stops servo motor.
01 CMDINH_DB_SON
After servo motor stops, servo is ON.
(command at OT side = velocity limit command =0)
When in Over-travel action, Command input is invalid and
Free run is operated.
02 CMDINH_Free_SON
After servo motor stops, servo is ON.
11 (command at OT side = velocity limit command =0)
When in Over-travel action, Command input is invalid and
03 CMDINH_SB_SOFF servo brake stops servo motor.
After servo motor stops, servo is OFF.
When in Over-travel action, Command input is invalid and
04 CMDINH_DB_SOFF dynamic brake stops servo motor.
After servo motor stops, servo is OFF.
When in Over-travel action, Command input is invalid and
05 CMDINH_Free_SOFF Free-running is operated. After servo motor stops, servo is
OFF.
When in Over-travel action, Command input to the Over
06 CMDACK_VCLM=0
-travel side is 0.

◆ Torque limit value to stop servo motor by servo brake is the setting value of sequence
Torque limit.
◆ Note that if you select “dynamic brake” on servo amplifier without dynamic brake
function, the operation when motor stopped becomes free-running.

Emergency Stop Operation Setting range Unit Standard value

[ACTEMR] 00 - 01 - 00:SERVO-BRAKE
■ Sets operation at Emergency Stop

◆ From the following contents, select operation at the time of emergency stop (EMR, main
power OFF). Besides, in usage by a vertical axis, please use it with standard setting 00:
_SERVO-BRAKE).

Selection Contents
SERVO- This stops servo motor by activating servo brake, and after servo
00
BRAKE motor stopped, dynamic brake starts to work.
12 DYNAMIC- This stops servo motor by activating dynamic brake, and after
01
BRAKE servo motor stopped, the dynamic brake continues to work.

◆ If stopping operation (8-4) when alarm activated is DB alarm, servo motor stops by dynamic
brake activation regardless of this setting.

◆ Forced stop operation means ”emergency stop function-enabled,” “main circuit power
supply cutoff,” “alarm activated,” and “safe-torque-off operation.”

◆ Servo amplifiers without dynamic brake function operate as follows:

・Becomes free-running when servo brake selected.
・Stop in free-running when dynamic brake selected.

5-79
5.Operation Group B Sequence/Alarm Related Setting
ID Contents
Delay Time of Engaging Holding Brake Setting range Unit Standard value
(Holding Brake Holding Delay time) [BONDLY] 0 - 1000 ms 300
■ Sets holding-brake-activation delay time from when power distribution to holding brake
stops till when holding torque generated.

◆ While shifting from servo ON to servo OFF, during the setting time, Excitation command 0
is given to servo motor. (Even when servo is turned OFF, power is supplied to servo motor
13 until the setting time is over.)
By this, until Holding brake functions, servo motor generates Holding torque.
◆ Setting unit is 4ms. When the setting value is 0ms, after servo OFF, command is invalid
(command 0) for approximately 4ms.
◆ At the setting, Group8 ID10 [DBOPE] Dynamic Brake Operation, when servo brake is ON
at servo OFF, (04 SB_Free or 05 SB_DB), it is valid.
(This function is invalid in Dynamic brake operation and Free-run operation.)

Delay Time of Releasing Holding Brake Setting range Unit Standard value
(Holding Brake Releasing Delay time) [BOFFDLY] 0 - 1000 ms 300
■ Sets holding-brake-release delay time from when power distribution to holding brake
started till when holding torque disappeared..

14 ◆ While shifting from servo OFF to servo ON, during the setting time, Excitation command 0
is given to servo motor. (Even when servo is turned ON, command is not accepted until the
setting time is complete.)
Therefore, until Holding brake is released, servo motor does not operate.
◆ Setting unit is 4ms. When the setting value is 0ms, after servo ON, command is invalid
(command 0) for approximately 4ms.

Brake Operation Beginning Time Setting range Unit Standard value

[BONBGN] 0 - 65535 ms 10000
■ Sets permissible time from servo OFF until servo motor stop.

◆ While shifting servo ON to servo OFF, even after the selected time passed and the servo
motor does not stop. Servo motor is forced to stop with Holding brake and Dynamic brake.
15 ◆ When the servo motor stops this setting does not function.
◆ When servo motor does not stop after servo OFF at gravity axis, set this parameter.
◆ When forced to stop by Holding brake, the Holding brake may possibly be broken. Be
cautious about device specifications and sequence when using this function.
◆ Dynamic brake does not work on servo amplifiers without dynamic brake functions.

5-80
5.Operation Group B Sequence/Alarm Related Setting
■ About Holding Brake
Holding brake →
Servo motor with holding brake function is usually used with
one axis, which is always affected by gravity and external
forces
In order to avoid moving parts falling-off from its position
Gravity-falling
when main circuit power is OFF, or servo OFF.
Holding brake is to support the movable parts against gravity
and other external force when at rest.
Do not use it to stop a moving machine.

◆ Setting for Holding brake excitation signal output

Group ID Symbol Contents

A 0* OUT* Generic Output*

Selection Contents
0A MBR-ON_ON While Holding brake excitation signal output, Output ON.
0B MBR-ON_OFF While Holding brake excitation signal output, Output OFF.

S-ON Servo ON Servo OFF

Holding brake Holding brake release Holding brake hold

excitation signal

Command acceptance
Command acceptance permission
enabling signal

Motor excitation signal Motor excitation

BOFFDLY BONDLY

5-81
5.Operation Group B Sequence/Alarm Related Setting
ID Contents
Selection to detect main circuit power decrease Setting range Unit Standard value
[MPESEL] 00 - 01 - 00
■ Selects enabling/disabling of main circuit power decrease detection.

Selection Contents
18 00 MPE_DIS Doesn’t detect Main power under voltage Alarm
01 MPE_ENA Detect Main power under voltage Alarm

◆ When “Detect main circuit power decrease” selected, alarm is activated when main circuit
power decreased during gate-on. Decreasing of main circuit power during gate-off is
power-off state.

Excessive Deviation Warning Level Setting range Unit Standard value

[OFWLV] 1 - 2147483647 Pulse 2147483647
20 ■ Sets Warning output level before Excessive position deviation alarm is output.

◆ Sets at Encoder pulse resolution regardless of Electronic gear.

Deviation Counter Overflow Value Setting range Unit Standard value

[OFLV] 1 - 2147483647 Pulse 5000000
21 ■ Sets Position deviation value regarded as Excessive position deviation alarm.

◆ Sets at Encoder pulse resolution regardless of Electronic gear.

Overload Warning Level Setting range Unit Standard value

[OLWLV] Control power reactivation after setting 20 - 100 % 90
■ Sets Warning output level before Overload alarm output.

22 ◆ The possible level to be set is from 20%-99%, assuming that the Overload Warning Level
is 100%. When set to 100%, Overload warning and Overload alarm are output at one time.
◆ Overload detection is assumed and set as 75%, of a rated load when Control power is
turned ON (hot start). Therefore, Overload warning may be output when Control power is
turned ON.

Velocity Feedback Alarm (ALM_C3) Detection Setting range Unit Standard value
[VFBALM] 00 - 01 - 01:Enabled
■ Selects Valid/Invalid Velocity feedback error detection.
23
Selection Contents
00 Disabled Invalid
01 Enabled Valid

Velocity Control Alarm (ALM_C2) Detection Setting range Unit Standard value
[VCALM] 00 - 01 - 00:Disabled
■ Selects Valid/Invalid Velocity control error detection.

Selection Contents
24 00 Disabled Invalid
01 Enabled Valid

◆ Operation pattern such as servo motor overshoots corresponding to command may cause
false velocity control error detection. In this case, set the parameter to “invalid.”

5-82
5.Operation Group C Encoder Related Settings
■ GroupC “Encoder related settings”
ID Contents
Motor Pulse Encoder Digital Filter Setting range Unit Standard value
[ENFIL] 00 - 07 - 01:220nsec
■ This parameter can be set only when you use pulse encoder.
Sets Digital filter to motor Pulse encoder.
Pulse lower than the set value is eliminated as noise when noise superposition occurs in
encoder signals.
Consider Encoder resolution and Maximum rotation velocity of the servo motor in operation
when selecting value. Set the value roughly less than 1/4 of the Encoder pulse width at
Maximum rotation velocity.

Selection Contents
00 110nsec Minimum Pulse Width =110nsec
(Minimum pulse Phase Difference = 37.5nsec)
01 220nsec Minimum Pulse Width = 220nsec
02 440nsec Minimum Pulse Width = 440nsec
03 880nsec Minimum Pulse Width = 880nsec
04 75nsec Minimum Pulse Width = 75nsec
00 (Minimum pulse Phase Difference = 37.5nsec)
05 150nsec Minimum Pulse Width = 150nsec
06 300nsec Minimum Pulse Width = 300nsec
07 600nsec Minimum Pulse Width = 600nsec

Pulse width
Pulse width

Phase A

Phase B
Phase difference
Pulse width
Phase Z

External Pulse Encoder Digital Filter Setting range Unit Standard value
[EX-ENFIL] 00 - 07 - 01:220nsec
■ This parameter can be set only when you use fully closed control function.
Sets Digital filter to External Pulse Encoder.
Pulse lower than the set value is eliminated as noise when noise superposition occurred in
encoder signals.
Consider Encoder resolution and Maximum rotation velocity of the servo motor in operation
when selecting value. Set the value roughly less than 1/4 of the Encoder pulse width at
Maximum rotation velocity.

Selection Contents
01 00 110nsec Minimum Pulse Width =110nsec
(Minimum pulse Phase Difference = 37.5nsec)
01 220nsec Minimum Pulse Width = 220nsec
02 440nsec Minimum Pulse Width = 440nsec
03 880nsec Minimum Pulse Width = 880nsec
04 75nsec Minimum Pulse Width = 75nsec
(Minimum pulse Phase Difference = 37.5nsec)
05 150nsec Minimum Pulse Width = 150nsec
06 300nsec Minimum Pulse Width = 300nsec
07 600nsec Minimum Pulse Width = 600nsec

5-83
5.Operation Group C Encoder Related Settings
ID Contents
External Pulse Encoder Polarity Selection Setting range Unit Standard value
[EX-ENPOL] Control power reactivation after
00 - 07 - 00:Type1
setting
■ This parameter can be set only when you use fully closed control function.

◆ Select External pulse encoder signal polarity.

Selection Contents
02 00 Type1 EX-Z/Not Reversed EX-B/ Not Reversed EX-A/ Not Reversed
01 Type2 EX-Z/Not Reversed EX-B/ Not Reversed EX-A/ Reversed
02 Type3 EX-Z/Not Reversed EX-B/ Reversed EX-A/ Not Reversed
03 Type4 EX-Z/Not Reversed EX-B/ Reversed EX-A/ Reversed
04 Type5 EX-Z/Reversed EX-B/ Not Reversed EX-A/ Not Reversed
05 Type6 EX-Z/Reversed EX-B/ Not Reversed EX-A/ Reversed
06 Type7 EX-Z/Reversed EX-B/ Reversed EX-A/ Not Reversed
07 Type8 EX-Z/Reversed EX-B/ Reversed EX-A/ Reversed

Encoder Output Pulse Divide Selection Setting range Unit Standard value
[PULOUTSEL] Control power reactivation after setting 00 - 01 - 00:Motor_Enc.
■ Sets Encoder output pulse division signal.

Select Motor encoder or External encoder to load Encoder pulse to upper device.
03
Selection
00 Motor_Enc Motor Encoder
01 External_Enc External Encoder

5-84
5.Operation Group C Encoder Related Settings
ID Contents
Setting range Unit Standard value
Encoder Output Pulse Division 1/1 - 1/64
[ENRAT] 2/3 - 2/64 - 1/1
1/32768 - 32767/32768
■ Sets ratio of Encoder output pulse division.

◆ When the numerator of the dividing ratio is 1, setting range of the denominator is 1 (not
divide), 2-64，or 32768.
◆ When the numerator of the dividing ratio is 2, setting range of the denominator is 3-64，or
32768.
◆ When the denominator of the dividing ratio is 32768, setting range of the numerator is
1-32767.
◆ Z phase output is not divided
◆ After Control power ON, for 2s at maximum, the ratio is unstable.

Dividing ratio 1/1

(forward rotation) 90°

Phase A
Phase B
04

Phase Z
Dividing ratio 1/2
(forward rotation) 90°

Phase A

Phase B

Phase Z

Dividing ratio 2/5

(forward rotation)
108° (90°is not possible phase relation does not change)

Phase A
Phase B
Phase Z

Encoder Output Pulse Divide Polarity Setting range Unit Standard value
[PULOUTPOL] 00 - 03 - 00:Type1
■ Sets division polarity of Encoder output pulse.

Selection Contents
A Phase Signal/Not Reversed
00 Type1
Z Phase Signal Logic/High Active
05 A Phase Signal/Reversed
01 Type2
Z Phase Signal Logic/High Active
A Phase Signal/Not Reversed
02 Type3
Z Phase Signal Logic/Low Active
A Phase Signal/Reversed
03 Type4
Z Phase Signal Logic/Low Active

5-85
5.Operation Group C Encoder Related Settings
ID Contents
Encoder Output Pulse Divide Resolution Selection Setting range Unit Standard value
[PULOUTRES] Control power reactivation after setting 00 - 01 - 00:32768P/R
■ This parameter can be set only when you use serial encoder.

◆ Sets resolution of encoder output pulse divided.

◆ Set at 8192P/R to make the Output pulse same as that of RS1 series servo amplifier.
06 ◆ Set at 8192P/R when Output pulse frequency exceeds the specification of the upper
controller.
◆ Outputs divided pulse by setting resolution to ID04 Encoder output divide.

Selection Contents
00 32768P/R 32768 Pulse per 1 Motor Rotation
01 8192P/R 8192 Pulse per 1 Motor Rotation

Encoder Signal Output (PS) Format Setting range Unit Standard value
[PSOFORM] Control power reactivation after setting 00 - 01 - 00:MOT_Binary
■ Sets signal format of Encoder signal output (PS).

07 Selection Contents
00 MOT_Binary Motor Encoder Binary Code Output
01 MOT_ASCII Motor Encoder Decimal ASCII Code Output

Encoder Clear Function Selection Setting range Unit Standard value

[ECLRFUNC] 00 - 01 - 00:Status_MultiTurn
■ This parameter can be set only when you use serial encoder.

◆ Use to clear serial encoder warning when the warning is not automatically restored.
Valid when using with Battery Backup Method Absolute Encoder and Battery-less Absolute
Encoder.
◆ When used with Absolute Encoder for Incremental System, even 01: _Status_MultiTurn is
selected; it works as the selection, clear only encoder status.
08
Selection Contents
Clear Encoder Status (Alarm and Warning) and Multi Turn
00 Status_MultiTurn
Data
01 Status Clear Only Encoder Status (Alarm and Warning)

5-86
5. Operation Control Block Diagram/ Without using Model Control

5.10 Control block diagram

[Auto-tuning]
Without using Model control
Position command pulse TUNMODE ATRES
frequency monitor 1 [G0-00] [G0-02]
PMOD [Feed forward control] ATCHA ATSAVE
Position [G8-10] [G0-01] [G0-03]
command FFGN FFFIL
pulse PCPPOL [G1-05] [G1-06]
[G8-11]
Position deviation Velocity command
PCPFIL monitor [Velocity control]
FF Vibration monitor
[G8-12] (After filter)
suppressor KVP1 Torque command monitor
TRCPGN Position control
control [G1-12] Enabled during TLSEL Torque monitor
[G1-04]
position,

Position deviation counter

Enabled during [G8-36] Servo motor
B-GER1 KP1 VCNFIL TVI1 velocity control TCFIL1
SUPFRQ1
[G1-02] ＋ position control [G2-10] Torque [G1-20]
[G8-13] [G2-00] [G1-13] TCLM-F
PCSMT PCFIL ＋ command
[G8-37] Torque
A-GER1 [G1-00] [G1-01] JRAT1 notch filter TCFILOR
SUPLV
＋ TPI1 ＋ VCFIL ＋ ＋ [G1-21] control
[G8-14] [G2-01] [G1-14] TCLM-R
－ [G1-03] ＋ [G1-10] － ＋
[G8-38]
Position TRCVGN
Position deviation High stabilizing control [G1-15]
deviation monitor
＋ counter CVFIL ACCC0
Position command pulse － (before filter)
frequency monitor 2 (Analog) [G5-00] [G5-02]
VDFIL TCNFILA TCNFILB TCNFILC TCNFILD
CVTH DECC0 [G1-11] [G2-20] [G2-22] [G2-24] [G2-26]
Enabled during [G5-01] [G5-03]
velocity control TCNFPA TCNFDB TCNFDC TCNFDD
JOG velocity [G2-21] [G2-23] [G2-25] [G2-27]
command
TVCACC
[G8-2B]
V-COMP EX-VCFIL
[G8-28] [G8-2A] TVCDEC
Enabled during [G8-2C] Enabled during
position control position control mode, velocity control mode

T-COMP1 [Acceleration feedback] [Disturbance observer]

[G8-31]
EX-TCFIL AFBK OBCHA OBLPF
[G8-35] [G1-16] [G2-30] [G2-32]
T-COMP2 Velocity monitor
[G8-32]
AFBFIL OBG OBNFIL
[G1-17] [G2-31] [G2-33]
Velocity
detection

Motor encoder
Z-phase
signal
For serial encoder
ENRAT
[GC-04] 4x
A/B-phase For Pulse encoder multiplier
signal PULOUTRES
[GC-06]

Analog monitor
output 1 MON1/MON2 (various)
Analog monitor [GA-11]/[GA-12] Monitors
output 2

5-87
5. Operation Control Block Diagram/ Using Model Control
Position command
Position command
pulse frequency
pulse frequency [Feed forward control]
monitor 2
monitor 1 (Analog monitor)
Using model following control
FFGN
[G1-05] FFFIL
FF Vibration [G1-06]
suppressor
control TRCPGN [Auto-tuning]
PMOD

Position deviation counter

[G8-10] [G1-04] TLSEL
B-GER1 SUPFRQ1 [G8-36] [Machine model] TUNMODE ATRES
Position [G8-13] [G2-00] ＋
PCPP0L ＋ Model [G0-00] [G0-02]
command PCSMT PCFIL
[G8-11] KM1 velocity TCLM-F TCFIL1 JRAT1
pulse A-GER1 [G1-00] SUPLV [G1-01] ATCHA ATSAVE
＋ [G3-00] ＋ control [G8-37] [G1-20] [G1-14]
[G8-14] [G2-01] － － [G0-01] [G0-03]
PCPFIL
[G8-12] TCLM-R
Velocity [G8-38]
detection

Velocity command monitor Torque command monitor

[Velocity control] Torque monitor
Position deviation counter

TLSEL
KVP1

Position deviation counter

[Position control] [G8-36]
[G1-12] TCFIL1
Position TCLM-F Servo motor
KP1 VCNFIL [G1-20]
deviation TVI1 [G8-37] Torque
+ [G1-02] [G2-10]
＋ monitor [G1-13] command Torque
TCFILOR
－ － TPI1 VCFIL TCLM-R notch filter [G1-21] control
＋
[G1-03] [G1-10] － JRAT1 [G8-38]
[G1-14]

TCNFILA TCNFILB TCNFILC TCNFILD

[G2-20] [G2-22] [G2-24] [G2-26]

TCNFPA TCNFDB TCNFDC TCNFDD

[G2-21] [G2-23] [G2-25] [G2-27]

VDFIL
[G1-11]
[Acceleration feedback] [Disturbance observer]
OSSFIL
[G3-01] AFBK
MON1 (Various) OBCHA OBLPF
Analog monitor
[GA-11] Monitors [G1-16] [G2-30] [G2-32]
output 1
Velocity monitor AFBFIL OBG OBNFIL
[G1-17] [G2-31] [G2-33]
Analog monitor MON2 (Various) Velocity
output 2 [GA-12] Monitors detection Motor encoder
Z-phase For serial encoder
signal
ENRAT
A/B-phase [GC-04] For Pulse encoder 4x
signal multiplier
PULOUTRES
[GC-06]

5-88
5. Operation Control Block Diagram/ Model following vibration suppressor control

Position command [Feed forward control]

pulse frequency
Position command
pulse frequency
Using Model following vibration suppressor control
FFGN FFFIL
monitor 1 monitor 2 [G1-05] [G1-06]
(Analog monitor) FF Vibration
[Machine model]
suppressor [Used when adjustment]
PMOD control TRCPGN

Position deviation counter

TLSEL JRAT1
[G8-10] [G1-04]
B-GER1 SUPFRQ1 [G8-36] [G1-14]
[G8-13] ＋ TUNMODE ATRES
Position PCPP0L [G2-00] ＋ Model
PCSMT PCFIL TCLM-F ANRFRQ1 [G0-00] [G0-02]
comma [G8-11] KM1 velocity TCFIL1
A-GER1 [G1-00] [G1-01] [G8-37] [G3-02]
SUPLV ＋ [G3-00] ＋ control [G1-20]
[G8-14] － － ATCHA ATSAVE
PCPFIL [G2-01]
TCLM-R RESFRQ1 [G0-01] [G0-03]
[G8-12] [G3-03]
Velocity [G8-38]
detection

Torque command monitor

[Velocity control]
Torque monitor
Position deviation counter

Velocity command monitor TLSEL

KVP1 [G8-36]

Position deviation counter

[Position control]
[G1-12]
Position TCLM-F TCFIL1 Servo motor
deviation KP1 VCNFIL TVI1 [G8-37] Torque [G1-20]
monitor [G1-02] [G2-10] [G1-13] command
＋ ＋ Torque
－ － TCLM-R notch filter TCFILOR
TPI1 VCFIL ＋ [G1-21] control
－ JRAT1 [G8-38]
[G1-03] [G1-10] [G1-14]

TCNFILA TCNFILB TCNFILC TCNFILD

[G2-20] [G2-22] [G2-24] [G2-26]

VDFIL TCNFPA TCNFDB TCNFDC TCNFDD

[G1-11] [G2-21] [G2-23] [G2-25] [G2-27]

Analog monitor MON1 (Various) OSSFIL

output 1 [GA-11] Monitors [G3-01]

[Acceleration feedback] [Disturbance observer]

Analog monitor MON2 Velocity monitor
(Various)
output 2 [GA-12] Monitors AFBK OBCHA OBLPF
[G1-16] [G2-30] [G2-32]
[外乱オブザーバ]
Velocity
detection AFBFIL OBG OBNFIL
[G1-17] [G2-31] [G2-33] Motor encoder
Z-phase
signal For serial encoder

ENRAT 4x
For Pulse encoder
[GC-04] multiplier
A/B-phase
signal PULOUTRES
[GC-06]

5-89
6
6. Adjustment
6.1 Servo tuning functions and basic adjustment procedure ...................................................................................... 6-1
1) Servo tuning functions ................................................................................................................................................ 6-1
2) Selection of tuning method ......................................................................................................................................... 6-2

6.2 Automatic Tuning ....................................................................................................................................................... 6-3

1) Parameters for use in automatic tuning. ..................................................................................................................... 6-3
2) Parameters automatically adjusted during automatic tuning ...................................................................................... 6-6
3) Adjustable parameters when auto-tuning in progress ................................................................................................. 6-6
4) Unstable functions during auto-tuning ........................................................................................................................ 6-7
5) Auto-Tuning Characteristic selection flowchart ........................................................................................................... 6-8
6) Adjustment method for auto-tuning............................................................................................................................. 6-9
7) Monitoring servo gain adjustment parameters.......................................................................................................... 6-10
8) Manual tuning method using auto-tuning results ...................................................................................................... 6-10
6.3 Automatic tuning of notch filter .............................................................................................................................. 6-11
1) Operation method .............................................................................................................................................. 6-11
2) Parameters to be set.......................................................................................................................................... 6-11

6.4 Automatic tuning of FF vibration suppression frequency .................................................................................... 6-12

1) Operation method .............................................................................................................................................. 6-12
2) Parameters to be set.......................................................................................................................................... 6-12
6.5 Use of manual tuning............................................................................................................................................... 6-13
1) Servo system configuration and servo adjustment parameter .................................................................................. 6-13
2) Basic manual tuning method for velocity control....................................................................................................... 6-15
3) Basic manual tuning method for position control ...................................................................................................... 6-15
6.6 Model-following control ........................................................................................................................................... 6-16
1) Automatic tuning method of model-following control................................................................................................. 6-16
2) Manual tuning method of model-following control..................................................................................................... 6-17

6.7 Tuning to suppress vibration .................................................................................................................................. 6-18

1) FF vibration suppression control............................................................................................................................... 6-18
2) Model-following and vibration suppression control ................................................................................................... 6-18
3) Tuning method.......................................................................................................................................................... 6-20

6.8 Use of disturbance observer functions.................................................................................................................. 6-21

6
6. Adjustment Tuning method selection

6.1 Servo tuning functions and basic adjustment procedure

Adjustments to servo gain and control system configuration are required to operate servo motor and
machines by using servo amplifier. Generally, machine response can be improved by increasing
servo gain, except that response performance of machines with low rigidity cannot be improved
because of vibrations when servo gain is increased to excess. For servo gain and control system
configuration, appropriated adjustments to operating servo motor and mechanical system in which
motor is installed are required. This adjustment process is called “servo tuning.” The followings
describe servo-tuning procedures:

1) Servo tuning functions

■ Servo gain tuning procedures

Servo gain tuning methods are as follows:

◆ Automatic tuning
Servo amplifier estimates load inertia moment during operation, and then automatically adjusts servo
gain and filter frequency on a real-time basis. This is the most basic tuning method.
◆ Automatic tuning [JRAT-manual setting]
This does not estimate load inertia moment ratio. Servo gain and filter frequency are automatically
adjusted according to set load inertia moment ratio and responses performance. Use this tuning
when load inertia moment ratio cannot be correctly estimated with auto-tuning, or operating
machine’s load inertia moment ratio is already obtained and then the load inertia moment ratio does
not fluctuate when operating.
◆ Manual tuning
This sets all parameters, such as load inertia moment ratio, servo gain, and filter frequency. Use this
tuning when sufficient result was not obtained with auto-tuning.

■ Mechanical system vibration suppression

◆ Automatic tuning for FF vibration suppression frequency

Use to obtain vibration frequency to perform FF vibration suppressor control.
◆ Automatic tuning for notch filter
Use to suppress high frequency resonance caused by mechanical system coupling or rigidity with
notch filter.

■ Model-following control

Model-following control is a control method ensuring response to command by configuring

model control system including mechanical system in servo amplifier to operate actual servo
motor so as to follow model control system.
◆ Model-following control
Use model control system to improve response to command.
◆ Model-following vibration suppression control
Use the model control system to suppress machine base vibration and improve response to
command.

6-1
6. Adjustment Tuning method selection

2) Selection of tuning method

Selecting procedure of tuning method is shown in the flowchart below.

Start tuning.

Do you automatically adjust servo gain? Do you manually adjust servo gain?
“Auto-tuning” “Manual tuning”
Refer to automatic tuning function. Refer to use of manual tuning.

Do you want to suppress mechanical resonance?

“Auto-tuning of notch filter”
Refer to “Use of Auto-tuning of notch filter”

Do you want to suppress mechanical resonance?

Refer to “Automatic tuning of FF vibration suppression frequency

Do you want to improve following performance?

“Model following control”
Refer to tuning to improve following performance.

Do you want to suppress machine base vibration?

“Model following performance and vibration suppression control”
Refer to tuning to suppress machine base vibration.

Do you want to suppress load impacts on machines as the possibility

that external load is added when driving?
“Disturbance observer”
Refer to tuning to suppress external force impacts.

✔ Some functions cannot be used together, depending on the combinations of functions.

6-2
6. Adjustment Automatic tuning

6.2 Automatic Tuning

1) Parameters for use in automatic tuning.

■ Parameters list

Use the following parameters when performing automatic tuning.

◆ Group0 ID00 [Tuning Mode]
00:_AutoTun Automatic Tuning
01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT manual setting]
02:_ManualTun Manual Tuning

◆ Group0 ID01 [Auto-Tuning Characteristic]

00:_Positioning1 Positioning Control 1(General Purpose)
01:_Positioning2 Positioning Control 2(High Response)
02:_Positioning3 Positioning Control 3 (High Response，FFGN Manual Setting)
03:_Positioning4 Positioning Control 4 (High Response，Horizontal Axis Limited)
Positioning Control 5 (High Response, Horizontal Axis Limited，
04:_Positioning5
FFGN Manual Setting)
05:_Trajectory1 Trajectory Control 1
06:_Trajectory2 Trajectory Control 2(KP, FFGN Manual Setting)

◆ Group0 ID02 [Auto-Tuning Response]

1-30 Automatic Tuning Response

■ Descriptions for each parameter

The details of each parameter are listed below.

ID Contents
Tuning Mode [TUNMODE]

Selection Description
00 AutoTun Automatic Tuning
◆ Servo amplifier estimates Load inertia moment ratio of the machine or equipment
during real time and automatically tunes the servo gain.
◆ Parameters for the servo amplifier to automatically tune vary depending on selected
auto-tuning characteristics.
◆ Servo amplifier estimates the Load inertia moment ratio at the time of
acceleration/deceleration. Therefore, for operations only with excessively long
acceleration/deceleration time constants or with only low torque in low velocity, this
mode cannot be used.
Also, for operations with high disturbance torque or with major mechanical clearance,
this mode cannot be used.
00 [01: _AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting]

Selection Description
01 AutoTun_JRAT-Fix Automatic Tuning [JRAT manual setting]
◆ Based on the Load inertia moment ratio (JRAT1) [Group1 ID14], which has to be set,
the servo amplifier automatically tunes to the best servo gain.
◆ Parameters for the servo amplifier to automatically tune will vary depending on the
selected auto-tuning characteristics.

Selection Description
02 ManualTun Manual Tuning
◆ This mode is used in order to adjust the servo gain to the machine or equipment to
ensure maximum response as well as when characteristics in auto-tuning are
insufficient.

6-3
6. Adjustment Automatic tuning
ID Contents
Auto-Tuning Characteristic [ATCHA]
■ Auto-Tuning Characteristic to fit the mechanical requirements and movements are provided.
Parameters that can be adjusted vary depending on each auto-tuning characteristic. Set the
parameters based on the situation.
■ [Positioning control (Positioning)]
Positioning control is a control method used to reach the servo motor quickly to target a
position from the present position by disregarding the trajectory between the positions. Select
this mode when positioning point by point is necessary.
■ [Trajectory control (Trajectory)]
Trajectory control is a method used to move the servo motor to the target position from the
present position while considering the trajectory between the positions. Select this mode
when the Position command corresponding trajectory control is needed such as in processing
work.
Selection Description
00 Positioning 1 Positioning Control 1(General Purpose)
‹ Select for general positioning purposes.
‹ Parameters shown in table 2 cannot be adjusted manually.

01 Selection Description
01 Positioning 2 Positioning Control 2(High Response)
‹ Select for high response positioning.
‹ Parameters shown in table 2 cannot be adjusted manually.

Selection Description
02 Positioning 3 Positioning control 3(High Response, FFGN Manual Setting)
‹ Select this mode to adjust FFGN manually.
‹ The following parameter adjustment is made manually:

General parameters GROUP1 [Basic control parameter settings]

ID Code Name
05 FFGN Feed Forward Gain

6-4
6. Adjustment Automatic tuning
Auto-Tuning Characteristic [ATCHA] (cont'd)

Selection Description
03 Positioning 4 Positioning control 4(High Response, Horizontal Axis Limited)
◆ Select this mode when the machine movement is on a horizontal axis and receives no
disturbing influence from external sources.
◆ Positioning time may be shortened compared to “Positioning Control 2”.
◆ Parameters shown in table 2 cannot be adjusted manually.

Selection Description
Positioning control 5(for high response, horizontal axis only,
04 Positioning 5
FFGN manual setting)
◆ Select this mode when the machine movement is on a horizontal axis and receives no
disturbing influence from external sources or when you want to adjust FFGN manually.
◆ Positioning time may be shortened compared to “Positioning control 3”.
◆ The following parameter adjustment is done manually.
General parameters GROUP1 [Basic Control Parameter Settings]
ID Code Name
01 05 FFGN Feed Forward Gain

Selection Description
05 Trajectory1 Trajectory Control 1
◆ Select this mode for single axis use. The response of each axis can be different.
◆ Parameters shown in table 2 cannot be adjusted manually.

Selection Description
06 Trajectory2 Trajectory Control 2 (KP, FFGN Manual Setting)
◆ Select this mode when you need equal responses from multiple axes，respectively. Adjust
KP, FFGN.
◆ The following parameter adjustment is done manually.
General parameters GROUP1 [Basic control parameter settings]
ID Code Name
02 KP1 Position Loop Proportional Gain 1
05 FFGN Feed Forward Gain

Auto-Tuning Response [ATRES]

■ Select this mode when Auto-tuning and Auto-tuning [JRAT manual setting] are used.
■ As the setting value rises, the response increases.
02 Set the value suitable for equipment rigidity.
■ This does not function for manual tuning.

6-5
6. Adjustment Automatic tuning

2) Parameters automatically adjusted during automatic tuning

Parameters automatically adjusted during automatic tuning are shown below.
Parameters automatically adjusted shall not be reflected to motor operation if you change ser
values. Provided that some parameters are manually adjustable, depending on selected “automatic
tuning mode” or “automatic tuning characteristics.”

■ General parameter Group1 [Basic control parameter settings]

ID Code Name Remarks
02 KP1 Position Loop Proportional Gain 1 Note 1)
Note1)
05 FFGN Feed Forward Gain
Note2)
12 KVP1 Velocity Loop Proportional Gain 1
13 TVI1 Velocity Loop Integral Time Constant 1
14 JRAT1 Load Inertia Moment Ratio 1 Note 3)
Higher Tracking Control Velocity
15 TRCVGN
Compensation Gain
20 TCFIL1 Torque Command Filter 1
Note 1) Trajectory control 2 [KP, FFGN-manual setting] can manually set.
Note 2) Positioning control 3 [high response performance, FFGN-manual setting] can manually
set. Positioning control 5 [high response performance, horizontal axis-only, FGN-manual
setting] can manually set.
Note 3) Automatic tuning [JRAT-manual setting] can manually set.

3) Adjustable parameters when auto-tuning in progress

The following parameters are adjustable during auto-tuning:

■ General parameter Group1 [Basic control parameter settings]

ID Code Name
00 PCSMT Position Command Smoothing Constant
01 PCFIL Position Command Filter
06 FFFIL Feed Forward Filter
10 VCFIL Velocity Command Filter
11 VDFIL Velocity Feedback Filter
21 TCFILOR Torque Command Filter Order

■ General parameters Group2

[FF vibration suppression control/ Notch filter/ Disturbance observer settings]
ID Code Name
00 SUPFRQ1 FF Vibration Suppressor Frequency 1
01 SUPLV FF Vibration Suppressor Level Selection
10 VCNFIL Velocity Command Notch Filter
20 TCNFILA Torque Command Notch Filter A
21 TCNFPA TCNFILA, Low Frequency Phase Delay Improvement
22 TCNFILB Torque Command Notch Filter B
23 TCNFDB TCNFILB, Depth Selection
24 TCNFILC Torque Command Notch Filter C
25 TCNFDC TCNFILC, Depth Selection
26 TCNFILD Torque Command Notch Filter D
27 TCNFDD TCNFILD, Depth Selection
30 OBCHA Observer Characteristic
31 OBG Observer Compensation Gain
32 OBLPF Observer Output Low-pass Filter
33 OBNFIL Observer Output Notch Filter

6-6
6. Adjustment Automatic tuning
■ General parameter Group4
[Gain switching control/Vibration suppressor frequency switching settings]
ID Code Name
40 SUPFRQ2 FF Vibration Suppressor Frequency 2
41 SUPFRQ3 FF Vibration Suppressor Frequency 3
42 SUPFRQ4 FF Vibration Suppressor Frequency 4

■ General parameter Group5 [High setting control setting]

ID Code Name
00 CVFIL Command Velocity Low-pass Filter
01 CVTH Command Velocity Threshold
02 ACCC0 Acceleration Compensation
03 DFCC0 Deceleration Compensation

4) Unstable functions during auto-tuning

The following functions cannot be used during auto-tuning:

■ General parameter Group9 [Function enabling condition settings]

ID Code Name
13 GC1 Gain Switching Condition 1
14 GC2 Gain Switching Condition 2
17 PLPCON Position Loop Proportional Control Switching Function
26 VLPCON Velocity Loop Proportional Control Switching Function

■ General parameter Group1 [Basic control parameter settings]

ID Code Name
04 TRCPGN Higher Tracking Control Position Compensation Gain
16 AFBK Acceleration Feedback Gain

✔ [Disturbance observer] cannot be used together with auto-tuning.

Render [Disturbance observer] function invalid when auto-tuning is used.

6-7
6. Adjustment Automatic tuning

5) Auto-Tuning Characteristic selection flowchart

Start tuning

Set tuning mode

00:_AutoTun AutomaticTuning

No
Can JRAT be estimated automatically?

Yes Change tuning mode to

01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting]

Set JRAT1

No

Do you have any problems with response or setting time? Yes

Yes Do you match the characteristics between the axes?

Yes
No
Do you use trajectory control?
No Change Auto-Tuning Characteristic
05:_Trajectory1 Trajectory Control 1
Change Auto-Tuning Characteristic to
Position Control 2
01:_Positioning2
(High Response) No Do you have any problems with
No response or setting time?

Adjust FFGN manually? Yes

Yes
Change Auto-Tuning Characteristic to
Change Auto-Tuning Characteristic to
Trajectory Control 2
Positioning Control 3 06:_ Trajectory2
02:_Positioning3 (High Response, (KP，FFGN Manual Setting)
FFGN Manual Setting)

No Set KP1, FFGN

Do you have any problem with response or setting time?
No
Yes Do you have any problem with
No response or setting time?

Do you use in horizontal axis?

Yes
Yes
Change Auto-Tuning Characteristic to
Positioning Control 4 Change tuning mode to
03:_Positioning4 (High Response, 02:_ManualTun Manual Tuning
Horizontal Axis Limited) Please adjust servo gain manually.
No
Do you adjust FFGN manually?
Yes
Change Auto-Tuning Characteristic to
Positioning Control 2
(High Response,
04:_Positioning5
Horizontal Axis, FFGN
Manual Setting)

Yes
Do you have any problems with
Ye
response or setting time?

No
Tuning complete

6-8
6. Adjustment Automatic tuning

6) Adjustment method for auto-tuning

Auto-tuning is a function where the servo amplifier automatically tunes to the best servo gain in real
time.

■ To estimate load inertia moment ratio with use of servo amplifier in real time and
automatically adjust servo gain, set [00: _AutoTun Automatic Tuning] to [Tuning
Mode].
Procedure 1 To automatically adjust optimum gain based on manually set load inertia moment
ratio (JRAT1), set [01: _AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual
Setting] to [Tuning Mode].

■ After setting [Tuning Mode] select [Auto-Tuning Characteristic] for the machine or
Procedure 2
equipment.
■ Next, boot the servo motor and adjust [Auto-Tuning Response] according to
equipment rigidity.
◆ Set [Auto-Tuning Response] at a low value initially and allow the machine to
work about 10 times or more by commanding higher-rank equipment.
◆ When response is low and the positioning setting time is slow, after machine
movement, try to improve the response and positioning times by increasing
[Auto-tuning] gradually.
◆ If increasing the response has caused the machine to develop vibration,
lower the value of the [Auto-Tuning Response] slightly.
Procedure 3
✔ If the machine has not developed vibration, enable the Vibration
suppressor by setting the Notch filter and /or FF Vibration suppressor
frequency. Set the filter frequency to suppress mechanical vibration by
using [Automatic tuning of notch filter] and/or [Automatic tuning of FF
Vibration Suppression Frequency].

✔ Tuning methods are the same in [01: _AutoTun_JRAT-Fix [JRAT

Manual Setting].

6-9
6. Adjustment Automatic tuning

7) Monitoring servo gain adjustment parameters

Parameters automatically adjusted while auto-tuning is used can be monitored by setup software.

ID Symbol Name Unit

1D JRAT MON Load Inertia Moment Ratio monitor %
1E KP MON Position Loop Proportional Gain monitor 1/s
20 KVP MON Velocity Loop Proportional Gain monitor Hz
21 TVI MON Velocity Loop Integral Time Constant monitor ms
22 TCFIL MON Torque Command Filter monitor Hz
23 MKP MON Model Control Gain monitor 1/s

8) Manual tuning method using auto-tuning results

Auto-tuning result can be stored in block and used for manual tuning. Perform “auto-tuning” Æ
“store auto-tuning result.”

„ Saving parameters
‹ General parameters Group1 [Basic control parameter settings]
ID Symbol Name Unit
02 KP1 Position Loop Proportional Gain 1 1/s
12 KVP1 Velocity Loop Proportional Gain 1 Hz
13 TVI1 Velocity Loop Integral Time Constant 1 ms
14 JRAT1 Load Inertia Moment Ratio 1 %
20 TCFIL1 Torque Command Filter 1 Hz

‹ General parameters Group3 [Model following control settings]

ID Symbol Name Unit
00 KM1 Model Control Gain 1 1/s

6-10
6. Adjustment Automatic tuning of notch filter

6.3 Automatic tuning of notch filter

Notch filter can suppress high frequency resonance caused by mechanical coupling and rigidity.
Automatic tuning of notch filter can easily search mechanical resonance frequency by operating
servo amplifier and motor in a short time.

1) Operation method

■ Start to operate from auto-tuning mode in setup software.

■ Tuning results are automatically saved in [Group2 ID20: Torque command notch filter A
(TCNFILA)].
✔ Torque command notch filter function can be used together with auto-tuning.
✔ Holding torque decreases during auto-tuning of notch filter. Do not operate in gravity axis.

■ When mechanical resonance does not stop even after automatic tuning of notch filter, several
resonances may exist. In this case, examine mechanical resonance frequencies by using
system analysis function to suppress each resonance by using notch filter B, C, and D (manual
setting). If resonance still exists, auto-tuning response performance or control gain may be too
high. If so, decrease tuning response performance or control gain.

2) Parameters to be set

■ Torque command value for auto-tuning of notch filter

Set torque command value given to motor during auto-tuning of notch filter.
◆ General parameter Group0 [Auto-tuning settings]
ID Symbol Name Unit Setting range
Torque command of automatic tuning of
10 ANFILTC % 10.0-100.0
notch filter
✔ As value increases, so does tuning accuracy. However, machine movement will increase as
well. Please monitor closely.

■ Parameters automatically saved by automatic tuning of notch filter

◆ General parameter Group2
[FF vibration suppression control/ notch filter/ disturbance observer settings]
ID Symbol Name Unit Setting range
20 TCNFILA Torque command notch filter A Hz 100-4000
✔ The value is automatically saved in the above parameter by automatic tuning of notch filter.

6-11
6. Adjustment Automatic tuning of FF vibration suppression frequency

6.4 Automatic tuning of FF vibration suppression frequency

Set value of FF vibration suppression frequency to suppress low frequency vibration such as
machine end vibration. Automatic tuning of FF vibration suppression frequency can easily set FF
vibration suppression frequency by operating servo amplifier and motor in a short time.

1) Operation method

■ Start to operate from auto-tuning mode in setup software.

■ Tuning results are automatically saved in [Group2 ID00: FF vibration suppression frequency
1[SUPFREQ1]]
■ FF vibration suppression frequency is obtained to set by performing auto-tuning of vibration
suppression frequency or by calculating frequency according to machine vibration cycle in
positioning.
✔ When vibration does not stop even after setting FF vibration suppression frequency, control
system gain may be too high. If so, decrease control system gain.
✔ Vibration suppression effect may be improved when using together with high tracking control
velocity compensation gain.
✔ FF vibration suppression function can be used together with auto-tuning.
✔ Holding torque decreases during FF vibration suppression frequency tuning. Please do not
use servo amplifier and motor in gravity axis.

2) Parameters to be set

■ Torque command value of automatic tuning of FF vibration suppression frequency

Set torque command value given to motor during automatic tuning of FF vibration suppression
frequency.

◆ General parameter Group0 [Auto-tuning setup]

ID Symbol Name Unit Setting range
Automatic tuning of FF vibration
20 ASUPTC % 10.0-100.0
suppression frequency torque command
✔ Please note that as value increases, so does tuning accuracy, and machine movement also
increase as well.

■ Friction torque compensation amount during automatic tuning of FF vibration suppression

frequency.
Sets frictional torque compensation amount added to torque given to servo motor during
automatic tuning of FF vibration suppression frequency. The accuracy of automatic tuning of FF
vibration suppression frequency can be improved by setting the value closed to actual friction
torque.

◆ General parameter Group0 [Auto-tuning setup]

ID Symbol Name Unit Setting range
Automatic tuning of FF vibration suppression
21 ASUPFC % 0.0-50.0
frequency friction compensation value

■ Parameter automatically saved by automatic tuning of FF vibration suppression frequency.

◆ General parameter Group2
[FF vibration suppression control/ notch filter/ disturbance observer settings]
ID Symbol Name Unit Setting range
00 SUPFRQ1 FF vibration suppression frequency 1 Hz 5-500

6-12
6. Adjustment Manual tuning

6.5 Use of manual tuning

When sufficient adjustment was not achieved by using automatic tuning, use manual tuning mode
to manually adjust all the gains. Set the tuning mode to manual tuning.

■ General parameter Group0 ID00: tuning mode [TUNMOD]

02: _ManualTun Manual Tuning

1) Servo system configuration and servo adjustment parameter

Servo system consists of 3 systems, position loop, velocity loop, and current loop. The most inner
side of loop needs to be high response performance. When this relationship is disrupted, the
system becomes unstable, decreases the response performance, vibrates, or oscillates.

Position loop Velocity loop Current loop

KVP/TVI M
KP
＋ ＋ ＋ JRAT ＋
－ ＋ － －

The following describes servo parameters (Group1).

■ Constant for smoothing position command [PCSMT]

Moving average filter to smooth position command pulse. When electronic gear ratio is high, or
position command pulse is coarse，set this parameter to smooth position command pulse.

■ Position command filter [PCFIL]

When resolution is low, set this parameter to suppress ripples contained in position command.
The more you increase parameter value, the more enhanced ripple suppression effects, but
delay increases.
✔ If you set advanced following control position compensation to other than 0%, parameter shall
be automatically set.

■ Position loop proportional gain [KP]

Set position command response performance. Set by referring to KP[1/S]=KVP[Hz]/4･2π.

■ Advanced following control position compensation gain [TRCPGN]

When position command resolution is high and you want to enhance following performance,
increase this parameter after adjusting advanced following control velocity compensation gain
to improve following performance.

6-13
6. Adjustment Manual tuning
■ Feed forward gain [FFGN]
Increase this gain to improve following performance for position command.
Set the gain 30%-40% for positioning control as a guide.
✔ When advanced following control position compensation gain set to other than 0%, this
parameter shall be automatically set.

■ Feed forward filter [FFFIL]

Set this parameter to suppress ripples when position command resolution is low.

■ Velocity loop proportional gain [KVP]

Set response performance of velocity control. Set the value as high as possible in the range
that mechanical system does not vibrate and oscillate, and stably operates. If JRAT is correctly
set, the value set as KVP shall be response bandwidth of velocity loop.

■ Velocity loop constant in integral [TVI]

Set by referring “TVI [ms]=1000/(KVP [Hz]).”

■ Load inertia moment ratio [JRAT]

Set the following calculated value.

Motor axis-converted load inertia moment (JL)

JRAT= ×100%
Motor inertia moment (JM)

■ High tracking control velocity compensation gain [TRCVGN]

Increase compensation gain to improve following performance. Adjust so as to shorten position
setting time.
✔ Set properly JRAT when using this function.
✔ Set to 0% when using ”velocity loop proportional control switching function (Group9 ID27)”
during operation.
✔ Set 100% to ensure the performance equivalent to series Q servo amplifier.

■ Torque command filter 1 [TCFIL1]

When mechanical system rigidity is high, increase set value to set velocity loop proportional
gain high. When mechanical system rigidity is low, decrease set value to suppress resonance
and abnormal noise in high frequency range. Set to 1200Hz or less for normal use.

6-14
6. Adjustment Manual tuning

2) Basic manual tuning method for velocity control

■ Set velocity loop proportional gain [KVP1] as high value as possible within the range that motor
does not vibrate, oscillate, and operate safely. When vibration occurs decrease the set value.

■ Set velocity loop constant in integral [TVI1] by referring to “TVI [ms]=1000/KVP [Hz].”
✔ When you cannot increase the gain because of mechanical resonance, etc., and the
response is insufficient (after using the Torque notch filter and/or FF vibration suppressor
frequency to suppress resonance) try the procedure again.

3) Basic manual tuning method for position control

■ Set Velocity Loop Proportional Gain (KVP1) as high as possible within the range that allows the
mechanical device to maintain stability without causing vibration or oscillation.
If vibration increases, lower the value.
■ Set Velocity Loop Integral Time Constant (TVI1) to: TVI [ms]=1000/ (KVP [Hz])
■ Position Loop Proportional Gain (KP1) to: KP [1/S] = KVP[HZ]/4･2π
In case vibration occurs, lower the value.
✔ When you cannot increase the gain because of mechanical resonance, etc., and the
response is insufficient (after using the Torque notch filter and/or FF vibration suppressor
frequency to suppress resonance) try the procedure again.

6-15
6. Adjustment Model-following control

6.6 Model-following control

Model control is a control method configuring model control system including mechanical system in
servo amplifier and operating actual servo motor so as to follow model control system to enhance
response performance. Select “Position control” in “Control mode selection” and “Model-following
control” in “Position control selection.”

ID Content
Control Mode Selection

09 Select value Description

02 Position Position control form

Position Control Selection

0A Select value Description

01 Model1 Model following control

✔ Model-following control can be used together with auto-tuning.

✔ Model-following control can be used together with fully closed control.

1) Automatic tuning method of model-following control

Model-following control can be used together with automatic tuning. Perform tuning in the same
procedure as “Automatic tuning adjustment method.” Automatic tuning of model-following control
tunes ”Model control gain 1” in addition to parameters tuned by standard position control.

■ Parameters automatically-adjusted by model-following control automatic tuning.

◆ General parameter Group1 “Setting of basic control parameters”

ID Code Name Remarks
02 KP1 Position Loop Proportional Gain 1 Note 1)
12 KVP1 Velocity Loop Proportional Gain 1
13 TVI1 Velocity Loop Integral Time Constant 1
14 JRAT1 Load Inertia Moment Ratio 1 Note 2)
20 TCFIL1 Torque Command Filter 1
Note 1) Manual setting is available on trajectory control 2(KP, FFGN-manual setting).
Note 2) Manual setting is available on automatic tuning [JRAT-manual setting].

◆ General parameter Group3 “Setting of model-following control”

ID Code Name Remarks
00 KM1 Model Control Gain 1 Note 3)
Note 3) Setting value KP1 shall be set in trajectory control 2(KP, FFGN-manual setting).
✔ Parameters automatically adjusted by servo amplifier shall be differ depending on selected
automatic tuning characters.

6-16
6. Adjustment Model-following control

2) Manual tuning method of model-following control

■ Set velocity loop proportional gain [KVP1] as high as possible in the range that machine does
not vibrate and oscillate, and stable operates. When vibrations occurred, decrease the set
value.

■ Set velocity loop constant in integral [TVI1] by referring “TVI [ms]=1000/KVP [Hz].”

■ Set position loop proportional gain [KP1] by referring “KP[1/S]=KVP[Hz]/4・2π.”

■ Set model control gain [KM1] by referring “KM≒KP.” When vibrations occurred, decrease the
set value.

■ If you feel response performance is low, set model control gain [KM1] to the value of 1.1 to 1.2
times.
✔ When you cannot obtain sufficient positioning setting time or response performance because
you cannot increase gain due to mechanical system resonance, re-perform setting after
suppressing resonance by using torque command notch filter or FF vibration suppression
frequency.

■ Adjustable parameters with model-following control

Model-following control can control the following parameters in addition to adjustable
parameters by existing position control.

◆ General parameter Group3 “Setting of model-following control“

ID Code Name
00 KM1 Model Control Gain 1
01 OSSFIL Overshoot Suppressor Filter
◆ Model control gain1 [KM1]
This is proportional gain of model-following control position control equipment. Adjust by referring to
“KM≒KP.”
◆ Overshoot suppression filter [OSSFIL]
Set cut-off frequency of filter to suppress overshoot in model-following control. When overshoot
occurred in position deviation, decrease the set value.

6-17
6. Adjustment FF vibration suppression control and model-following vibration
suppression control

6.7 Tuning to suppress vibration

1) FF vibration suppression control

Use ”FF vibration suppression control” to suppress vibrations occurred at the end of machine.

■ Adjust gain in the same procedure as basic position control tuning procedure.
■ When vibrations occurred at the end of machine during operation, use “Automatic FF vibration
suppression frequency tuning,” or calculate vibration frequency according to machine oscillation
cycle to set vibration frequency in “FF vibration suppression frequency 1[SUPFRQ1].”

◆ General parameter Group2 “Setting of FF vibration suppression control / notch filter/ disturbance
observer”
ID Code Name Unit Setting range
FF Vibration Suppressor
00 SUPFRQ1 Hz 5-500
Frequency 1
✔ If vibrations occurred at the end of machine is not suppressed with the above method, control
system gain may be too high. In this case, decrease the gain.
✔ Please do not change the set value during motor operation.

2) Model-following and vibration suppression control

If you drive table by using servo motor on machine stand, the machine stand itself may vibrate due
to force applied to the stand as a reaction of servo motor operation. This stand vibration can
adversely affect positioning setting of table operating on it. “Model-following vibration suppression
control” suppresses the above stand vibrations and improves machine positioning setting time and
response performance.

■ Select “Position control” of system parameter “control mode selection”, and then select
“Model-following vibration suppression control” in “Position control selection” to use
model-following vibration suppression control. You can operate servo motor under the condition
that model control system suppresses machine stand oscillating component.

ID Contents
Control Mode Selection

09 Select value Description

02 Position Position Control

Position Control Selection

0A Select value Description

02 Model2 Model-following vibration suppression control

✔ Please do not use auto-tuning with model-following vibration suppression control.

✔ Fully closed control cannot be used with model-following vibration suppression control.

6-18
6. Adjustment Model-following vibration suppression control
■ Adjustable parameters with model-following control

◆ General parameter Group3 “Setting of model-following control“

ID Code Name Unit Setting range
00 KM1 Model Control Gain 1 1/s 15-315
01 OSSFIL Overshoot Suppressor Filter Hz 1-4000
02 ANRFRQ1 Model Control Anti-resonance Frequency 1 Hz 10.0-80.0
03 RESFRQ1 Model Control Resonance Frequency 1 Hz 10.0-80.0

◆ Model control gain1 [KM1]

This is proportional gain of model-following control position control equipment. Adjust by referring to
“KM≒KP.”
◆ Overshoot suppression filter [OSSFIL]
Set cut-off frequency of filter to suppress overshoot in model-following control.
When overshoot occurred in position deviation, decrease the set value.
◆ Model control anti-resonance frequency 1 [ANRFRQ1]
Set the anti-resonance frequency of machine model used in model-following vibration suppression
control.
Vibration suppression control becomes invalid when setting to the value over model-following
resonance frequency.
◆ Model control resonance frequency 1 [RESFRQ1]
Set the resonance frequency of machine model used in model-following vibration suppression
control.
Vibration suppression control becomes invalid at setting value 80.0Hz.

✔ Please do not change the set value during operation.

■ Parameter setting range in model-following control

The following parameters shall be limited in setting range in model-following control.

◆ General parameter Group1 “Setting of basic control parameters”

Setting
ID Code Name Unit
Range
14 JRAT1 Load Inertia Moment Ratio 1 % 100-3000
20 TCFIL1 Torque Command Filter 1 Hz 100-1000

◆ General parameter Group3 “Setting of model-following control”

ID Code Name Unit Setting range
00 KM1 Model Control Gain１ 1/s 15-315

6-19
6. Adjustment Model-following vibration suppression control

3) Tuning method

■ Select ”01: _Model_1 model–following control” of system parameter ”ID0A: position control
selection” in advance, and then perform automatic tuning by ”model–following control” to tune
to optimum servo gain for machine. Refer to “Automatic tuning method for model-following
control” for the tuning method.
✔ When already appropriately tuned for machine, please ignore this term.

■ Change tuning mode to “manual tuning” after performing storing-function of auto-tuning results.

■ Set system parameter “ID0A: position control selection” to “02: _Model_2 model following
vibration suppression control” to set mechanical antiresonant frequency and resonant
frequency. If you already know antiresonant frequency and resonant frequency in advance, set
the values. If not, you can measure antiresonant frequency and resonant frequency to set by
using system analysis.

✔ Refer to ”Setup software operating manual M0008363” for the operating method of system
analysis.
✔ Set “frequency range selection” to low frequency range to measure anti-resonance and
resonance frequency by using system analysis. If set in high frequency range, anti-resonance
and resonance frequency in suppressible range with use of model-following vibration
suppression control cannot be measured. We recommend selecting 1-125[Hz] in “frequency
range selection.”
✔ When the mass of moving part running on motor is less than the one of machine stand,
anti-resonance and resonance frequency may not be measured by using system analysis. In
this case, measure vibration cycle of machine at positioning, calculate the reciprocal number
to obtain vibration frequency (model anti-resonance frequency), and then set model
resonance frequency to the value of 1.05 - 1.2 times of anti-resonance frequency.

■ Set velocity loop proportional gain [KVP1] as high as possible in the range that machine does
not vibrate and oscillate, and stable operates. When vibrations occurred, decrease the set
value.

■ Set velocity loop constant in integral [TVI1] by referring “TVI [ms]=1000/KVP[Hz].”

■ Set position loop proportional gain [KP1] by referring KP[1/S]=KVP[Hz]/4・2π.”

■ Set model control gain [KM1] by referring “KM≒KP.” When vibrations occurred, decrease the
set value.

■ If you feel response performance is low, set model control gain [KM1] to the value of 1.1 to 1.2
times.

■ Frequency vibrations other than set anti-resonance and resonance frequency may exist
depending on mechanical system configurations. In this case, use FF vibration suppression
control together to suppress vibrations. Calculate vibration frequency according to vibration
cycle, and then set the vibration frequency into “Group2 ID00: vibration suppression frequency
1[SUPFRQ1].”

■ When you cannot increase gain due to mechanical system resonance, and cannot obtain
sufficient response performance, re-perform after suppressing resonance by using torque
command notch filter and FF vibration suppression frequency.

6-20
6. Adjustment Disturbance observer

6.8 Use of disturbance observer functions

Disturbance observer is a function to suppress external load torque impacts as follows: When
external load torque is applied to servo motor, disturbance observer estimates load torque inside
servo amplifier, adds compensation for load torque to torque command. Set ”Group9 ID33:
disturbance observer function [OBS]” to “function enabled” to use disturbance observer. Adjust
parameters related to observer in “Group2 ID30 - 33” to suppress disturbance impacts.

■ Parameters for use in disturbance observer

◆ Group9 “Setting of each function enabling conditions”

ID Code Description Setting range
OBS Disturbance Observer
33 00 - 27
Function

◆ General parameter Group2 “setting of FF vibration suppression control/notch filter/ disturbance

observer”
ID Code Name Unit Setting range
30 OBCHA Observer Characteristic - 00 - 02
31 OBG Observer Compensation Gain % 0 - 100
32 OBLPF Observer Output Low-pass Filter Hz 1 - 4000
33 OBNFIL Observer Output Notch Filter Hz 100 - 4000

■ Descriptions of parameters for use in disturbance observer

◆ Observer characteristics ”00_Low Low-frequency disturbance suppression”，”01_Middle

Middle-frequency disturbance suppression”，and ”02_High High disturbance suppression” are
provided.
Select the optimum characteristic depending on disturbance frequency you want to suppress.
Frequency Type
10 - 40[Hz] 00_Low : For low-frequency disturbance suppression
40 - 80[Hz] 01_Middle: For mid-frequency disturbance suppression
80 - 200[Hz] 02_High : For high frequency disturbance suppression

◆ Gradually increase set value of observer compensation gain, not immediately increase
from the start. The more you increase observer compensation gain, the more improved
disturbance suppression characteristic becomes. Provided that motor may oscillate when
observer compensation gain increases to excess, so keep the range motor does not
oscillate.
✔ Do not use automatic tuning together with disturbance observer.
✔ Use observer output low-pass filter to modify observer characteristic by setting high
frequency when encoder resolution is high or load inertia moment ratio is low.
✔ Use observer output notch filter to suppress vibrations when resonance changed in
high-frequency range.
✔ Use “02_High High disturbance suppression” when encoder resolution is over 1048576
divisions.

6-21
7
7. Maintenance
7.1 Troubleshooting .......................................................................................................................................................... 7-1
7.2 Warning and alarm list ................................................................................................................................................ 7-3
1) Warning list .................................................................................................................................................................. 7-3
2) Alarm List..................................................................................................................................................................... 7-4
7.3 Troubleshooting when alarm activated ..................................................................................................................... 7-7
7.4 Encoder-clear and alarm-reset procedure .............................................................................................................. 7-22
1) Motor encoder model................................................................................................................................................. 7-22
2) Alarm code activated ................................................................................................................................................. 7-22
7.5 Inspection .................................................................................................................................................................. 7-24
1) Items to be checked and corrective actions for operation error ................................................................................. 7-24
7.6 Service parts .............................................................................................................................................................. 7-25
1) Parts to be inspected .......................................................................................................................................... 7-25
2) Motor encoder battery replacement........................................................................................................................... 7-25

7
7. Maintenance Troubleshooting

7.1 Troubleshooting
When any failures occur without any alarm code display, refer to the following items and then
examine causes and take appropriate corrective actions. When alarm code displayed, take
corrective actions indicated in “Troubleshooting when alarm activated.”

■ [STA] LED does not rapidly flash after main circuit power supply on.
Check item Probable cause and corrective action
■ Check power supply if the voltage is low.
Check voltage on power input terminal.
■ Check wiring and screw-tightening.

■ [STA] LED flashes at a low velocity, but servo motor does not rotate.
Check item Probable cause and corrective action
Check to see if command is input with
monitor of setup software.
■ If monitored value is zero, input command.
Page 13: Position command pulse
frequency monitor
When servo-lock is not established,
■ Confirm Servo motor input line is connected.
Confirm servo-lock is established. ■ Confirm emergency stop is not input.
■ Confirm “function enabling condition setting” for the
parameter.
■ When torque limit is input, and the limit value is
less than load torque, servo motor cannot output
Confirm input signal state of torque limit. torque more than load torque.
■ Confirm “function enabling condition setting” for the
parameter.
■ When deviation-clear is input, do not perform
deviation -clear input.
Confirm input signal state of deviation-clear.
■ Confirm “function enabling condition setting” for the
parameter.
■ When encoder-clear is input, do not perform
encoder-clear input.
Confirm input signal state of encoder-clear.
■ Confirm “function enabling condition setting” for the
parameter.
■ Do not perform OT-input.
OT-state ■ Confirm “function enabling condition setting” for the
parameter.
✔ Make sure to turn off power supply when you perform corrective actions.

■ Servo motor operates unstably, and the operation velocity is lower than commanded velocity.
Check item Probable cause and corrective action
■ When proportional control is input, do not perform
Confirm input signal state of proportional proportional control input.
control. ■ Confirm “function enabling condition setting” for the
parameter.
■ When torque limit is input, do not perform torque
limit input.
Confirm input signal state of torque limit.
■ Confirm “function enabling condition setting” for the
parameter.

7-1
7. Maintenance Troubleshooting
■ Servo motor momentarily operates but will not operate after that.
Check item Probable cause and corrective action
Check servo motor power line. ■ Any of servo motor power lines are disconnected.
Check setting of motor to be combined.
■ Change the setting and then re-turn on power.
Check setting of encoder resolution.
(System parameter)
✔ Make sure to turn off power supply when you perform corrective actions.

■ Servo motor goes out of control.

Check item Probable cause and corrective action
Check servo motor power line. ■ Order of servo motor power line phase is incorrect.

Check wiring of encoder cable. ■ Wiring of encoder is incorrect.

✔ Make sure to turn off power supply when you perform corrective actions.

■ Servo motor vibrates.

Check item Probable cause and corrective action
Check to see if servo motor vibrates at ■ Decrease velocity loop gain, set torque command
frequency over 200Hz. low-pass filter and torque command notch filter.

■ Overshoot or undershoot occurs at start-up/stop.

Probable cause and corrective action
■ Adjust automatic tuning “response performance.”
■ Decrease velocity loop gain.
■ Increase constant in velocity integration.
■ Slow down command acceleration and deceleration pattern.
■ Activate position command low-pass filter.

■ Abnormal noise occurred.

Check item Probable cause and corrective action
■ Operate servo motor in stand-alone style.
Check machine installation.
■ Check gap or misalignment between couplings.
■ Check to see if twisted-pair and shielding are
applied to signal lines of motor encoder.
Check to see if abnormal noise has any
■ Check if motor encoder line and servo motor power
periodicities by operating at low velocity.
line are wired in the same duct.
■ Check for power supply voltage decrease.

7-2
7. Maintenance Warning and alarm list

7.2 Warning and alarm list

Warning, alarm, description, stoppage when failures detected, and alarm reset procedure are
described below.

1) Warning list

Warning Description
■ Effective torque has exceeded “overload warning
Overload warning
level.”
Load system
Servo amplifier temperature ■ Ambient temperature of servo amplifier is out of
warning specification scope.
Main circuit in the process of
Power system ■ Main circuit voltage is DC38V <19V> or over.
charging
External input Over travel in normal rotation ■ Over travel in normal rotation is now in inputting.
system Over travel in reverse rotation ■ Over travel in reverse rotation is now in inputting.
Encoder
Serial encoder battery warning ■ Battery voltage: 3.0V or less
system
■ Torque command is now limited to torque limit
Torque command being limited
value.
Control system ■ Velocity command is now limited to velocity limit
Velocity command being limited
value.
Position deviation in excess ■ Position deviation is exceeding warning-set value.

7-3
7. Maintenance Alarm list

2) Alarm List

Operation at detecting: "DB" performs the slowdown stop of the servo motor in dynamic brake operation when the alarm generating. Operation at detecting: "SB"
performs the slowdown stop of the servo motor with sequence current limiting value.
When dynamic brake is selected by Emergency Stop Operation selection, the servo motor is decelerating stopped for the dynamic brake operation regardless of
the operation when detecting it. (However, it stops in free servo brake operation at the time of alarm 53H (DB resistor overheating) detection.
* Note that servo amplifier without dynamic brake function stopps in free-running.

Alarm code
Detection Alarm
3 bits output PY compatible code Alarm name Alarm contents
Display Operations Clear
Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1
■ Over current of drive module
Main Circuit Power Device Error
21 0 0 0 1 ■ Abnormality in drive power supply DB V
Drive error

(Over current)
■ Overheating of drive module
22 0 0 1 0 0 0 1 Current Detection Error 0 ■ Abnormality of electric current detection value DB V
23 0 0 0 1 Current Detection Error 1 ■ Abnormality of Electric current detection circuit DB V
■ Abnormality in communication with
24 0 0 0 1 Current Detection Error 2 DB V
Electric current detection circuit
41 0 0 1 0 Overload 1 ■ Excessive effective torque SB V
Load error

45 0 0 1 0 Average continuous over velocity ■ Over velocity in average rotational velocity SB V

0 1 0 ■ Overheating detection of amplifier ambient
51 0 0 1 1 Servo Amplifier Temperature Error SB V
temperature
■ Overheating detection of External regeneration
55 0 0 1 1 External Error DB V
resistor
61 0 1 0 1 Over-voltage ■ DC Excess voltage of main circuit
Power supply

1 0 0 1
62 0 1 1 Main Circuit Under-voltage Note1) ■ DC Main circuit low voltage DB V
error

73 0 1 1 1 Control Circuit Under-voltage 2 ■ Under voltage of +5V SB NA

7-4
7. Maintenance Alarm list
Alarm code
Detection Alarm
3 bits output PY compatible code Alarm name Alarm contents
Display Operations Clear
Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1

■ Pulse encoder (A, B, Z) signal line break

Abnormality related to encoder

81 1 0 0 0 Encoder Connector 1 Disconnection DB NA

■ Power supply break
■ Breaking of fully closed Encoder (A, B, Z) signal
83 1 0 0 0 Encoder Connector 2 Disconnection DB V
line
NA
wiring

1 0 0 ■ Encoder serial signal time out

84 1 0 0 0 Serial Encoder Communication Error DB
■ Serial communication data error
■ Failed to read CS data of pulse encoder NA
85 1 0 0 0 Encoder Initial Process Error －
■ Abnormality in initial process of serial encoder
NA
87 1 0 0 0 CS Signal Disconnection ■ CS signal line break DB

A0 1 0 0 0 Serial Encoder Internal Error 0 ■ Encoder failure DB NA

■
Abnormality in encoder main body

A1 1 0 0 0 Serial Encoder Internal Error 1 Multi-turn error DB Note 2)

A2 1 0 0 0 Serial Encoder Internal Error 2 ■ Accelerate error DB Note 2)
A3 1 0 0 0 Serial Encoder Internal Error 3 ■ Over-velocity DB Note 2)
A4 1 0 0 0 Serial Encoder Internal Error 4 ■ Access error of Encoder internal EEPROM DB Note 2)
A5 1 0 0 0 Serial Encoder Internal Error 5 ■ 1 rotation coefficient incorrect DB Note 2)
A6 1 0 1 1 0 0 0 Serial Encoder Internal Error 6 ■ Multiple rotations coefficient incorrect DB Note 2)
A9 1 0 0 0 Serial Encoder Internal Error 9 ■ Servo motor built-in Encoder Overheating DB Note 2)
AA 1 0 0 0 Serial Encoder Internal Error 10 ■ Position data incorrect DB Note 2)
AB 1 0 0 0 Serial Encoder Internal Error 11 ■ Encoder incorrect DB Note 2)
AC 1 0 0 0 Serial Encoder Internal Error 12 ■ Error generation of multi-rotation data DB Note 2)
AD 1 0 0 0 Serial Encoder Internal Error 13 ■ Encoder internal EEPROM data is not set DB Note 2)
AE 1 0 0 0 Serial Encoder Internal Error 14 ■ Resolver Abnormality DB Note 2)
AF 1 0 0 0 Serial Encoder Internal Error 15 ■ Resolver disconnection DB Note 2)

7-5
7. Maintenance Alarm list
Alarm code
Detection Alarm
3 bits output PY compatible code Alarm name Alarm contents
Display Operations Clear
Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1
■ Motor rotation velocity is 120 % more than the highest
C1 0 1 1 0 Over-velocity DB V
velocity limit
Control system abnormality

■ Torque command and acceleration direction are not

C2 1 1 0 0 Velocity Control Error DB V
matching.
C3 1 1 0 0 Velocity Feedback Error ■ Servo motor power disconnection Note 3) DB V
Model tracking vibration suppression control ■ Machine cycle time is not mach with model following
C5 1 1 0 0 DB V
1 1 0 error vibration suppression control.
D1 1 1 0 1 Excessive Position Deviation ■ Position Deviation exceeds setup value. DB V
Faulty Position Command Pulse Frequency ■ Frequency of entered position command pulse is
D2 1 1 0 1 SB V
1 excessive
Faulty Position Command Pulse Frequency ■ Position command frequency after electronic gear is
D3 1 1 0 1 SB V
2 high.
DF 1 1 0 1 Test Run Close Note 4) ■ Detection in ‘Test mode end’ status DB V
E1 1 1 1 1 EEPROM Error ■ Abnormality of amplifier with built-in EEPROM DB NA
Control system/ Memory system abnormality

E2 1 1 1 1 EEPROM Check Sum Error ■ Error in check sum of total range of EEPROM － NA
E3 1 1 1 1 Memory Error 1 ■ Access error in CPU built in RAM － NA
E4 1 1 1 1 Memory Error 2 ■ Checksum error of FLASH memory with built in CPU － NA
E5 1 1 1 1 System Parameter Error 1 ■ System parameter is outside a setting range. － NA
E6 1 1 1 1 System Parameter Error 2 ■ The combination of a system parameter is abnormal. － NA
E7 1 1 1 1 Motor Parameter Error ■ Setup of a motor parameter is abnormal. － NA
E8 1 1 1 1 1 1 1 Abnormalities in CPU circumference circuit ■ Access abnormality in CPU to ASIC － NA
E9 1 1 1 1 System Code Error ■ Abnormalities of control circuit. － NA
■ Motor parameter automatic setting function cannot be NA
EE 1 1 1 1 Motor Parameter Automatic Setting Error 1 －
performed.
■ The result of motor parameter automatic setting is NA
EF 1 1 1 1 Motor Parameter Automatic Setting Error 2 －
abnormal.
F1 1 1 1 1 Task Process Error ■ Error in interruption process of CPU DB NA
NA
F2 1 1 1 1 Initial Process Time-Out ■ Initial process does not end within initial process time －
Note 1) The detector may detect main circuit power undervoltage when main circuit power voltage increases/ decreases with moderate slope or voltage is temporarily cut.
Note 2) Encoder-clear may be required due to encoder body unit error. Encode-clear and alarm reset procedure vary, depending on motor encoder you use. Please refer to
“Section 8-29, Encoder-clear and alarm reset procedures.”
Note 3) The detector may not be able to detect breaking of wires in servo motor power line when servo motor rapidly falls at the same time of servo-on.
Note 4) The alarms, which are activated at the test mode completion, are not stored as alarm histories.

7-6
7. Maintenance Troubleshooting when alarm activated

7.3 Troubleshooting when alarm activated

■ Alarm code 21 (Main circuit power device error)

Cause
State when alarm activated
1 2 3
Activated when turning on control power. ✔ ✔
Activated when inputting servo-on. ✔ ✔ ✔
Activated at start-up and stop of servo motor. ✔ ✔ ✔
Activated after operating for a while. ✔ ✔ ✔

◆ Corrective action
Cause Check item and action
■ Phase U, V, and W of servo amplifier are
short-circuited on the wiring between servo ■ Verify wiring and if it is not correct,
1
amplifier and servo motor. Or phase U, V, and correct the wiring.
W have earth fault.
■ Phase U, V, and W of servo amplifier are
2 short-circuited or have earth fault on servo ■ Replace servo motor.
motor side.
3 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.

■ Alarm code 22 (Electrical current detection error 0)

Cause
State when alarm activated
1 2
Activated when inputting servo-on. ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
■ Check to see if the installed servo
■ Combination of servo amplifier and servo motor motor is in accordance with motor
2
is incorrect. code, and if it is not correct, replace it
with a correct one.

7-7
7. Maintenance Troubleshooting when alarm activated
■ Alarm code 23 (Electrical current detection error 1)
■ Alarm code 24 (Electrical current detection error 2)
Cause
State when alarm activated
1 2
Activated during operation. ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
■ Check to see if servo amplifier ground
wire is correctly grounded.
2 ■ Malfunction due to noise.
■ Take actions against noise, such as
ferritic core.

■ Alarm code 41 (Overload 1)

Cause
State when alarm activated
1 2 3 4 5 6 7 8 9
Activated when inputting servo-on. ✔ ✔ ✔
Activated because servo motor does not rotate
✔ ✔ ✔ ✔ ✔
after inputting command.
Activated after operating for a while. ✔ ✔ ✔ ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
2 ■ Motor encoder internal circuit error. ■ Replace servo motor.
■ Check to see if effective torque exceeds
rated torque by monitoring load status with
effective torque monitor (TRMS). Or
calculate effective torque according to load
3 ■ Effective torque exceeds rated torque.
condition and operation condition, and if the
value exceeds rated torque, review load
condition and operation condition, or replace
with servo amplifier with large capacity.
■ Confirm motor model number setting and
■ Combination of servo amplifier and servo
4 servo motor you use correspond each other,
motor is incorrect.
if not, correct the combination.
■ Check if holding brake wiring and applied
5 ■ Servo motor holding brake is not released. voltage are correct, and if not, correct them.
If correct, replace servo motor.
■ Wiring of phase U, V, and W between
■ Verify wiring and if it is not correct, correct
6 servo amplifier and servo motor is not
the wiring.
correct.
■ One phase or all phases are missing in
■ Verify wiring and if it is not correct, correct
7 wiring of phase U, V, and W between
the wiring.
servo amplifier and servo motor.
■ Review operation conditions and limit
8 ■ Machine collided.
switch.
■ Motor encoder pulse number setting does ■ Conform to servo motor encoder pulse
9
not conform to servo motor. number.
✔ When alarm activated cause is NO.3, repetition of control power-off and on can cause servo
motor burnout. Re-operate after taking sufficient time to cool down (30 minutes or over) after
power-off.

7-8
7. Maintenance Troubleshooting when alarm activated

■ Alarm code 45 （Excessive continuous revolution velocity）

Cause
State when alarm activated
1
Activated during operation. ✔

◆ Corrective action
Cause Check item and action
■ Average revolution velocity exceeds maximum ■ Review operation conditions.
1
revolution velocity in continuous range. ■ Re-select servo motor.

■ Alarm code 51 (Abnormal amplifier temperature)

Cause
State when alarm activated
1 2 3 4 5
Activated when turning on control power. ✔ ✔ ✔
Activated during operation. ✔ ✔ ✔ ✔
Activated after emergency stop. ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
■ Review operation conditions.
2 ■ Regenerative power is too high.
■ Use regenerative unit.
■ Verify internal temperature of control
board (ambient temperature of servo
■ Regenerative power is within specification
amplifier), and then review installation
3 scope, but ambient temperature of servo
method of servo amplifier and cooling
amplifier is out of specification scope.
method of control board so that the
above temperature is 40°C or less.
■ Regenerative energy at emergency stop is too ■ Replace servo amplifier.
4
large. ■ Review load conditions.
✔ Errors are detected according to internal temperature of servo amplifier regardless of ambient
temperature. Make sure to re-examine cooling method for internal control board at the time
temperature warning detected.

■ Alarm code 55 (External error)

Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Set external trip function enabling condition to ■ Set “00：_Always_Disable” to “Group9
1
“enable.” ID40” when you do not use.
2 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.

7-9
7. Maintenance Troubleshooting when alarm activated

■ Alarm code 61 (Overvoltage)

Cause
State when alarm activated
1 2 3
Activated when turning on control power. ✔
Activated when turning on main circuit power. ✔ ✔
Activated at servo motor start-up and stop. ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
■ Main circuit power voltage is out of specification ■ Keep power voltage within
2
scope. specification scope.
■ Keep load inertia moment within
3 ■ Load inertia moment is too large.
specification scope.

■ Alarm code 62 (Main circuit undervoltage)

Cause
State when alarm activated
1 2 3
Activated when turning on control power. ✔
Activated after turning on main circuit power. ✔ ✔
Activated during operation. ✔

◆ Corrective action
Cause Check item and action
■ Input power voltage does not reach at value in ■ Review and keep power supply within
1
specification scope. specification scope.
■ Check and re-exam power supply so
■ Input power voltage decreased. Or temporary
2 that no temporary stop and voltage
stop occurred.
decrease occur.
3 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
✔ Alarm activated only when “Detect main circuit power decrease alarm (GroupB ID18)”
selected in main circuit power decrease selection, and then main circuit power decreased
during servo-on.

■ Alarm code 73 (Control circuit undervoltage 2)

Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
■ Re-turn on power after removing
connector, and then if alarm not
2 ■ External circuit error.
activated even after that, check
external circuit.

7-10
7. Maintenance Troubleshooting when alarm activated
■ Alarm code 81 (Encoder connector 1 disconnected)
■ Alarm code 83 (Encoder connector 2 disconnected)
■ Alarm code 87 (CS disconnected)
Cause
State when alarm activated
1 2 3 4 5
Activated when turning on control power. ✔ ✔ ✔ ✔ ✔
Activated during operation. ✔ ✔ ✔

◆ Corrective action
Cause Check item and action
■ In motor encoder wiring, ■ Verify wiring and if it is not correct,
◆ Some errors exist. correct the wiring.
◆ Connectors are disconnected. ■ Check if encoder power voltage on
1
◆ Contact failures of connectors exist. servo motor side is 4.75V or over, and
◆ Encoder cables are too long. if less than 4.75V, correct the
◆ Encoder cables are too thin. difference.
■ Combination of servo amplifier and motor ■ Replace with servo motor with correct
2
encode is not correct. encoder.
3 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
4 ■ Motor encoder internal circuit error. ■ Replace servo motor.
■ Change system parameter “ID0B” to
5 ■ Parameter is set to fully closed system. “semi-closed control/Motor encoder.”
(Only for Alarm code 83)

■ Alarm code 84 (Serial encoder communication error)

Cause
State when alarm activated
1 2 3
Activated when turning on control power. ✔ ✔ ✔
Activated during operation. ✔

◆ Corrective action
Cause Check item and action
1 ■ Motor encoder internal circuit error. ■ Replace servo motor.
■ Check to see if servo amplifier ground
wire is correctly grounded.
2 ■ Malfunction due to noise. ■ Check shielding of encoder cables.
■ Take actions against noise, such as
ferritic core.
■ Verify wiring and if it is not correct,
3 ■ Motor encoder wiring has errors.
correct the wiring.

7-11
7. Maintenance Troubleshooting when alarm activated
■ Alarm code 85 (Encoder initial process error)
Cause
State when alarm activated
1 2 3 4 5
Activated when turning on control power. ✔ ✔ ✔ ✔ ✔

◆ Corrective action
Cause Check item and action

■ In motor encoder wiring, ■ Verify wiring and if it is not correct,

◆ Some errors exist. correct the wiring.
◆ Connectors are disconnected. ■ Check if encoder power voltage on
1
◆ Contact failures of connectors exist. servo motor side is 4.75V or over, and
◆ Encoder cables are too long. if less than 4.75V, correct the
◆ Encoder cables are too thin. difference.

■ Combination of servo amplifier and motor ■ Replace with servo motor with correct
2
encode is not correct. encoder.
3 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
4 ■ Motor encoder internal circuit error. ■ Replace servo motor.
■ Initial setting for position data was not ■ Re-turn on power supply with servo
performed as servo motor rotated at a motor stopped.
5
revolution velocity of 250min-1 when turning on (Only when encoderPA035C and PA035S
power. used.)

■ Alarm code A0 (Serial encoder internal error 0)

Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔
Activated during operation. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Re-turn on power, but if still unable to
1 ■ Motor encoder internal circuit error. restore even after that, replace servo
motor.
■ Check to see if servo amplifier ground
wire is correctly grounded.
2 ■ Malfunction due to noise. ■ Check shielding of encoder cable.
■ Take actions against noise, such as
ferritic core.

7-12
7. Maintenance Troubleshooting when alarm activated
■ Alarm code A1 (Serial encoder internal error 1)
Cause
State when alarm activated
1 2 3 4
Activated when turning on control power. ✔ ✔
Activated during operation. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Check battery connector with encoder
1 ■ Contact failure of battery cables.
cables.
2 ■ Battery voltage decreased. ■ Check battery voltage.
■ Verify wiring and if it is not correct,
3 ■ Contact failure of encoder connector.
correct the wiring.
■ Re-turn on power, but if still unable to
4 ■ Motor encoder internal circuit error. restore even after that, replace servo
motor.
✔ “Encoder-clear” and “alarm-reset” procedures vary depending on motor encoder you use.
✔ Refer to “Section 7.4, Encoder-clear” and “alarm-reset” procedures.”

■ Alarm code A2 (Serial encoder internal error 2)

Cause
State when alarm activated
1 2 3
Activated during servo motor stop. ✔ ✔
Activated while servo motor is rotating. ✔ ✔ ✔

◆ Corrective action
Cause Check item and action
■ Re-turn on power, but if still unable to
1 ■ Motor encoder internal circuit error. restore even after that, replace servo
motor.
■ Check to see if servo amplifier ground
wire is correctly grounded.
2 ■ Malfunction due to noise. ■ Check shielding of encoder cables.
■ Take actions against noise, such as
ferritic core.
■ Review operation conditions and
■ Acceleration velocity of servo motor exceeds
3 extend acceleration and deceleration
allowable acceleration velocity.
time.
✔ “Encoder-clear” and “alarm-reset” procedures vary depending on motor encoder you use.
✔ Refer to “Section 7.4, Encoder-clear” and “alarm-reset” procedures.”

7-13
7. Maintenance Troubleshooting when alarm activated
■ Alarm code A3 (Serial encoder internal error 3)
Cause
State when alarm activated
1 2 3
Activated when turning on control power. ✔ ✔
Activated during servo motor stop. ✔ ✔
Activated while servo motor rotates. ✔ ✔ ✔

◆ Corrective action
Cause Check item and action
■ Re-turn on power, but if still unable to
1 ■ Motor encoder internal circuit error.
restore even after that, replace motor.
■ Check to see if servo amplifier ground
wire is correctly grounded.
2 ■ Malfunction due to noise. ■ Check shielding of encoder cables.
■ Take actions against noise, such as
ferritic core.
■ Servo motor revolution velocity exceeds ■ Review operation conditions and
3
allowable velocity. decrease maximum revolution velocity.
✔ “Encoder-clear” and “alarm-reset” procedures vary depending on motor encoder you use.
✔ Refer to “Section 7.4, Encoder-clear” and “alarm-reset” procedures.”

■ Alarm code A4 through A6 (Serial encoder internal error 4 through 6)

■ Alarm code AA through AF (Serial encoder internal error 10 through 15)
Cause
State when alarm activated
1 2
Activated when turning on control power. ✔
Activated during operation. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Re-turn on power, but if still unable to
1 ■ Motor encoder internal circuit error. restore even after that, replace servo
motor.
■ Check to see if ground wire between
servo amplifier and servo motor is
correctly grounded.
2 ■ Malfunction due to noise.
■ Check shielding of encoder cables.
■ Take actions against noise such as
ferritic core.
✔ “Encoder-clear” and “alarm-reset” procedures vary depending on motor encoder you use.
✔ Refer to “Section 7.4, Encoder-clear” and “alarm-reset” procedures.”

7-14
7. Maintenance Troubleshooting when alarm activated
■ Alarm code A9 (Serial encoder internal error 9)
Cause
State when alarm activated
1 2 3
Activated when turning on control power. ✔ ✔
Activated during servo motor stop. ✔ ✔
Activated while servo motor rotates. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Re-turn on power, but if still unable to
1 ■ Motor encoder internal circuit error. restore even after that, replace servo
motor.
■ Review cooling method so that
■ Servo motor does not generate heat, but
2 ambient temperature of motor encoder
ambient temperature of encoder is too high.
becomes 80°C or less.
3 ■ Servo motor is overheated. ■ Review cooling method of servo motor.
✔ “Encoder-clear” and “alarm-reset” procedures vary depending on motor encoder you use.
✔ Refer to “Section 7.4, Encoder-clear” and “alarm-reset” procedures.”

■ Alarm code C1 (Overvelocity)

Cause
State when alarm activated
1 2 3 4
Activated on inputting command after servo-on. ✔ ✔
Activated at servo motor start-up. ✔ ✔
Activated during operation other than start-up. ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
2 ■ Motor encoder internal circuit error. ■ Replace servo motor.
■ Adjust servo parameters.
■ Slow down command acceleration and
3 ■ Excessive overshoot at start-up.
deceleration pattern.
■ Decrease load inertia moment.
■ Wiring of phase U, V, and W between servo ■ Verify wiring and if it is not correct,
4
amplifier and servo motor is not correct. correct the wiring.

7-15
7. Maintenance Troubleshooting when alarm activated
■ Alarm code C2 (Velocity control error)
Cause
State when alarm activated
1 2 3 4
Activated on servo-on. ✔ ✔
Activated on inputting command. ✔ ✔ ✔
Activated at servo motor start-up and stop. ✔

◆ Corrective action
Cause Check item and action
■ Wiring of phase U, V, and W between servo ■ Verify wiring and if it is not correct,
1
amplifier and servo motor is not correct. correct the wiring.
■ Wiring of phase A and B of pulse encoder ■ Verify wiring and if it is not correct,
2
wiring is not correct. correct the wiring.
■ Adjust servo parameters so as not to
3 ■ Servo motor vibrates (oscillates).
vibrate (oscillate).
■ Monitor velocity monitor with analog
monitor.
■ Adjust servo parameters to minimize
4 ■ Excessive overshoot and undershoot. overshoot and undershoot.
■ Slow down command acceleration
and deceleration pattern.
■ Mask the alarm.
✔ Standard velocity control error alarm is set to “not detected” as the alarm have the possibility
to detect alarms even at start-up and stop when load inertia moment is relatively large or in
gravity axis applications. If you need to detect, please consult us.

■ Alarm code C3 (Velocity feed-back error)

Cause
State when alarm activated
1 2 3
Activated after inputting command. ✔ ✔ ✔
Activated when turning on control power. ✔

◆ Corrective action
Cause Check item and action
■ Verify wiring of servo motor power
line and if it is not correct, correct the
1 ■ Servo motor does not rotate.
wiring.
■ Replace servo motor.
2 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
■ Adjust servo parameters so as not to
3 ■ Servo motor vibrates (oscillates).
vibrate (oscillate).

7-16
7. Maintenance Troubleshooting when alarm activated
■ Alarm code C5 (Model-following vibration suppression control error)
Cause
State when alarm activated
1 2 3
Activated after inputting position command pulse. ✔ ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Setting of model control gain is high. ■ Decrease model control gain.
■ Acceleration and deceleration of position ■ Slow down command acceleration and
2
command is short. deceleration command.
■ Increase torque limit value. Or disable
3 ■ Torque limit value is low.
torque limit.
✔ This alarm may be activated, when the other alarm activated and then alarm-reset performed
during decelerating by servo brake.

■ Alarm code D1 (Excessive position deviation)

Cause
State when alarm activated
1 2 3 4 5 6 7 8 9 10 11 12
Activated when turning on
✔
control power.
Activated on servo-on and stop. ✔ ✔
Activated shortly after starting to
✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔
input command.
Activated on high-velocity
✔ ✔ ✔ ✔ ✔ ✔ ✔
start-up and stop.
Activated during operation by
✔ ✔ ✔ ✔
long command.

◆ Corrective action
Cause Check item and action
■ Position command frequency is too high, or ■ Review position command from
1
acceleration and deceleration time is too short. controller.
■ Load inertia moment is too large, or motor ■ Review load conditions, or increase
2
capacity is too small. servo motor capacity.
■ Verify wiring and if it is not correct,
correct the wiring. If correct (specified
3 ■ Holding brake is not released.
voltage is applied), replace servo
motor.
■ Servo motor is mechanically locked, or machine
4 ■ Review mechanical system.
collided.
■ One phase or all phases are missing in wiring
■ Verify wiring and if it is not correct,
5 of phase U, V, and W between servo amplifier
correct the wiring.
and servo motor.
■ Servo motor was forced to rotate by external
■ Review load conditions, or increase
6 force (gravity) at stoppage (at positioning
servo motor capacity.
completion).
■ Torque limit enabling command is input from ■ Increase torque limit value. Or disable
controller, and torque limit setting is too small. torque limit.
■ Set value of velocity limit command is too small. ■ Increase velocity limit command set
7
■ Motor encoder pulse number setting does not value.
conform to servo motor. ■ Confirm to servo motor encoder pulse
number.
■ Settings of servo parameters (such as position ■ Adjust servo parameters.
8
loop gain) are not proper. (e.g. Increase position loop gain.)
9 ■ Set value of deviation excess is too small. ■ Increase deviation excess set value.
10 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
11 ■ Motor encoder internal circuit error. ■ Replace servo motor.
12 ■ Power voltage decrease of main circuit. ■ Review main circuit power voltage.

7-17
7. Maintenance Troubleshooting when alarm activated
■ Alarm code D2 (Position command pulse frequency error 1)
Cause
State when alarm activated
1
Activated after inputting position command pulse. ✔

◆ Corrective action
Cause Check item and action
■ Decrease command pulse input
■ Command more than digital filter set value of
1 frequency.
pulse input is input.
■ Increase digital filter frequency.

■ Alarm code D3 (Position command pulse frequency error 2)

Cause
State when alarm activated
1 2
Activated after inputting position command pulse. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Decrease command pulse input
1 ■ Command pulse input frequency is too high.
frequency.
2 ■ Set value of electronic gear is too large. ■ Decrease set value of electronic gear.

■ Alarm code DF (Test mode end)

Cause
State when alarm activated
1
Activated after performing test mode. ✔

◆ Corrective action
Cause Check item and action
■ Perform alarm-reset to restore.
(Error shall be detected in consideration
1 ■ Normal operation.
that deviation may remain on controller side
after performing test mode.)

7-18
7. Maintenance Troubleshooting when alarm activated
■ Alarm code E1 (EEPROM error)
Cause
State when alarm activated
1
Activated during operating displayed keys or setup
✔
software.

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.

■ Alarm code E2 (EEPROM check sum error)

Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Correct value was not loaded into CPU from
1 ■ Replace servo amplifier.
EEPROM built in servo amplifier.
2 ■ Writing error to EEPROM at previous power-off ■ Replace servo amplifier.

■ Alarm code E3 (Memory error 1)

■ Alarm code E4 (Memory error 2)
■ Alarm code E8 (CPU peripheral circuit error)
■ Alarm code E9 (System code error)
Cause
State when alarm activated
1
Activated when turning on control power supply. ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error ■ Replace servo amplifier.

7-19
7. Maintenance Troubleshooting when alarm activated
■ Alarm code E5 (System parameter error 1)
Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Check servo amplifier model number.
Confirm system parameter setting
1 ■ Parameter is set to the value out of set scope. value, and then correct value.
Verify no alarm is activated after
re-turning on control power.
2 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.

■ Alarm code E6 (System parameter error 2)

Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Check servo amplifier model number.
■ Combination of system parameter set value and
Confirm system parameter setting
actual hardware is not correct.
1 value, and then correct value. Verify no
■ Combinations of system parameter settings are
alarm is activated after re-turning on
not correct.
control power.
2 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.

■ Alarm code E7 (Motor parameter error)

Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔

◆ Corrective action
Cause Check item and action
■ Re-turn on control power after re-set
■ Correct value was not loaded into CPU from
1 motor parameter, if still alarm activated
EEPROM built in servo amplifier.
even after that, replace servo amplifier.
■ Re-turn on control power after re-set
■ Writing error to EEPROM at motor parameter
2 motor parameter, if still alarm activated
change.
even after that, replace servo amplifier.

7-20
7. Maintenance Troubleshooting when alarm activated
■ Alarm code EE (Motor parameter auto-setting error 1)
Cause
State when alarm activated
1 2
Activated after performing motor parameter auto-setting
✔ ✔
function.

◆ Corrective action
Cause Check item and action
■ Encoder connected does not support
1 ■ Replace with applicable servo motor.
auto-setting function of motor parameter.
■ Down load motor parameters from
■ Servo motor connected does not support
2 setup software as servo motor you use
auto-setting function of motor parameter.
cannot support this function.
3 ■ Motor encoder internal circuit error. ■ Replace servo motor.

■ Alarm code EF (Motor parameter auto-setting error 2)

Cause
State when alarm activated
1 2
Activated after performing motor parameter auto-setting
✔ ✔
function.

◆ Corrective action
Cause Check item and action
■ Check servo amplifier and servo motor
■ Combination of servo motor and servo amplifier
1 model number, and then correct the
is incorrect.
combination.
2 ■ Motor encoder internal circuit error. ■ Replace servo motor.

■ Alarm code F1 (Task process error)

Cause
State when alarm activated
1
Activated during operation. ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.

■ Alarm code F2 (Initial timeout)

Cause
State when alarm activated
1 2
Activated when turning on control power. ✔ ✔

◆ Corrective action
Cause Check item and action
1 ■ Servo amplifier internal circuit error. ■ Replace servo amplifier.
■ Check to see if servo amplifier ground
wire is correctly grounded.
2 ■ Malfunction due to noise.
■ Take actions against noise such as
ferritic core.

7-21
7. Maintenance Encoder clear and alarm reset

7.4 Encoder-clear and alarm-reset procedure

“Encoder-clear” and “alarm-reset” procedures vary depending on motor encoder you use.
Perform “encoder clear, alarm reset” corresponding to “motor encoder” you use by referring to “2)
Alarm code activated.” Make sure to perform “encoder clear, alarm reset” after alarm causes
eliminated.

1) Motor encoder model

■ Absolute encoder for incremental system

Model Resolution Synchro system Transmission method Transmission rate
PA035S 131072-division Start/stop Half-duplex serial 2.5Mbps
(17 bits) synchronization communication

■ Battery-backup absolute encoder

Model Resolution Multiply-rotating Synchro system Transmission Transmission rate
part method
131072-division 65536 Start/stop Half-duplex serial 2.5Mbps
(17 bits) (16 bits) synchronization communication
PA035C
131072-division 65536 Start/stop Half-duplex serial 4.0Mbps
(17 bits) (16 bits) synchronization communication

■ Battery-less absolute encoder

Model Resolution Multiply-rotating Synchro system Transmission Transmission rate
part method
RA035C Half-duplex
131072-division 65536 Start/stop
serial 2.5Mbps
(17 bits) (16 bits) synchronization
communication

2) Alarm code activated

■ Alarm code A1 (Serial encoder internal error 1)

◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S
“Alarm-reset” after “encoder-clear”
PA035C
“Alarm-reset” after “encoder-clear” or “Re-turn on control power
RA035C supply.”

■ Alarm code A2 (Serial encoder internal error 2)

◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S
“Re-turn on control power supply.”
PA035C
“Alarm-reset” after “encoder-clear” or “Re-turn on control power
RA035C supply.”

■ Alarm code A3 (Serial encoder internal error 3)

◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S “Alarm-reset” after “encoder-clear” or “Re-turn on control power
PA035C supply.”
RA035C

7-22
7. Maintenance Encoder clear and alarm reset
■ Alarm code A4 (Serial encoder internal error 4)
◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S “Alarm-reset” after “encoder-clear” or “Re-turn on control power
PA035C supply.”
RA035C

■ Alarm code A5 (Serial encoder internal error 5)

◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S
PA035C “Re-turn on control power supply.”
RA035C

■ Alarm code A6 (Serial encoder internal error 6)

◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S
PA035C “Re-turn on control power supply.”
RA035C

■ Alarm code A9 (Serial encoder internal error 9)

◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S
PA035C “Alarm-reset”
RA035C

■ Alarm code AA through AF (Serial encoder internal error 10 through 15)

◆ Motor encoder you use and “encoder-clear” and “alarm-reset” method.
Model Method
PA035S
PA035C “Re-turn on control power supply.”
RA035C

7-23
7. Maintenance Inspection

7.5 Inspection

1) Items to be checked and corrective actions for operation error

Servo amplifier and motor do not employ any wear components, so ordinary simple inspections
are sufficient for the maintenance. Refer to the following items to perform inspections.

Inspection condition
Point of
Item to be During Point to be Action when error
During inspection
checked Timing operation checked found
operation method
stop
See if
vibration
Daily ✔ Vibration increases
compared to
normal basis.
Please contact us.
See if
abnormal
Daily ✔ Noise noise exists
compared to
normal basis.
Servo motor See if any
Clean with clothes
dusts and dirt
Timely ✔ Cleaning or compressed air.
on the
Note 1)
exterior.
Measurement
of insulation
Annual ✔
resistance
value Please contact us.
5000
Oil seal
hours ✔
replacement
Note 2)
See if any
dusts Clean with
Timely ✔ Cleaning accumulated compressed air.
on the Note 1)
Servo
equipments.
amplifier
See if any
Screw connectors
Annual ✔ Enhance tightening.
looseness are
loosened.
See if battery
Battery for Daily voltage is
✔ Battery voltage Replace battery.
serial encoder Note 3) DC3.6V or
over.
Set the ambient
Ambient temperature within
Temperature temperature. the scope of
Temperature Timely ✔
measurement Motor frame specification.
temperature. Review load
conditions.
Note1) Make sure to check no oil and moisture contained in compressed air before air cleaning.
Note2) Indicates inspection and replacement timing when waterproof and oilproof function
required.
Note3) Estimated battery lifetime is about two years in the state power supply is thoroughly
turned on. When replacing battery, we recommend our product lithium battery (our
product model number: AL-00494635-01).

7-24
7. Maintenance Service parts

7.6 Service parts

1) Parts to be inspected

Standard
No. Part replacement Action/condition of use
cycle
Lithium battery for serial
1 3-year Required to replace with a new one.
encoder [ER3V]
Required to replace with a new one.
Electrolytic capacitor other
Condition of use: full-year average
2 than capacitors for 5-year
temperature at 40°C
smoothing main circuit
Operating time for a year: 4800 hours

■ Lithium battery for serial encoder

◆ Normal replacement period of the recommended lithium battery is an estimated lifetime.
Motor unused for a long time shortens lithium battery’s lifetime. Replace the battery with a
new one if battery voltage is 3.6V or less during inspection.

■ We deliver servo amplifier with the parameters reverted to the previous state before overhaul
after we conducted servo amplifier overhaul, however, please surely verify parameters prior to
operation, just in case.

2) Motor encoder battery replacement

Replacing batteries with control power turned off may cause multiply-rotating counter (position
data) of Motor encoder to become unstable. If you turn on control power of amplifier in this state,
alarm (Serial encoder internal error 1) is activated. To cope with this, perform encoder-clear and
alarm-reset to deactivate alarm state. Verify and adjust correlation between position data and
machine coordinate system, because absolute encoder position data may be indefinite.

7-25
8
8. Fully-closed control
8.1 Illustration of system configuration ......................................................................................................................... 8-1
8.2 Internal block diagram ............................................................................................................................................... 8-2
8.3 Wiring .......................................................................................................................................................................... 8-4
1) Connector name and its function ................................................................................................................................ 8-4
2) Terminal numbers on servo amplifier side .................................................................................................................. 8-6

8.4 Fully closed control-related parameters .................................................................................................................. 8-7

1) System parameter setting........................................................................................................................................... 8-7
2) Servo motor rotation direction setting ......................................................................................................................... 8-8
3) External encoder resolution setting ............................................................................................................................ 8-9
4) Digital filter setting ...................................................................................................................................................... 8-9
5) Encoder output pulse signal ....................................................................................................................................... 8-9

8.5 Remarks .................................................................................................................................................................... 8-10

1) Timing to power-on external pulse encoder .............................................................................................................. 8-10
2) Operation of external pulse encoder......................................................................................................................... 8-10

8
 8. Fully-closed control Illustration of system configuration

8.1 Illustration of system configuration

Fully-closed control is not available on our standard model servo amplifier. When you would like to
use fully-closed control, please cosult us in advance.

SANMOTION R ADVANCED MODEL

Direct current power
(Low voltage-input type)
supplyDC5V

Electrical power input

Direct current power supply

DC48V<24V>

Install this for the possibility

of regenerative energies and
DC voltage increase, Host equipment
depending on driving motor
and operating conditions.

Setup software

Regenerative unit
(Optional extras)
Use this software to set
Motor power input parameters and monitor by
communicating with PC.

Power supply for

releasing brake

Use this for servo motor with brake.

Please be advised the power supply
is user-prepared item.
Linear sensor

Servo motor Motor encoder

8-1
8. Fully-closed control Block diagram not using model control

8.2 Internal block diagram

[Auto-tuning]

Position command pulse

PMOD Frequency monitor 1 No model control performed.
[G8-10]
[Feed forward control] TUNMODE ATRES
Position PCPPOL [G0-02]
[G8-11] [G0-00]
command pulse
FFGN FFFIL
PCPFIL [G1-05] [G1-06]
[G8-12] ATCHA ATSAVE
[G0-01] [G0-03]
Position deviation
monitor Velocity command monitor [Velocity control]
(After filtering)
TRCPGN [Position control] KVP1
Torque command monitor
[FF vibration ［G1-04］ [G1-12] TLSEL
suppression control] [G8-36] Torque monitor

Position deviation
B-GER1 KP1 VCNFIL TVI1
[G8-13] [G1-02] ＋ [G2-10] [G1-13] TCLM-F TCFIL1 Servo motor
SUPFRQ1
＋ [G1-20]

counter
PCSMT PCFIL [G8-37] Torque command
[G1-00] VCFIL JRAT1 Notch filter
A-GER1 [G2-00] [G1-01] [G1-10] Torque
TPI1 [1-14] TCLM-R TCFILOR
[G8-14] ＋ [G1-03] ＋ ＋ ＋ [G8-38] [G1-21] control
－ ＋ － TRCVGN ＋
SUPLV [1-15]

Position deviation [High stabilizing control]

deviation
Position

counter

monitor
Position command pulse
＋ (Before filtering) CVFIL ACCC0
Frequency monitor 2 (Analog) － [G5-00] [G5-02]
TCNFILA TCNFILB TCNFILC TCNFILD
CVTH DECC0 VDFIL [G2-20] [G2-22] [G2-24] [G2-26]
[G5-01] [G5-03] [G1-11]
TCNFPA TCNFDB TCNFDC TCNFDD
JOG
[G2-21] [G2-23] [G2-25] [G2-27]
velocity
command
TVCACC
[G8-2B]
V-COMP EX-VCFIL
[G8-28] [G8-2A] TVCDEC
[G8-2C]
[Acceleration feedback] [Disturbance observer]
AFBK OBCHA OBLPF
EX-TCFIL [G1-16] [G2-30] [G2-32]
[G8-35]
AFBFIL OBG OBNFIL
Velocity monitor [G1-17] [G2-31] ［G2-33］

T-COMP1 Velocity
detection
[G8-31]

T-COMP2 For serial encoder

[G8-32] Motor encoder
Z-phase
signal
4
-multiplied 4
ENRAT -multiplied
［GC-04］ For pulse encoder

A/B-phase PULOUTRES
signal ［GC-06］
PULOUTSEL
［GC-03］
Analog monitor
output 1
MON1/MON2 External encoder
[GA-11/12］
Various monitors
Analog monitor
output 2

8-2
8. Fully-closed control Block diagram not using model control
Position command pulse
Position command pulse frequency monitor 2
[Feed forward control] Model following vibration suppression control performed.
frequency monitor 1 (Analog monitor)
FFGN FFFIL
[G1-05] [G1-06]

[FF vibration
TRCPGN [Auto-tuning]
PMOD suppressor control]
[G1-04] TLSEL
[G8-10] B-GER1 TUNMODE ATRES

Position deviation counter

SUPFRQ1 [G8-36] [Machine model]
[G8-13] [G2-00] ＋ [G0-00] [G0-02]
PCPP0L PCSMT PCFIL ＋ TCLM-F
Position KM1 Model TCFIL1 JRAT1
[G8-11] A-GER1 [G1-00] [G1-01] [G8-37] ATCHA ATSAVE
command SUPLV [G3-00] velocity [G1-20] [G1-14]
[G8-14] ＋ ＋ [G0-01] [G0-03]
pulse [G2-01] － － control
PCPFIL TCLM-R
[G8-12] [G8-38]

Velocity
detection

Velocity command Torque command

monitor monitor Torque monitor
[Velocity control]
Position deviation counter

[Position control] KVP1

Position deviation counter

TLSEL
[G1-12] [G8-36]
KP1 VCNFIL TCFIL1
Position deviation [G1-02] [G2-10] [G1-20]
monitor ＋ TVI1 TCLM-F Torque Torque
＋ Servo
[G1-13] [G8-37] command control
－ － TPI1 VCFIL TCFILOR motor
＋ notch filter
[G1-03] [G1-10] － JRAT1 [G1-21]
TCLM-R
[G1-14] [G8-38]

TCNFILA TCNFILB TCNFILC TCNFILD

[G2-20] [G2-22] [G2-24] [G2-26]

TCNFPA TCNFDB TCNFDC TCNFDD

[G2-21] [G2-23] [G2-25] [G2-27]

MON1
Analog monitor output 1 Various VDFIL
[GA-11]
Monitors [G1-11] [Acceleration feedback] [Disturbance observer]
OSSFIL AFBK OBCHA OBLPF
MON2 [G3-01] [G1-16] [G2-30] [G2-32]
Analog monitor output 2 [GA-12] Various
Velocity
Monitors AFBFIL OBG OBNFIL
monitor Motor encoder
[G1-17] [G2-31] [G2-33]

Velocity For Serial encoder

detection
Z-phase signal
4x For Pulse 4x
multiplier encoder multiplier
ENRAT
[GC-04]
A/B-phase signal Out
PULOUTSEL side
[GC-06] PULOUTSEL External encoder
[GC-03]

8-3
8. Fully-closed control Wiring

8.3 Wiring

1) Connector name and its function

Connector model No. Manufacturer

3240-10P-C HIROSE ELECTRIC Co.,LTD.

■ Battery backup method absolute encoder

Servo Servo motor
Servo motor
Amplifier CN2 Cannon plug Signal name Description
Cable color
Terminal No. pin No.
1 Red 5V Power supply
Power supply Twisted pair
2 Black SG
common
3 Brown ES+
Serial data signal Twisted pair
4 Blue ES-
5 Pink BAT+
Battery Twisted pair
6 Purple BAT-
7 - N.C.
Unconnected -
8 - N.C.
9 Shield FG (earth)
Shield -
10 Shield FG (earth)
Note) Use jacketed, shielded, and twisted pair cables.

■ Absolute encoder for incremental system

Servo Servo motor
Servo motor
Amplifier CN2 Cannon plug Signal name Description
Cable color
Terminal No. pin No.
1 Red 5V Power supply
Power supply Twisted pair
2 Black SG
common
3 Brown ES+
Serial data signal Twisted pair
4 Blue ES-
5 - N.C.
Unconnected -
6 - N.C.
7 - N.C.
Unconnected -
8 - N.C.
9 - FG (earth)
Shield -
10 - FG (earth)
Note) Use jacketed, shielded, and twisted pair cables.

8-4
8. Fully-closed control Wiring

■ Battery less absolute encoder

Servo Servo motor
Servo motor
Amplifier CN2 Cannon plug Signal name Description
Cable color
Terminal No. pin No.
1 Red 5V Power supply
Power supply Twisted pair
2 Black SG
common
3 Brown ES+
Serial data signal Twisted pair
4 Blue ES-
5 - N.C.
Unconnected -
6 - N.C.
7 - N.C.
Unconnected -
8 - N.C.
9 - FG (earth)
Shield -
10 - FG (earth)
Note) Use jacketed, shielded, and twisted pair cables.

■ Pulse Encoder
Servo Servo motor
Servo motor
Amplifier CN2 Cannon plug Signal name Description
Cable color
Terminal No. pin No.
1 Red 5V Power supply Twisted pair
Power supply (Recommended)
2 Black SG
common
3 Blue A
Phase A pulse output Twisted pair
4 Brown /A
5 Green B
Phase B pulse output Twisted pair
6 Purple /B
7 White Z
Phase Z pulse output Twisted pair
8 Yellow /Z
9 Shield FG (earth)
Shield -
10 Shield FG (earth)
Note) Use jacketed, shielded, and twisted pair cables.

8-5
8. Fully-closed control Wiring
■ External encoder
Terminal
Signal Description Note1)
NO.
1 5V Note 3)
Power supply Twisted pair
2 SG
common Note4)
3 A
Phase A pulse output Twisted pair
4 /A
5 B
Phase B pulse output Twisted pair
6 /B
7 C
Phase C pulse output Twisted pair
8 /C
9 N.C.
Unconnected Twisted pair
10 N.C.
Note 2) Earth Shield -
Note 1) Use jacketed, shielded, and twisted pair cables.
Note 2) Jacketed shielded cables shall be connected to metal case (earth) on connector side
and connected to earth on motor encoder side.
Note 3) Please be advised that power supply for external pulse encoder shall be
user-prepared item.
Note 4) Surely connect power supply common.
Note 5) Connector of external encoder is placed at the bottom of amplifier.

2) Terminal numbers on servo amplifier side

10 1

NC NC /C C /B B /A A SG 5V

Connector-connected side

8-6
8. Fully-closed control System parameter setting

8.4 Fully closed control-related parameters

To operate under fully-closed control, set the parameters as follows:

1) System parameter setting

The following restrictions on system parameters shall be observed for operation under fully-closed
control. Fully-closed control becomes valid when control mode “position control” is selected.
Operation under fully-closed control is not supported in mode selections other than “position control
form.” Control cycle is only valid on “standard smapling,” and position control selection is only valid
on “standard” and “model-following control.”

ID Description
Control cycle
■ Select velocity control and control cycle.

00 Set as follows:
Selection Description
00 Standard_Sampling Standard sampling mode

Position control selection

■ Select position control mode function.
Select from the following to set.
0A Selection Description
00 Standard Standard
01 Model1 Model-following control

Position loop control and position loop encoder selection

■ Select “position loop control method” of servo amplifier and encoder that servo amplifier uses
for “position loop control loop” for “fully-closed control”-applied system.

Selection Description
00 Motor_Enc Semi-closed control/ motor encoder
01 External－Enc Fully-closed control/ external encoder
0B

■ Confirm set value is the value below.

Current set value Description
01: External-Enc Fully-closed control/ external encoder

9 No change is needed for the system performing no fully-closed control.

8-7
8. Fully-closed control Servo motor rotation direction setting

2) Servo motor rotation direction setting

Servo motor rotation direction shall be determined according to command and external pulse
encoder polarity under fully-closed control.

Description
Position, velocity, and torque command input polarity “Group 8 ID00”
■ Selects command polarity of position command pulse from the following items.
This setting can change servo motor rotation direction without changing command wiring.

Position command pulse Position command pulse

Selection
Positive (PCMD) Negative (PCMD)
00 PC+_VC+_TC+ CCW-rotation CW-rotation
01 PC+_VC+_TC-
02 PC+_VC-_TC+
03 PC+_VC-_TC-
ID: 0C/0D“APMON” Current position monitor Current position monitor value
value increases decreases

Position command pulse Position command pulse

Selection
Positive (PCMD) Negative (PCMD)
04 PC-_VC+_TC+ CW-rotation CCW-rotation
05 PC-_VC+_TC-
06 PC-_VC-_TC+
07 PC-_VC-_TC-
ID：0C/0D“APMON” Current position monitor Current position monitor value
value decreases increases

External pulse encoder polarity selection“re-turn on control power after setting”, “Group C ID02”
■ Sets signal polarity of external pulse encoder.

Selection Description
00 Type1 EX-Z/ Un-reversed EX-B/ Un-reversed EX-A/ Un-reversed
01 Type2 EX-Z/ Un-reversed EX-B/ Un-reversed EX-A/ Reversed

Set “signal polarity of external pulse encoder” in order that increase and decrease of current
position monitor (external encoder) “ID: 0E/0F ’EX-APMON’” is the same as the one of current
position monitor (motor encoder) “ID: 0C/0D ’APMON’.”
This parameter becomes valid on re-power on.

8-8
8. Fully-closed control External encoder resolution setting

3) External encoder resolution setting

“Re-supply control power after setting” - “System parameter ID0C” - external pulse encoder resolution
■ Input the number of pulse converted into 1 rotation of motor axis.
Setting range Unit
500 through 99999
P/R
(1 multiplier)
■ e.g.
◆ The minimum resolution of external pulse encoder to be used：1.0μm
◆ WORK moving distance for 1 rotation of motor axis: 10mm
Pulse number converted to external pulse encoder resolution per 1mm is 1000P/mm.
Pulse number converted to 1 motor-rotation is 10mm/1R×1000P/mm = 10000P/R (4-
multiplied), as WORK moving distance for 1 motor axis rotation is 10 mm.
Set 10000/4 = 2500P/R (as the value set is 1-multiplied.)
9 Please round off the value below a decimal point.

4) Digital filter setting

External pulse encoder digital filter “Group C ID01”
■ Set digital filter of external pulse encoder.
Remove pulse below set value as noise, when noise is superimposed on external pulse encoder.
Consider encoder resolution you use and maximum revolution velocity of servo motor when
operating to set. Set by referring the 1/4 or less of encoder pulse width at maximum revolution
velocity.

Selection Description
00 110nsec Minimum pulse width=110nsec (Minimum phase difference=37.5nsec)
01 220nsec Minimum pulse width =220nsec
02 440nsec Minimum pulse width =440nsec
03 880nsec Minimum pulse width =880nsec
04 75nsec Minimum pulse width =75nsec (Minimum phase difference =37.5nsec)
05 150nsec Minimum pulse width =150nsec
06 300nsec Minimum pulse width =300nsec
07 600nsec Minimum pulse width =600nsec

Pulse width
Pulse width

Phase A

Phase B
Phase difference
Pulse width
Phase Z

5) Encoder output pulse signal

“Re-turn on control power after setting”, encoder output pulse frequency dividing selection “Group C
ID03”
■ Set signal for encoder output pulse frequency dividing.
Select between “motor encoder” and “external encoder”, when incorporating “encoder pulse signal
“ into upper-level equipment.
Selection Description
00 Motor_Enc Motor encoder
01 External_Enc External encoder

8-9
8. Fully-closed control Remarks

8.5 Remarks

1) Timing to power-on external pulse encoder

■ Please be advised the power supply for external pulse encoder shall be user-prepared.
■ Power on prior to or at the same time of servo amplifier control power supply on. If there is more
than 1s delay for the time of control power supply on, “AL 83 alarm (encoder connector
2-disconnected)” may occur.

2) Operation of external pulse encoder

■ Servo motor can go out of control in the following circumstances. Make sure no problems on
external pulse encoder prior to turning on the servo (exciting servomotor).

‹ When counting direction (increase/decrease) of ”APMON: monitoring current position

(motor encoder)” and “EX-APMON: monitoring current position (external encoder)”,
calculated according to monitored value, is reversal. Change “Group C ID02”, polarity
selection of external pulse encoder to adjust counting direction (increase/decrease).

■ When operation of external pulse encoder is disconnected.

Operate external pulse encoder with the encoder mechanically connected.

8-10
No Text on This Page.
9
9 Selection
9.1 Servo motor volume selection .................................................................................................................................. 9-1
1) Servo motor capacity selection flowchart.................................................................................................................... 9-1
2) Create operation pattern............................................................................................................................................. 9-2
3) Calculate motor axis-converted load inertia moment (JL). .......................................................................................... 9-2
4) Calculate motor axis-converted load torque (TL). ....................................................................................................... 9-3
5) Calculate acceleration torque (Ta). ............................................................................................................................. 9-5
6) Calculate deceleration torque (Tb). ............................................................................................................................. 9-5
7) Calculate effective torque (Trms)................................................................................................................................ 9-5
8) Judgment condition (determination condition) ............................................................................................................ 9-5

9.2 Remarks on regeneration .......................................................................................................................................... 9-6

1) Calculation of regenerative energy EM....................................................................................................................... 9-6
2) Coping process for regenerative energy..................................................................................................................... 9-8
9.3 Specification for regenerative unit ......................................................................................................................... 9-10
1) Specification ............................................................................................................................................................. 9-10
2) Internal block diagram .............................................................................................................................................. 9-10
3) Regenerative unit front view ..................................................................................................................................... 9-11
4) Connection diagram of regenerative unit.................................................................................................................. 9-12
5) Calculation of regenerative effective electrical power ............................................................................................... 9-14

9
9. Selection Servo motor capacity selection

9.1 Servo motor volume selection

Selection of servo motor capacity is to calculate servo motor capacity needed for mechanical
specification (configuration). A basic calculating formula is shown below.

1) Servo motor capacity selection flowchart

(1) Create operation pattern.

Start
(2) Calculate load inertia moment according to
mechanical configuration.
(3) Calculate load torque according to
Create operating pattern. mechanical configuration.
(1)
(4) Temporarily select the motor whose load
inertia moment (JL) is less than 10-times of
servo motor rotor inertia moment (JM) and whose
(2) Calculate load inertia moment JL. load torque (TL) is less than motor rated torque
(TR).

JL≦JM×10
(3) Calculate load torque TL.
TL<TR

Calculate acceleration and deceleration torque

according to operation torque.
Temporally select servo motor capacity.
Calculate effective torque according to torque
(4) pattern.

(5)(6)(7)
Calculate acceleration and deceleration torque. Determine acceleration and deceleration torque
(5) (Ta, Tb) is less than 80% of servo motor
momentary maximum torque (Tp×0.8), and then
effective torque (Trms) is less than 70% of servo
Calculate effective torque. motor rated torque (TR×0.7).
(6)

Ta<Tp×0.8
Determine capacity. No Tb<Tp×0.8
(7)
Yes Trms<TR×0.7
(9) Re-examine servo motor sizing
(8) Calculate regenerative power, and then
(8) Calculate regenerative power.
consider to place regenerative unit, if needed.
Refer to “section 9.2, caution on regenerative
unit” for the calculation.
Selection completed.
(9) Review servo motor capacity, increase the
capacity if needed.

9-1
9. Selection Servo motor selection

2) Create operation pattern.

velocity
[min-1]
N2

N1 ta tr tb time [s]
tc ts
t

ta= Acceleration time

tb= Deceleration time
tr= Constant-velocity time
ts= Downtime
t= 1 cycle

3) Calculate motor axis-converted load inertia moment (JL).

■ Inertia moment of moving part

1 2 ππ× ρ× D4× L
JL = ( ) × [kg･m2]
G 32

G: Velocity reduction ratio

ρ: Motion part specific gravity [kg/m3]
D: Motion part diameter [m]
L: Motion part length [m]

■ Inertia moment of working part

1 2 P 2
JL = ( ) × W × ( ) [kg･m2]
G 2π

G: Velocity reduction ratio

W: Moving part weight [kg]
P: Ball screw lead [m] when ball screw is applied.
Pulley circumference [m] when belt pulley is applied.
(P=πD)

9-2
9. Selection Servo motor selection

4) Calculate motor axis-converted load torque (TL).

■ Ball screw (horizontal)

(F＋μW) P 1
TL= × × × 9.8 [N･m]
η 2π G

◆ When motor stops (horizontal)

F P 1
TL= × × × 9.8 [N･m]
η 2π G

■ Ball screw (vertical)

◆ When motor drives upward

(F＋(μ＋1)W) P 1
TL= × × × 9.8 [N･m]
η 2π G

◆ When motor drives downward

(F＋(μ－1)W) P 1
TL= × × × 9.8 [N･m]
η 2π G

◆ When motor stops (vertical)

(F＋W) P 1
TL= × × × 9.8 [N･m]
η 2π G

F: External force [kg]

η: Transmission efficiency
μ: Friction coefficient
W: Movable part mass [kg]
P: Ball screw lead [m]
G: Velocity reduction ratio

9-3
9. Selection Servo motor capacity selection
■ Belt pulley (horizontal)

(F＋μW) D 1
TL= × × × 9.8 [N･m]
η 2 G

◆ When motor stops (horizontal)

F D 1
TL= × × × 9.8 [N･m]
η 2 G

■ Belt pulley (vertical)

◆ When motor drives upward

(F＋(μ＋1)W) D 1
TL= × × × 9.8 [N･m]
η 2 G

◆ When motor drives downward

(F＋(μ－1)W) D 1
TL= × × × 9.8 [N･m]
η 2 G

◆ When motor stops (vertical)

F D 1
TL= × × × 9.8 [N･m]
η 2 G

F: External force [kg]

η: Transmission efficiency
μ: Friction coefficient
W: Movable part mass [kg]
D: Pulley diameter [m]
G: Velocity reduction ratio

9-4
9. Selection Servo motor capacity selection

5) Calculate acceleration torque (Ta).

2π(N2-N1) × (JL＋JM)
Ta= + TL [N･m]
60×ta

N2: Servo motor revolution velocity after accelerated [min-1]

N1: Servo motor revolution velocity before acceleration [min-1]
JL : Load inertia moment [kg･m2]
JM: Servo motor rotor inertia moment [kg･m2]

6) Calculate deceleration torque (Tb).

2π(N2-N1) × (JL＋JM)
Tb= - TL [N･m]
60 × tb

N2: Servo motor revolution velocity after decelerated [min-1]

N1: Servo motor revolution velocity before deceleration [min-1]
JL: Load inertia moment [kg･m2]
JM: Servo motor rotor inertia moment [kg･m2]

7) Calculate effective torque (Trms).

(Ta2 × ta)＋ (TL2 × tr) ＋ (Tb2 × tb)

Trms= [N･m]
t

8) Judgment condition (determination condition)

■ The following judgment conditions are applied to SANMOTION, series R, RF2 (DC48V<24V
>-input), as a guide.
◆ Load factor of load torque TL < TR × 0.8
(Load torque shall be less than 80% of rated torque.)
◆ Load factor of acceleration torque Ta < TP × 0.8
(Acceleration torque shall be less than 80% of momentary maximum torque.)
◆ Load factor of deceleration torque Tb < TP × 0.8
(Deceleration torque shall be les than 80% of momentary maximum torque.)
◆ Load factor of effective torque Trms < TR × 0.7
(Effective torque shall be less than 70% of rated torque.)
◆ Inertia moment ratio JL < JM × 10
(Shall be less than 10-times of rotor inertia moment of motor.)

✔ Consider sufficient margin for torque load ratio so as to prevent motor temperature increase.
Inertia moment ratio can be controlled even it is 10 times of the above value, when slowly
rotating table mechanical. We recommend verification on actual machine.
✔ In DC48V<24V>-input servo system, when wiring of main circuit power or motor input line is
relatively long, motor-generated torque notably decreases due to voltage drop on cables.
Make sure to verify torque on actual machine with sufficient torque to select motor capacity.
✔ Regenerative energy can occur, depending on mechanical specification and selected motor.
Refer to “Section 9.2, Caution on regeneration” for the detail of regenerative energy and
confirm.
✔ Forced cooling can be required for servo amplifier, depending on effective torque and
combined motor. Refer to “Section 3.1 (5), Cooling conditions for servo amplifier” for the
details.

9-5
9. Selection Remarks on regeneration

9.2 Remarks on regeneration

Regenerative circuit and regenerative resistance are not built in SANMOTION R low-voltage
-input servo amplifier. You can use the amplifier as it is when actual system you use is in the
condition no regenerative energies occur. However, some coping processes are needed as
regenerative energies can occur depending on combines motor, load conditions, and operation
patterns.
The followings are calculation methods of regenerative energies and coping processes.

1) Calculation of regenerative energy EM

■ Horizontal axis drive

When performing horizontal axis drive, regenerative energy during velocity reduction time Tb.
The energy is indicated by the following formula.

velocity

0 Æ time

torque

0 Æ time
Tb
tb
t0

2
1 Tb Tb
EM= × N × 3・KEφ × × tb － × 3・Rφ × tb ･･････ ( J )
2 KT KT

EM :Regenerative energy in horizontal drive (J)

KEφ :Each phase voltage constant (Vrms/min-1) (motor constant)
KT :Torque constant (N･m/Arms)(motor constant)
-1
N :Motor revolution velocity (min )
Rφ :Armature resistance (Ω) (motor constant)
tb :Velocity reduction time (sec)
Tb :Torque during velocity reduction time (N･m )

✔ In horizontal drive，regenerative energy occurs during velocity reduction time ‘tb.’

✔ When calculation result of EM is negative value, regenerative energy does not occur.
✔ When any parameters such as gain improperly set, regenerative energy can occur on start
–up due to velocity overshoot. In this case, re-set proper parameters to remove overshoot so
that regenerative energy does not occur.

9-6
9. Selection Remarks on regeneration
■ Vertical axis drive (When gravity load added.)

In operation pattern in vertical axis drive, regenerative energy occurs during work-lifting &
velocity reduction time tUb, work-falling & constant velocity period tD, and work-falling & velocity
reduction time. Regenerative energies shall be calculated according to each period.

velocity
Increase
N

0 Æ time

Decrease
-N

TC +TM +TF TC -TM +TF

torque
(+)
TM TDb
TM +TF TD（＝TM－TF）
0 Æ time
TUb
(-) tUb tD tDb
t0

2
1 TUb TUb
Regenerative energy during tUb: EVUb= × N×3・KEφ× × tUb - ×3・Rφ ×tUb ･･････ ( J )
2 KT KT
2
TD TD
Regenerative energy during tD: EVD = N×3・KEφ× ×tD - ×3・Rφ ×tD ･･････ ( J )
KT KT
2
1 TDb TDb
Regenerative energy during tDb: EVDb = × N×3・KEφ× × tDb - ×3・Rφ ×tDb ･･････ ( J )
2 KT KT

Regenerative energy amount value during operating cycle t0: EM=EVUb＋EVD＋EVDb ・・・・・・ （ Ｊ ）

EM :Regenerative energy amount value in vertical axis drive (J)

EVUb :Regenerative energy during work-ascending and velocity reduction time (J)
EVD :Regenerative energy during descending-running.(J)
EVDb :Regenerative energy during work-descending and velocity reduction time (J)
TUb :Torque during work-ascending and velocity reduction time (N･m)(TUb=TC-TF-TM)
tUb :Work-ascending and velocity reduction time (sec)
TD :Torque during descending-running (N･m)(TD=TM-TF)
tD :Descending running time (sec)
TDb :Torque during work-descending and velocity reduction time (N･m) (TDb=TC-TF+TM)
tDb :Work-descending and velocity reduction time (sec)
TM :Gravity load torque (N･m)
TF :Friction torque (N･m)
TC :Acceleration and deceleration torque (N･m) with gravity and friction ignored

✔ The above pattern is in the estimation that regenerative energy occurs during work-ascending
and velocity reduction time tUb, work-descending and constant velocity period tD,
work-descending and velocity reduction time. Regenerative energy can occur during time
divisions other than the above, depending on operating pattern in vertical axis drive or
machine conditions.
✔ Regenerative energy occurs the time division that velocity (motor revolution) and torque
polarity are out of out of synchronization.
✔ When calculated result of any of the energies (EVUb, EVD, and EVDb)) are negative values, no
regenerative energies occur. In this case, calculate EM with that time division term set to “0
(zero).”

9-7
9. Selection Coping process for regenerative energy

2) Coping process for regenerative energy

Voltage at main circuit power input P-N (DC48V<24V>) of servo amplifier increases when
regenerative energy occurs. Main circuit voltage increase shall be less than DC60V to protect
internal circuit of servo amplifier. To prevent main circuit voltage increase, place electrolytic
capacitor on main circuit, or place regenerative unit.

■ Calculation of main circuit voltage increase

P P

CIN ＋ COUT ＋
DC power Servo amplifier
supply

N
N

(1) Calculate total amount C of capacities connected between P and N on DC line of main circuit.

C = CIN + COUT・・・・・formula (1)

(2). Calculate regenerative energy according to ”Section 9.2, Calculation of regenerative energy
EM.” Provided that consider any regenerative energies EV that occur in operating pattern, not
amount value Em of operating cycle t0. (See figure below.)

N
↑
Regenerative energy occurs in this time division,
Motor and then main circuit voltage increases.
revolution

↑ V1
P-N DC
voltage Increasing voltage varies with
on main V2 capacity C between P and N on main
circuit circuit.

9-8
9. Selection Coping process for regenerative energy

(3) Occurred regenerative energy and increasing voltage on main circuit have the following
relational expression:

1 2 2
EV = × C ×(V1 －V2 )･････Formula (2) (C: Capacity amount according to formula (1))
2

(4) Increasing voltage V1 of main circuit when regenerative energy occurred can be calculated
according to formula (2). Ensure that increasing voltage V1 of main circuit shall not exceed
DC60V. According to formula (2), properly setting of capacitor COUT placed on the outside of
power unit can prevent main circuit voltage increase.

✔ Select DC power to meet output voltage increasing due to regenerative energy. Some DC
power types have protective function to stop voltage output when main circuit voltage
increased. Please consult power supply manufacturers you use for the details.
✔ Placing high-capacity electrolytic capacitor on output part can prevent voltage increase.
Please note that inrush current runs to charge electrolytic capacitor on powering-on. Select
DC power with care.

■ Consumption with power running energy using multiple axes

Regenerative motor

DC power Amplifier
MOT
supply

※ Regenerative energy flow

Powering motor

Amplifier MOT

When multiple servo amplifiers are connected to DC power, regenerative energy occurred in one
axis, and power running occurred in the other axes, main circuit voltage increase can be
suppressed because regenerative energy is consumed as powering energy of powering motor.
In this case, it is difficult to calculate voltage increasing according to powering motor load condition
and operating pattern, so please verify on actual machine.

■ Regenerative unit placement

We offer optional regenerative unit that is to be inserted in parallel with main circuit.
Refer to “Section 9.3, Regenerative unit” for the specification for regenerative unit.

9-9
9. Selection Specification for regenerative unit

9.3 Specification for regenerative unit

1) Specification
Regenerative
RF1BB(A)00
unit model NO.
Power supply Power supplied by main circuit power (DC48V<24V>)
Regenerative initiation voltage 55V<28V>±1.5V
Hysteresis width 2V±0.5V
Regenerative
performance Built-in regenerative resistance 30Ω±5%
Allowable absorbed power for
7W
built-in regenerative resistance
Operating ambient temperature 0 through 40°C
Storage temperature -20 through +65°C
Operating and storage humidity 90% RH or less (No condensation)
Height above sea level 1000m or less
Environment 4.9m/sec2
Frequency range: 10 though 55Hz
Vibration
Within 2Hs in direction X, Y, and Z
respectively.
Impact 19.6m/sec2
Structure Tray type
Mass 0.18kg±10%
Resistance overheat detection with built-in thermostat
Protective (Signal output at contact point B)
feature Note) Please detect contacting signal output for thermostat, and then stop
servo motor operation by your self.

2) Internal block diagram

P Power circuit
&
DC power
N Drive circuit
Built-in
regenerative
External resistor
regenerative
resistor Overheat
detector

Alarm output

✔ Internal control circuit power shall be created (generated) from DC input (P-N, DC48V<24V>).

9-10
9. Selection Regenerative unit front view

3) Regenerative unit front view

1.DC power input connector (CNA)

This is input connector connected to power line of servo amplifier main power
supply (DC48V<24V>).
Input terminal P and N are located 2 parts respectively.

2.Alarm output connector (CNB)

This is output connector of thermostat for detecting built-in regenerative
resistance overheating.
Alarm is output when built-in regenerative resistance overheated.

3.Connecting connector for external regenerative unit resistance (CNC)

This is an interface to external regenerative resistance. When you use eternal
regenerative resistance, remove short bar originally placed between COM and
R-in to enable built-in regenerative resistance, and then connect eternal
resistance between COM and R-ext.

■ Connectors

Connector NO. Connector NO. on user side Connector NO. Manufacturer

on amplifier
CNA MSTB2.5/5-STF-5.08 MSTB2.5/5-GF-5.08 Phoenix contact
PAP-02V-S (Housing)
CNB S02B-PASK-2GW J.S.T. Mfg. Co.,Ltd
SPHD-001GU-P0.5 (Contact)
CNC IC2.5/3-STF-5.08 IC2.5/3-GF-5.08 Phoenix contact

9-11
9. Selection Connection diagram of regenerative unit

4) Connection diagram of regenerative unit

Regenerative unit
CNA Note 1)
RF1BB00
Main circuit P
(DC48V<24V>) N
P
N
FG

CNB Note 2)
TH1
Alarm output
Note 3) TH2

Note 4) CNC
COM
External regenerative
resistance R-in
R-ext

Note 1) Terminal P and N by two respectively are provided to CNA.

Note 2) Thermal guard (OHD5R-110B, NEC/TOKINproduct) is built in the unit as a overheat

detection for built-in regenerative resistance

Thermal guard specification:

Contact point type: B-contacting (brake)
Maximum switching voltage: 30V DC
Maximum switching current: 0.1A DC
Maximum switching electrical power: 1W DC
Minimum switching current: 0.1mA/1V DC

Note 3) Regenerative unit is not able to stop motor operation when thermostat overheat is detected
as in the above note 2. Please be advised that operations to monitor alarm output and stop
servo amplifier (connected to regenerative unit) at your end are needed to stop motor
operation. Please design your system so as to stop motor operation as well as shutdown main
power supply (P, N) connected to servo amplifier and regenerative unit, when regenerative
unit overheat detection is activated.

Note 4) When using built-in regenerative resistance, use CNC with COM-R-in short-circuited.
Effective regenerative electrical power consumable with built-in regenerative resistance is 7W.
When exceeding 7[W], external regenerative resistance is required. In this case, remove short
bar between COM-Rin, and then connect regenerative unit between COM-R-ext.

9-12
9. Selection Connection diagram of regenerative unit

■ Example of amplifier-regenerative unit connection

DC
5V
AC
power Power
input 5G

P Servo amplifier

ALM-output

5V

5G
MC
DC P Servo amplifier
AC
power Power
input N

ALM-output
Operation-ON
Operation-OFF
MC
MC
Emergency
stop
Alarm

+E
RY N Regenerative
unit

Alarm output

✔ Regenerative unit shall be connected to plural servo amplifiers’ main circuit powers (P, N).
✔ Make sure to design your system so as to shutdown main circuit power supply when ALM
output (alarm output) according to either plural servo amplifiers ALM-output or regenerative
unit alarm output. （see above）
✔ Regenerative unit has no control power inputs. Internal circuit can operate by connecting to
PN-power.

9-13
9. Selection Calculation of regenerative effective electrical power

5) Calculation of regenerative effective electrical power

Review system connected to regenerative unit to see if resistance built in regenerative unit can
absorb regenerative energy.

■ Calculation of regenerative effective electrical power

Calculate regenerative energy EM occurred in all the servo amplifiers connected to regenerative
unit according to “Section9.2, calculation of regenerative energy EM.”
Calculate regenerative effective electrical power PM that is consumed by regenerative unit,
according to the amount value ΣEM of regenerative energy EM from all the amplifiers and
operating cycle t0.

ΣEM
PM = ［W］
t0

■ Judgment

If regenerative effective electrical power PM according to the above formula is less than 7［W］,
regenerative unit can absorb regenerative energy.
When calculation result is above 7［W］, install external regenerative resistance in regenerative
unit to absorb regenerative energy.

■ External regenerative resistance

Use the following external regenerative resistances according to calculation result of effective
regenerative power.

Resistance name Resistance Thermostat Allowable effective regenerative

value power PM
REGIST-080W50B 50Ω 10W
REGIST-120W50B 50Ω Contact b 30W
REGIST-220W50B 50Ω 55W

✔ Refer to “Section 9.3 (4), Connection diagram of regenerative unit” for connecting method of
external regenerative resistance.
✔ Perform overheat protection by removing signal built in external regenerative resistance.
When overheat detection activated, take actions such like servo motor operation stop for
servo amplifier.

9-14
No Text on This Page.
10.
10. Appendix
10.1 Conformance to standards.................................................................................................................................... 10-1
1) Conformance to standards ....................................................................................................................................... 10-1
2) Overvoltage category, Ingress Protection code, and degree of contamination ......................................................... 10-1
3) Connection and installation....................................................................................................................................... 10-2
4) UL-file number .......................................................................................................................................................... 10-2

10.2 Conformance to EU Directive................................................................................................................................ 10-3

1) Conformity verification test ....................................................................................................................................... 10-3
2) EMC installation requirements.................................................................................................................................. 10-4
10.3 Outline dimensional drawing of servo motor ...................................................................................................... 10-5
10.4 Servo motor data sheet.......................................................................................................................................... 10-6
1) Characteristics.......................................................................................................................................................... 10-6
2) Velocity-torque characteristic.................................................................................................................................... 10-7
3) Rating decrease rate of motor with oil seal............................................................................................................... 10-7
4) Overload characteristics ........................................................................................................................................... 10-8
10.5 Outline dimensional drawing of servo amplifier.................................................................................................. 10-9
10.6 Optional items ...................................................................................................................................................... 10-10
1) Regenerative unit, RF1BB (A) 00 ........................................................................................................................... 10-10
2) Analog monitor box................................................................................................................................................. 10-11
3) Connecting cable.................................................................................................................................................... 10-12
4) External regenerative resistor................................................................................................................................. 10-15
5) Lithium battery ........................................................................................................................................................ 10-16

10
10. Appendix Conformance standards

10.1 Conformance to standards

We perform global standard conformance testing via certification organization, and then certification
marking according to certificates issued by the certification organization.

1) Conformance to standards
■ We perform the following overseas standard conformance tests.
Rule of law Standard number Certification organization
UL
(Underwriters Laboratories inc.)
UL/c-UL-standard UL508C

TÜV
(TÜV SÜD Japan, Ltd.)

Low Voltage
EN61800-5-1
Directive: LVD

EMC Directive: EMC EN55011 G1 Class A TÜV

(Electromagnetic EN61000-6-2
（TÜV SÜD Japan, Ltd.）
Compatibility) EN61800-3

■ We perform accreditation test for following standards.

Standard Standard number Certification organization
UL1004 UL
UL-standard
UL1446 (Underwriters Laboratories inc.)
EN60034-1 TÜV
European Directive
EN60034-5 (TÜV SÜD Japan, Ltd.)
✔ Specification of standard–conformance servo motor may partially vary from the one of
standard servo motor, due to standard obtaining conditions, so please consult us.

2) Overvoltage category, Ingress Protection code, and degree of contamination

■ Please use DC power (for main, control, and interfacing power) with its input and output
reinforced insulated for the use of servo amplifier.
■ Make sure to place servo amplifier inside your control board, and surely use servo amplifier in
the environment of contamination degree 2 or higher (degree of contamination 1 or 2) as
specified in EN61800-5-1 or IEC664. Ingress Protection code for servo amplifier is IP1X. Make
sure to design control board structure (IP54) so as not to let water, oil, carbon, dust intrude.

10-1
10. Appendix Conformance standards
3) Connection and installation

Please use caution with the following items:

✔ Ground protective grounding terminal of servo amplifier to power earth.
✔ Ensure 1 terminal-1 wire connection when connecting protective grounding terminal, do not
tighten together with wires for grounding.
✔ Make sure to connect protective grounding terminal of leakage breaker to power earth.
✔ Use fixed terminal block to relay wires. Do not directly connect wire to wire.
✔ Connect EMC filter to the front stage of power unit input power.
✔ Use no-fuse breaker and electromagnetic contactor, which are EN standard-conformance
item or IEC standard–conformance item.
✔ We obtained standard approvals for servo amplifier and regenerative unit with the following
fuses placed in the power input section.

(Amplifier unit)
Type Manufacturer Current [A] Voltage [V] Specification
Main power input 0324020.MXP Littelfuse 20A 250Vac/125Vdc UL-approved
item
Control power input 0224002.MXP Littelfuse 2A 250Vac/125Vdc UL-approved
item
(Regenerative unit)
Type Manufacturer Current [A] Voltage [V] Specification
Main power input 0324020.MXP Littelfuse 20A 250Vac/125Vdc UL-approved
item

✔ We obtained standard approvals for servo amplifier and regenerative unit with the following
forced cooling for FAN performed.

Model number Manufacturer Specification

109P0624S702 SANYO DENKI Air volume: 0.3m3/min

4) UL-file number
Servo amplifier and motor UL-file number are as follows.
You can check them on UL’s website, http://www.ul.com/database/.
■ Servo amplifier UL-file number: E179775
■ Servo motor UL-file number: E179832

10-2
10. Appendix Conformance to EU Directive

10.2 Conformance to EU Directive

SANYO DENKI performed conformance verification test for low-voltage-Directive and
EMC-Directive via certification organization, and then perform CE-marking for servo amplifier in
accordance with certificates issued by the certification organization so as to ease your CE-marking
obtaining.

1) Conformity verification test

SANYO DENKI performed the following standard conformance verification tests:
Directive section Section Test name Standard
Low-voltage-directive
- - EN61800-5-1: 2007
(Servo amplifier)
Rotating electrical machines-
EN60034-1:2004
Part1: Rating and performance
Low-voltage-Directive Rotating electrical
- machines-Part5: Classification of
(Servo motor)
degrees of protection provided by EN60034-5:2007
enclosures of rotating electrical
machines (IP code)
Conducted emission EN55011: A2/2007
Emission
Radiated emission EN55011: A2/2007

Electrostatic discharge immunity EN61000-4-2: A2/2001

Radiated electromagnetic field immunity EN61000-4-3: A1/2002

EMC-Directive
Electrical first transient/ burst immunity EN61000-4-4: 2004
(Servo amplifier and
Servo motor)
Immunity Conducted disturbance immunity EN61000-4-6: A1/2001

Surge immunity EN61000-4-5: A1/2001

Voltage Dips & Interruptions immunity EN61000-4-11: 2004

Adjustable velocity electrical power drive

EN61800-3/ 2004
system

10-3
10. Appendix Conformance to EU Directive

2) EMC installation requirements

Installation requirements vary depending on your machines and equipment configuration, so we
perform verification test in the following installation method and countermeasure. CE marking shall
be applied on servo amplifier in accordance with this conformance verification test result and
certificates issued by accreditation organizations. Please be advised that CE-marking for your own
machines and equipment need to perform definitive conformance verification test by yourself.

E B
A
ⅲ

ⅰ DC
power
supply ⅵ
Single-phase
/three-phase AC200V
DC ⅳ
power
ⅱ supply
ⅲ

F ⅴ C

No Name Remarks
A Control board -
B Servo amplifier -
C Servo motor -
D Regenerative unit
E DC power supply HWS1500-48:TDK-Lambda
F DC power supply HWS50-5/A:TDK-Lambda
Noise filter HF3030C-UQA: SOSHIN ELECTRIC CO., LTD-manufactured
ⅰ
(Recommended countermeasure item) Rated voltage/ rated current：Line-Line 480V AC / 30A
ⅱ Surge absorber
LT-C32G801WS: SOSHIN ELECTRIC CO., LTD-manufactured
(Recommended countermeasure item)
ⅲ Clamping ground -
ⅳ Encoder cable Shielded cable
ⅴ Servo motor power cable Shielded cable
MA070 r-63/38/25A:JEF-FERRITE
ⅵ Toroidal Core
(Measured with 3-turned)

✔ Use metallic materials to manufacture door and control board body.

✔ Use EMI gasket so that any gaps are left between door and control board. Evenly apply EMI
gasket to the part with which door and control board body contact, and then confirm electrical
continuity.
✔ Ground noise filter frame to control board.
✔ Use shielded cable as encoder cable and motor power cable. Ground shields to frame of
control board and equipment with clamp.
✔ Use metallic P-clip or U-clip having continuity to ground shielded wire with clamp and directly
fasten them with metallic screw. Do not ground by soldering shielded wire with electrical wire.
✔ Shorten distance from secondary wiring of noise filter through servo amplifier, and perform
separate wiring for primary and secondary wiring of noise filter.

10-4
10. Appendix Outline dimensional drawing of servo motor

10.3 Outline dimensional drawing of servo motor

■ Flange size 40mm, 60mm

Oil seal QE Tap

(Option) Depth LT
Note1

Teflon Wire Teflon Wire

(Fixing) (Fixing) Shield Cable (fixing)
(Motor, Earth uses) (Brake uses) (Sensor uses)
Note2

Without Oil Seal With Oil Seal

Battery backup Battery backup
method absolute method absolute
encoder encoder
Withou With Without With
t Brake Brake Brake Brake
L
Servo motor model number LL LL LL LL KL LA LB LE LH LC LZ
G
R2GA04003△□◇ 51.5 87.5 56.5 92.5
0
R2GA04005△□◇ 56.5 92.5 61.5 97.5 5 35.4 46 2.5 56 40 2-Φ4.5
30-0.021
R2GA04008△□◇ 72 108 77 113
R2GA06010△□◇ 58.5 82.5 65.5 89.5 0
6 44.6 70 3 82 60 4-Φ5.5
R2GA06020△□◇ 69.5 97.5 76.5 104.5 50-0.025

Servo motor model number LR S Q QE LT D1 D2 D3

0
R2GA04003△□◇
6 -0.008
R2GA04005△□◇ 25 20 - -
0
R2GA04008△□◇ 8 –0.009
6 5 5
0
R2GA06010△□◇ 25 20 - -
8 – 0.009
0
R2GA06020△□◇ 30 25 M5 12
14 – 0.011
Note 1) If oil seal is required, whole motor length shall be changed.
Note 2) For the motor without brake, no brake cable shall be supplied.
Note 3) All the dimensions above shall be applicable to motor with battery-back up absolute encoder. If
you use servo motor having the other encoder specification, please consult us as the
dimensions shall be changed.

10-5
10. Appendix Servo motor data sheet

10.4 Servo motor data sheet

1) Characteristics

Servo amplifier model number RF2G21A△A□□

Servo motor model number/< >Flange size R2GA 04003F 04005F 04008D 06010D 06020D
Item Condition Code Unit < 40> < 40> < 40> < 60> < 60>
Rated output ★ PR W 30 50 80 100 200
-1
Rated revolution velocity ★ NR min 3000 3000 3000 3000 3000
-1
Maximum revolution ★ Nmax min 6000 6000 5000 5000 4500
velocity
Rated torque ★ TR N･m 0.098 0.159 0.255 0.318 0.637
Continuous stall torque ★ TS N･m 0.108 0.167 0.255 0.353 0.637
Momentary maximum ★ TP N･m 0.24 0.54 0.86 0.84 1.5
torque
Rated current ★ IR Arms 1.9 3.8 4.1 5.1 6.0
Continuous stall current ★ IS Arms 2.0 3.9 4.1 5.5 6.0
Momentary maximum ★ IP Arms 4.8 13.7 14.1 14.1 14.1
current
Torque constant KT N･m/ Arms 0.0582 0.047 0.0693 0.0673 0.117
-1
Voltage constant per KEφ mV/ min 2.03 1.64 2.42 2.35 4.07
phase
Phase resistance Rφ +Ω 1.00 0.33 0.32 0.19 0.19
Rates power rate ★ QR kW/s 3.9 6.7 10 8.6 19
2 2 -4
Inertia moment note 1) JM Kg･m (GD /4) ×10 0.0247 0.0376 0.0627 0.117 0.219
Mss note 1) WE kg 0.35 0.39 0.51 0.71 0.96
Brake mass W kg 0.27 0.27 0.27 0.34 0.39
Note 1) The above values indicate the figures with battery-back up absolute encoder included.

✔ The above values show the figures with motor mounted in t6x250mm-heat sink aluminum
plate.
✔ Items marked with “★” and velocity-torque characteristics show the values after temperature
saturation. The other items indicate values at 20°C.
✔ Each value shows value TYP.

10-6
10. Appendix Velocity-torque characteristic

2) Velocity-torque characteristic

Velocity-torque characteristic of R2GA servo motor shows the value when input power is DC48V.
When power voltage drops, impedance on power input line is high, or cable between amplifier and
servo motor is relatively long, high-velocity revolution in momentary range shall decrease, so please
consider sufficient margins for these values when selecting servo motor.

R2GA04003F R2GA04005F R2GA04008D

0.8
1
0.3

0.8
0.6

Momentary Momentary range

Torque (N･m)

Torque (N･m)

Torque (N･m)
0.2
Momentary
range range 0.6
0.4
Momentary range

0.4

0.1
0.2
Continuous 0.2
range
Continuous range
Continuous range Continuous range
0
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
0 1000 2000 3000 4000 5000 6000 7000
-1 -1 -1
Velocity (min ) Velocity (min ) Velocity (min )

R2GA06010D R2GA06020D
1 2

0.8
1.5
Torque (N･m)

Torque (N･m)

Momentary range
0.6
Momentary
1 range
0.4

0.5
0.2 Continuous range Continuous range

0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Velocity (min-1) Velocity (min-1)

3) Rating decrease rate of motor with oil seal

For the servo motor model R2GA04005F (50W) with oil seal, 90% of decreasing rating rate shall be
applied to continuous range of torque characteristic.

10-7
10. Appendix Overload characteristics

4) Overload characteristics
R2GA Motor overload characteristics are indicated below.

Overload characteristic Overload characteristic Overload characteristic

R2GA04003F R2GA04005F R2GA04008D
10000 10000 10000

Maximum rotational
velocity
At
Atstoppage
stoppage
1000 1000 1000

Time (sec)
Time (sec)

Time (sec)
100 100
100

10
10 10

1
1 1

0 0.5 1 1.5 2 2.5 3 3.5 4

0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3 3.5 4
Output current ratio (I/IR)
Output current ratio (I/IR) Output current ratio (I/IR)

Overload characteristic Overload characteristic

R2GA06010D R2GA06020D
10000 10000

1000 1000
Time (sec)
Time (sec)

100 100

10 10

1
1

0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5

Output current ratio (I/IR) Output current ratio (I/IR)

10-8
10. Appendix Outline dimensional drawing of servo amplifier

10.5 Outline dimensional drawing of servo amplifier

■ RF2G(H)□1□A

10-9
10. Appendix Optional item

10.6 Optional items

The following optional items are available.

1) Regenerative unit, RF1BB (A) 00

■ Outline dimensional drawing

10-10
10. Appendix Option item

2) Analog monitor box

SANYO DENKI offers monitor box for use in monitoring operating wave profile with measuring equipment.
Analog monitor box
Q-MON-5
model number
Power supply ±12V±5%，externally-supplied (Power supply is user-prepared.)
Monitor channel Analog×2CH, digital 2CH, signal is to be selected according to setup software.
Output voltage range,
DC±8Vmax, within ±20%
output error
Offset voltage Within ±100mV
Output resistance 1kΩ
Load Within 2mA
Mass 40g±20%

■ Outline dimensional drawing of analog monitor box

✔ Cable connected to servo amplifier and power input cable are supplied.
✔ Connect servo amplifier to connector RF2, and ±12V-power to CN1.

■ Specification for power-supply cable for analog monitor box

Pin NO. Color Definition

1 Red +12V
2 Black SG
3 Black SG
2000±40 4 Blue -12V

✔ Leads are cut off on the opposite side of connectors, so please connect these leads to power
supply (±12V).
✔ Please be advised that power supply is user-prepared item.

10-11
10. Appendix Optional item

3) Connecting cable

Connector code Description Model number

PC Cable connected to PC AL-00490833-01
CNA Power input AL-00745943-01
CNB Motor input AL-00745944-01
CN1A, CN1B For I/O (set of 20-pin/14-pin) AL-00745949-01
For absolute encoder AL-00745946-01
CN2
For pulse encoder AL-00745945-01

■ Cable connected to PC (AL-00490833-01)

+50±50
2850
2850mm-10
CN2 ケーブル長
CN1
9 5

PUSH
6 1

■ Power input cable (AL-00745943-01)

2020±20
Blue
Red
Gray
Yellow
Green

Connector Code Connector

Pin NO. Wire color
NO. (Name) NO.
1 FG Frame ground Green
2 5V 5V-control power Yellow
CNA 3 5G Control power ground Gray
4 P DC48V-main power<24V> Red
5 N Main power ground Blue

✔ Leads are cut off on the opposite side of connectors, so please connect these leads to DC
power.

10-12
 10. Appendix Optional item

■ Motor input cable (AL-00745944-01)

Yellow (green)
Black
White
Red
Heat shrinkable tube
熱収縮チューブ

Code
Connector NO. Pin NO. Wire color Connector NO.
(Name)
1 U Phase U Red
2 V Phase V White
CNB
3 W Phase W Black
4 FG Frame ground Yellow (green)

✔ Leads are cut off on the opposite side of connectors, so please connect these leads to motor.

■ Cable for encoder (AL-00745945-01 (for pulse encoder)，AL-00745946-01(for absolute

encoder))

熱収縮チューブ
Heat shrinkable tube

◆For pulse encoder (AL-00745945-01) ◆For absolute encoder (AL-00745946-01)

Connector Pin Code Wire Connector Pin Code Wire
NO. NO. (Name) color NO. NO. (Name) color
1 5V Red 1 5V Red
Twisted wire Twisted wire
2 SG White 2 SG White
3 A Blue 3 ES+ Blue
Twisted wire Twisted wire
4 /A White 4 ES- White
5 B Green 5 BAT+ Yellow
CN2 Twisted wire CN2 Twisted wire
6 /B White 6 BAT- White
7 C Yellow 7
Twisted wire
8 /C White 8
9 9
Drain Drain
10 FG Shielded 10 FG Shielded
wire wire

✔ Leads are cut off on the opposite side of connectors, so please connect these leads to
encoder.

10-13
10. Appendix Optional item

■ I/O cable（AL-00745949-01）

◆ For CN1-A

Heat shrinkable tube

◆ For CN1-B

Heat shrinkable tube

Connector Pin Code Wire Connector Pin Code Wire

NO. NO. (Name) color NO. NO. (Name) color
1 A0 Blue 1 IN-COM Blue
Twisted wire
3 /A0 White 3 CONT1 Yellow Twisted wire
4 B0 Green Twisted wire 4 CONT2 White
5 /B0 White 5 CONT3 Green Twisted wire
6 Z0 Yellow Twisted wire 6 CONT4 White
7 /Z0 White 7 CONT5 Red Twisted wire
8 PS Red Twisted wire 8 CONT6 White
CN1-A 9 /PS White 9 CONT7 Purple Twisted wire
11 F-PC Blue Twisted wire 10 CONT8 White
12 /F-PC Brown 11 OUT-PWR Blue Twisted wire
13 R-PC Yellow Twisted wire CN1-B 19 OUT-COM Brown
14 /R-PC Brown 12 OUT1 Yellow Twisted wire
10 SG Purple 13 OUT2 Brown
Drain 14 OUT3 Green Twisted wire
2 FG
wire 15 OUT4 Brown
16 OUT5 Red
Twisted wire
17 OUT6 Brown
18 OUT7 Purple
Twisted wire
20 OUT8 Brown
Drain
2 FG
wire

✔ Leads are cut off on the opposite side of connectors, so please connect these leads to
higher-level equipment.

10-14
10. Appendix Optional item

4) External regenerative resistor

■ REGIST-080W

+20
132 300 0
+15
122±0.4 270 0
100 6±1

φ4.3 6±1
44±0.4
26

Silicon rubber glass braided wire (0.5mm/

２ white)
シリコンゴムガラス編組線０．５ｍｍ　白
+0.3
0

（サーモスタット）
(Thermostat)
4.3

Silicon rubber glass braided wire (0.75mm/

２ black)
シリコンゴムガラス編組線０．７５ｍｍ　黒
20
1

■ REGIST-120W

182 300 +20

0
172±0.4 270 +15
0
150 6±1
φ4.3 6±1
42±0.4
23.5

２
Silicon rubber glass braided wire (0.5mm/white)
+0.3

シリコンゴムガラス編組線０．５ｍｍ 　白
0

（サーモスタット）
4.3

(Thermostat)
Silicon rubber glass braided wire (0.75mm/black)
２
シリコンゴムガラス編組線０．７５ｍｍ　黒
20
1.2

10-15
10. Appendix Optional item

■ REGIST-220W

230 300 +20

0
+15
220±0.4 270 0

200 6±1
φ4.3 6±1
60±0.4
42.7

２
シリコンゴムガラス編組線０．５ｍｍ 　白
Silicon rubber glass braided wire (0.5mm/white)
4.3 +0.3
0

（サーモスタット）
(Thermostat)
Silicon rubber glass braided wire (0.75mm/black)
２
シリコンゴムガラス編組線０．７５ｍｍ 　黒
20
1.2

5) Lithium battery

Model number Remarks

AL-00494635-01 ER3VLY

+ Red
Φ14.5

17MAX.

- Black

50±3 (24.5)

Mass: 0.02kg

Manufacturer mdel number Manufacturer

Connector IL-2S-S3L-(N) Japan Aviation Electronics Industry, Ltd.
Contact IL-C2-1-10000 Japan Aviation Electronics Industry, Ltd.
Battery ER3VLY Toshiba Consumer Marketing Ltd.

10-16
No Text on This Page.
Release
Revision A Jul. 2010
Revision B Jan. 2011
Revision C Mar. 2012
 ■ECO PRODUCTS
Sanyo Denki's ECO PRODUCTS are designed with the concept of lessening impact on the environment in the process from product
development to waste. The product units and packaging materials are designed for reduced environmental impact.
We have established our own assessment criteria on the environmental impacts applicable to all processes, ranging from design to
manufacture.

Cautions
■Precautions For Adoption
z Read the accompanying Instruction Manual carefully prior to using the product.
Failure to follow the precautions on the right may z If applying to medical devices and other equipment affecting people’s lives please contact us beforehand
cause moderate injury and property damage, or in and take appropriate safety measures.
some circumstances, could lead to a serious z If applying to equipment that can have significant effects on society and the general public, please contact
accident. us beforehand.
Always follow all listed precautions. z Do not use this product in an environment where vibration is present, such as in a moving vehicle or
shipping vessel.
z Do not perform any retrofitting, re-engineering, or modification to this equipment.
z The Products presented in this Instruction Manual are meant to be used for general industrial
applications. If using for special applications related to aviation and space, nuclear power, electric power,
submarine repeaters, etc., please contact us beforehand.

* For any question or inquiry regarding the above, contact our Sales Department.

SANYO DENKI CO., LTD. http://www.sanyodenki.co.jp

1-15-1, Kita-Otsuka Toshima-ku, Tokyo, 170-8451, Japan Phone: +81 3 3917 5151 FAX: +81 3 3917 5415
SANYO DENKI AMERICA, INC. http://www.sanyo-denki.com
468 Amapola Avenue Torrance, CA 90501, U.S.A. Phone: +1 310 783 5400
SANYO DENKI EUROPE SA. http://www.sanyodenki.eu
P.A. Paris Nord II, 48 Allée des Erables-VILLEPINTE, BP.57286, F-95958 ROISSY CDG Cedex, France Phone: +33 1 48 63 26 61
SANYO DENKI GERMANY GmbH http://www.sanyodenki.de
Frankfurter Strasse 92, 65760 Eschborn, Germany Phone: +49 6196 76113 0
SANYO DENKI KOREA CO., LTD. http://www.sanyodenki.co.kr
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea Phone: +82 2 773 5623
SANYO DENKI SHANGHAI CO., LTD. http://www.sanyodenki.biz
Room 2107-2109, Bldg A, Far East International Plaza, No.319, Xianxia Rd., Shanghai, 200051, China Phone: +86 21 6235 1107
SANYO DENKI TAIWAN CO., LTD. http://www.sanyodenki.com.tw
Room 1208, 12F, No. 96, Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone: +886 2 2511 3938
SANYO DENKI (H.K.) CO., LIMITED http://www.sanyodenki.com.hk
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong Phone: +852 2312 6250
SANYO DENKI SINGAPORE PTE.LTD. http://www.sanyodenki.com.sg
10 Hoe Chiang Road, #14-03A/04, Keppel Towers Singapore 089315 Phone: +65 6223 1071

The names of companies and/or their products specified in this manual are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications are subject to change without notice.